Mathematical Methods in Engineering and Science Guide

Mathematical Methods in Engineering and Science
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[http://home.iitk.ac.in/ dasgupta/MathCourse]
Bhaskar Dasgupta dasgupta@iitk.ac.in

An Applied Mathematics course for graduate and senior undergraduate students and also for rising researchers.
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Textbook: Dasgupta B., App. Math. Meth. (Pearson Education 2006, 2007). http://home.iitk.ac.in/ dasgupta/MathBook
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Contents I
Preliminary Background Matrices and Linear Transformations Operational Fundamentals of Linear Algebra Systems of Linear Equations Gauss Elimination Family of Methods Special Systems and Special Methods Numerical Aspects in Linear Systems
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Contents II
Eigenvalues and Eigenvectors Diagonalization and Similarity Transformations Jacobi and Givens Rotation Methods Householder Transformation and Tridiagonal Matrices QR Decomposition Method Eigenvalue Problem of General Matrices Singular Value Decomposition Vector Spaces: Fundamental Concepts*
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Contents III
Topics in Multivariate Calculus Vector Analysis: Curves and Surfaces Scalar and Vector Fields Polynomial Equations Solution of Nonlinear Equations and Systems Optimization: Introduction Multivariate Optimization Methods of Nonlinear Optimization*
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Contents IV
Constrained Optimization Linear and Quadratic Programming Problems* Interpolation and Approximation Basic Methods of Numerical Integration Advanced Topics in Numerical Integration* Numerical Solution of Ordinary Dierential Equations ODE Solutions: Advanced Issues Existence and Uniqueness Theory
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Contents V
First Order Ordinary Dierential Equations Second Order Linear Homogeneous ODEs Second Order Linear Non-Homogeneous ODEs Higher Order Linear ODEs Laplace Transforms ODE Systems Stability of Dynamic Systems Series Solutions and Special Functions
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Contents VI
Sturm-Liouville Theory Fourier Series and Integrals Fourier Transforms Minimax Approximation* Partial Dierential Equations Analytic Functions Integrals in the Complex Plane Singularities of Complex Functions
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Contents VII
Variational Calculus* Epilogue Selected References
Preliminary Background Theme of the Course Course Contents Sources for More Detailed Study Logistic Strategy Expected Background
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Outline
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Theme of the Course
To develop a rm mathematical background necessary for graduate studies and research

a fast-paced recapitulation of UG mathematics extension with supplementary advanced ideas for a mature and forward orientation exposure and highlighting of interconnections
To pre-empt needs of the future challenges

trade-o between sucient and reasonable target mid-spectrum majority of students
Notable beneciaries (at two ends)

would-be researchers in analytical/computational areas students who are till now somewhat afraid of mathematics
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Course Contents
Applied linear algebra

Multivariate calculus and vector calculus
Numerical methods Dierential equations + +

Complex analysis
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Sources for More Detailed Study
If you have the time, need and interest, then you may consult

individual books on individual topics; another umbrella volume, like Kreyszig, McQuarrie, ONeil or Wylie and Barrett; a good book of numerical analysis or scientic computing, like Acton, Heath, Hildebrand, Krishnamurthy and Sen, Press et al, Stoer and Bulirsch; friends, in joint-study groups.
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Logistic Strategy

Study in the given sequence, to the extent possible. Do not read mathematics. Use lots of pen and paper. Read mathematics books and do mathematics. Exercises are must.
Use as many methods as you can think of, certainly including the one which is recommended. Consult the Appendix after you work out the solution. Follow the comments, interpretations and suggested extensions. Think. Get excited. Discuss. Bore everybody in your known circles. Not enough time to attempt all? Want a selection ? Master a programming environment. Use mathematical/numerical library/software. Take a MATLAB tutorial session?
Program implementation is needed in algorithmic exercises.

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Logistic Strategy
Tutorial Plan
Chapter 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
Selection Tutorial Chapter Selection Tutorial 26 2,3 3 1,2,4,6 4 27 2,4,5,6 4,5 1,2,3,4 3,4 28 1,2,4,5,7 4,5 2,5,6 6 29 1,4,5 4 1,2,5,6 6 30 1,2,4,7 4 1,2,3,4,5 4 31 1,2,3,4 2 1,2 1(d) 32 1,2,3,4,6 4 1,3,5,7 7 33 1,2,4 4 1,2,3,7,8 8 34 2,3,4 4 1,3,5,6 5 35 2,4,5 5 1,3,4 3 36 1,3 3 1,2,4 4 37 1,2 1 1 1(c) 38 2,4,5,6,7 4 1,2,3,4,5 5 39 6,7 7 2,3,4,5 4 40 2,3,4,8 8 1,2,4,5 4 41 1,2,3,6 6 1,3,6,8 8 42 1,2,3,6,7 3 1,3,6 6 43 1,3,4,6 6 2,3,4 3 44 1,2,3 2 1,2,4,7,9,10 7,10 45 1,2,5,7,8 7 1,2,3,4,7,9 4,9 46 1,2,3,4,5,6 3,4 1,2,5,7 7 47 1,2,3 3 1,2,3,5,8,9,10 9,10 48 1,2,3,4,5,6 1 1,2,4,5 5 1,2,3,4,5 5
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Expected Background
moderate background of undergraduate mathematics rm understanding of school mathematics and undergraduate calculus
Take the preliminary test.
[p 3, App. Math. Meth.]
Grade yourself sincerely.
Prerequisite Problem Sets*
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Points to note
Put in eort, keep pace. Stress concept as well as problem-solving. Follow methods diligently. Ensure background skills.
Necessary Exercises: Prerequisite problem sets ??
Matrices and Linear Transformations Matrices Geometry and Algebra Linear Transformations Matrix Terminology
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Outline
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Matrices
Question: What is a matrix? Answers:

a rectangular array of numbers/elements
a mapping f : M N F , where M = {1, 2, 3, , m}, N = {1, 2, 3, , n} and F is the set of real numbers or complex numbers ?
Question: What does a matrix do? Explore: With an m n matrix A , y1 = a11 x1 + a12 x2 + + a1n xn y2 = a21 x1 + a22 x2 + + a2n xn . . . . . . . . . . . . . . . ym = am1 x1 + am2 x2 + + amn xn
or
Ax = y
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Matrices
Consider these denitions: y = f (x ) y = f (x ) = f (x1 , x2 , , xn ) yk = fk (x ) = fk (x1 , x2 , , xn ), k = 1, 2, , m y = f (x ) y = Ax Further Answer: A matrix is the denition of a linear vector function of a vector variable. Anything deeper?
Caution: Matrices do not dene vector functions whose components are of the form
yk = ak 0 + ak 1 x1 + ak 2 x2 + + akn xn .
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Geometry and Algebra
Let vector x = [x1 x2 x3 ]T denote a point (x1 , x2 , x3 ) in 3-dimensional space in frame of reference OX1 X2 X3 . Example: With m = 2 and n = 3, y1 = a11 x1 + a12 x2 + a13 x3 y2 = a21 x1 + a22 x2 + a23 x3 Plot y1 and y2 in the OY1 Y2 plane.
111 R3 A :000 R2
X3 x 11 00 00 11 O X1 Domain X2
Y2
y Y1 00000 11111 11 00 11111 00000 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 O
Codomain
Figure: Linear transformation: schematic illustration
What is matrix A doing?
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Geometry and Algebra
Operating on point x in R 3 , matrix A transforms it to y in R 2 . Point y is the image of point x under the mapping dened by matrix A . Note domain R 3 , co-domain R 2 with reference to the gure and verify that A : R 3 R 2 fulls the requirements of a mapping, by denition. A matrix gives a denition of a linear transformation from one vector space to another.
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Linear Transformations
Operate A on a large number of points xi R 3 . Obtain corresponding images yi R 2 . The linear transformation represented by A implies the totality of these correspondences.
X X for R 3 . We decide to use a dierent frame of reference OX1 2 3 Y for R 2 at the same time.] [And, possibly OY1 2 Coordinates change, i.e. xi changes to x i (and possibly yi to yi ). Now, we need a dierent matrix, say A , to get back the correspondence as y = A x .
A matrix: just one description. Question: How to get the new matrix A ?
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Matrix Terminology
Matrix product Transpose Conjugate transpose Symmetric and skew-symmetric matrices Hermitian and skew-Hermitian matrices Determinant of a square matrix Inverse of a square matrix Adjoint of a square matrix
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Points to note
A matrix denes a linear transformation from one vector space to another. Matrix representation of a linear transformation depends on the selected bases (or frames of reference) of the source and target spaces.
Important: Revise matrix algebra basics as necessary tools.
Necessary Exercises: 2,3
Operational Fundamentals of Linear Algebra Range and Null Space: Rank and Nullity Basis Change of Basis Elementary Transformations
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Outline
Operational Fundamentals of Linear Algebra
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Range and Null Space: Rank and Nullity Range and Null Space: Rank and Nullity Basis Change of Basis Elementary Transformations
Consider A R mn as a mapping A : R n R m, Observations 1. Every x R n has an image y R m , but every y R m need not have a pre-image in R n . Range (or range space) as subset/subspace of co-domain: containing images of all x R n . 2. Image of x R n in R m is unique, but pre-image of y R m need not be. It may be non-existent, unique or innitely many. Null space as subset/subspace of domain: containing pre-images of only 0 R m . Ax = y , x R n, y R m.
Operational Fundamentals of Linear Algebra
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Range and Null Space: Rank and Nullity Range and Null Space: Rank and Nullity Basis Change of Basis
R
n
Elementary Transformations
R
0 O
m
Range ( A )
Null ( A)
Domain
Codomain
Figure: Range and null space: schematic representation
Question: What is the dimension of a vector space? Linear dependence and independence: Vectors x1 , x2 , , xr in a vector space are called linearly independent if k1 x1 + k2 x2 + + kr xr = 0 k1 = k2 = = kr = 0.
Range (A ) = {y : y = Ax , x R n } Rank (A ) = dim Range (A ) Nullity (A ) = dim Null (A )
Null (A ) = {x : x R n , Ax = 0 }
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Basis
where V = [v1 v2 vr ] and k = [k1 k2 kr ]T ? Answer: Not necessarily. Span, denoted as < v1 , v2 , , vr >: the subspace described/generated by a set of vectors. Basis: A basis of a vector space is composed of an ordered minimal set of vectors spanning the entire space.
Take a set of vectors v1 , v2 , , vr in a vector space. Question: Given a vector v in the vector space, can we describe it as v = k1 v1 + k2 v2 + + kr vr = Vk ,
The basis for an n-dimensional space will have exactly n members, all linearly independent.
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Basis
Orthogonal basis: {v1 , v2 , , vn } with Orthonormal basis:
vjT vk = 0 j = k . 0 1 if if j =k j =k
vjT vk = jk =
Members of an orthonormal basis form an orthogonal matrix. Properties of an orthogonal matrix: V1 = VT or VVT = I , and Natural basis: e1 = det V = +1 or 1, 1 0 0 . . . 0 0 1 0 . . . 0 0 0 0 . . . 1
e2 =
en =
Operational Fundamentals of Linear Algebra Range and Null Space: Rank and Nullity Basis Change of Basis nElementary Transformations
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Change of Basis
Suppose x represents a vector (point) in R in some basis. Question: If we change over to a new basis {c1 , c2 , , cn }, how does the representation of a vector change? x = x 1 c1 + x 2 c2 + + x c n n x 1 x 2 = [c1 c2 cn ] . . . . x n c2 cn ],
With C = [c1
= x and new to old coordinates: C x = C 1 x . old to new coordinates: x Note: Matrix C is invertible. How? Special case with C orthogonal: orthogonal coordinate transformation.
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Change of Basis
Question: And, how does basis change aect the representation of a linear transformation? Consider the mapping A : R n R m, Ax = y .
Change the basis of the domain through P R nn and that of the co-domain through Q R mm . New and old vector representations are related as =x Px and = y. Qy
x =y , with Then, Ax = y A = Q1 AP A Special case: m = n and P = Q gives a similarity transformation = P1 AP A
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Observation: Certain reorganizations of equations in a system have no eect on the solution(s). Elementary Row Transformations: 1. interchange of two rows, 2. scaling of a row, and 3. addition of a scalar multiple of a row to another.
Elementary Column Transformations: Similar operations with columns, equivalent to a corresponding shuing of the variables (unknowns).
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Equivalence of matrices: An elementary transformation denes an equivalence relation between two matrices. Reduction to normal form: AN = Ir 0 0 0
Rank invariance: Elementary transformations do not alter the rank of a matrix. Elementary transformation as matrix multiplication: an elementary row transformation on a matrix is equivalent to a pre-multiplication with an elementary matrix, obtained through the same row transformation on the identity matrix (of appropriate size). Similarly, an elementary column transformation is equivalent to post-multiplication with the corresponding elementary matrix.
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Points to note
Concepts of range and null space of a linear transformation. Eects of change of basis on representations of vectors and linear transformations. Elementary transformations as tools to modify (simplify) systems of (simultaneous) linear equations.
Necessary Exercises: 2,4,5,6
Systems of Linear Equations Nature of Solutions Basic Idea of Solution Methodology Homogeneous Systems Pivoting Partitioning and Block Operations
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Outline
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Nature of Solutions
Ax = b
Ax = b has a solution
Coecient matrix: A , augmented matrix: [A | b ]. Existence of solutions or consistency:
Rank (A ) = Rank ([A | b ])
b Range (A )
Uniqueness of solutions: Rank (A ) = Rank ([A | b ]) = n
Solution of Ax = b is unique.
Ax = 0 has only the trivial (zero) solution. Innite solutions: For Rank (A ) = Rank ([A |b ]) = k < n, solution + xN , x=x =b with A x and xN Null (A )
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Basic Idea of Solution Methodology

To diagnose To describe
the non-existence of a solution, innite solutions;
To determine the unique solution, or decouple the equations using elementary transformations. For solving Ax = b , apply suitable elementary row transformations on both sides, leading to Rq Rq1 R2 R1 Ax = Rq Rq1 R2 R1 b , or, [RA ]x = Rb ; such that matrix [RA ] is greatly simplied. In the best case, with complete reduction, RA = In , and components of x can be read o from Rb . For inverting matrix A , treat AA1 = In similarly.
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Homogeneous Systems
To solve Ax = 0 or to describe Null (A ), apply a series of elementary row transformations on A to reduce it to the A , the row-reduced echelon form or RREF. Features of RREF: 1. The rst non-zero entry in any row is a 1, the leading 1. 2. In the same column as the leading 1, other entries are zero. 3. Non-zero entries in a lower row appear later. Variables corresponding to columns having leading 1s are expressed in terms of the remaining variables. u1 u2 Solution of Ax = 0 : x = z1 z2 znk un k Basis of Null (A ): {z1 , z2 , , znk }
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Pivoting
Attempt: To get 1 at diagonal (or leading) position, with 0 elsewhere. Key step: division by the diagonal (or leading) entry. Consider Ik . . . . . . . . . . . . . . BIG . . A= . big . . . . . . . . . . . . . . . . Cannot divide by zero. Should not divide by .

partial pivoting: row interchange to get big in place of complete pivoting: row and column interchanges to get BIG in place of
Complete pivoting does not give a huge advantage over partial pivoting, but requires maintaining of variable permutation for later unscrambling.
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Partitioning and Block Operations
with x1 , x2 etc being themselves vectors (or matrices).

Equation Ax = y can be written as x1 A11 A12 A13 x2 = A21 A22 A23 x3
y1 y2
For a valid partitioning, block sizes should be consistent. Elementary transformations can be applied over blocks. Block operations can be computationally economical at times. Conceptually, dierent blocks of contributions/equations can be assembled for mathematical modelling of complicated coupled systems.
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Points to note
Solution(s) of Ax = b may be non-existent, unique or innitely many. Complete solution can be described by composing a particular solution with the null space of A . Null space basis can be obtained conveniently from the row-reduced echelon form of A . For a strategy of solution, pivoting is an important step.
Necessary Exercises: 1,2,4,5,7
Gauss Elimination Family of Methods Gauss-Jordan Elimination Gaussian Elimination with Back-Substitution LU Decomposition
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Outline
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Gauss-Jordan Elimination
Assemble C = [A b1 b2 and follow the algorithm .
Task: Solve Ax = b1 , Ax = b2 and Ax = b3 ; nd A1 and evaluate A1 B , where A R nn and B R np . b3 In B ] R n(2n+3+p)
Collect solutions from the result C C = [In Remarks:

A1 b1
A1 b2
A1 b3
A 1
A1 B ].
Premature termination: matrix A singular decision? If you use complete pivoting, unscramble permutation. Identity matrix in both C and C ? Store A1 in place. For evaluating A1 b , do not develop A1 . Gauss-Jordan elimination an overkill? Want something cheaper ?
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Gauss-Jordan Elimination
Gauss-Jordan Algorithm

=1 For k = 1, 2, 3, , (n 1)
cnn If cnn = 0, then exit. Else, divide row n by cnn .
1. Pivot : identify l such that |clk | = max |cjk | for k j n. If clk = 0, then = 0 and exit. Else, interchange row k and row l . 2. ckk , Divide row k by ckk . 3. Subtract cjk times row k from row j , j = k .
In case of non-singular A ,
default termination .
This outline is for partial pivoting.
Gauss Elimination Family of Methods
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Gauss-Jordan Elimination Gaussian Elimination with Back-Substitution Gaussian Elimination with Back-Substitution LU Decomposition
Gaussian elimination:
Ax = b
a11 a12 a 22 or, .. .
Back-substitutions:
Ax = b b1 x1 a1n x a2 n 2 b2 . = . . . . . . . . xn bn ann
Remarks Computational cost half compared to G-J elimination. Like G-J elimination, prior knowledge of RHS needed.
xn = bn /ann , 1 xi = bi aii
n j =i +1
xj aij for i = n 1, n 2, , 2, 1
Gauss Elimination Family of Methods
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Gauss-Jordan Elimination Gaussian Elimination with Back-Substitution Gaussian Elimination with Back-Substitution LU Decomposition
Anatomy of the Gaussian elimination: The process of Gaussian elimination (with no pivoting) leads to U = Rq Rq1 R2 R1 A = RA . The steps given by for k = 1, 2, 3, , (n 1) j-th row j-th row j = k + 1, k + 2, , n 1 21 a a11 a31 a11 . . .
n1 a a11
ajk akk
k-th row
for
involve elementary matrices Rk |k =1 =
0 0 1 0 0 1 . . .. . . . . . 0 0
0 0 0 . . . 1
With L = R1 ,
A = LU .
etc .
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LU Decomposition
A square matrix with non-zero leading minors is LU-decomposable. No reference to a right-hand-side (RHS) vector! To solve Ax = b , denote y = Ux and split as Ax = b LUx = b Ly = b Forward substitutions: 1 yi = bi lii
n j =i +1
and
Ux = y .
i 1 j =1
Back-substitutions: 1 yi xi = uii
lij yj
for i = 1, 2, 3, , n;
uij xj
for i = n, n 1, n 2, , 1.
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LU Decomposition
Question: How to LU-decompose a given matrix?

l11 l21 l31 . . . ln 1 0 l22 l32 . . . ln 2 0 0 l33 . . . ln 3 .. . 0 0 0 . . . lnn u11 0 0 . . . 0 u12 u22 0 . . . 0 u13 u23 u33 . . . 0 .. . u1 n u2 n u3 n . . . unn
L=
and U =
Elements of the product give

i
lik ukj = aij

k =1 j
for i j , for i > j .
and
k =1
lik ukj = aij
n2 equations in n2 + n unknowns: choice of n unknowns
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LU Decomposition
Doolittles algorithm

Choose lii = 1 For j = 1, 2, 3, , n
i 1 1. uij = aij k for 1 i j =1 lik ukj j 1 1 2. lij = ujj (aij k =1 lik ukj ) for i > j
Evaluation proceeds in column order of u11 u12 u13 l21 u22 u23 A = l31 l32 u33 . . . . . . . . . ln 1 ln 2 ln 3
the matrix (for storage) u1n u2n u3n . .. . . . unn
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LU Decomposition
Question: What about matrices which are not LU-decomposable? Question: What about pivoting? Consider the non-singular matrix 0 1 2 1 0 0 u11 = 0 u12 u13 3 1 2 = l21 =? 1 0 0 u22 u23 . 2 1 3 l31 l32 1 0 0 u33 LU-decompose a permutation of its rows
0 3 2 1 2 1 2 1 3 0 = 1 0 0 = 1 0 1 0 0 0 0 1 1 0 0 0 0 1 3 0 2 1 2 1 2 1 3 1 0 0 3 1 0 1 0 0 1 1 2 0 0 1 3 3
2 2 . 1
In this PLU decomposition, permutation P is recorded in a vector.
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Points to note
For invertible coecient matrices, use
Gauss-Jordan elimination for large number of RHS vectors available all together and also for matrix inversion, Gaussian elimination with back-substitution for small number of RHS vectors available together, LU decomposition method to develop and maintain factors to be used as and when RHS vectors are available.
Pivoting is almost necessary (without further special structure). Necessary Exercises: 1,4,5
Special Systems and Special Methods
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Outline
Quadratic Forms, Symmetry and Positive Denitenes Cholesky Decomposition Sparse Systems*
Special Systems and Special Methods Quadratic Forms, Symmetry and Positive Deniteness Cholesky Decomposition Sparse Systems*
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Quadratic Forms, Symmetry and Positive Denitenes Quadratic Forms, Symmetry and Positive Deniteness Cholesky Decomposition Sparse Systems*
Quadratic form
n n
q (x ) = x Ax =
i =1 j =1
aij xi xj
dened with respect to a symmetric matrix. Quadratic form q (x ), equivalently matrix A , is called positive denite (p.d.) when xT Ax > 0 xT Ax 0 Sylvesters criteria: a11 0, a11 a12 a21 a22 0, , det A 0; x=0 x = 0.
and positive semi-denite (p.s.d.) when
i.e. all leading minors non-negative, for p.s.d.
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Cholesky Decomposition
If A R nn is symmetric and positive denite, then there exists a non-singular lower triangular matrix L R nn such that A = LLT . Algorithm For i = 1, 2, 3, , n

Lii = Lji =
1 Lii
aii aji
i 1 2 k =1 Lik
i 1 k =1 Ljk Lik
for i < j n
For solving Ax = b , Forward substitutions: Ly = b Back-substitutions: LT x = y Remarks

Test of positive deniteness. Stable algorithm: no pivoting necessary! Economy of space and time.
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Sparse Systems*
What is a sparse matrix? Bandedness and bandwidth Ecient storage and processing Updates
Sherman-Morrison formula (A + uvT )1 = A1 (A1 u )(vT A1 ) 1 + v T A 1 u
Woodbury formula eciently implemented matrix-vector products
Conjugate gradient method
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Points to note
Concepts and criteria of positive deniteness and positive semi-deniteness Cholesky decomposition method in symmetric positive denite systems Nature of sparsity and its exploitation
Numerical Aspects in Linear Systems Norms and Condition Numbers Ill-conditioning and Sensitivity Rectangular Systems Singularity-Robust Solutions Iterative Methods
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Outline
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Norms and Condition Numbers

Norm of a vector: a measure of size
Euclidean norm or 2-norm x = x

2 2 2 2 = x1 + x2 + + xn
1 2
xT x
The p -norm x
p
= [|x1 |p + |x2 |p + + |xn |p ] p = |x1 | + |x2 | + + |xn |

1
The 1-norm: x The -norm: x
= lim [|x1 |p + |x2 |p + + |xn |p ] p = max |xj |

p j
Weighted norm x
w
xT Wx
where weight matrix W is symmetric and positive denite.
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Norms and Condition Numbers
Norm of a matrix: magnitude or scale of the transformation Matrix norm (induced by a vector norm) is given by the largest magnication it can produce on a vector A = max
x
Ax = max Ax x x =1 x
Direct consequence: Ax A
Index of closeness to singularity: Condition number (A ) = A A 1 , 1 (A )
** Isotropic, well-conditioned, ill-conditioned and singular matrices
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Ill-conditioning and Sensitivity
Solution: x1 =

10001+1 , 2
0.9999x1 1.0001x2 = 1 x1 x2 = 1 + x2 =
99991 2
sensitive to small changes in the RHS insensitive to error in a guess x = A 1 b A 1 A x
See illustration
For the system Ax = b , solution is x = A1 b and
If the matrix A is exactly known, then x A x x A x A 1 b b = (A ) b b A A = (A ) A A
If the RHS is known exactly, then A 1
Numerical Aspects in Linear Systems Norms and Condition Numbers Ill-conditioning and Sensitivity Rectangular Systems Singularity-Robust Solutions X2 Iterative Methods
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Ill-conditioning and Sensitivity

X2 (2) (1)
(2)
(2b) (1)
(b)
o
X (a)
X1
o
X (a)
X1
(a) Reference system
(b) Parallel shift
X2 (2) (1)
X2 (2) (2d) (1)
(c)
X1
X1
(c) Guess validation
(d) Singularity
Figure: Ill-conditioning: a geometric perspective
63,
Rectangular Systems
Consider Ax = b with A R mn and Rank (A ) = n < m. AT Ax = AT b x = (AT A )1 AT b Square of error norm U (x ) = =
1 1 Ax b 2 = (Ax b )T (Ax b ) 2 2 1 T T 1 x A Ax xT AT b + bT b 2 2
Least square error solution: U = AT Ax AT b = 0 x Pseudoinverse or Moore-Penrose inverse or left-inverse A# = (AT A )1 AT
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Rectangular Systems
Consider Ax = b with A R mn and Rank (A ) = m < n. Look for R m that satises AT = x and AAT = b Solution x = AT = AT (AAT )1 b Consider the problem
T minimize U (x ) = 1 2x x
subject to Ax = b .
T T Extremum of the Lagrangian L(x , ) = 1 2 x x (Ax b ) is given by L L = 0, = 0 x = AT , Ax = b . x
Solution x = AT (AAT )1 b gives foot of the perpendicular on the solution plane and the pseudoinverse A# = AT (AAT )1
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Singularity-Robust Solutions
Ill-posed problems: Tikhonov regularization
recipe for any linear system (m > n, m = n or m < n), with any condition!
Ax = b may have conict: form AT Ax = AT b . AT A may be ill-conditioned: rig the system as (AT A + 2 In )x = AT b Coecient matrix: symmetric and positive denite! The idea: Immunize the system, paying a small price. Issues:

The choice of ? When m < n, computational advantage by (AAT + 2 Im ) = b , x = AT
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Iterative Methods
Jacobis iteration method: n 1 (k +1) bi = xi aii
j =1, j =i
(k ) aij xj for i = 1, 2, 3, , n.
Gauss-Seidel method: i 1 1 (k +1) (k +1) = xi aij xj bi aii

j =1
n j =i +1
(k ) aij xj for i = 1, 2, 3, , n.
The category of relaxation methods: diagonal dominance and availability of good initial approximations
67,
Points to note
Solutions are unreliable when the coecient matrix is ill-conditioned. Finding pseudoinverse of a full-rank matrix is easy. Tikhonov regularization provides singularity-robust solutions. Iterative methods may have an edge in certain situations!
Eigenvalues and Eigenvectors Eigenvalue Problem Generalized Eigenvalue Problem Some Basic Theoretical Results Power Method
68,
Outline
Eigenvalues and Eigenvectors Eigenvalue Problem Generalized Eigenvalue Problem Some Basic Theoretical Results Power Method n n
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Eigenvalue Problem
In mapping A : R n R n , special vectors of matrix A R mapped to scalar multiples, i.e. undergo pure scaling Av = v Eigenvector (v ) and eigenvalue (): eigenpair (, v ) algebraic eigenvalue problem (I A )v = 0 For non-trivial (non-zero) solution v , det(I A ) = 0
Characteristic equation: characteristic polynomial: n roots
n eigenvalues for each, nd eigenvector(s)
Multiplicity of an eigenvalue: algebraic and geometric Multiplicity mismatch: diagonalizable and defective matrices
70,
Generalized Eigenvalue Problem

1-dof mass-spring system: mx + kx = 0 Natural frequency of vibration: n = Free vibration of n-dof system: + Kx = 0 , Mx
k m
Natural frequencies and corresponding modes? Assuming a vibration mode x = sin( t + ), ( 2 M + K) sin( t + ) = 0 K = 2 M
Reduce as M1 K = 2 ? Why is it not a good idea? K symmetric, M symmetric and positive denite!! With M = LLT , = LT and K = L1 KLT , K = 2

71,
Some Basic Theoretical Results

Eigenvalues of transpose
Eigenvalues of AT are the same as those of A .
Caution: Eigenvectors of A and AT need not be same.

Diagonal and block diagonal matrices Eigenvalues of a diagonal matrix are its diagonal entries. Corresponding eigenvectors: natural basis members (e1 , e2 etc). Eigenvalues of a block diagonal matrix: those of diagonal blocks. Eigenvectors: coordinate extensions of individual eigenvectors. With (2 , v2 ) as eigenpair of block A2 , A1 0 0 0 0 0 A v2 = 0 A2 0 v2 = A2 v2 = 2 v2 0 0 A3 0 0 0
72,
Triangular and block triangular matrices Eigenvalues of a triangular matrix are its diagonal entries.
Eigenvalues of a block triangular matrix are the collection of eigenvalues of its diagonal blocks. Take H= If Av = v , then H v 0 = A B 0 C v 0 = Av 0 = v 0 = v 0 A B 0 C , A R r r and C R s s
If is an eigenvalue of C , then it is also an eigenvalue of CT and CT w = w HT 0 w = AT BT 0 CT 0 w = 0 w
73,
Shift theorem Eigenvectors of A + I are the same as those of A . Eigenvalues: shifted by . Deation For a symmetric matrix A , with mutually orthogonal eigenvectors, having (j , vj ) as an eigenpair, B = A j vj vjT vjT vj
has the same eigenstructure as A , except that the eigenvalue corresponding to vj is zero.
74,
Eigenspace If v1 , v2 , , vk are eigenvectors of A corresponding to the same eigenvalue , then eigenspace: < v1 , v2 , , vk > Similarity transformation B = S1 AS : same transformation expressed in new basis. det(I A ) = det S1 det(I A ) det S = det(I B ) Same characteristic polynomial! Eigenvalues are the property of a linear transformation, not of the basis. An eigenvector v of A transforms to S1 v , as the corresponding eigenvector of B .
75,
Power Method
Consider matrix A with
|1 | > |2 | |3 | |n1 | > |n | For vector x = 1 v1 + 2 v2 + + n vn , A p x = p 1 1 v1 + 2 1

p
and a full set of n eigenvectors v1 , v2 , , vn . 3 1

p
2 v2 +
3 v3 + +
n 1
n vn
As p , Ap x p 1 1 v1 , and 1 = lim (Ap x )r , p (Ap 1 x )r r = 1, 2, 3, , n.
At convergence, n ratios will be the same. Question: How to nd the least magnitude eigenvalue?
76,
Points to note
Meaning and context of the algebraic eigenvalue problem Fundamental deductions and vital relationships Power method as an inexpensive procedure to determine extremal magnitude eigenvalues
Diagonalization and Similarity Transformations Diagonalizability Canonical Forms Symmetric Matrices Similarity Transformations
77,
Outline
78,
Diagonalizability
Consider A R nn , having n eigenvectors v1 , v2 , , vn ; with corresponding eigenvalues 1 , 2 , , n .
AS = A [v1
v2
= [v1
v2
vn ] = [1 v1 2 v2 n vn ] 1 0 0 0 2 0 vn ] . = S . . . . . . . . . . . 0 0 n and S1 AS =
A = S S 1
Diagonalization: The process of changing the basis of a linear transformation so that its new matrix representation is diagonal, i.e. so that it is decoupled among its coordinates.
79,
Diagonalizability
Diagonalizability:
A matrix having a complete set of n linearly independent eigenvectors is diagonalizable. Existence of a complete set of eigenvectors: A diagonalizable matrix possesses a complete set of n linearly independent eigenvectors.

All distinct eigenvalues implies diagonalizability. But, diagonalizability does not imply distinct eigenvalues! However, a lack of diagonalizability certainly implies a multiplicity mismatch.
80,
Canonical Forms
Jordan canonical form (JCF) Diagonal (canonical) form Triangular (canonical) form
Other convenient forms Tridiagonal form Hessenberg form
81,
Canonical Forms
where Jordan block Jr is associated with the subspace of Sr = [v w2 w3 ]
The key equation AS = SJ in extended form gives .. . Jr A [ Sr ] = [ Sr ]
Jordan canonical form (JCF): composed of Jordan blocks 1 J1 1 J2 . J= .. , Jr = . . . .. . 1 Jk .
..
82,
Canonical Forms
Equating blocks as ASr = Sr Jr gives
[Av
Aw2
Aw3
] = [v
w2
w3
Columnwise equality leads to
1 1 .. ] . .. .
Av = v , Aw2 = v + w2 , Aw3 = w2 + w3 , Generalized eigenvectors w2 , w3 etc: (A I )v = 0 , (A I )2 w2 = 0 ,
(A I )w3 = w2
(A I )w2 = v
and and
(A I )3 w3 = 0 ,
83,
Canonical Forms
Diagonal form
Special case of Jordan form, with each Jordan block of 1 1 size Matrix is diagonalizable Similarity transformation matrix S is composed of n linearly independent eigenvectors as columns None of the eigenvectors admits any generalized eigenvector Equal geometric and algebraic multiplicities for every eigenvalue
84,
Canonical Forms
Triangular form Triangularization: Change of basis of a linear tranformation so as to get its matrix in the triangular form
For real eigenvalues, always possible to accomplish with orthogonal similarity transformation Always possible to accomplish with unitary similarity transformation, with complex arithmetic Determination of eigenvalues
Note: The case of complex eigenvalues: 2 2 real diagonal block + i 0 0 i
85,
Canonical Forms
Forms that can be obtained with pre-determined number of arithmetic operations (without iteration): Tridiagonal form: non-zero entries only in the (leading) diagonal, sub-diagonal and super-diagonal useful for symmetric matrices Hessenberg form: A slight generalization of a triangular matrix . . . . Hu = . . . . . . . . . . . . . . . . . Note: Tridiagonal and Hessenberg forms do not fall in the category of canonical forms.
86,
Symmetric Matrices
A real symmetric matrix has all real eigenvalues and is diagonalizable through an orthogonal similarity transformation.
Eigenvalues must be real. A complete set of eigenvectors exists. Eigenvectors corresponding to distinct eigenvalues are necessarily orthogonal. Corresponding to repeated eigenvalues, orthogonal eigenvectors are available. In all cases of a symmetric matrix, we can form an orthogonal matrix V , such that VT AV = is a real diagonal matrix.
Further, A = V VT .
Similar results for complex Hermitian matrices.
87,
Symmetric Matrices
Proposition: Eigenvalues of a real symmetric matrix must be real. Take A R nn such that A = AT , with eigenvalue = h + ik . Since I A is singular, so is I A ) = (hI A + ik I )(hI A ik I ) B = (I A ) ( = (hI A )2 + k 2 I For some x = 0 , Bx = 0 , and xT Bx = 0 xT (hI A )T (hI A )x + k 2 xT x = 0 Thus, (hI A )x
2
+ kx
=0
k = 0 and = h
88,
Symmetric Matrices
Proposition: A symmetric matrix possesses a complete set of eigenvectors. Consider a repeated real eigenvalue of A and examine its Jordan block(s). Suppose Av = v . The rst generalized eigenvector w satises (A I )w = v , giving vT (A I )w = vT v vT AT w vT w = vT v (Av )T w vT w = v v
2 2
=0
which is absurd. An eigenvector will not admit a generalized eigenvector. All Jordan blocks will be of 1 1 size.
89,
Symmetric Matrices
Proposition: Eigenvectors of a symmetric matrix corresponding to distinct eigenvalues are necessarily orthogonal. Take two eigenpairs (1 , v1 ) and (2 , v2 ), with 1 = 2 .
T T T v1 Av2 = v1 (2 v2 ) = 2 v1 v2 T T T T v1 Av2 = v1 A v2 = (Av1 )T v2 = (1 v1 )T v2 = 1 v1 v2 Tv = 0 From the two expressions, (1 2 )v1 2 Tv = 0 v1 2
Proposition: Corresponding to a repeated eigenvalue of a symmetric matrix, an appropriate number of orthogonal eigenvectors can be selected. If 1 = 2 , then the entire subspace < v1 , v2 > is an eigenspace. Select any two mutually orthogonal eigenvectors for the basis.
90,
Symmetric Matrices
Facilities with the omnipresent symmetric matrices: Expression A = V V T vn ] 1 2 .. .
= [v1
v2
n
n
T T T = 1 v1 v1 + 2 v2 v2 + + n vn vn =
T v1 T v2 . . . T vn
i vi viT
i =1
Reconstruction from a sum of rank-one components Ecient storage with only large eigenvalues and corresponding eigenvectors Deation technique Stable and eective methods: easier to solve the eigenvalue problem
91,
Similarity Transformations
General Hessenberg
Symmetric
Tridiagonal
Triangular
Symmetric Tridiagonal Diagonal
Figure: Eigenvalue problem: forms and steps
How to nd suitable similarity transformations? 1. rotation 2. reection 3. matrix decomposition or factorization 4. elementary transformation
92,
Points to note

Generally possible reduction: Jordan canonical form Condition of diagonalizability and the diagonal form Possible with orthogonal similarity transformations: triangular form Useful non-canonical forms: tridiagonal and Hessenberg
Orthogonal diagonalization of symmetric matrices
Caution: Each step in this context to be eected through similarity transformations Necessary Exercises: 1,2,4
Jacobi and Givens Rotation Methods Plane Rotations Jacobi Rotation Method Givens Rotation Method
93,
Outline
Jacobi and Givens Rotation Methods (for symmetric matrices) Plane Rotations Jacobi Rotation Method Givens Rotation Method
94,
Plane Rotations
Y
Y/
P (x, y)
y
L
O
x
X/
Figure: Rotation of axes and change of basis
x y
= OL + LM = OL + KN = x cos + y sin = PN MN = PN LK = y cos x sin
95,
Plane Rotations
Orthogonal change of basis: r= x y = cos sin sin cos
x y
= r
Mapping of position vectors with 1 = T = cos sin sin cos
In three-dimensional (ambient) space, cos sin 0 cos 0 sin xy = sin cos 0 , xz = 0 1 0 etc. 0 0 1 sin 0 cos
96,
Plane Rotations
Matrix A is transformed as
Generalizing to n-dimensional Euclidean space (R n ), 1 0 0 1 0 0 . . . . . . . . . 1 0 0 0 0 0 c 0 0 s 0 1 0 Ppq = . . . . . . . . . 0 1 0 0 0 0 s 0 0 c . . .. . . . . . 0 0

T 1 A = P pq APpq = Ppq APpq ,
0 0 1
only the p -th and q -th rows and columns being aected.
97,
Jacobi Rotation Method
aqr = arq = carq + sarp for p = r = q , app = c 2 app + s 2 aqq 2scapq ,
apr = arp = carp sarq for p = r = q ,
aqq = s 2 app + c 2 aqq + 2scapq , and
apq = aqp = (c 2 s 2 )apq + sc (app aqq )
In a Jacobi rotation,
apq =0
aqq app c2 s2 = = k (say). 2sc 2apq
Left side is cot 2: solve this equation for . Jacobi rotation transformations P12 , P13 , , P1n ; P23 , , P2n ; ; Pn1,n complete a full sweep. Note: The resulting matrix is far from diagonal!
98,
Jacobi Rotation Method

|ars |2 = 2
Sum of squares of o-diagonal terms before the transformation S =

2 arp + r =s r =p p =r =q
and that afterwards
= 2
p =r =q
2 2 2 (arp + arq ) + apq
2 arq
S = 2 = 2 dier by
p =r =q
2 2 ) + arq (arp
2 2 2 (arp + arq ) + apq
p =r =q
2 S = S S = 2apq 0;
and S 0.
99,
Givens Rotation Method

r = p 1: Givens rotation
= 0: tan = rq While applying the rotation Ppq , demand arq arp
Once ap1,q is annihilated, it is never updated again!
Sweep P23 , P24 , , P2n ; P34 , , P3n ; ; Pn1,n to annihilate a13 , a14 , , a1n ; a24 , , a2n ; ; an2,n . Symmetric tridiagonal matrix
How do eigenvectors transform through Jacobi/Givens rotation steps? Product matrix P(1) P(2) gives the basis. A = P(2) P(1) AP(1) P(2)
T T
To record it, initialize V by identity and keep multiplying new rotation matrices on the right side.
100,
Givens Rotation Method
Contrast between Jacobi and Givens rotation methods

What happens to intermediate zeros? What do we get after a complete sweep? How many sweeps are to be applied? What is the intended nal form of the matrix? How is size of the matrix relevant in the choice of the method?
Fast forward ...
Householder method accomplishes tridiagonalization more eciently than Givens rotation method. But, with a half-processed matrix, there come situations in which Givens rotation method turns out to be more ecient!
101,
Points to note
Rotation transformation on symmetric matrices
Plane rotations provide orthogonal change of basis that can be used for diagonalization of matrices. For small matrices (say 4 n 8), Jacobi rotation sweeps are competitive enough for diagonalization upto a reasonable tolerance. For large matrices, one sweep of Givens rotations can be applied to get a symmetric tridiagonal matrix, for ecient further processing.
Necessary Exercises: 2,3,4
Householder Transformation and Tridiagonal Matrices
102,
Outline
Householder Reection Transformation Householder Method Eigenvalues of Symmetric Tridiagonal Matrices
Householder Transformation and Tridiagonal Matrices Householder Reection Transformation Householder Method Eigenvalues of Symmetric Tridiagonal Matrices
103,
Householder Reection Transformation Householder Reection Transformation Householder Method Eigenvalues of Symmetric Tridiagonal Matrices
u w O v
uv Plane of Reflection
Figure: Vectors in Householder reection
Consider u , v R k ,
u = v and w =
Householder reection matrix Hk = Ik 2wwT is symmetric and orthogonal. For any vector x orthogonal to w , Hk x = (Ik 2wwT )x = x and
u v u v
Hk w = (Ik 2wwT )w = w .
Hence, Hk y = Hk (yw + y ) = yw + y , Hk u = v and Hk v = u .
104,
Householder Method
Consider n n symmetric matrix A . Let u = [a21 a31 an1 ]T R n1 and v = u e1 R n1 . Construct P1 = 1 0 0 Hn1 and operate as a11 uT u A1 . 1 0 0 Hn1
A(1) = P1 AP1 = =
1 0 0 Hn1
a11 vT v Hn1 A1 Hn1
Reorganizing and re-naming, A(1)
d1 e2 0 . = e2 d2 uT 2 0 u2 A2
105,
Householder Method
Next, with v2 = u2 e1 , we form P2 = I2 0 0 Hn2
and operate as A(2) = P2 A(1) P2 . After j steps, d1 e2 e2 d2 . . . .. .. A(j ) = . . ej +1 ej +1 dj +1 uT j +1 uj +1 Aj +1 By n 2 steps, with P = P1 P2 P3 Pn2 , A(n2) = PT AP is symmetric tridiagonal.
106,
Reection Transformation Eigenvalues of Symmetric TridiagonalHouseholder Matrices Householder Method Eigenvalues of Symmetric Tridiagonal Matrices
e2 T= Characteristic polynomial d1 p () = e2
d1
e2 d2 .. . .. .. . . en1 dn1 en
en1
en dn
e2 d2 .. .
.. ..
. . en1 dn 1 en en dn .
en1
107,
Characteristic polynomial of the leading k k sub-matrix: pk () p0 () = 1,

2 p2 () = ( d2 )( d1 ) e2 , 2 pk +1 () = ( dk +1 )pk () ek +1 pk 1 ().
p1 () = d1 ,
P () = {p0 (), p1 (), , pn ()}
a Sturmian sequence if ej = 0 j
Question: What if ej = 0 for some j ?! Answer: That is good news. Split the matrix.
108,
Sturmian sequence property of P () with ej = 0: Interlacing property: Roots of pk +1 () interlace the roots of pk (). That is, if the roots of pk +1 () are 1 > 2 > > k +1 and those of pk () are 1 > 2 > > k ; then 1 > 1 > 2 > 2 > > k > k > k +1 . This property leads to a convenient Proof p1 () has a single root, d1 .
2 p2 (d1 ) = e2 < 0,
procedure .
Since p2 () = > 0, roots t1 and t2 of p2 () are separated as > t1 > d1 > t2 > . The statement is true for k = 1.
109,
Next, we assume that the statement is true for k = i . Roots of pi (): 1 > 2 > > i Roots of pi +1 (): 1 > 2 > > i > i +1 Roots of pi +2 (): 1 > 2 > > i > i +1 > i +2 Assumption: 1 > 1 > 2 > 2 > > i > i > i +1
i+2 i+1 i i (a) Roots of p ( ) and p
i i+1
i1
2 2 ()
1 1
j+1 j+1 ve
j j ve
j1
(b) Sign of pi pi+2
Figure: Interlacing of roots of characteristic polynomials
To show: 1 > 1 > 2 > 2 > > i +1 > i +1 > i +2
110,
Since 1 > 1 , pi (1 ) is of the same sign as pi (), i.e. positive. Therefore, pi +2 (1 ) = ei2+2 pi (1 ) is negative. But, pi +2 () is clearly positive.
Question: Where are the rest of the i roots of pi +2 ()? pi +2 (j +1 ) = ei2+2 pi (j +1 ) pi +2 (j ) = (j di +2 )pi +1 (j ) ei2+2 pi (j ) = ei2+2 pi (j )
Hence, 1 (1 , ). Similarly, i +2 (, i +1 ).
That is, pi and pi +2 are of opposite signs at each .
Refer gure.
Over [i +1 , 1 ], pi +2 () changes sign over each sub-interval [j +1 , j ], along with pi (), to maintain opposite signs at each . Conclusion: pi +2 () has exactly one root in (j +1 , j ).
111,
Examine sequence P (w ) = {p0 (w ), p1 (w ), p2 (w ), , pn (w )}. If pk (w ) and pk +1 (w ) have opposite signs then pk +1 () has one root more than pk () in the interval (w , ). Number of roots of pn () above w = number of sign changes in the sequence P (w ).
Consequence: Number of roots of pn () in (a, b ) = dierence between numbers of sign changes in P (a) and P (b ). Bisection method: Examine the sequence at
a +b 2 .
Separate roots, bracket each of them and then squeeze the interval! Any way to start with an interval to include all eigenvalues? |i | bnd = max {|ej | + |dj | + |ej +1 |}
1j n
112,
Algorithm

Identify the interval [a, b ] of interest. For a degenerate case (some ej = 0), split the given matrix. For each of the non-degenerate matrices,
by repeated use of bisection and study of the sequence P (), bracket individual eigenvalues within small sub-intervals, and by further use of the bisection method (or a substitute) within each such sub-interval, determine the individual eigenvalues to the desired accuracy.
Note: The algorithm is based on
Sturmian sequence property .
113,
Points to note
A Householder matrix is symmetric and orthogonal. It eects a reection transformation. A sequence of Householder transformations can be used to convert a symmetric matrix into a symmetric tridiagonal form. Eigenvalues of the leading square sub-matrices of a symmetric tridiagonal matrix exhibit a useful interlacing structure. This property can be used to separate and bracket eigenvalues. Method of bisection is useful in the separation as well as subsequent determination of the eigenvalues.
QR Decomposition Method QR Decomposition QR Iterations Conceptual Basis of QR Method* QR Algorithm with Shift*
114,
Outline
115,
QR Decomposition
Decomposition (or factorization) A = QR into two factors, orthogonal Q and upper-triangular R : (a) It always exists. (b) Performing this decomposition is pretty straightforward. (c) It has a number of properties useful in the solution of the eigenvalue problem. r11 r1n . .. . [a1 an ] = [q1 qn ] . . rnn A simple method based on Gram-Schmidt orthogonalization: Considering columnwise equality aj = j i =1 rij qi , for j = 1, 2, 3, , n; rij qj = = qT i aj i < j , a j = aj
j 1
rij qi , rjj = a j ;
i =1
a j /rjj ,
if rjj = 0; any vector satisfying qT i qj = ij for 1 i j , if rjj = 0.
116,
QR Decomposition
Practical method: one-sided Householder transformations, starting with u0 = a1 , v0 = u0 e1 R n and w0 =

T. and P0 = Hn = In 2w0 w0
u0 v0 u0 v0
With
a1 Pn 2 Pn 3 P2 P1 P0 A = Pn 2 Pn 3 P2 P1 0 A0 r11 = Pn 2 Pn 3 P2 r22 = = R A1 Q = (Pn2 Pn3 P2 P1 P0 )T = P0 P1 P2 Pn3 Pn2 ,
we have QT A = R A = QR .
117,
QR Decomposition
Alternative method useful for tridiagonal and Hessenberg matrices: One-sided plane rotations
rotations P12 , P23 etc to annihilate a21 , a32 etc in that sequence
Givens rotation matrices!
Application in solution of a linear system: Q and R factors of a matrix A come handy in the solution of Ax = b QRx = b Rx = QT b needs only a sequence of back-substitutions.
118,
QR Iterations
Multiplying Q and R factors in reverse,
A = RQ = QT AQ , an orthogonal similarity transformation. 1. If A is symmetric, then so is A . 2. If A is in upper Hessenberg form, then so is A . 3. If A is symmetric tridiagonal, then so is A . Complexity of QR iteration: O(n) for a symmetric tridiagonal matrix, O(n2 ) operation for an upper Hessenberg matrix and O(n3 ) for the general case. Algorithm: Set A1 = A and for k = 1, 2, 3, ,

decompose Ak = Qk Rk ,
reassemble Ak +1 = Rk Qk .
As k , Ak approaches the quasi-upper-triangular form.
119,
QR Iterations
Quasi-upper-triangular 1 2 .. . form: r
Bk
.. .
. . . . . .
with |1 | > |2 | > . Diagonal blocks Bk correspond to eigenspaces of equal/close (magnitude) eigenvalues. 2 2 diagonal blocks often correspond to pairs of complex eigenvalues (for non-symmetric matrices). For symmetric matrices, the quasi-upper-triangular form reduces to quasi-diagonal form.
120,
Conceptual Basis of QR Method*
QR decomposition algorithm operates on the basis of the relative magnitudes of eigenvalues and segregates subspaces. With k , Ak Range {e1 } = Range {q1 } Range {v1 }
T and (a1 )k QT k Aq1 = 1 Qk q1 = 1 e1 .
Further, Ak Range {e1 , e2 } = Range {q1 , q2 } Range {v1 , v2 }. (1 2 )1 . and (a2 )k QT 2 k Aq2 = 0 And, so on ...
121,
QR Algorithm with Shift*

With shift,
For i < j , entry aij decays through iterations as
i j
k = A k k I ; A k = Qk Rk , A k +1 = Rk Qk ; A k +1 + k I . Ak +1 = A Resulting transformation is Ak +1 = Rk Qk + k I = QT k Ak Qk + k I
T = QT k (Ak k I )Qk + k I = Qk Ak Qk .
For the iteration, convergence ratio =

i k j k .
Question: How to nd a suitable value for k ?
122,
Points to note

QR decomposition can be eected on any square matrix. Practical methods of QR decomposition use Householder transformations or Givens rotations. A QR iteration eects a similarity transformation on a matrix, preserving symmetry, Hessenberg structure and also a symmetric tridiagonal form. A sequence of QR iterations converge to an almost upper-triangular form. Operations on symmetric tridiagonal and Hessenberg forms are computationally ecient. QR iterations tend to order subspaces according to the relative magnitudes of eigenvalues. Eigenvalue shifting is useful as an expediting strategy.
Eigenvalue Problem of General Matrices Introductory Remarks Reduction to Hessenberg Form* QR Algorithm on Hessenberg Matrices* Inverse Iteration Recommendation
123,
Outline
124,
Introductory Remarks
A general (non-symmetric) matrix may not be diagonalizable. We attempt to triangularize it. With real arithmetic, 2 2 diagonal blocks are inevitable signifying complex pair of eigenvalues. Higher computational complexity, slow convergence and lack of numerical stability.
A non-symmetric matrix is usually unbalanced and is prone to higher round-o errors. Balancing as a pre-processing step: multiplication of a row and division of the corresponding column with the same number, ensuring similarity. Note: A balanced matrix may get unbalanced again through similarity transformations that are not orthogonal!
125,
Reduction to Hessenberg Form*

1. a full sweep of Givens rotations,
Methods to nd appropriate similarity transformations
2. a sequence of n 2 steps of Householder transformations, and 3. a cycle of coordinated Gaussian elimination. Method based on Gaussian elimination or elementary transformations: The pre-multiplying matrix corresponding to the elementary row transformation and the post-multiplying matrix corresponding to the matching column transformation must be inverses of each other. Two kinds of steps

Pivoting Elimination
126,
Reduction to Hessenberg Form*

1 = Prs APrs = P Pivoting step: A rs APrs .
Permutation Prs : interchange of r -th and s -th columns.

1 P rs = Prs : interchange of r -th and s -th rows.
Pivot locations: a21 , a32 , , an1,n2 .

1 = G step: A r AGr with elimination matrix 0 0 Ir 0 0 1 and G 0 1 . 1 0 0 r = k Inr 1 0 k Inr 1
Elimination Ir Gr = 0 0
1 G r : Row (r + 1 + i ) Row (r + 1 + i ) ki Row (r + 1) for i = 1, 2, 3, , n r 1
Gr : Column (r + 1) Column (r + 1)+ n r 1 [ki Column (r + 1 + i ) ] i =1
127,
QR Algorithm on Hessenberg Matrices*
QR iterations: O(n2 ) operations for upper Hessenberg form.
Whenever a sub-diagonal zero appears, the matrix is split into two smaller upper Hessenberg blocks, and they are processed separately, thereby reducing the cost drastically.
Particular cases:
an1,n2 0: Separately nd the eigenvalues n1 and n an1,n1 an1,n from , continue with the leading a n , n 1 an , n (n 2) (n 2) sub-matrix.
an,n1 0: Accept ann = n as an eigenvalue, continue with the leading (n 1) (n 1) sub-matrix.
Shift strategy: Double QR steps.
128,
Inverse Iteration
Assumption: Matrix A has a complete set of eigenvectors. (i )0 : a good estimate of an eigenvalue i of A . Purpose: To nd i precisely and also to nd vi .
Step: Select a random vector y0 (with y0 = 1) and solve [A (i )0 I ]y = y0 . Result: y is a good estimate of vi and (i )1 = (i )0 + 1
Ty y0
is an improvement in the estimate of the eigenvalue. How to establish the result and work out an
algorithm ?
129,
Inverse Iteration
With y0 =
n j =1 n j =1 j vj
and y = =
n j =1 j vj , n
[A (i )0 I ]y = y0 gives
j [A (i )0 I ]vj
j vj
j =1
j [j (i )0 ] = j
j =
j . j (i )0
i is typically large and eigenvector vi dominates y . Avi = i vi gives [A (i )0 I ]vi = [i (i )0 ]vi . Hence, [i (i )0 ]y [A (i )0 I ]y = y0 . Inner product with y0 gives
T [i (i )0 ]y0 y 1 i (i )0 +
1
Ty y0
130,
Inverse Iteration
Algorithm:
Start with estimate (i )0 , guess y0 (normalized). For k = 0, 1, 2,

Solve [A (i )k I ]y = yk . Normalize yk +1 =
y y
Improve (i )k +1 = (i )k +
1 Ty. yk
If yk +1 yk < , terminate. Update eigenvalue once in a while, not at every iteration. Use some acceptable small number as articial pivot. The method may not converge for defective matrix or for one having complex eigenvalues. Repeated eigenvalues may inhibit the process.
Important issues

131,
Recommendation
Table: Eigenvalue problem: summary of methods

Type General Size Small (up to 4) Intermediate (say, 412) Reduction Denition: Characteristic polynomial Jacobi sweeps Tridiagonalization (Givens rotation or Householder method) Large Tridiagonalization (usually Householder method) Balancing, and then Reduction to Hessenberg form (Above methods or Gaussian elimination) Algorithm Polynomial root nding (eigenvalues) Selective Jacobi rotations Sturm sequence property: Bracketing and bisection (rough eigenvalues) QR decomposition iterations Post-processing Solution of linear systems (eigenvectors)
Symmetric
Inverse iteration (eigenvalue improvement and eigenvectors)
Nonsymmetric
Intermediate Large
QR decomposition iterations (eigenvalues) Power method, shift and deation
Inverse iteration (eigenvectors)
General
Very large (selective requirement)
132,
Points to note

Eigenvalue problem of a non-symmetric matrix is dicult! Balancing and reduction to Hessenberg form are desirable pre-processing steps. QR decomposition algorithm is typically used for reduction to an upper-triangular form. Use inverse iteration to polish eigenvalue and nd eigenvectors. In algebraic eigenvalue problems, dierent methods or combinations are suitable for dierent cases; regarding matrix size, symmetry and the requirements.
Singular Value Decomposition SVD Theorem and Construction Properties of SVD Pseudoinverse and Solution of Linear Systems Optimality of Pseudoinverse Solution SVD Algorithm
133,
Outline
134,
SVD Theorem and Construction
Eigenvalue problem: A = U V1 where U = V Do not ask for similarity. Focus on the form of the decomposition. Guaranteed decomposition with orthogonal U , V , and non-negative diagonal entries in by allowing U = V . A = U VT such that UT AV = SVD Theorem For any real matrix A R mn , there exist orthogonal matrices U R mm and V R nn such that UT AV = R mn is a diagonal matrix, with diagonal entries 1 , 2 , 0, obtained by appending the square diagonal matrix diag (1 , 2 , , p ) with (m p ) zero rows or (n p ) zero columns, where p = min(m, n). Singular values: 1 , 2 , , p .
Similar result for complex matrices
135,

Question: How to construct U , V and ? For A R mn ,
AT A = (V T UT )(U VT ) = V T VT = V VT , where = T is an n n diagonal matrix. 2 .. . | 0 = p | + 0 | Determine V and . Work out and we have A = U VT AV = U
This provides a proof as well!
| |
136,

From AV = U , determine columns of U .
1. Column Avk = k uk , with k = 0: determine column uk . Columns developed are bound to be mutually orthonormal! Verify uT i uj =
1 i Avi T 1 j Avj
= ij .
2. Column Avk = k uk , with k = 0: uk is left indeterminate (free). 3. In the case of m < n, identically zero columns Avk = 0 for k > m: no corresponding columns of U to determine. 4. In the case of m > n, there will be (m n) columns of U left indeterminate. Extend columns of U to an orthonormal basis. All three factors in the decomposition are constructed, as desired.
137,
Properties of SVD
For a given matrix, the SVD is unique up to
(a) the same permutations of columns of U , columns of V and diagonal elements of ; (b) the same orthonormal linear combinations among columns of U and columns of V , corresponding to equal singular values; and (c) arbitrary orthonormal linear combinations among columns of U or columns of V , corresponding to zero or non-existent singular values. Ordering of the singular values: 1 2 r > 0, and r +1 = r +2 = = p = 0. Rank (A ) = Rank () = r Rank of a matrix is the same as the number of its non-zero singular values.
138,
Properties of SVD
Ax = U VT x = U y = [u1
ur
ur +1
has non-zero components along only the rst r columns of U . U gives an orthonormal basis for the co-domain such that Range (A ) = < u1 , u2 , , ur > .
T x = y , and With VT x = y , vk k
= 1 y1 u1 + 2 y2 u2 + + r yr ur
1 y1 . . um ] . r yr
x = y1 v1 + y2 v2 + + yr vr + yr +1 vr +1 + yn vn . V gives an orthonormal basis for the domain such that Null (A ) = < vr +1 , vr +2 , , vn > .
139,
Properties of SVD
In basis V , v = c1 v1 + c2 v2 + + cn vn = Vc and the norm is given by A

2
= max
vT AT Av Av 2 = max v v v 2 vT v cT T c cT VT AT AVc = max = max = max c c c cT VT Vc cT c maxc

P 2 2 k k ck P 2 k ck
2c2 k k . 2 k ck
A =
= max
For a non-singular square matrix, A1 = (U VT )1 = V 1 UT = V diag Then, A1 =

1 min
1 1 1 , , , 1 2 n
UT .
and the condition number is max (A ) = A A1 = . min
140,
Properties of SVD
Revision of denition of norm and condition number: The norm of a matrix is the same as its largest singular value, while its condition number is given by the ratio of the largest singular value to the least.
Arranging singular values in decreasing order, with Rank (A ) = r , U = [Ur ] and V = [Vr U ] U r 0
r
], V
T Vr T V
A = U VT = [Ur or, A=
0 0
T Ur r Vr
=
k =1
T . k uk vk
Ecient storage and reconstruction!
Singular Value Decomposition
141,
Theorem and Construction Pseudoinverse and Solution of Linear SVD Systems Properties of SVD Pseudoinverse and Solution of Linear Systems SVD Algorithm Generalized inverse: G is called a generalized inverse or g-inverse of A if, for b Range (A ), Gb is a solution of Ax = b . The Moore-Penrose inverse or the pseudoinverse: Optimality of Pseudoinverse Solution
A# = (U VT )# = (VT )# # U# = V # UT With =
1 0 0 r , # = . 0 0 0 1 | | 2 .. . | 0 # = p | + 0 |
r 0
Or,
where k =
1 k ,
0,
for k = 0 or for |k | > ; for k = 0 or for |k | .
142,
Theorem and Construction Pseudoinverse and Solution of Linear SVD Systems Properties of SVD Pseudoinverse and Solution of Linear Systems
Inverse-like facets and beyond

Optimality of Pseudoinverse Solution SVD Algorithm
(A# )# = A . If A is invertible, then A# = A1 .
A# b gives the correct unique solution.
If Ax = b is an under-determined consistent system, then A# b selects the solution x with the minimum norm. If the system is inconsistent, then A# b minimizes the least square error Ax b .
If the minimizer of Ax b is not unique, then it picks up that minimizer which has the minimum norm x among such minimizers.
Contrast with Tikhonov regularization: Pseudoinverse solution for precision and diagnosis. Tikhonovs solution for continuity of solution over variable A and computational eciency.
143,
Theorem and Construction Optimality of Pseudoinverse Solution SVD Properties of SVD Pseudoinverse and Solution of Linear Systems
Pseudoinverse solution of Ax = b :
r
Optimality of Pseudoinverse Solution SVD Algorithm
x = V U b =
k =1
k vk uT kb
=
k =1
(uT k b /k )vk
Minimize E (x ) = 1 1 1 (Ax b )T (Ax b ) = xT AT Ax xT AT b + bT b 2 2 2
Condition of vanishing gradient: E = 0 AT Ax = AT b x V (T )VT x = V T UT b

2 T vk x = k uT k k b T vk x = uT k b /k
(T )VT x = T UT b
for k = 1, 2, 3, , r .
144,
Theorem and Construction Optimality of Pseudoinverse Solution SVD Properties of SVD Pseudoinverse and Solution of Linear Systems Optimality of Pseudoinverse Solution SVD Algorithm
= [vr +1 With V x=
vr +2
r
vn ], then
(uT k b /k )vk + Vy = x + Vy . k =1
How to minimize x
subject to E (x ) minimum?
2. Minimize E1 (y ) = x + Vy are mutually orthogonal, Since x and Vy E1 (y ) = x + Vy

2
= x
+ Vy
= 0, i.e. y = 0. is minimum when Vy
145,
Theorem and Construction Optimality of Pseudoinverse Solution SVD Properties of SVD Pseudoinverse and Solution of Linear Systems
Anatomy of the optimization through SVD SVD Algorithm Using basis V for domain and U for co-domain, the variables are transformed as VT x = y and UT b = c . Then, Ax = b U VT x = b VT x = UT b y = c . A completely decoupled system! Usable components: yk = ck /k for k = 1, 2, 3, , r . For k > r , completely redundant information (ck = 0) purely unresolvable conict (ck = 0) SVD extracts this pure redundancy/inconsistency. Setting k = 0 for k > r rejects it wholesale! At the same time, y is minimized, and hence x too.
Optimality of Pseudoinverse Solution
146,
Points to note
SVD provides a complete orthogonal decomposition of the domain and co-domain of a linear transformation, separating out functionally distinct subspaces. If oers a complete diagnosis of the pathologies of systems of linear equations. Pseudoinverse solution of linear systems satisfy meaningful optimality requirements in several contexts. With the existence of SVD guaranteed, many important results can be established in a straightforward manner.
Vector Spaces: Fundamental Concepts* Group Field Vector Space Linear Transformation Isomorphism Inner Product Space Function Space
147,
Outline
148,
Group
Closure: a + b G a , b G
A set G and a binary operation, say +, fullling
Associativity: a + (b + c ) = (a + b ) + c , a, b , c G Existence of inverse: a G , (a) G such that a + (a) = 0 = (a) + a
Existence of identity: 0 G such that a G , a + 0 = a = 0 + a
Examples: (Z , +), (R , +), (Q {0}, ), 2 5 real matrices, Rotations etc.
Commutative group Examples:(Z , +), (R , +), (Q {0}, ),
(F , +).
Subgroup
149,
Field
A set F and two binary operations, say + and , satisfying
Group property for addition: (F , +) is a commutative group. (Denote the identity element of this group as 0.) Group property for multiplication: (F {0}, ) is a commutative group. (Denote the identity element of this group as 1.) Distributivity: a (b + c ) = a b + a c , a, b , c F . Concept of eld: abstraction of a number system Examples: (Q , +, ), (R , +, ), (C , +, ) etc.
Subeld
150,
Vector Space
A vector space is dened by

a eld F of scalars, a commutative group V of vectors, and a binary operation between F and V , that may be called scalar multiplication, such that , F , a , b V ; the following conditions hold. Closure: a V . Identity: 1a = a . Associativity: ( )a = ( a ). Scalar distributivity: (a + b ) = a + b . Vector distributivity: ( + )a = a + a .
Examples: R n , C n , m n real matrices etc. Field Number system Vector space Space
151,
Vector Space
Suppose V is a vector space. Take a vector 1 = 0 in it.
Then, vectors linearly dependent on 1 : 1 1 V 1 F . Question: Are the elements of V exhausted? If not, then take 2 V : linearly independent from 1 . Then, 1 1 + 2 2 V 1 , 2 F . Question: Are the elements of V exhausted now? Question: Will this process ever end? Suppose it does. nite dimensional vector space
152,
Vector Space
Finite dimensional vector space
Suppose the above process ends after n choices of linearly independent vectors. = 1 1 + 2 2 + + n n Then,

n: dimension of the vector space ordered set 1 , 2 , , n : a basis 1 , 2 , , n F : coordinates of in that basis
R n , R m etc: vector spaces over the eld of real numbers
Subspace
153,
Linear Transformation
A mapping T : V W satisfying
T (a + b ) = T (a ) + T (b ) , F and a , b V where V and W are vector spaces over the eld F . Question: How to describe the linear transformation T ?

For V , basis 1 , 2 , , n
For W , basis 1 , 2 , , m T (1 ) = a11 1 + a21 2 + + am1 m
1 V gets mapped to T (1 ) W .
Similarly, enumerate T (j ) = Matrix A = [a1 a2
m i =1 aij i .
an ] codes this description!
154,
A general element of V can be expressed as
= x1 1 + x2 2 + + xn n Coordinates in a column: x = [x1 x2 xn ]T Mapping: T () = x1 T (1 ) + x2 T (2 ) + + xn T (n ), with coordinates Ax , as we know! Summary:
basis vectors of V get mapped to vectors in W whose coordinates are listed in columns of A , and a vector of V , having its coordinates in x , gets mapped to a vector in W whose coordinates are obtained from Ax .
155,
Understanding:
T : V W is the linear transformation and the matrix A simply stores coecients needed to describe it. By changing bases of V and W , the same vector and the same linear transformation are now expressed by dierent x and A , respectively. Matrix representation emerges as the natural description of a linear transformation between two vector spaces.
Vector is an actual object in the set V and the column x R n is merely a list of its coordinates.
Exercise: Set of all T : V W form a vector space of their own!! Analyze and describe that vector space.
156,
Isomorphism
Consider T : V W that establishes a one-to-one correspondence. Linear transformation T denes a one-one onto mapping, which is invertible. dim V = dim W Inverse linear transformation T1 : W V T denes (is) an isomorphism. Vector spaces V and W are isomorphic to each other. Isomorphism is an equivalence relation. V and W are equivalent!
If we need to perform some operations on vectors in one vector space, we may as well 1. transform the vectors to another vector space through an isomorphism, 2. conduct the required operations there, and 3. map the results back to the original space through the inverse.
157,
Isomorphism
Consider vector spaces V and W over the same eld F and of the same dimension n. Question: Can we dene an isomorphism between them? Answer: Of course. As many as we want! The underlying eld and the dimension together completely specify a vector space, up to an isomorphism. All n-dimensional vector spaces over the eld F are isomorphic to one another. In particular, they are all isomorphic to F n . The representation (columns) can be considered as the objects (vectors) themselves.
158,
Inner Product Space
Inner product (a , b ) in a real or complex vector space: a scalar function p : V V F satisfying Closure: Associativity: (a , b ) = (a , b ) a , b V , (a , b ) F
Distributivity: (a + b , c ) = (a , c ) + (b , c ) Conjugate commutativity: (b , a ) = (a , b ) Positive deniteness: (a , a ) 0; and (a , a ) = 0 i a = 0 Note: Property of conjugate commutativity forces (a , a ) to be real. Examples: aT b , aT Wb in R , a b in C etc. Inner product space: a vector space possessing an inner product

Euclidean space: over R Unitary space: over C
159,
Inner Product Space
Inner products bring in ideas of angle and length in the geometry of vector spaces. Orthogonality: (a , b ) = 0 Norm: : V R , such that a = (a , a )
Associativity: a = || a
Positive deniteness: a > 0 for a = 0 and 0 = 0 Triangle inequality: a + b a + b Cauchy-Schwarz inequality: |(a , b )| a b
A distance function or metric: dV : V V R such that dV (a , b ) = a b
160,
Function Space
Suppose we decide to represent a continuous function f : [a, b ] R by the listing vf = [f (x1 ) f (x2 ) f (x3 )
f (xN )]T
with a = x1 < x2 < x3 < < xN = b . Note: The true representation will require N to be innite! Here, vf is a real column vector. Do such vectors form a vector space? Correspondingly, does the set F of continuous functions over [a, b ] form a vector space? innite dimensional vector space
161,
Function Space
Vector space of continuous functions First, (F , +) is a commutative group.
Next, with , R , x [a, b ],

if f (x ) R , then f (x ) R 1 f (x ) = f (x ) ( )f (x ) = [ f (x )] [f1 (x ) + f2 (x )] = f1 (x ) + f2 (x ) ( + )f (x ) = f (x ) + f (x ) Thus, F forms a vector space over R .
Every function in this space is an (innite dimensional) vector. Listing of values is just an obvious basis.
Vector Spaces: Fundamental Concepts* Group Field Vector Space Linear Transformation Isomorphism Inner 1 Product Space 2 Function Space
162,
Function Space

Linear dependence of (non-zero) functions f and f f2 (x ) = kf1 (x ) for all x in the domain
Linear independence: k1 f1 (x ) + k2 f2 (x ) = 0 x k1 = k2 = 0 In general,
k1 f1 (x ) + k2 f2 (x ) = 0, x with k1 and k2 not both zero.
Functions f1 , f2 , f3 , , fn F are linearly dependent if k1 , k2 , k3 , , kn , not all zero, such that k1 f1 (x ) + k2 f2 (x ) + k3 f3 (x ) + + kn fn (x ) = 0 x [a, b ].
k1 f1 (x ) + k2 f2 (x ) + k3 f3 (x ) + + kn fn (x ) = 0 x [a, b ] k1 , k2 , k3 , , kn = 0 means that functions f1 , f2 , f3 , , fn are linearly independent.
Example: functions 1, x , x 2 , x 3 , are a set of linearly independent functions. Incidentally, this set is a commonly used basis.
163,
Function Space
Inner product: For functions f (x ) and g (x ) in F , the usual inner product between corresponding vectors:
T vg = f (x1 )g (x1 ) + f (x2 )g (x2 ) + f (x3 )g (x3 ) + (vf , vg ) = vf T Wv = Weighted inner product: (vf , vg ) = vf g i
wi f (xi )g (xi )
For the functions,

b
(f , g ) =
a
w (x )f (x )g (x )dx
Orthogonality: (f , g ) = Norm: f =
b a
b a
w (x )f (x )g (x )dx = 0
w (x )[f (x )]2 dx
Orthonormal basis: b (fj , fk ) = a w (x )fj (x )fk (x )dx = jk j , k
164,
Points to note
Matrix algebra provides a natural description for vector spaces and linear transformations. Through isomorphisms, R n can represent all n-dimensional real vector spaces. Through the denition of an inner product, a vector space incorporates key geometric features of physical space. Continuous functions over an interval constitute an innite dimensional vector space, complete with the usual notions.
Topics in Multivariate Calculus Derivatives in Multi-Dimensional Spaces Taylors Series Chain Rule and Change of Variables Numerical Dierentiation An Introduction to Tensors*
165,
Outline
Topics in Multivariate Calculus
166,
Derivatives in Multi-Dimensional Spaces Derivatives in Multi-Dimensional Spaces Taylors Series Chain Rule and Change of Variables
Gradient f (x ) f f (x ) = x x1 f x2
Numerical Dierentiation An Introduction to Tensors*
f xn
Up to the rst order, f [f (x )]T x Directional derivative f f (x + d ) f (x ) = lim d 0 Relationships: f f = , ej xj f = dT f (x ) d and f = f (x ) g
Among all unit vectors, taken as directions, the rate of change of a function in a direction is the same as the component of its gradient along that direction, and the rate of change along the direction of the gradient is the greatest and is equal to the magnitude of the gradient.
Topics in Multivariate Calculus
167,
Derivatives in Multi-Dimensional Spaces Derivatives in Multi-Dimensional Spaces Taylors Series Chain Rule and Change of Variables Numerical Dierentiation An Introduction to Tensors*
Hessian
2f x1 2 2f x1 x2 2f x2 x1 2f x2 2
2f H (x ) = = x2
. . .
. . .
.. . x
2f xn x1 2f xn x2
. . .
2f x1 xn
2f x2 xn 2f (x ) x2
2f xn 2
Meaning: f (x + x ) f (x ) For a vector function h (x ), Jacobian J (x ) = h h (x ) = x x1
h x2
h xn
Underlying notion: h [J (x )]x
168,
Taylors Series
Taylors formula in the remainder form:
f (x + x ) = f (x ) + f (x )x 1 1 1 f (n1) (x )x n1 + f (n) (xc )x n + f (x )x 2 + + 2! (n 1)! n! where xc = x + t x with 0 t 1 Mean value theorem: existence of xc Taylors series: 1 f (x + x ) = f (x ) + f (x )x + f (x )x 2 + 2! For a multivariate function, 1 f (x + x ) = f (x ) + [xT ]f (x ) + [xT ]2 f (x ) + 2! 1 1 [xT ]n1 f (x ) + [xT ]n f (x + t x ) + (n 1)! n! 1 2f f (x + x ) f (x ) + [f (x )]T x + xT (x ) x 2 x2
169,
Chain Rule and Change of Variables

For f (x ), the total dierential: df = [f (x )]T d x =
f f f dx1 + dx2 + + dxn x1 x2 xn
Ordinary derivative or total derivative: df dx = [f (x )]T dt dt

f T dx For f (t , x (t )), total derivative: df dt = t + [f (x )] dt For f (v , x (v )) = f (v1 , v2 , , vm , x1 (v ), x2 (v ), , xn (v )),
f (v , x (v )) = vi
f vi
+
x
f (v , x ) x
x = vi x (v ) v
f vi
T
+[x f (v , x )]T
x vi
f (v , x (v )) = v f (v , x ) +
x f (v , x )
170,

Let x R m+n and h (x ) R m .
Partition x R m+n into z R n and w R m . System of equations h (x ) = 0 means h (z , w ) = 0 . Question: Can we work out the function w = w (z )? Solution of m equations in m unknowns? Question: If we have one valid pair (z , w ), then is it possible to develop w = w (z ) in the local neighbourhood? h Answer: Yes, if Jacobian w is non-singular. Implicit function theorem h h h w w + =0 = z w z z w Upto rst order, w1 = w +
w z 1
h z
(z1 z ).
171,

For a multiple integral I =
A
f (x , y , z ) dx dy dz ,
change of variables x = x (u , v , w ), y = y (u , v , w ), z = z (u , v , w ) gives I =

A
f (x (u , v , w ), y (u , v , w ), z (u , v , w )) |J (u , v , w )| du dv dw ,
(x ,y ,z ) (u ,v ,w )
where Jacobian determinant |J (u , v , w )| = For the dierential
P1 (x )dx1 + P2 (x )dx2 + + Pn (x )dxn , we ask: does there exist a function f (x ), of which this is the dierential; or equivalently, the gradient of which is P (x )? Perfect or exact dierential: can be integrated to nd f .
172,
Dierentiation under the integral sign How To dierentiate (x ) = (x , u (x ), v (x )) = In the expression (x ) =

v
v (x ) u (x ) f
(x , t ) dt ?
du dv + + , x u dx v dx
F (x ,t ) t ,
f we have x = u x (x , t )dt . Now, considering function F (x , t ) such that f (x , t ) = v
(x ) =
u
F (x , t )dt = F (x , v ) F (x , u ) (x , u , v ). t
u
Using
= f (x , v ) and
v (x ) u (x )
= f (x , u ),
(x ) =
f dv du (x , t )dt + f (x , v ) f (x , u ) . x dx dx Leibnitz rule
173,
Numerical Dierentiation
Forward dierence formula f (x + x ) f (x ) f (x ) = + O(x ) x Central dierence formulae f (x + x ) f (x x ) + O(x 2 ) f (x ) = 2x f (x + x ) 2f (x ) + f (x x ) f (x ) = + O(x 2 ) x 2 For gradient f (x ) and Hessian, 1 f (x ) = [f (x + ei ) f (x ei )], xi 2 2f (x ) = xi 2 2f (x ) = xi xj
f (x + ei ) 2f (x ) + f (x ei ) , and 2 f (x + ei + ej ) f (x + ei ej ) f (x ei + ej ) + f (x ei ej ) 42
174,
An Introduction to Tensors*

Indicial notation and summation convention Kronecker delta and Levi-Civita symbol Rotation of reference axes Tensors of order zero, or scalars Contravariant and covariant tensors of order one, or vectors Cartesian tensors Cartesian tensors of order two Higher order tensors Elementary tensor operations Symmetric tensors Tensor elds
175,
Points to note
Gradient, Hessian, Jacobian and the Taylors series Partial and total gradients Implicit functions Leibnitz rule Numerical derivatives
Vector Analysis: Curves and Surfaces Recapitulation of Basic Notions Curves in Space Surfaces*
176,
Outline
177,
Recapitulation of Basic Notions

Dot and cross products: their implications Scalar and vector triple products Dierentiation rules Interface with matrix algebra: a x = aT x ,
(a x )b = (baT )x , and aT x , for 2-d vectors ax = ax , for 3-d vectors where a = ay ax 0 az ay 0 ax and a = az ay ax 0
178,
Curves in Space
Explicit equation: y = y (x ) and z = z (x ) Implicit equation: F (x , y , z ) = 0 = G (x , y , z ) Parametric equation: r (t ) = x (t )i + y (t )j + z (t )k [x (t ) y (t ) z (t )]T

Tangent vector: r (t ) Speed: r Unit tangent: u (t ) =

r r b a
Length of the curve: l = Arc length function

t
dr =
b a
r r dt
s (t ) =
a
r ( ) r ( ) d
ds dt
with ds = d r =
dx 2 + dy 2 + dz 2 and
= r
179,
Curves in Space
Curve r (t ) is regular if r (t ) = 0 t .
Reparametrization with respect to parameter t , some strictly increasing function of t
Observations
Arc length s (t ) is obviously a monotonically increasing function. For a regular curve,

ds dt
= 0.
Then, s (t ) has an inverse function. Inverse t (s ) reparametrizes the curve as r (t (s )). r (s ) = 1 and the unit tangent is
For a unit speed curve r (s ),
u (s ) = r (s ).
180,
Curves in Space
Curvature: The rate at which the direction changes with arc length. (s ) = u (s ) = r (s ) Unit principal normal: p= With general parametrization, r (t ) = d r du d r u (t ) + r (t ) = u (t ) + (t ) r 2 p (t ) dt dt dt
r/
AC = = 1/
1 u (s )
Osculating plane Centre of curvature Radius of curvature

O
u
z
A
r//
r
y
Figure: Tangent and normal to a curve
181,
Curves in Space
Binormal: b = u p
Serret-Frenet frame: Right-handed triad {u , p , b }
Osculating, rectifying and normal planes
Torsion: Twisting out of the osculating plane
rate of change of b with respect to arc length s b = u p + u p = (s )p p + u p = u p
What is p ?
Taking p = u + b , b = u ( u + b ) = p . Torsion of the curve (s ) = p (s ) b (s )
182,
Curves in Space
We have u and b . What is p ? From p = b u ,
p = b u + b u = p u + b p = u + b . Serret-Frenet formulae u = p , p = u + b , b = p
Intrinsic representation of a curve is complete with (s ) and (s ). The arc-length parametrization of a curve is completely determined by its curvature (s ) and torsion (s ) functions, except for a rigid body motion.
183,
Surfaces*
Parametric surface equation:
r (u , v ) = x (u , v )i +y (u , v )j +z (u , v )k [x (u , v ) y (u , v ) z (u , v )]T Tangent vectors ru and rv dene a tangent plane T . N = ru rv is normal to the surface and the unit normal is n= N ru rv = . N ru rv
Question: How does n vary over the surface? Information on local geometry: curvature tensor

Normal and principal curvatures Local shape: convex, concave, saddle, cylindrical, planar
184,
Points to note
Parametric equation is the general and most convenient representation of curves and surfaces. Arc length is the natural parameter and the Serret-Frenet frame oers the natural frame of reference. Curvature and torsion are the only inherent properties of a curve. The local shape of a surface patch can be understood through an analysis of its curvature tensor.
Scalar and Vector Fields Dierential Operations on Field Functions Integral Operations on Field Functions Integral Theorems Closure
185,
Outline
Scalar and Vector Fields
186,
Dierential Operations on Field Functions Dierential Operations on Field Functions Integral Operations on Field Functions Integral Theorems
Scalar point function or scalar eld (x , y , z ): R 3 R Vector point function or vector eld V (x , y , z ): R 3 R 3 The del or nabla () operator i
Closure
+j +k x y z
is a vector, it signies a dierentiation, and it operates from the left side. Laplacian operator: 2 2 2 2 + + x 2 y 2 z 2 = ??
Laplaces equation: 2 2 2 + 2 + 2 =0 x 2 y z Solution of 2 = 0: harmonic function
187,
Dierential Operations on Field Functions Dierential Operations on Field Functions Integral Operations on Field Functions Integral Theorems Closure
Gradient grad = i+ j+ k x y z
is orthogonal to the level surfaces. Flow elds: gives the velocity vector. Divergence For V (x , y , z ) Vx (x , y , z )i + Vy (x , y , z )j + Vz (x , y , z )k , div V V = Vy Vz Vx + + x y z
Divergence of V : ow rate of mass per unit volume out of the control volume. Similar relation between eld and ux in electromagnetics.
188,
Curl i curl V V = =
x
j
y
k
z
Vx
Vy i+
Vz Vx Vz z x j+ Vy Vx x y k
Vy Vz y z
If V = r represents the velocity eld, then angular velocity = Curl represents rotationality. Connections between electric and magnetic elds! 1 curl V . 2
189,
Composite operations Operator is linear. (V + W ) = V + W , ( + ) = + , and
(V + W ) = V + W . Considering the products , V , V W , and V W ; ( ) = + (V ) = V + V (V ) = V + V (V W ) = (W )V + (V )W + W ( V ) + V ( W ) (V W ) = W ( V ) V ( W ) (V W ) = (W )V W ( V ) (V )W + V ( W )
Note: the expression V Vx x + Vy y + Vz z is an operator!
190,
Dierential Operations on Field Functions Dierential Operations on Field Functions Integral Operations on Field Functions Integral Theorems
Second order dierential operators
Closure
curl grad ()
div grad ()
curl curl V ( V ) grad div V ( V ) Important identities: div grad () = 2 div curl V ( V ) = 0 = ( V ) 2 V = grad div V 2 V
div curl V ( V )
curl grad () = 0 curl curl V ( V )
191,
Dierential Operations on Field Functions Integral Operations on Field Functions Integral Operations on Field Functions Integral Theorems
Line integral along curve C : I =

C
Closure
V dr =
(Vx dx + Vy dy + Vz dz )
C
For a parametrized curve r (t ), t [a, b ],

b
I =
C
V dr =
dr dt . dt
For simple (non-intersecting) paths contained in a simply connected region, equivalent statements: Vx dx + Vy dy + Vz dz is an exact dierential. V = for some (r ). C V d r is independent of path. Circulation V d r = 0 around any closed path. curl V = 0 . Field V is conservative.
192,
Dierential Operations on Field Functions Integral Operations on Field Functions Integral Operations on Field Functions Integral Theorems Closure
Surface integral over an orientable surface S : J=

S
V dS =
V n dS
For r (u , w ), dS = ru rw du dw and J=
S
V n dS =
V (ru rw ) du dw .
Volume integrals of point functions over a region T : M=

T
dv
and
F=
T
V dv
193,
Integral Theorems
Greens theorem in the plane
R: closed bounded region in the xy -plane C : boundary, a piecewise smooth closed curve F1 (x , y ) and F2 (x , y ): rst order continuous functions (F1 dx + F2 dy ) =
C R
F2 F1 x y
y
dx dy
y d x1(y) D y2(x) B
R
A x2(y)
c O a
y1(x) b x O (b) General domain x
(a) Simple domain
Figure: Regions for proof of Greens theorem in the plane
194,
Integral Theorems
Proof: F1 dxdy y
b y2 (x ) y1 (x ) b
=
a
F1 dydx y
=
a
[F1 {x , y2 (x )} F1 {x , y1 (x )}]dx
a b b
= = F2 dxdy = x
C (F1 dx
F1 {x , y2 (x )}dx F1 (x , y )dx
F1 {x , y1 (x )}dx
C d c x2 (y ) x1 (y ) R R
F2 dxdy = x
F2 x
F2 (x , y )dy
C
Dierence:
+ F2 dy ) =
C
F1 y
dx dy
In alternative form,
F dr =
curl F k dx dy .
195,
Integral Theorems
Gausss divergence theorem
T : a closed bounded region S: boundary, a piecewise smooth closed orientable surface F (x , y , z ): a rst order continuous vector function div F dv =
T S
F n dS
Interpretation of the denition extended to nite domains. Fx Fy Fz + + x y z
dx dy dz =
S
(Fx nx +Fy ny +Fz nz )dS
Fz Fz nz dS To show: z dx dy dz = S T First consider a region, the boundary of which is intersected at most twice by any line parallel to a coordinate axis.
196,
Integral Theorems
Lower and upper segments of S : z = z1 (x , y ) and z = z2 (x , y ). Fz dx dy dz = z =

R z2 R z1
Fz dz dx dy z
[Fz {x , y , z2 (x , y )} Fz {x , y , z1 (x , y )}]dx dy
R : projection of T on the xy -plane Projection of area element of the upper segment: nz dS = dx dy Projection of area element of the lower segment: nz dS = dx dy Thus,
T Fz z dx
dy dz =
Fz nz dS .
Sum of three such components leads to the result. Extension to arbitrary regions by a suitable subdivision of domain!
197,
Integral Theorems
Greens identities (theorem)
Region T and boundary S: as required in premises of Gausss theorem (x , y , z ) and (x , y , z ): second order continuous scalar functions n dS =
T
(2 + )dv (2 2 )dv
( ) n dS
=
T
Direct consequences of Gausss theorem To establish, apply Gausss divergence theorem on , and then on as well.
198,
Integral Theorems
Stokess theorem S: a piecewise smooth surface C : boundary, a piecewise smooth simple closed curve F (x , y , z ): rst order continuous vector function F dr = curl F n dS
n : unit normal given by the right hand clasp rule on C For F (x , y , z ) = Fx (x , y , z )i , Fx dx =

C S
Fx Fx j k n dS = z y
Fx Fx ny nz z y
dS .
First, consider a surface S intersected at most once by any line parallel to a coordinate axis.
199,
Integral Theorems
Represent S as z = z (x , y ) f (x , y ).
f Unit normal n = [nx ny nz ]T is proportional to [ x
f y
1]T .
ny = nz Fx Fx ny nz z y
z y Fx z Fx + y z y
dS =
nz dS
Over projection R of S on xy -plane, (x , y ) = Fx (x , y , z (x , y )). LHS = dx dy = y (x , y )dx =

C C
Fx dx
Similar results for Fy (x , y , z )j and Fz (x , y , z )k .
200,
Points to note
The del operator
Gradient, divergence and curl Composite and second order operators Line, surface and volume intergals
Greens, Gausss and Stokess theorems

Applications in physics (and engineering)
Polynomial Equations Basic Principles Analytical Solution General Polynomial Equations Two Simultaneous Equations Elimination Methods* Advanced Techniques*
201,
Outline
202,
Basic Principles
Fundamental theorem of algebra
p (x ) = a0 x n + a1 x n1 + a2 x n2 + + an1 x + an has exactly n roots x1 , x2 , , xn ; with p (x ) = a0 (x x1 )(x x2 )(x x3 ) (x xn ). In general, roots are complex. Multiplicity: A root of p (x ) with multiplicity k satises p (x ) = p (x ) = p (x ) = = p (k 1) (x ) = 0.

Descartes rule of signs Bracketing and separation Synthetic division and deation p (x ) = f (x )q (x ) + r (x )
203,
Analytical Solution
Quadratic equation ax + bx + c = 0 x = Method of completing the square: b x2 + x + a b 2a
2 2
b 2 4ac 2a
b2 c 2 4a a
x+
b 2a
b 2 4ac 4a2
Cubic equations (Cardano): x 3 + ax 2 + bx + c = 0 Completing the cube? Substituting y = x + k , y 3 + (a 3k )y 2 + (b 2ak + 3k 2 )y + (c bk + ak 2 k 3 ) = 0. Choose the shift k = a/3.
204,
Analytical Solution
y 3 + py + q = 0
Assuming y = u + v , we have y 3 = u 3 + v 3 + 3uv (u + v ). uv u +v and hence Solution: q u3, v 3 = 2 q2 p3 + = A, B (say). 4 27

3 3
= p /3 = q 4p 3 . 27
(u 3 v 3 )2 = q 2 +
u = A1 , A1 , A1 2 , and v = B1 , B1 , B1 2 y1 = A1 + B1 , y2 = A1 + B1 2 and y3 = A1 2 + B1 . At least one of the solutions is real!!
205,
Analytical Solution
Quartic equations (Ferrari) x 4 + ax 3 + bx 2 + cx + d = 0 For a perfect square, y a x2 + x + 2 2
2
a x2 + x 2
a2 b x 2 cx d 4
a2 b+y 4
x2 +
ay c x + 2
y2 d 4
Under what condition, the new RHS will be a perfect square? ay c 2

2
a2 b+y 4
y2 d 4
=0
Resolvent of a quartic: y 3 by 2 + (ac 4d )y + (4bd a2 d c 2 ) = 0
206,
Analytical Solution
Procedure

Frame the cubic resolvent. Solve this cubic equation. Pick up one solution as y . Insert this y to form y a x2 + x + 2 2
2
= (ex + f )2 .
Split it into two quadratic equations as y a x 2 + x + = (ex + f ). 2 2
Solve each of the two quadratic equations to obtain a total of four solutions of the original quartic equation.
207,
General Polynomial Equations
Analytical solution of the general quintic equation? Galois: group theory:
A general quintic, or higher degree, equation is not solvable by radicals. General polynomial equations: iterative algorithms

Methods for nonlinear equations Methods specic to polynomial equations
Solution through the companion matrix Roots of a polynomial are the same as the eigenvalues of its companion matrix. 0 0 0 an 1 0 0 a n 1 . . . . .. . . . Companion matrix: . . . . . . 0 0 0 a2 0 0 1 a1
208,
General Polynomial Equations
Bairstows method to separate out factors of small degree. Attempt to separate real linear factors?
Real quadratic factors Synthetic division with a guess factor x 2 + q1 x + q2 : remainder r1 x + r2 r = [r1 r2 ]T is a vector function of q = [q1 q2 ]T . Iterate over (q1 , q2 ) to make (r1 , r2 ) zero. Newton-Raphson (Jacobian based) iteration: see exercise.
209,
Two Simultaneous Equations
p1 x 2 + q1 xy + r1 y 2 + u1 x + v1 y + w1 = 0 p2 x 2 + q2 xy + r2 y 2 + u2 x + v2 y + w2 = 0 Rearranging, a1 x 2 + b1 x + c1 = 0 a2 x 2 + b2 x + c2 = 0 Cramers rule: x2 x 1 = = b1 c2 b2 c1 a1 c2 a2 c1 a 1 b2 a 2 b1 a1 c2 a2 c1 b1 c2 b2 c1 = x = a1 c2 a2 c1 a1 b2 a2 b1 Consistency condition:
(a1 b2 a2 b1 )(b1 c2 b2 c1 ) (a1 c2 a2 c1 )2 = 0 A 4th degree equation in y
210,
Elimination Methods*
The method operates similarly even if the degrees of the original equations in y are higher. What about the degree of the eliminant equation? Two equations in x and y of degrees n1 and n2 : x-eliminant is an equation of degree n1 n2 in y Maximum number of solutions: Bezout number = n1 n2 Note: Decient systems may have less number of solutions. Classical methods of elimination

Sylvesters dialytic method Bezouts method
211,
Advanced Techniques*

Three or more independent equations in as many unknowns? Cascaded elimination? Objections!
Exploitation of special structures through clever heuristics (mechanisms kinematics literature) Gr obner basis representation (algebraic geometry) Continuation or homotopy method by Morgan For solving the system f (x ) = 0 , identify another structurally similar system g (x ) = 0 with known solutions and construct the parametrized system h (x ) = t f (x ) + (1 t )g (x ) = 0 for t [0, 1].
Track each solution from t = 0 to t = 1.
212,
Points to note
Roots of cubic and quartic polynomials by the methods of Cardano and Ferrari For higher degree polynomials,
Bairstows method: a clever implementation of Newton-Raphson method for polynomials Eigenvalue problem of a companion matrix
Reduction of a system of polynomial equations in two unknowns by elimination
Solution of Nonlinear Equations and Systems Methods for Nonlinear Equations Systems of Nonlinear Equations Closure
213,
Outline
214,
Methods for Nonlinear Equations
Algebraic and transcendental equations in the form f (x ) = 0 Practical problem: to nd one real root (zero) of f (x ) Example of f (x ): x 3 2x + 5, x 3 ln x sin x + 2, etc. If f (x ) is continuous, then Bracketing: f (x0 )f (x1 ) < 0 there must be a root of f (x ) between x0 and x1 .
x1 Bisection: Check the sign of f ( x0 + 2 ). Replace either x0 or x1 x1 with x0 + 2 .
w y y = g(x) u v y=x
215,

Fixed point iteration Rearrange f (x ) = 0 in the form x = g (x ). Example: For f (x ) = tan x x 3 2, possible rearrangements: g1 (x ) = tan1 (x 3 + 2) g2 (x ) = (tan x 2)1/3 g3 (x ) = tanxx22 Iteration: xk +1 = g (xk )
O
a n
f g x
qx r
Figure: Fixed point iteration
If x is the unique solution in interval J and |g (x )| h < 1 in J, then any x0 J converges to x .
216,

Newton-Raphson method First order Taylor series f (x + x ) f (x ) + f (x )x From f (xk + x ) = 0, x = f (xk )/f (xk ) Iteration: xk +1 = xk f (xk )/f (xk ) Convergence criterion: |f (x )f (x )| < |f (x )|2 Draw tangent to f (x ). Take its x -intercept.
f(x)
f g
x* d x0 x
Figure: Newton-Raphson method
Merit: quadratic speed of convergence: |xk +1 x | = c |xk x |2 Demerit: If the starting point is not appropriate, haphazard wandering, oscillations or outright divergence!
217,

f(x)
Secant method and method of false position In the Newton-Raphson formula, f (xk )f (xk 1 ) f (x ) x k x k 1 xk +1 = xk
x k x k 1 f (xk )f (xk 1 ) f
f(x0)
(xk )
O x1 x2 x3 x* x0 f(x1) x
Draw the chord or secant to f (x ) through (xk 1 , f (xk 1 )) and (xk , f (xk )). Take its x -intercept.
Figure: Method of false position
Special case: Maintain a bracket over the root at every iteration. The method of false position or regula falsi Convergence is guaranteed!
218,

y
Quadratic interpolation method or Muller method Evaluate f (x ) at three points and model y = a + bx + cx 2 . Set y = 0 and solve for x .
(x0,y0 ) Quadratic Interpolation
Inverse quadratic interpolation Evaluate f (x ) at three points and model x = a + by + cy 2 . Set y = 0 to get x = a.
Inverse Quadratic Interpolation (x1 ,y1 ) O (x2 ,y2) x3 x3 x
Figure: Interpolation schemes
Van Wijngaarden-Dekker Brent method

maintains the bracket, uses inverse quadratic interpolation, and accepts outcome if within bounds, else takes a bisection step.
Opportunistic manoeuvring between a fast method and a safe one!
219,
Systems of Nonlinear Equations
f1 (x1 , x2 , , xn ) = 0,
f2 (x1 , x2 , , xn ) = 0,
fn (x1 , x2 , , xn ) = 0. f (x ) = 0

Number of variables and number of equations? No bracketing! Fixed point iteration schemes x = g (x )? Newtons method for systems of equations f (x + x ) = f (x ) + f (x ) x + f (x ) + J (x )x x
with the usual merits and demerits!
xk +1 = xk [J (xk )]1 f (xk )
220,
Closure
Modied Newtons method
xk +1 = xk k [J (xk )]1 f (xk ) Broydens secant method Jacobian is not evaluated at every iteration, but gets developed through updates. Optimization-based formulation Global minimum of the function f (x )
2
= f12 + f22 + + fn2
Levenberg-Marquardt method
221,
Points to note
Iteration schemes for solving f (x ) = 0 Newton (or Newton-Raphson) iteration for a system of equations xk +1 = xk [J (xk )]1 f (xk ) Optimization formulation of a multi-dimensional root nding problem
Optimization: Introduction
222,
Outline
The Methodology of Optimization Single-Variable Optimization Conceptual Background of Multivariate Optimization
Optimization: Introduction The Methodology of Optimization Single-Variable Optimization Conceptual Background of Multivariate Optimization
223,
The Methodology of Optimization
Parameters and variables The statement of the optimization problem Minimize f (x ) subject to g (x ) 0 , h (x ) = 0 .
Optimization methods Sensitivity analysis Optimization problems: unconstrained and constrained Optimization problems: linear and nonlinear Single-variable and multi-variable problems
224,
Single-Variable Optimization
For a function f (x ), a point x is dened as a relative (local) minimum if such that f (x ) f (x ) x [x , x + ].

f( x)
a x1
x2
x3
x4
x5
x6
Figure: Schematic of optima of a univariate function
Optimality criteria First order necessary condition: If x is a local minimum or maximum point and if f (x ) exists, then f (x ) = 0. Second order necessary condition: If x is a local minimum point and f (x ) exists, then f (x ) 0. Second order sucient condition: If f (x ) = 0 and f (x ) > 0 then x is a local minimum point.
225,
Higher order analysis: From Taylors series, f
= f (x + x ) f (x ) 1 1 1 = f (x )x + f (x )x 2 + f (x )x 3 + f iv (x )x 4 + 2! 3! 4! For an extremum to occur at point x , the lowest order derivative with non-zero value should be of even order.
If f (x ) = 0, then

x is a stationary point, a candidate for an extremum. Evaluate higher order derivatives till one of them is found to be non-zero.

If its order is odd, then x is an inection point. If its order is even, then x is a local minimum or maximum, as the derivative value is positive or negative, respectively.
226,
Iterative methods of line search Methods based on gradient root nding Newtons method xk +1 = xk
f (xk ) f (xk )
Secant method xk +1 = xk f
(x
Method of cubic estimation point of vanishing gradient of the cubic t with f (xk 1 ), f (xk ), f (xk 1 ) and f (xk ) Method of quadratic estimation point of vanishing gradient of the quadratic t through three points
xk xk 1 f (xk ) (x ) f ) k k 1
Disadvantage: treating all stationary points alike!
227,
Bracketing:
x1 < x2 < x3 with f (x1 ) f (x2 ) f (x3 ) Exhaustive search method or its variants Direct optimization algorithms Fibonacci search uses a pre-dened number N , of function evaluations, and the Fibonacci sequence F0 = 1, F1 = 1, F2 = 2, , Fj = Fj 2 + Fj 1 , to tighten a bracket with economized number of function evaluations. Golden section search uses a constant ratio 51 = 0.618, 2 the golden section ratio, of interval reduction, that is determined as the limiting case of N and the actual number of steps is decided by the accuracy desired.
228,
The Methodology of Optimization Conceptual Background of Multivariate Optimization Single-Variable Optimization Conceptual Background of Multivariate Optimization
Unconstrained minimization problem x is called a local minimum of f (x ) if such that f (x ) f (x ) for all x satisfying x x < . Optimality criteria From Taylors series, 1 f (x ) f (x ) = [g (x )]T x + xT [H (x )]x + . 2 For x to be a local minimum, necessary condition: g (x ) = 0 and H (x ) is positive semi-denite, sucient condition: g (x ) = 0 and H (x ) is positive denite. Indenite Hessian matrix characterizes a saddle point.
229,
Convexity Set S R n is a convex set if
Function f (x ) over a convex set S : a convex function if x1 , x2 S and (0, 1),
x1 , x2 S and (0, 1), x1 + (1 )x2 S .
Chord approximation is an overestimate at intermediate points!

x2
f(x)
f (x1 + (1 )x2 ) f (x1 ) + (1 )f (x2 ).
f(x2)
X2 X1
f(x1)
x1
x1
x2
Figure: A convex domain
Figure: A convex function
230,
First order characterization of convexity From f (x1 + (1 )x2 ) f (x1 ) + (1 )f (x2 ), f (x1 ) f (x2 ) f (x2 + (x1 x2 )) f (x2 ) .
As 0, f (x1 ) f (x2 ) + [f (x2 )]T (x1 x2 ). Tangent approximation is an underestimate at intermediate points! Second order characterization: Hessian is positive semi-denite. Convex programming problem: convex function over convex set A local minimum is also a global minimum, and all minima are connected in a convex set. Note: Convexity is a stronger condition than unimodality!
231,
Quadratic function 1 q (x ) = xT Ax + bT x + c 2 Gradient q (x ) = Ax + b and Hessian = A is constant.
If A is positive denite, then the unique solution of Ax = b is the only minimum point. If A is positive semi-denite and b Range (A ), then the entire subspace of solutions of Ax = b are global minima. If A is positive semi-denite but b / Range (A ), then the function is unbounded!
Note: A quadratic problem (with positive denite Hessian) acts as a benchmark for optimization algorithms.
232,
Optimization Algorithms From the current point, move to another point, hopefully better. Which way to go? How far to go? Which decision is rst? Strategies and versions of algorithms: Trust Region: Develop a local quadratic model 1 f (xk + x ) = f (xk ) + [g (xk )]T x + xT Fk x , 2 and minimize it in a small trust region around xk . (Dene trust region with dummy boundaries.) Line search: Identify a descent direction dk and minimize the function along it through the univariate function

() = f (xk + dk ). Exact or accurate line search Inexact or inaccurate line search
Armijo, Goldstein and Wolfe conditions
233,
Convergence of algorithms: notions of guarantee and speed Global convergence: the ability of an algorithm to approach and converge to an optimal solution for an arbitrary problem, starting from an arbitrary point Practically, a sequence (or even subsequence) of monotonically decreasing errors is enough. Local convergence: the rate/speed of approach, measured by p , where xk +1 x < = lim k xk x p
Linear, quadratic and superlinear rates of convergence for p = 1, 2 and intermediate. Comparison among algorithms with linear rates of convergence is by the convergence ratio .
234,
Points to note
Theory and methods of single-variable optimization Optimality criteria in multivariate optimization Convexity in optimization The quadratic function Trust region Line search Global and local convergence
Multivariate Optimization Direct Methods Steepest Descent (Cauchy) Method Newtons Method Hybrid (Levenberg-Marquardt) Method Least Square Problems
235,
Outline
236,
Direct Methods
Direct search methods using only function values

Cyclic coordinate search Rosenbrocks method Hooke-Jeeves pattern search Boxs complex method Nelder and Meads simplex search Powells conjugate directions method
Useful for functions, for which derivative either does not exist at all points in the domain or is computationally costly to evaluate. Note: When derivatives are easily available, gradient-based algorithms appear as mainstream methods.
237,
Direct Methods
Nelder and Meads simplex method Simplex in n-dimensional space: polytope formed by n + 1 vertices Nelder and Meads method iterates over simplices that are non-degenerate (i.e. enclosing non-zero hypervolume). First, n + 1 suitable points are selected for the starting simplex. Among vertices of the current simplex, identify the worst point xw , the best point xb and the second worst point xs . Need to replace xw with a good point. Centre of gravity of the face not containing xw : 1 xc = n
n+1
xi
i =1,i =w
Reect xw with respect to xc as xr = 2xc xw . Consider options.
238,
Direct Methods
Default xnew = xr . Revision possibilities:
f(xb)
Expansion Default
f(x s )
f(xw)
Positive Contraction x new Negative Contraction
xw
xr
x new
xw
x r = xnew
xw
xr
xw
xr
Figure: Nelder and Meads simplex method
Replace xw with xnew . Continue with new simplex.
1. For f (xr ) < f (xb ), expansion: xnew = xc + (xc xw ), > 1. 2. For f (xr ) f (xw ), negative contraction: xnew = xc (xc xw ), 0 < < 1. 3. For f (xs ) < f (xr ) < f (xw ), positive contraction: xnew = xc + (xc xw ), with 0 < < 1.
239,
Steepest Descent (Cauchy) Method
From a point xk , a move through units in direction dk : f (xk + dk ) = f (xk ) + [g (xk )]T dk + O(2 ) Descent direction dk : For > 0, [g (xk )]T dk < 0 Direction of steepest descent: dk = gk Minimize () = f (xk + dk ). Exact line search: (k ) = [g (xk + k dk )]T dk = 0 Search direction tangential to the contour surface at (xk + k dk ). Note: Next direction dk +1 = g (xk +1 ) orthogonal to dk [ or dk = gk / gk ]
240,

Steepest descent algorithm
1. Select a starting point x0 , set k = 0 and several parameters: tolerance G on gradient, absolute tolerance A on reduction in function value, relative tolerance R on reduction in function value and maximum number of iterations M . 2. If gk G , STOP. Else dk = gk / gk . 3. Line search: Obtain k by minimizing () = f (xk + dk ), > 0. Update xk +1 = xk + k dk . 4. If |f (xk +1 ) f (xk )| A + R |f (xk )|,STOP. Else k k + 1. 5. If k > M , STOP. Else go to step 2. Very good global convergence. But, why so many STOPS?
241,

Analysis on a quadratic function
1 T For minimizing q (x ) = 2 x Ax + bT x , the error function:
E (x ) = Convergence ratio:
1 (x x )T A (x x ) 2
(A )1 2 (A )+1
E (xk +1 ) E (xk )
Local convergence is poor. Importance of steepest descent method

conceptual understanding initial iterations in a completely new problem spacer steps in other sophisticated methods
Re-scaling of the problem through change of variables?
242,
Newtons Method
Second order approximation of a function:
1 f (x ) f (xk ) + [g (xk )]T (x xk ) + (x xk )T H (xk )(x xk ) 2 Vanishing of gradient g (x ) g (xk ) + H (xk )(x xk ) gives the iteration formula xk +1 = xk [H (xk )]1 g (xk ). Excellent local convergence property! xk +1 x xk x 2 Caution: Does not have global convergence. If H (xk ) is positive denite then dk = [H (xk )]1 g (xk ) is a descent direction.
243,
Newtons Method
Modied Newtons method

Replace the Hessian by Fk = H (xk ) + I . Replace full Newtons step by a line search.
Algorithm 1. Select x0 , tolerance and > 0. Set k = 0. 2. Evaluate gk = g (xk ) and H (xk ). Choose , nd Fk = H (xk ) + I , solve Fk dk = gk for dk . 3. Line search: obtain k to minimize () = f (xk + dk ). Update xk +1 = xk + k dk . 4. Check convergence: If |f (xk +1 ) f (xk )| < , STOP. Else, k k + 1 and go to step 2.
244,
Hybrid (Levenberg-Marquardt) Method

Methods of deected gradients
xk +1 = xk k [Mk ]gk

identity matrix in place of Mk : steepest descent step

1 Mk = F k : step of modied Newtons method
Mk = [H (xk )]1 and k = 1: pure Newtons step
In Mk = [H (xk ) + k I ]1 , tune parameter k over iterations.
Initial value of : large enough to favour steepest descent trend Improvement in an iteration: reduced by a factor Increase in function value: step rejected and increased
Opportunism systematized! Note: Cost of evaluating the Hessian remains a bottleneck. Useful for problems where Hessian estimates come cheap!
245,
Least Square Problems

Linear least square problem:
y ( ) = x1 1 ( ) + x2 2 ( ) + + xn n ( ) For measured values y (i ) = yi ,

n
ei =
k =1
xk k (i ) yi = [(i )]T x yi .
Error vector: e = Ax y Last square t: Minimize E =

1 2 2 i ei T =1 2e e
Pseudoinverse solution and its variants
246,

Nonlinear least square problem For model function in the form
y ( ) = f (, x ) = f (, x1 , x2 , , xn ), square error function E (x ) = 1 1 T e e= 2 2 ei2 =

i i [f
1 2
[f (i , x ) yi ]2
Gradient: g (x ) = E (x ) = Hessian: H (x ) =
2 E (x ) x2
(i , x ) yi ]f (i , x ) = JT e
2 i ei x 2 f (i , x )
= JT J +
JT J
Combining a modied form diag(JT J ) x = g (x ) of steepest descent formula with Newtons formula, Levenberg-Marquardt step: [JT J + diag(JT J )]x = g (x )
247,

Levenberg-Marquardt algorithm
1. Select x0 , evaluate E (x0 ). Select tolerance , initial and its update factor. Set k = 0. k = JT J + diag(JT J ). 2. Evaluate gk and H k x = gk . Evaluate E (xk + x ). Solve H 3. If |E (xk + x ) E (xk )| < , STOP. 4. If E (xk + x ) < E (xk ), then decrease , update xk +1 = xk + x , k k + 1. Else increase . 5. Go to step 2. Professional procedure for nonlinear least square problems and also for solving systems of nonlinear equations in the form h (x ) = 0 .
248,
Points to note
Simplex method of Nelder and Mead Steepest descent method with its global convergence Newtons method for fast local convergence Levenberg-Marquardt method for equation solving and least squares
Necessary Exercises: 1,2,3,4,5,6
Methods of Nonlinear Optimization* Conjugate Direction Methods Quasi-Newton Methods Closure
249,
Outline
250,
Conjugate Direction Methods

Conjugacy of directions:
Two vectors d1 and d2 are mutually conjugate with respect to a symmetric matrix A , if dT 1 Ad2 = 0. Linear independence of conjugate directions: Conjugate directions with respect to a positive denite matrix are linearly independent. Expanding subspace property: In R n , with conjugate vectors {d0 , d1 , , dn1 } with respect to symmetric positive denite A , for any x0 R n , the sequence {x0 , x1 , x2 , , xn } generated as xk +1 = xk + k dk , with k =
Td gk k , T dk Adk
where gk = Axk + b , has the property that

T T xk minimizes q (x ) = 1 2 x Ax + b x on the line xk 1 + dk 1 , as well as on the linear variety x0 + Bk , where Bk is the span of d0 , d1 , , dk 1 .
251,
Question: How to nd a set of n conjugate directions? Gram-Schmidt procedure is a poor option! Conjugate gradient method Starting from d0 = g0 , dk +1 = gk +1 + k dk Imposing the condition of conjugacy of dk +1 with dk , k =
T Ad gk k +1
dT k Adk
T (g gk +1 k +1 gk )
k dT k Adk
Resulting dk +1 conjugate to all the earlier directions, for a quadratic problem.
252,
Using k in place of k + 1 in the formula for dk +1 , dk = gk + k 1 dk 1

T T gk and k = dk = gk gk Tg gk k dT Ad k k
Polak-Ribiere formula: k = No need to know A ! Further,

T T T T gk +1 dk = 0 gk +1 gk = k 1 (gk + k dk A )dk 1 = 0. T (g gk +1 k +1 gk ) Tg gk k
Fletcher-Reeves formula: k =
T g gk +1 k +1 Tg gk k
253,
Extension to general (non-quadratic) functions Varying Hessian A : determine the step size by line search. After n steps, minimum not attained. T d = gT g implies guaranteed descent. But, gk k k k Globally convergent, with superlinear rate of convergence. What to do after n steps? Restart or continue? Algorithm 1. Select x0 and tolerances G , D . Evaluate g0 = f (x0 ). 2. Set k = 0 and dk = gk . 3. Line search: nd k ; update xk +1 = xk + k dk . 4. Evaluate gk +1 = f (xk +1 ). If gk +1 G , STOP. 5. Find k = or k = Obtain dk +1 = gk +1 + k dk .
dT d
T (g gk +1 k +1 gk ) (Polak-Ribiere) Tg gk k T gk +1 gk +1 (Fletcher-Reeves). Tg gk k
+1 6. If 1 dk k k < D , reset g0 = gk +1 and go to step 2. dk +1 Else, k k + 1 and go to step 3.
254,

Powells conjugate direction method T T For q (x ) = 1 2 x Ax + b x , suppose
x1 = xA + 1 d such that dT g1 = 0 and x2 = xB + 2 d such that dT g2 = 0. Then, dT A (x2 x1 ) = dT (g2 g1 ) = 0.
Parallel subspace property: In R n , consider two parallel linear varieties S1 = v1 + Bk and S2 = v2 + Bk , with Bk = {d1 , d2 , , dk }, k < n. If x1 and x2 T T minimize q (x ) = 1 2 x Ax + b x on S1 and S2 , respectively, then x2 x1 is conjugate to d1 , d2 , , dk .
Assumptions imply g1 , g2 Bk and hence

T (g2 g1 ) Bk dT i A (x2 x1 ) = di (g2 g1 ) = 0 for i = 1, 2, , k .
255,

Algoithm
1. Select x0 , and a set of n linearly independent (preferably normalized) directions d1 , d2 , , dn ; possibly di = ei . 3. Line searches along d1 , d2 , , dn in sequence to obtain z = xk + n j =1 j dj . 4. New conjugate direction d = z xk . If d < , STOP.
2. Line search along dn and update x1 = x0 + dn ; set k = 1.
5. Reassign directions dj dj +1 for j = 1, 2, , (n 1) and dn = d / d . (Old d1 gets discarded at this step.) 6. Line search and update xk +1 = z + dn ; set k k + 1 and go to step 3.
256,

x0 -x1 and b -z1 : x1 -z1 is conjugate to b -z1 . b -z1 -x2 and c -d -z2 : c -d , d -z2 and x2 -z2 are mutually conjugate.
x3 d z2 x3
x2 x1 x1 a x0 z1
c x2
Figure: Schematic of Powells conjugate direction method
Performance of Powells method approaches that of the conjugate gradient method!
257,
Quasi-Newton Methods
Variable metric methods attempt to construct the inverse Hessian Bk . pk = xk +1 xk and qk = gk +1 gk qk Hpk
With n such steps, B = PQ1 : update and construct Bk H1 . Rank one correction: Bk +1 = Bk + ak zk zT k? Rank two correction:
T Bk +1 = Bk + ak zk zT k + bk w k w k
Davidon-Fletcher-Powell (DFP) method Select x0 , tolerance and B0 = In . For k = 0, 1, 2, , dk = Bk gk . Line search for k ; update pk = k dk , xk +1 = xk + pk , qk = gk +1 gk . If pk < or qk < , STOP.
Rank two correction: BDFP k +1 = Bk +
pk pT k pT k qk
Bk qk qT k Bk . qT k Bk qk
258,
Quasi-Newton Methods
Properties of DFP iterations:
1. If Bk is symmetric and positive denite, then so is Bk +1 . 2. For quadratic function with positive denite Hessian H , pT i Hpj = 0 and Implications: 1. Positive deniteness of inverse Hessian estimate is never lost. 2. Successive search directions are conjugate directions. 3. With B0 = I , the algorithm is a conjugate gradient method. 4. For a quadratic problem, the inverse Hessian gets completely constructed after n steps. Variants: Broyden-Fletcher-Goldfarb-Shanno (BFGS) method and the Broyden family of methods Bk +1 Hpi = pi for for 0 i < j k,
0 i k.
259,
Closure
Table 23.1: Summary of performance of optimization methods Cauchy (Steepest Descent) For Quadratic Problems: Convergence steps Newton Levenberg-Marquardt (Hybrid) (Deected Gradient) DFP/BFGS (Quasi-Newton) (Variable Metric) FR/PR (Conjugate Gradient) Powell (Direction Set)
N Indenite Nf Ng
N Unknown Nf Ng NH
n2
Evaluations
2f 2g 1H
(n + 1)f (n + 1)g
(n + 1)f (n + 1)g
n2 f
Equivalent function evaluations Line searches Storage Performance in general problems Practically good for
N (2n + 1) N Vector Slow Unknown start-up
2 n2 + 2 n + 1 0 Matrix Risky Good functions
N (2n2 + 1) N or 0 Matrix Costly NL Eqn. systems NL least squares
2 n2 + 3 n + 1 n Matrix Flexible Bad functions
2 n2 + 3 n + 1 n Vector Good Large problems
n2 n2 Matrix Okay Small problems
260,
Points to note
Conjugate directions and the expanding subspace property Conjugate gradient method Powell-Smith direction set method The quasi-Newton concept in professional optimization
Constrained Optimization Constraints Optimality Criteria Sensitivity Duality* Structure of Methods: An Overview*
261,
Outline
262,
Constraints
Constrained optimization problem: Minimize f (x ) subject to gi (x ) 0 and hj (x ) = 0
for i = 1, 2, , l , for j = 1, 2, , m,
or g (x ) 0 ; or h (x ) = 0 .
Conceptually, minimize f (x ), x . Equality constraints reduce the domain to a surface or a manifold, possessing a tangent plane at every point. Gradient of the vector function h (x ): T h (x ) [h1 (x ) h2 (x ) hm (x )]
h x h x1 hT x2
. . .
hT xn
related to the usual Jacobian as Jh (x ) =
= [h (x )]T .
263,
Constraints
Constraint qualication
h1 (x ), h2 (x ) etc are linearly independent, i.e. h (x ) is full-rank. If a feasible point x0 , with h (x0 ) = 0 , satises the constraint qualication condition, we call it a regular point. At a regular feasible point x0 , tangent plane M = {y : [h (x0 )]T y = 0 } gives the collection of feasible directions. Equality constraints reduce the dimension of the problem. Variable elimination?
264,
Constraints
Active inequality constraints gi (x0 ) = 0: included among hj (x0 ) for the tangent plane. Cone of feasible directions: [h (x0 )]T d = 0
and [gi (x0 )]T d 0 for i I
where I is the set of indices of active inequality constraints. Handling inequality constraints:
Active set strategy maintains a list of active constraints, keeps checking at every step for a change of scenario and updates the list by inclusions and exclusions. Slack variable strategy replaces all the inequality constraints by equality constraints as gi (x ) + xn+i = 0 with the inclusion of non-negative slack variables (xn+i ).
265,
Optimality Criteria
Suppose x is a regular point with

active inequality constraints: g(a) (x ) 0 inactive constraints: g(i ) (x ) 0
Columns of h (x ) and g(a) (x ): basis for orthogonal complement of the tangent plane Basis of the tangent plane: D = [d1 Then, [D Now, f (x ) is a vector in R n . f (x ) = [D z h (x ) g(a) (x )] (a) h (x ) g(a) (x )]: d2 basis of Rn dk ]
with unique z , and (a) for a given f (x ).
What can you say if x is a solution to the NLP problem?
266,
Optimality Criteria
Components of f (x ) in the tangent plane must be zero. For inactive constraints, insisting on (i ) = 0 , f (x ) = [h (x )] + [g(a) (x ) or f (x ) + [h (x )] + [g (x )] = 0 where g (x ) = g(a) (x ) g(i ) (x ) and = (a) (i ) . z=0 f (x ) = [h (x )] + [g(a) (x )](a) (a) (i )
g(i ) (x )]
Notice: g(a) (x ) = 0 and (i ) = 0
T g (x ) = 0.
i gi (x ) = 0 i , or
Now, components in g (x ) are free to appear in any order.
267,
Optimality Criteria
Finally, what about the feasible directions in the cone?
Answer: Negative gradient f (x ) can have no component (a) (a) towards decreasing gi (x ), i.e. i 0, i . Combining it with i = 0,
(i )
First order necessary conditions or Karusch-Kuhn-Tucker (KKT) conditions: If x is a regular point of the constraints and a solution to the NLP problem, then there exist Lagrange multiplier vectors, and , such that Optimality: f (x ) + [h (x )] + [g (x )] = 0 , 0 ; Feasibility: h (x ) = 0 , g (x ) 0 ; Complementarity: T g (x ) = 0 . Convex programming problem: Convex objective function f (x ) and convex domain (convex gi (x ) and linear hj (x )): KKT conditions are sucient as well!
0.
268,
Optimality Criteria
Lagrangian function:
L(x , , ) = f (x ) + T h (x ) + T g (x ) Necessary conditions for a stationary point of the Lagrangian: x L = 0 , L = 0
Second order conditions Consider curve z (t ) in the tangent plane with z (0) = x . d2 f (z (t )) dt 2 d [f (z (t ))T z (t )] dt
T
=
t =0
t =0
= z (0) H (x )z (0) + [f (x )]T z (0) 0 Similarly, from hj (z (t )) = 0, z (0)T Hhj (x )z (0) + [hj (x )]T z (0) = 0.
269,
Optimality Criteria
Including contributions from all active constraints, d2 f (z (t )) dt 2
t =0
=z (0)T HL (x )z (0) + [x L(x , , )]T z (0) 0, = H (x ) +

j
where HL (x ) =
2L x2
j Hhj (x ) +
i Hgi (x ).
First order necessary condition makes the second term vanish! Second order necessary condition: The Hessian matrix of the Lagrangian function is positive semi-denite on the tangent plane M. Sucient condition: x L = 0 and HL (x ) positive denite on M. Restriction of the mapping HL (x ) : R n R n on subspace M?
270,
Optimality Criteria
Restricted mapping LM : M M
Take y M, operate HL (x ) on it, project the image back to M. Question: Matrix representation for LM of size (n m) (n m)? Select local orthonormal basis D R n(nm) for M. For arbitrary z R nm , map y = Dz R n as HL y = HL Dz . Its component along di : dT i HL Dz Hence, projection back on M: LM z = DT HL Dz , The (n m) (n m) matrix LM = DT HL D : the restriction! Second order necessary/sucient condition: LM p.s.d./p.d.
271,
Sensitivity
f (x , p ), g (x , p ) and h (x , p )
Suppose original objective and constraint functions as
By choosing parameters (p ), we arrive at x . Call it x (p ). Question: How does f (x (p ), p ) depend on p ? Total gradients p f (x (p ), p ) = p x (p )x f (x , p ) + p f (x , p ), p h (x (p ), p ) = p x (p )x h (x , p ) + p h (x , p ) = 0 , and similarly for g (x (p ), p ). In view of x L = 0, from KKT conditions, p f (x (p ), p ) = p f (x , p ) + [p h (x , p )] + [p g (x , p )]
272,
Sensitivity
Sensitivity to constraints In particular, in a revised problem, with h (x ) = c and g (x ) d , using p = c , p f (x , p ) = 0 , p h (x , p ) = I and p g (x , p ) = 0 . c f (x (p ), p ) = Similarly, using p = d , we get d f (x (p ), p ) = .
Lagrange multipliers and signify costs of pulling the minimum point in order to satisfy the constraints!
Equality constraint: both sides infeasible, sign of j identies one side or the other of the hypersurface. Inequality constraint: one side is feasible, no cost of pulling from that side, so i 0.
273,
Duality*
Dual problem: Reformulation of a problem in terms of the Lagrange multipliers. Suppose x as a local minimum for the problem Minimize f (x ) subject to h (x ) = 0 , with Lagrange multiplier (vector) . f (x ) + [h (x )] = 0
If HL (x ) is positive denite (assumption of local duality), then x is also a local minimum of (x ) = f (x ) + T h (x ). f If we vary around , the minimizer of L(x , ) = f (x ) + T h (x ) varies continuously with .
274,
Duality*
In the neighbourhood of , dene the dual function

x x
() = min L(x , ) = min[f (x ) + T h (x )]. For a pair {x , }, the dual solution is feasible if and only if the primal solution is optimal. Dene x () as the local minimizer of L(x , ). () = L(x (), ) = f (x ()) + T h (x ()) First derivative: () = x ()x L(x (), ) + h (x ()) = h (x ()) For a pair {x , }, the dual solution is optimal if and only if the primal solution is feasible.
275,
Duality*
Hessian of the dual function:
H () = x ()x h (x ()) Dierentiating x L(x (), ) = 0 , we have x ()HL (x (), ) + [x h (x ())]T = 0 . Solving for x () and substituting, H () = [x h (x ())]T [HL (x (), )]1 x h (x ()), negative denite! At , x ( ) = x , ( ) = h (x ) = 0 , H ( ) is negative denite and the dual function is maximized. ( ) = L(x , ) = f (x )
276,
Duality*
Consolidation (including all constraints)
Assuming local convexity, the dual function: (, ) = min L(x , , ) = min[f (x ) + T h (x ) + T g (x )].
x x
Constraints on the dual: x L(x , , ) = 0 , optimality of the primal. Corresponding to inequality constraints of the primal problem, non-negative variables in the dual problem. First order necessary conditons for the dual optimality: equivalent to the feasibility of the primal problem. The dual function is concave globally! Under suitable conditions, ( ) = L(x , ) = f (x ). The Lagrangian L(x , , ) has a saddle point in the combined space of primal and dual variables: positive curvature along x directions and negative curvature along and directions.
277,
Structure of Methods: An Overview*
For a problem of n variables, with m active constraints, nature and dimension of working spaces
Penalty methods (R n ): Minimize the penalized function q (c , x ) = f (x ) + cP (x ). Example: P (x ) =

1 2
h (x )
2 +1 2 [max(0 , g (x ))] .
Primal methods (R nm ): Work only in feasible domain, restricting steps to the tangent plane. Example: Gradient projection method. Dual methods (R m ): Transform the problem to the space of Lagrange multipliers and maximize the dual. Example: Augmented Lagrangian method. Lagrange methods (R m+n ): Solve equations appearing in the KKT conditions directly. Example: Sequential quadratic programming.
278,
Points to note
Constraint qualication KKT conditions Second order conditions Basic ideas for solution strategy
Linear and Quadratic Programming Problems* Linear Programming Quadratic Programming
279,
Outline
280,
Linear Programming
Standard form of an LP problem: Minimize subject to f (x ) = cT x , Ax = b , x 0 ;
with b 0 .
Preprocessing to cast a problem to the standard form Maximization: Minimize the negative function. Variables of unrestricted sign: Use two variables. Inequality constraints: Use slack/surplus variables. Negative RHS: Multiply with 1. Geometry of an LP problem Innite domain: does a minimum exist? Finite convex polytope: existence guaranteed Operating with vertices sucient as a strategy Extension with slack/surplus variables: original solution space a subspace in the extented space, x 0 marking the domain Essence of the non-negativity condition of variables
281,
Linear Programming
The simplex method Suppose x R N , b R M and A R M N full-rank, with M < N . IM xB + A xNB = b Basic and non-basic variables: xB R M and xNB R N M Basic feasible solution: xB = b 0 and xNB = 0 At every iteration, selection of a non-basic variable to enter the basis

edge of travel selected based on maximum rate of descent no qualier: current vertex is optimal based on the rst constraint becoming active along the edge no constraint ahead: function is unbounded
selection of a basic variable to leave the basis

elementary row operations: new basic feasible solution
Two-phase method: Inclusion of a pre-processing phase with articial variables to develop a basic feasible solution
282,
Linear Programming
General perspective LP problem: Minimize subject to Lagrangian:
T f (x , y ) = cT 1 x + c2 y ; A11 x + A12 y = b1 , A21 x + A22 y b2 ,
y 0.
T L(x , y , , , ) = cT 1 x + c2 y
Optimality conditions:
+ T (A11 x + A12 y b1 ) + T (A21 x + A22 y b2 ) T y and

T = c2 + AT 12 + A22 0
T c1 + AT 11 + A21 = 0
Substituting back, optimal function value: f = T b1 T b2 f f Sensitivity to the constraints: b1 = and b2 = Dual problem: maximize subject to
T (, ) = bT 1 b2 ; T T T A11 + A21 = c1 , AT 12 + A22 c2 ,
Notice the symmetry between the primal and dual problems.
0.
283,
Quadratic Programming
a QP problem.
A quadratic objective function and linear constraints dene
Equations from the KKT conditions: linear! Lagrange methods are the natural choice! With equality constraints only, Minimize 1 f (x ) = xT Qx + cT x , 2 subject to Ax = b .
First order necessary conditions: Q AT A 0 x = c b
Solution of this linear system yields the complete result! Caution: This coecient matrix is indenite.
284,
Active set method Minimize subject to
Start the iterative process from a feasible point. Construct active set of constraints as Ax = b . From the current point xk , with x = xk + dk , f (x ) =
1 T x Qx + cT x ; f (x ) = 2 A1 x = b1 , A2 x b2 .
1 (xk + dk )T Q (xk + dk ) + cT (xk + dk ) 2 1 T = d Qdk + (c + Qxk )T dk + f (xk ). 2 k Since gk f (xk ) = c + Qxk , subsidiary quadratic program:
1 T Td dk Qdk + gk minimize 2 k
subject to Adk = 0 .
Examining solution dk and Lagrange multipliers, decide to terminate, proceed or revise the active set.
285,
Linear complementary problem (LCP)
Slack variable strategy with inequality constraints Minimize

1 T 2 x Qx
+ cT x ,
subject to Ax b ,
x 0.
KKT conditions: With x , y , , 0 , Qx + c + AT = 0 , x = T y = 0. Denoting z= x ,w = y ,q = c b and M = wT z = 0 . Q AT A 0 ,

T
Ax + y = b ,
w Mz = q ,
Find mutually complementary non-negative w and z .
286,
If q 0 , then w = q , z = 0 is a solution!
Lemkes method: articial variable z0 with e = [1 1 1 1]T : Iw Mz e z0 = q With z0 = max(qi ), w = q + e z0 0 and z = 0 : basic feasible solution Evolution of the basis similar to the simplex method. Out of a pair of w and z variables, only one can be there in any basis. At every step, one variable is driven out of the basis and its partner called in. The step driving out z0 ags termination. Very clumsy!!
Handling of equality constraints?
287,
Points to note
Fundamental issues and general perspective of the linear programming problem The simplex method Quadratic programming

The active set method Lemkes method via the linear complementary problem
Interpolation and Approximation Polynomial Interpolation Piecewise Polynomial Interpolation Interpolation of Multivariate Functions A Note on Approximation of Functions Modelling of Curves and Surfaces*
288,
Outline
289,
Polynomial Interpolation
Problem: To develop an analytical representation of a function from information at discrete data points. Purpose

Evaluation at arbitrary points Dierentiation and/or integration Drawing conclusion regarding the trends or nature sampled data are exactly satised
Interpolation: one of the ways of function representation
Polynomial: a convenient class of basis functions For yi = f (xi ) for i = 0, 1, 2, , n with x0 < x1 < x2 < < xn , p (x ) = a0 + a1 x + a2 x 2 + + an x n . Find the coecients such that p (xi ) = f (xi ) for i = 0, 1, 2, , n. Values of p (x ) for x [x0 , xn ] interpolate n + 1 values of f (x ), an outside estimate is extrapolation.
290,
Vandermonde matrix: invertible, but typically ill-conditioned! Invertibility means existence and uniqueness of polynomial p (x ). Two polynomials p1 (x ) and p2 (x ) matching the function f (x ) at x0 , x1 , x2 , , xn imply n-th degree polynomial p (x ) = p1 (x ) p2 (x ) with n + 1 roots!
To determine p (x ), solve the linear system 2 xn 1 x0 x0 a0 f (x0 ) 0 1 x1 x 2 x n a1 1 1 f (x1 ) 1 x2 x 2 x n f (x2 ) a = 2 2 2 . . . . . . . .. . . . . . . n 2 a f ( x n n) 1 xn xn xn
p 0 p1 (x ) = p2 (x ): p (x ) is unique.
291,
Lagrange interpolation Basis functions: n j =0,j =k (x xj ) Lk (x ) = n j =0,j =k (xk xj ) =
Interpolating polynomial:
(x x0 )(x x1 ) (x xk 1 )(x xk +1 ) (x xn ) (xk x0 )(xk x1 ) (xk xk 1 )(xk xk +1 ) (xk xn )
p (x ) = 0 L0 (x ) + 1 L1 (x ) + 2 L2 (x ) + + n Ln (x ) At the data points, Lk (xi ) = ik . Coecient matrix identity and i = f (xi ). Lagrange interpolation formula:
n
p (x ) =
k =0
f (xk )Lk (x ) = L0 (x )f (x0 )+ L1 (x )f (x1 )+ + Ln (x )f (xn )
Existence of p (x ) is a trivial consequence!
292,
Two interpolation formulae

one costly to determine, but easy to process the other trivial to determine, costly to process
n 1 i =0 (x
Hermite interpolation
Newton interpolation for an intermediate trade-o: p (x ) = c0 + c1 (x x0 ) + c2 (x x0 )(x x1 ) + + cn uses derivatives as well as function values.
xi )
Data: f (xi ), f (xi ), , f (ni 1) (xi ) at x = xi , for i = 0, 1, , m:
At (m + 1) points, a total of n + 1 =
m i =0 ni
conditions
Limitations of single-polynomial interpolation With large number of data points, polynomial degree is high.

Computational cost and numerical imprecision Lack of representative nature due to oscillations
293,
Piecewise Polynomial Interpolation

Piecewise linear interpolation f (x ) = f (xi 1 ) +
Handy for many uses with dense data. But, not dierentiable. Piecewise cubic interpolation With function values and derivatives at (n + 1) points, n cubic Hermite segments Data for the j -th segment:
f (xi ) f (xi 1 ) (x xi 1 ) for x [xi 1 , xi ] xi xi 1
f (xj 1 ) = fj 1 , f (xj ) = fj , f (xj 1 ) = fj1 and f (xj ) = fj Interpolating polynomial: pj (x ) = a0 + a1 x + a2 x 2 + a3 x 3 Coecients a0 , a1 , a2 , a3 : linear combinations of fj 1 , fj , fj1 , fj Composite function C 1 continuous at knot points.
294,
General formulation through normalization of intervals x = xj 1 + t (xj xj 1 ), t [0, 1] With g (t ) = f (x (t )), g (t ) = (xj xj 1 )f (x (t )); Cubic polynomial for the j -th segment: qj (t ) = 0 + 1 t + 2 t 2 + 3 t 3 Modular expression: 1 t qj (t ) = [0 1 2 3 ] t 2 = [g0 g1 g0 g1 ] W t3
= (xj xj 1 )fj . g0 = fj 1 , g1 = fj , g0 = (xj xj 1 )fj1 and g1
Packaging data, interpolation type and variable terms separately! Question: How to supply derivatives? And, why?
1 t t 2 = Gj WT t3
295,

Spline interpolation
Spline: a drafting tool to draw a smooth curve through key points. Data: fi = f (xi ), for x0 < x1 < x2 < < xn . If kj = f (xj ), then pj (x ) can be determined in terms of fj 1 , fj , kj 1 , kj and pj +1 (x ) in terms of fj , fj +1 , kj , kj +1 . Then, pj (xj ) = pj+1 (xj ): a linear equation in kj 1 , kj and kj +1 From n 1 interior knot points, n 1 linear equations in derivative values k0 , k1 , , kn .
Prescribing k0 and kn , a diagonally dominant tridiagonal system! A spline is a smooth interpolation, with C 2 continuity.
Interpolation and Approximation
296,
Polynomial Interpolation Interpolation of Multivariate Functions Piecewise Polynomial Interpolation Interpolation of Multivariate Functions
Piecewise bilinear interpolation Data: f (x , y ) over a dense rectangular grid
A Note on Approximation of Functions Modelling of Curves and Surfaces*
x = x0 , x1 , x2 , , xm and y = y0 , y1 , y2 , , yn Rectangular domain: {(x , y ) : x0 x xm , y0 y yn } For xi 1 x xi and yj 1 y yj , f (x , y ) = a0,0 + a1,0 x + a0,1 y + a1,1 xy = [1 x ] a0,0 a0,1 a1,0 a1,1 1 y
With data at four corner points, coecient matrix determined from 1 xi 1 1 xi a0,0 a0,1 a1,0 a1,1 1 yj 1 1 yj = fi 1,j 1 fi 1,j f i , j 1 fi , j .
Approximation only C 0 continuous.
297,
Alternative local formula through reparametrization Modelling of Curves and Surfaces* y y j 1 x x i 1 With u = xi xi 1 and v = yj yj 1 , denoting fi 1,j 1 = g0,0 , fi ,j 1 = g1,0 , fi 1,j = g0,1 and fi ,j = g1,1 ; bilinear interpolation: g (u , v ) = [1 u ] 0,0 0,1 1,0 1,1 1 v for u , v [0, 1].
A Note on Approximation of Functions
Values at four corner points x the coecient matrix as 0,0 0,1 1,0 1,1 Concisely, U= 1 u = 1 0 1 1 g0,0 g0,1 g1,0 g1,1 in which , Gi ,j = fi 1,j 1 fi 1,j fi , j 1 fi , j . 1 1 0 1 .
g (u , v ) = UT WT Gi ,j WV ,V= 1 v ,W= 1 1 0 1
298,
Piecewise bicubic interpolation f f 2f Data: f , x , y and x y over grid points With normalizing parameters u and v ,
g u f = (xi xi 1 ) x, 2g u v g v
A Note on Approximation of Functions Modelling of Curves and Surfaces*
f = (yj yj 1 ) y , and
2
f = (xi xi 1 )(yj yj 1 ) x y
In {(x , y ) : xi 1 x xi , yj 1 y yj } or {(u , v ) : u , v [0, 1]}, g (u , v ) = UT WT Gi ,j WV , with U = [1 u u 2 u 3 ]T , g (0, 0) g (1, 0) Gi ,j = gu (0, 0) gu (1, 0) V = [1 v v 2 v 3 ]T , and g (0, 1) gv (0, 0) gv (0, 1) g (1, 1) gv (1, 0) gv (1, 1) . gu (0, 1) guv (0, 0) guv (0, 1) gu (1, 1) guv (1, 0) guv (1, 1)
299,
Polynomial Interpolation A Note on Approximation of Functions Piecewise Polynomial Interpolation Interpolation of Multivariate Functions A Note on Approximation of Functions Modelling of Curves and Surfaces*
A common strategy of function approximation is to
express a function as a linear combination of a set of basis functions (which?), and determine coecients based on some criteria (what?).
Criteria: Interpolatory approximation: Exact agreement with sampled data Least square approximation: Minimization of a sum (or integral) of square errors over sampled data Minimax approximation: Limiting the largest deviation Basis functions: polynomials, sinusoids, orthogonal eigenfunctions or eld-specic heuristic choice
300,
Points to note
Lagrange, Newton and Hermite interpolations Piecewise polynomial functions and splines Bilinear and bicubic interpolation of bivariate functions
Direct extension to vector functions: curves and surfaces!
Basic Methods of Numerical Integration
301,
Outline
Newton-Cotes Integration Formulae Richardson Extrapolation and Romberg Integration Further Issues
Basic Methods of Numerical Integration Newton-Cotes Integration Formulae Richardson Extrapolation and Romberg Integration Further Issues
302,
Newton-Cotes Integration Formulae

b
J=
a
f (x )dx
Divide [a, b ] into n sub-intervals with a = x0 < x1 < x2 < < xn 1 < xn = b , where xi xi 1 = h =
n b a n .
= J
i =1
hf (xi ) = h[f (x1 ) + f (x2 ) + + f (xn )]
Taking
xi
As n (i.e. h 0), if J1 and J2 approach the same limit, then function f (x ) is integrable over interval [a, b ]. A rectangular rule or a one-point rule Question: Which point to take as xi ?
[xi 1 , xi ] as xi 1 and xi , we get summations J1 and J2 .
303,

Mid-point rule Selecting xi as x i =
xi x i 1 x i 1 + x i , 2 b
f (x )dx hf ( xi )
and
a
f (x )dx h
f ( xi ).
i =1
Error analysis: From Taylors series of f (x ) about x i ,

xi xi
f (x )dx =
x i 1 x i 1
f ( xi ) + f ( xi )(x x i ) + f ( xi )
(x x i )2 + dx 2
= hf ( xi ) +
h5 iv h3 f ( xi ) + f ( xi ) + , 24 1920
third order accurate! Over the entire domain [a, b ],

b a n
f (x )dx h
f ( xi )+
i =1
h3 24
f ( xi ) = h
i =1 i =1
f ( xi )+
h2 (b a)f ( ), 24
for [a, b ] (from mean value theorem): second order accurate.
304,
Trapezoidal rule Approximating function f (x ) with a linear interpolation,

xi x i 1
f (x )dx
h [f (xi 1 ) + f (xi )] 2
n 1 i =1
and
b a
1 f (x )dx h f (x0 ) + 2
1 f (xi ) + f (xn ) . 2 h3 f ( xi ) + 48 h3 f ( xi ) + 48 h4 iv f ( xi ) 384 h4 iv f ( xi ) + 384
Taylor series expansions about the mid-point: h f (xi 1 ) = f ( xi ) f ( xi ) + 2 h xi ) + f (xi ) = f ( xi ) + f ( 2 h2 f ( xi ) 8 h2 f ( xi ) + 8
h h3 h5 iv [f (xi 1 ) + f (xi )] = hf ( xi ) + f ( xi ) + f ( xi ) + 2 8 384 x h3 h5 iv xi ) + 24 Recall xi i1 f (x )dx = hf ( f ( xi ) + 1920 f ( xi ) + .
305,

Error estimate of trapezoidal rule
xi
f (x )dx =
x i 1
h3 h5 iv h [f (xi 1 ) + f (xi )] f ( xi ) f ( xi ) + 2 12 480
Over an extended domain,

b
f (x )dx = h
a
1 {f (x0 ) + f (xn )} + 2
n 1 i =1
f (xi )
h2 (b a)f ( )+ . 12
The same order of accuracy as the mid-point rule! Dierent sources of merit
Mid-point rule: Use of mid-point leads to symmetric error-cancellation. Trapezoidal rule: Use of end-points allows double utilization of boundary points in adjacent intervals.
How to use both the merits?
306,
Simpsons rules Divide [a, b ] into an even number (n = 2m) of intervals. Fit a quadratic polynomial over a panel of two intervals. For this panel of length 2h, two estimates: M (f ) = 2hf (xi ) and T (f ) = h[f (xi 1 ) + f (xi +1 )] h5 h3 f (xi ) + f iv (xi ) + 3 60 h5 2h3 f (xi ) f iv (xi ) + J = T (f ) 3 15 Simpsons one-third rule (with error estimate): J = M (f ) +
xi +1
f (x )dx =
x i 1
h h5 [f (xi 1 ) + 4f (xi ) + f (xi +1 )] f iv (xi ) 3 90
Fifth (not fourth) order accurate! A four-point rule: Simpsons three-eighth rule Still higher order rules NOT advisable!
307,
Newton-Cotes Integration Formulae Richardson Extrapolation and Romberg Integration Richardson Extrapolation and Romberg Integration Further Issues
To determine quantity F using a step size h , estimate F (h ) error terms: h p , h q , h r etc (p < q < r ) F = lim0 F ( )? plot F (h ), F (h ), F (2 h ) (with < 1) and extrapolate?
1 2 4
F (2 h) = F + c (2 h)p + O(hq ) F (h) p F (h) = F + c1 hq + O(hr ) 1 p F (2 h) p F (h) = F + c1 (h)q + O(hr ) 1 p

6
F (h) = F + c (h)p + O(hq )
F (h) = F + chp + O(hq )
Eliminate c and determine (better estimates of) F :

3
F1 (h) = F1 (h) =
Still better estimate:
F2 (h) =
Richardson extrapolation
F1 (h)q F1 (h) 1q
= F + O(hr )
308,
Newton-Cotes Integration Formulae Richardson Extrapolation and Romberg Integration Richardson Extrapolation and Romberg Integration Further Issues
Trapezoidal rule for J =
b a
f (x )dx : p = 2, q = 4, r = 6 etc
T (f ) = J + ch2 + dh4 + eh6 + With = 1 2 , half the sum available for successive levels. Romberg integration Trapezoidal rule with h = H : nd J11 . With h = H /2, nd J12 . J22 =

J12
If |J22 J12 | is within tolerance, STOP. Accept J J22 . With h = H /4, nd J13 . J23 = 4J13 J12 3 and J33 = J23
1 4 J22 2 4 1 2
1 2 J11 2 2 1 2
4J12 J11 . 3
If |J33 J23 | is within tolerance, STOP with J J33 .
16J23 J22 . 15
309,
Further Issues
Featured functions: adaptive quadrature
With prescribed tolerance , assign quota i = error to every interval [xi 1 , xi ].
(xi xi 1 ) b a
of
For each interval, nd two estimates of the integral and estimate the error. If error estimate is not within quota, then subdivide.
Function as tabulated data

Only trapezoidal rule applicable? Fit a spline over data points and integrate the segments?
Improper integral: Newton-Cotes closed formulae not applicable!

Open Newton-Cotes formulae Gaussian quadrature
310,
Points to note
Denition of an integral and integrability Closed Newton-Cotes formulae and their error estimates Richardson extrapolation as a general technique Romberg integration Adaptive quadrature
Advanced Topics in Numerical Integration* Gaussian Quadrature Multiple Integrals
311,
Outline
312,
Gaussian Quadrature
A typical quadrature formula: a weighted sum n i =0 wi fi fi : function value at i -th sampled point wi : corresponding weight Newton-Cotes formulae: Abscissas (xi s) of sampling prescribed Coecients or weight values determined to eliminate dominant error terms Gaussian quadrature rules: no prescription of quadrature points only the number of quadrature points prescribed locations as well as weights contribute to the accuracy criteria with n integration points, 2n degrees of freedom can be made exact for polynomials of degree up to 2n 1 best locations: interior points open quadrature rules: can handle integrable singularities
313,
Gaussian Quadrature
Gauss-Legendre quadrature
1
f (x )dx = w1 f (x1 ) + w2 f (x2 ) Four variables: Insist that it is exact for 1, x , x 2 and x 3 .
1 1
w1 + w2 =
1 1
dx = 2, xdx = 0,
1 1 1 1 1 1 3
w1 x1 + w2 x2 =
2 2 w1 x1 + w2 x2 = 3 3 and w1 x1 + w2 x2 =
x 2 dx =
2 3
x 3 dx = 0.
1 x1 = x2 , w1 = w2 w1 = w2 = 1, x1 = , x2 = 3
314,
Gaussian Quadrature
1 1 f
Two-point Gauss-Legendre quadrature formula Exact for any cubic polynomial: parallels Simpsons rule! Three-point quadrature rule along similar lines: 5 f (x )dx = f 9 1
1 1 1 (x )dx = f ( ) + f ( ) 3 3
3 5
8 5 + f (0) + f 9 9
3 5
A large number of formulae: Consult mathematical handbooks. For domain of integration [a, b ], x= a+b ba + t 2 2 and dx = ba dt 2
With scaling and relocation,

b
f (x )dx =
a
ba 2
f [x (t )]dt
1
315,
Gaussian Quadrature
General Framework for n-point formula
p (x ): Lagrange polynomial through the n quadrature points f (x ) p (x ): a (2n 1)-degree polynomial having n of its roots at the quadrature points Then, with (x ) = (x x1 )(x x2 ) (x xn ), f (x ) p (x ) = (x )q (x ). Quotient polynomial: q (x ) = Direct integration:
1 1 n 1 i i =0 i x
f (x ): a polynomial of degree 2n 1
f (x )dx =
1 1
p (x )dx +
1
(x )
n 1 i =0
i x i dx
How to make the second term vanish?
316,
Gaussian Quadrature
Choose quadrature points x1 , x2 , , xn so that (x ) is orthogonal to all polynomials of degree less than n. Legendre polynomial Gauss-Legendre quadrature 1. Choose Pn (x ), Legendre polynomial of degree n, as (x ). 2. Take its roots x1 , x2 , , xn as the quadrature points. 3. Fit Lagrange polynomial of f (x ), using these n points. p (x ) = L1 (x )f (x1 ) + L2 (x )f (x2 ) + + Ln (x )f (xn ) 4.
1 1 n 1
f (x )dx =
1 1
p (x )dx =
j =1 1 1 Lj (x )dx ,
f (xj )
1
Lj (x )dx
Weight values: wj =
for j = 1, 2, , n
317,
Gaussian Quadrature
Weight functions in Gaussian quadrature What is so great about exact integration of polynomials? Demand something else: generalization Exact integration of polynomials times function W (x ) Given weight function W (x ) and number (n) of quadrature points, work out the locations (xj s) of the n points and the corresponding weights (wj s), so that integral
b n
W (x )f (x )dx =
a j =1
wj f (xj )
is exact for an arbitrary polynomial f (x ) of degree up to (2n 1).
318,
Gaussian Quadrature
A family of orthogonal polynomials with increasing degree: quadrature points: roots of n-th member of the family. For dierent kinds of functions and dierent domains,

Gauss-Chebyshev quadrature Gauss-Laguerre quadrature Gauss-Hermite quadrature
Several singular functions and innite domains can be handled. A very special case: For W (x ) = 1, Gauss-Legendre quadrature!
319,
Multiple Integrals
b g2 (x )
S=
a g2 (x ) g1 (x )
f (x , y ) dy dx
b
F (x ) =
f (x , y ) dy and S =
g1 (x ) a
F (x )dx
with complete exibility of individual quadrature methods. Double integral on rectangular domain Two-dimensional version of Simpsons one-third rule:
1 1 1
f (x , y )dxdy = w0 f (0, 0) + w1 [f (1, 0) + f (1, 0) + f (0, 1) + f (0, 1)] + w2 [f (1, 1) + f (1, 1) + f (1, 1) + f (1, 1)]
1
Exact for bicubic functions: w0 = 16/9, w1 = 4/9 and w2 = 1/9.
320,
Multiple Integrals
Monte Carlo integration I =
f (x )dV
Requirements:

a simple volume V enclosing the domain a point classication scheme
Generating random points in V , F (x ) = f (x ) 0 V N

N
if x , otherwise .
F (xi )
i =1
Estimate of I (usually) improves with increasing N.
321,
Points to note
Basic strategy of Gauss-Legendre quadrature Formulation of a double integral from fundamental principle Monte Carlo integration
Numerical Solution of Ordinary Dierential Equations
322,
Outline
Single-Step Methods Practical Implementation of Single-Step Methods Systems of ODEs Multi-Step Methods*
Numerical Solution of Ordinary Dierential Equations Single-Step Methods Practical Implementation of Single-Step Methods Systems of ODEs Multi-Step Methods*
323,
Single-Step Methods
Initial value problem (IVP) of a rst order ODE: dy = f (x , y ), y (x0 ) = y0 dx To determine: y (x ) for x [a, b ] with x0 = a. Numerical solution: Start from the point (x0 , y0 ).

y1 = y (x1 ) = y (x0 + h) =? Found (x1 , y1 ). Repeat up to x = b .
Information at how many points are used at every step?

Single-step method: Only the current value Multi-step method: History of several recent steps
324,
Single-Step Methods
Eulers method

At (xn , yn ), evaluate slope For a small step h,
dy dx
= f (xn , yn ).
yn+1 = yn + hf (xn , yn ) Repitition of such steps constructs y (x ). First order truncated Taylors series: Expected error: O(h2 ) Accumulation over steps Total error: O(h) Eulers method is a rst order method. Question: Total error = Sum of errors over the steps? Answer: No, in general.
325,
Single-Step Methods
Initial slope for the entire step: is it a good idea?

y
C y3 C1 C2 C3 y0
y
C
Q* Q2 Q
y3
C1
y0
Q1
P 1
x0
x1
x2
x3
x0
x1
Figure: Eulers method
Figure: Improved Eulers method
Improved Eulers method or Heuns method y n+1 = yn + hf (xn , yn ) n+1 )] yn+1 = yn + h 2 [f (xn , yn ) + f (xn+1 , y The order of Heuns method is two.
326,
Single-Step Methods
Runge-Kutta methods Second order method:
and
k1 = hf (xn , yn ), k2 = hf (xn + h, yn + k1 ) k = w1 k1 + w2 k2 , xn+1 = xn + h, yn+1 = yn + k
Force agreement up to the second order. yn+1 = yn + w1 hf (xn , yn ) + w2 h[f (xn , yn ) + hfx (xn , yn ) + k1 fy (xn , yn ) +
= yn + (w1 + w2 )hf (xn , yn ) + h2 w2 [fx (xn , yn ) + f (xn , yn )fy (xn , yn )] + From Taylors series, using y = f (x , y ) and y = fx + y , y (xn+1 ) = yn + hf (xn , yn ) + h2 [fx (xn , yn ) + f (xn , yn )fy (xn , yn )] + 2
1 2
w1 + w2 = 1, w2 = w2 =
==
1 2w2 ,
w1 = 1 w2
327,
Single-Step Methods
With continuous choice of w2 , Popular form of RK2: with choice w2 = 1,
a family of second order Runge Kutta (RK2) formulae
k1 = hf (xn , yn ), k2 = hf (xn + h 2 , yn + xn+1 = xn + h, yn+1 = yn + k2 Fourth order Runge-Kutta method (RK4): k1 k2 k3 k4 = hf (xn , yn ) k1 = hf (xn + h 2 , yn + 2 ) k2 = hf (xn + h 2 , yn + 2 ) = hf (xn + h, yn + k3 )
k1 2)
1 k=6 (k1 + 2k2 + 2k3 + k4 )
xn+1 = xn + h, yn+1 = yn + k
328,
Single-Step Methods Practical Implementation of Single-Step Methods Practical Implementation of Single-Step Methods Systems of ODEs
Question: How to decide whether the error is within tolerance? Additional estimates: handle to monitor the error further ecient algorithms Runge-Kutta method with adaptive step size In an interval [xn , xn + h], yn+1 = yn+1 + ch5 + higher order terms Over two steps of size h 2,
(2) yn+1 (1)
Multi-Step Methods*
= yn+1 + 2c
h 2
+ higher order terms
Dierence of two estimates: = yn+1 yn+1

Best available value: yn +1 = yn+1 (2) 15 (1) (2)
15 5 ch 16
16yn+1 yn+1 15
(2) (1)
329,
Single-Step Methods Practical Implementation of Single-Step Methods Practical Implementation of Single-Step Methods Systems of ODEs Multi-Step Methods*
Evaluation of a step: > : Step size is too large for accuracy. Subdivide the interval. << : Step size is inecient! Start with a large step size. Keep subdividing intervals whenever > . Fast marching over smooth segments and small steps in zones featured with rapid changes in y (x ). Runge-Kutta-Fehlberg method With six function values, An RK4 formula embedded in an RK5 formula two independent estimates and an error estimate! RKF45 in professional implementations
330,
Systems of ODEs
Methods for a single rst order ODE
directly applicable to a rst order vector ODE A typical IVP with an ODE system: dy = f (x , y ), y (x0 ) = y0 dx An n-th order ODE: convert into a system of rst order ODEs Dening state vector z (x ) = [y (x ) y (x ) y (n1) (x )]T , work out
dz dx
to form the state space equation. y (n1) (x0 )]T
Initial condition: z (x0 ) = [y (x0 ) y (x0 )
A system of higher order ODEs with the highest order derivatives of orders n1 , n2 , n3 , , nk
Cast into the state space form with the state vector of dimension n = n1 + n2 + n3 + + nk
331,
Systems of ODEs
State space formulation is directly applicable when
the highest order derivatives can be solved explicitly. The resulting form of the ODEs: normal system of ODEs Example: d 2x 3 dt 2 dy dt e xy State vector: z (t ) = x dx dt
2
+ 2x
dx dt d 2y dt 2
dy dt 3/2
d 2y +4 = 0 dt 2 + 2x + 1 = e t
d 3y y dt 3
dx dt
(t ) = (t ) = z With three trivial derivatives z1 = z4 and z4 5 and the other two obtained from the given ODEs,
T d2y 2 dt (t ) z2 , z3 dz dt
we get the state space equations as
= f (t , z ).
332,
Multi-Step Methods*
Why not try to capture the trend? A typical multi-step formula:
Single-step methods: every step a brand new IVP!
yn+1 = yn + h[c0 f (xn+1 , yn+1 ) + c1 f (xn , yn ) + c2 f (xn1 , yn1 ) + c3 f (xn2 , yn2 ) + ] Determine coecients by demanding the exactness for leading polynomial terms. Explicit methods: c0 = 0, evaluation easy, but involves extrapolation. Implicit methods: c0 = 0, dicult to evaluate, but better stability. Predictor-corrector methods Example: Adams-Bashforth-Moulton method
333,
Points to note
Eulers and Runge-Kutta methods Step size adaptation State space formulation of dynamic systems
ODE Solutions: Advanced Issues Stability Analysis Implicit Methods Sti Dierential Equations Boundary Value Problems
334,
Outline
335,
Stability Analysis
But, its scope has a limitation.
Adaptive RK4 is an extremely successful method.
Focus of explicit methods (such as RK) is accuracy and eciency. The issue of stabilty is handled indirectly. Stabilty of explicit methods For the ODE system y = f (x , y ), Eulers method gives Taylors series of the actual solution: Discrepancy or error: yn+1 = yn + f (xn , yn )h + O(h2 ).
y (xn+1 ) = y (xn ) + f (xn , y (xn ))h + O(h2 )
n+1 = yn+1 y (xn+1 )
= [yn y (xn )] + [f (xn , yn ) f (xn , y (xn ))]h + O(h2 ) f (xn , yn )n h + O(h2 ) (I + hJ )n = n + y
336,
Stability Analysis
Eulers step magnies the error by a factor (I + hJ ). Using J loosely as the representative Jacobian, n+1 (I + hJ )n 1 . For stability, n+1 0 as n . Eigenvalues of (I + hJ ) must fall within the unit circle |z | = 1. By shift theorem, eigenvalues of hJ must fall inside the unit circle with the centre at z0 = 1. |1 + h| < 1 h < 2Re () ||2
Note: Same result for single ODE w = w , with complex . For second order Runge-Kutta method, n+1 = 1 + h + h 2 2 n 2 1+z +
z2 2
Region of stability in the plane of z = h:
<1
337,
Stability Analysis
3 UNSTABLE 2 RK2 1 Euler
UNSTABLE
Im(h)
1 RK4
3 5 4 3 2 1 Re(h) 0 1 2 3
Figure: Stability regions of explicit methods
Question: What do these stability regions mean with reference to the system eigenvalues? Question: How does the step size adaptation of RK4 operate on a system with eigenvalues on the left half of complex plane? Step size adaptation tackles instability by its symptom!
338,
Implicit Methods
Backward Eulers method
yn+1 = yn + f (xn+1 , yn+1 )h Solve it? Is it worth solving?
n+1 yn+1 y (xn+1 )
= n + hJ (xn+1 , yn+1 )n+1
= [yn y (xn )] + h[f (xn+1 , yn+1 ) f (xn+1 , y (xn+1 ))]
Notice the ip in the form of this equation. n+1 (I hJ )1 n
Stability: eigenvalues of (I hJ ) outside the unit circle |z | = 1 2Re () ||2 Absolute stability for a stable ODE, i.e. one with Re () < 0 |h 1| > 1 h >
339,
Implicit Methods
2 1.5 1
STABLE STABLE
0.5 Im(h)
UNSTABLE
O
0.5
STABLE
1.5
2 1.5
0.5
0.5
1 Re(h)
1.5
2.5
3.5
Figure: Stability region of backward Eulers method
How to solve g (yn+1 ) = yn + hf (xn+1 , yn+1 ) yn+1 = 0 for yn+1 ? Typical Newtons iteration: yn+1 = yn+1 + (I hJ )1 yn yn+1 + hf xn+1 , yn+1 Semi-implicit Eulers method for local solution: yn+1 = yn + h(I hJ )1 f (xn+1 , yn )
(k +1) (k ) (k ) (k )
340,
Sti Dierential Equations
Example: IVP of a mass-spring-damper system:
x + cx + kx = 0, x (0) = 0, x (0) = 1 (a) c = 3, k = 2: x = e t e 2t (b) c = 49, k = 600: x = e 24t e 25t

1 1 0.8 0.8
0.6
0.6
0.4
0.4
0.2
0.2
0.2
x 0 0.5 1 1.5 2 t 2.5 3 3.5 4
0.2
0.4
0.4
0.6
0.6
0.8
0.8
0.1
0.2
0.3
0.4
0.5 t
0.6
0.7
0.8
0.9
(a) Case of c = 3, k = 2
(b) Case of c = 49, k = 600
Figure: Solutions of a mass-spring-damper system: ordinary situations
341,
Sti Dierential Equations

(c) c = 302, k = 600: x =
4 x 10
3
e 2t e 300t 298
4 x 10
3
x 0 0.1 0.2 0.3 0.4 0.5 t 0.6 0.7 0.8 0.9 1
0.1
0.2
0.3
0.4
0.5 t
0.6
0.7
0.8
0.9
(c) With RK4
(d) With implicit Euler
Figure: Solutions of a mass-spring-damper system: sti situation
To solve sti ODE systems, use implicit method, preferably with explicit Jacobian.
342,
Boundary Value Problems
A paradigm shift from the initial value problems
A ball is thrown with a particular velocity. What trajectory does the ball follow? How to throw a ball such that it hits a particular window at a neighbouring house after 15 seconds?
Two-point BVP in ODEs: boundary conditions at two values of the independent variable Methods of solution

Shooting method Finite dierence (relaxation) method Finite element method
343,

Shooting method
follows the strategy to adjust trials to hit a target. Consider the 2-point BVP y = f (x , y ), g1 (y (a)) = 0 , g2 (y (b )) = 0 , where g1 R n1 , g2 R n2 and n1 + n2 = n.

Parametrize initial state: y (a) = h (p ) with p R n2 . Guess n2 values of p to dene IVP y = f (x , y ), y (a) = h (p ).
Solve this IVP for [a, b ] and evaluate y (b ). Dene error vector E (p ) = g2 (y (b )).
344,

Objective: To solve E (p ) = 0
From current vector p , n2 perturbations as p + ei : Jacobian Each Newtons step: solution of n2 + 1 initial value problems!
E p
Computational cost Convergence not guaranteed (initial guess important)
Merits of shooting method

Very few parameters to start In many cases, it is found quite ecient.
345,

Finite dierence (relaxation) method adopts a global perspective.
1. Discretize domain [a, b ]: grid of points a = x0 < x1 < x2 < < xN 1 < xN = b . Function values y (xi ): n(N + 1) unknowns 2. Replace the ODE over intervals by nite dierence equations. Considering mid-points, a typical (vector) FDE: yi yi 1 hf xi + xi 1 yi + yi 1 , 2 2 = 0 , for i = 1, 2, 3, , N
nN (scalar) equations 3. Assemble additional n equations from boundary conditions. 4. Starting from a guess solution over the grid, solve this system. (Sparse Jacobian is an advantage.) Iterative schemes for solution of systems of linear equations.
346,
Points to note
Numerical stability of ODE solution methods Computational cost versus better stability of implicit methods Multiscale responses leading to stiness: failure of explicit methods Implicit methods for sti systems Shooting method for two-point boundary value problems Relaxation method for boundary value problems
Existence and Uniqueness Theory Well-Posedness of Initial Value Problems Uniqueness Theorems Extension to ODE Systems Closure
347,
Outline
Existence and Uniqueness Theory
348,
Well-Posedness of Initial Value Problems Well-Posedness of Initial Value Problems Uniqueness Theorems Extension to ODE Systems Closure Pierre Simon de Laplace (1749-1827): We may regard the present state of the universe as the eect of its past and the cause of its future. An intellect which at a certain moment would know all forces that set nature in motion, and all positions of all items of which nature is composed, if this intellect were also vast enough to submit these data to analysis, it would embrace in a single formula the movements of the greatest bodies of the universe and those of the tiniest atom; for such an intellect nothing would be uncertain and the future just like the past would be present before its eyes.
349,
Well-Posedness of Initial Value Problems Well-Posedness of Initial Value Problems Uniqueness Theorems Extension to ODE Systems
Initial value problem
Closure
y = f (x , y ), y (x0 ) = y0 From (x , y ), the trajectory develops according to y = f (x , y ). The new point: (x + x , y + f (x , y )x ) The slope now: f (x + x , y + f (x , y )x ) Question: Was the old direction of approach valid? With x 0, directions appropriate, if
x x
lim f (x , y ) = f ( x , y ( x )),
i.e. if f (x , y ) is continuous. If f (x , y ) = , then y = and trajectory is vertical. For the same value of x, several values of y ! y (x ) not a function, unless f (x , y ) = , i.e. f (x , y ) is bounded.
350,
Peanos theorem: If f (x , y ) is continuous Closure and bounded in a rectangle R = {(x , y ) : |x x0 | < h, |y y0 | < k }, with |f (x , y )| M < , then the IVP y = f (x , y ), y (x0 ) = y0 has a solution y (x ) dened in a neighbourhood of x0 .
y 0 1 0 1 0 1 0 1 (x0,y0) 0 1 0 1 0 1 0 1 0 1 1 0 1 y +k 0 1 1111111 0000000 0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 000000000000 000000000000 111111111111 111111 000000 0 1 0 1 0 1 0 111111111111 1 000000000000 111111111111 000000000000 111111111111 0 1 1 0 1 0 000000000000 111111111111 000000000000 111111111111 0 1 0 1 0 k 111111111111 1 000000000000 000000000000 111111111111 0 1 1 0 1 0 000000000000 111111111111 000000000000 111111111111 Mh 0 1 0 1 0 111111111111 1 000000000000 000000000000 111111111111 0 1 1 0 1 0 000000000000 111111111111 000000000000 111111111111 0 1 1111111 0000000 0 111111111111 1 000000000000 111111111111 000000000000 111111111111 111111 000000 0 1 0 1 1 y1 0 000000000000 111111111111 0 1 00 0 000000000000 1 000000000000 111111111111 000000000000 111111111111 0 1 0 1 1 0 000000000000 000000000000 111111111111 0 1 0 1 0 111111111111 1 000000000000 111111111111 000000000000 Mh 111111111111 0 1 0 1 1 0 000000000000 000000000000 111111111111 0 1 0 1 0 k 111111111111 1 000000000000 111111111111 000000000000 111111111111 0 1 0 1 1 0 000000000000 111111111111 000000000000 111111111111 0 1 0 1 111111 000000 0 1 0 1 0 1 0 1 1 0 1 0 1 0 0 1 0 1 0 1 0 1 0 1 1111111 0000000 0 1 0 1 y k 0 1 1 0 1 1 0 0 0 1 0 0 1 0 1 0 0 1 0 1 0 1 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 h h 0 1 0 1 0 1 0 1 0 1 0 1 0 1 111111111111 000000000000 111111111111 000000000000 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 11111111111111111111111111111111 00000000000000000000000000000000 0 1 0 1 0 1 0 0 1 O1 x 0 h x0 x 0+h x y 0 1 0 1 0 1 0 1 0 1 (x0,y0) 0 1 0 1 00000000000 11111111111 00000000000 11111111111 y +k1 0 00000000000 11111111111 00000000000 11111111111 0 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 Mh 0 1 k 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 y1 00000000000 11111111111 00000000000 11111111111 0 00000000000 11111111111 00000000000 11111111111 01 0 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 00000000000 11111111111 k 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 Mh 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 0 1 00000000000 11111111111 00000000000 11111111111 y0k 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 h h 0 1 0 1 11111111111 00000000000 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 11111111111111111111111111111111 00000000000000000000000000000000 0 O1 x 0h x0 x0+h x
(a) Mh <= k
(b) Mh >= k
Figure: Regions containing the trajectories
Guaranteed neighbourhood:
k [x0 , x0 + ], where = min(h, M )>0
351,
Example: y = Function f (x , y ) =
y 1 x
Closure
y 1 , y (0) = 1 x
undened at (0, 1).
Premises of existence theorem not satised. But, premises here are sucient, not necessary! Result inconclusive. The IVP has solutions: y (x ) = 1 + cx for all values of c . The solution is not unique. Example: y 2 = |y |, y (0) = 0 But, there are two solutions: y (x ) = 0 and y (x ) = sgn(x ) x 2 /4.
Existence theorem guarantees a solution.
352,
Well-Posedness of Initial Value Problems Well-Posedness of Initial Value Problems Uniqueness Theorems Extension to ODE Systems Closure
Physical system to mathematical model Mathematical solution
Interpretation about the physical system
Meanings of non-uniqueness of a solution

Mathematical model admits of extraneous solution(s)? Physical system itself can exhibit alternative behaviours?
Indeterminacy of the solution
Mathematical model of the system is not complete. The initial value problem is not well-posed.
After existence, next important question: Uniqueness of a solution
353,
Well-Posedness of Initial Value Problems Well-Posedness of Initial Value Problems Uniqueness Theorems Extension to ODE Systems Closure
Continuous dependence on initial condition Suppose that for IVP y = f (x , y ), y (x0 ) = y0 ,
unique solution: y1 (x ).
Applying a small perturbation to the initial condition, the new IVP: y = f (x , y ), y (x0 ) = y0 +
unique solution: y2 (x )
Question: By how much y2 (x ) diers from y1 (x ) for x > x0 ? Large dierence: solution sensitive to initial condition
Practically unreliable solution
Well-posed IVP: An initial value problem is said to be well-posed if there exists a solution to it, the solution is unique and it depends continuously on the initial conditions.
354,
Uniqueness Theorems
Lipschitz condition:
L: nite positive constant (Lipschitz constant)
|f (x , y ) f (x , z )| L|y z |
Theorem: If f (x , y ) is a continuous function satisfying a Lipschitz condition on a strip S = {(x , y ) : a < x < b , < y < }, then for any point (x0 , y0 ) S, the initial value problem of y = f (x , y ), y (x0 ) = y0 is well-posed. Assume y1 (x ) and y2 (x ): solutions of the ODE y = f (x , y ) with initial conditions y (x0 ) = (y1 )0 and y (x0 ) = (y2 )0 Consider E (x ) = [y1 (x ) y2 (x )]2 . Applying Lipschitz condition,
) = 2(y1 y2 )[f (x , y1 ) f (x , y2 )] y2 E (x ) = 2(y1 y2 )(y1
Need to consider the case of E (x ) 0 only.
|E (x )| 2L(y1 y2 )2 = 2LE (x ).
355,
Uniqueness Theorems
E (x ) 2L E (x )
x x0
E (x ) dx 2L(x x0 ) E (x )
Integrating, E (x ) E (x0 )e 2L(x x0 ) . Hence, |y1 (x ) y2 (x )| e L(x x0 ) |(y1 )0 (y2 )0 |. Since x [a, b ], e L(x x0 ) is nite. |(y1 )0 (y2 )0 | = |y1 (x ) y2 (x )| e L(x x0 ) continuous dependence of the solution on initial condition In particular, (y1 )0 = (y2 )0 = y0 y1 (x ) = y2 (x ) x [a, b ]. The initial value problem is well-posed.
356,
Uniqueness Theorems
A weaker theorem (hypotheses are stronger):
f Picards theorem: If f (x , y ) and y are continuous and bounded on a rectangle R = {(x , y ) : a < x < b , c < y < d }, then for every (x0 , y0 ) R, the IVP y = f (x , y ), y (x0 ) = y0 has a unique solution in some neighbourhood |x x0 | h.
From the mean value theorem, f (x , y1 ) f (x , y2 ) = With Lipschitz constant L = sup f (x , )(y1 y2 ). y ,
f y
Lipschitz condition is satised lavishly ! Note: All these theorems give only sucient conditions! Hypotheses of Picards theorem Lipschitz condition Well-posedness Existence and uniqueness
357,
Extension to ODE Systems

For ODE System
dy = f (x , y ), y (x0 ) = y0 dx
Lipschitz condition: f (x , y ) f (x , z ) L y z
Scalar function E (x ) generalized as E (x ) = y1 (x ) y2 (x )

2
= (y1 y2 )T (y1 y2 )
f y
Partial derivative
f y
replaced by the Jacobian A =
Boundedness to be inferred from the boundedness of its norm
With these generalizations, the formulations work as usual.
358,
Extension to ODE Systems

IVP of linear rst order ODE system
y = A (x )y + g (x ), y (x0 ) = y0 Rate function: f (x , y ) = A (x )y + g (x ) Continuity and boundedness of the coecient functions in A (x ) and g (x ) are sucient for well-posedness. An n-th order linear ordinary dierential equation y (n) +P1 (x )y (n1) +P2 (x )y (n2) + +Pn1 (x )y +Pn (x )y = R (x ) State vector: z = [y y y y (n1) ]T = z , z = z , , z With z1 2 3 2 n1 = zn and zn from the ODE,
state space equation in the form z = A (x )z + g (x )
Continuity and boundedness of P1 (x ), P2 (x ), , Pn (x ) and R (x ) guarantees well-posedness.
359,
Closure
A practical by-product of existence and uniqueness results:
important results concerning the solutions
A sizeable segment of current research: ill-posed problems Dynamics of some nonlinear systems
Chaos: sensitive dependence on initial conditions
For boundary value problems, No general criteria for existence and uniqueness Note: Taking clue from the shooting method, a BVP in ODEs can be visualized as a complicated root-nding problem! Multiple solutions or non-existence of solution is no surprise.
360,
Points to note
For a solution of initial value problems, questions of existence, uniqueness and continuous dependence on initial condition are of crucial importance. These issues pertain to aspects of practical relevance regarding a physical system and its dynamic simulation Lipschitz condition is the tightest (available) criterion for deciding these questions regarding well-posedness
First Order Ordinary Dierential Equations
361,
Outline
Formation of Dierential Equations and Their Solutio Separation of Variables ODEs with Rational Slope Functions Some Special ODEs Exact Dierential Equations and Reduction to the Ex First Order Linear (Leibnitz) ODE and Associated Fo Orthogonal Trajectories Modelling and Simulation
First Order Ordinary Dierential Equations Formation of Dierential Equations and Their Solutions Separation of Variables ODEs with Rational Slope Functions Some Special ODEs Exact Dierential Equations and Reduction to the Exact Form First Order Linear (Leibnitz) ODE and Associated Forms Orthogonal Trajectories Modelling and Simulation
362,
Formation of Dierential Equations and Their Solutio Formation of Dierential Equations and Their Solutions Separation of Variables ODEs with Rational Slope Functions
Order Linear (Leibnitz) ODE and Associated Fo A dierential equation represents a class of First functions. Orthogonal Trajectories
Some Special ODEs Exact Dierential Equations and Reduction to the Ex Modelling and Simulation
Example: y (x ) = cx k With
dy dx
= ckx k 1 and xy
d2y dx 2
= ck (k 1)x k 2 , dy dx
2
d 2y =x dx 2
dy dx
A compact intrinsic description. Important terms

Order and degree of dierential equations Homogeneous and non-homogeneous ODEs
Solution of a dierential equation
general, particular and singular solutions
363,
Separation of Variables
ODE form with separable variables: y = f (x , y ) Solution as quadrature: (y )dy =
(x ) dy = or (y )dy = (x )dx dx (y )
(x )dx + c .
Separation of variables through substitution Example: y = g (x + y + ) Substitute v = x + y + to arrive at dv = + g (v ) x = dx dv +c + g (v )
364,
of Dierential Equations and Their Solutio ODEs with Rational Slope FunctionsFormation Separation of Variables ODEs with Rational Slope Functions
First Order Linear (Leibnitz) ODE and Associated Fo f1 (x , y ) Orthogonal Trajectories y = Modelling and Simulation f2 (x , y ) If f1 and f2 are homogeneous functions of n-th degree, then substitution y = ux separates variables x and u . dy 1 (y /x ) du 1 (u ) dx 2 (u ) = u +x = = du dx 2 (y /x ) dx 2 (u ) x 1 (u ) u 2 (u )
Some Special ODEs Exact Dierential Equations and Reduction to the Ex
For y =
a1 x +b1 y +c1 a2 x +b2 y +c2 ,
coordinate shift dy dY = dx dX
x = X + h, y = Y + k y = produces
a1 X + b1 Y + (a1 h + b1 k + c1 ) dY = . dX a2 X + b2 Y + (a2 h + b2 k + c2 ) Choose h and k such that a1 h + b1 k + c1 = 0 = a2 h + b2 k + c2 . If the system is inconsistent, then substitute u = a x + b y .
365,
Some Special ODEs

Clairauts equation y = xy + f (y ) Substitute p = y and dierentiate: p =p+x dp dp + f (p ) dx dx
dp [x + f (p )] = 0 dx
dp dx = 0 means y = p = m (constant) family of straight lines y = mx +
f (m) as general solution
Singular solution: x = f (p ) and y = f (p ) pf (p )
Singular solution is the envelope of the family of straight lines that constitute the general solution.
366,
Some Special ODEs
Second order ODEs with the function not appearing explicitly f (x , y , y ) = 0
Substitute y = p and solve f (x , p , p ) = 0 for p (x ). Second order ODEs with independent variable not appearing explicitly f (y , y , y ) = 0 Use y = p and y = dp dy dp dp dp = =p f (y , p , p ) = 0. dx dy dx dy dy
Solve for p (y ). Resulting equation solved through a quadrature as dy = p (y ) x = x0 + dx dy . p (y )
367,
Formation of Dierential Equations and Their Solutio Exact Dierential Equations and Reduction to the Exact For Separation of Variables ODEs with Rational Slope Functions
Mdx + Ndy : an exact dierential if M= x

x
and N =
, y
y ,
or,
Some Special ODEs Exact Dierential Equations and Reduction to the Ex First Order Linear (Leibnitz) ODE and Associated Fo Orthogonal Trajectories Modelling and Simulation
M N = y x
M y
M (x , y )dx + N (x , y )dy = 0 is an exact ODE if With M (x , y ) = and N (x , y ) =
N x
dx + dy = 0 d = 0. x y Solution: (x , y ) = c Working rule: 1 (x , y ) = M (x , y )dx +g1 (y ) and 2 (x , y ) = N (x , y )dy +g2 (x )
Determine g1 (y ) and g2 (x ) from 1 (x , y ) = 2 (x , y ) = (x , y ). N M If y = x , but y (FM ) = x (FN )? F : Integrating factor
368,
First Order Linear (Leibnitz) ODE and Associated Forms

General rst order linear ODE: dy + P (x )y = Q (x ) dx Leibnitz equation For integrating factor F (x ), dy d dF + F (x )P (x )y = [F (x )y ] = F (x )P (x ). dx dx dx Separating variables, F (x ) dF = F P (x )dx ln F =
R P (x )dx
P (x )dx .
Integrating factor: F (x ) = e ye
R P (x )dx
Q (x )e
P (x )dx
dx + C
369,
First Order Linear (Leibnitz) ODE and Associated Forms

Bernoullis equation dy + P (x )y = Q (x )y dx Substitution: z = y 1k ,
dz dx
Formation of Dierential Equations and Their Solutio Separation of Variables ODEs with Rational Slope Functions Some Special ODEs Exact Dierential Equations and Reduction to the Ex First Order Linear (Leibnitz) ODE and Associated Fo Orthogonal Trajectories Modelling and Simulation k
dz + (1 k )P (x )z = (1 k )Q (x ), dx in the Leibnitz form. Riccati equation y = a(x ) + b (x )y + c (x )y 2 If one solution y1 (x ) is known, then propose y (x ) = y1 (x ) + z (x ).
y1 (x ) + z (x ) = a(x ) + b (x )[y1 (x ) + z (x )] + c (x )[y1 (x ) + z (x )]2 (x ) = a(x ) + b (x )y (x ) + c (x )[y (x )]2 , Since y1 1 1
= (1 k )y k dy dx gives
z (x ) = [b (x ) + 2c (x )y1 (x )]z (x ) + c (x )[z (x )]2 , in the form of Bernoullis equation.
370,
Orthogonal Trajectories
a family of curves
In xy -plane, one-parameter equation (x , y , c ) = 0:
Dierential equation of the family of curves: dy = f1 (x , y ) dx Slope of curves orthogonal to (x , y , c ) = 0: dy 1 = dx f1 (x , y ) Solving this ODE, another family of curves (x , y , k ) = 0. Orthogonal trajectories If (x , y , c ) = 0 represents the potential lines (contours), then (x , y , k ) = 0 will represent the streamlines!
371,
Points to note
Meaning and solution of ODEs Separating variables Exact ODEs and integrating factors Linear (Leibnitz) equations Orthogonal families of curves
Second Order Linear Homogeneous ODEs
372,
Outline
Introduction Homogeneous Equations with Constant Coecients Euler-Cauchy Equation Theory of the Homogeneous Equations Basis for Solutions
Second Order Linear Homogeneous ODEs Introduction Homogeneous Equations with Constant Coecients Euler-Cauchy Equation Theory of the Homogeneous Equations Basis for Solutions
373,
Introduction
Second order ODE: f (x , y , y , y ) = 0
Special case of a linear (non-homogeneous) ODE: y + P (x )y + Q (x )y = R (x ) Non-homogeneous linear ODE with constant coecients: y + ay + by = R (x ) For R (x ) = 0, linear homogeneous dierential equation y + P (x )y + Q (x )y = 0 and linear homogeneous ODE with constant coecients y + ay + by = 0
374,
Introduction Homogeneous Equations with Constant Coecients Homogeneous Equations with Constant Coecients Euler-Cauchy Equation Theory of the Homogeneous Equations Basis for Solutions
y + ay + by = 0 Assume y = e x Substitution: (2 + a + b )e x = 0 Auxiliary equation: 2 + a + b = 0 Solve for 1 and 2 : Solutions: e 1 x and e 2 x Three cases
y = e x and y = 2 e x .
Real and distinct (a2 > 4b ): 1 = 2 y (x ) = c1 y1 (x ) + c2 y2 (x ) = c1 e 1 x + c2 e 2 x
375,
Introduction Homogeneous Equations with Constant Coecients Homogeneous Equations with Constant Coecients Euler-Cauchy Equation
Real and equal
(a2
only solution in hand: y1 = e x Method to develop another solution?
= 4b ): 1 = 2 = = a 2
Theory of the Homogeneous Equations Basis for Solutions
Verify that y2 = xe x is another solution.
y (x ) = c1 y1 (x ) + c2 y2 (x ) = (c1 + c2 x )e x
a i Complex conjugate (a2 < 4b ): 1,2 = 2
y (x ) = c1 e ( 2 +i )x + c2 e ( 2 i )x = e 2 [c1 (cos x + i sin x ) + c2 (cos x i sin x )] = e 2 [A cos x + B sin x ],

ax
ax
ax
with A = c1 + c2 , B = i (c1 c2 ).
A third form: y (x ) = Ce 2 cos( x )
376,
Euler-Cauchy Equation
x 2 y + axy + by = 0 Substituting y = x k , auxiliary (or indicial) equation: k 2 + (a 1)k + b = 0 1. Roots real and distinct [(a 1)2 > 4b ]: k1 = k2 . y (x ) = c1 x k1 + c2 x k2 .
1 2. Roots real and equal [(a 1)2 = 4b ]: k1 = k2 = k = a 2 .
y (x ) = (c1 + c2 ln x )x k .
1 3. Roots complex conjugate [(a 1)2 < 4b ]: k1,2 = a 2 i .
y (x ) = x
a1 2
[A cos( ln x )+B sin( ln x )] = Cx
a1 2
Alternative approach: substitution dx dt 1 x = e t t = ln x , = e t = x and = , etc. dt dx x
cos( ln x ).
377,
Introduction Theory of the Homogeneous Equations Homogeneous Equations with Constant Coecients Euler-Cauchy Equation Theory of the Homogeneous Equations Basis for Solutions
y + P (x )y + Q (x )y = 0 Well-posedness of its IVP: The initial value problem of the ODE, with arbitrary initial conditions y (x0 ) = Y0 , y (x0 ) = Y1 , has a unique solution, as long as P (x ) and Q (x ) are continuous in the interval under question. At least two linearly independent solutions:

y1 (x ): IVP with initial conditions y (x0 ) = 1, y (x0 ) = 0 y2 (x ): IVP with initial conditions y (x0 ) = 0, y (x0 ) = 1 c1 y1 (x ) + c2 y2 (x ) = 0 c1 = c2 = 0
At most two linearly independent solutions?
378,
Introduction Theory of the Homogeneous Equations Homogeneous Equations with Constant Coecients Euler-Cauchy Equation
Wronskian of two solutions y1 (x ) and y2 (x Basis ): for Solutions W (y1 , y2 ) = y1 y2 y y1 2

= y1 y2 y2 y1
Theory of the Homogeneous Equations
Solutions y1 and y2 are linearly dependent, if and only if x0 such that W [y1 (x0 ), y2 (x0 )] = 0. W [y1 (x0 ), y2 (x0 )] = 0 W [y1 (x ), y2 (x )] = 0 x . W [y1 (x1 ), y2 (x1 )] = 0 W [y1 (x ), y2 (x )] = 0 x , and y1 (x ) and y2 (x ) are linearly independent solutions. Complete solution: If y1 (x ) and y2 (x ) are two linearly independent solutions, then the general solution is y (x ) = c1 y1 (x ) + c2 y2 (x ).
And, the general solution is the complete solution .

No third linearly independent solution. No singular solution.
379,
If y1 (x ) and y2 (x ) are linearly dependent, then y2Solutions = ky1 . Basis for In particular, W [y1 (x0 ), y2 (x0 )] = 0 Conversely, if there is a value x0 , where W [y1 (x0 ), y2 (x0 )] = then for y1 (x0 ) y2 (x0 ) (x ) y (x ) y1 0 2 0 = 0,
Theory of the Homogeneous Equations
W (y1 , y2 ) = y1 y2 y2 y1 = y1 (ky1 ) (ky1 )y1 =0
y1 (x0 ) y2 (x0 ) c1 = 0, y1 (x0 ) y2 (x0 ) c2 coecient matrix is singular. c1 Choose non-zero and frame y (x ) = c1 y1 + c2 y2 , satisfying c2 IVP y + Py + Qy = 0, y (x0 ) = 0, y (x0 ) = 0.
Therefore, y (x ) = 0 y1 and y2 are linearly dependent.
380,
Pick a candidate solution Y (x ), choose a point x0 , evaluate functions y1 , y2 , Y and their derivatives at that point, frame y1 (x0 ) y2 (x0 ) (x ) y (x ) y1 0 2 0 and ask for solution C1 C2 . C1 C2 = Y (x0 ) Y (x0 )
Theory of the Homogeneous Equations Basis for Solutions
Unique solution for C1 , C2 . Hence, particular solution y (x ) = C1 y1 (x ) + C2 y2 (x ) is the unique solution of the IVP y + Py + Qy = 0, y (x0 ) = Y (x0 ), y (x0 ) = Y (x0 ). But, that is the candidate function Y (x )! Hence, Y (x ) = y (x ).
381,
Basis for Solutions

two linearly independent solutions.
For completely describing the solutions, we need
No guaranteed procedure to identify two basis members! If one solution y1 (x ) is available, then to nd another? Reduction of order Assume the second solution as y2 (x ) = u (x )y1 (x ) and determine u (x ) such that y2 (x ) satises the ODE.
u y1 + 2u y1 + uy1 + P (u y1 + uy1 ) + Quy1 = 0 u y1 + 2u y1 + Pu y1 + u (y1 + Py1 + Qy1 ) = 0. + Py + Qy = 0, we have y u + (2y + Py )u = 0 Since y1 1 1 1 1 1
382,
Basis for Solutions

Denoting u = U , U + (2 y1 + P )U = 0. 1
y
Rearrangement and integration of the reduced equation:

R dy1 dU 2 +2 + Pdx = 0 Uy1 e Pdx = C = 1 (choose). U y1
Then, u = U = Integrating, u (x ) = and y2 (x ) = y1 (x )
1 R Pdx , 2e y1
1 R Pdx dx , 2e y1 1 R Pdx dx . 2e y1
Note: The factor u (x ) is never constant!
383,
Basis for Solutions
Function space perspective: Operator D means dierentiation, operates on an innite dimensional function space as a linear transformation. It maps all constant functions to zero.
It has a one-dimensional null space.
Second derivative or D 2 is an operator that has a two-dimensional null space, c1 + c2 x , with basis {1, x }. Examples of composite operators

(D + a) has a null space ce ax . (xD + a) has a null space cx a .
A second order linear operator D 2 + P (x )D + Q (x ) possesses a two-dimensional null space.
Solution of [D 2 + P (x )D + Q (x )]y = 0: description of the null space, or a basis for it.. Analogous to solution of Ax = 0 , i.e. development of a basis for Null (A ).
384,
Points to note
Second order linear homogeneous ODEs Wronskian and related results Solution basis Reduction of order Null space of a dierential operator
Second Order Linear Non-Homogeneous ODEs Linear ODEs and Their Solutions Method of Undetermined Coecients Method of Variation of Parameters Closure
385,
Outline
386,
Linear ODEs and Their Solutions

The Complete Analogy
Table: Linear systems and mappings: algebraic and dierential
In ordinary vector space Ax = b The system is consistent. A solution x Alternative solution: x x x satises Ax = 0 , is in null space of A . Complete solution: x = x + i ci (x0 )i Methodology: Find null space of A i.e. basis members (x0 )i . Find x and compose.
In innite-dimensional function space y + Py + Qy = R P (x ), Q (x ), R (x ) are continuous. A solution yp (x ) Alternative solution: y (x ) y (x ) yp (x ) satises y + Py + Qy = 0, is in null space of D 2 + P (x )D + Q (x ). Complete solution: yp (x ) + i ci yi (x ) Methodology: Find null space of D 2 + P (x )D + Q (x ) i.e. basis members yi (x ). Find yp (x ) and compose.
387,
Linear ODEs and Their Solutions
Procedure to solve y + P (x )y + Q (x )y = R (x ) 1. First, solve the corresponding homogeneous equation, obtain a basis with two solutions and construct yh (x ) = c1 y1 (x ) + c2 y2 (x ). 2. Next, nd one particular solution yp (x ) of the NHE and compose the complete solution y (x ) = yh (x ) + yp (x ) = c1 y1 (x ) + c2 y2 (x ) + yp (x ). 3. If some initial or boundary conditions are known, they can be imposed now to determine c1 and c2 . Caution: If y1 and y2 are two solutions of the NHE, then do not expect c1 y1 + c2 y2 to satisfy the equation. Implication of linearity or superposition: With zero initial conditions, if y1 and y2 are responses due to inputs R1 (x ) and R2 (x ), respectively, then the response due to input c1 R1 + c2 R2 is c1 y1 + c2 y2 .
Second Order Linear Non-Homogeneous ODEs
388,
ODEs and Their Solutions Method of Undetermined CoecientsLinear Method of Undetermined Coecients Method of Variation of Parameters Closure
y + ay + by = R (x )

What kind of function to propose as yp (x ) if R (x ) = x n ? And what if R (x ) = e x ? If R (x ) = x n + e x , i.e. in the form k1 R1 (x ) + k2 R2 (x )? The principle of superposition (linearity)
Table: Candidate solutions for linear non-homogeneous ODEs
RHS function R (x ) pn (x ) e x cos x or sin x e x cos x or e x sin x pn (x )e x pn (x ) cos x or pn (x ) sin x pn (x )e x cos x or pn (x )e x sin x
Candidate solution yp (x ) qn (x ) ke x k1 cos x + k2 sin x k1 e x cos x + k2 e x sin x qn (x )e x qn (x ) cos x + rn (x ) sin x qn (x )e x cos x + rn (x )e x sin x
Second Order Linear Non-Homogeneous ODEs
389,
ODEs and Their Solutions Method of Undetermined CoecientsLinear Method of Undetermined Coecients Method of Variation of Parameters
In each case, the rst ocial proposal: yp = ke 3x (b) y (x ) = c1 e 2x + c2 e 3x + xe 3x (c) y (x ) = c1 e 3x + c2 xe 3x + Modication rule
Example: (a) y 6y + 5y = e 3x (b) y 5y + 6y = e 3x (c) y 6y + 9y = e 3x
Closure
(a) y (x ) = c1 e x + c2 e 5x e 3x /4
1 2 3x 2x e
If the candidate function (ke x , k1 cos x + k2 sin x or k1 e x cos x + k2 e x sin x ) is a solution of the corresponding HE; with , i or i (respectively) satisfying the auxiliary equation; then modify it by multiplying with x . In the case of being a double root, i.e. both e x and xe x being solutions of the HE, choose yp = kx 2 e x .
390,
Method of Variation of Parameters

Solution of the HE:
yh (x ) = c1 y1 (x ) + c2 y2 (x ), in which c1 and c2 are constant parameters. For solution of the NHE, how about variable parameters ? Propose yp (x ) = u1 (x )y1 (x ) + u2 (x )y2 (x ) and force yp (x ) to satisfy the ODE. A single second order ODE in u1 (x ) and u2 (x ). We need one more condition to x them.
391,

From yp = u1 y1 + u2 y2 ,
yp = u1 y1 + u1 y1 + u2 y 2 + u2 y 2 .
Condition
y + u y = 0 gives u1 1 2 2 yp = u1 y1 + u2 y 2 .
Dierentiating,
yp = u1 y 1 + u2 y2 + u1 y1 + u2 y 2 .
Substitution into the ODE:

u1 y1 +u2 y 2 + u1 y 1 +u2 y2 +P (x )(u1 y1 + u2 y 2 )+Q (x )(u1 y1 +u2 y2 ) = R (x )
Rearranging,
+Q (x )y2 ) = R (x ). +P (x )y2 +Q (x )y1 )+u2 (y2 +P (x )y1 y2 +u1 (y1 y1 +u2 u1 y + u y = R (x ) As y1 and y2 satisfy the associated HE, u1 1 2 2
392,

y1 y2 y y1 2
u1 u2
0 R
Since Wronskian is non-zero, this system has unique solution

u1 =
y2 R W
and u2 =
y1 R . W
Direct quadrature: u1 (x ) = y2 (x )R (x ) dx and u2 (x ) = W [y1 (x ), y2 (x )] y1 (x )R (x ) dx W [y1 (x ), y2 (x )]
In contrast to the method of undetermined multipliers, variation of parameters is general. It is applicable for all continuous functions as P (x ), Q (x ) and R (x ).
393,
Points to note
Function space perspective of linear ODEs Method of undetermined coecients Method of variation of parameters
Higher Order Linear ODEs
394,
Outline
Theory of Linear ODEs Homogeneous Equations with Constant Coecients Non-Homogeneous Equations Euler-Cauchy Equation of Higher Order
Higher Order Linear ODEs Theory of Linear ODEs Homogeneous Equations with Constant Coecients Non-Homogeneous Equations Euler-Cauchy Equation of Higher Order
395,
Theory of Linear ODEs
General solution: y (x ) = yh (x ) + yp (x ), where yp (x ): a particular solution yh (x ): general solution of corresponding HE
y (n) +P1 (x )y (n1) +P2 (x )y (n2) + +Pn1 (x )y +Pn (x )y = R (x )
Wronskian:
For the HE, suppose we have n solutions y1 (x ), y2 (x ), , yn (x ). Assemble the state vectors in matrix y1 y2 yn y1 y2 yn y1 y y n 2 Y (x ) = . . . . .. . . . . . . . (n1) (n1) (n1) y1 y2 yn W (y1 , y2 , , yn ) = det[Y (x )]
y (n) +P1 (x )y (n1) +P2 (x )y (n2) + +Pn1 (x )y +Pn (x )y = 0
396,
Theory of Linear ODEs
If solutions y1 (x ), y2 (x ), , yn (x ) of HE are linearly dependent, then for a non-zero k R n ,

n n i =1
ki yi (x ) = 0
i =1
ki yi (x ) = 0 for j = 1, 2, 3, , (n 1)
(j )
If Wronskian is zero at x = x0 , then Y (x0 ) is singular and a non-zero k Null [Y (x0 )] gives n i =1 ki yi (x ) = 0, implying y1 (x ), y2 (x ), , yn (x ) to be linearly dependent. Zero Wronskian at some x = x0 implies zero Wronskian everywhere. Non-zero Wronskian at some x = x1 ensures non-zero Wronskian everywhere and the corrseponding solutions as linearly independent. With n linearly independent solutions y1 (x ), y2 (x ), , yn (x ) of the HE, we have its general solution yh (x ) = n i =1 ci yi (x ), acting as the complementary function for the NHE.
W [y1 (x ), y2 (x ), , yn (x )] = 0.
[Y (x )]k = 0 [Y (x )] is singular
397,
Theory of Linear ODEs Homogeneous Equations with Constant Coecients Homogeneous Equations with Constant Coecients Non-Homogeneous Equations Euler-Cauchy Equation of Higher Order
With trial solution y = e x , the auxiliary equation:
y (n) + a1 y (n1) + a2 y (n2) + + an1 y + an y = 0 n + a1 n1 + a2 n2 + + an1 + an = 0
Construction of the basis: 1. For every simple real root = , e x is a solution. 2. For every simple pair of complex roots = i , e x cos x and e x sin x are linearly independent solutions. 3. For every real root = of multiplicity r ; e x , xe x , x 2 e x , , x r 1 e x are all linearly independent solutions. 4. For every complex pair of roots = i of multiplicity r ; e x cos x , e x sin x , xe x cos x , xe x sin x , , x r 1 e x cos x , x r 1 e x sin x are the required solutions.
398,
Non-Homogeneous Equations
Method of undetermined coecients Extension of the second order case Method of variation of parameters
n
y (n) + a1 y (n1) + a2 y (n2) + + an1 y + an y = R (x )
yp (x ) =
i =1
ui (x )yi (x )
Imposed condition n i =1 ui (x )yi (x ) = 0 n i =1 ui (x )yi (x ) = 0 (n2) n (x ) = 0 i =1 ui (x )yi Finally, yp (x ) =

(n)
Derivative n (x ) = yp i =1 ui (x )yi (x ) n yp (x ) = i =1 ui (x )yi (x ) (n1) (n1) (x ) (x ) = n yp i =1 ui (x )yi
(n) (n1) n (x ) + n i =1 ui (x )yi (x ) i =1 ui (x )yi n n (n1) (n) (n1) + + Pn yi ui (x ) yi + P1 yi (x )+ ui (x )yi
= R (x )
399,
Non-Homogeneous Equations
Since each yi (x ) is a solution of the HE,
n
ui (x )yi
i =1
(n1)
(x ) = R (x ).
Assembling all conditions on u (x ) together, [Y (x )]u (x ) = en R (x ). Since Y1 = u (x ) =

adj Y det(Y ) ,
1 R (x ) [adj Y (x )]en R (x ) = [last column of adj Y (x )]. det[Y (x )] W (x ) Wi (x ) R (x ), W (x )

Wi (x )R (x ) W (x ) dx
Using cofactors of elements from last row only, ui (x ) =
with Wi (x ) = Wronskian evaluated with en in place of i -th column. ui (x ) =
400,
Points to note
Wronskian for a higher order ODE General theory of linear ODEs
Variation for parameters for n-th order ODE
Laplace Transforms Introduction Basic Properties and Results Application to Dierential Equations Handling Discontinuities Convolution Advanced Issues
401,
Outline
402,
Introduction
Classical perspective

Entire dierential equation is known in advance. Go for a complete solution rst. Afterwards, use the initial (or other) conditions.
A practical situation You have a plant
intrinsic dynamic model as well as the starting conditions.
You may drive the plant with dierent kinds of inputs on dierent occasions.
Implication
Left-hand side of the ODE and the initial conditions are known a priori. Right-hand side, R (x ), changes from task to task.
403,
Introduction

Another question: What if R (x ) is not continuous?
When power is switched on or o, what happens?
If there is a sudden voltage uctuation, what happens to the equipment connected to the power line?
Or, does anything happen in the immediate future? Something certainly happens. The IVP has a solution! Laplace transforms provide a tool to nd the solution, in spite of the discontinuity of R (x ). Integral transform:
b
T [f (t )](s ) =
a
K (s , t )f (t )dt
s : frequency variable K (s , t ): kernel of the transform Note: T [f (t )] is a function of s , not t .
404,
Introduction
With kernel function K (s , t ) = e st , and limits a = 0, b = , Laplace transform F (s ) = L{f (t )} =

0
e st f (t )dt = lim
b 0
e st f (t )dt
When this integral exists, f (t ) has its Laplace transform. Sucient condition:

f (t ) is piecewise continuous, and it is of exponential order, i.e. |f (t )| < Me ct for some (nite) M and c .
Inverse Laplace transform: f (t ) = L1 {F (s )}
405,
Basic Properties and Results

Linearity:
L{af (t ) + bg (t )} = aL{f (t )} + bL{g (t )} First shifting property or the frequency shifting rule: L{e at f (t )} = F (s a) Laplace transforms of some elementary functions: L(1) = L(t ) = L(t n ) = L(t ) = and L(e at ) =
a
s (a + 1) s a+1 1 . s a
1 e st = , e dt = s s 0 0 st e 1 e st tdt = t + s 0 s 0 n! (for positive integer n), n+1

st
e st dt =
1 , s2
(for a R + )
406,
Basic Properties and Results

L(cos t ) = s2
Laplace transform of derivative: L{f (t )} = =

0
s , L(sin t ) = 2 ; 2 + s + 2 s a L(cosh at ) = 2 , L(sinh at ) = 2 ; 2 s a s a2 s , L(e t sin t ) = . L(e t cos t ) = 2 2 (s ) + (s )2 + 2 e st f (t )dt

0
e st f (t )
+s
0
e st f (t )dt = sL{f (t )} f (0)
Using this process recursively, L{f (n) (t )} = s n L{f (t )} s (n1) f (0) s (n2) f (0) f (n1) (0). For integral g (t ) = 0 f (t )dt , g (0) = 0, and L{g (t )} = sL{g (t )} g (0) = sL{g (t )} L{g (t )} = 1 s L{f (t )}.
t
407,
Application to Dierential Equations
Example: Initial value problem of a linear constant coecient ODE y + ay + by = r (t ), y (0) = K0 , y (0) = K1 Laplace transforms of both sides of the ODE:
s 2 Y (s ) sy (0) y (0) + a[sY (s ) y (0)] + bY (s ) = R (s ) (s 2 + as + b )Y (s ) = (s + a)K0 + K1 + R (s ) A dierential equation in y (t ) has been converted to an algebraic equation in Y (s ). Transfer function: ratio of Laplace transform of output function y (t ) to that of input function r (t ), with zero initial conditions Q (s ) = 1 Y (s ) = 2 (in this case) R (s ) s + as + b
Y (s ) = [(s + a)K0 + K1 ]Q (s ) + Q (s )R (s ) Solution of the given IVP: y (t ) = L1 {Y (s )}
408,
Handling Discontinuities
Unit step function u (t a) = Its Laplace transform: L{u (t a)} =
0
0 if 1 if
a 0
t <a t >a
a
e st u (t a)dt =
0 dt +
e st dt =
e as s
For input f (t ) with a time delay, f (t a)u (t a) = has its Laplace transform as L{f (t a)u (t a)} = =
0 a
0 if f (t a) if e st f (t a)dt
t<a t>a
e s (a+ ) f ( )d = e as L{f (t )}.
Second shifting property or the time shifting rule
409,
Dene fk (t a) = =
u(ta)
1 1 k 1
at a+k otherwise 1 1 u (t a) u (t a k ) k k
1 u(ta) k
1/k if 0
f (ta)
1 k 1 k
(ta) 1
t
1
o
1 k
a+k
a a+k
1 u(tak) k
(a) Unit step function
(b) Composition
(c) Function f
(d) Diracs function
Figure: Step and impulse functions
and note that its integral Ik =

0 a +k
fk (t a)dt =
1 dt = 1. k
does not depend on k .
410,
In the limit, (t a) = or, (t a) =
k 0
lim fk (t a) if 0 t=a otherwise and

0
(t a)dt = 1.
Unit impulse function or
Diracs delta function
L{(t a)} =
1 [L{u (t a)} L{u (t a k )}] k 0 k e as e (a+k )s = lim = e as k 0 ks lim
Through step and impulse functions, Laplace transform method can handle IVPs with discontinuous inputs.
411,
Convolution
A generalized product of two functions
t
h(t ) = f (t ) g (t ) =
0
f ( )g (t ) d
0
Laplace transform of the convolution: H (s ) = e st

0 t
f ( )g (t )d dt =
t=
f ( )
e st g (t )dt d
t=
11 00 00 11 00 11 00 11 00 11 00 11 00 11
(a) Original order
11111 00000 00000 11111

t
(b) Changed order
Figure: Region of integration for L{h(t )}
412,
Convolution
Through substitution t = t , H (s ) =
0 0 0
f ( )
e s (t
+ )
g (t ) dt d
f ( )e s
0
e st g (t ) dt d
H (s ) = F (s )G (s ) Convolution theorem: Laplace transform of the convolution integral of two functions is given by the product of the Laplace transforms of the two functions. Utilities:

To invert Q (s )R (s ), one can convolute y (t ) = q (t ) r (t ). In solving some integral equation.
413,
Points to note
A paradigm shift in solution of IVPs Handling discontinuous input functions Extension to ODE systems The idea of integral transforms
ODE Systems
414,
Outline
Fundamental Ideas Linear Homogeneous Systems with Constant Coeci Linear Non-Homogeneous Systems Nonlinear Systems
ODE Systems Fundamental Ideas Linear Homogeneous Systems with Constant Coecients Linear Non-Homogeneous Systems Nonlinear Systems
ODE Systems
415,
Fundamental Ideas
y = f (t , y ) Solution: a vector function y = h (t ) Autonomous system: y = f (y )
Points in y -space where f (y ) = 0: equilibrium points or critical points
System of linear ODEs: y = A (t )y + g (t )

autonomous systems if A and g are constant homogeneous systems if g (t ) = 0 homogeneous constant coecient systems if A is constant and g (t ) = 0
ODE Systems
416,
Fundamental Ideas
For a homogeneous system, y = A (t )y
Wronskian: W (y1 , y2 , y3 , , yn ) = |y1 y2 y3 yn | Fundamental matrix: Y (t ) = [y1 y2 y3 yn ],
If Wronskian is non-zero, then
giving a basis.
General solution:
n
y (t ) =
i =1
ci yi (t ) = [Y (t )] c
ODE Systems
417,
Fundamental Ideas Linear Homogeneous Systems with Constant Coecients Linear Homogeneous Systems with Constant Coeci Linear Non-Homogeneous Systems Nonlinear Systems
y = Ay Non-degenerate case: matrix A non-singular
Origin (y = 0 ) is the unique equilibrium point.
Attempt y = x e t y = x e t . Substitution: Ax e t = x e t Ax = x If A is diagonalizable, n linearly independent solutions yi = xi e i t corresponding to n eigenpairs If A is not diagonalizable? All xi e i t together will not complete the basis. Try y = x te t ? Substitution leads to x e t + x te t = Ax te t x e t = 0 x = 0 . Absurd!
ODE Systems
418,
Fundamental Ideas Linear Homogeneous Systems with Constant Coecients Linear Homogeneous Systems with Constant Coeci Linear Non-Homogeneous Systems
Try a linearly independent solution in the form y = x te t + u e t .
Nonlinear Systems
Linear independence here has two implications: in function space AND in ordinary vector space! Substitution: x e t + x te t + u e t = Ax te t + Au e t (A I )u = x Solve for u , the generalized eigenvector of A . For Jordan blocks of larger sizes, 1 y1 = x e t , y2 = x te t + u1 e t , y3 = x t 2 e t + u1 te t + u2 e t etc. 2 Jordan canonical form (JCF) of A provides a set of basis functions to describe the complete solution of the ODE system.
ODE Systems
419,
Linear Non-Homogeneous Systems

y = Ay + g (t ) Complementary function:
n
yh (t ) =
i =1
ci yi (t ) = [Y (t )]c
Complete solution: y (t ) = yh (t ) + yp (t ) We need to develop one particular solution yp . Method of undetermined coecients Based on g (t ), select candidate function Gk (t ) and propose yp =
k
uk Gk (t ),
vector coecients (uk ) to be determined by substitution.
ODE Systems
420,

Method of diagonalization
If A is a diagonalizable constant matrix, with X1 AX = D , changing variables to z = X1 y , such that y = Xz , Xz = AXz + g (t ) z = X1 AXz + X1 g (t ) = Dz + h (t ) (say). Single decoupled Leibnitz equations
= dk zk + hk (t ), k = 1, 2, 3, , n; zk
leading to individual solutions zk (t ) = ck e dk t + e dk t e dk t hk (t )dt .
After assembling z (t ), we reconstruct y = Xz .
ODE Systems
421,
Method of variation of parameters If we can supply a basis Y (t ) of the complementary function yh (t ), then we propose yp (t ) = [Y (t )]u (t ) Substitution leads to Y u + Y u = A Y u + g . Since Y = A Y , Y u = g , or, u = [Y ]1 g . Complete solution: y (t ) = yh + yp = [Y ]c + [Y ] This method is completely general. [Y ]1 g dt
ODE Systems
422,
Points to note
Theory of ODEs in terms of vector functions Methods to nd

complementary functions in the case of constant coecients particular solutions for all cases
Necessary Exercises: 1
Stability of Dynamic Systems Second Order Linear Systems Nonlinear Dynamic Systems Lyapunov Stability Analysis
423,
Outline
424,
Second Order Linear Systems
A system of two rst order linear dierential equations:

y1 = a11 y1 + a12 y2 y2 = a21 y1 + a22 y2
or,
y = Ay
Phase: a pair of values of y1 and y2 Phase plane: plane of y1 and y2 Trajectory: a curve showing the evolution of the system for a particular initial value problem Phase portrait: all trajectories together showing the complete picture of the behaviour of the dynamic system Allowing only isolated equilibrium points, matrix A is non-singular: origin is the only equilibrium point. Eigenvalues of A : 2 (a11 + a22 ) + (a11 a22 a12 a21 ) = 0
425,

Characteristic equation: 2 p + q = 0,
with p = (a11 + a22 ) = 1 + 2 and q = a11 a22 a12 a21 = 1 2 Discriminant D = p 2 4q and 1,2 p = 2 p 2
2
p D q = . 2 2
Solution (for diagonalizable A ): y = c1 x1 e 1 t + c2 x2 e 2 t Solution for decient A : y = c1 x1 e t + c2 (t x1 + u )e t y = c1 x1 e t + c2 (x1 + u )e t + tc2 x1 e t
y2
426,

y2 y2
y1
y1
y1
(a) Saddle point

y2
(b) Centre
y2
(c) Spiral
y2
y1
y1
y1
(d) Improper node
(e) Proper node
(f) Degenerate node
Figure: Neighbourhood of critical points
427,

Type Saddle pt Centre Spiral Node improper proper degenerate
stable
Table: Critical points of linear systems Sub-type Eigenvalues real, opposite signs pure imaginary complex, both non-zero components real, same sign unequal in magnitude equal, diagonalizable equal, decient
q spiral c e n t r e spiral
Position in p -q chart q<0 q > 0, p = 0 q > 0, p = 0 D = p 2 4q < 0 q > 0, p = 0, D 0 D>0 D=0 D=0
unstable
Stability unstable stable stable if p < 0, unstable if p > 0
node
p2
0 4q =
node
o
saddle point
unstable
Figure: Zones of critical points in p -q chart
428,
Nonlinear Dynamic Systems

Phase plane analysis

Determine all the critical points. Linearize the ODE system around each of them as y = J (y0 )(y y0 ).
With z = y y0 , analyze each neighbourhood from z = Jz . Assemble outcomes of local phase plane analyses. Features of a dynamic system are typically captured by its critical points and their neighbourhoods.
Limit cycles
isolated closed trajectories (only in nonlinear systems)
Systems with arbitrary dimension of state space?
429,
Lyapunov Stability Analysis
Important terms Stability: If y0 is a critical point of the dynamic system y = f (y ) and for every > 0, > 0 such that y (t0 ) y0 < y (t ) y0 < t > t0 ,
then y0 is a stable critical point. If, further, y (t ) y0 as t , then y0 is said to be asymptotically stable. Positive denite function: A function V (y ), with V (0 ) = 0, is called positive denite if V (y ) > 0 y = 0 . Lyapunov function: A positive denite function V (y ), having V continuous yi , with a negative semi-denite rate of change V = [V (y )]T f (y ).
430,
Lyapunov Stability Analysis

Lyapunovs stability criteria:
Theorem: For a system y = f (y ) with the origin as a critical point, if there exists a Lyapunov function V (y ), then the system is stable at the origin, i.e. the origin is a stable critical point. Further, if V (y ) is negative denite, then it is asymptotically stable. A generalization of the notion of total energy: negativity of its rate correspond to trajectories tending to decrease this energy. Note: Lyapunovs method becomes particularly important when a linearized model allows no analysis or when its results are suspect. Caution: It is a one-way criterion only!
431,
Points to note

Analysis of second order systems Classication of critical points Nonlinear systems and local linearization Phase plane analysis Examples in physics, engineering, economics, biological and social systems Lyapunovs method of stability analysis
Series Solutions and Special Functions
432,
Outline
Power Series Method Frobenius Method Special Functions Dened as Integrals Special Functions Arising as Solutions of ODEs
Series Solutions and Special Functions Power Series Method Frobenius Method Special Functions Dened as Integrals Special Functions Arising as Solutions of ODEs
433,
Power Series Method
Methods to solve an ODE in terms of elementary functions: restricted in scope Theory allows study of the properties of solutions!
When elementary methods fail, gain knowledge about solutions through properties, and for actual evaluation develop innite series. Power series: y (x ) =
n=0
an x n = a0 + a1 x + a2 x 2 + a3 x 3 + a4 x 4 + a5 x 5 +
or in powers of (x x0 ). A simple exercise: Try developing power series solutions in the above form and study their properties for dierential equations y + y = 0 and 4x 2 y = y .
434,
Power Series Method
y + P (x )y + Q (x )y = 0 If P (x ) and Q (x ) are analytic at a point x = x0 , i.e. if they possess convergent series expansions in powers of (x x0 ) with some radius of convergence R, then the solution is analytic at x0 , and a power series solution is convergent at least for |x x0 | < R .
n=0 n=0
y (x ) = a0 + a1 (x x0 ) + a2 (x x0 )2 + a3 (x x0 )3 +
For x0 = 0 (without loss of generality), suppose P (x ) = Q (x ) = pn x n = p0 + p1 x + p2 x 2 + p3 x 3 + , qn x n = q0 + q1 x + q2 x 2 + q3 x 3 + ,
and assume y (x ) =
an x n .
435,
Power Series Method

Dierentiation of y (x ) = y (x ) = leads to P (x )y = Q (x )y
n=0 n=0 n=0 n=0 n=0 n=0 n n n=0 an x
as
(n + 1)an+1 x n and y (x ) =
n=0
(n + 2)(n + 1)an+2 x n
pn x n qn x n
(n + 1)an+1 x n = an x n =
n
n=0 k =0
pnk (k + 1)ak +1 x n
n=0 k =0
qn k a k x n
n
(n + 2)(n + 1)an+2 +
k =0 n k =0
pnk (k + 1)ak +1 +
k =0
qnk ak x n = 0
Recursion formula: an+2 = 1 (n + 2)(n + 1) [(k + 1)pnk ak +1 + qnk ak ]
436,
Frobenius Method
For the ODE y + P (x )y + Q (x )y = 0, a point x = x0 is ordinary point if P (x ) and Q (x ) are analytic at x = x0 : power series solution is analytic singular point if any of the two is non-analytic (singular) at x = x0 regular singularity: (x x0 )P (x ) and (x x0 )2 Q (x ) are analytic at the point irregular singularity The case of regular singularity For x0 = 0, with P (x ) =
b(x ) x
and Q (x ) =
c (x ) , x2
x 2 y + xb (x )y + c (x )y = 0 in which b (x ) and c (x ) are analytic at the origin.
437,
Frobenius Method
Working steps:
1. Assume the solution in the form y (x ) = x r 2. Dierentiate to get the series expansions for
n n=0 an x . y (x ) and y (x ).
3. Substitute these series for y (x ), y (x ) and y (x ) into the given ODE and collect coecients of x r , x r +1 , x r +2 etc. 4. Equate the coecient of x r to zero to obtain an equation in the index r , called the indicial equation as r (r 1) + b0 r + c0 = 0; allowing a0 to become arbitrary. 5. For each solution r , equate other coecients to obtain a1 , a2 , a3 etc in terms of a0 . Note: The need is to develop two solutions.
438,
Power Series Method Special Functions Dened as Integrals Frobenius Method Special Functions Dened as Integrals Special Functions Arising as Solutions of ODEs
Gamma function: (n) = 0 e x x n1 dx , convergent for n > 0. Recurrence relation (1) = 1, (n + 1) = n(n) allows extension of the denition for the entire real line except for zero and negative integers. (n + 1) = n! for non-negative integers. (A generalization of the factorial function.) Beta function: B (m, n) =
/2
2 0 sin cos d ; m, n > 0. m)(n) B (m, n) = B (n, m); B (m, n) = ( (m+n)

2 e t dt . Error function: erf (x ) = 0 (Area under the normal or Gaussian distribution) x
2
1 m 1 (1 0 x 2m1 2n1
x )n1 dx =
Sine integral function: Si (x ) =
x sin t 0 t dt .
439,
Power Series Method Special Functions Arising as Solutions of ODEs Frobenius Method Special Functions Dened as Integrals Special Functions Arising as Solutions of ODEs
In the study of some important problems in physics, some variable-coecient ODEs appear recurrently, defying analytical solution! Series solutions properties and connections further problems further solutions
Table: Special functions of mathematical physics
Name of the ODE Legendres equation Airys equation Chebyshevs equation Hermites equation Bessels equation Form of the ODE (1 x 2 )y 2xy + k (k + 1)y = 0 y k 2 xy = 0 (1 x 2 )y xy + k 2 y = 0 y 2xy + 2ky = 0 x 2 y + xy + (x 2 k 2 )y = 0 x (1 x )y + [c (a + b + 1)x ]y aby = 0 xy + (1 x )y + ky = 0 Resulting functions Legendre functions Legendre polynomials Airy functions Chebyshev polynomials Hermite functions Hermite polynomials Bessel functions Neumann functions Hankel functions Hypergeometric function Laguerre polynomials
Gausss hypergeometric equation Laguerres equation
440,
Power Series Method Special Functions Arising as Solutions of ODEs Frobenius Method Special Functions Dened as Integrals
Legendres equation
Special Functions Arising as Solutions of ODEs
(1 x 2 )y 2xy + k (k + 1)y = 0
(k +1) 2x and Q (x ) = k1 are analytic at x = 0 with P (x ) = 1 x2 x 2 radius of convergence R = 1.
x = 0 is an ordinary point and a power series solution n y (x ) = n=0 an x is convergent at least for |x | < 1. Apply power series method: a2 = a3 and an+2 k (k + 1) a0 , 2! (k + 2)(k 1) = a1 3! (k n)(k + n + 1) = an (n + 2)(n + 1)
for n 2.
Solution: y (x ) = a0 y1 (x ) + a1 y2 (x )
441,
Legendre functions
y1 (x ) = 1
k (k + 1) 2 k (k 2)(k + 1)(k + 3) 4 x + x 2! 4! (k 1)(k + 2) 3 (k 1)(k 3)(k + 2)(k + 4) 5 y2 (x ) = x x + x 3! 5! Special signicance: non-negative integral values of k For each k = 0, 1, 2, 3, , one of the series terminates at the term containing x k .
Polynomial solution: valid for the entire real line! Recurrence relation in reverse: a k 2 = k (k 1) ak 2(2k 1)
442,
Legendre polynomial k 3) 31 , Choosing ak = (2k 1)(2k ! Pk (x ) =
This choice of ak ensures Pk (1) = 1 and implies Pk (1) = (1)k . Initial Legendre polynomials: P0 (x ) = 1, P1 (x ) = x , 1 P2 (x ) = (3x 2 1), 2 1 P3 (x ) = (5x 3 3x ), 2 1 P4 (x ) = (35x 4 30x 2 + 3) etc. 8
(2k 1)(2k 3) 3 1 k! k ( k 1) k (k 1)(k 2)(k 3) k 4 xk x k 2 + x . 2(2k 1) 2 4(2k 1)(2k 3)
443,
1 P0 (x) 0.8 P1(x) 0.6 P3 (x) 0.4 P 2(x) 0.2 Pn (x)
0.2
0.4 P5 (x)
0.6
P 4(x)
0.8
1 1
0.8
0.6
0.4
0.2
0 x
0.2
0.4
0.6
0.8
Figure: Legendre polynomials
All roots of a Legendre polynomial are real and they lie in [1, 1]. Orthogonality?
444,
Bessels equation
x 2 y + xy + (x 2 k 2 )y = 0 x = 0 is a regular singular point. Frobenius method: carrying out the early steps,
(r 2 k 2 )a0 x r +[(r +1)2 k 2 ]a1 x r +1 +
n=2
[an2 +{r 2 k 2 +n(n+2r )}an ]x r +n = 0
Indicial equation: r 2 k 2 = 0 r = k With r = k , (r + 1)2 k 2 = 0 a1 = 0 and an = a n 2 n(n + 2r ) for n 2.
Odd coecients are zero and a0 a0 , a4 = , etc. a2 = 2(2k + 2) 2 4(2k + 2)(2k + 4)
445,
Bessel functions: and using n = 2m, Selecting a0 = 2k (1 k +1) am = 2k +2m m!(k (1)m . + m + 1)
Bessel function of the rst kind of order k : Jk (x ) =
m=0
x k +2m = (1) k +2m 2 m!(k + m + 1)

m
m=0
(1)m x 2 m!(k + m + 1)
k +2m
When k is not an integer, Jk (x ) completes the basis. For integer k , Jk (x ) = (1)k Jk (x ), linearly dependent! Reduction of order can be used to nd another solution. Bessel function of the second kind or Neumann function
446,
Points to note
Solution in power series Ordinary points and singularities Denition of special functions Legendre polynomials Bessel functions
Sturm-Liouville Theory Preliminary Ideas Sturm-Liouville Problems Eigenfunction Expansions
447,
Outline
448,
Preliminary Ideas
A simple boundary value problem:
y + 2y = 0, y (0) = 0, y ( ) = 0 General solution of the ODE: y (x ) = a sin(x 2) + b cos(x 2) Condition y (0) = 0 b = 0. Hence, y (x ) = a sin(x 2). Then, y ( ) = 0 a = 0. Only solution is y (x ) = 0. Now, consider the BVP y + 4y = 0, y (0) = 0, y ( ) = 0. The same steps give y (x ) = a sin(2x ), with arbitrary value of a. Innite number of non-trivial solutions!
449,
Preliminary Ideas
Boundary value problems as eigenvalue problems Explore the possible solutions of the BVP y + ky = 0, y (0) = 0, y ( ) = 0.
With k 0, no hope for a non-trivial solution. Consider k = 2 > 0. Solutions: y = a sin( x ), only for specic values of (or k ): = 0, 1, 2, 3, ; i.e. k = 0, 1, 4, 9, .
Question: For what values of k (eigenvalues), does the given BVP possess non-trivial solutions, and what are the corresponding solutions (eigenfunctions), up to arbitrary scalar multiples? Analogous to the algebraic eigenvalue problem Av = v ! Analogy of a Hermitian matrix: self-adjoint dierential operator.
450,
Preliminary Ideas
Consider the ODE y + P (x )y + Q (x )y = 0. Question: Is it possible to nd functions F (x ) and G (x ) such that F (x )y + F (x )P (x )y + F (x )Q (x )y gets reduced to the derivative of F (x )y + G (x )y ? Comparing with d [F (x )y + G (x )y ] = F (x )y + [F (x ) + G (x )]y + G (x )y , dx F (x ) + G (x ) = F (x )P (x ) Elimination of G (x ): F (x ) P (x )F (x ) + [Q (x ) P (x )]F (x ) = 0 This is the adjoint of the original ODE. and G (x ) = F (x )Q (x ).
451,
Preliminary Ideas
The adjoint ODE
The adjoint of the ODE y + P (x )y + Q (x )y = 0 is F + P1 F + Q1 F = 0, where P1 = P and Q1 = Q P . Then, the adjoint of F + P1 F + Q1 F = 0 is + P2 + Q2 = 0, where P2 = P1 = P and = Q P (P ) = Q . Q2 = Q1 P1
The adjoint of the adjoint of a second order linear homogeneous equation is the original equation itself.
When is an ODE its own adjoint?
y + P (x )y + Q (x )y = 0 is self-adjoint only in the trivial case of P (x ) = 0. What about F (x )y + F (x )P (x )y + F (x )Q (x )y = 0?
452,
Preliminary Ideas
Second order self-adjoint ODE Question: What is the adjoint of Fy + FPy + FQy = 0? Rephrased question: What is the ODE that (x ) has to satisfy if Fy + FPy + FQy = Comparing terms, d (F ) + (x ) = FP dx Eliminating (x ), we have
d2 (F ) dx 2
d Fy + (x )y ? dx
and
(x ) = FQ .
d dx (FP ).
+ FQ =
F + 2F + F + FQ = FP + (FP ) F + (2F FP ) + F (FP ) + FQ = 0 This is the same as the original ODE, when F (x ) = F (x )P (x )
453,
Preliminary Ideas
Casting a given ODE into the self-adjoint form: Equation y + P (x )y + Q (x )y = 0 is converted to the self-adjoint R form through the multiplication of F (x ) = e P (x )dx . General form of self-adjoint equations: d [F (x )y ] + R (x )y = 0 dx Working rules:
To determine whether a given ODE is in the self-adjoint form, check whether the coecient of y is the derivative of the coecient of y . To convert an ODE into the self-adjoint form, rst obtain the equation in normal form by dividing with the coecient of y . If the coecient of y now R is P (x ), then next multiply the resulting equation with e Pdx .
454,
Sturm-Liouville Problems
Sturm-Liouville equation
[r (x )y ] + [q (x ) + p (x )]y = 0, where p , q , r and r are continuous on [a, b ], with p (x ) > 0 on [a, b ] and r (x ) > 0 on (a, b ). With dierent boundary conditions, Regular S-L problem: a1 y (a) + a2 y (a) = 0 and b1 y (b ) + b2 y (b ) = 0, vectors [a1 a2 ]T and [b1 b2 ]T being non-zero. Periodic S-L problem: With r (a) = r (b ), y (a) = y (b ) and y (a) = y (b ). Singular S-L problem: If r (a) = 0, no boundary condition is needed at x = a. If r (b ) = 0, no boundary condition is needed at x = b . (We just look for bounded solutions over [a, b ].)
455,
Orthogonality of eigenfunctions
Theorem: If ym (x ) and yn (x ) are eigenfunctions (solutions) of a Sturm-Liouville problem corresponding to distinct eigenvalues m and n respectively, then
b
(ym , yn )
p (x )ym (x )yn (x )dx = 0,

a
i.e. they are orthogonal with respect to the weight function p (x ). From the hypothesis,
) + (q + m p )ym = 0 (rym ) + (q + n p )yn = 0 (ryn
Subtracting, =
) ym (q + n p )ym yn = (ryn
) yn (q + m p )ym yn = (rym
) yn (rym )yn (rym )ym ) ym + (ryn (m n )pym yn = (ryn yn ym ) . r (ym yn
456,
Integrating both sides,
b
(m n )
p (x )ym (x )yn (x )dx

a
= r (b )[ym (b )yn (b ) yn (b )ym (b )] r (a)[ym (a)yn (a) yn (a)ym (a)].
In a regular S-L problem, from the boundary condition at x = a, the homogeneous system (a) ym (a) ym a1 0 = has non-trivial solutions. (a) yn (a) yn a2 0 (a) y (a)y (a) = 0. Therefore, ym (a)yn n m (b ) = 0. Similarly, ym (b )yn (b ) yn (b )ym In a singular S-L problem, zero value of r (x ) at a boundary makes the corresponding term vanish even without a BC. In a periodic S-L problem, the two terms cancel out together. Since m = n , in all cases,
b
p (x )ym (x )yn (x )dx = 0.

a
457,
Example: Legendre polynomials over [1, 1] Legendres equation d [(1 x 2 )y ] + k (k + 1)y = 0 dx is self-adjoint and denes a singular Sturm Liouville problem over [1, 1] with p (x ) = 1, q (x ) = 0, r (x ) = 1 x 2 and = k (k + 1).
1
(mn)(m+n+1)
From orthogonal decompositions 1 = P0 (x ), x = P1 (x ), 1 2 1 1 (3x 2 1) + = P2 (x ) + P0 (x ), x2 = 3 3 3 3 3 2 3 1 (5x 3 3x ) + x = P3 (x ) + P1 (x ), x3 = 5 5 5 5 8 4 1 4 x = P4 (x ) + P2 (x ) + P0 (x ) etc; 35 7 5 Pk (x ) is orthogonal to all polynomials of degree less than k .
1 Pm (x )Pn (x )dx = [(1x 2 )(Pm Pn Pn Pm )]1 = 0
458,
Real eigenvalues
Eigenvalues of a Sturm-Liouville problem are real. Let eigenvalue = + i and eigenfunction y (x ) = u (x ) + iv (x ). Substitution leads to [r (u + iv )] + [q + ( + i )p ](u + iv ) = 0. Separation of real and imaginary parts: [rv ] + (q + p )v + pu = 0 pu 2 = [rv ] u (q + p )uv
[ru ] + (q + p )u pv = 0 pv 2 = [ru ] v + (q + p )uv
Adding together,
p (u 2 + v 2 ) = [ru ] v + [ru ]v [rv ]u [rv ] u = r (uv vu ) Integration and application of boundary conditions leads to
b
p (x )[u 2 (x ) + v 2 (x )]dx = 0. = 0 and =
459,
Eigenfunction Expansions
Eigenfunctions of Sturm-Liouville problems:
convenient and powerful instruments to represent and manipulate fairly general classes of functions {y0 , y1 , y2 , y3 , }: a family of continuous functions over [a, b ], mutually orthogonal with respect to p (x ). Representation of a function f (x ) on [a, b ]: f (x ) =
m=0
am ym (x ) = a0 y0 (x ) + a1 y1 (x ) + a2 y2 (x ) + a3 y3 (x ) +
Generalized Fourier series Analogous to the representation of a vector as a linear combination of a set of mutually orthogonal vectors. Question: How to determine the coecients (an )?
460,
Inner product:
b
(f , yn ) =
a
p (x )f (x )yn (x )dx
b
= where
[am p (x )ym (x )yn (x )]dx =
m=0
am (ym , yn ) = an yn
a m=0 b
yn =
(yn , yn ) =
a (f ,yn ) yn 2
2 (x )dx p (x )yn
Fourier coecients: an = Normalized eigenfunctions:
m (x ) =
ym (x ) ym (x )
Generalized Fourier series (in orthonormal basis): f (x ) =
cm m (x ) = c0 0 (x )+ c1 1 (x )+ c2 2 (x )+ c3 3 (x )+
461,
N
In terms of a nite number of members of the family {k (x )}, N (x ) =

m=0
m m (x ) = 0 0 (x )+1 1 (x )+2 2 (x )+ +N N (x ).
2
Error E = f N
2 b N
=
a
p (x ) f (x )
m m (x )
m=0
dx
Error is minimized when E = n

b a N
2p (x ) f (x )
b a
m m (x )
m=0 b
[n (x )]dx = 0
n p (x )2 n (x )dx =
p (x )f (x )n (x )dx .
a
n = cn best approximation in the mean or least square approximation
462,
Using the Fourier coecients, error
N N
N 2 cn (n , n ) = f 2
N 2 cn + 2 cn n=0
E = (f , f )2
cn (f , n )+
n=0 n=0
n=0
E = f Bessels inequality:
N n=0 2 f cn
n=0
2 cn 0.
=
a
p (x )f 2 (x )dx
Partial sum sk (x ) =
am m (x )
m=0
Question: Does the sequence of {sk } converge? Answer: The bound in Bessels inequality ensures convergence.
463,
Question: Does it converge to f ?
b k a
lim
p (x )[sk (x ) f (x )]2 dx = 0?
Answer: Depends on the basis used. Convergence in the mean or mean-square convergence: An orthonormal set of functions {k (x )} on an interval a x b is said to be complete in a class of functions, or to form a basis for it, if the corresponding generalized Fourier series for a function converges in the mean to the function, for every function belonging to that class.
2 2 Parsevals identity: n=0 cn = f Eigenfunction expansion: generalized Fourier series in terms of eigenfunctions of a Sturm-Liouville problem
convergent for continuous functions with piecewise continuous derivatives, i.e. they form a basis for this class.
464,
Points to note
Eigenvalue problems in ODEs Self-adjoint dierential operators Sturm-Liouville problems Orthogonal eigenfunctions Eigenfunction expansions
Fourier Series and Integrals Basic Theory of Fourier Series Extensions in Application Fourier Integrals
465,
Outline
466,
Basic Theory of Fourier Series
With q (x ) = 0 and p (x ) = r (x ) = 1, periodic S-L problem: y + y = 0, y (L) = y (L), y (L) = y (L)

x 2 x 2 x x Eigenfunctions 1, cos L , sin L , cos L , sin L , constitute an orthogonal basis for representing functions. For a periodic function f (x ) of period 2L, we propose n=1
f (x ) = a0 +
an cos
n x n x + bn sin L L
and determine the Fourier coecients from Euler formulae a0 = am = 1 2L 1 L

L
f (x )dx ,
L L
f (x ) cos
L
1 m x dx and bm = L L
f (x ) sin
L
m x dx . L
Question: Does the series converge?
467,
Dirichlets conditions: If f (x ) and its derivative are piecewise continuous on [L, L] and are periodic with a period 2L, then the series f (x ) converges to the mean f (x +)+ of one-sided limits, at 2 all points. Fourier series Note: The interval of integration can be [x0 , x0 + 2L] for any x0 .

It is valid to integrate the Fourier series term by term. The Fourier series uniformly converges to f (x ) over an interval on which f (x ) is continuous. At a jump discontinuity, f (x ) is not uniform. Mismatch peak convergence to f (x +)+ 2 shifts with inclusion of more terms (Gibbs phenomenon). Term-by-term dierentiation of the Fourier series at a point requires f (x ) to be smooth at that point.
468,

Multiplying the Fourier series with f (x ), f (x ) = a0 f (x ) + Parsevals identity:
2 a0 + 2 n=1 n=1
an f (x ) cos
n x n x + bn f (x ) sin L L
L L
1 2
2 2 (an + bn )=
1 2L
f 2 (x )dx
The Fourier series representation is complete. A periodic function f (x ) is composed of its mean value and several sinusoidal components, or harmonics. Fourier coecients are corresponding amplitudes. Parsevals identity is simply a statement on energy balance! Bessels inequality
2 a0
1 + 2
N n=1 2 2 + bn ) (an
1 f (x ) 2L
469,
Extensions in Application
Original spirit of Fouries series representation of periodic functions over (, ). Question: What about a function f (x ) dened only on [L, L]? Answer: Extend the function as F (x ) = f (x ) for L x L, and F (x + 2L) = F (x ). Fourier series of F (x ) acts as the Fourier series representation of f (x ) in its own domain. In Euler formulae, notice that bm = 0 for an even function. The Fourier series of an even function is a Fourier cosine series f (x ) = a0 + where a0 =
1 L L 0 f (x )dx n=1
an cos
n x , L
2 L L n x 0 f (x ) cos L dx.
and an =
Similarly, for an odd function, Fourier sine series.
470,
Over [0, L], sometimes we need a series of sine terms only, or cosine terms only!
f(x) fc(x)
3L
2L
2L
3L
(a) Function over ( 0,L)
(b) Even periodic extension
fs(x)
3L
2L
2L
3L
(c) Odd periodic extension
Figure: Periodic extensions for cosine and sine series
471,
Half-range expansions
For Fourier cosine series of a function f (x ) over [0, L], even periodic extension: fc (x ) = f (x ) f (x ) for for 0 x L, L x < 0, and fc (x +2L) = fc (x )
For Fourier sine series of a function f (x ) over [0, L], odd periodic extension: fs (x ) = f (x ) f (x ) for for 0 x L, L x < 0, and fs (x +2L) = fs (x )
To develop the Fourier series of a function, which is available as a set of tabulated values or a black-box library routine, integrals in the Euler formulae are evaluated numerically. Important: Fourier series representation is richer and more powerful compared to interpolatory or least square approximation in many contexts.
472,
Fourier Integrals
Question: How to apply the idea of Fourier series to a non-periodic function over an innite domain? Answer: Magnify a single period to an innite length. Fourier series of function fL (x ) of period 2L: fL (x ) = a0 + where pn =
n L n=1
(an cos pn x + bn sin pn x ),
is the frequency of the n-th harmonic.
Inserting the expressions for the Fourier coecients, fL (x ) = 1 +

n=1
1 2L
fL (x )dx
L L L
cos pn x
L
fL (v ) cos pn v dv + sin pn x
L
fL (v ) sin pn v dv p ,
where p = pn+1 pn = L.
473,
Fourier Integrals
f (x ) = 1
In the limit (if it exists), as L , p 0, cos px
f (v ) cos pv dv + sin px
f (v ) sin pv dv dp
Fourier integral of f (x ): f (x ) =
0
[A(p ) cos px + B (p ) sin px ]dp ,
where amplitude functions A(p ) = 1

f (v ) cos pv dv and B (p ) =
f (v ) sin pv dv
are dened for a continuous frequency variable p . In phase angle form, f (x ) = 1

0
f (v ) cos p (x v )dv dp .
474,
Fourier Integrals
Using cos = f (x ) =
e i + e i 2
in the phase angle form,

1 2
f (v )[e ip(x v ) + e ip(x v ) ]dv dp .
With substitution p = q ,
0
f (v )e ip(x v ) dv dp =
f (v )e iq(x v ) dv dq .
Complex form of Fourier integral f (x ) = 1 2

f (v )e ip(x v ) dv dp =
C (p )e ipx dp ,
in which the complex Fourier integral coecient is C (p ) = 1 2

f (v )e ipv dv .
475,
Points to note
Fourier series arising out of a Sturm-Liouville problem A versatile tool for function representation Fourier integral as the limiting case of Fourier series
Fourier Transforms Denition and Fundamental Properties Important Results on Fourier Transforms Discrete Fourier Transform
476,
Outline
Fourier Transforms
477,
Denition and Fundamental Properties Denition and Fundamental Properties Important Results on Fourier Transforms Discrete Fourier Transform
Complex form of the Fourier integral: 1 f (t ) = 2

1 2
f (v )e iwv dv e iwt dw
Composition of an innite number of functions in the e iwt , over a continuous distribution of frequency w . form 2 Fourier transform: Amplitude of a frequency component: (w ) = 1 F (f ) f 2 Function of the frequency variable. Inverse Fourier transform ) f (t ) = 1 F 1 (f 2 recovers the original function.

f (t )e iwt dt
(w )e iwt dw f
Fourier Transforms
478,
Denition and Fundamental Properties Denition and Fundamental Properties Important Results on Fourier Transforms Discrete Fourier Transform
Example: Fourier transform of f (t ) = 1? (w ) = k (w ). Let us nd out the inverse Fourier transform of f ) = 1 f (t ) = F 1 (f 2 k k (w )e iwt dw = 2 F (1) = 2(w )
Linearity of Fourier transforms: F{f1 (t ) + f2 (t )} = f 1 (w ) + f2 (w ) Scaling: F{f (at )} = Shifting rules: 1 w f |a| a w and F 1 f a = |a|f (at )
F{f (t t0 )} = e iwt0 F{f (t )} (w w0 )} = e iw0 t F 1 {f (w )} F 1 {f
Fourier Transforms
479,
Denition and Fundamental Properties Important Results on Fourier Transforms Important Results on Fourier Transforms Discrete Fourier Transform
Fourier transform of the derivative of a function: If f (t ) is continuous in every interval and f (t ) is piecewise continuous, |f (t )|dt converges and f (t ) approaches zero as t , then F{f (t )} =
1 f (t )e iwt dt 2 1 1 = f (t )e iwt 2 2 (w ). = iw f
(iw )f (t )e iwt dt
Alternatively, dierentiating the inverse Fourier transform, d [f (t )] = dt =

1 d (w )e iwt dw f dt 2 1 (w )}. f (w )e iwt dw = F 1 {iw f t 2
Fourier Transforms
480,
Under appropriate premises, (w ) = w 2 f (w ). F{f (t )} = (iw )2 f (w ). In general, F{f (n) (t )} = (iw )n f Fourier transform of an integral: If f (t ) is piecewise continuous on every interval, |f (t )|dt converges and f (0) = 0, then
t
f ( )d
1 f (w ). iw
Derivative of a Fourier transform (with respect to the frequency variable): dn F{t n f (t )} = i n n f (w ), dw if f (t ) is piecewise continuous and
n |t f (t )|dt
converges.
Fourier Transforms
481,
Convolution of two functions: h(t ) = f (t ) g (t ) =

f ( )g (t )d
(w ) = F{h(t )} h 1 = f ( )g (t )e iwt d dt 2 1 f ( )e iw = g (t )e iw (t ) dt d 2 1 g (t )e iwt dt d f ( )e iw = 2 Convolution theorem for Fourier transforms: (w ) (w ) = 2 f g (w ) h
Fourier Transforms
482,
Conjugate of the Fourier transform: (w ) = 1 f 2 (w ) and g Inner product of f (w ):

f (t )e iwt dt
(w ) f g (w )dw
= = =
1 2
f (t )e iwt dt g (w )dw

1 f (t ) 2 f (t )g (t )dt .

g (w )e iwt dw dt
Parsevals identity: For g (t ) = f (t ) in the above,

(w ) 2 dw = f
f (t ) 2 dt ,
equating the total energy content of the frequency spectrum of a wave or a signal to the total energy ow over time.
483,
Discrete Fourier Transform
Consider a signal f (t ) from actual measurement or sampling. We want to analyze its amplitude spectrum (versus frequency). For the FT, how to evaluate the integral over (, )? Windowing: Sample the signal f (t ) over a nite interval. A window function: g (t ) = 1 0 for a t b otherwise
Actual processing takes place on the windowed function f (t )g (t ). Next question: Do we need to evaluate the amplitude for all w (, )? Most useful signals are particularly rich only in their own characteristic frequency bands.
Decide on an expected frequency band, say [wc , wc ].
484,

Time step for sampling? With N sampling over [a, b ), wc ,
data being collected at t = a, a + , a + 2, , a + (N 1), with N = b a. Nyquist critical frequency Note the duality.
Decision of sampling rate determines the band of frequency content that can be accommodated. Decision of the interval [a, b ) dictates how nely the frequency spectrum can be developed. A band-limited signal can be reconstructed from a nite number of samples.
Shannons sampling theorem
485,
With discrete data at tk = k for k = 0, 1, 2, 3, , N 1, mjk f (t ), f (w ) = 2 where mj = e iwj and mjk is an N N matrix. A similar discrete version of inverse Fourier transform. Reconstruction: a trigonometric interpolation of sampled data.
Structure of matrix mjk , with patterns of redundancies, opens up a trick to reduce it further to O(N log N ) operations.
Structure of Fourier and inverse Fourier transforms reduces the problem with a system of linear equations [O(N 3 ) operations] to that of a matrix-vector multiplication [O(N 2 ) operations].
Cooley-Tuckey algorithm: fast Fourier transform (FFT)
486,
DFT representation reliable only if the incoming signal is really band-limited in the interval [wc , wc ]. Frequencies beyond [wc , wc ] distort the spectrum near w = wc by folding back. Aliasing Detection: a posteriori Bandpass ltering: If we expect a signal having components only in certain frequency bands and want to get rid of unwanted noise frequencies, for every band [w1 , w2 ] of our interest, we dene window (w ) with intervals [w2 , w1 ] and [w1 , w2 ]. function (w )f (w ) lters out frequency Windowed Fourier transform components outside this band. For recovery, (w ). convolve raw signal f (t ) with IFT (t ) of
487,
Points to note
Fourier transform as amplitude function in Fourier integral Basic operational tools in Fourier and inverse Fourier transforms Conceptual notions of discrete Fourier transform (DFT)
Minimax Approximation* Approximation with Chebyshev polynomials Minimax Polynomial Approximation
488,
Outline
Minimax Approximation*
489,
Approximation with Chebyshev polynomials Approximation with Chebyshev polynomials Minimax Polynomial Approximation
Chebyshev polynomials: Polynomial solutions of the singular Sturm-Liouville problem (1 x 2 )y xy + n2 y = 0 or 1 x2 y +
n2 y =0 1 x2
over 1 x 1, with Tn (1) = 1 for all n. Closed-form expressions: Tn (x ) = cos(n cos1 x ), or, T0 (x ) = 1, T1 (x ) = x , T2 (x ) = 2x 2 1, T3 (x ) = 4x 3 3x , ; with the three-term recurrence relation Tk +1 (x ) = 2xTk (x ) Tk 1 (x ).
490,
Immediate observations Coecients in a Chebyshev polynomial are integers. In particular, the leading coecient of Tn (x ) is 2n1 . For even n , Tn (x ) is an even function, while for odd n it is an odd function. Tn (1) = 1, Tn (1) = (1)n and |Tn (x )| 1 for 1 x 1. Zeros of a Chebyshev polynomial Tn (x ) are real and lie inside 1) the interval [1, 1] at locations x = cos (2k2 for n k = 1, 2, 3, , n. These locations are also called Chebyshev accuracy points. Further, zeros of Tn (x ) are interlaced by those of Tn+1 (x ). Extrema of Tn (x ) are of magnitude equal to unity, alternate in for k = 0, 1, 2, 3, , n. sign and occur at x = cos kn Orthogonality and norms: if m = n, 0 1 Tm (x )Tn (x ) if m = n = 0, and dx = 2 1 x2 1 if m = n = 0.
491,
1
1
0.8
0.8
P 8 (x) T8 (x)
0.6
0.6 0.4 0.2 T3 (x) 0 0.2
0.4
0.2
y
extrema zeroes 1 0.5 0 x 0.5 1 1.5
0.2
0.4 0.6 0.8 1
0.4
0.6
0.8
1.5
1 1
0.8
0.6
0.4
0.2
0 x
0.2
0.4
0.6
0.8
Figure: Extrema and zeros of T3 (x ) Figure: Contrast: P8 (x ) and T8 (x )
Being cosines and polynomials at the same time, Chebyshev polynomials possess a wide variety of interesting properties! Most striking property: equal-ripple oscillations, leading to minimax property
492,
Minimax property Theorem: Among all polynomials pn (x ) of degree n > 0 with the leading coecient equal to unity, 21n Tn (x ) deviates least from zero in [1, 1]. That is,
1x 1
max |pn (x )| max |21n Tn (x )| = 21n .

1x 1
If there exists a monic polynomial pn (x ) of degree n such that

1x 1
max |pn (x )| < 21n ,
then at (n + 1) locations of alternating extrema of 21n Tn (x ), the polynomial qn (x ) = 21n Tn (x ) pn (x ) will have the same sign as 21n Tn (x ). With alternating signs at (n + 1) locations in sequence, qn (x ) will have n intervening zeros, even though it is a polynomial of degree at most (n 1): CONTRADICTION!
493,
Chebyshev series f (x ) = a0 T0 (x ) + a1 T1 (x ) + a2 T2 (x ) + a3 T3 (x ) + with coecients a0 = 1

1 1 1 1
f (x )T0 (x ) 2 dx and an = 2 1x
n k =0 ak Tk (x ):
f (x )Tn (x ) dx for n = 1, 2, 3, 1 x2
A truncated series
Chebyshev economization Leading error term an+1 Tn+1 (x ) deviates least from zero over [1, 1] and is qualitatively similar to the error function. Question: How to develop a Chebyshev series approximation? Find out so many Chebyshev polynomials and evaluate coecients?
494,
Remark: The economized series n k =0 ak Tk (x ) gives minimax deviation of the leading error term an+1 Tn+1 (x ). Assuming an+1 Tn+1 (x ) to be the error, at the zeros of Tn+1 (x ), the error will be ocially zero, i.e.
n
For approximating f (t ) over [a, b ], scale the variable as b a b t = a+ 2 + 2 x , with x [1, 1].
ak Tk (xj ) = f (t (xj )),

k =0
where x0 , x1 , x2 , , xn are the roots of Tn+1 (x ).
Recall: Values of an n-th degree polynomial at n + 1 points uniquely x the entire polynomial.
Interpolation of these n + 1 values leads to the same polynomial! Chebyshev-Lagrange approximation
495,
Minimax Polynomial Approximation
Situations in which minimax approximation is desirable: Develop the approximation once and keep it for use in future. Requirement: Uniform quality control over the entire domain Minimax approximation: deviation limited by the constant amplitude of ripple Chebyshevs minimax theorem Theorem: Of all polynomials of degree up to n, p (x ) is the minimax polynomial approximation of f (x ), i.e. it minimizes max |f (x ) p (x )|, if and only if there are n + 2 points xi such that a x1 < x2 < x3 < < xn+2 b , where the dierence f (x ) p (x ) takes its extreme values of the same magnitude and alternating signs.
496,
Minimax Polynomial Approximation
Utilize any gap to reduce the deviation at the other extrema with values at the bound.
y d f(x) p(x) /2
O
p(x) l m w n b x
a /2
Figure: Schematic of an approximation that is not minimax
Construction of the minimax polynomial: Remez algorithm Note: In the light of this theorem and algorithm, examine how Tn+1 (x ) is qualitatively similar to the complete error function!
497,
Points to note
Unique features of Chebyshev polynomials The equal-ripple and minimax properties Chebyshev series and Chebyshev-Lagrange approximation Fundamental ideas of general minimax approximation
Partial Dierential Equations Introduction Hyperbolic Equations Parabolic Equations Elliptic Equations Two-Dimensional Wave Equation
498,
Outline
499,
Introduction
Quasi-linear second order PDEs a
2u 2u 2u + c + 2 b = F (x , y , u , ux , uy ) x 2 x y y 2
hyperbolic if b 2 ac > 0, modelling phenomena which evolve in time perpetually and do not approach a steady state parabolic if b 2 ac = 0, modelling phenomena which evolve in time in a transient manner, approaching steady state elliptic if b 2 ac < 0, modelling steady-state congurations, without evolution in time If F (x , y , u , ux , uy ) = 0, second order linear homogeneous dierential equation Principle of superposition: A linear combination of dierent solutions is also a solution. Solutions are often in the form of innite series. Solution techniques in PDEs typically attack the boundary value problem directly.
500,
Introduction
Initial and boundary conditions Time and space variables are qualitatively dierent.
Conditions in time: typically initial conditions. For second order PDEs, u and ut over the entire space domain: Cauchy conditions
Time is a single variable and is decoupled from the space variables.
Conditions in space: typically boundary conditions. For u (t , x , y ), boundary conditions over the entire curve in the x -y plane that encloses the domain. For second order PDEs,

Dirichlet condition: value of the function Neumann condition: derivative normal to the boundary Mixed (Robin) condition
Dirichlet, Neumann and Cauchy problems
501,
Introduction
Method of separation of variables For u (x , y ), propose a solution in the form
u (x , y ) = X (x )Y (y ) and substitute ux = X Y , uy = XY , uxx = X Y , uxy = X Y , uyy = XY to cast the equation into the form (x , X , X , X ) = (y , Y , Y , Y ). If the manoeuvre succeeds then, x and y being independent variables, it implies (x , X , X , X ) = (y , Y , Y , Y ) = k . Nature of the separation constant k is decided based on the context, resulting ODEs are solved in consistency with the boundary conditions and assembled to construct u (x , y ).
502,
Hyperbolic Equations
Transverse vibrations of a string
u T Q P P
T +
Figure: Transverse vibration of a stretched string
Small deection and slope: cos 1, sin tan Horizontal (longitudinal) forces on PQ balance. From Newtons second law, vertical (transverse) deection u (x , t ): T sin( + ) T sin = x 2u t 2
503,
Under the assumptions, denoting c 2 = x 2u = c2 t 2 u x
T ,
u x
.
P
In the limit, as x 0, PDE of transverse vibration:

2 2u 2 u = c t 2 x 2
one-dimensional wave equation Boundary conditions (in this case): u (0, t ) = u (L, t ) = 0 Initial conguration and initial velocity: u (x , 0) = f (x ) and ut (x , 0) = g (x ) Cauchy problem: Determine u (x , t ) for 0 x L, t 0.
504,
Solution by separation of variables
utt = c 2 uxx , u (0, t ) = u (L, t ) = 0, u (x , 0) = f (x ), ut (x , 0) = g (x ) Assuming u (x , t ) = X (x )T (t ), and substituting utt = XT and uxx = X T , variables are separated as X T = = p 2 . c 2T X The PDE splits into two ODEs X + p 2 X = 0 and T + c 2 p 2 T = 0. Eigenvalues of BVP X + p 2 X = 0, X (0) = X (L) = 0 are p = and eigenfunctions n x Xn (x ) = sin px = sin for n = 1, 2, 3, . L cn Second ODE: T + 2 n T = 0, with n = L
n L
505,
Corresponding solution:
Tn (t ) = An cos n t + Bn sin n t Then, for n = 1, 2, 3, , un (x , t ) = Xn (x )Tn (t ) = (An cos n t + Bn sin n t ) sin satises the PDE and the boundary conditions. Since the PDE and the BCs are homogeneous, by superposition, u (x , t ) =
n=1
n x L
[An cos n t + Bn sin n t ] sin
n x . L
Question: How to determine coecients An and Bn ? Answer: By imposing the initial conditions.
506,
u (x , 0) = f (x ) = ut (x , 0) = g (x ) = Hence, coecients:
n=1 n=1
Initial conditions: Fourier sine series of f (x ) and g (x ) An sin n x L n x L
n Bn sin
L 2 n x n x 2 L dx and Bn = dx f (x ) sin g (x ) sin L 0 L cn 0 L Related problems: Dierent boundary conditions: other kinds of series Long wire: innite domain, continuous frequencies and solution from Fourier integrals Alternative: Reduce the problem using Fourier transforms. General wave equation in 3-d: utt = c 2 2 u Membrane equation: utt = c 2 (uxx + uyy )
An =
507,
DAlemberts solution of the wave equation Method of characteristics Canonical form By coordinate transformation from (x , y ) to (, ), with U (, ) = u [x (, ), y (, )], hyperbolic equation: U = parabolic equation: U = elliptic equation: U + U = in which (, , U , U , U ) is free from second derivatives. For a hyperbolic equation, entire domain becomes a network of - coordinate curves, known as characteristic curves, along which decoupled solutions can be tracked!
508,
For a hyperbolic equation in the form a
2u 2u 2u + c + 2 b = F (x , y , u , ux , uy ), x 2 x y y 2 b b 2 ac , a
roots of am2 + 2bm + c are m1,2 = real and distinct. Coordinate transformation
= y + m1 x , = y + m2 x leads to U = (, , U , U , U ). For the BVP utt = c 2 uxx , u (0, t ) = u (L, t ) = 0, u (x , 0) = f (x ), ut (x , 0) = g (x ), canonical coordinate transformation: = x ct , = x + ct , 1 1 ( ). with x = ( + ), t = 2 2c
509,
Substitution of derivatives
ut = U t + U t = cU + cU utt = c 2 U 2c 2 U + c 2 U into the PDE utt = c 2 uxx gives c 2 (U 2U + U ) = c 2 (U + 2U + U ). Canonical form: U = 0 Integration: U = U (, ) = U d + ( ) = ( ) ( )d + f2 ( ) = f1 ( ) + f2 ( )
ux = U x + U x = U + U uxx = U + 2U + U
DAlemberts solution: u (x , t ) = f1 (x ct ) + f2 (x + ct )
510,
Physical insight from DAlemberts solution:
f1 (x ct ): a progressive wave in forward direction with speed c Reection at boundary: in a manner depending upon the boundary condition Reected wave f2 (x + ct ): another progressive wave, this one in backward direction with speed c Superposition of two waves: complete solution (response) Note: Components of the earlier solution: with n = cos n t sin n x L n x sin n t sin L = =
cn L ,
n 1 n sin (x ct ) + sin (x + ct ) 2 L L n 1 n cos (x ct ) cos (x + ct ) 2 L L
511,
Parabolic Equations
u = c 2 2 u t One-dimensional heat (diusion) equation: ut = c 2 uxx
Heat conduction equation or diusion equation:
Heat conduction in a nite bar: For a thin bar of length L with end-points at zero temperature, ut = c 2 uxx , u (0, t ) = u (L, t ) = 0, u (x , 0) = f (x ). Assumption u (x , t ) = X (x )T (t ) leads to XT = c 2 X T giving rise to two ODEs as X + p 2 X = 0 and T + c 2 p 2 T = 0. X T = = p 2 , c 2T X
512,
Parabolic Equations
BVP in the space coordinate X + p 2 X = 0, X (0) = X (L) = 0 has solutions n x . Xn (x ) = sin L With n = cn L , the ODE in T (t ) has the corresponding solutions Tn (t ) = An e n t . By superposition, u (x , t ) =
n=1
2
An sin
n x 2 e nt , L
coecients being determined from initial condition as u (x , 0) = f (x ) =

n=1
An sin
n x , L
a Fourier sine series. As t , u (x , t ) 0 (steady state)
513,
Parabolic Equations
Non-homogeneous boundary conditions:
ut = c 2 uxx , u (0, t ) = u1 , u (L, t ) = u2 , u (x , 0) = f (x ). For u1 = u2 , with u (x , t ) = X (x )T (t ), BCs do not separate! Assume u (x , t ) = U (x , t ) + uss (x ), where component uss (x ), steady-state temperature (distribution), does not enter the dierential equation. u2 u1 x uss (x ) = 0, uss (0) = u1 , uss (L) = u2 uss (x ) = u1 + L Substituting into the BVP, Final solution: Ut = c 2 Uxx , U (0, t ) = U (L, t ) = 0, U (x , 0) = f (x ) uss (x ). u (x , t ) =
n=1
Bn sin
n x 2 e n t + uss (x ), L
Bn being coecients of Fourier sine series of f (x ) uss (x ).
514,
Parabolic Equations
Heat conduction in an innite wire
ut = c 2 uxx , u (x , 0) = f (x )
, now we have continuous frequency p . In place of nL Solution as superposition of all frequencies:
u (x , t ) =
0
up (x , t )dp =
0
[A(p ) cos px +B (p ) sin px ]e c
2 p2 t
dp
Initial condition u (x , 0) = f (x ) =
0
[A(p ) cos px + B (p ) sin px ]dp
gives the Fourier integral of f (x ) and amplitude functions A(p ) = 1

f (v ) cos pv dv and B (p ) =
f (v ) sin pv dv .
515,
Parabolic Equations
Solution using Fourier transforms
ut = c 2 uxx , u (x , 0) = f (x ) Using derivative formula of Fourier transforms, u = c 2 w 2 u , F (ut ) = c 2 (iw )2 F (u ) t since variables x and t are independent. Initial value problem in u (w , t ): u (w ) = c 2 w 2 u , u (0) = f t (w )e c 2 w 2 t Solution: u (w , t ) = f Inverse Fourier transform gives solution of the original problem as 1 (w )e c 2 w 2 t e iwx dw u (x , t ) = F 1 {u (w , t )} = f 2 1 2 2 cos(wx wv )e c w t dw dv . f (v ) u (x , t ) = 0
516,
Elliptic Equations
u = c2 t 2u 2u + 2 x 2 y
Heat ow in a plate: two-dimensional heat equation
Steady-state temperature distribution: 2u 2u + =0 x 2 y 2 Laplaces equation Steady-state heat ow in a rectangular plate: uxx + uyy = 0, u (0, y ) = u (a, y ) = u (x , 0) = 0, u (x , b ) = f (x ); a Dirichlet problem over the domain 0 x a, 0 y b . Proposal u (x , y ) = X (x )Y (y ) leads to X Y + XY = 0 Separated ODEs: X + p 2 X = 0 and Y p 2 Y = 0 Y X = = p 2 . X Y
Partial Dierential Equations Introduction Hyperbolic Equations Parabolic Equations Elliptic Equations n x Two-Dimensional n Wave Equation
517,
Elliptic Equations
From BVP X + p 2 X = 0, X (0) = X (a) = 0, Corresponding solution of Y p 2 Y = 0: Yn (y ) = An cosh
X (x ) = sin
n y n y + Bn sinh a a n x n y sinh a a
Condition Y (0) = 0 An = 0, and un (x , y ) = Bn sin The complete solution: u (x , y ) =

n=1
Bn sin
n x n y sinh a a
The last boundary condition u (x , b ) = f (x ) xes the coecients from the Fourier sine series of f (x ). Note: In the example, BCs on three sides were homogeneous. How did it help? What if there are more non-homogeneous BCs?
518,
Elliptic Equations
Steady-state heat ow with internal heat generation 2 u = (x , y ) Poissons equation Separation of variables impossible! Consider function u (x , y ) as u (x , y ) = uh (x , y ) + up (x , y ) Sequence of steps
one particular solution up (x , y ) that may or may not satisfy some or all of the boundary conditions solution of the corresponding homogeneous equation, namely uxx + uyy = 0 for uh (x , y )
such that u = uh + up satises all the boundary conditions
519,
Two-Dimensional Wave Equation

2u = c2 t 2
Transverse vibration of a rectangular membrane: 2u 2u + x 2 y 2
A Cauchy problem of the membrane: utt = c 2 (uxx + uyy ); u (x , y , 0) = f (x , y ), ut (x , y , 0) = g (x , y ); u (0, y , t ) = u (a, y , t ) = u (x , 0, t ) = u (x , b , t ) = 0. Separate the time variable from the space variables: u (x , y , t ) = F (x , y )T (t ) Helmholtz equation: Fxx + Fyy + 2 F = 0 Fxx + Fyy T = 2 = 2 F c T
520,

Assuming F (x , y ) = X (x )Y (y ),
Y + 2 Y X = = 2 X Y such that = X + 2 X = 0 and Y + 2 Y = 0, 2 + 2 .
With BCs X (0) = X (a) = 0 and Y (0) = Y (b ) = 0, Xm (x ) = sin m x a and Yn (y ) = sin n y . b
Corresponding values of are mn = m a

2
n b
with solutions of T + c 2 2 T = 0 as Tmn (t ) = Amn cos c mn t + Bmn sin c mn t .
521,

u (x , y , t ) =

Composing Xm (x ), Yn (y ) and Tmn (t ) and superposing, [Amn cos c mn t +Bmn sin c mn t ] sin
m=1 n=1
m x n y sin , a b
coecients being determined from the double Fourier series f (x , y ) = and g (x , y ) = Amn sin m x n y sin a b n y m x sin . a b
m=1 n=1 m=1 n=1
c mn Bmn sin
BVPs modelled in polar coordinates For domains of circular symmetry, important in many practical systems, the BVP is conveniently modelled in polar coordinates, the separation of variables quite often producing Bessels equation, in cylindrical coordinates, and Legendres equation, in spherical coordinates
522,
Points to note

PDEs in physically relevant contexts Initial and boundary conditions Separation of variables Examples of boundary value problems with hyperbolic, parabolic and elliptic equations
Modelling, solution and interpretation
Cascaded application of separation of variables for problems with more than two independent variables
Analytic Functions Analyticity of Complex Functions Conformal Mapping Potential Theory
523,
Outline
524,
Analyticity of Complex Functions

Function f of a complex variable z
gives a rule to associate a unique complex number w = u + iv to every z = x + iy in a set. Limit: If f (z ) is dened in a neighbourhood of z0 (except possibly at z0 itself) and l C such that > 0, > 0 such that 0 < |z z0 | < |f (z ) l | < , then l = lim f (z ).
z z0
Crucial dierence from real functions: z can approach z0 in all possible manners in the complex plane. Denition of the limit is more restrictive. Continuity: limz z0 f (z ) = f (z0 ) Continuity in a domain D : continuity at every point in D
525,

Derivative of a complex function: f (z0 ) = lim
z z0
f (z0 + z ) f (z0 ) f (z ) f (z0 ) = lim z 0 z z0 z
When this limit exists, function f (z ) is said to be dierentiable. Extremely restrictive denition! Analytic function A function f (z ) is called analytic in a domain D if it is dened and dierentiable at all points in D. Points to be settled later:

Derivative of an analytic function is also analytic. An analytic function possesses derivatives of all orders.
A great qualitative dierence between functions of a real variable and those of a complex variable!
526,
Cauchy-Riemann conditions If f (z ) = u (x , y ) + iv (x , y ) is analytic then u + i v f (z ) = lim x ,y 0 x + i y along all paths of approach for z = x + i y 0 or x , y 0.
y
3 2 z0 4 O 5 1
z = iy z = x
z0
x
Figure: Paths approaching z0
Figure: Paths in C-R equations
Two expressions for the derivative: u v v u f (z ) = +i = i x x y y
527,
are necessary for analyticity. Question: Do the C-R conditions imply analyticity? Consider u (x , y ) and v (x , y ) having continuous rst order partial derivatives that satisfy the Cauchy-Riemann conditions. By mean value theorem, u u u = u (x + x , y + y ) u (x , y ) = x (x1 , y1 ) + y (x1 , y1 ) x y with x1 = x + x , y1 = y + y for some [0, 1]; and v v v = v (x + x , y + y ) v (x , y ) = x (x2 , y2 ) + y (x2 , y2 ) x y with x2 = x + x , y2 = y + y for some [0, 1]. Then, v v u u f = x (x1 , y1 ) + i y (x2 , y2 ) +i x (x2 , y2 ) i y (x1 , y1 ) x y x y
Cauchy-Riemann equations or conditions v u v u and x = y y = x
528,

Using C-R conditions f
v y
u x
and
u y
v = x ,
f z
u u u (x1 , y1 ) + i y (x2 , y2 ) (x1 , y1 ) x x x v v v + i (x + i y ) (x1 , y1 ) + i x (x2 , y2 ) (x1 , y1 ) x x x u v = (x1 , y1 ) + i (x1 , y1 ) + x x v y u u x v (x2 , y2 ) (x1 , y1 ) + i (x2 , y2 ) (x1 , y1 ) i z x x z x x = (x + i y )
x z
Since
y z
1, as z 0, the limit exists and f (z ) = v u v u +i = i + . x x y y
Cauchy-Riemann conditions are necessary and sucient for function w = f (z ) = u (x , y ) + iv (x , y ) to be analytic.
529,

Harmonic function Dierentiating C-R equations
v y
u x
and
u y
v = x ,
2u 2u 2u 2v 2v 2v 2v 2u , , = = = = , x 2 x y y 2 y x y x y 2 x y x 2 2v 2v 2u 2u + = 0 = + . x 2 y 2 x 2 y 2
Real and imaginary components of an analytic functions are harmonic functions. Conjugate harmonic function of u (x , y ): v (x , y ) Families of curves u (x , y ) = c and v (x , y ) = k are mutually orthogonal, except possibly at points where f (z ) = 0. Question: If u (x , y ) is given, then how to develop the complete analytic function w = f (z ) = u (x , y ) + iv (x , y )?
530,
Conformal Mapping
Function: mapping of elements in domain to their images in range Depiction of a complex variable requires a plane with two axes. Mapping of a complex function w = f (z ) is shown in two planes. Example: mapping of a rectangle under transformation w = e z
3.5
2
3
D C
C 2.5
1.5
2
1
1.5
0.5 y
0 O A B
0.5
0
0.5
O 0.5
1 1
0.5
0.5 x
1.5
1 1
0.5
0.5
1 u
1.5
2.5
3.5
(a) The z -plane
(b) The w -plane
Figure: Mapping corresponding to function w = e z
531,
Conformal Mapping
Conformal mapping: a mapping that preserves the angle between any two directions in magnitude and sense. Verify: w = e z denes a conformal mapping. Through relative orientations of curves at the points of intersection, local shape of a gure is preserved. Take curve z (t ), z (0) = z0 and image w (t ) = f [z (t )], w0 = f (z0 ). For analytic f (z ), w (0) = f (z0 )z (0), implying |w (0)| = |f (z0 )| |z (0)| and arg w (0) = arg f (z0 ) + arg z (0). For several curves through z0 , image curves pass through w0 and all of them turn by the same angle arg f (z0 ). Cautions f (z ) varies from point to point. Dierent scaling and turning eects take place at dierent points. Global shape changes. For f (z ) = 0, argument is undened and conformality is lost.
532,
Conformal Mapping
An analytic function denes a conformal mapping except at its critical points where its derivative vanishes. Except at critical points, an analytic function is invertible. We can establish an inverse of any conformal mapping. Examples Linear function w = az + b (for a = 0) Linear fractional transformation az + b , ad bc = 0 w= cz + d Other elementary functions like z n , e z etc Special signicance of conformal mappings: A harmonic function (u , v ) in the w -plane is also a harmonic function, in the form (x , y ) in the z-plane, as long as the two planes are related through a conformal mapping.
533,
Potential Theory
Application to boundary value problems
Riemann mapping theorem: Let D be a simply connected domain in the z -plane bounded by a closed curve C . Then there exists a conformal mapping that gives a one-to-one correspondence between D and the unit disc |w | < 1 as well as between C and the unit circle |w | = 1, bounding the unit disc. First, establish a conformal mapping between the given domain and a domain of simple geometry. Next, solve the BVP in this simple domain. Finally, using the inverse of the conformal mapping, construct the solution for the given domain.
Example: Dirichlet problem with Poissons integral formula f (re i ) = 1 2

2 0
(R 2 r 2 )f (Re i ) d R 2 2Rr cos( ) + r 2
534,
Potential Theory
Two-dimensional potential ow
Velocity potential (x , y ) gives velocity components Vx = and Vy = y .
A streamline is a curve in the ow eld, the tangent to which at any point is along the local velocity vector. Stream function (x , y ) remains constant along a streamline. (x , y ) is the conjugate harmonic function of (x , y ). Complex potential function (z ) = (x , y ) + i (x , y ) denes the ow.
If a ow eld encounters a solid boundary of a complicated shape, transform the boundary conformally to a simple boundary to facilitate the study of the ow pattern.
535,
Points to note
Analytic functions and Cauchy-Riemann conditions Conformality of analytic functions Applications in solving BVPs and ow description
Integrals in the Complex Plane Line Integral Cauchys Integral Theorem Cauchys Integral Formula
536,
Outline
537,
Line Integral
f (z )dz =
C C
For w = f (z ) = u (x , y ) + iv (x , y ), over a smooth curve C , (u +iv )(dx +idy ) =

C
(udx vdy )+i
(vdx +udy ).
C
Extension to piecewise smooth curves is obvious. With parametrization, for z = z (t ), a t b , with z (t ) = 0,

b
f (z )dz =
C a
f [z (t )]z (t )dt .
Over a simple closed curve, contour integral: C f (z )dz Example: C z n dz for integer n, around circle z = e i z n dz = i n+1
C 0 2
e i (n+1) d =
0 2 i
The M -L inequality: If C is a curve of nite length L and |f (z )| < M on C , then

C
for n = 1, for n = 1.
f (z )dz
|f (z )| |dz | < M
|dz | = ML.
538,
Cauchys Integral Theorem

C is a simple closed curve in a simply connected domain D . Function f (z ) = u + iv is analytic in D .
Contour integral C f (z )dz =? If f (z ) is continuous, then by Greens theorem in the plane, f (z )dz =
C R
v u x y
dxdy +i
R
u v x y
dxdy ,
where R is the region enclosed by C . From C-R conditions, C f (z )dz = 0. Proof by Goursat: without the hypothesis of continuity of f (z ) Cauchy-Goursat theorem If f (z ) is analytic in a simply connected domain D, then C f (z )dz = 0 for every simple closed curve C in D. Importance of Goursats contribution: continuity of f (z ) appears as consequence!
539,
Principle of path independence Two points z1 and z2 on the close curve C two open paths C1 and C2 from z1 to z2 Cauchys theorem on C , comprising of C1 in the forward direction and C2 in the reverse direction:
z2 C1
f (z )dz
C2
f (z )dz = 0
f (z )dz =
z1 C1
f (z )dz =
C2
f (z )dz
For an analytic function f (z ) in a simply connected z domain D, z12 f (z )dz is independent of the path and depends only on the end-points, as long as the path is completely contained in D. Consequence: Denition of the function
z
F (z ) =
z0
f ( )d
What does the formulation suggest?
540,
Indenite integral Question: Is F (z ) analytic? Is F (z ) = f (z )? F (z + z ) F (z ) f (z ) = z = 1 z 1 z

z z + z z0 z + z z
f ( )d
z0
f ( )d f (z )
[f ( ) f (z )]d
f is continuous , such that | z | < |f ( ) f (z )| < Choosing z < , F (z + z ) F (z ) f (z ) < z z

z + z
d = .
z
If f (z ) is analytic in a simply connected domain D, then there exists an analytic function F (z ) in D such that F (z ) = f (z ) and
z2 z1
f (z )dz = F (z2 ) F (z1 ).
541,

Principle of deformation of paths
C*
f (z ) analytic everywhere other than isolated points s1 , s2 , s3
z2 s1
D
C1 C2
f (z )dz =
C1 C2
f (z )dz =
C3
f (z )dz
z1
s3
C3
s2
Not so for path C .
Figure: Path deformation
The line integral remains unaltered through a continuous deformation of the path of integration with xed end-points, as long as the sweep of the deformation includes no point where the integrand is non-analytic.
542,

L1 C1 C2 L2
Cauchys theorem in multiply connected domain

C
C3 L3
Figure: Contour for multiply connected domain
f (z )dz
C1
f (z )dz
C2
f (z )dz
f (z )dz = 0.
C3
If f (z ) is analytic in a region bounded by the contour C as the outer boundary and non-overlapping contours C1 , C2 , C3 , , Cn as inner boundaries, then
n
f (z )dz =
C i =1 Ci
f (z )dz .
543,
Cauchys Integral Formula
f (z ): analytic function in a simply connected domain D For z0 D and simple closed curve C in D ,
C
f (z ) dz = 2 if (z0 ). z z0
Consider C as a circle with centre at z0 and radius , with no loss of generality (why?). f (z ) dz = f (z0 ) z z0 dz + z z0 f (z ) f (z0 ) dz z z0 f (z ) f (z0 ) < , z z0
From continuity of f (z ), such that for any , |z z0 | < |f (z ) f (z0 )| < and with < .
From M -L inequality, the second integral vanishes.
544,

Direct applications Evaluation of contour integral:
Evaluation of function at a point: If nding the integral on the left-hand-side is relatively simple, then we use it to evaluate f (z0 ). Signicant in the solution of boundary value problems! Example: Poissons integral formula u (r , ) = 1 2
2 0
If g (z ) is analytic on the contour and in the enclosed region, the Cauchys theorem implies C g (z )dz = 0. If the contour encloses a singularity at z0 , then Cauchys formula supplies a non-zero contribution to the integral, if f (z ) = g (z )(z z0 ) is analytic.
R2
(R 2 r 2 )u (R , ) d 2Rr cos( ) + r 2
for the Dirichlet problem over a circular disc.
545,
Poissons integral formula Taking z0 = re i and z = Re i (with r < R ) in Cauchys formula, f (Re i ) (iRe i )d . Re i re i 0 How to get rid of imaginary quantities from the expression? 2 Develop a complement. With R r in place of r , 2 if (re i ) =
2 2
0=
0
f (Re i ) Re i
R2 i r e 2 0 2
(iRe i )d =
0
f (Re i ) (ire i )d . re i Re i
Subtracting,
2 if (re i ) = i = i
0
f (Re i )
f (re i ) =
1 2
Re i re i + d Re i re i Re i re i (R 2 r 2 )f (Re i ) d (Re i re i )(Re i re i )

2 0
(R 2 r 2 )f (Re i ) d . R 2 2Rr cos( ) + r 2
546,
Cauchys integral formula evaluates contour integral of g (z ), if the contour encloses a point z0 where g (z ) is non-analytic but g (z )(z z0 ) is analytic. If g (z )(z z0 ) is also non-analytic, but g (z )(z z0 )2 is analytic? f (z0 ) = f (z0 ) = f (z0 ) = = f (n) (z0 ) = 1 2 i 1 2 i 2! 2 i n! 2 i f (z ) dz , z z0 f (z ) dz , (z z0 )2 f (z ) dz , (z z0 )3 , f (z ) dz . (z z0 )n+1
The formal expressions can be established through dierentiation under the integral sign.
547,

f (z0 + z ) f (z0 ) z =
1 2 i 1 = 2 i
If |f (z )| < M on C , L is path length and d0 = min |z z0 |, z

C
1 1 1 f (z ) dz 2 i z C z z0 z z z0 1 f (z )dz = 2 i C (z z0 z )(z z0 ) 1 f (z )dz 1 1 + f (z ) dz 2 (z z0 ) 2 i C (z z0 z )(z z0 ) (z z0 )2 f (z )dz f (z )dz 1 + z 2 2 (z z0 ) 2 i C (z z0 z )(z z0 )
ML|z | f (z )dz < 2 0 as z 0. (z z0 z )(z z0 )2 d0 (d0 |z |)
An analytic function possesses derivatives of all orders at every point in its domain. Analyticity implies much more than mere dierentiability!
548,
Points to note
Concept of line integral in complex plane Cauchys integral theorem Consequences of analyticity Cauchys integral formula Derivatives of arbitrary order for analytic functions
Singularities of Complex Functions Series Representations of Complex Functions Zeros and Singularities Residues Evaluation of Real Integrals
549,
Outline
Singularities of Complex Functions
550,
Series Representations of Complex Functions Series Representations of Complex Functions Zeros and Singularities Residues
Taylors series of function f (z ), analytic in a neighbourhood of z0 : f (z ) =

n=0
Evaluation of Real Integrals
an (z z0 )n = a0 +a1 (z z0 )+a2 (z z0 )2 +a3 (z z0 )3 + ,
with coecients an = 1 (n) 1 f (z0 ) = n! 2 i

C
f (w )dw , (w z0 )n+1
where C is a circle with centre at z0 . Form of the series and coecients: similar to real functions The series representation is convergent within a disc |z z0 | < R, where radius of convergence R is the distance of the nearest singularity from z0 . Note: No valid power series representation around z0 , i.e. in powers of (z z0 ), if f(z) is not analytic at z0 Question: In that case, what about a series representation that includes negative powers of (z z0 ) as well?
551,
Laurents series: If f (z ) is analytic on circles C1 (outer) and C2 (inner) with centre at z0 , and in the annulus in between, then f (z ) =
n=
an (z z0 )n =
m=0
bm (z z0 )m +
m=1
cm ; (z z0 )m
with coecients 1 2 i 1 bm = 2 i an = f (w )dw ; ( w z0 )n+1 C f (w )dw 1 , cm = m +1 2 i C (w z0 )
or,
f (w )(w z0 )m1 dw ;
the contour C lying in the annulus and enclosing C2 . Validity of this series representation: in annular region obtained by growing C1 and shrinking C2 till f (z ) ceases to be analytic. Observation: If f (z ) is analytic inside C2 as well, then cm = 0 and Laurents series reduces to Taylors series.
552,
Proof of Laurents series Cauchys integral formula for any point z in the annulus, f (w )dw f (w )dw 1 1 . f (z ) = 2 i C1 w z 2 i C2 w z Organization of the series: 1 w z 1 w z 1 (w z0 )[1 (z z0 )/(w z0 )] 1 = (z z0 )[1 (w z0 )/(z z0 )] =
z w z0 C2 C1
Figure: The annulus
We use q =
Using the expression for the sum of a geometric series, 1 qn 1 qn = 1+q +q 2 + +q n1 + . 1+q +q 2 + +q n1 = 1q 1q 1q
z z 0 w z 0
for integral over C1 and q =
w z 0 z z 0
over C2 .
553,
Proof of Laurents series (contd) z z 0 Using q = w z 0 ,
1 f (w )dw = a0 + a1 (z z0 ) + + an1 (z z0 )n1 + Tn , 2 i C1 w z with coecients as required and Tn = Similarly, with q = 1 2 i 1 2 i

C1
z z0 1 z z0 (z z0 )n1 1 = + + + + 2 w z w z0 (w z0 ) (w z0 )n w z0
1 w z
C2
with appropriate coecients and the remainder term T n = 1 2 i

C2
f (w )dw = a1 (z z0 )1 + + an (z z0 )n + Tn , w z w z0 z z0
n
w z 0 z z 0 ,
z z0 w z0
f (w ) dw . w z
f (w ) dw . z w
554,
Convergence of Laurents series f (z ) =

n 1 k =n
ak (z z0 )k + Tn + Tn , 1 2 i 1 2 i
w z 0 z z 0
where
Tn = and Tn =
C1
Use M -L inequality to show that
f (w ) is bounded z z 0 w z0 < 1 over C1 and
C2
w z0 z z0
z z0 w z0
f (w ) dw w z
f (w ) dw . z w
< 1 over C2
remainder terms Tn and Tn approach zero as n . Remark: For actually developing Taylors or Laurents series of a function, algebraic manipulation of known facts are employed quite often, rather than evaluating so many contour integrals!
555,
Zeros and Singularities
Zeros of an analytic function: points where the function vanishes If, at a point z0 , a function f (z ) vanishes along with rst m 1 of its derivatives, but f (m) (z0 ) = 0; then z0 is a zero of f (z ) of order m, giving the Taylors series as f (z ) = (z z0 )m g (z ). An isolated zero has a neighbourhood containing no other zero. For an analytic function, not identically zero, every point has a neighbourhood free of zeros of the function, except possibly for that point itself. In particular, zeros of such an analytic function are always isolated.
Implication: If f (z ) has a zero in every neighbourhood around z0 then it cannot be analytic at z0 , unless it is the zero function [i.e. f (z ) = 0 everywhere].
556,
Entire function: A function which is analytic everywhere Examples: z n (for positive integer n), e z , sin z etc.
The Taylors series of an entire function has an innite radius of convergence. Singularities: points where a function ceases to be analytic Removable singularity: If f (z ) is not dened at z0 , but has a limit. z 1 at z = 0. Example: f (z ) = e z Pole: If f (z ) has a Laurents series around z0 , with a nite number of terms with negative powers. If an = 0 for n < m, but am = 0, then z0 is a pole of order m, limz z0 (z z0 )m f (z ) being a non-zero nite number. A simple pole: a pole of order one. Essential singularity: A singularity which is neither a removable singularity nor a pole. If the function has a Laurents series, then it has innite terms with negative powers. Example: f (z ) = e 1/z at z = 0.
557,

Zeros and poles: complementary to each other
Poles are necessarily isolated singularities. A zero of f (z ) of order m is a pole of f (1 z ) of the same order and vice versa. If f (z ) has a zero of order m at z0 where g (z ) has a pole of the same order, then f (z )g (z ) is either analytic at z0 or has a removable singularity there. Argument theorem: If f (z ) is analytic inside and on a simple closed curve C except for a nite number of poles inside and f (z ) = 0 on C , then 1 2 i f (z ) dz = N P , f (z )
where N and P are total numbers of zeros and poles inside C respectively, counting multiplicities (orders).
558,
Residues
Term by term integration of Laurents series: 1 Residue: Res z0 f (z ) = a1 = 2i C f (z )dz If f (z ) has a pole (of order m) at z0 , then (z z0 )m f (z ) = is analytic at z0 , and d m 1 [(z z0 )m f (z )] = dz m1
Resf (z ) z0 n =m n =1
f (z )dz = 2 ia1
an (z z0 )m+n
(m + n)! an (z z0 )n+1 (n + 1)!
d m 1 1 lim [(z z0 )m f (z )]. (m 1)! z z0 dz m1 Residue theorem: If f (z ) is analytic inside and on simple closed curve C , with singularities at z1 , z2 , z3 , , zk inside C ; then = a 1 =
k
f (z )dz = 2 i
C i =1
Resf zi
(z ).
559,
General strategy Identify the required integral as a contour integral of a complex function, or a part thereof. If the domain of integration is innite, then extend the contour innitely, without enclosing new singularities. Example: I =
0 2
(cos , sin )d
With z = e i and dz = izd , I =

C
1 2
z+
1 z
1 2i
1 z
dz = iz
f (z )dz ,
C
where C is the unit circle centred at the origin. Denoting poles falling inside the unit circle C as pj , I = 2 i
j Resf (z ). pj
560,

Example: For real rational function f (x ), I =

f (x )dx ,
denominator of f (x ) being of degree two higher than numerator. Consider contour C enclosing semi-circular region |z | R , y 0, large enough to enclose all singularities above the x -axis.
R
y
f (z )dz =
C R
f (x )dx +
S M R2
f (z )dz
p p
iR
R
p
For nite M , |f (z )| < f (z )dz <

S
on C
R
M M R = . 2 R R
Resf (z ) pj
Figure: The contour
I =
f (x )dx = 2 i
as R .
561,

Example: Fourier integral coecients A(s ) = Consider

f (x ) cos sx dx
and B (s ) =

f (x ) sin sx dx
I = A(s ) + iB (s ) = Similar to the previous case, f (z )e isz dz =

C R R
f (x )e isx dx .
f (x )e isx dx +
S
f (z )e isz dz .
As
|e isz |
|e isx | |e sy |
S
|e sy |
1 for y 0, we have M M R = , 2 R R (z )e isz ].
f (z )e isz dz < which yields, as R , I = 2 i

j
Res[f pj
562,
Points to note
Taylors series and Laurents series Zeros and poles of analytic functions Residue theorem Evaluation of real integrals through contour integration of suitable complex functions
Necessary Exercises: 1,2,3,5,8,9,10
Variational Calculus* Introduction Eulers Equation Direct Methods
563,
Outline
564,
Introduction
Consider a particle moving on a smooth surface z = (q1 , q2 ). With position r = [q1 (t ) q2 (t ) (q1 (t ), q2 (t ))]T on the surface and r = [q1 q2 ( )T q ]T in the tangent plane, length of the path from qi = q (ti ) to qf = q (tf ) is
tf tf
l=
r =
ti
r dt =
ti
2 2 q 1 +q 2 + ( T q )2
1/2
dt .
For shortest path or geodesic, minimize the path length l . Question: What are the variables of the problem? Answer: The entire curve or function q (t ). Variational problem: Optimization of a function of functions, i.e. a functional.
565,
Introduction
Functionals and their extremization
Suppose that a candidate curve is represented as a sequence of points qj = q (tj ) at time instants ti = t0 < t 1 < t 2 < t 3 < < t N 1 < tN = t f . Geodesic problem: a multivariate optimization problem with the 2(N 1) variables in {qj , 1 j N 1}. With N , we obtain the actual function. First order necessary condition: Functional is stationary with respect to arbitrary small variations in {qj }. [Equivalent to vanishing of the gradient] This gives equations for the stationary points. Here, these equations are dierential equations!
566,
Introduction
Examples of variational problems b Geodesic path: Minimize l = a r (t ) dt Minimal surface of revolution: Minimize b S = 2 yds = 2 a y 1 + y 2 dx The brachistochrone problem: To nd the curve along which the descent is fastest. b 1+y 2 Minimize T = ds v = a 2gy dx Fermats principle: Light takes the fastest path. Minimize T = u12 c (x ,y ,z ) du Isoperimetric problem: Largest area in the plane enclosed by a closed curve of given perimeter. By extension, extremize a functional under one or more equality constraints. Hamiltons principle of least action: Evolution of a dynamic system through the minimization of the action
t2 t2 u x 2 +y 2 +z 2
s=
t1
Ldt =
t1
(K P )dt
567,
Eulers Equation
x2
Find out a function y (x ), that will make the functional I [y (x )] =

x1
f [x , y (x ), y (x )]dx
stationary, with boundary conditions y (x1 ) = y1 and y (x2 ) = y2 . Consider variation y (x ) with y (x1 ) = y (x2 ) = 0 and consistent variation y (x ). f f y + y dx y y x1 Integration of the second term by parts: I =
x2 x1 x2
f y dx = y
x2 x1
f d f (y )dx = y y dx y
x2
x2 x1
x2
x1
d f y dx dx y
With y (x1 ) = y (x2 ) = 0, the rst term vanishes identically, and I =

x1
f d f y dx . y dx y
568,
Eulers Equation
For I to vanish for arbitrary y (x ),
d f dx y
f y
= 0.
Functions involving higher order derivatives

x2
I [y (x )] =
x1
f x , y , y , y , , y (n) dx
with prescribed boundary values for y , y , y , , y (n1)

x2
I =
x1
f f f f y + y + y + + (n) y (n) dx y y y y
Working rule: Starting from the last term, integrate one term at a time by parts, using consistency of variations and BCs. Eulers equation:
n f d f d 2 f f n d + + ( 1) = 0, y dx y dx 2 y dx n y (n) an ODE of order 2n, in general.
569,
Eulers Equation
Functionals of a vector function
t2
I [r (t )] =
t1
f (t , r , r )dt and
T f r ,
In terms of partial gradients

t2
f r
=
t1 t2
f r f r
T
r + r dt +
T
f r
r dt
T t2 t2
=
t1 t2
f r r dt .
r
t1
t1
d dt
f r
r dt
=
t1
d f f r dt r
Eulers equation: a system of second order ODEs d f f =0 dt r r or d f f = 0 for each i . dt r i ri
570,
Eulers Equation
Functionals of functions of several variables I [u (x , y )] =

D
f (x , y , u , ux , uy )dx dy
f y uy
Eulers equation:
f x ux
f u
=0
Moving boundaries Revision of the basic case: allowing non-zero y (x1 ), y (x2 ) f At an end-point, y y has to vanish for arbitrary y (x ).
f y
vanishes at the boundary.
Euler boundary condition or natural boundary condition Equality constraints and isoperimetric problems x x Minimize I = x12 f (x , y , y )dx subject to J = x12 g (x , y , y )dx = J0 . In another level of generalization, constraint (x , y , y ) = 0. Operate with f (x , y , y , ) = f (x , y , y ) + (x )g (x , y , y ).
571,
Direct Methods
Finite dierence method With given boundary values y (a) and y (b ),
b
I [y (x )] =
a
f [x , y (x ), y (x )]dx
Represent y (x ) by its values over xi = a + ih with i = 0, 1, 2, , N , where b a = Nh. Approximate the functional by
N
I [y (x )] (y1 , y2 , y3 , , yN 1 ) =
x +x y +y
f ( xi , y i , y i )h,
i =1 y y
where x i = i 2 i 1 , y i = i 2 i 1 and y i = i h i 1 . Minimize (y1 , y2 , y3 , , yN 1 ) with respect to yi ; for example, by solving yi = 0 for all i .
yi
Exercise: Show that
= 0 is equivalent to Eulers equation.
572,
Direct Methods
Rayleigh-Ritz method In terms of a set of basis functions, express the solution as

N
y (x ) =
i =1
i wi (x ).
Represent functional I [y (x )] as a multivariate function (). Optimize () to determine i s. Note: As N , the numerical solution approaches exactitude. For a particular tolerance, one can truncate appropriately. Observation: With these direct methods, no need to reduce the variational (optimization) problem to Eulers equation! Question: Is it possible to reformulate a BVP as a variational problem and then use a direct method?
573,
Direct Methods
The inverse problem: From
b N
I [y (x )] () =
i = Z b
a
f
a
N X i =1
x,
i =1
1
i wi (x ),
i =1
f y 0 @x ,
N X i =1
i wi (x ) dx ,
i wi ,
N X i =1 i wi A wi (x )5 dx .
2 4
f y
@x ,
N X i =1
i wi ,
i wi A wi (x ) +
Integrating the second term by parts and using wi (a) = wi (b ) = 0, = i

b a N
i wi wi (x )dx ,
i =1
f d f where R[y ] y dx y = 0 is the Eulers equation of the variational problem. Def.: R[z (x )]: residual of the dierential equation R[y ] = 0 operated over the function z (x )
Residual of the Eulers equation of a variational problem operated upon the solution obtained by Rayleigh-Ritz method is orthogonal to basis functions wi (x ).
574,
Direct Methods
Galerkin method Question: What if we cannot nd a corresponding variational problem for the dierential equation? Answer: Work with the residual directly and demand
b a
R[z (x )]wi (x )dx = 0.
Freedom to choose two dierent families of functions as basis functions j (x ) and trial functions wi (x ):
b a
A singular case of the Galerkin method:
j j (x ) wi (x )dx = 0
delta functions, at discrete points, as trial functions Satisfaction of the dierential equation exactly at the chosen points, known as collocation points: Collocation method
575,
Direct Methods
Finite element methods

discretization of the domain into elements of simple geometry basis functions of low order polynomials with local scope design of basis functions so as to achieve enough order of continuity or smoothness across element boundaries piecewise continuous/smooth basis functions for entire domain, with a built-in sparse structure some weighted residual method to frame the algebraic equations solution gives coecients which are actually the nodal values
Suitability of nite element analysis in software environments

eectiveness and eciency neatness and modularity
576,
Points to note
Optimization with respect to a function Concept of a functional Eulers equation Rayleigh-Ritz and Galerkin methods Optimization and equation-solving in the innite-dimensional function space: practical methods and connections
Epilogue
577,
Outline
Epilogue
Epilogue
578,
Epilogue
Source for further information: http://home.iitk.ac.in/ dasgupta/MathBook Destination for feedback: dasgupta@iitk.ac.in Some general courses in immediate continuation

Advanced Mathematical Methods Scientic Computing Advanced Numerical Analysis Optimization Advanced Dierential Equations Partial Dierential Equations Finite Element Methods
Epilogue
579,
Epilogue
Some specialized courses in immediate continuation

Linear Algebra and Matrix Theory Approximation Theory Variational Calculus and Optimal Control Advanced Mathematical Physics Geometric Modelling Computational Geometry Computer Graphics Signal Processing Image Processing
Selected References
580,
Outline
Selected References
Selected References
581,
Selected References I
F. S. Acton. Numerical Methods that usually Work . The Mathematical Association of America (1990). C. M. Bender and S. A. Orszag. Advanced Mathematical Methods for Scientists and Engineers . Springer-Verlag (1999). G. Birkho and G.-C. Rota. Ordinary Dierential Equations . John Wiley and Sons (1989). G. H. Golub and C. F. Van Loan. Matrix Computations . The John Hopkins University Press (1983).
Selected References
582,
Selected References II
M. T. Heath. Scientic Computing . Tata McGraw-Hill Co. Ltd (2000). E. Kreyszig. Advanced Engineering Mathematics . John Wiley and Sons (2002). E. V. Krishnamurthy and S. K. Sen. Numerical Algorithms . Aliated East-West Press Pvt Ltd (1986). D. G. Luenberger. Linear and Nonlinear Programming . Addison-Wesley (1984). P. V. ONeil. Advanced Engineering Mathematics . Thomson Books (2004).
Selected References
583,
Selected References III

W. H. Press, S. A. Teukolsky, W. T. Vellerling and B. P. Flannery. Numerical Recipes . Cambridge University Press (1998). G. F. Simmons. Dierential Equations with Applications and Historical Notes . Tata McGraw-Hill Co. Ltd (1991). J. Stoer and R. Bulirsch. Introduction to Numerical Analysis . Springer-Verlag (1993). C. R. Wylie and L. C. Barrett. Advanced Engineering Mathematics . Tata McGraw-Hill Co. Ltd (2003).

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