Preface to the Third Edition The third edition of the book is a thoroughly rewritten version of the 1999 second edition. New material was included, some of the old material was discarded, and a large portion of the remainder was reorganized or revised. The total number of pages has increased by about 10 percent. Aside from incremental improvements, the changes aim to bring the book up-to-date with recent research progress, and in harmony with the major developments in convex optimization theory and algorithms that have occurred in the meantime. These developments were documented in three of my books: the 2015 book “Convex Optimization Algorithms,” the 2009 book “Convex Optimization Theory,” and the 2003 book “Convex Analysis and Optimization” (coauthored with Angelia Nedi′c and Asuman Ozdaglar). A major difference is that these books have dealt primarily with convex, possibly nondifferentiable, optimization problems and rely on convex analysis, while the present book focuses primarily on algorithms for possibly nonconvex differentiable problems, and relies on calculus and variational analysis. Having written several interrelated optimization books, I have come to see nonlinear programming and its associated duality theory as the lynchpin that holds together deterministic optimization. I have consequently set as an objective for the present book to integrate the contents of my books, together with internet-accessible material, so that they complement each other and form a unified whole. I have thus provided bridges to my other works with extensive references to generalizations, discussions, and elaborations of the analysis given here, and I have used throughout fairly consistent notation and mathematical level. Another connecting link of my books is that they all share the same style: they rely on rigorous analysis, but they also aim at an intuitive exposition that makes use of geometric visualization. This stems from my belief that success in the practice of optimization strongly depends on the intuitive (as well as the analytical) understanding of the underlying theory and algorithms. Some of the more prominent new features of the present edition are: (a) An expanded coverage of incremental methods and their connections to stochastic gradient methods, based in part on my 2000 joint work with Angelia Nedi′c; see Section 2.4 and Section 7.3.2. (b) A discussion of asynchronous distributed algorithms based in large part on my 1989 “Parallel and Distributed Computation” book (coauthored xvii xviii Preface to the Third Edition with John Tsitsiklis); see Section 2.5. (c) A discussion of the proximal algorithm and its variations in Section 3.6, and the relation with the method of multipliers in Section 7.3. (d) A substantial coverage of the alternating direction method of multipliers (ADMM) in Section 7.4, with a discussion of its many applications and variations, as well as references to my 1989 “Parallel and Distributed Computation” and 2015 “Convex Optimization Algorithms” books. (e) A fairly detailed treatment of conic programming problems in Section 6.4.1. (f) A discussion of the question of existence of solutions in constrained optimization, based on my 2007 joint work with Paul Tseng [BeT07], which contains further analysis; see Section 3.1.2. (g) Additional material on network flow problems in Section 3.8 and 6.4.3, and their extensions to monotropic programming in Section 6.4.2, with references to my 1998 “Network Optimization” book. (h) An expansion of the material of Chapter 4 on Lagrangemultiplier theory, using a strengthened version of the Fritz John conditions, and the notion of pseudonormality, based on my 2002 joint work with Asuman Ozdaglar. (i) An expansion of the material of Chapter 5 on Lagrange multiplier algorithms, with references to my 1982 “Constrained Optimization and Lagrange Multiplier Methods” book. The book contains a few new exercises. As in the second edition, many of the theoretical exercises have been solved in detail and their solutions have been posted in the book’s internet site http://www.athenasc.com/nonlinbook.html These exercises have been marked with the symbolsWWW. Many other exercises contain detailed hints and/or references to internet-accessible sources. The book’s internet site also contains links to additional resources, such as many additional solved exercises from my convex optimization books, computer codes, my lecture slides from MIT Nonlinear Programming classes, and full course contents from the MIT OpenCourseWare (OCW) site. I would like to express my thanks to the many colleagues who contributed suggestions for improvement of the third edition. In particular, let me note with appreciation my principal collaborators on nonlinear programming topics since the 1999 second edition: Angelia Nedi′c, Asuman Ozdaglar, Paul Tseng, Mengdi Wang, and Huizhen (Janey) Yu. Dimitri P. Bertsekas June, 2016

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