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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.