@articleOffen_Ober-Blöbaum_2021, series=IFAC-PapersOnLine, title=Bifurcation preserving discretisations of optimal control problems, volume=54(19), DOI=https://doi.org/10.1016/j.ifacol.2021.11.099, author=Offen, Christian and Ober-Blöbaum, Sina, year=2021, pages=334–339, collection=IFAC-PapersOnLine