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+\documentclass{article}
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+\usepackage[pdftex,active,tightpage]{preview}
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+\setlength\PreviewBorder{2mm}
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+\usepackage{amsmath,array}
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+\usepackage{tikz}
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+\usetikzlibrary{decorations.pathreplacing}
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+
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+\renewcommand\arraycolsep{4pt} % default value: 6pt
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+
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+\newcommand\tikzmark[1]{%
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+ \tikz[overlay,remember picture,baseline] \coordinate [anchor=base] (#1);}
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+
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+\newcommand\DrawBrace[3]{%
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+ \draw [decorate,decoration={brace,amplitude=3pt,mirror,raise=15pt}]
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+ (#1) -- (#2) node [black,midway,sloped,yshift=-10pt] {\footnotesize$#3$};
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+}
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+
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+\begin{document}
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+\begin{preview}
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+\begin{equation*}
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+\left( \,
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+\begin{array}{r@{}r@{}r r r} % @{} is used twice to suppress intercolumn whitespace
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+ \underbrace{
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+ \boxed{
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+ \begin{array}{rrr} % First block
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+ 1 & & 0\\
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+ & \ddots & \\
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+ 0 & & 1\\
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+ \end{array}
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+ }}_{p} \\
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+ &
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+ \underbrace{
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+ \boxed{
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+ \begin{array}{rrr} % Second block
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+ -1 & & 0 \\
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+ & \ddots & \\
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+ 0 & & -1\\
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+ \end{array}
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+ }}_{q} \\
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+ & & \boxed{
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+ \begin{array}{rr} % Third block
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+ \cos \omega_1 & -\sin \omega_1\\
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+ \sin \omega_1 & \cos \omega_1\\
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+ \end{array}
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+ } \\
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+ & & & \ddots\\ % Fourth "block" -- not boxed
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+ & \tikzmark{a}& & & \boxed{
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+ \begin{array}{rr} % Fifth block
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+ \cos \omega_r & -\sin \omega_r\\
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+ \sin \omega_r & \cos \omega_r\\
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+ \end{array}
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+ } \tikzmark{b} \\
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+\end{array}\,\right)
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+\end{equation*}
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+
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+\begin{tikzpicture}[remember picture,overlay]
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+\DrawBrace{a}{b}{r}
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+\end{tikzpicture}
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+
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+\end{preview}
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+\end{document}
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