We assume you have: git, make, cmake installed on your system.

Clone acados

Clone acados and its submodules by running:

git clone
git submodule update --recursive --init

Build and install acados

Both a CMake and a Makefile based build system is supported at the moment. Please choose one and proceed with the corresponding paragraph.


Install acados as follows:

mkdir -p build
cd build
# add more optional arguments e.g. -DACADOS_WITH_OSQP=OFF/ON -DACADOS_INSTALL_DIR=<path_to_acados_installation_folder> above
make install

NOTE: you can set the BLASFEO_TARGET in <acados_root_folder>/CMakeLists.txt. For a list of supported targets, we refer to . The default is X64_AUTOMATIC, which attempts to determine the best available target for your machine.


Set the BLASFEO_TARGET in <acados_root_folder>/Makefile.rule. Since some of the C examples use qpOASES, also set ACADOS_WITH_QPOASES = 1 in <acados_root_folder>/Makefile.rule. For a list of supported targets, we refer to . Install acados as follows:

make shared_library
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<path_to_acados_folder>/lib
make examples_c
make run_examples_c

Interfaces installation

For the installation of Python/MATLAB/Octave interfaces, please refer to the Interfaces page.

Windows (for use with Matlab)


You should have the following software installed on your machine.

Prepare acados build

  • Locate the cmake.exe file. The default location is C:\Program Files\CMake311\bin.

  • Add this path to your environment variable PATH, using the Windows GUI. To open the GUI press Windows key and type “env”.

  • Install mingw from MATLAB add-ons manager.

  • Locate this mingw installation. The default location is C:\ProgramData\MATLAB\SupportPackages\R2018a\3P.instrset\mingw_w64.instrset.

  • Add the subfolders bin and x86_64-w64-mingw32\bin of the above mentioned mingw installation to your environment variable PATH.

Clone acados

Clone acados and its submodules by running the following from your Git shell:

git clone
cd acados
git submodule update --recursive --init

Build acados

Run the following from a powershell in the <acados_root_folder>:

mkdir -p build
cd build

Configure the cmake command if you want to use other external QP solvers or change the HPIPM and BLASFEO targets.

# useful options to add above:
# NOTE: check the output of cmake: -- Installation directory: should be <acados_root_folder>,
#     if this is not the case, set -DACADOS_INSTALL_DIR=<acados_root_folder> explicitly above.

In a powershell, navigate to the folder <acados_root_folder>/build and execute

mingw32-make.exe -j4
mingw32-make.exe install

Try a Matlab example

  • Open Matlab

  • select MinGW compiler using mbuild/ mex

  • go to <acados_root_folder>/examples/acados_matlab_octave

  • run acados_env_variables_windows

  • go to the getting_started subfolder

  • run minimal_example_ocp