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1	<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
2	<html>
3
4	<head>
5	<meta http-equiv="Content-Language" content="en-us" />
6	<title>YALMIP 3 - Old news</title>
7	<meta http-equiv="Content-Type" content="text/html; charset=windows-1251" />
8	<meta content="Microsoft FrontPage 6.0" name="GENERATOR" />
9	<meta name="ProgId" content="FrontPage.Editor.Document" />
10	<link href="yalmip.css" type="text/css" rel="stylesheet" />
11	<base target="_self" />
12	</head>
13
14	<body>
15
16	<div align="left">
17	<table border="0" cellpadding="4" cellspacing="0" style="border-collapse: collapse" bordercolor="#000000" width="100%" align="left" height="100%">
18	<tr>
19	<td width="100%" align="left" height="100%" valign="top">
20
21	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table10">
22	<tr>
23	<td class="tableheader">
24	<p class="tableheader">YALMIP 3 [R20050920]</p>
25	</td>
26	</tr>
27	<tr>
28	<td>
29	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
30	<!--msimagelist--><tr>
31	<!--msimagelist--><td valign="baseline" width="42">
32	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
33	<td valign="top" width="100%">
34	<div>
35	Added a <a href="extoperators.htm">nonlinear operator</a>
36	to overload the concave function <code>geomean</code> (replaces <code>geomean2</code>). See <a href="ellipsoidal.htm">Determinant maximization</a> for a
37	description.</div>
38	<!--msimagelist--></td>
39	</tr>
40	<!--msimagelist--><tr>
41	<!--msimagelist--><td valign="baseline" width="42">
42	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
43	<td valign="top" width="100%">
44	<div>
45	Added a <a href="extoperators.htm">nonlinear operator</a>
46	to overload the concave function <code>sqrt</code>. Do NOT use
47	this command in problems you intend to solve the problem using geometric
48	programming or a non-conic solver.</div>
49	<!--msimagelist--></td>
50	</tr>
51	<!--msimagelist--><tr>
52	<!--msimagelist--><td valign="baseline" width="42">
53	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
54	<td valign="top" width="100%">
55	<div>
56	Added a <a href="extoperators.htm">nonlinear operator</a>
57	<a href="reference.htm#pwf">pwf</a>
58	to model piece-wise functions (experimental functionality serving as a good example of advanced use
59	of nonlinear operators.)</div>
60	<!--msimagelist--></td>
61	</tr>
62	<!--msimagelist--><tr>
63	<!--msimagelist--><td valign="baseline" width="42">
64	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
65	<td valign="top" width="100%">
66	<div>
67	Multiple solvers can now be specified in
68	<a href="reference.htm#sdpsettings_solver">sdpsettings</a>.</div>
69	<!--msimagelist--></td>
70	</tr>
71	<!--msimagelist--></table>
72	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
73	<!--msimagelist--><tr>
74	<!--msimagelist--><td valign="baseline" width="42">
75	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
76	<td valign="top" width="100%">
77	<div>
78	Cleaned up the engine behind the convexity analysis of <a href="extoperators.htm">nonlinear operators</a>
79	(Should be more robust and less conservative, but might be a bit
80	slower now. Please report any performance issues.)</div>
81	<!--msimagelist--></td>
82	</tr>
83	<!--msimagelist--></table>
84	<div>
85	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
86	<!--msimagelist--><tr>
87	<!--msimagelist--><td valign="baseline" width="42">
88	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
89	<td valign="top" width="100%">
90	<div>The function <code>detinv</code> has been removed (use
91	<code>geomean</code> instead)</div><!--msimagelist--></td>
92	</tr>
93	<!--msimagelist--><tr>
94	<!--msimagelist--><td valign="baseline" width="42">
95	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
96	<td valign="top" width="100%">
97	<div>Changed format for specification of <a href="extoperators.htm">nonlinear operators</a>.
98	If you have created your own, make sure to update it according
99	to the <a href="extoperators.htm#operatorformat">tracenorm
100	example</a> (second output needs to be changed)</div>
101	<!--msimagelist--></td>
102	</tr>
103	<!--msimagelist--></table>
104	</div>
105	</td>
106	</tr>
107
108	</table>
109	<br>
110
111
112	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table11">
113	<tr>
114	<td class="tableheader">
115	<p class="tableheader">YALMIP 3 [R20050915]</p>
116	</td>
117	</tr>
118	<tr>
119	<td>
120	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
121	<!--msimagelist--><tr>
122	<!--msimagelist--><td valign="baseline" width="42">
123	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
124	<td valign="top" width="100%">
125	<div>
126	Resolved a bug introduced in <b>R20050720</b> causing symmetry
127	reduction of sum of squares problem to be skipped in some cases.</div>
128	<!--msimagelist--></td>
129	</tr>
130	<!--msimagelist--></table>
131	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
132	<!--msimagelist--><tr>
133	<!--msimagelist--><td valign="baseline" width="42">
134	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
135	<td valign="top" width="100%">
136	<div>
137	Resolved a bug which caused <code>x'x</code> to act as <code>x.'x</code> on complex valued column-vectors x.</div>
138	<!--msimagelist--></td>
139	</tr>
140	<!--msimagelist--></table>
141
142
143	</td>
144	</tr>
145
146	</table>
147	<br>
148
149
150	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table12">
151	<tr>
152	<td class="tableheader">
153	<p class="tableheader">YALMIP 3 [R20050720]</p>
154	</td>
155	</tr>
156	<tr>
157	<td>
158	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
159	<!--msimagelist--><tr>
160	<!--msimagelist--><td valign="baseline" width="42">
161	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
162	<td valign="top" width="100%">
163	<div>
164	<a href="moment.htm">solvemoment</a> now returns the
165	associated sum-of-squares decomposition in the fourth output
166	argument.</div>
167	<!--msimagelist--></td>
168	</tr>
169	<!--msimagelist--><tr>
170	<!--msimagelist--><td valign="baseline" width="42">
171	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
172	<td valign="top" width="100%">
173	<div>
174	Low-rank
175	<a href="sos.htm#lowrank">sum of squares</a> decompositions
176	can now be computed by using the solver <a href="solvers.htm#LMIRANK">LMIRANK</a>.</div>
177	<!--msimagelist--></td>
178	</tr>
179	<!--msimagelist--></table>
180	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
181	<!--msimagelist--><tr>
182	<!--msimagelist--><td valign="baseline" width="42">
183	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
184	<td valign="top" width="100%">
185	<div>
186	Small changes to the command
187	<a href="reference.htm#export">export</a>
188	(you can now export the internal YALMIP model.)</div>
189	<!--msimagelist--></td>
190	</tr>
191	<!--msimagelist--><tr>
192	<!--msimagelist--><td valign="baseline" width="42">
193	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
194	<td valign="top" width="100%">
195	<div>
196	The <a href="extoperators.htm">nonlinear operator</a>
197	<b>abs</b> now works with complex-valued arguments.</div>
198	<!--msimagelist--></td>
199	</tr>
200	<!--msimagelist--><tr>
201	<!--msimagelist--><td valign="baseline" width="42">
202	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
203	<td valign="top" width="100%">
204	<div>
205	Small fixes related to the
206	<a href="geometric.htm">geometric programming</a> support.</div>
207	<!--msimagelist--></td>
208	</tr>
209	<!--msimagelist--></table>
210	</td>
211	</tr>
212
213	</table>
214	<br>
215
216
217	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table13">
218	<tr>
219	<td class="tableheader">
220	<p class="tableheader">YALMIP 3 [R20050620]</p>
221	</td>
222	</tr>
223	<tr>
224	<td>
225	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
226	<!--msimagelist--><tr>
227	<!--msimagelist--><td valign="baseline" width="42">
228	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
229	<td valign="top" width="100%">
230	<div>
231	Fixed a rather serious bug affecting
232	<a href="reference.htm#double">double</a>
233	on nonlinear variables (bug introduced in <b>R20050617</b> release).</div>
234	<!--msimagelist--></td>
235	</tr>
236	<!--msimagelist--></table>
237	</td>
238	</tr>
239
240	</table>
241	<br>
242
243
244	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table14">
245	<tr>
246	<td class="tableheader">
247	<p class="tableheader">YALMIP 3 [R20050617]</p>
248	</td>
249	</tr>
250	<tr>
251	<td>
252	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
253	<!--msimagelist--><tr>
254	<!--msimagelist--><td valign="baseline" width="42">
255	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
256	<td valign="top" width="100%">
257	<div>
258	Added support for <a href="impexp.htm">loading models</a> in
259	<a target="_blank" href="http://infohost.nmt.edu/~sdplib/FORMAT">
260	sparse SDPA ASCII format</a>.</div>
261	<!--msimagelist--></td>
262	</tr>
263	<!--msimagelist--><tr>
264	<!--msimagelist--><td valign="baseline" width="42">
265	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
266	<td valign="top" width="100%">
267	<div>
268	Added the function <a href="reference.htm#unblkdiag">unblkdiag</a>
269	to automatically detect and convert block diagonal
270	semidefiniteness constraints.</div>
271	<!--msimagelist--></td>
272	</tr>
273	<!--msimagelist--><tr>
274	<!--msimagelist--><td valign="baseline" width="42">
275	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
276	<td valign="top" width="100%">
277	<div>
278	Added the function <a href="reference.htm#dissect">dissect</a>
279	to automatically transform large sparse structured
280	semidefiniteness constraints to smaller block diagonal
281	constraints by introducing additional variables.</div>
282	<!--msimagelist--></td>
283	</tr>
284	<!--msimagelist--><tr>
285	<!--msimagelist--><td valign="baseline" width="42">
286	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
287	<td valign="top" width="100%">
288	<div>
289	The experimental cutting plane solver for mixed integer SDP is now
290	somewhat official.
291	Just use the solver-tag <code>cutsdp</code>. Note, this module
292	requires a fast MILP solver, and is only useful for very
293	special problem classes.</div>
294	<!--msimagelist--></td>
295	</tr>
296	<!--msimagelist--><tr>
297	<!--msimagelist--><td valign="baseline" width="42">
298	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
299	<td valign="top" width="100%">
300	<div>
301	Added the command <a href="reference.htm#blkvar">blkvar</a> to simplify
302	handling of block matrices.</div>
303	<!--msimagelist--></td>
304	</tr>
305	<!--msimagelist--><tr>
306	<!--msimagelist--><td valign="baseline" width="42">
307	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
308	<td valign="top" width="100%">
309	<div>
310	Multiple <a href="reference.htm#sdpvar">sdpvar</a> objects (placed
311	in a cell) can now be created in one call to <a href="reference.htm#sdpvar">sdpvar</a>
312	by using vector valued dimension.</div>
313	<!--msimagelist--></td>
314	</tr>
315	<!--msimagelist--></table>
316	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
317	<!--msimagelist--><tr>
318	<!--msimagelist--><td valign="baseline" width="42">
319	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
320	<td valign="top" width="100%">
321	<div>
322	Minor updates for <a href="solvers.htm#sedumi">SeDuMi 1.1</a></div>
323	<!--msimagelist--></td>
324	</tr>
325	<!--msimagelist--><tr>
326	<!--msimagelist--><td valign="baseline" width="42">
327	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
328	<td valign="top" width="100%">
329	<div>
330	Additional option for removing inequalities, see
331	<a href="reference.htm#sdpsettings">sdpsettings</a>.</div>
332	<!--msimagelist--></td>
333	</tr>
334	<!--msimagelist--><tr>
335	<!--msimagelist--><td valign="baseline" width="42">
336	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
337	<td valign="top" width="100%">
338	<div>
339	Various fixes and additions to
340	<a href="logic.htm">logic programming</a> module.</div>
341	<!--msimagelist--></td>
342	</tr>
343	<!--msimagelist--><tr>
344	<!--msimagelist--><td valign="baseline" width="42">
345	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
346	<td valign="top" width="100%">
347	<div>
348	Updated default values of <a href="solvers.htm#dsdp">DSDP</a>
349	options and fixed detection of feasibility/unboundness reports.</div>
350	<!--msimagelist--></td>
351	</tr>
352	<!--msimagelist--><tr>
353	<!--msimagelist--><td valign="baseline" width="42">
354	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
355	<td valign="top" width="100%">
356	<div>
357	Fixed a bug in YALMIPs mixed integer solver, causing crashes when applied to
358	higher order nonlinear problems.</div>
359	<!--msimagelist--></td>
360	</tr>
361	<!--msimagelist--><tr>
362	<!--msimagelist--><td valign="baseline" width="42">
363	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
364	<td valign="top" width="100%">
365	<div>
366	Fixed a rather serious bug affecting <a href="extoperators.htm">nonlinear operators</a>
367	on MATLAB 6.1 and earlier.</div>
368	<!--msimagelist--></td>
369	</tr>
370	<!--msimagelist--><tr>
371	<!--msimagelist--><td valign="baseline" width="42">
372	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
373	<td valign="top" width="100%">
374	<div>
375	Substantial performance improvements in manipulating problems with
376	a large number of SDP cones.</div>
377	<!--msimagelist--></td>
378	</tr>
379	<!--msimagelist--></table>
380	</td>
381	</tr>
382
383	</table>
384	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table2">
385	<tr>
386	<td class="tableheader">
387	<p class="tableheader">YALMIP 3 [R20050427]</p>
388	</td>
389	</tr>
390	<tr>
391	<td>
392	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
393	<!--msimagelist--><tr>
394	<!--msimagelist--><td valign="baseline" width="42">
395	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
396	<td valign="top" width="100%">
397	<div>
398	Fixed bug in <a href="integer.htm">integer programming</a> module
399	(caused problems when mixed integer quadratic programs where
400	solved using a semidefinite programming solver)</div>
401	<!--msimagelist--></td>
402	</tr>
403	<!--msimagelist--></table>
404	</td>
405	</tr>
406
407	</table>
408	<br>
409
410
411	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table3">
412	<tr>
413	<td class="tableheader">
414	<p class="tableheader">YALMIP 3 [R20050426]</p>
415	</td>
416	</tr>
417	<tr>
418	<td>
419	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
420	<!--msimagelist--><tr>
421	<!--msimagelist--><td valign="baseline" width="42">
422	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
423	<td valign="top" width="100%">
424	<div>
425	Added
426	<a target="_blank" href="http://plato.asu.edu/dimacs/node3.html">DIMACS error measures</a> to the output
427	structure from <a target="topic" href="reference.htm#saveampl">solvesdp</a>.</div>
428	<!--msimagelist--></td>
429	</tr>
430	<!--msimagelist--><tr>
431	<!--msimagelist--><td valign="baseline" width="42">
432	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
433	<td valign="top" width="100%">
434	<div>
435	<a href="reference.htm#kyp">export</a> extended to support
436	<a href="solvers.htm#pensdp">PENSDP</a> and
437	<a href="solvers.htm#penbmi">PENBMI</a>.</div>
438
439	<!--msimagelist--></td>
440	</tr>
441	<!--msimagelist--></table>
442	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
443	<!--msimagelist--><tr>
444	<!--msimagelist--><td valign="baseline" width="42">
445	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
446	<td valign="top" width="100%">
447	<div>
448	Fixed bug in <a href="sos.htm">sum of squares </a> module (may have caused wrong results in some obscure large-scale
449	cases.)</div>
450	<!--msimagelist--></td>
451	</tr>
452	<!--msimagelist--><tr>
453	<!--msimagelist--><td valign="baseline" width="42">
454	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
455	<td valign="top" width="100%">
456	<div>
457	Fixed bug in <a href="sos.htm">sum of squares </a> module
458	(caused crash when <a href="extoperators.htm">nonlinear operators</a>
459	were used to model parametric objective functions.)</div>
460	<!--msimagelist--></td>
461	</tr>
462	<!--msimagelist--><tr>
463	<!--msimagelist--><td valign="baseline" width="42">
464	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
465	<td valign="top" width="100%">
466	<div>
467	Fixed bug in <a href="integer.htm">integer programming</a> module
468	(could cause sub-optimal solution for binary QP problems being
469	reported as optimal.)</div>
470	<!--msimagelist--></td>
471	</tr>
472	<!--msimagelist--><tr>
473	<!--msimagelist--><td valign="baseline" width="42">
474	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
475	<td valign="top" width="100%">
476	<div>
477	Fixed bug in
478	<a href="reference.htm#savesdpafile">savesdpafile</a> (cause a crash)</div>
479	<!--msimagelist--></td>
480	</tr>
481	<!--msimagelist--></table>
482	</td>
483	</tr>
484
485	</table>
486	<br>
487
488
489	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table4">
490	<tr>
491	<td class="tableheader">
492	<p class="tableheader">YALMIP 3 [R20050415]</p>
493	</td>
494	</tr>
495	<tr>
496	<td>
497	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
498	<!--msimagelist--><tr>
499	<!--msimagelist--><td valign="baseline" width="42">
500	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
501	<td valign="top" width="100%">
502	<div>
503	Added post-processing steps to the <a href="sos.htm">sum of squares </a> module. Improves quality of decompositions substantially
504	in some cases.</div>
505	<!--msimagelist--></td>
506	</tr>
507	<!--msimagelist--><tr>
508	<!--msimagelist--><td valign="baseline" width="42">
509	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
510	<td valign="top" width="100%">
511	<div>
512	<a href="dual.htm#dualize">Dualize</a> can now be applied to problems with second order cone constraints.</div>
513	<!--msimagelist--></td>
514	</tr>
515	<!--msimagelist--><tr>
516	<!--msimagelist--><td valign="baseline" width="42">
517	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
518	<td valign="top" width="100%">
519	<div>
520	Efficient handling of translated primal cones in <a href="dual.htm#dualize">dualize</a>.</div>
521	<!--msimagelist--></td>
522	</tr>
523	<!--msimagelist--><tr>
524	<!--msimagelist--><td valign="baseline" width="42">
525	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
526	<td valign="top" width="100%">
527	<div>
528	YALMIP can now automatically update values of primal cones and free variables
529	when a <a href="dual.htm#dualize">dualized</a> problem has been solved.</div>
530	<!--msimagelist--></td>
531	</tr>
532	<!--msimagelist--><tr>
533	<!--msimagelist--><td valign="baseline" width="42">
534	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
535	<td valign="top" width="100%">
536	<div>
537	Added a module for solving <a href="geometric.htm">geometric
538	programs</a> using the solver <a href="solvers.htm#fmincon">
539	fmincon</a> (the problem is convexified using the
540	standard logarithmic variable transformation).  For this
541	solver to be invoked, use the solver tag <code>'fmincon-geometric'</code>.
542	This feature is mainly intended for the
543	<a href="solvers.htm#fmincon">fmincon</a> solver in the MathWorks Optimization Toolbox.
544	It may work with the
545	<a href="solvers.htm#fmincon">fmincon</a> solver in
546	<a target="_blank" href="http://tomlab.biz">TOMLAB</a>, but this
547	has not been tested to any larger extent.</div>
548	<!--msimagelist--></td>
549	</tr>
550	<!--msimagelist--><tr>
551	<!--msimagelist--><td valign="baseline" width="42">
552	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
553	<td valign="top" width="100%">
554	<div>
555	The built-in integer branch-and-bound solver <code>'bnb'</code> can now be
556	applied to arbitrary polynomial nonlinear problems.
557	Note, there are no global guarantees if the relaxed continuous
558	problem is nonconvex. Branching is only performed w.r.t
559	integrality.</div>
560	<!--msimagelist--></td>
561	</tr>
562	<!--msimagelist--><tr>
563	<!--msimagelist--><td valign="baseline" width="42">
564	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
565	<td valign="top" width="100%">
566	<div>
567	The built-in bilinear branch-and-bound solver <code>'bmibnb'</code> now supports nonlinear objective functions.</div>
568	<!--msimagelist--></td>
569	</tr>
570	<!--msimagelist--><tr>
571	<!--msimagelist--><td valign="baseline" width="42">
572	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
573	<td valign="top" width="100%">
574	<div>
575	The built-in bilinear branch-and-bound solver <code>'bmibnb'</code> now supports discrete variables.</div>
576	<!--msimagelist--></td>
577	</tr>
578	<!--msimagelist--><tr>
579	<!--msimagelist--><td valign="baseline" width="42">
580	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
581	<td valign="top" width="100%">
582	<div>
583	Logic constraints are supported (initial experimental code). Check out the
584	<a href="logic.htm">logic examples</a>.</div>
585	<!--msimagelist--></td>
586	</tr>
587	<!--msimagelist--><tr>
588	<!--msimagelist--><td valign="baseline" width="42">
589	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
590	<td valign="top" width="100%">
591	<div>
592	Problems defined with <a href="reference.htm#kyp">kyp</a> objects
593	now (most often) exploit structured matrix data when
594	<a href="solvers.htm#lmilab">LMILAB</a>
595	is used.</div>
596	<!--msimagelist--></td>
597	</tr>
598	<!--msimagelist--><tr>
599	<!--msimagelist--><td valign="baseline" width="42">
600	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
601	<td valign="top" width="100%">
602	<div>
603	Added support for the QP solver
604	<a href="solvers.htm#mexclp">MEXCLP</a>.</div>
605	<!--msimagelist--></td>
606	</tr>
607	<!--msimagelist--><tr>
608	<!--msimagelist--><td valign="baseline" width="42">
609	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
610	<td valign="top" width="100%">
611	<div>
612	Added support for the MILP solver <a href="solvers.htm#lpsolve">LP_SOLVE</a>.</div>
613	<!--msimagelist--></td>
614	</tr>
615	<!--msimagelist--><tr>
616	<!--msimagelist--><td valign="baseline" width="42">
617	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
618	<td valign="top" width="100%">
619	<div>
620	Added support for the QP solver <a href="solvers.htm#BPMPD">BPMPD</a>.</div>
621	<!--msimagelist--></td>
622	</tr>
623	<!--msimagelist--><tr>
624	<!--msimagelist--><td valign="baseline" width="42">
625	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
626	<td valign="top" width="100%">
627	<div>
628	Added support for the rank-constraint SDP solver <a href="solvers.htm#LMIRANK">LMIRANK</a>.</div>
629	<!--msimagelist--></td>
630	</tr>
631	<!--msimagelist--></table>
632	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
633	<!--msimagelist--><tr>
634	<!--msimagelist--><td valign="baseline" width="42">
635	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
636	<td valign="top" width="100%">
637	<div>
638	The option <code>'LargeScale'</code> for the solvers
639	<a href="solvers.htm#linprog">LINPROG</a>,
640	<a href="solvers.htm#quadprog">QUADPROG</a>,
641	<a href="solvers.htm#bintprog">BINTPROG</a>,
642	<a href="solvers.htm#fmincon">fmincon</a> and
643	<a href="solvers.htm#mosek">fminsearch</a> are now set to <code>'off'</code>
644	by default (solves a lot of compatibility issues).</div>
645	<!--msimagelist--></td>
646	</tr>
647	<!--msimagelist--><tr>
648	<!--msimagelist--><td valign="baseline" width="42">
649	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
650	<td valign="top" width="100%">
651	<div>
652	The option <code>'sos.clean'</code> is now <code>eps</code> by default (used to be 1e-4). This may lead to more spurious terms in sum of squares decompositions, but improves robustness w.r.t to
653	different SDP solvers.</div>
654	<!--msimagelist--></td>
655	</tr>
656	<!--msimagelist--></table>
657	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
658	<!--msimagelist--><tr>
659	<!--msimagelist--><td valign="baseline" width="42">
660	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
661	<td valign="top" width="100%">
662	<div>
663	Fixed
664	<a href="extoperators.htm#geomean2">geomean2</a> for vectors
665	(enables maximization of products of positive variables).</div>
666	<!--msimagelist--></td>
667	</tr>
668	<!--msimagelist--><tr>
669	<!--msimagelist--><td valign="baseline" width="42">
670	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
671	<td valign="top" width="100%">
672	<div>
673	Extended
674	<a href="extoperators.htm#geomean2">geomean2</a> to support
675	complex data.</div>
676	<!--msimagelist--></td>
677	</tr>
678	<!--msimagelist--><tr>
679	<!--msimagelist--><td valign="baseline" width="42">
680	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
681	<td valign="top" width="100%">
682	<div>
683	More efficient use of given feasible initial solution in the global
684	solver.</div>
685	<!--msimagelist--></td>
686	</tr>
687	<!--msimagelist--><tr>
688	<!--msimagelist--><td valign="baseline" width="42">
689	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
690	<td valign="top" width="100%">
691	<div>
692	Fixed bug that caused sign-errors on duals computed using
693	<a href="solvers.htm#mosek">MOSEK</a>.</div>
694	<!--msimagelist--></td>
695	</tr>
696	<!--msimagelist--><tr>
697	<!--msimagelist--><td valign="baseline" width="42">
698	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
699	<td valign="top" width="100%">
700	<div>
701	Fixed bug for complex-valued second order cone
702	problems in <a href="solvers.htm#sedumi">SeDuMi</a>.</div>
703	<!--msimagelist--></td>
704	</tr>
705	<!--msimagelist--><tr>
706	<!--msimagelist--><td valign="baseline" width="42">
707	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
708	<td valign="top" width="100%">
709	<div>
710	Fixed bug in Frobenious norm (i.e. the
711	<a href="extoperators.htm">nonlinear operator</a> <code>norm(X,'fro')</code>).</div>
712	<!--msimagelist--></td>
713	</tr>
714	<!--msimagelist--><tr>
715	<!--msimagelist--><td valign="baseline" width="42">
716	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
717	<td valign="top" width="100%">
718	<div>
719	Various fixed related to systems with
720	<a target="_blank" href="http://tomlab.biz">TOMLAB</a> installed.</div>
721	<!--msimagelist--></td>
722	</tr>
723	<!--msimagelist--><tr>
724	<!--msimagelist--><td valign="baseline" width="42">
725	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
726	<td valign="top" width="100%">
727	<div>
728	Various improvements in the <a href="globalbmi.htm">global bilinear solver</a>.</div>
729	<!--msimagelist--></td>
730	</tr>
731	<!--msimagelist--><tr>
732	<!--msimagelist--><td valign="baseline" width="42">
733	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
734	<td valign="top" width="100%">
735	<div>
736	General performance improvements (massive improvements for large-scale problems and nonlinear expressions)</div>
737	<!--msimagelist--></td>
738	</tr>
739	<!--msimagelist--></table>
740	</td>
741	</tr>
742
743	</table>
744	<br>
745	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933">
746	<tr>
747	<td class="tableheader">
748	<p class="tableheader">YALMIP 3 [R20050111]</p>
749	</td>
750	</tr>
751	<tr>
752	<td>
753	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
754	<!--msimagelist--><tr>
755	<!--msimagelist--><td valign="baseline" width="42">
756	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
757	<td valign="top" width="100%">
758	<div>
759	Initial implementation of <b>min</b>/<b>max</b>/<b>abs</b>/<b>norm/geomean2/sumk/sumabsk</b>. YALMIP will perform
760	an (conservative) analysis of the optimization problem to ensure
761	that these operators are used in a way that guarantee convexity,
762	and automatically generate a convex representation if possible. Check the
763	<a href="extoperators.htm">example</a> for typical usage, limitations and pit-falls.
764	Additional (epigraph or hypograph representable) nonlinear operators can easily be added by the user.</div>
765	<!--msimagelist--></td>
766	</tr>
767	<!--msimagelist--><tr>
768	<!--msimagelist--><td valign="baseline" width="42">
769	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
770	<td valign="top" width="100%">
771	<div>
772	Support for fractional powers of posynomials (and nonlinear
773	operators) in <a href="geometric.htm">geometric programming
774	problems</a>.
775	</div>
776	<!--msimagelist--></td>
777	</tr>
778	<!--msimagelist--><tr>
779	<!--msimagelist--><td valign="baseline" width="42">
780	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
781	<td valign="top" width="100%">
782	<div>
783	Extended the <a href="moment.htm">moment relaxation</a> module,
784	including polynomial
785	equalities, polynomial semidefinite inequalities, extraction of global
786	solutions and better integration in YALMIP.
787	</div>
788	<!--msimagelist--></td>
789	</tr>
790	<!--msimagelist--><tr>
791	<!--msimagelist--><td valign="baseline" width="42">
792	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
793	<td valign="top" width="100%">
794	<div>
795	Improved <a href="sos.htm">sum of squares </a>module (better support for nonlinearly
796	parameterized programs, improved kernel and image representation
797	models).</div>
798	<!--msimagelist--></td>
799	</tr>
800	<!--msimagelist--><tr>
801	<!--msimagelist--><td valign="baseline" width="42">
802	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
803	<td valign="top" width="100%">
804	<div>
805	Added the function <a href="reference.htm#dualize">dualize</a> to convert a problem given in primal SDP form (kernel representation) to a dual form (which is the standard model in YALMIP).
806	Some simple <a href="dual.htm#dualize">examples</a> are available.
807	A related (less useful) function <a href="dual.htm#primalize">
808	primalize</a> is also available.</div>
809	<!--msimagelist--></td>
810	</tr>
811	<!--msimagelist--><tr>
812	<!--msimagelist--><td valign="baseline" width="42">
813	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
814	<td valign="top" width="100%">
815	<div>
816	Polynomial programs are automatically reduced to bilinear programs when
817	<a href="solvers.htm#penbmi">PENBMI</a>
818	or the <a href="globalbmi.htm">global solver</a> is used.</div>
819	<!--msimagelist--></td>
820	</tr>
821	<!--msimagelist--><tr>
822	<!--msimagelist--><td valign="baseline" width="42">
823	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
824	<td valign="top" width="100%">
825	<div>
826	Added support for the solver <a href="solvers.htm#fmincon">fmincon</a>
827	and <a href="solvers.htm#fminsearch">fminsearch</a></div>
828	<!--msimagelist--></td>
829	</tr>
830	<!--msimagelist--></table>
831	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
832	<!--msimagelist--><tr>
833	<!--msimagelist--><td valign="baseline" width="42">
834	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
835	<td valign="top" width="100%">
836	<div>
837	Updated for
838	<a href="solvers.htm#penbmi">PENBMI
839	2</a> (if you still use version 1, make sure to read the
840	<a href="faq.htm#penbmi update">FAQ</a>).</div>
841	<!--msimagelist--></td>
842	</tr>
843	<!--msimagelist--></table>
844	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
845	<!--msimagelist--><tr>
846	<!--msimagelist--><td valign="baseline" width="42">
847	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
848	<td valign="top" width="100%">
849	<div>
850	Improved memory use for huge SDP problems (matrix dimensions in the order of thousands).</div>
851	<!--msimagelist--></td>
852	</tr>
853	<!--msimagelist--><tr>
854	<!--msimagelist--><td valign="baseline" width="42">
855	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
856	<td valign="top" width="100%">
857	<div>
858	Fixed bug that caused <a href="ellipsoidal.htm">MAXDET problems</a> to become
859	unnecessarily
860	large when solved using standard SDP solver (all MAXDET problems where treated as complex-valued).</div>
861	<!--msimagelist--></td>
862	</tr>
863	<!--msimagelist--><tr>
864	<!--msimagelist--><td valign="baseline" width="42">
865	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
866	<td valign="top" width="100%">
867	<div>
868	Fixed some algorithmic bugs in the built-in integer solver (caused
869	severe performance degradation).</div>
870	<!--msimagelist--></td>
871	</tr>
872	<!--msimagelist--><tr>
873	<!--msimagelist--><td valign="baseline" width="42">
874	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
875	<td valign="top" width="100%">
876	<div>
877	Changed default settings for
878	the
879	<a href="solvers.htm#csdp">CSDP</a>
880	options.</div>
881	<!--msimagelist--></td>
882	</tr>
883	<!--msimagelist--><tr>
884	<!--msimagelist--><td valign="baseline" width="42">
885	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
886	<td valign="top" width="100%">
887	<div>
888	Small fixes in the <a href="sos.htm">sum of squares</a> module.</div>
889	<!--msimagelist--></td>
890	</tr>
891	<!--msimagelist--><tr>
892	<!--msimagelist--><td valign="baseline" width="42">
893	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
894	<td valign="top" width="100%">
895	<div>
896	Fix in the
897	<a href="solvers.htm#xpress">MEXPRESS</a> interface (caused severe numerical problems in recent versions of
898	<a href="solvers.htm#xpress">XPRESS</a>).</div>
899	<!--msimagelist--></td>
900	</tr>
901	<!--msimagelist--></table>
902	</td>
903	</tr>
904	</table>
905	<br>
906	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933">
907	<tr>
908	<td class="tableheader">
909	<p class="tableheader">YALMIP 3 [R20041015]</p>
910	</td>
911	</tr>
912	<tr>
913	<td>
914	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
915	<!--msimagelist--><tr>
916	<!--msimagelist--><td valign="baseline" width="42">
917	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
918	<td valign="top" width="100%">
919	<div>
920	When a solver not supports equality constraints, the constraints are
921	now by default always eliminated using double-sided inequalities (this
922	was a bit inconsistent before, YALMIP used a reduced basis for some
923	solvers). Note that some solvers behave much better with a reduced
924	basis (see <a href="reference.htm#sdpsettings">sdpsettings</a> for
925	details).</div>
926	<!--msimagelist--></td>
927	</tr>
928	<!--msimagelist--></table>
929	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
930	<!--msimagelist--><tr>
931	<!--msimagelist--><td valign="baseline" width="42">
932	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
933	<td valign="top" width="100%">
934	<div>
935	Fixed small bug in the <a href="sos.htm">sum of squares</a> module
936	(caused a crash in some rare cases).</div>
937	<!--msimagelist--></td>
938	</tr>
939	<!--msimagelist--><tr>
940	<!--msimagelist--><td valign="baseline" width="42">
941	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
942	<td valign="top" width="100%">
943	<div>
944	Fixed issues with the option <code>'savedebug'</code>.</div>
945	<!--msimagelist--></td>
946	</tr>
947	<!--msimagelist--><tr>
948	<!--msimagelist--><td valign="baseline" width="42">
949	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
950	<td valign="top" width="100%">
951	<div>
952	Fixed issues with saving and loading objects.</div>
953	<!--msimagelist--></td>
954	</tr>
955	<!--msimagelist--><tr>
956	<!--msimagelist--><td valign="baseline" width="42">
957	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
958	<td valign="top" width="100%">
959	<div>
960	Updated for
961	<a href="solvers.htm#dsdp">DSDP
962	5</a>.</div>
963	<!--msimagelist--></td>
964	</tr>
965	<!--msimagelist--></table>
966	</td>
967	</tr>
968	</table>
969	<br>
970	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933">
971	<tr>
972	<td class="tableheader">
973	<p class="tableheader">YALMIP 3 [R20041004]</p>
974	</td>
975	</tr>
976	<tr>
977	<td>
978	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
979	<!--msimagelist--><tr>
980	<!--msimagelist--><td valign="baseline" width="42">
981	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
982	<td valign="top" width="100%">
983	<div>
984	Overloaded <code>polytope.m</code> and <code>projection.m </code>from
985	the <a href="solvers.htm#mpt">Multi-Parametric Toolbox</a> to
986	<a href="reference.htm#set">set</a> objects. See the
987	<a target="topic" href="mp.htm">multi-parametric example</a>.
988	</div>
989	<!--msimagelist--></td>
990	</tr>
991	<!--msimagelist--><tr>
992	<!--msimagelist--><td valign="baseline" width="42">
993	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
994	<td valign="top" width="100%">
995	<div>
996	Added support for the
997	<a href="solvers.htm#cplex">CPLEX</a> interface
998	<a href="solvers.htm#cplex">CPLEXMEX</a>.</div>
999	<!--msimagelist--></td>
1000	</tr>
1001	<!--msimagelist--><tr>
1002	<!--msimagelist--><td valign="baseline" width="42">
1003	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1004	<td valign="top" width="100%">
1005	<div>
1006	Added support for the
1007	<a href="solvers.htm#xpress">XPRESS</a>
1008	interface
1009	<a href="solvers.htm#xpress">MEXPRESS</a>.</div>
1010	<!--msimagelist--></td>
1011	</tr>
1012	<!--msimagelist--><tr>
1013	<!--msimagelist--><td valign="baseline" width="42">
1014	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1015	<td valign="top" width="100%">
1016	<div>
1017	Added support for the
1018	<a href="solvers.htm#qsopt">QSopt</a> interface
1019	<a href="solvers.htm#qsopt">MEXQSOPT</a>.</div>
1020	<!--msimagelist--></td>
1021	</tr>
1022	<!--msimagelist--><tr>
1023	<!--msimagelist--><td valign="baseline" width="42">
1024	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1025	<td valign="top" width="100%">
1026	<div>
1027	Added support for the SDP solver
1028	<a href="solvers.htm#sdplr">SDPLR</a>.</div>
1029	<!--msimagelist--></td>
1030	</tr>
1031	<!--msimagelist--><tr>
1032	<!--msimagelist--><td valign="baseline" width="42">
1033	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1034	<td valign="top" width="100%">
1035	<div>
1036	Added function <a target="topic" href="reference.htm#saveampl">saveampl</a>
1037	to export (very) simple
1038	<a target="_blank" href="http://www.ampl.com">AMPL</a> models.</div>
1039	<!--msimagelist--></td>
1040	</tr>
1041	<!--msimagelist--><tr>
1042	<!--msimagelist--><td valign="baseline" width="42">
1043	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1044	<td valign="top" width="100%">
1045	<div>
1046	Added function <a target="topic" href="reference.htm#export">export</a>
1047	to export YALMIP models to various solver formats.</div>
1048	<!--msimagelist--></td>
1049	</tr>
1050	<!--msimagelist--><tr>
1051	<!--msimagelist--><td valign="baseline" width="42">
1052	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1053	<td valign="top" width="100%">
1054	<div>
1055	Added function <a target="topic" href="reference.htm#cut">cut</a>
1056	to add user-specified cuts in the global BMI solver.</div>
1057	<!--msimagelist--></td>
1058	</tr>
1059	<!--msimagelist--><tr>
1060	<!--msimagelist--><td valign="baseline" width="42">
1061	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1062	<td valign="top" width="100%">
1063	<div>
1064	Global BMI problems can be solved (hrm...yea right...) without a local
1065	BMI solver.</div>
1066	<!--msimagelist--></td>
1067	</tr>
1068	<!--msimagelist--><tr>
1069	<!--msimagelist--><td valign="baseline" width="42">
1070	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1071	<td valign="top" width="100%">
1072	<div>
1073	Added simple command-line syntax for defining multiple scalar
1074	<a href="reference.htm#sdpvar">sdpvar</a> variables.</div>
1075	<!--msimagelist--></td>
1076	</tr>
1077	<!--msimagelist--><tr>
1078	<!--msimagelist--><td valign="baseline" width="42">
1079	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1080	<td valign="top" width="100%">
1081	<div>
1082	Better support for sum-of-squares decompositions in
1083	<a href="reference.htm#checkset">checkset</a>.</div>
1084	<!--msimagelist--></td>
1085	</tr>
1086	<!--msimagelist--><tr>
1087	<!--msimagelist--><td valign="baseline" width="42">
1088	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1089	<td valign="top" width="100%">
1090	<div>
1091	Added function <a target="topic" href="reference.htm#lowrank">lowrank</a>
1092	to declare low-rank data in semidefinite constraints.</div>
1093	<!--msimagelist--></td>
1094	</tr>
1095	<!--msimagelist--><tr>
1096	<!--msimagelist--><td valign="baseline" width="42">
1097	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1098	<td valign="top" width="100%">
1099	<div>
1100	Substantially improved
1101	<a target="topic" href="reference.htm#solvesos">sum-of-squares</a>
1102	module. See the <a href="sos.htm">sum-of-squares examples</a> for
1103	details</div>
1104	<!--msimagelist--></td>
1105	</tr>
1106	<!--msimagelist--></table>
1107	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
1108	<!--msimagelist--><tr>
1109	<!--msimagelist--><td valign="baseline" width="42">
1110	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1111	<td valign="top" width="100%">
1112	<div>
1113	Numerous fixes in the interface to <a href="solvers.htm#kypd">KYPD</a>
1114	(may have caused erroneous solutions).</div>
1115	<!--msimagelist--></td>
1116	</tr>
1117	<!--msimagelist--><tr>
1118	<!--msimagelist--><td valign="baseline" width="42">
1119	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1120	<td valign="top" width="100%">
1121	<div>
1122	Changed the syntax slightly in <a href="reference.htm#solvemoment">
1123	solvemoment</a> to make it more consistent with other commands (may
1124	brake old code).</div>
1125	<!--msimagelist--></td>
1126	</tr>
1127	<!--msimagelist--><tr>
1128	<!--msimagelist--><td valign="baseline" width="42">
1129	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1130	<td valign="top" width="100%">
1131	<div>
1132	<a href="reference.htm#polyprint">polyprint</a> has changed name to
1133	<a href="reference.htm#sdisplay">sdisplay</a> (symbolic display).</div>
1134	<!--msimagelist--></td>
1135	</tr>
1136	<!--msimagelist--><tr>
1137	<!--msimagelist--><td valign="baseline" width="42">
1138	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1139	<td valign="top" width="100%">
1140	<div>
1141	Added some missed options for
1142	<a target="_blank" href="http://fewcal.kub.nl/sturm/software/sedumi.html">
1143	SeDuMi</a> and updated default values to those recommended in version
1144	1.05R5.</div>
1145	<!--msimagelist--></td>
1146	</tr>
1147	<!--msimagelist--></table>
1148	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
1149	<!--msimagelist--><tr>
1150	<!--msimagelist--><td valign="baseline" width="42">
1151	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1152	<td valign="top" width="100%">
1153	<div>
1154	Minor updates for MATLAB 7</div>
1155	<!--msimagelist--></td>
1156	</tr>
1157	<!--msimagelist--><tr>
1158	<!--msimagelist--><td valign="baseline" width="42">
1159	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1160	<td valign="top" width="100%">
1161	<div>
1162	Updates for
1163	<a href="http://www-dii.ing.unisi.it/~giorgetti/downloads.html">G</a><a target="_blank" href="http://www-dii.ing.unisi.it/~giorgetti/downloads.html">LPKMEX</a>
1164	0.6.2</div>
1165	<!--msimagelist--></td>
1166	</tr>
1167	<!--msimagelist--><tr>
1168	<!--msimagelist--><td valign="baseline" width="42">
1169	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1170	<td valign="top" width="100%">
1171	<div>
1172	Fixed a bug which in rare cases caused YALMIP to categorize standard
1173	continuous problems as a mixed integer problem.</div>
1174	<!--msimagelist--></td>
1175	</tr>
1176	<!--msimagelist--><tr>
1177	<!--msimagelist--><td valign="baseline" width="42">
1178	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1179	<td valign="top" width="100%">
1180	<div>
1181	Fixed some more issues on indexing of <a href="reference.htm#set">
1182	set</a> and <a href="reference.htm#sdpvar">sdpvar</a> objects.</div>
1183	<!--msimagelist--></td>
1184	</tr>
1185	<!--msimagelist--><tr>
1186	<!--msimagelist--><td valign="baseline" width="42">
1187	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1188	<td valign="top" width="100%">
1189	<div>
1190	Fixed problem in <a href="reference.htm#polyprint">polyprint</a> (now
1191	called <a href="reference.htm#sdisplay">sdisplay</a>) in MATLAB 6.1.</div>
1192	<!--msimagelist--></td>
1193	</tr>
1194	<!--msimagelist--><tr>
1195	<!--msimagelist--><td valign="baseline" width="42">
1196	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1197	<td valign="top" width="100%">
1198	<div>
1199	Fixed problems in loading saved <a href="reference.htm#sdpvar">sdpvar</a>
1200	and <a href="reference.htm#set">set</a> objects.</div>
1201	<!--msimagelist--></td>
1202	</tr>
1203	<!--msimagelist--><tr>
1204	<!--msimagelist--><td valign="baseline" width="42">
1205	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1206	<td valign="top" width="100%">
1207	<div>
1208	Improved some internal strategies in the <a href="sos.htm">sum-of-squares</a>
1209	module.</div>
1210	<!--msimagelist--></td>
1211	</tr>
1212	<!--msimagelist--><tr>
1213	<!--msimagelist--><td valign="baseline" width="42">
1214	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1215	<td valign="top" width="100%">
1216	<div>
1217	Reduced memory usage in branch and bound codes.</div>
1218	<!--msimagelist--></td>
1219	</tr>
1220	<!--msimagelist--><tr>
1221	<!--msimagelist--><td valign="baseline" width="42">
1222	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1223	<td valign="top" width="100%">
1224	<div>
1225	Fixed some small bugs in the mixed integer programming (caused problems
1226	for mixed integer geometric programs).</div>
1227	<!--msimagelist--></td>
1228	</tr>
1229	<!--msimagelist--><tr>
1230	<!--msimagelist--><td valign="baseline" width="42">
1231	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1232	<td valign="top" width="100%">
1233	<div>
1234	Substantial performance improvements in manipulation of
1235	<a href="reference.htm#sdpvar">sdpvar</a> variables.
1236	</div>
1237	<!--msimagelist--></td>
1238	</tr>
1239	<!--msimagelist--><tr>
1240	<!--msimagelist--><td valign="baseline" width="42">
1241	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1242	<td valign="top" width="100%">
1243	<div>
1244	Fixed several bugs in the interface to the SOCP solver in
1245	<a href="solvers.htm#mosek">MOSEK</a>.
1246	</div>
1247	<!--msimagelist--></td>
1248	</tr>
1249	<!--msimagelist--></table>
1250	</td>
1251	</tr>
1252	</table>
1253	<br>
1254	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933">
1255	<tr>
1256	<td class="tableheader">
1257	<p class="tableheader">YALMIP 3 [R20040423]</p>
1258	</td>
1259	</tr>
1260	<tr>
1261	<td>
1262	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
1263	<!--msimagelist--><tr>
1264	<!--msimagelist--><td valign="baseline" width="42">
1265	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1266	<td valign="top" width="100%">
1267	<div>
1268	Determinant maximization problems can now be solved using any SDP
1269	solver.</div>
1270	<!--msimagelist--></td>
1271	</tr>
1272	<!--msimagelist--><tr>
1273	<!--msimagelist--><td valign="baseline" width="42">
1274	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1275	<td valign="top" width="100%">
1276	<div>
1277	Global bilinear programming (alpha version, slow and unstable...).</div>
1278	<!--msimagelist--></td>
1279	</tr>
1280	<!--msimagelist--><tr>
1281	<!--msimagelist--><td valign="baseline" width="42">
1282	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1283	<td valign="top" width="100%">
1284	<div>
1285	Extended mixed integer code to include posynomial geometric programming
1286	(requires latest <a href="solvers.htm#mosek">MOSEK</a> patches, not
1287	seriously tested).</div>
1288	<!--msimagelist--></td>
1289	</tr>
1290	<!--msimagelist--><tr>
1291	<!--msimagelist--><td valign="baseline" width="42">
1292	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1293	<td valign="top" width="100%">
1294	<div>
1295	Least squares assignment in <a href="reference.htm#setsdpvar">setsdpvar</a>.</div>
1296	<!--msimagelist--></td>
1297	</tr>
1298	<!--msimagelist--><tr>
1299	<!--msimagelist--><td valign="baseline" width="42">
1300	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1301	<td valign="top" width="100%">
1302	<div>
1303	Added interface to the binary LP-solver
1304	<a href="solvers.htm#bintprog">bintprog</a>.</div>
1305	<!--msimagelist--></td>
1306	</tr>
1307	<!--msimagelist--><tr>
1308	<!--msimagelist--><td valign="baseline" width="42">
1309	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1310	<td valign="top" width="100%">
1311	<div>
1312	<a href="reference.htm#setsdpvar">sdpvar</a> can be called with only
1313	one argument (simplifies definition of symmetric matrices and scalars).</div>
1314	<!--msimagelist--></td>
1315	</tr>
1316	<!--msimagelist--><tr>
1317	<!--msimagelist--><td valign="baseline" width="42">
1318	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1319	<td valign="top" width="100%">
1320	<div>
1321	Determinant (<code>det</code>) overloaded on
1322	<a href="reference.htm#setsdpvar">sdpvar</a> objects.</div>
1323	<!--msimagelist--></td>
1324	</tr>
1325	<!--msimagelist--></table>
1326	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
1327	<!--msimagelist--><tr>
1328	<!--msimagelist--><td valign="baseline" width="42">
1329	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1330	<td valign="top" width="100%">
1331	<div>
1332	Fixed bug in internal mixed integer solver (may have caused YALMIP
1333	to miss the optimal solution).</div>
1334	<!--msimagelist--></td>
1335	</tr>
1336	<!--msimagelist--><tr>
1337	<!--msimagelist--><td valign="baseline" width="42">
1338	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1339	<td valign="top" width="100%">
1340	<div>
1341	Fixed bug in interface to <a href="solvers.htm#penbmi">PENBMI</a>
1342	(may have caused erroneous solutions in some rare cases).</div>
1343	<!--msimagelist--></td>
1344	</tr>
1345	<!--msimagelist--><tr>
1346	<!--msimagelist--><td valign="baseline" width="42">
1347	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1348	<td valign="top" width="100%">
1349	<div>
1350	Fixed bug on complex-valued multiplication (may have caused erroneous
1351	solutions).</div>
1352	<!--msimagelist--></td>
1353	</tr>
1354	<!--msimagelist--><tr>
1355	<!--msimagelist--><td valign="baseline" width="42">
1356	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1357	<td valign="top" width="100%">
1358	<div>
1359	Fixed bug on dual variables (may have reported wrong values in some
1360	rare cases).</div>
1361	<!--msimagelist--></td>
1362	</tr>
1363	<!--msimagelist--><tr>
1364	<!--msimagelist--><td valign="baseline" width="42">
1365	<img src="icon_ifix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1366	<td valign="top" width="100%">
1367	<div>
1368	Fixed bug on dual variables in <a href="solvers.htm#sdpt3">SDPT3</a>
1369	(gave completely wrong answers).</div>
1370	<!--msimagelist--></td>
1371	</tr>
1372	<!--msimagelist--></table>
1373	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
1374	<!--msimagelist--><tr>
1375	<!--msimagelist--><td valign="baseline" width="42">
1376	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1377	<td valign="top" width="100%">
1378	<div>
1379	New, more consistent, syntax in <a href="reference.htm#solvesos">solvesos</a>.</div>
1380	<!--msimagelist--></td>
1381	</tr>
1382	<!--msimagelist--><tr>
1383	<!--msimagelist--><td valign="baseline" width="42">
1384	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1385	<td valign="top" width="100%">
1386	<div>
1387	Fixed bugs in loading and saving of <a href="reference.htm#set">set</a>
1388	and <a href="reference.htm#sdpvar">sdpvar</a> objects..</div>
1389	<!--msimagelist--></td>
1390	</tr>
1391	<!--msimagelist--><tr>
1392	<!--msimagelist--><td valign="baseline" width="42">
1393	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1394	<td valign="top" width="100%">
1395	<div>
1396	Fixed bug on overloaded >= operator.</div>
1397	<!--msimagelist--></td>
1398	</tr>
1399	<!--msimagelist--><tr>
1400	<!--msimagelist--><td valign="baseline" width="42">
1401	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1402	<td valign="top" width="100%">
1403	<div>
1404	Fixed various issues on indexing of <a href="reference.htm#set">set</a>
1405	and <a href="reference.htm#sdpvar">sdpvar</a> objects.</div>
1406	<!--msimagelist--></td>
1407	</tr>
1408	<!--msimagelist--><tr>
1409	<!--msimagelist--><td valign="baseline" width="42">
1410	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1411	<td valign="top" width="100%">
1412	<div>
1413	Fixed bug on purely binary problems using
1414	<a href="solvers.htm#mosek">MOSEK</a>.</div>
1415	<!--msimagelist--></td>
1416	</tr>
1417	<!--msimagelist--><tr>
1418	<!--msimagelist--><td valign="baseline" width="42">
1419	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1420	<td valign="top" width="100%">
1421	<div>
1422	Fixed various bugs to enable nonlinear objective functions in moment
1423	relaxations.</div>
1424	<!--msimagelist--></td>
1425	</tr>
1426	<!--msimagelist--><tr>
1427	<!--msimagelist--><td valign="baseline" width="42">
1428	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1429	<td valign="top" width="100%">
1430	<div>
1431	Fixed bug in interface to <a href="solvers.htm#sdpt3">SDPT3</a> on
1432	UNIX.
1433	</div>
1434	<!--msimagelist--></td>
1435	</tr>
1436	<!--msimagelist--><tr>
1437	<!--msimagelist--><td valign="baseline" width="42">
1438	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1439	<td valign="top" width="100%">
1440	<div>
1441	Updated for forthcoming <a href="solvers.htm#sdpt3">SDPT3</a> 3.1.
1442	</div>
1443	<!--msimagelist--></td>
1444	</tr>
1445	<!--msimagelist--><tr>
1446	<!--msimagelist--><td valign="baseline" width="42">
1447	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1448	<td valign="top" width="100%">
1449	<div>
1450	Updated to support new functionalities in the
1451	<a href="solvers.htm#mpt">Multi-Parametric Toolbox</a> 1.3.</div>
1452	<!--msimagelist--></td>
1453	</tr>
1454	<!--msimagelist--><tr>
1455	<!--msimagelist--><td valign="baseline" width="42">
1456	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1457	<td valign="top" width="100%">
1458	<div>
1459	Various fixes for MATLAB 5.3.
1460	</div>
1461	<!--msimagelist--></td>
1462	</tr>
1463	<!--msimagelist--><tr>
1464	<!--msimagelist--><td valign="baseline" width="42">
1465	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1466	<td valign="top" width="100%">
1467	<div>
1468	YALMIP now works with LMILAB in MATLAB 5.3.</div>
1469	<!--msimagelist--></td>
1470	</tr>
1471	<!--msimagelist--><tr>
1472	<!--msimagelist--><td valign="baseline" width="42">
1473	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1474	<td valign="top" width="100%">
1475	<div>
1476	YALMIP does <i>not</i> mean Yet Another LMI Parser any more.</div>
1477	<!--msimagelist--></td>
1478	</tr>
1479	<!--msimagelist--></table>
1480	</td>
1481	</tr>
1482	</table>
1483	<br>
1484	<table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933">
1485	<tr>
1486	<td class="tableheader">
1487	<p class="tableheader">News in Version 3 compared to 2.4</p>
1488	</td>
1489	</tr>
1490	<tr>
1491	<td>
1492	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
1493	<!--msimagelist--><tr>
1494	<!--msimagelist--><td valign="baseline" width="42">
1495	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1496	<td valign="top" width="100%">
1497	<div>
1498	Polynomial expressions.</div>
1499	<!--msimagelist--></td>
1500	</tr>
1501	<!--msimagelist--><tr>
1502	<!--msimagelist--><td valign="baseline" width="42">
1503	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1504	<td valign="top" width="100%">
1505	<div>
1506	Quadratic objective functions.</div>
1507	<!--msimagelist--></td>
1508	</tr>
1509	<!--msimagelist--><tr>
1510	<!--msimagelist--><td valign="baseline" width="42">
1511	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1512	<td valign="top" width="100%">
1513	<div>
1514	Interfaces to solvers <a href="solvers.htm#pensdp">PENSDP</a>,
1515	<a href="solvers.htm#penbmi">PENBMI</a>,
1516	<a href="solvers.htm#lmilab">LMILAB</a>, <a href="solvers.htm#nag">
1517	NAG</a>, <a href="solvers.htm#cdd">CDD</a>,
1518	<a target="topic" href="solvers.htm#ooqp">OOQP</a>,
1519	<a target="topic" href="solvers.htm#mosek">MOSEK</a>,
1520	<a href="solvers.htm#cplex">CPLEX</a>,
1521	<a href="solvers.htm#linprog">LINPROG</a> and
1522	<a href="solvers.htm#quadprog">QUADPROG</a>.</div>
1523	<!--msimagelist--></td>
1524	</tr>
1525	<!--msimagelist--><tr>
1526	<!--msimagelist--><td valign="baseline" width="42">
1527	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1528	<td valign="top" width="100%">
1529	<div>
1530	Added possibility to define KYP-related constraints (<a href="reference.htm#kyp">kyp</a>)
1531	and related interface to the specialized code
1532	<a href="solvers.htm#kypd">KYPD</a>.</div>
1533	<!--msimagelist--></td>
1534	</tr>
1535	<!--msimagelist--><tr>
1536	<!--msimagelist--><td valign="baseline" width="42">
1537	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1538	<td valign="top" width="100%">
1539	<div>
1540	Multiparametric linear and quadratic programming using
1541	<a href="solvers.htm#mpt">MPT-Toolbox</a>.</div>
1542	<!--msimagelist--></td>
1543	</tr>
1544	<!--msimagelist--><tr>
1545	<!--msimagelist--><td valign="baseline" width="42">
1546	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1547	<td valign="top" width="100%">
1548	<div>
1549	Integer and binary variables.</div>
1550	<!--msimagelist--></td>
1551	</tr>
1552	<!--msimagelist--><tr>
1553	<!--msimagelist--><td valign="baseline" width="42">
1554	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1555	<td valign="top" width="100%">
1556	<div>
1557	Posynomial geometric programming.</div>
1558	<!--msimagelist--></td>
1559	</tr>
1560	<!--msimagelist--><tr>
1561	<!--msimagelist--><td valign="baseline" width="42">
1562	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1563	<td valign="top" width="100%">
1564	<div>
1565	An internal (wickedly slow) branch-and bound solver for mixed integer
1566	conic programs (MILP, MIQP, MISOCP, MISDP).</div>
1567	<!--msimagelist--></td>
1568	</tr>
1569	<!--msimagelist--><tr>
1570	<!--msimagelist--><td valign="baseline" width="42">
1571	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1572	<td valign="top" width="100%">
1573	<div>
1574	Sum-of-squares decompositions.</div>
1575	<!--msimagelist--></td>
1576	</tr>
1577	<!--msimagelist--><tr>
1578	<!--msimagelist--><td valign="baseline" width="42">
1579	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1580	<td valign="top" width="100%">
1581	<div>
1582	Moment-based polynomial programming.</div>
1583	<!--msimagelist--></td>
1584	</tr>
1585	<!--msimagelist--><tr>
1586	<!--msimagelist--><td valign="baseline" width="42">
1587	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1588	<td valign="top" width="100%">
1589	<div>
1590	Simple definition of double-sided constraints (see
1591	<a target="topic" href="linearregression.htm">Linear regression example</a>).</div>
1592	<!--msimagelist--></td>
1593	</tr>
1594	<!--msimagelist--><tr>
1595	<!--msimagelist--><td valign="baseline" width="42">
1596	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1597	<td valign="top" width="100%">
1598	<div>
1599	<a href="reference.htm#plot">Plot</a> the feasible set of a constraint.</div>
1600	<!--msimagelist--></td>
1601	</tr>
1602	<!--msimagelist--><tr>
1603	<!--msimagelist--><td valign="baseline" width="42">
1604	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1605	<td valign="top" width="100%">
1606	<div>
1607	Imroved functionality in <a href="reference.htm#checklmi">checkset</a>
1608	(previously called <a href="reference.htm#checklmi">checklmi</a>).
1609	</div>
1610	<!--msimagelist--></td>
1611	</tr>
1612	<!--msimagelist--><tr>
1613	<!--msimagelist--><td valign="baseline" width="42">
1614	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1615	<td valign="top" width="100%">
1616	<div>
1617	Imroved support for subsref in <a href="reference.htm#lmi">set</a>
1618	(previously called <a href="reference.htm#lmi">lmi</a>) and
1619	<a href="reference.htm#sdpvar">sdpvar</a> objects.</div>
1620	<!--msimagelist--></td>
1621	</tr>
1622	<!--msimagelist--><tr>
1623	<!--msimagelist--><td valign="baseline" width="42">
1624	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1625	<td valign="top" width="100%">
1626	<div>
1627	New feature in the option <code>removeequalities </code>in
1628	<a href="reference.htm#sdpsettings">sdpsettings</a>.</div>
1629	<!--msimagelist--></td>
1630	</tr>
1631	<!--msimagelist--><tr>
1632	<!--msimagelist--><td valign="baseline" width="42">
1633	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1634	<td valign="top" width="100%">
1635	<div>
1636	New feature in the option <code>cachesolvers</code> in
1637	<a href="reference.htm#sdpsettings">sdpsettings</a>.</div>
1638	<!--msimagelist--></td>
1639	</tr>
1640	<!--msimagelist--><tr>
1641	<!--msimagelist--><td valign="baseline" width="42">
1642	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1643	<td valign="top" width="100%">
1644	<div>
1645	New feature in the option <code>usex0</code> in
1646	<a href="reference.htm#sdpsettings">sdpsettings</a>.</div>
1647	<!--msimagelist--></td>
1648	</tr>
1649	<!--msimagelist--><tr>
1650	<!--msimagelist--><td valign="baseline" width="42">
1651	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1652	<td valign="top" width="100%">
1653	<div>
1654	New feature in the option <code>radius</code> in
1655	<a href="reference.htm#sdpsettings">sdpsettings</a>.</div>
1656	<!--msimagelist--></td>
1657	</tr>
1658	<!--msimagelist--><tr>
1659	<!--msimagelist--><td valign="baseline" width="42">
1660	<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1661	<td valign="top" width="100%">
1662	<div>
1663	New feature in the option <code>shift</code> in
1664	<a href="reference.htm#sdpsettings">sdpsettings</a>.
1665	</div>
1666	<!--msimagelist--></td>
1667	</tr>
1668	<!--msimagelist--></table>
1669	<!--msimagelist--><table border="0" cellpadding="0" cellspacing="0" width="100%">
1670	<!--msimagelist--><tr>
1671	<!--msimagelist--><td valign="baseline" width="42">
1672	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1673	<td valign="top" width="100%">
1674	<div>
1675	Updated interfaces to new versions of <a href="solvers.htm#csdp">CSDP</a>,
1676	<a href="solvers.htm#dsdp">DSDP</a>, <a href="solvers.htm#sdpt3">SDPT3</a>
1677	and <a href="solvers.htm#glpk">GLPK</a>.</div>
1678	<!--msimagelist--></td>
1679	</tr>
1680	<!--msimagelist--><tr>
1681	<!--msimagelist--><td valign="baseline" width="42">
1682	<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
1683	<td valign="top" width="100%">
1684	<div>
1685	Improved error detection in <a href="solvers.htm#sedumi">SeDuMi</a>
1686	and <a href="solvers.htm#glpk">GLPK.</a></div>
1687	<!--msimagelist--></td>
1688	</tr>
1689	<!--msimagelist--></table>
1690	</td>
1691	</tr>
1692	</table>
1693	</td>
1694	</tr>
1695	</table>
1696	</div>
1697
1698	</body>
1699
1700	</html>

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