ABSTRACT
Capital letters will denote matrices, e.g., A. B, N; the lower case of the first few letters of the alphabet wil' denote constants, i.e., a, b, c, d; and the lower case of letters in the last part of the alphabet will denote vectors, e.g., x, y, z. Lower case Greek letters will denote vectors, except for λ which will denote eigenvalues.
