The title pretty much says it all. The equations I am looking at are non-periodic with both finite and semi-infinite time horizons. Non-onerous licensing (if there are code snippets) is a plus.
Books which go beyond the techniques described in Boyd 2000 (http://perso.uclouvain.be/alphonse.magnus/num1a/boyd01.pdf) would be great, although that is a good example of the sort of book I am looking for.