problem4
                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
    0       1   -4.428436e-01   6.092e-05                           1.620e+00
    1       2   -4.458575e-01   5.481e-04   1.000e+00   5.492e-02   4.598e-02
    2       4   -4.616710e-01   1.893e-03   1.000e+00   2.804e-01   4.628e-02
    3      12   -4.727740e-01   5.467e-03   1.176e-01   1.954e-01   4.625e-02
    4      21   -4.824099e-01   8.372e-03   8.235e-02   1.659e-01   5.973e-02
    5      29   -4.955596e-01   1.310e-02   1.176e-01   2.254e-01   8.890e-02
    6      37   -5.078247e-01   1.578e-02   1.176e-01   2.053e-01   1.109e-01
    7      44   -5.239122e-01   1.977e-02   1.681e-01   2.777e-01   1.343e-01
    8      51   -5.372996e-01   1.988e-02   1.681e-01   2.402e-01   1.490e-01
    9      56   -5.542743e-01   1.692e-02   3.430e-01   3.465e-01   1.621e-01
   10      59   -5.649469e-01   3.747e-03   7.000e-01   3.396e-01   6.773e-02
   11      60   -5.662944e-01   3.279e-04   1.000e+00   4.701e-02   6.774e-03
   12      61   -5.661786e-01   6.802e-06   1.000e+00   6.596e-03   2.498e-03
   13      62   -5.663368e-01   1.353e-04   1.000e+00   2.847e-02   2.191e-03
   14      64   -5.667436e-01   1.492e-04   1.000e+00   1.268e-01   5.706e-03
   15      66   -5.668751e-01   4.276e-05   1.000e+00   8.006e-02   4.645e-03
   16      68   -5.669961e-01   2.436e-05   1.000e+00   6.920e-02   1.081e-02
   17      70   -5.672491e-01   1.903e-04   1.000e+00   1.382e-01   2.276e-02
   18      72   -5.674627e-01   8.003e-05   1.000e+00   1.113e-01   2.357e-02
   19      73   -5.676615e-01   5.794e-04   1.000e+00   6.471e-02   1.428e-02
   20      74   -5.677378e-01   2.800e-04   1.000e+00   3.536e-02   8.310e-03
   21      75   -5.679224e-01   6.012e-04   1.000e+00   5.461e-02   3.863e-03
   22      77   -5.681458e-01   6.693e-05   1.000e+00   8.635e-02   7.934e-03
   23      79   -5.686721e-01   7.533e-05   1.000e+00   1.564e-01   1.509e-02
   24      80   -5.690624e-01   5.230e-04   1.000e+00   4.123e-02   1.436e-02
   25      81   -5.698248e-01   2.186e-03   1.000e+00   1.732e-01   1.588e-02
   26      82   -5.695854e-01   2.112e-05   1.000e+00   4.557e-02   6.829e-03
   27      83   -5.701869e-01   3.811e-04   1.000e+00   2.229e-01   5.741e-03
   28      84   -5.718859e-01   3.698e-03   1.000e+00   7.475e-01   1.028e-02
   29      85   -5.717524e-01   9.531e-04   1.000e+00   3.890e-01   6.558e-03
   30      86   -5.720316e-01   1.120e-03   1.000e+00   3.267e-01   4.810e-03

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   31      87   -5.721621e-01   2.888e-03   1.000e+00   6.095e-02   7.257e-03
   32      88   -5.722447e-01   3.850e-03   1.000e+00   6.186e-02   5.254e-03
   33      89   -5.721890e-01   4.132e-05   1.000e+00   1.267e-02   2.339e-03
   34      90   -5.722218e-01   5.189e-05   1.000e+00   1.792e-02   1.831e-03
   35      91   -5.723304e-01   4.940e-04   1.000e+00   5.725e-02   7.575e-03
   36      92   -5.723979e-01   5.147e-04   1.000e+00   6.051e-02   1.212e-02
   37      93   -5.727355e-01   8.487e-03   1.000e+00   1.939e-01   2.153e-02
   38      94   -5.728092e-01   1.632e-03   1.000e+00   7.055e-02   1.115e-02
   39      95   -5.729076e-01   1.252e-03   1.000e+00   5.660e-02   7.777e-03
   40      96   -5.728900e-01   8.128e-05   1.000e+00   2.597e-02   1.986e-03
   41      97   -5.728769e-01   4.718e-06   1.000e+00   6.226e-03   8.234e-04
   42      98   -5.728768e-01   3.264e-07   1.000e+00   2.328e-03   8.617e-04
   43      99   -5.728800e-01   6.062e-06   1.000e+00   9.942e-03   9.166e-04
   44     100   -5.728854e-01   3.680e-05   1.000e+00   1.709e-02   1.438e-03
   45     102   -5.728961e-01   5.743e-06   1.000e+00   4.109e-02   2.948e-03
   46     104   -5.729147e-01   4.925e-05   1.000e+00   7.223e-02   5.309e-03
   47     106   -5.729361e-01   6.484e-05   1.000e+00   7.801e-02   7.449e-03
   48     108   -5.729557e-01   1.531e-05   1.000e+00   5.311e-02   6.175e-03
   49     110   -5.729567e-01   1.945e-07   1.000e+00   9.112e-03   9.337e-04
   50     112   -5.729569e-01   4.901e-08   1.000e+00   4.805e-03   2.556e-04
   51     114   -5.729572e-01   1.120e-07   1.000e+00   6.165e-03   3.111e-04
   52     116   -5.729578e-01   1.336e-07   1.000e+00   7.410e-03   5.941e-04
   53     118   -5.729596e-01   9.074e-07   1.000e+00   1.716e-02   1.251e-03
   54     120   -5.729642e-01   5.262e-06   1.000e+00   3.794e-02   2.308e-03
   55     122   -5.729770e-01   8.340e-05   1.000e+00   1.074e-01   4.757e-03
   56     125   -5.729946e-01   1.783e-04   7.000e-01   1.478e-01   8.056e-03
   57     128   -5.730235e-01   2.189e-04   7.000e-01   1.309e-01   1.262e-02
   58     131   -5.730627e-01   2.205e-04   7.000e-01   1.620e-01   1.720e-02
   59     133   -5.730899e-01   3.518e-05   1.000e+00   5.258e-02   5.838e-03
   60     135   -5.730955e-01   9.396e-05   1.000e+00   8.012e-02   6.008e-03

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   61     137   -5.730994e-01   2.075e-05   1.000e+00   6.378e-02   1.155e-03
   62     138   -5.731003e-01   3.184e-05   1.000e+00   1.902e-02   1.396e-03
   63     139   -5.731003e-01   2.828e-06   1.000e+00   8.209e-03   3.834e-04
   64     140   -5.731011e-01   1.050e-05   1.000e+00   1.714e-02   4.487e-04
   65     141   -5.731029e-01   2.098e-05   1.000e+00   2.791e-02   1.085e-03
   66     142   -5.731079e-01   2.386e-05   1.000e+00   3.935e-02   2.374e-03
   67     143   -5.731220e-01   1.898e-04   1.000e+00   1.144e-01   5.620e-03
   68     144   -5.731673e-01   1.204e-03   1.000e+00   2.482e-01   8.064e-03
   69     145   -5.732401e-01   4.422e-03   1.000e+00   6.327e-01   2.752e-02
   70     146   -5.733062e-01   7.249e-04   1.000e+00   1.082e-01   2.089e-02
   71     147   -5.734623e-01   1.237e-03   1.000e+00   8.944e-02   8.427e-03
   72     148   -5.734266e-01   9.748e-05   1.000e+00   3.691e-02   4.454e-03
   73     150   -5.734180e-01   2.497e-05   7.000e-01   1.714e-02   2.330e-03
   74     153   -5.734164e-01   2.169e-05   4.900e-01   1.426e-02   1.392e-03
   75     157   -5.734158e-01   1.832e-05   3.430e-01   8.120e-03   8.772e-04
   76     161   -5.734153e-01   1.442e-05   3.430e-01   6.216e-03   5.550e-04
   77     164   -5.734149e-01   9.598e-06   4.900e-01   5.987e-03   2.551e-04
   78     165   -5.734143e-01   2.488e-06   1.000e+00   6.244e-03   5.159e-05
   79     166   -5.734142e-01   7.345e-09   1.000e+00   2.643e-04   3.055e-05
   80     167   -5.734143e-01   5.059e-08   1.000e+00   6.847e-04   5.695e-05
   81     168   -5.734143e-01   8.017e-08   1.000e+00   1.173e-03   9.025e-05
   82     169   -5.734143e-01   1.127e-07   1.000e+00   1.710e-03   1.216e-04
   83     170   -5.734144e-01   6.629e-07   1.000e+00   4.992e-03   1.929e-04
   84     171   -5.734146e-01   2.550e-06   1.000e+00   1.143e-02   4.124e-04
   85     172   -5.734151e-01   1.330e-05   1.000e+00   2.738e-02   9.224e-04
   86     174   -5.734160e-01   1.824e-05   1.000e+00   4.527e-02   9.358e-04
   87     176   -5.734169e-01   3.491e-05   1.000e+00   4.434e-02   7.790e-04
   88     177   -5.734172e-01   3.189e-05   1.000e+00   3.837e-02   5.792e-04
   89     178   -5.734171e-01   1.266e-07   1.000e+00   1.836e-03   5.054e-04
   90     179   -5.734171e-01   5.177e-07   1.000e+00   5.031e-03   1.237e-04

                                                          Norm of First-order
 Iter F-count            f(x) Feasibility  Steplength        step  optimality
   91     180   -5.734171e-01   6.478e-07   1.000e+00   5.446e-03   3.112e-05
   92     181   -5.734171e-01   7.517e-08   1.000e+00   1.891e-03   5.003e-05
   93     182   -5.734171e-01   1.351e-07   1.000e+00   2.671e-03   2.676e-05
   94     183   -5.734171e-01   6.712e-08   1.000e+00   1.838e-03   2.948e-05
   95     184   -5.734171e-01   1.066e-08   1.000e+00   6.977e-04   2.190e-05
   96     185   -5.734171e-01   4.676e-10   1.000e+00   1.042e-04   8.638e-06
   97     188   -5.734171e-01   3.492e-10   4.900e-01   6.537e-05   5.366e-06
   98     190   -5.734171e-01   4.669e-12   1.000e+00   2.349e-04   4.404e-06
   99     192   -5.734171e-01   2.417e-12   1.000e+00   1.802e-04   1.078e-05
  100     194   -5.734171e-01   3.670e-11   1.000e+00   4.033e-04   2.616e-05
  101     196   -5.734171e-01   1.429e-10   1.000e+00   5.493e-04   4.814e-05
  102     198   -5.734171e-01   7.805e-10   1.000e+00   8.419e-04   8.190e-05
  103     200   -5.734171e-01   1.756e-09   1.000e+00   1.088e-03   1.135e-04
  104     202   -5.734171e-01   5.916e-10   1.000e+00   1.287e-03   1.062e-04
  105     204   -5.734171e-01   7.819e-11   1.000e+00   1.031e-03   4.984e-05
  106     206   -5.734171e-01   4.212e-11   1.000e+00   3.576e-04   1.004e-05
  107     208   -5.734171e-01   7.645e-13   1.000e+00   7.198e-05   8.536e-07
  108     210   -5.734171e-01   5.601e-15   1.000e+00   1.180e-05   2.104e-07
  109     212   -5.734171e-01   7.367e-15   1.000e+00   3.338e-06   7.853e-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 are satisfied to within the selected value of the constraint tolerance.




optimout = 

        nlpx: [68x1 double]
        fval: -0.5734
    exitflag: 1
      output: [1x1 struct]
      lambda: [1x1 struct]
        grad: [68x1 double]
     hessian: [68x68 double]
           t: [16x1 double]
           u: [16x1 double]
           p: []


optimparam = 

     optvar: 3
    objtype: []
      ncolx: 6
      ncolu: 2
         li: [4x1 double]
         tf: 1
         ui: [2.5000 2.5000 2.5000 2.5000]
        par: []
        bdu: [0 5]
        bdx: []
        bdp: []
     objfun: @objfun
     confun: []
    process: @process
    options: [1x1 struct]
        bdt: [1.0000e-03 1]
         ni: 4
         nu: 1
         nx: 2
         np: 0
        tau: [8x1 double]
        lfx: [8x7 double]
       dlfx: [8x7 double]
        lfu: [8x2 double]
          M: [2x2 double]
     dt_col: 4
     du_col: 8
     dx_col: 56
     dp_col: 0

diary off
