We hope that this book will be useful as the primary or alternate textbook for 　　

several types of courses. Since 1995 we have been using drafts of this book for 　　

graduate courses on linear, nonlinear, and convex optimization (with engineering 　　

applications) at Stanford and UCLA. We are able to cover most of the material, 　　

though not in detail, in a one quarter graduate course. Aone semester course allows 　　

for a more leisurely pace, more applications, more detailed treatment of theory, 　　

and perhaps a short student project. A two quarter sequence allows an expanded 　　

treatment ofthe more basic topics such as linear andquadratic programming(which 　　

are very useful for the applications oriented student), or a more substantial student 　　

project.