Convexity and Optimization in Finite Dimensions: I by Christoph Witzgall, Josef Stoer (Paperback, 2012)

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The exposition of each chapter is essentially independent, and attempts to reflect a specific style of mathematical reasoning. Chapters 5 and 6 are devoted to two characteristic aspects of duality theory: conjugate functions or polarity on the one hand, and saddle points on the other.
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