Complex numbers Introduction We started the study of number systems with the set of natural numbers β, and then the number zero was included to form the system of whole numbers. Thereafter, negative numbers were defined. This extended our number system to integers β€. To solve the problems of the type ππππ = ππ we included rational numbers β in the system of integers. The system of rational numbers was extended further to irrational numbers as all lengths cannot be measured in terms of lengths expressed in rational numbers to solve problems like π₯π₯ 2 = 2 (has no rational solutions but it has real solutions). The rational and irrational numbers taken together are termed real numbers β. These are numbers that exist and can be represented on the number line, but the system of real numbers is not sufficient to solve all algebraic equations. There are no real numbers which satisfy the equation π₯π₯ 2 + 1 = 0 as you might know (no solution). In order to solve such equations, i.e., to find square roots of negative numbers, we need to extend the system of real numbers to a new system of numbers known as complex numbers β. The equation π₯π₯ 2 + 1 = 0 has no real solutions, because for any real number π₯π₯ the square π₯π₯ 2 is non-negative, and so π₯π₯ 2 + 1 can never be less than 1. In other words, we can say that there is no real numbers whose square is −1. In order to solve such equations, let us ππmagine that there exist a number ππ which is equal to √−1 (√−1 = ππ). In 1748, a great mathematician, Leonard Euler named a number ππ as πΌπΌota whose square is −1. This Iota or ππ is defined as an imaginary unit. With the introduction of the new symbol ππ, we can interpret the square root of a negative number as a product of a real number with ππ. Therefore, we can denote the solution of π₯π₯ 2 + 1 = 0 as π₯π₯ = ± √−1 = ±ππ. From high school in SA, using the discriminant, we identify the three different cases of quadratic equations as follows: 1. Positive discriminant: ππ − 4ππππ > 0, two real roots, eg π₯π₯ 2 + 3π₯π₯ + 2 = 0 2. Zero discriminant: ππ − 4ππππ = 0, one repeated real root, eg π₯π₯ 2 + 4π₯π₯ + 4 = 0. 1 3. Negative discriminant: ππ 2 − 4ππππ < 0, complex conjugate roots. ππ − ππππ and ππ + ππππ are conjugate pairs. It very useful to assume that there is a number ππ for which one has ππ 2 = −1. Any complex number is then an expression of the form ππ + ππππ, where ππ and ππ are real 2 2 numbers. For example, 2 = +2 = = οΏ½√2οΏ½ = 2 + 0ππ and 2ππ = 0 + 2ππ. The number ππ is 1 called the real part of ππ + ππππ, and ππ is called the imaginary part. Traditionally the letters π§π§ and π€π€ are used to stand for complex numbers. Since any complex number is specified by two real numbers, one can visualise them by plotting a point with coordinates (ππ, ππ) in the plane for a complex number ππ + ππππ. The plane in which one plot these complex numbers is called the Complex plane, or Argand plane (named after Swiss mathematician). NB: For real numbers, we have the Cartesian plane from Rene Descartes who was French. Some real polynomials, like π§π§ 2 = −9, cannot be factored completely into degree 1 real polynomials, but do factor into degree 1 complex polynomials: (π§π§ + 3ππ)(π§π§ − 3ππ) = 0 where π§π§ = ±√−9 = ±√9 × −1 = ±√9 × √−1 = 0 ± 3ππ. (for π₯π₯ 2 − 9 = 0; π€π€π€π€ ππππππππ (π₯π₯ − 3)(π₯π₯ + 3) = 0 π‘π‘βππππ π₯π₯ = ±3 + 0ππ) In fact, every complex polynomial factors completely into degree 1 complex polynomials. This implies the Fundamental theorem of algebra: Every degree ππ complex polynomial ππ(π§π§) has exactly ππ complex roots, if counted with multiplicity. For real polynomials, the theorem sometimes does not hold eg, π₯π₯ 3 − 8 = 0. What is π₯π₯? π₯π₯ = 2. But according to the theorem, we expect to hve THREE REAL ROOTS. For real polynomials, the non-real roots can be paired off with their complex conjugates. Complex conjugate root theorem states that if ππ is a polynomial in one variable with real coefficients, and ππ + ππππ is a root of ππ with ππ and ππ real numbers, then its complex conjugate ππ − ππππ is also a root of ππ. 1 − ππ also 1 + ππ is a root. Also difference of two squares: (π₯π₯ − 2)(π₯π₯ + 2) = π₯π₯ 2 + 2π₯π₯ − 2π₯π₯ − 4 = π₯π₯ 2 − 4 2 The simplest explanation is that complex roots come in conjugate pairs (by the way this is only true for real polynomials, not those with complex coefficients) is that these pairs are needed to ensure we don’t get complex values for our coefficients/constants of our polynomial when we multiply through. E.g. (ππ + ππππ)(ππ − ππππ) = ππ2 + ππππππ − ππππππ − ππ 2 ππ 2 = ππ2 + ππ 2 . It follows from this (and the fundamental theorem of algebra) that, if the degree of a real polynomial is odd, it must have at least one real root. This can be proved as follows. • Since non-real complex roots come in conjugate pairs, there are an even number of them; • But a polynomial of odd degree has an odd number of roots; • Therefore, some of them must be real. For example, π₯π₯ 3 − 8 = 0 has one real root (π₯π₯ = 2) and two complex roots to give a total of three roots/solutions. Also π₯π₯ 3 + 8 = 0 has at least one real solution, which is π₯π₯ = −2. The other two are non-real (complex). Consider another quadratic equation: By the quadratic formula, a=1; b=-6 and c=13 π₯π₯ = −(−6) ± √36 − 52 6 ± √−16 6 ± √−1 × 16 6 ± 4√−1 = = = = 3 + 2ππ ππππ 3 − 2ππ 2 2 2 2 3 It has TWO non-real (complex) roots shown above because it is even. But, if ππ = 0 and ππ ≠ 0, then the root becomes ππππ which is a purely imaginary complex number, 2ππ. If ππ ≠ 0 and ππ = 0 then the root becomes ππ which is a real number, 3. Hence the real numbers are particular cases of complex numbers. β ⊆ β. We know that the roots of π₯π₯ 2 − 6π₯π₯ + 25 = 0 are 3 ± 4ππ. This can be written as 3 + 4ππ or 3 − 4ππ. Can you show it? The polynomial π₯π₯ 3 − 7π₯π₯ 2 + 41π₯π₯ − 87 has roots 3, 2 + 5ππ , 2 − 5ππ. Can you show it? Thus can be factored as ( π₯π₯ − 3 ) ( π₯π₯ − 2 − 5 ππ ) ( π₯π₯ − 2 + 5 ππ ) . In computing the product of the last two factors, the imaginary parts cancel, and we get 2 ( π₯π₯ − 3 ) ( π₯π₯ 2 − 4 π₯π₯ + 29 ) . 5ππ × 5ππ = 25ππ 2 = 25οΏ½√−1οΏ½ = 25(−1) = −25 Also, if π§π§ = ππ − ππππ, then the complex conjugate is π§π§Μ = ππ + ππππ. Now π§π§ΜΏ = ππ − ππππ. Verify it. Moreover, οΏ½οΏ½οΏ½οΏ½οΏ½οΏ½οΏ½οΏ½ EG π€π€ = 2 + 2ππ ππππππ π§π§ = 3 − 3ππ . Now π€π€ + π§π§ = 2 + 2ππ + 3 − 3ππ = 5 − ππ π‘π‘βππππ π€π€ + π§π§ = 5 + ππ Also π€π€ οΏ½ = 2 − 2ππ ππππππ π§π§Μ = 3 + 3ππ. ππππππ π€π€ οΏ½ + π§π§Μ = 5 + ππ The first one just says that if we conjugate twice we get back to what we started with originally and hopefully this makes some sense. The remaining three just say we can break up sum, differences, products and quotients into the individual pieces and then conjugate. 4 Properties of complex numbers 2 Also π§π§π§π§Μ = |π§π§|2 = οΏ½√ππ2 + ππ 2 οΏ½ = ππ2 + ππ 2 shown below. Task 1 1 1 ππ (iv) + ππ then the conjugate is − . 2 2 2 2 Task If π§π§ = 2 + 3ππ and π€π€ = 4 − 9ππ, find π§π§π§π§. Division of complex numbers 5 (rationalising the denominator) (a) 60-18i (b) 60 + 78ππ + 24ππ 2 = 36 + 76ππ (c) (d) 5ππ(1+7ππ) (1−7ππ)(1+7ππ) = 5ππ−35 1+49 = −35+5ππ 50 =− 7 10 + 1 10 6 ππ. Higher powers of ππ We know that ππ = √−1 Thus, we find that any higher powers of ππ can be expressed in terms of one of four values ππ, – 1, – ππ, 1. Example 7 Example Equal complex numbers If two complex numbers are equal, then the real and imaginary parts are also equal. We call this equating like parts. Task Solutions 1 − 6ππ − 9 − 5π₯π₯ − 5π¦π¦π¦π¦ = π₯π₯ + π¦π¦π¦π¦ 4 Comparing Real parts: 1 − 9 − 5π₯π₯ = π₯π₯ π‘π‘βππππ 8 = 6π₯π₯ which gives π₯π₯ = . 3 Imaginary parts (terms in ππ): −6ππ − 5π¦π¦ππ = π¦π¦ππ π‘π‘βππππ − 6 = 6π¦π¦ π€π€βππππβ ππππππππππ π¦π¦ = −1. Task 2 Task where π§π§ = π₯π₯ + π¦π¦π¦π¦. 8 Answer: π§π§ 2 − 2π§π§ + 3 − 4ππ − 6 − 3ππ = 0 π§π§ 2 − 2π§π§ − (3 + 7ππ) = 0 Use the quadratic formula where ππ = 1, ππ = −2 ππππππ ππ = −(3 + 7ππ) π§π§ = To complete this later!!! 2 ± οΏ½4 + 4 × 1 × (3 + 7ππ) 2 π§π§ = 2 ± √16 + 28ππ 2 π§π§ = 2 − ππ 3 − 3ππ × 3 + 3ππ 3 − 3ππ Task Answer: 6 − 6ππ − 3ππ + 3ππ 2 π§π§ = 9 − 9ππ 2 π§π§ = Task π§π§ = 6 − 9ππ − 3 9+9 1 1 3 − 9ππ 1 1 = − ππ. ππππππ ππππ π¦π¦π¦π¦π¦π¦ π€π€π€π€π€π€π€π€ π₯π₯ = ππππππ π¦π¦ = − . 18 6 2 6 2 9 Solution Substitute the root: (1 + 2ππ)2 + (ππ + 5ππ)(1 + 2ππ) + ππ(2 − ππ) = 0 1 + 4ππ − 4 + ππ + 2ππππ + 5ππ − 10 + 2ππ − ππππ = 0 + 0ππ Equating real parts: −13 + ππ + 2ππ = 0 and imaginary parts: 9 + 2ππ − ππ = 0. ππ = 13 − 2ππ. Substitute in (2): 9 + 2(13 − 2ππ) − ππ = 0; −14 − 4ππ − ππ = −9 −5ππ = −9 + 14 ππ = −1. Subst to get ππ: ππ = 13 − 2(−1) = 15 (b) π§π§ = 1 − 2ππ is also a solution. Task Answer: working in reverse for the solution of a quadratic equation, we get: if π§π§ = 3 + √6ππ is a root and also π§π§ = 3 − √6ππ. Thus π§π§ − (3 + √6ππ) = 0 and π§π§ − (3 − √6ππ) = 0 Then οΏ½π§π§ − οΏ½3 + √6πποΏ½οΏ½ οΏ½ π§π§ − οΏ½3 − √6πποΏ½οΏ½ = 0 Use FOIL π§π§ 2 − 3π§π§ + √6ππππ − 3π§π§ − √6ππππ + 9 + 6 = 0 π§π§ 2 − 6π§π§ + 15 = 0. GEOMETRICAL REPRESENTATION OF COMPLEX NUMBERS Argand diagram is what we call the plane that will allow us to plot complex numbers. It is named after the Swiss mathematician Jean Argand (1768 –1822). Using the π₯π₯-axis as the real axis, and the y-axis as the imaginary axis, the ordered pairs (ππ,b) reflect complex numbers of the form ππ + ππππ. 10 The plane of two axes representing complex numbers as points is called the complex plane or Argand Plane. The diagram which represents complex number in the Argand Plane is called Argand Diagram. If π§π§ = ππ + ππππ, then π π π π (π§π§) = ππ and πΌπΌπΌπΌ(π§π§) = ππ. Absolute value The absolute value (or magnitude or modulus) |π§π§| of a complex number π§π§ = π₯π₯ + ππππ is its distance to the origin: This is shown below: 11 From the image above, we can see that |π§π§| = √ππ2 + ππ 2 is nothing more than the length of the line segment (vector) that we are using to represent the complex number π§π§ = ππ + ππππ. |π§π§| = οΏ½(−1)2 + 1 = √2. This interpretation also tells us that the inequality |π§π§1 | < |π§π§2 | means that π§π§1 is closer to the origin (in the complex plane) than π§π§2 is. But this done not give us an indication of the angle of inclination of the π§π§1 and π§π§2 . We now turn to the angle ππ, called the argument. The angle ππ is called the argument of the complex number π§π§. Notation: arg π§π§ = ππ. The argument is defined in an ambiguous way: it is only defined up to a multiple of 2ππ (360o) radians. For example, the argument of −1 + 0ππ could be ππ (1800), or −ππ, or 3ππ, etc. In general one says arg(−1) = tan−1 (−1) = ππ + ππππ, where ππ may be any integer. Now let’s look at just one point in detail ππ(π₯π₯, π¦π¦) = π₯π₯ + ππππ. 12 π§π§1 = π₯π₯ + ππππ = ππ cos ππ + ππ sin ππ = ππ( cos ππ + ππ sin ππ). In the 4th quadrant, we know cos is +ve and sin is –ve, so π§π§2 = ππ(cos ππ − ππ sin ππ). Hence z1 and z2 are conjugate pairs and we write z2 as π§π§Μ = ππ(cos ππ − ππ sin ππ). |π§π§| = π π π π π π π π (ππ 2 (cos π₯π₯)^2 + ππ^2 (sin π₯π₯)^2 ) = π π π π π π π π (ππ 2 (cos2 π₯π₯ + sin2 π₯π₯)) = οΏ½ππ 2 = ππ π₯π₯ cos ππ = then π₯π₯ = ππππππππ ππ and π¦π¦ = ππ sin ππ ππ The Greek letters ππ (theta) and ππ (phi) are often used for angles. In the calculus it is convenient to measure angles in radians instead of degrees. An angle ππ in radians is defined as the length of the arc of the angle on a circle of radius one. Since a circle of radius one has circumference 2ππ. Thus 360 degrees = 2ππ radians. The radian measure The convention for Complex numbers is to use radians as the measure for angles. But what are the radians? An arc of a circle is a "portion" of the circumference of the circle. The length of an arc is simply the length of its "portion" of the circumference. Actually, the circumference itself can be considered an arc length. 13 The length of an arc (or arc length) is traditionally symbolized by π π . In the diagram above, it can be said that arc AB subtends angle ππ. If the length of an arc of a circle, π π , (think of straightening it out), is the same as the length of the circle's radius, ππ, a unique situation occurs. The angle, ππ, created by this situation is called a radian. A radian is the measure of an angle ππ that, when drawn as a central angle, subtends an arc whose length equals the length of the radius of the circle. The measure of ππ = 1 radian. When radius r = arc length r, the angle ππ measures 1 radian. Radian measure is another way of expressing the measure (size) of an angle. It is considered to be a "pure" measure since it is based upon the radius of the circle being wrapped along the circumference. While at first it may seem easier to work with degrees, you will find that there is a mathematical simplicity to the use of radians. So, now we have two methods of expressing the measure of an angle: in degrees and in radians. π π If the arc length π π is twice the radius ππ, the ππ = 2 radians, and so on. Therefore, ππ = . 14 ππ NB: Radians, being a ratio of two lengths, are not units OR do not have units of measurement. Example Convert 50 degrees to radians. Answer Example Convert Answer ππ 6 to degrees. 15 Also, we know that the arc length, π π = ππππ. When the arc length equals an entire circumference (2ππππ), we can use π π = ππππ to get 2ππππ = ππππ 2ππ = ππ This verifies what we already know to be true, that 2ππ ππππππ = 3600 . Task How long is the arc subtended by an angle of 3150 on a circle of radius 20 cm? Task Answers NOTE: By convention if the units are not specified they are RADIANS. NB: Radians are real numbers which do not carry units, hence we can freely do ππ operations with radian measure. For example, × sin ππ is valid, while 450 × sin 1800 is √2 2 4 ππ ridiculous. From now, cos −1 οΏ½ οΏ½ = . Polar form 4 Let’s now take a look at the first alternate form for a complex number. If we think of the non-zero complex number π§π§ = ππ + ππππ as the point (ππ, ππ) in the π₯π₯π₯π₯-plane we also know that we can represent this point by the polar coordinates (ππ, π½π½), where ππ is the distance of the point from the origin and ππ is the angle, in radians, from the positive π₯π₯-axis to the ray (line segment) connecting the origin to the point (anticlockwise). 16 Task For a given complex number π§π§ pick any of the possible values of the argument, say ππ. If you now increase the value of ππ, which is really just increasing the angle that the point makes with the positive π₯π₯ −axis, you are rotating the point about the origin in a counter- clockwise manner. Since it takes 2ππ radians to make one complete revolution you will be back at your initial starting point when you reach ππ + 2ππ and so have a new value of the argument. See the figure below. If you keep increasing the angle you will again be back at the starting point when you reach ππ + 4ππ, which is again a new value of the argument. Continuing in this fashion we can see that every time we reach a new value of the argument we will simply be adding multiples of 2ππ onto the original value of the argument. Likewise, if you start at ππ and decrease the angle you will be rotating the point about the origin in a clockwise manner and will return to your original starting point when you reach ππ − 2ππ. Continuing in this fashion and we can again see that each new value of 17 the argument will be found by subtracting a multiple of 2ππ from the original value of the argument. Task Show that the conjugate is π§π§Μ = ππ (cos ππ − sin ππ). You can see here that a conjugate is a reflection of the point on the π₯π₯-axis in the complex plane. Multiplication of two complex numbers (in polar) Solutions Task Show division of complex numbers in polar form 18 Task Task Calculate the modulus of CIRCLES 2+ππ 3−ππ in two ways. Also find the argument ππ. Since |π§π§| defines the size of π§π§ from the origin (modulus/magnitude), then {π§π§: |π§π§ + 0 + 0ππ| = ππ } defines the collection of points that are all distance ππ from the origin. This describes a circle. Also {π§π§: |π§π§ + ππ + ππππ| = ππ, where ππ, ππ, ππ ∈ π π } is a circle, radius ππ with centre (−ππ − ππππ). The centre has been translated from the origin – ππ units in the real direction, and – ππ in the imaginary direction. For a circle π₯π₯ 2 + π¦π¦ 2 = 4 with radius 2 and the origin is the centre. (π₯π₯ + 1)2 + (π¦π¦ + 2)2 = 1 this is a circle of radius 1 and centre is (-1,-2). Example Sketch |π§π§| = 1. Answer We know if π§π§ = π₯π₯ + ππππ, then we remember from last lecture |π§π§| = οΏ½π₯π₯ 2 + π¦π¦ 2 . 19 Hence |π§π§| = 1 is the same as οΏ½π₯π₯ 2 + π¦π¦ 2 = 1. Which becomes π₯π₯ 2 + π¦π¦ 2 = 12 . This is a circle of radius 1 and centred at (0,0) as shown below. Example Sketch |π§π§ − 3 + 0ππ| = 2. Answer |π₯π₯ + ππππ − 3| = |(π₯π₯ − 3) + ππππ| Thus (π₯π₯ − 3)2 + π¦π¦ 2 = (2)2 which is circle of centre (3,0) and radius 2. Example Sketch |π§π§ − ππ| = 1. Answer |π₯π₯ + ππππ − ππ| = 1 |π₯π₯ + (π¦π¦ − 1)ππ| = 1 οΏ½π₯π₯ 2 + (π¦π¦ − 1)2 = 1 20 π₯π₯ 2 + (π¦π¦ − 1)2 = 12 Task Sketch the following (a) |π§π§ − 2 + 3ππ| = 3. (b) |π§π§| < 3 all points inside the circle centre (0,0) and radius 3. Points on the circumference are not part of the solution. Show it as a dotted line. (c) 2 < |π§π§| < 3 represents the region between circles of radii 2 and 3. (d) arg π§π§ < ππ 2 SQUARE ROOTS OF COMPLEX NUMBERS We can use complex numbers to compute square roots. Example Find the square root of −8 + 6ππ. Answer Squaring both sides; οΏ½−8 + 6ππ = ππ + ππππ 21 After comparing real parts and imaginary parts. ππ2 = −9 ππ = ±√−9 = ±3ππ In other ππ = 3ππ ππππ ππ = −3ππ. But there is a problem. 22 The solutions are 1 + 3ππ and −1 − 3ππ. NB: √4 = 2 but π₯π₯ 2 − 4 = 0 gives us π₯π₯ = ±2. Task If π§π§ 2 is known to be 3 − 4ππ what is π§π§? 23