Preface to the Second Edition |
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vii | |
Preface to the First Edition |
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ix | |
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1 Basic Vector/Matrix Structure and Notation |
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3 | (8) |
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4 | (1) |
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5 | (1) |
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5 | (3) |
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1.3.1 Subvectors and Submatrices |
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8 | (1) |
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1.4 Representation of Data |
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8 | (3) |
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2 Vectors and Vector Spaces |
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11 | (44) |
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2.1 Operations on Vectors |
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11 | (24) |
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2.1.1 Linear Combinations and Linear Independence |
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12 | (1) |
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2.1.2 Vector Spaces and Spaces of Vectors |
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13 | (8) |
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2.1.3 Basis Sets for Vector Spaces |
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21 | (2) |
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23 | (2) |
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25 | (6) |
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31 | (1) |
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2.1.7 Metrics and Distances |
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32 | (1) |
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2.1.8 Orthogonal Vectors and Orthogonal Vector Spaces |
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33 | (1) |
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34 | (1) |
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2.2 Cartesian Coordinates and Geometrical Properties of Vectors |
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35 | (13) |
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36 | (1) |
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36 | (1) |
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2.2.3 Angles Between Vectors |
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37 | (1) |
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2.2.4 Orthogonalization Transformations: Gram-Schmidt |
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38 | (2) |
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2.2.5 Orthonormal Basis Sets |
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40 | (1) |
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2.2.6 Approximation of Vectors |
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41 | (2) |
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2.2.7 Flats, Affine Spaces, and Hyperplanes |
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43 | (1) |
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43 | (3) |
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2.2.9 Cross Products in IR3 |
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46 | (2) |
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2.3 Centered Vectors and Variances and Covariances of Vectors |
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48 | (7) |
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2.3.1 The Mean and Centered Vectors |
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48 | (1) |
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2.3.2 The Standard Deviation, the Variance, and Scaled Vectors |
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49 | (1) |
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2.3.3 Covariances and Correlations Between Vectors |
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50 | (2) |
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52 | (3) |
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3 Basic Properties of Matrices |
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55 | (130) |
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3.1 Basic Definitions and Notation |
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55 | (20) |
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3.1.1 Multiplication of a Matrix by a Scalar |
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56 | (1) |
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3.1.2 Diagonal Elements: diag(·) and vecdiag(·) |
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56 | (1) |
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3.1.3 Diagonal, Hollow, and Diagonally Dominant Matrices |
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57 | (1) |
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3.1.4 Matrices with Special Patterns of Zeroes |
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58 | (1) |
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3.1.5 Matrix Shaping Operators |
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59 | (2) |
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3.1.6 Partitioned Matrices |
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61 | (2) |
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63 | (2) |
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3.1.8 Scalar-Valued Operators on Square Matrices: The Trace |
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65 | (1) |
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3.1.9 Scalar-Valued Operators on Square Matrices: The Determinant |
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66 | (9) |
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3.2 Multiplication of Matrices and Multiplication of Vectors and Matrices |
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75 | (24) |
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3.2.1 Matrix Multiplication (Cayley) |
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75 | (3) |
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3.2.2 Multiplication of Matrices with Special Patterns |
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78 | (2) |
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3.2.3 Elementary Operations on Matrices |
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80 | (8) |
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3.2.4 The Trace of a Cayley Product That Is Square |
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88 | (1) |
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3.2.5 The Determinant of a Cayley Product of Square Matrices |
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88 | (1) |
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3.2.6 Multiplication of Matrices and Vectors |
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89 | (1) |
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90 | (1) |
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3.2.8 Bilinear and Quadratic Forms: Definiteness |
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91 | (2) |
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93 | (1) |
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3.2.10 Other Kinds of Matrix Multiplication |
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94 | (5) |
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3.3 Matrix Rank and the Inverse of a Matrix |
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99 | (22) |
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3.3.1 Row Rank and Column Rank |
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100 | (1) |
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101 | (1) |
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3.3.3 Rank of Elementary Operator Matrices and Matrix Products Involving Them |
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101 | (1) |
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3.3.4 The Rank of Partitioned Matrices, Products of Matrices, and Sums of Matrices |
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102 | (2) |
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3.3.5 Full Rank Partitioning |
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104 | (1) |
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3.3.6 Full Rank Matrices and Matrix Inverses |
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105 | (4) |
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3.3.7 Full Rank Factorization |
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109 | (1) |
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3.3.8 Equivalent Matrices |
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110 | (2) |
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3.3.9 Multiplication by Full Rank Matrices |
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112 | (3) |
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3.3.10 Gramian Matrices: Products of the Form AT A |
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115 | (2) |
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3.3.11 A Lower Bound on the Rank of a Matrix Product |
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117 | (1) |
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3.3.12 Determinants of Inverses |
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117 | (1) |
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3.3.13 Inverses of Products and Sums of Nonsingular Matrices |
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118 | (2) |
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3.3.14 Inverses of Matrices with Special Forms |
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120 | (1) |
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3.3.15 Determining the Rank of a Matrix |
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121 | (1) |
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3.4 More on Partitioned Square Matrices: The Schur Complement |
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121 | (2) |
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3.4.1 Inverses of Partitioned Matrices |
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122 | (1) |
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3.4.2 Determinants of Partitioned Matrices |
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122 | (1) |
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3.5 Linear Systems of Equations |
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123 | (4) |
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3.5.1 Solutions of Linear Systems |
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123 | (3) |
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3.5.2 Null Space: The Orthogonal Complement |
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126 | (1) |
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127 | (4) |
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3.6.1 Immediate Properties of Generalized Inverses |
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127 | (1) |
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3.6.2 Special Generalized Inverses: The Moore-Penrose Inverse |
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127 | (3) |
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3.6.3 Generalized Inverses of Products and Sums of Matrices |
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130 | (1) |
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3.6.4 Generalized Inverses of Partitioned Matrices |
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131 | (1) |
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131 | (3) |
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3.7.1 Orthogonal Matrices: Definition and Simple Properties |
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132 | (1) |
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3.7.2 Orthogonal and Orthonormal Columns |
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133 | (1) |
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3.7.3 The Orthogonal Group |
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133 | (1) |
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134 | (1) |
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3.8 Eigenanalysis: Canonical Factorizations |
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134 | (30) |
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3.8.1 Eigenvalues and Eigenvectors Are Remarkable |
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135 | (1) |
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135 | (1) |
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3.8.3 Basic Properties of Eigenvalues and Eigenvectors |
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136 | (2) |
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3.8.4 The Characteristic Polynomial |
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138 | (3) |
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141 | (5) |
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3.8.6 Similarity Transformations |
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146 | (1) |
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3.8.7 Schur Factorization |
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147 | (1) |
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3.8.8 Similar Canonical Factorization: Diagonalizable Matrices |
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148 | (4) |
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3.8.9 Properties of Diagonalizable Matrices |
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152 | (1) |
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3.8.10 Eigenanalysis of Symmetric Matrices |
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153 | (6) |
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3.8.11 Positive Definite and Nonnegative Definite Matrices |
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159 | (1) |
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3.8.12 Generalized Eigenvalues and Eigenvectors |
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160 | (1) |
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3.8.13 Singular Values and the Singular Value Decomposition (SVD) |
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161 | (3) |
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164 | (11) |
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3.9.1 Matrix Norms Induced from Vector Norms |
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165 | (2) |
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3.9.2 The Frobenius Norm---The "Usual" Norm |
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167 | (2) |
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169 | (1) |
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3.9.4 Matrix Norm Inequalities |
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170 | (1) |
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3.9.5 The Spectral Radius |
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171 | (1) |
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3.9.6 Convergence of a Matrix Power Series |
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171 | (4) |
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3.10 Approximation of Matrices |
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175 | (10) |
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3.10.1 Measures of the Difference Between Two Matrices |
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175 | (1) |
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3.10.2 Best Approximation with a Matrix of Given Rank |
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176 | (2) |
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178 | (7) |
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4 Vector/Matrix Derivatives and Integrals |
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185 | (42) |
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4.1 Functions of Vectors and Matrices |
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186 | (1) |
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4.2 Basics of Differentiation |
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186 | (4) |
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188 | (1) |
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4.2.2 Notation and Properties |
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188 | (2) |
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190 | (1) |
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4.3 Types of Differentiation |
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190 | (8) |
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4.3.1 Differentiation with Respect to a Scalar |
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190 | (1) |
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4.3.2 Differentiation with Respect to a Vector |
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191 | (5) |
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4.3.3 Differentiation with Respect to a Matrix |
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196 | (2) |
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4.4 Optimization of Scalar-Valued Functions |
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198 | (16) |
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4.4.1 Stationary Points of Functions |
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200 | (1) |
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200 | (2) |
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202 | (4) |
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206 | (2) |
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4.4.5 Optimization of Functions with Constraints |
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208 | (5) |
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4.4.6 Optimization Without Differentiation |
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213 | (1) |
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4.5 Integration and Expectation: Applications to Probability Distributions |
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214 | (13) |
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4.5.1 Multidimensional Integrals and Integrals Involving Vectors and Matrices |
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215 | (1) |
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4.5.2 Integration Combined with Other Operations |
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216 | (1) |
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4.5.3 Random Variables and Probability Distributions |
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217 | (5) |
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222 | (5) |
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5 Matrix Transformations and Factorizations |
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227 | (38) |
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227 | (1) |
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5.2 Computational Methods: Direct and Iterative |
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228 | (1) |
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5.3 Linear Geometric Transformations |
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229 | (6) |
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5.3.1 Invariance Properties of Linear Transformations |
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229 | (1) |
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5.3.2 Transformations by Orthogonal Matrices |
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230 | (1) |
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231 | (2) |
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233 | (1) |
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5.3.5 Translations: Homogeneous Coordinates |
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234 | (1) |
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5.4 Householder Transformations (Reflections) |
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235 | (3) |
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5.4.1 Zeroing All Elements But One in a Vector |
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236 | (1) |
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5.4.2 Computational Considerations |
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237 | (1) |
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5.5 Givens Transformations (Rotations) |
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238 | (3) |
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5.5.1 Zeroing One Element in a Vector |
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239 | (1) |
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5.5.2 Givens Rotations That Preserve Symmetry |
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240 | (1) |
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5.5.3 Givens Rotations to Transform to Other Values |
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240 | (1) |
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5.5.4 Fast Givens Rotations |
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241 | (1) |
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5.6 Factorization of Matrices |
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241 | (1) |
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5.7 LU and LDU Factorizations |
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242 | (6) |
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5.7.1 Properties: Existence |
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243 | (3) |
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246 | (1) |
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5.7.3 Use of Inner Products |
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247 | (1) |
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5.7.4 Properties: Uniqueness |
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247 | (1) |
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5.7.5 Properties of the LDU Factorization of a Square Matrix |
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248 | (1) |
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248 | (6) |
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5.8.1 Related Matrix Factorizations |
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249 | (1) |
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5.8.2 Matrices of Full Column Rank |
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249 | (1) |
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5.8.3 Relation to the Moore-Penrose Inverse for Matrices of Full Column Rank |
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250 | (1) |
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5.8.4 Nonfull Rank Matrices |
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251 | (1) |
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5.8.5 Relation to the Moore-Penrose Inverse |
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251 | (1) |
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5.8.6 Determining the Rank of a Matrix |
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252 | (1) |
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5.8.7 Formation of the QR Factorization |
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252 | (1) |
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5.8.8 Householder Reflections to Form the QR Factorization |
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252 | (1) |
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5.8.9 Givens Rotations to Form the QR, Factorization |
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253 | (1) |
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5.8.10 Gram-Schmidt Transformations to Form the QR Factorization |
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254 | (1) |
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5.9 Factorizations of Nonnegative Definite Matrices |
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254 | (5) |
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254 | (1) |
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5.9.2 Cholesky Factorization |
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255 | (3) |
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5.9.3 Factorizations of a Gramian Matrix |
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258 | (1) |
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5.10 Approximate Matrix Factorization |
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259 | (6) |
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5.10.1 Nonnegative Matrix Factorization |
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259 | (1) |
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5.10.2 Incomplete Factorizations |
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260 | (1) |
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261 | (4) |
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6 Solution of Linear Systems |
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265 | (42) |
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6.1 Condition of Matrices |
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266 | (8) |
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267 | (5) |
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6.1.2 Improving the Condition Number |
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272 | (1) |
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273 | (1) |
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6.2 Direct Methods for Consistent Systems |
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274 | (5) |
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6.2.1 Gaussian Elimination and Matrix Factorizations |
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274 | (5) |
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6.2.2 Choice of Direct Method |
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279 | (1) |
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6.3 Iterative Methods for Consistent Systems |
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279 | (7) |
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6.3.1 The Gauss-Seidel Method with Successive Overrelaxation |
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279 | (2) |
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6.3.2 Conjugate Gradient Methods for Symmetric Positive Definite Systems |
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281 | (5) |
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286 | (1) |
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286 | (1) |
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6.5 Updating a Solution to a Consistent System |
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287 | (2) |
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6.6 Overdetermined Systems: Least Squares |
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289 | (7) |
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6.6.1 Least Squares Solution of an Overdetermined System |
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290 | (2) |
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6.6.2 Least Squares with a Full Rank Coefficient Matrix |
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292 | (1) |
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6.6.3 Least Squares with a Coefficient Matrix Not of Full Rank |
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293 | (2) |
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6.6.4 Weighted Least Squares |
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295 | (1) |
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6.6.5 Updating a Least Squares Solution of an Overdetermined System |
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295 | (1) |
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6.7 Other Solutions of Overdetermined Systems |
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296 | (11) |
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6.7.1 Solutions that Minimize Other Norms of the Residuals |
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297 | (3) |
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6.7.2 Regularized Solutions |
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300 | (1) |
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6.7.3 Minimizing Orthogonal Distances |
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301 | (4) |
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305 | (2) |
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7 Evaluation of Eigenvalues and Eigenvectors |
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307 | (22) |
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7.1 General Computational Methods |
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308 | (5) |
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7.1.1 Numerical Condition of an Eigenvalue Problem |
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308 | (2) |
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7.1.2 Eigenvalues from Eigenvectors and Vice Versa |
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310 | (1) |
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310 | (2) |
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312 | (1) |
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312 | (1) |
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313 | (2) |
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7.2.1 Inverse Power Method |
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315 | (1) |
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315 | (3) |
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318 | (3) |
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321 | (1) |
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7.6 Generalized Eigenvalues |
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321 | (1) |
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7.7 Singular Value Decomposition |
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322 | (7) |
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324 | (5) |
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Part II Applications in Data Analysis |
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8 Special Matrices and Operations Useful in Modeling and Data Analysis |
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329 | (70) |
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8.1 Data Matrices and Association Matrices |
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330 | (10) |
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330 | (1) |
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8.1.2 Graphs and Other Data Structures |
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331 | (7) |
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8.1.3 Term-by-Document Matrices |
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338 | (1) |
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8.1.4 Probability Distribution Models |
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339 | (1) |
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8.1.5 Derived Association Matrices |
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340 | (1) |
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8.2 Symmetric Matrices and Other Unitarily Diagonalizable Matrices |
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340 | (6) |
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8.2.1 Some Important Properties of Symmetric Matrices |
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340 | (1) |
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8.2.2 Approximation of Symmetric Matrices and an Important Inequality |
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341 | (4) |
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345 | (1) |
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8.3 Nonnegative Definite Matrices: Cholesky Factorization |
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346 | (2) |
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8.3.1 Eigenvalues of Nonnegative Definite Matrices |
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347 | (1) |
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8.3.2 The Square Root and the Cholesky Factorization |
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347 | (1) |
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8.3.3 The Convex Cone of Nonnegative Definite Matrices |
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348 | (1) |
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8.4 Positive Definite Matrices |
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348 | (4) |
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8.4.1 Leading Principal Submatrices of Positive Definite Matrices |
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350 | (1) |
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8.4.2 The Convex Cone of Positive Definite Matrices |
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351 | (1) |
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8.4.3 Inequalities Involving Positive Definite Matrices |
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351 | (1) |
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8.5 Idempotent and Projection Matrices |
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352 | (7) |
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8.5.1 Idempotent Matrices |
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353 | (5) |
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8.5.2 Projection Matrices: Symmetric Idempotent Matrices |
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358 | (1) |
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8.6 Special Matrices Occurring in Data Analysis |
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359 | (13) |
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360 | (2) |
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8.6.2 Projection and Smoothing Matrices |
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362 | (3) |
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8.6.3 Centered Matrices and Variance-Covariance Matrices |
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365 | (3) |
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8.6.4 The Generalized Variance |
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368 | (2) |
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8.6.5 Similarity Matrices |
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370 | (1) |
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8.6.6 Dissimilarity Matrices |
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371 | (1) |
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8.7 Nonnegative and Positive Matrices |
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372 | (8) |
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8.7.1 The Convex Cones of Nonnegative and Positive Matrices |
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373 | (1) |
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8.7.2 Properties of Square Positive Matrices |
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373 | (2) |
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8.7.3 Irreducible Square Nonnegative Matrices |
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375 | (4) |
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8.7.4 Stochastic Matrices |
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379 | (1) |
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380 | (1) |
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8.8 Other Matrices with Special Structures |
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380 | (19) |
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381 | (1) |
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8.8.2 Vandermonde Matrices |
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382 | (1) |
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8.8.3 Hadamard Matrices and Orthogonal Arrays |
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382 | (2) |
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384 | (2) |
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386 | (1) |
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8.8.6 Fourier Matrices and the Discrete Fourier Transform |
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387 | (3) |
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390 | (1) |
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391 | (1) |
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8.8.9 Matrices Useful in Graph Theory |
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392 | (4) |
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8.8.10 Z-Matrices and M-Matrices |
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396 | (1) |
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396 | (3) |
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9 Selected Applications in Statistics |
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399 | (62) |
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9.1 Structure in Data and Statistical Data Analysis |
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399 | (1) |
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9.2 Multivariate Probability Distributions |
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400 | (3) |
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9.2.1 Basic Definitions and Properties |
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400 | (1) |
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9.2.2 The Multivariate Normal Distribution |
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401 | (1) |
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9.2.3 Derived Distributions and Cochran's Theorem |
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401 | (2) |
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403 | (21) |
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405 | (3) |
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9.3.2 Linear Models and Least Squares |
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408 | (2) |
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9.3.3 Statistical Inference |
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410 | (4) |
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9.3.4 The Normal Equations and the Sweep Operator |
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414 | (1) |
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9.3.5 Linear Least Squares Subject to Linear Equality Constraints |
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415 | (1) |
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9.3.6 Weighted Least Squares |
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416 | (1) |
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9.3.7 Updating Linear Regression Statistics |
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417 | (2) |
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419 | (1) |
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9.3.9 Multivariate Linear Models |
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420 | (4) |
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424 | (4) |
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9.4.1 Principal Components of a Random Vector |
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424 | (1) |
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9.4.2 Principal Components of Data |
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425 | (3) |
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9.5 Condition of Models and Data |
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428 | (12) |
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9.5.1 Ill-Conditioning in Statistical Applications |
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429 | (1) |
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429 | (1) |
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9.5.3 Principal Components Regression |
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430 | (1) |
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9.5.4 Shrinkage Estimation |
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431 | (2) |
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9.5.5 Statistical Inference about the Rank of a Matrix |
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|
433 | (4) |
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|
437 | (3) |
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|
440 | (3) |
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|
441 | (2) |
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9.7 Multivariate Random Number Generation |
|
|
443 | (2) |
|
9.7.1 The Multivariate Normal Distribution |
|
|
443 | (1) |
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9.7.2 Random Correlation Matrices |
|
|
444 | (1) |
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|
445 | (16) |
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|
445 | (3) |
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9.8.2 Markovian Population Models |
|
|
448 | (1) |
|
9.8.3 Autoregressive Processes |
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|
449 | (3) |
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|
452 | (9) |
|
Part III Numerical Methods and Software |
|
|
|
|
461 | (62) |
|
10.1 Digital Representation of Numeric Data |
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|
466 | (17) |
|
10.1.1 The Fixed-Point Number System |
|
|
466 | (2) |
|
10.1.2 The Floating-Point Model for Real Numbers |
|
|
468 | (8) |
|
10.1.3 Language Constructs for Representing Numeric Data |
|
|
476 | (6) |
|
10.1.4 Other Variations in the Representation of Data; Portability of Data |
|
|
482 | (1) |
|
10.2 Computer Operations on Numeric Data |
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|
483 | (13) |
|
10.2.1 Fixed-Point Operations |
|
|
485 | (1) |
|
10.2.2 Floating-Point Operations |
|
|
485 | (6) |
|
10.2.3 Language Constructs for Operations on Numeric Data |
|
|
491 | (2) |
|
10.2.4 Software Methods for Extending the Precision |
|
|
493 | (2) |
|
10.2.5 Exact Computations |
|
|
495 | (1) |
|
10.3 Numerical Algorithms and Analysis |
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|
496 | (27) |
|
10.3.1 Algorithms and Programs |
|
|
496 | (1) |
|
10.3.2 Error in Numerical Computations |
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|
496 | (8) |
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|
504 | (6) |
|
10.3.4 Iterations and Convergence |
|
|
510 | (3) |
|
10.3.5 Other Computational Techniques |
|
|
513 | (3) |
|
|
516 | (7) |
|
11 Numerical Linear Algebra |
|
|
523 | (16) |
|
11.1 Computer Storage of Vectors and Matrices |
|
|
523 | (2) |
|
|
524 | (1) |
|
|
524 | (1) |
|
|
524 | (1) |
|
11.2 General Computational Considerations for Vectors and Matrices |
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|
525 | (4) |
|
11.2.1 Relative Magnitudes of Operands |
|
|
525 | (2) |
|
|
527 | (1) |
|
11.2.3 Assessing Computational Errors |
|
|
528 | (1) |
|
11.3 Multiplication of Vectors and Matrices |
|
|
529 | (4) |
|
11.3.1 Strassen's Algorithm |
|
|
531 | (2) |
|
11.3.2 Matrix Multiplication Using MapReduce |
|
|
533 | (1) |
|
11.4 Other Matrix Computations |
|
|
533 | (6) |
|
11.4.1 Rank Determination |
|
|
534 | (1) |
|
11.4.2 Computing the Determinant |
|
|
535 | (1) |
|
11.4.3 Computing the Condition Number |
|
|
535 | (2) |
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|
537 | (2) |
|
12 Software for Numerical Linear Algebra |
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|
539 | (50) |
|
12.1 General Considerations |
|
|
539 | (16) |
|
12.1.1 Software Development and Open Source Software |
|
|
540 | (1) |
|
12.1.2 Collaborative Research and Version Control |
|
|
541 | (1) |
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|
541 | (1) |
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|
541 | (9) |
|
12.1.5 Software Development, Maintenance, and Testing |
|
|
550 | (3) |
|
12.1.6 Reproducible Research |
|
|
553 | (2) |
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|
555 | (9) |
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|
555 | (2) |
|
12.2.2 Level 2 and Level 3 BLAS, LAPACK, and Related Libraries |
|
|
557 | (2) |
|
12.2.3 Libraries for High Performance Computing |
|
|
559 | (3) |
|
12.2.4 The IMSL Libraries |
|
|
562 | (2) |
|
12.3 General Purpose Languages |
|
|
564 | (8) |
|
12.3.1 Programming Considerations |
|
|
566 | (2) |
|
|
568 | (2) |
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|
570 | (1) |
|
|
571 | (1) |
|
12.4 Interactive Systems for Array Manipulation |
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|
572 | (17) |
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|
572 | (8) |
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|
580 | (2) |
|
|
582 | (7) |
|
Appendices and Back Matter |
|
|
|
|
589 | (14) |
|
|
589 | (2) |
|
A.2 Computer Number Systems |
|
|
591 | (1) |
|
A.3 General Mathematical Functions and Operators |
|
|
592 | (2) |
|
|
594 | (1) |
|
A.4 Linear Spaces and Matrices |
|
|
595 | (2) |
|
A.4.1 Norms and Inner Products |
|
|
597 | (1) |
|
A.4.2 Matrix Shaping Notation |
|
|
598 | (2) |
|
A.4.3 Notation for Rows or Columns of Matrices |
|
|
600 | (1) |
|
A.4.4 Notation Relating to Matrix Determinants |
|
|
600 | (1) |
|
A.4.5 Matrix-Vector Differentiation |
|
|
600 | (1) |
|
A.4.6 Special Vectors and Matrices |
|
|
601 | (1) |
|
A.4.7 Elementary Operator Matrices |
|
|
601 | (1) |
|
|
602 | (1) |
Solutions and Hints for Selected Exercises |
|
603 | (16) |
Bibliography |
|
619 | (14) |
Index |
|
633 | |