1. A method for computationally modeling a complex, hierarchical problem with n hierarchical levels, the method comprising: encoding a first, discrete problem in a computer readable form to represent the first level of the hierarchical problem; parameterizing the first discrete problem using a continuous iteration variable to produce a next, continuous problem encoded in a computer readable medium; for each subsequent level of the remaining n−1 levels of the hierarchical problem, adding additional constraints to the next continuous problem to produce a next discrete problem; and parameterizing the next discrete problem using a continuous iteration variable to produce a next, continuous problem encoded in a computer readable medium.