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We derive sufficient conditions guaranteeing that the tracking error remains bounded to second order with the size of the time step even if the LCP is solved only approximately. We use these results to derive a fast, augmented Lagrangian tracking algorithm and demonstrate the developments through a numerical case study.<\/jats:p>","DOI":"10.1137\/090762634","type":"journal-article","created":{"date-parts":[[2010,11,11]],"date-time":"2010-11-11T18:33:41Z","timestamp":1289500421000},"page":"5444-5467","source":"Crossref","is-referenced-by-count":81,"title":["Real-Time Nonlinear Optimization as a Generalized Equation"],"prefix":"10.1137","volume":"48","author":[{"given":"Victor M.","family":"Zavala","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mihai","family":"Anitescu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"351","published-online":{"date-parts":[[2010,11,11]]},"reference":[{"key":"R1","doi-asserted-by":"publisher","DOI":"10.1002\/nme.1047"},{"key":"R2","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008292328909"},{"key":"R3","doi-asserted-by":"publisher","DOI":"10.1007\/s10589-008-9223-4"},{"key":"R4","doi-asserted-by":"crossref","unstructured":"R. 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