Alpaqa: A matrix-free solver for nonlinear MPC and large-scale nonconvex optimization

4 Dec 2021  ·  Pieter Pas, Mathijs Schuurmans, Panagiotis Patrinos ·

This paper presents alpaqa, an open-source C++ implementation of an augmented Lagrangian method for nonconvex constrained numerical optimization, using the first-order PANOC algorithm as inner solver. The implementation is packaged as an easy-to-use library that can be used in C++ and Python. Furthermore, two improvements to the PANOC algorithm are proposed and their effectiveness is demonstrated in NMPC applications and on the CUTEst benchmarks for numerical optimization. The source code of the alpaqa library is available at and binary packages can be installed from .

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Optimization and Control Systems and Control Systems and Control 65K05, 49M37, 90C30