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if B is a positive semi definite matrix, how can you complete the square around B from

x'Bx + x'Cy + y'C'x, where C is also a matrix.

The answer is (x+B^-1Cy)'B(x+B^-1Cy) + y'C'B^-1Cy

I have not come across completing the square using matrix notation before - thoughts appreciated.

Thanks

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# Matrix form - completing the square

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