I have been using ACADO toolkit for more than 5 month so far. I basically used two features of it, namely, Model Predictive Control and Code Generation for Fast NMPC. I started using ACADO toolkit because of its promising computational time ... The code Generation feature provides an excellent assist to those who would like to implement NMPC in real-time applications. This toolkit provides , in general, many options which would allow the user to have the access to many parameters that affect the optimization process. Defining system equations, running costs, terminal cost, and constraints is a straight forward and easy thing to do with ACADO using its own syntax ... My overall assessment of this toolkit is that (this toolkit is an excellent contribution to the field of optimal control) ... Thanks to ACADO developers !!