diff --git a/CMakeLists.txt b/CMakeLists.txt
index 004fa23..b92d8e1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,7 +17,7 @@ set(OsqpEigen_VERSION "${OsqpEigen_MAJOR_VERSION}.${OsqpEigen_MINOR_VERSION}.${O
 # Set project version
 project(OsqpEigen VERSION ${OsqpEigen_VERSION})
 
-# ouptut paths
+# output paths
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
@@ -78,7 +78,7 @@ include(OsqpEigenDependencies)
 if(NOT CMAKE_CONFIGURATION_TYPES)
     if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Release" CACHE STRING
-        "Choose the type of build, recommanded options are: Debug or Release" FORCE)
+        "Choose the type of build, recommended options are: Debug or Release" FORCE)
     endif()
     set(OSQPEIGEN_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${OSQPEIGEN_BUILD_TYPES})
diff --git a/cmake/InstallBasicPackageFiles.cmake b/cmake/InstallBasicPackageFiles.cmake
index 077b95d..9a5d10d 100644
--- a/cmake/InstallBasicPackageFiles.cmake
+++ b/cmake/InstallBasicPackageFiles.cmake
@@ -44,7 +44,7 @@ function generates 3 files:
 If neither ``UPPERCASE_FILENAMES`` nor ``LOWERCASE_FILENAMES`` is
 set, a file ``<Name>Config.cmake.in`` or
 ``<name>-config.cmake.in`` is searched, and the convention
-is chosed according to the file found. If no file was found, the
+is chosen according to the file found. If no file was found, the
 uppercase convention is used.
 
 The ``DEPENDENCIES`` argument can be used to set a list of dependencies
@@ -585,7 +585,7 @@ ${_compatibility_vars}
   endforeach()
 
 
-  # <Name>ConfigVersion.cmake file (same for build tree and intall)
+  # <Name>ConfigVersion.cmake file (same for build tree and install)
   write_basic_package_version_file("${_IBPF_EXPORT_DESTINATION}/${_version_filename}"
                                    VERSION ${_IBPF_VERSION}
                                    COMPATIBILITY ${_IBPF_COMPATIBILITY}
diff --git a/docs/pages/mpc.md b/docs/pages/mpc.md
index 5903aed..023c101 100644
--- a/docs/pages/mpc.md
+++ b/docs/pages/mpc.md
@@ -100,7 +100,7 @@ Since the osqp-eigen handles only QP problem this operation shall be done by the
 castMPCToQPHessian(Q, R, mpcWindow, hessian);
 castMPCToQPGradient(Q, xRef, mpcWindow, gradient);
 castMPCToQPConstraintMatrix(a, b, mpcWindow, linearMatrix);
-castMPCToQPConstraintVectores(xMax, xMin, uMax, uMin, x0, mpcWindow, lowerBound, upperBound);
+castMPCToQPConstraintVectors(xMax, xMin, uMax, uMin, x0, mpcWindow, lowerBound, upperBound);
 \endcode
 
  \subsection OSQP_init Solver initialization
diff --git a/example/src/MPCExample.cpp b/example/src/MPCExample.cpp
index 6ee6b63..789c975 100644
--- a/example/src/MPCExample.cpp
+++ b/example/src/MPCExample.cpp
@@ -227,7 +227,7 @@ int main()
     Eigen::Matrix<double, 12, 1> x0;
     Eigen::Matrix<double, 12, 1> xRef;
 
-    // allocate QP problem matrices and vectores
+    // allocate QP problem matrices and vectors
     Eigen::SparseMatrix<double> hessian;
     Eigen::VectorXd gradient;
     Eigen::SparseMatrix<double> linearMatrix;
diff --git a/include/OsqpEigen/Data.hpp b/include/OsqpEigen/Data.hpp
index 58173ee..97ab88c 100644
--- a/include/OsqpEigen/Data.hpp
+++ b/include/OsqpEigen/Data.hpp
@@ -78,7 +78,7 @@ class Data
 
     /**
      * Set the quadratic part of the cost function (Hessian).
-     * It is assumed to be a simmetric matrix.
+     * It is assumed to be a symmetric matrix.
      * @param hessianMatrix is the Hessian matrix.
      * @return true/false in case of success/failure.
      */
diff --git a/include/OsqpEigen/Settings.hpp b/include/OsqpEigen/Settings.hpp
index 938c0cb..07e1c8d 100644
--- a/include/OsqpEigen/Settings.hpp
+++ b/include/OsqpEigen/Settings.hpp
@@ -99,7 +99,7 @@ class Settings
 
     /**
      * Set the absolute convergence tolerance.
-     * @param absoluteTolerance absoulte tolerance of the solver.
+     * @param absoluteTolerance absolute tolerance of the solver.
      */
     void setAbsoluteTolerance(const double absoluteTolerance);
 
diff --git a/include/OsqpEigen/Solver.hpp b/include/OsqpEigen/Solver.hpp
index d404398..f6072b0 100644
--- a/include/OsqpEigen/Solver.hpp
+++ b/include/OsqpEigen/Solver.hpp
@@ -66,7 +66,7 @@ class Solver
      * @param newIndices vector of the index mapping new elements
      * to position in the sparse matrix;
      * @param newValues vector of new elements in the sparse matrix.
-     * @return true if the sparsity patern is not changed false otherwise.
+     * @return true if the sparsity pattern is not changed false otherwise.
      */
     template <typename T>
     bool evaluateNewValues(const std::vector<Eigen::Triplet<T>>& oldMatrixTriplet,
@@ -144,7 +144,7 @@ class Solver
     bool isInitialized();
 
     /**
-     * Dealocate memory.
+     * Deallocate memory.
      */
     void clearSolver();
 
@@ -180,13 +180,13 @@ class Solver
 
     /**
      * Get the optimization problem solution.
-     * @return an Eigen::Vector contating the optimization result.
+     * @return an Eigen::Vector containing the optimization result.
      */
     const Eigen::Matrix<c_float, -1, 1>& getSolution();
 
     /**
      * Get the dual optimization problem solution.
-     * @return an Eigen::Vector contating the optimization result.
+     * @return an Eigen::Vector containing the optimization result.
      */
     const Eigen::Matrix<c_float, -1, 1>& getDualSolution();
 
@@ -238,7 +238,7 @@ class Solver
 
     /**
      * Update the quadratic part of the cost function (Hessian).
-     * It is assumed to be a simmetric matrix.
+     * It is assumed to be a symmetric matrix.
      * \note
      * If the sparsity pattern is preserved the matrix is simply update
      * otherwise the entire solver will be reinitialized. In this case
diff --git a/include/OsqpEigen/Solver.tpp b/include/OsqpEigen/Solver.tpp
index d17ec1c..38e6cf5 100644
--- a/include/OsqpEigen/Solver.tpp
+++ b/include/OsqpEigen/Solver.tpp
@@ -460,7 +460,7 @@ bool OsqpEigen::Solver::evaluateNewValues(const std::vector<Eigen::Triplet<T>>&
                                           std::vector<c_int>& newIndices,
                                           std::vector<c_float>& newValues) const
 {
-    // When updating the matrices for osqp, we need to provide the indeces to modify of the value
+    // When updating the matrices for osqp, we need to provide the indices to modify of the value
     // vector. The following can work since, when extracting triplets from osqp sparse matrices, the
     // order of the triplets follows the same order of the value vector.
     //  check if the sparsity pattern is changed
diff --git a/include/OsqpEigen/SparseMatrixHelper.hpp b/include/OsqpEigen/SparseMatrixHelper.hpp
index 20f403a..6a7508d 100644
--- a/include/OsqpEigen/SparseMatrixHelper.hpp
+++ b/include/OsqpEigen/SparseMatrixHelper.hpp
@@ -22,8 +22,8 @@
 namespace OsqpEigen
 {
 /**
- * SparseMatrixHelper namespace is a namspace that contains helper function to handle osqp matrix.
- * Use it to create ot update or manage an osqp sparse matrix.
+ * SparseMatrixHelper namespace is a namespace that contains helper function to handle osqp matrix.
+ * Use it to create to update or manage an osqp sparse matrix.
  * osqp sparse matrix in [compressed-column](https://people.sc.fsu.edu/~jburkardt/data/cc/cc.html)
  * or triplet form.
  */
diff --git a/tests/MPCTest.cpp b/tests/MPCTest.cpp
index 059af6f..92cdf5e 100644
--- a/tests/MPCTest.cpp
+++ b/tests/MPCTest.cpp
@@ -246,7 +246,7 @@ TEST_CASE("MPCTest")
     Eigen::Matrix<c_float, 12, 1> x0;
     Eigen::Matrix<c_float, 12, 1> xRef;
 
-    // allocate QP problem matrices and vectores
+    // allocate QP problem matrices and vectors
     Eigen::SparseMatrix<c_float> hessian;
     Eigen::Matrix<c_float, -1, 1> gradient;
     Eigen::SparseMatrix<c_float> linearMatrix;
@@ -296,7 +296,7 @@ TEST_CASE("MPCTest")
 
     // profiling quantities
     clock_t startTime, endTime;
-    c_float avarageTime = 0;
+    c_float averageTime = 0;
 
     for (int i = 0; i < numberOfSteps; i++)
     {
@@ -324,13 +324,13 @@ TEST_CASE("MPCTest")
 
         endTime = clock();
 
-        avarageTime += static_cast<double>(endTime - startTime) / CLOCKS_PER_SEC;
+        averageTime += static_cast<double>(endTime - startTime) / CLOCKS_PER_SEC;
     }
 
     // close the stream
     dataStream.close();
 
-    std::cout << COUT_GTEST_MGT << "Avarage time = " << avarageTime / numberOfSteps << " seconds."
+    std::cout << COUT_GTEST_MGT << "Average time = " << averageTime / numberOfSteps << " seconds."
               << ANSI_TXT_DFT << std::endl;
 
     constexpr double tolerance = 1e-2;
diff --git a/tests/MPCUpdateMatricesTest.cpp b/tests/MPCUpdateMatricesTest.cpp
index 7f7b2c2..ea1ff97 100644
--- a/tests/MPCUpdateMatricesTest.cpp
+++ b/tests/MPCUpdateMatricesTest.cpp
@@ -225,7 +225,7 @@ TEST_CASE("MPCTest Update matrices")
     Eigen::Matrix<c_float, 1, 1> yRef;
     Eigen::Matrix<c_float, 1, 1> y;
 
-    // allocate QP problem matrices and vectores
+    // allocate QP problem matrices and vectors
     Eigen::SparseMatrix<c_float> hessian;
     Eigen::Matrix<c_float, -1, 1> gradient;
     Eigen::SparseMatrix<c_float> linearMatrix;
@@ -273,7 +273,7 @@ TEST_CASE("MPCTest Update matrices")
 
     // profiling quantities
     clock_t startTime, endTime;
-    double avarageTime = 0;
+    double averageTime = 0;
 
     for (int i = 0; i < numberOfSteps; i++)
     {
@@ -310,12 +310,12 @@ TEST_CASE("MPCTest Update matrices")
 
         endTime = clock();
 
-        avarageTime += static_cast<double>(endTime - startTime) / CLOCKS_PER_SEC;
+        averageTime += static_cast<double>(endTime - startTime) / CLOCKS_PER_SEC;
     }
 
     // close the stream
     dataStream.close();
 
-    std::cout << COUT_GTEST_MGT << "Avarage time = " << avarageTime / numberOfSteps << " seconds."
+    std::cout << COUT_GTEST_MGT << "Average time = " << averageTime / numberOfSteps << " seconds."
               << ANSI_TXT_DFT << std::endl;
 }