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by Rod 6300 days ago
The seminal paper in which these findings were published:

BRYSON, A.E. and DENHAM, W.F., "A steepest-ascent method for solving optimum programming problems," Trans. ASME. J. Appl. Mechanics, June 1962, pp. 247-257.

I can't find a PDF copy anywhere. It sucks. If you want to read a non-technical paper on it, try this one: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=00506395