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Overview
Chapter 3: Linear Higher-Order Differential Equations
3.1. Definitions and Theorems
3.2. Reduction of Order
3.3. Homogeneous Linear Equations with
Constant Coefficients
3.4. Undetermined Coefficients
3.5. Variation of Parameters
3.6. Cauchy-Euler Equations
Learning Outcome
At the end of this section, you should be able to:
Solve the homogeneous linear ODE with
constant coefficients using the auxiliary
equation.
3.3 Homogeneous linear equations with constant coefficients
Consider the second order DE
���� + ��� + �� = 0
where �, �and� are constants.
3.3 Homogeneous linear equations with constant coefficients
Step 1: Let the solution of the DE be
� = ���
�� = ����
��� = �����
3.3 Homogeneous linear equations with constant coefficients
Method of Solution
Step 2: Substitute into DE
������ + ����� + ���� = 0
3.3 Homogeneous linear equations with constant coefficients
���� + ��� + �� = 0
��� ��� + �� + � = 0
��� + �� + � = 0 ��� ≠ 0
Auxiliary Equation
Step 2: Substitute into DE
������ + ����� + ���� = 0
3.3 Homogeneous linear equations with constant coefficients
���� + ��� + �� = 0
��� ��� + �� + � = 0
��� + �� + � = 0
DE
AE
Use the formula
� =−� ± �� − 4��
2�
�� − 4�� will lead into three different cases
3.3 Homogeneous linear equations with constant coefficients
Step 3: Solve the AE
1) Case 1 : �� − 4�� > 0
�� and �� distinct and real
2) Case 2 : �� − 4�� = 0
�� and �� repeated and real
3) Case 3 : �� − 4�� < 0
�� and �� conjugate complex
⇒ ��= ��
⇒ ��= � + �� , �� = � − ��
3.3 Homogeneous linear equations with constant coefficients
⇒ ��≠ ��
� = !�! + "�"
3.3 Homogeneous linear equations with constant coefficients
Step 4: Find the general solution
It has been assumed that the solution is � = ���
The general solution is
� = !#$!% + "#
$"%
3.3 Homogeneous linear equations with constant coefficients
Case 1: Distinct and Real Roots
$! ≠ $"
The general solution is
3.3 Homogeneous linear equations with constant coefficients
Case 2: Repeated Real Roots
$! = $"
� = !#$!% + "%#
$!%
The general solution is
3.3 Homogeneous linear equations with constant coefficients
Case 3: Conjugate Complex Roots
$! = & + '( , $" = & − '(
� = #&% ! )*+(% + " +,-(%
Solve ��� − 36� = 0
Solution
Step 1: Let the solution of the DE be
� = ���
�� = ����
��� = �����
3.3 Homogeneous linear equations with constant coefficients
Example 1
Step 2: Substitute into DE
��� − 36� = 0
��� �� − 36 = 0
�� − 36 = 0
� − 6 � + 6 = 0
�� = 6,�� = −6
= � �0� + � �10�
3.3 Homogeneous linear equations with constant coefficients
����� − 36��� = 0
Step 3: Solve the AE
�� − 36 = 0
Case 1
Step 4: Find the general solution
The general solution is
3.3 Homogeneous linear equations with constant coefficients
� = ����2� + ���
�3�
= ���0� + ���
10�
� = ���
�� = ����
��� = �����
3.3 Homogeneous linear equations with constant coefficients
Example 2
Solve ��� + 6�� + 9� = 0
Solution
Step 1: Let the solution of the DE be
3.3 Homogeneous linear equations with constant coefficients
Case 2
��� + 6�� + 9� = 0
����� + 6���� + 9��� = 0
��� �� + 6� + 9 = 0
�� + 6� + 9 = 0
�� + 6� + 9 = 0
� + 3 � + 3 = 0
�� = �� = −3
Step 2: Substitute into DE
Step 3: Solve the AE
The general solution is
3.3 Homogeneous linear equations with constant coefficients
� = ����2� + ��5�
�2�
= ���16� + ��5�
16�
Step 4: Find the general solution
� = ���
�� = ����
��� = �����
3.3 Homogeneous linear equations with constant coefficients
Example 3
Solve 2��� + 2�� + � = 0
Solution
Step 1: Let the solution of the DE be
3.3 Homogeneous linear equations with constant coefficients
2��� + 2�� + � = 0
2����� + 2���� + ��� = 0
��� 2�� + 2� + 1 = 0
2�� + 2� + 1 = 0
2�� + 2� + 1 = 0
� =−� ± �� − 4��
2�
Step 2: Substitute into DE
Step 3: Solve the AE
3.3 Homogeneous linear equations with constant coefficients
� =−2 ± 4 − 4(2)(1)
2(2)
Case 3
=−2 ± −4
4
=−2 ± 2�
4
=−1 ± �
2
�� =−1 + �
2
�� =−1
2+
�
2
�� =−1 − �
2
�� =−1
2−
�
2
Step 4: Find the general solution
The general solution is
3.3 Homogeneous linear equations with constant coefficients
Compare with �� = � + �� �� = � − ��
�� =−1
2+ �
1
2 �� =−1
2− �
1
2
� = −�
�, β =
�
�
� = �;� �� cos�5 + �� sin �5
= �1���
�� cos1
25 + �� sin
1
25
Higher-Order Equations
We can extend the three cases in the 2nd
order to higher order.
Only, need to know how to factorize theobtained auxiliary equation.
3.3 Homogeneous linear equations with constant coefficients
Solution
Step 1:
3.3 Homogeneous linear equations with constant coefficients
Example
Solve 043'''''
=−+ yyy
04323
=−+ mm
043'''''
=−+ yyy
Step 2:
3.3 Homogeneous linear equations with constant coefficients
Case 1
0)44)(1(2
=++− mmm
04323
=−+ mm
0)2)(1(2
=+− mm
Case 2
�� = 1 �� = �6 = −2