Vibration of Multi-Degreeof-Freedom (MDOF)

Systems eigenvalues and

eigenvectors
H.P. LEE
Department of Mechanical Engineering
EA-05-20
Email: mpeleehp@nus.edu.sg
Semester 2 2014/2015

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Matrices

A matrix M is defined to be symmetric if

MM

A symmetric matrix M is positive definite if

x Mx 0 for all nonzero vectors x

T

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Matrices

A symmetric positive definite matrix M can be factored

M LL

Here L is upper triangular, called a Cholesky matrix

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Matrices
The matrix square root is the matrix M 1/2 such that
M 1/2 M 1/2 M
If M is diagonal, then the matrix square root is just the root
of the diagonal elements:
LM

1/2

m1

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m2

(4.35)

Matrices

For a symmetric, positive

matrix M
1

0
m1
1/ 2
, M

1
m2
0
Let x(t ) M 1/ 2q(t ) and multiply by M 1/ 2 :

m1
M
0

0
1 m1
1
, M

m2
0

M 1/ 2 MM 1/ 2 q(t ) M 1/ 2 KM 1/ 2 q(t ) 0
I identity

or

1
m2

(4.38)

K symmetric

q(t ) Kq(t ) 0 where K M 1/ 2 KM 1/ 2

k
m
used extensively in single degree of freedom analysis. The key here is that
K is called the mass normalized stiffness and is similar to the scalar

K is a SYMMETRIC matrix allowing the use of many nice properties and

computational tools
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Matrix equation in terms of real

symmetric matrix eigenvalue problem

Assume q(t ) ve
ve
2

jt

Kve

Kv v
2

vibration problem
(4.40)

jt

jt

in q(t ) Kq(t ) 0

0,

v 0 or

Kv v
real symmetric
eigenvalue problem
(4.41)

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v0

Observations
For a nxn matrix there are n eigenvalues
The eigenvalues are all real and positive
The matrix is similar to a diagonal matrix
The set of eigenvectors are orthogonal (we will
discuss this later)
The set of eigenvectors are independent (we will
discuss this later)

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Observation about the matrices

The original mass matrix is typically symmetric,
positive definite and up to now, diagonal.
The stiffness matrix is typically positive
semidefinite, which means that they may have a
zero eigenvalue.
The stiffness matrix as well as the mass
normalized stiffness matrix are symmetric.

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Orthogonal and Normal Vectors

x1
y1
n
x M , y M , inner product is xT y xi yi
i 1
xn
yn
x orthogonal to y if xT y 0

T
x is normal if x x 1

if a the set of vectores is is both orthogonal and normal it

is called an orthonormal set
The norm of x is x xT x
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Normalization of a vector

A vector can be normalized by dividing by its norm.

has norm of 1

xT x

x
T

x x

x x
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x x

x x
1
T
x x

Recap on the previous example

1
1
0
27

3
0

3
3
1/ 2
1/ 2
K M KM

0 1 3 3 0 1
3 1
so K
which is symmetric.

1 3
3- -1
2
det(K I ) det
6 8 0

-1 3-

which has roots: 1 2 and 2 4

2
1

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2
2

Continue ,,,normalized eigenvectors

( K 1 I ) v1 0
3 2
1

1 v11 0

3 2 v12 0
1
0 v1
1

v11 v12
v1

2 (1 1) 1

1
v1
2

1
1

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1
2

The second normalized eigenvector

1 1
1
T
v2
1 , v1 v 2 2 (1 1) 0
2
1
T
v1 v1 (1 1) 1
2
1
T
v 2 v 2 (1 (1)(1)) 1
2
v i are orthonormal
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Mode u and eigenvector v

u1 v1 and u2 v 2
xM

1/2

qu M

1/2

Note
1

3
0
1

1/2
3
M u1
v1

0 1 1 1
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Orthonormal set of vectors

P v1

v2

v
T
1 v1
P P T
v 2 v1

v1T v 2 1 0
I

T
v 2 v 2 0 1

PT KP PT Kv1

Kv 2 PT 1 v1 2 v 2

1 v1T v1 2 v1T v 2 1 0
2
2
T

diag(

1
2)

T
1 v 2 v1 2 v 2 v 2 0 2

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Some terms that you need to know

P is known as the modal matrix
P is a orthogonal matrix

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To continue with the previous example

1 1 1
P v1 v1
1 1
2

1 1 1 1 1 1
T
P P
1 1 1 1
2 2

1 1 1 1 1 1 2 0


I

2 1 1 1 1 2 0 2
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frequency
1 1 1 3 1 1 1 1
P KP
1 1 1 3
1 1
2

1 1 1 2 4

2 1 1 2 4
2
4
0
2
0

1 0

2
2 0 8 0 4
0 2
T

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Conclusion
PT KP diag i diag(i2 )

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(4.48)

Another example

Equations of motion

m1 x1 (k1 k2 ) x1 k2 x2 0
m2 x2 k2 x1 (k2 k3 ) x2 0

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(4.49)

Matrix form for the equations of

motion

k1 k2
m1 0
0 m x k
2

k2
x0

k2 k3
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(4.50)

Numerical example
m1 1 kg, m2 4 kg, k1 k3 10 N/m and k2 =2 N/m
1 0
12 2
M
, K

0
4

2
12

12 1
1/ 2
1/ 2
K M KM

1
12

1
12
2
det K I det

15 35 0

1 12
1 2.8902 and 2 12.1098
3.48
1 1.7 rad/s and 2 12.1098
rad/s

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eigenvector
For 1 equation (4.41 ) becomes:
1 v11
12 - 2.8902
0

1
3 - 2.8902 v21

9.1089v11 v21
Normalizing v1 yields
2
1 v1 v112 v21
v112 (9.1089) 2 v112

v11 0.1091, and v21 0.9940

0.1091
v1
,

0.9940

0.9940
likewise v 2

0.1091

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Orthogonal matrix
P v1

0.1091 0.9940
v2

0.9940 0.1091

0
0.1091 0.9940 12 1 0.1091 0.9940 2.8402
P KP

12.1098
0.9940 0.1091 1 3 0.9940 0.1091 0
T

0.1091 0.9940 0.1091 0.9940 1 0

P P

0.9940
0.1091
0.9940
0.109
1
0
1

It shows that P is an orthogonal matrix

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Another note on v
In the previous section, we could have chosed v 2 to be
0.9940
-0.9940
v2
instead of v 2

0.1091
0.1091

because one can always multiple an eigenvector by a constant

and if the constant is -1 the result is still a normalized vector.

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Conclusion
The procedure for finding the eigenvalues and
eigenvectors have been presented.
We have learnt the concept of modal vectors,
normal vectors, modal matrix, normal matrix as
well as their properties.
The most important property is that the modal or
the normal matrix is an orthogonal matrix.
Or the modal vectors are orthogonal to each
others.
The eigenvectors are independent.

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