“…Existing approaches often pass these difficulties on to the level of the quadratic subproblem solvers, which may fail to resolve these issues in a way that guarantees convergence of the overall nonlinear iteration. Our method can thus be used as a black-box globalization framework for any locally convergent optimization method that can be used within a continuation framework, e.g., methods of structureexploiting inexact Sequential Quadratic Programming (SQP) [32,52,48,49,27] or semismooth Newton methods [42,53,55,31,34,32,56,30]. The local methods are 7 even allowed to converge to maxima and saddle points.…”