首先,引入雅克比矩阵公式: J [ u 1 u 2 ⋯ u n e 1 e 2 ⋯ e n ] \mathbf{J}\left[\begin{array}{c} \begin{array}{lll}\mathbf{u}_{1} & \mathbf{u}_{2} & \cdots & \mathbf{u}_{n}\end{array} \\ \begin{array}{lll}\mathbf{e}_{1} &…
转自:http://blog.sina.com.cn/s/blog_4a033b090100pwjq.html 求导公式(撇号为转置): Y A * X --> DY/DX A Y X * A --> DY/DX A Y A * X * B --> DY/DX A * B Y A * X * B --> DY/DX B * A 乘积的导数 d(f*g)/dx(df/dx)…