- A matrix \( B \) is a right inverse of \( A \) if \( A \times B = I_q \), where \( I_q \) is the \( q \times q \) identity matrix.
- A matrix \( C \) is a left inverse of \( A \) if \( C \times A = I_p \), where \( I_p \) is the \( p \times p \) identity matrix.
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