NONLINEAR PROGRAMMING AUGMENTED LAGRANGIAN CONVERGENCE GLOBAL OPTIMALITY CONDITION - CONSTRAINT QUALIFICATION SECOND ORDER OPTIMALITY CONDITION ALGORITHMIC CONVERGENCE SEQUENTIAL OPTIMALITY CONDITION APPROXIMATE KKT CONDITIONS CONSTANT RANK KKT CONDITION MPEC SECOND ORDER ALGORITHM SECOND ORDEN CONDITION AUGMENTED LAGRANGIAN METHOD AUGMENTED LAGRANGIAN METHODS CONSTRAINED OPTIMIZATION CONSTRAINED NONLINEAR PROGRAMMING EMBEDDED SUBMANIFOLD SAFEGUARDED AUGMENTED LAGRANGIAN METHOD COMPLEMENTARIDADE CONES DE LORENTZ CONDIÇÃO KKT MATHEMATICAL PROGRAMMING CONTROLE ÓTIMO POSTO CONSTANTE