“…A typical approach is to augment the constraints into an objective function by using the Lagrange multipliers [11] and/or penalty functions, and to minimise the augmented objective function by using one of the optimisation schemes, such as the steepest descent algorithm Paper 3096C (P9), first received 20th July and in revised form 14th December 1983 The authors are with the Department of Electrical Engineering, Cullen College of Engineering, University of Houston, Central Campus, Houston, Texas 77004, USA [1,7], or the sequential unconstrained minimisation technique (SUMT) [6]. Other approaches are the use of linearprogramming approximation to the nonlinear problem [8,10], or the use of the quadratic approximation to the objective function in order to apply the quadraticprogramming technique [12].…”