Scribd Logo
Upload

Welcome to Scribd!

  • 24 views

    Preface: Euler-Lagrange Equations (Cont'd)

    Uploaded by

    Sujaritha Sundaresan
    This document discusses solving Euler-Lagrange equations that involve vector functions. It presents the generalized Euler-Lagrange equations for functionals that contain multiple independent functions and their derivatives. An example is worked through to find the extremal that satisfies given boundary conditions. Finally, an exercise is presented involving functionals with both fixed and free boundary conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Preface: Euler-Lagrange Equations (Cont'd)

    Uploaded by

    Sujaritha Sundaresan
    24 views4 pages
    This document discusses solving Euler-Lagrange equations that involve vector functions. It presents the generalized Euler-Lagrange equations for functionals that contain multiple independent functions and their derivatives. An example is worked through to find the extremal that satisfies given boundary conditions. Finally, an exercise is presented involving functionals with both fixed and free boundary conditions.

    Original Description:

    control engineering

    Original Title

    ECE 451 Lecture 10

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document discusses solving Euler-Lagrange equations that involve vector functions. It presents the generalized Euler-Lagrange equations for functionals that contain multiple independent functions and their derivatives. An example is worked through to find the extremal that satisfies given boundary conditions. Finally, an exercise is presented involving functionals with both fixed and free boundary conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    24 views4 pages

    Preface: Euler-Lagrange Equations (Cont'd)

    Uploaded by

    Sujaritha Sundaresan
    This document discusses solving Euler-Lagrange equations that involve vector functions. It presents the generalized Euler-Lagrange equations for functionals that contain multiple independent functions and their derivatives. An example is worked through to find the extremal that satisfies given boundary conditions. Finally, an exercise is presented involving functionals with both fixed and free boundary conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    ECE 451

    LECTURE 10

    Preface
    In the last lecture, we introduced examples of solving the Euler-Lagrange equations for a scalar function
    argument with various boundary conditions. In this lecture, we treat the case of Euler-Lagrange
    equations involving a vector argument. The solution of these equations is one of our primary objectives
    going forward. We present examples of solving the multiple-function Euler-Lagrange equation.

    Euler-Lagrange Equations (contd)


    We now wish to generalize our discussion to include functionals that may contain several independent
    functions and their derivatives, i.e.
    tf

    J (x)

    g ( x ( t ) , x ( t ) , t ) d t

    (10.1)

    t0

    Where, we have the boundary conditions x ( 0 ) x 0 and x ( t f ) x f . Proceeding as we did in the scalar
    case, we obtain the Euler-Lagrange equations, i.e.

    g
    d g

    ( x ( t ) , x ( t ) , t )
    ( x ( t ) , x ( t ) , t ) 0
    dt x
    x

    (10.2)

    Lets take a simple example as follows:

    Find the extremal x of J ( x )

    /2

    2
    1

    ( t ) 4 x 22 ( t ) x1 ( t ) x 2 ( t ) d t which satisfies

    the boundary conditions x ( 0 ) 0

    1 , x ( / 4 ) 1 0 .
    T

    First, we form the Euler-Lagrange equations, i.e. we use equation (10.2) and we obtain

    2 x1 ( t ) x2 ( t ) 0
    8 x2 ( t ) x1 ( t ) 0

    (10.3)

    Note that equations (10.3) are linear ODEs with constant coefficients, and so they are readily solved
    using classical techniques. Doing so, we can write one familiar form of the solution as follows, i.e.

    x1 ( t ) c1 e 2 t c 2 e 2 t c 3 cos t c 4 sin t

    x2 ( t )

    1
    1
    1
    1
    c1 e 2 t c 2 e 2 t c 3 cos t c 4 sin t
    2
    2
    2
    2

    (10.4)

    ECE 451

    LECTURE 10

    We now apply the boundary conditions to equation (10.4) in order to solve for the four arbitrary constants,
    i.e.

    x1 ( 0 ) 0
    x 2 ( 0 ) 1
    x1 ( / 2 ) 1
    x 2 ( / 2 ) 0
    Thus, the arbitrary constants are given by:

    1
    e / 2
    2
    c1 / 2
    e
    e /2
    1
    e /2
    c1 2 / 2
    e
    e /2
    c3 1

    c4

    (10.5)

    1
    2

    As before, lets treat the most general case, i.e. both t f and x ( t f ) are free. Again, the Euler-Lagrange
    equation, i.e. equation (10.2) must be satisfied, and the boundary conditions at the final time are specified
    by the following expression:

    x ( x ( t f ) , x ( t f ) , t f

    ) x f

    g
    ( x ( t f ) , x ( t f ) , t f
    g ( x ( t f ) , x ( t f ) , t f )

    x ( t f ) t f 0

    (10.6)

    Now, lets consider some examples of free end conditions. For example,
    tf

    Find an extremal of the functional J ( x )

    2
    1

    ( t ) x1 ( t ) x 2 ( t ) x 22 ( t ) d t with

    boundary conditions x ( 0 ) 1 3 / 2

    x ( / 4 ) 2 free .
    T

    As always, we start with the Euler-Lagrange equation, and we obtain

    ECE 451

    LECTURE 10

    2 x1 ( t ) x2 ( t ) 0

    2 x2 ( t ) x1 ( t ) 0

    (10.7)

    Eliminating x2 ( t ) from equation (10.7) above, we get

    x1 ( t ) 4 x1 ( t ) 0
    This equation has solution

    x1 ( t ) c1 cos 2 t c 2 sin 2 t

    (10.8)

    Substituting equation (10.8) into equation (10.7), we obtain

    x2 ( t ) 2 c1 cos 2 t 2 c 2 sin 2 t
    Integrating the above equation twice, we get

    x 2 ( t )

    c1
    c
    cos 2 t 2 sin 2 t c3 t c 4
    2
    2

    (10.9)

    Now, we must find the values of the unknown constants in equations (10.8) and (10.9). Returning to
    equation (10.6), we have that

    ( x ( / 4 ) , x ( / 4 ) ) x ( t f ) 0
    x2

    But, we know that

    x ( t f ) is arbitrary, and thus

    g
    ( x ( / 4 ) , x ( / 4 ) ) 0

    x2

    (10.10)

    Using equation (10.10), we have that

    g
    ( x ( / 4 ) , x ( / 4 ) ) x1 ( / 4 ) 2 x 2 ( / 4 ) 2 c3 0
    x 2
    And so, we have that c3 0 . We also have that

    ECE 451

    LECTURE 10

    x1 ( 0 ) 1 c1 (1) c 2 ( 0 ) c1
    c
    c
    3
    1 ( 1 ) 2 ( 0 ) c3 ( 0 ) c 4 c 4 2
    2
    2
    2
    x3 ( / 4 ) c1 ( 0 ) c 2 ( 2 ) c 2 2

    x2 ( 0 )

    Thus, the extremal curve is given by

    x1 ( t ) cos 2 t 2 sin 2 t
    x (t )
    1 cos 2 t sin 2 t 2
    x
    (
    t
    )

    2
    2

    (10.11)

    EXERCISE
    Consider the following function:

    J ( x)

    2
    0

    1 / 2 x

    4 x dt

    1) Find the extremal x * (t ) given the boundary values x * (0) 1, x * ( 2) 10 .


    2) Find the extremal x * (t ) and t f 0 , if t f is free, and if x * (0) 1 , and x * (t f

    ) 9.

    You might also like