discr_dir_mpc_solvers.qmd

---
title: "Numerical solvers for MPC"
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---

Essentially QP solvers with some extra features for MPC:

- warmstarting requires fesibility of the previous solution. If only a fixed number of iterations is allowed (in favor of predictable timing), for some methods the iterations may temporarily lose feasibility.
- ...

- [qpOASES](https://github.com/coin-or/qpOASES)
- [OSQP](https://osqp.org)
- [DAQP](https://github.com/darnstrom/daqp)
- [qpSWIFT](https://github.com/qpSWIFT/qpSWIFT)
- [ProxQP](https://github.com/Simple-Robotics/proxsuite)
- [PiQP](https://github.com/PREDICT-EPFL/piqp)
- [ECOS](https://github.com/embotech/ecos)
- [HPIPM](https://github.com/giaf/hpipm)