@conference {675,
	title = {Ball in double hoop: demonstration model for numerical optimal control},
	booktitle = {20th IFAC World Congress},
	volume = {50},
	year = {2017},
	month = {07/2017},
	pages = {2379 - 2384},
	publisher = {IFAC},
	organization = {IFAC},
	issn = {24058963},
	doi = {10.1016/j.ifacol.2017.08.429},
	author = {Gurtner, Martin and Ji{\v r}{\'\i} Zem{\'a}nek}
}