IREPA General discussions about IREPA and Acado Papers Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller (ICRA 2017) https://hal.archives-ouvertes.fr/hal-01591373 Documentation ACADO: http://acado.sourceforge.net/doc/pdf/acado_manual.pdf Installation/source code Please check https://github.com/nmansard/irepa