⁴⁷The differences between this function and the one required by MIPS is that (1) this one returns the Hessian of a single term of the Lagrangian, not of the full Lagrangian, (2) the lambda argument is a simple vector of multipliers ( or ) corresponding just to this set of constraints, not a struct containing the full and vectors, in fields eqnonlin and ineqnonlin, respectively, and (3) this function allows arbitrary additional parameters, and (4) x can be a cell array of sub-vectors of optimization variable (see varsets in Table 7-1).