Linux installation

Here is explained how to download, compile and use ACADO toolkit with CMake build system in Linux operating system. In particular, the focus is on Ubuntu distribution (or any Debian based distribution).

MATLAB installation

The instructions below are for building of the C++ library. If you are looking for the instructions on how to install and use the MATLAB interface, please click here.


For starters, one needs to download a few packages via apt-get package manager (you will need root privileges):

sudo apt-get install gcc g++ cmake git gnuplot doxygen graphviz

The following packages are mandatory: gcc, g++, cmake and subversion. Gnuplot, Doxygen and Graphviz are optional. ACADO can work without those packages, but you will not be able to visualize results and/or generate API documentation.


Please download the toolkit code. Our suggestion is to always clone stable branch:

git clone -b stable ACADOtoolkit

We will refer to the ACADOtoolkit folder as <ACADO_ROOT>.

Go to ACADOtoolkit folder and create a build folder for an out-of-source build:

cd ACADOtoolkit
mkdir build
cd build

Run CMake to generate makefiles and start the building process:

cmake ..

Check whether the installation was successful by running an example:

cd ..
cd examples/getting_started

Now you can proceed to the documentation related page, where you can find out more about tutorials, source code documentation etc.


In case you want to compile ACADO in debug mode, you can run CMake like this:

cmake -DCMAKE_BUILD_TYPE=Debug ..

Alternative code download

If for any reason you cannot download the code using GIT or you do not want to use GIT (this is not encouraged!), you can download the code in a zip archive

  1. current code from the stable branch or

  2. current code from the master branch

Those archives are automatically updated after each successfully compiled and tested commit we push to the GIT repository.