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F\u00fchrer} and \\textit{B. J. Leimkuhler} [Teubner-Texte Math. 121, 324-335 (1991; Zbl 0734.65063); DFVLR Forsch.-Ber. 8 (1989; Zbl 0677.70017); Numer Math. 59, 55-69 (1991; Zbl 0701.70003)].   For a model with linear constraints, all of the applied numerical methods are equivalent because it is implicitly assumed that the constraint matrix is constant. In the nonlinear case there appear important differences in some of the formulations which can dramatically effect the performance of numerical methods. 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