Hi,

I am trying to differentiate the following. It contains matrices, vectors and hermitian transposes. I am not really getting the result I should be.

Differentiate J with respect toa. All theboldletters represent a matrix or vector.Tis the transpose.

J= P +a^T*R*a - a^T*r- r^T*a

So far I have,

dJ/da = a^T * (R + R^T) - r^T - r^TI am supposed to eventually get

a - R^-1 * r.What am I doing wrong?

Thank you in advance.