Mathematical Specification
B1, B2, ... Bk is a sequence of m x m matrices
?1, ?2, ... ?k is a sequence of m x m elementary matrices
B1-1 = ?1
B2-1 = ?2?1
Bk-1 = ?k ... ?2?1
The numerical accuracy must be such that, for all k,
BkBk-1 - I < ?
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