# MPC with ROS

## Model predictive control from ETHZ-ASL

* It contains non-linear and linear MPC
  * Linear Controller uses the [CVXGEN solver](https://cvxgen.com/docs/index.html)
  * Non - Linear Controller uses the [ACADO Toolkit](http://acado.github.io/) 

{% embed url="<https://github.com/ethz-asl/mav_control_rw>" %}

## Model predictive control from UZH-RPG

* It uses the [ACADO Toolkit](http://acado.github.io/) for solving optimisation problem&#x20;

{% embed url="<https://github.com/uzh-rpg/rpg_mpc>" %}


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