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Название: Introduction to Numerical Methods and Optimization Techniques
Автор: Daniels R.
Although this book is out of date now, as an introduction the writing style is just about perfect and in this field you have to build up your intuitions, starting from simple examples and adding refinements later.
The code is in Fortran, so C programmers may need to ask a friend to
translate it for them.
I've got this by my bedside.