This repository provides accelerated implementations of the SLS Active Set and RSPI Control Allocation Algorithm in C presented in the paper:
S. Hafner, S. Myschik, and F. Holzapfel, “Accelerating Sequential Least Squares Active Set Control Allocation,” Control Engineering Practice, vol. 166, p. 106621, 2026, doi: https://doi.org/10.1016/j.conengprac.2025.106621.
Please cite this paper when using the code in your project.
Maintainer: Simon Hafner simon.hafner@tum.de