Calculation of Lagrange multipliers and their use for ...
Transcript of Calculation of Lagrange multipliers and their use for ...
Calculation of Lagrange multipliers and their use for
sensitivity of optimal solutions
Jaco F. Schutte
EGM 6365 - Structural OptimizationFall 2005
Constrained optimization
x1
x2
Infeasible regions
Feasible region
OptimumDecreasing f(x)
h(x)g(x)
Constraint normalization
0
1 0
a
a
a
g
g
σ σσ σ
σσ
≤= − ≤
= − ≥
Poor optimizer performance often encountered when constraints are not normalized
When normalized g = 0.1 → 10% margin in responce
Equality constraints
� Convert equality constraint to two equality constraints
� Increases the number of constraints
( ) ( )( )
00
0i
ii
h xh x
h x ≤= ⇔ ≥
Reduction of inequality constraints
� Using KS-function (Kreisselmeier-Steinhauser)
� KS bounded by
( )( )
( )
( ) ( )
1
1
00 1 ln
0
jg xj
j
j
g xg x
KS g x e
g x
ρ
ρ−
≥≥ ⇔ = −
≥
∑!
( ) ( )min min
lnj
mg KS g x g
ρ ≤ ≤ −
Using KS to approximate hi(x)
For
the solution lies at hi(x) = - hi(x) = 0
Gradient of KS function of ± hi pair vanishes at solution hi = 0Value of KS function approaches 0 for ρ → ∞
( ) ( )( )
00
0i
ii
h xh x
h x ≤= ⇔ − ≤
( ) ln(2)0 ,KS h hρ
≥ − ≥ −
� Lagrangian function
where λ j are unknown Lagrange multipliers� Stationary point conditions for inequality
constraints:
Kuhn-Tucker conditions
Stationary points
Kuhn-Tucker conditions (contd.)
� Conditions only apply at a regular point (constraint gradients linearly independent)
� Equations
yield n + ne total equations� n stationary point coordinates� ne Lagrange multipliers
� Inequality constraints require transformation to equality constraints:
� This yields the following Lagrangian:
Kuhn-Tucker conditions (contd.)
Kuhn-Tucker conditions (contd.)
� Conditions for stationary points are then:
� If inequality constraint is inactive (t ≠ 0) then Lagrange multiplier = 0
� For inequality constraints a regular point is when gradients of active constraint are linearly independent
Kuhn-Tucker conditions (contd.)
� For an inequality constrained problem x is a minimum of a set of no-negative λ i can be found such that:
1)
2) The corresponding λ i is zero if constraint gj is not active
Kuhn-Tucker conditions (contd.)
Kuhn-Tucker graphical representation
Sufficient conditions� Kuhn-Tucker conditions are satisfied when no
-∇ f can be obtained without violating constraints� Possible to move perpendicular to constraints
and improve objective function (necessary conditions are met, but not sufficient)
� Kuhn tucker conditions for optimality are sufficient when� no. design vars. = no. of active constraints.� or, Hessian of Lagrangian function is positive definite
for subspace tangent to active constraints
Sufficient conditions (contd.)
� For equality constraints
where
� For inequality constraints
A function is convex if
or
Convex problems
� Convex optimization problem has� convex objective function� convex feasible domain if
� All inequality constraints are concave (or �gj = convex)
� All equality constraints are linear
� only one optimum� Kuhn-Tucker conditions necessary and will also
always be sufficient for global minimum
Convex problems (contd.)
Calculating Lagrange multipliers
� Lagrange equation in matrix notation:
where N is
assuming number of active constraints are r define a residual vector u (to be minimized)
Calculating Lagrange multipliers (contd.)
Obtain a least squares solution of u
By differentiating w.r.t. each λ
Or
And substituting into
We obtain where
Calculating Lagrange multipliers (contd.)
� P is a projection matrix which projects a vector into a subspace which is tangent to the constraints
� For the Kuhn Tucker conditions to be satisfied, ∇ f has to be orthogonal to this subspace
� The method of using is often ill-conditioned matrices and inefficient
Alternate method for calculating Lagrange multipliers
QR factorization of N gives a more efficient way ofcalculating λ
Because Q is orthogonal
║u║2 is then minimized by choosing
Alternate method for calculating Lagrange multipliers
Sensitivity of optimum solution to problem parameters
Assuming problem fitness and constraintsdepend on parameter p
The solution is
and the corresponding fitness value
Sensitivity of optimum solution to problem parameters (contd.)
We would like to obtain derivatives of f* w.r.t. p
Equations that govern the optimum solution are
After manipulating governing equations we obtain