User's Guide for FSQP Version 3.0c: A FORTRAN Code for Solving Constrained Nonlinear (Minimax) Optimization Problems, Generating Iterates Satisfying All Inequality and Linear Constraints

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FSQP 3.0c is a set of FORTRAN subroutines for the minimization of the maximum of a set of smooth objective functions (possibly a single one) subject to general smooth constraints. If the initial guess provided by the user is infeasible for some inequality constraint or some linear equality constraint, FSQP first generates a feasible point for these constraints; subsequently the successive iterates generated by FSQP all satisfy these constraints. Nonlinear equality constraints are turned into inequality constraints (to be satisfied by all iterates) and the maximum of the objective functions is replaced by an exact penalty function which penalizes nonlinear equality constraint violations only. The user has the option of either requiring that the (modified) objective function decrease at each iteration after feasibility for nonlinear inequality and linear constraints has been reached (monotone line search), or requiring a decrease within at most four iterations (nonmonotone line search). He/She must provide subroutines that define the objective functions and constraint functions and may either provide subroutines to compute the gradients of these functions or require that FSQP estimate them by forward finite differences.

FSQP 3.0c implements two algorithms based on Sequential Quadratic Programming (SQP), modified so as to generate feasible iterates. In the first one (monotone line search), a certain Armijo type arc search is used with the property that the step of one is eventually accepted, a requirement for superlinear convergence. In the second one the same effect is achieved by means of a (nonmonotone) search along a straight line. The merit function used in both searches is the maximum of the objective functions if there is no nonlinear equality constraint.