On the Solution of a Nonlinear Semidefinite Program Arising in Discrete-Time Feedback Control Design

Table 4

Convergence behavior of the method DSQP for Example 19.

𝑘	𝐽𝑘	‖∇𝑈ℓ𝑘‖	𝜌(𝐴𝑡𝑘(𝐹𝑘))	𝑡𝑘	𝑖cg
0	3.0141𝑒+008	1.5819𝑒+010	9.9779𝑒−001	2.00𝑒−003	1
1	2.7360𝑒+008	1.2031𝑒+010	9.9819𝑒−001	1.60𝑒−003	1
2	2.7696𝑒+008	1.0624𝑒+010	9.9877𝑒−001	1.02𝑒−003	1
⋮	⋮	⋮	⋮	⋮	⋮
25	1.8154𝑒+004	8.4501𝑒−001	9.9979𝑒−001	6.39𝑒−035	3
26	1.8154𝑒+004	5.7828𝑒−004	9.9979𝑒−001	1.93𝑒−037	3
27	1.8154𝑒+004	7.7346𝑒−007	9.9979𝑒−001	4.67𝑒−040	4