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CONTENTS vii
Index I-1
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Preface
ix
x Preface
text of conformal mapping. There we draw the distinction between direct methods,
wherein a mapping must be constructed to solve a specific problem, and indirect meth-
ods that postulate a mapping and then investigate which problems it solves. In doing
so we hope to dispel the impression, given in many older books, that all applications
of the technique fall in the latter category.
In this third edition L. N. Trefethen and T. Driscoll have updated an appendix that
reflects the progress made in recent years on the numerical construction of conformal
mappings. A second appendix compiles a listing of some useful mappings having
closed form expressions.
Linear systems analysis is another application that recurs in the text. The basic
ideas of frequency analysis are introduced in Chapter 3 following the study of the
transcendental functions; Smith charts, circuit synthesis, and stability criteria are ad-
dressed at appropriate times; and the development culminates in Chapter 8 with the
exposition of the analytic-function aspects of Fourier, Mellin, Laplace, Hilbert, and z
transforms, including new applications in signal processing and communications. We
hope thereby that our book will continue to serve the reader as a reference resource for
subsequent coursework in these areas.
http://ee.eng.usf.edu/people/snider2.html
(click on complextools.zip). Instructions for its use are detailed in the file comp-
man.doc. The toolbox provides graphic onscreen visulations and animations of the
algebraic manipulations of complex numbers and the common conformal maps, as
well as a introductory guide for designing Joukowski airfoils.
A downloadable .pdf file of the inevitable errata that our helpful readers report to
us is also available at this site.
The authors wish to acknowlege our mentors, Joseph L. Walsh and Paul Garabe-
dian who have inspired our careers, and express their gratitude to Samuel Garrett, our
longtime colleague at the University of South Florida; to acquisitions editor George
Preface xi
Lobell for encouraging this project; to Adam Lewenberg for providing the art work and
technical support; to our production editor Bob Walters for his guidance in convert-
ing this work from manuscript to book; and to the following mathematicians, whose
critical commentary contributed enormously to the development of the text:
Carlos Berenstein, University of Maryland
Keith Kearnes, University of Colorado
Dmitry Khavinson, University of Arkansas
Donald Marshall, University of Washington
Mihail Putinar, University of California at Santa Barbara
Sergei Suslov, Arizona State University
Rebecca Wahl, Butler University
G. Brock Williams, Texas Tech University
E. B. Saff
[email protected]
A. D. Snider
[email protected]
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Chapter 1
Complex Numbers
ab = ba
a + (b + c) = (a + b) + c
a(bc) = (ab)c
Distributive Law
(a + b)c = ac + bc,
for any rationals a, b, and c.
1
2 Complex Numbers
Notice that the rationals are the only numbers we would ever need, to solve equa-
tions of the form
ax + b = 0.
The solution, for nonzero a, is x=−b/a, and since this is the ratio of two rationals, it
is itself rational.
However, if we try to solve quadratic equations in the rational system, we find that
some of them have no solution; for example, the simple equation
x2 = 2 (1)
cannot be satisfied by any rational number (see Prob. 29 at the end of this section).
Therefore, to get a more satisfactory number system, we extend the concept√of “num-
ber” by appending to the rationals a new symbol, mnemonically written as 2, which
is defined to be a solution of Eq. (1)). Our revised concept of a number is now an
expression in the standard form √
a + b 2, (2)
where a and b are rationals. Addition and subtraction are performed according to
√ √ √
(a + b 2) ± (c + d 2) = (a ± c) + (b ± d) 2. (3)
Multiplication
√ is defined via the distributive law with the proviso that the square of the
symbol 2 can always be replaced by the rational number 2. Thus we have
√ √ √
(a + b 2)(c + d 2) = (ac + 2bd) + (bc + ad) 2. (4)
Finally, using the well-known process of rationalizing the denominator, we can put
the quotient of any two of these new numbers into the standard form
√ √ √
a+b 2 a+b 2 c−d 2 ac − 2bd bc − ad √
√ = √ √ = 2 + 2. (5)
c+d 2 c+d 2 c−d 2 c − 2d 2 c2 − 2d 2
This procedure of “calculating with radicals” should be very familiar to the reader,
and the resulting arithmetic system can easily be shown to satisfy the √ commutative,
associative, and distributive laws. However, observe that the symbol 2 has not been
absorbed by the rational numbers painlessly. Indeed, in the standard form (2) and in
the algorithms (3), (4), and√(5) its presence stands out like a sore thumb. Actually, we
are only using the symbol 2 to “hold a place” while we compute around it using the
rational components, except for those occasional opportunities when it occurs√ squared
and we are temporarily relieved of having to carry it. So the inclusion of 2 as a
number is a somewhat artificial process, devised solely so that we might have a richer
system in which we can solve the equation x 2 = 2.
With this in mind, let us jump to the stage √ where we have appended all the real
numbers to our system. Some of them, such as 4 17, arise as solutions of more com-
plicated equations, while others, such as π and e, come from certain limit processes.
1.1 The Algebra of Complex Numbers 3
Each irrational is absorbed in a somewhat artificial manner, but once again the re-
sulting conglomerate of numbers and arithmetic operations satisfies the commutative,
associative, and distributive laws.†
At this point we observe that we still cannot solve the equation
x 2 = −1. (6)
But now our experience suggests that we can expand our number
√ system once again
by appending a symbol for a solution to Eq. (6); instead of −1, it is customary to
use the symbol i. (Engineers often use the√ letter j.) Next we imitate the model of
expressions (2) through (5) (pertaining to 2) and thereby generalize our concept of
number as follows:‡
Example 1
Find the quotient
(6 + 2i) − (1 + 3i)
.
(−1 + i) − 2
Solution.
(6 + 2i) − (1 + 3i) 5−i (5 − i) (−3 − i)
= =
(−1 + i) − 2 −3 + i (−3 + i) (−3 − i)
−15 − 1 − 5i + 3i
= (7)
9+1
8 1
= − − i.
5 5
(A slug marks the end of solutions or proofs throughout the text.)
Historically, i was considered as an “imaginary” number because of the blatant
impossibility of solving Eq. (6) with any of the numbers at hand. With the perspective
√
we√ have developed, we can see that this label could also be applied to the numbers 2
or 4 17; like them, i is simply one more symbol appended to a given number system
to create a richer system. Nonetheless, tradition dictates the following designations:†
Definition 2. The real part of the complex number a + bi is the (real) number
a; its imaginary part is the (real) number b. If a is zero, the number is said to
be a pure imaginary number.
EXERCISES 1.1
1. Verify that −i is also a root of Eq. (6).
2. Verify the commutative, associative, and distributive laws for complex numbers.
† René Descartes introduced the terminology “real” and “imaginary” in 1637. W. R. Hamilton
referred to a number’s “imaginary part” in 1843.
1.1 The Algebra of Complex Numbers 5
3. Notice that 0 and 1 retain their “identity” properties as complex numbers; that is,
0 + z = z and 1 · z = z when z is complex.
(a) Verify that complex subtraction is the inverse of complex addition (that is,
z 3 = z 2 − z 1 if and only if z 3 + z 1 = z 2 ).
(b) Verify that complex division, as given in the text, is the inverse of complex
multiplication (that is, if z 2 = 0, then z 3 = z 1 /z 2 if and only if z 3 z 2 = z 1 ).
4. Prove that if z 1 z 2 = 0, then z 1 = 0 or z 2 = 0.
z 2 + 2z + 2 = 0.
6 Complex Numbers
and that
n
n
Im( z j) = Im z j .
j=1 j=1
[The real (imaginary) part of the sum is the sum of the real (imaginary) parts.]
Formulate, and then disprove, the corresponding conjectures for multiplication.
27. Prove the binomial formula for complex numbers:
n n−1 n n−k k
(z 1 + z 2 ) = z 1 +
n n
z1 z2 + · · · + z z 2 + · · · + z 2n ,
1 k 1
where n is a positive integer, and the binomial coefficients are given by
n n!
:= .
k k!(n − k)!
30. The definition of the order relation denoted by > in the real number system is based
upon the existence of a subset P (the positive reals) having the following properties:
When such a set P exists we write α > β if and only if α − β belongs to P.†
Prove that the complex number system does not possess a nonempty subset P having
properties (i), (ii), and (iii). [HINT: Argue that neither i nor −i could belong to such
a set P.]
31. Write a computer program for calculating sums, differences, products, and quotients
of complex numbers. The input and output parameters should be the corresponding
real and imaginary parts.
32. The straightforward method of computing the product (a + bi)(c + di) = (ac −
bd) + i(bc + ad) requires four (real) multiplications (and two signed additions). On
most computers multiplication is far more time-consuming than addition. Devise
an algorithm for computing (a + bi)(c + di) with only three multiplications (at the
cost of extra additions). [HINT: Start with (a + b)(c + d).]
† On computers this is, in fact, the method by which the statement α > β is tested.
8 Complex Numbers
Example 1
Suppose that n particles with masses m 1 , m 2 , . . . , m n are located at the respective
points z 1 , z 2 , . . . , z n in the complex plane. Show that the center of mass of the system
is the point
m 1 z1 + m 2 z2 + · · · + m n zn
z= .
m1 + m2 + · · · + mn
z 1 = x1 + y1 i, z 2 = x2 + y2 i, . . . , z n = xn + yn i, and let M
Solution. Write
be the total mass nk=1 m k . Presumably the reader will recall that the center of mass
of the given system is the point with coordinates (
x,
y), where
n
n
m k xk m k yk
k=1 k=1
x= ,
y= .
M M
But clearly x and y are, respectively, the real and imaginary parts of the complex
number ( nk=1 m k z k )/M = z.
Absolute Value. By the Pythagorean
√ theorem, the distance from the point z = a + bi
to the origin is given by a 2 + b2 . Special notation for this distance is given in
|z| := a 2 + b2 .
In particular,
i 1 √
|0| = 0, = , |3 − 4i| = 9 + 16 = 5.
2 2
1.2 Point Representation of Complex Numbers 9
The reader should note that |z| is always a nonnegative real number and that the only
complex number whose modulus is zero is the number 0.
Let z 1 = a1 + b1 i and z 2 = a2 + b2 i. Then
|z 1 − z 2 | = |(a1 − a2 ) + (b1 − b2 ) i| = (a1 − a2 )2 + (b1 − b2 )2 ,
which is the distance between the points with coordinates (a1 , b1 ) and (a2 , b2 ) (see
Fig. 1.2). Hence the distance between the points z 1 and z 2 is given by |z 1 − z 2 |. This
fact is useful in describing certain curves in the plane. Consider, for example, the set
of all numbers z that satisfy the equation
|z − z 0 | = r, (1)
where z 0 is a fixed complex number and r is a fixed positive real number. This set con-
sists of all points z whose distance from z 0 is r . Consequently Eq. (1) is the equation
of a circle.
Example 2
Describe the set of points z that satisfy the equations
(a) |z + 2| = |z − 1|, (b) |z − 1| = Re z + 1.
Solution. (a) A point z satisfies Eq. (a) if and only if it is equidistant from the
points −2 and 1. Hence Eq. (a) is the equation of the perpendicular bisector of the line
segment joining −2 and 1; that is, Eq. (a) describes the line x = − 12 .
A more routine method for solving Eq. (a) is to set z = x + i y in the equation and
perform the algebra:
|z + 2| = |z − 1|,
|x + i y + 2| = |x + i y − 1|,
(x + 2)2 + y 2 = (x − 1)2 + y 2 ,
4x + 4 = −2x + 1,
1
x =− .
2
(b) The geometric interpretation of Eq. (b) is less obvious, so we proceed di-
rectly with the mechanical approach and derive (x − 1)2 + y 2 = x + 1, or y 2 = 4x,
which describes a parabola (see Fig. 1.3).
10 Complex Numbers
Complex Conjugates. The reflection of the point z = a + bi in the real axis is the point
a − bi (see Fig. 1.4). As we shall see, the relationship between a + bi and a − bi
will play a significant role in the theory of complex variables. We introduce special
notation for this concept in the next definition.
Thus,
−1 + 5i = −1 − 5i, π − i = π + i, 8 = 8.
Some authors use the asterisk, z ∗ , to denote the complex conjugate.
It follows from Definition 4 that z = z̄ if and only if z is a real number. Also it
is clear that the conjugate of the sum (difference) of two complex numbers is equal to
the sum (difference) of their conjugates; that is,
z1 + z2 = z1 + z2, z1 − z2 = z1 − z2.
1.2 Point Representation of Complex Numbers 11
Example 3
Prove that the conjugate of the product of two complex numbers is equal to the product
of the conjugates of these numbers.
Solution. It is required to verify that
(z 1 z 2 ) = z 1 z 2 . (2)
Write z 1 = a1 + b1 i, z 2 = a2 + b2 i. Then
(z 1 z 2 ) = a1 a2 − b1 b2 + (a1 b2 + a2 b1 )i
= a1 a2 − b1 b2 − (a1 b2 + a2 b1 )i.
(z) = z. (6)
|z| = |z̄|;
that is, the points z and z̄ are equidistant from the origin. Furthermore, since
z z̄ = (a + bi)(a − bi) = a 2 + b2 ,
we have
z z̄ = |z|2 . (7)
12 Complex Numbers
This is a useful fact to remember: The square of the modulus of a complex number
equals the number times its conjugate.
Actually we have already employed complex conjugates in Sec. 1.1, in the process
of rationalizing the denominator for the division algorithm. Thus, for instance, if z 1
and z 2 are complex numbers, then we rewrite z 1 /z 2 as a ratio with a real denominator
by using z 2 :
z1 z1 z2 z1 z2
= = . (8)
z2 z2 z2 |z 2 |2
In particular,
1 z
= 2. (9)
z |z|
In closing we would like to mention that there is another, possibly more enlight-
ening, way to see Eq. (2). Notice that when we represent a complex number in terms
of two real numbers and the symbol i, as in z = a + bi, then the action of conjuga-
tion is equivalent to changing the sign of the i term. Now recall the role that i plays in
computations; it merely holds a place while we compute around it, replacing its square
by −1 whenever it arises. Except for these occurrences √ i is never really absorbed into
the computations; we could just as well call it j, λ, −1, or any other symbol whose
square we agree to replace by −1. In fact, without affecting the validity of the calcula-
tion, we could replace it throughout by the symbol (−i), since the square of the latter
is also −1. Thus, for instance, if in the expression (a1 + b1 i) (a2 + b2 i) we replace i
by −i and then multiply, the only thing different about the product will be the appear-
ance of −i instead of i. But expressed in terms of conjugation, this is precisely the
statement of Example 3.†
EXERCISES 1.2
1. Show that the point (z 1 + z 2 )/2 is the midpoint of the line segment joining z 1 and
z2.
2. Given four particles of masses 2, 1, 3, and 5 located at the respective points 1 + i,
−3i, 1 − 2i, and −6, find the center of mass of this system.
3. Which of the points i, 2 − i, and −3 is farthest from the origin?
4. Let z = 3 − 2i. Plot the points z, −z, z̄, −z̄, and 1/z in the complex plane. Do the
same for z = 2 + 3i and z = −2i.
√ √
5. Show that the points 1, −1/2 + i 3/2, and −1/2 − i 3/2 are the vertices of an
equilateral triangle.
6. Show that the points 3 + i, 6, and 4 + 4i are the vertices of a right triangle.
† By the same token we should be able to replace
√ √ √ √
2 by − 2 in (3 + 2 2)(4 − 3 2) either
before or after multiplying and obtain the same result. (Try it.)
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Fig. 49—Fig tree formerly Fig. 50—A tiny rubber plant
attached to a host but now left is growing under the tripod
standing on its stilt-like aërial made of yuca stems tied with
roots owing to the decay of the banana leaves. Growing yuca
host. is shown by the naked stalks to
the left and right of this
canopy, and banana plants fill
the background. A plantation
scene at Echarati.
The one is forested, the other grass-covered. Slopes that receive the noon
and afternoon sun the greater part of the year are hottest and therefore
driest. For places in 11° south latitude the sun is well to the north six
months of the year, nearly overhead for about two months, and to the south
four months. Northwesterly aspects are therefore driest and warmest, hence
also grass-covered. In many places the line between grass and forest is
developed so sharply that it seems to be the artificial edge of a cut-over
tract. This is true especially if the relief is steep and the hill or ridge-crests
sharp.[15]
Fig. 54—Climatic cross-section from the crest of the
Cordillera Vilcapampa down the eastern mountain valleys to
the tropical plains.
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