problem2
                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
    0       1    1.611157e+01   1.416e-03   1.000e+00   0.000e+00   2.217e+02
    1       3    1.542247e+01   4.621e-02   1.000e+00   8.301e-01   6.206e-01
    2       5    1.205695e+01   1.077e+00   1.000e+00   4.102e+00   5.642e-01
    3       8    4.259488e+00   7.037e-01   1.000e+00   1.151e+01   4.537e+00
    4      10    4.415516e+00   4.232e-03   1.000e+00   5.693e-01   3.507e-01
    5      12    4.228166e+00   9.128e-03   1.000e+00   6.000e-01   2.783e-01
    6      14    3.306982e+00   2.247e-01   1.000e+00   2.972e+00   3.480e-01
    7      16    2.335865e+00   4.277e-01   1.000e+00   3.425e+00   2.947e+00
    8      18    1.681493e+00   3.862e-01   1.000e+00   2.964e+00   4.458e+00
    9      20   -8.254351e-02   2.741e+00   1.000e+00   8.749e+00   4.045e+00
   10      22    5.486033e-01   2.312e-02   1.000e+00   2.036e+00   4.327e+00
   11      24    3.014262e-01   1.861e-01   1.000e+00   2.680e+00   1.435e+00
   12      26    2.577535e-01   8.957e-02   1.000e+00   1.725e+00   4.193e-01
   13      28    2.615350e-01   2.680e-03   1.000e+00   3.559e-01   8.836e-02
   14      30    2.008097e-01   3.196e-02   1.000e+00   1.452e+00   2.260e-01
   15      32    1.953995e-01   4.562e-03   1.000e+00   4.401e-01   1.925e-01
   16      34    1.362820e-01   7.825e-02   1.000e+00   1.878e+00   1.613e-01
   17      36    1.428220e-01   1.402e-02   1.000e+00   7.555e-01   1.419e-01
   18      38    1.379727e-01   1.327e-02   1.000e+00   7.019e-01   9.494e-02
   19      40    1.390005e-01   1.244e-04   1.000e+00   6.327e-02   7.787e-02
   20      42    1.361117e-01   3.554e-03   1.000e+00   3.051e-01   9.043e-02
   21      45    1.336166e-01   1.193e-03   1.000e+00   1.257e+00   1.338e-01
   22      47    1.321736e-01   4.442e-03   1.000e+00   3.405e-01   8.358e-03
   23      49    1.326067e-01   2.749e-05   1.000e+00   2.665e-02   8.432e-03
   24      51    1.320204e-01   9.115e-04   1.000e+00   1.273e-01   6.991e-03
   25      54    1.307755e-01   8.653e-04   1.000e+00   5.865e-01   5.614e-03
   26      56    1.306150e-01   8.089e-04   1.000e+00   1.393e-01   1.613e-02
   27      58    1.305306e-01   4.340e-04   1.000e+00   1.173e-01   1.853e-02
   28      60    1.302019e-01   1.659e-03   1.000e+00   2.091e-01   1.897e-02
   29      62    1.297851e-01   5.901e-04   1.000e+00   7.931e-02   1.629e-02
   30      64    1.290794e-01   1.485e-03   1.000e+00   1.823e-01   1.216e-02

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   31      66    1.293370e-01   7.779e-05   1.000e+00   5.612e-02   1.110e-02
   32      68    1.292246e-01   1.770e-04   1.000e+00   8.521e-02   9.624e-03
   33      70    1.290047e-01   1.025e-03   1.000e+00   1.648e-01   5.768e-03
   34      73    1.288012e-01   5.642e-05   1.000e+00   2.625e-01   1.935e-02
   35      76    1.285219e-01   2.364e-04   1.000e+00   3.591e-01   2.813e-02
   36      79    1.284174e-01   1.837e-05   1.000e+00   1.824e-01   1.649e-02
   37      81    1.283506e-01   1.957e-04   1.000e+00   8.895e-02   5.689e-03
   38      84    1.282266e-01   1.863e-05   1.000e+00   2.526e-01   5.346e-03
   39      87    1.280589e-01   8.896e-05   1.000e+00   3.998e-01   5.769e-03
   40      91    1.279093e-01   2.995e-04   7.000e-01   3.957e-01   3.032e-03
   41      95    1.277830e-01   6.838e-04   7.000e-01   4.171e-01   1.321e-02
   42      99    1.277236e-01   6.458e-04   7.000e-01   3.156e-01   2.105e-02
   43     103    1.276875e-01   6.553e-04   7.000e-01   2.855e-01   2.140e-02
   44     108    1.276618e-01   6.576e-04   4.900e-01   2.305e-01   1.999e-02
   45     115    1.276417e-01   6.953e-04   2.401e-01   1.732e-01   1.901e-02
   46     124    1.276265e-01   7.101e-04   1.176e-01   1.242e-01   1.830e-02
   47     127    1.274422e-01   1.176e-03   1.000e+00   9.935e-01   1.354e-02
   48     129    1.274706e-01   1.786e-05   1.000e+00   3.311e-02   8.663e-03
   49     131    1.274455e-01   2.496e-04   1.000e+00   1.201e-01   9.991e-03
   50     133    1.274401e-01   1.297e-04   1.000e+00   8.094e-02   1.185e-02
   51     135    1.274071e-01   6.133e-04   1.000e+00   1.694e-01   1.515e-02
   52     137    1.273206e-01   3.128e-03   1.000e+00   3.874e-01   2.182e-02
   53     139    1.272840e-01   1.011e-04   1.000e+00   4.773e-02   1.355e-02
   54     141    1.271996e-01   7.379e-04   1.000e+00   1.482e-01   9.854e-03
   55     143    1.271971e-01   3.153e-04   1.000e+00   9.746e-02   7.363e-03
   56     145    1.272020e-01   1.083e-05   1.000e+00   1.898e-02   6.742e-03
   57     147    1.271570e-01   9.371e-05   1.000e+00   6.383e-02   8.095e-03
   58     150    1.270001e-01   9.108e-05   1.000e+00   2.819e-01   1.614e-02
   59     153    1.267997e-01   1.685e-04   1.000e+00   3.865e-01   2.373e-02
   60     155    1.264173e-01   3.621e-03   1.000e+00   4.467e-01   2.148e-02

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   61     158    1.260561e-01   1.475e-03   1.000e+00   6.995e-01   3.498e-02
   62     160    1.256665e-01   2.496e-03   1.000e+00   3.516e-01   4.072e-02
   63     163    1.254974e-01   4.998e-04   1.000e+00   4.612e-01   1.305e-02
   64     166    1.252364e-01   5.065e-04   1.000e+00   5.192e-01   1.778e-02
   65     169    1.250457e-01   1.724e-03   1.000e+00   5.890e-01   1.982e-02
   66     172    1.249378e-01   5.879e-04   1.000e+00   4.111e-01   1.358e-02
   67     175    1.248934e-01   3.833e-05   1.000e+00   3.202e-01   9.463e-03
   68     178    1.248767e-01   4.443e-05   1.000e+00   1.658e-01   6.498e-03
   69     181    1.248646e-01   1.080e-04   1.000e+00   1.377e-01   5.542e-03
   70     184    1.248534e-01   3.568e-05   1.000e+00   1.039e-01   6.188e-03
   71     187    1.248317e-01   4.819e-05   1.000e+00   1.842e-01   1.200e-02
   72     192    1.248108e-01   2.119e-04   4.900e-01   1.451e-01   1.753e-02
   73     199    1.247862e-01   3.811e-04   2.401e-01   1.443e-01   2.303e-02
   74     207    1.247599e-01   5.301e-04   1.681e-01   1.322e-01   2.765e-02
   75     214    1.247185e-01   9.564e-04   2.401e-01   1.767e-01   3.352e-02
   76     221    1.246711e-01   1.167e-03   2.401e-01   1.702e-01   3.905e-02
   77     228    1.246087e-01   1.465e-03   2.401e-01   1.952e-01   4.574e-02
   78     235    1.245275e-01   1.852e-03   2.401e-01   2.355e-01   5.925e-02
   79     241    1.244139e-01   2.821e-03   3.430e-01   3.286e-01   6.448e-02
   80     246    1.242965e-01   3.710e-03   4.900e-01   3.811e-01   7.047e-02
   81     250    1.242014e-01   3.360e-03   7.000e-01   3.974e-01   6.222e-02
   82     253    1.241407e-01   1.537e-03   1.000e+00   3.765e-01   3.896e-02
   83     256    1.241172e-01   1.518e-04   1.000e+00   2.002e-01   1.655e-02
   84     259    1.241055e-01   1.268e-05   1.000e+00   1.163e-01   8.294e-03
   85     262    1.240964e-01   3.376e-06   1.000e+00   7.601e-02   7.444e-03
   86     265    1.240806e-01   2.144e-05   1.000e+00   1.195e-01   1.568e-02
   87     268    1.240512e-01   2.650e-04   1.000e+00   2.562e-01   2.299e-02
   88     271    1.240099e-01   6.786e-04   1.000e+00   3.727e-01   3.827e-02
   89     274    1.239400e-01   7.045e-04   1.000e+00   4.192e-01   5.467e-02
   90     276    1.238417e-01   7.885e-04   1.000e+00   2.141e-01   4.837e-02

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   91     278    1.238150e-01   1.207e-03   1.000e+00   1.346e-01   1.397e-02
   92     280    1.238154e-01   1.350e-04   1.000e+00   4.709e-02   2.298e-02
   93     282    1.237288e-01   9.774e-04   1.000e+00   1.432e-01   5.807e-02
   94     284    1.235558e-01   1.687e-03   1.000e+00   2.211e-01   1.095e-01
   95     286    1.230887e-01   1.311e-02   1.000e+00   4.748e-01   1.824e-01
   96     289    1.223630e-01   4.700e-02   1.000e+00   8.944e-01   1.725e-01
   97     291    1.216472e-01   4.846e-02   1.000e+00   7.609e-01   1.509e-01
   98     293    1.214042e-01   6.332e-03   1.000e+00   4.059e-01   1.211e-01
   99     295    1.208856e-01   2.526e-02   1.000e+00   7.936e-01   6.698e-02
  100     297    1.209497e-01   4.302e-03   1.000e+00   3.775e-01   2.936e-02
  101     299    1.209769e-01   5.553e-04   1.000e+00   1.232e-01   1.758e-02
  102     301    1.209089e-01   4.266e-03   1.000e+00   2.925e-01   2.091e-02
  103     303    1.208983e-01   8.733e-04   1.000e+00   1.324e-01   2.405e-02
  104     305    1.208837e-01   2.425e-04   1.000e+00   1.023e-01   1.342e-02
  105     307    1.208837e-01   2.509e-04   1.000e+00   7.109e-02   8.126e-03
  106     309    1.208759e-01   4.302e-04   1.000e+00   8.335e-02   7.936e-03
  107     311    1.208657e-01   5.387e-04   1.000e+00   8.571e-02   1.431e-02
  108     313    1.208484e-01   5.240e-04   1.000e+00   1.002e-01   2.762e-02
  109     315    1.208260e-01   4.300e-04   1.000e+00   1.345e-01   2.708e-02
  110     317    1.208123e-01   2.225e-04   1.000e+00   1.319e-01   5.696e-03
  111     319    1.207891e-01   3.038e-04   1.000e+00   1.456e-01   9.605e-03
  112     321    1.207455e-01   9.899e-04   1.000e+00   2.222e-01   1.778e-02
  113     323    1.206709e-01   2.304e-03   1.000e+00   3.343e-01   3.253e-02
  114     325    1.205739e-01   3.382e-03   1.000e+00   4.052e-01   4.179e-02
  115     327    1.205105e-01   2.419e-03   1.000e+00   3.074e-01   2.875e-02
  116     329    1.204811e-01   1.047e-03   1.000e+00   2.018e-01   3.099e-02
  117     331    1.204836e-01   2.251e-04   1.000e+00   1.104e-01   1.498e-02
  118     333    1.204792e-01   2.126e-04   1.000e+00   9.636e-02   8.897e-03
  119     335    1.204709e-01   2.825e-04   1.000e+00   1.227e-01   7.248e-03
  120     337    1.204682e-01   2.838e-04   1.000e+00   8.347e-02   1.055e-02

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
  121     339    1.204683e-01   7.650e-05   1.000e+00   4.743e-02   2.258e-03
  122     341    1.204690e-01   2.044e-06   1.000e+00   7.595e-03   1.449e-03
  123     344    1.204690e-01   1.159e-08   1.000e+00   1.009e-02   5.583e-04
  124     347    1.204690e-01   2.401e-09   1.000e+00   7.446e-03   1.139e-04
  125     350    1.204690e-01   3.215e-10   1.000e+00   4.197e-03   8.027e-05
  126     352    1.204690e-01   3.450e-07   1.000e+00   2.571e-03   1.156e-04
  127     354    1.204690e-01   7.885e-07   1.000e+00   3.642e-03   1.971e-04
  128     356    1.204690e-01   1.068e-06   1.000e+00   4.104e-03   2.838e-04
  129     358    1.204689e-01   1.508e-06   1.000e+00   5.520e-03   3.537e-04
  130     360    1.204687e-01   2.340e-06   1.000e+00   9.051e-03   9.799e-04
  131     362    1.204682e-01   8.415e-06   1.000e+00   2.018e-02   2.343e-03
  132     364    1.204670e-01   1.499e-05   1.000e+00   5.225e-02   5.089e-03
  133     366    1.204631e-01   1.337e-04   1.000e+00   1.547e-01   1.154e-02
  134     369    1.204534e-01   3.117e-04   1.000e+00   5.276e-01   3.070e-02
  135     372    1.204369e-01   1.009e-03   1.000e+00   5.697e-01   4.313e-02
  136     376    1.204105e-01   1.989e-03   7.000e-01   6.678e-01   4.754e-02
  137     379    1.203760e-01   1.190e-03   1.000e+00   5.153e-01   3.042e-02
  138     381    1.203416e-01   1.662e-03   1.000e+00   1.773e-01   4.707e-03
  139     383    1.203366e-01   1.434e-03   1.000e+00   2.334e-01   9.282e-03
  140     385    1.203327e-01   5.852e-04   1.000e+00   1.403e-01   7.298e-03
  141     387    1.203287e-01   4.113e-04   1.000e+00   8.681e-02   6.420e-03
  142     389    1.203174e-01   2.234e-03   1.000e+00   2.359e-01   4.039e-03
  143     391    1.203131e-01   1.766e-03   1.000e+00   2.256e-01   6.845e-03
  144     393    1.203097e-01   1.370e-03   1.000e+00   2.310e-01   6.747e-03
  145     395    1.203099e-01   3.718e-04   1.000e+00   1.166e-01   4.337e-03
  146     397    1.203101e-01   2.836e-05   1.000e+00   3.399e-02   1.223e-03
  147     399    1.203102e-01   1.369e-06   1.000e+00   5.208e-03   2.118e-04
  148     401    1.203102e-01   1.454e-07   1.000e+00   3.352e-03   2.641e-04
  149     403    1.203101e-01   1.590e-07   1.000e+00   3.577e-03   3.739e-04
  150     405    1.203101e-01   4.143e-07   1.000e+00   5.461e-03   4.400e-04

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
  151     407    1.203100e-01   7.972e-07   1.000e+00   9.936e-03   4.480e-04
  152     409    1.203099e-01   2.041e-06   1.000e+00   1.966e-02   5.523e-04
  153     411    1.203096e-01   1.073e-05   1.000e+00   3.312e-02   9.556e-04
  154     413    1.203092e-01   3.687e-05   1.000e+00   4.777e-02   1.383e-03
  155     415    1.203085e-01   9.546e-05   1.000e+00   6.353e-02   1.711e-03
  156     417    1.203072e-01   2.433e-04   1.000e+00   8.944e-02   1.853e-03
  157     420    1.203051e-01   3.223e-05   1.000e+00   1.349e-01   1.287e-03
  158     423    1.202998e-01   4.536e-04   1.000e+00   1.950e-01   1.631e-03
  159     427    1.202933e-01   6.681e-04   7.000e-01   1.801e-01   1.502e-03
  160     431    1.202838e-01   9.986e-04   7.000e-01   2.486e-01   3.277e-03
  161     434    1.202745e-01   9.682e-04   1.000e+00   3.344e-01   5.578e-03
  162     436    1.202702e-01   2.142e-04   1.000e+00   9.362e-02   2.859e-03
  163     438    1.202702e-01   7.281e-05   1.000e+00   3.987e-02   1.485e-03
  164     440    1.202704e-01   3.055e-05   1.000e+00   2.287e-02   1.152e-03
  165     443    1.202700e-01   5.325e-06   1.000e+00   6.779e-02   2.236e-03
  166     446    1.202695e-01   1.038e-05   1.000e+00   8.121e-02   2.495e-03
  167     449    1.202690e-01   1.757e-05   1.000e+00   8.465e-02   1.609e-03
  168     452    1.202689e-01   6.035e-06   1.000e+00   4.526e-02   5.710e-04
  169     454    1.202688e-01   9.967e-06   1.000e+00   1.181e-02   1.530e-04
  170     456    1.202688e-01   1.912e-07   1.000e+00   5.755e-03   7.522e-05
  171     460    1.202688e-01   1.566e-07   4.900e-01   1.297e-03   4.985e-05
  172     462    1.202688e-01   8.141e-08   1.000e+00   1.520e-03   7.863e-06
  173     464    1.202688e-01   4.677e-10   1.000e+00   8.640e-05   2.661e-06
  174     467    1.202688e-01   2.658e-10   7.000e-01   4.409e-05   9.727e-07
  175     469    1.202688e-01   2.750e-11   1.000e+00   2.030e-05   2.745e-08

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: [124x1 double]
        fval: 0.1203
    exitflag: 1
      output: [1x1 struct]
      lambda: [1x1 struct]
        grad: [124x1 double]
     hessian: [124x124 double]
           t: [16x1 double]
           u: [16x1 double]
           p: []


optimparam = 

     optvar: 3
    objtype: []
      ncolx: 6
      ncolu: 2
         li: [4x1 double]
         tf: 1
         ui: [7 7 7 7]
        par: []
        bdu: [-4 10]
        bdx: []
        bdp: []
     objfun: @objfun
     confun: []
    process: @process
    options: [1x1 struct]
        bdt: [1.0000e-03 1]
         ni: 4
         nu: 1
         nx: 4
         np: 0
        tau: [8x1 double]
        lfx: [8x7 double]
       dlfx: [8x7 double]
        lfu: [8x2 double]
          M: [4x4 double]
     dt_col: 4
     du_col: 8
     dx_col: 112
     dp_col: 0

diary off
