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In the course of the energy transition, load and supply centers are growing apart in electricity markets worldwide, rendering regional price signals even more important to provide adequate locational investment incentives. This paper focuses on electricity markets that operate under a zonal pricing market design. For a fixed number of zones, we endogenously derive the optimal configuration of price zones and available transfer capacities on a network in order to optimally govern investment and production decisions in the long run. In a multilevel mixed-integer nonlinear model that contains a graph partitioning problem on the first level, we determine welfare-maximizing price zones and available transfer capacities for a given electricity market and analyze their impact on market outcomes. Using a generalized Benders decomposition approach developed in Grimm et al. (2019) and a problem-tailored scenario clustering for reducing the input data size, we are able to solve the model to global optimality even for large instances. We apply the approach to the German electricity market as an example to examine the impact of optimal zoning on key performance indicators such as welfare, generation mix and locations, or electricity prices. It turns out that even for a small number of price zones, an optimal configuration of zones induces a welfare level that almost approaches the first best.
Bilevel optimization is a very active field of applied mathematics. The main reason is that bilevel optimization problems can serve as a powerful tool for modeling hierarchical decision making processes. This ability, however, also makes the resulting problems challenging to solve - both in theory and practice. Fortunately, there have been significant algorithmic advances in the field of bilevel optimization so that we can solve much larger and also more complicated problems today compared to what was possible to solve two decades ago. This results in more and more challenging bilevel problems that researchers try to solve today. This survey gives a detailed overview of one of these more challenging classes of bilevel problems: bilevel optimization under uncertainty. We review the classic ways of addressing uncertainties in bilevel optimization using stochastic or robust techniques. Moreover, we highlight that the sources of uncertainty in bilevel optimization are much richer than for usual, i.e., single-level, problems since not only the problem's data can be uncertain but also the (observation of the) decisions of the two players can be subject to uncertainty. We thus also review the field of bilevel optimization under limited observability, the area of problems considering only near-optimal decisions, and discuss intermediate solution concepts between the optimistic and pessimistic cases. Finally, we also review the rich literature on applications studied using uncertain bilevel problems such as in energy, for interdiction games and security applications, in management sciences, and networks.
Developing solution methods for discrete bilevel problems is known to be a challenging task - even if all parameters of the problem are exactly known. Many real-world applications of bilevel optimization, however, involve data uncertainty. We study discrete min-max problems with a follower who faces uncertainties regarding the parameters of the lower-level problem. Adopting a Γ-robust approach, we present an extended formulation and a multi-follower formulation to model this type of problem. For both settings, we provide a generic branch-and-cut framework. Specifically, we investigate interdiction problems with a monotone Γ-robust follower and we derive problem-tailored cuts, which extend existing techniques that have been proposed for the deterministic case. For the Γ-robust knapsack interdiction problem, we computationally evaluate and compare the performance of the proposed algorithms for both modeling approaches.
Many applications of bilevel optimization contain a leader facing a follower whose reaction deviates from the one expected by the leader due to some kind of bounded rationality. We consider bilinear bilevel problems with follower's response uncertainty due to limited observability regarding the leader's decision and exploit robust optimization to model the decision making of the follower. We show that the robust counterpart of the lower level allows to tackle the problem via the lower level's KKT conditions.
These are lecture notes on bilevel optimization. The class of bilevel optimization problems is formally introduced and motivated using examples from different fields. Afterward, the main focus is on how to solve linear and mixed-integer linear bilevel optimization problems. To this end, we first consider various single-level reformulations of bilevel optimization problems with linear or convex follower problems, discuss geometric properties of linear bilevel problems, and study different algorithms for solving linear bilevel problems. Finally, we consider mixed-integer linear bilevel problems, discuss the main obstacles for deriving exact as well as effective solution methods, and derive a branch-and-bound method for solving these problems.
It is well known that bilevel optimization problems are hard to solve both in theory and practice. In this paper, we highlight a further computational difficulty when it comes to solving bilevel problems with continuous but nonconvex lower levels. Even if the lower-level problem is solved to ɛ-feasibility regarding its nonlinear constraints for an arbitrarily small but positive ɛ, the obtained bilevel solution as well as its objective value may be arbitrarily far away from the actual bilevel solution and its actual objective value. This result even holds for bilevel problems for which the nonconvex lower level is uniquely solvable, for which the strict complementarity condition holds, for which the feasible set is convex, and for which Slater's constraint qualification is satisfied for all feasible upper-level decisions. Since the consideration of ɛ-feasibility cannot be avoided when solving nonconvex problems to global optimality, our result shows that computational bilevel optimization with continuous and nonconvex lower levels needs to be done with great care. Finally, we illustrate that the nonlinearities in the lower level are the key reason for the observed bad behavior by showing that linear bilevel problems behave much better at least on the level of feasible solutions.
Linear complementarity problems are a powerful tool for modeling many practically relevant situations such as market equilibria. They also connect many sub-areas of mathematics like game theory, optimization, and matrix theory. Despite their close relation to optimization, the protection of LCPs against uncertainties - especially in the sense of robust optimization - is still in its infancy. During the last years, robust LCPs have only been studied using the notions of strict and Γ-robustness. Unfortunately, both concepts lead to the problem that the existence of robust solutions cannot be guaranteed. In this paper, we consider affinely adjustable robust LCPs. In the latter, a part of the LCP solution is allowed to adjust via a function that is affine in the uncertainty. We show that this notion of robustness allows to establish strong characterizations of solutions for the cases of uncertain matrix and vector, separately, from which existence results can be derived. Our main results are valid for the case of an uncertain LCP vector. Here, we additionally provide sufficient conditions on the LCP matrix for the uniqueness of a solution. Moreover, based on characterizations of the affinely adjustable robust solutions, we derive a mixed-integer programming formulation that allows to solve the corresponding robust counterpart. If, in addition, the certain LCP matrix is positive semidefinite, we prove polynomial-time solvability and uniqueness of robust solutions. If the LCP matrix is uncertain, characterizations of solutions are developed for every nominal matrix, i.e., these characterizations are, in particular, independent of the definiteness of the nominal matrix. Robust solutions are also shown to be unique for positive definite LCP matrix but both uniqueness and mixed-integer programming formulations still remain open problems if the nominal LCP matrix is not positive definite.
Liberalized gas markets in Europe are organized as entry-exit regimes so that gas trade and transport are decoupled. The decoupling is achieved via the announcement of technical capacities by the transmission system operator (TSO) at all entry and exit points of the network. These capacities can be booked by gas suppliers and customers in long-term contracts. Only traders who have booked capacities up-front can "nominate" quantities for injection or withdrawal of gas via a day-ahead market. To ensure feasibility of the nominations for the physical network, the TSO must only announce technical capacities for which all possibly nominated quantities are transportable. In this paper, we use a four-level model of the entry-exit gas market to analyze possible welfare losses associated with the decoupling of gas trade and transport. In addition to the multilevel structure, the model contains robust aspects to cover the conservative nature of the European entry-exit system. We provide several reformulations to obtain a single-level mixed-integer quadratic problem. The overall model of the considered market regime is extremely challenging and we thus have to make the main assumption that gas flows are modeled as potential-based linear flows. Using the derived single-level reformulation of the problem, we show that the feasibility requirements for technical capacities imply significant welfare losses due to unused network capacity. Furthermore, we find that the specific structure of the network has a considerable influence on the optimal choice of technical capacities. Our results thus show that trade and transport are not decoupled in the long term. As a further source of welfare losses and discrimination against individual actors, we identify the minimum prices for booking capacity at the individual nodes.
We consider mixed-integer linear quantile minimization problems that yield large-scale problems that are very hard to solve for real-world instances. We motivate the study of this problem class by two important real-world problems: a maintenance planning problem for electricity networks and a quantile-based variant of the classic portfolio optimization problem. For these problems, we develop valid inequalities and present an overlapping alternating direction method. Moreover, we discuss an adaptive scenario clustering method for which we prove that it terminates after a finite number of iterations with a global optimal solution. We study the computational impact of all presented techniques and finally show that their combination leads to an overall method that can solve the maintenance planning problem on large-scale real-world instances provided by the ROADEF challenge 2020 and that they also lead to significant improvements when solving a quantile-version of the classic portfolio optimization problem.
Linear complementarity problems (LCPs) are an important modeling tool for many practically relevant situations but also have many important applications in mathematics itself. Although the continuous version of the problem is extremely well studied, much less is known about mixed-integer LCPs (MILCPs) in which some variables have to be integer-valued in a solution. In particular, almost no tailored algorithms are known besides reformulations of the problem that allow to apply general-purpose mixed-integer linear programming solvers. In this paper, we present, theoretically analyze, enhance, and test a novel branch-and-bound method for MILCPs. The main property of this method is that we do not ``branch'' on constraints as usual but by adding suitably chosen penalty terms to the objective function. By doing so, we can either provably compute an MILCP solution if one exists or compute an approximate solution that minimizes an infeasibility measure combining integrality and complementarity conditions. We enhance the method by MILCP-tailored valid inequalities, node selection strategies, branching rules, and warmstarting techniques. The resulting algorithm is shown to clearly outperform two benchmark approaches from the literature.
Many long-term investment planning models for liberalized electricity markets either optimize for the entire electricity system or focus on confined jurisdictions, abstracting from adjacent markets. In this paper, we provide models for analyzing the impact of the interdependencies between a core electricity market and its neighboring markets on key long-run decisions. This we do both for zonal and nodal pricing schemes. The identification of welfare optimal investments in transmission lines and renewable capacity within a core electricity market requires a spatially restricted objective function, which also accounts for benefits from cross-border electricity trading. This leads to mixed-integer nonlinear multilevel optimization problems with bilinear nonconvexities for which we adapt a Benders-like decomposition approach from the literature. In a case study, we use a stylized six-node network to disentangle different effects of optimal regional (as compared to supra-regional) investment planning. Regional planning alters investment in transmission and renewable capacity in the core region, which affects private investment in generation capacity also in adjacent regions and increases welfare in the core region at the cost of system welfare. Depending on the congestion-pricing scheme, the regulator of the core region follows different strategies to increase welfare causing distributional effects among stakeholders.
We consider a novel class of linear bilevel optimization models with a lower level that is a linear program with complementarity constraints (LPCC). We present different single-level reformulations depending on whether the linear complementarity problem (LCP) as part of the lower-level constraint set depends on the upper-level decisions or not as well as on whether the LCP matrix is positive definite or positive semidefinite. Moreover, we illustrate the connection to linear trilevel models that can be reduced to bilevel problems with LPCC lower levels having positive (semi)definite matrices. Finally, we provide two generic and illustrative bilevel models from the fields of transportation and energy to show the practical relevance of the newly introduced class of bilevel problems and show related theoretical results.
Mixed complementarity problems are of great importance in practice since they appear in various fields of applications like energy markets, optimal stopping, or traffic equilibrium problems. However, they are also very challenging due to their inherent, nonconvex structure. In addition, recent applications require the incorporation of integrality constraints. Since complementarity problems often model some kind of equilibrium, these recent applications ask for equilibrium points that additionally satisfy certain integer conditions. Obviously, this makes the problem even harder to solve. The solution approach used most frequently in the literature is to recast the complementarity conditions as disjunctive constraints using additional binary variables and big-M constraints. However, both latter aspects create issues regarding the tractability and correctness of the reformulation. In this paper, we follow the opposite route and restate the integrality conditions as complementarity constraints, leading to purely continuous reformulations that can be tackled by local solvers. We study these reformulations theoretically and provide a numerical study that shows that continuous reformulations are useful in practice both in terms of solution times and solution quality.
Portfolio optimization is an ongoing hot topic of mathematical optimization and management science. Due to the current financial market environment with low interest rates and volatile stock markets, it is getting more and more important to extend portfolio optimization models by other types of investments than classical assets. In this paper, we present a mixed-integer multistage stochastic model that includes investment opportunities in irreversible and long-term infrastructure projects in the context of renewable energies, which are also subject to policy risk. On realistic time scales for investment problems of this type, the resulting instances are by far too large to be solved with today's most evolved optimization software. Thus, we present a tailored moving-horizon approach together with suitable approximations and simplifications of the model. We evaluate these approximations and simplifications in a computational sensitivity analysis and derive a final model that can be tackled on a realistic instance by our moving-horizon approach.
Detailed modeling of gas transport problems leads to nonlinear
and nonconvex mixed-integer optimization or feasibility models
(MINLPs) because both the incorporation of discrete controls of the
network as well as accurate physical and technical modeling is
required in order to achieve practical solutions. Hence, ignoring
certain parts of the physics model is not valid for practice. In the
present contribution we extend an approach based on linear relaxations
of the underlying nonlinearities by tailored model reformulation
techniques yielding block-separable MINLPs. This combination of
techniques allows us to apply a penalty alternating direction method
and thus to solve highly detailed MINLPs for large-scale real-world
instances. The practical strength of the proposed method is
demonstrated by a computational study in which we apply the method to
instances from steady-state gas transport
including both pooling effects with respect to the mixing of gases of
different composition and a highly detailed compressor station model.
Feasibility pumps are highly effective primal heuristics for
mixed-integer linear and nonlinear optimization.
However, despite their success in practice there are only few works
considering their theoretical properties.
We show that feasibility pumps can be seen as alternating
direction methods applied to special reformulations of the original
problem, inheriting the convergence theory of these methods.
Moreover, we propose a novel penalty framework that encompasses
this alternating direction method, which allows us to refrain from random
perturbations that are applied in standard versions of feasibility
pumps in case of failure.
We present a convergence theory for the new penalty based alternating
direction method and compare the new variant of the feasibility
pump with existing versions in an extensive numerical study for
mixed-integer linear and nonlinear problems.
We present a solution algorithm for problems from
steady-state gas transport optimization.
Due to nonlinear and nonconvex physics and engineering models as
well as discrete controllability of active network devices, these
problems lead to difficult nonconvex mixed-integer nonlinear optimization
models.
The proposed method is based on mixed-integer linear techniques using
piecewise linear relaxations of the nonlinearities and a tailored
alternating direction method.
Most other publications in the field of gas transport optimization only consider
pressure and flow as main physical quantities. In this work, we additionally
incorporate heat power supplies and demands as well as a mixing model for
different gas qualities.
We demonstrate the capabilities of our method on Germany's largest
transport networks and hereby present numerical results on the largest
instances that were ever reported in the literature for this problem
class.
Robust and bilevel optimization share the common feature that they involve a certain multilevel structure. Hence, although they model something rather different when used in practice, they seem to have a similar mathematical structure. In this paper, we analyze the connections between different types of robust problems (strictly robust problems with and without decision-dependence of their uncertainty sets, min-max-regret problems, and two-stage robust problems) as well as of bilevel problems (optimistic problems, pessimistic problems, and robust bilevel problems). It turns out that bilevel optimization seems to be more general in the sense that for most types of robust problems, one can find proper reformulations as bilevel problems but not necessarily the other way around. We hope that these results pave the way for a stronger connection between the two fields - in particular to use both theory and algorithms from one field in the other and vice versa.
This paper provides a first approach to assess gas market interaction on a network with nonconvex flow models. In the simplest possible setup that adequately reflects gas transport and market interaction, we elaborate on the relation of the solution of a simultaneous competitive gas market game, its corresponding mixed nonlinear complementarity problem (MNCP), and a first-best benchmark. We provide conditions under which the solution of the simultaneous game is also the solution of the corresponding MNCP. However, equilibria cannot be determined by the MNCP as the transmission system operator's (TSO’s) first-order conditions are insufficient, which goes back to nonconvexities of the gas flow model. This also implies that the welfare maximization problem may have multiple solutions that sometimes do not even coincide with any of the market equilibria. Our analysis shows that, even in the absence of strategic firms, market interaction fails to implement desirable outcomes from a welfare perspective due to the TSO’s incentive structure. We conclude that the technical environment calls for a market design that commits the TSO to a welfare objective through regulation and propose a design where the market solution corresponds to a welfare maximum and vice versa.