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This paper considers a class of optimization problems characterized by constraints that themselves contain optimization problems. The problems in the constraints can be linear programs, nonlinear programs, or two-sided optimization problems, including certain types of games. The paper presents theory dealing primarily with properties of the relevant functions that result in convex programming problems, and discusses interpretations of this theory. It gives an application with linear programs in the constraints, and discusses computational methods for solving the problems.
Bracken et al. (1973) studied this question.