 
%% What is it?
% PENlab is Matlab(R) based toolbox for optimization of nonlinear functions
% with vector and matrix variables subject to vector and matrix
% constraints. At present, it can solve standard nonlinear optimization
% problems, linear and nonlinear semidefinite programming problems and any
% combination of the two. PENlab is based on the code PENNON by 
% <http://www.penopt.com PENOPT>. PENlab was developed by Jan Fiala
% (The Numerical Algorithms Group Ltd.), Michal Kocvara (University