We suggest a polynomial program for the calculation of optimized gradient waveforms for magnetic resonance tomography pulse sequences. Such non-linear mathematical programs can describe gradient system capabilities, meet k-space trajectory specifications, and capture sequence timing conditions. Moreover they allow the incorporation of gradient moment nulling constraints in one or several arbitrary spatial directions, which can reduce flow motion artifacts in the images. We report first experiences in solving such automatic pulse sequence design programs with the interior point solver Ipopt.