就是SQP， 在scipy中被叫做Sequential Least Squares Programming
- 实现1： scipy.optimize.fmin_slsqp
- python包里还有其他算法，参考文档 http://www.pyopt.org/_downloads/pyopt_reference.pdf
Dieter Kraft, A software package for sequential quadratic programming, Technical Report DFVLR-FB 88-28, Institut fuer Dynamik der Flugsysteme, Oberpfaffenhofen, July 1988