diff --git a/C++/ADCodeGen/CMakeLists.txt b/C++/ADCodeGen/CMakeLists.txt
index f11bbaf..ceae40d 100644
--- a/C++/ADCodeGen/CMakeLists.txt
+++ b/C++/ADCodeGen/CMakeLists.txt
@@ -8,6 +8,7 @@ include_directories("..")
 #include_directories(.)
 include_directories(../External/Eigen)
 include_directories(../External/Json/include)
+include_directories(../External/lib/include)
 
 add_executable(ADCodeGen
         ad_dynamics.cpp
@@ -16,4 +17,5 @@ add_executable(ADCodeGen
         ../Params/params.cpp
         main.cpp)
 
+target_link_libraries(ADCodeGen ${CMAKE_SOURCE_DIR}/../External/lib/lib/libcppad_lib.so)
 #target_link_libraries(ADCodeGen cppad_cg_RK4.so m)
diff --git a/C++/CMakeLists.txt b/C++/CMakeLists.txt
index b01c963..694d74b 100644
--- a/C++/CMakeLists.txt
+++ b/C++/CMakeLists.txt
@@ -5,11 +5,10 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_FLAGS "-O0")
 
 include_directories(.)
-include_directories(External/blasfeo/lib/include)
-include_directories(External/hpipm/lib/include)
 include_directories(External/matplotlib)
 include_directories(External/Eigen)
 include_directories(External/Json/include)
+include_directories(External/lib/include)
 
 add_executable(MPCC
         main.cpp
@@ -40,4 +39,4 @@ find_package(Python3 COMPONENTS Interpreter NumPy Development)
 target_include_directories(MPCC PRIVATE ${Python3_INCLUDE_DIRS})
 target_link_libraries(MPCC ${Python3_LIBRARIES})
 
-target_link_libraries(MPCC ${CMAKE_SOURCE_DIR}/External/hpipm/lib/lib/libhpipm.a ${CMAKE_SOURCE_DIR}/External/blasfeo/lib/lib/libblasfeo.a m)
+target_link_libraries(MPCC ${CMAKE_SOURCE_DIR}/External/lib/lib/libhpipm.a ${CMAKE_SOURCE_DIR}/External/lib/lib/libblasfeo.a m dl)
diff --git a/C++/README.md b/C++/README.md
index b4ca7dc..77bf040 100644
--- a/C++/README.md
+++ b/C++/README.md
@@ -44,7 +44,7 @@ To install all the dependencies run
 ```
 ./install.sh
 ```
-this clones `blasfeo`, `hpipm`, `matplotlip-cpp`, `nlohmann/json`, and `eigen`, from their git repo, and safes them in a folder External. Additionally, it installs `blasfeo` and `hpipm` in the same External folder, thus no admin rights are necessary.
+this clones `blasfeo`, `hpipm`, `matplotlip-cpp`, `nlohmann/json`, `eigen`, `cppad`, and `cppad-codegen` from their git repo, and safes them in a folder External. Additionally, it installs `blasfeo`, `hpipm`, `cppad`, and `cppad-codegen` in the same External folder, thus no admin rights are necessary. You may need to install `llvm` and `clang` with admin rights in order for `cppad-codegen` to build properly.
 
 Note that `matplotlib-cpp` does also require `Python-2.7` and `matplotlib`, for more details see (https://github.com/lava/matplotlib-cpp).
 
diff --git a/C++/install.sh b/C++/install.sh
index c00a405..039e455 100755
--- a/C++/install.sh
+++ b/C++/install.sh
@@ -29,7 +29,7 @@ git clone "$repository_hpipm" "$localFolder_hpipm"
 repository_matplotlib="https://github.com/lava/matplotlib-cpp.git"
 localFolder_matplotlib="External/matplotlib"
 git clone "$repository_matplotlib" "$localFolder_matplotlib"
-## clone eigne
+## clone eigen
 repository_eigen="https://gitlab.com/libeigen/eigen.git"
 localFolder_eigen="External/Eigen"
 git clone "$repository_eigen" "$localFolder_eigen"
@@ -37,20 +37,43 @@ git clone "$repository_eigen" "$localFolder_eigen"
 repository_json="https://github.com/nlohmann/json.git"
 localFolder_json="External/Json"
 git clone "$repository_json" "$localFolder_json"
-
+## clone cppad
+repository_cppad="https://github.com/coin-or/CppAD.git"
+localFolder_cppad="External/CppAD"
+git clone "$repository_cppad" "$localFolder_cppad"
+## clone cppad codegen
+repository_cppadcg="https://github.com/joaoleal/CppADCodeGen.git"
+localFolder_cppadcg="External/CppADCodeGen"
+git clone "$repository_cppadcg" "$localFolder_cppadcg"
 
 cd External/blasfeo
 mkdir -p build
-mkdir -p lib
+mkdir -p ../lib
 cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../lib)
+cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../../lib)
 make
 make install
 
 cd ../../hpipm
 mkdir -p build
-mkdir -p lib
+mkdir -p ../lib
+cd build
+cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../../lib) -DBLASFEO_PATH=$(realpath ../../lib)
+make
+make install
+
+cd ../../CppAD
+mkdir -p build
+mkdir -p ../lib
+cd build
+cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../../lib)
+make
+make install
+
+cd ../../CppADCodeGen
+mkdir -p build
+mkdir -p ../lib
 cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../lib) -DBLASFEO_PATH=$(realpath ../../blasfeo/lib)
+cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../../lib)
 make
 make install