INSTITUTE UIE

DEPARTMENT ACADEMIC UNIT-3

Bachelor of Engineering (Chemical Engineering)

Subject Name Mathematics
Subject Code 23SMT-125
Prepared By
Rana Rasheed (23BCH10004)
Nicole Tonde (23BCH10017)
Jimmy Carlo (23BCH10021)
CASE STUDY: UNDERSTANDING JACOBIAN.
DISCOVER . LEARN . EMPOWER
INTRDUCTION TO JACOBIAN
• Introduced by mathematician Carl Gustav
Jacob Jacobi
• It is a mathematical concept represented by a
matrix that describes how a change in one set
of variables affects another set of variables in
a multivariable function.
• It is crucial in mathematics and engineering
for analyzing and quantifying
transformations, coordinate changes, and the
behavior of systems with multiple variables.

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APPLICATIONS OF JACOBIAN
Field Use-Case

Control systems engineering Linearization of non-linear

systems

Robotics Determination of end-effector

velocities and acceleration

Finite element analysis Transition between global and

local coordinate systems
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 USES OF JACOBIAN
• Used to plan optimal trajectories.
• To optimize energy efficiency.
• To implement force control.
• Analyzing the small signal stability of a system.
• To transform the infinitesimal vectors from one coordinate system to
another.

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 CHARACTERISTICS
• Functions limited in number and share variables.
• Functions differentiated partially and organized in rows.
• Matrix shape can be square or rectangular.
• Elements are derivatives of dependent variables.
• Determinant of the square matrix.

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 PROPERTIES
1. If J= and J´= then JJ´=1
Let u=f(x, y) and v=g(x, y)

Suppose on solving for x and y, we get .

Then, +
+,
+
+

(Interchanging rows and columns of the 2nd determinant).

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 PROPERTIES (Cont..)
2. Chain rule for Jacobians. If u, v are functions of r, s and r, s are
functions of x, y then

(Interchanging rows and columns of the 2nd

determinant)

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 EXAMPLES
1. If x= r cos(, y = r sin( then show that, J = r
Solution:
J =r
=
Partially differentiating x, y w.r.t. r,
= r cos
Using Jacobian formula,
=r
=r
hence proved

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 EXAMPLES (Contd..)
2. If u= find J
Solution:
J = 4(
= 4r()
= 4r()
=4

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Thank You