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99790_17_ch17_p001-047.qxd 03/08/2007 04:27 PM Page 17-1 CHAPTER 17 Linear Programming: Simplex Method CONTENTS 17.1 AN ALGEBRAIC OVERVIEW 17.6 TABLEAU FORM: OF THE SIMPLEX METHOD THE GENERALCASE Algebraic Properties of the Greater-Than-or-Equal-to Simplex Method Constraints Determining a Basic Solution Equality Constraints Basic Feasible Solution Eliminating Negative Right-Hand- 17.2 TABLEAU FORM Side Values Summary of the Steps to Create 17.3 SETTING UPTHE INITIAL Tableau Form SIMPLEX TABLEAU 17.7 SOLVING AMINIMIZATION 17.4 IMPROVING THE SOLUTION PROBLEM 17.5 CALCULATING THE NEXT 17.8 SPECIALCASES TABLEAU Infeasibility Interpreting the Results of an Unboundedness Iteration Alternative Optimal Solutions Moving Toward a Better Solution Degeneracy Interpreting the Optimal Solution Summary of the Simplex Method 99790_17_ch17_p001-047.qxd 03/08/2007 04:27 PM Page 17-2 17-2 Chapter 17 Linear Programming: Simplex Method InChapter2weshowedhowthegraphicalsolutionprocedurecanbeusedtosolvelinearpro- gramming problems involving two decision variables. However, most linear programming problemsaretoolargetobesolvedgraphically,andanalgebraicsolutionproceduremustbe employed.Themostwidelyusedalgebraicprocedureforsolvinglinearprogrammingprob- 1 lemsiscalledthesimplexmethod. Computerprogramsbasedonthismethodcanroutinely solve linear programming problems with thousands of variables and constraints. The Man- agement Science inAction, FleetAssignment at DeltaAir Lines, describes solving a linear programinvolving60,000variablesand40,000constraintsonadailybasis. MANAGEMENT SCIENCE IN ACTION FLEETASSIGNMENTATDELTAAIR LINES* Delta Air Lines uses linear and integer programming shows the size of linear programs that can be solved in its Coldstart project to solve its fleet assignment today. The typical size of the daily Coldstart model problem. The problem is to match aircraft to flight is about 60,000 variables and 40,000 constraints. legs and fill seats with paying passengers. Airline The first step in solving the fleet assignment prob- profitability depends on being able to assign the right lem is to solve the model as a linear program. size of aircraft to the right leg at the right time of day. The model developers report successfully solving An airline seat is a perishable commodity; once a these problems on a daily basis and contend that flight takes off with an empty seat the profit poten- use of the Coldstart model will save Delta Air Lines tial of that seat is gone forever. Primary objectives of $300 million over the next three years. the fleet assignment model are to minimize operat- ing costs and lost passenger revenue. Constraints are *Based on R. Subramanian, R. P. Scheff, Jr., J. D. aircraft availability, balancing arrivals and depar- Quillinan, D. S. Wiper, and R. E. Marsten, “Coldstart: tures at airports, and maintenance requirements. Fleet Assignment at Delta Air Lines,” Interfaces The successful implementation of the Cold- (January/February 1994): 104–120. start model for assigning fleet types to flight legs 17.1 AN ALGEBRAIC OVERVIEWOFTHE SIMPLEX METHOD Let us introduce the problem we will use to demonstrate the simplex method. HighTech In- dustries imports electronic components that are used to assemble two different models of personal computers. One model is called the Deskpro, and the other model is called the Portable. HighTech’s management is currently interested in developing a weekly produc- tion schedule for both products. The Deskpro generates a profit contribution of $50 per unit, and the Portable generates a profit contribution of $40 per unit. For next week’s production, a maximum of 150 hours of assembly time can be made available. Each unit of the Deskpro requires 3 hours of assembly time, and each unit of the Portable requires 5 hours of assembly time. In addi- tion, HighTech currently has only 20 Portable display components in inventory; thus, no more than 20 units of the Portable may be assembled. Finally, only 300 square feet of ware- house space can be made available for new production. Assembly of each Deskpro requires 8 square feet of warehouse space; similarly, each Portable requires 5 square feet. 1 Several computer codes also employ what are called interior point solution procedures. They work well on many large prob- lems, but the simplex method is still the most widely used solution procedure. 99790_17_ch17_p001-047.qxd 03/08/2007 04:27 PM Page 17-3 17.1 An Algebraic Overview of the Simplex Method 17-3 To develop a linear programming model for the HighTech problem, we will use the fol- lowing decision variables: x number of units of the Deskpro 1 x2 number of units of the Portable The complete mathematical model for this problem is presented here. Max 50x 40x 1 2 s.t. 3x 5x 150 Assembly time 1 2 1x2 20 Portable display 8x 5x 300 Warehouse capacity 1 2 x , x 0 1 2 Adding a slack variable to each of the constraints permits us to write the problem in standard form. Max 50x 40x 0s 0s 0s (17.1) 1 2 1 2 3 s.t. 3x 5x 1s 150 (17.2) 1 2 1 1x2 1s2 20 (17.3) 8x 5x 1s 300 (17.4) 1 2 3 x , x , s , s , s 0 (17.5) 1 2 1 2 3 The simplex method was Algebraic Properties of the Simplex Method developed by George Constraintequations(17.2)to(17.4)formasystemofthreesimultaneouslinearequationswith Dantzig while working for the U.S. Air Force. It was five variables.Wheneverasystemofsimultaneouslinearequationshasmorevariablesthan first published in 1949. equations,wecanexpectaninfinitenumberofsolutions.Thesimplexmethodcanbeviewed as an algebraic procedure for finding the best solution to such a system of equations. In the preceding example, the best solution is the solution to equations (17.2) to (17.4) that maxi- mizestheobjectivefunction(17.1)andsatisfiesthenonnegativityconditionsgivenby(17.5). Determining a Basic Solution For the HighTech Industries constraint equations, which have more variables (five) than equations (three), the simplex method finds solutions for these equations by assigning zero values to two of the variables and then solving for the values of the remaining three vari- ables. For example, if we set x2 0 and s1 0, the system of constraint equations becomes 3x1 150 (17.6) 1s 20 (17.7) 2 8x1 1s3 300 (17.8) 99790_17_ch17_p001-047.qxd 03/08/2007 04:27 PM Page 17-4 17-4 Chapter 17 Linear Programming: Simplex Method Using equation (17.6) to solve for x , we have 1 3x 150 1 and hence x 150/3 50. Equation (17.7) provides s 20. Finally, substituting x 50 1 2 1 into equation (17.8) results in 8(50) 1s3 300 Solving for s , we obtain s 100. 3 3 Abasic solution is obtained Thus, we obtain the following solution to the three-equation, five-variable set of linear by setting two of the five equations: variables equal to zero and solving the three equations x 50 simultaneously for the 1 values of the other three x2 0 variables. Mathematically, s1 0 we are guaranteed a s 20 solution only if the resulting 2 three equations are linearly s3 100 independent. Fortunately, the simplex method is This solution is referred to as a basic solution for the HighTech linear programming prob- designed to guarantee that lem. To state a general procedure for determining a basic solution, we must consider a a solution exists for the standard-form linear programming problem consisting of n variables and m linear equa- basic variables at each tions, where n is greater than m. iteration. Basic Solution To determine a basic solution, set n m of the variables equal to zero, and solve the mlinear constraint equations for the remaining m variables.2 In terms of the HighTech problem, a basic solution can be obtained by setting any two variables equal to zero and then solving the system of three linear equations for the re- maining three variables. We shall refer to the n m variables set equal to zero as the non- basicvariablesandtheremainingmvariablesasthebasicvariables.Thus,inthepreceding example, x and s are the nonbasic variables, and x , s , and s are the basic variables. 2 1 1 2 3 Basic Feasible Solution Abasic solution can be either feasible or infeasible. Abasic feasible solution is a basic so- lution that also satisfies the nonnegativity conditions. The basic solution found by setting x and s equal to zero and then solving for x , s , and s is not a basic feasible solution be- 2 1 1 2 3 cause s 100. However, suppose that we had chosen to make x and x nonbasic vari- 3 1 2 ables by setting x1 0 and x2 0. Solving for the corresponding basic solution is easy because with x x 0, the three constraint equations reduce to 1 2 1s 150 1 1s 20 2 1s3 300 2 In some cases, a unique solution cannot be found for a system of m equations and n variables. However, these cases will never be encountered when using the simplex method.
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