
$$\begin{array}{lll}\underset{x\in {\mathbb{R}}^{n}}{\mathrm{minimize}}\phantom{\rule{0.25em}{0ex}}& f\left(x\right)& \text{\hspace{1em}\hspace{1em}(a)}\\ \text{subject to}& {l}_{g}\le g\left(x\right)\le {u}_{g}& \text{\hspace{1em}\hspace{1em}(b)}\\ & {l}_{B}\le Bx\le {u}_{B}& \text{\hspace{1em}\hspace{1em}(c)}\\ & {l}_{x}\le x\le {u}_{x}& \text{\hspace{1em}\hspace{1em}(d)}\end{array}$$  (1) 