#3 TAYLORS

1ST iteration 2ND iteration

F 4 F
G 4 G
H 23 H

X0 2 X0
Y0 2 Y0
Z0 2 Z0

F(X0,Y0) 10 F(X0,Y0)
G(X0,Y0) 2 G(X0,Y0)
H(X0,Y0) -2 H(X0,Y0)

-6
K 2 K
25

8 0 1
J -1 1 1 J
-8 -1 12

8 -1 -8
J^T 0 1 -1 J^T
1 1 12

129 7 -89
J^T*J 7 2 -11 J^T*J
-89 -11 146

-250
J^T*K -23 J^T*K
296

(J^T*J)^-1 0.01339180829 -0.00336753074 0.0079097815 (J^T*J)^-1

-0.00336753074 0.85464797557 0.062338476
0.0079097815 0.062338476 0.01636776568

X -0.92920353982 X
-0.36283185841
1.43362831858

X 1.07079646018 X
Y 1.63716814159 Y
Z 3.43362831858 Z
2ND iteration 3RD iteration
4 F 4
4 G 4
23 H 23

1.07079646018 X0 0.93768281535
1.63716814159 Y0 1.89599620487
3.43362831858 Z0 3.04168661048

5.40606155533 F(X0,Y0) 3.88182018233

4 G(X0,Y0) 4
36.5514246686 H(X0,Y0) 24.4867565569

-1.40606155533 0.11817981767
0 K 0
-13.5514246686 -1.48675655693

5.41592920354 -1.13274336283 1 5.66735804043

-1 1 1 J -1
-4.28318584071 -1 35.3694102905 -3.75073126138

5.41592920354 -1 -4.28318584071 5.66735804043

-1.13274336283 1 -1 J^T -1.91662677905
1 1 35.3694102905 1

48.6779700838 -2.85167201817 -147.077828147 47.1869321535

-2.85167201817 3.28310752604 -35.5021536534 J^T*J -8.11147892535
-147.077828147 -35.5021536534 1252.9951843 -99.4363346967

50.4281404223 6.24619163605
15.1441315631 J^T*K 1.26024995363
-480.711960679 -41.1475993041

0.1022550394 0.31517849026 0.02093301286 (J^T*J)^-1 0.24031694937

0.31517849026 1.41060447197 0.07696379503 0.61539569776
0.02093301286 0.07696379503 0.00543590481 0.05378366337

-0.13311364483 X 0.06354948931
0.25882806328 0.10475367745
-0.39194170811 -0.04120418814

0.93768281535 X 1.00123230466
1.89599620487 Y 2.00074988232
3.04168661048 Z 3.00048242234
 4TH iteration
F 4
G 4
H 23

X0 1.00123230466
Y0 2.00074988232
Z0 3.00048242234

F(X0,Y0) 4.00637929006
G(X0,Y0) 4
H(X0,Y0) 23.0073453598

-0.00637929006
K 0
-0.00734535976

-1.91662677905 1 6.00396437395 -1.99903515532

1 1 J -1 1
-1 27.7555723091 -4.00492921863 -1

-1 -3.75073126138 6.00396437395 -1
1 -1 J^T -1.99903515532 1
1 27.7555723091 1 1

-8.11147892535 -99.4363346967 53.0870462499 -8.99720663619

5.67345821016 -28.6721990881 J^T*J -8.99720663619 5.99614155221
-28.6721990881 772.371794203 -103.163904537 -28.0077194556

-0.00888338435
J^T*K 0.02009778486
-0.20476779291

0.61539569776 0.05378366337 (J^T*J)^-1 0.22265585648 0.5854898356

1.79284794961 0.14578158701 0.5854898356 1.74268614333
0.14578158701 0.01363064928 0.05382084695 0.14930240103

X -0.00123166484
-0.00074932318
-0.00048234165

X 1.00000063982
Y 2.00000055913
Z 3.00000008069
 5TH iteration
F 4
G 4
H 23

X0 1.00000063982
Y0 2.00000055913
Z0 3.00000008069

F(X0,Y0) 4.00000280134
G(X0,Y0) 4
H(X0,Y0) 22.9999990601

-2.8013431E-06
K 0
9.39890814E-07

1 6.00000239791 -1.99999983863 1
1 J -1 1 1
27.0086843003 -4.00000255928 -1 27.0000014524

-4.00492921863 6.00000239791 -1 -4.00000255928

-1 J^T -1.99999983863 1 -1
27.0086843003 1 1 27.0000014524

-103.163904537 53.0000492492 -9.0000012683 -103.000072512

-28.0077194556 J^T*J -9.0000012683 5.99999935451 -28.000001291
731.469027633 -103.000072512 -28.000001291 731.000078427

-2.0567631E-05
J^T*K 4.66279486E-06
2.25757103E-05

0.05382084695 (J^T*J)^-1 0.22332414547 0.58670662952 0.05394006201

0.14930240103 0.58670662952 1.7443107355 0.14948223872
0.01467456321 0.05394006201 0.14948223872 0.01469402466

X -6.3982069E-07
-5.5913447E-07
-8.0686221E-08

X 1
Y 2
Z 3
 6TH iteration
F 4
G 4
H 23

X0 1
Y0 2
Z0 3

F(X0,Y0) 4
G(X0,Y0) 4
H(X0,Y0) 23

-8.1179508E-13
K 0
7.60280727E-13

6 -2 1
J -1 1 1
-4 -1 27

6 -1 -4
J^T -2 1 -1
1 1 27

53 -9 -103
J^T*J -9 6 -28
-103 -28 731

-7.9118934E-12
J^T*K 8.63309424E-13
1.97157846E-11

(J^T*J)^-1 0.22332444665 0.58670717341 0.05394010788

0.58670717341 1.74431148862 0.14948229896
0.05394010788 0.14948229896 0.01469402939

X -1.9693783E-13
-1.8892324E-13
-8.0145864E-15

X 1
Y 2
Z 3
 example 2(taylor's)

1st iteration 2nd iteration

F 0.00216856 F 0.00216856
G -0.748148 G -0.748148

X0 0.3528 X0 -0.8781528049
Y0 0.6059 Y0 -2.7161273741

F(X0,Y0) 0.23854611354 F(X0,Y0) -1.4559393114

G(X0,Y0) -0.0778144218 G(X0,Y0) 4.03528027817

K -0.2363775535 K 1.45810787142
-0.6703335782 -4.7834282782

J -0.7371635153 0.344305125 J 1.55039494939

0.89115873357 -0.1284278293 7.12282610693

J^T -0.7371635153 0.89115873357 J^T 1.55039494939

0.344305125 -0.1284278293 -3.212973758

J^T*J 1.33757393666 -0.368258758 J^T*J 53.1383762486

-0.368258758 0.13503972643 -15.563577041

J^T*K -0.4231247144 J^T*K -31.810884741

0.00470348322 2.42175350285

(J^T*J)^-1 3.00014239581 8.18150881635 (J^T*J)^-1 0.02957928951

8.18150881635 29.7165314305 0.03673933143

X -1.2309528049 dx X -0.8519697647
-3.3220273741 dy -0.8649300309

X -0.8781528049 X -1.7301225696
Y -2.7161273741 Y -3.5810574049

1st iteration 2nd iteration

F 0 #NUM! F 0.00216856
G 0.5 G -0.748148
2.71828182846
X0 0.3528 -0.9587 X0 -6.496378629
Y0 0.6059 -2.7182818285 Y0 -51.419582428
F(X0,Y0) 12.8636756358 F(X0,Y0) -51.387086168
G(X0,Y0) -0.0778144218 G(X0,Y0) 82.1097962793

K -12.863675636 K 51.3892547278
0.57781442175 -82.857944279

J -0.7371635153 0.344305125 J 13.7098427683

0.89115873357 -0.1284278293 -123.76897058

J^T -0.7371635153 0.89115873357 J^T 13.7098427683

0.344305125 -0.1284278293 22.7447408494

J^T*J 1.33757393666 -0.368258758 J^T*J 15506.7178663

-0.368258758 0.13503972643 509.468351176

J^T*K 9.99755671922 J^T*K 10959.7810699

-4.5032368997 1301.14769225

(J^T*J)^-1 3.00014239581 8.18150881635 (J^T*J)^-1 6.6633589E-05

8.18150881635 29.7165314305 -6.529997E-05

X -6.849178629 dx X 0.64532464252
-52.025482428 dy 1.87040844413

X -6.496378629 X -5.8510539865
Y -51.419582428 Y -49.549173984
 3rd iteration
F 0.00216856
G -0.748148

X0 -1.7301225696
Y0 -3.5810574049

F(X0,Y0) 3.17115932405
G(X0,Y0) 0.40134166807

K -3.1689907641
-1.1494896681

-3.212973758 J -2.3230893436 -6.7453274963

-1.4856741686 -4.9417021088 -0.1120735087

7.12282610693 J^T -2.3230893436 -4.9417021088

-1.4856741686 -6.7453274963 -0.1120735087

-15.563577041 J^T*J 29.81716383 16.2238323196

12.5304281047 16.2238323196 45.5120035034

J^T*K 13.0422841906
21.5047078765

0.03673933143 (J^T*J)^-1 0.04160807854 -0.0148321857

0.12543828527 -0.0148321857 0.02725950955

dx X 0.22370256341 dx
dy 0.39276220826 dy

X ###
Y -3.1882951967

3rd iteration
F 0.00216856
G -0.748148

X0 -5.8510539865
Y0 -49.549173984
 F(X0,Y0) 30.8190240816
G(X0,Y0) 1.85376779812

K -30.816855522
-2.6019157981

22.7447408494 J -8.996870888 35.4014711468

-1.5968584808 -40.279273099 -0.0374126882

-123.76897058 J^T -8.996870888 -40.279273099

-1.5968584808 35.4014711468 -0.0374126882

509.468351176 J^T*J 1703.36352712 -316.99550927

519.873193312 -316.99550927 1253.26555906

J^T*K 382.058547314
-1090.8646769

-6.529997E-05 (J^T*J)^-1 0.00061607307 0.00015582683

0.00198753904 0.00015582683 0.00083732964

dx X 0.06539000037 dx
dy -0.8538783602 dy

X ###
Y -50.403052344
 4th iteration
F 0.00216856
G -0.748148

X0 ###
Y0 -3.1882951967

F(X0,Y0) 0.29328532972
G(X0,Y0) 0.05927520064

K -0.2911167697
-0.8074232006

J -0.2340272811 -6.275291417
1.83579441393 -0.0185915033

J^T -0.2340272811 1.83579441393

-6.275291417 -0.0185915033

J^T*J 3.42490989852 1.43445921079

1.43445921079 39.3796280122

J^T*K -1.4141337353
1.84185377748

(J^T*J)^-1 0.29650207555 -0.0108005117

-0.0108005117 0.02578726475

X -0.4391865509 dx
0.06276973896 dy

X ###
Y -3.1255254577

4th iteration
F 0.00216856
G -0.748148

X0 ###
Y0 -50.403052344
F(X0,Y0) -6.3144763888
G(X0,Y0) 0.1541623183

K 6.31664494881
-0.9023103183

J 1.86112262609 45.6102085239
-11.817386809 -0.0030585909

J^T 1.86112262609 -11.817386809

45.6102085239 -0.0030585909

J^T*J 143.114408422 84.9223356166

84.9223356166 2080.29113095

J^T*K 22.4190008883
288.106253085

(J^T*J)^-1 0.00716087797 -0.0002923237

-0.0002923237 0.00049263529

X 0.07631943236 dx
0.1353777 dy

X ###
Y -50.267674644
e= 2.718282 e= 2.718282
1st Iteration 1st Iteration
X= 0.3528 X=
Y= 0.6059 Y=

P: 0.0002313184654 P:
Q: 0.4993526588363 Q:

Pcons.= 0 Pcons.=
Qcons.= 0.5 Qcons.=

J= -0.1662243109 -0.8631691109 J=
1.3905718420766 0.144606363388

K= -0.00023131846537 K=
0.000647341163733

X= 0.000446596904309 X=
0.000181984272516

Xadj.= 0.353246596904309 Xadj.=

Yadj.= 0.606081984272516 Yadj.=

J^T= -0.1662243109 1.390571842077 J^T=

-0.8631691109 0.144606363388

J^t*J= 1.9613205695105 0.344565227762 J^t*J=

0.344565227762132 0.765971914344

(J^t*J)^1= 0.553611408322568 -0.24903686079 (J^t*J)^1=

-0.24903686078842 1.417557775063

J^t*K 0.00093862514701 0.000938625147 J^t*K

0.000293276605651 0.000293276606
 e= 2.718282
1st Iteration
0.3532465969 X= 0.3532466196
0.6060819843 Y= 0.6060817366

-0.0000002100593 P: 0.0000000000000
0.5000000042819 Q: 0.5000000000000

0 Pcons.= 0
0.5 Qcons.= 0.5

-0.1669953443 -0.863585706 J= -0.1669953443 -0.8635857058

1.39054538177792 0.144718243 1.39054528574327 0.144718323264

2.10059315441935E-07 K= 3.885780586188E-16
-4.28191793133692E-09 1.099120794379E-14

2.26921796778238E-08 X= 8.114373986461E-15
-2.47628929432137E-07 -2.01907086298E-15

0.3532466196 Xadj.= 0.3532466196

0.6060817366 Yadj.= 0.6060817366

-0.1669953443 1.3905453818 J^T= -0.1669953443 1.390545285743

-0.8635857058 0.144718243 -0.8635857058 0.144718323264

1.96150390380178 0.3454520767 J^t*J= 1.96150363672071 0.345452174448

0.345452076743267 0.7667236411 0.345452174447895 0.76672366435

0.553753293203457 -0.24949697 (J^t*J)^1= 0.553753400653627 -0.249497081228

-0.249496969809009 1.4166633036 -0.249497081227806 1.416663342651

-4.10331289102209E-08 -4.10331E-08 J^t*K 1.521888166417E-14 1.521888166E-14

-1.82023893825506E-07 -1.82024E-07 1.255058727259E-15 1.255058727E-15