Augmented Lagrangian methods
In general nonlinear optimization, we seek to solve problems of the form $$ \begin{equation}\tag{NLP} \begin{aligned} \min_z{} &\ell(z) \ \suchthat &c(z) = 0 \end{aligned} \end{equation} $$ This kind of formulation is often encountered in machine learning, control problems and others where structured, constrained optimization crops up.
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