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\(\newcommand{\Z}{\mathbb{Z}} \newcommand{\reals}{\mathbb{R}} \newcommand{\real}[1]{\mathbb{R}^{#1}} \newcommand{\fe}[2]{#1\mathopen{}\left(#2\right)\mathclose{}} \newcommand{\cinterval}[2]{\left[#1,#2\right]} \newcommand{\ointerval}[2]{\left(#1,#2\right)} \newcommand{\cointerval}[2]{\left[\left.#1,#2\right)\right.} \newcommand{\ocinterval}[2]{\left(\left.#1,#2\right]\right.} \newcommand{\point}[2]{\left(#1,#2\right)} \newcommand{\fd}[1]{#1'} \newcommand{\sd}[1]{#1''} \newcommand{\td}[1]{#1'''} \newcommand{\lz}[2]{\frac{d#1}{d#2}} \newcommand{\lzn}[3]{\frac{d^{#1}#2}{d#3^{#1}}} \newcommand{\lzo}[1]{\frac{d}{d#1}} \newcommand{\lzoo}[2]{{\frac{d}{d#1}}{\left(#2\right)}} \newcommand{\lzon}[2]{\frac{d^{#1}}{d#2^{#1}}} \newcommand{\lzoa}[3]{\left.{\frac{d#1}{d#2}}\right|_{#3}} \newcommand{\abs}[1]{\left|#1\right|} \newcommand{\sech}{\operatorname{sech}} \newcommand{\csch}{\operatorname{csch}} \newcommand \dd[1] { \,\textrm d{#1} } \newcommand \de[2] { \frac{\mathrm d{#1}}{\mathrm d{#2}} } \newcommand \intl[4]{ \int\limits_{#1}^{#2}{#3}\dd{#4} } \newcommand\at[2]{\left.#1\right|_{#2}} \newcommand{\lt}{ < } \newcommand{\gt}{ > } \newcommand{\amp}{ & } \)

Section4.5References (places I plagiarized)

[1]
  
Strang, Gilbert and Moler, Cleve Learn Differential Equations: Up Close with Gilbert Strang and Cleve Moler. RES.18-009 Fall 2015. Massachusetts Institute of Technology: MIT OpenCourseWare