[Ipopt] Optimization Restoration Failed with derivative test Turned Off

[James Henderson]

Dear all,

I have perform a optimziation on sereval constraints, but it got a Restoration  error.
So i try to check my derivative with derivative_test, but the optimization complete willout any error .
What wrong? Can anyone help me?

Here is the config that i used.
 app->Options()->SetStringValue("linear_solver","ma57");
 app->Options()->SetStringValue("hessian_approximation","limited-memory");
 app->Options()->SetStringValue("mu_strategy","adaptive");
 app->Options()->SetNumericValue("tol",1e-6);
 app->Options()->SetStringValue("output_file", "ipopt.out");
 app->Options()->SetStringValue("derivative_test","first-order");

Result with "derivative_test" TURN OFF.
_______________________________________________________________________
This is Ipopt version 3.8.1, running with linear solver ma57.

Number of nonzeros in equality constraint Jacobian...:       42
Number of nonzeros in inequality constraint Jacobian.:        0
Number of nonzeros in Lagrangian Hessian.............:        0

Total number of variables............................:       24
                     variables with only lower bounds:        0
                variables with lower and upper bounds:        0
                     variables with only upper bounds:        0
Total number of equality constraints.................:        3
Total number of inequality constraints...............:        0
        inequality constraints with only lower bounds:        0
   inequality constraints with lower and upper bounds:        0
        inequality constraints with only upper bounds:        0
...........................................
...........................................
...........................................

Restoration phase is called at point that is almost feasible,
  with constraint violation 2.566013e-010. Abort.

Number of Iterations....: 195

                                   (scaled)                 (unscaled)
Objective...............:  2.2523138589658242e+002   2.2523138589658242e+002
Dual infeasibility......:  1.1164060188109137e-001   1.1164060188109137e-001
Constraint violation....:  2.5037278276009942e-010   1.2779235839843750e-004
Complementarity.........:  0.0000000000000000e+000   0.0000000000000000e+000
Overall NLP error.......:  1.4541283701645372e-005   1.1164060188109137e-001


Number of objective function evaluations             = 1254
Number of objective gradient evaluations             = 197
Number of equality constraint evaluations            = 1359
Number of inequality constraint evaluations          = 0
Number of equality constraint Jacobian evaluations   = 197
Number of inequality constraint Jacobian evaluations = 0
Number of Lagrangian Hessian evaluations             = 0
Total CPU secs in IPOPT (w/o function evaluations)   =      1.688
Total CPU secs in NLP function evaluations           =      0.000

EXIT: Restoration Failed!

______________________________________________________________________


Result with "derivative_test" TURN ON.
_______________________________________________________________________

 267 2.2523150e+002 1.82e-013 8.64e-001 -11.0 1.99e-007    -  1.00e+000 5.00e-001h  2
 268 2.2523150e+002 9.08e-014 1.48e+000 -11.0 6.16e-007    -  1.00e+000 6.25e-002f  5
 269 2.2523150e+002 0.00e+000 1.47e+000 -11.0 2.53e-008    -  1.00e+000 7.81e-003h  8
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 270 2.2523150e+002 1.82e-013 6.61e-002 -11.0 1.16e-008    -  1.00e+000 1.00e+000f  1

Number of Iterations....: 270

                                   (scaled)                 (unscaled)
Objective...............:  2.2523149818590414e+002   2.2523149818590414e+002
Dual infeasibility......:  6.6127993191644308e-002   6.6127993191644308e-002
Constraint violation....:  1.8155029017110257e-013   7.6293945312500000e-006
Complementarity.........:  0.0000000000000000e+000   0.0000000000000000e+000
Overall NLP error.......:  8.6080174524167095e-007   6.6127993191644308e-002


Number of objective function evaluations             = 1456
Number of objective gradient evaluations             = 271
Number of equality constraint evaluations            = 1582
Number of inequality constraint evaluations          = 0
Number of equality constraint Jacobian evaluations   = 271
Number of inequality constraint Jacobian evaluations = 0
Number of Lagrangian Hessian evaluations             = 0
Total CPU secs in IPOPT (w/o function evaluations)   =      2.234
Total CPU secs in NLP function evaluations           =      0.016

EXIT: Optimal Solution Found.
__________________________________________________________________________

Thank you .


James