Ch09 MatrixAlgebra

Matrix Algebra
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Applied Force
Chapter 9
F = 200 lbf
20 feet
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Pivot Point
MATLAB for Engineers 2E, by Holly Moore. 2009 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.
This material is is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or
transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and
Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
In this chapter well learn

how to
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perform the basic operations of

matrix algebra
solve simultaneous equations
using MATLAB matrix operations
use some of MATLABs special
matrices
transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions
Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
The difference between an

array and a matrix
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Most engineers use the two terms

interchangeably
The only time you need to be
concerned about the difference is
when you perform matrix algebra
calculations
Arrays
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Arrays can contain numeric

information, but they can also
contain character data, symbolic
data etc.
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Technically an array is an orderly

grouping of information
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Matrix
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The technical definition of a matrix is a

two-dimensional numeric array used in
linear algebra
Not even all numeric arrays can
precisely be called matrices - only
those upon which you intend to
perform linear transformations meet
the strict definition of a matrix.
Matrix Algebra
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used extensively in engineering

applications
Matrix algebra is different from the
array calculations we have
performed thus far
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Array Operators
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A.* B
multiplies each element in
array A times the
corresponding
element in
array B
A./B
divides each element in
array A by the corresponding
element in array B
A.^B
raises each element in array
A to the power in the
corresponding element of array B
Operators used in Matrix

Mathematics
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Transpose
Multiplication
Division
Exponentiation
Left Division
Some Matrix Algebra

functions
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Dot products
Cross products
Inverse
Determinants
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Transpose
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AT
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In mathematics texts you will

often see the transpose indicated
with superscript T
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The MATLAB syntax for the

transpose is
A'
The transpose switches the

rows and columns
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3
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10 11 12
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1 4 7 10
AT 2 5 8 11
3 6 9 12
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Using the transpose with

complex numbers
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When used with complex

numbers, the transpose
operator returns the complex
conjugate
Dot Products
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The dot product is sometimes

called the scalar product
the sum of the results when you
multiply two vectors together,
element by element.
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* *
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+
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Equivalent
statements
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Example 9.1
Calculating the Center of Gravity
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Finding the center of gravity of a

structure is important in a number
of engineering applications
The location of the center of
gravity can be calculated by
dividing the system up into small
components.
xW x1W1 x2W2 x3W3 etc...

yW y1W1 y2W2 y3W3 etc...
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zW z1W1 z2W2 z3W3 etc...

In a rectangular coordinate system
x , y , and z are the coordinates of the center of gravity
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W is the total mass of the system

x1, x2, and x3 etc are the x coordinates of each system
component
y1, y2, and y3 etc are the y coordinates of each system

component
z1, z2, and z3 etc are the z coordinates of each system

component and
W1, W2, and W3 etc are the weights of each system

component
In this example
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Well find the center of gravity of a

small collection of the
components used in a complex
space vehicle
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Vehicle Component
Locations and Mass
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Item
x, meters y, meters
z meters
Mass
Bolt
0.1
3.50 gram
screw
1.50 gram
nut
1.5
0.2
0.5
0.79 gram
bracket
1.75 gram
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Formulate the problem using a dot product
Input and Output
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Location of each component in an

x-y-z coordinate system in meters
Mass of each component, in grams
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Output
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Input
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Location of the center of gravity
Hand Example
Find the x coordinate of the center
of gravity
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x, meters
Mass,
gram
x * m, gram
meters
Bolt
0.1
x 3.50
= 0.35
screw
x 1.50
= 1.50
1.5
x 0.79
= 1.1850
x 1.75
= 3.5
nut
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Item
bracket
sum
7.54
6.535
We know that
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The x coordinate is equal to

3
x
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xm
i 1
mTotal
xm
i 1
3
This is a dot
product
m
i 1
i1
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500
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So
x =6.535/7.54 = 0.8667 meters
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We could use a plot to

evaluate our results
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Center of Gravity
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z-axis
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Center of Gravity
2
1
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300
0
2
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500
This plot
was created
using the
interactive
plotting
tools
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1
y-axis
1
0
x-axis
Matrix Multiplication
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Similar to a dot product
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Matrix multiplication results in an

array where each element is a dot
product.
In general, the results are found
by taking the dot product of each
row in matrix A with each column
in Matrix B
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Ci , j Ai ,k Bk , j
k 1
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Because matrix multiplication is a

series of dot products
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the number of columns in matrix A

must equal the number of rows in
matrix B
For an m x n matrix multiplied by an
n x p matrix
These dimensions must match
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mxn
nxp
The resulting matrix will have
these dimensions
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We could use matrix

multiplication to solve the
problem in Example 9.1, in a
single step
Matrix Powers
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A2 is the same as A*A

A3 is the same as A*A*A
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Raising a matrix to a power is

equivalent to multiplying it times itself
the requisite number of times
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Raising a matrix to a power requires it to

have the name number of rows and
columns
Matrix Inverse
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MATLAB offers two approaches

The matrix inverse function
inv(A)
Raising a matrix to the -1 power
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A-1
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Equivalent
approaches to
finding the
inverse of a
matrix
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A matrix times its

inverse is the
identity matrix
Not all matrices have an

inverse
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Called
Singular
Ill-conditioned matrices
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Attempting to take the inverse of

a singular matrix results in an
error statement
Determinants
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Related to the matrix inverse

If the determinant is equal to 0,
the matrix does not have an
inverse
The MATLAB function to find a
determinant is
det(A)
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Cross Products
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sometimes called vector products

the result of a cross product is a
vector
always at right angles (normal) to
the plane defined by the two input
vectors
orthogonality
Consider two vectors
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A Ax i Ay j Az k
B Bx i B y j Bz k
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The cross product is equal to
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500
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A B ( Ay * B z Az * B y )i ( Az * B x Ax * B z ) j ( Ax B y Ay B x )k
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Cross Products are Widely

Used
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Cross products find wide use in

statics, dynamics, fluid mechanics
and electrical engineering
problems
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Solutions to Systems of
Linear Equations
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3 x 2 y
x
x
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300
z 10
3 y 2 z 5
y z 1
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500
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500
Using Matrix Nomenclature
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3 2 1
A 1 3 2
1 1 1
x
X y
z
10
B 5
1
100
and
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500
100
200
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500
AX=B
We can solve this problem using

the matrix inverse approach
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This approach is easy

to understand, but its
not the more efficient
computationally
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Matrix left division

uses Gaussian
elimination, which
is much more
efficient, and less
prone to round-off
error
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Special Matrices
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We introduced some of MATLABs

special matrices in previous
chapters
ones
zeros
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500
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500
The identity matrix is another

special matrix that is useful in
Matrix Algebra
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It may be tempting
to name an identity
matrix i, however i
is already in-use
for imaginary
numbers
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Other matrices
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pascal
magic
rosser
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MATLAB includes a number of

matrices that are useful for testing
numerical techniques, computational
algorithms, or that are just interesting
100
200
300
400
500
gallery contains over 50 different test

matrices
Summary
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Matrix algebra and array

mathematics are significantly
different
The .*, ./ and .^ operators perform
element-by-element computations
The *, / and ^ operators transform
entire matrices
Summary Dot Product
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C Ai * Bi
100
200
300
i 1
400
500
The dot product is the sum of the

array multiplications of two equal
size vectors.
100
200
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400
500
The MATLAB function for dot

products is dot(A,B)
Summary Matrix
Multiplication
Rate of Change
-5
-4.5
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1.5
2.5
time, hour
3.5
4.5
100
Matrix multiplication is similar to

the dot product
Each element of the result array
is a dot product
200
300
400
500
100
200
300
400
500
Ci , j Ai ,k Bk , j
k 1
Summary - Inverse
Rate of Change
-5
-4.5
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1.5
2.5
time, hour
3.5
4.5
100
A matrix times its inverse is equal

to the identity matrix
The MATLAB syntax to find a
matrix inverse is
200
300
400
500
100
200
300
400
500
inv(A)
A^-1
or
Summary - Determinants
Rate of Change
-5
-4.5
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1.5
2.5
time, hour
3.5
4.5
100
200
300
400
500
100
200
300
400
500
The matrix inverse is related to

the determinant
If a matrix has a determinant
equal to zero it does not have an
inverse
The syntax for the determinant is
det(A)
Summary Cross Products
Rate of Change
-5
-4.5
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1.5
2.5
time, hour
3.5
4.5
100
200
300
400
500
100
200
300
400
500
Cross product is often called a

vector product
It produces a vector at right
angles to the two input vectors
The MATLAB syntax for cross
products is
cross(A,B)
Summary Solving Linear

Systems of Equations
Rate of Change
-5
-4.5
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1.5
2.5
time, hour
3.5
4.5
Use the matrix inverse approach

X=inv(A)*B
Or use the left division approach

100
200
300
400
500
100
200
300
400
500
X=A\B
Left division uses Gaussian
elimination and is the preferred
approach

Ch09 MatrixAlgebra

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Matrix Algebra

Rate of temperature change, degrees/hour

In this chapter well learn

Rate of temperature change, degrees/hour

perform the basic operations of

The difference between an

Rate of temperature change, degrees/hour

Most engineers use the two terms

Rate of temperature change, degrees/hour

Arrays can contain numeric

Technically an array is an orderly

Rate of temperature change, degrees/hour

The technical definition of a matrix is a

Rate of temperature change, degrees/hour

used extensively in engineering

Rate of temperature change, degrees/hour

Operators used in Matrix

Rate of temperature change, degrees/hour

Some Matrix Algebra

Rate of temperature change, degrees/hour

Rate of temperature change, degrees/hour

In mathematics texts you will

The MATLAB syntax for the

The transpose switches the

Rate of temperature change, degrees/hour

Rate of temperature change, degrees/hour

Using the transpose with

Rate of temperature change, degrees/hour

When used with complex

Rate of temperature change, degrees/hour

The dot product is sometimes

Rate of temperature change, degrees/hour

Rate of temperature change, degrees/hour

Finding the center of gravity of a

xW x1W1 x2W2 x3W3 etc...

Rate of temperature change, degrees/hour

zW z1W1 z2W2 z3W3 etc...

W is the total mass of the system

y1, y2, and y3 etc are the y coordinates of each system

z1, z2, and z3 etc are the z coordinates of each system

W1, W2, and W3 etc are the weights of each system

Rate of temperature change, degrees/hour

Well find the center of gravity of a

Rate of temperature change, degrees/hour

Formulate the problem using a dot product

Input and Output

Rate of temperature change, degrees/hour

Location of each component in an

Location of the center of gravity

Rate of temperature change, degrees/hour

Rate of temperature change, degrees/hour

The x coordinate is equal to

Rate of temperature change, degrees/hour

We could use a plot to

Rate of temperature change, degrees/hour

Rate of temperature change, degrees/hour

Similar to a dot product

Rate of temperature change, degrees/hour

Matrix multiplication results in an

Rate of temperature change, degrees/hour

Because matrix multiplication is a

Rate of temperature change, degrees/hour