Non-convex constraints have recently proven a valuable tool in many optimisation problems. In particular sparsity constraints have had a significant impact on sampling theory, where they are used in Compressed Sensing and allow structured signals to be sampled far below the rate traditionally prescribed. <br/><br/>Nearly all of the theory developed for Compressed Sensing signal recovery assumes that samples are taken using linear measurements. In this paper we instead address the Compressed Sensing recovery problem in a setting where the observations are non-linear. We show that, under conditions similar to those required in the linear setting, the Iterative Hard Thresholding algorithm can be used to accurately recover sparse or structured signals from few non-linear observations. <br/><br/>Similar ideas can also be developed in a more general non-linear optimisation framework. In the second part of this paper we therefore present related result that show how this can be done under sparsity and union of subspaces constraints, whenever a generalisation of the Restricted Isometry Property traditionally imposed on the Compressed Sensing system holds
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