
Sec. 5.4 Optimality Conditions for QPs 101
optimality conditions for (5.16) are
A
1
x
0
≤ b
1
, A
2
x
0
= b
2
,
−∇f(x
0
) = A
′
1
u + A
′
2
v, u ≥ 0,
u
′
(A
1
x
0
− b
1
) = 0
. (5.21)
The key result here is that the multipliers associated with equality
constraints are unconstrained in sign and there is no complementary
slackness condition associated with equality constraints.
Summarizing our results, we have the following version of Theorem
5.1:
Theorem 5.2 x
0
is an optimal solution for
min{c
′
x +
1
2
x
′
Cx | A
1
x ≤ b
1
, A
2
x = b
2
}
if and only if
1. A
1
x
0
≤ b
1
, A
2
x
0
= b
2
,
2. −∇f(x
0
) = A
′
1
u + A
′
2
v, u ≥ 0,
3. u
′
(A
1
x
0
− b
1
) = 0.
The following result gives conditions under which an optimal solu-
tion ...