{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T15:48:19Z","timestamp":1781884099595,"version":"3.54.5"},"reference-count":99,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2021,10,9]],"date-time":"2021-10-09T00:00:00Z","timestamp":1633737600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,10,9]],"date-time":"2021-10-09T00:00:00Z","timestamp":1633737600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Math. Prog. Comp."],"published-print":{"date-parts":[[2022,3]]},"DOI":"10.1007\/s12532-021-00208-8","type":"journal-article","created":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T18:57:10Z","timestamp":1633892230000},"page":"147-183","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":365,"title":["acados\u2014a modular open-source framework for fast embedded optimal control"],"prefix":"10.1007","volume":"14","author":[{"given":"Robin","family":"Verschueren","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gianluca","family":"Frison","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dimitris","family":"Kouzoupis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonathan","family":"Frey","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Niels van","family":"Duijkeren","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrea","family":"Zanelli","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Branimir","family":"Novoselnik","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thivaharan","family":"Albin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rien","family":"Quirynen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Moritz","family":"Diehl","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,10,9]]},"reference":[{"key":"208_CR1","unstructured":"Albersmeyer, J.: Adjoint-based algorithms and numerical methods for sensitivity generation and optimization of large scale dynamic systems. University of Heidelberg, NY (2010). (Ph.D. thesis)"},{"issue":"3","key":"208_CR2","doi-asserted-by":"publisher","first-page":"1655","DOI":"10.1137\/080724885","volume":"20","author":"J Albersmeyer","year":"2010","unstructured":"Albersmeyer, J., Diehl, M.: The lifted Newton method and its application in optimization. SIAM J. Optim. 20(3), 1655\u20131684 (2010)","journal-title":"SIAM J. Optim."},{"key":"208_CR3","doi-asserted-by":"crossref","unstructured":"Albin, T., Ritter, D., Liberda, N., Quirynen, R., Diehl, M.: In-vehicle realization of nonlinear MPC for gasoline two-stage turbocharging airpath control. IEEE Transactions on Control Systems Technology , 1\u201313 (2017)","DOI":"10.1109\/TCST.2017.2724020"},{"issue":"1","key":"208_CR4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s12532-018-0139-4","volume":"11","author":"JAE Andersson","year":"2019","unstructured":"Andersson, J.A.E., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: CasADi\u2014a software framework for nonlinear optimization and optimal control. Math. Programm. Comput. 11(1), 1\u201336 (2019)","journal-title":"Math. Programm. Comput."},{"key":"208_CR5","doi-asserted-by":"crossref","unstructured":"Andersson, J.A.E., Rawlings, J.B.: Sensitivity analysis for nonlinear programming in casadi. In: Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC) (2018)","DOI":"10.1016\/j.ifacol.2018.11.055"},{"key":"208_CR6","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.sysconle.2014.12.002","volume":"76","author":"D Axehill","year":"2015","unstructured":"Axehill, D.: Controlling the level of sparsity in MPC. Syst. Control Lett. 76, 1\u20137 (2015)","journal-title":"Syst. Control Lett."},{"key":"208_CR7","doi-asserted-by":"publisher","first-page":"112","DOI":"10.3389\/fbioe.2021.642742","volume":"9","author":"F Bailly","year":"2021","unstructured":"Bailly, F., Ceglia, A., Michaud, B., Rouleau, D.M., Begon, M.: Real-time and dynamically consistent estimation of muscle forces using a moving horizon emg-marker tracking algorithm-application to upper limb biomechanics. Front. Bioeng. Biotechnol. 9, 112 (2021)","journal-title":"Front. Bioeng. Biotechnol."},{"key":"208_CR8","unstructured":"Bemporad, A.: Hybrid Toolbox for Matlab (2003)"},{"key":"208_CR9","unstructured":"Bemporad, A., Borrelli, F., Morari, M.: In: The explicit solution of constrained LP-based receding horizon control. In: Proceedings of the IEEE Conference on Decision and Control (CDC) , Sydney, Australia (1999)"},{"key":"208_CR10","volume-title":"Randwertproblemmethoden zur Parameteridentifizierung in Systemen nichtlinearer Differentialgleichungen, Bonner Mathematische Schriften","author":"H Bock","year":"1987","unstructured":"Bock, H.: Randwertproblemmethoden zur Parameteridentifizierung in Systemen nichtlinearer Differentialgleichungen, Bonner Mathematische Schriften, vol. 183. Universit\u00e4t Bonn, Bonn (1987)"},{"key":"208_CR11","doi-asserted-by":"crossref","unstructured":"Bock, H.G.: Recent advances in parameter identification techniques for ODE. In: Numerical Treatment of Inverse Problems in Differential and Integral Equations, pp. 95\u2013121. Birkh\u00e4user (1983)","DOI":"10.1007\/978-1-4684-7324-7_7"},{"key":"208_CR12","unstructured":"Bock, H.G., Diehl, M., K\u00fchl, P., Kostina, E., Schl\u00f6der, J.P., Wirsching, L.: Numerical methods for efficient and fast nonlinear model predictive control. In: Proceedings of \u201cInt. Workshop on assessment and future directions of Nonlinear Model Predictive Control\u201d. Springer (2005)"},{"key":"208_CR13","unstructured":"Bock, H.G., Plitt, K.J.: In: A multiple shooting algorithm for direct solution of optimal control problems, In: Proceedings of the IFAC World Congress, pp. 242\u2013247. Pergamon Press (1984)"},{"key":"208_CR14","doi-asserted-by":"crossref","unstructured":"Carlos, B.B., Sartor, T., Zanelli, A., Frison, G., Burgard, W., Diehl, M., Oriolo, G.: An efficient real-time nmpc for quadrotor position control under communication time-delay. In: 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 982\u2013989 (2020)","DOI":"10.1109\/ICARCV50220.2020.9305513"},{"key":"208_CR15","doi-asserted-by":"crossref","unstructured":"Chen, Y., Bruschetta, M., Picotti, E., Beghi, A.: Matmpc - a matlab based toolbox for real-time nonlinear model predictive control. arXiv preprint (2018)","DOI":"10.23919\/ECC.2019.8795788"},{"key":"208_CR16","doi-asserted-by":"crossref","unstructured":"Cheshmi, K., Kaufman, D.M., Kamil, S., Dehnavi, M.M.: NASOQ: Numerically accurate sparsity-oriented qp solver. In: ACM Transactions on Graphics, vol.\u00a039","DOI":"10.1145\/3386569.3392486"},{"issue":"12","key":"208_CR17","doi-asserted-by":"publisher","first-page":"6110","DOI":"10.1109\/TAC.2017.2694806","volume":"62","author":"NY Chiang","year":"2017","unstructured":"Chiang, N.Y., Hang, R., Zavala, V.M.: An augmented lagrangian filter method for real-time embedded optimization. IEEE Trans. Automatic Control 62(12), 6110\u20136121 (2017)","journal-title":"IEEE Trans. Automatic Control"},{"issue":"12","key":"208_CR18","doi-asserted-by":"publisher","first-page":"6094","DOI":"10.1109\/TAC.2017.2696742","volume":"62","author":"G Cimini","year":"2017","unstructured":"Cimini, G., Bemporad, A.: Exact complexity certification of active-set methods for quadratic programming. IEEE Trans. Automatic Control 62(12), 6094\u20136109 (2017)","journal-title":"IEEE Trans. Automatic Control"},{"key":"208_CR19","doi-asserted-by":"crossref","unstructured":"Deng, H., Ohtsuka, T.: A highly parallelizable newton-type method for nonlinear model predictive control. In: Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC) (2018)","DOI":"10.1016\/j.automatica.2019.108560"},{"issue":"8","key":"208_CR20","doi-asserted-by":"publisher","first-page":"1367","DOI":"10.1080\/00207179.2013.801080","volume":"86","author":"S Di Cairano","year":"2013","unstructured":"Di Cairano, S., Brand, M., Bortoff, S.A.: Projection-free parallel quadratic programming for linear model predictive control. Int. J. Control 86(8), 1367\u20131385 (2013)","journal-title":"Int. J. Control"},{"issue":"4","key":"208_CR21","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1016\/S0959-1524(01)00023-3","volume":"12","author":"M Diehl","year":"2002","unstructured":"Diehl, M., Bock, H.G., Schl\u00f6der, J.P., Findeisen, R., Nagy, Z., Allg\u00f6wer, F.: Real-time optimization and nonlinear model predictive control of processes governed by differential-algebraic equations. J. Process Control 12(4), 577\u2013585 (2002)","journal-title":"J. Process Control"},{"key":"208_CR22","doi-asserted-by":"crossref","unstructured":"Diehl, M., Ferreau, H.J., Haverbeke, N.: Efficient numerical methods for nonlinear MPC and moving horizon estimation. In: L.\u00a0Magni, M.\u00a0Raimondo, F.\u00a0Allg\u00f6wer (eds.) Nonlinear model predictive control, Lecture Notes in Control and Information Sciences, vol. 384, pp. 391\u2013417. Springer (2009)","DOI":"10.1007\/978-3-642-01094-1_32"},{"key":"208_CR23","doi-asserted-by":"crossref","unstructured":"Domahidi, A., Chu, E., Boyd, S.: In: ECOS: An SOCP solver for embedded systems, In: Proceedings of the European Control Conference (ECC) pp. 3071\u20133076. IEEE (2013)","DOI":"10.23919\/ECC.2013.6669541"},{"key":"208_CR24","doi-asserted-by":"crossref","unstructured":"Domahidi, A., Zgraggen, A., Zeilinger, M.N., Morari, M., Jones, C.N.: Efficient interior point methods for multistage problems arising in receding horizon control. In: Proceedings of the IEEE Conference on Decision and Control (CDC), pp. 668\u2013674. Maui, HI, USA (2012)","DOI":"10.1109\/CDC.2012.6426855"},{"key":"208_CR25","unstructured":"dSPACE: Homepage. http:\/\/www.dspace.com (2006)"},{"issue":"3","key":"208_CR26","doi-asserted-by":"publisher","first-page":"769","DOI":"10.1007\/s11081-018-9417-2","volume":"20","author":"T Englert","year":"2019","unstructured":"Englert, T., V\u00f6lz, A., Mesmer, F., Rhein, S., Graichen, K.: A software framework for embedded nonlinear model predictive control using a gradient-based augmented lagrangian approach (GRAMPC). Optim. Eng. 20(3), 769\u2013809 (2019)","journal-title":"Optim. Eng."},{"key":"208_CR27","unstructured":"Ferreau, H.J., Almer, S., Verschueren, R., Diehl, M., Frick, D., Domahidi, A., Jerez, J.L., Stathopoulos, G., Jones, C.: Embedded optimization methods for industrial automatic control. In: Proceedings of the IFAC World Congress (2017)"},{"issue":"4","key":"208_CR28","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1007\/s12532-014-0071-1","volume":"6","author":"HJ Ferreau","year":"2014","unstructured":"Ferreau, H.J., Kirches, C., Potschka, A., Bock, H.G., Diehl, M.: qpOASES: a parametric active-set algorithm for quadratic programming. Math. Programm. Comput. 6(4), 327\u2013363 (2014)","journal-title":"Math. Programm. Comput."},{"key":"208_CR29","first-page":"105","volume-title":"Computer Intensive Methods in Control and Signal Processing Applying new numerical algorithms to the solution of discrete-time optimal control problems","author":"R Franke","year":"1997","unstructured":"Franke, R., Arnold, E.: Computer Intensive Methods in Control and Signal Processing Applying new numerical algorithms to the solution of discrete-time optimal control problems, pp. 105\u2013117. Springer, NY (1997)"},{"issue":"3","key":"208_CR30","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1007\/s12532-015-0081-7","volume":"7","author":"JV Frasch","year":"2015","unstructured":"Frasch, J.V., Sager, S., Diehl, M.: A parallel quadratic programming method for dynamic optimization problems. Math. Programm. Comput. 7(3), 289\u2013329 (2015)","journal-title":"Math. Programm. Comput."},{"key":"208_CR31","doi-asserted-by":"crossref","unstructured":"Frey, J., Cairano, S.D., Quirynen, R.: Active-Set based Inexact Interior Point QP Solver for Model Predictive Control. In: Proceedings of the IFAC World Congress (2020)","DOI":"10.1016\/j.ifacol.2020.12.067"},{"key":"208_CR32","doi-asserted-by":"crossref","unstructured":"Frey, J., Quirynen, R., Kouzoupis, D., Frison, G., Geisler, J., Schild, A., Diehl, M.: Detecting and exploiting Generalized Nonlinear Static Feedback structures in DAE systems for MPC. In: Proceedings of the European Control Conference (ECC) (2019)","DOI":"10.23919\/ECC.2019.8795732"},{"key":"208_CR33","unstructured":"Frison, G.: Algorithms and methods for high-performance model predictive control. Technical University of Denmark (DTU) (2015). (Ph.D. thesis)"},{"key":"208_CR34","doi-asserted-by":"crossref","unstructured":"Frison, G., Diehl, M.: In: HPIPM: a high-performance quadratic programming framework for model predictive control. In: Proceedings of the IFAC World Congress, Berlin, Germany (2020)","DOI":"10.1016\/j.ifacol.2020.12.073"},{"issue":"4","key":"208_CR35","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3210754","volume":"44","author":"G Frison","year":"2018","unstructured":"Frison, G., Kouzoupis, D., Sartor, T., Zanelli, A., Diehl, M.: BLASFEO: Basic linear algebra subroutines for embedded optimization. ACM Trans. Math. Softw. (TOMS) 44(4), 1\u201330 (2018)","journal-title":"ACM Trans. Math. Softw. (TOMS)"},{"key":"208_CR36","unstructured":"Frison, G., Quirynen, R., Zanelli, A., Diehl, M., J\u00f8rgensen, J.B.: Hardware tailored linear algebra for implicit integrators in embedded NMPC. In: Proceedings of the IFAC World Congress (2017)"},{"key":"208_CR37","doi-asserted-by":"crossref","unstructured":"Frison, G., Sorensen, H.B., Dammann, B., J\u00f8rgensen, J.B.: High-performance small-scale solvers for linear model predictive control. In: Proceedings of the European Control Conference (ECC). IEEE (2014)","DOI":"10.1109\/ECC.2014.6862490"},{"issue":"1","key":"208_CR38","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1145\/641876.641880","volume":"29","author":"EM Gertz","year":"2003","unstructured":"Gertz, E.M., Wright, S.J.: Object-oriented software for quadratic programming. ACM Trans. Math. Softw. 29(1), 58\u201381 (2003)","journal-title":"ACM Trans. Math. Softw."},{"key":"208_CR39","doi-asserted-by":"crossref","unstructured":"Giftthaler, M., Neunert, M., St\u00e4uble, M., Buchli, J.: The Control Toolbox\u2014an open-source C++ library for robotics, optimal and model predictive control. In: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) (2018)","DOI":"10.1109\/SIMPAR.2018.8376281"},{"key":"208_CR40","unstructured":"Griewank, A.: Evaluating Derivatives, Principles and Techniques of Algorithmic Differentiation. No.\u00a019 in Frontiers in Appl. Math. SIAM, Philadelphia (2000)"},{"key":"208_CR41","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1016\/j.jprocont.2005.06.005","volume":"16","author":"S Gros","year":"2006","unstructured":"Gros, S., Srinivasan, B., Bonvin, D.: Robust predictive control based on neighboring extremals. J. Process Control 16, 243\u2013253 (2006)","journal-title":"J. Process Control"},{"issue":"1","key":"208_CR42","doi-asserted-by":"publisher","first-page":"62","DOI":"10.1080\/00207179.2016.1222553","volume":"93","author":"S Gros","year":"2016","unstructured":"Gros, S., Zanon, M., Quirynen, R., Bemporad, A., Diehl, M.: From linear to nonlinear MPC: bridging the gap via the real-time iteration. Int. J. Control 93(1), 62\u201380 (2016)","journal-title":"Int. J. Control"},{"key":"208_CR43","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46024-6","volume-title":"Nonlinear Model Predictive Control","author":"L Gr\u00fcne","year":"2017","unstructured":"Gr\u00fcne, L., Pannek, J.: Nonlinear Model Predictive Control, vol. 2. Springer, NY (2017)"},{"key":"208_CR44","series-title":"Springer Series in Computational Mathematics","volume-title":"Solving Ordinary Differential Equations I","author":"E Hairer","year":"1993","unstructured":"Hairer, E., N\u00f8rsett, S., Wanner, G.: Solving Ordinary Differential Equations I. Springer Series in Computational Mathematics, 2nd edn. Springer, Berlin (1993)","edition":"2"},{"key":"208_CR45","volume-title":"Solving Ordinary Differential Equations II\u2014tiff and Differential-Algebraic Problems","author":"E Hairer","year":"1991","unstructured":"Hairer, E., Wanner, G.: Solving Ordinary Differential Equations II\u2014tiff and Differential-Algebraic Problems, 2nd edn. Springer, Heidelberg (1991)","edition":"2"},{"key":"208_CR46","unstructured":"Hehn, M., D\u2019Andrea, R.: A flying inverted pendulum. In: IEEE International Conference on Robotics and Automation, pp. 763\u2013770"},{"key":"208_CR47","doi-asserted-by":"crossref","unstructured":"Herceg, M., Kvasnica, M., Jones, C., Morari, M.: Multi-Parametric Toolbox 3.0. In: Proc. of the European Control Conference, pp. 502\u2013510. Z\u00fcrich, Switzerland (2013). (mpt)","DOI":"10.23919\/ECC.2013.6669862"},{"key":"208_CR48","unstructured":"Hermans, B., Themelis, A., Patrinos, P.: Qpalm: A proximal augmented lagrangian method for nonconvex quadratic programs. arXiv: 2010.02653"},{"issue":"10","key":"208_CR49","doi-asserted-by":"publisher","first-page":"2279","DOI":"10.1016\/j.automatica.2011.08.020","volume":"47","author":"B Houska","year":"2011","unstructured":"Houska, B., Ferreau, H.J., Diehl, M.: An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range. Automatica 47(10), 2279\u20132285 (2011)","journal-title":"Automatica"},{"key":"208_CR50","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1016\/j.conengprac.2015.01.002","volume":"39","author":"J Kalmari","year":"2015","unstructured":"Kalmari, J., Backman, J., Visala, A.: A toolkit for nonlinear model predictive control using gradient projection and code generation. Control Eng. Practice 39, 56\u201366 (2015)","journal-title":"Control Eng. Practice"},{"key":"208_CR51","doi-asserted-by":"crossref","unstructured":"K\u00e4pernick, B., Graichen, K.: The gradient based nonlinear model predicitive control software GRAMPC. In: Proceedings of the European Control Conference (ECC) (2014)","DOI":"10.1109\/ECC.2014.6862353"},{"key":"208_CR52","unstructured":"Katliar, M.: Optimal control of motion simulators. Albert-Ludwigs-Universit\u00e4t Freiburg (2020). (Ph.D. thesis)"},{"key":"208_CR53","doi-asserted-by":"crossref","unstructured":"Khusainov, B., Kerrigan, E.C., Suardi, A., Constantinides, G.A.: Nonlinear predictive control on a heterogeneous computing platform. In: Proceedings of the IFAC World Congress (2017)","DOI":"10.1016\/j.ifacol.2017.08.1413"},{"key":"208_CR54","doi-asserted-by":"crossref","unstructured":"Kirches, C., Bock, H.G., Schl\u00f6der, J.P., Sager, S.: Complementary condensing for the direct multiple shooting method. In: Bock, H.G., Hoang, X.P., Rannacher, R., Schl\u00f6der, J.P. (eds.) Modeling. Simulation and Optimization of Complex Processes, pp. 195\u2013206. Springer, Berlin Heidelberg (2012)","DOI":"10.1007\/978-3-642-25707-0_16"},{"key":"208_CR55","doi-asserted-by":"crossref","unstructured":"Kloeser, D., Schoels, T., Sartor, T., Zanelli, A., Frison, G., Diehl, M.: NMPC for racing using a singularity-free path-parametric model with obstacle avoidance. In: Proceedings of the IFAC World Congress (2020)","DOI":"10.1016\/j.ifacol.2020.12.1376"},{"key":"208_CR56","doi-asserted-by":"crossref","unstructured":"Kouzoupis, D., Ferreau, H.J., Peyrl, H., Diehl, M.: First-order methods in embedded nonlinear model predictive control. In: Proceedings of the European Control Conference (ECC), (2015)","DOI":"10.1109\/ECC.2015.7330932"},{"key":"208_CR57","doi-asserted-by":"crossref","unstructured":"Kouzoupis, D., Quirynen, R., Frasch, J.V., Diehl, M.: Block condensing for fast nonlinear MPC with the dual Newton strategy. In: Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC) 48, 26\u201331 (2015)","DOI":"10.1016\/j.ifacol.2015.11.258"},{"key":"208_CR58","unstructured":"Kvamme, S.: DuQuad Webpage. http:\/\/sverrkva.github.io\/duquad\/ (2014)"},{"key":"208_CR59","unstructured":"Leineweber, D.B.: Efficient reduced SQP methods for the optimization of chemical processes described by large sparse DAE models, Fortschritt-Berichte VDI Reihe 3, Verfahrenstechnik, vol. 613. VDI Verlag, D\u00fcsseldorf (1999)"},{"key":"208_CR60","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1016\/S0098-1354(02)00158-8","volume":"27","author":"DB Leineweber","year":"2003","unstructured":"Leineweber, D.B., Bauer, I., Bock, H.G., Schl\u00f6der, J.P.: An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization. Part I: theoretical aspects. Comput. Chem. Eng. 27, 157\u2013166 (2003)","journal-title":"Comput. Chem. Eng."},{"key":"208_CR61","first-page":"562","volume":"67","author":"WC Li","year":"1989","unstructured":"Li, W.C., Biegler, L.T.: Multistep, Newton-type control strategies for constrained nonlinear processes. Chem. Eng. Res. Des. 67, 562\u2013577 (1989)","journal-title":"Chem. Eng. Res. Des."},{"issue":"5","key":"208_CR62","doi-asserted-by":"publisher","first-page":"628","DOI":"10.1002\/oca.2123","volume":"36","author":"A Liniger","year":"2015","unstructured":"Liniger, A., Domahidi, A., Morari, M.: Optimization-based autonomous racing of 1:43 scale RC cars. Optim. Control Appl. Methods 36(5), 628\u2013647 (2015)","journal-title":"Optim. Control Appl. Methods"},{"issue":"2","key":"208_CR63","doi-asserted-by":"publisher","first-page":"709","DOI":"10.1002\/oca.2566","volume":"41","author":"P Listov","year":"2020","unstructured":"Listov, P., Jones, C.: PolyMPC: an efficient and extensible tool for real-time nonlinear model predictive tracking and path following for fast mechatronic systems. Optim. Control Appl. Methods 41(2), 709\u2013727 (2020)","journal-title":"Optim. Control Appl. Methods"},{"key":"208_CR64","doi-asserted-by":"publisher","first-page":"022041","DOI":"10.1088\/1742-6596\/1618\/2\/022041","volume":"1618","author":"S L\u00f6w","year":"2020","unstructured":"L\u00f6w, S., Obradovic, D., Bottasso, C.: Model predictive control of wind turbine fatigue via online rainflow-counting on stress history and prediction. J. Phys. Conf. Ser. 1618, 022041 (2020)","journal-title":"J. Phys. Conf. Ser."},{"key":"208_CR65","volume-title":"Predictive Control with Constraints","author":"JM Maciejowski","year":"2002","unstructured":"Maciejowski, J.M.: Predictive Control with Constraints. Prentice Hall, NY (2002)"},{"key":"208_CR66","unstructured":"MathWorks, T.: The model predictive control toolbox. https:\/\/mathworks.com\/products\/mpc.html (2005)"},{"key":"208_CR67","doi-asserted-by":"crossref","unstructured":"Mattingley, J., Boyd, S.: CVXGEN, A code generator for embedded convex optimization. Optimization and Engineering , 1\u201327 (2012)","DOI":"10.1007\/s11081-011-9176-9"},{"key":"208_CR68","unstructured":"Melis, W., Patrinos, P.: C code generation for NMPC. https:\/\/github.com\/kul-forbes\/nmpc-codegen (2018)"},{"key":"208_CR69","series-title":"Springer Series in Operations Research and Financial Engineering","volume-title":"Numerical Optimization","author":"J Nocedal","year":"2006","unstructured":"Nocedal, J., Wright, S.J.: Numerical Optimization. Springer Series in Operations Research and Financial Engineering, vol. 2. Springer, Ny (2006)"},{"key":"208_CR70","doi-asserted-by":"crossref","unstructured":"Nurkanovi\u0107, A., Zanelli, A., Frison, G., Albrecht, S., Diehl, M.: Contraction properties of the advanced step real-time iteration. In: Proceedings of the IFAC World Congress, vol.\u00a051 (2020). (accepted)","DOI":"10.1016\/j.ifacol.2020.12.449"},{"issue":"4","key":"208_CR71","doi-asserted-by":"publisher","first-page":"563","DOI":"10.1016\/j.automatica.2003.11.005","volume":"40","author":"T Ohtsuka","year":"2004","unstructured":"Ohtsuka, T.: A continuation\/GMRES method for fast computation of nonlinear receding horizon control. Automatica 40(4), 563\u2013574 (2004)","journal-title":"Automatica"},{"issue":"4","key":"208_CR72","doi-asserted-by":"publisher","first-page":"3355","DOI":"10.1109\/LRA.2019.2926664","volume":"4","author":"AG Pandala","year":"2019","unstructured":"Pandala, A.G., Ding, Y., Park, H.W.: qpSWIFT: a real-time sparse quadratic program solver for robotic applications. IEEE Robot. Autom. Lett. 4(4), 3355\u20133362 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"208_CR73","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1109\/TAC.2013.2275667","volume":"59","author":"P Patrinos","year":"2014","unstructured":"Patrinos, P., Bemporad, A.: An accelerated dual gradient-projection algorithm for embedded linear model predictive control. Automatic Control, IEEE Trans. 59(1), 18\u201333 (2014)","journal-title":"Automatic Control, IEEE Trans."},{"key":"208_CR74","unstructured":"Qin, S., Badgwell, T.: An overview of industrial model predictive control technology. In: Kantor, J., Garcia, C., Carnahan, B. (eds.) Fifth International Conference on Chemical Process Control - CPC V, pp. 232\u2013256. American Institute of Chemical Engineers (1996)"},{"key":"208_CR75","doi-asserted-by":"crossref","unstructured":"Quirynen, R., Gros, S., Diehl, M.: Efficient NMPC for nonlinear models with linear subsystems. In: Proceedings of the IEEE Conference on Decision and Control (CDC), (2013)","DOI":"10.1109\/CDC.2013.6760690"},{"issue":"1","key":"208_CR76","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1137\/16M1079002","volume":"28","author":"R Quirynen","year":"2018","unstructured":"Quirynen, R., Gros, S., Diehl, M.: Inexact Newton-type optimization with iterated sensitivities. SIAM J. Optim. 28(1), 74\u201395 (2018)","journal-title":"SIAM J. Optim."},{"issue":"4","key":"208_CR77","doi-asserted-by":"publisher","first-page":"527","DOI":"10.1007\/s12532-017-0119-0","volume":"9","author":"R Quirynen","year":"2017","unstructured":"Quirynen, R., Gros, S., Houska, B., Diehl, M.: Lifted collocation integrators for direct optimal control in ACADO toolkit. Math. Programm. Comput. 9(4), 527\u2013571 (2017)","journal-title":"Math. Programm. Comput."},{"key":"208_CR78","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1016\/j.jprocont.2016.11.011","volume":"50","author":"R Quirynen","year":"2017","unstructured":"Quirynen, R., Houska, B., Diehl, M.: Efficient symmetric Hessian propagation for direct optimal control. J. Process Control 50, 19\u201328 (2017)","journal-title":"J. Process Control"},{"key":"208_CR79","doi-asserted-by":"crossref","unstructured":"Quirynen, R., Knyazev, A., Di Cairano, S.: Block structured preconditioning within an active-set method for real-time optimal control. In: Proceedings of the European Control Conference (ECC) (2018)","DOI":"10.23919\/ECC.2018.8550316"},{"key":"208_CR80","doi-asserted-by":"publisher","first-page":"723","DOI":"10.1023\/A:1021711402723","volume":"99","author":"CV Rao","year":"1998","unstructured":"Rao, C.V., Wright, S.J., Rawlings, J.B.: Application of interior-point methods to model predictive control. J. Optim. Theory Appl. 99, 723\u2013757 (1998)","journal-title":"J. Optim. Theory Appl."},{"key":"208_CR81","volume-title":"Model Predictive Control: Theory, Computation, and Design","author":"JB Rawlings","year":"2017","unstructured":"Rawlings, J.B., Mayne, D.Q., Diehl, M.M.: Model Predictive Control: Theory, Computation, and Design, 2nd edn. Nob Hill, NY (2017)","edition":"2"},{"key":"208_CR82","doi-asserted-by":"crossref","unstructured":"Sathya, A., Sopasakis, P., Themelis, A., Parys, R.V., Pipeleers, G., Patrinos, P.: Embedded nonlinear model predictive control for obstacle avoidance using PANOC. In: Proceedings of the European Control Conference (ECC) (2018)","DOI":"10.23919\/ECC.2018.8550253"},{"issue":"9","key":"208_CR83","doi-asserted-by":"publisher","first-page":"1251","DOI":"10.1177\/0278364914528132","volume":"33","author":"J Schulman","year":"2014","unstructured":"Schulman, J., Duan, Y., Ho, J., Lee, A., Awwal, I., Bradlow, H., Pan, J., Patil, S., Goldberg, K., Abbeel, P.: Motion planning with sequential convex optimization and convex collision checking. Int. J. Robot. Res. 33(9), 1251\u20131270 (2014)","journal-title":"Int. J. Robot. Res."},{"key":"208_CR84","unstructured":"Shukla, H., Khusainov, B., Kerrigan, E., Jones, C.: Software and hardware code generation for predictive control using splitting methods. In: Proceedings of the IFAC World Congress (2017)"},{"key":"208_CR85","unstructured":"Sopasakis, P., Fresk, E., Patrinos, P.: OpEn: Code generation for embedded nonconvex optimization. In: IFAC World Congress"},{"key":"208_CR86","unstructured":"Steinbach, M.: Fast recursive SQP methods for large-scale optimal control problems. University of Heidelberg, IWR (1995). (PhD thesis)"},{"issue":"4","key":"208_CR87","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1007\/s12532-020-00179-2","volume":"12","author":"B Stellato","year":"2020","unstructured":"Stellato, B., Banjac, G., Goulart, P., Bemporad, A., Boyd, S.: OSQP: an operator splitting solver for quadratic programs. Math. Programm. Comput. 12(4), 637\u2013672 (2020)","journal-title":"Math. Programm. Comput."},{"issue":"3","key":"208_CR88","doi-asserted-by":"publisher","first-page":"1968","DOI":"10.1137\/16M1098103","volume":"56","author":"G Torrisi","year":"2018","unstructured":"Torrisi, G., Grammatico, S., Smith, R.S., Morari, M.: A projected gradient and constraint linearization method for nonlinear model predictive control. SIAM J. Control Optim. 56(3), 1968\u20131999 (2018)","journal-title":"SIAM J. Control Optim."},{"key":"208_CR89","unstructured":"Ullmann, F.: FiOrdOs: A Matlab toolbox for C-code generation for first order methods. ETH Zurich (2011). (Master\u2019s thesis, ETH Zurich)"},{"key":"208_CR90","doi-asserted-by":"crossref","unstructured":"Verschueren, R., van Duijkeren, N., Quirynen, R., Diehl, M.: Exploiting convexity in direct optimal control: a sequential convex quadratic programming method. In: Proceedings of the IEEE Conference on Decision and Control (CDC) (2016)","DOI":"10.1109\/CDC.2016.7798414"},{"key":"208_CR91","doi-asserted-by":"crossref","unstructured":"Verschueren, R., Frison, G., Kouzoupis, D., van Duijkeren, N., Zanelli, A., Quirynen, R., Diehl, M.: Towards a modular software package for embedded optimization. In: Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC) (2018)","DOI":"10.1016\/j.ifacol.2018.11.062"},{"issue":"3","key":"208_CR92","doi-asserted-by":"publisher","first-page":"2085","DOI":"10.1137\/16M1081543","volume":"27","author":"R Verschueren","year":"2017","unstructured":"Verschueren, R., Zanon, M., Quirynen, R., Diehl, M.: A sparsity preserving convexification procedure for indefinite quadratic programs arising in direct optimal control. SIAM J. Optim. 27(3), 2085\u20132109 (2017)","journal-title":"SIAM J. Optim."},{"key":"208_CR93","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1137\/S1052623403426556","volume":"16","author":"A W\u00e4chter","year":"2006","unstructured":"W\u00e4chter, A., Biegler, L.T.: Line search filter methods for nonlinear programming: motivation and global convergence. SIAM J. Optim. 16, 1\u201331 (2006)","journal-title":"SIAM J. Optim."},{"issue":"1","key":"208_CR94","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1007\/s10107-004-0559-y","volume":"106","author":"A W\u00e4chter","year":"2006","unstructured":"W\u00e4chter, A., Biegler, L.T.: On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming. Math. Programm. 106(1), 25\u201357 (2006)","journal-title":"Math. Programm."},{"key":"208_CR95","doi-asserted-by":"crossref","unstructured":"Wirsching, L., Bock, H.G., Diehl, M.: Fast NMPC of a chain of masses connected by springs. In: Proceedings of the IEEE International Conference on Control Applications, Munich, (2006)","DOI":"10.1109\/CCA.2006.285936"},{"issue":"1","key":"208_CR96","first-page":"1","volume":"93","author":"A Zanelli","year":"2017","unstructured":"Zanelli, A., Domahidi, A., Jerez, J.L., Morari, M.: FORCES NLP: An efficient implementation of interior-point methods for multistage nonlinear nonconvex programs. Int. J. Control 93(1), 1\u201326 (2017)","journal-title":"Int. J. Control"},{"key":"208_CR97","unstructured":"Zanelli, A., Kullick, J., Eldeeb, H., Frison, G., Hackl, C., Diehl, M.: Continuous control set nonlinear model predictive control of reluctance synchronous machines. IEEE Transactions on Control Systems Technology (accepted) - arXiv:1910.10681, (2019)"},{"key":"208_CR98","doi-asserted-by":"crossref","unstructured":"Zanelli, A., Quirynen, R., Diehl, M.: In: Efficient zero-order NMPC with feasibility and stability guarantees. In: Proceedings of the European Control Conference (ECC)., Naples, Italy (2019)","DOI":"10.23919\/ECC.2019.8796144"},{"key":"208_CR99","doi-asserted-by":"crossref","unstructured":"Zometa, P., K\u00f6gel, M., Findeisen, R.: muAO-MPC: A free code generation tool for embedded real-time linear model predictive control. In: 2013 American Control Conference, pp. 5320\u20135325 (2013)","DOI":"10.1109\/ACC.2013.6580668"}],"container-title":["Mathematical Programming Computation"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12532-021-00208-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12532-021-00208-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12532-021-00208-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,10,28]],"date-time":"2022-10-28T02:37:30Z","timestamp":1666924650000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12532-021-00208-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,10,9]]},"references-count":99,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,3]]}},"alternative-id":["208"],"URL":"https:\/\/doi.org\/10.1007\/s12532-021-00208-8","relation":{},"ISSN":["1867-2949","1867-2957"],"issn-type":[{"value":"1867-2949","type":"print"},{"value":"1867-2957","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,10,9]]},"assertion":[{"value":"19 July 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 July 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 October 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}