Version 8 (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

qpOASES is self-contained! Except for a couple of standards libraries, no further external software packages are required. Optionally, the LAPACK and BLAS libraries can be linked for performing internal linear algebra operations.

qpOASES has been successfully installed on PCs running Linux, Windows or Mac OS, and can also run on embedded computing hardware. Detailled information on how to install qpOASES can be found on the Installation page.

Documentation and Support

qpOASES has a fully documented source code (see its doxygen-generated source code documentation) and provides a concise User's Manual. New users are recommended to start following the tutorial examples described in the manual.

In case you encounter any kind of troubles when installing or running qpOASES, please follow these steps:

  1. check whether you can find any hint in the User's Manual;
  2. browse the User Support knowledge base to see whether other users have encounter your problem before;
  3. browse All Issues reported by other users to see whether you find a solution to your problem.

If none of the above helps you to overcome your troubles, you are most welcome to ask for support. We strongly encourage you to send your bug report, question, remark, features request or any other kind of feedback by issuing a new ticket. When doing so, please follow our simple Feedback Guidelines in order to receive our help as soon as possible.

Interfaces and Applications

qpOASES comes along with a number of interfaces to third-party software, namely Matlab, Simulink, octave scilab, and python. Please consult Chapter 6 of the User's Manual to get more information.

Moreover, qpOASES can be used as QP solver in a number of third-party software, including the ACADO Toolkit, MUSCOD-II, YALMIP, CasADi.

Finally, it is worth mentioning that qpOASES has been successfully used in numerous real-world applications and industrial projects. See some of them on the Success Stories page. If you ...

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