function [c,ceq] = nonlcon(x)
c=[
  (exp(x(1)) -1)
  (exp(-x(2)) -1 )
  ((x(1) -1)^2 + x(2)^2 -1 )
  (x(1)^2+x(2)^2+exp(-x(3)) -1 )
];
ceq=[0];
