  In this paper we present a refined dual active-set solver for quadratic
programming which has properties suitable for use in embedded model predictive
control applications. In particular, the solver is efficient, can easily be
warm-started, and is simple to code. Moreover, the solver is reliable since its
exact worst-case computational complexity can be determined offline and, by
using outer proximal-point iterations, ill-conditioned problems can be handled
in a robust manner.
