  We consider nonconvex constrained optimization problems and propose a new
approach to the convergence analysis based on penalty functions. We make use of
classical penalty functions in an unconventional way, in that penalty functions
only enter in the theoretical analysis of convergence while the algorithm
itself is penalty-free. Based on this idea, we are able to establish several
new results, including the first general analysis for diminishing stepsize
methods in nonconvex, constrained optimization, showing convergence to
generalized stationary points, and a complexity study for SQP-type algorithms.
