Professional Documents
Culture Documents
DOI 10.1007/s10898-011-9710-5
Received: 8 August 2009 / Accepted: 22 March 2011 / Published online: 8 April 2011
© Springer Science+Business Media, LLC. 2011
Chen Ling’s work is supported by the National Natural Science Foundation of China (Grant No. 10871168
and 10971187), and the Zhejiang Provincial National Science Foundation of China (Grant No. Y6100366).
Liqun Qi’s work is supported by the Hong Kong Research Grant Council (Projects: PolyU 5019/09P and
PolyU 5018/08P).
Xinzhen Zhang’s work is supported by Chinese NSF Grants 10771120.
I. M. Bomze (B)
Department of Statistics and Operations Research, University of Vienna, Vienna, Austria
e-mail: immanuel.bomze@univie.ac.at
C. Ling
School of Science, Hangzhou Dianzi University, Hangzhou 310018, China
e-mail: macling@hdu.edu.cn
L. Qi
Department of Applied Mathematics, The Hong Kong Polytechnic University,
Hung Hom, Kowloon, Hong Kong
e-mail: maqilq@polyu.edu.hk
X. Zhang
Department of Mathematics, School of Science, Tianjin University, Tianjin 300072, China
e-mail: xzzhang@yahoo.cn
123
664 J Glob Optim (2012) 52:663–687
1 Introduction
where
d
d := x ∈ Rd+ : xi = 1
i=1
which is known to be NP-hard. StQPs of the form (1.2) are well studied and occur frequently
as subproblems in escape procedures for general quadratic optimization, but also have mani-
fold direct applications, e.g., in portfolio selection and in the maximum weight clique problem
for undirected graphs. For details, see e.g. [2,3,14,15,17] and references therein.
On the other hand, if we fix x ∈ Rn in (1.1), then we arrive at a StQP
min y Q(x)y : y ∈ m , (1.3)
n
where Q(x) = i,k=1 ai jkl x i x k 1≤ j,l≤m is a symmetric, possibly indefinite m × m matrix.
Similarly, if we fix y ∈ Rm , then we have a StQP
min x R(y)x : x ∈ n , (1.4)
m
where R(y) = j,l=1 ai jkl y j yl is a symmetric n × n matrix. Since problem (1.1)
1≤i,k≤n
is so closely related to standard quadratic optimization, we call it a Standard Bi-Quadratic
Optimization Problem, or a Standard Bi-Quadratic Program (StBQP).
Note that the StBQP (1.1) is different from bi-quadratic optimization problems over unit
spheres in [12,23]. The latter problem arises from the strong ellipticity condition problem in
solid mechanics and the entanglement problem in quantum physics; see [8–11,18,19,22] and
the references therein. A StBQP should also be not confused with a bi-StQP, which is a special
case of a multi-StQP, a problem class studied recently in [6,20]. In bi-StQPs, the objective
123
J Glob Optim (2012) 52:663–687 665
is a quadratic form, while the feasible set is a product of simplices, as in (1.1). Both StBQPs
and bi-StQPs fall into a larger class investigated by [21]. Since the latter paper deals with
general smooth objective functions, while we here make heavy use of the detailed structure of
bi-quadraticity, there is no overlap of these two approaches. To the best of our knowledge, the
newly presented method for StBQPs, which yields an eight-degree polynomial optimization
problem of a very special structure, has no counterpart at all in the existing literature. Also,
the terminology should not be confused with the bi-quadratic assignment problem (BiQAP)
which has a similarly structured objective but binary variables, and constraints as in the
multi-StQP case, see, e.g. [16].
If we denote by A := [ai jkl ]i jkl , then A is a real, partially symmetric n × m × n × m-
dimensional fourth order tensor. In terms of A, the matrices Q(x) and R(y) can also be
written as Axx and yy A, respectively. So, it is clear that the objective function in (1.1)
can be written briefly as
where X • Y stands for usual Frobenius inner product for matrices, i.e., X • Y = tr(X Y ).
Note that the problem of finding minimizers of a non-homogeneous bi-quadratic function
(Axx ) • yy + x H y over n × m can be easily homogenized by introducing a new
fourth order partially symmetric tensor Ā with āi jkl =ai jkl + (h i j + h k
j + h il + h kl )/4,
where h i j is the (i, j)th element in H . Indeed, since nk=1 xk = 1 and l=1 m
yl = 1, we
have
1
n m
(Āxx ) • yy = (Axx ) • yy + (h i j + h k j + h il + h kl )xi y j xk yl
4
i,k=1 j,l=1
n
m
= (Axx ) • yy + h i j xi y j .
i=1 j=1
Furthermore, it is easy to verify that the global/local solutions of (1.1) remain the same if A
is replaced with A + γ E , where γ is an arbitrary constant and E is the all-ones tensor with
the same structure as A. So, without loss of generality, we assume henceforth that all entries
of A are negative.
For the above-mentioned reason, the considered problem (1.1) is NP-hard. Therefore,
designing some efficient algorithms for finding approximation solutions and bounds on the
optimal value of (1.1) are of interest. In order to get rid of the sign constraints x ≥ o and
y ≥ o, however, in this paper we focus attention on studying a bi-quartic formulation of (1.1)
and some properties related to this reformulation.
Our paper is organized as follows. After motivating our study by an application example in
portfolio selection in Sect. 2, we start by studying, in Sects. 3 and 4, the first- and second-order
optimality conditions of the original problem, and the related bi-quartic optimization prob-
lem. In Sect. 5 we discuss the one-to-one correspondence between the global/local solutions
of (1.1) and the global/local solutions of the reformulation. The obtained results show that
the bi-quartic formulation is exactly equivalent to the original problem (1.1). Furthermore,
we present in Sect. 6 a continuously differentiable penalty function, by which we convert the
problem of locating a local/global minimizer of the constrained bi-quartic program into the
problem of locating a local/global solution to an unconstrained optimization problem. This
yields a method for finding second-order KKT points of the formulated bi-quartic optimiza-
tion problem. Section 7 reports on some numerical experience with our method.
123
666 J Glob Optim (2012) 52:663–687
Some words about notation. The jth component of a column vector x ∈ Rn is denoted
by x j while the (i, j)-th entry of a real m × n matrix A ∈ Rm×n is denoted by Ai j . For any
matrix A and a fourth order tensor A, respectively, A F and A F denote the Frobenius
norm of A and A, respectively, i.e.,
1/2
n m
A F = tr(A A) and A F = ai2jkl ,
i,k=1 j,l=1
where tr(·) denotes the trace of a matrix. S n denotes the space of real symmetric n × n
matrices. For A ∈ S n , A 0 (resp. A 0) means that A is positive-semidefinite (resp.
n denotes the cone of positive-semidefinite matrices in S n . I stands for
positive definite). S+ n
the n × n identity matrix and ek stands for its k-th column, while o or e denote generic vec-
tors of zeroes or ones, respectively, of a size suitable to the context. Also, the sign denotes
transpose. Finally, given the numbers z 1 , . . . , z n , we denote by Diag(z 1 , . . . , z n ) ∈ S n the
n × n diagonal matrix containing z i in its diagonal.
N
(1)
N
N
M
R (1) = Ri x i = ξi0 xi + ξi j xi y j
i=1 i=1 i=1 j=1
and its expected value is E(R (1) ) = μ x, where μ = [μ1 , . . . , μ N ] and x = [x1 , . . . , x N ] .
By similar reasoning, we obtain the return of a portfolio on the second group of securities as
M
(2)
M
M
N
R (2) = Rj yj = γ j0 y j + γ ji xi y j ,
j=1 j=1 j=1 i=1
123
J Glob Optim (2012) 52:663–687 667
N
M
s.t. xi = a, y j = b, (x, y) ∈ R+
N
× R+
M
,
i=1 j=1
where a and b stand for the total amount invested in the first and the second group of securi-
ties, respectively. It is evident that the above model can be rewritten equivalently as the form
of (1.1).
In this section we recall, for ease of reference, the first- and second-order necessary optimality
conditions of (1.1), which are standard in constrained optimization.
Since the constraints in (1.1) are linear, constraint qualifications are met and the first-order
necessary optimality conditions for a feasible point (x̄, ȳ) to be a local solution to problem
(1.1) require that a scalar pair (λ̄, μ̄) exists such that
⎫
(ȳȳ
A )x̄ + λ̄ = 0, for i with x̄ i > 0, ⎪
⎪
i ⎪
⎬
(ȳȳ A )x̄ i
+ λ̄ ≥ 0, for i with x̄ i = 0,
(Ax̄x̄ )ȳ j + μ̄ = 0, for j with ȳ j > 0, ⎪ (3.5)
⎪
⎪
(Ax̄x̄ )ȳ j + μ̄ ≥ 0, for j with ȳ j = 0. ⎭
n
By (3.5), it follows that λ̄ = μ̄ = − p(x̄, ȳ), since i=1 x̄i = 1 and mj=1 ȳ j = 1. In other
words, the Lagrange multipliers are uniquely determined by (x̄, ȳ).
Further, it is well-known that the second-order necessary optimality conditions for (1.1)
holds, i.e., if (x̄, ȳ) is a local solution of problem (1.1), then there exists a scalar pair (λ̄, μ̄)
such that (3.5) holds and furthermore
u u
0≤ ∇ 2 p(x̄, ȳ) for all [u , v ] ∈ T (x̄, ȳ), (3.6)
v v
where
⎧
⎨
T (x̄, ȳ) = [u , v ] ∈ Rn+m : u i = 0 and u i = 0 ∀ i ∈ I (x̄),
⎩
i∈I (x̄)
⎫
⎬
v j = 0 and v j = 0 ∀ j ∈ J ( ȳ)
⎭
j∈J ( ȳ)
123
668 J Glob Optim (2012) 52:663–687
In this section, we propose a bi-quartic formulation of (1.1) and study its first- and second-
order necessary optimality conditions. Based upon this, we discuss the one-to-one corre-
spondence between the global/local solutions of (1.1) and the global/local solutions of the
formulated bi-quartic optimization problem. Our main technique used here is similar to that
developed in [4] and [5]. To get rid of the sign constraints x ≥ o and y ≥ o, we replace
n
the variables xi and y j with z i2 and w 2j , respectively. Then the conditions i=1 xi = 1
m
and j=1 y j = 1 become z2 = 1 and w2 = 1, respectively, where · denotes the
Euclidean norm. Therefore, the original problem (1.1) can be rewritten as
⎧ ⎫
⎨ n m ⎬
min g(z, w) := ai jkl z i2 w 2j z k2 wl2 : z2 = w2 = 1, (z, w) ∈ Rn × Rm .
⎩ ⎭
i,k=1 j,l=1
(4.8)
∇zw
2 g(z, w)w = rw ∇z g(z, w),
2 (4.11)
∇zw g(z, w) z = rz ∇w g(z, w),
which implies
∇zz
2 g(z, w)z + ∇ 2 g(z, w)w = (rz + rw − 1)∇z g(z, w),
2 zw 2 (4.12)
∇zw g(z, w) z + ∇ww g(z, w)w = (rz + rw − 1)∇w g(z, w).
123
J Glob Optim (2012) 52:663–687 669
Let (z̄, w̄) be a locally optimal solution to (4.9). The Lagrangian reads
% & % &
L(z, w; α, β) = g(z, w) + α z2 − 1 + β w2 − 1 .
Since constraint qualifications are met, the first-order optimality conditions are necessary, so
we know that there exist ᾱ, β̄ ∈ R such that
"
∇z g(z̄, w̄) + 2ᾱz̄ = ∇z L(z̄, w̄; ᾱ, β̄) = o,
(4.15)
∇w g(z̄, w̄) + 2β̄ w̄ = ∇w L(z̄, w̄; ᾱ, β̄) = o,
which implies, together with (4.10), that
rz rw
ᾱ = − g(z̄, w̄) and β̄ = − g(z̄, w̄). (4.16)
2 2
Moreover, the Hessian matrix of L becomes
ᾱ In 0
Hᾱ,β̄ (z̄, w̄) = ∇ 2 L(z̄, w̄; ᾱ, β̄) = ∇ 2 g(z̄, w̄) + 2 , (4.17)
0 β̄ Im
and the second-order necessary optimality condition for (4.9) is
z z
0≤ Hᾱ,β̄ (z̄, w̄) for all [z , w ] ∈ Rn+m with z̄ z = w̄ w = 0.
w w
(4.18)
We first establish a uniqueness result for these multipliers, by showing that (4.16) continues
to hold.
Theorem 4.1 For any local solution (z̄, w̄) to (4.19), the Lagrange multipliers satisfy ᾱ =
− r2z g(z̄, w̄) ≥ 0 and β̄ = − r2w g(z̄, w̄) ≥ 0. Hence necessarily g(z̄, w̄) ≤ 0. More precisely,
we have either g(z̄, w̄) = 0 or g(z̄, w̄) < 0, in which case z̄ = w̄ = 1, i.e., (z̄, w̄) is
feasible for (4.8).
123
670 J Glob Optim (2012) 52:663–687
Proof We distinguish cases. If z̄ = o and w̄ = o, then both constraints are not binding and
ᾱ = β̄ = 0 = − r2 g(o, o) for any r > 0. If z̄ = o but w̄ = o, we infer from (4.15) and (4.10)
that ᾱ = − 2z̄rz z̄ g(z̄, o) holds. However, by homogeneity in w we also have g(z̄, o) = 0, so
that again ᾱ = β̄ = 0 = − r2 g(z̄, o) for any r > 0. The case w̄ = o but z̄ = o is completely
symmetric. So finally we have to deal with z̄ = o and w̄ = o. As above, (4.15) and (4.10)
imply that the multipliers are uniquely determined and given by ᾱ = − 2z̄rz z̄ g(z̄, w̄) as well
as β̄ = − 2w̄rw w̄ g(z̄, w̄). Hence we are done if g(z̄, w̄) = 0, and we only have to prove that
g(z̄, w̄) < 0 implies z̄ = w̄ = 1. But this is clear again from the homogeneity assump-
tions on g, studying the behaviour of g(t z̄, w̄) = t rz g(z̄, w̄) as t ∈ R varies around t = 1.
By the expression (4.17) for Hᾱ,β̄ (z̄, w̄), one can now obtain
' (
ᾱ In 0 z̄
Hᾱ,β̄ (z̄, w̄) + 2(rz + rw − 2)
0 β̄ Im w̄
' (
ᾱ In 0 z̄
= ∇ 2 g(z̄, w̄) + 2(rz + rw − 1)
0 β̄ Im w̄
' (
ᾱz̄
= (rz + rw − 1) ∇g(z̄, w̄) + 2
β̄ w̄
= o,
where the last equality is due to (4.15). Hence, unless [z̄ , w̄ ] = o , the matrix
ᾱ In 0
Hᾱ,β̄ (z̄, w̄) + 2(rz + rw − 2)
0 β̄ Im
is singular.
For the general homogeneous problem with a single ball constraint, a second-order condi-
tion has been proved in [5, Theorem 1]. The obtained conclusion establishes positive-semi-
definiteness of the corresponding matrix; see also [1]. The following theorem extends [5,
Theorem 1] to the case of bi-homogeneous optimization over the product of two balls.
Theorem 4.2 Let (z̄, w̄) ∈ Rn × Rm be a local solution to (4.19) and ᾱ = − r2z g(z̄, w̄) ≥
0, β̄ = − r2w g(z̄, w̄) ≥ 0 be the unique multipliers satisfying the KKT conditions (4.15) and
(4.20). Then
% &
(2rz + rw − 4)ᾱ + rz β̄ In % 0 &
:= Hᾱ,β̄ (z̄, w̄) + 0.
0 rw ᾱ + (rz + 2rw − 4)β̄ Im
(4.21)
123
J Glob Optim (2012) 52:663–687 671
Then [z − δz̄ z̄ , w − γw̄ w̄ ] is the orthoprojection of [z , w ] onto z̄⊥ × w̄⊥ and
satisfies z̄ (z − δz̄ z̄) = w̄ (w − γw̄ w̄) = 0. We have
)# $ *
δz̄ z̄ ∇zz
2 g(z̄, w̄) ∇zw2 g(z̄, w̄)
ᾱ In 0 δz̄ z̄
Hᾱ,β̄ (z̄, w̄) =
2 g(z̄, w̄) ∇ 2 g(z̄, w̄) + 2
γw̄ w̄ ∇zw ww
0 β̄ Im γw̄ w̄
# $
δ ∇ 2 g(z̄, w̄)z̄ + γw̄ ∇zw
2 g(z̄, w̄)w̄ + 2ᾱδ z̄
=
z̄2 zz z̄
δz̄ ∇zw g(z̄, w̄) z̄ + γw̄ ∇ww 2 g(z̄, w̄)w̄ + 2β̄γ w̄
w̄
δz̄ (rz − 1)∇z g(z̄, w̄) + γw̄ rw ∇z g(z̄, w̄) + 2ᾱδz̄ z̄
=
δz̄ rz ∇w g(z̄, w̄) + γw̄ (rw − 1)∇w g(z̄, w̄) + 2β̄γw̄ w̄
−2ᾱ(δz̄ rz + γw̄ rw − 2δz̄ )z̄
= , (4.22)
−2β̄(δz̄ rz + γw̄ rw − 2γw̄ )w̄
where the last equality follows from (4.15). Now obviously every local solution (z̄, w̄) to the
considered problem also is a local solution to the equality-constrained problem
Then, the second-order necessary conditions are written as in (4.18) with obvious modifica-
tions if z̄ = 0 or w̄ = 0, so it results from (4.22) that
z − δz̄ z̄ z − δz̄ z̄
0≤ Hᾱ,β̄ (z̄, w̄)
w − γw̄ w̄ w − γw̄ w̄
z z δz̄ z̄ − 2z δz̄ z̄
= Hᾱ,β̄ (z̄, w̄) + Hᾱ,β̄ (z̄, w̄) .
w w γw̄ w̄ − 2w γw̄ w̄
z z 2z − δz̄ z̄ ᾱ(δz̄ rz + γw̄ rw − 2δz̄ )z̄
= Hᾱ,β̄ (z̄, w̄) +2 .
w w 2w − γw̄ w̄ β̄(δz̄ rz + γw̄ rw − 2γw̄ )w̄
Next we use (2z − δz̄ z̄) z̄ = z z̄ and (2w − γw̄ w̄) w̄ = w w̄ to arrive at
z z
0≤ Hᾱ,β̄ (z̄, w̄)
w w
+2 ᾱz z̄(δz̄ rz + γw̄ rw − 2δz̄ ) + β̄w w̄(δz̄ rz + γw̄ rw − 2γw̄ ) . (4.23)
Now let us again distinguish cases: if g(z̄, w̄) = 0, then by Theorem 4.1 ᾱ = β̄ = 0
and = H0,0 is positive-semidefinite by (4.23), since z and w were arbitrary. If, how-
ever, g(z̄, w̄) < 0, then by Theorem 4.1 we know z̄ = w̄ = 1 so that δz̄ = z z̄ and
γw̄ = w w̄. We continue (4.23) to obtain
z z % &
0≤ Hᾱ,β̄ (z̄, w̄) + 2(rz − 2)ᾱδz̄2 + 2(rw − 2)β̄γw̄2 + 2 ᾱrw + β̄rz δz̄ γw̄ .
w w
(4.24)
Moreover, from the fact that δz̄2 ≤ z2 , γw̄2 ≤ w2 and 2δz̄ γw̄ ≤ δz̄2 + γw̄2 ≤ z2 + w2 ,
it follows
% &
2(rz − 2)ᾱδz̄2 + 2(rw − 2)β̄γw̄2 + 2 ᾱrw + β̄rz δz̄ γw̄
% &% &
≤ 2(rz − 2)ᾱz2 + 2(rw − 2)β̄w2 + ᾱrw + β̄rz z2 + w2 ,
123
672 J Glob Optim (2012) 52:663–687
123
J Glob Optim (2012) 52:663–687 673
Corollary 4.2 Let (z̄, w̄) be a pair of local solution for the problem of form
!
min g(z, w) : z2 = 1, w2 = 1 ,
where g is homogeneous of degree r with respect to both the variables z and w. Then for
ᾱ = β̄ = − r2 g(z̄, w̄) ∈ R, we have
(r − 2)z̄z̄ r z̄w̄
Hᾱ,ᾱ (z̄, w̄) + 2ᾱ 0. (4.27)
r w̄z̄ (r − 2)w̄w̄
In this subsection, we specialized the results obtained in Sect. 4.1 to the case of bi-quartic
function defined in (4.8), where rz = rw = 4. We study the first- and second-order optimality
conditions of (4.8). Let
B jl = ai jkl 1≤i,k≤n ( j, l = 1, . . . , m) and Cik = ai jkl 1≤ j,l≤m (i, k = 1, . . . , n)
Let (z̄, w̄) be an optimal solution to (4.8). From (4.15) and (4.28), we know that the KKT
conditions of (4.8) are equivalent to
"
2 Z̄ C(w̄) Z̄ z̄ + ᾱz̄ = o,
(4.31)
2W̄ B(z̄)W̄ w̄ + β̄ w̄ = o,
which implies that ᾱ = β̄ = −2g(z̄, w̄). In other words, the Lagrange multipliers ᾱ and β̄
of (4.8) are uniquely determined by (z̄, w̄).
123
674 J Glob Optim (2012) 52:663–687
Now (4.29) implies that ∇zw 2 g(z̄, w̄)w̄ = 16 Z̄C(w̄) Z̄ z̄ and [∇ 2 g(z̄, w̄)] z̄ =
zw
16W̄ B(z̄)W̄ w̄. Hence, by (4.30), we have
z̄ Z̄ C(w̄) Z̄ z̄
∇ 2 g(z̄, w̄) = 28 . (4.32)
w̄ W̄ B(z̄)W̄ w̄
By this, we know that the first-order optimality condition (4.31) can be rewritten as
% 2 & z̄
∇ g(z̄, w̄) + 14ᾱ In+m = 0. (4.33)
w̄
It is well-known that the second-order necessary optimality conditions for problem (4.8)
involve the Hessian of the Lagrangian (recall that ᾱ = −2g(z̄, w̄) = β̄),
Hᾱ,β̄ (z̄, w̄) = ∇ 2 g(z̄, w̄) + 2ᾱ In+m =: Hᾱ (z̄, w̄)
For a local minimizer (z̄, w̄) of (4.36) and ᾱ = β̄ = −2g(z̄, w̄), we get via (4.30), (4.29) and
preceding relations, and dividing (4.25) by 4,
Z̄ C(w̄) Z̄ 2Ḡ C(w̄) Z̄ z̄ 7ᾱ
2 + Diag + In+m 0, (4.37)
2G W̄ B(z̄)W̄ B(w̄)W̄ w̄ 2
% &
where Ḡ = W̄ C̄1 W̄ w̄, . . . , W̄ C̄n W̄ w̄ and C̄i = z̄ i nk=1 z̄ k2 Cik .
In this section, we consider the one-to-one correspondence among solutions of the original
problem and its bi-quartic formulation. For sake of convenience, let us define the two trans-
formations x = T1 (z) with xi = z i2 (i = 1, . . . , n) and y = T2 (w) with y j = w 2j ( j =
1, . . . , m), respectively. Without loss of generality, we assume that z ≥ o and w ≥ o. We
denote by z =√T1−1 (x) and w = T2−1 (y) the inverse transformation
- of T1 and T2 , respectively,
namely z i = |xi | for every i = 1, . . . , n and w j = |y j | for j = 1, . . . , m.
We readily see that the transformations x = T1 (z), y = T2 (w) and their (partial) inverse
z = T1−1 (x), w = T2−1 (y) are well-defined and continuous. Therefore, we have the following
result which can be shown by arguments similar to those employed for proving [5, Theorem
5].
123
J Glob Optim (2012) 52:663–687 675
which implies
Z̄ (ȳȳ A) Z̄ z̄ + λ̄z̄ = o. (5.38)
Moreover, by the relation between ȳ and w̄, it is easy to verify that R(y) = ȳȳ A = C(w̄).
Since λ̄ = − p(x̄, ȳ) = −g(z̄, w̄), it is clear that the first expression in (4.31) with ᾱ = 2λ̄
holds. Similarly, we can prove that the second expression in (4.31) with β̄ = 2μ̄ is also true.
Therefore, we obtained the desired result and complete the proof of the theorem.
The converse of Theorem 5.2 is not true in general; this follows from the related result
for quartic reformulations of StQPs [5]. Before we proceed to establish equivalence of the
second-order optimality conditions, we simplify the Hessian of the objective function p:
yy A 2F(x, y) C(w) 2F(x, y)
∇ 2 p(x, y) = 2 = 2 , (5.39)
2F(x, y) Axx 2F(x, y) B(z)
where F(x, y) = [y A1 (x), . . . , y An (x)] with Ai (x) = k ai jkl x k j,l is as in (3.7).
Theorem 5.3 Let (x̄, ȳ) = (T1 (z̄), T2 (w̄)) ∈ n × m with z̄ ≥ o and w̄ ≥ o. Then the
following statements are equivalent:
(a) (x̄, ȳ) is a KKT point for (1.1) which satisfies the second-order necessary optimality
condition (3.6);
(b) (z̄, w̄) is a KKT point for (4.8) which satisfies the second-order necessary optimality
condition (4.35);
Proof (a) ⇒ (b). Since (x̄, ȳ) is a KKT point for problem (1.1), by Theorem 5.2, it follows
that (z̄, w̄) is a KKT point for problem (4.8), i.e., (4.31) holds. Now we prove (4.35). For any
(u, v) ∈ Rn × Rm , we define two vectors η = Z̄ (u−δz̄) and ζ = W̄ (v−γ w̄),where δ = z̄ u
and γ = w̄ v. It is easy to verify that, ηi = 0 for every i ∈ I (x̄) and i∈I (x̄) ηi = 0,
and ζ j = 0 for every j ∈ J (ȳ) and j∈J (ȳ) ζ j = 0, where I (x̄) = {i : x̄ i > 0} and
J (ȳ) = { j : ȳ j > 0}. This shows that (η, ζ ) ∈ T (x̄, ȳ). Consequently, by the second-order
necessary condition (3.6), we have
η η
0≤ ∇ p(x̄, ȳ)
2
ζ ζ
Z̄ u Z̄ u δ Z̄ z̄ Z̄ u
= ∇ 2 p(x̄, ȳ) −2 ∇ 2 p(x̄, ȳ)
W̄ v W̄ v γ W̄ w̄ W̄ v
δ Z̄ z̄ δ Z̄ z̄
+ ∇ 2 p(x̄, ȳ) . (5.40)
γ W̄ w̄ γ W̄ w̄
123
676 J Glob Optim (2012) 52:663–687
By (5.39) for x = x̄ and y = ȳ, it follows that the first term on the right-hand side of (5.40)
amounts to
Z̄ u Z̄ u u Z̄ C(w̄) Z̄ 2 Z̄ F̄ W̄ u
∇ p(x̄, ȳ)
2
=2 , (5.41)
W̄ v W̄ v v 2W̄ F̄ Z̄ W̄ B(z̄)W̄ v
n wedenote F̄ = F(x̄, ȳ). Moreover, it is easy to verify that z̄ Z̄ F̄ W̄ w̄ = x̄ F̄ ȳ =
where
i=1 x̄ i ȳ Ai ( x̄)ȳ = p(x̄, ȳ) = g(z̄, w̄), which implies, together with the fact that g(z̄, w̄) =
z̄ Z̄ C(w̄) Z̄ z̄ = w̄ W̄ B(z̄)W̄ w̄, that the last term on the right-hand side of (5.40) equals
δ Z̄ z̄ δ Z̄ z̄
∇ p(x̄, ȳ)
2
= 2 δ 2 z̄ Z̄ C(w̄) Z̄ z̄+4δγ z̄ Z̄ F̄ W̄ w̄ + γ 2 w̄ W̄ B(z̄)W̄ w̄
γ W̄ w̄ γ W̄ w̄
% &
= 2g(z̄, w̄) δ 2 + 4δγ + γ 2
u z̄z̄ 2z̄w̄ u
= 2g(z̄, w̄) , (5.42)
v 2w̄z̄ w̄w̄ v
where the last equality comes from the fact that δ = z̄ u and γ = w̄ v. On the other hand,
we have
w̄ W̄ F̄ Z̄ u = ȳ A1 (x̄)ȳ, . . . , ȳ An (x̄)ȳ Z̄ u
= [(ȳȳ A)x̄]1 z̄ 1 , . . . , [(ȳȳ A)x̄]n z̄ n u
= Z̄ C(w̄) Z̄ z̄ u
= g(z̄, w̄)(z̄ u),
where the last equality comes from (4.31), using Theorem 5.2. This implies
γ w̄ W̄ F̄ Z̄ u = g(z̄, w̄)(v w̄)(z̄ u). (5.43)
Similarly, we can prove that
δz̄ Z̄ F̄ W̄ v = g(z̄, w̄)(u z̄)(w̄ v). (5.44)
Consequently, by (4.31), (5.43) and (5.44), it follows that the middle term on the right-hand
side of (5.40)
δ Z̄ z̄ Z̄ u
∇ p(x̄, ȳ)
2
= 2δz̄ Z̄C(w̄) Z̄ u + 2γ w̄ W̄ B(z̄)W̄ v
γ W̄ w̄ W̄ v
+4δz̄ Z̄ F̄ W̄ v + 4γ w̄ W̄ F̄ Z̄ u
= 2g(z̄, w̄)(u z̄)(z̄ u) + 2g(z̄, w̄)(v w̄)(w̄ v)
+4g(z̄, w̄)(u z̄)(w̄ v) + 4g(z̄, w̄)(v w̄)(z̄ u)
u z̄z̄ 2z̄w̄ u
= 2g(z̄, w̄) . (5.45)
v 2w̄z̄ w̄w̄ v
By combining (5.40), (5.41), (5.42) and (5.45), we obtain
η η
0≤ ∇ 2 p(x̄, ȳ)
ζ ζ
' (
u Z̄C(w̄) Z̄ 2 Z̄ F̄ W̄ z̄z̄ 2z̄w̄ u
=2 − g(z̄, w̄) ,
v 2W̄ F̄ Z̄ W̄ B(z̄)W̄ 2w̄z̄ w̄w̄ v
123
J Glob Optim (2012) 52:663–687 677
Recall %also that &C(w̄) Z̄ z̄ + λ̄e ≥ o and %B(z̄)W̄ w̄ +& μ̄e ≥ o from (3.5), which means that
2Diag C(w̄) Z̄ z̄ + ᾱ In 0 and 2Diag B(z̄)W̄ w̄ + β̄ Im 0. By combining this, (4.30)
and (5.46), we know that (4.35) is true.
(b) ⇒ (a). Since xi = z i2 for i = 1, . . . , n and y j = w 2j for j = 1, . . . , m, the first-order
condition (4.31) can be rewritten equivalently as
"
(2[C(
% w̄)x̄]i + ᾱ)
& z̄ i = 0, for i = 1, . . . , n,
2[B(z̄)ȳ] j + β̄ w̄ j = 0, for j = 1, . . . , m.
Notice that x̄i > 0 if and only if z̄ i = 0, and ȳ j > 0 if and only if w̄ j = 0. If x̄i > 0,
then 2[C(w̄)x̄]i + ᾱ = 0, which means [(ȳȳ A)x̄]i + λ̄ = 0, if we define λ̄ = 21 ᾱ, because
C(w̄) = ȳȳ A. If x̄i = 0, by (4.35) for u = ei ∈ Rn and v = o ∈ Rm , we obtain that
' (
e z̄z̄ 2z̄w̄ ei
0≤ i ∇ 2 g(z̄, w̄) + 2ᾱ In+m + 4ᾱ ,
o 2w̄z̄ w̄w̄ o
which implies
This means that 0 ≤ 2[C(w̄)x̄]i + ᾱ, from the fact that Z̄ ei = z̄ i = z̄ ei = 0 and Z̄ z̄ = x̄.
Consequently, we have [(ȳȳ A)x̄]i + λ̄ ≥ 0. The first two expressions in (3.5) hold. Sim-
ilarly, taking u = o ∈ Rn and v = e j ∈ Rm , we can prove that other two expressions in
(3.5) are also true. Therefore, (x̄, ȳ) is a KKT point for problem (1.1) with the correspond-
ing multipliers λ̄ = ᾱ/2 and μ̄ = β̄/2 = λ̄. Now let us prove that (x̄, ȳ) satisfies also the
second-order condition (3.6). Let [u , v ] ∈ T (x̄, ȳ). We define (η, ζ ) ∈ Rn × Rm by
,
0 if z̄ i = 0, 0 if w̄ j = 0,
ηi = u i and ζ j = v j
z̄ ifi
z̄ i > 0, w̄ j if w̄ j > 0.
and
m
w̄ ζ = ζ j w̄ j = ζ j w̄ j = v j = 0.
j=1 j∈J (ȳ) j∈J (ȳ)
123
678 J Glob Optim (2012) 52:663–687
and
ᾱ
ζ Diag B(z̄)W̄ w̄ ζ = [B(z̄)W̄ w̄] j ζ j2 = − ζ 2 .
2
j∈J (ȳ)
Theorem 5.3 states the relations among points satisfying the second-order necessary con-
ditions of problems (1.1) and (4.8). Hence, if we want to use the bi-quartic formulation
to obtain a solution of the original problem (1.1), we need an algorithm that converges to
second-order KKT points of problem (4.8).
The bi-quartic formulation (4.8) of the StBQP can be solved by a penalty method, which
is based upon the use of a continuously differentiable exact penalty function. Our main
technique used in this section follows lines similar to that of [5].
We denote by a and a the maximum and minimum elements in the tensor A consisting of the
coefficients ai jkl in (1.1). It is clear that −A F ≤ a ≤ a ≤ − (mn)
1
2 A F < 0 < A F ,
from the assumption that all entries of A are negative. Then, for any (z, w) ∈ Rn × Rm , we
readily verify that
− A F z4 w4 ≤ az4 w4 ≤ g(z, w) ≤ az4 w4 ≤ A F z4 w4 . (6.47)
For the bi-quartic optimization problem (4.8), we introduce an exact penalty function,
which is defined by
1% 4 &2 1 % &2
P(z, w; ε) := g(z, w) + z − 1 + w4 − 1
ε ε
% & % &
+α(z, w) z2 − 1 + α(z, w) w2 − 1 ,
123
J Glob Optim (2012) 52:663–687 679
Note that the definition of P is similar to (but not the same as) the definition of the penalty
function used in [5] and [13]. For any fixed (z0 , w0 ) ∈ Rn × Rm , let us define the sub-level
set of P
!
L0 = (z, w) ∈ Rn × Rm : P(z, w; ε) ≤ P(z0 , w0 ; ε) .
Observe that a < 0 ensures that all sub-level sets of P are bounded without any fur-
ther assumption. This implies the existence of a global minimizer and the boundedness
of sequences in L0 generated by any iterative unconstrained minimization method.
It is easily seen that P(·, ·; ε) is twice continuously differentiable on Rn × Rm for any
fixed ε > 0. Moreover, it holds that
% & z
∇ P(z, w; ε) = ∇g(z, w) 5 − 2z − 2w − 4g(z, w)
2 2
w
8% & z 8% & o
+ z4 − 1 z2 + w4 − 1 w2 (6.49)
ε o ε w
and
% &
∇ 2 P(z, w; ε) = ∇ 2 g(z, w) 5 − 2z2 − 2w2 − 4g(z, w)In+m
z z
−4∇g(z, w) −4 ∇g(z, w)
w w
8% & I 0 8% & 0 0
+ z4 − 1 z2 n + w4 − 1 w2
ε 0 0 ε 0 Im
16 % & zz 0 16 % & 0 0
+ 3z − 1
4
+ 3w − 1
4
. (6.50)
ε 0 0 ε 0 ww
Denote by
% &2 % &2 % 4 &2
1 2 C4 − 1 2 1 − ϑ4 C −1 ϑ4
ε̄ = min , , , % 6 & , (6.51)
A F C 8 (7 + 5C 8 ) 2 + 5(C 8 + ϑ 8 ) 3C 8 3 C + C4
where ϑ ∈ (0, 1) and C > 1 are user-selected constants. If C is large and ϑ 2 C ≤ 1, a safe
rule of thumb is ε̄ ≈ [3C 8 A F ]−1 .
The following theorem in some sense quantifies the boundedness of the sub-level sets.
The result is needed for establishing the first-order exactness property (Theorem 6.4).
Theorem 6.1 Let (z0 , w0 ) ∈ Rn × Rm be a point such that z0 = 1 and w0 = 1.
If ϑ ∈ (0, 1) and C > 1 are the constants appearing in (6.51), then for 0 < ε < ε̄
!
L0 ⊆ (z, w) ∈ Rn × Rm : ϑ ≤ z ≤ C, ϑ ≤ w ≤ C .
123
680 J Glob Optim (2012) 52:663–687
Now we first prove that z > C > 1 and w ≤ C implies P(z, w; ε) > P(z0 , w0 ; ε).
Since w ≤ C, by (6.52), it follows that
5 % & 1% 4 &2
P(z, w; ε) ≥ − A F z8 + C 8 + z − 1 . (6.53)
2 ε
% &2
2 C 4 −1
On the other hand, since ε < ε̄ ≤ A F C (7+5C 8 )
8 , we obtain
% 4 &2
z − 1
ε< ,
A F 1 + 25 (1 + C 8 ) z8
By combining this and (6.53), we know that P(z, w; ε) > A F ≥ P(z0 , w0 ; ε). Similarly,
we may prove that w > C > 1 and z ≤ C implies P(z, w; ε) > P(z0 , w0 ; ε).
Secondly, we prove that z ≤ C and w < ϑ < 1 implies P(z, w; ε) > P(z0 , w0 ; ε).
By (6.52), we only need to prove
5 % & 1% &2
− A F C 8 + ϑ 8 + w4 − 1 > A F , (6.54)
2 ε
% &2
2 1−ϑ 4
under the given conditions. Since ε < ε̄ ≤ A F (2+5(C 8 +ϑ 8 ))
, we obtain
% &2
1 − w4
ε< ,
A F 1 + 25 (C 8 + ϑ 8 )
because of w < ϑ < 1. Hence (6.54) holds. Similarly, we may prove that z < ϑ < 1
and w ≤ C implies P(z, w; ε) > P(z0 , w0 ; ε).
123
J Glob Optim (2012) 52:663–687 681
Finally, we prove that z > C > 1 and w > C > 1 implies P(z, w; ε) > P(z0 , w0 ; ε).
To this end, we only need prove
% &2
123
682 J Glob Optim (2012) 52:663–687
Theorem 6.1 and (z̄, w̄) ∈ L0 imply ϑ ≤ z̄ ≤ C and ϑ ≤ w̄ ≤ C. Thus the determinant
of the homogeneous system of linear equations (6.56) in [τ1 , τ2 ] is
. % & .
. 2z̄4 z̄2 + 1 − 3εg(z̄, w̄) −2εg(z̄,& w̄) .
=. . % .
−2εg(z̄, w̄) 2w̄4 w̄2 + 1 − 3εg(z̄, w̄) .
% &% &
= 4z̄4 w̄4 z̄2 + 1 w̄2 + 1 + 5ε2 g 2 (z̄, w̄)
% & % &
−6εg(z̄, w̄) z̄4 z̄2 + 1 + w̄4 w̄2 + 1
% & % &!
≥ 2 2z̄6 w̄6 − 3εA F z̄4 w̄4 z̄4 z̄2 + 1 + w̄4 w̄2 + 1
% & % &!
= 2z̄4 w̄4 2z̄2 w̄2 − 3εA F z̄4 z̄2 + 1 + w̄4 w̄2 + 1
% &!
≥ 2ϑ 8 2ϑ 4 − 6εA F C 6 + C 4
> 0,
where the first inequality comes from (6.47), and the last inequality is due to (6.51). There-
fore, it follows from (6.56) that τ1 = τ2 = 0, i.e., z̄2 = 1 and w̄2 = 1. Consequently,
from (6.49), we obtain
z̄
∇g(z̄, w̄) + 2α(z̄, w̄) = o,
w̄
which means that (z̄, w̄) is a KKT point for problem (4.8) with the multipliers ᾱ = β̄ =
α(z̄, w̄), and the proof is complete.
Proof By Theorem 6.4, the first-order optimality conditions hold. Therefore, it follows that
z̄2 = 1 and w̄2 = 1. Moreover, we obtain
z̄
∇g(z̄, w̄) + 2α(z̄, w̄) = o,
w̄
which implies, together with (6.50), that
z̄z̄ z̄w̄ 32 z̄z̄ 0
∇ 2 P(z̄, w̄; ε)=∇ 2 g(z̄, w̄) − 4g(z̄, w̄)In+m +16α(z̄, w̄) + .
w̄z̄ w̄w̄ ε 0 w̄w̄
Consequently, for every (u, v) ∈ Rn × Rm with z̄ u = w̄ v = 0, we have
u u u % 2 & u
0≤ ∇ 2 P(z̄, w̄; ε) = ∇ g(z̄, w̄) + 2α(z̄, w̄)In+m ,
v v v v
which shows that (4.34) holds and the proof is complete.
Theorems 6.2 and 6.5 show that we may generate a sequence {(zk , wk )} via an unconstrained
method for the minimization of the penalty function P, which converges to a point (z̄, w̄)
satisfying the second-order necessary conditions. Indeed, by Theorem 6.5, stationary points
123
J Glob Optim (2012) 52:663–687 683
of P in L0 satisfying the second-order necessary conditions, are points satisfying the sec-
ond-order necessary conditions for problem (4.8) which, in turn, by Theorem 5.3 are points
satisfying the second-order necessary condition (3.6) for the StBQP (1.1).
We observe that given a feasible starting point (z0 , w0 ) any reasonable unconstrained
minimization algorithm is able to locate a KKT point with a lower value of the objective
function. In fact, any of these algorithms obtains a stationary point (z̄, w̄) for P such that
P(z̄, w̄; ε) < P(z0 , w0 ; ε). Then Theorem 6.5 ensures that (z̄, w̄) is a KKT point of problem
(4.8). On the other hand, if (z0 , w0 ) is a feasible point for (4.8), recalling the definition of
P, we get that
In conclusion, by using an unconstrained optimization algorithm, we get a KKT point (z̄, w̄)
of the problem (4.8) with a value of the objective function lower than the value at the starting
point (z0 , w0 ). However, in general, the point (z̄, w̄) obtained by the algorithm mentioned
above is not a global minimizer of the problem (4.8). In order to obtain a global solution of
the problem (4.8), we need a appropriate global optimization technique to determine
!
P ∗ (ε) := min P(z, w; ) : (z, w) ∈ Rn+m . (6.57)
There are many options for solving this task, see, e.g. [25]. Here we choose the following pro-
cedure which can be regarded as a modification of Algorithm GOM proposed in [24]. Finally,
from the obtained solution (z∗ , w∗ ) of (4.8), we can obtain an optimal solution (x∗ , y∗ ) of
the considered original problem (1.1).
Denote the unit box (∞ -ball) in Rn+m by
, , " "
= (z, w) ∈ Rn+m : max max |z i |, max |w j | ≤ 1 .
i j
Given a positive number μ, we say that (z̄, w̄) is a μ−approximate global minimizer of
(6.57), if 0 ≤ P(z̄, w̄; ε) − P ∗ (ε) ≤ μ. Observe that we safely can work in due to the
equivalence result in Theorem 6.2.
123
684 J Glob Optim (2012) 52:663–687
7 Numerical results
Although the focus of our paper is more theoretical than computational, we in this section
report our preliminary numerical test results. We implemented Algorithm 6.1 in MATLAB
123
J Glob Optim (2012) 52:663–687 685
7.8 and the numerical experiments were done by using a Pentium III 733 MHz computer
with 256 MB of RAM. In the three examples to follow, we used the following parameter
specifications in the algorithm:
η = 10−5 , M = 1032 , μ = 10−10 , s0 = 1, ε0 = 1.
(k) (k)
We choose q0 = 100m 0 with m 0 = 40m 7 + 16m 4 /εk and (z0 , w0 ) = −[1, . . . , 1] ∈
(k)
in Step 1. Let q := q 2 /m 0 and s := s/10 in Step 4, and let εk+1 := εk /2 to decrease εk
in Step 5. The optimization subroutine within the Optimization Toolbox in MATLAB 7.8 is
used in Step 2 and Step 3.
Example 1 Consider the problem min { p(x, y) : (x, y) ∈ 3 × 3 } with
% &
p(x, y) = x12 y12 + x22 y22 + x32 y32 + 2 x12 y22 + x22 y32 + x32 y12
−2 (x1 x2 y1 y2 + x1 x3 y1 y3 + x2 x3 y2 y3 )
where the objective function is taken from Example 1 in [12]. It can be shown [7] that
the global optimal value of the objective function over the Cartesian product of two unit
spheres is 0, which means that the global optimal value of the objective function over the
Cartesian product of two unit balls is also 0. Moreover, noticing the fact that the stan-
dard simplex d is contained within the unit ball in Rd , we know that the considered
problem has a nonnegative global optimal value. Let A + := A − 2E where Ei jkl = 1.
Then A + ≤ 0 and the optimal value of the new optimization problem will be that of the
originally considered problem minus two. Using the local Optimization Toolbox in MAT-
LAB 7.8, we obtain the solution candidate (x̃, ỹ) with x̃ = [0.3780, 0.2797, 0.3422] and
ỹ = [0.2797, 0.3780, 0.3422] , and corresponding objective value −1.9787. The respec-
tive objective value of the original problem is therefore 0.0213. Now, based upon the
bi-quartic formulation (4.8), we use Algorithm 6.1 to solving the considered problem.
We choose (z0 , w0 ) = −4[1, 1, 1, 1, 1, 1] ∈ . We obtain a solution (z∗ , w∗ ) with
z∗ = [0.0035, 0.1082, 0.9941] and w∗ = [0.0015, 0.9941, 0.1082] . The correspond-
ing objective value is −2, which implies that the objective value of the original prob-
lem is 0. Hence, we obtain a solution (x∗ , y∗ ) with x∗ = [0.0000, 0.0117, 0.9883] and
y∗ = [0.0000, 0.9883, 0.0117] . Note that p(x∗ , y∗ ) = 0 attains the exact minimum objec-
tive value.
Example 2 Consider the objective function
4
% &
3
p(x, y) = a j x12 + x22 y 2j + 4b j x1 x2 y j y j+1 ,
j=1 j=1
with a = [0.7027, 0.1536, 0.9535, 0.5409] and b = [1.6797, 1.0366, 1.8092] . Denote
by pmin = min { p(x, y) : (x, y) ∈ 2 × 4 } its optimal value.
For this problem, we verify that its global
optimal value is 0.0598. In fact, there are three
cases. If x1 = 0, then x2 = 1 and p(x, y) = 4j=1 a j y 2j . Correspondingly, we have
4
1
p(x, y) ≥ 1/ = 0.0923.
aj
j=1
Similarly, if x2 = 0, then p(x, y) ≥ 0.0923. Now we are ready to consider the case that
x1 x2 > 0. In this case, by the first order optimal condition, it is easy to see that pmin is equal
to the optimal value of the StQP
123
686 J Glob Optim (2012) 52:663–687
min y My : y ∈ 4 , (7.58)
where y My = 21 4j=1 a j y 2j + 3j=1 b j y j y j+1 for an appropriate matrix M ∈ S 4 . Suppose
that ȳ is a local solution to (7.58). Without loss of generality, we assume that ȳ = [ȳ
I ,o ]
for some nonempty index set I ⊆ {1, 2, 3, 4} where all coordinates of ȳ I are strictly positive.
By the KKT optimality conditions we infer M I ȳ I = λe I where e I has all coordinates equal
to one. Denote by M I the principal minor of M with index set I . From the fact that M I is
nonsingular for every nonempty index set I (there are 24 − 1 cases), it is easy to see that
M I−1 e I
ȳ I = −1 and the objective value is v I = 1
−1 . It is clear that the global optimal
e
I MI eI e
I MI eI
value pmin of (7.58) satisfies pmin = min{v I : ȳ I ≥ o}. Hence, by a direct computation, the
optimal value 0.0598 of (7.58) can be obtained. Therefore, we know that the global optimal
value of the original problem is 0.0598.
By contrast, the Optimization Toolbox in MATLAB 7.8 suggests a solution (x̃, ỹ) with
x̃ = [0.5000, 0.5000] and ỹ = [0.4349, 0.0000, 0.0000, 0.5651] , with an objective value
of 0.1528.
To use the penalty method, we let A + = A − 1.8092E with Ei jkl = 1 for all
i, k = 1, 2 and j, l = 1, . . . , 4, and then reformulate the considered problem into
the form of (4.8). Using Algorithm 6.1 with (z0 , w0 ) = −10[1, . . . , 1] , we obtain an
optimal solution z∗ = [0.7071, −0.7071] , w∗ = [0.0000, −0.8825, 0.0000, 0.4703]
with objective value −1.7494. So a solution x∗ = [0.5000, 0.5000] and y∗ =
[0.0000, 0.7788, 0.0000, 0.2212] of the original problem with objective value −1.7494 +
1.8092 = 0.0598 is obtained, which therefore yields the global solution.
Example 3 We tested random problems where the coefficients of p(x, y) in (1.1) are gener-
ated in the following way: the entries Ai jkl in A are generated randomly by uniform distribu-
Ai ji j
tion on (0, 1), and then replaced Ai ji j := 100 for all i = 1, 2, . . . , n and j = 1, 2, . . . , m.
For both cases n = 3 and n = 5, we tested 200 problems. For the two cases n = 15
and n = 20, we tested 100 and 50 problems, respectively. We apply Algorithm 6.1 with
(z0 , w0 ) = −4[1, . . . , 1] ∈ to these problems, whose test results are shown in Table 1.
In Table 1, we denote by SR the success rate in the tested problems. Here a case is said
to be successful if the objective value obtained by the penalty method presented in Sect. 6
improves strictly the objective value obtained by the Optimization Toolbox in MATLAB 7.8.
Acknowledgments The authors would like to thank two anonymous referees and an anonymous associate
editor whose helpful comments and suggestions led to an improved presentation of this paper.
123
J Glob Optim (2012) 52:663–687 687
References
1. Bagchi, A., Kalantari, B.: New optimality conditions and algorithms for homogeneous and polynomial
optimization over spheres, RUTCOR Research Report 40–90. Rutgers University, RUTCOR, New Bruns-
wick, NJ (1990)
2. Bomze, I.M.: On standard quadratic optimization problems. J. Glob. Optim. 13, 369–387 (1998)
3. Bomze, I.M., Budinich, M., Pardalos, P., Pelillo, M. : The maximum clique problem. In: Du, D.-Z.,
Pardalos, P.M. (eds.) Handbook of Combinatorial Optimization (supp. Vol. A), pp. 1–74. Kluwer, Dordr-
echt (1999)
4. Bomze, I.M., Grippo, L., Palagi, L.: Unconstrained formulation of standard quadratic optimization prob-
lems. To appear in: TOP (2011)
5. Bomze, I.M., Palagi, L.: Quartic formulation of standard quadratic optimization problems.
J. Glob. Optim. 32, 181–205 (2005)
6. Bomze, I.M., Schachinger, W.: Multi-standard quadratic optimization problems: interior point methods
and cone programming reformulation. Comput. Optim. Appl. 45, 237–256 (2010)
7. Choi, M.D.: Positive semidefinite biquadratic forms. Linear Alg. Appl. 12, 95–100 (1975)
8. Dahl, G., Leinaas, J.M., Myrheim, J., Ovrum, E.: A tensor product matrix aproximation problem in
quantum physics. Linear Alg. Appl. 420, 711–725 (2007)
9. Einstein, A., Podolsky, B., Rosen, N.: Can quantum-mechanical description of physical reality be con-
sidered complete?. Phys. Rev. 47, 777–780 (1935)
10. Han, D., Dai, H.H., Qi, L.: Conditions for strong ellipticity of anisotropic elastic materials. J. Elast. 97, 1–
13 (2009)
11. Knowles, J.K., Sternberg, E.: On the ellipticity of the equations of the equations for finite elastostatics
for a special material. J. Elast. 5, 341–361 (1975)
12. Ling, C., Nie, J., Qi, L., Ye, Y.: Bi-quadratic optimization over unit spheres and semidefinite programming
relaxations. SIAM J. Optim. 20, 1286–1310 (2009)
13. Lucidi, S., Palagi, L. : Solution of the trust region problem via a smooth unconstrained reformula-
tion. In: Pardalos, P., Wolkowicz, H. (eds.) Topics in Semidefinite and Interior-Point Methods, Fields
Institute Communications, vol. 18, pp. 237–250. AMS, Providence, RI (1998)
14. Markowitz, H.M.: Portfolio selection. J. Financ. 7, 77–91 (1952)
15. Markowitz, H.M.: The general mean-variance portfolio selection problem. In: Howison, S.D., Kelly, F.P.,
Wilmott, P. (eds.) Mathematical Models in Finance, pp. 93–99. London (1995)
16. Mavridou, T., Pardalos, P.M., Pitsoulis, L., Resende, M.G.C.: A GRASP for the biquadratic assignment
problem. Eur. J. Oper. Res. 105, 613–621 (1998)
17. Pang, J.S.: A new and efficient algorithm for a class of portfolio selection problems. Oper. Res. 8, 754–
767 (1980)
18. Qi, L., Dai, H.H., Han, D.: Conditions for strong ellipticity and M-eigenvalues. Front. Math. China 4, 349–
364 (2009)
19. Rosakis, P.: Ellipticity and deformations with discontinuous deformation gradients in finite elastostat-
ics. Arch. Ration. Mech. Anal. 109, 1–37 (1990)
20. Schachinger, W., Bomze, I.M.: A conic duality Frank-Wolfe type theorem via exact penalization in
quadratic optimization. Math. Oper. Res. 34, 83–91 (2009)
21. Tseng, P., Bomze, I.M., Schachinger, W.: A first-order interior-point method for linearly constrained
smooth optimization. Math. Programm. 127, 339–424 (2011)
22. Wang, Y., Aron, M.: A reformulation of the strong ellipticity conditions for unconstrained hyperelastic
media. J. Elast. 44, 89–96 (1996)
23. Wang, Y., Qi, L., Zhang, X.: A practical method for computing the largest M-eigenvalue of a fourth-order
partially symmetric tensor. Numer. Linear Alg. Appl. 16, 589–601 (2009)
24. Wu, Z.Y., Zhang, L.S., Teo, K.L., Bai, F.S.: New modified function method for global optimization. J.
Optim. Theory Appl. 125, 181–203 (2005)
25. Zhu, J., Zhang, X.: On global optimizations with polynomials. Optim. Lett. 2, 239–249 (2008)
123