Flasskamp, Kathrin, et al. “Discretized Switching Time Optimization Problems.”10.23919/ecc.2013.6669577__2013 European Control Conference (ECC), 2013, doi:10.23919/ecc.2013.6669577.

Ober-Blöbaum, Sina, and Albert Seifried. “A Multiobjective Optimization Approach for Optimal Control Problems of Mechanical Systems with Uncertainties.”10.23919/ecc.2013.6669594__2013 European Control Conference (ECC), 2013, doi:10.23919/ecc.2013.6669594.