
6 Optimization Chap. 1
In this format, a
i
is the gradient of the i −th constraint function.
In Example 1.1, the key condition was that ∇f( x) be a multiple
of the gradient of the constraint. The generalization of this for (1.4) is
that
∇f(x) = u
1
a
1
+ u
2
a
2
+ ··· + u
m
a
m
,
which says that ∇f(x) must be a linear combination of the gradients
of the constraints. By replacing u
i
with −u
i
, this condition becomes
− ∇f(x) = u
1
a
1
+ u
2
a
2
+ ··· + u
m
a
m
. (1.5)
Later, when we deal with optimality conditions for problems with in-
equality constraints it will be natural to f ormulate them in terms of
−∇f(x) rather than ∇f(x). To be compatible with those conditions, we
will form ...