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Linear Algebra A Gentle Introduction

Linear algebra introduces the concepts of vectors and matrices. Vectors represent geometric objects with magnitude and direction and can be represented as columns. Vector operations include addition, scalar multiplication, and the dot product. Matrices are arrays of numbers organized into rows and columns that can represent linear transformations. Basic matrix operations are addition, subtraction, and multiplication. Matrix multiplication is non-commutative. Matrices can model scaling, rotation, and translation transformations in linear systems and equations. The inverse and determinant of a matrix are important concepts. The cross product produces a vector perpendicular to two input vectors.

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Muhammad Sohil
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106 views23 pages

Linear Algebra A Gentle Introduction

Linear algebra introduces the concepts of vectors and matrices. Vectors represent geometric objects with magnitude and direction and can be represented as columns. Vector operations include addition, scalar multiplication, and the dot product. Matrices are arrays of numbers organized into rows and columns that can represent linear transformations. Basic matrix operations are addition, subtraction, and multiplication. Matrix multiplication is non-commutative. Matrices can model scaling, rotation, and translation transformations in linear systems and equations. The inverse and determinant of a matrix are important concepts. The cross product produces a vector perpendicular to two input vectors.

Uploaded by

Muhammad Sohil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Linear Algebra

A gentle introduction

What is a Vector ?

Think of a vector as a directed line


segment in N-dimensions! (has length
and direction)

Basic idea: convert geometry in higher


dimensions into algebra!
Once you define a nice basis along
each dimension: x-, y-, z-axis
Vector becomes a 1 x N matrix!
v = [a b c]T
Geometry starts to become linear
algebra on vectors like v!

a

v b
c
y
v
x

Vector Addition: A+B


A+B

A
B

C
B
A

A+B = C
(use the head-to-tail method
to combine vectors)

av(x1,2)(ax1,2)
Scalar Product: av

av

Change only the length (scaling), but keep direction fixed.


Sneak peek: matrix operation (Av) can change length,
direction and also dimensionality!

Vectors: Dot Product


d
A B AT B a b c e
f
2

ad be cf

A AT A aa bb cc

A B A B cos( )

Think of the dot product as


a matrix multiplication

The magnitude is the dot


product of a vector with itself

The dot product is also related to the


angle between the two vectors

.v.w
,(x1,2v).w
v
w
)y

.102
(
x
(|
yv1,w
x|co1sy

2.y
1
2
2)
Inner (dot) Product: v.w or wTv

The inner product is a SCALAR!

If vectors v, w are columns, then dot product is wTv

Bases & Orthonormal Bases

Basis (or axes): frame of reference

vs

Basis: a space is totally defined by a set of vectors any point is a linear


combination of the basis
Ortho-Normal: orthogonal + normal

x 1 0 0

T
[Sneak peek:
y 0 1 0
Orthogonal: dot product is zero
T

0
0
1
Normal: magnitude is one ]

x y 0
xz 0
yz 0

What is a Matrix?

A matrix is a set of elements, organized into rows and


columns
rows

columns

a b
c d

Basic Matrix Operations

Addition, Subtraction, Multiplication: creating new matrices (or functions)

a b e
c d g

f ae b f

h c g d h

a b e
c d g

f ae b f

h c g d h

a b
c d

e
g

f ae bg

h ce dg

af bh
cf dh

Just add elements

Just subtract elements

Multiply each row


by each column

l13211322N
L

M
l1323
m
13211322m
1323 n
13211322n
1323
Matrix Times Matrix

l12 m11n12 m12n22 m13n32

Matrix Operating on Vectors

Matrix is like a function that transforms the vectors on a plane


Matrix operating on a general point => transforms x- and ycomponents
System of linear equations: matrix is just the bunch of coeffs !

x = ax + by
y = cx + dy

a b x x'


c d y y'

Multiplication

a
c

Is AB = BA? Maybe, but maybe not!


b e
d g

ae bg

h
...

...
...

e
g

f a
h c

ea fc ...

d ...
...
b

Heads up: multiplication is NOT commutative!

Note: If A and B both represent either pure rotation or


scaling they can be interchanged (i.e. AB = BA)

Matrices: Scaling, Rotation, Identity

Pure scaling, no rotation => diagonal matrix (note: x-, y-axes could be scaled differently!)
Pure rotation, no stretching => orthogonal matrix O
Identity (do nothing) matrix = unit scaling, no rotation!

r1 0
0 r2

[0,1]T

[0,r2]T

scaling
[r1,0]T

[1,0]T

cos -sin
sin cos

[0,1]T

rotation
[1,0]T

[-sin, cos]T
[cos, sin]T

Scaling
P

r 0
0 r

dilation (r >1)
contraction (r <1)

Rotation
P
P

cos -sin
sin cos

P
'(xtx,yy)P
t
2D Translation
P

ty
y

tx

Example of a Linear System


Balances
Find the unknown masses h & c balanced as follows:

40h 15c 50 2

25c 25 2 50h

Example of a Linear System


Chemical Reaction
Toluene + Nitric acid Trinitrotoluene (TNT) + Water

x C7 H 8 y HNO3 z C7 H 5O6 N 3 w H 2O

C : 7x 7z
H : 8 x y 5z 2 w

N : y 3z
O : 3 y 6z w

C6 H 2 NO2 3 CH 3

Inverse of a Matrix

Identity matrix:
AI = A
Inverse exists only for square
matrices that are non-singular
Maps N-d space to another
N-d space
Some matrices have an
inverse, such that:
AA-1 = I
Inversion is tricky:
(ABC)-1 = C-1B-1A-1
Derived from noncommutativity property

1 0 0

I 0 1 0
0 0 1

Determinant of a Matrix

Used for inversion


If det(A) = 0, then A has no inverse

a b
A

c
d

det( A) ad bc

1 d b
A
ad bc c a
1

Vectors: Cross Product

The cross product of vectors A and B is a vector C which is


perpendicular to A and B

The magnitude of C is proportional to the sin of the angle between


A and B

The direction of C follows the right hand rule if we are working in


a right-handed coordinate system

AB

B
A

A B A B sin( )

MAGNITUDE OF THE CROSS


PRODUCT

DIRECTION OF THE CROSS


PRODUCT

The right hand rule determines the direction of the


cross product

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