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Welcome to the CaΣoS wiki! Here you'll find information about polynomials, sum‐of‐squares optimization, sum-of-squares and related cones, and general usage of the software.
CaΣoS aims to bring nonlinear optimization into sum-of-squares programming as well as facilitate the integration of pre-computed polynomials into optimal control solutions. CaΣoS is developed by researchers at the Institute of Flight Mechanics and Controls of the University of Stuttgart and distributed open-source under the GPL-3.0 license.
The following requirements need to be met in order to use all functionalities of CaΣoS:
- Download CasADi v3.6.x and add it to your Matlab path.
- Download and install at least one solver for semidefinite (conic) programs, and add the solver(s) to the Matlab Path.
- Add the CaΣoS root folder (the one that contains the directory
+casos) to your Matlab path.
You can check if CaΣoS is ready to go by running the install script in utils/install.m.
CaΣoS provides interfaces to the following conic (semidefinite) solvers:
Note
- Mosek requires a separate license. Academic Licenses are available.
- Clarabel requires a MATLAB
mexinterface to the Rust implementation, available here.
Source code for exemplary sum-of-squares optimization problems (convex and nonconvex) can be found in the demo folder, including
- polynomial optimization
- stability analysis
- region-of-attraction estimation
Details on the numerical examples are given on the Numerical Examples page.
- Getting started
- Available conic solvers
- Convex and nonconvex sum-of-squares optimization
- Supported vector, matrix, and polynomial cones
- Some practical tipps for sum-of-squares
- Transitioning from other toolboxes
- Example code snippets
If you use CaΣoS, please cite us.