In the following, represents a vector, whereas represents a matrix. The elements of
and
are denoted and , respectively, where indexes the rows, and indexes the columns.
Furthermore, denotes a null vector, and denotes an identity matrix.
Equations (2.175) and (2.176) can be written in the compact form [38]
|
(2.177) |
where
It is helpful to define
Equations (2.170)–(2.174), (2.181), and (2.182) can be combined to give
|
(2.183) |
where
It is also helpful to define
|
(2.186) |
It follows from Equations (2.130), (2.134)–(2.137), (2.165), (2.166), and (2.171)–(2.174) that
|
(2.187) |
However, Equations (2.170) and (2.182) yield
|
(2.188) |
Finally, the previous two equations can be combined to give
|
(2.189) |
where use has been made of Equations (2.130) and (2.183).