ACADO Toolkit

NOTE: ACADO Toolkit is not maintained anymore. We recommend using acados instead, which offers similar functionalites.


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.

For an installation guide, tutorial examples and a detailed documentation, please visit the ACADO Toolkit webpage.In addition, user questions can be posted on our sourceforge forum while the codebase itself is hosted on our github page.