Convex Optimization Note 2
1. Quasi-convex function
1) definition: sublevel sets all are convex sets
2) examples:
f(x1,x2)=x1x2
f
(
x
1
,
x
2
)
=
x
1
x
2
x∈Rn+
x
∈
R
+
n
linear-fractional function
f(x)=aTx+bcTx+d
f
(
x
)
=
a
T
x
+
b
c
T
x
+
d
distance-ratio function
f(x)=∥x−a∥2∥x−b∥2
f
(
x
)
=
‖
x
−
a
‖
2
‖
x
−
b
‖
2
with
∥x−a∥≤∥x−b∥
‖
x
−
a
‖
≤
‖
x
−
b
‖
sublevel sets are Euclidean ball
3)
f(θx+(1−θy))≤max(f(x),f(y))
f
(
θ
x
+
(
1
−
θ
y
)
)
≤
max
(
f
(
x
)
,
f
(
y
)
)
同样可以restrict到line上
4) 对于
R→R
R
→
R
的函数而言,quasi-convex只能是以下三种情况:
non-increasing/non-decreasing/某点之前non-increasing,之后non-decreasing
5) first-order conditions:
(f(y)≤f(x)⟹∇f(x)T(y−x)≤0)⟺f is quasiconvex
(
f
(
y
)
≤
f
(
x
)
⟹
∇
f
(
x
)
T
(
y
−
x
)
≤
0
)
⟺
f
i
s
q
u
a
s
i
c
o
n
v
e
x
a support plane at (x,f(x)) of sublevel set (
≤f(x)
≤
f
(
x
)
)
∇f(x)=0
∇
f
(
x
)
=
0
不一定是全局最优点
6) second-order conditions:
yT∇f(x)=0⟹yT∇2f(x)y≥0
y
T
∇
f
(
x
)
=
0
⟹
y
T
∇
2
f
(
x
)
y
≥
0
对于
∇f(x)=0
∇
f
(
x
)
=
0
的情况,
∇2f(x)
∇
2
f
(
x
)
半正定
对于
∇f(x)≠0
∇
f
(
x
)
≠
0
的情况,
∇2f(x)
∇
2
f
(
x
)
要对
null(∇f(x))
n
u
l
l
(
∇
f
(
x
)
)
半正定,意味着
∇2f(x)
∇
2
f
(
x
)
最多有一个负的特征值
converse需要在>情况下才成立。
7) 保持quasi-convex的operation
non-negative weighted sum->point wise supremum
affine or linear-fractional composition
minimization(与convex函数相同)
8) 其sublevel set
f(x)≤t⟺ϕt(x)≤0
f
(
x
)
≤
t
⟺
ϕ
t
(
x
)
≤
0
可以用一个convex function family来表达。这样的凸函数
ϕt
ϕ
t
总是存在的。
2. Convex optimization problem
2.1 Basics
1) 对于凸优化(or quasi-convex)问题而言,optimal set与sub-optimal set都是convex set
如果
f0
f
0
是strict convex function,则最优解是唯一的(定义可以验证这两个结论)。
2) convex optimization而言,局部最优就是全局最优(定义反证)。
3) first-order最优等价条件:
∇f0(x)(y−x)≥0 for all y∈X
∇
f
0
(
x
)
(
y
−
x
)
≥
0
f
o
r
a
l
l
y
∈
X
在unconstrained情形下(
X
X
是开集),上述条件变为 。此方程解的情况,决定了
a. unbounded below b. optimal value is finite but not attained c. one or multiple solution
4) first-order with only equality constraint:需要存在某个
v
v
使得 。
可以由3)的条件,加上x、y都在Ax=b的解空间中推导出来。
5) non-negative orthant
minimize f0(x) s.t. x⪰0
m
i
n
i
m
i
z
e
f
0
(
x
)
s
.
t
.
x
⪰
0
其first order条件等价于:
x⪰0, ∇f0(x)⪰0, xi(∇f(x))i=0
x
⪰
0
,
∇
f
0
(
x
)
⪰
0
,
x
i
(
∇
f
(
x
)
)
i
=
0
第三个式子,表明
xi
x
i
与
(∇f(x))i
(
∇
f
(
x
)
)
i
两者必须有一个为0
6) epigraph problem form依然保持convex,因此可以称线性目标是所有凸优化的通用目标函数。
引入slack需要inequality是affine函数才能保持convex
7) quasi-convex optimization problem:
f0(x)
f
0
(
x
)
是一个quasi-convex function
a.
∇fT0(y−x)>0
∇
f
0
T
(
y
−
x
)
>
0
是optimality的sufficient condition(not necessary)
b. 由于可以找到sublevel set的convex表达,因此可以把quasi-convex问题转换为找相应的convex问题的feasible set(类似于二分查找)
2.2 Equivalent problems
1) change of variables: one-to-one mapping
2) transformation of objective and constraint functions:
objective: monotone increasing
constraint: same condition
≤
≤
0 or = 0
3) slack variables: eliminate ≤0 ≤ 0
4) eliminating equality constraints such as linear Ax=b (特解+通解)
5) Introducing equality constraints
6) optimizing over some variables
7) epigraph problem form:
minimize f0(x)⟹minimize t s.t f0(x)−t≤0
m
i
n
i
m
i
z
e
f
0
(
x
)
⟹
m
i
n
i
m
i
z
e
t
s
.
t
f
0
(
x
)
−
t
≤
0
2.3 Typical problems
1) Linear programming–>linear-fractional programming(可以转换为LP问题)
2) Quadratic programming–>Quadratic constrained quadratic programming(QCQP)–> Second-order cone programming(SOCP)
3) Geometric programming
monomials/posynomials form–>convex form (取y=log(x))