Motivation behind Lagrangian duality

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As the title states, what is the motivation behind the Lagrangian duality in integer programming? I tried looking up online references including the post: BigPicture Lagrangian, KKT, Duality, and also $\textbf{Wolsey's}$ $\textit{Integer}$ $\textit{Programming}$ but I can't picture the concepts intuitively (especially certain variables - such as the penalty term $u(d-Dx)$ are introduced). Some insight will be appreciated.