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Linear Algebra Linear Algebra This document was written and copyrighted by Paul Dawkins. Use of this document and its online version is governed by the Terms and Conditions of Use located at http://tutorial.math.lamar.edu/terms.asp. The online version of this document is available at http://tutorial.math.lamar.edu. At the above web site you will find not only the online version of this document but also pdf versions of each section, chapter and complete set of notes. Preface Here are my online notes for my Linear Algebra course that I teach here at Lamar University. Despite the fact that these are my “class notes” they should be accessible to anyone wanting to learn Linear Algebra or needing a refresher. These notes do assume that the reader has a good working knowledge of basic Algebra. This set of notes is fairly self contained but there is enough Algebra type problems (arithmetic and occasionally solving equations) that can show up that not having a good background in Algebra can cause the occasional problem. Here are a couple of warnings to my students who may be here to get a copy of what happened on a day that you missed. 1. Because I wanted to make this a fairly complete set of notes for anyone wanting to learn Linear Algebra I have included some material that I do not usually have time to cover in class and because this changes from semester to semester it is not noted here. You will need to find one of your fellow class mates to see if there is something in these notes that wasn’t covered in class. 2. In general I try to work problems in class that are different from my notes. However, with a Linear Algebra course while I can make up the problems off the top of my head there is no guarantee that they will work out nicely or the way I want them to. So, because of that my class work will tend to follow these notes fairly close as far as worked problems go. With that being said I will, on occasion, work problems off the top of my head. Also, I often don’t have time in class to work all of the problems in the notes and so you will find that some sections contain problems that weren’t worked in class due to time restrictions. 3. Sometimes questions in class will lead down paths that are not covered here. I try to anticipate as many of the questions as possible in writing these notes up, but the reality is that I can’t anticipate all the questions. Sometimes a very good question gets asked in class that leads to insights that I’ve not included here. You should always talk to someone who was in class on the day you missed and compare these notes to their notes and see what the differences are. 4. This is somewhat related to the previous three items, but is important enough to merit its own item. THESE NOTES ARE NOT A SUBSTITUTE FOR ATTENDING CLASS!! Using these notes as a substitute for class is liable to get you in trouble. As already noted not everything in these notes is covered in class and often material or insights not in these notes is covered in class. © 2005 Paul Dawkins 1 http://tutorial.math.lamar.edu/terms.asp Linear Algebra Systems of Equations and Matrices Introduction We will start this chapter off by looking at the application of matrices that almost every book on Linear Algebra starts off with, solving systems of linear equations. Looking at systems of equations will allow us to start getting used to the notation and some of the basic manipulations of matrices that we’ll be using often throughout these notes. Once we’ve looked at solving systems of linear equations we’ll move into the basic arithmetic of matrices and basic matrix properties. We’ll also take a look at a couple of other ideas about matrices that have some nice applications to the solution to systems of equations. One word of warning about this chapter, and in fact about this complete set of notes for that matter, we’ll start out in the first section or to doing a lot of the details in the problems, but towards the end of this chapter and into the remaining chapters we will leave many of the details to you to check. We start off by doing lots of details to make sure you are comfortable working with matrices and the various operations involving them. However, we will eventually assume that you’ve become comfortable with the details and can check them on your own. At that point we will quit showing many of the details. Here is a listing of the topics in this chapter. Systems of Equations – In this section we’ll introduce most of the basic topics that we’ll need in order to solve systems of equations including augmented matrices and row operations. Solving Systems of Equations – Here we will look at the Gaussian Elimination and Gauss-Jordan Method of solving systems of equations. Matrices – We will introduce many of the basic ideas and properties involved in the study of matrices. Matrix Arithmetic & Operations – In this section we’ll take a look at matrix addition, subtraction and multiplication. We’ll also take a quick look at the transpose and trace of a matrix. Properties of Matrix Arithmetic – We will take a more in depth look at many of the properties of matrix arithmetic and the transpose. © 2005 Paul Dawkins 2 http://tutorial.math.lamar.edu/terms.asp Linear Algebra Inverse Matrices and Elementary Matrices – Here we’ll define the inverse and take a look at some of its properties. We’ll also introduce the idea of Elementary Matrices. Finding Inverse Matrices – In this section we’ll develop a method for finding inverse matrices. Special Matrices – We will introduce Diagonal, Triangular and Symmetric matrices in this section. LU-Decompositions – In this section we’ll introduce the LU-Decomposition a way of “factoring” certain kinds of matrices. Systems Revisited – Here we will revisit solving systems of equations. We will take a look at how inverse matrices and LU-Decompositions can help with the solution process. We’ll also take a look at a couple of other ideas in the solution of systems of equations. Systems of Equations Let’s start off this section with the definition of a linear equation. Here are a couple of examples of linear equations. 5 68103xy−+ z = 7 x − x =− 1 129 In the second equation note the use of the subscripts on the variables. This is a common notational device that will be used fairly extensively here. It is especially useful when we get into the general case(s) and we won’t know how many variables (often called unknowns) there are in the equation. So, just what makes these two equations linear? There are several main points to notice. First, the unknowns only appear to the first power and there aren’t any unknowns in the denominator of a fraction. Also notice that there are no products and/or quotients of unknowns. All of these ideas are required in order for an equation to be a linear equation. Unknowns only occur in numerators, they are only to the first power and there are no products or quotients of unknowns. The most general linear equation is, ax11+ ax 2 2+= axnn b (1) where there are n unknowns, x12,,,xx… n , and aa12,,,,… abn are all known numbers. Next we need to take a look at the solution set of a single linear equation. A solution set (or often just solution) for (1) is a set of numbers tt12,,… , tn so that if we set x11= t , x22= t , … , xnn= t then (1) will be satisfied. By satisfied we mean that if we plug these numbers into the left side of (1) and do the arithmetic we will get b as an answer. © 2005 Paul Dawkins 3 http://tutorial.math.lamar.edu/terms.asp Linear Algebra The first thing to notice about the solution set to a single linear equation that contains at least two variables with non-zero coefficents is that we will have an infinite number of solutions. We will also see that while there are infinitely many possible solutions they are all related to each other in some way. Note that if there is one or less variables with non-zero coefficients then there will be a single solution or no solutions depending upon the value of b. Let’s find the solution set’s for the two linear equations given at the start of this section. Example 1 Find the solution set for each of the following linear equations. 5 (a) 71xx−=− 129 (b) 68103x −+yz = Solution (b) The first thing that we’ll do here is solve the equation for one of the two unknowns. It doesn’t matter which one we solve for, but we’ll usually try to pick the one that will mean the least amount (or at least simpler) work. In this case it will probably be slightly easier to solve for x1 so let’s do that. 5 71xx−=− 129 5 71xx=− 129 51 xx= − 1263 7 Now, what this tells us is that if we have a value for x2 then we can determine a corresponding value for x1 . Since we have a single linear equation there is nothing to restrict our choice of x2 and so we we’ll let x2 be any number.
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