“…In the literature there exist a couple of equivalent formulations of SDPs, each has both primal and dual forms. The author prefers the so-called standard or canonical form of SDP given below in ( 80) and ( 81) in section 3.2.1, and used in many of the classical textbooks [15,36,116], reviews [231,306], SDP fundamental papers [10,216,293,305,307] and implementations [214,292,309,310,312], sometimes with slight changes in labeling [27], different notations for the Frobenius product (3), and more general form of conic formulations [66,236]. Another important formulation is the one used by Vandenberghe and Boyd [41,315], which we provide in section 3.2.2.…”