Magnetic resonance imaging (MRI) is a sophisticated and versatile medical imaging modality. Traditionally, MR images are reconstructed from the raw measurements by a simple inverse 2D or 3D fast Fourier transform (FFT). However, there are a growing number of MRI applications where a simple inverse FFT is inadequate, e.g., due to non-Cartesian sampling patterns, non-Fourier physical effects, nonlinear magnetic fields, or deliberate under-sampling to reduce scan times. Such considerations have led to increasing interest in methods for model-based image reconstruction in MRI.