# Publications related to qpOASES

qpOASES is being developed since 2007. The following scientific publications reflect its most important development highlights:

- Prerequisite: parametric QP algorithm proposed in 1996 (by Prof. Best):

M.J. Best: Applied Mathematics and Parallel Computing, chapter An Algorithm for the Solution of the Parametric Quadratic Programming Problem, pp. 57–76. Physica-Verlag, Heidelberg, 1996.pdf

- Development of online active set strategy for model predictive control in 2006:

H.J. Ferreau. An Online Active Set Strategy for Fast Solution of Parametric Quadratic Programs with Applications to Predictive Engine Control. Master’s thesis, University of Heidelberg, 2006.pdf

- First real-world application controlling a Diesel engine testbench in 2007:

H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, and M. Diehl. Predictive control of a real-world diesel engine using an extended online active set strategy. Annual Reviews in Control, 31(2), pp. 293–301, 2007.pdf

- Journal publication on the online active set strategy in 2008:

H. J. Ferreau, H. G. Bock, and M. Diehl. An online active set strategy to overcome the limitations of explicit MPC. International Journal of Robust and Nonlinear Control, 18(8), pp. 816–830, 2008.pdf

- One of the first industrial applications by Hoerbiger Control Systems AB, Sweden, in 2009:

J. Ängeby, M. Huschenbett, and D. Alberer. Automotive Model Predictive Control, volume 402 of Lecture Notes in Control and Information Sciences, chapter MIMO Model Predictive Control for Integral Gas Engines, pp. 257–272. Springer, 2010.pdf

- Important numerical improvements for increased reliability in 2010:

A. Potschka, C. Kirches, H.G. Bock, and J.P. Schlöder. Reliable solution of convex quadratic programs with parametric active set methods. Technical report, Interdisciplinary Center for Scientific Computing, Heidelberg University, Im Neuenheimer Feld 368, 69120 Heidelberg, GERMANY, November 2010.pdf

- Journal publication on the software package qpOASES in 2014:

H.J. Ferreau, C. Kirches, A. Potschka, H.G. Bock, and M. Diehl. qpOASES: A parametric active-set algorithm for quadratic programming. Mathematical Programming Computation, 6(4), pages 327-363, 2014.pdf

See also Introduction, Download, Success Stories, Authors and Contributors