TRICE algorithms use and extend techniques successfully applied in other optimization contexts.

• The TRICE algorithms are based on sequential quadratic programming (SQP) methods. They compute a solution to the nonlinear programming problem by solving a sequence of quadratic programming problems. States and controls are treated as independent variables. The nonlinear constraints are not solved in every iteration; the iterates approach feasibility and optimality at the same time.
  

• Trust-region methods are used to guarantee convergence from any starting point and to introduce an implicit regularization of the subproblems.
  

• Interior-point techniques are used to handle inequality constraints.
  

• Provision is made not only to allow the inexact solution of the QP subproblems, but, more importantly, to allow for inexact solutions of linear systems and inexact derivative information provided by the user.