Quadratic Programming Examples :: Optimization Algorithms and Examples (Optimization Toolbox™)

Quadratic Programming Examples

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Example: Quadratic Minimization with Bound Constraints Example: Quadratic Minimization with a Dense but Structured Hessian

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Example: Quadratic Minimization with Bound Constraints

Example: Quadratic Minimization with a Dense but Structured Hessian

Example: Quadratic Minimization with Bound Constraints

To minimize a large-scale quadratic with upper and lower bounds, you can use the quadprog function.

The problem stored in the MAT-file qpbox1.mat is a positive definite quadratic, and the Hessian matrix H is tridiagonal, subject to upper (ub) and lower (lb) bounds.

Step 1: Load the Hessian and define f, lb, and ub.

load qpbox1   % Get H
lb = zeros(400,1); lb(400) = -inf;
ub = 0.9*ones(400,1); ub(400) = inf;
f = zeros(400,1); f([1 400]) = -2;

Step 2: Call a quadratic minimization routine with a starting point xstart.

xstart = 0.5*ones(400,1);
[x,fval,exitflag,output] = ... 
        quadprog(H,f,[],[],[],[],lb,ub,xstart);

Looking at the resulting values of exitflag and output,

exitflag =
     3
output = 
       iterations: 19
        algorithm: 'large-scale: reflective trust-region'
    firstorderopt: 1.0761e-005
     cgiterations: 1640
          message: [1x206 char]

you can see that while convergence occurred in 19 iterations, the high number of CG iterations indicates that the cost of the linear system solve is high. In light of this cost, one strategy would be to limit the number of CG iterations per optimization iteration. The default number is the dimension of the problem divided by two, 200 for this problem. Suppose you limit it to 50 using the MaxPCGIter flag in options:

options = optimset('MaxPCGIter',50);
[x,fval,exitflag,output] = ... 
        quadprog(H,f,[],[],[],[],lb,ub,xstart,options);

This time convergence still occurs and the total number of CG iterations (1547) has dropped:

exitflag =
     3
output = 
       iterations: 36
        algorithm: 'large-scale: reflective trust-region'
    firstorderopt: 2.3821e-005
     cgiterations: 1547
          message: [1x206 char]

A second strategy would be to use a direct solver at each iteration by setting the PrecondBandWidth option to inf:

options = optimset('PrecondBandWidth',inf);
[x,fval,exitflag,output] = ... 
        quadprog(H,f,[],[],[],[],lb,ub,xstart,options);

Now the number of iterations has dropped to 10:

exitflag =
     3
output = 
       iterations: 10
        algorithm: 'large-scale: reflective trust-region'
    firstorderopt: 1.0366e-006
     cgiterations: 0
          message: [1x206 char]

Using a direct solver at each iteration usually causes the number of iterations to decrease, but often takes more time per iteration. For this problem, the tradeoff is beneficial, as the time for quadprog to solve the problem decreases by a factor of 10.

Example: Quadratic Minimization with a Dense but Structured Hessian

The quadprog large-scale method can also solve large problems where the Hessian is dense but structured. For these problems, quadprog does not compute H*Y with the Hessian H directly, as it does for medium-scale problems and for large-scale problems with sparse H, because forming H would be memory-intensive. Instead, you must provide quadprog with a function that, given a matrix Y and information about H, computes W = H*Y.

In this example, the Hessian matrix H has the structure H = B + A*A' where B is a sparse 512-by-512 symmetric matrix, and A is a 512-by-10 sparse matrix composed of a number of dense columns. To avoid excessive memory usage that could happen by working with H directly because H is dense, the example provides a Hessian multiply function, qpbox4mult. This function, when passed a matrix Y, uses sparse matrices A and B to compute the Hessian matrix product W = H*Y = (B + A*A')*Y.

In this example, the matrices A and B need to be provided to the Hessian multiply function qpbox4mult. You can pass one matrix as the first argument to quadprog, which is passed to the Hessian multiply function. You can use a nested function to provide the value of the second matrix.

Step 1: Decide what part of H to pass to quadprog as the first argument.

Either A or B can be passed as the first argument to quadprog. The example chooses to pass B as the first argument because this results in a better preconditioner (see Preconditioning).

quadprog(B,f,[],[],[],[],l,u,xstart,options)

Step 2: Write a function to compute Hessian-matrix products for H.

Now, define a function runqpbox4 that

Contains a nested function qpbox4mult that uses A and B to compute the Hessian matrix product W, where W = H*Y = (B + A*A')*Y. The nested function must have the form
```
W = qpbox4mult(Hinfo,Y,...)
```
The first two arguments Hinfo and Y are required.
Loads the problem parameters from qpbox4.mat.
Uses optimset to set the HessMult option to a function handle that points to qpbox4mult.
Calls quadprog with B as the first argument.

The first argument to the nested function qpbox4mult must be the same as the first argument passed to quadprog, which in this case is the matrix B.

The second argument to qpbox4mult is the matrix Y (of W = H*Y). Because quadprog expects Y to be used to form the Hessian matrix product, Y is always a matrix with n rows, where n is the number of dimensions in the problem. The number of columns in Y can vary. The function qpbox4mult is nested so that the value of the matrix A comes from the outer function.

function [fval, exitflag, output, x] = runqpbox4
% RUNQPBOX4 demonstrates 'HessMult' option for QUADPROG with  
% bounds.

problem = load('qpbox4'); % Get xstart, u, l, B, A, f
xstart = problem.xstart; u = problem.u; l = problem.l;
B = problem.B; A = problem.A; f = problem.f;
mtxmpy = @qpbox4mult; % function handle to qpbox4mult nested  
% subfunction

% Choose the HessMult option
options = optimset('HessMult',mtxmpy);

% Pass B to qpbox4mult via the Hinfo argument. Also, B will be
% used in computing a preconditioner for PCG.
[x, fval, exitflag, output] = ... 
quadprog(B,f,[],[],[],[],l,u,xstart,options);

    function W = qpbox4mult(B,Y);
        %QPBOX4MULT Hessian matrix product with dense
        %structured Hessian.
        %   W = qpbox4mult(B,Y) computes W = (B + A*A')*Y where
        %   INPUT:
        %       B - sparse square matrix (512 by 512)
        %       Y - vector (or matrix) to be multiplied by
        %           B + A'*A.
        %   VARIABLES from outer function runqpbox4:
        %       A - sparse matrix with 512 rows and 10 columns.
        %
        %   OUTPUT:
        %       W - The product (B + A*A')*Y.
        %

        % Order multiplies to avoid forming A*A',
        %   which is large and dense
        W = B*Y + A*(A'*Y);
    end
end

Step 3: Call a quadratic minimization routine with a starting point.

To call the quadratic minimizing routine contained in runqpbox4, enter

[fval,exitflag,output] = runqpbox4

to run the preceding code and display the values for fval, exitflag, and output. The results are

Optimization terminated: relative function value changing by
less than sqrt(OPTIONS.TolFun), no negative curvature detected
in current trust region model and the rate of progress (change
in f(x)) is slow.

fval =
 -1.0538e+003

exitflag =
     3

output = 
       iterations: 18
        algorithm: 'large-scale: reflective trust-region'
    firstorderopt: 0.0043
     cgiterations: 30
          message: [1x206 char]

After 18 iterations with a total of 30 PCG iterations, the function value is reduced to

fval = 
          -1.0538e+003

and the first-order optimality is

output.firstorderopt = 
           0.0043

Preconditioning

In this example, quadprog cannot use H to compute a preconditioner because H only exists implicitly. Instead, quadprog uses B, the argument passed in instead of H, to compute a preconditioner. B is a good choice because it is the same size as H and approximates H to some degree. If B were not the same size as H, quadprog would compute a preconditioner based on some diagonal scaling matrices determined from the algorithm. Typically, this would not perform as well.

Because the preconditioner is more approximate than when H is available explicitly, adjusting the TolPcg parameter to a somewhat smaller value might be required. This example is the same as the previous one, but reduces TolPcg from the default 0.1 to 0.01.

function [fval, exitflag, output, x] = runqpbox4prec
% RUNQPBOX4PREC demonstrates 'HessMult' option for QUADPROG
% with bounds.

problem = load('qpbox4'); % Get xstart, u, l, B, A, f
xstart = problem.xstart; u = problem.u; l = problem.l;
B = problem.B; A = problem.A; f = problem.f;
mtxmpy = @qpbox4mult; % function handle to qpbox4mult nested 
subfunction

% Choose the HessMult option
% Override the TolPCG option
options = optimset('HessMult',mtxmpy,'TolPcg',0.01);

% Pass B to qpbox4mult via the H argument. Also, B will be 
% used in computing a preconditioner for PCG.
% A is passed as an additional argument after 'options'
[x, fval, exitflag, output] = 
quadprog(B,f,[],[],[],[],l,u,xstart,options);

    function W = qpbox4mult(B,Y);
        %QPBOX4MULT Hessian matrix product with dense
        %structured Hessian.
        %  W = qpbox4mult(B,Y) computes W = (B + A*A')*Y where
        %  INPUT:
        %   B - sparse square matrix (512 by 512)
        %   Y - vector (or matrix) to be multiplied by B + A'*A.
        %  VARIABLES from outer function runqpbox4:
        %   A - sparse matrix with 512 rows and 10 columns.
        %
        %  OUTPUT:
        %   W - The product (B + A*A')*Y.

        % Order multiplies to avoid forming A*A',
        % which is large and dense
        W = B*Y + A*(A'*Y);
    end

end

Now, enter