v2007.09.13 - Convex Optimization

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262 CHAPTER 4. SEMIDEFINITE PROGRAMMING5 763 841 92Figure 64: 3-lattice in R 2 , hand-drawn. Nodes 7, 8, and 9 are anchors;remaining nodes are sensors. Radio range of sensor 1 indicated by arc.accuracy) while zero distance is denoted 0. Because measured distancesare quite unreliable in practice, our solution to the localization problemsubstitutes a distinct range of possible distance for each measurable distance;equality constraints exist only for anchors.Anchors are chosen so as to increase difficulty for algorithms dependenton existence of sensors in their convex hull. The challenge is to find a solutionin two dimensions close to the true sensor positions given incomplete noisyintersensor distance information.0 • • ? • ? ? • •• 0 • • ? • ? • •• • 0 • • • • • •? • • 0 ? • • • •• ? • ? 0 • • • •? • • • • 0 • • •? ? • • • • 0 ◦ ◦• • • • • • ◦ 0 ◦• • • • • • ◦ ◦ 0(636)
4.4. RANK-CONSTRAINED SEMIDEFINITE PROGRAM 2631013 11 1271489415 5 611623Figure 65: 4-lattice in R 2 , hand-drawn. Nodes 13, 14, 15, and 16 are anchors;remaining nodes are sensors. Radio range of sensor 1 indicated by arc.0 ? ? • ? ? • ? ? ? ? ? ? ? • •? 0 • • • • ? • ? ? ? ? ? • • •? • 0 ? • • ? ? • ? ? ? ? ? • •• • ? 0 • ? • • ? • ? ? • • • •? • • • 0 • ? • • ? • • • • • •? • • ? • 0 ? • • ? • • ? ? ? ?• ? ? • ? ? 0 ? ? • ? ? • • • •? • ? • • • ? 0 • • • • • • • •? ? • ? • • ? • 0 ? • • • ? • ?? ? ? • ? ? • • ? 0 • ? • • • ?? ? ? ? • • ? • • • 0 • • • • ?? ? ? ? • • ? • • ? • 0 ? ? ? ?? ? ? • • ? • • • • • ? 0 ◦ ◦ ◦? • ? • • ? • • ? • • ? ◦ 0 ◦ ◦• • • • • ? • • • • • ? ◦ ◦ 0 ◦• • • • • ? • • ? ? ? ? ◦ ◦ ◦ 0(637)
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DATTORROCONVEXOPTIMIZATION&EUCLIDEA
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Convex Optimization&Euclidean Dista
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for Jennie Columba♦Antonio♦♦&
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PreludeThe constant demands of my d
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Convex Optimization&Euclidean Dista
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CONVEX OPTIMIZATION & EUCLIDEAN DIS
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List of Figures1 Overview 191 Orion
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LIST OF FIGURES 1559 Quadratic func
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LIST OF FIGURES 17E Projection 5791
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Chapter 1OverviewConvex Optimizatio
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ˇx 4ˇx 3ˇx 2Figure 2: Applicatio
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23Figure 4: This coarsely discretiz
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ases (biorthogonal expansion). We e
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27Figure 7: These bees construct a
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its membership to the EDM cone. The
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31appendicesProvided so as to be mo
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Chapter 2Convex geometryConvexity h
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2.1. CONVEX SET 35Figure 9: A slab
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2.1. CONVEX SET 372.1.6 empty set v
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2.1. CONVEX SET 392.1.7.1 Line inte
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2.1. CONVEX SET 41(a)R 2(b)R 3(c)(d
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2.1. CONVEX SET 43This theorem in c
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2.2. VECTORIZED-MATRIX INNER PRODUC
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2.3. HULLS 53Figure 12: Convex hull
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2.3. HULLS 55Aaffine hull (drawn tr
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2.3. HULLS 57The union of relative
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2.4. HALFSPACE, HYPERPLANE 59of dim
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2.4. HALFSPACE, HYPERPLANE 61H +ay
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2.4. HALFSPACE, HYPERPLANE 63Inters
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2.4. HALFSPACE, HYPERPLANE 65Conver
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2.4. HALFSPACE, HYPERPLANE 67A 1A 2
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2.4. HALFSPACE, HYPERPLANE 69tradit
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2.4. HALFSPACE, HYPERPLANE 71There
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2.5. SUBSPACE REPRESENTATIONS 732.5
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2.5. SUBSPACE REPRESENTATIONS 752.5
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2.6. EXTREME, EXPOSED 77In other wo
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2.6. EXTREME, EXPOSED 792.6.1 Expos
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2.7. CONES 812.6.1.3.1 Definition.
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2.7. CONES 830Figure 24: Boundary o
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2.7. CONES 852.7.2 Convex coneWe ca
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2.7. CONES 87Thus the simplest and
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2.7. CONES 89nomenclature generaliz
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2.8. CONE BOUNDARY 91Proper cone {0
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2.8. CONE BOUNDARY 93the same extre
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96 CHAPTER 2. CONVEX GEOMETRYBCADFi
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98 CHAPTER 2. CONVEX GEOMETRYThe po
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100 CHAPTER 2. CONVEX GEOMETRY2.9.0
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102 CHAPTER 2. CONVEX GEOMETRYwhere
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104 CHAPTER 2. CONVEX GEOMETRY√2
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106 CHAPTER 2. CONVEX GEOMETRYwhich
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108 CHAPTER 2. CONVEX GEOMETRY2.9.2
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110 CHAPTER 2. CONVEX GEOMETRYA con
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2.9. POSITIVE SEMIDEFINITE (PSD) CO
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2.10. CONIC INDEPENDENCE (C.I.) 121
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2.12. CONVEX POLYHEDRA 127It follow
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2.12. CONVEX POLYHEDRA 129Coefficie
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2.12. CONVEX POLYHEDRA 1312.12.3 Un
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2.12. CONVEX POLYHEDRA 133
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2.13. DUAL CONE & GENERALIZED INEQU
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Chapter 3Geometry of convex functio
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3.1. CONVEX FUNCTION 185f 1 (x)f 2
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3.1. CONVEX FUNCTION 1873.1.3 norm
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3.1. CONVEX FUNCTION 189where the n
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3.1. CONVEX FUNCTION 191where k ∈
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3.1. CONVEX FUNCTION 193f(z)Az 2z 1
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3.1. CONVEX FUNCTION 195{a T z 1 +
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3.1. CONVEX FUNCTION 197When an epi
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3.1. CONVEX FUNCTION 199orthonormal
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3.1. CONVEX FUNCTION 201[30,1.1] Ex
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3.1. CONVEX FUNCTION 20321.510.5Y 2
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3.1. CONVEX FUNCTION 2053.1.8.0.1 E
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3.1. CONVEX FUNCTION 207This equiva
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3.1. CONVEX FUNCTION 2093.1.8.1 mon
Page 211 and 212: 3.1. CONVEX FUNCTION 211[ Yt]∈ ep
Page 213 and 214: 3.1. CONVEX FUNCTION 213→Y −Xwh
Page 215 and 216: 3.2. MATRIX-VALUED CONVEX FUNCTION
Page 221 and 222: 3.3. QUASICONVEX 221A quasiconcave
Page 223 and 224: 3.4. SALIENT PROPERTIES 2236.A nonn
Page 225 and 226: Chapter 4Semidefinite programmingPr
Page 227 and 228: 4.1. CONIC PROBLEM 227where K is a
Page 229 and 230: 4.1. CONIC PROBLEM 229C0PΓ 1Γ 2S+
Page 231 and 232: 4.1. CONIC PROBLEM 231faces of S 3
Page 233 and 234: 4.1. CONIC PROBLEM 2334.1.1.3 Previ
Page 235 and 236: 4.2. FRAMEWORK 235Equivalently, pri
Page 237 and 238: 4.2. FRAMEWORK 237is positive semid
Page 239 and 240: 4.2. FRAMEWORK 239Optimal value of
Page 241 and 242: 4.2. FRAMEWORK 2414.2.3.0.2 Example
Page 243 and 244: 4.2. FRAMEWORK 243where δ is the m
Page 245 and 246: 4.2. FRAMEWORK 2454.2.3.0.3 Example
Page 247 and 248: 4.3. RANK REDUCTION 2474.3 Rank red
Page 249 and 250: 4.3. RANK REDUCTION 249A rank-reduc
Page 251 and 252: 4.3. RANK REDUCTION 251(t ⋆ i)
Page 253 and 254: 4.3. RANK REDUCTION 2534.3.3.0.1 Ex
Page 255 and 256: 4.3. RANK REDUCTION 2554.3.3.0.2 Ex
Page 257 and 258: 4.4. RANK-CONSTRAINED SEMIDEFINITE
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Page 289 and 290: Chapter 5Euclidean Distance MatrixT
Page 291 and 292: 5.2. FIRST METRIC PROPERTIES 291cor
Page 293 and 294: 5.3. ∃ FIFTH EUCLIDEAN METRIC PRO
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Page 297 and 298: 5.4. EDM DEFINITION 297The collecti
Page 299 and 300: 5.4. EDM DEFINITION 2995.4.2 Gram-f
Page 301 and 302: 5.4. EDM DEFINITION 301D ∈ EDM N
Page 303 and 304: 5.4. EDM DEFINITION 3035.4.2.2.1 Ex
Page 305 and 306: 5.4. EDM DEFINITION 305ten affine e
Page 307 and 308: 5.4. EDM DEFINITION 307spheres:Then
Page 309 and 310: 5.4. EDM DEFINITION 309By eliminati
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5.4. EDM DEFINITION 3135.4.2.2.5 De
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5.4. EDM DEFINITION 315105ˇx 4ˇx
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5.4. EDM DEFINITION 317corrected by
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5.4. EDM DEFINITION 319aptly be app
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5.4. EDM DEFINITION 321As before, a
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5.4. EDM DEFINITION 323where ([√t
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5.4. EDM DEFINITION 325because (A.3
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5.5. INVARIANCE 3275.5.1.0.1 Exampl
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5.6. INJECTIVITY OF D & UNIQUE RECO
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5.7. EMBEDDING IN AFFINE HULL 3355.
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5.7. EMBEDDING IN AFFINE HULL 337Fo
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5.7. EMBEDDING IN AFFINE HULL 3395.
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5.8. EUCLIDEAN METRIC VERSUS MATRIX
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5.9. BRIDGE: CONVEX POLYHEDRA TO ED
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5.10. EDM-ENTRY COMPOSITION 357(ii)
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5.11. EDM INDEFINITENESS 3595.11.1
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5.11. EDM INDEFINITENESS 361(confer
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5.11. EDM INDEFINITENESS 363we have
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5.11. EDM INDEFINITENESS 365For pre
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5.12. LIST RECONSTRUCTION 367where
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5.12. LIST RECONSTRUCTION 369(a)(c)
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5.13. RECONSTRUCTION EXAMPLES 371D
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5.13. RECONSTRUCTION EXAMPLES 373Th
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5.13. RECONSTRUCTION EXAMPLES 375wh
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5.14. FIFTH PROPERTY OF EUCLIDEAN M
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Chapter 6EDM coneFor N > 3, the con
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6.1. DEFINING EDM CONE 3896.1 Defin
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6.2. POLYHEDRAL BOUNDS 391This cone
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6.3.√EDM CONE IS NOT CONVEX 393N
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6.4. A GEOMETRY OF COMPLETION 3956.
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6.4. A GEOMETRY OF COMPLETION 397(a
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6.4. A GEOMETRY OF COMPLETION 399Fi
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6.5. EDM DEFINITION IN 11 T 401and
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6.5. EDM DEFINITION IN 11 T 403then
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6.5. EDM DEFINITION IN 11 T 4056.5.
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6.5. EDM DEFINITION IN 11 T 407D =
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6.6. CORRESPONDENCE TO PSD CONE S N
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6.7. VECTORIZATION & PROJECTION INT
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6.7. VECTORIZATION & PROJECTION INT
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6.8. DUAL EDM CONE 419When the Fins
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6.8. DUAL EDM CONE 421Proof. First,
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6.8. DUAL EDM CONE 423EDM 2 = S 2 h
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6.8. DUAL EDM CONE 425whose veracit
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6.8. DUAL EDM CONE 4276.8.1.3.1 Exe
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6.8. DUAL EDM CONE 429has dual affi
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6.8. DUAL EDM CONE 4316.8.1.7 Schoe
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6.9. THEOREM OF THE ALTERNATIVE 433
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6.10. POSTSCRIPT 435When D is an ED
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Chapter 7Proximity problemsIn summa
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In contrast, order of projection on
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441HS N h0EDM NK = S N h ∩ R N×N
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4437.0.3 Problem approachProblems t
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7.1. FIRST PREVALENT PROBLEM: 445fi
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7.1. FIRST PREVALENT PROBLEM: 4477.
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7.1. FIRST PREVALENT PROBLEM: 449di
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7.1. FIRST PREVALENT PROBLEM: 4517.
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7.1. FIRST PREVALENT PROBLEM: 453wh
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7.1. FIRST PREVALENT PROBLEM: 455Th
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7.2. SECOND PREVALENT PROBLEM: 457O
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7.2. SECOND PREVALENT PROBLEM: 459S
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7.2. SECOND PREVALENT PROBLEM: 461r
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7.2. SECOND PREVALENT PROBLEM: 463c
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7.2. SECOND PREVALENT PROBLEM: 4657
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7.3. THIRD PREVALENT PROBLEM: 467fo
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7.3. THIRD PREVALENT PROBLEM: 469a
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7.3. THIRD PREVALENT PROBLEM: 4717.
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7.3. THIRD PREVALENT PROBLEM: 4737.
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7.3. THIRD PREVALENT PROBLEM: 475Ou
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478 CHAPTER 7. PROXIMITY PROBLEMSth
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480 APPENDIX A. LINEAR ALGEBRAA.1.1
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484 APPENDIX A. LINEAR ALGEBRAonly
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486 APPENDIX A. LINEAR ALGEBRA(AB)
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Page 490 and 491:
490 APPENDIX A. LINEAR ALGEBRAFor A
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492 APPENDIX A. LINEAR ALGEBRADiago
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494 APPENDIX A. LINEAR ALGEBRAFor A
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Page 498 and 499:
498 APPENDIX A. LINEAR ALGEBRAA.4 S
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Page 502 and 503:
502 APPENDIX A. LINEAR ALGEBRAA.5 e
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504 APPENDIX A. LINEAR ALGEBRAs i w
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Page 508 and 509:
508 APPENDIX A. LINEAR ALGEBRAΣq 2
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510 APPENDIX A. LINEAR ALGEBRAA.7 Z
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512 APPENDIX A. LINEAR ALGEBRAThere
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Page 516 and 517:
516 APPENDIX A. LINEAR ALGEBRA
Page 518 and 519:
518 APPENDIX B. SIMPLE MATRICESB.1
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520 APPENDIX B. SIMPLE MATRICESProo
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522 APPENDIX B. SIMPLE MATRICESB.1.
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524 APPENDIX B. SIMPLE MATRICESN(u
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526 APPENDIX B. SIMPLE MATRICESDue
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Page 530 and 531:
530 APPENDIX B. SIMPLE MATRICEShas
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532 APPENDIX B. SIMPLE MATRICESFigu
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Page 536 and 537:
536 APPENDIX C. SOME ANALYTICAL OPT
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Page 542 and 543:
Page 544 and 545:
Page 546 and 547:
Page 548 and 549:
Page 550 and 551:
550 APPENDIX D. MATRIX CALCULUSThe
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552 APPENDIX D. MATRIX CALCULUSGrad
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554 APPENDIX D. MATRIX CALCULUSBeca
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556 APPENDIX D. MATRIX CALCULUSwhic
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558 APPENDIX D. MATRIX CALCULUS⎡
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560 APPENDIX D. MATRIX CALCULUS→Y
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562 APPENDIX D. MATRIX CALCULUSD.1.
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564 APPENDIX D. MATRIX CALCULUSwhic
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566 APPENDIX D. MATRIX CALCULUSIn t
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570 APPENDIX D. MATRIX CALCULUSD.2
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572 APPENDIX D. MATRIX CALCULUSalge
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574 APPENDIX D. MATRIX CALCULUStrac
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578 APPENDIX D. MATRIX CALCULUS
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580 APPENDIX E. PROJECTIONThe follo
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582 APPENDIX E. PROJECTIONFor matri
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584 APPENDIX E. PROJECTION(⇐) To
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586 APPENDIX E. PROJECTIONNonorthog
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588 APPENDIX E. PROJECTIONE.2.0.0.1
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590 APPENDIX E. PROJECTIONE.3.2Orth
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592 APPENDIX E. PROJECTIONE.3.5Unif
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594 APPENDIX E. PROJECTIONE.4 Algeb
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596 APPENDIX E. PROJECTIONa ∗ 2K
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598 APPENDIX E. PROJECTIONwhere Y =
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600 APPENDIX E. PROJECTION(B.4.2).
Page 602 and 603:
602 APPENDIX E. PROJECTIONis a nono
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604 APPENDIX E. PROJECTIONE.6.4.1Or
Page 606 and 607:
606 APPENDIX E. PROJECTIONq i q T i
Page 608 and 609:
608 APPENDIX E. PROJECTIONThe test
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610 APPENDIX E. PROJECTIONPerpendic
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612 APPENDIX E. PROJECTIONE.8 Range
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614 APPENDIX E. PROJECTIONAs for su
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616 APPENDIX E. PROJECTIONWith refe
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618 APPENDIX E. PROJECTIONProjectio
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620 APPENDIX E. PROJECTIONE.9.2.2.2
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622 APPENDIX E. PROJECTIONThe foreg
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624 APPENDIX E. PROJECTION❇❇❇
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626 APPENDIX E. PROJECTIONE.10 Alte
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628 APPENDIX E. PROJECTIONbH 1H 2P
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630 APPENDIX E. PROJECTIONa(a){y |
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632 APPENDIX E. PROJECTION(a feasib
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634 APPENDIX E. PROJECTIONwhile, th
Page 636 and 637:
636 APPENDIX E. PROJECTIONE.10.2.1.
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638 APPENDIX E. PROJECTION10 0dist(
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640 APPENDIX E. PROJECTIONE.10.3.1D
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642 APPENDIX E. PROJECTIONE 3K ⊥
Page 644 and 645:
644 APPENDIX E. PROJECTION
Page 646 and 647:
646 APPENDIX F. MATLAB PROGRAMSif n
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648 APPENDIX F. MATLAB PROGRAMSend%
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650 APPENDIX F. MATLAB PROGRAMSF.1.
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652 APPENDIX F. MATLAB PROGRAMScoun
Page 654 and 655:
654 APPENDIX F. MATLAB PROGRAMSF.3
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Page 658 and 659:
658 APPENDIX F. MATLAB PROGRAMS% so
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660 APPENDIX F. MATLAB PROGRAMS% tr
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Page 664 and 665:
664 APPENDIX F. MATLAB PROGRAMSbrea
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666 APPENDIX F. MATLAB PROGRAMSwhil
Page 668 and 669:
668 APPENDIX F. MATLAB PROGRAMSF.7
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670 APPENDIX F. MATLAB PROGRAMS
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672 APPENDIX G. NOTATION AND A FEW
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Page 684 and 685:
Page 686 and 687:
Page 688 and 689:
688 BIBLIOGRAPHY[7] Abdo Y. Alfakih
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690 BIBLIOGRAPHY[27] Aharon Ben-Tal
Page 692 and 693:
692 BIBLIOGRAPHY[48] Lev M. Brègma
Page 694 and 695:
694 BIBLIOGRAPHY[67] Joel Dawson, S
Page 696 and 697:
696 BIBLIOGRAPHY[85] Alan Edelman,
Page 698 and 699:
698 BIBLIOGRAPHY[102] Philip E. Gil
Page 700 and 701:
700 BIBLIOGRAPHYWeiss, editors, Pol
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702 BIBLIOGRAPHY[146] Jean-Baptiste
Page 704 and 705:
704 BIBLIOGRAPHY[168] Jean B. Lasse
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706 BIBLIOGRAPHY[189] Rudolf Mathar
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708 BIBLIOGRAPHY[211] M. L. Overton
Page 710 and 711:
710 BIBLIOGRAPHY[229] C. K. Rushfor
Page 712 and 713:
712 BIBLIOGRAPHY[252] Jos F. Sturm
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714 BIBLIOGRAPHY[274] È. B. Vinber
Page 716 and 717:
[294] Yinyu Ye. Semidefinite progra
Page 718 and 719:
718 INDEXobtuse, 62positive semidef
Page 720 and 721:
720 INDEXelliptope, 642orthant, 177
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722 INDEXdistancegeometry, 20, 317m
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724 INDEX-dimensional, 37, 89rank,
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726 INDEXGram form, 331is, 674isedm
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728 INDEXdiscretized, 152, 431in su
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730 INDEXboundary, 115dimension, 10
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732 INDEXlinear operator, 587, 591,
Page 734 and 735:
734 INDEXlargest entries, 188monoto
Page 736:
736 INDEXsimilarity, 606translation
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