function pk = cauchy(B, g, deltak)
   gbg = (g' * B * g);
   
   if gbg <= 0
       tau = 1;
   else
       tau = min(norm(g, 2)^3 / (deltak * gbg), 1); 
   end
   
   pk = -tau * deltak / norm(g, 2) * g;
end