A nonsingular matrix written in the form LU.

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Here is the paragraph from Golan's "Linear Algebra":

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But I do not understand why U must be nonsingular, could anyone explains this for me please?

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If $U$ were singular then $LU$ were singular as well. Note that if there is a non zero vector $v$ such that $Uv=0$ then $LUv=0$ which makes $LU$ singular.

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$A$ is non-singular $\iff A^{-1}= (LU)^{-1} \exists$, but $(LU)^{-1}=U^{-1}L^{-1}$

So, $A$ is non-singular $\iff$ $U^{-1}$ and $L^{-1}$ exist $\iff$ $U$ and $L$ are invertible.