Palamedes
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Terms of agreement:

I understand that Palamedes is free software that may not be used
for commercial purposes without express permission from the
authors, and cannot be reproduced and/or distributed in original or
modified form under a different name and/or authorship

clicking here to download Palamedes signifies that you have read and agree to the terms above

... and don't forget to check back periodically for updates. Current version is 1.9.1. Type PAL_info into the Matlab or Octave command window to find out which Palamedes version you currently have.
Palamedes version 1.9.1 is compatible with bare-bones Matlab (i.e., without any of the optional toolboxes) going back as far as R14SP3 (aka Matlab 7.1, Sept, 2005). Also compatible with GNU Octave (verified with Octave 4.0.0).