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INTRODUCTION TO MATRICES — A MATRIX DEFINITION 48 giva\\ Lis 5 \—) BASICS —\qolul Y—4 Unity Matrix [ 34> 9) 3 yiaa \—Y-\ Null (or Zero) Matrix O ¥ yual\ 3 yivali Y—Y—) Inverse Matrix 48 gial\ 4 Sa ¥-¥-Y Equality of Two Matrices (2 sia g us t-Y— Addition and Subtraction of Matrices O18 yisal ¢ yb y a= 8-Y—\ Matrix Multiplication 3 giali 2 p20 \-Y-' Division of Matrices 2 sali 4a5 Y-¥—) Partitioning ts px) A-¥—- Matrix Transpose % yiual! j ya 4-Y-\ Symmetric Matrix Ula) 3 yia\\ \.—-¥~)it yialt xii dnie 9 ‘Skew-Symmetric Matrix Judy itleds ib yiall 1\-Y-) 9 Hermitian Matrix Ages yA\ Ub yal) \Y-Y-4 10 Skew-Hermitian Matrix Melty dg yA\ ib ginal \Y-¥—4 11 Trace of a Matrix 4 ynali 4 ¢-¥- iW Commutation 2) yial\ Jiu) des \0-¥-1 11 Idempotent Matrix 4, 4N\ a sivall \\—-¥—) 12 Nilpotent Matrix ial) 45 9\\ a yiall \Y¥—¥—) 13 Involutary Matrix 42° yi) 45 y\\ 3 gall \A-Y- 13 Apa ab pinay dy jedi Hb ydnall 4-1-1 Diagonal Matrix and Triangular Matrix 15 Inner Product (ged\ ( pal\ ¥+—Y—\ 16 Orthogonal Vectors idole) igrcli ¥\—-Y—) 16 Independent Vectors Wizu\\) O\grcli ¥¥Y-Y¥— 18 Orthonormal Vectors (64? g\') sJa\el\ bu> i Gigs YY-Y-1 18 Celt — al yr May gay Agar YE-Y—Y Gram-Schmidt Orthogonalization Process 20 Orthonormalization 842 $\ igus ¥O—Y—\ 21 Orthogonal Matrix sda\xh\ i) yal) ¥4—Y—) 22 Unitary Matrix 4yy1> $\ OU) gual YV-¥—-) 23 Ob pall JalSsy Jols YA-¥-1 Matrix Differentiation and Integrationxii ups! 25 Matrix and Vector Norms 42\\y 4 ginal) pluie Y4—Y¥—) 25 Vector Norm 4x\\ tle V-Y4-Y=) 30 Matrix Norm % yiva\\ plas Y-¥4-¥-) 39 Kroncker Product Siy,S 2 po ¥+-¥-\ 41 Determinants 2\245\ ¥\-Y—\ 53 aM tdl dle ple lyf WY-Y-4 . Aa UN de file Y-4 . © Ghd sMhslegll: gti Oui LINEAR SYSTEMS OFEQUATIONS SOS 69 RANK AND INVERSE y+ sah\ dex yl) \—¥ 69 Al) OM yully PSS V-y—7 Equivalence and Elementary Transformation 1 Rank of a Matrix 4 yina\\ 2-9 Y-\-¥ 2B W yirall ie > all Gb \-Y-\-¥ 76° Inverse of a Matrix a yia\\ Sane Y—\—¥ 16 daa MB pial Sar V-Y-N-7 BE Ce Sally I Sally yard B ginal Sar PTV -Y (Right and Left Inverses) 85 (GeaIEI de = OYotall ote) ALE! YUL > Y-¥ SOLUTION OF LINEAR SYSTEM OF EQUATIONS (m =n)ob yial! xiv oA 85 Fendt Abd! OYoul! fo 1-1-9 System of Linear Homogeneous Equations . 88 Fandom! pb Abd Youll f> Y-Y-¥ System of Linear Non-Homogeneous Equations 88 (p(4)= p(A|b)=n) + SgYi SLI y-y-y-y 99 (p(4)= (|b) 4% 6 \-%-Y-¥ 104 Gauss-Jordan Method 0'>y- ~ _ysler tix pb Y-£-Y-¥ 106 Ax=b OYotal JF GSU pb) dey) SG bi o-y-¥ Iterative (Indirect Methods) 109 Jacobi Method giz tix yb \—0-Y-¥ 14 Gauss-Seidel Method Jame — yp gx idx pb Y-9-¥-¥ 117 Relaxation Method .*\3)\ G yb ¥~0-Y—¥ 123 men ibd) Nota b> YY 126 pA) =n Y-t-¥ (E-1) jadi de dle oF oy 4 bb OS of Aw! yiall = hE A DIAGONALIZATION - DIAGONALIZABLE MATRICES Independent Eigenvectors Wiz 4\D\ Olt! \-1-¥ (Aides pb) Garr gle pian Socal 251 Olgrell Y-1-1 Dependent Eigenvectors JORDAN FORM 03) = JS» Y- CS GUI le ile A-ttXVi OU yhall bea pe) pe Pe || Jigs 3 aul,ll Lill MATRIX FUNCTIONS 185 dadde \—£ 186 (Ages det A) slain! alc) Y—£ USING DIAGONALIZATION (A is Semi-Simple) 191 (lige det A) Oglala — LIS’ dy bi plan’) YE USING CAYLEY-HAMILTON (A is Semi-Simple) 192 Oglala — Gui ay Bi ils aay V1 196 MINIMUM POLYNOMIAL (5 jh.a\ 423 y3\ £—¢ 205 Ags Ad ped Ue GO gilela — LIS bi Slow! 0-€ Arce y 214 Dyplt op lk V-€ 230 es dl de fle V-£ APPLICATIONS sildsabi: yao lll aLall 234 = Ax + Bu 3) gall de Soe! Daler fo : Jy! jected! 1-0 234 daais 1-1-0 235 Time Invariant Systems ¢ )\ go 6 péch\ yo phd Y-\—0 246 Time Variant Systems (4 3\ ao 3 yoch\ glass ¥—)—0xvii 251 253 260 267 267 268 275 278 279 283 284 284 287 295 295 307 Matrizant dled! Geeks! 1-0 6X Sa de yt ys Doll 1-4-0 Generalization past Y-\-9 ibd Be OVS oye lt fo: yell Gedasll £-0OB yall xviii ie 307 Newton Method 9 j3 4 yb \-V-0 310 Broyden Method 029 » 4 yb Y-V-8 oe APPENDIXA 1 gallo REFERENCES al yoll 320 INDEX ia yu1 Sughll gad .2 — crib ybalt yt tt INTRODUCTION TO Dt ped Yorke gil LLM JS (Lily 25 of yesh Liaw pals OU Le g CAB pial. pe gldl Lis ye ot GN antl dy Wily SU ple yay Matrices oi sinall ple Sas OF CE Uy | LAN pe 9) Linear Equations Yad) Dou Jo 9 ple ye « Vector small y 3 ginal a% gi) Norms patil 242 Oty Rank tor ply Inverse Salt ABUL Li ghall ya Siyy alg Lia fyy0 ca egal op Lely Bai of Ley AU ols le of Lube y Hermitian Matrices ge ph i inal y Symmetric Matrices BS cl atl yy Inner Product Hed) pial Las y Determinants i218 casted oy Creal pb g Leb loygget dis of te tal ley. Ul Lia Q yates ell ce ag U LY ge tab Obes, anti age oe OUI pT A MATRIX DEFINITION 48 sina Ay 95 \—\ Wylie | 3 samy le ge aa sbasl oe Jeal.. Dial Gy ad tab op ST ary + Linear Algebra Jad\ ph\ gle op til Je toe Y de> [1975 2 yhaall Cis ya LS folate a gh (1m by mn) m X Ady ye i ginal my Rows Dy tual ps mb Field \e Sam Sh gest Bp SN By dL W yiall O55 L Bae) Columns 348% Med. Capital LettersOU yall tase 2 Row Matrix or aby Sehy che cp BS Dye goals Dye Arty aynl pe BigSt Ugualt gamely « Row e Vector igaws ld We isley « Comte Matrix or Column » age gS cdall gle Bhd om = my Dyke 20e ga bel aie lain hy emg Square Matrix 1m)\ Lib phsall good galt et BU te At Dye J = 12,--.n) 0, pote BASICS Spats ¥-\ Unity Matrix I 34> 3\ 4b yiae \-Y-1 OSS & bal o polwi Uf (1 =) jas gi Lots bbs aco day Bi yinan ay tatagh.. ict 2 Of AUS deyOU yhalt td! Of AUIS. Sey 0 ' 1 J i] * fd Two gah j,i Elementary Vectors WJ 38) Lgl ga od lah yall + clgrell gant Lanly . Dimensional Space 0 0 1 0 i i c 0 0 0 tdi AUS Gley . Three Dimensional Space 2x5! ce) £1! 3 WV) yall 1 0 0 nt 3h 3 ary SEY EN ayn Dimensional Space Ww) cp n go E13 Sif me 1 pe Ste ool J Jnl 9 Lila Tyo Gaby 9 Al labs Galt SU op eee ent at GT OU ial Oo te Gai d Lil pe yy 1 AVS be J wal a ae Ae Null Matrix or Zero Matrix O 4 da)! di yivall ¥ rot gt. Uwel lapel ll tb yiall 2, a ry) DW ete eles OnsnAnst = Omer + Ant Ohan = Omen Ann * Onan = Anxn 2 A-A=O RY SU stealth 3c Aly abl Gall othe Gea gheyob yiall fdas 4 Inverse Matrix 48 yinal\ (9 Sas Y-¥—) Lb oy S abr A a yiel at PMU pay d op trae yee ny + dW Sie y Right Inverse A, EN) ySabl candy ad) ye daly | OSs OLD pian aaa bnsen Ann = mem 2 BY! aie y Left Inverse Ay pu) psSall cody sla op dtolyy Gea h OSS oN Sue er Syl pall Le See OP (im =n) ta pW yinall AIT 1Y 1 AW GA AT, Joly Sue Byes Anon nin = Amin Anan = Of te AN ya Raby W538 She by bp OS Soll tle of J ath Sey BL BA pS on By. (eal glee VA aay [4] 40 of ob tut Singular 33\b W yan Ue A VSS yo sSae Ub od A Ob [4] =0 IS 135. Nonsingular : CU a lg BU pial ut at hey. Equality of Two Matrices 34 gas 5 3 Y-' cst yhall gS btal pola JS ols bi) B= [by] 5 A=|a,] dtd yell Gps rol gi. 2 LAD ca pbeall 6 glad ye Gla) DU « La ley Addition and Subtraction of Matrices 3 sua\\ c by — 208 B=|b,| 5 A=[a,) 0 13) aes >) Gy =a, tb, , Wij D=ldy]= Ann ~ Ben My = Ay ~ by WEGUd yall SF 0S, Lacey. abel pai D 9 CT OSS y ae a By A Sls cy HD Wn ley Conformable for Addition A (c+ Cpa) gh gle gant! UG Wyil BS dle A ale! 8 B Not Conformable for Adiition or ¢ jal sh aamld U5 0 555 Y L3 sey « (or Subtraction) « Subtraction ais ta) Seas apt. a7 4 518 _ op -_. ceave-[0 3) pea-p= ° 329 =3 40 «7, PAD ol pill tee ye IST Sey i A+(B+C)=(A+ B)+C| A+B=Bt+A Matrix Multiplication i yinals yo -Y~\ 1 OW B= By = [by] 3 A= Anam = [ay] 20S 13) C= Cpu = Ley ]= Ann Bm = ABs Cy =) audy Vij fa Conformable for Multiplication jlo jp A 3 pA WG OSG Bo pM a ley Ea Ls ps OB pball poy. BS pie ou (yl d Sal ate 01S Li from Left ails @ yiaw abd pall OP hae. sll oe Oey cmd oy oe Sig. «(EUS SAT ISN) endl oe Spall ge + OWS ta} Seas 236 : als : ‘| ,. B=|3 4OU gia J dase 6 . 1 Op 1 =c,. cap. af? 3 9]3]_[OO+@G)+O@] _[35 2 -[ 1 st -(eesem so) f + EI) St pe Byer Aygs pall of ie 2 Aa ost gilt Samy AB +C)= AB + AC (A+ BYC = AC + BC A(BC) = (ABYC = ABC AB + BA (in general) ta=[ta)] A(A+ B)=KALKB (hy th)d=hAtigd (hha) = ky) 1AzAT=A 0-A=A-0=0 ae ky ky hy ee © C=Cyne = ley] 3 B= Bua = by] © A= Apem = lay] HLS BY . (i) e-8 Leo 2 ob (B+ Oma = by +64] dehy Set sssf[For fa] fl kel il [Sus] -[Eas]- AB+ AC ro LD gl yall Li OL] Dye Go LW Se pul Lin ley OLS LS. eka SI po ye SI) SIAN Lia U5 Udi) dade of Gey a ta pe Bayer O55 ot Ce BLA cei pial oye ost Of oles J Migs AB =O 1 Alt 131OU gia =|-2 -1 -1 -1 -3 -1 wn wr op 00 0 AB=|0 0 0|=0 000 pee te le chee OS tel» pty. BHO oly 420 ot yp pe ph AS op pall yl ALN ln Jy La ah aly op all oe 6 9S nl a Updos gt otal Division of Matrices 3 yia\\ 4.5 Y-Y—4 Lit Sly Sapp ab S lanl. Wyse eM yicar Led apy Y al $ cts] Uy pW a ley otiyinall BBall ge Bla gt ABT Aba Op dopey BT Cae dg eA OL a 6 dap ye AT IIT IL Gb x J yee dx = b Wold > bof ATS Slarely AT 3 OLS) Spall Partitioning (5 ze)\ AN-Y- Rs Al Li ginal op te pet J! Wyieall 5S of pen YX Ip Nhle IE » Wed « SubmatricesCb yball 3 tenia 8 2 AVS 0G opal ales ole LS Sb jbl Gand OL clad gf at aged ts pr Hla Jet LL Lig on Matrix Transpose 4 yiva\\ y 54a 4-¥—\ jaeei By ball few op ALN pial go Wiad 64 OB 4,,,, =[a, | 2 pial gl. Gye bey of gh. AY ai as heyy at OS Op Y eld ode of a wh Cay PANS ail ylerwe pe ASW Sc QUIS. te At yet UD, (i) (4B)! = Al eB! (ii), (4 =A iii) G&A! = kal k= scalar Hiv) (4B)! = BT a Symmetric Matrix Usa 4% yiall 1 .-¥-1 wb pl se J. Ba! Sp psi ys sylhe gil eM) Beall Ub sgh lad be OB Vs ley (A= a" tay se sss gh yal 2 Beall ob Sul fw dey 2 Whe oo SULy A= AT OS Ye9 i yh Skew-Symmetric SoS, Uste\ a yall 14—-¥—1 Lal, Plat bt op hia ley . ( =A") iE gt Gen) Byieall LUG 4, =-4, => 2a,=0 > a,=0 , Vi 6 E1U) SLY le Cad Hermitian Matrix 4. yo\ 4a pial \Y-¥—\ bot gindy (SU suc te pey C9 (Wels) ew tu pW yinas A=A™ 1 of gst .. Conjugation gipll ELae iad (4) cae =a, Vij ay 2 Ol gu WayOU ginal! J dete 10 1 bse R ioe 04S Of GH day pl WD yinall J bill pole + abd 214891 6 ged rol te dee US CLL a,=a, > eR, Vi 1B yinall Seas 5-148 W2-i As|-1-i 6 143i v2+i 1-3) 7 + i> OG of Ge hill polis of LY. deen Uyiee Skew-Hermitian Matric Joly dares yh Ub gual \Y-Y-4 2G cae FB] NY ne Yl ta, yin Ge lly A=-A"| oY Jue, ral gf 1 Bae] 1 Byieal Seas REALE OLS de Ct pt J Ubi Of dae. ILL dag ByieeOU yi Trace of a Matrix Wyiali iY thE Ur A fl Ld pg) tele aed” ge nxn dad old ty Mi yiall jf 1 BS ir A= Seb. get ll hil pole ¢ yet ost 56 7 A=|0 -5 3] > wA=(5)+(-5)+@)=3 4 12 3] Commutation O18 yua\\ Jiu! des 1o-¥-) CALLS 151 5.. Commute ridin) USGA, B OY AB = BA Gt A, BCS G13) + Anti-Commite SoS, siSiou) USS Lagi) AB =- BA Ob pial : Sed 5 0 520 A=|0 3 0], B=[0 1 1 .. _ OLS pial! LUIS. Olu! cla b oe cd ba dc © B.C, d pod aga Lgl ted! Idempotent Matrix 4) ylS\ a giall \N-¥—-1 Ade AHA OT LB Gp Yl A wyeall 2 1 ey meee ek Alb yall § trie 12 = 1 OY ayo Aa 0 1oajl a|_|t a a 0 0f0 0 00 A= A=AA=A =A A =A A=AA=A =A vol Sh gop eoph May pial! HUIS. Say 2-2 -4 B=|-1 3° 4 1-2 -3 (thats Gi) B? = BB= BOY uy yo Nilpotent Matrix yivald 43 5A) dd giali \V—Y—-1 OS BL (aye pees as) hy deal) pe Byard te N Wyeall Qt A420 B ical JULI Jom LS. bial Byiall 2 Oe 2 0 0 0 Se =| |ol | a313 eb yiualt Involutary Matrix 84> gl) 5 j\\ ib gall \A-Y-) a ee... asl WD yisall JUN feo dads. dbo Wyte ale 1 100 : o] sf 4=]0 01 0 010 Aa GED te DU Up Byes Of SU yirall ob Gal ony eee Al Oy Amel OY 3 y Cory Qeme e ne MAA Ral, MeM A aL al, B=2A=1A=A , A =A A RILABA , Epis givali— a dll ab gioliy 4—¥—) Diagonal Matrix jangular. Mae TS yes (a, <0 vie 7) shill pole late (jlscl La pole Goat gpl ty ld ynall tgs (a, =0vi> J) ius Pal CF W pole Qe Ci 13] Ul .. Diagonal Matrix ¥y sai Pail GB pole Ge CAT 1315 .. Upper Triangular Matrix We ies Wb yee 5 chs .. Lower Triangular Matrix hie igles WB yaar 5 lei (a, =0Vi< j) Wwel s 8 | 500 dike Byer B=|0 1 9) Byably ae Lo wyiee 4=/0 1 0] Byiali: Juli 002 002 50 0 vie Hale Dyke gh C=[8 1 0] ayia Ue Ue 192OU gia j dati tga «Gaal Gol At yams Lb (Aad y ay ball AGL Old yinallly CA = Be BA CAB OLS La ads Ld ont jh Cth gine A, B CAS 134 pole CAS Va} 2 yy O55 AT Op WIS. Li Ur pier OSG AFB Ligh ip Wi pots Lf bb AT 0 Soy LUE Leet pads jail 1 Wad A Ayia 5 tall pot 500 to A=|0 6 0f @ At=/0 L 007 00 © BA CAB OL — 3 ala) puis Lab (glitey WE outlin out yin A, BCI 19} Op $5 A! OL IS. (gitey Ub Rabe Oye OSG A+ BEA-B a ie. s Wad A yea) S,bLAN pole ob lds a Ls poliry Lanl (LiL) ak oo 589 a, A=|0 6 4) @ At= 07 eo oor oor 8 an 8 hey [Al Bydeall ose OF (da gT Lb) tale fab yen A Cult 1} POt Sh. eat SN hl pole po frole ya (old! hin O18 3 dizi TIL ols 3) bal poe oe gh Ole pe yf LE A Of GUESU a ley 2 eed. (dat 89 6 0} < |4/=(5\(6)(7)=21040 07 - BLE pb OS A Ob JULy Q) a“ “ 1415 cli gialt Inner Product Wo pall Ye-¥—9 sed) de Cay) pedb jay) abel pa op WY Ontos One ged pall on 2 gis (uv)auy a Sob gr OS pall gil OW m= v OWT NB. alae LAST pall test Oy TOF gt. (endl Ld wy 4) (wa) =a = fa ay (ett gat ed GL By) Norm of the Vector nel! he gant ful GY fie fad B tol Ay a a PANS alla cell G pall Giney 2 Relde BS SV yu,v,m2,%4,¥) Clee od + (aur)=a%(ur) (nen)=atuy) Gi «(ur ty) = (4%) + (4%) Gil) + (uy +1) = (sv) + (uy) vy » wveR Is 3 (uv)=(yu) (wv) +i 2 rob u=| 2 |,v=/0 i 3 2 (urv)=u'Tv=[1-7 2 oe = A(2) + (2)(0) + (13) = 2 - Si 3 OWS 15t : Sead aa (uP =7uefl-i 2 “f 2 = (1-0 + i) + (2)2) + (-) =7 i 2 AT well J pb o3tib yiall J dase 16 Orthogonal Vectors sdala\\) oigreli Y1—¥—1 Gah Ld yell Opal ole 01S" 13] Ole Lagil (Cu pie sé) u, v cgmth JU ol gt. Lie (uv)=0 > Ohta, v « Mutual Orthogonal go 2 Babes &18 ghd ASM Clgrett Seas a 2 : a a Olea toler SI a de bs aegis Je 3 3 — > et 2 1 3]jo =2a°+9=0 => 2a°+9=0 3 1 OS (Olga weer Sy Sey a” ay - fay OW a= ay + ia, HIS 13 lay =-2 2a" 4+9=0 => Aa, -ia,)+9=0 => (2q+9)+{-a,)=0 = a, =0 Independent Vectors Ua=u\) Sigredi ¥¥-Y—) Cig bet pe gl lige en fy} Lege te J 2G gash OS 13} Leds 5 13 Linearly Independent Sree, =aya tape to gt pF Get = 0 hy cg, Reball ASN gd plas) ee laine bad OI L1H) jie) Lyle a7 8 yah he ad ab Olgas ot £13 GY ALT clyrall of eat: dite OWN OF cle) Jul 71d) Gil Lp * OP ote Se EL all Ul Le 3} ly * {lethal ES ao thas ab Uy gy Ling oS pp Lge Ela GY LS Olga of oof. E19 ool Wiel L Ia Say + ee 2 Ob st. Gam de Ugaes Bteledll olganll yo de yet fx} p> UB OLY, (x.x,)=0 Vey 5 Qpn)=bP 40 wi Stall & atl Ob July Oxy + yxy Hoe + O_Xy=O 2 PW SL Gi? @ clas & 1) daw +0=0bya! Ga 18 Laks yp nb |x} Slr OSG SUey pd at @,=0 pte sl JOS duly oe do ib ple got Wiad Satabece fr} Colgan CAS Na) of ae. Gee ab LI Jal Gyles Se Leg ayy salle gas V Migh Gace thas pe ub fay} clgenl Cats Ua Ufc ase ala ne gil cplelace Led egy Lhe cubes ab Fs] gall Heb. sles (BAR ght Slgrelly Susbell B> St Olgas YY-Y-1 Orthonormal Veo _ i i... sss ob gh... suey tv «Ea SUN Clg. lpn ole gel yy —,rrt~”r—.—.UCdsSisOCsiC(C“i‘iUCSCOCOC‘(CN..CiCiCtN ols 131 ' : -()] = = = == 43] Be pat SI ele lpn oy te ae sh Jot LK wb LAI Lhe ley cfy,ff=1 af 3} 2 Barbas Bey ge oy dye? = pl pr My play Leos YE-Y—1 Gram-Schmidt Orthonormalization Process ptt) gle i fay} len (at — ple pep eel QL ola dd Pgh ode le ll pay. bales fy,} lyme (hae ths» * ee19 ib yinalt nam want By Bw B, Gié of ayy (yan) =0 1 ob July (ant AQin=0 > B= (e2.m) bal ay ee OSS! 72 GF OY, Qnn)=0 , (vn%2)=0 1 Ob Siwy 0=(y5,91) = (25.91) +7001) + 72(¥2091) = (3094) +A pe) bl : = (¥3,¥2) = (x3592) + 7101092) + ¥2(¥20 92) = (X52) + Falah 5,92 _ be = Babel lgreall ope {y,} de yest le frat > taal) ps Say ig Bales Clg Ugur Jeol ¢ Uae alias olyare : et Frere ears |) soOU yi! dada 20 2 0 2 * n=nthn > faethe 3 => y=fol+Ca}if= bl 3 1 3 Gm) eo = 1 bal? z * weBtMNthh > _ (x) y= : bf 7 fleets Pade Lam Le dome ope AST SV she W el pel iW Sey 2 (»)=[0 1 "t -}|=0-3+3=0 2 (ys)=$10 1 ne (0+10-10)=0 -10 Gn») =#R Anne = «aad ae le Mules lene 4, 92575 Clea! of gl Orthonormalization 842 9\ las ¥o-Y—) alll + 0,5 Gal Gf c bala olga oy de pat ce fry} de past CHIT Le BLL I ae, Le oe ge yo Babel Be I olgente oye Me pat ll Lele gt cE da oka gid. Ble Brey lyme I eeu Lee ost .. Orthonormalization x pile o-S oe ET OS Sly. pif Alyb de x, ere JS ed Gb «baw sll Olga op dept fy,} pd Oy- i gia Orthogonal Matrix bda\n\\ yal) Y4—-Y—1 Mutual Orthogonal (ass) \piany cle) Stebel lyon ope de yet {x,} CIS Le 13} ah ghee ged (A Bi pica) S59) B yin sf BEIT lpn oda gaia gpl tb yinall Of . 2 =f 0 BaP Obs dal bal ---baP) 0 0 bP Bae Olga! polis Olan 8 Dole bb Byer OS. AAT I ATA Sidley + AB yiall 3 (Gsiall shi yi toads 22 Sh) gies CaS U 15) Orthonormal Matrix 14> 2 i ginal! O55 ON SM yy ATA=AAT 21 Ob WLI ode 34 « Orthonormal Vectors 342 4 Olgnca (Up see Unitary Matrices tsgio- g\ ld gall YY-Y—) Wyirall pond Urey ATS AT Ob AAT =I GIF inp gia A CIS LI! 2 Mab. Unitary Matrix 4 y3> 5 3 yin A 02 a= |r -3 8 te og ith Am BS idly (VERTH1 a g JE fi baer lyase ayaiay OB or 2s AAT = diag 2 28) call LBB B=[y, » vl [ iy iW il pol gt bam ye Slane yyy yy Cem 15 4 ° i Ta p-j|L 2 2 ye te A oa Vas 2 OB Stuy (BB‘T =7 of 3i#) 1 1 4 ae : 2 2 pep) ee Oe alg Tay ie ae Sth Vas Yas Jas23 ib yial Ub hall LolSry Lola YA-¥-1 Matrix Differentiation and Integration oN a t= ty aid te dew O55 4,,,(0)=|a,(0| da Bydalt + tH ty dee dace a, (1) Wee JS iis 13} LY Gays Aas) ee Joli U0 055 4,,,(0=[a,(0] dat yea 1H fy die Joli) ALU a,(1) pole JS Gil 13! 1 = 19 OSs aay, _{ day() dt dt ots 13) Head G i A=A=| 0 sint ef Int We et ol 4. 3? cose e op "ue <1? -e* 2 OU pial! fous ool ye d dA, dB “(4tB)=S+— at Gta da aA Ue ES a Ce S(ad)= ol S BU Lee acm 7 ) f#) ” a a> Lg-(% cy «Opie tol SB te S(a)-( Pao 4) wr) a aA aB S(a0)-( a+ f 2) (&) SIT Gaal oe ae ld! ol dt OU of Leybya § aie 24 Yay PSU WG 4,10 =a, 0] Bybal pots JS cits" 13 pet be fled) AYU 055 4D HB yack OW Integrable » £ ysl x0) Op xn = nf a 134 bbs el ple Lome ree 2ha)ec (ey x 2 lee Byte Be ame Ee Za)=20x a x