1-Luenberger, Linear and Nonlinear Programming, Kluwer, 2002.; 2. Boyd and Vandenberghe, Convex Optimization, Cambridge, 2004.; 3. Baldick, Applied Optimization, Cambridge, 2006.; 4. Freund, Lecture Notes, MIT.; 5. Bertsekas, Lecture Notes, MIT.; 6. Bertsekas, Nonlinear Programming, Athena Scientific, 1999