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In the context of dynamic optimization, plant variations necessitate adaptation of the input profiles in order to guarantee both feasible and optimal operation. For those problems having path constraints, two sets of directions can be distinguished in the input space at each time instant: the so-called sensitivity-seeking directions, along which a small input variation does not affect the active path constraints; the complementary constraint-seeking directions, along which a variation affectsdoi:10.1109/acc.2009.5160142 dblp:conf/amcc/DeshpandeCB09 fatcat:3oi5vnngnbhdnil54pqvys2dby