说明：  ACADO工具包是一个软件环境和算法集自动控制和动态优化。它为直接优化控制提供了多种算法，包括模型预测控制、状态参数估计和鲁棒优化。
(ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization.)