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optimization toolbox

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              Logic constraints are supported (initial experimental code). Check out the 
              <a href="logic.htm">logic examples</a>.</div>
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              Problems defined with <a href="reference.htm#kyp">kyp</a> objects 
              now (most often) exploit structured matrix data when 
              <a href="solvers.htm#lmilab">LMILAB</a> 
				is used.</div>
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            <div>
              Added support for the QP solver
              <a href="solvers.htm#mexclp">MEXCLP</a>.</div>
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            <div>
              Added support for the MILP solver <a href="solvers.htm#lpsolve">LP_SOLVE</a>.</div>
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            <div>
              Added support for the QP solver <a href="solvers.htm#BPMPD">BPMPD</a>.</div>
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              Added support for the rank-constraint SDP solver <a href="solvers.htm#LMIRANK">LMIRANK</a>.</div>
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              The option <code>'LargeScale'</code> for the solvers
              <a href="solvers.htm#linprog">LINPROG</a>,
              <a href="solvers.htm#quadprog">QUADPROG</a>,
              <a href="solvers.htm#bintprog">BINTPROG</a>,
				<a href="solvers.htm#fmincon">fmincon</a> and
              <a href="solvers.htm#mosek">fminsearch</a> are now set to <code>'off'</code> 
              by default (solves a lot of compatibility issues).</div>
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              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 
              different SDP solvers.</div>
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            <div>
              Fixed 
              <a href="extoperators.htm#geomean2">geomean2</a> for vectors 
              (enables maximization of products of positive variables).</div>
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            <div>
              Extended 
              <a href="extoperators.htm#geomean2">geomean2</a> to support 
              complex data.</div>
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              More efficient use of given feasible initial solution in the global 
              solver.</div>
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            <div>
              Fixed bug that caused sign-errors on duals computed using
              <a href="solvers.htm#mosek">MOSEK</a>.</div>
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            <div>
              Fixed bug for complex-valued second order cone 
              problems in <a href="solvers.htm#sedumi">SeDuMi</a>.</div>
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              Fixed bug in Frobenious norm (i.e. the
              <a href="extoperators.htm">nonlinear operator</a> <code>norm(X,'fro')</code>).</div>
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            <div>
              Various fixed related to systems with
              <a target="_blank" href="http://tomlab.biz">TOMLAB</a> installed.</div>
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            <div>
              Various improvements in the <a href="globalbmi.htm">global bilinear solver</a>.</div>
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              General performance improvements (massive improvements for large-scale problems and nonlinear expressions)</div>
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          <p class="tableheader">YALMIP 3 [R20050111]</p>
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            <div>
              Initial implementation of <b>min</b>/<b>max</b>/<b>abs</b>/<b>norm/geomean2/sumk/sumabsk</b>. YALMIP will perform 
              an (conservative) analysis of the optimization problem to ensure 
              that these operators are used in a way that guarantee convexity, 
              and automatically generate a convex representation if possible. Check the
              <a href="extoperators.htm">example</a> for typical usage, limitations and pit-falls. 
              Additional (epigraph or hypograph representable) nonlinear operators can easily be added by the user.</div>
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              Support for fractional powers of posynomials (and nonlinear 
              operators) in <a href="geometric.htm">geometric programming 
              problems</a>.
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            <div>
              Extended the <a href="moment.htm">moment relaxation</a> module, 
              including polynomial 
              equalities, polynomial semidefinite inequalities, extraction of global 
              solutions and better integration in YALMIP.
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            <div>
              Improved <a href="sos.htm">sum of squares </a>module (better support for nonlinearly 
              parameterized programs, improved kernel and image representation 
              models).</div>
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            <div>
              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). 
              Some simple <a href="dual.htm#dualize">examples</a> are available. 
              A related (less useful) function <a href="dual.htm#primalize">
              primalize</a> is also available.</div>
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              Polynomial programs are automatically reduced to bilinear programs when 
              <a href="solvers.htm#penbmi">PENBMI</a> 
				or the <a href="globalbmi.htm">global solver</a> is used.</div>
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            <div>
              Added support for the solver <a href="solvers.htm#fmincon">fmincon</a> 
              and <a href="solvers.htm#fminsearch">fminsearch</a></div>
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            <div>
              Updated for 
              <a href="solvers.htm#penbmi">PENBMI 
              2</a> (if you still use version 1, make sure to read the
              <a href="faq.htm#penbmi update">FAQ</a>).</div>
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              Improved memory use for huge SDP problems (matrix dimensions in the order of thousands).</div>
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            <div>
              Fixed bug that caused <a href="ellipsoidal.htm">MAXDET problems</a> to become 
              unnecessarily 
              large when solved using standard SDP solver (all MAXDET problems where treated as complex-valued).</div>
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            <div>
              Fixed some algorithmic bugs in the built-in integer solver (caused 
              severe performance degradation).</div>
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