<li><a href="#19">Appendix 3, Definition of BMI input format</a></li>
               <li><a href="#20">Appendix 4, Definition of PMI input format</a></li>
            </ul>
         </div>
         <h2>What is it?<a name="1"></a></h2>
         <p>PENlab is Matlab&reg; 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
 