{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/alpaqa-a-matrix-free-solver-for-nonlinear-mpc","title":"Alpaqa: A matrix-free solver for nonlinear MPC and large-scale nonconvex optimization","arxiv_id":"2112.02370","date":"2021-12-04","proceeding":null,"authors":["Pieter Pas","Mathijs Schuurmans","Panagiotis Patrinos"],"abstract":"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 https://github.com/kul-optec/alpaqa and binary packages can be installed from https://pypi.org/project/alpaqa .","url_abs":"https://arxiv.org/abs/2112.02370v1","url_pdf":"https://arxiv.org/pdf/2112.02370v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"alpaqa-a-matrix-free-solver-for-nonlinear-mpc","repo_url":"https://github.com/kul-optec/alpaqa","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"LGPL-3.0"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2112.02370","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}