P = defipoly({'min z', ...
      'x1^2 - 8*x1 + 16 + x2^2 - 10*x2 + 25 + x3^2 - 10*x3 + 25 <= 1+z', ...
      'x1^2 -12*x1 + 36 + x2^2 - 10*x2 + 25 + x3^2 - 10*x3 + 25 <= 1+z', ...
      'x1^2 + x2^2 + x3^2 + z^2 <= 10000'}, 'x1,x2,x3,z');
output=gloptipoly(P,2);
output
output.sol{:}