Update ipm.tex

tex/sections/ipm.tex

@@ -235,7 +235,7 @@ \subsection{Solving the KKT conditions with the interior-point method}
 linear and convex quadratic programming \cite{gondzio-2012} (when paired
 with a suitable preconditioner). We also refer to \cite{cao-seth-laird-2016}
 for an efficient implementation of a preconditioned conjugate gradient
-on GPU, for solving the Newton step arising in an Augmented-Lagrangian Interior-Point
+on GPU, for solving the Newton step arising in an augmented Lagrangian interior-point
 approach.
 
 \paragraph{Condensed KKT system.}