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M M O M M M O M
a L amn a a2 n L amn
m1 am 2 1n
For example,
1 4
1 2 1 3 1 2 3
A = A =
T
, B = B = 2 5
T
3 4 2 4 4 5 6 3 6
Conjugate
The conjugate of A = (aij) is A = (aij).
a11 a12 L a1n a11 a12 L a1n
a21 a22 L a2 n a21 a22 L a2 n
A= A=
M M O M M M O M
a L amn a L amn
m1 am 2 m1 am 2
For example,
1 2 + 3i 1 2 3i
A = A =
3 4i 4 3 + 4i 4
Adjoint
The adjoint of A is AT , and is denoted by A*
a11 a12 L a1n a11 a21 L am1
a21 a22 L a2 n a12 a22 L am 2
A= A =
*
M M O M M M O M
a L amn a a2 n L amn
m1 am 2 1n
For example,
1 2 + 3i 1 3 + 4i
A = A =
*
3 4i 4 2 3i 4
Square Matrices
A square matrix A has the same number of rows and
columns. That is, A is n x n. In this case, A is said to have
order n.
a11 a12 L a1n
a21 a22 L a2 n
A=
M M O M
a an 2 L ann
n1
For example,
1 2 3
1 2
A = , B = 4 5 6
3 4 7 8 9
Vectors
A column vector x is an n x 1 matrix. For example,
1
x = 2
3
A row vector x is a 1 x n matrix. For example,
y = (1 2 3)
1 2 1 2
A = , B = A = B
3 4 3 4
Matrix Scalar Multiplication
The product of a matrix A = (aij) and a constant k is defined
to be kA = (kaij). For example,
1 2 3 5 10 15
A = 5A =
4 5 6 20 25 30
Matrix Addition and Subtraction
The sum of two m x n matrices A = (aij) and B = (bij) is
defined to be A + B = (aij + bij). For example,
1 2 5 6 6 8
A = , B = A + B =
3 4 7 8 10 12
Example:
1 1
x = 2 , y = 2 3i xT y = (1)(1) + (2)(2 3i ) + (3i )(5 + 5i ) = 12 + 9i
3i 5 + 5i
(x, y ) = xT y = (1)(1) + (2)(2 + 3i ) + (3i )(5 5i ) = 18 + 21i
Vector Length
The length of an n x 1 vector x is defined as
1/ 2 1/ 2
n
n
x = (x,x ) = xk xk = | xk
1/ 2
|2
k =1 k =1
Note here that we have used the fact that if x = a + bi, then
x x = (a + bi )(a bi ) = a 2 + b 2 = x
2
Example:
1
x = 2 x = (x, x ) = (1)(1) + (2)(2) + (3 + 4i )(3 4i )
1/ 2
3 + 4i
= 1 + 4 + (9 + 16) = 30
Orthogonality
Two n x 1 vectors x & y are orthogonal if (x,y) = 0.
Example:
1 11
x = 2 y = 4 (x, y ) = (1)(11) + (2)(4) + (3)(1) = 0
3 1
Identity Matrix
The multiplicative identity matrix I is an n x n matrix
given by
1 0 L 0
0 1 L 0
I=
M M O M
0 L 1
0
such that the left side is the identity matrix, for then the
right side will be A-1. (See next slide.)
Example: Finding the Identity Matrix (2 of 2)
0 1 2 1 0 0 1 0 3 0 1 0
(A I ) = 1 0 3 0 1 0 0 1 2 1 0 0
4 3 8 0 0 1 4 3 8 0 0 1
1 0 3 0 1 0 1 0 3 0 1 0
0 1 2 1 0 0 0 1 2 1 0 0
0 3 4 0 4 1 0 0 2 3 4 1
1 0 3 0 1 0 1 0 0 9 / 2 7 3 / 2
0 1 0 2 4 1 0 1 0 2 4 1
0 0 2 3 4 1 0 0 1 3/ 2 2 1 / 2
Thus 9/ 2 7 3 / 2
1
A = 2 4 1
3/ 2 2 1 / 2
Matrix Functions
The elements of a matrix can be functions of a real variable.
In this case, we write
x1 (t ) a11 (t ) a12 (t ) L a1n (t )
x2 (t ) a21 (t ) a22 (t ) L a2 n (t )
x(t ) = , A(t ) =
M M M O M
x (t ) a (t ) a (t ) L amn (t )
m m1 m2
We need to solve
c1x (1) + c2 x ( 2 ) + c3 x (3) = 0
or
0 1 2 0 0 1 2 c1 0
c1 1 + c2 0 + c 3 = 0 1 0 3 c2 = 0
4 3 8 0 4 3 8 c 0
3
Example 3: Linear Independence (2 of 2)
We thus reduce the augmented matrix (A|b), as before.
0 1 2 0 1 0 3 0
(A b ) = 1 0 3 0 0 1 2 0
4 3 8 0 0 0 1 0
c1 + 3c3 =0 0
c2 + 2c3 = 0 c = 0
c3 = 0 0
We need to solve
c1x (1) + c2 x ( 2 ) + c3 x (3) = 0
or
1 2 1 0 1 2 1 c1 0
c1 1 + c2 5 + c3 6 = 0 1 5 6 c2 = 0
5 4 5 0 5 4 5 c 0
3
Example 4: Linear Dependence (2 of 2)
We thus reduce the augmented matrix (A|b), as before.
1 2 1 0 1 2 1 0
(A b ) = 1 5 6 0 0 3 5 0
5 4 5 0 0 0 0 0
c1 2c2 1c3 = 0 7c3 / 3 7
3c2 + 5c3 = 0 c = 5c3 / 3 c = k 5
0c3 = 0 c3 3
x2 1 1
Example 5: Second Eigenvector (3 of 3)
Eigenvector for = -7: Solve
2 + 7 3 x1 0 9 3 x1 0
(A I )x = 0 = =
3 6 + 7 x2 0 3 1 x2 0
by row reducing the augmented matrix:
9 3 0 1 1/ 3 0 1 1/ 3 0 1x + 1 / 3x2 = 0
1
3 1 0 3 1 0 0 0 0 0 x2 = 0
1 / 3 x2 1 / 3 1
x =
( 2)
= c , c arbitrary choose x =
( 2)
x2 1 3
Normalized Eigenvectors
From the previous example, we see that eigenvectors are
determined up to a nonzero multiplicative constant.
If this constant is specified in some particular way, then the
eigenvector is said to be normalized.
For example, eigenvectors are sometimes normalized by
choosing the constant so that ||x|| = (x, x) = 1.
Algebraic and Geometric Multiplicity
In finding the eigenvalues of an n x n matrix A, we solve
det(A-I) = 0.
Since this involves finding the determinant of an n x n
matrix, the problem reduces to finding roots of an nth
degree polynomial.
Denote these roots, or eigenvalues, by 1, 2, , n.
If an eigenvalue is repeated m times, then its algebraic
multiplicity is m.
Each eigenvalue has at least one eigenvector, and a
eigenvalue of algebraic multiplicity m may have q linearly
independent eigevectors, 1 q m, and q is called the
geometric multiplicity of the eigenvalue.
Eigenvectors and Linear Independence
If an eigenvalue has algebraic multiplicity 1, then it is said
to be simple, and the geometric multiplicity is 1 also.
If each eigenvalue of an n x n matrix A is simple, then A
has n distinct eigenvalues. It can be shown that the n
eigenvectors corresponding to these eigenvalues are linearly
independent.
If an eigenvalue has one or more repeated eigenvalues, then
there may be fewer than n linearly independent eigenvectors
since for each repeated eigenvalue, we may have q < m.
This may lead to complications in solving systems of
differential equations.
Example 6: Eigenvalues (1 of 5)
Find the eigenvalues and eigenvectors of the matrix A.
0 1 1
A = 1 0 1
1 1 0
Solution: Choose such that det(A-I) = 0, as follows.
1 1
det (A I ) = det 1 1
1
1
= 3 + 3 + 2
= ( 2)( + 1) 2
1 = 2, 2 = 1, 2 = 1
Example 6: First Eigenvector (2 of 5)
Eigenvector for = 2: Solve (A-I)x = 0, as follows.
2 1 1 0 1 1 2 0 1 1 2 0
1 2 1 0 1 2 1 0 0 3 3 0
1 2 0 2 1 0 0 3 3 0
1 1
1 1 2 0 1 0 1 0 1x1 1x3 = 0
0 1 1 0 0 1 1 0 1x2 1x3 = 0
0 0 0 0 0 0 0 0 0 x3 = 0
x3 1 1
x (1) = x3 = c 1, c arbitrary choose x = 1
(1)
x 1 1
3
Example 6: 2nd and 3rd Eigenvectors (3 of 5)
Eigenvector for = -1: Solve (A-I)x = 0, as follows.
1 1 1 1 e3t 3e 3t e3t
x = 3t = 3t = 3 3t = x
4 1 4 1 2e 6e 2e
Homogeneous Case; Vector Function Notation
As in Chapters 3 and 4, we first examine the general
homogeneous equation x' = P(t)x.
Also, the following notation for the vector functions
x(1), x(2),, x(k), will be used:
x11 (t ) x12 (t ) x1n (t )
x21 (t ) ( 2 ) x22 (t ) x2 n (t )
x (t ) =
(1)
, x (t ) = , K, x (t ) =
(k )
,K
M M M
x (t ) x (t ) x (t )
n1 n2 nn
Theorem 7.4.1
If the vector functions x(1) and x(2) are solutions of the system
x' = P(t)x, then the linear combination c1x(1) + c2x(2) is also a
solution for any constants c1 and c2.
1 r 1 1 0
=
4 1 r 1 0
Example 1: Eigenvalues (2 of 9)
Our solution has the form x = ert, where r and are found
by solving
1 r 1 1 0
=
4 1 r 1 0
Recalling that this is an eigenvalue problem, we determine r
by solving det(A-rI) = 0:
1 r 1
= (1 r ) 2 4 = r 2 2r 3 = (r 3)(r + 1)
4 1 r
2 1 0 1 1/ 2 0 1 1/ 2 0 1 1 / 2 2 =0
1
4 2 0 4 2 0 0 0 0 0 2 =0
1 / 2 2 1 / 2 1
=
(1)
= c , c arbitrary choose =
(1)
2 1 2
Example 1: Second Eigenvector (4 of 9)
Eigenvector for r2 = -1: Solve
1 + 1 1 1 0 2 1 1 0
(A rI ) = 0 = =
4 1 + 1 2 0 4 2 2 0
by row reducing the augmented matrix:
2 1 0 1 1/ 2 0 1 1/ 2 0 1 + 1 / 2 2 = 0
1
4 2 0 4 2 0 0 0 0 0 2 = 0
1 / 2 2 1/ 2 1
=
( 2)
= c , c arbitrary choose =
( 2)
2 1 2
Example 1: General Solution (5 of 9)
The corresponding solutions x = ert of x' = Ax are
1 3t ( 2 ) 1 t
x (t ) = e , x (t ) = e
(1)
2 2
The Wronskian of these two solutions is
e t
[ ]
W x (1) , x ( 2) (t ) =
e 3t
= 4e 2t 0
2e3t 2e t
Thus x(1) and x(2) are fundamental solutions, and the general
solution of x' = Ax is
x(t ) = c1x (1) (t ) + c2 x ( 2) (t )
1 3t 1 t
= c1 e + c2 e
2 2
Example 1: Phase Plane for x(1) (6 of 9)
Thus x(1) lies along the straight line x2 = 2x1, which is the line
through origin in direction of first eigenvector (1)
If solution is trajectory of particle, with position given by
(x1, x2), then it is in Q1 when c1 > 0, and in Q3 when c1 < 0.
In either case, particle moves away from origin as t increases.
Example 1: Phase Plane for x(2) (7 of 9)
3 r 2 1 0
=
2 2 r 1 0
Example 2: Eigenvalues (2 of 9)
Our solution has the form x = ert, where r and are found
by solving
3 r 2 1 0
=
2 2 r 1 0
Recalling that this is an eigenvalue problem, we determine r
by solving det(A-rI) = 0:
3 r 2
= (3 r )(2 r ) 2 = r 2 + 5r + 4 = (r + 1)(r + 4)
2 2r
2 2 0 1 2 / 2 0 1 2 / 2 0
2
1 0 2 1 0 0 0 0
2 / 2 2 1
(1) = choose (1) =
2 2
Example 2: Second Eigenvector (4 of 9)
Eigenvector for r2 = -4: Solve
3+ 4 2 1 0 1 2 1 0
(A rI ) = 0 = =
2 2 + 4 2 0 2
2 2 0
by row reducing the augmented matrix:
1 2 0 1 2 0 2 2
( 2) =
2 2 0 0
0 0 2
2
choose ( 2)
=
1
Example 2: General Solution (5 of 9)
The corresponding solutions x = ert of x' = Ax are
1 t ( 2 ) 2 4t
x (t ) = e , x (t ) =
(1)
e
2 1
The Wronskian of these two solutions is
[ ]
W x (1) , x ( 2) (t ) =
e t 2e 4t
= 3e 5t 0
2e t e 4t
Thus x(1) and x(2) are fundamental solutions, and the general
solution of x' = Ax is
x(t ) = c1x (1) (t ) + c2 x ( 2) (t )
1 t 2 4t
= c1 e + c2 e
2 1
Example 2: Phase Plane for x(1) (6 of 9)
1 1 0
( 2 ) ( 3)
(1) = 1, = 0 , = 1
1 1 1
Example 3: General Solution (2 of 3)
The fundamental solutions are
1 1 0
2 t ( 2 ) t ( 3) t
x (1) = 1 e , x = 0 e , x = 1 e
1 1 1
1/ 2 r 1 1 0
=
1 1 / 2 r 1 0
Example 1: Complex Eigenvalues (2 of 7)
Thus
1 12 4(5 / 4) 1 2i 1
r= = = i
2 2 2
Thus 1 0
(1)
= + i
0 1
Example 1: Second Eigenvector (4 of 7)
Thus
1 0
( 2)
= + i
0 1
Example 1: General Solution (5 of 7)
The corresponding solutions x = ert of x' = Ax are
t / 2
1 0 t / 2 cos t
u(t ) = e cos t sin t = e
0 1 sin t
t / 2
1 0 t / 2 sin t
v(t ) = e sin t + cos t = e
0 1 cos t
2 r 2
Example 2: 2 16
r=
Eigenvalue Analysis (2 of 2) 2
b b 2 4ac
r=
2a
Ch 7.7: Fundamental Matrices
Suppose that x(1)(t),, x(n)(t) form a fundamental set of
solutions for x' = P(t)x on < t < .
The matrix
x1(1) (t ) L x1( n ) (t )
(t ) = M O M ,
x (1) (t ) L x ( n ) (t )
n n
whose columns are x(1)(t),, x(n)(t), is a fundamental matrix
for the system x' = P(t)x. This matrix is nonsingular since its
columns are linearly independent, and hence det 0.
Note also that since x(1)(t),, x(n)(t) are solutions of x' = P(t)x,
satisfies the matrix differential equation ' = P(t).
Example 1:
Consider the homogeneous equation x' = Ax below.
1 1
x = x
4 1
0 1
We know from previous results that the general solution is
1 3t 1 t
x = c1 e + c2 e
2 2
Every solution can be expressed in terms of the general
solution, and we use this fact to find x(1)(t) and x(2)(t).
Example 2: Use General Solution (2 of 5)
Thus, to find x(1)(t), express it terms of the general solution
1 3t 1 t
x (t ) = c1 e + c2 e
(1)
2 2
and then find the coefficients c1 and c2.
To do so, use the initial conditions to obtain
1 1 1
x (0) = c1 + c2 =
(1)
2 2 0
or equivalently,
1 1 c1 1
=
2 2 c2 0
Example 2: Solve for x(1)(t) (3 of 5)
The columns of (t) are given by x(1)(t) and x(2)(t), and thus
from the previous slide we have
1 3t 1 t 1 3t 1 t
e + e e e
(t ) = 2 2 4 4
e 3t e t 1 3t 1 t
e + e
2 2
Note (t) is more complicated than (t) found in Ex 1.
However, now that we have (t), it is much easier to
determine the solution to any set of initial conditions.
e 3t e t
(t ) = 3t
t
2e 2e
Matrix Exponential Functions
Consider the following two cases:
The solution to x' = ax, x(0) = x0, is x = x0eat, where e0 = 1.
The solution to x' = Ax, x(0) = x0, is x = (t)x0, where (0) = I.
Comparing the form and solution for both of these cases, we
might expect (t) to have an exponential character.
Indeed, it can be shown that (t) = eAt, where
A nt n A nt n
e At
= =I+
n =0 n ! n =1 n !
1 0 L 0
a11 L a1n L
(1) (n)
1 1
0 2 L 0
A = M O M , T = M O M , D=
a L a (1) L ( n ) M M O M
n1 nn
n n 0 0 L n
Similarity Transformations: Hermitian Case
Recall: Our similarity transformation of A has the form
T-1AT = D
where D is diagonal and columns of T are eigenvectors of A.
If A is Hermitian, then A has n linearly independent
orthogonal eigenvectors (1),, (n), normalized so that
((i), (i)) =1 for i = 1,, n, and ((i), (k)) = 0 for i k.
With this selection of eigenvectors, it can be shown that
T-1 = T*. In this case we can write our similarity transform as
T*AT = D
Nondiagonalizable A
Finally, if A is n x n with fewer than n linearly independent
eigenvectors, then there is no matrix T such that T-1AT = D.
In this case, A is not similar to a diagonal matrix and A is not
diagonlizable.
1 0 L 0
a11 L a1n L
(1) (n)
1 1
0 2 L 0
A = M O M , T = M O M , D=
a L a (1) L ( n ) M M O M
n1 nn
n n 0 0 L n
Example 4:
Find Transformation Matrix T (1 of 2)
2 2
Thus
1 1 3 0
T=
, D =
2 2 0 1
Example 4: Similarity Transformation (2 of 2)
(1t )n
0 0 n n!
0 0
1
n
D nt n t n =0
Q(t ) = = 0 O 0 = 0 O 0
n =0 n ! n =0 n n!
0 n
0
(nt )n
0 0
n !
n =0
e 1t 0 0
= 0 O 0
t
0 0 e n
Fundamental Matrix for Original System (3 of 3)
To obtain a fundamental matrix (t) for x' = Ax, recall that the
columns of (t) consist of fundamental solutions x satisfying
x' = Ax. We also know x = Ty, and hence it follows that
1(1) L 1( n ) e 1t 0 0 1(1) e 1t L 1( n ) e nt
= TQ = M O M 0 O 0 = M O M
(1) L ( n ) 0 0 e
nt
(1) 1t
e ( n ) nt
L n e
n n n
1 r 1 1 0
=
1 3 r 1 0
Example 1: Eigenvalues (2 of 12)
Solutions have the form x = ert, where r and satisfy
1 r 1 1 0
=
1 3 r 1 0
To determine r, solve det(A-rI) = 0:
1 r 1
= (r 1)(r 3) + 1 = r 2 4r + 4 = (r 2) 2
1 3 r
Thus r1 = 2 and r2 = 2.
Example 1: Eigenvectors (3 of 12)
To find the eigenvectors, we solve
1 2 1 1 0 1 1 1 0
(A rI ) = 0 = =
1 3 2 2 0 1 1 2 0
by row reducing the augmented matrix:
1 1 0 1 1 0 1 1 0 11 + 1 2 =0
1 1 0 1 1 0 0 0 0 0 2 =0
1
(1) = 2 choose (1) =
2 1
1
Since there is no second solution of the form x = ert, we
need to try a different form. Based on methods for second
order linear equations in Ch 3.5, we first try x = te2t.
Substituting x = te2t into x' = Ax, we obtain
e 2t + 2te 2t = Ate 2t
or
2te 2t + e 2t Ate 2t = 0
Example 1:
Second Solution, Second Attempt (5 of 12)
Recall that
1 1 1
A = , =
1 3 1
Thus to solve (A 2I) = for , we row reduce the
corresponding augmented matrix:
1 1 1 1 1 1 1 1 1
2 = 1 1
1 1 1 1 1 1 0 0 0
1 0 1
= = + k
1 1 1 1
Example 1: Second Solution (8 of 12)
Our second solution x = te2t + e2t is now
1 2t 0 2t 1 2t
x = te + e + k e
1 1 1
Recalling that the first solution was
1 2t
x (t ) = e ,
(1)
1
we see that our second solution is simply
1 2t 0 2t
x (t ) = te + e ,
( 2)
1 1
since the last term of third term of x is a multiple of x(1).
Example 1: General Solution (9 of 12)
The two solutions of x' = Ax are
1 2t ( 2) 1 2t 0 2t
(1)
x (t ) = e , x (t ) = te + e
1 1 1
The Wronskian of these two solutions is
[ ]
W x (1) , x ( 2) (t ) =
e 2t te 2t
= e 4 t 0
e 2t te 2t e 2t
Thus x(1) and x(2) are fundamental solutions, and the general
solution of x' = Ax is
x(t ) = c1x (1) (t ) + c2 x ( 2 ) (t )
1 2t 1 2t 0 2t
= c1 e + c2 te + e
1 1 1
Example 1: Phase Plane (10 of 12)
Time plots for x1(t) are given below, where we note that the
general solution x can be written as follows.
1 2t 1 2t 0 2t
x(t ) = c1 e + c2 te + e
1 1 1
x1 (t ) c1e 2t + c2te 2t
=
2t
x2 (t ) (c1 + c2 )e c2te
2t
General Case for Double Eigenvalues
Suppose the system x' = Ax has a double eigenvalue r =
and a single corresponding eigenvector .
The first solution is
x(1) = e t,
where satisfies (A-I) = 0.
As in Example 1, the second solution has the form
x ( 2 ) = te t + e t
where is as above and satisfies (A-I) = .
2 2 2 3 9
y2 + y2 = 2e t +
3
t y2 = 2te t +
3
(t 1) + c2e t
2 2
Example 1:
Transform Back to Original System (4 of 5)
We next use the transformation x = Ty to obtain the solution
to the original system x' = Ax + g(t):
1 t t 1 3t
x1 1 1 1 y1 1 1 2 e 2 6 + k1e
= =
x2 2 1 1 y2 1 1 t 3
te + (t 1) + k e t
2
2
3t 1 t 4 t
k1e + k 2 + e + t + te
= 2 3 , k = c1 , k = c2
3t 1 t 5 t
1
2
2
2
1 k e + k 2 e + 2t + te
2 3
Example 1:
Solution of Original System (5 of 5)
Simplifying further, the solution x can be written as
3t 1 t 4 t
k e + k 2 + e + t + te
x1 1 2 3
=
x2 k e 3t + k 1 e t + 2t 5 + te t
1 2
2 3
1 3 t 1 t 1 1 t 1 t 1 1 4
= k1 e + k 2 e + e + te + t
1 1 2 1 1 2 3 5
Note that the first two terms on right side form the general
solution to homogeneous system, while the remaining terms
are a particular solution to nonhomogeneous system.
Nondiagonal Case
If A cannot be diagonalized, (repeated eigenvalues and a
shortage of eigenvectors), then it can be transformed to its
Jordan form J, which is nearly diagonal.
In this case the differential equations are not totally
uncoupled, because some rows of J have two nonzero
entries: an eigenvalue in diagonal position, and a 1 in
adjacent position to the right of diagonal position.
However, the equations for y1,, yn can still be solved
consecutively, starting with yn. Then the solution x to
original system can be found using x = Ty.
Undetermined Coefficients
A second way of solving x' = P(t)x + g(t) is the method of
undetermined coefficients. Assume P is a constant matrix,
and that the components of g are polynomial, exponential or
sinusoidal functions, or sums or products of these.
The procedure for choosing the form of solution is usually
directly analogous to that given in Section 3.6.
The main difference arises when g(t) has the form uet,
where is a simple eigenvalue of P. In this case, g(t)
matches solution form of homogeneous system x' = P(t)x,
and as a result, it is necessary to take nonhomogeneous
solution to be of the form atet + bet. This form differs
from the Section 3.6 analog, atet.
Example 2: Undetermined Coefficients (1 of 5)
Substituting
v(t ) = ate t + be t + ct + d
in for x in our nonhomogeneous system x' = Ax + g,
2 1 2 t 0
x = x + e + t ,
1 2 0 3
we obtain
2 t 0
ate + (a b )e + c = Aate + Abe + Act + Ad + e + t
t t t t
0 3
Equating coefficients, we conclude that
2 0
Aa = a, Ab = a b , Ac = , Ad = c
0 3
Example 2:
Solving Matrix Equation for a (3 of 5)
t1
Variation of Parameters: Initial Value Problem
For an initial value problem
x' = P(t)x + g(t), x(t0) = x(0),
the general solution to x' = P(t)x + g(t) is
t
1
x = (t ) (t0 )x (0)
+ (t ) 1 ( s )g( s )ds
t0
1 0 e 2t 3te 3t / 2 u1 = e 2t 3te 3t / 2
0 1 1 + 3te t
/ 2 u
2 = 1 + 3te t
/2
It follows that
u1 e 2t / 2 te 3t / 2 + e3t / 6 + c1
u(t ) = =
u2 t + 3te / 2 3e / 2 + c2
t t
Example 3: Solving for x(t) (3 of 3)
1 3t 1 t 1 t 1 1 t 1 1 4
x = c1 e + c2 e + te + e + t
1 1 1 2 1 2 3 5
Then
2 1 s + 2 1
A = (sI A ) =
1 2 1 s + 2
Solving for (sI A)-1, we obtain
s + 2 1
(sI A )
1
=
1
( s + 1)( s + 3) 1 s + 2
Example 4: Transfer Matrix (4 of 5)
1 s + 2 1 2 ( s + 1)
X( s ) =
( s + 1)( s + 3) 1 s + 2 3 s 2
or
2(s + 2 ) 3
+
(s + 1) ( s + 3) s (s + 1)( s + 3)
2 2
X( s ) =
2 3( s + 2)
(s + 1)2 ( s + 3) + s 2 (s + 1)( s + 3)
Example 4: Transfer Matrix (5 of 5)
Thus
2(s + 2 ) 3
+
X( s ) =
(s + 1) ( s + 3) s (s + 1)( s + 3)
2 2
2 3( s + 2)
(s + 1)2 ( s + 3) + s 2 (s + 1)( s + 3)