APPENDIX

Matrix Calculation Review

A matrix A (n  m) is rectangular
2
a11 a12
6 a21 a22
6
An  m 6
6 ... ...
4 ... ...
am1 am2

array containing n rows and m columns:

3
. . . a1n
. . . a2n 7
7
... ... 7
7 aij , i 1, . . . ,m, n 1, . . . ,n
... ... 5
. . . amn

A transposed matrix AT n  m is the matrix, in which rows are interchanged with the
columns:
AT n  m Am  n
Two matrices of the same order n  m can be added and/or subtracted, by adding and/or
subtracting individual elements:
An  m Bn  m aij bij 
Two matrices can be multiplied only if the number of columns, m of the first matrix A
(n  m) equals to the number of rows of the second matrix B (m  p). The product is the
matrix of the order (n  p):
An  m  Bm  p Cn  p
The elements of the matrix C are corresponding sums of products:
"
#
m
X
ckl 
akj bjp , k 1, . . . ,n, l 1, . . . p
j1

EXAMPLE 1

"

a11

a12

a13

a21

a22

a23

b11
6
6
4 b21
b31

b12

7
b22 7
5
b32

"

a11 b11 a12 b21 a13 b31

a11 b12 a12 b22 a13 b32

a21 b11 a22 b21 a23 b31

a21 b12 a22 b22 a23 b32

1019

2005 by Taylor & Francis Group, LLC

1020

ROTORDYNAMICS

EXAMPLE 2

"

#" #
x

"

x 2y
3x 4y

Generally, the matrices in the product cannot be interchanged, because AB 6 BA.

A product of a number and a matrix is a matrix, in which each element is multiplied by
this number:
A aij  aij 

EXAMPLE 3


5

1 2
3 4

10

15

20

Two matrices are equal, when all their corresponding elements are equal:
An  m Bn  m, aij bij , i 1, . . . ,m, j 1, . . . ,n
Cofactor of the matrix aij  is:
Cof aij minor
1ij
EXAMPLE 4

fj
gi

gh
dj

di
hf

6
Cof6
4d

7 6
6
g7
5 4 ic
bj

aj
ch

7
bh
ai 7
5

ag
cd

af
bd

bg
cf

EXAMPLE 5

 
4
1 2

Cof
2
3 4


3
1

The adjoint matrix is the transpose of the cofactor matrix:

adj A cof AT
EXAMPLE 6

1
adj
3

 
4

2

3
4

2
1

Determinant, det A can be calculated for any square matrix A, that is, when n m.

2005 by Taylor & Francis Group, LLC

MATRIX CALCULATION REVIEW

1021

EXAMPLE 7

6
det6
4d
h

e
i


a
c

7 
7
f 5  d

h
j
3

b
e
i


c 

f  afj
ig bgh
dj cdi
fh

j

Diagonal matrix is the square matrix, which

and the off-diagonal elements equal zero:
2
a
0
0
6
6 0
b
0
6
6
6... ... ...
6
6
6... ... ...
4
0
0
0

has nonzero elements on the main diagonal

...

7
0 7
7
7
... ...7
7
7
... ...7
5

...

...

The unit diagonal matrix, I, has all diagonal elements equal one:
3
2
1
0
0 ... 0
7
6
6 0
1
0 ... 0 7
7
6
7
6
7
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
I6
7
6
7
6
6... ... ... ... ...7
5
4
0
0
0 ... 1
The inverse matrix, A
1 of the matrix A is the matrix, which multiplied by A (from the
left or from the right) gives in product the unit matrix:
AA
1 I,

A
1 A I

The inverse matrix is as follows:

A
1

adjA
det A

EXAMPLE 8

"
#
d
b
1
A
, det A ad
bc, adj A
, A
ad
bc
c a
c d

c a
#
"
#"
"
# "
#
a b
d
b
da
bc
db
bd
1 0
1
1

1

A A

ad
bc
c a
ad
bc
ac ac
bc ad
c d
0 1
"

"

The matrix equation

AX B

2005 by Taylor & Francis Group, LLC

b

1

1022

ROTORDYNAMICS

can be solved for X if the matrix A is square. Multiplying both sides of this equation from
the left by the inverse matrix A
1 this equation results as follows:
A
1 AX A
1 B
IX A
1 B
X A
1 B

EXAMPLE 9

   
x
7
A 1
x2
2

2
A
3

1

2



1 2

1

2
7 3

1

2

where

Calculate inverse matrix A:

A


Thus x1 16=7,

x1
x2

1

A
1


 
1 2
7

2
7 3

x2 17=7:

2005 by Taylor & Francis Group, LLC


1

2

4
3
3
1

2


 

 
1 14 2
16=7
7

17=7
2
7 21
4