Industrial Control

Systems
 IE 474 : Industrial Control Systems

Lecture 1 Math Review

ABET SO [a] - PI1 : An ability to identify the required mathematics

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 Some Math Review
• Complex numbers
• Linear, time-invariant differential equations
• Time-domain v.s. frequency domain

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Imaginary Unit
• Until now, you have always been told that you can’t take the square
root of a negative number. If you use imaginary units, you can!
• The imaginary unit is ¡.
• ¡=  1
• It is used to write the square root of a negative number.

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Property of the square root of negative
numbers
• If r is a positive real number, then

r i r
Examples:

3  i 3 4  i 4  2i

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If i  - 1, then
i i
5 *For larger exponents, divide
the exponent by 4, then use
i  1
2 the remainder as your
exponent instead.
i  1
6
i  i
3

i  i
7 Example:
i ?
23

i 1
4
23
 5 with a remainder of 3
i 1
8 4
So, use i which  -i
3

etc. i  i
23

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Examples
1. (i 3 ) 2
2. Solve 3x  10  26
2

 i 2 ( 3)2 3x  36
2

 1( 3 * 3 ) x  12
2

 1(3) x   12
2

 3 x  i 12
x  2i 3

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 Another Example

• Solve: x2 + 54 = 0
x 2  54  0
x 2  54
x   54
x  i 54  i 9  6
x  3i 6

• The solution set is 3i 6.

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Complex Numbers
• A complex number has a real part & an imaginary part.
• Standard form is:

a  bi
Real part Imaginary part
Example: 5+4i
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The Complex plane

Real Axis

Imaginary Axis
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Graphing in the complex plane
 2  5i
.
2  2i
.
4  3i
. .
 4  3i

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 Equality
z1  z2 if x1  x2 and y1  y2
A complex number is defined as
Sum
i  1
2
z1  z2  (x1  x2 )  i.(y1  y2 )
What is i3, i4, i5 and i6?
Subtraction
i3  i z1  z2  (x1  x2 )  i.(y1  y2 )
i4  1
Multiplication
i5  i
z1 .z2  (x1.x2  y1.y2 )  i.(y1.x2  x1.y2 )
i6  1
Conjugate
z.z  (x  i.y).(x  i.y)  x2  y2
z  x  i.y Division
z1 z1 .z2 z1 .z2
  2 2
Real part Imaginary part z2 z2 .z2 x 2  y2

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Adding and Subtracting
(add or subtract the real parts, then add or subtract the imaginary parts)

Ex: (1  2i)  (3  3i)

Ex: 2i  (3  i)  (2  3i)
 (1  3)  (2i  3i)  (3  2)  (2i  i  3i)
 2  5i
 1 2i

Ex: (2  3i)  (3  7i)

 (2  3)  (3i  7i)
 1 4i

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Multiplying
Treat the i’s like variables, then change any
that are not to the first power

Ex:  i(3  i)
 3i  i 2

 3i  (1) Ex: (2  3i)(6  2i)

 1 3i  12  4i 18i  6i 2
 12  22i  6(1)
 12  22i  6
 6  22i

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 3  11i  1  2i
Ex : *
 1  2i  1  2i  25  5i

5
(3  11i )(1  2i )  25 5i

(1  2i )(1  2i )  
5 5
 3  6i  11i  22i 2

1  2i  2i  4i 2
 5  i
 3  5i  22(1)

1  4(1)

 3  5i  22

1 4
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Property of Complex Conjugates
For real numbers a and b, • Example
(a + bi)(a  bi) = a2 + b2. 5  3i
2i
(5  3i )(2  i )

(2  i )(2  i )
The product of a complex 10  5i  6i  3i 2
number and its conjugate is 
4  i2
always a real number. 7  11i

5
7 11i
 
5 5

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Absolute Value of a Complex Number
• The distance the complex number is from the origin on the complex
plane.
• If you have a complex number
the absolute value can be found using: (a  bi )

a b
2 2

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Examples
1.  2  5i 2.  6i
 (2) 2  (5) 2  (0) 2  (6) 2

 4  25  0  36
 29  36
6
Which of these 2 complex numbers is closest to
the origin?
-2+5i
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•
x  r cos
y  r sin 

r  x2  y2
y
tan   , if x  0
x

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Example
• Express 2(cos 120 + i sin 120) in rectangular form.
1  1 3
cos120   2(cos120  i sin120 )  2   , i 
• 2  2 2 
3  1  i 3
sin120 
2

• Notice that the real part is negative and the imaginary part is positive, this
is consistent with 120 degrees being a quadrant II angle.

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21
Product Theorem

𝑟1 (cos 𝜃1 + 𝑖𝑠𝑖𝑛𝜃1 ) and 𝑟2 (cos 𝜃2 + 𝑖𝑠𝑖𝑛𝜃2 )

 r1  cos1  i sin 1    r2  cos 2  i sin  2 

 r1r2 cos 1   2   i sin 1   2  .
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De Moivre’s Theorem
• Let 𝑟(cos 𝜃 + 𝑖 𝑠𝑖𝑛𝜃) be a complex number. If
n is any real number, then

𝑛 𝑛
𝑟(cos 𝜃 + 𝑖 sin𝜃) = 𝑟 cos(𝑛𝜃) + 𝑖 sin(𝑛𝜃)

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 EXPONENTIAL FORM

We can write any complex number in this form rei

As before, r is the modulus and θ is the argument.

Examples: Do you see how easy it

is to calculate powers?

1  3i 
i 2 10
i e Find
 i 2
2i  2e
6 6e i 0
 i 3
1  3i  2e
1 i 23
e
1024 24
Introduction to Differential
Equations

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Differential equations
Definition:

A differential equation is an equation containing

derivatives of a dependent variable with respect
to one or more or independent variables.

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Ordinary differential equations
Definition:
Ordinary differential equation
A differential equation containing a single independent variable.

dy
Examples:. 1.  2x  3
dx
d2y dy
2. 2
 3  ay  0
dx dx
4
d 3 y  dy 
3.     6y  3
 dx 
3
dx

y is dependent variable and x is independent variable,

and these are ordinary differential equations

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Partial Differential Equation
Definition:
A partial differential equation containing two or more independent variables.

Examples:  2u  2u
1.  2 0
x 2
y
u is dependent variable and x and y are independent variables,
and is partial differential equation.

 4u  4u
2.  4 0
x 4
t
 2 u  2 u u
3.  2 
x 2
t t

u is dependent variable and x and t are independent variables 28

Order of Differential Equation
The order of the differential equation is order of
the highest derivative in the differential equation.

dy
 2x  3 1
dx
d2y dy
2
 3  9y  0 2
dx dx
4
d y  dy 
3 3
    6y  3
 dx 
3
dx

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Degree of Differential Equation
The degree of a differential equation is power of the highest
order derivative term in the differential equation.

Differential Equation Degree

d2y dy
2
 3  ay  0 1
dx dx
4
d 3 y  dy 
    6y  3 1
 dx 
3
dx

3
 d 2 y   dy 
5

 2      3  0 3
 dx   dx 
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Linear Differential Equation
A differential equation is linear, if
1. dependent variable and its derivatives are of degree one,
2. coefficients of a term does not depend upon dependent
variable.

Example: d2y dy
1. 2
 3  9 y  0.
dx dx
is linear.

Example: 2. 4
d 3 y  dy 
    6y  3
 dx 
3
dx
is non - linear because in 2nd term is not of degree one.

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 Example: 3.
d2y dy
x2
 y  x 3

dx 2 dx
is non - linear because in 2nd term coefficient depends on y.

dy
Example: 4.  sin y
dx
y3
is non - linear because sin y  y   is non – linear
3!

ABET SO [a] - PI1 : An ability to identify the required mathematics

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nth – order linear differential equation
n’th – order linear differential equation with constant coefficients.

dny d n 1 y d2y
 a0 y  g x 
dy
a n n  a n1 n 1  ....  a 2 2  a1
dx dx dx dx

n’th – order linear differential equation with variable coefficients

d n1 y d2y
a n x   a n1 x       a0 x  y  g x 
dy dy
n
 ......  a 2 x 2
 a1 x
dx dx dx dx

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