@MISC\{IMM2004-04213,
    author       = "K. Madsen and H. B. Nielsen and O. Tingleff",
    title        = "Optimization with Constraints, 2nd ed.",
    year         = "2004",
    month        = "mar",
    publisher    = "Informatics and Mathematical Modelling, Technical University of Denmark, {DTU}",
    address      = "Richard Petersens Plads, Building 321, {DK-}2800 Kgs. Lyngby",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/4213-full.html"
}