@inproceedings{inproceedings, title = {{How Should Rate Constraints be Implemented in Nonlinear Optimal Control Solvers?}}, publisher = {{International Federation of Automatic Control (IFAC)}}, url = {{}}, year = {{2018}}, month = {{11}}, author = {{Nie Y and Kerrigan E}}, doi = {{10.1016/j.ifacol.2018.11.060}}, volume = {{51}}, journal = {{IFAC papers online}}, issue = {{20}}, note = {{Accessed on 2025/05/03}}}