application of linear algebra to di erential equations ...ccowen/oldcoursepages/app2de5.pdftheorem:...
TRANSCRIPT
![Page 1: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/1.jpg)
Application of Linear Algebra
to Differential Equations
Segment 5: More Examples
Carl C. Cowen
IUPUI
Math 35300, April 26, 2014
c© All rights reserved
![Page 2: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/2.jpg)
OUTLINE
• Segment 1. Introduction; the equation Y ′ = AY
• Segment 2. The matrix exponential
• Segment 3. Spectral Mapping Theorem for matrix exponential
• Segment 4. Some easy examples
• Segment 5. More examples
• Segment 6. Complication: A not diagonalizable
• Segment 7. An example with A not diagonalizable
References: Section 8.3, Section 10.2
Problems: For Discussion May 1: page 328: 1, 2, 3, 4, 5 page 392: 1, 2, 4
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Again we want to use the results of Segments 2 and 3:
Theorem: If A is an n× n matrix and C is a vector in Rn or Cn,
then the function Y (t) = etAC is the unique solution
of the initial value problem: Y ′ = AY and Y (0) = C
and also:
Theorem:
If A is an n× n matrix and v1, v2, · · ·, vn is a basis for Cn consisting of
eigenvectors for A associated with the eigenvalues λ1, λ2, · · ·, λn,
then the unique solution of the initial value problem: Y ′ = AY , Y (0) = C
is Y (t) = α1eλ1tv1 + α2e
λ2tv2 + · · · + αneλntvn,
where C = α1v1 + α2v2 + · · · + αnvn
![Page 4: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/4.jpg)
Example:
Solve the initial value problem:
y′1 = 2y1 + y2
y′2 = −y1 + 2y2
and
y1(0) = 3
y2(0) = 0
![Page 5: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/5.jpg)
Example:
Solve the initial value problem:
y′1 = 2y1 + y2
y′2 = −y1 + 2y2
and
y1(0) = 3
y2(0) = 0
We can rewrite this as Y ′ = FY and Y (0) = R by choosing
Y =
y1
y2
F =
2 1
−1 2
and R =
3
0
As before, we will use Matlab to do the calculations.
![Page 6: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/6.jpg)
Example (cont’d):
From the Matlab computations, the solution of Y ′ = FY , Y (0) = R is
Y (t) = c1eλ1tw1 + c2e
λ2tw2
where c1 = 2.1213, c2 = 2.1213
w1 =
0.7071
0.7071i
, w2 =
0.7071
−0.7071i
,
and λ1 = 2 + i, and λ2 = 2− i
![Page 7: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/7.jpg)
Example (cont’d):
From the Matlab computations, the solution of Y ′ = FY , Y (0) = R is
Y (t) = c1eλ1tw1 + c2e
λ2tw2
where c1 = 2.1213, c2 = 2.1213
w1 =
0.7071
0.7071i
, w2 =
0.7071
−0.7071i
,
and λ1 = 2 + i, and λ2 = 2− i
Since λ1 and λ2 are different, the eigenvalues of F are distinct and F is
diagonalizable.
![Page 8: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/8.jpg)
Example (cont’d):
From the Matlab computations, the solution of Y ′ = FY , Y (0) = R is
Y (t) = c1eλ1tw1 + c2e
λ2tw2
where c1 = 2.1213, c2 = 2.1213
w1 =
0.7071
0.7071i
, w2 =
0.7071
−0.7071i
,
and λ1 = 2 + i, and λ2 = 2− i
Since λ1 and λ2 are different, the eigenvalues of F are distinct and F is
diagonalizable. In particular, this means we get the solution exactly as before:
Y (t) = c1e(2+i)tw1 + c2e
(2−i)tw2 = e(2+i)t
1.5
1.5i
+ e(2−i)t
1.5
−1.5i
![Page 9: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/9.jpg)
Example (cont’d):
On the other hand, our IVP:
y′1 = 2y1 + y2
y′2 = −y1 + 2y2
and
y1(0) = 3
y2(0) = 0is real
and our answer is complex(!): Y (t) = e(2+i)t
1.5
1.5i
+ e(2−i)t
1.5
−1.5i
,
![Page 10: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/10.jpg)
Example (cont’d):
On the other hand, our IVP:
y′1 = 2y1 + y2
y′2 = −y1 + 2y2
and
y1(0) = 3
y2(0) = 0is real
and our answer is complex(!): Y (t) = e(2+i)t
1.5
1.5i
+ e(2−i)t
1.5
−1.5i
,
but we can check that it is a solution of the IVP, which has a unique solution!
![Page 11: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/11.jpg)
Example (cont’d):
On the other hand, our IVP:
y′1 = 2y1 + y2
y′2 = −y1 + 2y2
and
y1(0) = 3
y2(0) = 0is real
and our answer is complex(!): Y (t) = e(2+i)t
1.5
1.5i
+ e(2−i)t
1.5
−1.5i
,
but we can check that it is a solution of the IVP, which has a unique solution!
To understand this situation, we must recall facts about the complex
exponential function, and in particular, Euler’s formula and its consquences!
![Page 12: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/12.jpg)
Example (cont’d):
To understand this situation, we must recall facts about the complex
exponential function, and in particular, Euler’s formula and its consquences!
From calculus, we know ex = 1 + x+x2
2!+x3
3!+ · · · for all real numbers x, and
that the series converges absolutely.
![Page 13: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/13.jpg)
Example (cont’d):
To understand this situation, we must recall facts about the complex
exponential function, and in particular, Euler’s formula and its consquences!
From calculus, we know ex = 1 + x+x2
2!+x3
3!+ · · · for all real numbers x, and
that the series converges absolutely.
This means that the exponential function can be extended to the complex
plane by ez = 1 + z +z2
2!+z3
3!+ · · ·
![Page 14: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/14.jpg)
Example (cont’d):
To understand this situation, we must recall facts about the complex
exponential function, and in particular, Euler’s formula and its consquences!
From calculus, we know ex = 1 + x+x2
2!+x3
3!+ · · · for all real numbers x, and
that the series converges absolutely.
This means that the exponential function can be extended to the complex
plane by ez = 1 + z +z2
2!+z3
3!+ · · ·
We recall that the exponential function satisfies the equation ea+b = eaeb
for a and b real numbers,
![Page 15: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/15.jpg)
Example (cont’d):
To understand this situation, we must recall facts about the complex
exponential function, and in particular, Euler’s formula and its consquences!
From calculus, we know ex = 1 + x+x2
2!+x3
3!+ · · · for all real numbers x, and
that the series converges absolutely.
This means that the exponential function can be extended to the complex
plane by ez = 1 + z +z2
2!+z3
3!+ · · ·
We recall that the exponential function satisfies the equation ea+b = eaeb
for a and b real numbers,
and it is easy to prove that it also holds for a and b complex numbers.
![Page 16: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/16.jpg)
Example (cont’d):
To understand this situation, we must recall facts about the complex
exponential function, and in particular, Euler’s formula and its consquences!
From calculus, we know ex = 1 + x+x2
2!+x3
3!+ · · · for all real numbers x, and
that the series converges absolutely.
This means that the exponential function can be extended to the complex
plane by ez = 1 + z +z2
2!+z3
3!+ · · ·
We recall that the exponential function satisfies the equation ea+b = eaeb
for a and b real numbers,
and it is easy to prove that it also holds for a and b complex numbers.
(BUT we will see it does NOT hold for n× n matrices for n ≥ 2!!)
![Page 17: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/17.jpg)
Example (cont’d):
If a and b are real numbers ea+bi = eaeib, and we understand ea.
![Page 18: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/18.jpg)
Example (cont’d):
If a and b are real numbers ea+bi = eaeib, and we understand ea.
Euler’s formula is: For b real (using radians), eib = cos(b) + i sin(b)
![Page 19: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/19.jpg)
Example (cont’d):
If a and b are real numbers ea+bi = eaeib, and we understand ea.
Euler’s formula is: For b real (using radians), eib = cos(b) + i sin(b)
Applying this to the complex exponential function in the Example, we see
e(2+i)t = e2teit = e2t(cos(t) + i sin(t)) and e(2−i)t = e2t(cos(t)− i sin(t)) and
![Page 20: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/20.jpg)
Example (cont’d):
If a and b are real numbers ea+bi = eaeib, and we understand ea.
Euler’s formula is: For b real (using radians), eib = cos(b) + i sin(b)
Applying this to the complex exponential function in the Example, we see
e(2+i)t = e2teit = e2t(cos(t) + i sin(t)) and e(2−i)t = e2t(cos(t)− i sin(t)) and
Y (t) = e(2+i)t
1.5
1.5i
+ e(2−i)t
1.5
−1.5i
= 1.5e2t
(cos(t) + i sin(t))
(cos(t) + i sin(t))i
+
(cos(t)− i sin(t))
−(cos(t)− i sin(t))i
=
3e2t cos(t)
−3e2t sin(t)
or, y1(t) = 3e2t cos(t) and y2(t) = −3e2t sin(t)
![Page 21: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/21.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
![Page 22: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/22.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
The most obvious difference between this and earlier examples is that
this is 1 linear equation of order 2 instead of a system of linear equations.
![Page 23: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/23.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
The most obvious difference between this and earlier examples is that
this is 1 linear equation of order 2 instead of a system of linear equations.
Strategy: Replace one order 2 equation by system of two order 1 equations :
![Page 24: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/24.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
The most obvious difference between this and earlier examples is that
this is 1 linear equation of order 2 instead of a system of linear equations.
Strategy: Replace one order 2 equation by system of two order 1 equations :
Let y1(t) = y(t), so that y′1 = y′.
![Page 25: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/25.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
The most obvious difference between this and earlier examples is that
this is 1 linear equation of order 2 instead of a system of linear equations.
Strategy: Replace one order 2 equation by system of two order 1 equations :
Let y1(t) = y(t), so that y′1 = y′. Also, let y2(t) = y′1(t), so y′2 = y′′.
![Page 26: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/26.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
The most obvious difference between this and earlier examples is that
this is 1 linear equation of order 2 instead of a system of linear equations.
Strategy: Replace one order 2 equation by system of two order 1 equations :
Let y1(t) = y(t), so that y′1 = y′. Also, let y2(t) = y′1(t), so y′2 = y′′.
Since y′′ + 5y′ + 6y = 0, we see y′2 = y′′ = −5y′ − 6y = −6y1 − 5y2.
![Page 27: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/27.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
The most obvious difference between this and earlier examples is that
this is 1 linear equation of order 2 instead of a system of linear equations.
Strategy: Replace one order 2 equation by system of two order 1 equations :
Let y1(t) = y(t), so that y′1 = y′. Also, let y2(t) = y′1(t), so y′2 = y′′.
Since y′′ + 5y′ + 6y = 0, we see y′2 = y′′ = −5y′ − 6y = −6y1 − 5y2.
The resulting IVP is:
y′1 = y2
y′2 = −6y1 − 5y2
and
y1(0) = 1
y2(0) = −1
![Page 28: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/28.jpg)
Another Example:
Solve initial value problem: y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1
The most obvious difference between this and earlier examples is that
this is 1 linear equation of order 2 instead of a system of linear equations.
Strategy: Replace one order 2 equation by system of two order 1 equations :
Let y1(t) = y(t), so that y′1 = y′. Also, let y2(t) = y′1(t), so y′2 = y′′.
Since y′′ + 5y′ + 6y = 0, we see y′2 = y′′ = −5y′ − 6y = −6y1 − 5y2.
The resulting IVP is:
y′1 = y2
y′2 = −6y1 − 5y2
and
y1(0) = 1
y2(0) = −1
We solve this system in the usual way, and interpret it as above!
![Page 29: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/29.jpg)
Another Example:
Solve the IVP:
y′1 = y2
y′2 = −6y1 − 5y2
and
y1(0) = 1
y2(0) = −1
We can rewrite this as Y ′ = GY and Y (0) = S by choosing
Y =
y1
y2
G =
0 1
−6 −5
and S =
1
−1
Solution of Y ′ = GY , Y (0) = S is Y (t) = d1e
λ1tx1 + d2eλ2tx2
where d1 = 4.4721, d2 = 3.1623, λ1 = −2, λ2 = −3,
x1 =
0.4472
−0.8944
, and x2 =
−0.3162
0.9487
![Page 30: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/30.jpg)
Another Example:
In other words, the function
Y (t) = d1e−2tx1 + d2e
−3tx2 = e−2t
2
−4
+ e−3t
−1
3
is the solution of the IVP:
y′1 = y2
y′2 = −6y1 − 5y2
and
y1(0) = 1
y2(0) = −1
![Page 31: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/31.jpg)
Another Example:
In other words, the function
Y (t) = d1e−2tx1 + d2e
−3tx2 = e−2t
2
−4
+ e−3t
−1
3
is the solution of the IVP:
y′1 = y2
y′2 = −6y1 − 5y2
and
y1(0) = 1
y2(0) = −1
In particular, relating this to the original IVP, this means
y(t) = y1(t) = 2e−2t − e−3t
is the solution of the initial value problem:
y′′ + 5y′ + 6y = 0 with y(0) = 1 and y′(0) = −1.
![Page 32: Application of Linear Algebra to Di erential Equations ...ccowen/OldCoursePages/App2DE5.pdfTheorem: If Ais an n nmatrix and Cis a vector in Rn or Cn, then the function Y(t) = e tA](https://reader031.vdocument.in/reader031/viewer/2022022115/5c6e9b9e09d3f2154d8b72c8/html5/thumbnails/32.jpg)
This is the end of the Fifth Segment.
In the next segment, we tackle initial value problems
for which the coefficient matrix is non-diagonalizable.