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				@@ -163,7 +163,7 @@ The matrix :math:`D(x)` is a non-negative diagonal matrix, typically 
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				 the square root of the diagonal of the matrix :math:`J(x)^\top J(x)`. 
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				 Before going further, let us make some notational simplifications. We 
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				-will assume that the matrix :math:`\sqrt{\mu} D` has been concatenated 
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				+will assume that the matrix :math:`\frac{1}{\sqrt{\mu}} D` has been concatenated 
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				 at the bottom of the matrix :math:`J` and similarly a vector of zeros 
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				 has been added to the bottom of the vector :math:`f` and the rest of 
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				 our discussion will be in terms of :math:`J` and :math:`f`, i.e, the 
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