A
few more Robmin details
1.
The matrices are scaled to
be on the order of 1.
2.
A bracketing version of 
. This must be found nearly
exactly since at the beginning of the minimization it is not unusual to have 
. In the event that
the bracketing is all on one side Aitkin's extrapolation is used to speed the
convergence.
3.
On an unsuccessful
minimization 
On every third unsuccessful minimization the Si's are recalculated.
4.
On a successful
minimization 
In addition 