Appendix ALinear Algebra
We assume that the reader has some familiarity with basic properties of vectors and matrices, such as matrix addition, multiplication, and determinants [66]. The symbol 
denotes the set of real numbers and 
denotes the set of 
‐tuples of real numbers. We use lowercase letters 
, 
, 
, 
, 
, etc., to denote scalars in 
and vectors in 
. Uppercase letters 
, , , , , etc., denote matrices. ...
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