Version 6 (modified by ferreau, 5 years ago) (diff)


qpOASES is currently being moved to COIN-OR. Webpage is still under construction!

Welcome to the qpOASES webpage

Note that these project webpages are based on Wiki, which allows webusers to modify certain parts of the content or share their experience and tips with other users. You are welcome to contribute to the qpOASE project. To contribute to the Wiki or submit a ticket you must first register and login.


qpOASES is an open-source C++ implementation of the recently proposed online active set strategy, which was inspired by important observations from the field of parametric quadratic programming (QP). It has several theoretical features that make it particularly suited for model predictive control (MPC) applications. Further numerical modifications have made qpOASES a reliable QP solver, even when tackling semi-definite, ill-posed or degenerated QP problems. Moreover, several interfaces to third-party software like Matlab or Simulink are provided that make qpOASES easy-to-use even for users without knowledge of C/C++.

License and Download

qpOASES is open-source software, distributed under the GNU Lesser General Public License (LGPL), Version 2.1.

qpOASES is part of the COIN-OR Initiative and its code base is hosted in an SVN repository with public read access. You can either obtain the source code by using an SVN client or by downloading a zipped archive. More details are given on the Download page.

Installation and Dependencies


Documentation and Support


Interfaces and Applications


Citing qpOASES