car2
                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
    0       1    1.000000e+02   3.000e+02                           1.000e+00
    1       2    9.700000e+01   7.986e+00   1.000e+00   4.785e+02   1.049e+03
    2       3    9.442843e+01   3.476e-01   1.000e+00   1.732e+00   1.000e+00
    3       5    8.872548e+01   3.888e-02   1.000e+00   3.514e+00   1.000e+00
    4       6    8.635437e+01   2.312e-02   1.000e+00   2.331e+00   1.000e+00
    5      11    8.228598e+01   2.381e-02   3.430e-01   4.004e+00   1.001e+00
    6      19    7.954482e+01   2.469e-02   1.176e-01   2.692e+00   1.001e+00
    7      27    7.711640e+01   2.513e-02   1.176e-01   2.380e+00   1.001e+00
    8      35    7.496385e+01   2.520e-02   1.176e-01   2.105e+00   1.001e+00
    9      43    7.305299e+01   2.514e-02   1.176e-01   1.865e+00   1.002e+00
   10      51    7.135397e+01   2.496e-02   1.176e-01   1.656e+00   1.002e+00
   11      59    6.984029e+01   2.468e-02   1.176e-01   1.475e+00   1.002e+00
   12      67    6.848822e+01   2.431e-02   1.176e-01   1.320e+00   1.003e+00
   13      75    6.727619e+01   2.389e-02   1.176e-01   1.190e+00   9.531e-01
   14      83    6.618415e+01   2.348e-02   1.176e-01   1.087e+00   9.000e-01
   15      92    6.549167e+01   2.238e-02   8.235e-02   7.067e-01   8.657e-01
   16     101    6.483514e+01   2.145e-02   8.235e-02   6.982e-01   8.329e-01
   17     110    6.420333e+01   2.073e-02   8.235e-02   7.222e-01   8.728e-01
   18     120    6.376703e+01   1.999e-02   5.765e-02   5.633e-01   9.098e-01
   19     130    6.330071e+01   1.952e-02   5.765e-02   7.379e-01   9.448e-01
   20     139    6.248495e+01   1.771e-02   8.235e-02   1.807e+00   9.906e-01
   21     148    6.142733e+01   1.610e-02   8.235e-02   3.358e+00   1.023e+00
   22     159    6.100608e+01   1.634e-02   4.035e-02   1.596e+00   8.564e-01
   23     169    6.046125e+01   1.681e-02   5.765e-02   2.312e+00   7.153e-01
   24     177    5.945453e+01   2.026e-02   1.176e-01   4.588e+00   6.311e-01
   25     184    5.822176e+01   2.473e-02   1.681e-01   5.887e+00   6.040e-01
   26     192    5.751526e+01   2.353e-02   1.176e-01   3.507e+00   6.040e-01
   27     200    5.688853e+01   2.175e-02   1.176e-01   3.239e+00   6.040e-01
   28     208    5.632569e+01   1.976e-02   1.176e-01   3.039e+00   6.040e-01
   29     215    5.559467e+01   1.733e-02   1.681e-01   4.144e+00   6.717e-01
   30     222    5.495670e+01   1.505e-02   1.681e-01   3.842e+00   7.599e-01

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   31     229    5.438292e+01   1.300e-02   1.681e-01   3.727e+00   8.381e-01
   32     236    5.384434e+01   1.158e-02   1.681e-01   3.841e+00   9.095e-01
   33     244    5.346843e+01   1.096e-02   1.176e-01   2.992e+00   9.572e-01
   34     253    5.317704e+01   1.083e-02   8.235e-02   2.577e+00   9.925e-01
   35     263    5.294915e+01   1.076e-02   5.765e-02   2.170e+00   1.082e+00
   36     273    5.271020e+01   1.083e-02   5.765e-02   2.372e+00   1.240e+00
   37     283    5.247303e+01   1.090e-02   5.765e-02   2.420e+00   1.399e+00
   38     293    5.224133e+01   1.094e-02   5.765e-02   2.421e+00   1.557e+00
   39     303    5.201551e+01   1.095e-02   5.765e-02   2.415e+00   1.713e+00
   40     313    5.179523e+01   1.093e-02   5.765e-02   2.412e+00   1.868e+00
   41     323    5.158004e+01   1.089e-02   5.765e-02   2.412e+00   2.020e+00
   42     333    5.136956e+01   1.083e-02   5.765e-02   2.417e+00   2.172e+00
   43     343    5.116344e+01   1.077e-02   5.765e-02   2.425e+00   2.322e+00
   44     353    5.096138e+01   1.069e-02   5.765e-02   2.435e+00   2.472e+00
   45     363    5.076310e+01   1.060e-02   5.765e-02   2.448e+00   2.622e+00
   46     373    5.056840e+01   1.051e-02   5.765e-02   2.463e+00   2.771e+00
   47     383    5.037704e+01   1.041e-02   5.765e-02   2.480e+00   2.920e+00
   48     393    5.018886e+01   1.031e-02   5.765e-02   2.498e+00   3.068e+00
   49     403    5.000406e+01   1.018e-02   5.765e-02   2.512e+00   3.216e+00
   50     411    4.965141e+01   1.034e-02   1.176e-01   4.905e+00   3.499e+00
   51     419    4.934402e+01   9.822e-03   1.176e-01   4.396e+00   3.745e+00
   52     426    4.896191e+01   9.546e-03   1.681e-01   5.624e+00   4.013e+00
   53     432    4.851527e+01   9.495e-03   2.401e-01   6.804e+00   3.731e+00
   54     437    4.803908e+01   9.010e-03   3.430e-01   7.532e+00   3.039e+00
   55     441    4.759954e+01   6.803e-03   4.900e-01   7.210e+00   1.943e+00
   56     443    4.714801e+01   2.401e-03   1.000e+00   7.656e+00   2.402e-01
   57     444    4.714533e+01   4.697e-07   1.000e+00   4.398e-02   1.659e-01
   58     446    4.713220e+01   1.264e-08   1.000e+00   2.191e-01   1.659e-01
   59     448    4.706653e+01   1.586e-06   1.000e+00   1.095e+00   1.659e-01
   60     451    4.683670e+01   6.958e-05   7.000e-01   3.834e+00   1.659e-01

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   61     458    4.656079e+01   1.845e-04   1.681e-01   4.602e+00   1.659e-01
   62     470    4.632893e+01   2.599e-04   2.825e-02   3.868e+00   1.659e-01
   63     483    4.610493e+01   3.321e-04   1.977e-02   3.737e+00   1.648e-01
   64     496    4.588536e+01   4.028e-04   1.977e-02   3.663e+00   1.617e-01
   65     509    4.567013e+01   4.722e-04   1.977e-02   3.590e+00   1.586e-01
   66     522    4.545915e+01   5.401e-04   1.977e-02   3.519e+00   1.554e-01
   67     535    4.525235e+01   6.067e-04   1.977e-02   3.450e+00   1.523e-01
   68     548    4.504964e+01   6.720e-04   1.977e-02   3.381e+00   1.493e-01
   69     561    4.485093e+01   7.360e-04   1.977e-02   3.315e+00   1.463e-01
   70     574    4.465616e+01   7.988e-04   1.977e-02   3.249e+00   1.434e-01
   71     587    4.446523e+01   8.603e-04   1.977e-02   3.185e+00   1.406e-01
   72     600    4.427809e+01   9.206e-04   1.977e-02   3.122e+00   1.378e-01
   73     613    4.409464e+01   9.797e-04   1.977e-02   3.060e+00   1.351e-01
   74     626    4.391482e+01   1.038e-03   1.977e-02   3.000e+00   1.324e-01
   75     639    4.373855e+01   1.094e-03   1.977e-02   2.940e+00   1.298e-01
   76     652    4.356577e+01   1.150e-03   1.977e-02   2.882e+00   1.272e-01
   77     665    4.339641e+01   1.205e-03   1.977e-02   2.825e+00   1.446e-01
   78     678    4.323039e+01   1.258e-03   1.977e-02   2.769e+00   1.676e-01
   79     691    4.306766e+01   1.310e-03   1.977e-02   2.715e+00   1.902e-01
   80     704    4.290815e+01   1.362e-03   1.977e-02   2.661e+00   2.123e-01
   81     717    4.275179e+01   1.412e-03   1.977e-02   2.608e+00   2.340e-01
   82     730    4.259852e+01   1.462e-03   1.977e-02   2.557e+00   2.552e-01
   83     743    4.244828e+01   1.510e-03   1.977e-02   2.506e+00   2.760e-01
   84     756    4.230107e+01   1.554e-03   1.977e-02   2.456e+00   2.964e-01
   85     769    4.215694e+01   1.588e-03   1.977e-02   2.404e+00   3.164e-01
   86     782    4.201582e+01   1.613e-03   1.977e-02   2.354e+00   3.360e-01
   87     794    4.181874e+01   1.705e-03   2.825e-02   3.288e+00   3.633e-01
   88     806    4.162762e+01   1.758e-03   2.825e-02   3.188e+00   3.898e-01
   89     817    4.136395e+01   1.880e-03   4.035e-02   4.398e+00   4.263e-01
   90     826    4.085950e+01   2.124e-03   8.235e-02   8.415e+00   4.963e-01

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   91     835    4.040305e+01   1.036e-04   8.235e-02   7.614e+00   5.595e-01
   92     847    4.025405e+01   5.281e-05   2.825e-02   2.485e+00   5.802e-01
   93     861    4.018224e+01   7.323e-05   1.384e-02   1.198e+00   5.901e-01
   94     875    4.011144e+01   9.488e-05   1.384e-02   1.181e+00   6.000e-01
   95     889    4.004163e+01   1.177e-04   1.384e-02   1.165e+00   6.096e-01
   96     903    3.997281e+01   1.417e-04   1.384e-02   1.148e+00   6.192e-01
   97     917    3.990566e+01   1.654e-04   1.384e-02   1.120e+00   6.285e-01
   98     931    3.984119e+01   1.868e-04   1.384e-02   1.075e+00   6.374e-01
   99     945    3.977925e+01   2.059e-04   1.384e-02   1.033e+00   6.460e-01
  100     959    3.971971e+01   2.232e-04   1.384e-02   9.934e-01   6.543e-01
  101     973    3.966242e+01   2.387e-04   1.384e-02   9.557e-01   6.622e-01
  102     986    3.958404e+01   2.840e-04   1.977e-02   1.308e+00   6.731e-01
  103     999    3.950973e+01   3.231e-04   1.977e-02   1.240e+00   6.834e-01
  104    1012    3.943919e+01   3.569e-04   1.977e-02   1.177e+00   6.931e-01
  105    1025    3.937215e+01   3.859e-04   1.977e-02   1.118e+00   7.024e-01
  106    1038    3.930837e+01   4.107e-04   1.977e-02   1.064e+00   7.113e-01
  107    1051    3.924763e+01   4.319e-04   1.977e-02   1.013e+00   7.197e-01
  108    1064    3.918973e+01   4.497e-04   1.977e-02   9.659e-01   7.277e-01
  109    1077    3.913449e+01   4.647e-04   1.977e-02   9.216e-01   7.354e-01
  110    1090    3.908173e+01   4.771e-04   1.977e-02   8.801e-01   7.427e-01
  111    1103    3.903131e+01   4.873e-04   1.977e-02   8.412e-01   7.497e-01
  112    1115    3.896277e+01   5.253e-04   2.825e-02   1.144e+00   7.592e-01
  113    1127    3.889836e+01   5.556e-04   2.825e-02   1.075e+00   7.681e-01
  114    1139    3.883774e+01   5.793e-04   2.825e-02   1.011e+00   7.765e-01
  115    1151    3.878061e+01   5.975e-04   2.825e-02   9.531e-01   7.844e-01
  116    1163    3.872670e+01   6.109e-04   2.825e-02   8.995e-01   7.919e-01
  117    1175    3.867577e+01   6.202e-04   2.825e-02   8.498e-01   7.990e-01
  118    1187    3.862759e+01   6.262e-04   2.825e-02   8.039e-01   8.056e-01
  119    1198    3.856277e+01   6.612e-04   4.035e-02   1.082e+00   8.146e-01
  120    1209    3.850270e+01   6.849e-04   4.035e-02   1.002e+00   8.230e-01

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
  121    1220    3.844693e+01   6.997e-04   4.035e-02   9.306e-01   8.307e-01
  122    1231    3.839505e+01   7.071e-04   4.035e-02   8.656e-01   8.379e-01
  123    1242    3.834671e+01   7.087e-04   4.035e-02   8.066e-01   8.446e-01
  124    1252    3.828265e+01   7.423e-04   5.765e-02   1.069e+00   8.535e-01
  125    1262    3.822448e+01   7.582e-04   5.765e-02   9.707e-01   8.615e-01
  126    1272    3.817152e+01   7.611e-04   5.765e-02   8.839e-01   8.689e-01
  127    1282    3.812317e+01   7.543e-04   5.765e-02   8.068e-01   8.747e-01
  128    1291    3.806038e+01   7.787e-04   8.235e-02   1.048e+00   8.170e-01
  129    1300    3.800493e+01   7.774e-04   8.235e-02   9.254e-01   7.615e-01
  130    1309    3.795578e+01   7.593e-04   8.235e-02   8.203e-01   7.084e-01
  131    1317    3.789375e+01   7.686e-04   1.176e-01   1.035e+00   6.362e-01
  132    1325    3.784113e+01   7.417e-04   1.176e-01   8.784e-01   5.699e-01
  133    1332    3.777747e+01   7.375e-04   1.681e-01   1.063e+00   4.832e-01
  134    1338    3.770543e+01   7.494e-04   2.401e-01   1.203e+00   3.762e-01
  135    1343    3.763133e+01   7.158e-04   3.430e-01   1.237e+00   2.547e-01
  136    1346    3.753813e+01   7.106e-04   7.000e-01   1.556e+00   8.335e-02
  137    1348    3.750001e+01   3.514e-05   1.000e+00   6.366e-01   1.685e-03
  138    1349    3.750000e+01   1.535e-12   1.000e+00   1.466e-04   8.485e-06
  139    1350    3.750000e+01   6.448e-13   1.000e+00   8.771e-13   1.012e-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 are satisfied to within the selected value of the constraint tolerance.




optimout = 

        nlpx: [30x1 double]
        fval: 37.5000
    exitflag: 1
      output: [1x1 struct]
      lambda: [1x1 struct]
        grad: [30x1 double]
     hessian: [30x30 double]
           t: [9x1 double]
           u: [9x1 double]
           p: []


optimparam = 

     optvar: 3
    objtype: []
      ncolx: 3
      ncolu: 1
         li: [3x1 double]
         tf: []
         ui: [0 0 0]
        par: []
        bdu: [-2 1]
        bdx: [2x2 double]
        bdp: []
     objfun: @objfun
     confun: @confun
    process: @process
    options: [1x1 struct]
        bdt: [1.0000e-03 100.0000]
         ni: 3
         nu: 1
         nx: 2
         np: 0
        tau: [5x1 double]
        lfx: [5x4 double]
       dlfx: [5x4 double]
        lfu: [5x1 double]
          M: [2x2 double]
     dt_col: 3
     du_col: 3
     dx_col: 24
     dp_col: 0

diary off
