Week8 ENG1060 Lecture15

ENG 1060
Computing for Engineers

Lecturer: Dr Christopher Hutchinson
Lecture 15:
Linear Algebraic Equations in Engineering
Last Lecture(s)
• Last lecture
Designing pipelines: An example requiring
• Today’s Lecture
• Engineering
root-finding
examples of
linear algebraic
eqns • ‘Bracketing methods’ for root finding
→ Chemical Eng → Bisection method
→ Electrical Eng → False position method
→ Civil Eng
• What do we • ‘Open methods’ for root finding

mean by linear
eqns? → Newton-Raphson
• Lecture → Secant/Modified Secant
summary
• Next lecture
• Optimization problems
2
Last Lecture: Newton-Raphson
• Last lecture Let us again consider our problem of deciding the thickness, t,
• Today’s Lecture of the pipe we are going to use to transport oil/gas.
• Engineering
K IC PR
examples of
g (t )  
  t / 2  Cos   t / 2  t
linear algebraic
eqns
→ Chemical Eng
1.50E+08
→ Electrical Eng
→ Civil Eng 1.00E+08 Search for t, where g(t)=0

• What do we 5.00E+07
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
• Lecture -5.00E+07 t
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
3
• Engineering
examples of
linear algebraic Step 1. Make an initial guess of t, t1
eqns
→ Chemical Eng
t1
1.50E+08
→ Electrical Eng
→ Civil Eng 1.00E+08
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
4
• Engineering
examples of
linear algebraic Step 2. Draw the tangent to g(t) at t1.
eqns
→ Chemical Eng
t1
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
5
• Engineering
examples of
linear algebraic Step 2. Draw the tangent to g(t) at t1.
eqns
Your new guess of t is where the tangent passes through zero
→ Chemical Eng
t 1 t2
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
6
• Engineering
examples of
linear algebraic Step 3. Repeat Step 2
eqns
→ Chemical Eng
t2
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
7
• Engineering
examples of
linear algebraic Repeat Step 2. Draw the tangent to g(t) at t2.
eqns
→ Chemical Eng
t 2 t3
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
8
• Engineering
examples of
linear algebraic Repeat Step 2.
eqns
→ Chemical Eng
t3
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
9
• Engineering
examples of
eqns
→ Chemical Eng
t3 t 4
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
10
• Engineering
examples of
linear algebraic Repeat Step 2.
eqns
→ Chemical Eng
t4
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
11
• Engineering
examples of
eqns
→ Chemical Eng
t4t5
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
12
• Engineering
examples of
linear algebraic Repeat Step 2 until the difference between your current guess and
eqns
the new guess is less than some specified amount
→ Chemical Eng
t5
1.50E+08
→ Electrical Eng
mean by linear
eqns? 0.00E+00
0 0.05 0.1 0.15 0.2
g(t)
summary
-1.00E+08
• Next lecture
-1.50E+08
-2.00E+08
That’s it!
13
Today’s Lecture
• Last lecture
The last two lectures have looked at methods to find the root
of one equation:
• Engineering
examples of
linear algebraic
i.e. find t which satisfied g(t)=0
eqns
→ Chemical Eng What if instead of 1 equation g(t) we had n equations with n

→ Electrical Eng unknowns?
→ Civil Eng
• What do we f(t1, t2, t3…..tn)=0

mean by linear
eqns? g(t1, t2, t3…..tn)=0 Such sets of simultaneous equations
• Lecture h(t1, t2, t3…..tn)=0 occur frequently in engineering problems.
summary
j(t1, t2, t3…..tn)=0
• Next lecture Today we start looking at the case of
…… ‘Linear Algerbraic Equations’ (Chapra, Ch 8)
and examples of when these arise in
engineering
14
An engineering example…..
• Last lecture Consider that you work as a chemical engineer for a
• Today’s Lecture big oil refinery. It is your job to make sure that the oil
• Engineering
examples of
is mixed correctly when it is piped out of the plant……
linear algebraic
eqns
→ Chemical Eng
→ Electrical Eng Q13

F Q35
→ Civil Eng Q55
• What do we Q12 Q34
mean by linear
eqns?
Q44
• Lecture Q24
summary
• Next lecture
Qij  flow rate from i to j ( m3 s 1 )
xi  concentration in reactor i(kg m 3 )
F  feed (kg s 1 )
15
• Last lecture Mixing oil……
• Engineering
examples of
linear algebraic
eqns
Q13
F Q35
→ Chemical Eng
Q55
Q12 Q34
→ Electrical Eng
→ Civil Eng Q44

• What do we
Q24
mean by linear
eqns?
Qij  flow rate from i to j (m 3 s 1 )
• Lecture
summary xi  concentration in reactor i(kg m 3 )
• Next lecture F  feed ( kg s 1 )
We can control Qij using valves on each pipe and we can control the
feed, F.
16
• Engineering
examples of
linear algebraic
eqns
Q13
F Q35
→ Chemical Eng
Q55
Q12 Q34
→ Electrical Eng
→ Civil Eng Q44

• What do we
Q24
mean by linear
eqns?
Qij  flow rate from i to j (m 3 s 1 )
• Lecture
summary xi  concentration in reactor i(kg m 3 )
• Next lecture F  feed ( kg s 1 )
We can control Qij using valves on each pipe and we can control the
feed, F. Our job is to make sure that each reactor has the correct
concentrations, xi. In particular, x4 and x5…….
17
• Engineering
examples of
linear algebraic
eqns
Q13
F Q35
→ Chemical Eng
Q55
Q12 Q34
→ Electrical Eng
→ Civil Eng Q44

• What do we
Q24
mean by linear
eqns?
• Lecture Equilibrium mass balance: TANK 1 : F  Q12 x1  Q13 x1

summary • concentrations reach TANK 2 : Q12 x1  Q24 x 2
• Next lecture constant values xi TANK 3 : Q13 x1  Q34 x 3  Q35 x 3
• Qij determined by pipes
TANK 4 : Q24 x 2  Q34 x 3  Q44 x 4
and valves
TANK 5 : Q35 x 3  Q55 x 5
18
• Engineering
examples of
linear algebraic
eqns
Q13
F Q35
→ Chemical Eng
Q55
Q12 Q34
→ Electrical Eng
→ Civil Eng Q44

• What do we
Q24
mean by linear
eqns? Linear Algebraic Eqns Linear algebraic Eqns expressed in matrix form
• Lecture (Q12  Q13 )x1  F (Q12  Q13 ) x1  F 
summary     
Q12 x1  Q24 x 2  0  Q12 Q24 x 2  0 
• Next lecture Q13 x1  (Q34  Q35 )x 3  0  Q13 (Q34  Q35 ) x 3  0 
    
Q24 x 2  Q34 x 3  Q44 x 4  0 Q24 Q34 Q44
 x 4  0 
Q35 x 3  Q55 x 5  0 
 Q35 Q55 

x 5 
 
0 

19
• Engineering
examples of
linear algebraic
eqns
Q13
F Q35
→ Chemical Eng
Q55
Q12 Q34
→ Electrical Eng
→ Civil Eng Q44

• What do we
Q24
mean by linear
eqns? Linear algebraic Eqns expressed in matrix form
• Lecture
(Q12  Q13 ) x1  F 
summary     
 Q12 Q24 x 2  0 
• Next lecture  Q13 (Q34  Q35 ) x 3  0 
    
 Q24 Q34 Q44 x 4  0 

 Q35 Q55 

x 5 
 
0 

This is now in matrix form; Ax=B, where A and B are known

20
• Engineering
examples of
linear algebraic
eqns
Q13
F Q35
→ Chemical Eng
Q55
Q12 Q34
→ Electrical Eng
→ Civil Eng Q44

• What do we
Q24
mean by linear
eqns? Linear algebraic Eqns expressed in matrix form
• Lecture
(Q12  Q13 ) x1  F 
summary     
 Q12 Q24 x 2  0 
• Next lecture  Q13 (Q34  Q35 ) x 3  0 
    
 Q24 Q34 Q44 x 4  0 

 Q35 Q55 

x 5 
 
0 

Next lecture we will start talking about how to solve these equations
21
• Last lecture Consider now that you work as an electrical engineer.
• Today’s Lecture You job is the design of circuits for a new generation
• Engineering
examples of
of CPU. Overheating is a problem.
linear algebraic
eqns
→ Chemical Eng
→ Electrical Eng
→ Civil Eng
• What do we
mean by linear
eqns?
• Lecture
summary
• Next lecture
22
• Engineering
examples of
linear algebraic
eqns You need to understand well the currents in all the
→ Chemical Eng segments of your circuit.
→ Electrical Eng
→ Civil Eng 3 R23 2 R12 1

V1
• What do we
mean by linear
eqns?
R34 R25
• Lecture
summary R45 R56
• Next lecture V2
4 5 6
23
• Engineering
examples of
linear algebraic
eqns You need to understand well the currents in all the
→ Chemical Eng segments of your circuit.
→ Electrical Eng
→ Civil Eng 3 R23 2 R12 1

V1
• What do we
mean by linear
eqns?
R34 R25
• Lecture
summary R45 R56
• Next lecture V2
4 5 6
We know the resistances Rij and we know the applied voltage difference
V1-V2. But we need to know the current, iij, in each segment to
make sure we don’t overheat…..
24
• Last lecture Overheating CPU........
3 R23 2 R12 1
• Engineering
examples of
V1
linear algebraic
eqns
R34 R25
→ Chemical Eng
→ Electrical Eng R45 R56

→ Civil Eng
V2
4 5 6
• What do we
mean by linear
There are two important laws that we need to do this calculation:
eqns?
• Lecture
Kirchoff’s Law I -
summary the algebraic sum of the currents meeting at a junction
(node) is zero
• Next lecture
i3
i1 + i2 - i3 = 0
i1
i2  i=0
25
3 R23 2 R12 1
• Engineering
examples of
V1
linear algebraic
eqns
R34 R25
→ Chemical Eng
→ Electrical Eng R45 R56

→ Civil Eng
V2
4 5 6
• What do we
mean by linear
There are two important laws that we need to do this calculation:
eqns?
• Lecture
Kirchoff’s Law II –
summary the algebraic sum of the voltage drops and e.m.f’s around any
• Next lecture closed circuit is zero
 (E - iR) = 0
26
3 R23 2 R12 1
• Engineering V1
examples of
linear algebraic
eqns
+ve direction R34 R25
→ Chemical Eng
R45 R56
→ Electrical Eng
V2
→ Civil Eng 4 5 6
• What do we
mean by linear
eqns? i12  i23  i25  0 node 2
• Lecture i25  i45  i56  0 node 5
summary
Linear Algebraic Eqns i23  i34  0 node 3
• Next lecture
i34  i45  0 node 4
R23i23  R34 i34  R45i45  R25i25  0 LH loop
R12i12  R25i25  R56i56  (V1  V2 )  0 RH loop
27
3 R23 2 R12 1
• Engineering V1
examples of
linear algebraic
eqns
→ Chemical Eng
R45 R56
→ Electrical Eng
V2
→ Civil Eng 4 5 6
• What do we
mean by linear
eqns?
i12 i23 i25  0
• Lecture
summary i25 i45 i56  0
• Next lecture i23 i34  0
i34 i45  0
R23i23 R25i25 R34 i34 R45i45  0
R12i12 R25i25 R56i56 (V1  V2 )  0
28
3 R23 2 R12 1
• Engineering V1
examples of
linear algebraic
eqns
→ Chemical Eng
R45 R56
→ Electrical Eng
V2
→ Civil Eng 4 5 6
• What do we
mean by linear
eqns? i12  i23  i25  0 node 2
• Lecture i25  i45  i56  0 node 5
summary
Linear Algebraic Eqns i23  i34  0 node 3
• Next lecture
i34  i45  0 node 4
R23i23  R34 i34  R45i45  R25i25  0 LH loop
R12i12  R25i25  R56i56  (V1  V2 )  0 RH loop
29
• Last lecture
Overheating CPU........
3 R23 2 R12 1
• Engineering V1
examples of
linear algebraic
eqns
→ Chemical Eng
→ Electrical Eng
R45 R56
V2
→ Civil Eng 4 5 6
• What do we
mean by linear
eqns?
• Lecture i12 i23 i25  0

summary
i25 i45 i56  0
• Next lecture
i23 i34  0
i34 i45  0
R23i23 R25i25 R34 i34 R45i45  0
R12i12 R25i25 R56i56 (V1  V2 )  0
30
• Last lecture
3 R23 2 R12 1
• Engineering V1
examples of
linear algebraic
eqns
→ Chemical Eng
→ Electrical Eng
R45 R56
V2
→ Civil Eng 4 5 6
• What do we
mean by linear
eqns?
i12 i23 i25  0
• Lecture
summary i25 i45 i56  0
• Next lecture i23 i34  0
i34 i45  0
R23i23 R25i25 R34 i34 R45i45  0
R12i12 R25i25 R56i56  (V1  V2 )
31
• Last lecture
i12 i23 i25  0
• Engineering
examples of i25 i45 i56  0
linear algebraic
i23 i34  0 Linear
eqns Algebraic
i34 i45  0 Eqns
→ Chemical Eng
R23i23 R25i25 R34 i34 R45i45  0
→ Electrical Eng
R12i12 R25i25 R56i56  (V1  V2 )
→ Civil Eng
• What do we
mean by linear
 1 1 1 i12   0 
eqns?  1 1  1 i23   0 
• Lecture 
summary  1 1 i25   0  Linear Algebraic
      Eqns expressed
• Next lecture
 1 1 i
 34   0  in matrix format
 R23  R25 R34 R45 i45   0 
    
 R12 R25 R56 i56  V1  V2 
32
• Last lecture
• Engineering 1 1 1 i12   0 
examples of
linear algebraic
 1 1  1 i23   0 
eqns 
 1 1 i25   0  Linear Algebraic
→ Chemical Eng
      Eqns expressed
→ Electrical Eng  1 1 i
 34   0  in matrix format
→ Civil Eng
 R23  R25 R34 R45 i45   0 
    
• What do we  R12 R25 R56 i56  V1  V2 
mean by linear
eqns?
• Lecture
summary
• Next lecture MATLAB is an expert at solving these types of simultaneous Eqns.
Next lecture we will consider this.
33
• Last lecture
Lets consider one more example: Static force balance
• Engineering
examples of – three bungee jumpers
linear algebraic
eqns joined by elastic chords
→ Chemical Eng
→ Electrical Eng – define zero

→ Civil Eng
displacements at
unstretched positions
• What do we
mean by linear
eqns?
– after jumping, calculate
• Lecture
summary the equilibrium positions
• Next lecture
– Newton’s second law

(F=ma)
34
• Last lecture
• Engineering Free-body diagrams

examples of
linear algebraic
eqns
→ Chemical Eng
→ Electrical Eng F = ma
→ Civil Eng but a = 0 so F = 0
( F = 0 better)
• What do we
mean by linear
eqns?
• Lecture
summary
• Next lecture
ki is the spring constant of elastic cord i

35
• Last lecture
• Engineering m1 g  k 2 ( x2  x1 )  k1 x1  0
examples of
linear algebraic
eqns
m2 g  k3 ( x3  x2 )  k 2 ( x2  x1 )  0
→ Chemical Eng
m3 g  k3 ( x3  x2 )  0
→ Electrical Eng
Free-body diagrams:
→ Civil Eng
net force on each person is zero
• What do we
mean by linear
eqns?
• mi is the mass of the ith jumper [kg]
• Lecture • ki is the spring constant of cord i

summary
[N/m]
• Next lecture
• xi the displacement of the ith jumper
from the initial position
• g = 9.81 m/s2
36
• Last lecture
m1 g  k 2 ( x2  x1 )  k1 x1  0
• Engineering
examples of m2 g  k3 ( x3  x2 )  k 2 ( x2  x1 )  0
linear algebraic
eqns m3 g  k3 ( x3  x2 )  0
→ Chemical Eng
→ Electrical Eng rewrite as :

→ Civil Eng (k1  k 2 ) x1  k 2 x2  m1 g
• What do we  k 2 x1  (k 2  k3 ) x2  k3 x3  m2 g
mean by linear
eqns?  k3 x2  k3 x3  m3 g
• Lecture
summary
• Next lecture In matrix notation :

(k1  k 2 ) This is now something
k 2 0 x1  m1g
     we can solve in MATLAB
 k 2 (k 2  k 3 ) k x 2 m 2 g
3 
Ax=B

 0 k 3 k3 

x 3
 
m 3 g

37
• Last lecture
What if the force from each elastic band was not linear in
• Engineering
examples of displacement, x? (i.e. Hooke’s Law did not apply)
linear algebraic
eqns
2 2 2 e.g. Fi=ki*x2
→ Chemical Eng
→ Electrical Eng
→ Civil Eng
• What do we
mean by linear
eqns?
• Lecture
summary
• Next lecture
2 2
38
• Last lecture
What if the force from each elastic band was not linear in
• Engineering
examples of displacement, x? (i.e. Hooke’s Law did not apply)
linear algebraic
eqns e.g. Fi=ki*x2
→ Chemical Eng
→ Electrical Eng
Our simultaneous equations are no longer linear in x
→ Civil Eng
2
• What do we
m1 g  k 2 ( x 2  x1 ) 2  k1 x1  0
mean by linear
eqns? m2 g  k 3 ( x3  x 2 ) 2  k 2 ( x 2  x1 ) 2  0
• Lecture
summary m3 g  k 3 ( x 3  x 2 ) 2  0
• Next lecture
These are significantly more difficult to solve and will not be considered
in this introductory course
39
Engineering examples…..
• Last lecture
(k1  k 2 ) k 2 0 x1  m1g
• Today’s Lecture     
 k 2 (k 2  k 3 ) k3 x 2  m2 g
• Engineering 
 0 k 3 k 3 

x 3 
 
m3 g

examples of Statics:
linear algebraic System
eqns
(Q12  Q13 ) x1  F  characteristics
     
→ Chemical Eng
 Q12 Q24 x 2  0 
 Q13 (Q34  Q35 ) x 3  0 
→ Electrical Eng
    
 Q24 Q34 Q44 x 4  0 
→ Civil Eng  Q55 
Reactors:
 Q35 
x 5 
 
0 

Variables or
• What do we
mean by linear unknowns
eqns? 1 1 1 i12   0 
  1 1  1 i23   0 

• Lecture  1 1 i25   0 
summary       Forcing
 1 1 i
   0 
• Next lecture 
34
i45   0 
parameters
R23  R25 R34 R45
    
 R12 R25 R56 i56  V1  V2 
Circuit:
Linear algebraic equations occur frequently in engineering…….

40
Lecture Summary
• Last lecture
• Engineering
• Introduction to linear algebraic
examples of
linear algebraic equations
eqns
→ Chemical Eng
→ Electrical Eng
• Considered a number of
→ Civil Eng engineering examples
• What do we
mean by linear
eqns?
• Expressed sets of linear algebraic
• Lecture
summary
equations in matrix format
• Next lecture
41
Next lecture
• Last lecture
• Engineering
• Quick revision of Matrices and their
examples of
linear algebraic properties
eqns
→ Chemical Eng
→ Electrical Eng
• Using MATLAB to solve linear
→ Civil Eng algebraic problems
• What do we
mean by linear
eqns?
• Introduction to the numerical
• Lecture
summary
routines used to solve these sets of
equations
• Next lecture
42

Week8 ENG1060 Lecture15

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ENG 1060

Computing for Engineers

• What do we • ‘Open methods’ for root finding

→ Civil Eng 1.00E+08 Search for t, where g(t)=0

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Civil Eng 1.00E+08

→ Chemical Eng What if instead of 1 equation g(t) we had n equations with n

• What do we f(t1, t2, t3…..tn)=0

→ Electrical Eng Q13

→ Civil Eng Q44

→ Civil Eng Q44

→ Civil Eng Q44

• Lecture Equilibrium mass balance: TANK 1 : F  Q12 x1  Q13 x1

→ Civil Eng Q44

→ Civil Eng Q44

This is now in matrix form; Ax=B, where A and B are known

→ Civil Eng Q44

→ Civil Eng 3 R23 2 R12 1

→ Civil Eng 3 R23 2 R12 1

→ Electrical Eng R45 R56

→ Electrical Eng R45 R56

• Lecture i12 i23 i25  0

• Next lecture MATLAB is an expert at solving these types of simultaneous Eqns.

Next lecture we will consider this.

→ Electrical Eng – define zero

– Newton’s second law

• Engineering Free-body diagrams

ki is the spring constant of elastic cord i

• Lecture • ki is the spring constant of cord i

→ Electrical Eng rewrite as :

• Next lecture In matrix notation :

Linear algebraic equations occur frequently in engineering…….

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