Bibtex entry

        author={C. Portilla and F. Valencia and J.D. L{\'{o}}pez and J. Espinosa and A. N{\'{u}}{\~{n}}ez and B. {D}e Schutter},
        title={Non-linear model predictive control based on game theory for traffic control on highways},
        booktitle={Proceedings of the 4th IFAC Nonlinear Model Predictive Control Conference},
        address={Noordwijkerhout, The Netherlands},

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