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R. Fletcher, N. I. M. Gould, S. Leyffer, P. L. Toint and A. W?chter, “Global Convergence of a Trust-Region SQP Filter Algorithm for General Nonlinear Programming,” SIAM Journal on Optimization, Vol. 13, No. 3, 2002, pp. 635-659. doi:10.1137/S1052623499357258

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