TheSequentialQuadraticProgramming(SQP)AlgorithmGivenasolutionestimatexk,andasmallstepd,anarbitrarynumericaloptimizationproblemcanbeapproximatedasfollow:f(xk+d)=f(xk)+[▽f(xk)]T*d+1/2*(dT)[▽2f(xk)]*d+....h(xk+d)=h(xk)+[▽h(xk)]T*d+1/2*(dT)[▽2h(xk)]*d+....=0g(xk+d)=g(xk)+[▽g(xk)]T*d+1/2*(dT)[▽2g(