There are several features of the revision represented by this third edition. Dynamic Programming and Optimal Control, Vols. Dimitri P. Bertsekas and John N. Tsitsiklis Professors of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge, Massachusetts These notes are copyright-protected but may be freely distributed for instructional nonprofit pruposes. The treatment focuses on iterative algorithms for constrained and unconstrained optimization, Lagrange multipliers and duality, large scale problems, and on the interface between continuous and discrete optimization. Convergence Analysis* p. 234 2.4. COMPREHENSIVE COVERAGE OF NONLINEAR PROGRAMMING THEORY AND ALGORITHMS, THOROUGHLY REVISED AND EXPANDED"Nonlinear Programming: Theory and Algorithms"--now in an extensively updated Third Edition--addresses the problem of optimizing an objective function in the presence of equality and inequality constraints. 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