The changes in this 3rd printing mainly concern various typographical corrections, and reference omissions that came to light in the previous printings. Many of these reached the authors' notice through their own re-reading, that of their students and a number of colleagues mentioned in the Preface. The authors also included a few telling examples as well as improved a few statements, with slightly weaker assumptions or have strengthened the conclusions in a couple of instances.
Both authors have long worked with applications of convex, and later nonconvex, analysis to problems in optimization. Both are recipients of the Dantzig Prize (awarded by SIAM and the Mathematical Programming Society): Rockafellar in 1982 and Wets in 1994.