Positive Semidefinite Quadratic Form
A Quadratic Form 
is positive semidefinite if it is never 
, but is 0 for some 
. The Quadratic Form, written in the form 
, is positive semidefinite Iff everyEigenvalue of 
is Nonnegative.
References
Gradshteyn, I. S. and Ryzhik, I. M. Tables of Integrals, Series, and Products, 5th ed. San Diego, CA: Academic Press, p. 1106, 1979.
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