E.

Krishnan
e.krshnan@gmail.com
 Matrices

Matrices
Matrices introduced in higher secondary classes
Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Matrices

Matrices
Matrices introduced in higher secondary classes
Reflections
Rotations
Matrices
What is a matrix?
Visualization
Multiplication
Other Products
Invertibility
Computation
 Matrices

Matrices
Matrices introduced in higher secondary classes
Reflections
Rotations
Matrices
What is a matrix?
Visualization
Multiplication Other questions
Other Products
Invertibility
Computation
 Matrices

Matrices
Matrices introduced in higher secondary classes
Reflections
Rotations
Matrices
What is a matrix?
Visualization
Multiplication Other questions
Other Products
Invertibility Why do we study matrices?
Computation
 Matrices

Matrices
Matrices introduced in higher secondary classes
Reflections
Rotations
Matrices
What is a matrix?
Visualization
Multiplication Other questions
Other Products
Invertibility Why do we study matrices?
Computation
What are the uses of matrices?
 Matrices

Matrices
Matrices introduced in higher secondary classes
Reflections
Rotations
Matrices
What is a matrix?
Visualization
Multiplication Other questions
Other Products
Invertibility Why do we study matrices?
Computation
What are the uses of matrices?
Why are matrices “multiplied” in a peculiar way?
 Reflections

Transformations in the plane

Matrices
Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Reflections

Transformations in the plane

Matrices
Reflections
Reflection about the x-axis
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Reflections

Transformations in the plane

Matrices
Reflections
Reflection about the x-axis
Rotations
Matrices
2
Visualization
Multiplication
(x, y)
Other Products b

Invertibility 1
Computation

-2 -1 1 2

-1
b

-2
 Reflections

Transformations in the plane

Matrices
Reflections
Reflection about the x-axis
Rotations
Matrices
2
Visualization
Multiplication
(x, y)
Other Products b

Invertibility 1
Computation

-2 -1 1 2

-1
b

(x, −y)

-2

t(x, y) = (x, −y)

 Reflections

Reflection about the line y = x

Matrices
Reflections
Rotations 2
Matrices (x, y)
Visualization b

Multiplication
Other Products 1
Invertibility (x′ , y ′ )
b
Computation

-2 -1 1 2

-1

x
=

-2
y
 Reflections

Reflection about the line y = x

Matrices
Reflections
Rotations 2
Matrices (x, y)
Visualization b

Multiplication
Other Products 1
Invertibility (x′ , y ′ )
b
Computation

-2 -1 1 2

-1

x
=

-2
y

Slopes : y ′ − y = x − x′
 Reflections

Reflection about the line y = x

Matrices
Reflections
Rotations 2
Matrices (x, y)
Visualization b

Multiplication
Other Products 1
Invertibility (x′ , y ′ )
b
Computation

-2 -1 1 2

-1

x
=

-2
y

Slopes : y ′ − y = x − x′
 Reflections

Reflection about the line y = x

Matrices
Reflections
Rotations 2
Matrices (x, y)
Visualization b

Multiplication
Other Products 1
Invertibility (x′ , y ′ )
b
Computation

-2 -1 1 2

-1

x
=

-2
y

Slopes : y ′ − y = x − x′

Distances : x′2 + y ′2 = x2 + y 2
 Reflections

Reflection about the line y = x

Matrices
Reflections
Rotations 2
Matrices (x, y)
Visualization b

Multiplication
Other Products 1
Invertibility (x′ , y ′ )
b
Computation

-2 -1 1 2

-1

x
=

-2
y

Slopes : y ′ − y = x − x′

Distances : x′2 + y ′2 = x2 + y 2

x′ = y y′ = x
 Reflections

Reflection about the line y = x

Matrices
Reflections
Rotations 2
Matrices (x, y)
Visualization b

Multiplication
Other Products 1
Invertibility (x′ , y ′ )
b
Computation

-2 -1 1 2

-1

x
=

-2
y

t(x, y) = (y, x)
 Reflections

Reflection about the line y = 2x

Matrices
Reflections (x, y)
Rotations 2 b

Matrices (x′ , y ′ )
b
Visualization
Multiplication
Other Products 1
Invertibility
Computation

-2 -1 1 2

-1

2x
y= -2
 Reflections

Reflection about the line y = 2x

Matrices
Reflections (x, y)
Rotations 2 b

Matrices (x′ , y ′ )
b
Visualization
Multiplication
Other Products 1
Invertibility
Computation

-2 -1 1 2

-1

2x
y= -2

Slopes : y ′ − y = − 12 (x − x′ )
 Reflections

Reflection about the line y = 2x

Matrices
Reflections (x, y)
Rotations 2 b

Matrices (x′ , y ′ )
b
Visualization
Multiplication
Other Products 1
Invertibility
Computation

-2 -1 1 2

-1

2x
y= -2

Slopes : y ′ − y = − 12 (x − x′ )

Distances : x′2 + y ′2 = x2 + y 2
 Reflections

Reflection about the line y = 2x

Matrices
Reflections (x, y)
Rotations 2 b

Matrices (x′ , y ′ )
b
Visualization
Multiplication
Other Products 1
Invertibility
Computation

-2 -1 1 2

-1

2x
y= -2

Slopes : y ′ − y = − 12 (x − x′ )

Distances : x′2 + y ′2 = x2 + y 2

x′ = 15 (−3x + 4y) y ′ = 51 (4x + 3y)

 Reflections

Reflection about the line y = 2x

Matrices
Reflections (x, y)
Rotations 2 b

Matrices (x′ , y ′ )
b
Visualization
Multiplication
Other Products 1
Invertibility
Computation

-2 -1 1 2

-1

2x
y= -2

t(x, y) = ( 15 (−3x + 4y), 51 (4x + 3y))

 Rotations

Rotation about origin through 90◦

Matrices
Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Rotations

Rotation about origin through 90◦

Matrices
2
Reflections (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication (x, y)
b
Other Products
Invertibility
Computation
-2 -1 1 2

-1

-2
 Rotations

Rotation about origin through 90◦

Matrices
2
Reflections (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication (x, y)
b
Other Products
Invertibility
Computation
-2 -1 1 2

-1

-2
 Rotations

Rotation about origin through 90◦

Matrices
2
Reflections (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication (x, y)
b
Other Products
Invertibility
Computation
-2 -1 1 2

-1

-2

x′ = −y y′ = x
 Rotations

Rotation about origin through 90◦

Matrices
2
Reflections (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication (x, y)
b
Other Products
Invertibility
Computation
-2 -1 1 2

-1

-2

x′ = −y y′ = x
t(x, y) = (−y, x)
 Rotations

Rotation about origin through angle α

Matrices
Reflections
2 (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication (x, y)
b
Other Products α
Invertibility
Computation
-2 -1 1 2

-1

-2
 Rotations

Rotation about origin through angle α

Matrices
Reflections
2 (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication r (x, y)
b
Other Products α r
Invertibility
θ
Computation
-2 -1 1 2

-1

-2
 Rotations

Rotation about origin through angle α

Matrices
Reflections
2 (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication r (x, y)
b
Other Products α r
Invertibility
θ
Computation
-2 -1 1 2

-1

-2

x = r cos θ y = r sin θ
 Rotations

Rotation about origin through angle α

Matrices
Reflections
2 (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication r (x, y)
b
Other Products α r
Invertibility
θ
Computation
-2 -1 1 2

-1

-2

x = r cos θ y = r sin θ
x′ = r cos(θ + α) y ′ = r sin(θ + α)
 Rotations

Rotation about origin through angle α

Matrices
Reflections
2 (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication r (x, y)
b
Other Products α r
Invertibility
θ
Computation
-2 -1 1 2

-1

-2

x = r cos θ y = r sin θ
x′ = r cos(θ + α) y ′ = r sin(θ + α)

x′ = r cos θ cos α − r sin θ sin α = x cos α − y sin α

 Rotations

Rotation about origin through angle α

Matrices
Reflections
2 (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication r (x, y)
b
Other Products α r
Invertibility
θ
Computation
-2 -1 1 2

-1

-2

x = r cos θ y = r sin θ
x′ = r cos(θ + α) y ′ = r sin(θ + α)

x′ = r cos θ cos α − r sin θ sin α = x cos α − y sin α

y ′ = r sin θ cos α + r cos θ sin α = y cos α + x sin α
 Rotations

Rotation about origin through angle α

Matrices
Reflections
2 (x′ , y ′ )
b
Rotations
Matrices
Visualization 1
Multiplication (x, y)
b
Other Products α
Invertibility
Computation
-2 -1 1 2

-1

-2

t(x, y) = (x cos α − y sin α, x sin α + y cos α)

 Matrices

Summary

Matrices
Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Matrices

Summary

Matrices
Reflections
Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Matrices

Summary

Matrices
Reflections
Reflections
Rotations About x-axis : t(x, y) = (x, −y)
Matrices
Visualization About y = x : t(x, y) = (y, x)
Multiplication
− 53 x 4
y, 54 x 3


Other Products About y = 2x : t(x, y) = + 5
+ 5
y
Invertibility
Computation
 Matrices

Summary

Matrices
Reflections
Reflections
Rotations About x-axis : t(x, y) = (x, −y)
Matrices
Visualization About y = x : t(x, y) = (y, x)
Multiplication
− 53 x 4
y, 54 x 3


Other Products About y = 2x : t(x, y) = + 5
+ 5
y
Invertibility
Computation
Rotations about origin through angle α
 Matrices

Summary

Matrices
Reflections
Reflections
Rotations About x-axis : t(x, y) = (x, −y)
Matrices
Visualization About y = x : t(x, y) = (y, x)
Multiplication
− 53 x 4
y, 54 x 3


Other Products About y = 2x : t(x, y) = + 5
+ 5
y
Invertibility
Computation
Rotations about origin through angle α


t(x, y) = (cos α)x − (sin α)y, (sin α)x + (cos α)y
 Matrices

Summary

Matrices
Reflections
Reflections
Rotations About x-axis : t(x, y) = (x, −y)
Matrices
Visualization About y = x : t(x, y) = (y, x)
Multiplication
− 53 x 4
y, 54 x 3


Other Products About y = 2x : t(x, y) = + 5
+ 5
y
Invertibility
Computation
Rotations about origin through angle α


t(x, y) = (cos α)x − (sin α)y, (sin α)x + (cos α)y

Generally
t(x, y) = (ax + by, cx + dy)
 Matrices

Summary

Matrices
Reflections
Reflections
Rotations About x-axis : t(x, y) = (x, −y)
Matrices
Visualization About y = x : t(x, y) = (y, x)
Multiplication
− 53 x 4
y, 54 x 3


Other Products About y = 2x : t(x, y) = + 5
+ 5
y
Invertibility
Computation
Rotations about origin through angle α


t(x, y) = (cos α)x − (sin α)y, (sin α)x + (cos α)y

Generally
t(x, y) = (ax + by, cx + dy)
Represented by the matrix
!
a b
M(t) =
c d
 Matrices

Transformation Equation Matrix

Matrices !
1 0
Reflections Reflection about x-axis t(x, y) = (x, −y)
Rotations 0 −1
Matrices
Visualization
Multiplication !
Other Products 0 1
Reflection about y = x t(x, y) = (y, x)
Invertibility 1 0
Computation

 
−3
5
4
5
Reflection about y = 2x 3 x + 4 y, 4 x + 3 y

t(x, y) = − 5

5 5 5  
4 3
5 5

!
cos α − sin α
Rotation through α t(x, y) = (x cos α − y sin α, x sin α + y cos α)
sin α cos α
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products
Invertibility
Computation
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products Scaling
Invertibility
Computation
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products Scaling
Invertibility !
Computation a 0
t(x, y) = (ax, by) M(t) =
0 b
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products Scaling
Invertibility !
Computation a 0
t(x, y) = (ax, by) M(t) =
0 b

Animation
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products Scaling
Invertibility !
Computation a 0
t(x, y) = (ax, by) M(t) =
0 b

Animation
Zoom
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products Scaling
Invertibility !
Computation a 0
t(x, y) = (ax, by) M(t) =
0 b

Animation
Zoom
!
x 0
with variable x
0 x
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products Scaling
Invertibility !
Computation a 0
t(x, y) = (ax, by) M(t) =
0 b

Animation
Zoom
!
x 0
with variable x
0 x

Oscillation
 Visualization

GeoGebra
Matrices
Reflections
Rotations
Reflections and rotations
Matrices
Visualization
General linear transformations
Multiplication
Other Products Scaling
Invertibility !
Computation a 0
t(x, y) = (ax, by) M(t) =
0 b

Animation
Zoom
!
x 0
with variable x
0 x

Oscillation
!
cos x − sin x
with variable x
sin x cos x
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
Other Products
Invertibility
Computation
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
= u(ax + by, cx + dy)
Other Products
Invertibility
Computation
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
= u(ax + by, cx + dy)


Other Products
= p(ax + by) + q(cx + dy), r(ax + by) + s(cx + dy)
Invertibility
Computation
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
= u(ax + by, cx + dy)


Other Products
= p(ax + by) + q(cx + dy), r(ax + by) + s(cx + dy)
Invertibility


Computation = (pa + qc)x + (pb + qd)y, (ra + sc)x + (rb + sd)y
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
= u(ax + by, cx + dy)


Other Products
= p(ax + by) + q(cx + dy), r(ax + by) + s(cx + dy)
Invertibility


Computation = (pa + qc)x + (pb + qd)y, (ra + sc)x + (rb + sd)y
! !
a b p q
M(t) = M(u) =
c d r s
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
= u(ax + by, cx + dy)


Other Products
= p(ax + by) + q(cx + dy), r(ax + by) + s(cx + dy)
Invertibility


Computation = (pa + qc)x + (pb + qd)y, (ra + sc)x + (rb + sd)y
! !
a b p q
M(t) = M(u) =
c d r s
!
pa + qc pb + qd
M(u ◦ t) =
ra + sc rb + sd
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
= u(ax + by, cx + dy)


Other Products
= p(ax + by) + q(cx + dy), r(ax + by) + s(cx + dy)
Invertibility


Computation = (pa + qc)x + (pb + qd)y, (ra + sc)x + (rb + sd)y
! !
a b p q
M(t) = M(u) =
c d r s
!
pa + qc pb + qd
M(u ◦ t) =
ra + sc rb + sd
We define multiplication of matrices by
! ! !
p q a b pa + qc pb + qd
=
r s c d ra + sc rb + sd
 Multiplication

Two linear maps

Matrices t(x, y) = (ax + by, cx + dy) u(x, y) = (px + qy, rx + sy)

Reflections
Rotations
Matrices
(u ◦ t)(x, y) = u(t(x, y))
Visualization
Multiplication
= u(ax + by, cx + dy)


Other Products
= p(ax + by) + q(cx + dy), r(ax + by) + s(cx + dy)
Invertibility


Computation = (pa + qc)x + (pb + qd)y, (ra + sc)x + (rb + sd)y
! !
a b p q
M(t) = M(u) =
c d r s
!
pa + qc pb + qd
M(u ◦ t) =
ra + sc rb + sd
We define multiplication of matrices by
! ! !
p q a b pa + qc pb + qd
=
r s c d ra + sc rb + sd

M(u ◦ t) = M(u)M(t)
 Other Products

Hadamard product
Matrices
Reflections ! ! !
Rotations a b p q ap bq
Matrices
◦ =
c d r s cr ds
Visualization
Multiplication
Other Products
Invertibility
Computation
 Other Products

Hadamard product
Matrices
Reflections ! ! !
Rotations a b p q ap bq
Matrices
◦ =
c d r s cr ds
Visualization
Multiplication
Other Products Used in compression algorithms, machine learning
Invertibility
Computation
 Other Products

Hadamard product
Matrices
Reflections ! ! !
Rotations a b p q ap bq
Matrices
◦ =
c d r s cr ds
Visualization
Multiplication
Other Products Used in compression algorithms, machine learning
Invertibility
Computation
https://en.wikipedia.org/wiki/Hadamard_product_(matrices)
 Other Products

Hadamard product
Matrices
Reflections ! ! !
Rotations a b p q ap bq
Matrices
◦ =
c d r s cr ds
Visualization
Multiplication
Other Products Used in compression algorithms, machine learning
Invertibility
Computation
https://en.wikipedia.org/wiki/Hadamard_product_(matrices)

Kronecker product (Tensor product)

 ! !
p q p q
 
! ! a b ap aq bp bq
r s r s  ar
 
a b p q  as br bs 
⊗ = =
 ! ! 
c d r s q   cp cq dp dq 

 p q p
c d cr dr cs ds
r s r s
 Other Products

Hadamard product
Matrices
Reflections ! ! !
Rotations a b p q ap bq
Matrices
◦ =
c d r s cr ds
Visualization
Multiplication
Other Products Used in compression algorithms, machine learning
Invertibility
Computation
https://en.wikipedia.org/wiki/Hadamard_product_(matrices)

Kronecker product (Tensor product)

 ! !
p q p q
 
! ! a b ap aq bp bq
r s r s  ar
 
a b p q  as br bs 
⊗ = =
 ! ! 
c d r s q   cp cq dp dq 

 p q p
c d cr dr cs ds
r s r s

Useful in robotics
 Other Products

Hadamard product
Matrices
Reflections ! ! !
Rotations a b p q ap bq
Matrices
◦ =
c d r s cr ds
Visualization
Multiplication
Other Products Used in compression algorithms, machine learning
Invertibility
Computation
https://en.wikipedia.org/wiki/Hadamard_product_(matrices)

Kronecker product (Tensor product)

 ! !
p q p q
 
! ! a b ap aq bp bq
r s r s  ar
 
a b p q  as br bs 
⊗ = =
 ! ! 
c d r s q   cp cq dp dq 

 p q p
c d cr dr cs ds
r s r s

Useful in robotics
https://en.wikipedia.org/wiki/Kronecker_product
 Other Products

Hadamard product
Matrices
Reflections ! ! !
Rotations a b p q ap bq
Matrices
◦ =
c d r s cr ds
Visualization
Multiplication
Other Products Used in compression algorithms, machine learning
Invertibility
Computation
https://en.wikipedia.org/wiki/Hadamard_product_(matrices)

Kronecker product (Tensor product)

 ! !
p q p q
 
! ! a b ap aq bp bq
r s r s  ar
 
a b p q  as br bs 
⊗ = =
 ! ! 
c d r s q   cp cq dp dq 

 p q p
c d cr dr cs ds
r s r s

Useful in robotics
https://en.wikipedia.org/wiki/Kronecker_product

Mathematical operations are defined according to context

 Invertibility

Reflection about line

Matrices
Reflections
Rotations
Rotation about origin
Matrices
Visualization
Scaling
Multiplication
Other Products
Invertibility
Computation
 Invertibility

Reflection about line

Matrices
Reflections
Rotations
t(t((x, y)) = (x, y)
Matrices
Visualization Rotation about origin
Multiplication
Other Products
Scaling
Invertibility
Computation
 Invertibility

Reflection about line

Matrices
Reflections
Rotations
t(t((x, y)) = (x, y)
Matrices
Visualization Rotation about origin
Multiplication
Other Products
t rotation through θ and s rotation through −θ
Invertibility
Computation s(t(x, y)) = t(s(x, y)) = (x, y)

Scaling
 Invertibility

Reflection about line

Matrices
Reflections
Rotations
t(t((x, y)) = (x, y)
Matrices
Visualization Rotation about origin
Multiplication
Other Products
t rotation through θ and s rotation through −θ
Invertibility
Computation s(t(x, y)) = t(s(x, y)) = (x, y)

Scaling
1 1


t(x, y) = (ax, by) with a 6= 0 and b 6= 0 and s(x, y) = a
x, b
y
s(t(x, y)) = t(s(x, y)) = (x, y)
 Invertibility

Reflection about line

Matrices
Reflections
Rotations
t(t((x, y)) = (x, y)
Matrices
Visualization Rotation about origin
Multiplication
Other Products
t rotation through θ and s rotation through −θ
Invertibility
Computation s(t(x, y)) = t(s(x, y)) = (x, y)

Scaling
1 1


t(x, y) = (ax, by) with a 6= 0 and b 6= 0 and s(x, y) = a
x, b
y
s(t(x, y)) = t(s(x, y)) = (x, y)

A linear map t said to be invertible if there exists a linear map s with

s(t(x, y)) = t(s(x, y)) = (x, y)
 Invertibility

Reflection about line

Matrices
Reflections
Rotations
t(t((x, y)) = (x, y)
Matrices
Visualization Rotation about origin
Multiplication
Other Products
t rotation through θ and s rotation through −θ
Invertibility
Computation s(t(x, y)) = t(s(x, y)) = (x, y)

Scaling
1 1


t(x, y) = (ax, by) with a 6= 0 and b 6= 0 and s(x, y) = a
x, b
y
s(t(x, y)) = t(s(x, y)) = (x, y)

A linear map t said to be invertible if there exists a linear map s with

s(t(x, y)) = t(s(x, y)) = (x, y)
s called the inverse of t written t−1
 Invertibility

Reflection about line

Matrices
Reflections
Rotations
t(t((x, y)) = (x, y)
Matrices
Visualization Rotation about origin
Multiplication
Other Products
t rotation through θ and s rotation through −θ
Invertibility
Computation s(t(x, y)) = t(s(x, y)) = (x, y)

Scaling
1 1


t(x, y) = (ax, by) with a 6= 0 and b 6= 0 and s(x, y) = a
x, b
y
s(t(x, y)) = t(s(x, y)) = (x, y)

A linear map t said to be invertible if there exists a linear map s with

s(t(x, y)) = t(s(x, y)) = (x, y)
s called the inverse of t written t−1

t invertible iff there exists s such that s ◦ t = t ◦ s = i

i identity map : i(x, y) = (x, y)
 Invertibility

Matrices Identitiy map i : i(x, y) = (x, y)

Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Invertibility

Matrices Identitiy map !

i : i(x, y) = (x, y)
Reflections
Rotations 1 0
M(i) = called identity matrix denoted I
Matrices 0 1
Visualization
Multiplication
Other Products
Invertibility
Computation
 Invertibility

Matrices Identitiy map !

i : i(x, y) = (x, y)
Reflections
Rotations 1 0
M(i) = called identity matrix denoted I
Matrices 0 1
Visualization
Multiplication
Other Products t invertible linear map : there exists linear map t−1 with
Invertibility
Computation t−1 ◦ t = t ◦ t−1 = i
 Invertibility

Matrices Identitiy map !

i : i(x, y) = (x, y)
Reflections
Rotations 1 0
M(i) = called identity matrix denoted I
Matrices 0 1
Visualization
Multiplication
Other Products t invertible linear map : there exists linear map t−1 with
Invertibility
Computation t−1 ◦ t = t ◦ t−1 = i

M(t−1 )M(t) = M(t−1 ◦ t) = M(i) = I

M(t)M(t−1 ) = M(t ◦ t−1 ) = M(i) = I
 Inverse computation

Matrices
t(x, y) = (ax + by, cx + dy) invertible
Reflections
Rotations
Matrices
Visualization
Multiplication
Other Products
Invertibility
Computation
 Inverse computation

Matrices
t(x, y) = (ax + by, cx + dy) invertible
Reflections
Rotations
Matrices How do we compute t−1 ?
Visualization
Multiplication
Other Products
Invertibility
Computation
 Inverse computation

Matrices
t(x, y) = (ax + by, cx + dy) invertible
Reflections
Rotations
Matrices How do we compute t−1 ?
Visualization
Multiplication Suppose t−1 (x, y) = (a′ x + b′ y, c′ x + d′ y)
Other Products
Invertibility
Computation
 Inverse computation

Matrices
t(x, y) = (ax + by, cx + dy) invertible
Reflections
Rotations
Matrices How do we compute t−1 ?
Visualization
Multiplication Suppose t−1 (x, y) = (a′ x + b′ y, c′ x + d′ y)
Other Products
Invertibility M(t)M(t−1 ) = I
Computation
 Inverse computation

Matrices
t(x, y) = (ax + by, cx + dy) invertible
Reflections
Rotations
Matrices How do we compute t−1 ?
Visualization
Multiplication Suppose t−1 (x, y) = (a′ x + b′ y, c′ x + d′ y)
Other Products
Invertibility M(t)M(t−1 ) = I ! ! !
Computation ′ ′
a b a b 1 0
=
c d c′ d′ 0 1
 Inverse computation

Matrices
t(x, y) = (ax + by, cx + dy) invertible
Reflections
Rotations
Matrices How do we compute t−1 ?
Visualization
Multiplication Suppose t−1 (x, y) = (a′ x + b′ y, c′ x + d′ y)
Other Products
Invertibility M(t)M(t−1 ) = I ! ! !
Computation ′ ′
a b a b 1 0
=
c d c′ d′ 0 1

(1) aa′ + bc′ = 1

(2) ab′ + bd′ = 0
(3) ca′ + dc′ = 0
(4) cb′ + dd′ = 1
 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
(1) × d − (3) × b gives (ad − bc)a′ = d
 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
(1) × d − (3) × b gives (ad − bc)a′ = d
(2) × d − (4) × b gives (ad − bc)b′ = −b
 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
(1) × d − (3) × b gives (ad − bc)a′ = d
(2) × d − (4) × b gives (ad − bc)b′ = −b
(3) × a − (1) × c gives (ad − bc)c′ = −c
 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
(1) × d − (3) × b gives (ad − bc)a′ = d
(2) × d − (4) × b gives (ad − bc)b′ = −b
(3) × a − (1) × c gives (ad − bc)c′ = −c
(4) × a − (2) × c gives (ad − bc)d′ = a
 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
(1) × d − (3) × b gives (ad − bc)a′ = d
(2) × d − (4) × b gives (ad − bc)b′ = −b
(3) × a − (1) × c gives (ad − bc)c′ = −c
(4) × a − (2) × c gives (ad − bc)d′ = a

If ad − bc = 0, then a, b, c, d are all zero, which is not possible.

 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
(1) × d − (3) × b gives (ad − bc)a′ = d
(2) × d − (4) × b gives (ad − bc)b′ = −b
(3) × a − (1) × c gives (ad − bc)c′ = −c
(4) × a − (2) × c gives (ad − bc)d′ = a

If ad − bc = 0, then a, b, c, d are all zero, which is not possible.

ad − bc 6= 0
 Inverse computation

Matrices
(1) aa′ + bc′ = 1
Reflections
Rotations (2) ab′ + bd′ = 0
Matrices
Visualization (3) ca′ + dc′ = 0
Multiplication
Other Products (4) cb′ + dd′ = 1
Invertibility
Computation
(1) × d − (3) × b gives (ad − bc)a′ = d
(2) × d − (4) × b gives (ad − bc)b′ = −b
(3) × a − (1) × c gives (ad − bc)c′ = −c
(4) × a − (2) × c gives (ad − bc)d′ = a

If ad − bc = 0, then a, b, c, d are all zero, which is not possible.

ad − bc 6= 0
!
1 d −b
M(t−1 ) =
ad − bc −c a