Question about implies

[Vincent]

Dear Johan,

After read your beautiful Yalmip website, I find that big M and implies can convert nonlinear constraint to linear. Could you please send me some link or textbook name that why this kind of convert is possible?

New to Yalmip,

Thank you very much,

Best Regards,

Vincent

[Johan Löfberg]

Model Building in Mathematical Programming by Williams is my guess, although I've never read it so I don't know how relevant it is