Selected Mathematical Identities l 1 Trigonometry Consider the right triangle depicted in Fig. A.1. The following relationships hold: “x” cosé cos + sin?@ = 1 cost = (1 + cos 20) (1 — cos 28) £0820 = 2cos?@ = 1 =1-2sin’@ Other identities include the following: sin(@ + ) = sin@cos@ + cos@sind cos(0 + $) = cos@cos¢ ¥ sin@singd sin @ sin 6 = }[cos(@ — ¢) — cos(@ + $)] cos 8cos$ = 3[cos(@ — $) + cos(6 + $)] sin 9 cos $ = }[sin(@ — $) + sin(6 + $)] ax] Ficune A.1 Right triangle764 APPENDICA @ SELECTED MATHEMATICAL IDENTITIES [4.2 Complex Numbers Let w be a complex number expressed in rectangular coordinates as w = x + jy, where j= V=1, x = Re{w} is the real part of w, and y = Im{w} is the imaginary part. We express w in polar coordinates as w = re®, where r = |w| is the magnitude of w and 6 = arg{w} is the phase of w. The rectangular and polar representations of the number w are depicted in the complex plane of Fig. A.2. = A.2.1 CONVERTING FROM RECTANGULAR TO POLAR COORDINATES = A.2.2 CONVERTING FROM POLAR TO RECTANGULAR COORDINATES rcosé = A.2.3. CoMPLEX ConjuGaTE Ifw = x + jy = re®, then, using the asterisk to denote complex conjugation, we have iy=re® 4 EULER'S FORMULA © = cos@ + jsind = A.2.5 OTHER IDENTITIES Figure A2 The complex plane.Ad Definite Integrals l A.3 Geometric Series If B is a complex number, then the following relationships hold: l 4 Definite Integrals : [ow- . 1 [ xe" dx = e*(ex ~ 1) G ’ fl ; [ cos(ex) de = sin(cx) [see [ster ae = 1 J costex “ A 6 [ xsin(cx) dx = alsin(ex) - cran(es 6 [ e cos(cx) de = Fe aleconles) + esate) = [sates de Sar 6 (gsin(cx) — ccosen 765766 APreNDOC A.» SELECTED MaruEMAricat, IDENTITIES = A.4.1 GaAussiAN PULSES [lereras =oVin, o>0 [vere as =oVir, o>0 = A.4,2 INTEGRATION BY PARTS i ‘ J 109) tay = weapons = ote) dae) [4.5_Matrices ‘A matrix is a set of numbers arranged in a rectangular array. For example, 23 “ A 4] is a matrix with two columns and two rows. We thus say that A is a two by two matrix. The first and second rows of A are given by [2 3] and(-1 4], respectively. We index the ele- ‘ments of the matrix in terms of their location, which is measured by the row and column in which the element lies. For example, the element in the first row and second column of A is 3. We refer to a matrix with N rows and M columns as either an N by M matrix or an N X M matrix. Boldface uppercase symbols are used to denote matrix quantities in this text. ‘A vector is a matrix containing a single column or a single row. A column vector is an N by 1 matrix, that is, a single column. For example, Ue [3] is a two-dimensional column vector. A row vector is a M by 1 matrix, that is, a single row. For example, c©=(2 -1) is a two-dimensional row vector. Vectors are denoted with lowercase boldface symbols. = A.5.1 Apprrion Ifa, and b, are the elements in the ith row and jth column of matrices A and B, respectively, then the matrix C = A + B has elements cj = ay + by. = A.5.2 MULTIPLICATION If ay isthe element in the ith row and kth column of an M-by-N matrix A and by is the el cement in the kth row and jth column of an N-by-L matrix B, then the M-by-L matrix C= ABhas elements ¢, = Di-rduby. = A.5.3 INVERSION The inverse of an N by N matrix A is denoted as A“! and satisfies AA = A‘'A = I where I is the N by N identity matrix containing unity entries on the diagonal and zeros elsewhere. Inverse of Two-by-Two Matrix [a] ed. Inverse of Product of Matrices If A and B are invertible, then walt 7 ad-bel-c a