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<title>YALMIP 3 - Old news</title>
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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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            <div>
              Support for fractional powers of posynomials (and nonlinear 
              operators) in <a href="geometric.htm">geometric programming 
              problems</a>.
            </div>
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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.
            </div>
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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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            <div>
              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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            <div>
              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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            <div>
              Changed default settings for
              the
              <a href="solvers.htm#csdp">CSDP</a> 
              options.</div>
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            <div>
              Small fixes in the <a href="sos.htm">sum of squares</a> module.</div>
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            <div>
              Fix in the 
              <a href="solvers.htm#xpress">MEXPRESS</a> interface (caused severe numerical problems in recent versions of
              <a href="solvers.htm#xpress">XPRESS</a>).</div>
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          <td class="tableheader">
          <p class="tableheader">YALMIP 3 [R20041015]</p>
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            <div>
              When a solver not supports equality constraints, the constraints are 
              now by default always eliminated using double-sided inequalities (this 
              was a bit inconsistent before, YALMIP used a reduced basis for some 
              solvers). Note that some solvers behave much better with a reduced 
              basis (see <a href="reference.htm#sdpsettings">sdpsettings</a> for 
              details).</div>
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				<img src="icon_fix.gif" width="14" height="14" hspace="14" alt="bullet"></td>
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            <div>
              Fixed small bug in the <a href="sos.htm">sum of squares</a> module 
              (caused a crash in some rare cases).</div>
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            <div>
              Fixed issues with the option <code>&#39;savedebug&#39;</code>.</div>
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            <div>
              Fixed issues with saving and loading objects.</div>
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            <div>
              Updated for
              <a href="solvers.htm#dsdp">DSDP 
              5</a>.</div>
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      </table>
      <br>
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          <td class="tableheader">
          <p class="tableheader">YALMIP 3 [R20041004]</p>
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            <div>
              Overloaded <code>polytope.m</code> and <code>projection.m </code>from 
              the <a href="solvers.htm#mpt">Multi-Parametric Toolbox</a> to
              <a href="reference.htm#set">set</a> objects. See the
              <a target="topic" href="mp.htm">multi-parametric example</a>.
            </div>
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            <div>
              Added support for the
              <a href="solvers.htm#cplex">CPLEX</a> interface
              <a href="solvers.htm#cplex">CPLEXMEX</a>.</div>
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				<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
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            <div>
              Added support for the
              <a href="solvers.htm#xpress">XPRESS</a> 
              interface
              <a href="solvers.htm#xpress">MEXPRESS</a>.</div>
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			</tr>
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				<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
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            <div>
              Added support for the
              <a href="solvers.htm#qsopt">QSopt</a> interface
              <a href="solvers.htm#qsopt">MEXQSOPT</a>.</div>
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				<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
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            <div>
              Added support for the SDP solver
              <a href="solvers.htm#sdplr">SDPLR</a>.</div>
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            <div>
              Added function <a target="topic" href="reference.htm#saveampl">saveampl</a> 
              to export (very) simple
              <a target="_blank" href="http://www.ampl.com">AMPL</a> models.</div>
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				<img src="icon_add.gif" width="14" height="14" hspace="14" alt="bullet"></td>
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            <div>
              Added function <a target="topic" href="reference.htm#export">export</a> 
              to export YALMIP models to various solver formats.</div>
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