Hindawi Publishing Corporation Journal of Applied Mathematics Volume 2011, Article ID 340192, 12 pages doi:10.1155/2011/340192 Research Article An Improved Predictor-Corrector Interior-Point Algorithm for Linear √ Complementarity Problems with O nL-Iteration Complexity Debin Fang1 and Qian Yu2 1 2 School of Economics and Management, Wuhan University, Wuhan 430072, China School of Economics, Wuhan University of Technology, Wuhan 430070, China Correspondence should be addressed to Qian Yu, yuqian365@126.com Received 18 September 2011; Revised 23 November 2011; Accepted 24 November 2011 Academic Editor: Chong Lin Copyright q 2011 D. Fang and Q. Yu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This paper proposes an improved predictor-corrector interior-point algorithm for the linear complementarity problem LCP based on the Mizuno-Todd-Ye algorithm. The modified corrector steps in our algorithm cannot only draw the iteration point back to a narrower neighborhood of the center path but also reduce the duality gap. It implies that the improved algorithm can converge faster than√the MTY algorithm. The iteration complexity of the improved algorithm is proved to obtain O nL which is similar to the classical Mizuno-Todd-Ye algorithm. Finally, the numerical experiments show that our algorithm improved the performance of the classical MTY algorithm. 1. Introduction Since Karmarkar published the first paper on interior point method 1 in 1984, the interior point methodologies have yielded rich theories and algorithms in the fields of linear programming LP, quadratic programming QP, and linear complementarity problems LCP. Among these interior point methods, predictor-corrector interior-point methods play a special role due to their best polynomial complexity and superlinear convergence. In 1993, Mizuno et al. 2 proposed the classical representative of predictor-corrector √ method for linear programming. The Mizuno-Todd-Ye MTY algorithm has O nLiteration complexity which is the best iteration complexity obtained so far for all the interior-point method 3, 4. Moreover, Ye et al. 5 proved the duality gap of classical MTY algorithm converges to zero quadratically, which dedicated that MTY algorithm has superlinear convergence. The classical MTY algorithm is the first algorithm for LP has both polynomial complexity and superlinear convergence. So the classical MTY algorithm therefore was considered as the most efficient interior point methods for LP. 2 Journal of Applied Mathematics Afterwards, the MTY algorithm was extended to LCP 6, 7 for its excellent performance. In recent papers, Potra 8, 9 presented several predictor-corrector methods for linear complementarity problems acting in a wide neighborhood of the central path, and Stoer et al. 10 proposed a predictor-corrector algorithm with arbitrarily high order of convergence to degenerate sufficient linear complementarity problems. Subsequently, Potra proposed a generalization of the MTY algorithm for infeasible starting points for monotone LCP 11. Based on the so-called “fast step-safe step” strategy, Wright proposed an infeasible interior point method with polynomial and quadratic √ convergence for nondegenerate LCP 12. And Ai and Zhang presented an O nL-iteration primal-dual path-following method for monotone LCP based on wide neighborhoods and large updates 13. These workings improved the MTY algorithm in various aspects. In this paper, the MTY algorithm for LCP will be improved by modifying the corrector of the algorithm to obtain a larger iteration reduce factor than the original, which can guarantee a faster convergence. The typical iterations of the MTY algorithm operate between two neighborhoods of the central path, ρ1/4 and ρ1/2. Before starting the MTY algorithm, an arbitrary initial point ω ∈ ρ1/4 will be given. And then, the predictor produces a point ω ∈ ρ1/2 by carefully choosing a steplength along the affine-scaling direction at ω and reduces the primal √ √ dual gap by a factor of at least 1 − χ/ n where χ 1/ 4 8 ≈ 0.5946. In the corrector steps, the corrector produces a point ω ∈ ρ1/4 by taking a unit steplength along the centering direction at ω. It is shown that the corrector put the iteration points back to ρ1/4 which is the narrower neighborhood of the central path and maintains the same duality gap. Thus √ n and holds predictor-corrector reduces the duality gap μk by a factor of at least 1 − χ/ the iteration points in the neighborhood ρ1/4. It follows that the corresponding iterative √ procedure has O nL-iteration complexity. The modified algorithm in this paper has only one corrector step in neighborhood of the central path ρ1/2 and one predictor step in a narrow neighborhood ρ1/4 same as the MTY algorithm. Moreover, the modified iteration direction of corrector step can make a reduction for duality gap. This improvement attained a larger iteration reduce factor and results in a faster convergence than the classical MTY algorithm. Section 2 describes the procedure of our predictor-corrector algorithm. Section 3 gives the convergence analysis of our algorithm. It shows that the improved algorithm can generate a sequence {xk , yk } in the neighborhood ρ1/4 from an arbitrary initial point x0 , y0 ∈ √ ρ1/4 and converge to optimal solution xk , yk with O nL-iteration complexity. Finally, the performances of our algorithm are evaluated by numerical experiments in Section 4. 2. Description of the Algorithm In this paper, LCP is to find a vector pair x, y ∈ Rn × Rn such that y Mx h, x, y ≥ 0, 0 and xT y 0, where h ∈ Rn and M is a n × n positive semidefinite matrix. Denote the set of all feasible points of LCP by S {x, y | Mx−yh 0, x ≥ 0, y ≥ 0} and the solution set of LCP by S∗ {x∗ , y∗ | x∗ , y∗ ∈ S, x∗ T y∗ 0}. The relative interior of S, S {x, y | x, y ∈ S, x > 0, y > 0} is called the set of strictly feasible points, or the set of interior points. We assume S / Φ in this paper. It is known that if S is nonempty, then for any parameter τ > 0 the nonlinear system Mx − y h 0, xy τe has a unique positive solution 14. The set of all such solutions defines the central path C of LCP. So the assumption is sufficient to establish the existence of the central path and the existence of a solution to LCP. Journal of Applied Mathematics 3 The mean value of xT y is denoted as μ xT y/n throughout this paper. Then ρβ {x, y ∈ S | Xy − μe ≤ βμ, μ xT y/n} is considered as the neighborhood of central path, where β > 0, e denotes the vector of ones, X diagx and · express the Euclidean norm. The improved predictor-corrector interior-point algorithm IPCIP is as follows. 2.1. Main Steps of IPCIP Algorithm Step 0. Choose an initial pair of interior point x0 , y0 with x0 , y0 ∈ ρ1/4, and set the accuracy parameter ε > 0. Let k 0. T Step 1. If xk yk /n ≤ ε, then stop. Step 2. Compute the predictor direction Δxp , Δyp by solving the system 2.1, MΔxp − Δyp 0, Y k Δxp X k Δyp 2 k μ e − X k yk . 3 2.1 √ Step 3. Set xk , yk xk , yk Qk Δxp , Δyp where Qk min{1/8 n, μk /8ΔX p Δyp }. k yk − μk e ≤ 1/2μk , where μk 1 − Qk μk holds for every We will show later that X xk , yk . √ Step 4. Set r 1 − 1/4 2n, and compute the corrector direction Δxc , Δyc by solving the system 2.2, MΔxc − Δyc 0, k Δyc rμk e − X k yk . Y k Δxc X 2.2 Step 5. Set xk1 , yk1 xk , yk Δxc , Δyc , update k k 1, and return to Step 1. 3. Convergence and Complexity Analysis Lemma 3.1. If b, c ∈ Rn and b c h, bT c ≥ 0, B diagb, then √ i Bc ≤ 2/4h2 ; ii bT c ≤ 1/2h2 ; iii b2 ≤ h2 . Proof. The proof of i can be seen in Lemma 1 of 2. From h2 b c2 b2 c2 2bT c and bT c ≥ 0, we can obtain bT c ≤ 1/2h2 and b2 ≤ h2 . Thus inequalities ii and iii hold. This completes the proof. Lemma 3.2. If the point xk , yk was generated by the algorithm, then one has μ k xk T yk /n ≥ μk , where μk 1 − Qk μk . 4 Journal of Applied Mathematics Proof. From Step 2 of our algorithm and M is a n × n positive semidefinite matrix, we have Δxp T Δyp Δxp T MΔxp ≥ 0. Hence xk k μ xk Qk Δxp x k T ≥ yk n T xk T n yk Q T n k yk QK Δyp xk T 2 Δyp Δxp T yk Qk Δxp T Δyp n yk T Qk 2 n · μk − x k y k n 3 3.1 2 μk Q k μk − Q k μk 3 ≥ 1 − Q k μk μk . This completes the proof. Lemma 3.3. If xk , yk ∈ ρ1/4, then the point xk , yk generated by the algorithm satisfies xk > k yk − μk e ≤ 1/2μk , and xk , yk ∈ ρ1/2. 0, yk > 0, X Proof. Let us define xQ, yQ xk QΔxp , yk QΔyp , where ⎫ ⎧ ⎬ ⎨ 1 k μ . 0 ≤ Q ≤ Qk min √ , ⎩8 n 8ΔX p Δyp ⎭ 3.2 √ √ Note that 0 ≤ Q ≤ Qk min{1/8 n, μk /8ΔX p Δyp }, then we have 2/3 nQ ≤ √ 1/12 from Q ≤ 1/8 n and Q2 ΔX p Δyp ≤ 1/8μk from Q ≤ μk /8ΔX p Δzp . Furthermore X k yk − μk e ≤ 1/4μk holds since xk , yk ∈ ρ1/4. Therefore we have XQyQ − 1 − Qμk e X k yk Q X p Δyp ΔX p yp Q2 ΔX p Δyp − 1 − Qμk e k k 2 k k k 2 p p k X μ y Q e − X y ΔX Δy − − Qμ e Q 1 3 2√ ≤ 1 − QX k yk − μk e nQμk Q2 ΔX p Δyp 3 Journal of Applied Mathematics 5 1 1 1 ≤ 1 − Q μk μk μk 4 12 8 1 1 1 1 1 − Qμk 4 1 − Q 12 8 5 1 ≤ 1 − Qμk 4 21 ≤ 1 1 − Qμk . 2 3.3 So xi Qyi Q ≥ 1/21 − Qμk > 0 i 1, 2, . . . , n for any Q 0 ≤ Q ≤ QK . Since xQ, yQ xk QΔxp , yk QΔyp is continuous with respect to Q, xk > 0 k and y > 0, it is easily seen that xk xQk > 0, yk yQk > 0. k , Y Qk Y k , 1 − Qk μk μk , the above argument implies Note that XQk X k yk − μk e ≤ 1/2μk . X It’s well known that the inequality Xz − xT z/ne ≤ Xz − ce holds for arbitrary vector x, z and arbitrary constant c. k yk − μ k yk − μk e ≤ 1/2μk ≤ 1/2 So we have X k e ≤ X μ from the proof above k k and Lemma 3.2, thus x , y ∈ ρ1/2. This completes the proof. Remark 3.4. So Lemma 3.3 dedicates that the predictors of our algorithm operate in a wide neighborhood of the central path ρ1/2. k Y k k yk −μk e ≤ 1/2μk then X Lemma 3.5. If X −1/2 2 k yk ≤ 21/41−r2 nμk rμk e − X Proof. k k −1/2 k 2 X Y k yk ≤ rμ e − X ≤ 1 min xk yk 1≤i≤n i i 1 2 k k yk rμ e − X 2 k k k k X y − μ e − rμ e 1 k 1 − 1/2μ 2 2 2 k k ≤ k X y − μk e 1 − rμk e μ 1 2 1 − r n μk . ≤2 4 3.4 This completes the proof. Lemma 3.6. If n > 2 and the point xk1 , yk1 was generated by the algorithm, then μk1 ≤ 1 − Qk μk always hold. 6 Journal of Applied Mathematics k 1/2 Y k −1/2 then Proof. Denote D X −1/2 k yk k Y k rμk e − X D−1 Δxc DΔyc X −1 D Δx c T DΔy c c T c c T 3.5 c Δx Δy Δx MΔx ≥ 0. From Lemmas 3.1 and 3.5 we have c T −1/2 2 1 k X k yk k yk ≤ 1 1 − r2 n μk rμ e − X 2 4 k1 T k1 y x n T k k y Δyc x Δxc n k T k k T x y x Δyc Δxc T yk Δxc T Δyc n Δx Δyc ≤ ∴ μk1 3.6 nrμk Δxc T Δyc n 1 k 2 ≤ rμ 1 − r μk . 4n √ Note that r 1 − 1/4 2n, we have √ 1 1 4 2n − 9 1 1 r 1 − r2 1 − √ 1− . 4n 32n 4 2n 4n 32n 3.7 It is obvious that r 1/4n 1 − r2 < 1 when n > 2, so μk1 ≤ μk 1 − Qk μk . This completes the proof. Remark 3.7. From Lemmas 3.2 and 3.6, we can obtain immediately that μk1 ≤ μk ≤ μ k . That k k1 means the corrector reduces μ to μ . Because the corrector in the classical MTY algorithm just maintains the same duality gap, the improvement of the corrector in our algorithm will make a faster reduction of μk than MTY algorithm. Then the polynomial convergence of the algorithm could be established. Theorem 3.8. Suppose that the sequence {xk1 , yk1 } generated by the algorithm, then one has xk1 , yk1 ∈ ρ1/4. Proof. Let us define that xk1 α xk αΔxc , yk1 α yk αΔyc , and denote μ k1 k1 T k1 x α y α . α n 3.8 Journal of Applied Mathematics 7 As discussed in Lemma 3.6, we also have D−1 Δxc T DΔyc Δxc T Δyc Δxc T MΔxc ≥ 0. √ From Lemmas 3.1 and 3.5 and r 1 − 1/4 2n, then √ 2 k k −1/2 k ΔX c Δyc ≤ 2 X Y k yk rμ e − X 4 √ 2 1 2 2 1 − r n μk ≤ 4 4 √ √ 2 1 2 2 2n1 − r μk 4 2 √ 2 1 1 μk ≤ 4 2 8 7 k μ , 32 k1 T k1 x α y α k1 μ α n T k k y αΔyc x αΔxc n T k T k x y α xk Δyc Δxc T yk α2 Δxc T Δyc n k T k T x y α xk Δyc Δxc T yk ≥ n T k T k x y α nrμk − xk yk n k μ k α rμk − μ ≤ 3.9 1 − α μk αrμk ≥ 1 − 1 − rαμk . So we can write μk1 α ≥ 1 − 1 − rαμk , that is, μk ≤ μk1 α/1 − 1 − rα. Hence xk αΔxc T yk αΔyc k1 k1 k1 k c k c αΔX y αΔy − e X αy α − μ αe X n k yk α X k Δyc ΔX c yk α2 ΔX c Δyc X − xk T T yk α xk Δyc Δxc T yk α2 Δxc T Δyc n e 8 Journal of Applied Mathematics k yk α2 ΔX c Δyc k yk α rμk e − X X − xk T T yk α nrμk − xk yk α2 Δxc T Δyc n ⎛ 1 − α⎝X y − k k xk T yk n ⎞ e e⎠ α 2 Δxc T Δyc ΔX Δy − e . n c c 3.10 Since the inequality Xz − xT z/ne ≤ Xz − ce holds for arbitrary vector x, z and arbitrary constant c, thus k T k c T c x y Δy Δx k1 k1 k1 k k 2 c c ΔX Δy − e e X αy α − μ αe ≤ 1 − α α X y − n n k k ≤ 1 − αX y − μk e α2 ΔX c Δyc 1 7 ≤ 1 − α μk α2 μk 2 32 ≤ 1/21 − α 7/32α2 k1 μ α. 1 − 1 − rα 3.11 Let us define fα 1/21 − α 7/32α2 /1 − 1 − rα, then f α −1/2r 7/16α − 7/32α2 1 − r/1 − 1 − rα2 . When n > 2, we have r ≥ 7/8, this results in f α ≤ 0 and fα decreases monotonously, when 0 ≤ α ≤ 1. Because fα ≤ f0 1/2 holds for every α ∈ 0, 1 thus 1 k1 X αyk1 α − μk1 αe ≤ μk1 α. 2 3.12 Since μk > ε > 0 otherwise the algorithm will be terminated, it follows that Xik1 αyik1 α ≥ 1 k1 μ α 2 1 1 − 1 − rαμk 2 1 1 − 1 − rα 1 − Qk μk > 0. 2 ≥ 3.13 We have proved that xk xQk > 0, yk yQk > 0 in Lemma 3.3. So we have xk1 0 xk > 0, yk1 0 yk > 0, when α 0. 3.14 Journal of Applied Mathematics 9 Note that xk1 α and yk1 α are continuous with respect to α. It implies that xk1 α > 0 and yk1 α > 0 hold for any α ∈ 0, 1. Let α 1, then we have xk1 > 0 and yk1 > 0. Furthermore, when α 1, fα 7/32r thus X k1 yk1 − μk1 e ≤ 7/32rμk1 ≤ 1/4μk1 . Consider that we can obtain Mxk1 − yk1 h 0 directly from the steps in our algorithm, so xk1 , yk1 ∈ ρ1/4 holds for every xk1 , yk1 generated by the algorithm. This completes the proof. √ Theorem 3.9. The iteration complexity of the algorithm is O nL. Proof. Let D X k 1/2 Y k −1/2 then D D −1 −1 p p k Δx D Δy X Y Δx p T D Δy p k −1/2 2 p T 3 p k k k μ e−X y , 3.15 p T p Δx Δy Δx MΔy ≥ 0. From Lemma 3.1, we have −1 ΔX p Δyp ΔX p D Δyp D √ 2 −1/2 2 2 k k k k k ≤ · X y μ e−X y 4 3 ⎞2 √ ⎛ n 2 −1 −1 2 ⎝ 4 2 xik yik · μk ≤ − μk xik yik ⎠ . 4 3 3 i1 3.16 From X k yk − μk e ≤ 1/4μk , we have xik yik ≥ 3/4μk , then xik −1 yik −1 ≤ 4/3μk , √ n 2 4 4 k 4 k · · · μ − μ nμk 4 i1 9 3 3 √ 2 7 · nμk 4 27 √ 7 2 k nμ . 108 ΔX p Δyp ≤ 3.17 √ √ p p k Hence μ /8ΔX Δy ≥ 27/14 2n, and we can obtain min{1/8 n, μk /8ΔX p Δyp } √ ≥ 27/14 2n. √ So it implies that μk1 ≤ 1 − Qk μk ≤ 1 − 27/14 2nμk for each k. This means that √ μk will decrease at least by a constant factor of 1 − 27/14 2n at each iteration, which √ guarantees a O nL-iteration complexity for the algorithm. This completes the proof. 10 Journal of Applied Mathematics √ Remark 3.10. Note that the reduce factor in the MTY algorithm is 1 − χ/ n where χ √ √ √ 1/ 4 8 ≈ 0.5946, but the reduce factor in our algorithm is 1 − 27/14 2n 1 − λ/ n √ where λ 27/14 2 ≈ 1.168, which is larger than χ. It implies that our algorithm will converge faster than the MTY algorithm, although both have the same iteration complexity. 4. Examples and Numerical Results Finally, the numerical experiments were carried out to evaluate the performance and practical efficiency of the algorithm, Test Problem 1 Find a vector pair x, y ∈ R3 × R3 such that y M1 x h1 , x, y ≥ 0, 0, xT y 0, where h1 ∈ R3 and M1 is a 3 × 3 positive semidefinite matrix, ⎛ 2 1 3 ⎞ ⎞ −1 ⎜ ⎟ ⎟ h1 ⎜ ⎝ 0 ⎠. −2 ⎛ ⎟ ⎜ ⎟ M1 ⎜ ⎝3 2 0⎠, 1 1 5 4.1 Test Problem 2 Find a vector pair x, y ∈ R5 × R5 such that y M2 x h2 , x, y ≥ 0, 0, xT y 0, where h2 ∈ R5 and M2 is a 5 × 5 positive semidefinite matrix, ⎛ 7 ⎜ ⎜2 ⎜ ⎜ M2 ⎜ ⎜0 ⎜ ⎜0 ⎝ 8 0 0 2 0 ⎞ ⎛ ⎟ 8 3 5 9⎟ ⎟ ⎟ 0 3 0 3⎟ ⎟, ⎟ 1 4 6 1⎟ ⎠ 0 0 2 5 −9.5 ⎞ ⎟ ⎜ ⎜−36.5⎟ ⎟ ⎜ ⎟ ⎜ ⎜ h2 ⎜ −5 ⎟ ⎟. ⎟ ⎜ ⎜ −14 ⎟ ⎠ ⎝ −18.5 4.2 Test Problem 3 This example is a general test problem used by Noor et al. 15. The problem is to find a vector pair x, y ∈ Rn × Rn such that y M3 x h3 , x, y ≥ 0, 0, xT y 0, where h3 ∈ Rn and M3 is a n × n positive semidefinite matrix. To test the efficiency of our algorithm by large-scale problem, we set the dimension of test problem 3 as 100, that is, n 100, ⎛ 4 −2 0 · · · 0 ⎟ 0⎟ ⎟ ⎟ 0⎟ ⎟, ⎟ .. ⎟ .⎟ ⎠ 0 ··· 4 ⎜ ⎜1 4 −2 · · · ⎜ ⎜ ⎜ M3 ⎜ 0 1 4 · · · ⎜ ⎜ .. .. .. .. ⎜. . . . ⎝ 0 0 ⎞ ⎛ ⎞ 1 ⎜ ⎟ ⎜1⎟ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟ h3 ⎜ ... ⎟. ⎜ ⎟ ⎜ ⎟ ⎜1⎟ ⎝ ⎠ 1 4.3 Journal of Applied Mathematics 11 Table 1: Computational results of test problem 1. x0 y0 ε Iterations μk xk yk Run time s MTY 1, 1, 1T 5, 5, 5T 1e − 06 12 3.76e − 07 0.0, 0.0004, 0.3999T 0.2002, 0.0009, 9.29e − 07T 0.078220 IPCIP 1, 1, 1T 5, 5, 5T 1e − 06 11 5.73e − 07 0.0, 0.0009, 0.3998T 0.2004, 0.0018, 1.81e − 07T 0.049975 Table 2: Computational results of test problem 2. x0 y0 ε Iterations μk xk yk Run time s MTY 1.5, 1.5, 1.5, 1.5, 1.5T 4, 4, 4, 4, 4T 1e − 06 10 2.61e − 08 0.8402, 1.3726, 0.0347, 1.8094, 1.6320T 0, 0, 0, 0, 0T 0.071335 IPCIP 1.5, 1.5, 1.5, 1.5, 1.5T 4, 4, 4, 4, 4T 1e − 06 9 2.18e − 07 0.8402, 1.3726, 0.0347, 1.8094, 1.6320T 0, 0, 0, 0, 0T 0.037116 Table 3: Computational results of test problem 3. x0 y0 ε Iterations μk xk yk Run time s MTY 1, 1, 1, . . ., 1, 1T 3, 4, 4, . . ., 4, 6T 1e − 05 8 1.00e − 08 0, 0, 0, . . ., 0, 0T 1, 1, 1, . . ., 1, 1T 0.217375 IPCIP 1, 1, 1, . . ., 1, 1T 3, 4, 4, . . ., 4, 6T 1e − 05 7 1.92e − 08 0, 0, 0, . . ., 0, 0T 1, 1, 1, . . ., 1, 1T 0.177515 These test problems are solved by our IPCIP algorithm and the classical MTY algorithm. The experiments are run on a PC 2.6 GHz CPU, 2 G DDR RAM using MATLAB 7. The results including the corresponding numbers of iterations, μk , the approximate solutions, and computing times are shown in Tables 1, 2, and 3. 5. Conclusion This paper modified the MTY algorithm for solving monotone LCPs to strengthen the convergence results. Although the iteration complexity of the improved algorithm was √ proved to be O nL which is similar to the classical MTY algorithm, but the reduce factor of duality gap was enhanced to 1.168 and results in a faster convergence than the classical MTY algorithm. 12 Journal of Applied Mathematics The numerical results show that our IPCIP algorithm is more efficient than the MTY algorithm. The number of iterations was decreased, and the computing times could be reduced by nearly 20% to 50%. That indicated IPCIP algorithm has a better performance than the MTY algorithm. Acknowledgments This paper was supported by the Humanities and Social Science Research Projects of the Ministry of Education of China no. 11YJCZH221 and the National Natural Science Foundation of China no. 71103135. References 1 N. Karmarkar, “A new polynomial-time algorithm for linear programming,” Combinatorica, vol. 4, no. 4, pp. 373–395, 1984. 2 S. Mizuno, M. J. Todd, and Y. Ye, “On adaptive-step primal-dual interior-point algorithms for linear programming,” Mathematics of Operations Research, vol. 18, no. 4, pp. 964–981, 1993. 3 T. Illés, M. Nagy, and T. Terlaky, “A polynomial path-following interior point algorithm for general linear complementarity problems,” Journal of Global Optimization, vol. 47, no. 3, pp. 329–342, 2010. 4 Y. Q. Bai, G. Lesaja, and C. Roos, “A new class of polynomial interior-point algorithms for linear complementary problems,” Pacific Journal of Optimization. An International Journal, vol. 4, no. 1, pp. 19–41, 2008. √ 5 Y. Ye, O. Güler, R. A. Tapia, and Y. 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