Front. Mech. Eng.
2014, 9(2): 177–190
DOI 10.1007/s11465-014-0288-8
RESEARCH ARTICLE
M. R. AKBARI, D. D. GANJI, A. MAJIDIAN, A. R. AHMADI
Solving nonlinear differential equations of Vanderpol,
Rayleigh and Duffing by AGM
© Higher Education Press and Springer-Verlag Berlin Heidelberg 2014
Abstract In the present paper, three complicated non-
linear differential equations in the field of vibration, which
are Vanderpol, Rayleigh and Duffing equations, have been
analyzed and solved completely by Algebraic Method
(AGM). Investigating this kind of equations is a very hard
task to do and the obtained solution is not accurate and
reliable. This issue will be emerged after comparing the
achieved solutions by numerical method (Runge-Kutte
4th). Based on the comparisons which have been made
between the gained solutions by AGM and numerical
method, it is possible to indicate that AGM can be
successfully applied for various differential equations
particularly for difficult ones. The results reveal that this
method is not only very effective and simple, but also
reliable, and can be applied for other complicated
nonlinear problems.
Keywords Algebraic Method (AGM), Angular Fre-
quency, Vanderpol, Rayleigh, Duffing
1 Introduction
Along with the rapid progress of nonlinear sciences, an
intensifying interest among scientists and researchers has
been emerged in the field of analytical asymptotic
techniques particularly for nonlinear problems in the
Received December 22, 2013; accepted December 31, 2013
M. R. AKBARI
Department of Civil Engineering and Chemical Engineering, University
of Tehran, Tehran, Iran
✉
D. D. GANJI ( )
Department of Mechanical Engineering, Babol University of Technol-
ogy, Babol, Iran
E-mail: mirgang@nit.ac.ir, akbari_hamid46@yahoo.com
A. MAJIDIAN, A. R. AHMADI
Department of Mechanical Engineering, Sari Branch, Islamic Azad
University, Sari, Iran
field of vibrations because this issue is very applicable in
dynamics of structures (Mechanical, Earthquake, Civil
Engineering take for example by Chopra [1]) and also in
Electronic circuits in electrical engineering [2]. Although
finding the solutions of linear equations by means of
computer is very convenient, it is still very difficult and a
time-consuming procedure to solve nonlinear problems
either numerically or theoretically. Perhaps this is related to
the fact that the various discredited methods or numerical
simulations apply iteration techniques to find their
numerical solutions of nonlinear problems and nearly all
iterative methods are sensitive to initial solutions, so it is
very difficult to obtain converged results in cases of strong
nonlinearity. In addition, the most important information
such as the natural circular frequency of a nonlinear
oscillation depends on the initial conditions (i.e., amplitude
of oscillation) will be lost during the procedure of
numerical simulation. Perturbation methods [3,4] provide
the most versatile tools available in nonlinear analysis of
engineering problems and they are constantly being
developed and applied to ever more complex problems.
But like other nonlinear asymptotic techniques, perturba-
tion methods have their own limitations take for example
almost all perturbation methods are based on such an
assumption that a small parameter must exist in an
equation. This so-called small parameter assumption
greatly restricts applications of perturbation techniques,
as is well known, an overwhelming majority of nonlinear
problems, especially those having strong nonlinearity,
have no small parameters at all and so on.
Based on the above explanations, we should introduce
some new developed methods for solving complicated
nonlinear problems in different fields of study particularly
in vibrations, where traditional techniques have not been
successful up to now.
Furthermore, some techniques like perturbation methods
are not practical for strongly nonlinear equations. As a
result, due to conquer these weak-points, in recent years,
much attention has been devoted to the newly developed
manners to gain an approximate solution of nonlinear
178 Front. Mech. Eng. 2014, 9(2): 177–190
equations, such as Energy Balance Method [5,6], Homo-
topy Analysis Method [7,8], He’s Amplitude Frequency
Formulation Method (HAFF) [9–14], Parameter-Expan-
sion Method [15], Exp-function Method [10–19], Differ-
ential Transformation Method (DTM) [12,13], Homotopy
Perturbation Method [11,16], Variational Iteration Method
by J. H. He [14–17] and Adomian Decomposition Method
[20,21] But the afore-mentioned methods do not have this
ability to gain the solution of the presented problem in high
precision. Therefore, these complicated nonlinear equa-
tions such as the presented problems in this paper should
be solved by utilizing other approaches like AGM.
2 Analytical method
In general, vibrational equations and their initial conditions
are defined for different systems as follows:
f ð€ _
u ,u,u,F0 sinðω0 tÞÞ ¼ 0, (1)
_
fuð0Þ ¼ A, uð0Þ ¼ 0g: (2)
2.1 Choosing the answer of the governing equation for
solving differential equations by AGM
In AGM, a total answer with constant coefficients is
required in order to solve differential equations in various
fields of study, such as vibrations, structures, fluids and
heat transfer. In vibrational systems with respect to the kind
of vibration, it is necessary to choose the mentioned
answer in AGM. To clarify here, we divide vibrational
systems into two general forms:
1) Vibrational systems without any external force
Differential equations governing on this kind of
vibrational systems are introduced in the following form:
f ð€u ,u,u
_ Þ ¼ 0: (3)
Now, the answer of this kind of vibrational system is
chosen as
– bt
uðtÞ ¼ e fAcosðωtÞ þ BsinðωtÞg: (4)
According to trigonometric relationships, Eq. (4) is
rewritten as follows:
uðtÞ ¼ e – bt facosðωt þ φÞg: (5)
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
thatin the above equation a ¼ A2 þ B2
It is notable 
B
and φ ¼ arctan . uðtÞ ¼ e – bt facos ðωt þ φÞ þ ccosð2ωt þ φÞg
A
Sometimes for increasing the precision of the considered
answer of Eq. (3), we are able to add another term in the
form of cosine by inspiration of Fourier cosine series
expansion as follows:
uðtÞ ¼ e – bt facosðωt þ φÞ þ dcosð2ωt þ φÞg: (6)
In the above equation, we are able to omit the term
– bt
ðe Þ to facilitate the computational operations in AGM if
the system is considered without any damping compo-
nents.
Generally speaking in AGM, Eq. (5) or Eq. (6) is
assumed as the answer of the vibrational differential Eq.
(3) that its constant coefficients which are a, b, d, ω
(angular frequency) and φ (initial vibrational phase) can
easily be obtained by applying the given initial conditions
in Eq. (2). And also the above procedure will completely
be explained through the presented example in the
foregoing part of the paper.
It is noteworthy that if there is no damping component in
the vibrational system, the constant coefficient b in Eqs. (5)
and (6) will automatically be computed zero in AGM
solution procedure.
On the contrary, the parameter b in Eqs. (5) and (6) for
the other kind of vibrational system with damping
component is obtained as a nonzero parameter in AGM.
2) Vibrational systems with external force
In this step, it is assumed that the external forces exerting
on the vibrational systems are defined as
FðtÞ ¼ F0 sinðω0 tÞ: (7)
As a result, the differential equation governing on the
vibrational system is expressed like Eq. (1) as follows:
f ð€u ,u,u,F
_ 0 sinðω0 tÞÞ ¼ 0: (8)
The answer of the above equation is introduced as the
sum of the particular solution ðup Þ and the harmonic
solution ðuh Þ as follows:
uh ðtÞ ¼ e – bt fAcos ðωtÞ þ Bsin ðωtÞg,
(9)
up ðtÞ ¼ M cosðω0 tÞ þ N sin ðω0 tÞ:
Then
uðtÞ ¼ up þ uh : (10)
By utilizing trigonometric relationships and substituting
the yielded equations into Eq. (10), the desired answer will
be obtained in the form of
uðtÞ ¼ e – bt facos ðωt þ φÞg þ dcosðω0 t þ fÞ: (11)
To increase the precision of the achieved equation, we
are able to add another term in the form of cosine by
inspiration of Fourier cosine series expansion as follows:
þ dcosðω0 t þ fÞ: (12)
Finally, the exact solution of the all vibrational
differential equations can be obtained in accordance with
 M. R. AKBARI et al. Solving nonlinear differential equations of Vanderpol, Rayleigh and Duffing by AGM
the following equation:
( )
X1
uðtÞ ¼ e – at bk cosðkωt þ φk Þ
k¼1
þdcos ðω0 t þ fÞ: (13)
To deeply understand the above procedure, reading the
following lines is recommended.
Since the constant coefficient ðbÞ in vibrational systems
without damping components is always obtained zero, we
can add the term ðb:  tÞ Instead of ðe – bt Þ in Eq. (12) to
decrease computational operations in the following form:
uðtÞ ¼ ðb:  tÞ þ acos ðωt þ φÞ þ dcosð2ωt þ φÞ: (14)
Based on the above explanations, by applying initial
conditions on a system without damping component, the
value of parameter ðbÞ is always zero for Eqs. (12) and
(13). Therefore, the role of parameter ðbÞ in both of Eqs.
(12) and (13) which each of them can be considered as the
answer of the vibrational problems is individually
considered as a catalyst for increasing the precision of
the assumed answer. However according to Eqs. (15) and
(19) after applying initial conditions on the vibrational
system in both states (with external force and without
external force) by AGM, the value of parameter ðbÞ is
computed zero because the mentioned system has a free
vibration without any damping component.
Again, we mention that in order to decrease computa-
tional operations for systems without damping components
and since we know that ðbÞ in the term ðe – bt Þ is zero so
ðe – bt Þ can be omitted from Eq. (11). Consequently, Eq.
(11) which has been considered as the answer of the
systems without any damping component can be rewritten
as follows:
uðtÞ ¼ acosðωt þ φÞ þ dcos ðω0 t þ fÞ: (15)
The constant coefficients of Eq. (11) or Eq. (12), which
are fa,  b,  ω,  φ,  c,  d,  fg, will easily be computed in AGM
by applying the initial conditions of Eq. (2).
2.2 Application of initial conditions to compute constant
coefficients and angular frequency by AGM
In AGM, the application of initial conditions of Eq. (2) is
done in the two following forms:
a) Applying the initial conditions on the answer of
differential equation
In regard to the kind of vibrational system (with external
force and without external force) which was completely
discussed in the previous part of this case study, a function
is chosen as the answer of the differential equation from
Eq. (5) or Eq. (6) for the systems without external forces
and from Eq. (11) or Eq. (12) for the defined systems with
external forces and then the initial conditions are applied
on the selected function as follows:
179
uðtÞ ¼ uðICÞ: (16)
It is notable that IC is the abbreviation of introduced
initial conditions of Eq. (2).
b) Appling the initial conditions on the main differential
equation and its derivatives
After choosing a function as the answer of differential
equation according to the kind of vibrational system, this is
the best time to substitute the mentioned answer into the
main differential equation instead of its dependent variable
ðuÞ.
Assume the general equation of the vibration such as Eq.
(1) with time-independent parameter ðtÞ and dependent
function ðuÞ as
f ð€u ,u,u,F
_ 0 sinðω0 tÞÞ ¼ 0: (17)
Therefore, on the basis of the kind of vibrational system,
a function as the answer of the differential equation, such
as Eq. (5) or Eq. (6) and Eq. (11) or Eq. (12), are
considered as follows:
u ¼ gðtÞ: (18)
In this step, the afore-mentioned equation is substituted
into Eq. (16) instead of ðuÞ in the following form:
 
f ðtÞ ¼ f g $ ðtÞ,g # ðtÞ,gðtÞ,F0 sin ðω0 tÞ : (19)
Eventually, the application of initial conditions on Eq.
(18) and its derivatives is expressed as
 
f ðICÞ ¼ f g $ ðICÞ,g # ðICÞ,gðICÞ,::: ,
 
f # ðICÞ ¼ f # g $ ðICÞ,g # ðICÞ,gðICÞ,::: , (20)
 
f $ ðICÞ ¼ f $ g $ ðICÞ,g # ðICÞ,gðICÞ,::: ,
:::
To end up, it is better to say that in AGM after applying
the initial conditions on Eq. (17), Eq. (18) and also on its
derivatives from Eq. (19) according to the order of
differential equation and utilizing the two given initial
conditions of Eq. (2), a set of algebraic equations which is
consisted of n equations with n unknowns is created.
Therefore, the constant coefficients (a, b, c, d, angular
frequency ω and initial phase) are easily achieved, where
this procedure will thoroughly be explained in the form of
an example in the foregoing part of this paper.
It is noteworthy that in Eq. (19), we are able to use the
derivatives of f ðtÞ with higher orders until the number of
yielded equations is equal to the number of the mentioned
constant coefficients of the assumed answer.
3 Example 1
Consider the following nonlinear differential equation
(Vanderpol, equation) in the form of
180 Front. Mech. Eng. 2014, 9(2): 177–190

d2x dx By solving a set of algebraic equations which is

f ðt Þ : 2
þ εð1 – x2 Þ þ β2 x ¼ 0: (21) consisted of four equations with four unknowns from
dt dt
Eqs. (24) – (27), the constant coefficients of Eq. (23) can
Then, the initial conditions are expressed as easily be yielded.
xð0Þ ¼ A, x_ ð0Þ ¼ 0: (22) For simplicity, the following new variables are con-
sidered:
It is notable that ε and β in the above equation are
defined as constant values. ψ ¼ 2ε2 A2 þ 4β2 – ε2 – ε2 A4 : (28)
3.1 Solving the nonlinear differential equation by AGM Then, the constant coefficients of Eq. (23) will be
computed as
On the basis of the given explanations in the previous  pffiffiffiffi 
1 2βA ψ
section (the analytical method), the answer of Eq. (21) is a ¼ εð1 – A2 Þ, b ¼ pffiffiffiffi , φ ¼ tg – 1 : (29)
considered by AGM as a polynomials of Fourier series 2 ψ β
with constant coefficients as follows:
And then angular frequency is easily computed as
xðtÞ ¼ e – at ½bcosðωt þ φÞ: (23) qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
1
It is notable that in AGM, the constant coefficients of Eq. ω¼ 2ε2 A2 þ 4β2 – ε2 – ε2 A4 : (30)
2
(23), which are ω angular frequency), a, b and φ (initial
vibrational phase), can easily be computed by applying After substituting the obtained values from Eqs. (32) and
initial or boundary conditions. (33) into Eq. (26), the answer of the presented problem is
achieved in the following form:
3.2 Applying initial or boundary conditions in AGM   pffiffiffiffi 
2βA 1 1 pffiffiffiffi ψ
xðtÞ ¼ pffiffiffiffi e – 2 εð1 – A Þt cos ψ t þ tg – 1
2
: (31)
Based on the given explanations in the previous section of ψ 2 β
this paper, the constant coefficients ω,  a,  b  and  φ from Eq.
(23) are just achieved with respect to the given initial By selecting the following physical values:
conditions and these initial conditions are applied in two
A ¼ 0:2, ε ¼ 0:15, β ¼ 1:2: (32)
manners in AGM.
a) With regard to Eq. (22), the initial conditions are So the answer and the related angular frequency of the
applied on Eq. (23) as follows: presented problem, Eq. (21), are gained in the following
xð0Þ ¼ A, so bcosφ ¼ A: (24) form:
m
Afterwards ω ¼ 1:19784 ,
s
x_ ð0Þ ¼ 0,  therefore  bðacosφ þ ωsinφÞ ¼ 0: (25) xðtÞ ¼ 0:20036e – 0:072t cosð1:19784t – 0:060036Þ: (33)
b) In accordance with Eq. (20), the application of initial According to the afore-mentioned equation, it is possible
conditions on the main differential equation which in to draw the obtained solution in Figs. 1 and 2, and the
this case is Eq. (21) and also on its derivative is done related phase plane in Fig. 3 by AGM.
after substituting Eq. (23) which has been considered as
the answer of the main differential equation into Eq. (21) as
  3.3 Numerical solution
f xð0Þ :
In accordance with the given physical values from Eq. (32)
ða2 – ω2 þ β2 – aεÞcosφ þ ωð2a – εÞsinφ and the introduced domain t 2 f0,50g which is defined in
terms of second, the numerical solution (Runge-Kutte 4th)
þb2 εðacosφ þ ωsinφÞcos2 φ ¼ 0: (26) of the mentioned problem is presented in Table 1.
Then for the first derivative of the achieved equation, we
will have 3.4 Comparing the obtained solutions by AGM and
  numerical method
f # xð0Þ :
ða3 – 3aω2 – εa2 þ β2 a þ εω2 Þcosφ Comparisons between the obtained solution by AGM and
numerical method in Fig. 4 and the related derivative in
þ ωð3a2 – ω2 – 2aε þ β2 Þsinφ Fig. 5 have been presented graphically and also the same
þ b2 ωεðωsinφ þ 3acosφÞsinð2φÞ procedure has been done for the relevant phase plane in
Fig. 6.
þb2 εð3a2 – ω2 Þcos3 φ ¼ 0: (27) In regard to the above charts, it is clear that AGM is a
 M. R. AKBARI et al. Solving nonlinear differential equations of Vanderpol, Rayleigh and Duffing by AGM 181

Fig. 3 Resulted phase plane for example1 by AGM

3.6 Computation of other damping vibrational parameters

Fig. 1 Chart of the obtained solution by AGM
The maximum amplitude of vibrational displacement,
velocity and acceleration equations can be computed as
follows:
On the basis of the given explanations in Section 2.1, the
answer of the introduced differential equation is considered
as
xðtÞ ¼ be – at fcosðωt þ φÞg: (34)
In order to obtain the curve of locus for the maximum
points of vibrational amplitudes we should consider that
cosðωt þ φÞ ¼ 1, therefore we will have
xmax ðtÞ ¼ be – at : (35)
In the above equation, the constant coefficients a and b
can be obtained on the basis of the given explanations in
kπ
Section 2.2. By substituting tk ¼ in Eq. (35) in which
ω
k 2 f1,  2,  3,   g, it is possible to gain the maximum
amplitudes such as x1max , x2max and x3max : According to
the given physical values, the maximum amplitudes can be
obtained as follows:
Fig. 2 Chart of the first derivative for the obtained solution by kπ

AGM xk,max ¼ be – a ω : (36)

Therefore, we will have
very applicable and reliable method for solving highly
nonlinear vibrational differential equations with high π
k ¼ 1↕ ↓t1 ¼ ,
precision like the presented problem in example 1. ω
then
3.5 Difference of the obtained solutions by AGM and
π
numerical method x1max ¼ be – að ω Þ ¼ 0:16588, (37)

In Figs. 7 and 8, the differences between the obtained 2π

solution which is consisted of uðtÞ  and  u# ðtÞ by AGM and k ¼ 2↕ ↓t2 ¼ ,
ω
numerical method have been presented.
182 Front. Mech. Eng. 2014, 9(2): 177–190

Table 1 Obtained numerical solution of Eq. (31) based on the given physical values
t/s 0 10 20 30 40 50
u(t)
0.2 0.075603 0.0145714 – 0.00544708 – 0.0075291 – 0.0047593
Num. Rk 45
_
uðtÞ
0.0 0.0632881 0.00493073 0.0249801 0.00849681 0.00109830
Num. Rk 45

Fig. 6 Comparing the related phase planes of the achieved

solutions by AGM and numerical method

Fig. 4 Comparing the obtained solutions by AGM and numerical

method

Fig. 7 Difference the obtained solutions by AGM and numerical

method

locus for maximum displacements are shown simulta-

neously in Fig. 9.
Furthermore, the maximum velocity x_ max can be
acquired after taking the first derivative of Eq. (34) as
Fig. 5 Comparing the first derivative of the obtained solutions by follows:
AGM and numerical method
_ ¼ bf – ae – at cos ðωt þ φÞ – e – at ωsinðωt þ φÞg:
uðtÞ
as a result, (39)
2π

x2max ¼ be – a ω ¼ 0:137338: (38) As regards trigonometric relations, the maximum

velocity ðx_ max ðtÞÞ from Eq. (39) can be obtained as
The solution of the differential equation and the chart of follows:
 M. R. AKBARI et al. Solving nonlinear differential equations of Vanderpol, Rayleigh and Duffing by AGM 183

Fig. 8 Difference the first derivative of the obtained solutions by

Fig. 10 Achieved results for the vibrational velocity and the
AGM and numerical method
locus of the maximum vibrational velocity points

velocity equation. And also by utilizing trigonometric

equations, it is possible to compute the locus for maximum
kπ
acceleration points in tk ¼ as follows:
ω
The locus of maximum acceleration points
↕ ↓€u ðtÞ ¼ bða2 þ ω2 Þe – a  t : (43)
The maximum acceleration points
kπ

↕ ↓€u kmax ¼ bða2 þ ω2 Þe – a ω : (44)

In regard to the given physical values, the maximum
vibrational accelerations in damping states can be obtained
Fig. 9 Charts of the obtained solution and the locus of maximum as follows:
displacement points  
m
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi k ¼ 1↕ ↓€x 1max ¼ 0:238872 2 ,
s
u_ max ðtÞ ¼ b a2 þ ω2 e – at : (40)
and
ð2k – 1Þπ  
In Eq. (40), t is defined as tk ¼ , in which
2ω m
k 2 f1,  2,  3,   g. As a result, the equation of maximum k ¼ 2↕ ↓€x 2max ¼ 0:197767 2 : (45)
s
points of vibrational velocity is expressed as follows:
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð2k – 1Þπ Therefore, the charts of locus for maximum acceleration
V ¼ x_ kmax ¼ b a2 þ ω2 e – a 2ω : (41) points and the obtained vibrational acceleration equation
are depicted in Fig.11.
It is necessary to mention that a, b and ω have been The damping factor in the vibrational solution of
obtained with respect to the given physical values. bfe – at cosðωt þ φÞg is e – at , since in the vibrational
Consequently, the maximum vibrational velocities can be
differential equation, the term e – ωt is the main factor for
computed as follows:
damping, ðÞ can be obtained as follows:
m
k ¼ 1↕ ↓x_ 1max ¼ 0:21877 , e – at  e – ωt ↦ ¼
a
: (46)
s ω
and Consequently, according to Eqs. (29) and (30) damping
m
ratio is calculated as follows:
k ¼ 2↕ ↓x_ 2max ¼ 0:1811252 : (42)
s
εð1 – A2 Þ
Then, the chart of locus for vibrational velocity and the  ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi : (47)
own vibrational velocity chart are illustrated in Fig. 10. 2ε2 A2 þ 4β2 – ε2 – ε2 A4
Moreover, the desired equation for vibrational accelera- In Eq. (46), the parameters a and ω have been gained in
tion will be obtained by computing the second derivative accordance with the given physical values, and the initial
of the obtained solution or the first derivative of the vibrational phase can be obtained as follows:
184 Front. Mech. Eng. 2014, 9(2): 177–190

Fig. 13 Variation of damping ratio in terms of the initial

Fig. 11 Resulted charts of the vibrational acceleration equation amplitude of vibration ðAÞ
and its related locus
relationship between initial amplitude of vibration and
φ ¼ tg – 1 ðÞ: (48) damping coefficient.
Therefore in this case study, it is clear that
 ¼ 0:0601083. 4 Example 2
3.7 Results and discussion Consider the following nonlinear differential equation
(Rayleigh equation) in the form of
The chart of the angular frequency ðωÞ from Eq. (30) in

terms of initial amplitude of vibration in accordance with f ðtÞ : €x þ α – βx_ 2 x_ þ l2 x ¼ 0: (49)

the introduced variables from Eq. (32) is illustrated in
Fig.12. Then, the initial conditions are expressed as
xð0Þ ¼ A, x_ ð0Þ ¼ 0: (50)
It is notable that α, β and l in the above equation are
defined as constant values.

4.1 Solving the differential equation by AGM

To solve Eq. (49), a finite series with constant coefficients

has been considered as the answer of follows:
xðtÞ ¼ e – at fbcosðωt þ φÞg: (51)
Constant coefficients a, b, ω, φ in the afore-mentioned
Fig. 12 Chart of angular frequency in terms of initial vibrational equation will be computed by applying initial conditions.
amplitude
4.2 Applying initial conditions in AGM
It is clear that the more amount of amplitude of vibration
in the initial condition (IC), the more increasing of the Exactly like the procedure which has been explained in
angular frequency. example 1, the initial conditions are applied in two ways in
The chart of damping ratio ðÞ in terms of initial AGM. Therefore, we have
amplitude of vibration ðAÞ from Eq. (47) is depicted in xð0Þ ¼ A, so bcosφ ¼ 0: (52)
Fig.13.
With regard to Fig. 13, it is revealed that by increasing Afterwards
the amount of initial amplitude of vibration ðAÞ, the value
x_ ð0Þ ¼ 0, therefore bðacosφ þ ωsinφÞ ¼ 0: (53)
of damping ratio will be decreased. Since, the damping
coefficient is computed by C ¼ 2mω, there is a direct Then, applying the initial conditions on the main
 M. R. AKBARI et al. Solving nonlinear differential equations of Vanderpol, Rayleigh and Duffing by AGM 185

differential equation which is Eq. (49) and is named f ðtÞ

and on its derivatives is done after substituting Eq. (51)
into differential Eq. (49) in the following form:
1) applying initial conditions on the yielded equation:
 
f xðt ¼ 0Þ :
ða2 – ω2 þ l2 – αaÞcosφ
þ ωð2a – αÞsinφ
3
þ ab2 βωðacosφ þ ωsinφÞsinð2φÞ
2
þb2 βða3 cos3 φ þ ω3 sin3 φÞ ¼ 0: (54)
2) applying initial conditions on the first derivative of
the yielded equation: Fig. 14 Chart of the obtained solution by AGM
 
f # xðt ¼ 0Þ :
ða3 – 3aω2 – αa2 þ αω2 þ l2 aÞcosφ
þ ωð3a2 – ω2 – 2αa þ l2 Þsinφ
3
þ b2 βωð5a2 ωsinφ – ω2 sinφ
2
– 2aω2 cosφ þ 4a3 cosφÞsinð2φÞ
þ 3a2 b2 β2 ða2 – ω2 Þcos3 φ
þ6βb2 aω3 sin3 φ ¼ 0: (55)
In this step, by solving a set of algebraic equations which
is consisted of four equations with four unknowns from
Eqs. (52) to (55), the constant coefficients of Eq. (51)
which are a, b, ω, φ will be obtained very easily as follows:
1 2Al
a¼ α, b ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ,
2 4l2 – α2
1 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi α
ω¼ 4l2 – α2 , φ ¼ – tg – 1 : (56) Chart of the first derivative for the obtained solution by
2 l Fig. 15
AGM
After substituting the obtained values from Eq. (56) into
Eq. (51), the answer of the presented problem is achieved
Consequently, the charts of the obtained solution by
in the following form:
AGM in Fig. 14 and its first derivative in Fig. 15 are
 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi   depicted.
2lA – 12 α  t 1 –1 α
xðtÞ ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi e cos 4l – α t – tg
2 2
: Afterwards, the related phase plane is depicted in
4l2 – α2 2 l
Fig. 16.
(57)
By selecting the following physical values: 4.3 Numerical solution of the differential equation

A ¼ 0:1, α ¼ 0:2, β ¼ 0:1, l ¼ 1:2 : (58) The achieved results of numerical solution are presented in
the specified domain t 2 f0,40g in Table 2.
So the answer and the related angular frequency of the
presented problem, Eq. (49), are gained in the following 4.4 Comparing the achieved solutions by AGM and
form: numerical method
ω ¼ 1:1958, In this step, Figs. 17 and 18 are depicted according to Table
xðtÞ ¼ 0:10035e – 0:1t
cosð1:1958t – 0:08343Þ: (59) 2 from numerical method and the obtained solution by
AGM in order to compare the achieved solutions together.
186 Front. Mech. Eng. 2014, 9(2): 177–190

AGM and numerical method are illustrated in Figs. 20 and

21.

5 Example 3
Consider the following nonlinear differential equation
(Duffing equation) in the form of
d2 u
f ðtÞ : 2
þ β2 ðu þ 2 u3 Þ ¼ PsinðΩtÞ: (60)
dt
Then, the initial conditions are expressed as
_
uð0Þ ¼ A, uð0Þ ¼ 0: (61)
It is notable that β, , Ω and P in the above equation are
defined as constant values are expressed as
A ¼ 0:15, Ω ¼ 2, β ¼ 0:3,  ¼ 0:2 P ¼ 0:2 :
Fig. 16 Resulted phase plane for example 2 by AGM (62)

After that, the obtained phase plane by AGM has been

5.1 Solving the differential equation by AGM
compared with numerical solution in Fig. 19.

4.5 Difference of the obtained solutions by AGM and To solve Eq. (60), a finite series with constant coefficients
numerical method has been considered as the answer of follows:

The existed differences between the yielded solution by uðtÞ ¼ e – a  t fbcos ðωt þ φÞg þ dsinðΩt þ fÞ: (63)

Table 2 Results of numerical solution based on the given physical values in the specified domain
t 0 8 16 24 32 40
uðtÞ
0.1 – 0.045104 0.01990540 – 0.00859812 0.0036300 – 0.00149353
Num. Rk 45
u# ðtÞ
0.0 0.0076792 – 0.00662959 0.00452472 – 0.00264644 0.001440892
Num.Rk 45

Fig. 17 Comparison between the achieved solutions by AGM Fig. 18 Comparing the first derivative of the obtained by AGM
and numerical method and numerical method
 M. R. AKBARI et al. Solving nonlinear differential equations of Vanderpol, Rayleigh and Duffing by AGM 187

afore-mentioned equation will be computed by applying

initial conditions.

5.2 Applying initial conditions in AGM

Exactly like the procedure which has been explained in

examples 1 and 2, the initial conditions are applied in two
ways in AGM. Therefore, we have
uð0Þ ¼ A, so bcosφ þ dsinf ¼ 0:15: (64)
Afterwards
_
uð0Þ ¼ 0,
therefore
– bðacosφ þ ωsinφÞ þ 2dcosf ¼ 0: (65)
Then, applying the initial conditions on the main
differential equation which is Eq. (60) and is named f ðtÞ
and on its derivatives is done after substituting Eq. (63)
into differential Eq. (60) in the following form:
Fig. 19 Comparing the related phase planes of the achieved
solutions by AGM and numerical method 1) applying initial conditions on the yielded equation:
 
f uðt ¼ 0Þ :

so

ða2 – ω2 þ 0:09Þcosφ þ 2b a ωsin φ – 3:91dsinf

þ0:0036ðbcosφ þ dsinfÞ3 ¼ 0: (66)
2) applying initial conditions on the first derivative of
the yielded equation:
 
f # uðt ¼ 0Þ :

bað3ω2 – a2 – 0:09Þcosφ þ bðω3 – 3a2 ω – 0:09ωÞ sinφ
Fig. 20 Difference of the obtained solutions by AGM and – 7:82dcosf – 0:0108ðbcosφ þ dsinfÞ2 ðabcosφ
numerical method
þ bωsinφ – 2dcosfÞ ¼ 0:4:
(67)
3) applying initial conditions on the second derivative of
the yielded equation:
 
f $ uðt ¼ 0Þ :
bða4 – 6a2 ω2 þ ω4 – 0:09ω2 þ 0:09a2 Þcosφ
þ abð4a2 ω – 4ω3 þ 0:18ωÞsinφ þ 15:64dsinf
þ 0:0216ðbcosφ þ dsinfÞðabcosφ þ bωsinφ – 2dcosfÞ2
þ 0:0108ðbcosφ þ dsinfÞ2 ða2 bcosφ þ 2abωsinφ
– bω2 cosφ – 4dsinfÞ ¼ 0:
Fig. 21 Difference of the first derivative of the obtained
solutions by AGM and numerical method (68)
4) applying initial conditions on the third derivative of
Constant coefficients a, b, d, ω, φ and f in the the yielded equation:
188 Front. Mech. Eng. 2014, 9(2): 177–190

 
f % uðt ¼ 0Þ :
abð10a2 ω2 – a4 – 5ω4 – 0:09a2 þ 0:27ω2 Þcosφ
þ bð10a2 ω2 – 5ωa4 – ω5 – 0:27a2 ω þ 0:09ω3 Þsinφ
þ 31:28dcosf – 0:0216ðabcosφ þ bωsinφ – 2dcosfÞ3
þ 0:0648ðbcosφ þ dsinfÞð – abcosφ – bωsinφ þ 2dcosfÞ
fbða2 – ω2 Þcosφ þ 2abωsinφ – 4dsinfg þ 0:0108ðbcosφ
þdsinfÞ2 fabð3ω2 –a2 Þcosφ þ bωðω2 –3a2 Þsinφ–8dcosfg
¼ – 1:6:
(69)
In this step, by solving a set of algebraic equations which
is consisted of six equations with six unknowns from Eqs. Fig. 23 Chart of the first derivative for the obtained solution by
(64) to (69), the constant coefficients of Eq. (63) which are AGM
a, b, d, ω, φ and f will be obtained very easily as follows:
a ¼ – 0:000101788, b ¼ 0:372137, d ¼ 0:051154,

ω ¼ 0:30036, φ ¼ – 1:15592, f ¼ 0: (70)

After substituting the obtained values from Eq. (70) into
Eq. (63), the answer of the presented problem is achieved
in the following form:
uðtÞ ¼0:372137e0:000101788t cosð0:30036t – 1:15592Þ
– 0:051154sinð2tÞ:
(71)
Consequently, the charts of the obtained solution and its Fig. 24 The resulted phase plane for the presented Duffing
first derivative are depicted in Figs. 22 and 23 respectively. equation by AGM
Then, the related phase plane has been depicted in
Fig. 24. 26 are depicted according to Table 3 from numerical
method and the obtained solution by AGM in order to
5.3 Numerical solution of the differential equation compare them together.
In this step, the yielded phase plane by AGM has been
The achieved results of numerical solution are presented in compared with numerical solution in Fig. 27.
the specified domain t 2 f0,40g in Table 3.
5.5 Difference of the obtained solutions by AGM and
5.4 Comparing the achieved solutions by AGM and numerical method
numerical method
The existed differences between the yielded solution by
The following charts which are consisted of Figs. 25 and AGM and numerical method based on Table 3 are
illustrated in Figs. 28 and 29.

6 Conclusions
In this paper, three complicated nonlinear vibrational
differential equations which are Vanderpol , Rayleigh and
Duffing equations have been introduced and analyzed
completely by Algebraic Method (AGM) and also the
obtained results have been compared with numerical
method. Then, the vibrational velocity and vibrational
Fig. 22 Chart of the obtained solution by AGM acceleration have successfully been achieved. Afterwards,
 M. R. AKBARI et al. Solving nonlinear differential equations of Vanderpol, Rayleigh and Duffing by AGM 189

Table 3 Results of numerical solution based on the given physical values in the specified domain
t 0 8 16 24 32 40
uðtÞ Num. Rk 45 0.15 0.132085 – 0.3522582 0.40210454 – 0.26044564 0.004382949
u# ðtÞ Num. Rk 45 0.00 – 0.0081056 – 0.0304086 0.09030328 – 0.13168945 0.12219430

Fig. 25 Comparison between the achieved solutions by AGM

and numerical method
Fig. 28 Difference the obtained solutions by AGM and numer-
ical method

Fig. 26 Comparing the first derivative of the obtained by AGM

and numerical method

Fig. 29 Difference the first derivative of the obtained solutions

by AGM and numerical method

Eventually, the equation of damping ratio in terms of initial

Fig. 27 Comparing the related phase planes of the achieved
solutions by AGM and numerical method
the related equations of locus for vibrational velocity and
acceleration have been gained and depicted completely.
amplitude of vibration and angular frequency has been
obtained perfectly. The above process has been done in
order to show the ability of AGM for solving a broad range
of differential equations in different fields of study
particularly in vibrations. Consequently, it is concluded
that AGM is a reliable and precise approach for solving
miscellaneous differential equations. Moreover, a sum-
mary of the AGM excellence and benefits is explained as:
By solving a set of algebraic equations with constant
coefficients, we are able to obtain the solution of nonlinear
differential equation along with the related angular
frequency simultaneously very easily which applying this
procedure is possible even for students with intermediate
190 Front. Mech. Eng. 2014, 9(2): 177–190
mathematical knowledge. On the other hand, it is better to
say that AGM is able to solve linear and nonlinear
differential equations directly in most of the situations that
means the final solution can be obtained without any
dimensionless procedure. Therefore, AGM can be con-
sidered as a significant progress in nonlinear sciences.
Acknowledgements The authors are grateful to the Ancient Persian
mathematician, astronomer and geographer Muammadibn Musa Kharazmi,
who was the one that his Compendious Book on Calculation by Completion
and Balancing presented the first systematic solution of linear and quadratic
equations. Furthermore, he was considered as the original inventor of algebra
and is the one who Europeans derive the term ALGEBRA from his book and
also the expression ALGORITHM has been taken from his name (the Latin
form of his name). Consequently, we dedicate this way of solving linear and
nonlinear differential equations to this scientist.
Nomenclatures
A Initial amplitude of vibration
ω Angular frequency
uðtÞ Vibrational displacement
_
uðtÞ Vibrational velocity
€
u ðtÞ Vibrational acceleration
 Damping ratio
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