Discrete-continuous optimization problems are commonly modeled in algebraic form as mixed-integer linear or nonlinear programming models. Since these models can be formulated in different ways, leading either to solvable or nonsolvable problems, there is a need for a systematic modeling framework that provides a fundamental understanding on the nature of these models. This work presents a modeling framework, generalized disjunctive programming (GDP), which represents problems in terms of Boolean and continuous variables, allowing the representation of constraints as algebraic equations, disjunctions and logic propositions. An overview is provided of major research results that have emerged in this area. Basic concepts are emphasized as well as the major classes of formulations that can be derived. These are illustrated with a number of examples in the area of process systems engineering. As will be shown, GDP provides a structured way for systematically deriving mixed-integer optimization models that exhibit strong continuous relaxations, which often translates into shorter computational times. (c) 2013 American Institute of Chemical Engineers AIChE J, 59: 3276-3295, 2013