the assumptions behind this technique as well as possible
extensions to overcome these limitations.
The discussion and explanations in this paper are
informal in the spirit of a tutorial. The goal of this
paper is to educate. Occasionally, rigorous mathematical
proofs are necessary although relegated to
the Appendix. Although not as vital to the tutorial,
the proofs are presented for the adventurous reader
who desires a more complete understanding of the
math. The only assumption is that the reader has a
working knowledge of linear algebra. Nothing more.
Please feel free to contact me with any suggestions,
corrections or comments.