Let A be a real n by n matrix.
Then A is positive definite (PD) iff ∀u∈Rn−{0},uTAu>0 Then A is positive semidefinite (PSD) iff ∀u∈Rn,uTAu≥0 Then A is negative definite (ND) iff ∀u∈Rn−{0},uTAu<0 Then A is negative semidefinite (NSD) iff ∀u∈Rn,uTAu≤0