diff --git a/internal/ceres/trust_region_minimizer.cc b/internal/ceres/trust_region_minimizer.cc
index 7065977..196f9e6 100644
--- a/internal/ceres/trust_region_minimizer.cc
+++ b/internal/ceres/trust_region_minimizer.cc
@@ -83,6 +83,10 @@
 
   while (FinalizeIterationAndCheckIfMinimizerCanContinue()) {
     iteration_start_time_in_secs_ = WallTimeInSeconds();
+
+    const double previous_gradient_norm = iteration_summary_.gradient_norm;
+    const double previous_gradient_max_norm = iteration_summary_.gradient_max_norm;
+
     iteration_summary_ = IterationSummary();
     iteration_summary_.iteration =
         solver_summary->iterations.back().iteration + 1;
@@ -111,12 +115,22 @@
       return;
     }
 
+
+
     if (IsStepSuccessful()) {
       RETURN_IF_ERROR_AND_LOG(HandleSuccessfulStep());
-      continue;
-    }
+    } else {
+      // Declare the step unsuccessful and inform the trust region strategy.
+      iteration_summary_.step_is_successful = false;
+      iteration_summary_.cost = candidate_cost_ + solver_summary_->fixed_cost;
 
-    HandleUnsuccessfulStep();
+      // When the step is unsuccessful, we do not compute the gradient
+      // (or update x), so we preserve its value from the last
+      // successful iteration.
+      iteration_summary_.gradient_norm = previous_gradient_norm;
+      iteration_summary_.gradient_max_norm = previous_gradient_max_norm;
+      strategy_->StepRejected(iteration_summary_.relative_decrease);
+    }
   }
 }
 
@@ -793,12 +807,5 @@
   return true;
 }
 
-// Declare the step unsuccessful and inform the trust region strategy.
-void TrustRegionMinimizer::HandleUnsuccessfulStep() {
-  iteration_summary_.step_is_successful = false;
-  strategy_->StepRejected(iteration_summary_.relative_decrease);
-  iteration_summary_.cost = candidate_cost_ + solver_summary_->fixed_cost;
-}
-
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/trust_region_minimizer.h b/internal/ceres/trust_region_minimizer.h
index e18193c..27a1b78 100644
--- a/internal/ceres/trust_region_minimizer.h
+++ b/internal/ceres/trust_region_minimizer.h
@@ -81,7 +81,6 @@
   bool MinTrustRegionRadiusReached();
 
   bool IsStepSuccessful();
-  void HandleUnsuccessfulStep();
   bool HandleSuccessfulStep();
   bool HandleInvalidStep();