Boyd, S. P., & Vandenberghe, L. (1994). Convex optimization. Cambridge University Press; Springer.

Boyd, Stephen P., and Lieven Vandenberghe. Convex Optimization. Cambridge, UK ; New York: Cambridge University Press; Springer, 1994.

Boyd, Stephen P., and Lieven Vandenberghe. Convex Optimization. Cambridge University Press; Springer, 1994.