Papers/Publications related to Ipopt

On this page, we list papers and publications that discuss the details of the Ipopt algorithm or describe applications for which Ipopt has been used.

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Ipopt Algorithm and Implementation

  1. Nocedal, A. Wächter, and R. A. Waltz, Adaptive Barrier Strategies for Nonlinear Interior Methods, Research Report RC 23563, IBM T. J. Watson Research Center, Yorktown, USA (March 2005; revised January 2006) ps ps.gz pdf
  1. Schenk, A. Wächter, M. Hagemann, Combinatorial Approaches to the Solution of Saddle-Point Problems in Large-Scale Parallel Interior-Point Optimization, Research Report RC 23824, IBM T. J. Watson Research Center, Yorktown, USA (December 2005) pdf
  1. Wächter and L. T. Biegler, On the Implementation of an Interior-Point Filter Line-Search Algorithm for Large-Scale Nonlinear Programming, Mathematical Programming 106(1), pp. 25-57, 2006 (As Research Report RC 23149, IBM T. J. Watson Research Center, Yorktown, USA ps ps.gz pdf)
  1. Wächter and L. T. Biegler, Line Search Filter Methods for Nonlinear Programming: Motivation and Global Convergence, SIAM Journal on Optimization 16(1), pp. 1-31, 2005 [ps, ps.gz, pdf] (As Research Report RC 23036, IBM T. J. Watson Research Center, Yorktown, USA: ps, ps.gz, pdf)
  1. Wächter, An Interior Point Algorithm for Large-Scale Nonlinear Optimization with Applications in Process Engineering, Phd Thesis, Carnegie Mellon University, 2002 ps ps.gz pdf

General Optimization Theory

  1. Armand, J. Benoist and D. Orban, Interpretation of Nonlinear Interior Methods as Damped Newton Methods, Cahier du GERAD G-2005-80, 2005, pdf
  1. U. Raghunathan and L. T. Biegler, Interior point methods for Mathematical Programs with Complementarity Constraints (MPCCs), SIAM J. Optimization 15(3) pp. 720-750 (2005)



Winkler, A. W; Bellicoso, D. C; Hutter, M.; and Buchli, J., Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization, IEEE Robotics and Automation Letters (RA-L), 2018, DOI:


  1. Santacatterina, M. Bottai, "Optimal probability weights for inference with constrained precision", Journal of the American Statistical Association, Sept 2017, DOI:
  1. Parra-Arnau, J. P. Achara, C. Castelluccia, Myadchoices: Bringing Transparency and Control to Online Advertising, ACM Transactions on the Web, vol. 11, no. 1, March 2017, DOI:

Winkler, A. W; Farshidian, F.; Pardo, D.; Neunert, M.; and Buchli, J., Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints, IEEE Robotics and Automation Letters (RA-L), 2017, DOI:


Hallac, B., Kayvanloo, K., Hedengren, J.D., Hecker, W.C., Argyle, M.D., An Optimized Simulation Model for Iron-Based Fischer-Tropsch Catalyst Design: Transfer Limitations as Functions of Operating and Design Conditions, Chemical Engineering Journal, Volume 263, 1 March 2015, Pages 268–279, ISSN 1385-8947,


Hedengren, J. D. and Asgharzadeh Shishavan, R., Powell, K.M., and Edgar, T.F., Nonlinear Modeling, Estimation and Predictive Control in APMonitor, Computers and Chemical Engineering, Volume 70, pg. 133–148, 2014, DOI:

Sun, L., Hedengren, J. D., and Beard, R. W., Optimal Trajectory Generation using Model Predictive Control for Aerially Towed Cable Systems, Journal of Guidance, Control, and Dynamics, Vol. 37, Issue 2, pp. 525-539, 2014, DOI:


Jacobsen, L. T. and Hedengren, J. D., Model Predictive Control with a Rigorous Model of a Solid Oxide Fuel Cell, American Control Conference (ACC), Washington, DC, pp. 3747–3752, 2013.


  1. Philipp, S. Altmannshofer: Experimental Validation of a New Moving Horizon Estimator Approach for Networked Control Systems with Unsynchronized Clocks, Accepted and to be presented at the 2012 American Control Conference, Montreal, Canada, 06/2012.


  1. Olympio, Optimal Control Problem for Low-Thrust Multiple Asteroid Tour Missions, Journal of Guidance, Control and Dynamics, Vol. 34, No. 6, Nov-Dec. 2011.


  1. Pattacini, F. Nori, L. Natale, G. Metta, G. Sandini,"An Experimental Evaluation of a Novel Minimum-Jerk Cartesian Controller for Humanoid Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. pdf.




  1. M.M. Araujo, R.C.R. Rodrigues, J.P.B. Mota, Determination of competitive isotherms of enantiomers by a hybrid inverse method using overloaded band profiles and the periodic state of the simulated moving-bed process, J. Chromatogr. A, doi:10.1016/j.chroma.2008.01.019.
  1. C.R. Rodrigues, J.M.M. Araujo, J.P.B. Mota, Two-Column Simulated Moving-Bed Process for Binary Separation, J. Chromatogr. A 1180, pp. 42-52 (2008).


  1. P.B. Mota, I.A.A.C. Esteves, Optimal Design and Experimental Assessment of Time-Variable Simulated Moving Bed for Gas Separation, Ind. Eng. Chem. Res. 46, pp. 6978-6988 (2007).
  1. P.B. Mota, J.M.M. Araujo, R.C.R. Rodrigues, Optimal Design of Simulated Moving-Bed Processes Under Flow-Rate Uncertainty, AIChE J. 53, pp. 2630-2642 (2007).
  1. P.B. Mota, I.A.A.C. Esteves, M.F.J. Eusebio, Synchronous and Asynchronous SMB Processes for Gas Separation, AIChE J. 53, pp. 1192-1203 (2007).
  1. C.R. Rodrigues, J.M.M. Araujo, J.P.B. Mota, Optimal design and experimental validation of synchronous, asynchronous and flow-modulated, simulated moving-bed processes using a single-column setup, J. Chromatogr. A 1162, pp. 14-23 (2007).
  1. C.R. Rodrigues, J.M.M. Araujo, M.F.J. Eusebio, J.P.B. Mota, Experimental Assessment of Simulated Moving Bed and Varicol Processes Using a Single-Column Setup, J. Chromatogr. A 1142, pp. 69-80 (2007).
  1. Lu, Estimation of average backorders for an assemble-to-order system with random batch demands through extreme statistics, Naval Logistic Research, 54(1), pp.33-45, 2007


  1. Barttfeld, N. Alleborn, F. Durst, Dynamic optimization of multiple-zone air impingement drying processes, Computers and Chemical Engineering 30, pp. 467-489, 2006
  1. M. Zavala, L.T. Biegler. Large-Scale Parameter Estimation in Low-Density Polyethylene Tubular Reactors,Ind. & Eng.Chem. Res, 45, pp. 7867 -7881, 2006


  1. Bonami, L. T. Biegler, A. R. Conn. G. Cornuéjols, I. E. Grossmann, C. D. Laird, J. Lee, A Lodi, F. Margot, N. Sawaya, A. Wächter, An Algorithmic Framework For Convex Mixed Integer Nonlinear Programs, Research Report RC 23771, IBM T. J. Watson Research Center, Yorktown, USA (November 2005) pdf
  1. D. Laird, L. T. Biegler, B. van Bloemen Waanders, R. A. Bartlett, Time Dependent Contaminant Source Determination for Municipal Water Networks Using Large Scale Optimization, ASCE Journal of Water Resource Management and Planning 131(2) p. 125 (2005)
  1. Kameswaran, G. Staus and L. T. Biegler, Parameter Estimation of Core Flood and Reservoir Models, Computers and Chemical Engineering 29(8), pp. 1787-1800 (2005)
  1. D. Lang, and L. T. Biegler, Large-scale nonlinear programming with a CAPE-OPEN compliant interface, Chemical Engineering Research and Design (Trans. IChemE, Part A) 83, pp. 718-723 (2005)
  1. Wächter, C. Visweswariah and A. R. Conn, Large-Scale Nonlinear Optimization in Circuit Tuning, Future Generation Computer Systems 21(8), pp. 1251-1262, 2005
  1. M. Zavala, A. Flores-Tlacuahuac, E. Vivaldo-Lima, Dynamic Optimization of a Semi-Batch Reactor for Polyurethane Production, Chem. Eng. Sci. 60(11), pp. 3061-3079, 2005


  1. B. Poku, J. D. Kelly, L. T. Biegler, Nonlinear Programming Algorithms for Process Optimization with Many Degrees of Freedom, I & EC Research 43(21), pp. 6803-6812 (2004)
  1. Raghunathan, V. Gopal, D. Subramanian, L. T. Biegler and T. Samad, Dynamic Optimization Strategies for 3D Conflict Resolution of Multiple Aircrafts, AIAA J. of Guidance, Control and Dynamics 27(4), pp. 586-594 (2004)
  1. U. Raghunathan, M. S. Diaz, L. T. Biegler, An MPEC Formulation for Dynamic Optimization of Distillation Operation, Computers and Chemical Engineering 28(10), pp. 2037-2052 (2004)


  1. U. Raghunathan, J. R. Pérez-Correa and L. T. Biegler, Data Reconciliation and Parameter Estimation in Flux-Balance Analysis, Biotechnology and Bioengineering 84, pp. 700-709 (2003)
  1. Jockenhövel, L. T. Biegler, and A. Wächter, Dynamic Optimization of the Tennessee Eastman Process Using the OptControlCentre, Computers and Chemical Engineering 27 (11) pp. 1513-1531, 2003


  1. T. Biegler, A.M. Cervantes, and A. Wächter, Advances in Simultaneous Strategies for Dynamic Process Optimization, Chemical Engineering Science 57 (4), pp. 575-593, 2002


  1. J. Arrieta-Camacho, L. T. Biegler, D. Subramanianm, NMPC-Based Real-Time Coordination of Multiple Aircraft pdf
  1. J. Arrieta-Camacho, L. T. Biegler, Real Time Optimal Guidance of Low-Thrust Spacecraft: An Application of Nonlinear Model Predictive Control pdf
  1. J. Arrieta-Camacho, L. T. Biegler, D. Subramanian, Trajectory Control of Multiple Aircraft: An NMPC Approach pdf
  1. Flores-Tlacuahuac, L. T. Biegler, E. Saldivar-Guerra, Optimal Grade Transitions in the HIPS Polymerization Process pdf
  1. Flores-Tlacuahuac, L. T. Biegler, A Robust and Efficient Mixed-Integer Non-Linear Dynamic Optimization Approach for Simultaneous Design and Control pdf
  1. Flores Tlacuahuac, L. T. Biegler, On the Global Dynamic Optimization of Highly Nonlinear Systems pdf
  1. Kawajiri, L. T. Biegler, Optimization Strategies for Simulated Moving Bed and PowerFeed? Processes pdf
  1. Kawajiri, L. T. Biegler, Large-Scale Optimization Strategies for Simulated Moving Beds pdf
  1. D. Laird, L. T. Biegler, B. van Bloemen Waanders, Real-time, Large Scale Optimization of Water Network Systems using a Subdomain Approach pdf
  1. D. Laird, L. T. Biegler, B. V. Bloemen Waanders, A Mixed Integer Approach for Obtaining Unique Solutions in Source Inversion of Drinking Water Networks pdf
  1. D. Lang, L. T. Biegler, A Software Environment for Simultaneous Dynamic Optimization pdf
  1. U. Raghunathan, J. R. Perez-Correa, E. Agosin, L. T. Biegler, Parameter Estimation in Metabolic Flux Balance Models for Batch Fermentation - Formulations and Solution Using Differential Variational Inequalities pdf
  1. M. Zavala, C.D. Laird, L.T. Biegler, A Fast Computational Framework for Large-Scale Moving Horizon Estimation pdf
  1. M. Zavala, C.D. Laird, L.T. Biegler, Fast Solvers and Rigorous Models: Can Both be Acommodated in NMPC? pdf
  1. M. Zavala, C.D. Laird, L.T. Biegler, Interior-Point Decomposition Approaches for Parallel Solution of Large-Scale Parameter Estimation Problems pdf
Last modified 2 years ago Last modified on Jul 4, 2018 6:12:31 PM