Snyman, Jan A. (2005). Practical mathematical optimization: An introduction to basic optimization theory and classical and new gradient-based algorithms. New York: Springer. p. 2. ISBN0-387-24348-8.
Boyd, Stephen; Vandenberghe, Lieven (2004). Convex optimization. Cambridge, UK: Cambridge University Press. p. 1. ISBN978-0-521-83378-3.
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