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J.-B. Jian, C.-M. Tang, Q.-J. Hu and H.-Y. Zheng, “A Feasible Descent SQP Algorithm for General Constrained Optimization without Strict Complementarity,” Journal of Computational and Applied Mathematics, Vol. 180, No. 2, 2005, pp. 391-412. doi:10.1016/j.cam.2004.11.008

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