This is a very high-level introduction. If you want a lot more meat, see Boyd & Vandenberghe, which is legitimately free online at http://web.stanford.edu/~boy

This is a very high-level introduction. If you want a lot more meat, see Boyd & Vandenberghe, which is legitimately free online at http://web.stanford.edu/~boyd/cvxbook/ http://web.stanford.edu/~boyd/cvxbook/. It doesn't have any material on global optimization for nonconvex problems, but that's not really an introductory topic anyway.