Modelling the Furuta Pendulum

Μέγεθος: px
Εμφάνιση ξεκινά από τη σελίδα:

Download "Modelling the Furuta Pendulum"

Transcript

1 ISSN ISRN LUTFD2/TFRT SE Modelling the Furuta Pendulum Magnus Gäfvert Department of Automatic Control Lund Institute of Technology April 1998

2 z M PSfrag replacements θ m p, l p m a, l a x Figure 1 J The furuta pendulum. y 1. Introduction This report contains derivations of the Furuta pendulum dynamics using the Euler-Lagrange equations. The Furuta pendulum is shown in Figure 1. It consists of two connected inertial bodies: A center pillar with moment of inertia J, rigidly connected to a horizontal arm with length l a and homogenously line distributed mass m a. The pendulum arm with length l p and homogenously line distributed mass m p, and the balancing body with point distributed mass M. 2. Kinematics The position of a point P on the pendulum can be described with the position vector with rr a, r p ) = r x r a, r p ), r y r a, r p ), r z r a, r p )) 1) r x r a, r p ) = r a cos r p sin sinθ, r y r a, r p ) = r a sin + r p cos sinθ, r z r a, r p ) = r p cosθ. 2) The variable r a is the radial position on the horizontal arm, and r p is the radial position on the pendulum arm. The radial distances are measured from the center of rotation for the bodies respectively. Taking time derivatives of 1) gives an expression for the velocity vr a, r p ) = v x r a, r p ), v y r a, r p ), v z r a, r p )) 3) of P on the pendulum, with v x r a, r p ) = r a sin r p cosθ sin θ r p sinθ cos, v y r a, r p ) = r a cos + r p cosθ cos θ r p sinθ sin, v z r a, r p ) = r p sinθ θ. 4) 1

3 This is then used to express the square magnitude of the velocity for P: v 2 r a, r p ) = r 2 a + r2 p sin2 θ) 2 + 2r a r p cosθ θ + r 2 p θ 2 5) 3. Energy expressions Expressions for kinetic and potiential energy is derived in this section. Kinetic energy is derived from solving the integral T = 1 v 2 dm, 6) 2 using 5), and potential energy from solving V = g r z dm 7) using 1). The derivations are done for each body separately. Center pillar 2T c = J 2 V c = ; 8) Horizontal arm 2T a = la = 1 3 m ala 2 2 v 2 s, )m a /l a ds 9) V a = ; Pendulum arm 2T p = lp v 2 r a, s)m p /l p ds = m p la l2 p sin 2 θ) 2 + m p l a l p cosθ θ m pl 2 p lp V p = g r z l a, s)m p /l p ds = 1 2 m pgl p cosθ θ 2 1) Balancing mass 2T m = Mla 2 + l 2 p sin 2 θ) 2 + 2Ml a l p cosθ θ + Ml 2 p V m = Mgl p cosθ θ 2 11) The total kinetic energy of the pendulum is given by T = T c + T a + T p + T m, 12) and the total potential energy by V = V c + V a + V p + V m. 13) 2

4 4. Equations of motion Forming the Lagrangian L = T V 14) the equations of motion are given by ) d L dt ) d L dt θ L = τ L θ = τ θ 15) with τ and τ θ being external torques applied to the horizontal arm joint and the pendulum arm joint respectively. The partial derivatives are: L = L = + J + M m a + m p )l 2 a + M m p)l 2 p sin 2 θ M + 1 ) 2 m p l a l p cosθ θ ) L θ = M m p + M + 1 ) 2 m p gl p sinθ ) L θ = M m p l 2 p cosθ sinθ 2 l a l p cosθ + M + 1 ) 2 m p M + 1 ) 3 m p l 2 θ p ) l a l p sinθ θ 16) Inserting 16) into 15) and introducing α = J + M m a + m p )la 2 β = M m p)l 2 p γ = M m p)l a l p δ = M ) 2 m p)gl p yields the equations of motion for the pendulum: α + β sin 2 θ ) + γ cosθ θ + 2β cosθ sinθ θ γ sinθ θ 2 = τ γ cosθ + βθ β cosθ sinθ 18) 2 δ sinθ = τ θ Equation 18) can be written in matrix form as ) ) D, θ) + C, θ,, θ θ) + g, θ) = τ 19) θ with matrices defined by D, θ) = α + β sin 2 ) θ γ cosθ, γ cosθ β C, θ,, θ) = β cosθ sinθ θ β cosθ sinθ γ sinθ θ ) ) β cosθ sin θ, g, θ) =. δ sinθ 2) 3

5 The matrices D, θ) and C, θ,, θ) satisfies the fundamental property N, θ,, θ) = Ḋ, θ) 2C, θ,, θ) 21) with the skew symmetric matrix N, θ,, θ) γ sinθ θ 2β cosθ sinθ ) = γ sinθ θ + 2β cosθ sinθ. 22) The external torques τ can be divided into a driving torque on the -joint and dissipation terms as τ = τ u τ F. 23) 5. Integration model The equations of motion 18) can be rewritten on a form suitable for integration: d dt = d dt 1 = α β γ 2 + β 2 + γ 2 ) sin 2 θ γ δ cosθ sinθ + βτ γ cosθτ θ } d dt θ = θ d dt θ = { { βγ sin 2 θ 1) sinθ 2 2β 2 cosθ sin θ θ + βγ sinθ θ 2 1 α β γ 2 + β 2 + γ 2 ) sin 2 βα + β sin 2 θ) cosθ sinθ θ γ 2 cosθ sinθ θ } 2 + δ α + β sin 2 θ) sinθ γ cosθτ + α + β sin 2 θ)τ θ 2 + 2βγ 1 sin 2 θ) sinθ θ 24) 6. Equilibrium points It follows from inserting = θ = θ, θ θ and in 18) that sinθ β cosθ 2 + δ ) = 25) holds in stationarity. Solving for θ the following equilibrium points are obtained: θ = kπ with k Z for all R ) δ θ = π arccos β, 2 for = o 26) 7. Linearization Rewriting 19) as d ) dt θ = D 1, θ) τ C, θ,, θ) ) θ ) g, θ) 27) 4

6 and introducing the state variable x = θ θ 28) we get the state equation dx dt = f x,τ ) 29) with f defined appropriately. The linearized model at the equilibrium point x =,, θ, θ ), τ =, ) is obtained from dδ x) dt = f x δ x + f τ τ = Aδ x + Bτ 3) with δ x = x x. For x =,,, ) that gives us 1 δ γ α β γ A = 2 1, B = αδ β γ γ α 31) with eigenvalues { } αδ,, ± α β γ 2. 32) For x =,, π, ) we get 1 δ γ α β γ A = 2 1, B = αδ β γ γ α 33) with eigenvalues { } αδ,, ±i α β γ 2. 34) In the limit case J, m a and m p the modes of a simple pendulum are restored since αδ g α β γ 2. 35) l p 5

7 8. Linear state feedback control The linearized model 3) can be used to derive a continuous time state feedback controller on the form τ u = Lx 36) with L = l, l, l θ, lθ ). The linear dynamics of the equilibrium point x =,,, ) yields the closed loop characteristic equation s 4 γ l θ β l α β γ 2 s3 γ l θ β l + αδ α β γ 2 s 2 and the dynamics of x =,, π, ) yields s 4 + γ l θ β l α β γ 2 s3 + γ l θ β l + αδ α β γ 2 s 2 + δ l α β γ 2 s δ l α β γ 2 s + δ l α β γ 2 =, 37) δ l α β γ 2 =. 38) Equating the coefficients in 37) and 38) with the coefficients of the desired closed loop characteristic equation s 2 + 2ζ 1 ω 1 s + ω 2 1)s 2 + 2ζ 2 ω 2 s + ω 2 2) =, 39) and solving for the feedback gains gives l = α β γ 2 ω 1 2 δ ω 2 2 l = 2α β γ 2 ω 1 ω 2 ω 1 ζ 2 + ω 2 ζ 1 ) δ l θ = αδ α β γ 2 β γ γ δ ω 1 2ω ω ω ω 1ω 2 ζ 1 ζ 2 ) θ = 2α β γ 2 β γ δ ω 1 2ω 2ζ 2 + β δ ω 1ω 2 2ζ 1 + ω 1 ζ 1 + ω 2 ζ 2 ) l 4) and l = α β γ 2 ω 1 2 δ ω 2 2 l = 2α β γ 2 ω 1 ω 2 ω 1 ζ 2 + ω 2 ζ 1 ) δ l θ = αδ + α β γ 2 β γ γ δ ω 1 2ω ω ω ω 1ω 2 ζ 1 ζ 2 ) l θ = 2α β γ 2 β γ δ ω 2 1ω 2 ζ 2 β δ ω 1ω 2 2ζ 1 + ω 1 ζ 1 + ω 2 ζ 2 ) 41) respectively. With a sampling period of 1 ms it is verified numerically that the feedback gains of the discrete time controller differ less than 1 % from the gains of the continuous time controller. With such fast sampling it is thus sound to use the continuous time design in a discrete controller. 6

8 9. Friction The real pendulum exhibits significant friction in the -joint. The friction can be modeled in several ways. Coulomb and viscous friction τ F = τ C sgn + τ v 42) Coulomb friction with stiction τ C sgn τ F = τ u τ S sgnτ u if =, if = and τ u < τ S, otherwise. 43) In simulations the zero condition on the velocity is replaced by < ε, with chosen appropriately. ε 1. Model Parameters The pendulum state equations on integrable form 24) can be coded into a Simulink S-function. Simulations of the free pendulum dynamics reveals that stability is critically dependent on the choice of parameters. Simply setting α = β = γ = δ 1 leads to instability. Physically sound parameters can be found from measuring a real pendulum or from identification experiments. Measured Parameters Examples of physical parameters and model parameters are shown in Tables 1 and 2. Examples of friction model parameters for Coulomb friction with stiction m p [kg] l p [m] m a [kg] l a [m] M [kg] J [kg m 2 ] Table 1 Real pendulum parameters α [kg m 2 ] β [kg m 2 ] γ [kg m 2 ] δ [kg 2 m 2 /s 2 ] Table 2 Real pendulum model parameters 43), are given in Table 3. Parameter Identification The equations of motion 18) together with the Coulomb and viscous friction 42) can be written on regressor form as y = T θ 44) 7

9 τ S [Nm] τ C [Nm] ε [rad/s] Table 3 Friction model parameters with T = sin 2 θ + 2 cosθ sinθ θ θ cosθ sinθ 2 y = ) τ u, cosθ θ sinθ θ 2 sgn ) cosθ, sinθ 45) α β γ δ. 46) With suitable low-pass or band-pass filtering the least-squares solution for θ provides a set of model parameters. If the measured velocity and acceleration signals are used, the corresponding scaling constants must be taken into account. τ C τ v 8

Areas and Lengths in Polar Coordinates

Areas and Lengths in Polar Coordinates Kiryl Tsishchanka Areas and Lengths in Polar Coordinates In this section we develop the formula for the area of a region whose boundary is given by a polar equation. We need to use the formula for the

Διαβάστε περισσότερα

4.6 Autoregressive Moving Average Model ARMA(1,1)

4.6 Autoregressive Moving Average Model ARMA(1,1) 84 CHAPTER 4. STATIONARY TS MODELS 4.6 Autoregressive Moving Average Model ARMA(,) This section is an introduction to a wide class of models ARMA(p,q) which we will consider in more detail later in this

Διαβάστε περισσότερα

Section 8.3 Trigonometric Equations

Section 8.3 Trigonometric Equations 99 Section 8. Trigonometric Equations Objective 1: Solve Equations Involving One Trigonometric Function. In this section and the next, we will exple how to solving equations involving trigonometric functions.

Διαβάστε περισσότερα

Problem Set 9 Solutions. θ + 1. θ 2 + cotθ ( ) sinθ e iφ is an eigenfunction of the ˆ L 2 operator. / θ 2. φ 2. sin 2 θ φ 2. ( ) = e iφ. = e iφ cosθ.

Problem Set 9 Solutions. θ + 1. θ 2 + cotθ ( ) sinθ e iφ is an eigenfunction of the ˆ L 2 operator. / θ 2. φ 2. sin 2 θ φ 2. ( ) = e iφ. = e iφ cosθ. Chemistry 362 Dr Jean M Standard Problem Set 9 Solutions The ˆ L 2 operator is defined as Verify that the angular wavefunction Y θ,φ) Also verify that the eigenvalue is given by 2! 2 & L ˆ 2! 2 2 θ 2 +

Διαβάστε περισσότερα

Section 8.2 Graphs of Polar Equations

Section 8.2 Graphs of Polar Equations Section 8. Graphs of Polar Equations Graphing Polar Equations The graph of a polar equation r = f(θ), or more generally F(r,θ) = 0, consists of all points P that have at least one polar representation

Διαβάστε περισσότερα

CHAPTER 48 APPLICATIONS OF MATRICES AND DETERMINANTS

CHAPTER 48 APPLICATIONS OF MATRICES AND DETERMINANTS CHAPTER 48 APPLICATIONS OF MATRICES AND DETERMINANTS EXERCISE 01 Page 545 1. Use matrices to solve: 3x + 4y x + 5y + 7 3x + 4y x + 5y 7 Hence, 3 4 x 0 5 y 7 The inverse of 3 4 5 is: 1 5 4 1 5 4 15 8 3

Διαβάστε περισσότερα

w o = R 1 p. (1) R = p =. = 1

w o = R 1 p. (1) R = p =. = 1 Πανεπιστήµιο Κρήτης - Τµήµα Επιστήµης Υπολογιστών ΗΥ-570: Στατιστική Επεξεργασία Σήµατος 205 ιδάσκων : Α. Μουχτάρης Τριτη Σειρά Ασκήσεων Λύσεις Ασκηση 3. 5.2 (a) From the Wiener-Hopf equation we have:

Διαβάστε περισσότερα

Chapter 6: Systems of Linear Differential. be continuous functions on the interval

Chapter 6: Systems of Linear Differential. be continuous functions on the interval Chapter 6: Systems of Linear Differential Equations Let a (t), a 2 (t),..., a nn (t), b (t), b 2 (t),..., b n (t) be continuous functions on the interval I. The system of n first-order differential equations

Διαβάστε περισσότερα

Απόκριση σε Μοναδιαία Ωστική Δύναμη (Unit Impulse) Απόκριση σε Δυνάμεις Αυθαίρετα Μεταβαλλόμενες με το Χρόνο. Απόστολος Σ.

Απόκριση σε Μοναδιαία Ωστική Δύναμη (Unit Impulse) Απόκριση σε Δυνάμεις Αυθαίρετα Μεταβαλλόμενες με το Χρόνο. Απόστολος Σ. Απόκριση σε Δυνάμεις Αυθαίρετα Μεταβαλλόμενες με το Χρόνο The time integral of a force is referred to as impulse, is determined by and is obtained from: Newton s 2 nd Law of motion states that the action

Διαβάστε περισσότερα

Areas and Lengths in Polar Coordinates

Areas and Lengths in Polar Coordinates Kiryl Tsishchanka Areas and Lengths in Polar Coordinates In this section we develop the formula for the area of a region whose boundary is given by a polar equation. We need to use the formula for the

Διαβάστε περισσότερα

Partial Differential Equations in Biology The boundary element method. March 26, 2013

Partial Differential Equations in Biology The boundary element method. March 26, 2013 The boundary element method March 26, 203 Introduction and notation The problem: u = f in D R d u = ϕ in Γ D u n = g on Γ N, where D = Γ D Γ N, Γ D Γ N = (possibly, Γ D = [Neumann problem] or Γ N = [Dirichlet

Διαβάστε περισσότερα

1 String with massive end-points

1 String with massive end-points 1 String with massive end-points Πρόβλημα 5.11:Θεωρείστε μια χορδή μήκους, τάσης T, με δύο σημειακά σωματίδια στα άκρα της, το ένα μάζας m, και το άλλο μάζας m. α) Μελετώντας την κίνηση των άκρων βρείτε

Διαβάστε περισσότερα

DESIGN OF MACHINERY SOLUTION MANUAL h in h 4 0.

DESIGN OF MACHINERY SOLUTION MANUAL h in h 4 0. DESIGN OF MACHINERY SOLUTION MANUAL -7-1! PROBLEM -7 Statement: Design a double-dwell cam to move a follower from to 25 6, dwell for 12, fall 25 and dwell for the remader The total cycle must take 4 sec

Διαβάστε περισσότερα

derivation of the Laplacian from rectangular to spherical coordinates

derivation of the Laplacian from rectangular to spherical coordinates derivation of the Laplacian from rectangular to spherical coordinates swapnizzle 03-03- :5:43 We begin by recognizing the familiar conversion from rectangular to spherical coordinates (note that φ is used

Διαβάστε περισσότερα

Second Order Partial Differential Equations

Second Order Partial Differential Equations Chapter 7 Second Order Partial Differential Equations 7.1 Introduction A second order linear PDE in two independent variables (x, y Ω can be written as A(x, y u x + B(x, y u xy + C(x, y u u u + D(x, y

Διαβάστε περισσότερα

Chapter 6: Systems of Linear Differential. be continuous functions on the interval

Chapter 6: Systems of Linear Differential. be continuous functions on the interval Chapter 6: Systems of Linear Differential Equations Let a (t), a 2 (t),..., a nn (t), b (t), b 2 (t),..., b n (t) be continuous functions on the interval I. The system of n first-order differential equations

Διαβάστε περισσότερα

Solution Series 9. i=1 x i and i=1 x i.

Solution Series 9. i=1 x i and i=1 x i. Lecturer: Prof. Dr. Mete SONER Coordinator: Yilin WANG Solution Series 9 Q1. Let α, β >, the p.d.f. of a beta distribution with parameters α and β is { Γ(α+β) Γ(α)Γ(β) f(x α, β) xα 1 (1 x) β 1 for < x

Διαβάστε περισσότερα

Homework 8 Model Solution Section

Homework 8 Model Solution Section MATH 004 Homework Solution Homework 8 Model Solution Section 14.5 14.6. 14.5. Use the Chain Rule to find dz where z cosx + 4y), x 5t 4, y 1 t. dz dx + dy y sinx + 4y)0t + 4) sinx + 4y) 1t ) 0t + 4t ) sinx

Διαβάστε περισσότερα

DERIVATION OF MILES EQUATION FOR AN APPLIED FORCE Revision C

DERIVATION OF MILES EQUATION FOR AN APPLIED FORCE Revision C DERIVATION OF MILES EQUATION FOR AN APPLIED FORCE Revision C By Tom Irvine Email: tomirvine@aol.com August 6, 8 Introduction The obective is to derive a Miles equation which gives the overall response

Διαβάστε περισσότερα

Numerical Analysis FMN011

Numerical Analysis FMN011 Numerical Analysis FMN011 Carmen Arévalo Lund University carmen@maths.lth.se Lecture 12 Periodic data A function g has period P if g(x + P ) = g(x) Model: Trigonometric polynomial of order M T M (x) =

Διαβάστε περισσότερα

Solutions to Exercise Sheet 5

Solutions to Exercise Sheet 5 Solutions to Eercise Sheet 5 jacques@ucsd.edu. Let X and Y be random variables with joint pdf f(, y) = 3y( + y) where and y. Determine each of the following probabilities. Solutions. a. P (X ). b. P (X

Διαβάστε περισσότερα

( ) 2 and compare to M.

( ) 2 and compare to M. Problems and Solutions for Section 4.2 4.9 through 4.33) 4.9 Calculate the square root of the matrix 3!0 M!0 8 Hint: Let M / 2 a!b ; calculate M / 2!b c ) 2 and compare to M. Solution: Given: 3!0 M!0 8

Διαβάστε περισσότερα

Approximation of distance between locations on earth given by latitude and longitude

Approximation of distance between locations on earth given by latitude and longitude Approximation of distance between locations on earth given by latitude and longitude Jan Behrens 2012-12-31 In this paper we shall provide a method to approximate distances between two points on earth

Διαβάστε περισσότερα

CHAPTER 101 FOURIER SERIES FOR PERIODIC FUNCTIONS OF PERIOD

CHAPTER 101 FOURIER SERIES FOR PERIODIC FUNCTIONS OF PERIOD CHAPTER FOURIER SERIES FOR PERIODIC FUNCTIONS OF PERIOD EXERCISE 36 Page 66. Determine the Fourier series for the periodic function: f(x), when x +, when x which is periodic outside this rge of period.

Διαβάστε περισσότερα

Practice Exam 2. Conceptual Questions. 1. State a Basic identity and then verify it. (a) Identity: Solution: One identity is csc(θ) = 1

Practice Exam 2. Conceptual Questions. 1. State a Basic identity and then verify it. (a) Identity: Solution: One identity is csc(θ) = 1 Conceptual Questions. State a Basic identity and then verify it. a) Identity: Solution: One identity is cscθ) = sinθ) Practice Exam b) Verification: Solution: Given the point of intersection x, y) of the

Διαβάστε περισσότερα

Section 7.6 Double and Half Angle Formulas

Section 7.6 Double and Half Angle Formulas 09 Section 7. Double and Half Angle Fmulas To derive the double-angles fmulas, we will use the sum of two angles fmulas that we developed in the last section. We will let α θ and β θ: cos(θ) cos(θ + θ)

Διαβάστε περισσότερα

EE512: Error Control Coding

EE512: Error Control Coding EE512: Error Control Coding Solution for Assignment on Finite Fields February 16, 2007 1. (a) Addition and Multiplication tables for GF (5) and GF (7) are shown in Tables 1 and 2. + 0 1 2 3 4 0 0 1 2 3

Διαβάστε περισσότερα

Matrices and Determinants

Matrices and Determinants Matrices and Determinants SUBJECTIVE PROBLEMS: Q 1. For what value of k do the following system of equations possess a non-trivial (i.e., not all zero) solution over the set of rationals Q? x + ky + 3z

Διαβάστε περισσότερα

Geodesic Equations for the Wormhole Metric

Geodesic Equations for the Wormhole Metric Geodesic Equations for the Wormhole Metric Dr R Herman Physics & Physical Oceanography, UNCW February 14, 2018 The Wormhole Metric Morris and Thorne wormhole metric: [M S Morris, K S Thorne, Wormholes

Διαβάστε περισσότερα

Section 9.2 Polar Equations and Graphs

Section 9.2 Polar Equations and Graphs 180 Section 9. Polar Equations and Graphs In this section, we will be graphing polar equations on a polar grid. In the first few examples, we will write the polar equation in rectangular form to help identify

Διαβάστε περισσότερα

Second Order RLC Filters

Second Order RLC Filters ECEN 60 Circuits/Electronics Spring 007-0-07 P. Mathys Second Order RLC Filters RLC Lowpass Filter A passive RLC lowpass filter (LPF) circuit is shown in the following schematic. R L C v O (t) Using phasor

Διαβάστε περισσότερα

Lifting Entry (continued)

Lifting Entry (continued) ifting Entry (continued) Basic planar dynamics of motion, again Yet another equilibrium glide Hypersonic phugoid motion Planar state equations MARYAN 1 01 avid. Akin - All rights reserved http://spacecraft.ssl.umd.edu

Διαβάστε περισσότερα

ΗΜΥ 220: ΣΗΜΑΤΑ ΚΑΙ ΣΥΣΤΗΜΑΤΑ Ι Ακαδημαϊκό έτος Εαρινό Εξάμηνο Κατ οίκον εργασία αρ. 2

ΗΜΥ 220: ΣΗΜΑΤΑ ΚΑΙ ΣΥΣΤΗΜΑΤΑ Ι Ακαδημαϊκό έτος Εαρινό Εξάμηνο Κατ οίκον εργασία αρ. 2 ΤΜΗΜΑ ΗΛΕΚΤΡΟΛΟΓΩΝ ΜΗΧΑΝΙΚΩΝ ΚΑΙ ΜΗΧΑΝΙΚΩΝ ΥΠΟΛΟΓΙΣΤΩΝ ΠΑΝΕΠΙΣΤΗΜΙΟ ΚΥΠΡΟΥ ΗΜΥ 220: ΣΗΜΑΤΑ ΚΑΙ ΣΥΣΤΗΜΑΤΑ Ι Ακαδημαϊκό έτος 2007-08 -- Εαρινό Εξάμηνο Κατ οίκον εργασία αρ. 2 Ημερομηνία Παραδόσεως: Παρασκευή

Διαβάστε περισσότερα

Fourier Series. MATH 211, Calculus II. J. Robert Buchanan. Spring Department of Mathematics

Fourier Series. MATH 211, Calculus II. J. Robert Buchanan. Spring Department of Mathematics Fourier Series MATH 211, Calculus II J. Robert Buchanan Department of Mathematics Spring 2018 Introduction Not all functions can be represented by Taylor series. f (k) (c) A Taylor series f (x) = (x c)

Διαβάστε περισσότερα

MATH423 String Theory Solutions 4. = 0 τ = f(s). (1) dτ ds = dxµ dτ f (s) (2) dτ 2 [f (s)] 2 + dxµ. dτ f (s) (3)

MATH423 String Theory Solutions 4. = 0 τ = f(s). (1) dτ ds = dxµ dτ f (s) (2) dτ 2 [f (s)] 2 + dxµ. dτ f (s) (3) 1. MATH43 String Theory Solutions 4 x = 0 τ = fs). 1) = = f s) ) x = x [f s)] + f s) 3) equation of motion is x = 0 if an only if f s) = 0 i.e. fs) = As + B with A, B constants. i.e. allowe reparametrisations

Διαβάστε περισσότερα

Phys460.nb Solution for the t-dependent Schrodinger s equation How did we find the solution? (not required)

Phys460.nb Solution for the t-dependent Schrodinger s equation How did we find the solution? (not required) Phys460.nb 81 ψ n (t) is still the (same) eigenstate of H But for tdependent H. The answer is NO. 5.5.5. Solution for the tdependent Schrodinger s equation If we assume that at time t 0, the electron starts

Διαβάστε περισσότερα

Example Sheet 3 Solutions

Example Sheet 3 Solutions Example Sheet 3 Solutions. i Regular Sturm-Liouville. ii Singular Sturm-Liouville mixed boundary conditions. iii Not Sturm-Liouville ODE is not in Sturm-Liouville form. iv Regular Sturm-Liouville note

Διαβάστε περισσότερα

3.4 SUM AND DIFFERENCE FORMULAS. NOTE: cos(α+β) cos α + cos β cos(α-β) cos α -cos β

3.4 SUM AND DIFFERENCE FORMULAS. NOTE: cos(α+β) cos α + cos β cos(α-β) cos α -cos β 3.4 SUM AND DIFFERENCE FORMULAS Page Theorem cos(αβ cos α cos β -sin α cos(α-β cos α cos β sin α NOTE: cos(αβ cos α cos β cos(α-β cos α -cos β Proof of cos(α-β cos α cos β sin α Let s use a unit circle

Διαβάστε περισσότερα

Forced Pendulum Numerical approach

Forced Pendulum Numerical approach Numerical approach UiO April 8, 2014 Physical problem and equation We have a pendulum of length l, with mass m. The pendulum is subject to gravitation as well as both a forcing and linear resistance force.

Διαβάστε περισσότερα

SCHOOL OF MATHEMATICAL SCIENCES G11LMA Linear Mathematics Examination Solutions

SCHOOL OF MATHEMATICAL SCIENCES G11LMA Linear Mathematics Examination Solutions SCHOOL OF MATHEMATICAL SCIENCES GLMA Linear Mathematics 00- Examination Solutions. (a) i. ( + 5i)( i) = (6 + 5) + (5 )i = + i. Real part is, imaginary part is. (b) ii. + 5i i ( + 5i)( + i) = ( i)( + i)

Διαβάστε περισσότερα

6.3 Forecasting ARMA processes

6.3 Forecasting ARMA processes 122 CHAPTER 6. ARMA MODELS 6.3 Forecasting ARMA processes The purpose of forecasting is to predict future values of a TS based on the data collected to the present. In this section we will discuss a linear

Διαβάστε περισσότερα

Appendix to On the stability of a compressible axisymmetric rotating flow in a pipe. By Z. Rusak & J. H. Lee

Appendix to On the stability of a compressible axisymmetric rotating flow in a pipe. By Z. Rusak & J. H. Lee Appendi to On the stability of a compressible aisymmetric rotating flow in a pipe By Z. Rusak & J. H. Lee Journal of Fluid Mechanics, vol. 5 4, pp. 5 4 This material has not been copy-edited or typeset

Διαβάστε περισσότερα

Homework 3 Solutions

Homework 3 Solutions Homework 3 Solutions Igor Yanovsky (Math 151A TA) Problem 1: Compute the absolute error and relative error in approximations of p by p. (Use calculator!) a) p π, p 22/7; b) p π, p 3.141. Solution: For

Διαβάστε περισσότερα

Uniform Convergence of Fourier Series Michael Taylor

Uniform Convergence of Fourier Series Michael Taylor Uniform Convergence of Fourier Series Michael Taylor Given f L 1 T 1 ), we consider the partial sums of the Fourier series of f: N 1) S N fθ) = ˆfk)e ikθ. k= N A calculation gives the Dirichlet formula

Διαβάστε περισσότερα

Written Examination. Antennas and Propagation (AA ) April 26, 2017.

Written Examination. Antennas and Propagation (AA ) April 26, 2017. Written Examination Antennas and Propagation (AA. 6-7) April 6, 7. Problem ( points) Let us consider a wire antenna as in Fig. characterized by a z-oriented linear filamentary current I(z) = I cos(kz)ẑ

Διαβάστε περισσότερα

Jesse Maassen and Mark Lundstrom Purdue University November 25, 2013

Jesse Maassen and Mark Lundstrom Purdue University November 25, 2013 Notes on Average Scattering imes and Hall Factors Jesse Maassen and Mar Lundstrom Purdue University November 5, 13 I. Introduction 1 II. Solution of the BE 1 III. Exercises: Woring out average scattering

Διαβάστε περισσότερα

forms This gives Remark 1. How to remember the above formulas: Substituting these into the equation we obtain with

forms This gives Remark 1. How to remember the above formulas: Substituting these into the equation we obtain with Week 03: C lassification of S econd- Order L inear Equations In last week s lectures we have illustrated how to obtain the general solutions of first order PDEs using the method of characteristics. We

Διαβάστε περισσότερα

6.1. Dirac Equation. Hamiltonian. Dirac Eq.

6.1. Dirac Equation. Hamiltonian. Dirac Eq. 6.1. Dirac Equation Ref: M.Kaku, Quantum Field Theory, Oxford Univ Press (1993) η μν = η μν = diag(1, -1, -1, -1) p 0 = p 0 p = p i = -p i p μ p μ = p 0 p 0 + p i p i = E c 2 - p 2 = (m c) 2 H = c p 2

Διαβάστε περισσότερα

Concrete Mathematics Exercises from 30 September 2016

Concrete Mathematics Exercises from 30 September 2016 Concrete Mathematics Exercises from 30 September 2016 Silvio Capobianco Exercise 1.7 Let H(n) = J(n + 1) J(n). Equation (1.8) tells us that H(2n) = 2, and H(2n+1) = J(2n+2) J(2n+1) = (2J(n+1) 1) (2J(n)+1)

Διαβάστε περισσότερα

g-selberg integrals MV Conjecture An A 2 Selberg integral Summary Long Live the King Ole Warnaar Department of Mathematics Long Live the King

g-selberg integrals MV Conjecture An A 2 Selberg integral Summary Long Live the King Ole Warnaar Department of Mathematics Long Live the King Ole Warnaar Department of Mathematics g-selberg integrals The Selberg integral corresponds to the following k-dimensional generalisation of the beta integral: D Here and k t α 1 i (1 t i ) β 1 1 i

Διαβάστε περισσότερα

ANSWERSHEET (TOPIC = DIFFERENTIAL CALCULUS) COLLECTION #2. h 0 h h 0 h h 0 ( ) g k = g 0 + g 1 + g g 2009 =?

ANSWERSHEET (TOPIC = DIFFERENTIAL CALCULUS) COLLECTION #2. h 0 h h 0 h h 0 ( ) g k = g 0 + g 1 + g g 2009 =? Teko Classes IITJEE/AIEEE Maths by SUHAAG SIR, Bhopal, Ph (0755) 3 00 000 www.tekoclasses.com ANSWERSHEET (TOPIC DIFFERENTIAL CALCULUS) COLLECTION # Question Type A.Single Correct Type Q. (A) Sol least

Διαβάστε περισσότερα

k A = [k, k]( )[a 1, a 2 ] = [ka 1,ka 2 ] 4For the division of two intervals of confidence in R +

k A = [k, k]( )[a 1, a 2 ] = [ka 1,ka 2 ] 4For the division of two intervals of confidence in R + Chapter 3. Fuzzy Arithmetic 3- Fuzzy arithmetic: ~Addition(+) and subtraction (-): Let A = [a and B = [b, b in R If x [a and y [b, b than x+y [a +b +b Symbolically,we write A(+)B = [a (+)[b, b = [a +b

Διαβάστε περισσότερα

CHAPTER 25 SOLVING EQUATIONS BY ITERATIVE METHODS

CHAPTER 25 SOLVING EQUATIONS BY ITERATIVE METHODS CHAPTER 5 SOLVING EQUATIONS BY ITERATIVE METHODS EXERCISE 104 Page 8 1. Find the positive root of the equation x + 3x 5 = 0, correct to 3 significant figures, using the method of bisection. Let f(x) =

Διαβάστε περισσότερα

Exercises 10. Find a fundamental matrix of the given system of equations. Also find the fundamental matrix Φ(t) satisfying Φ(0) = I. 1.

Exercises 10. Find a fundamental matrix of the given system of equations. Also find the fundamental matrix Φ(t) satisfying Φ(0) = I. 1. Exercises 0 More exercises are available in Elementary Differential Equations. If you have a problem to solve any of them, feel free to come to office hour. Problem Find a fundamental matrix of the given

Διαβάστε περισσότερα

Figure A.2: MPC and MPCP Age Profiles (estimating ρ, ρ = 2, φ = 0.03)..

Figure A.2: MPC and MPCP Age Profiles (estimating ρ, ρ = 2, φ = 0.03).. Supplemental Material (not for publication) Persistent vs. Permanent Income Shocks in the Buffer-Stock Model Jeppe Druedahl Thomas H. Jørgensen May, A Additional Figures and Tables Figure A.: Wealth and

Διαβάστε περισσότερα

SCITECH Volume 13, Issue 2 RESEARCH ORGANISATION Published online: March 29, 2018

SCITECH Volume 13, Issue 2 RESEARCH ORGANISATION Published online: March 29, 2018 Journal of rogressive Research in Mathematics(JRM) ISSN: 2395-028 SCITECH Volume 3, Issue 2 RESEARCH ORGANISATION ublished online: March 29, 208 Journal of rogressive Research in Mathematics www.scitecresearch.com/journals

Διαβάστε περισσότερα

Lecture 2: Dirac notation and a review of linear algebra Read Sakurai chapter 1, Baym chatper 3

Lecture 2: Dirac notation and a review of linear algebra Read Sakurai chapter 1, Baym chatper 3 Lecture 2: Dirac notation and a review of linear algebra Read Sakurai chapter 1, Baym chatper 3 1 State vector space and the dual space Space of wavefunctions The space of wavefunctions is the set of all

Διαβάστε περισσότερα

The Simply Typed Lambda Calculus

The Simply Typed Lambda Calculus Type Inference Instead of writing type annotations, can we use an algorithm to infer what the type annotations should be? That depends on the type system. For simple type systems the answer is yes, and

Διαβάστε περισσότερα

Testing for Indeterminacy: An Application to U.S. Monetary Policy. Technical Appendix

Testing for Indeterminacy: An Application to U.S. Monetary Policy. Technical Appendix Testing for Indeterminacy: An Application to U.S. Monetary Policy Technical Appendix Thomas A. Lubik Department of Economics Johns Hopkins University Frank Schorfheide Department of Economics University

Διαβάστε περισσότερα

Nowhere-zero flows Let be a digraph, Abelian group. A Γ-circulation in is a mapping : such that, where, and : tail in X, head in

Nowhere-zero flows Let be a digraph, Abelian group. A Γ-circulation in is a mapping : such that, where, and : tail in X, head in Nowhere-zero flows Let be a digraph, Abelian group. A Γ-circulation in is a mapping : such that, where, and : tail in X, head in : tail in X, head in A nowhere-zero Γ-flow is a Γ-circulation such that

Διαβάστε περισσότερα

ΚΥΠΡΙΑΚΗ ΕΤΑΙΡΕΙΑ ΠΛΗΡΟΦΟΡΙΚΗΣ CYPRUS COMPUTER SOCIETY ΠΑΓΚΥΠΡΙΟΣ ΜΑΘΗΤΙΚΟΣ ΔΙΑΓΩΝΙΣΜΟΣ ΠΛΗΡΟΦΟΡΙΚΗΣ 19/5/2007

ΚΥΠΡΙΑΚΗ ΕΤΑΙΡΕΙΑ ΠΛΗΡΟΦΟΡΙΚΗΣ CYPRUS COMPUTER SOCIETY ΠΑΓΚΥΠΡΙΟΣ ΜΑΘΗΤΙΚΟΣ ΔΙΑΓΩΝΙΣΜΟΣ ΠΛΗΡΟΦΟΡΙΚΗΣ 19/5/2007 Οδηγίες: Να απαντηθούν όλες οι ερωτήσεις. Αν κάπου κάνετε κάποιες υποθέσεις να αναφερθούν στη σχετική ερώτηση. Όλα τα αρχεία που αναφέρονται στα προβλήματα βρίσκονται στον ίδιο φάκελο με το εκτελέσιμο

Διαβάστε περισσότερα

HOMEWORK 4 = G. In order to plot the stress versus the stretch we define a normalized stretch:

HOMEWORK 4 = G. In order to plot the stress versus the stretch we define a normalized stretch: HOMEWORK 4 Problem a For the fast loading case, we want to derive the relationship between P zz and λ z. We know that the nominal stress is expressed as: P zz = ψ λ z where λ z = λ λ z. Therefore, applying

Διαβάστε περισσότερα

Μονοβάθμια Συστήματα: Εξίσωση Κίνησης, Διατύπωση του Προβλήματος και Μέθοδοι Επίλυσης. Απόστολος Σ. Παπαγεωργίου

Μονοβάθμια Συστήματα: Εξίσωση Κίνησης, Διατύπωση του Προβλήματος και Μέθοδοι Επίλυσης. Απόστολος Σ. Παπαγεωργίου Μονοβάθμια Συστήματα: Εξίσωση Κίνησης, Διατύπωση του Προβλήματος και Μέθοδοι Επίλυσης VISCOUSLY DAMPED 1-DOF SYSTEM Μονοβάθμια Συστήματα με Ιξώδη Απόσβεση Equation of Motion (Εξίσωση Κίνησης): Complete

Διαβάστε περισσότερα

Reminders: linear functions

Reminders: linear functions Reminders: linear functions Let U and V be vector spaces over the same field F. Definition A function f : U V is linear if for every u 1, u 2 U, f (u 1 + u 2 ) = f (u 1 ) + f (u 2 ), and for every u U

Διαβάστε περισσότερα

Space-Time Symmetries

Space-Time Symmetries Chapter Space-Time Symmetries In classical fiel theory any continuous symmetry of the action generates a conserve current by Noether's proceure. If the Lagrangian is not invariant but only shifts by a

Διαβάστε περισσότερα

2 Composition. Invertible Mappings

2 Composition. Invertible Mappings Arkansas Tech University MATH 4033: Elementary Modern Algebra Dr. Marcel B. Finan Composition. Invertible Mappings In this section we discuss two procedures for creating new mappings from old ones, namely,

Διαβάστε περισσότερα

Higher Derivative Gravity Theories

Higher Derivative Gravity Theories Higher Derivative Gravity Theories Black Holes in AdS space-times James Mashiyane Supervisor: Prof Kevin Goldstein University of the Witwatersrand Second Mandelstam, 20 January 2018 James Mashiyane WITS)

Διαβάστε περισσότερα

Derivation of Optical-Bloch Equations

Derivation of Optical-Bloch Equations Appendix C Derivation of Optical-Bloch Equations In this appendix the optical-bloch equations that give the populations and coherences for an idealized three-level Λ system, Fig. 3. on page 47, will be

Διαβάστε περισσότερα

Lecture 26: Circular domains

Lecture 26: Circular domains Introductory lecture notes on Partial Differential Equations - c Anthony Peirce. Not to be copied, used, or revised without eplicit written permission from the copyright owner. 1 Lecture 6: Circular domains

Διαβάστε περισσότερα

Strain gauge and rosettes

Strain gauge and rosettes Strain gauge and rosettes Introduction A strain gauge is a device which is used to measure strain (deformation) on an object subjected to forces. Strain can be measured using various types of devices classified

Διαβάστε περισσότερα

University of Illinois at Urbana-Champaign ECE 310: Digital Signal Processing

University of Illinois at Urbana-Champaign ECE 310: Digital Signal Processing University of Illinois at Urbana-Champaign ECE : Digital Signal Processing Chandra Radhakrishnan PROBLEM SET : SOLUTIONS Peter Kairouz Problem Solution:. ( 5 ) + (5 6 ) + ( ) cos(5 ) + 5cos( 6 ) + cos(

Διαβάστε περισσότερα

1. (a) (5 points) Find the unit tangent and unit normal vectors T and N to the curve. r(t) = 3cost, 4t, 3sint

1. (a) (5 points) Find the unit tangent and unit normal vectors T and N to the curve. r(t) = 3cost, 4t, 3sint 1. a) 5 points) Find the unit tangent and unit normal vectors T and N to the curve at the point P, π, rt) cost, t, sint ). b) 5 points) Find curvature of the curve at the point P. Solution: a) r t) sint,,

Διαβάστε περισσότερα

Math 6 SL Probability Distributions Practice Test Mark Scheme

Math 6 SL Probability Distributions Practice Test Mark Scheme Math 6 SL Probability Distributions Practice Test Mark Scheme. (a) Note: Award A for vertical line to right of mean, A for shading to right of their vertical line. AA N (b) evidence of recognizing symmetry

Διαβάστε περισσότερα

Pg The perimeter is P = 3x The area of a triangle is. where b is the base, h is the height. In our case b = x, then the area is

Pg The perimeter is P = 3x The area of a triangle is. where b is the base, h is the height. In our case b = x, then the area is Pg. 9. The perimeter is P = The area of a triangle is A = bh where b is the base, h is the height 0 h= btan 60 = b = b In our case b =, then the area is A = = 0. By Pythagorean theorem a + a = d a a =

Διαβάστε περισσότερα

Probability and Random Processes (Part II)

Probability and Random Processes (Part II) Probability and Random Processes (Part II) 1. If the variance σ x of d(n) = x(n) x(n 1) is one-tenth the variance σ x of a stationary zero-mean discrete-time signal x(n), then the normalized autocorrelation

Διαβάστε περισσότερα

2. Μηχανικό Μαύρο Κουτί: κύλινδρος με μια μπάλα μέσα σε αυτόν.

2. Μηχανικό Μαύρο Κουτί: κύλινδρος με μια μπάλα μέσα σε αυτόν. Experiental Copetition: 14 July 011 Proble Page 1 of. Μηχανικό Μαύρο Κουτί: κύλινδρος με μια μπάλα μέσα σε αυτόν. Ένα μικρό σωματίδιο μάζας (μπάλα) βρίσκεται σε σταθερή απόσταση z από το πάνω μέρος ενός

Διαβάστε περισσότερα

Aquinas College. Edexcel Mathematical formulae and statistics tables DO NOT WRITE ON THIS BOOKLET

Aquinas College. Edexcel Mathematical formulae and statistics tables DO NOT WRITE ON THIS BOOKLET Aquinas College Edexcel Mathematical formulae and statistics tables DO NOT WRITE ON THIS BOOKLET Pearson Edexcel Level 3 Advanced Subsidiary and Advanced GCE in Mathematics and Further Mathematics Mathematical

Διαβάστε περισσότερα

Space Physics (I) [AP-3044] Lecture 1 by Ling-Hsiao Lyu Oct Lecture 1. Dipole Magnetic Field and Equations of Magnetic Field Lines

Space Physics (I) [AP-3044] Lecture 1 by Ling-Hsiao Lyu Oct Lecture 1. Dipole Magnetic Field and Equations of Magnetic Field Lines Space Physics (I) [AP-344] Lectue by Ling-Hsiao Lyu Oct. 2 Lectue. Dipole Magnetic Field and Equations of Magnetic Field Lines.. Dipole Magnetic Field Since = we can define = A (.) whee A is called the

Διαβάστε περισσότερα

Integrals in cylindrical, spherical coordinates (Sect. 15.7)

Integrals in cylindrical, spherical coordinates (Sect. 15.7) Integrals in clindrical, spherical coordinates (Sect. 5.7 Integration in spherical coordinates. Review: Clindrical coordinates. Spherical coordinates in space. Triple integral in spherical coordinates.

Διαβάστε περισσότερα

PARTIAL NOTES for 6.1 Trigonometric Identities

PARTIAL NOTES for 6.1 Trigonometric Identities PARTIAL NOTES for 6.1 Trigonometric Identities tanθ = sinθ cosθ cotθ = cosθ sinθ BASIC IDENTITIES cscθ = 1 sinθ secθ = 1 cosθ cotθ = 1 tanθ PYTHAGOREAN IDENTITIES sin θ + cos θ =1 tan θ +1= sec θ 1 + cot

Διαβάστε περισσότερα

The kinetic and potential energies as T = 1 2. (m i η2 i k(η i+1 η i ) 2 ). (3) The Hooke s law F = Y ξ, (6) with a discrete analog

The kinetic and potential energies as T = 1 2. (m i η2 i k(η i+1 η i ) 2 ). (3) The Hooke s law F = Y ξ, (6) with a discrete analog Lecture 12: Introduction to Analytical Mechanics of Continuous Systems Lagrangian Density for Continuous Systems The kinetic and potential energies as T = 1 2 i η2 i (1 and V = 1 2 i+1 η i 2, i (2 where

Διαβάστε περισσότερα

b. Use the parametrization from (a) to compute the area of S a as S a ds. Be sure to substitute for ds!

b. Use the parametrization from (a) to compute the area of S a as S a ds. Be sure to substitute for ds! MTH U341 urface Integrals, tokes theorem, the divergence theorem To be turned in Wed., Dec. 1. 1. Let be the sphere of radius a, x 2 + y 2 + z 2 a 2. a. Use spherical coordinates (with ρ a) to parametrize.

Διαβάστε περισσότερα

Review Test 3. MULTIPLE CHOICE. Choose the one alternative that best completes the statement or answers the question.

Review Test 3. MULTIPLE CHOICE. Choose the one alternative that best completes the statement or answers the question. Review Test MULTIPLE CHOICE. Choose the one alternative that best completes the statement or answers the question. Find the exact value of the expression. 1) sin - 11π 1 1) + - + - - ) sin 11π 1 ) ( -

Διαβάστε περισσότερα

D Alembert s Solution to the Wave Equation

D Alembert s Solution to the Wave Equation D Alembert s Solution to the Wave Equation MATH 467 Partial Differential Equations J. Robert Buchanan Department of Mathematics Fall 2018 Objectives In this lesson we will learn: a change of variable technique

Διαβάστε περισσότερα

Other Test Constructions: Likelihood Ratio & Bayes Tests

Other Test Constructions: Likelihood Ratio & Bayes Tests Other Test Constructions: Likelihood Ratio & Bayes Tests Side-Note: So far we have seen a few approaches for creating tests such as Neyman-Pearson Lemma ( most powerful tests of H 0 : θ = θ 0 vs H 1 :

Διαβάστε περισσότερα

Parametrized Surfaces

Parametrized Surfaces Parametrized Surfaces Recall from our unit on vector-valued functions at the beginning of the semester that an R 3 -valued function c(t) in one parameter is a mapping of the form c : I R 3 where I is some

Διαβάστε περισσότερα

Statistical Inference I Locally most powerful tests

Statistical Inference I Locally most powerful tests Statistical Inference I Locally most powerful tests Shirsendu Mukherjee Department of Statistics, Asutosh College, Kolkata, India. shirsendu st@yahoo.co.in So far we have treated the testing of one-sided

Διαβάστε περισσότερα

Potential Dividers. 46 minutes. 46 marks. Page 1 of 11

Potential Dividers. 46 minutes. 46 marks. Page 1 of 11 Potential Dividers 46 minutes 46 marks Page 1 of 11 Q1. In the circuit shown in the figure below, the battery, of negligible internal resistance, has an emf of 30 V. The pd across the lamp is 6.0 V and

Διαβάστε περισσότερα

Module 5. February 14, h 0min

Module 5. February 14, h 0min Module 5 Stationary Time Series Models Part 2 AR and ARMA Models and Their Properties Class notes for Statistics 451: Applied Time Series Iowa State University Copyright 2015 W. Q. Meeker. February 14,

Διαβάστε περισσότερα

Math221: HW# 1 solutions

Math221: HW# 1 solutions Math: HW# solutions Andy Royston October, 5 7.5.7, 3 rd Ed. We have a n = b n = a = fxdx = xdx =, x cos nxdx = x sin nx n sin nxdx n = cos nx n = n n, x sin nxdx = x cos nx n + cos nxdx n cos n = + sin

Διαβάστε περισσότερα

If we restrict the domain of y = sin x to [ π, π ], the restrict function. y = sin x, π 2 x π 2

If we restrict the domain of y = sin x to [ π, π ], the restrict function. y = sin x, π 2 x π 2 Chapter 3. Analytic Trigonometry 3.1 The inverse sine, cosine, and tangent functions 1. Review: Inverse function (1) f 1 (f(x)) = x for every x in the domain of f and f(f 1 (x)) = x for every x in the

Διαβάστε περισσότερα

Notes on the Open Economy

Notes on the Open Economy Notes on the Open Econom Ben J. Heijdra Universit of Groningen April 24 Introduction In this note we stud the two-countr model of Table.4 in more detail. restated here for convenience. The model is Table.4.

Διαβάστε περισσότερα

( y) Partial Differential Equations

( y) Partial Differential Equations Partial Dierential Equations Linear P.D.Es. contains no owers roducts o the deendent variables / an o its derivatives can occasionall be solved. Consider eamle ( ) a (sometimes written as a ) we can integrate

Διαβάστε περισσότερα

If we restrict the domain of y = sin x to [ π 2, π 2

If we restrict the domain of y = sin x to [ π 2, π 2 Chapter 3. Analytic Trigonometry 3.1 The inverse sine, cosine, and tangent functions 1. Review: Inverse function (1) f 1 (f(x)) = x for every x in the domain of f and f(f 1 (x)) = x for every x in the

Διαβάστε περισσότερα

SOLVING CUBICS AND QUARTICS BY RADICALS

SOLVING CUBICS AND QUARTICS BY RADICALS SOLVING CUBICS AND QUARTICS BY RADICALS The purpose of this handout is to record the classical formulas expressing the roots of degree three and degree four polynomials in terms of radicals. We begin with

Διαβάστε περισσότερα

Spherical Coordinates

Spherical Coordinates Spherical Coordinates MATH 311, Calculus III J. Robert Buchanan Department of Mathematics Fall 2011 Spherical Coordinates Another means of locating points in three-dimensional space is known as the spherical

Διαβάστε περισσότερα

Study on Re-adhesion control by monitoring excessive angular momentum in electric railway traction

Study on Re-adhesion control by monitoring excessive angular momentum in electric railway traction () () Study on e-adhesion control by monitoring excessive angular momentum in electric railway traction Takafumi Hara, Student Member, Takafumi Koseki, Member, Yutaka Tsukinokizawa, Non-member Abstract

Διαβάστε περισσότερα

ECE Spring Prof. David R. Jackson ECE Dept. Notes 2

ECE Spring Prof. David R. Jackson ECE Dept. Notes 2 ECE 634 Spring 6 Prof. David R. Jackson ECE Dept. Notes Fields in a Source-Free Region Example: Radiation from an aperture y PEC E t x Aperture Assume the following choice of vector potentials: A F = =

Διαβάστε περισσότερα

Lifting Entry 2. Basic planar dynamics of motion, again Yet another equilibrium glide Hypersonic phugoid motion MARYLAND U N I V E R S I T Y O F

Lifting Entry 2. Basic planar dynamics of motion, again Yet another equilibrium glide Hypersonic phugoid motion MARYLAND U N I V E R S I T Y O F ifting Entry Basic planar dynamics of motion, again Yet another equilibrium glide Hypersonic phugoid motion MARYAN 1 010 avid. Akin - All rights reserved http://spacecraft.ssl.umd.edu ifting Atmospheric

Διαβάστε περισσότερα

ECE 308 SIGNALS AND SYSTEMS FALL 2017 Answers to selected problems on prior years examinations

ECE 308 SIGNALS AND SYSTEMS FALL 2017 Answers to selected problems on prior years examinations ECE 308 SIGNALS AND SYSTEMS FALL 07 Answers to selected problems on prior years examinations Answers to problems on Midterm Examination #, Spring 009. x(t) = r(t + ) r(t ) u(t ) r(t ) + r(t 3) + u(t +

Διαβάστε περισσότερα