ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization. ACADO Toolkit is implemented as self-contained C++ code and comes along with user-friendly MATLAB interface. The object-oriented design allows for convenient coupling of existing optimization packages and for extending it with user-written optimization routines. Learn more about the features of ACADO Toolkit.
The ACADO Toolkit has been tested under Linux, OSX and Windows. Please choose appropriate link and follow the installation instructions:
Documentation: Tutorials, manuals, source code documentation, ...
MATLAB interface: Here you can find out more about the user-friendly MATLAB interface.
How to setup my own projects?: In case you would like to use ACADO from C++ here are some details on how to easy set up your own project.
Developers: Who we are?
by Milan Vukov 1 day ago
there is a new, intermediate, release of ACADO. It mostly includes fixes, there are no new features at this point. In particular:
Not mentioned in the release notes of v1.2.0beta, there is support for OpenMP parallelization of the multiple shooting in the CGT (generated solver can be parallelized).
From now on, we are working on a new release, which will bring major changes in the API. Users are advised to use the stable branch. Code fixes are going to be pushed to this branch, mostly. Master branch (which is our main dev branch) will contain the new code, which is non-backwards compatible.
The ACADO dev team.
by Milan Vukov 2013-11-07
We just released a new version of the toolkit, aka 1.2.0beta. We have fixed a lot of bugs and introduced a lot of new features.
Most of the new features have been introduced in the Code Generation Tool. The tool supports
In case you have any questions, please check first the support webpage.
For older entries you can go here.
ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. Copyright (C) 2008-2013 by Boris Houska, Hans Joachim Ferreau, Milan Vukov, Rien Quirynen, KU Leuven. Developed within the Optimization in Engineering Center (OPTEC) under supervision of Moritz Diehl. All rights reserved. ACADO Toolkit is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ACADO Toolkit is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with ACADO Toolkit; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Wiki: MATLAB Interface
Wiki: Using CMake - UNIX - Common
Wiki: Installation - CMake - Linux
Wiki: Installation - CMake - OS X
Wiki: Installation - CMake - Windows