volume 4, issue 4, article 67, 2003.
Received 29 May, 2002;
accepted 16 March, 2003.
Communicated by:Z. Nashed
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Journal of Inequalities in Pure and Applied Mathematics
ON GENERALIZED MONOTONE MULTIFUNCTIONS WITH APPLICATIONS TO OPTIMALITY CONDITIONS IN
GENERALIZED CONVEX PROGRAMMING
A. HASSOUNI AND A. JADDAR
Département de Mathématiques et d’Informatique, Faculté des Sciences,
B.P. 1014, Rue Ibn Batouta, Rabat, Maroc.
EMail:[email protected]
c
2000Victoria University ISSN (electronic): 1443-5756 062-02
On Generalized Monotone Multifunctions with Applications to Optimality Conditions in Generalized
Convex Programming A. Hassouni and A. Jaddar
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
Abstract
Characterization of quasiconvexity and pseudoconvexity of lower semicontin- uous functions on Banach spaces are presented in terms of abstract subdif- ferentials relying on a Mean Value Theorem. We give some properties of the normal cone to the lower level set off. We also obtain necessary and suffi- cient optimality conditions in quasiconvex and pseudoconvex programming via variational inequalities.
2000 Mathematics Subject Classification:90C26, 26B25, 47H04.
Key words: Generalized monotone multifunction, Generalized convex function, Qua- siconvex, Pseudoconvex, Generalized subdifferentials, Normal cone, Level set, Local minimum, Global minimum, Variational inequalities.
Contents
1 Introduction. . . 3 2 Preliminaries . . . 4 3 Generalized Convex Functions and Generalized Monotone
Multifunctions . . . 8 3.1 Quasiconvex Functions and Quasimonotone Multi-
functions. . . 8 3.2 Pseudoconvexity and Subdifferential Properties . . . . 13 4 Optimality Conditions and Variational Inequalities. . . 16 4.1 Quasiconvex Programming. . . 16 4.2 Pseudoconvex Programming . . . 20 References
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1. Introduction
It is natural in convex analysis to search for characterizations of generalized convex functions in terms of some kind of generalized derivatives or subdif- ferentials. Several contributions to this question has been made recently. The reader may consult for example [3,5,11,13,16,20] for quasiconvex functions and [2,8,21,23,25] for pseudoconvex functions.
In this paper, we shall define an abstract subdifferential as in [1,23] which allows us to extend some results in [1,2, 8,23] and to give some properties of the normal cone to lower level sets of a given functionf.
Notice that the condition0 ∈∂f(¯x)forx¯∈ X, is known to be a necessary but not a sufficient optimality condition in quasiconvex programming for some subdifferentials. We give, using some variational inequalities, a necessary and sufficient condition for a point to be either a local or a global minimum.
After the introduction of some notations and definitions in Section 2, we present in Section3some properties of the abstract subdifferential and normal cone to lower level sets of quasiconvex and pseudoconvex functions. Then, in Section4, we give some optimality conditions involving variational inequalities.
This should extend our previous results stated for quasiconvex lower semicon- tinuous functions on Banach spaces with the Clarke-Rockafellar subdifferential in [13].
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
2. Preliminaries
LetXbe a real Banach space,X∗ its dual andh·,·ithe duality pairing between X∗ andX. The segment[a, b]is the set{a+t(b−a); t∈[0,1]}while[a, b[
is the set [a, b]\ {b}. The open ball with centerxand radiusrinX is denoted byB(x, r), and the polar cone of a nonempty subsetAofXis
A◦ ={x∗ ∈X∗; hx∗, ai ≤0, ∀a ∈A}.
For an extended real valued functionf :X 7→R∪ {+∞}, the effective domain is defined by
dom(f) ={x∈X; f(x)<∞}.
We write l.s.c. for lower semicontinuous, and xn→fx when xn → x and f(xn)→f(x).
The abstract subdifferential we consider here is defined as follows:
Definition 2.1. An operator ∂ that associates to any l.s.c. function f : X 7→
R∪ {+∞}and a pointx ∈ X a subset∂f(x)ofX∗ is a subdifferential if the following assertions hold:
(P1) ∂f(x) = {x∗ ∈X∗; f(y)≥ f(x) +hx∗, y−xi ∀y ∈X} whenf is convex.
(P2) Ifx∈domf is a local minimum off, then0∈∂f(x).
(P3) ∂f(x) = ∂g(x), for anyg : X 7→R∪ {+∞}such thatf −g is constant in a neighborhood ofx.
(P4) ∂f(x) = ∅, for anyx∈X such thatf(x) = +∞.
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It is well known that the Clarke-Rockafellar subdifferential∂CRf satisfies Zagrodny’s Mean value theorem [27]. In order to extend this theorem to our subdifferential, we shall deal with a particular space associated with ∂ called
∂-reliable.
Definition 2.2. [23]. A Banach spaceXis∂-reliable if for each l.s.c. function f : X 7→R∪ {+∞}, for any Lipschitz convex functiong and anyx ∈ domf such thatf+g achieves its minimum inX and eachε >0we have:
0∈∂f(u) +∂g(v) +εB1∗(0), for someu, v ∈Bε(x)such that|f(u)−f(v)|< ε.
In the case of the Clarke-Rockafellar subdifferential∂CR[26] or Iofee subd- ifferential∂I [7], any Banach space is∂-reliable.
In the sequel, we will restrict ourselves to subdifferentials that are included in the dag subdifferential
∂†f(x) ={x∗ ∈X∗; hx∗, vi ≤f†(x, v) ∀v ∈X}, where
f†(x, v) = lim sup
(t,y)→(0+,x)
t−1(f(y+t(v+x−y)−f(y)).
This subdifferential was introduced by Penot (see [22]), it is large enough to contain the Clarke-Rockafellar ∂CR and Upper Dini ∂D+ subdifferentials and still has good properties.
Our results rely on the following mean value theorem.
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
Theorem 2.1. [23]. LetX be a ∂-reliable space and f : X 7→ R∪ {+∞}a l.s.c. function. For anya∈domf,b∈X\ {a},β≤b, there exists a sequence cninXconverging to somec∈[a, b)and a sequencec∗n∈∂f(cn)such that for anyb0 =c+t(b−a), witht >0we have:
i) lim infnhc∗n, b−ai ≥β−f(a), ii) lim infnhc∗n, c−cni ≥0, iii) lim infnD
c∗n,||b||b−a||0−c||(b0−cn)E
≥β−f(a).
Following the methods of [1,16,20], we get a similar lemma for our abstract subdifferential, which is immediate by Theorem2.1.
Lemma 2.2. Let X be a Banach ∂-reliable space, f a l.s.c. function. Let a, b ∈ X with f(a) < f(b) then there exists c ∈ [a, b[ and two sequences cn→c,c∗n ∈∂f(cn)with
hc∗n, x−cni>0, for anyx=c+t(b−a)witht >0.
Proof. Let a, b ∈ X with f(a) < f(b), then we can find by Theorem 2.1, c∈[a, b[and two sequencescn→c, c∗n ∈∂f(cn)with
lim inf
n hc∗n, c−cni ≥0, and
lim inf
n hc∗n, b−ai ≥f(b)−f(a)>0.
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Forx=c+t(b−a)witht >0, we have
hc∗n, x−cni=hc∗n, c−cni+thc∗n, b−ai.
It follows that
lim inf
n hc∗n, x−cni>0.
Hence, fornlarge enough, we have that
hc∗n, x−cni>0.
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
3. Generalized Convex Functions and Generalized Monotone Multifunctions
3.1. Quasiconvex Functions and Quasimonotone Multifunc- tions
We recall the characterization of quasiconvex functions of [22,23]. It will allow us to extend and generalize some properties of the normal cone to the lower level set given in [12,13] to a more general setting.
Indeed, forf :X 7→R∪ {+∞}a l.s.c. function,fis said to be quasiconvex if for everyx, y ∈Xandλ∈[0,1]one has
f(λx+ (1−λ)y)≤max{f(x), f(y)}.
And denoting by
Sf(λ) ={x∈X; f(x)≤λ}.
Quasiconvexity is geometrically equivalent to the fact thatSf(λ)is a convex set for allλ∈R. In the above one could use the strict level sets as well.
Recall that a multifunctionA :X →X∗ is said to be quasimonotone if for every pair of distinct pointsx, y ∈X:
∃x∗ ∈A(x), such that hx∗, y−xi>0 then, ∀y∗ ∈A(y), hy∗, y−xi ≥ 0.
Theorem 3.1. [22, 23] LetX be a Banach space andf : X 7→ R∪ {+∞}a l.s.c. function. And consider the following assertions
i) f is quasiconvex.
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ii) ∂f is quasimonotone.
Then i) implies ii) if∂f ⊂∂†f. And ii) implies i) ifXis∂-reliable.
Forx0 ∈X, set
L(x0) ={x∈X; f(x) = f(x0)}.
Then we have
Proposition 3.2. Let Xbe a Banach∂-reliable space, andf a l.s.c. quasicon- vex function such that∂f ⊂∂†f. If forx0 ∈Xthere existsr >0with
06∈∂f(x), for allx∈B(x0, r)∩L(x0), then we have
[∂f(x0)]◦◦ ⊂N(Sf(f(x0));x0),
whereN(Sf(f(x0));x0)is the normal cone to the lower level setSf(f(x0))at the pointx0.
Proof. Suppose by contradiction that there existsvsuch that v ∈[∂f(x0)]◦◦ and v 6∈N(Sf(f(x0));x0).
We can check that
Cl(R+co(∂f(x0))) = [∂f(x0)]◦◦.
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
So, we can suppose without loss of generality thatv = x∗0 ∈∂f(x0).Then, we can find somex1 ∈Sf(x0)such that
(3.1) hx∗0, x1−x0i>0.
We claim that f(x0) = f(x1). Otherwise by Lemma 2.2, there exists c ∈ [x1, x0[and two sequencescn→fcandc∗n∈∂f(cn)with
hc∗n, x0−cni>0.
By using the quasimonotonicity of∂f we have:
hx∗0, x0−cni ≥0.
Then, lettingn→+∞we get
hx∗0, x0−ci ≥0.
It follows that
hx∗0, x0−x1i ≥0.
A contradiction with (3.1), thusf(x0) = f(x1).
Now, set Vx1 ={x∈X : hx∗0, x−x0i>0}.
Vx1 is an open neighborhood ofx1and using the same argument as above we can check thatx1 is a minimum off onVx1, and that
xλ =x0+λ(x1−x0)∈Vx1 andf(xλ) = f(x0)for anyλ∈]0,1[.
Then there existsr >0and¯λ∈]0,1[such thatxλ¯ is a global minimum offon B(x0, r)∩Vx1. Therefore0∈∂f(xλ¯), which is impossible.
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The former proposition extends some already known results for differen- tiable functions (see for instance [5]). If we denote byT(Sf(f(x);x), the tan- gent cone of the lower level convex setSf(f(x))at the pointx∈X, then
T(Sf(f(x));x) = [N(Sf(f(x));x)]◦.
A sufficient condition that allows us to obtain the equality in Proposition3.2is stated in the following proposition
Proposition 3.3. Under the hypothesis of Proposition3.2and if [∂f(x)]◦ ⊂T(Sf(f(x));x).
Then we have
N(Sf(f(x));x) = [∂f(x)]◦◦. Proof. By the bipolar theorem [4] one has
[∂f(x)]◦◦⊃N(Sf(f(x));x).
And from Proposition3.2, the equality immediately holds.
The following condition
N(Sf(f(x));x) = [∂f(x)]◦◦,
is in fact a certain kind of regularity condition, which holds only for a sub- class of quasiconvex functions. Another abstract aproach was developed in [15]
based on Crouzeix’s representation theorem [6] who obtained a similar equality for his quasi-subdifferential.
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
Consider the multifunctionΓfromX toX∗ defined by Γ(x) =N(Sf(f(x));x), forx∈X.
Then by using Proposition3.3, we obtain
Proposition 3.4. Let X be a Banach ∂-reliable space, f a l.s.c. quasiconvex function. If for anyx∈X,∂f(x)is nonempty such that
(∂f(x))◦ ⊂T(Sf(f(x));x).
Then, the multifunctionΓis quasimonotone.
Proof. Since f is quasiconvex, by Theorem 3.1 ∂f is quasimonotone. Using Proposition 2.8 of [12], it follows easily that the multifunctionx 7→ [∂f(x)]◦◦
is quasimonotone. Then by Proposition3.3,Γis also quasimonotone.
It follows thatΓis quasimonotone.
A particular case of this proposition when ∂ coincides with the Clarke- Rockafellar subdifferential ∂CR, was treated in [13], whose exact statement is the following.
Proposition 3.5. Let X be a Banach space,f a l.s.c. function from X toR∪ {+∞}such that∂CRf(x)is nonempty and06∈∂CRf(x)for allx∈X.
Iff is quasiconvex then the multifunctionΓis quasimonotone.
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3.2. Pseudoconvexity and Subdifferential Properties
The original definition of pseudoconvexity was introduced by Mangazarian in [21] for differentiable functions. This concept was exended later by many au- thors (see for instance [17,22,24]) for arbitrary functions. We will here use the following form:
A functionf is said to be pseudoconvex for the subdifferential∂ if for any x, y ∈X:
∃x∗ ∈∂f(x) : hx∗, y−xi ≥0 =⇒ f(x)≤f(y).
A multifunctionA:X →X∗is said to be pseudomonotone if for every pair of distinct pointsx, y ∈X
∃x∗ ∈A(x) :hx∗, y−xi>0 then, ∀y∗ ∈A(y), hy∗, y−xi>0.
As in the differentiable case, every pseudoconvex function satisfies the funda- mental properties:
• every local minimum off is global.
• 0∈∂f(x)implies thatxis a global minimum off.
Another interesting property extending a result of [8] where it was stated for the Clarke-Rockafellar subdifferential is the following.
Proposition 3.6. LetX be a Banach ∂-reliable and f : X 7→ R∪ {+∞}be a l.s.c. function and pseudoconvex function such that∂f ⊂ ∂†f, letx, y ∈ X.
Then the existence ofx∗ ∈∂f(x)verifyinghx∗, y−xi>0impliesf(x)< f(y).
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
Proof. Letx, y ∈Xsuch thathx∗, y−xi>0for somex∗ ∈∂f(x), then there existsε >0such that
hx∗, y0−xi>0, ∀y0 ∈B(y, ε).
By the pseudoconvexity off, we havef(y0)≥f(x).
In particular,f(y)≥f(x). If we suppose by contradiction thatf(y) = f(x), then ymust be a global minimum. On the other hand, since f†(x, y −x) > 0 then, there exist two sequencesxn→x, tn→0+such that
tn−1
f(xn+tn(y−xn)−f(xn))
>0.
By the quasiconvexity of the functionf (see for instance the proof of Proposi- tion 2.2 in [8]), we getf(y)> f(xn)which is impossible.
We use this proposition to prove a known result for the Clarke-Rockafellar subdifferential for bigger subdifferentials
Theorem 3.7. Let X be a ∂-reliable space and f : X 7→ R∪ {+∞} a l.s.c.
function such that∂f ⊂∂†f. And consider the following assertions i) f is pseudoconvex.
ii) ∂f is pseudomonotone.
Then, i) implies ii). And ii) implies i) iff is radially continuous.
Proof. The implication ii)=⇒i) is in [23]. For i)=⇒ii), suppose by contradic- tion that there existx, y ∈X, such that there existx∗ ∈∂f(x)andy∗ ∈ ∂f(y) verifying
hx∗, y−xi>0 and hy∗, y−xi ≤0.
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Then, from Proposition3.5and the pseudoconvexity off we have f(x)< f(y) and f(y)≤f(x).
A contradiction.
Now, we state a similar result to Proposition3.2for pseudoconvex functions.
Proposition 3.8. Let X be a Banach∂-reliable space with ∂ ⊂ ∂†, f a l.s.c.
and pseudoconvex function fromXtoR∪ {+∞}. Then we have [∂f(x)]◦◦⊂N(Sf(f(x));x).
Proof. Letx∗ ∈∂f(x)and suppose by contradiction thatx∗ 6∈N(Sf(f(x));x).
Then, there existsy∈Sf(f(x))such thathx∗, y−xi>0for somex∗ ∈∂f(x).
It follows then by Proposition3.6thatf(y)> f(x), which is impossible.
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
4. Optimality Conditions and Variational Inequalities
4.1. Quasiconvex Programming
We recall the Minty variational inequality (we use the terminology of Gian- nessi [9]) that we shall use for our subdifferential. It will be exploited to give some conditions of optimality in nonlinear programming and necessary and suf- ficient conditions for optimality in quasiconvex programming.
LetΓbe a multifunction fromXtoX∗,S ⊂Xandx¯∈S.
A pointx¯is a Minty equilibrium ofΓif the following variational inequality holds
(D) ∀x∈S, hγ(x), x−xi ≥¯ 0, ∀γ(x)∈Γ(x).
Suppose that f is a l.s.c. function from X to R ∪ {+∞} and consider the following minimisation problem
(4.1) minimizef(x), subject tox∈C.
Then we have
Proposition 4.1. Let X be a Banach∂-reliable space. Ifx¯is a Minty equilib- rium point of∂f, then we have
i) IfS =X, thenx¯is a global minimum off.
ii) If S = N, whereN is a convex open neighborhood ofx¯thenx¯is a local minimum off.
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Proof. It is enough to prove (ii). Suppose by contradiction thatx¯is not a solu- tion of the program (4.1), then there existsx ∈ S such thatf(x) < f(¯x). By Lemma 2.2, there exists c ∈ [x,x[¯ and two sequencescn →f c, c∗n ∈ ∂f(cn) with
hc∗n, d−cni>0, for anyd=c+t(¯x−x)wheret >0.
SinceS is a convex open neighborhood ofx¯then[x,x]¯ ⊂ S. Furthermore, fornlarge enoughcn∈S.
In the particular case whered = ¯x, we have:
hc∗n,x¯−cni>0.
A contradiction with the variational inequality (D), thus x¯is a local minimum off.
This proposition extends Theorem 2.2 of [18] for nondifferentiable optimiza- tion problems.
If in the problem (4.1), the function f to be minimized is l.s.c. and quasi- convex, then we have
Theorem 4.2. LetX be a Banach∂-reliable, andf be a l.s.c. and quasiconvex function such that ∂f ⊂ ∂†f, and x¯ ∈ S. If S = N, where N is an open and convex neighborhood of x¯ or S = X, then the following assertions are equivalent
i) x¯is an optimal solution of (4.1).
ii) x¯is a Minty equilibrium point of∂f.
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
Proof. ii)=⇒i) is obtained from Proposition4.1. Let us show that
i)=⇒ii). Assume thatx¯is a strict minimum of (4.1), then for allx ∈ S such thatx6= ¯xwe havef(x)> f(¯x).
According to Lemma2.2, there existc ∈ [¯x, x[, cn →f candc∗n ∈ ∂f(cn) such that
hc∗n, d−cni>0, for alld=c+t(x−x)¯ wheret >0.
Whend=x,we obtain that
hc∗n, x−cni>0.
f being quasiconvex, by Theorem 2.1, ∂f is quasimonotone. It follows then that
for allx∗ ∈∂f(x), hx∗, x−xi ≥¯ 0.
Hence,∂f satisfies the variational inequality (D).
Suppose that we are in the case wherex¯is not a strict minimum of (4.1) and let us consider the functionfx¯defined by
fx¯(x) = max{f(x), f(¯x)}, and definehby
(4.2) h(x) =
( fx¯(x) forx6= ¯x ν forx= ¯x
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whereν < f(¯x). We see easily that his l.s.c. and quasiconvex and thatx¯is a strict local minimum ofh. Then, we have
∀x6= ¯x hx∗, x−xi ≥¯ 0, ∀x∗ ∈∂h(x).
From(P3), we get∂f(x) = ∂h(x).
In the case when0is in the interior of∂f(¯x), i.e. 0 ∈ int(∂f(¯x)), we have the more precise result
Proposition 4.3. LetX be a∂-reliable space andf :X 7→R∪ {+∞}a l.s.c.
and quasiconvex function. If0∈int(∂f(¯x))thenx¯is a Minty equilibrium point of∂f. Moreoverx¯is a global minimum off.
Proof. Assume that0∈int(∂f(x))then
there existsε >0such thatBX∗(0, ε)⊂∂f(x), where
BX∗(0, ε) ={x∗ ∈X∗ : kx∗k< ε}.
Letd∈Xsuch thatd6= 0and consider the linear mapping`ddefined by
`d(x∗) =hx∗, di, forx∗ ∈X∗. By the open mapping Theorem [4] one has
hBX∗(0, ε), di ⊂ h∂f(x), di.
Sincef is quasiconvex, then∂f is quasimonotone.
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J. Ineq. Pure and Appl. Math. 4(4) Art. 67, 2003
We already know by Definition 2.1 of [12] that the multifunction∂fx,d de- fined by
∂fx,d(λ) =h∂f(x+λd), di, is quasimonotone, and we can see easily that
hλd, ∂f(x+λd)i ⊂R+, for allλ∈Randd∈X\ {0}, thus (D) holds for∂f.
4.2. Pseudoconvex Programming
For the pseudoconvex function f, we shall get necessary and sufficient condi- tions for a pointx¯to be a global extremum off over a convex setC.
First consider the problem (4.1), withf is pseudoconvex, l.s.c. and radially continuous, then we have
Theorem 4.4. LetXbe a Banach space∂-reliable, andfa pseudoconvex l.s.c.
such that ∂f ⊂ ∂†f, and let x¯∈ C. Then the following assertions are equiva- lent
i) x¯is an optimal solution of (4.1).
ii) (D) holds.
Proof. Suppose thatx¯is a solution of (4.1), then by Proposition3.6, if f(¯x)≤ f(x), then we must have
∀x∗ ∈∂f(x), hx∗,x¯−xi ≤0.
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This means that the variational inequality(D)holds.
Converesly, letx∈Csuch thatx6= ¯xthen for somey∈(¯x, x), we have
∀y∗ ∈∂f(y), hy∗,x¯−yi ≤0.
It follows that
∀y∗ ∈∂f(y), hy∗, x−yi ≤0.
Since∂f(y)is nonempty and from the pseudoconvexity off we have f(y)≤f(x), ∀y∈(¯x, x).
But sincef is s.c.i., thenf(¯x)≤f(x).
We now proceed to the maximisation problem
(4.3) maximizef(x), subject tox∈C.
Forz∈C, we denote by
Cz ={x∈C; f(x) =f(z)}.
Then we have
Theorem 4.5. Let X be a ∂-reliable space and f a pseudoconvex, l.s.c. and radially continuous such that for anyxinC,∂f(x)is nonempty and ∂f(x)⊂
∂†f(x). Letx¯∈Csuch that
−∞ ≤inf
C f < f(¯x).
Thenx¯is a maximum off onC if and only if
for allx∈Cx¯, ∂f(x)⊂N(C, x).
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Proof. Suppose that
f(y)≤f(¯x); ∀y∈C.
By Proposition3.6we have:
for allx∈C¯x, ∂f(x)⊂N(C, x).
Conversely, by contradiction assume that there existsz¯∈C such that f(¯z)> f(¯x).
Since by hypothesis, we can find somez ∈Cwithf(z)< f(¯x).
By the radial continuity off, there exists somex0 ∈(z,z)¯ such that f(x0) = f(¯x).
It follows then that
for allx∗0 ∈∂f(x0), hx∗0, z−x0i= 0.
Sincef is pseudoconvex then,f(x0)≤f(z), a contradiction.
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