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Chapter 1
Introduction
1-2
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Chapter 5, 
, describes three utility functions: 
hankelsv( )
stable( )
, and 
compare( )
Chapter 6, 
, illustrates a number of the MRM functions and 
their underlying ideas. 
Bibliographic References
Throughout this document, bibliographic references are cited with 
bracketed entries. For example, a reference to [VODM1] corresponds 
to a paper published by Van Overschee and De Moor. For a table of 
bibliographic references, refer to Appendix A, 
.
Commonly Used Nomenclature
This manual uses the following general nomenclature:
Matrix variables are generally denoted with capital letters; vectors are 
represented in lowercase.
G(s) is used to denote a transfer function of a system where s is the 
Laplace variable. G(q) is used when both continuous and discrete 
systems are allowed.
H(s) is used to denote the frequency response, over some range of 
frequencies of a system where s is the Laplace variable. H(q) is used 
to indicate that the system can be continuous or discrete.
A single apostrophe following a matrix variable, for example, x’, 
denotes the transpose of that variable. An asterisk following a matrix 
variable, for example, A*, indicates the complex conjugate, or 
Hermitian, transpose of that variable.
Conventions
This publication makes use of the following types of conventions: font, 
format, symbol, mouse, and note. These conventions are detailed in 
Chapter 2, MATRIXx Publications, Online Help, and Customer Support
of the MATRIXx Getting Started Guide.