DAQP can be used as the underlying QP solver in code-generation frameworks for linear Model Predictive Control (MPC). These tools let you design an MPC controller symbolically and then automatically generate a self-contained, library-free C implementation that can be deployed on embedded hardware.

LinearMPC.jl (Julia)

LinearMPC.jl is a Julia package for designing and deploying linear MPC controllers. It uses DAQP to solve the underlying condensed QP at each sampling instant and can export the controller — including the pre-factored workspace — as standalone C code.

Installation

] add LinearMPC

Basic usage

using LinearMPC

# Discrete-time double integrator
A = [1.0 1.0; 0.0 1.0];
B = [0.5; 1.0];
C = [1.0 0.0];

# MPC parameters
Np = 10;   # prediction horizon
Q  = [1.0 0.0; 0.0 0.0];   # state cost
R  = [0.1;;];               # input cost

ctrl = LinearMPC.LQRController(A, B, C, Q, R, Np);

# Set input and state constraints
LinearMPC.set_constraints!(ctrl; u_min=[-1.0], u_max=[1.0])

# Compute optimal input for current state x0
x0  = [1.0; 0.0];
u   = LinearMPC.control(ctrl, x0)

Code generation

Once the controller is set up, export it as C code with:

LinearMPC.codegen(ctrl; dir="mpc_code")

This writes a self-contained C implementation (using DAQP) to the mpc_code/ directory, ready to be compiled and deployed on embedded targets.

lmpc (Python)

lmpc is the Python counterpart to LinearMPC.jl. It provides the same workflow — design an MPC controller in Python, then generate embedded C code powered by DAQP.

Installation

pip install lmpc

Basic usage

import numpy as np
from lmpc import LQRController

# Discrete-time double integrator
A = np.array([[1.0, 1.0], [0.0, 1.0]])
B = np.array([[0.5], [1.0]])

# MPC parameters
Np = 10
Q  = np.diag([1.0, 0.0])
R  = np.array([[0.1]])

ctrl = LQRController(A, B, Q, R, Np)

# Set constraints
ctrl.set_constraints(u_min=[-1.0], u_max=[1.0])

# Compute optimal input for current state
x0 = np.array([1.0, 0.0])
u  = ctrl.control(x0)

Code generation

ctrl.codegen(dir="mpc_code")

As with LinearMPC.jl, this produces a standalone C implementation using DAQP that can be compiled and flashed to embedded hardware without any external dependencies.