1 A Brief Review of Matrices and Vectors 1.1 Matrices 1.2 Vectors and Vector Spaces 1.3 Eigenvalues and Eigenvectors 2 A Brief Review of Probability and Random Variables 2.1 Sets and Set Operations 2.2 Relative Frequency and Probability 2.3 Random Variables 2.4 Expected Value and Moments 2.5 The Gaussian Probability Density Function 2.6 Several Random Variables 2.7 The Multivariate Gaussian Density 2.8 Linear Transformations of Random Vectors 3 A Brief Overview of Linear Systems 3.1 Introductory De®nitions 3.2 Linear System Characterization-Convolution