The CaΣoS example package contains tutorials, application examples, and implementations from the literature. The purpose is to provide an easy on-boarding with CaΣoS, a nonlinear sum-of-squares optimization suite based on the symbolic framework of CasADi. New examples are continuously added.
The example package itself does not not need to be installed. Only a stable version of CaΣoS and a supported conic solver is needed. Follow the instructions on the Getting started page.
Tutorials/ # Folder contains different tutorials
├── Basics # Toolbox basics
├── SOS # How to setup different types of SOS problems
└── Conic # How to setup conic problems using sdpsol interface
Systems and Control/ # Examples from the systems and controls literature
├── NMPC # Synthesis of terminal conditions for NMPC, infinitesimal-NMPC law synthesis
├── Stability # Stability analysis, e.g., region-of-attraction estimation
└── Reachability # Reachability analysis, e.g., inner-approximation of backwards reachable set
- Getting started
- Available conic solvers
- Convex and nonconvex sum-of-squares optimization
- Supported vector, matrix, and polynomial cones
- Some practical tipps to sum-of-squares
- Transitioning from other toolboxes
- Example code snippets
If you use CaΣoS, please cite us:
T. Cunis and J. Olucak, ‘CaΣoS: A nonlinear sum-of-squares optimization suite’, in 2025 American Control Conference, (Boulder, CO), pp. 1659–1666, 2025 doi: 10.23919/ACC63710.2025.11107794.
Bibtex entry
@inproceedings{Cunis2025acc,
author = {Cunis, Torbjørn and Olucak, Jan},
title = {{CaΣoS}: {A} nonlinear sum-of-squares optimization suite},
booktitle = {2025 American Control Conference},
address = {Boulder, CO},
year = {2025},
pages = {1659--1666},
doi = {10.23919/ACC63710.2025.11107794},
}