Convex optimization theory, by Dimitri P. Bertsekas, Athena Scientific, June 2009, 256 pp., $59.00 (hardcover), ISBN: 1-886529-31-0, 978-1-886529-31-1 The textbook, Convex Optimization Theory (Athe...
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Pãnos M. Pardalos (2010) studied this question.