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Complex Variables Mohammed Nasser Acknowledgement: Steve Cunningham Open Disks or Neighborhoods Definition. The set of all points z which satisfy the inequality |z – z0|<, where is a positive real number is called an open disk or neighborhood of z0 . Remark. The unit disk, i.e., the neighborhood |z|< 1, is of particular significance. 1 Interior Point Definition. A point z 0 S is called an interior point of S if and only if there exists at least one neighborhood of z0 which is completely contained in S. z0 S Open Set. Closed Set. Definition. If every point of a set S is an interior point of S, we say that S is an open set. Definition. S is closed iff Sc is open. Theorem: S` S, i.e., S contains all of its limit points S is closed set. Sets may be neither open nor closed. Open Closed Neither Connected An open set S is said to be connected if every pair of points z1 and z2 in S can be joined by a polygonal line that lies entirely in S. Roughly speaking, this means that S consists of a “single piece”, although it may contain holes. S z1 z2 Domain, Region, Closure, Bounded, Compact An open, connected set is called a domain. A region is a domain together with some, none, or all of its boundary points. The closure of a set S denoted S, is the set of S together with all of its boundary. Thus S S B(S.) A set of points S is bounded if there exists a positive real number r such that |z|<r for every z S. A region which is both closed and bounded is said to be compact. Review: Real Functions of Real Variables Definition. Let . A function f is a rule which assigns to each element a one and only one element b , . We write f: , or in the specific case b = f(a), and call b “the image of a under f.” We call “the domain of definition of f ” or simply “the domain of f ”. We call “the range of f.” We call the set of all the images of , denoted f (), the image of the function f . We alternately call f a mapping from to . Real Function In effect, a function of a real variable maps from one real line to another. f Complex Function Definition. Complex function of a complex variable. Let C. A function f defined on is a rule which assigns to each z a complex number w. The number w is called a value of f at z and is denoted by f(z), i.e., w = f(z). The set is called the domain of definition of f. Although the domain of definition is often a domain, it need not be. Remark Properties of a real-valued function of a real variable are often exhibited by the graph of the function. But when w = f(z), where z and w are complex, no such convenient graphical representation is available because each of the numbers z and w is located in a plane rather than a line. We can display some information about the function by indicating pairs of corresponding points z = (x,y) and w = (u,v). To do this, it is usually easiest to draw the z and w planes separately. Graph of Complex Function y w = f(z) v x z-plane domain of definition u range w-plane Arithmetic Operations in Polar Form The representation of z by its real and imaginary parts is useful for addition and subtraction. For multiplication and division, representation by the polar form has apparent geometric meaning. Suppose we have 2 complex numbers, z1 and z2 given by : z 1 x 1 iy 1 r1e i1 z 2 x 2 iy 2 r2e x i2 i y z 1 z 2 x 1 iy 1 x 2 iy 2 1 x2 z 1z 2 r1e i1 r1r2e magnitudes multiply! 1 y2 r e i2 2 i (1 ( 2 )) phases add! Easier with normal form than polar form Easier with polar form than normal form For a complex number z2 ≠ 0, z1 z2 r1e r2e i1 i2 magnitudes divide! z1 r1 z2 r2 r1 r2 e i (1 ( 2 )) r1 r2 e i (1 2 ) phases subtract! z 1 ( 2 ) 1 2 Example 1 Describe the range of the function f(z) = x2 + 2i, defined on (the domain is) the unit disk |z| 1. Solution: We have u(x,y) = x2 and v(x,y) = 2. Thus as z varies over the closed unit disk, u varies between 0 and 1, and v is constant (=2). Therefore w = f(z) = u(x,y) + iv(x,y) = x2 +2i is a line segment from w = 2i to w = 1 + 2i. y domain f(z) x v range u Example 2 Describe the function f(z) = z3 for z in the semidisk given by |z| 2, Im z 0. Solution: We know that the points in the sector of the semidisk from Arg z = 0 to Arg z = 2/3, when cubed cover the entire disk |w| 8 because 3 2i 2e 8e The cubes of the remaining points of z also fall into this disk, overlapping it in the upper half-plane as depicted on the next screen. i 2 3 w = z3 y v 8 2 -2 2 x -8 8 -8 u If Z is in x+iy form z3=z2..z=(x2-y2+i2xy)(x+iy)=(x3-xy2+i2x2y+ix2y-iy3 -2xy2) =(x3-3xy2) +i(3x2y-y3) If u(x,y)= (x3-3xy2) and v(x,y)=(3x2y-y3), we can write z3=f(z)=u(x,y) +iv(x,y) Example 3 f(z)=z2, g(z)=|z| and h(z)= z i) D={(x,x)|x is a real number} ii) D={|z|<4| z is a complex number} Draw the mappings Sequence Definition. A sequence of complex numbers, denoted k zn1, is a function f, such that f: N C, i.e, it is a function whose domain is the set of natural numbers between 1 and k, and whose range is a subset of the complex numbers. If k = , then the sequence is called infinite and is denoted by zn, or more 1 often, zn . (The notation f(n) is equivalent.) Having defined sequences and a means for measuring the distance between points, we proceed to define the limit of a sequence. Meaning of Zn Zn Z0 |zn-z0|=rn Where rn= , xn x0,,, yn Z0 0 (x n x 0 )2 (y n y 0 )2 y0 I proved it in previous classes Geometric Meaning of Zn Z0 zn tends to z0 in any linear or curvilinear way. Limit of a Sequence Definition. A sequence of complex numberszn is 1 said to have the limit z0 , or to converge to z0 , if for any > 0, there exists an integer N such that |zn – z0| < for all n > N. We denote this by lim zn z0 or n zn z0 as n . Geometrically, this amounts to the fact that z0 is the only point of zn such that any neighborhood about it, no matter how small, contains an infinite number of points zn . Theorems and Exercises Theorem. Show that zn=xn+iyn only if xn x0, yn y0 . z0=x0+iy0 if and Ex. Plot the first ten elements of the following sequences and find their limits if they exist: i) 1/n +i 1/n ii) 1/n2 +i 1/n2 iii) n +i 1/n iv) (1-1/n )n +i (1+1/n)n Limit of a Function We say that the complex number w0 is the limit of the function f(z) as z approaches z0 if f(z) stays close to w0 whenever z is sufficiently near z0 . Formally, we state: Definition. Limit of a Complex Sequence. Let f(z) be a function defined in some neighborhood of z0 except with the possible exception of the point z0 is the number w0 if for any real number > 0 there exists a positive real number > 0 such that |f(z) – w0|< whenever 0<|z - z0|< . Limits: Interpretation We can interpret this to mean that if we observe points z within a radius of z0, we can find a corresponding disk about w0 such that all the points in the disk about z0 are mapped into it. That is, any neighborhood of w0 contains all the values assumed by f in some full neighborhood of z0, except possibly f(z0). v y w = f(z) z 0 z-plane w0 x w-plane u Complex Functions : Limit and Continuity f: Ω1 Ω2 Ω1 and Ω2 are domain and codomain respectively. Let z0 be a limit point of Ω1 , w0 belongs to Ω2 . Let us take any B any nbd of w0 in Ω2 and take inverse of B, f-1{B}. f-1{B} contains a nbd of z0 in Ω1.. In the case of Continuity the only difference is w0 =f(z0)), Properties of Limits as z z0, lim f(z) A, then A is unique If as z z0, lim f(z) A and lim g(z) B, If then lim [ f(z) g(z) ] = A B lim f(z)g(z) = AB, and lim f(z)/g(z) = A/B. if B 0. Continuity Definition. Let f(z) be a function such that f: C C. We call f(z) continuous at z0 iff: F is defined in a neighborhood of z0, The limit exists, and zz0 lim f ( z) f ( z0 ) A function f is said to be continuous on a set S if it is continuous at each point of S. If a function is not continuous at a point, then it is said to be singular at the point. Note on Continuity One can show that f(z) approaches a limit precisely when its real and imaginary parts approach limits, and the continuity of f(z) is equivalent to the continuity of its real and imaginary parts. Properties of Continuous Functions If f(z) and g(z) are continuous at z0, then so are f(z) g(z) and f(z)g(z). The quotient f(z)/g(z) is also continuous at z0 provided that g(z0) 0. Also, continuous functions map compact sets into compact sets. Exercises i. ii. iii. iv. v. vi. Find domain and range of the following functions and check their continuity: f1(z)=z f2(z)=|z| f3(z)=z2 f4(z)= f5(z)=1/(z-2) f6(z)=ez/log(z)/z1./2/cos(z) z f: <S1,d1> s in S1. For all sn <S2,d2> is continuous at s f(s ) n f(s) it is true in a general metric space but not in general topological space. Test for Continuity of Functions