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gjb
<p>You're looking for the [http://mathworld.wolfram.com/Moore-PenroseMatrixInverse.html | Moore-Penrose pseudoinverse]. It is defined on [http://mathworld.wolfram.com/ | MathWorld] and is easy to implement for a matrix <code>A</code> as <code>(A^t A)^{-1} A^t</code> where <code>A^t</code> is <code>A</code> transposed, <code>A^t A</code> is a square matrix, <code>(A^t A)^{-1}</code> being its inverse (if it exists). </p>
<p>Hope this helps, -gjb-</p>
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