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What is a Differential
Equation?
O Definition: An equation O Examples
involving an unknown dy
function and its 5x 3
derivatives. dx
2
dy
2
y d y
e 2 1
dx
2
O ODE vs PDE dx
d3y d2y
4 3 (sin x) 2 5 xy 0
O The order of a dx dx
differential equation is 3
d2y
7
dy
2
3 dy
the order of the highest 2 3 y y 5x
derivative appearing in dx dx dx
the equation. 2 y 2 y
4 2 0
t 2
x
Linearity
O An nth order DE is said O Are the following linear?
to be linear if F is linear 4
in y,…,y(n). This means d y dy
3
1) x 3 y 0
that: dx dx
O The dependent variable 2)t 5 y 4 t 3 y '' 6 y 0
y and all of its
derivatives are of the 3)(1 x) y '' 4 xy ' 5 y cos x
first degree du
4) u cos u
O The coefficients of dr
y,…,y(n) depend at most 2
dy
2
on the independent d y
5) 2 1
variable x. dx dx
Notation
For a function y,
dy
y' represents the first derivative of y, or (If x is the independent variable)
dx
d2y
y'' represents the second derivative of y, or
dx 2
d3y
y''' represents the third derivative of y, or
dx3
4
d y
y (4) represents the fourth derivative of y, or
dx 4
In general,
(n) dny
y represents the nth derivative of y, or
dx n
Solutions of an ODE
O Any function y, defined O Verify the solution
on an interval I and
possessing at least n dy 1
1 4
derivatives that are a ) xy ; y x
2
continuous on I, which dx 16
when substituted into an
nth-order ODE reduces b) y '' 2 y ' y 0; y xe
x
• PV = nRT
P = pressure (atmospheres), V = volume (liters),
n = number of moles, R = 8.3145 J/mol K, T = temp
(Kelvin)
• I = dq/dt
I = current (amps), q = charge (coulombs), t = time (sec)
standard form.
Differential Form
For dy M ( x, y ), the differential form is
dx N ( x, y )
M(x,y)dx + N(x,y)dy = 0
dy
• Example: Solve (e y ) cos x e y sin 2 x; y (0) 0
2y
dx
dy
• Example: Solve x
2
y xy; y ( 1) 1
dx
Chapter 5
Exact First-Order Differential
equations
Definition
A DE M ( x, y )dx N ( x, y )dy 0
is exact if there exists a function g(x,y) such that
dg ( x, y ) M ( x, y )dx N ( x, y )dy
Example:
The equation x 2 y 3 dx x 3 y 2 dy is an exact equation,
1 3 3
with g ( x, y ) x y
3
Test for Exactness
• If M(x,y) and N(x,y) are continuous functions
and have continuous first partial derivatives on
some rectangle of the xy-plane, then
M(x,y)dx + N(x,y)dy = 0 is exact iff
M ( x, y ) N ( x, y )
y x
Method of Solution
Given an equation in the form M(x,y)dx + N(x,y)dy = 0,
determine if it is exact. If so, then there exists a function g(x,y) for which
g
(1) M ( x, y )
x
Integrate M(x,y) with respect to x holding y constant
( 2) g ( x, y ) M ( x, y )dx h( y )
where h(y) is the "constant" of integration.
g
Differentiate this result with respect to y and assume N ( x, y )
y
g
(3)
y
y M ( x, y )dx h '( y ) N ( x, y ).
This gives
y
(4) h '( y ) N ( x, y ) M ( x, y ) dx.
dy xy cos x sin x
2
4) ; y (0) 2
dx y (1 x )
2
Integrating Factors
• Sometimes, even though a DE • Solve ydx + xdy = 0 using the
is not exact, we can create an proper integrating factor given
exact DE by introducing an in Table 5-1.
integrating factor.
• See Table 5-1 on page 32 for a
table of integrating factors.
*
Linear First-Order Differential Equations
* Recall from Chapter 3, a first-order DE has the
standard form:
y ' p( x) y q ( x)
* The integrating factor for this form is:
I ( x) e p ( x ) dx
*
* 1) Put a linear equation into standard form.
* 2) From the standard form identify p(x) and then
find the integrating factor I(x).
* 3) Multiply the standard form of the equation by the
integrating factor. The left hand side of the
resulting equation is automatically the derivative of
the integrating factor and y:
[ ye ] e
d p ( x ) dx p ( x ) dx
q( x)
dx
* 4)Integrate both sides of this equation.
*
dy
1) 3y 0
dx
dy
2) 3y 6
dx
dy
3) x 4 y x 6e x
dx
dy
4) y x, y (0) 4
dx
*
Applications of First-Order Differential Equations
CHAPTER 7
GROWTH AND DECAY
𝑎𝑦 ′′ + 𝑏𝑦 ′ + 𝑐𝑦 = 0
𝑎𝑚2 + 𝑏𝑚 + 𝑐 = 0
How?
FIND THE GENERAL SOLUTION
1) y '' 4 y ' 7 y 0
2)4 y '' 4 y ' 17 y 0
GENERAL SOLUTION: CASE 3
m1 = m2
1) y '' 10 y ' 25 y 0
2) y '' 8 y ' 16 y 0
CHAPTER
10
NTH ORDER LINEAR HOMOGENOUS
DIFFERENTIAL EQUATIONS WITH CONSTANT
COEFFICIENTS
GENERAL SOLUTION
For the nth order linear homogenous DE of the form:
( n 1)
y (n)
an 1 y ... a1 y ' a0 y 0
where aj (j = 0, 1, … , n-1) are constants, the characteristic
equation is given by:
1) y ''' 3 y '' 4 y 0
4 2
d y d y
2) 4 2 2 y 0
dx dx
3) y ''' 3 y '' 4 y ' 12 y 0
Chapter 11
The method of Undetermined
Coefficients
Nonhomogeneous Linear
Differential Equations
O In Chapters 9 and 10, we were dealing
with homogenous DE’s.
O To solve a nonhomogeneous linear
differential equation of the form:
y '' 4 y ' 2 y 2 x 2 3 x 6
O Example: Solve
Method of Undetermined
Coefficients
O Case 2
O Φ(x) = 𝑘𝑒 α𝑥 , where k and α are known
constants.
O Assume the solution is of the form
y p Ae x
where A is a constant to be determined.
O Example: Solve
y '' 16 y 2e3 x
Method of Undetermined
Coefficients
O Case 3
O Φ(x)=k1sinβx + k2cosβx, where k1, k2, and
β are known constants.
O Assume a solution of the form:
y p A sin x B cos x
where A and B are constants to be
determined.
O Example: Solve
3) y (4) y ''' 1 x 2 e x
Chapter 13
Initial-Value Problems for Linear Differential Equations
Solving IVP using techniques
from the previous chapters
• In this chapter, initial • Solve:
conditions are given so 1) y '' y ' 2 y 4 x 2 ; y(0) 1, y '(0) 4
that the coefficients of 2) y '' 4 y ' 8 y sin x; y(0) 1, y '(0) 0
the general solution 3) y ''' 2 y '' 5 y ' 6 y 0; y (0) y '(0) 0, y ''(0) 1
can be found.
• Note: It is important
that you apply the
initial conditions to the
GENERAL SOLUTION,
not just yc. (Unless the
DE is homogenous)
Chapter 14
x(0) x0 , x(0) v0
Note: gravity g = 32 ft/sec2 = 9.8 m/sec2
Solve
1) A mass of 2 kg is suspended from a spring with a
known spring constant of 10 N/m and allowed to
come to rest. It is then set in motion by giving it an
initial velocity of 150 cm/sec. Find an expression for
the motion of the mass, assuming no air resistance.
R 0
If this limit does not exist, the improper integral diverges and
f(x) has no Laplace transform.
Note 1: The variable s is treated as a constant.
Note 2: A table for the Laplace transforms is in Appendix A pg. 330-335.
Definition
If L{ f ( x)} F ( s) and L{g ( x)} G ( s),
then for any two constants a and b,
L{af ( x) bg ( x)} aL{ f ( x)} bL{g ( x)} aF ( s ) bG ( s ).
Linearity
1)L{1}
2)L{x}
3)L{e 3 x }
4)L{sin 2 x}
5)L{4 3 x}
2)L 0
x
et sin( x t )dt
3)L{x 2 xe x }
1 1
4)L
s ( s 1)
1 1
5)L 2
s 1
Unit Step Function
The unit step function u(x) is defined as
0 x 0
u ( x)
1 x 0
Thus for any number c,
0 x c
u ( x c)
1 x c
Theorem 1:
1
L u ( x c) e cs
s
Prove.
Translations
Given a function f(x) defined for x 0, the function
0 xc
u ( x c) f ( x c)
f ( x c) x c
represents a translation of f(x) by c units in the positive x-direction.
Theorem 2:
If F ( s ) L{ f ( x)}, then L{u ( x c) f ( x c)} e cs F ( s ).
Conversely,
1 cs 0 xc
L {e F ( s )} u ( x c) f ( x c)
f ( x c) x c
Problems
0 x4
1)Find L{g ( x)} if g ( x)
( x 4) x 4
2
0 x 4
2)Find L{g ( x)} if g ( x) 2
x x 4
1 1 5 s
3)Find L 2 e
s 4
1 1 2 s
4)Find L 3 e
s
Solutions of Linear Differential Equations with
Constant Coefficients by Laplace Transforms
Transforms of Derivatives
If y, y ',..., y ( n 1) are continuous on [0,) and if y( n ) ( x)
is piecewise continuous on [0,), then
L{ y ( n ) ( x)} s nY ( s ) s n 1 y (0) s n 2 y '(0) ... sy ( n 2) (0) y ( n 1) (0),
where Y( s ) L{ y ( x)}.
If the initial conditions on y(x) at x = 0 are given by:
y (0) c0 , y '(0) c1 ,..., y ( n 1) (0) cn 1
then
L{ y ( n ) ( x)} s nY ( s ) c0 s n 1 c1s n 2 ... cn 2 s cn 1.
For instance, for n = 2, L{ y ''( x)} s 2Y ( s ) c0 s c1.
Solution of ODEs by Laplace
Transforms
1. Take the L of both sides of the ODE.
2. Rearrange the resulting algebraic equation to solve for
the L of the output variable Y(s).
3. Perform a partial fraction expansion (if necessary).
4. Use the L-1 to find y(t) from the expression for Y(s).
Solve
dy
1) y 1, y (0) 0
dx
2) y ' 6 y e , y (0) 2
4x
dy
3) 3 y 13sin 2t , y (0) 6
dt
4) y '' 3 y ' 2 y e 4 x , y (0) 1, y '(0) 5
5) y ''' y 5, y (0) 0, y '(0) 0, y ''(0) 0
6) y ' 5 y 0
7) y ''- 3y' + 2y = e x ; y(l) = 0, y'(1) = 0.
Chapter 27
3) y '' y 0; x 1
4)(1 x ) y '' 2 xy ' n(n 1) y 0; x 0; x 1
2
Power Series Method
Substitute into the left side of the homogeneous differential
equation the power series and its applicable derivatives
(3) y an x n
n 0
Rewrite the summations so that they all have xn and the
summations all start at the same value. Pulling out some terms
may be necessary.
Combine the sums into a single summation.
Set the expression inside of the summation equal to zero. Do the
same for any terms that were pulled out, if necessary.
The equation obtained in Step 4 will contain aj terms for a finite
number of j values. Solve this equation for the aj term having the
largest subscript. The resulting equation is known as the
recurrence formula for the given differential equation.
Use the recurrence formula to sequentially determine aj (j = 2, 3,
4,...) in terms of a0 and a1.
Substitute the coefficients determined in Step 4 into (3) and
rewrite the solution in the form of (2).
If x = 0 is an ordinary point, find the
general solution using the power series
method.
1) y '' xy 0
2)( x 1) y '' y ' 0
3) y '' 2 xy ' y 0
4) y '' x y ' xy 0
2