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==External links==
* Stephen Boyd and Lieven Vandenberghe Book, [
* [http://www.stanford.edu/class/ee364a/ EE364a: Convex Optimization I] and [http://www.stanford.edu/class/ee364b/ EE364b: Convex Optimization II], Stanford course homepages
* [http://www.eecs.berkeley.edu/~elghaoui/Teaching/EE227A/lecture18.pdf EE227A: Lieven Vandenberghe Notes] Lecture 18
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