MATRICES

Numerical Methods Applied to Mechatronics

Dr. Jorge A. Olrtegui Yume, Ph.D.
Mechatronics Engineering School
National University of Trujillo
Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 2
OVERVIEW
MATRIX : Rectangular array of elements
represented by a single symbol (Ex.: [A]).
ELEMENT: Individual entry of a matrix (Ex.: a
23
)
Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 3
OVERVIEW (contd)
Row: A horizontal set of elements
Column: Vertical set of elements.
The first subscript of an element indicates the row
while the second indicates the column.
Matrix Size: mby n (or mx n).
1 x n matrices are row vectors.
mx 1 matrices are column vectors.
(Ex.: a
23
)
| |
13 12 11
a a a
(
(
(

31
21
11
a
a
a
Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 4
SPECIAL MATRICES
Matrices where m=n are called square matrices.
There are a number of special forms of square matrices:

Symmetric
A
| |
=
5 1 2
1 3 7
2 7 8





(

(
(
(
Diagonal
A
| |
=
a
11
a
22
a
33





(

(
(
(
Identity
A
| |
=
1
1
1





(

(
(
(
Upper Triangular
A
| |
=
a
11
a
12
a
13
a
22
a
23
a
33





(

(
(
(
Lower Triangular
A
| |
=
a
11
a
21
a
22
a
31
a
32
a
33





(

(
(
(
Banded
A
| |
=
a
11
a
12
a
21
a
22
a
23
a
32
a
33
a
34
a
43
a
44






(

(
(
(
(
Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 5
MATRIX OPERATION
Two matrices are considered equal if and only if every
element in the first matrix is equal to every
corresponding element in the second. This means the
two matrices must be the same size.
Matrix addition and subtraction are performed by
adding or subtracting the corresponding elements. This
requires that the two matrices be the same size.
Scalar matrix multiplication is performed by multiplying
each element by the same scalar.
Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 6
MATRIX MULTIPLICATION
The elements in the matrix [C] that results from
multiplying matrices [A] and [B] are calculated
using:

c
ij
= a
ik
b
kj
k=1
n

Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 7

MATRIX INVERSE AND TRANSPOSE
The inverse of a square, nonsingular matrix [A] is
that matrix which, when multiplied by [A], yields
the identity matrix.
[A][A]
-1
=[A]
-1
[A]=[I]
The transpose of a matrix involves transforming
its rows into columns and its columns into rows.
(a
ij
)
T
=a
ji
Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 8
REPRESENTING LINEAR ALGEBRA
Matrices provide a concise notation for
representing and solving simultaneous linear
equations:

a
11
x
1
+ a
12
x
2
+ a
13
x
3
= b
1
a
21
x
1
+ a
22
x
2
+ a
23
x
3
= b
2
a
31
x
1
+ a
32
x
2
+ a
33
x
3
= b
3

a
11
a
12
a
13
a
21
a
22
a
23
a
31
a
32
a
33





(

(
(
(
x
1
x
2
x
3






`

)

=
b
1
b
2
b
3






`

)


[A]{x}={b}
Matrices Dr. Jorge A. Olortegui Yume, Ph.D. 9
SOLVING WITH MATLAB
2 direct ways to solve systems of linear algebraic
equations [A]{x}={b}:
Left-division
x = A\b
Matrix inversion
x = inv(A)*b
The matrix inverse is less efficient than left-
division and also only works for square, non-
singular systems.