http://www.math.ku.dk/~moller/undervisning/MASO2010/kuhntucker1950.pdf
http://math.bme.hu/~bog/GlobOpt/Chapter5.pdf
http://orfe.princeton.edu/~rvdb/tex/INFORMSDenver/tutorial3.pdf
http://web.mit.edu/15.053/www/AMP-Chapter-13.pdf
http://www.ai7.uni-bayreuth.de/eolss.pdf
http://www.sce.carleton.ca/faculty/chinneck/po/Chapter16.pdf
http://cepac.cheme.cmu.edu/pasilectures/biegler/BieglerLecture.pdf
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