Mathematical background matrix algebra

The limitation of transfer function representation becomes plain obvious as we tackle more complex problems. For complex systems with multiple inputs and outputs, transfer function matrices can become very clumsy. In the so-called modem control, the method of choice is state space or state variables in time domain—essentially a matrix representation of the model equations. The formulation allows us to make use of theories in linear algebra and differential equations. It is always a mistake to tackle modem control without a firm background in these mathematical topics. For this reason, we will not overreach by doing both the mathematical background and the control together. Without a formal mathematical framework, we will put the explanation in examples as much as possible. The actual state space control has to be delayed until after tackling classical transfer function feedback systems. 

Although the mathematical methods in this book include algebra, calculus, differential equations, matrix, statistics, and numerical analyses, students with background in algebra and calculus alone are able to understand most of the contents. In addition, since simple models are presented before more complex models and additional parameters are added gradually, students should not worry about the difficulties in mathematics. 

This section is not a substitute for one of the many good texts on mathematical methods written for scientists with different backgrounds. No one of these volumes will appeal to everybody, but I find Boas (1966) has the dearest and most comprehensive coverage of the mathematical problems arising in the present volmne. It is intended that the brief summary of matrix algebra will help the reader to follow those sections of the book in which kinetic equations are derived. Specific examples of the derivation of rate equations by this method, including munerical evaluation of exponential coefficients and amplitudes, are foimd in sections 4.2 and 5.1. 

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