Abstract: Systems and methods for automatically generating solver code for a nonlinear model predictive controller are disclosed. In one embodiment, a method of automatically generating solver code for a nonlinear model predictive control solver includes receiving an optimal control problem code, wherein the optimal control problem code represents an optimal control problem comprising a cost function, one or more constraints, and a continuous time model representing dynamics of a system. The method further includes receiving a discretization method preference, a linearization point preference, and a parameter specification, and encoding the optimal control problem into an optimization problem by discretizing the optimal control problem according to the discretization method preference, and linearizing the optimal control problem according to the linearization point preference. The method further includes generating the solver code from the optimization problem.