Abstract We study sparsity constrained nonlinear optimization (SCNO) from a topological point of view. Special focus will be on M-stationary points from Burdakov et al. (SIAM J Optim 26:397–425, 2016), also introduced as $$N^C$$ NC -stationary points in Pan et al. (J Oper Res Soc China 3:421–439, 2015). We introduce nondegenerate M-stationary points and define their M-index. We show that all M-stationary points are generically nondegenerate. In particular, the sparsity constraint is active at all local minimizers of a generic SCNO. Some relations to other stationarity concepts, such as S-stationarity, basic feasibility, and CW-minimality, are discussed in detail. By doing so, the issues of instability and degeneracy of points due to different stationarity concepts are highlighted. The concept of M-stationarity allows to adequately describe the global structure of SCNO along the lines of Morse theory. For that, we study topological changes of lower level sets while passing an M-stationary point. As novelty for SCNO, multiple cells of dimension equal to the M-index are needed to be attached. This intriguing fact is in strong contrast with other optimization problems considered before, where just one cell suffices. As a consequence, we derive a Morse relation for SCNO, which relates the numbers of local minimizers and M-stationary points of M-index equal to one. The appearance of such saddle points cannot be thus neglected from the perspective of global optimization. Due to the multiplicity phenomenon in cell-attachment, a saddle point may lead to more than two different local minimizers. We conclude that the relatively involved structure of saddle points is the source of well-known difficulty if solving SCNO to global optimality.

We study mathematical programs with vanishing constraints (MPVCs) from a topological point of view. We introduce the new concept of a T-stationary point for MPVC. Under the Linear Independence Constraint Qualification we derive an equivariant Morse Lemma at nondegenerate T-stationary points. Then, two basic theorems from Morse Theory (deformation theorem and cell-attachment theorem) are proved. Outside the T-stationary point set, continuous deformation of lower level sets can be performed. As a consequence, the topological data (such as the number of connected components) then remain invariant. However, when passing a T-stationary level, the topology of the lower level set changes via the attachment of a q-dimensional cell. The dimension q equals the stationary T-index of the (nondegenerate) T-stationary point. The stationary T-index depends on both the restricted Hessian of the Lagrangian and the number of bi-active vanishing constraints. Further, we prove that all T-stationary points are generically nondegenerate. The latter property is shown to be stable under C^2-perturbations of the defining functions. Finally, some relations with other stationarity concepts, such as strong, weak, and M-stationarity, are discussed.