Notation and Symbols R and fields of real and complex numbers F field. either R or C_ and C open and closed left-half plane C+ and open and closed right-half plane ∈ belong to subset end of proof end of remark ≈and态 asymptotically greater and less than 》and< much greater and less than complex conjugate of aE C absolute value of a∈C Re(a) real part of a∈C n× n identity matrix A and 4*y/ a matrix with ai; as its ith row and jth column element diag(a1, an n x n diagonal matrix with ai as its ith diagonal element transpose and complex conjugate transpose of A A- and a inverse and pseudoinverse of A shorthand for(A-) det(a) determinant of ANotation and Symbols R and C fields of real and complex numbers F field, either R or C C− and C− open and closed left-half plane C+ and C+ open and closed right-half plane jR imaginary axis ∈ belong to ⊂ subset ∪ union ∩ intersection ✷ end of proof ✸ end of remark := defined as ' and / asymptotically greater and less than  and  much greater and less than α complex conjugate of α ∈ C |α| absolute value of α ∈ C Re(α) real part of α ∈ C In n × n identity matrix [aij ] a matrix with aij as its ith row and jth column element diag(a1,...,an) an n × n diagonal matrix with ai as its ith diagonal element AT and A∗ transpose and complex conjugate transpose of A A−1 and A+ inverse and pseudoinverse of A A−∗ shorthand for (A−1)∗ det(A) determinant of A trace(A) trace of A xv