Current state of the art of algorithms and computer software for geometric programming

This paper attempts to consolidate over 15 years of attempts at designing algorithms for geometric programming (GP) and its extensions. The pitfalls encountered when solving GP problems and some proposed remedies are discussed in detail. A comprehensive summary of published software for the solution of GP problems is included. Also included is a numerical comparison of some of the more promising recently developed computer codes for geometric programming on a specially chosen set of GP test problems. The relative performance of these codes is measured in terms of their robustness as well as speed of computation. The performance of some general nonlinear programming (NLP) codes on the same set of test problems is also given and compared with the results for the GP codes. The paper concludes with some suggestions for future research.An earlier version of this paper was presented at the ORSA/TIMS Conference, Chicago, 1975.This work was supported in part by the National Research Council of Canada, Grant No. A-3552, Canada Council Grant No. S74-0418, and a research grant from the School of Organization and Management, Yale University. The author wishes to thank D. Himmelblau, T. Jefferson, M. Rijckaert, X. M. Martens, A. Templeman, J. J. Dinkel, G. Kochenberger, M. Ratner, L. Lasdon, and A. Jain for their cooperation in making the comparative study possible.     

A compact formulation of an elastoplastic analysis problem

Two important problems in the area of engineering plasticity are limit load analysis and elastoplastic analysis. It is well known that these two problems can be formulated as linear and quadratic programming problems, respectively (Refs. 1–2). In applications, the number of variables in each of these mathematical programming problems tends to be large. Consequently, it is important to have efficient numerical methods for their solution. The purpose of this paper is to present a method which allows the quadratic programming formulation of the elastoplastic analysis to be reformulated as an equivalent quadratic programming problem which has significantly fewer variables than the original formulation. Indeed, in Section 4, we will present details of an example for which the original quadratic programming formulation required 297 variables and for which the equivalent formulation presented here required only two variables. The method is based on a characterization of the entire family of optimal solutions for a linear programming problem.This research was supported by the Natural Science and Engineering Council of Canada under Grant No. A8189 and by a Leave Fellowship from the Social Sciences and Humanities Research Council of Canada. The author takes pleasure in acknowledging many stimulating discussions with Professor D. E. Grierson.     

Acceleration of the leastpth algorithm for minimax optimization with engineering applications

Over the past few years a number of researchers in mathematical programming and engineering became very interested in both the theoretical and practical applications of minimax optimization. The purpose of the present paper is to present a new method of solving the minimax optimization problem and at the same time to apply it to nonlinear programming and to three practical engineering problems. The original problem is defined as a modified leastpth objective function which under certain conditions has the same optimum as the original problem. The advantages of the present approach over the Bandler-Charalambous leastpth approach are similar to the advantages of the augmented Lagrangians approach for nonlinear programming over the standard penalty methods.This work was supported by the National Research Council of Canada under Grant A4414, and from the University of Waterloo.     

Second order algorithms for the posynomial geometric programming dual,part I: Analysis

In this paper we analyse algorithms for the geometric dual of posynomial programming problems, that make explicit use of second order information. Out of two possible approaches to the problem, it is shown that one is almost always superior. Interestingly enough, it is the second, inferior approach that has dominated the geometric programming literature.This work was partially supported by the National Research Council of Canada, Grant A3552 and National Science Foundation Grant ENG78-21615.Earlier versions of this paper were presented at the Optimization Days Conference in Montreal (May 1976) and the TIMS meeting in Athens (July 1977).     

Predictor-corrector methods for nonlinear Volterra integral equations of the second kind

Predictor-corrector methods for nonlinear Volterra integral equations are considered together with a theorem which provides a proof of the convergence of such methods. Some numerical examples are also included.This research was supported by the National Research Council of Canada under Grant A 8196.     

On various duality theorems in nonlinear programming

Recently, Gulati and Craven and Mond and Egudo established strict converse duality theorems for some of Mond-Weir duals for nonlinear programming problems. Here, we establish various duality theorems under weaker convexity conditions that are different from those of Gulati and Craven, Mond and Weir, and Mond and Egudo.The first author is thankful to the Natural Science and Engineering Research Council of Canada for financial support through Grant A-5319.     

Global optimization approach to nonlinear optimal control

To determine the optimum in nonlinear optimal control problems, it is proposed to convert the continuous problems into a form suitable for nonlinear programming (NLP). Since the resulting finite-dimensional NLP problems can present multiple local optima, a global optimization approach is developed where random starting conditions are improved by using special line searches. The efficiency, speed, and reliability of the proposed approach is examined by using two examples.Financial support from the Natural Science and Engineering Research Council under Grant A-3515 as well as an Ontario Graduate Scholarship are gratefully acknowledged. All the computations were done with the facilities of the University of Toronto Computer Centre and the Ontario Centre for Large Scale Computations.     

Optimization Techniques for State-Constrained Control and Obstacle Problems

The design of control laws for systems subject to complex state constraints still presents a significant challenge. This paper explores a dynamic programming approach to a specific class of such problems, that of reachability under state constraints. The problems are formulated in terms of nonstandard minmax and maxmin cost functionals, and the corresponding value functions are given in terms of Hamilton-Jacobi-Bellman (HJB) equations or variational inequalities. The solution of these relations is complicated in general; however, for linear systems, the value functions may be described also in terms of duality relations of convex analysis and minmax theory. Consequently, solution techniques specific to systems with a linear structure may be designed independently of HJB theory. These techniques are illustrated through two examples.The first author was supported by the Russian Foundation for Basic Research, Grant 03-01-00663, by the program Universities of Russia, Grant 03.03.007, and by the program of the Russian Federation President for the support of scientific research in leading scientific schools, Grant NSh-1889.2003.1.The second author was supported by the National Science and Engineering Research Council of Canada and by ONR MURI Contract 79846-23800-44-NDSAS.The third and first authors were supported by NSF Grants ECS-0099824 and ECS-0424445.Communicated by G. Leitmann     

Comparison of a special-purpose algorithm with general-purpose algorithms for solving geometric programming problems

We study the performance of four general-purpose nonlinear programming algorithms and one special-purpose geometric programming algorithm when used to solve geometric programming problems. Experiments are reported which show that the special-purpose algorithm GGP often finds approximate solutions more quickly than the general-purpose algorithm GRG2, but is usually not significantly more efficient than GRG2 when greater accuracy is required. However, for some of the most difficult test problems attempted, GGP was dramatically superior to all of the other algorithms. The other algorithms are usually not as efficient as GGP or GRG2. The ellipsoid algorithm is most robust.This work was supported in part by the National Science Foundation, Grant No. MCS-81-02141.     

A lower bound for the controlling parameters of the exact penalty functions

The purpose of this paper is to present new exact penalty functions and discuss their properties. A lower bound on the controlling parameters is given, for which above this value, the optimum of the exact penalty function coincides with the optimum of the nonlinear programming problem.This work was supported by the National Research Council of Canada under Grant A4414.     

Nonlinear programming using minimax techniques

A minimax approach to nonlinear programming is presented. The original nonlinear programming problem is formulated as an unconstrained minimax problem. Under reasonable restrictions, it is shown that a point satisfying the necessary conditions for a minimax optimum also satisfies the Kuhn-Tucker necessary conditions for the original problem. A leastpth type of objective function for minimization with extremely large values ofp is proposed to solve the problem. Several numerical examples compare the present approach with the well-known SUMT method of Fiacco and McCormick. In both cases, a recent minimization algorithm by Fletcher is used.This paper is based on work presented at the 5th Hawaii International Conference on System Sciences, Honolulu, Hawaii, 1972. The authors are greatly indebted to V. K. Jha for his programming assistance and J. H. K. Chen who obtained some of the numerical results. This work was supported in part by the National Research Council of Canada under Grant No. A7239, by a Frederick Gardner Cottrell Grant from the Research Corporation, and through facilities and support from the Communications Research Laboratory of McMaster University.     

Shadow prices in nonconvex mathematical programming

In this paper a definition is proposed for the concept of shadow prices in nonconvex programming. For a nonlinear program with equality and inequality constraints, existence of these prices and bounds for their possible values are obtained under the Mangasarian—Fromowitz regularity condition. Their exact values and some continuity properties are obtained under the more restrictive linear independence regularity condition. A definition of equilibrium prices is also proposed. Under convexity assumptions, all definitions and results coincide with those already known on this subject in convex programming.This research was supported by the Natural Sciences and Engineering Research Council of Canada under Grant A-9273.     

Optimality in transient markov chains and linear programming

It is shown how a discrete Markov programming problem can be transformed, using a linear program, into an equivalent problem from which the optimal decision rule can be trivially deduced. This transformation is applied to problems which have either transient probabilities or discounted costs.This research was supported by the National Research Council of Canada, Grant A7751.     

A quadratic programming algorithm

By using conjugate directions a method for solving convex quadratic programming problems is developed. The algorithm generates a sequence of feasible solutions and terminates after a finite number of iterations. Extensions of the algorithm for nonconvex and large structured quadratic programming problems are discussed.Sponsored by the United States Army under Contract No. DAAG29-80-C-0041 and in part by the Natural Sciences and Engineering Research Council of Canada under Grant Nos. A 8189 and E 5582.     

Towards a strongly polynomial algorithm for strictly convex quadratic programs: An extension of Tardos' algorithm

In a recent paper Tardos described a polynomial algorithm for solving linear programming problems in which the number of arithmetic steps depends only on the size of the numbers in the constraint matrix and is independent of the size of the numbers in the right hand side and the cost coefficients. In this paper we extend Tardos' results and present a polynomial algorithm for solving strictly convex quadratic programming problems in which the number of arithmetic steps is independent of the size of the numbers in the right hand side and the linear cost coefficients.This research was partially supported by the Natural Sciences and Engineering Research Council of Canada Grant 5-83998.     

Nonlinear programming: Global use of the Lagrangian

In some constrained nonlinear programming problems possessing several local optima, a local optimum can be recognized as the global optimum by looking closely at the Lagrangian, the augmented function. Similarly, classes of constrained optimization problems, such as geometric programming problems, can be recognized as possessing at most a single local optimum.This research was supported in part by the Atomic Energy Commission under Research Contract No. A(11-1)-1493 and by the Department of Defense under Themis Grant No. F44620-69-C-0116.     

Characterization of optimality in convex programming without a constraint qualification

Necessary and sufficient conditions of optimality are given for convex programming problems with no constraint qualification. The optimality conditions are stated in terms of consistency or inconsistency of a family of systems of linear inequalities and cone relations.This research was supported by Project No. NR-047-021, ONR Contract No. N00014-67-A-0126-0009 with the Center for Cybernetics Studies, The University of Texas; by NSF Grant No. ENG-76-10260 at Northwestern University; and by the National Research Council of Canada.     

Sufficient optimality conditions and duality for a quasiconvex programming problem

Under differentiability assumptions, Fritz John Sufficient optimality conditions are proved for a nonlinear programming problem in which the objective function is assumed to be quasiconvex and the constraint functions are assumed to quasiconcave/strictly pseudoconcave. Duality theorems are proved for Mond-Weir type duality under the above generalized convexity assumptions.The first author is thankful to the Natural Science and Engineering Research Council of Canada for financial support through Grant No. A-5319. The authors are thankful to Professor B. Mond for suggestions that improved the original draft of the paper.     

A strong duality theorem for the minimum of a family of convex programs

We produce a duality theorem for the minimum of an arbitrary family of convex programs. This duality theorem provides a single concave dual maximization and generalizes recent work in linear disjunctive programming. Homogeneous and symmetric formulations are studied in some detail, and a number of convex and nonconvex applications are given.This work was partially funded by National Research Council of Canada, Grant No. A4493. Thanks are due to Mr. B. Toulany for many conversations and to Dr. L. MacLean who suggested the chance-constrained model.     

A unified framework for linear control problems with state-variable inequality constraints

This paper briefly reviews the literature on necessary optimality conditions for optimal control problems with state-variable inequality constraints. Then, it attempts to unify the treatment of linear optimal control problems with state-variable inequality constraints in the framework of continuous linear programming. The duality theory in this framework makes it possible to relate the adjoint variables arising in different formulations of a problem; these relationships are illustrated by the use of a simple example. This framework also allows more general problems and admits a simplex-like algorithm to solve these problems.This research was partially supported by Grant No. A4619 from the National Research Council of Canada to the first author. The first author also acknowledges the support provided by the Brookhaven National Laboratory, where he conducted his research.