More details on fmincon function

I am using the fmincon function in my script. Information I have so far found on fmincon (https://uk.mathworks.com/help/optim/ug/fmincon.html) and help'fmincon' is limited.
Is anyone aware of any other documents I can access that discuss the mathematics of the model in more detail.
Many thanks in advance!

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R2020b

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