Documentos de Académico
Documentos de Profesional
Documentos de Cultura
! The
individual
items
in
a
matrix
are
called
its
elements
or
entries.
This
matrix
contains
elements
arranged
in
m
rows
and
n
columns.
! The
entry
aij
is
contained
in
row
i
and
column
j.
aij
are
scalars,
they
can
be
real
or
complex
valued.
Matrices
and
vectors
–
revision
of
basic
concepts
! The
size
of
a
matrix
is
described
in
terms
of
the
number
of
rows
(horizontal
lines)
and
columns
(ver1cal
lines)
it
contains.
! This
matrix’s
size
is
mxn,
m
(rows)
by
n
(columns).
⎛ 2 3 2 4 1 4 2⎞
⎜ ⎟
A = ⎜0 3 1 4 3 2 2 ⎟
⎜4 1 3 1 0 0 2 ⎟
⎝ ⎠
! The
matrix
A
is
a
3
by
7
(3x7)
matrix.
The
element
in
row
2
and
column
5
is
a25=
3.
Matrices
and
vectors
–
revision
of
basic
concepts
⎛ b1 ⎞
! A
general
(m-‐dimensional)
column
vector
b
takes
the
form:
⎜ ⎟
! This
vector
contains
m
elements
⎜ b2 ⎟
⎜ ! ⎟
! The
entry
bi
is
contained
in
row
i
b=⎜ ⎟
⎜ bi ⎟
⎜ ! ⎟
! Example:
⎜
⎝ bm ⎟⎠
⎛1⎞
! The
number
of
hours
a
student
spent
studying
three
subjects
b
=
⎜ 3 ⎟ .
during
a
certain
day
is
a
column
vector.
For
example,
on
Friday:
⎜ ⎟
⎜0⎟
!
b
is
a
3-‐dimensional
column
vector.
The
element
in
row
2
is
b =3.
⎝ ⎠ 2
Matrices
and
vectors
–
revision
of
basic
concepts
! Transpose
of
a
matrix:
If
A
is
any
mxn
matrix,
then
the
transpose
of
A,
denoted
by
A',
is
defined
to
be
the
nxm
matrix
that
results
from
interchanging
the
rows
and
columns
of
A;
that
is,
the
first
column
of
A'
is
the
first
row
of
A,
the
second
column
of
A'
is
the
second
row
of
A,
and
so
forth.
The
rows
of
A
become
the
columns
of
A',
which
has
n
rows
and
m
columns.
⎛ a11 a12 a1 j a1n ⎞ ⎛ a11 a21 ai1 am1 ⎞
⎜ ⎟ ⎜ ⎟
⎜ a21 a22 a2 j a2n ⎟ ⎜ a12 a22 ai 2 am 2 ⎟
⎜ ⎟ ⎜ ⎟
⎟ A′ = ⎜
A=⎜ ⎟
⎜ ai1 ai 2 aij ain ⎟ ⎜ a1 j a2 j aij amj ⎟
⎜ ⎟ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
⎜⎝ am1 am 2 amj amn ⎟⎠ ⎜⎝ a1n a2n ain amn ⎟⎠
(m × n) ⇒ ( n × m)
Matrices
and
vectors
–
revision
of
basic
concepts
! Example:
⎛1 2 3 4 ⎞
⎜ ⎟
! Find
the
transpose
of
the
3x4
matrix
A.
A = ⎜5 6 7 8 ⎟
⎜ ⎟
⎝ 9 10 11 12⎠
! The
matrix
A
has
transpose
A'
⎛⎜ 1 5 9⎞
⎟
which
is
a
4x3
matrix:
⎜ 2 6 10⎟
A′ =
⎜3 7 11⎟
⎜ ⎟
⎝4 8 12⎠
! Thus
the
entry
a'ij
in
row
i
and
column
j
of
A'
is
the
entry
aji
in
row
j
and
column
i
of
A;
that
is,
the
subscripts
are
reversed:
a'ij=
aji
.
! Note:
( A′ )′ = A
Matrices
and
vectors
–
revision
of
basic
concepts
(b )
⎛ b1 ⎞
⎜ ⎟
b2 ⎟ b′ = 1 b2 bm
⎜
⎜ ⎟
b=⎜ ⎟
bi ⎟ Size ( m ×1) ⇒ Size (1× m)
⎜
⎜ ⎟
⎜ ⎟
⎝ bm ⎠
⎛ 1⎞
⎜ ⎟
! Note:
In
this
course,
a
lower
case
character,
e.g.
b,
will
b
=
⎜
5
⎟
denote
a
column
vector.
A
row
vector
will
be
wrieen
⎜⎝
9
⎟⎠
as
a
transposed
column
vector,
e.g.
b'.
b ′ = (1 5 9)
Matrices
and
vectors
–
revision
of
basic
concepts
⎛ C⎞ ⎛ E F⎞ ⎛C ⎞
A=⎜ ⎟ A = (E F) A=⎜ ⎟ A=⎜ F⎟
⎝ D⎠ ⎝ D ⎠ ⎝D ⎠
where
C,
D,
E
and
F
are
matrices
of
appropriate
dimension.
Matrices
and
vectors
–
revision
of
basic
concepts
! Example:
⎛1 2 3 4 ⎞
⎜ ⎟
! Consider
the
matrix:
A = ⎜ 5 6 7 8 ⎟
⎜ ⎟
⎝ 9 10 11 12⎠
⎛ C⎞
! A
possible
par11on
is:
A = ⎜ ⎟
⎝ d ′⎠
with:
⎛ 1 2 3 4⎞
C=⎜ ⎟
⎝ 5 6 7 8⎠
d ′ = (9 10 11 12)
Matrices
and
vectors
–
revision
of
basic
concepts
⎛ a11 a12 ! a1 j ! a1n ⎞
⎜ ⎟
! a2 j ! a2n ⎟
! Column
and
row
par00ons.
⎜⎜ a21 a22
" " " " ⎟
A
general
mxn
matrix
A
has
A = ⎜⎜ ai1 ai 2 ! aij ! ain ⎟
⎟
⎜
⎜
" " " " ⎟
⎟
Column
par11on:
⎜⎝ am1 am 2 ! amj ! amn ⎟⎠
! Trace
of
a
square
matrix
is
defined
to
be
the
sum
of
the
entries
on
the
main
diagonal
of
A.
The
trace
of
A
is
undefined
if
A
is
not
a
square
matrix.
Tr( A) = a + a +…+ a +…+ a
11 11 ii nn
Matrices
and
vectors
–
revision
of
basic
concepts
Matrices
and
vectors
–
revision
of
basic
concepts
Matrices
and
vectors
–
revision
of
basic
concepts
! Equality
of
Matrices.
Two
matrices
are
defined
to
be
equal
if
they
have
the
same
size
and
their
corresponding
entries
are
equal.
⎛ a11 a12 a1 j a1n ⎞ ⎛ b11 b12 b1 j b1n ⎞
⎜ ⎟ ⎜ ⎟
⎜ a21 a22 a2 j a2n ⎟ ⎜ b21 b22 b2 j b2n ⎟
⎜ ⎟ ⎜ ⎟
⎟ ⎟
A=⎜ B=⎜
⎜ ai1 ai 2 aij ain ⎟ ⎜ bi1 bi2 bij bin ⎟
⎜ ⎟
⎜ ⎟ ⎜ ⎟
⎜ ⎟
⎜ bmj bmn ⎟⎟⎠
⎜⎝ am1 am 2 amj amn ⎟⎠ ⎜⎝ bm1 bm2
! Example:
⎛ 1 3 0 ⎞
⎛ 1 3 ⎞ ⎛ 1 3 ⎞
! Consider
the
matrices:
A = ⎜ ⎟ , B=⎜ ⎟ , C=⎜ ⎟.
⎝ 4 x ⎠ ⎝ 4 7 ⎠ ⎝ 4 7 0 ⎠
! There is no value of x for which A=C, since A and C have different sizes.
Matrices
and
vectors
–
revision
of
basic
concepts
! Example:
⎛ 1 2 3⎞ ⎛ −6 5 −4 ⎞
A=⎜ ⎟, B=⎜ ⎟,
⎝ 4 5 6⎠ ⎝ 3 −2 1 ⎠
⎛ −5 7 −1⎞ ⎛ 7 −3 7⎞
A+ B= ⎜ ⎟ A− B = ⎜ ⎟
⎝ 7 3 7⎠ ⎝ 1 7 5⎠
Matrices
and
vectors
–
revision
of
basic
concepts
! Opera0ons
on
vectors
and
matrices:
⎛1⎞ ⎛ −4 ⎞ ⎛ −3⎞ ⎛ 5 ⎞
⎜ ⎟ ⎜ ⎟ ⎜ ⎟ (1) ⎜ ⎟
v (1)
= ⎜ −2 ⎟ , v = 5 , v + v = ⎜ 3 ⎟ v − v = ⎜ − 7 ⎟
(2) (1) (2) ( 2)
⎜ ⎟ ⎜ ⎟
⎜ 3⎟ ⎜ −6 ⎟ ⎝ −3⎠ ⎜ 9 ⎟
⎝ ⎠ ⎝ ⎠ ⎝ ⎠
A+B
and
A-‐B
are
undefined,
since
A
and
B
do
not
have
equal
sizes.
⎛ 1 2 ⎞
⎛ 6 7 10 ⎞ ⎛ 1 ⎞
A = ⎜
3 4
⎟
, B =
⎜
(
,
⎟ v = ⎜ ⎟ , w )
′= 3 4 ,
⎝ ⎠ ⎝ 8 9 11 ⎠ ⎝ 2⎠
v+w’
and
v-‐w’
are
undefined,
since
v
and
w’
do
not
have
equal
numbers
of
rows
and
columns.
Matrices
and
vectors
–
revision
of
basic
concepts
! Opera0ons
on
vectors:
! Inner
product:
(scalar
product)
of
an
n-‐dimensional
row
vector
w'
and
an
n-‐dimensional
column
vector
v
is
defined
by:
w′ v = w1 v1 + w2 v2 ++ wn vn
⎛ v1 ⎞ w′ = ⎛ w w … wi … wn ⎟
⎞
⎜⎝ 1 ⎠ ⎛ v1 ⎞
⎜ ⎟
2
v2 ⎜ ⎟
⎜ ⎟ ⎜ v2 ⎟
⎜ ! ⎟ ⎛ ⎞⎜ ⎟
v=⎜ ⎟ ⎟
w′ v = ⎜ w1 w2 … wi … wn
⎝ ⎟⎠ ⎜ = w1 v1 + w2 v2 ++ wn vn
⎜ vi ⎟ ⎜ vi ⎟
⎜ ⎟
⎜
! ⎟
⎜
⎟
w’v
is
a
scalar
⎜ ⎟ ⎜ vm ⎟⎠
⎜⎝ vm ⎟⎠ ⎝
(1× n) (n × 1) = 1× 1
Matrices
and
vectors
–
revision
of
basic
concepts
! Scalar
Mul0ples:
If
A
is
any
matrix
and
α
is
any
scalar,
then
the
product
α A
is
the
matrix
obtained
by
mul1plying
each
entry
of
the
matrix
A
by
α .
The
matrix
α A
is
said
to
be
a
scalar
mul1ple
of
A.
⎛ αa αa αa αa ⎞
11 12 1j 1n
⎜ ⎟
⎜ α a21 α a22 α a2 j α a2n ⎟
⎜ ⎟
αA=⎜ ⎟
⎜ αa α ai2 α aij α ain ⎟
⎜ i1
⎟
⎜ ⎟
⎜ αa α am2 α amj α amn ⎟
⎜⎝ m1 ⎟⎠
! Example:
A = ⎛⎜ 1 2 3⎞⎟ ⎛ 3 6 9⎞
α = 3 αA=⎜ ⎟
⎝ 4 5 6⎠ ⎝12 15 18⎠
Matrices
and
vectors
–
revision
of
basic
concepts
! Matrix
product:
If
A
is
an
mxn
matrix
and
B
is
an
nxp
matrix,
then
the
product
AB
is
the
mxp
matrix
whose
entries
are
determined
as
follows.
To
find
the
entry
in
row
i
and
column
j
of
AB,
single
out
row
i
from
the
matrix
A
and
column
j
from
the
matrix
B,
then
calculate
the
inner
product
of
row
i
and
column
j,
that
is
mul1ply
the
corresponding
entries
from
the
row
and
column
together,
and
then
add
up
the
resul1ng
products.
⎛ ⎛ ⎞ n
a11 a12 a1 j a1n ⎞ b11 b12 b1 j b1 p
( A B) ij = ∑ a ik bkj
⎜ ⎟ ⎜ ⎟
⎜ a21 a22 a2 j a2n ⎟ ⎜ b21 b22 b2 j b2 p ⎟ k =1
⎜ ⎟ ⎜ ⎟
A
B
=
AB
A=⎜
⎟ B=⎜ ⎟
mxn
nxp = mxp
⎜
ai1 ai 2 aij ain ⎟ ⎜ bi1 bi2 bij bip ⎟
⎜ ⎟ ⎜ ⎟
⎜
⎟ ⎜ ⎟ In
general,
AB≠BA
⎜⎝ am1 am 2 amj amn ⎟⎠ ⎜ ⎟
⎜⎝ bn1 bn2 bnj bnp ⎟⎠
Worked
examples
Engineering
applica1ons
! Linearity
is
rare
in
the
real
world,
but
ubiquitous
in
engineering
models
of
real-‐world
systems.
! More,
and
more
powerful,
analysis
and
design
techniques
are
available
for
linear
than
for
nonlinear
systems.
Engineering
applica1ons
“In
prac1cal
engineering
work,
it
is
quite
likely
that
if
very
non-‐linear
structural
behaviour
is
found,
it
may
well
be
indica.ve
of
poor
design.
It
may
then
be
be4er
to
look
for,
and
eliminate,
the
causes
of
the
non-‐
linearity,
such
as
backlash
and
fric1on,
rather
than
to
spend
.me
modelling
the
non-‐linear
problem”
“Fortunately,
with
the
possible
excep.on
of
damping,
significant
non-‐
linearity
in
vibra1ng
structures,
as
they
are
encountered
in
industry
today,
is
actually
quite
rare.”
Engineering
applica1ons
Elevator
AlJtude
Ailerons
Speed
Rudder
3 + x 2 + 4 xy Angle-‐of-‐aMack
LeI
engine
Pitch
rate
Right
engine
Roll
rate