car
                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
    0       1    1.000000e+02   3.000e+02                           1.500e+02
    1       3    9.800000e+01   5.324e+00   1.000e+00   4.784e+02   6.976e+02
    2       5    9.609095e+01   2.029e-01   1.000e+00   1.414e+00   9.737e-01
    3       9    8.971884e+01   1.470e-01   7.000e-01   4.573e+00   9.718e-01
    4      20    8.707215e+01   1.455e-01   5.765e-02   1.905e+00   9.710e-01
    5      34    8.535136e+01   1.447e-01   1.977e-02   1.241e+00   9.704e-01
    6      48    8.366372e+01   1.439e-01   1.977e-02   1.219e+00   9.413e-01
    7      62    8.201214e+01   1.428e-01   1.977e-02   1.195e+00   9.011e-01
    8      75    7.970838e+01   1.424e-01   2.825e-02   1.671e+00   8.439e-01
    9      87    7.653756e+01   1.416e-01   4.035e-02   2.308e+00   7.955e-01
   10      95    6.488080e+01   8.246e-02   1.681e-01   8.612e+00   1.696e+00
   11     106    6.277443e+01   8.253e-02   5.765e-02   1.587e+00   1.738e+00
   12     115    5.881744e+01   8.614e-02   1.176e-01   3.019e+00   1.806e+00
   13     124    5.546015e+01   8.922e-02   1.176e-01   2.612e+00   1.864e+00
   14     133    5.250036e+01   8.836e-02   1.176e-01   2.353e+00   1.911e+00
   15     142    4.983264e+01   8.567e-02   1.176e-01   2.174e+00   1.947e+00
   16     152    4.812941e+01   8.845e-02   8.235e-02   1.420e+00   2.033e+00
   17     163    4.700660e+01   8.860e-02   5.765e-02   9.523e-01   2.109e+00
   18     174    4.593887e+01   8.973e-02   5.765e-02   9.191e-01   2.190e+00
   19     185    4.496433e+01   9.011e-02   5.765e-02   8.515e-01   2.248e+00
   20     196    4.410008e+01   8.900e-02   5.765e-02   7.661e-01   2.272e+00
   21     206    4.301193e+01   9.052e-02   8.235e-02   9.810e-01   2.269e+00
   22     216    4.208028e+01   8.896e-02   8.235e-02   8.556e-01   2.227e+00
   23     225    4.094600e+01   9.012e-02   1.176e-01   1.064e+00   2.132e+00
   24     233    3.963867e+01   9.470e-02   1.681e-01   1.260e+00   1.954e+00
   25     240    3.823525e+01   9.931e-02   2.401e-01   1.399e+00   1.664e+00
   26     246    3.686487e+01   9.388e-02   3.430e-01   1.418e+00   1.251e+00
   27     250    3.523447e+01   8.401e-02   7.000e-01   1.770e+00   5.647e-01
   28     253    3.458130e+01   3.531e-03   1.000e+00   7.407e-01   1.334e-01
   29     255    3.457447e+01   2.757e-05   1.000e+00   8.484e-02   1.334e-01
   30     258    3.454317e+01   6.927e-07   1.000e+00   4.238e-01   1.335e-01

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   31     261    3.438802e+01   8.530e-05   1.000e+00   2.117e+00   1.292e-01
   32     269    3.426046e+01   1.226e-04   1.681e-01   1.762e+00   9.946e-02
   33     281    3.411046e+01   2.193e-04   4.035e-02   2.097e+00   7.441e-02
   34     297    3.404069e+01   2.588e-04   9.689e-03   9.848e-01   6.313e-02
   35     313    3.397260e+01   2.956e-04   9.689e-03   9.668e-01   6.526e-02
   36     329    3.390614e+01   3.297e-04   9.689e-03   9.492e-01   6.735e-02
   37     345    3.384126e+01   3.613e-04   9.689e-03   9.320e-01   6.940e-02
   38     360    3.375381e+01   4.383e-04   1.384e-02   1.265e+00   1.082e-01
   39     375    3.367539e+01   4.812e-04   1.384e-02   1.142e+00   1.489e-01
   40     389    3.357207e+01   5.659e-04   1.977e-02   1.517e+00   2.028e-01
   41     403    3.347733e+01   6.100e-04   1.977e-02   1.404e+00   2.525e-01
   42     416    3.335081e+01   6.949e-04   2.825e-02   1.893e+00   3.193e-01
   43     429    3.323337e+01   7.310e-04   2.825e-02   1.776e+00   3.818e-01
   44     442    3.312250e+01   7.455e-04   2.825e-02   1.694e+00   4.412e-01
   45     454    3.297161e+01   7.934e-04   4.035e-02   2.333e+00   5.227e-01
   46     466    3.282910e+01   8.316e-04   4.035e-02   2.232e+00   6.003e-01
   47     478    3.269307e+01   8.824e-04   4.035e-02   2.158e+00   6.750e-01
   48     490    3.256232e+01   9.556e-04   4.035e-02   2.100e+00   7.475e-01
   49     502    3.243605e+01   1.055e-03   4.035e-02   2.052e+00   8.180e-01
   50     515    3.235015e+01   1.084e-03   2.825e-02   1.409e+00   8.662e-01
   51     528    3.226590e+01   1.119e-03   2.825e-02   1.393e+00   9.138e-01
   52     541    3.218322e+01   1.162e-03   2.825e-02   1.378e+00   9.608e-01
   53     554    3.210201e+01   1.211e-03   2.825e-02   1.363e+00   1.007e+00
   54     567    3.202222e+01   1.265e-03   2.825e-02   1.350e+00   1.053e+00
   55     580    3.194460e+01   1.319e-03   2.825e-02   1.323e+00   1.098e+00
   56     593    3.187072e+01   1.361e-03   2.825e-02   1.268e+00   1.140e+00
   57     606    3.180033e+01   1.392e-03   2.825e-02   1.216e+00   1.181e+00
   58     619    3.173323e+01   1.413e-03   2.825e-02   1.167e+00   1.221e+00
   59     632    3.166921e+01   1.427e-03   2.825e-02   1.120e+00   1.258e+00
   60     645    3.160808e+01   1.434e-03   2.825e-02   1.076e+00   1.294e+00

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   61     658    3.154969e+01   1.436e-03   2.825e-02   1.033e+00   1.329e+00
   62     671    3.149387e+01   1.432e-03   2.825e-02   9.932e-01   1.362e+00
   63     684    3.144048e+01   1.425e-03   2.825e-02   9.549e-01   1.394e+00
   64     697    3.138938e+01   1.414e-03   2.825e-02   9.184e-01   1.424e+00
   65     709    3.131969e+01   1.432e-03   4.035e-02   1.260e+00   1.466e+00
   66     721    3.125415e+01   1.438e-03   4.035e-02   1.192e+00   1.505e+00
   67     733    3.119244e+01   1.434e-03   4.035e-02   1.130e+00   1.543e+00
   68     745    3.113428e+01   1.423e-03   4.035e-02   1.071e+00   1.578e+00
   69     757    3.107942e+01   1.404e-03   4.035e-02   1.015e+00   1.611e+00
   70     768    3.100569e+01   1.420e-03   5.765e-02   1.373e+00   1.572e+00
   71     779    3.093773e+01   1.416e-03   5.765e-02   1.274e+00   1.511e+00
   72     790    3.087498e+01   1.396e-03   5.765e-02   1.184e+00   1.450e+00
   73     801    3.081697e+01   1.365e-03   5.765e-02   1.101e+00   1.388e+00
   74     811    3.074055e+01   1.369e-03   8.235e-02   1.460e+00   1.301e+00
   75     821    3.067204e+01   1.341e-03   8.235e-02   1.318e+00   1.216e+00
   76     831    3.061049e+01   1.293e-03   8.235e-02   1.191e+00   1.134e+00
   77     840    3.053167e+01   1.276e-03   1.176e-01   1.536e+00   1.021e+00
   78     849    3.046380e+01   1.213e-03   1.176e-01   1.332e+00   9.172e-01
   79     857    3.038043e+01   1.175e-03   1.681e-01   1.649e+00   7.801e-01
   80     864    3.028435e+01   1.155e-03   2.401e-01   1.917e+00   6.097e-01
   81     870    3.018357e+01   1.071e-03   3.430e-01   2.030e+00   4.148e-01
   82     874    3.005388e+01   1.015e-03   7.000e-01   2.643e+00   1.378e-01
   83     877    3.000001e+01   4.967e-05   1.000e+00   1.107e+00   3.183e-03
   84     879    3.000000e+01   1.589e-11   1.000e+00   5.700e-05   1.849e-05
   85     881    3.000000e+01   4.334e-13   1.000e+00   1.042e-11   1.356e-12

Local minimum found that satisfies the constraints.

Optimization completed because the objective function is non-decreasing in 
feasible directions, to within the selected value of the function tolerance,
and constraints were satisfied to within the selected value of the constraint tolerance.




optimout = 

        nlpx: [20x1 double]
        fval: 30.0000
    exitflag: 1
      output: [1x1 struct]
      lambda: [1x1 struct]
        grad: [20x1 double]
     hessian: [20x20 double]
           t: [6x1 double]
           u: [6x1 double]
           p: []


optimparam = 

     optvar: 3
    objtype: []
      ncolx: 3
      ncolu: 1
         li: [2x1 double]
         tf: []
         ui: [0 0]
        par: []
        bdu: [-2 1]
        bdx: [2x2 double]
        bdp: []
     objfun: @objfun
     confun: @confun
    process: @process
    options: [1x1 struct]
        bdt: [1.0000e-03 100]
         ni: 2
         nu: 1
         nx: 2
         np: 0
        tau: [5x1 double]
        lfx: [5x4 double]
       dlfx: [5x4 double]
        lfu: [5x1 double]
          M: [2x2 double]
     dt_col: 2
     du_col: 2
     dx_col: 16
     dp_col: 0

graph
diary off
