where are the optimization variables (possibly with lower and upper bounds, and ), is the objective function, and are the general nonlinear constraints. The functions and can be linear or nonlinear and convex or non-convex (but should be twice continuously differentiable). The constraints, , have lower and upper bounds, and . Note that equality constraints of the form can be specified by setting .

- Mathematical Background
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- Prerequisites
- How to use IPOPT
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- History of IPOPT