HW7 KKT http://www2.imm.dtu.dk/courses/02711/lecture3.pdf https://www.cs.cmu.edu/~ggordon/10725-F12/slides/16-kkt.pdf http://apmonitor.com/me575/index.php/Main/KuhnTucker http://bioinfo.ict.ac.cn/~dbu/AlgorithmCourses/Lectures/KKT-examples.pdf http://robotics.caltech.edu/~jwb/courses/ME115/handouts/pseudo.pdf