where superscript H denotes conjugate transpose and . These expressions above prescribe the components of the adjoint solution, thus enabling efficient gradient calculation via (4). Now, we briefly mention methods for computing the projection F(p). Methods of iterative and direct type for finding the (locally) closest bifurcation point have been derived [17]. In the current work we use the former approach, based on using the component of the normal vector in the input plane, Ni. Provided certain conditions on the principal curvatures of Σ(ps) are met, geometric convergence is assured. The algorithm is discussed in Section 3. Figure 3 illustrates the method in a simple example, producing a sequence of iterates (i) converging to the point F(p)i that is closest to a (non-convex) neighboring region with respect to pi.