This textbook provides a hands-on treatment of the subject of optimization. A comprehensive set of problems and exercises makes it suitable for use in one or two semesters of an advanced undergraduate course or a first-year graduate course. Each half of the book contains a full semester's worth of complementary yet stand-alone material. The practical orientation of the topics chosen and a wealth of useful examples also make the book suitable as a reference work for practitioners in the field. In this second edition the authors have added sections on recent innovations, techniques, and methodologies.