Augmented Lagrangian method - Wikipedia
https://en.wikipedia.org/wiki/Augmented_Lagrangian_methodAugmented Lagrangian methods are a certain class of algorithms for solving constrained optimization problems. They have similarities to penalty methods in that they replace a constrained optimization problem by a series of unconstrained problems and add a penalty term to the objective; the difference is that the augmented Lagrangian method adds yet another term, designed to mimic a Lagrange multiplier. The augmented Lagrangian is related to, but not identic…