22.18 problem 31.7 (k)

Internal problem ID [13908]
Internal file name [OUTPUT/13080_Friday_February_23_2024_06_54_34_AM_14986407/index.tex]

Book: Ordinary Differential Equations. An introduction to the fundamentals. Kenneth B. Howell. second edition. CRC Press. FL, USA. 2020
Section: Chapter 31. Delta Functions. Additional Exercises. page 572
Problem number: 31.7 (k).
ODE order: 3.
ODE degree: 1.

The type(s) of ODE detected by this program : "higher_order_laplace"

Maple gives the following as the ode type

[[_3rd_order, _missing_y]]

\[ \boxed {y^{\prime \prime \prime }+9 y^{\prime }=\delta \left (t -1\right )} \] With initial conditions \begin {align*} [y \left (0\right ) = 0, y^{\prime }\left (0\right ) = 0, y^{\prime \prime }\left (0\right ) = 0] \end {align*}

Solving using the Laplace transform method. Let \[ \mathcal {L}\left (y\right ) =Y(s) \] Taking the Laplace transform of the ode and using the relations that \begin {align*} \mathcal {L}\left (y^{\prime }\right )&= s Y(s) - y \left (0\right )\\ \mathcal {L}\left (y^{\prime \prime }\right ) &= s^2 Y(s) - y'(0) - s y \left (0\right )\\ \mathcal {L}\left (y^{\prime \prime \prime }\right ) &= s^3 Y(s) - y''(0) - s y'(0) - s^2 y \left (0\right ) \end {align*}

The given ode becomes an algebraic equation in the Laplace domain \[ s^{3} Y \left (s \right )-y^{\prime \prime }\left (0\right )-s y^{\prime }\left (0\right )-s^{2} y \left (0\right )+9 s Y \left (s \right )-9 y \left (0\right ) = {\mathrm e}^{-s}\tag {1} \] But the initial conditions are \begin {align*} y \left (0\right )&=0\\ y^{\prime }\left (0\right )&=0\\ y^{\prime \prime }\left (0\right )&=0 \end {align*}

Substituting these initial conditions in above in Eq (1) gives \[ s^{3} Y \left (s \right )+9 s Y \left (s \right ) = {\mathrm e}^{-s} \] Solving the above equation for \(Y(s)\) results in \[ Y(s) = \frac {{\mathrm e}^{-s}}{s \left (s^{2}+9\right )} \] Taking the inverse Laplace transform gives \begin {align*} y&= \mathcal {L}^{-1}\left (Y(s)\right )\\ &= \mathcal {L}^{-1}\left (\frac {{\mathrm e}^{-s}}{s \left (s^{2}+9\right )}\right )\\ &= \frac {2 \operatorname {Heaviside}\left (t -1\right ) \sin \left (\frac {3 t}{2}-\frac {3}{2}\right )^{2}}{9} \end {align*}

Converting the above solution to piecewise it becomes \[ y = \left \{\begin {array}{cc} 0 & t <1 \\ \frac {2 \sin \left (\frac {3 t}{2}-\frac {3}{2}\right )^{2}}{9} & 1\le t \end {array}\right . \]

Summary

The solution(s) found are the following \begin{align*} \tag{1} y &= \left \{\begin {array}{cc} 0 & t <1 \\ \frac {2 \sin \left (\frac {3 t}{2}-\frac {3}{2}\right )^{2}}{9} & 1\le t \end {array}\right . \\ \end{align*}

Verification of solutions

\[ y = \left \{\begin {array}{cc} 0 & t <1 \\ \frac {2 \sin \left (\frac {3 t}{2}-\frac {3}{2}\right )^{2}}{9} & 1\le t \end {array}\right . \] Verified OK.

22.18.1 Maple step by step solution

\[ \begin {array}{lll} & {} & \textrm {Let's solve}\hspace {3pt} \\ {} & {} & \left [y^{\prime \prime \prime }+9 y^{\prime }=\mathit {Dirac}\left (t -1\right ), y \left (0\right )=0, y^{\prime }{\raise{-0.36em}{\Big |}}{\mstack {}{_{\left \{t \hiderel {=}0\right \}}}}=0, y^{\prime \prime }{\raise{-0.36em}{\Big |}}{\mstack {}{_{\left \{t \hiderel {=}0\right \}}}}=0\right ] \\ \bullet & {} & \textrm {Highest derivative means the order of the ODE is}\hspace {3pt} 3 \\ {} & {} & y^{\prime \prime \prime } \\ \square & {} & \textrm {Convert linear ODE into a system of first order ODEs}\hspace {3pt} \\ {} & \circ & \textrm {Define new variable}\hspace {3pt} y_{1}\left (t \right ) \\ {} & {} & y_{1}\left (t \right )=y \\ {} & \circ & \textrm {Define new variable}\hspace {3pt} y_{2}\left (t \right ) \\ {} & {} & y_{2}\left (t \right )=y^{\prime } \\ {} & \circ & \textrm {Define new variable}\hspace {3pt} y_{3}\left (t \right ) \\ {} & {} & y_{3}\left (t \right )=y^{\prime \prime } \\ {} & \circ & \textrm {Isolate for}\hspace {3pt} y_{3}^{\prime }\left (t \right )\hspace {3pt}\textrm {using original ODE}\hspace {3pt} \\ {} & {} & y_{3}^{\prime }\left (t \right )=\mathit {Dirac}\left (t -1\right )-9 y_{2}\left (t \right ) \\ & {} & \textrm {Convert linear ODE into a system of first order ODEs}\hspace {3pt} \\ {} & {} & \left [y_{2}\left (t \right )=y_{1}^{\prime }\left (t \right ), y_{3}\left (t \right )=y_{2}^{\prime }\left (t \right ), y_{3}^{\prime }\left (t \right )=\mathit {Dirac}\left (t -1\right )-9 y_{2}\left (t \right )\right ] \\ \bullet & {} & \textrm {Define vector}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{y}}\left (t \right )=\left [\begin {array}{c} y_{1}\left (t \right ) \\ y_{2}\left (t \right ) \\ y_{3}\left (t \right ) \end {array}\right ] \\ \bullet & {} & \textrm {System to solve}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{y}}^{\prime }\left (t \right )=\left [\begin {array}{ccc} 0 & 1 & 0 \\ 0 & 0 & 1 \\ 0 & -9 & 0 \end {array}\right ]\cdot {\moverset {\rightarrow }{y}}\left (t \right )+\left [\begin {array}{c} 0 \\ 0 \\ \mathit {Dirac}\left (t -1\right ) \end {array}\right ] \\ \bullet & {} & \textrm {Define the forcing function}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{f}}\left (t \right )=\left [\begin {array}{c} 0 \\ 0 \\ \mathit {Dirac}\left (t -1\right ) \end {array}\right ] \\ \bullet & {} & \textrm {Define the coefficient matrix}\hspace {3pt} \\ {} & {} & A =\left [\begin {array}{ccc} 0 & 1 & 0 \\ 0 & 0 & 1 \\ 0 & -9 & 0 \end {array}\right ] \\ \bullet & {} & \textrm {Rewrite the system as}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{y}}^{\prime }\left (t \right )=A \cdot {\moverset {\rightarrow }{y}}\left (t \right )+{\moverset {\rightarrow }{f}} \\ \bullet & {} & \textrm {To solve the system, find the eigenvalues and eigenvectors of}\hspace {3pt} A \\ \bullet & {} & \textrm {Eigenpairs of}\hspace {3pt} A \\ {} & {} & \left [\left [0, \left [\begin {array}{c} 1 \\ 0 \\ 0 \end {array}\right ]\right ], \left [-3 \,\mathrm {I}, \left [\begin {array}{c} -\frac {1}{9} \\ \frac {\mathrm {I}}{3} \\ 1 \end {array}\right ]\right ], \left [3 \,\mathrm {I}, \left [\begin {array}{c} -\frac {1}{9} \\ -\frac {\mathrm {I}}{3} \\ 1 \end {array}\right ]\right ]\right ] \\ \bullet & {} & \textrm {Consider eigenpair}\hspace {3pt} \\ {} & {} & \left [0, \left [\begin {array}{c} 1 \\ 0 \\ 0 \end {array}\right ]\right ] \\ \bullet & {} & \textrm {Solution to homogeneous system from eigenpair}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{y}}_{1}=\left [\begin {array}{c} 1 \\ 0 \\ 0 \end {array}\right ] \\ \bullet & {} & \textrm {Consider complex eigenpair, complex conjugate eigenvalue can be ignored}\hspace {3pt} \\ {} & {} & \left [-3 \,\mathrm {I}, \left [\begin {array}{c} -\frac {1}{9} \\ \frac {\mathrm {I}}{3} \\ 1 \end {array}\right ]\right ] \\ \bullet & {} & \textrm {Solution from eigenpair}\hspace {3pt} \\ {} & {} & {\mathrm e}^{-3 \,\mathrm {I} t}\cdot \left [\begin {array}{c} -\frac {1}{9} \\ \frac {\mathrm {I}}{3} \\ 1 \end {array}\right ] \\ \bullet & {} & \textrm {Use Euler identity to write solution in terms of}\hspace {3pt} \sin \hspace {3pt}\textrm {and}\hspace {3pt} \cos \\ {} & {} & \left (\cos \left (3 t \right )-\mathrm {I} \sin \left (3 t \right )\right )\cdot \left [\begin {array}{c} -\frac {1}{9} \\ \frac {\mathrm {I}}{3} \\ 1 \end {array}\right ] \\ \bullet & {} & \textrm {Simplify expression}\hspace {3pt} \\ {} & {} & \left [\begin {array}{c} -\frac {\cos \left (3 t \right )}{9}+\frac {\mathrm {I} \sin \left (3 t \right )}{9} \\ \frac {\mathrm {I}}{3} \left (\cos \left (3 t \right )-\mathrm {I} \sin \left (3 t \right )\right ) \\ \cos \left (3 t \right )-\mathrm {I} \sin \left (3 t \right ) \end {array}\right ] \\ \bullet & {} & \textrm {Both real and imaginary parts are solutions to the homogeneous system}\hspace {3pt} \\ {} & {} & \left [{\moverset {\rightarrow }{y}}_{2}\left (t \right )=\left [\begin {array}{c} -\frac {\cos \left (3 t \right )}{9} \\ \frac {\sin \left (3 t \right )}{3} \\ \cos \left (3 t \right ) \end {array}\right ], {\moverset {\rightarrow }{y}}_{3}\left (t \right )=\left [\begin {array}{c} \frac {\sin \left (3 t \right )}{9} \\ \frac {\cos \left (3 t \right )}{3} \\ -\sin \left (3 t \right ) \end {array}\right ]\right ] \\ \bullet & {} & \textrm {General solution of the system of ODEs can be written in terms of the particular solution}\hspace {3pt} {\moverset {\rightarrow }{y}}_{p}\left (t \right ) \\ {} & {} & {\moverset {\rightarrow }{y}}\left (t \right )=c_{1} {\moverset {\rightarrow }{y}}_{1}+c_{2} {\moverset {\rightarrow }{y}}_{2}\left (t \right )+c_{3} {\moverset {\rightarrow }{y}}_{3}\left (t \right )+{\moverset {\rightarrow }{y}}_{p}\left (t \right ) \\ \square & {} & \textrm {Fundamental matrix}\hspace {3pt} \\ {} & \circ & \textrm {Let}\hspace {3pt} \phi \left (t \right )\hspace {3pt}\textrm {be the matrix whose columns are the independent solutions of the homogeneous system.}\hspace {3pt} \\ {} & {} & \phi \left (t \right )=\left [\begin {array}{ccc} 1 & -\frac {\cos \left (3 t \right )}{9} & \frac {\sin \left (3 t \right )}{9} \\ 0 & \frac {\sin \left (3 t \right )}{3} & \frac {\cos \left (3 t \right )}{3} \\ 0 & \cos \left (3 t \right ) & -\sin \left (3 t \right ) \end {array}\right ] \\ {} & \circ & \textrm {The fundamental matrix,}\hspace {3pt} \Phi \left (t \right )\hspace {3pt}\textrm {is a normalized version of}\hspace {3pt} \phi \left (t \right )\hspace {3pt}\textrm {satisfying}\hspace {3pt} \Phi \left (0\right )=I \hspace {3pt}\textrm {where}\hspace {3pt} I \hspace {3pt}\textrm {is the identity matrix}\hspace {3pt} \\ {} & {} & \Phi \left (t \right )=\phi \left (t \right )\cdot \frac {1}{\phi \left (0\right )} \\ {} & \circ & \textrm {Substitute the value of}\hspace {3pt} \phi \left (t \right )\hspace {3pt}\textrm {and}\hspace {3pt} \phi \left (0\right ) \\ {} & {} & \Phi \left (t \right )=\left [\begin {array}{ccc} 1 & -\frac {\cos \left (3 t \right )}{9} & \frac {\sin \left (3 t \right )}{9} \\ 0 & \frac {\sin \left (3 t \right )}{3} & \frac {\cos \left (3 t \right )}{3} \\ 0 & \cos \left (3 t \right ) & -\sin \left (3 t \right ) \end {array}\right ]\cdot \frac {1}{\left [\begin {array}{ccc} 1 & -\frac {1}{9} & 0 \\ 0 & 0 & \frac {1}{3} \\ 0 & 1 & 0 \end {array}\right ]} \\ {} & \circ & \textrm {Evaluate and simplify to get the fundamental matrix}\hspace {3pt} \\ {} & {} & \Phi \left (t \right )=\left [\begin {array}{ccc} 1 & \frac {\sin \left (3 t \right )}{3} & \frac {1}{9}-\frac {\cos \left (3 t \right )}{9} \\ 0 & \cos \left (3 t \right ) & \frac {\sin \left (3 t \right )}{3} \\ 0 & -3 \sin \left (3 t \right ) & \cos \left (3 t \right ) \end {array}\right ] \\ \square & {} & \textrm {Find a particular solution of the system of ODEs using variation of parameters}\hspace {3pt} \\ {} & \circ & \textrm {Let the particular solution be the fundamental matrix multiplied by}\hspace {3pt} {\moverset {\rightarrow }{v}}\left (t \right )\hspace {3pt}\textrm {and solve for}\hspace {3pt} {\moverset {\rightarrow }{v}}\left (t \right ) \\ {} & {} & {\moverset {\rightarrow }{y}}_{p}\left (t \right )=\Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}\left (t \right ) \\ {} & \circ & \textrm {Take the derivative of the particular solution}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{y}}_{p}^{\prime }\left (t \right )=\Phi ^{\prime }\left (t \right )\cdot {\moverset {\rightarrow }{v}}\left (t \right )+\Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}^{\prime }\left (t \right ) \\ {} & \circ & \textrm {Substitute particular solution and its derivative into the system of ODEs}\hspace {3pt} \\ {} & {} & \Phi ^{\prime }\left (t \right )\cdot {\moverset {\rightarrow }{v}}\left (t \right )+\Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}^{\prime }\left (t \right )=A \cdot \Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}\left (t \right )+{\moverset {\rightarrow }{f}}\left (t \right ) \\ {} & \circ & \textrm {The fundamental matrix has columns that are solutions to the homogeneous system so its derivative follows that of the homogeneous system}\hspace {3pt} \\ {} & {} & A \cdot \Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}\left (t \right )+\Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}^{\prime }\left (t \right )=A \cdot \Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}\left (t \right )+{\moverset {\rightarrow }{f}}\left (t \right ) \\ {} & \circ & \textrm {Cancel like terms}\hspace {3pt} \\ {} & {} & \Phi \left (t \right )\cdot {\moverset {\rightarrow }{v}}^{\prime }\left (t \right )={\moverset {\rightarrow }{f}}\left (t \right ) \\ {} & \circ & \textrm {Multiply by the inverse of the fundamental matrix}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{v}}^{\prime }\left (t \right )=\frac {1}{\Phi \left (t \right )}\cdot {\moverset {\rightarrow }{f}}\left (t \right ) \\ {} & \circ & \textrm {Integrate to solve for}\hspace {3pt} {\moverset {\rightarrow }{v}}\left (t \right ) \\ {} & {} & {\moverset {\rightarrow }{v}}\left (t \right )=\int _{0}^{t}\frac {1}{\Phi \left (s \right )}\cdot {\moverset {\rightarrow }{f}}\left (s \right )d s \\ {} & \circ & \textrm {Plug}\hspace {3pt} {\moverset {\rightarrow }{v}}\left (t \right )\hspace {3pt}\textrm {into the equation for the particular solution}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{y}}_{p}\left (t \right )=\Phi \left (t \right )\cdot \left (\int _{0}^{t}\frac {1}{\Phi \left (s \right )}\cdot {\moverset {\rightarrow }{f}}\left (s \right )d s \right ) \\ {} & \circ & \textrm {Plug in the fundamental matrix and the forcing function and compute}\hspace {3pt} \\ {} & {} & {\moverset {\rightarrow }{y}}_{p}\left (t \right )=\left [\begin {array}{c} \left \{\begin {array}{cc} 0 & t \le 1 \\ -\frac {\sin \left (3 t \right ) \sin \left (3\right )}{9}+\frac {1}{9}-\frac {\cos \left (3 t \right ) \cos \left (3\right )}{9} & 1

Maple trace

`Methods for third order ODEs: 
--- Trying classification methods --- 
trying a quadrature 
trying high order exact linear fully integrable 
trying differential order: 3; linear nonhomogeneous with symmetry [0,1] 
-> Calling odsolve with the ODE`, diff(diff(_b(_a), _a), _a) = -9*_b(_a)+Dirac(_a-1), _b(_a)`   *** Sublevel 2 *** 
   Methods for second order ODEs: 
   --- Trying classification methods --- 
   trying a quadrature 
   trying high order exact linear fully integrable 
   trying differential order: 2; linear nonhomogeneous with symmetry [0,1] 
   trying a double symmetry of the form [xi=0, eta=F(x)] 
   -> Try solving first the homogeneous part of the ODE 
      checking if the LODE has constant coefficients 
      <- constant coefficients successful 
   <- solving first the homogeneous part of the ODE successful 
<- differential order: 3; linear nonhomogeneous with symmetry [0,1] successful`
 

✓ Solution by Maple

Time used: 5.234 (sec). Leaf size: 18

dsolve([diff(y(t),t$3)+9*diff(y(t),t)=Dirac(t-1),y(0) = 0, D(y)(0) = 0, (D@@2)(y)(0) = 0],y(t), singsol=all)
 

\[ y \left (t \right ) = -\frac {\operatorname {Heaviside}\left (t -1\right ) \left (-1+\cos \left (3 t -3\right )\right )}{9} \]

✓ Solution by Mathematica

Time used: 0.174 (sec). Leaf size: 21

DSolve[{y'''[t]+9*y'[t]==DiracDelta[t-1],{y[0]==0,y'[0]==0,y''[0]==0}},y[t],t,IncludeSingularSolutions -> True]
 

\[ y(t)\to -\frac {1}{9} \theta (t-1) (\cos (3-3 t)-1) \]