Mathematics For Mechanical Engineers

Calculus of Complex Functions

Jyothsna K Moorthy
Department of Mechanical Engineering
1
MATHEMATICS FOR MECHANICAL ENGINEERS
Syllabus

2
MATHEMATICS FOR MECHANICAL ENGINEERS
Syllabus

3
MATHEMATICS FOR MECHANICAL ENGINEERS
Syllabus

4
 MATHEMATICS FOR MECHANICAL ENGINEERS
Complex numbers- Review

• A Complex number z is an ordered pair of real numbers x and y written as : z=(x,y)

• z=x+iy where i=sqrt(-1)
• x=Re z; y=Im z
• Two complex numbers are equal iff their real parts are equal and their imaginary parts are equal.
• z1+z2=(x1,y1)+(x2,y2) = (x1+x2, y1+y2)= (x1+x2)+i( y1+y2)
• z1z2=(x1,y1)(x2,y2) = (x1x2 -y1y2, x1y2+x2y1)
=(x1+iy1)(x2+iy2) = (x1x2 -y1y2)+i( x1y2+x2y1)
• Complex conjugate of a complex number is the number with an equal real part and an imaginary part equal in magnitude
but opposite in sign. The complex conjugate of z  x  iy is z  x  iy
z  z  2 x; z  z  2iy;
z1 x1  iy1 ( x1  iy1 ) ( x2  iy2 )
 
• z 2 x2  iy2 ( x2  iy2 ) ( x2  iy2 )
x1 x2  y1 y2 x2 y1  x1 y2
  i
x22  y22 x22  y22 5
 MATHEMATICS FOR MECHANICAL ENGINEERS
Complex numbers- Review

• The xy-plane in which the x-axis is the real axis and y-axis is the imaginary axis is called the complex plane.

• In the polar form the complex number takes the form z  x  iy  r cos  i sin  ; r  x 2
 y2 
r is the modulus and θ is the argument

6
MATHEMATICS FOR MECHANICAL ENGINEERS
Complex Numbers- Review

z1 z 2  r1ei1 r2 ei 2  r1r2 ei 1  2 

 r1r2 cos1   2   i sin1   2 
z1 r1
 cos1   2   i sin1   2 
z2 r2

Euler’s formula: De Moivre’s formula:

x x 2 x3
e  1     ...
x

1! 2! 3!
 
z n  r n ei
n
 r n ei n 

i i i  i 
2 3  r n cosn   i sinn 
e  1    ...
1! 2! 3!
 2 4 6 8   3 5 7 9 
 1       i     
 2! 4! 6! 8!   3! 5! 7! 9! 
 cos  i sin 
7
MATHEMATICS FOR MECHANICAL ENGINEERS
Complex Numbers- Review

Roots:
• If z=wn where n=1,2,3…. then to each value of w there exists one value of z.
• Conversely, for every z≠0, there exists precisely n distinct values of w each of which is called a root.
z  wn
 r cos  i sin    R n cos nφ  i sin n 
 R  n r and
  2k
nφ    2k  φ  where k  0,1,...n  1
n

• If z=1, z  r  1; Arg z    0
2k
φ where k  0,1,...n  1
n
2k 2k These n values are called the nth roots of unity
n
1  cos  i sin
n n
8
MATHEMATICS FOR MECHANICAL ENGINEERS
Complex Numbers- Review

y
Unit circle: z 1

1 x

y General circle of radius ρ and center a : za  

ρ It is the set of all z whose distance from the center a is ρ.
a Open circular disk: za  
(Neighborhood)
x
Closed circular disk: za  

Exterior: za  
9
 MATHEMATICS FOR MECHANICAL ENGINEERS
Complex Numbers- Review

y • Upper half-plane: set of all points z=x+iy such that y>0

ρ2 • Right half-plane: set of all points z=x+iy such that x>0
ρ1 • Point set : Any collection of finitely many or infinitely many points. E.g. solution
a of a quadratic equation, points in the interior of a circle.
x • Open set S : Every point of S has a neighborhood consisting entirely of points
that belong to S. E.g. points in the interior of a square, points on the right half
plane. Re z =x>0
Open annulus: 1  z  a   2 • Connected set S or Domain : If any two points of a open set can be joined by a
broken line of finitely many straight-line segments all of whose points belong to S.
E.g. Open disk, open annulus .
Closed annulus: 1  z  a   2 • Complement of S : Is the set of all the points of the complex plane that do not
belong to S. A set S is closed if its complement is open. E.g. closed unit disk.
• Boundary point of S : A point every neighborhood of which contains points that
belong to S and points that don’t belong to S. E.g. points on the 2 bounding circles
of an annulus.
• Region : A set consisting of domain + some or all of boundary points.
10
MATHEMATICS FOR MECHANICAL ENGINEERS
Complex Function

Real function f defined on a set S of real numbers: is a rule that assigns to every x in S is a real number
f(x) called the value of f at x.

Complex function f defined on a set of complex numbers: is a rule that assigns to every z in S is a complex
number w = f(z) called the value of f at z. S is called the domain.

w=f(z)=z2+3z ; w is called the Range of f.

w= f(z)=u(x,y)+i v(x,y) ; u(x,y) and v(x,y) are real functions.

11
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Limit

A function f(z) is said to have the limit l as z approaches a point zo written as

lim f ( z )  l
z  zo
if f is defined in a neighborhood of zo except perhaps at zo itself and if the values of f are
close to l for all z close to zo .
v
y ꓯpositive real Є, we can find a positive real δ such that ꓯz ≠ zo
z in the disc |z-zo|< δ, we have |f(z)-l|< Є
δ f(z)
zo
Є ll i.e. ꓯz ≠ zo in the δ- disc, f lies in Є- disc
x
u

• In the real case, x can approach xo only along the real line.
• In the complex case, z may approach zo from any direction in the complex plane.
12
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Continuity, Derivative

A function f(z) is said to be continuous at z=zo if f(zo) is defined and lim f ( z )  f ( z )

z  zo
o

f(z) is continuous in a domain if it is continuous at each point of this domain.

The derivative of a complex function f at a point zo is written as f’(zo). If the limit exists, the derivative is defined as
Note:
f ( zo  z )  f ( zo )
f ( zo )  lim • z can approach zo from any direction in the complex plane.
z  z o z
• Differentiability at zo implies that irrespective of the path taken, f’(z)
always approaches the same value.
where z  z  zo  z  zo  z
• The rules of complex differentiation are the same as in real calculus
f ( z )  f ( zo )
f ( zo )  lim 
z  z o z  zo  f 
(cf )  cf  ; ( f  g )  f   g  ; ( fg )  f g  fg  ;   
f g  fg 
g g2
And f is said to be differentiable at z=zo. d
 f z n  n f z n1 df ; d z n  nz n 1 ; dw  dw d
dz dz dz dz d dz
13
MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Analytic functions

• f(z) is analytic in a domain D if f(z) is defined and differentiable at all points in D.

• f(z) is analytic at a point z=zo in D if f(z) is analytic in the neighborhood of zo.
• An analytic function is analytic in some domain.
• Cauchy- Riemann equations are used to determine whether a complex function is analytic or not

14
MATHEMATICS FOR MECHANICAL ENGINEERS
Complex Function – Function as a Mapping

• A function w=f(z)w=f(z) will also be called a mapping of z to w.

• z↦w or z↦f(z) is read as “z maps to w” or “w is the image of z“.

Thanks to: https://math.libretexts.org/ 15

MATHEMATICS FOR MECHANICAL ENGINEERS
Complex Function – Function as a Mapping

Thanks to: https://math.libretexts.org/ 16

MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Cauchy-Riemann Equations: Cartesian coordinates

Theorem: If f(z)=w=u+iv is differentiable at z, then at this point the first order partial
derivatives of u and v exist and satisfy the Cauchy-Riemann equations u  v and u   v ...(1)
x y y x

Given: f is differentiable. Therefore f’ exists

f ( z  z )  f ( z )
f ( z )  lim ...(2)
z 0 z
where z  x  iy
Since (2) exists, the value of the limit along any 2 paths must be equal.
y

2
1
z 17
x
MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Cauchy-Riemann Equations contd…

Consider Path 1.

y  0 and x  0 y


f ( z )  lim
u ( x  x, y  y )  iv( x  x, y  y )  u ( x, y )  iv( x, y )
x  iy 2
y 0 1
x 0

y  0  f ( z )  lim
u ( x  x, y)  iv( x  x, y)  u( x, y)  iv( x, y) z
x 0 x

 lim
u( x  x, y)  u( x, y)  iv( x  x, y)  v( x, y)
x 0 x
 u x  ivx ...(3)

This is same as differntiating f w.r.t x

18
MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Cauchy-Riemann Equations contd…

Consider Path 2.
y  0 and x  0

f ( z )  lim
u ( x  x, y  y)  iv( x  x, y  y)  u ( x, y)  iv( x, y) y

y 0 x  iy
x 0 2

x  0  f ( z )  lim
u ( x, y  y)  iv( x, y  y)  u ( x, y)  iv( x, y) 1

y 0 iy z

 lim
u ( x, y  y)  u ( x, y)  iv( x, y  y)  v( x, y)
y 0 iy
 iu y  v y ...(4)
This is same as differntiating f w.r.t x
Equating (3) and (4) u x  ivx  v y  iu y
 u x  vy
u y  v x 19
MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Cauchy-Riemann : Polar coordinates
u v
f ( z )  u  iv
'
 
i
f re ire  i


i

where z  x  iy  u v 
 r cos  ir sin 
'
 
i
 f re  i
1
 i 
ire    
 rei i  u v 
 i  i 
 f ( z )  f (rei )  u  iv re    
1  v u 
 i  i  ...(2)
re    
Differentiating partially w.r.t r and θ
u v
f re  e
' i i
 i Equating (1) and (2)
r r
1  u v  1  u v  1  v u 
 f re'
  i
 i   i 
e  r r 
...(1)
e i
  i   i
 r r  re

 
i 
 
20
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Cauchy-Riemann : Polar coordinates

Equating (1) and (2) Corollary : A proposition that follows from one already proved

1 u v  1  1 v 1 u 
  i   i  i  Corollary 1: If f is analytic in domain D, then u and v satisfy
ei
 r r  e  r  r   the C-R condition at all points in D
u 1 v v 1 u
  and  Corollary 2: Derivative f’ can be found by either (1) or (2)
r r  r r 
Corollary 3: C-R conditions are necessary but not sufficient.
 f ' e  i
ur  ivr  ...(1) The sufficient condition is that the partial derivatives of
1
f '  e i  u  iv 
u(x,y) and v(x,y) are continuous.
...(2)
r
Analycity= C-R conditions + continuous partial derivatives.

21
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Properties of analytic functions

• If f(z) and g(z) are analytic then f+g,f-g, fg, f/g (if g ≠0) are analytic
• Analytic function of an analytic function is analytic
• Derivative of an analytic function Is analytic
• If f=u+iv is analytic, then the family of curves u(x,y)=c1 and v(x,y)=c2 are mutually orthogonal.

consider u ( x, y )  c1  u x  vx
consider v( x, y )  c2 Product of slopes  
uy vy
u u dy v v dy
du   0 dv   0 From C - R conditions
x y dx x y dx
dy  u x dy  v x u x  v y ; u y  v x
 slope1    slope2  
dx u y dx vy  Product of slopes  -1

22
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Harmonic functions

A function A(x,y) is said to be Harmonic if it satisfies the Laplace equation 2 A  0

Theorem: The real and imaginary parts of an analytic function are harmonic.

Let f ( z )  u ( x, y )  iv( x, y ) be analytic

 u x  v y and u y  vx

Differenting u w.r.t x and y Differenting v w.r.t x and y

u xx  v yx vxx  u yx
u yy  v xy v yy  u xy
Adding,  2u  u xx  u yy Adding,  2 v  vxx  v yy
 v yx  v xy  0  u yx  u xy  0
23
u is a harmonic function v is a harmonic function
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Laplace operator

Complex form of Laplace’s equation is  2u

0
z 2

2 2 2
Laplacian operator is  4
x 2 y 2 zz

Conjugate harmonic of u is v and vice versa.

Note : Conjugate of z is z  x  iy

24
MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Milne Thompson Method

1. If u is given take f’=ux-iuy

2. If v is given take f’=vy+ivx
3. Replace x by z and y by 0 in f’
4. Integrate f’ w.r.t z

25
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Elementary functions

Exponential function: Trigonometric functions:

ez = ex+iy = ex (cosy+isiny) sin( z )   sin z  odd function
cos z 
2

1 iz iz
e e 
• C-R condition is satisfied for all z cos z and sec z are even functions
sin z 
2i

1 iz iz
e e 
• f’=ez
cos(z  2 )  cos z
• tanz, secz, cotz are analytic
• Has no zeros i.e. ez≠0 cosz and sinz are periodic in 2
everywhere except when
• e2nπi =1 tanz and cotz are periodic in 
denominator is 0
• ez+2nπi = ez-2nπi = ez d
sin z    cos z cos z  cosh y cos x  i sinh y sin x
dz
sin z  cosh y sin x  i sinh y cos x
d
cos z   sin z
dz cos2 z  sin2 z  1
d
tan z   sec2 z 26
dz
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Elementary functions

sin z  0  z  2n
1
cos z  0  z   2n  1
2

cos(z1  z 2 )  cosz1  cosz2   sinz1 sinz2 

sin( z1  z 2 )  sinz1  cosz2   cosz1 sinz2 

cosiz  
2
 e e  
1 i iz  i iz  1  z
 e  ez
2i

 cosh z
siniz   i sinh z
tan iz   i tanh z

27
 MATHEMATICS FOR MECHANICAL ENGINEERS
Calculus of Complex functions- Elementary functions

Hyperbolic functions: cosh iz 

2

1 iz iz

e  e  cos z
cosh z  
1 z
e  ez  Zeros of sinhz are  ni
2
1
 
sinh iz  eiz  e iz  i sin z
2  1
sinh z 
2i

1 z z
e e  tanh iz  tan z Zeros of coshz are   n  i
 2
Coshz is even; sinhz is odd cosh(z1  z2 )  cosh z1 cosh z 2  sinh z1 sinh z2
d
sinh z    cosh z sinh( z1  z2 )  sinh z1 cosh z2  cosh z1 sinh z2
dz cosh2 z  sinh 2 z  1
d
cosh z   sinh z 1  tanh 2 z  sec h 2 z
dz
d
tanh z   sec h 2 z cos iz  cosh z
dz sin iz  i sinh z
• sinhz and coshz are periodic tan iz  i tanh z
in 2πi i.e. sinh(z+ 2πi) =sinhz 28