# acados

> open-source software framework for nonlinear model predictive control and moving horizon estimation

**Wikidata**: [Q134285753](https://www.wikidata.org/wiki/Q134285753)  
**Source**: https://4ort.xyz/entity/acados

## Summary
acados is an open-source software framework for nonlinear model predictive control (NMPC) and moving horizon estimation (MHE). It is used for mathematical optimization and nonlinear programming, and is described as a modular framework for fast embedded optimal control.

## Key Facts
- acados is an open-source software framework for nonlinear model predictive control and moving horizon estimation.
- acados is an instance of: software (a non-tangible executable component of a computer).
- Primary uses include mathematical optimization and nonlinear programming.
- License: 2-clause BSD License.
- Documentation website: https://docs.acados.org/ (English).
- Source code repository: https://github.com/acados/acados.
- Official forum: https://discourse.acados.org/.
- acados can optionally depend on HPIPM (a high-performance interior-point method solver).
- acados can optionally depend on qpOASES (an open-source QP solver based on the Online Active Set Strategy).
- Reported releases include v0.4.5 (2025-04-08) and stable versions v0.2.1 (2023-06-09) through v0.3.2 (2024-04-19).

## FAQs
### Q: What is acados used for?
A: acados is used for mathematical optimization and nonlinear programming. It is specifically positioned as a framework for nonlinear model predictive control (NMPC) and moving horizon estimation (MHE).

### Q: Is acados open source, and what license does it use?
A: Yes. acados is open-source software released under the 2-clause BSD License.

### Q: Where can I find acados documentation and community support?
A: The documentation site is https://docs.acados.org/. Community discussion is hosted on the official forum at https://discourse.acados.org/.

### Q: What solvers does acados require?
A: The provided sources list optional dependencies including HPIPM and qpOASES. These are solvers used in the optimization workflow (HPIPM is an interior-point method solver; qpOASES is a QP solver based on an Online Active Set Strategy).

## Why It Matters
acados matters because it targets a demanding class of problems: nonlinear model predictive control and moving horizon estimation, both of which rely on repeatedly solving optimization problems under real-time constraints. In practice, NMPC and MHE are optimization-heavy methods, so a framework designed around mathematical optimization and nonlinear programming is directly aligned with the computational core of these approaches. The project is also positioned as “a modular open-source framework for fast embedded optimal control,” highlighting its relevance to embedded and performance-sensitive control applications. Its open-source availability under the permissive 2-clause BSD License lowers barriers to adoption in both research and engineering contexts. Finally, acados’ ecosystem orientation is reflected in its optional integration with established solvers such as HPIPM and qpOASES, and in its public documentation, source repository, and official forum—elements that support reproducibility, collaboration, and practical deployment.

## Notable For
- An open-source framework specifically aimed at NMPC and MHE (nonlinear model predictive control and moving horizon estimation).
- Described as “a modular open-source framework for fast embedded optimal control.”
- Permissive licensing via the 2-clause BSD License.
- Optional interoperability with optimization solvers including HPIPM and qpOASES.
- Public-facing project infrastructure: documentation site, GitHub repository, and an official Discourse forum.

## Body
### Overview
- Name: acados
- Type: software
- Description: open-source software framework for nonlinear model predictive control and moving horizon estimation.
- Described by source as: “acados—a modular open-source framework for fast embedded optimal control.”

### Primary Use Cases
- Mathematical optimization
- Nonlinear programming
- Application focus (as described): nonlinear model predictive control (NMPC) and moving horizon estimation (MHE)

### Licensing and Status
- License: 2-clause BSD License
- Copyright status: copyrighted

### Project Links (Official)
- Documentation website: https://docs.acados.org/ (English)
- Source code repository: https://github.com/acados/acados
- Official forum: https://discourse.acados.org/

### Dependencies / Solver Integrations
The sources list optional dependencies:
- HPIPM — high-performance interior-point method solver (optional dependency)
- qpOASES — open-source QP solver based on the Online Active Set Strategy (optional dependency)

### Releases and Versions (as provided)
- v0.4.5 — release date: 2025-04-08 (reference: GitHub release tag v0.4.5)
- Stable versions listed with dates:
  - v0.2.1 — 2023-06-09
  - v0.2.2 — 2023-07-10
  - v0.2.3 — 2023-08-29
  - v0.2.4 — 2023-09-21
  - v0.2.5 — 2023-10-27
  - v0.2.6 — 2023-11-16
  - v0.3.0 — 2024-02-06
  - v0.3.1 — 2024-03-19
  - v0.3.2 — 2024-04-19

### Classification and Indexing
- Instance of: software
- Repology project name: acados

## References

1. [release v0.4.5](https://github.com/acados/acados/releases/tag/v0.4.5)
2. [Release 0.2.1. 2023](https://github.com/acados/acados/releases/tag/v0.2.1)
3. [Release 0.2.2. 2023](https://github.com/acados/acados/releases/tag/v0.2.2)
4. [Release 0.2.3. 2023](https://github.com/acados/acados/releases/tag/v0.2.3)
5. [Release 0.2.4. 2023](https://github.com/acados/acados/releases/tag/v0.2.4)
6. [Release 0.2.5. 2023](https://github.com/acados/acados/releases/tag/v0.2.5)
7. [Release 0.2.6. 2023](https://github.com/acados/acados/releases/tag/v0.2.6)
8. [Release 0.3.0. 2024](https://github.com/acados/acados/releases/tag/v0.3.0)
9. [Release 0.3.1. 2024](https://github.com/acados/acados/releases/tag/v0.3.1)
10. [Release 0.3.2. 2024](https://github.com/acados/acados/releases/tag/v0.3.2)
11. [Release 0.3.3. 2024](https://github.com/acados/acados/releases/tag/v0.3.3)
12. [Release 0.3.4. 2024](https://github.com/acados/acados/releases/tag/v0.3.4)
13. [Release 0.3.5. 2024](https://github.com/acados/acados/releases/tag/v0.3.5)
14. [Release 0.3.6. 2024](https://github.com/acados/acados/releases/tag/v0.3.6)
15. [Release 0.4.0. 2024](https://github.com/acados/acados/releases/tag/v0.4.0)
16. [Release 0.4.1. 2024](https://github.com/acados/acados/releases/tag/v0.4.1)
17. [Release 0.4.2. 2024](https://github.com/acados/acados/releases/tag/v0.4.2)
18. [Release 0.4.3. 2024](https://github.com/acados/acados/releases/tag/v0.4.3)
19. [Release 0.4.4. 2025](https://github.com/acados/acados/releases/tag/v0.4.4)
20. [Release 0.5.0. 2025](https://github.com/acados/acados/releases/tag/v0.5.0)
21. [Release 0.5.1. 2025](https://github.com/acados/acados/releases/tag/v0.5.1)
22. [Release 0.5.2. 2025](https://github.com/acados/acados/releases/tag/v0.5.2)
23. [Release 0.5.3. 2025](https://github.com/acados/acados/releases/tag/v0.5.3)
24. [Source](https://api.github.com/repos/acados/acados)