This repository contains the code to reproduce the results published in the paper "Advanced-Step Real-time Iterations with Four Levels - New Error Bounds and Fast Implementation in acados" by Jonathan Frey, Armin Nurkanovic and Moritz Diehl.
Available on https://arxiv.org/abs/2403.07101 and submitted to CDC and L-CSS.
The required acados version v0.3.2
was used to produce the results in the publication.