@unpublished{Herber2021unpublishedDTQP,
%    author = "Herber, Daniel R. and Lee, Yong Hoon and Allison, James T.",
%    title = "Unified framework for solving general linear-quadratic dynamic optimization problems utilizing direct transcription and quadratic programming",
%%    journal = "",
%%    volume = "",
%%    number = "",
%%    year = "",
%%    pages = "",
%%    pdf = "",
%%    doi = "",
%%    gsid = "",
%    comment = "in preparation, available per request",
%%    abstract = "",
%}