I would be grateful if anyone could tell me how the McCormick error can be reduced systematically. In fact, I would like to know how we can efficiently recognize and obtain a tighter relaxation for bi-linear terms when we use McCormick envelopes.
For instance, consider the simple optimization problem below. The results show a big McCormick error! Its MATLAB code is attached. Min Z = x^2 - x s.t. -1