All figures taken from Matrix Analysis of Structures second edition by Aslam Kassimali, 2010

Matrix Analysis of
Structures: Matrix Algebra

Definition of a Matrix, Types of

Matrices, and Matrix Operations
 Matrix Analysis of Structures:
Matrix Algebra

2.1 Definition of a Matrix

2.2 Types of Matrices
2.3 Matrix Operations
2.1 Definition of a Matrix

In matrix methods of structural analysis,

the fundamental relationships of
equilibrium, compatibility, and member
forcedisplacement relations are
expressed in the form of matrix equations.
The analytical procedures are formulated
by applying various matrix operations.
Therefore, familiarity with the basic
concepts of matrix algebra is a
prerequisite to understanding matrix
structural analysis.
3
 2.1 Definition of a Matrix
A rectangular array of numbers (we will concentrate on
real numbers). A nm matrix has n rows and m columns

M11 M12 M13 M14 First row

M 3x4
M 21 M 22 M 23
M 24 Second row
M31 M32 M33 M34 Third row

First Second Third Fourth

column column column column
Elements
Row number
or Entries:
M12 Column number
4
2.2 Type of Matrices

What is a vector?
A vector is an array of n numbers
A row vector of length n is a 1n matrix

a 1 a2 a3 a4
A column vector of length m is a m1 matrix

a1
a
2
a3
5
2.2 Type of Matrices
Square matrix : If a matrix has the same number of
rows and columns (i.e., m = n), it is called a square
matrix.
Diagonal element

Off-diagonal element

Symmetric matrix: When the elements of a square

matrix are symmetric about its main diagonal (i.e., Aij =
Aji), it is termed a symmetric matrix.

6
2.2 Type of Matrices
Lower triangular matrix : If all the elements of a square
matrix above its main diagonal are zero, (i.e., Aij = 0 for j
> i), it is referred to as a lower triangular matrix.
Upper triangular matrix: When all the elements of a
square matrix below its main diagonal are zero (i.e., Aij =
0 for j < i), it is called an upper triangular matrix.
Diagonal matrix: A square matrix with all of its off-
diagonal elements equal to zero (i.e., Aij = 0 for i = j ), is
called a diagonal matrix.

Lower triangular matrix Upper triangular matrix Diagonal matrix

7
2.2 Type of Matrices
Null or Zero matrix: A matrix all of whose entries are zero

0 0 0 0
034
0 0 0 0

0 0 0 0
Unit or Identity matrix: A square matrix which has 1 s on
the diagonal and zeros everywhere else.

1 0 0
I3x 3
0 1 0
0 0 1 8
2.3 Matrix Operations
An important application of matrix multiplication is
to express simultaneous equations in compact
matrix form. Consider the following system of
linear simultaneous equations.

9
2.3 Matrix Operations
In which xs are the unknowns and As and Ps
represent the coefficients and constants,
respectively. By using the definition of
multiplication of matrices, this system of
equations can be expressed in matrix form as

10
2.3 Matrix Operations
Equality of matrices
If A and B are two matrices of the same size, they are equal if
each and every entry of one matrix equals the corresponding
entry of the other.

1 2 4 a b c

A 3 0 7
B d e f

9 1 5 g h i
a 1, b 2 , c 4 ,
A B d 3, e 0 , f 7,
g 9, h 1, i 5. 11
2.3 Matrix Operations
Addition of two matrices
If A and B are two matrices of the same size, the sum of the
matrices is a matrix C=A+B whose entries are the sums of the
corresponding entries of A and B

1 2 4 1 3 10

A 3 0 7 B 3 1 0
9 1 5 1 0 6
0 5 14

C A B 6 1 7
10 1 11 12
2.3 Matrix Operations
Addition and subtraction of two matrices (properties)

Properties of matrix addition:

1. Matrix addition is commutative (order of
addition does not matter)
AB B A
2. Matrix addition is associative
A B C A B C
3. Addition of the zero matrix
A00A A
13
2.3 Matrix Operations
Multiplication by a scalar
If A is a matrix and c is a scalar, then the product cA is a matrix
whose entries are obtained by multiplying each of the entries
of A by c

1 2 4

A 3
0 7 c 3
9 1 5
3 6 12

cA 9 0 21
27 3 15
14
2.3 Matrix Operations
Transpose

If A is a mn matrix, then the transpose of A is

the nm matrix whose first column is the first
row of A and second column is the second row
of A and so on.

1 2 4 1 3 9

A 3 0
7 A 2
T
0 1
9 1 5 4 7 5

15
2.3 Matrix Operations
Transpose

If A is a square matrix (mm), it is called

symmetric if

AA T

16
2.3 Matrix Operations
Scalar (dot) product of two vectors

If a and b are two vectors of the same size

a1 b1

a a 2 ; b b
2
a 3 b3
The scalar (dot) product of a and b is a scalar
obtained by adding the products of
corresponding entries of the two vectors
a b a 1b1 a 2 b 2 a 3 b 3
T

17
2.3 Matrix Operations
Matrix multiplication

For a product to be defined, the number of

columns of A must be equal to the number of
rows of B.

A B = AB
mxr rxn mxn
inside

outside

18
2.3 Matrix Operations
Matrix multiplication
If A is a mr matrix and B is a rn matrix, then the product
C=AB is a mn matrix whose entries are obtained as
follows. The entry corresponding to row i and column j of C
is the dot product of the vectors formed by the row i of A
and column j of B.
1 2 4 1 3
A 33 3 0 7 B32 3 1

9 1 5 1 0
3 1
T
5 1
C32 AB 10 9 notice 2 3 3

7 28 4 1
19
2.3 Matrix Operations
Matrix multiplication (properties)

Matrix multiplication is noncommutative

(order of addition does matter)
AB BA Not necessarily equal

It may be that the product AB exists but

BA does not (e.g. in the previous example
C=AB is a 3x2 matrix, but BA does not
exist)
Even if the product exists, the products
AB and BA are not generally the same

20
2.3 Matrix Operations
Matrix multiplication (properties)

Matrix multiplication is associative

A BC AB C
Distributive law
A B C AB AC
B C A BA CA
Multiplication by identity matrix
AI A; IA A
Multiplication by zero matrix A0 0 ; 0 A 0

AB B A
T T T
21
2.3 Matrix Operations
Other properties

If A, B and C are square matrices of the

same size, and A 0 AB AC does
not necessarily mean that B C
AB 0 does not necessarily imply that
either A or B is zero

22
2.3 Matrix Operations
Inverse of a matrix

If A is any square matrix and B is another

square matrix satisfying the conditions

AB BA I
(a) The matrix A is called invertible, and
(b) The matrix B is the inverse of A and is
denoted as A-1.

The inverse of a matrix is unique

23
2.3 Matrix Operations
Inverse of a matrix (uniqueness)

The inverse of a matrix is unique

Assume that B and C both are inverses of A
AB BA I
AC CA I
is associative
Multiplication

(BA)C IC C
B(AC) BI B
BC
Hence a matrix cannot have two or more
inverses. 24
2.3 Matrix Operations
Inverse of a matrix (properties)

Property 1: If A is any invertible square

matrix the inverse of its inverse is the matrix A
itself
A
-1 1
A
Property 2: If A is any invertible square
matrix and k is any scalar then

k A 1 1 -1
A
k
25
2.3 Matrix Operations
Inverse of a matrix (properties)

Property 3: If A and B are invertible square

AB
matrices: 1 1 -1
(AB) AB
1
I
B A
Premultiplying both sides by A-1
A-1(AB) AB A 1
1

A ABAB
-1 1
A 1
BAB A 1
1

Premultiplying both sides by B-1

AB 1
B 1A 1 26
 2.3 Matrix Operations
Determinant
The determinant of a square matrix is a number
obtained in a specific manner from the matrix.

For a 11 matrix:
A a 1 1 ; det( A ) a 1 1
For a 22 matrix:

a11 a12
A ; det( A ) a11a 22 a12a 21
a 21 a 22

Product along red arrow minus product along blue arrow

27
 2.3 Matrix Operations
Determinant
Example 1
1 3
Consider the matrix A
Notice (1) A matrix is an array of numbers 5 7
(2) A matrix is enclosed by square brackets

1 3
det( A ) 1 7 3 5 8
5 7

Notice (1) The determinant of a matrix is a number

(2) The symbol for the determinant of a matrix is a pair of parallel lines

28
 2.3 Matrix Operations
Duplicate column method for 3x3 matrix
For a 3x3 matrix (only) write down the first two
columns after the third column
a11 a12 a13 a11 a12 a13 a11 a12
A a 21 a 22 a 23 a
21 a 22 a 23 a 21 a 22
a 31 a 32 a 33 a 31 a 32 a 33 a 31 a 32

Sum of products along red arrow

minus sum of products along blue arrow

det( A ) a 11a 22a 33 a 12a 23a 31 a 13a 21a 32

a 13a 22a 31 a 11a 23a 32 a 12a 21a 33
29
This technique works only for 3x3 matrices
 2.3 Matrix Operations
Determinant
Example 2

2 4 - 3 2 4 3 2 4
A 1 0 4 1 0
4 1 0

2 - 1 2 2 1 2 2 1

0 -8 8 0 32 3

Sum of red terms = 0 + 32 + 3 = 35

Sum of blue terms = 0 8 + 8 = 0
Determinant of matrix A= det(A) = 35 0 = 35
30
2.3 Matrix Operations
Determinant (Special case)
If two rows or two columns are proportional
(i.e. multiples of each other), the determinant of
the matrix is zero
2 7 8
3 2 4 0
2 7 8

If the determinant of a matrix is zero, it is called

a singular matrix.

31
2.3 Matrix Operations
Determinant (Cofactor method)

If A is a square matrix a11 a12 a13

A a 21 a 22 a 23
a 31 a 32 a 33

The minor, Mij, of entry aij is the determinant of the

submatrix that remains after the ith row and jth column are
deleted from A.
The cofactor of entry aij is Cij=(-1)(i+j) Mij
a 21 a 23
M 12 a 21a 33 a 23a 31
a 31 a 33 a 21 a 23
C12 M 12
32 a 31 a 33
 2.3 Matrix Operations
Determinant (Cofactor method)
Sign of cofactor:
-
- -
Example 3
Find the minor and cofactor of a33
-
2 4 - 3
A 1 0 4
Minor 2 4
2 - 1 2 M 33 2 0 4 1 4
1 0

33
Cofactor
C33 ( 1) (3+3)
M33 M33 4
2.3 Matrix Operations
Determinant (Cofactor method)
The determinant of a n n matrix A can be
computed by multiplying ALL the entries in
ANY row (or column) by their cofactors and
adding the resulting products. That is, for
each 1 i n or 1 j n

Cofactor expansion along the jth column

det( A ) a 1j C 1j a 2j C 2j a n jC n j
Cofactor expansion along the ith row
det( A ) a i1C i1 a i2 C i2 a inC in 34
 2.3 Matrix Operations
Determinant
(Example 4)
1 0 2 -3
3 4 0 1
A=
-1 5 2 -2 det(A) = a11C11 +a12C12 + a13C13 +a14C14
0 1 1 3

4 0 1 3 0 1 3 4 1

det(A)=(1) 5 2 -2 - (0) -1 2 -2 +2 -1 5 -2
1 1 3 0 1 3 0 1 3

3 4 0

- (-3) -1 5 2
= (1)(35)-0+(2)(62)-(-3)(13)=198
0 1 1
35