| Introduction | p. 1 |
| Optimization | p. 1 |
| Types of Problems | p. 2 |
| Size of Problems | p. 5 |
| Iterative Algorithms and Convergence | p. 6 |
| Linear Programming | |
| Basic Properties of Linear Programs | p. 11 |
| Introduction | p. 11 |
| Examples of Linear Programming Problems | p. 14 |
| Basic Solutions | p. 19 |
| The Fundamental Theorem of Linear Programming | p. 20 |
| Relations to Convexity | p. 22 |
| Exercises | p. 28 |
| The Simplex Method | p. 33 |
| Pivots | p. 33 |
| Adjacent Extreme Points | p. 38 |
| Determining a Minimum Feasible Solution | p. 42 |
| Computational Procedure-Simplex Method | p. 46 |
| Artificial Variables | p. 50 |
| Matrix Form of the Simplex Method | p. 54 |
| The Revised Simplex Method | p. 56 |
| The Simplex Method and LU Decomposition | p. 59 |
| Decomposition | p. 62 |
| Summary | p. 70 |
| Exercises | p. 70 |
| Duality | p. 79 |
| Dual Linear Programs | p. 79 |
| The Duality Theorem | p. 82 |
| Relations to the Simplex Procedure | p. 84 |
| Sensitivity and Complementary Slackness | p. 88 |
| The Dual Simplex Method | p. 90 |
| The Primal-Dual Algorithm | p. 93 |
| Reduction of Linear Inequalities | p. 98 |
| Exercises | p. 103 |
| Interior-Point Methods | p. 111 |
| Elements of Complexity Theory | p. 112 |
| The Simplex Method is not Polynomial-Time | p. 114 |
| The Ellipsoid Method | p. 115 |
| The Analytic Center | p. 118 |
| The Central Path | p. 121 |
| Solution Strategies | p. 126 |
| Termination and Initialization | p. 134 |
| Summary | p. 139 |
| Exercises | p. 140 |
| Transportation and Network Flow Problems | p. 145 |
| The Transportation Problem | p. 145 |
| Finding a Basic Feasible Solution | p. 148 |
| Basis Triangularity | p. 150 |
| Simplex Method for Transportation Problems | p. 153 |
| The Assignment Problem | p. 159 |
| Basic Network Concepts | p. 160 |
| Minimum Cost Flow | p. 162 |
| Maximal Flow | p. 166 |
| Summary | p. 174 |
| Exercises | p. 175 |
| Unconstrained Problems | |
| Basic Properties of Solutions and Algorithms | p. 183 |
| First-Order Necessary Conditions | p. 184 |
| Examples of Unconstrained Problems | p. 186 |
| Second-Order Conditions | p. 190 |
| Convex and Concave Functions | p. 192 |
| Minimization and Maximization of Convex Functions | p. 197 |
| Zero-Order Conditions | p. 198 |
| Global Convergence of Descent Algorithms | p. 201 |
| Speed of Convergence | p. 208 |
| Summary | p. 212 |
| Exercises | p. 213 |
| Basic Descent Methods | p. 215 |
| Fibonacci and Golden Section Search | p. 216 |
| Line Search by Curve Fitting | p. 219 |
| Global Convergence of Curve Fitting | p. 226 |
| Closedness of Line Search Algorithms | p. 228 |
| Inaccurate Line Search | p. 230 |
| The Method of Steepest Descent | p. 233 |
| Applications of the Theory | p. 242 |
| Newton's Method | p. 246 |
| Coordinate Descent Methods | p. 253 |
| Spacer Steps | p. 255 |
| Summary | p. 256 |
| Exercises | p. 257 |
| Conjugate Direction Methods | p. 263 |
| Conjugate Directions | p. 263 |
| Descent Properties of the Conjugate Direction Method | p. 266 |
| The Conjugate Gradient Method | p. 268 |
| The C-G Method as an Optimal Process | p. 271 |
| The Partial Conjugate Gradient Method | p. 273 |
| Extension to Nonquadratic Problems | p. 277 |
| Parallel Tangents | p. 279 |
| Exercises | p. 282 |
| Quasi-Newton Methods | p. 285 |
| Modified Newton Method | p. 285 |
| Construction of the Inverse | p. 288 |
| Davidon-Fletcher-Powell Method | p. 290 |
| The Broyden Family | p. 293 |
| Convergence Properties | p. 296 |
| Scaling | p. 299 |
| Memoryless Quasi-Newton Methods | p. 304 |
| Combination of Steepest Descent and Newton's Method | p. 306 |
| Summary | p. 312 |
| Exercises | p. 313 |
| Constrained Minimization | |
| Constrained Minimization Conditions | p. 321 |
| Constraints | p. 321 |
| Tangent Plane | p. 323 |
| First-Order Necessary Conditions (Equality Constraints) | p. 326 |
| Examples | p. 327 |
| Second-Order Conditions | p. 333 |
| Eigenvalues in Tangent Subspace | p. 335 |
| Sensitivity | p. 339 |
| Inequality Constraints | p. 341 |
| Zero-Order Conditions and Lagrange Multipliers | p. 346 |
| Summary | p. 353 |
| Exercises | p. 354 |
| Primal Methods | p. 354 |
| Advantage of Primal Methods | p. 359 |
| Feasible Direction Methods | p. 360 |
| Active Set Methods | p. 363 |
| The Gradient Projection Method | p. 367 |
| Convergence Rate of the Gradient Projection Method | p. 374 |
| The Reduced Gradient Method | p. 382 |
| Convergence Rate of the Reduced Gradient Method | p. 387 |
| Variations | p. 394 |
| Summary | p. 396 |
| Exercises | p. 396 |
| Penalty and Barrier Methods | p. 401 |
| Penalty Methods | p. 402 |
| Barrier Methods | p. 405 |
| Properties of Penalty and Barrier Functions | p. 407 |
| Newton's Method and Penalty Functions | p. 416 |
| Conjugate Gradients and Penalty Methods | p. 418 |
| Normalization of Penalty Functions | p. 420 |
| Penalty Functions and Gradient Projection | p. 421 |
| Exact Penalty Functions | p. 425 |
| Summary | p. 429 |
| Exercises | p. 430 |
| Dual and Cutting Plane Methods | p. 435 |
| Global Duality | p. 435 |
| Local Duality | p. 441 |
| Dual Canonical Convergence Rate | p. 446 |
| Separable Problems | p. 447 |
| Augmented Lagrangians | p. 451 |
| The Dual Viewpoint | p. 456 |
| Cutting Plane Methods | p. 460 |
| Kelley's Convex Cutting Plane Algorithm | p. 463 |
| Modifications | p. 465 |
| Exercises | p. 466 |
| Primal-Dual Methods | p. 469 |
| The Standard Problem | p. 469 |
| Strategies | p. 471 |
| A Simple Merit Function | p. 472 |
| Basic Primal-Dual Methods | p. 474 |
| Modified Newton Methods | p. 479 |
| Descent Properties | p. 481 |
| Rate of Convergence | p. 485 |
| Interior Point Methods | p. 487 |
| Semidefinite Programming | p. 491 |
| Summary | p. 498 |
| Exercises | p. 499 |
| Mathematical Review | p. 507 |
| Sets | p. 507 |
| Matrix Notation | p. 508 |
| Spaces | p. 509 |
| Eigenvalues and Quadratic Forms | p. 510 |
| Topological Concepts | p. 511 |
| Functions | p. 512 |
| Convex Sets | p. 515 |
| Basic Definitions | p. 515 |
| Hyperplanes and Polytopes | p. 517 |
| Separating and Supporting Hyperplanes | p. 519 |
| Extreme Points | p. 521 |
| Gaussian Elimination | p. 523 |
| Bibliography | p. 527 |
| Index | p. 541 |
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