Appendix BLINEAR ALGEBRA
We assume that the reader has some familiarity with basic properties of vectors and matrices, such as matrix addition, multiplication, and determinants. For additional background, see [9, 60].
The symbol 
denotes the set of real numbers and 
denotes the set of n-tuples of real numbers. We use lower case letters a, b, c, x, y, etc., to denote scalars in 
and vectors in 
. Uppercase letters A, B, C, M, R, etc., denote matrices.
B.1 Vectors
Vectors in 
are defined as column vectors
The entries x1, …, xn are called components or coordinates of x. The transpose of a vector x, denoted xT, is the row vector
In this text we will often drop the superscript T when the vector x is not part of a displayed equation and simply write
to denote x as a row instead of ...
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