1. Nonlinear Programming: Analysis and Methods;Avriel,1976
2. Multiplier methods: a survey;Bertsekas;Automatica,1976
3. Constrained minimization using recursive equality quadratic programming;Biggs,1972
4. A robust conjugate-gradient algorithm which minimizes L-functions;Davison;Automatica,1975
5. A systematic design procedure for the multivariable servomechanism problem;Davison,1978