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However, it is known to be NP-hard in all relevant cases and to be notoriously hard to be solved to global optimality in practice. In this paper, we develop and test different tailored mixed-integer programming techniques to improve the performance of state-of-the-art MINLP solvers when applied to the problem\u2014among them are cutting planes, propagation techniques, branching rules, or primal heuristics. Our extensive numerical study shows that our techniques significantly improve the performance of the open-source MINLP solver . 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