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ACADO Toolkit


Toolkit for Automatic Control and Dynamic Optimization

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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.

ACADO Toolkit Web Site


  • Nonlinear Optimal Control
  • Multi-Objective Optimal Control
  • State and Parameter Estimation
  • Model Predictive Control
  • Code Generation for Nonlinear Model Predictive Control and Moving Horizon Estimation


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User Ratings

ease 1 of 5 2 of 5 3 of 5 4 of 5 5 of 5 4 / 5
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User Reviews

  • 1 of 5 2 of 5 3 of 5 4 of 5 5 of 5

    Very nice and powerful tool. Thank you for your effort!

    Posted 04/06/2016
  • 1 of 5 2 of 5 3 of 5 4 of 5 5 of 5

    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 !!

    Posted 03/26/2013
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Intended Audience

Advanced End Users, Automotive, Developers, Engineering, Science/Research

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