Modes and Roots

Modes and Roots A solution of the form x (t) = cert to the homogeneous constant coeffi­ cient linear equation . a n x ( n ) + a n −1 x ( n −1) + · · · + a 1 x + a 0 x = 0 (1) is called a modal solution and cert is called a mode of the system. We saw previously that ert is a solution exactly when r is a root of the characteristic polynomial p ( s ) = a n s n + a n −1 s n −1 + · · · + a 1 s + a 0 . Warning: This only works for homogeneous constant coefficient linear equa­ tions. It does not work for non-constant coefficient or inhomogeneous or nonlinear equations. The roots of polynomials can be real or non-real complex numbers. (We need to be a little careful with our language because a real number is also a complex number with imaginary part 0.) Roots can also be repeated. Studying the second order equation will be enough to help us understand all of these possibilities. So, we study (with a2 = m, a1 = b, a0 = k) .. . mx + bx + kx = 0. (2) which models a spring-mass-dashpot system with no external force. The characteristic equation is ms2 + bs + k = 0. 1. Real Roots We have already done this case earlier in this session. If the character­ istic polynomial has real roots r1 and r2 then the modal solutions to (2) are x1 (t) = er1 t and x2 (t) = er2 t . The general solution is found by superposition x ( t ) = c 1 x 1 ( t ) + c 2 x 2 ( t ) = c 1 e r1 t + c 2 e r2 t . .. . Example 1. (Real roots) Solve the x + 5x + 4x = 0. Solution. The characteristic equation is s2 + 5s + 4 = 0. This factors as (s + 1)(s + 4) = 0, so it has roots -1, -4. The modal solutions are x1 (t) = e−t and x2 (t) = e−4t . Therefore, the general solution is x (t) = c1 e−t + c2 e−4t . OCW 18.03SC 2. Complex Roots (Again, if we were being completely precise, this section would be called non-real complex roots to indicate a complex number with non-zero imagi­ nary part.) Example 2. .. . Solve the equation x + 4x + 5x = 0. Solution. The characteristic polynomial is s2 + 4s + 5. Using the quadratic formula the roots are √ √ −4 ± 16 − 20 = −2 ± −1 = −2 ± i. s= 2 So our exponential solutions are z1 (t) = e(−2+i)t z 2 ( t ) = e ( −2− i ) t . and We use the letter z here to indicate the functions are complex valued. The general solution is a linear combination of these two basic solutions. But, because the DE has real coefficients, we were expecting real valued so­ lutions. We will finish this example and get our real solutions after stating and proving the following theorem. Theorem (Real Solution Theorem): .. . If z(t) is a complex-valued solution to mz + bz + kz = 0, where m, b, and k are real, then the real and imaginary parts of z are also solutions. Proof: Let u(t) be the real part of z and v(t) the imaginary part, so z(t) = u(t) + iv(t). Now, build the table. k] b] m] z = u + iv . . . z = u + iv .. .. .. z = u + iv Summing with the coefficients (and remembering z is a solution to the ho­ mogeneous DE) gives .. . .. . (mu + bu + ku) + i (mv + bv + kv) = 0. Both expressions in parentheses are real, so the only way the sum can be zero is for both of them to be zero. That is, both u and v are solutions of (2) as claimed. Back to the example: Using Euler’s formula z1 (t) = e(−2+i)t = e−2t cos t + ie−2t sin t. OCW 18.03SC The real part of e−2t cos t + ie−2t sin t is e−2t cos t and the imaginary part is e−2t sin t. We now have two basic solutions and can use superposition to find the general real valued solution x (t) = c1 e−2t cos(t) + c2 e−2t sin(t). Or we could have also written it as x (t) = e−2t (c1 cos t + c2 sin t) = Ae−2t cos(t − φ). This is a damped sinusoid with circular pseudo-frequency 1. If we had chosen the other exponential solution z2 (t) = e(−2−i)t = e−2t (cos(−t) + i sin(−t)) then the basic real solutions would be e−2t cos(−t) = e−2t cos(t) and e−2t sin(−t) = −e−2t sin(t). Up to a sign these are the same basic solutions as was obtained from z1 , so z2 (t) would have work just as well. Example 3. .. . Solve x + x + x = 0. 2 Solution. Characteristic equation: √ s + s + 1 = 0. √ −1 3 −1 ± 1 − 4 = ±i . Roots: 2 2 2 √ √ Complex exponential solutions: z1 (t) = e(−1+i 3)t/2 , √ z2 (t) = e(−1−i 3)t/2 Basic real√solutions: x1 (t) = Re(z1 (t)) = e−t/2 cos( 3t/2), Im(z1 (t)) = e−t/2 sin( 3t/2). General real solution: √ √ √ x (t) = e−t/2 (c1 cos( 3t/2) + c2 sin( 3 t/2)) = Ae−t/2 cos( 3 t/2 − φ). .. . Example 4. Suppose that the equation mx + bx + kx = 0 has characteristic roots a ± ib. Give the general real solution. Solution. In the previous examples we have established a pattern: Two basic real solutions are e at cos(bt) and e at sin(bt) and the general real solution is x (t) = c1 e at cos(bt) + c2 e at sin(bt) = Ae at cos(bt − φ). OCW 18.03SC In words, the real part of the root is the coefficient of t in the exponential and the imaginary part is the angular pseudo-frequency in the trig func­ tions. For completeness we will walk through the derivation of this. One ex­ ponential solution is z1 (t) = e(a+ib)t = e at (cos(bt) + i sin(bt)). The two basic solutions are the real and imaginary parts of z1 . That is, e at cos(bt) and e at sin(bt), as claimed. .. Example 5. Use the characteristic equation to solve x + 4x = 0. Solution. You should have memorized the solution to this equation. We will check the characteristic equation technique against this known solu­ tion. Characteristic equation: s2 + 4 = 0. Roots: s2 = −4 ⇒ s = ±2i. Complex exponential solutions: z1 = e2it , z2 = e−2it . Basic real solutions: Re(z1 ) = cos(2t), Im(z1 ) = sin(2t). General real solution: x = c1 cos(2t) + c2 sin(2t) = A cos(2t − φ) (as expected). 3. Repeated Roots .. . Example 6. Solve x + 4x + 4x = 0. Then p(s) = (s + 2)2 has r = -2 as a repeated root. The only exponential solution is e−2t . Another solution, which is not a constant multiple of e−2t , is given by te−2t . We will not check this for now, you know how to do it: plug in and use the product rule. So the general solution is x (t) = c1 e−2t + c2 te−2t or x (t) = e−2t (c1 + c2 t). Example 7. (It’s all about the roots) Suppose the roots –with multiplicity– of a certain homogeneous constant coefficient linear equation are 3, 4, 4, 4, 5 ± 2i, 5 ± 2i. OCW 18.03SC Give the general real solution to the equation. What is the order of the equation? Solution. The basic solutions are e3t , e4t , te4t , t2 e4t , e5t cos(2t), e5t sin(2t), te5t cos(2t), te5t sin(2t). (For each repeated root we added a multiple of t to the basic solution.) Using superposition, the general solution is x (t) = c1 e3t + c2 e4t + c3 te4t + c4 t2 e4t + c5 e5t cos(2t) + c6 e5t sin(2t) + c7 te5t cos(2t) + c8 te5t sin(2t). There are 8 roots, so the order of the differential equation is 8.