M. Hirche, P. Köhler, M. Müller, and F. Allgöwer. Proc. 59th IEEE Conf. on Decision and Control (CDC), page 1248-1253. Jeju Island, Republic of Korea, (2020)
J. Kneifl, D. Grunert, and J. Fehr. International Journal for Numerical Methods in Engineering, (April 2021)initial preprint available under http://elib.uni-stuttgart.de/handle/11682/11198.