EMB-145 First Officer reported an autopilot failure in cruise. The flight crew elected to continue flight to the destination airport.

Narrative

The events that led to the flight crew's decision-making started with the preflight. We were issued a plane that didn't have a working ACARS system. The Captain decided to adjust the fuel for a more fitting alternate. As the flight progressed; the plane experienced continuous light turbulence with occasional moderate. During a descent for a crossing restriction of 16;000 ft. at the ZZZ1 VOR; the flight crew experienced an autopilot failure. We received an associated EICAS message for the failure. At the same time; we briefly smelled what we believed to be smoke. The flight crew decided that the destination was the best airport to land to. ZZZ and ZZZ2 were our alternates. Given the situation; we didn't feel it [would] be wise to fly [and] extend the flight in the area of a front. We proceeded to ZZZ3; as scheduled. We completed all appropriate checklists.Looking back at the situation; I think the crew should've requested a plane with a working ACARS for better communication. ARINC is always an option but it momentarily takes a crew member out of their flying duties to establish that communication. The situation intensified with the non-favorable weather. The crew contacted ZZZ3 Operations but the radio reception was very weak; at the most critical time.