PSG COLLEGE OF TECHNOLOGY

DEPARTMENT OF MATHEMATICS

APPLICATION OF EIGEN VALUES

AND EIGEN VECTORS IN CLASSICAL
DYNAMICS PROBLEM
ASSIGNMENT PRESENTATION
15OH01 ADVANCED LINEAR ALGEBRA
17M107 ASHVIN KARTHICK S

17M141 SAKTHI BALAN R S

17M150 SURIYA NARAYANAN D

PRESENTED ON
11TH OCTOBER,2019
 Eigen vector: Introduction
• Eigen means ‘specific’ in German.
• An eigenvector is a vector whose direction remains unchanged
when a linear transformation is applied to it. Consider the following
transformation matrix,
2 0
𝐴=
0 0.5

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Eigen vector: Introduction (contd.)
• The transformation in this case is a simple scaling with factor 2 in
the horizontal direction and factor 0.5 in the vertical direction.
• In general, the eigen vector V of a matrix A is vector for which the
following holds:
𝑨𝑽 = 𝜆𝑽
where 𝜆 is a scalar called Eigen value and
the vector V is called Eigen vector.

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and Eigen Vectors in Classical Dynamics
 Mathematical Procedure (1/8)
• An approximate solution for the vector x in the nth order
linear algebraic system 𝐴𝒙 = 𝒃 to an input vector b is
developed using following steps
1. Eigenspace expansion approach
2. Applying the power method to determine the
dominant eigenvector and dominant eigenvalue
of matrices associated with the system matrix A.

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 Mathematical Procedure (2/8)
• For the problem of finding the input b required to
provide a particular desired output x, a reasonable
approximate solution due to dominance in b generally
coming from the largest eigenvalue of A.
• For the problem proposed in this presentation for
finding output x for a specified input b, it generally is the
smallest eigenvalue of A that dominates in x.

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 Mathematical Procedure (3/8)
• Step 1: Transformation of Ax=b into a system where
application of this procedure leads directly to an
approximate solution related to the smallest
eigenvector/eigenvalue of A.
• Step 2: Developing a positive definite symmetrical matrix
E from matrix A.
• Positive definite matrix E to the system Ax=b, where A is
invertible, is given by x=ATz
𝑨𝑨𝑇 𝒛 = 𝒃 ...eqn 1

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 Mathematical Procedure (4/8)
• Step 3: Defining the resulting symmetrical positive
T
definite matrix E=AA
• Step 4: Calculating the smallest eigenvector/eigenvalue
of E
𝑨𝑨𝑇 𝒛 = 𝒃 ...eqn 1

𝑿𝑎 = 𝑨𝑇 𝒛𝑎 …eqn 2

𝑬𝒛 = 𝒃 …eqn 3

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 Mathematical Procedure (5/8)
• Let E have real positive eigenvalues λEn and orthonormal
eigenvectors vEn .
• Step 5: Expanding z in the eigenspace of E with the real
scalar set of coefficients cn gives
𝑁

𝒛 = ෍ 𝑐𝑛 𝑽𝑬𝑛 …eqn 4
𝑛=1

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 Mathematical Procedure (6/8)
• Substituting into eqn. (3) gives

𝑵 𝑵
...eqn 5
𝑬 ෍ 𝐶𝑛 𝑽𝐄𝒏 = ෍ 𝐶𝑛 𝑬𝒗𝑬𝑛 = 𝒃
𝒏=𝟏 𝒏=𝟏

• Substituting the eigenvector form EvEn= λEnvEn in eqn. (5) gives

...eqn 6
σ𝑁
𝑛=1 𝐶𝑛 𝑽𝑬𝑛 𝝀𝑬𝑛 = 𝒃

• Multiplying both sides of Eqn. (6) by the transpose of a single

T
eigenvector (𝒗𝑬𝑗 ) gives
𝑁 ...eqn 7
𝑇 𝑇
෍ 𝐶𝑛 𝒗𝑬𝑗 𝒗𝑬𝑛 𝝀𝑬𝑛 = 𝒗𝑬𝑗 𝒃
𝑛=1

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 Mathematical Procedure (7/8)
• Orthonormal eigenvectors give 𝒗𝑬𝒋 𝒗𝑬𝒏 = 0 for j ≠ n and
𝒗𝑬𝒋 𝒗𝑬𝒏 = 1 for j = n and thus all terms in the sum are
zero except for j=n.
• Thus each cn can be determined independently as
𝒗𝑬𝑛 𝑇 𝒃 …eqn 8
𝐶𝑛 =
𝝀𝑬𝑛

• The approximate model is considered for the smallest

eigenvalue of E or for the combination of the two
smallest eigenvalues of E.

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 Mathematical Procedure (8/8)
• As equation (8) shows that cn is inversely proportional to
eigenvalue, significant contributions may come from the
smaller eigenvalues and dominate the solution as long as
the inner product (vEn)Tb of the numerator is not very
large for a higher eigenvalue.
• The numerator indicates that the closer the match of
direction for (vEn) and b, the larger the value.
• The approximate method of one or two dominant
eigenvalue/eigenvector pairs counts on a low probability
of a good match.

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 Mechanism with Translational
and Rotational Inertial Elements

Figure 2: Line diagram of

a pulley arrangement for
lifting a block

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 Problem parameters
• Disk & Block Masses: 20 kg, 10 kg
• Pulley Masses: 15 kg
• Disk Mass Moment of Inertia: 0.4 kg-m
• Pulleys Mass Moment of Inertias: =0.075 kg-m
• External Torque: 10 N-m

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 Derivation of equations using
physical laws (1/3)
• Considering forces on body A, the net force acting on body 1 is zero.
𝑚𝐴 𝑎𝐴 − 𝐹𝐴 + 𝑇𝐴 = 0 … 𝑒𝑞𝑛(9)
• The net moment acting on body A is also zero, so

𝑎𝐴
𝐽𝐴 + 𝐹𝐴 𝑅𝐴 − 𝜏𝐴 = 0
𝑅𝐴

−5𝐽𝐴 𝑎𝐴 + 0.2𝐹𝐴 − 𝜏𝐴 = 0 … 𝑒𝑞𝑛(10)

• The net moment acting on body C
𝑎𝐶
10𝐽𝑐 − 𝑅𝑐 𝑇𝐴 + 𝑅𝑐 𝑇𝐶 + 𝜏𝑐 = 0
𝑅𝑐

10𝐽𝑐 𝑎𝐴 − 0.1𝑇𝐴 + 0.1𝑇𝑐 = 0 … 𝑒𝑞𝑛(11)

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 Derivation of equations using
physical laws (2/3)
• Net force acting on body is zero,

𝑚𝐷 𝑎𝐵 + 𝑇𝐵 + 𝑇𝐶 − 𝑇𝐷 + 𝑚𝐷 𝑔 = 0
𝑚𝐷 𝑎𝐵 + 𝑇𝐵 + 𝑇𝐶 − 𝑇𝐷 = −𝑚𝐷 𝑔 … 𝑒𝑞𝑛(12)
• Net moment on body D is zero
𝐽𝐷 𝛼𝐷 − 𝑅𝐷 𝑇𝐶 + 𝑅𝐷 𝑇𝐷 =0
𝑎
𝐽𝐷 𝐷 − 𝑅𝐷 𝑇𝐶 + 𝑅𝐷 𝑇𝐷 =0
𝑅𝐷
10𝐽𝐷 𝑎𝐷 − 0.1𝑇𝐶 + 0.1𝑇𝐷 = 0 … 𝑒𝑞𝑛(13)
• The net force on body B is zero
𝑚𝐵 𝑎𝐵 − 𝑇𝐵 + 𝑚𝑔 𝑔 = 0 … 𝑒𝑞𝑛(14)

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 Derivation of equations using
physical laws (3/3)
• The body A experiences half the acceleration as the body B due to
the pulley arrangement
𝑎𝐵
𝑎𝐴 = … 𝑒𝑞𝑛(15)
2

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 Mathematical modelling (1/3)
• The seven equations are listed below
1) 𝑚𝐴 𝑎𝐴 − 𝐹𝐴 + 𝑇𝐴 = 0
2) 5𝐽𝐴 𝑎𝐴 + 0.2𝐹𝐴 = 𝜏𝐴
3) 10𝐽𝑐 𝑎𝐴 − 0.1𝑇𝐴 + 0.1𝑇𝑐 = 0
4) 𝑚𝐷 𝑎𝐵 + 𝑇𝐵 + 𝑇𝐶 − 𝑇𝐷 = −𝑚𝐷 𝑔
5) 10𝐽𝐷 𝑎𝐷 − 0.1𝑇𝐶 + 0.1𝑇𝐷 = 0
6) 𝑚𝐵 𝑎𝐵 − 𝑇𝐵 + 𝑚𝑔 𝑔 = 0
𝑎𝐵
7) 𝑎𝐴 − =0
2

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 Mathematical modelling (2/3)
• The above equations are converted to matrix form.

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 Mathematical modelling (3/3)
• Substituting the known values in the coefficient matrix, it becomes

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 Solution
• The ratio of largest element to smallest element of A is 200.
• To improve the scaling and thus the approximation, consider a
transformation from the physical states to dimensionless stares
and parameters given by

𝑎𝐴 𝑇𝐴 𝑇𝐷
𝐴𝐴 = 𝑃𝐴 = 𝑃𝐷 =
𝑔 𝑚𝐴 𝑔 𝑚𝐴 𝑔
𝑎𝐵 𝑇𝐵 𝑚𝐵
𝐴𝐵 = 𝑃𝐵 = 𝐾𝐵 =
𝑔 𝑚𝐴 𝑔 𝑚𝐴
𝐹𝐴 𝑇𝐶 𝑀
𝜑𝐴 = 𝑃𝐶 = 𝐾𝑀 =
𝑚𝐴 𝑔 𝑚𝐴 𝑔 𝑚𝐴
•

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 Solution
• The matrix form now gets simplified,

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 Solution
• The simplified co-efficient matrix is now,

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 Determination of approximate
solution by Eigen Vector and Eigen
Value Approach
Tools Used:
Microsoft Excel
MATLAB
Developed by Microsoft
Developed by MathWorks
Corporation

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and Eigen Vectors in Classical Dynamics
 Flow chart
Input Matrix A Find AT Find E=AAT Input E

Input eigen
Find 𝒗𝑬𝒊 and
value and Input Vector 𝒃 Find 𝑐𝑖 values
𝜆𝐸𝑖 values
eigen vectors

Find the dominant Find two dominant

𝑐𝑖 value and Find solution Find solution 𝑐𝑖 values and
corresponding 𝒛𝒏=𝟏 𝒙𝒂 corresponding
vector eigen vectors

Find solution Find solution Compare

𝒛𝒏=𝟐 𝒙𝒂 solutions

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 Comparison of solutions
Comparision of results with actual solution
140

120

100

80

60

40

20

0
1 2 3 4 5 6 7
-20

-40

X1 X2 X3 Actual X

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 References
• Panza, Michael J. (2018). Eigenvector/Eigenvalue Concept for
Approximate Eigenspace Solutions to Mechanical Engineering
Algebraic Systems. American Journal of Mechanical Engineering,
6(3), 100-113. doi:10.12691/ajme-6-3-3

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 Thank You

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