COMPLEX NUMBERS.
COMPLEX NUMBERS.
COMPLEX NUMBERS
WHY DO YOU NEED TO KNOW ABOUT COMPLEX
NUMBERS?
Surely you came across quadratic equations such as in the past. You then
used the so-called quadratic formula to solve this equation:
At that stage you were quite happy to say the roots were non-real and then went on to the next
sum. Numbers such as are, however, so important that they have special names! They
are called complex numbers and plays a major role in several fields of engineering. We mention
but a few of these fields.
• One of the main applications is to the analysis of alternating current (ac) circuits. The
mains supply itself is ac, and electricity generation and transportation are dominated by ac
currents and voltages.
• A great deal of signal analysis use mathematical models based on complex numbers
because they allow the manipulation of sinusoidal quantities to be undertaken more easily.
• The design of filters used in communication relies heavily on complex numbers.
• Control engineers often prefer to think of control systems in terms of a “complex plane”
rather than a “time domain” representation.
But this is not a course in electronics; we will supply you with the mathematics behind the so-
called phasors (or complex numbers) as a tool to solve such problems.
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OUTCOME
Use complex numbers to solve engineering problems
ASSESSMENT CRITERIA
By the end of this chapter you must be able to
1. Explain the meaning of j (or i)
2. Find the real and imaginary parts of a complex number
3. Find the conjugate of a complex number
4. Add, subtract, multiply and divide complex numbers in rectangular form
5. Use the concept of equality of complex numbers to solve equations
6. Plot complex numbers in the Argand plane
7. Explain the geometric effect of the product of j with any complex number
8. Convert a complex number from rectangular form to polar form and vice versa using
definitions and a calculator
9. Multiply, divide and find powers of complex numbers in polar form
10. Find roots of complex numbers
11. Determine all the roots (complex and real) of given polynomials
12. Convert a complex number from polar form to exponential form and vice versa
13. Determine the principal value of the natural logarithm of a complex number
14. Apply the knowledge of complex numbers in appropriate situations
TERMINOLOGY
At the end of this chapter you must be able to explain and use the following terminology.
Argand plane Auxiliary angle
Cartesian coordinate Cartesian form Complex number
Complex log function Complex exponential form Conjugate
Exponential form Imaginary part Imaginary axis
Imaginary number j Modulus-argument form
Polar coordinate Polar form Polar axis
Principal value of Pure imaginary rcis2
Real axis Real part Rectangular form
Rectangular coordinate Standard form
TIME ALLOCATED
Approximately five hours
IN THE TEXTBOOK
pp. 464 - 506
159
EXERCISES
Exercise 10(a), p. 473 - 474, Exercise 10(b), p. 481, Exercise 10(c), p. 487, Exercise 10(d), p.
496 - 497, Exercise 10(e), p. 5-1 - 502, Miscellaneous Exercise 10, p. 503 - 506
.
Since appears so often in applications, mathematicians gave it a special name, the
imaginary unit, and defined . Thus, we may write
K In mathematics text books the authors define . This definition, however, may lead
to confusion in engineering since i is the symbol used for alternating current. That is why
we, in the engineering fields, prefer to use a j in our definition.
K Don’t confuse the imaginary unit i and j in complex numbers with the unit vectors i and j in
vectors!
EXAMPLE 1.1
a) and are imaginary numbers
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ACTIVITY 1.1 NN
1. Keeping the definition of j in mind, complete the following. Then memorise it!
1.1 1.2
1.3 1.4
1.5 1.6
1.7 1.8
1.9 1.10
2.1 2.2
QQQQ
The law is true for positive values of a and b only. If a and b are negative, first
write it as imaginary numbers and then multiply.
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Figure 1.1 The number system
Do you remember the definitions of the different subsystems? Complete the next activity before you
proceed!
ACTIVITY 1.2 NN
Designate each of the given numbers as being an integer, rational, irrational, imaginary or complex
number by completing the following table. More than one designation may be correct as seen in the
example in the first row.
-4
162
QQQQ
K In , we say
• x is the real part of z, written as
• y is the imaginary part of z, written as
EXAMPLE 1.2
If , then , and . U
ACTIVITY 1.3 NN
Complete the following table.
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Number Real part Imaginary part Conjugate
QQQQ
Add/subtract the real parts and imaginary parts of the numbers separately.
EXAMPLE 1.3
a)
b)
c)
U
ACTIVITY 1.4 NN
1. Simplify the following without using a calculator.
1.1 1.2
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1.3 1.4
2. If and , find
2.1 2.2
QQQQ
Multiplication
Recall, when we “remove the brackets” or simplify, that using
“FOIL”? We use the same technique when we multiply complex numbers in rectangular form.
EXAMPLE 1.4
a)
b)
ACTIVITY 1.5 NN
1. Simplify each of the following without using a calculator.
1.1 1.2
1.3 1.4
1.5 1.6
2. If and , find
2.1 2.2
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3.1 3.2
3.3
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Division
In the previous activity we noticed that the product of a complex number and its conjugate is a
real number. For example, . Let’s use this fact to find ,
EXAMPLE 1.5
a) b)
ACTIVITY 1.6 NN
1. Simplify the following expressions without using a calculator.
1.1 1.2
1.3 1.4
1.5 1.6
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3. If and , find
3.1 3.2
QQQQ
Two complex numbers are equal if and only if their real parts and their imaginary parts are
equal. That is,
Now, to solve equations involving complex coefficients, we equate the real parts and the
imaginary parts separately and then find the unknowns.
EXAMPLE 1.6
Solve for x and y.
a) b)
SOLUTION
a) Real parts:
Imaginary parts:
We know that . Furthermore, the real parts are those terms without a j in
the term, and the imaginary parts are the coefficients of j. So,
Real parts:
Imaginary parts:
Ï
Substitute Î in Ï:
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Multiply both sides with 3, then
and
Ð
Substitute Ð in Î, then
U
K When equating the real and the imaginary parts, we often end up with two equations in two
unknowns. We can then use either the method of elimination or substitution or any other
valid method to solve them.
ACTIVITY 1.7 NN
Find all the roots of the following equations, that is, solve for x and y.
1. 2.
3. 4.
QQQQ
where n is a positive integer, that is, in a polynomial the exponents of the unknowns must be
positive integers. And in this section, we also ask for real a’s
You have lots of experience in solving equations of the form ; just think back to the
example in the introduction! In this section we look at these types of equations once more and
pay special attention to the complex roots of these equations.
EXAMPLE 1.7
Solve for x if .
SOLUTION
We change the subject to x and then take cube roots on both sides:
Right? WRONG! X
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Then we equate each factor to 0 and solve for x:
ACTIVITY 1.8 NN
Find all the roots of the following.
1. 2.
3. 4.
5. 6.
QQQQ
Have another close look at the complex roots in the previous activity. Do you agree with the
following conclusion?
When the polynomial has real coefficients, any complex roots will always occur in
complex conjugate pairs, that is, if is a root, then so is .
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We can represent complex numbers in rectangular form in a similar way. (That is why it is called
the rectangular form.) But:
• The plane is then called a complex plane
• The horizontal axis is called the real axis and represents the real part of the number
• The vertical axis is called the imaginary axis and represents the imaginary part of the
number
• The diagram is called an Argand diagram
• The complex number may be represented by a vector, that is, a line
connecting the origin to the complex number written as (x;y).
K A complex number is not a vector although it may also be represented by an arrow and
written as (x;y).
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Figure 1.4 The sum of two complex numbers
ACTIVITY 1.9
NN
1. Draw the following complex numbers on the complex plane. Label the numbers clearly.
, , , , ,
3. Given z = 3 + 2j, represent z and as vectors in an Argand diagram. Discuss the geometric
relationship between z and .
QQQQ
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first coordinate, the x coordinate or abscissa. The 2 is called the second coordinate, the y
coordinate or the ordinate.
This implies that we use the pair (distance; direction) instead of the more usual (x;y), that is, we
use polar coordinates (r;2) instead of the rectangular coordinates. Here r represents the distance
from the origin to the point and 2 the angle between the postive horizontal line, called the polar
axis, and r. Figure 1.5 shows the point ( ;45°).
K If we rotate OP through 360° (or 2B), it will be in exactly the same position. The argument
can thus have many possible values, but we usually restrict 2 to the interval (-180°;180°] or
(-B;B]. These values of 2 are called the principal values.
ACTIVITY 1.10 NN
Plot the following points.
A(3;60°) B(5;-30°) C(1;210°) D(2;-135°) E(1;B)
QQQQ
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Figure 1.6 The relationship
between the coordinate systems
If (x;y) is given
From the sketch we see that we may apply Pythagoras’ theorem to the triangle so that
.
Since x and y are known, we may find 2 using the trigonometric definition:
If (r;2) is given
Using the trigonometric definitions,
and
From rectangular (x;y) to polar (r;2) From polar (r;2) to rectangular (x;y)
EXAMPLE 1.8
Convert
a) (-3;4) to polar coordinates
b) (2;120°) to rectangular coordinates.
SOLUTION
a)
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and
But a quick sketch reveals a contradiction! The given point is in the second quadrant,
but the calculated angle places it in the fourth quadrant! X
To find 2, first draw a sketch to see in which quadrant we are working. Then we
ignore all negative signs, and calculate ", called the auxiliary angle,
. If this angle takes us to the “wrong” quadrant, we calculate
, otherwise 2 = ".
(-3;4) = (5;126.9°)
b) and
(2;120°) = (-1;1.73) U
ACTIVITY 1.11 NN
1. Convert the following to polar coordinates. Round answers off to 2 decimal places where
necessary and give angles in degrees with .
1.1 (1;1) 1.2 (-2;1)
1.3 (-3;-5) 1.4 (1;-4)
2. Convert the following to rectangular coordinates. Round answers off to 2 decimal places
where necessary.
2.1 (1;45°) 2.2 (3;-B/2)
2.3 (2;-0.39) 2.4 (4;135°)
QQQQ
( Calculators are clever - don’t “ignore” the negative signs of rectangular coordinates or of
angles; the angles will be given correctly, that is, in the proper quadrant and in the proper
interval!
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1.5 COMPLEX NUMBERS IN POLAR FORM
To find we do
This was not too difficult, but what about ? Calculations may become very tiresome
and we look at an alternative form of the complex number .
which is the polar form of the complex number. However, mathematicians are “lazy” people and
they introduced a shorter notation: take the “c” from the cos, the “i” instead of the j and the “s”
from sin
K The angle may be in either degrees or radians, but we usually work with degrees in this
form of complex numbers
K Use the calculator to do the conversions from (x;y) to (r;2) and vice versa.
K In Electronics 2 usually refers to the phase angle between the current and voltage
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EXAMPLE 1.9
a)
b)
c)
d) U
ACTIVITY 1.12 NN
Complete the following table. Round answers off to two decimal places and give angles in
degrees where necessary.
QQQQ
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Operation Mathematics Description
Add/subtract Cannot do in polar form Convert to rectangular form and compute
Multiplication Multiply the r’s and add the 2’s
K The formula for the roots results from the so-called De Moivre’s theorem written in the
shortened polar form
De Moivre’s theorem
EXAMPLE 1.10
If and , then
EXAMPLE 1.11
Find the cube roots of .
SOLUTION
We must first write the number in polar form. So let . Since we
must find the cube roots, n = 3 and we will substitute k with 0, 1 and 2, that is, we will get
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three roots and . Thus,
,
the first argument is
In the next example we used De Moivre’s theorem instead of factorization to solve the equation.
EXAMPLE 1.12
Solve for x if .
SOLUTION
We must first convert the rectangular form to polar form, that is,
Now,
K Did you notice that the angles are not always in the interval ? As mentioned
before, we usually give angles in this interval but in these examples we concentrated on de
Moivre’s theorem. However, when you use your calculator to convert complex numbers to
polar form you must give angles in the correct interval .
ACTIVITY 1.13 NN
1. Carry out the indicated operations and give your answer in simplified polar form.
1.1 1.2
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1.3 1.4
1.5 1.6
1.7 1.8
1.9 1.10
1.11 1.12
3. Draw one Argand diagram for the roots obtained in 2.2 and write down your observation(s)
about the distribution of the roots in the complex plane.
(1.2)
(1.3)
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If 2 is in radians, then we may substitute (1.2) and (1.3) in (1.4) so that
K 2 must be in radians
K If , then
K Two useful relationships that can be derived from this form of the complex number are
and
which may remind you of the definitions of the hyperbolic functions you will find in the
chapter on differentiation
EXAMPLE 1.13
a)
b)
c)
180
d)
e) U
K We use the same keys to convert from one form to another, that is, on a Sharp we use xy
K The angle must be in radians, so make sure that your calculator is in the proper mode!
ACTIVITY 1.14 NN
Complete the following table. Use your calculator for the conversions, round off to two decimal
places where necessary and give angles in degrees for the polar form.
QQQQ
and
For the complex number , introduce natural logs both sides and apply these two laws:
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The angle 2 is conventionally in the range -B < 2 #B, but, since rotation by 2 is the same as
rotation by , where k is any integer,
.
Thus, strictly speaking,
,
k any integer. However, to obtain an unique answer, we restrict 2 to the interval (-B;B] and call
the result
where 2 is in radians
EXAMPLE 1.14
Find .
SOLUTION
Let , then write it in exponential form:
.
Then find the log:
U
EXAMPLE 1.15
Find the principal value of if .
SOLUTION
If , then and
ACTIVITY 1.15 NN
Find the principal value of each of the following. Round answers off to three decimal places
where necessary.
1. 2.
3. 4.
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5. if 6.
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We may also use the exponential form of a complex number to find the roots of that number.
Since we can once again apply De Moivre’s theorem.
If , then , k = 0, 1, 2, ..., n - 1
EXAMPLE 1.16
Solve for z if . Give the answer in rectangular form.
SOLUTION
Since this is a fourth order polynomial we expect four roots and n = 4 so that and we will
substitute k up to n - 1 = 3.
Then
and
ACTIVITY 1.16 NN
Find the indicated roots by first writing the number in exponential form.
1. 2.
3. 4.
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EXERCISE 1.1 Applications
The questions in this exercise are relatively easy. We don’t explain the origin of values and
formulas; it will be explained in the other subjects when you come across them.
Find ZT if and
3. In an ac circuit the relationship between the voltage E volts, current I amps and impedance
Z ohms is given by
.
Find the required quantity for the given values and plot an Argand diagram to show the
relative position of each quantity.
3.1 E if and
3.2 Z if and
3.3 Z if volts and amps
3.4 I if volts and ohms
5. What is the amplitude and direction of the displacement of a mass at the end of a spring that
can be described by metres?
6. The electric field intensity of a light wave can be described by the complex number
V/m. Write this in rectangular form.
8. In an electric circuit, the admittance is the reciprocal of the impedance. In a certain circuit,
the impedance is ohms. Find the admittance in exponential form.
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9. The displacement of a mass suspended on a system of two springs is
cm.
Find the value of d and express the answer in polar form.
2. Evaluate each of the following. You may do the calculations in any form, but give the
answer in the same form as in the given expression.
2.1 2.2
2.3 2.4
2.5 2.6
2.7
3. Sketch the complex number and its complex conjugate on the same
complex plane.
185
7. Find the fourth roots of .
1.5
5. Given , calculate
5.1
5.2
7.1
7.2
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8. Simplify . Do all calculations in rectangular form.
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ANSWERS, CHAPTER 107
Activity 1.1
1.1 1 1.2 j 1.3 -1
1.4 -j 1.5 1 1.6 j
1.7 1 1.8 -1 1.9 -j
1.10 -1 2.1 5 - 5j 2.2 3+j
3. No
Activity 1.2
Number Natural Integer Rational Irrational Real Imaginary Complex
3 U U U U U
U U U
U U U
U U U
-4 U U U U
U
U U
U U U
U U
U U
U
U U
Activity 1.3
Number Real part Imaginary part Conjugate
-2 3 -2 - 3j
4 1 4-j
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-3 2 -3 - 2j
9 9 0 9
0 5 -5j
0 8 -8j
Activity 1.4
1.1 11 - 2j 1.2 -5 + 6 j 1.3 -2 + 5 j
1.4 -9 + 6 j 2.1 -3 - 10j 2.2 15 + 10j
Activity 1.5
1.1 45 1.2 27 + 36j 1.3 14 - 18j
1.4 -2j 1.5 7 - 7j 1.6 2
2.1 45 2.2 27 + 36j 2.3 14 - 18j
2.4 -2j 2.5 7 - 7j 2.6 2
3.1 9 - 3j 3.2 5 4.1 2x
4.2 2jy 4.3 x2 + y2
Activity 1.6
1.1 (-1 + 4j)/34 1.2 (4 + j)/34 1.3 -2 - 8j
1.4 (-8 + 49j)/29 1.5 4 + 3j 1.6 (-30 + 12j)/29
2.1 -0.03 + 0.12j 2.2 0.17 + 0.03j 2.3 -2 - 8j
2.4 -0.28 + 1.69j 2.5 4 + 4j 2.6 -1.03 + 0.41j
3.1 (3 + 4j)/5 3.2 (3 + 4j)/5
Activity 1.7
1. 0; ½ 2. (2.5;4.5) 3. (3;-4), (-2;1)
4. (10/19;6/19)
Activity 1.8
1. ±j 2. 3.
4. -1; 5. 6.
Activity 1.9
1. Sketch 2.1 -2 + j, -1 - 2j, -2 - j 2.2 Sketch
2.3 Discussion 3. Sketch and discussion
Activity 1.10
Sketch
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Activity 1.11
1.1 (1.41;45°) 1.2 (2.24;153.43°) 1.3 (5.83;-120.90°)
1.4 (4.12;-75.96°) 2.1 (0.71;0.71) 2.2 (0;-3)
2.3 (1.85;-0.76) 2.4 (-2.83;2.83)
Activity 1.12
Rectangular form Polar form arg z *z*
135° 2.83
90° 1
-4 180° 4
-146.31° 3.61
1 + 1.73j 60° 2
Activity 1.13
1.1 1.2 1.3
1.4 1.5 1.6
1.7 1.8 1.9
1.10 1.11 1.12
2.1 2.2
3. Sketch and discussion 4.
5.1 5.2
5.3
Activity 1.14
Rectangular form Polar form Exponential form
3.61e2.55j
1 + 1.73j
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0.91 - 0.42j e0.44j
2.83e0.66j
-7.32 + 1.04j
Activity 1.15
1. 1.099 + 1.047j 2. 1.099 + 1.571j 3. 1.282 + 0.588j
4. 3.142j 5. 0.347 - 2.356j 6. -2.356j
Exercise 1.1
1. x = -5.5, y = -4 2. S 3.1
7. 391 S 8. 9.
Exercise 1.2
Rectangular form Polar form Exponential form
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5. 6.
7.
8. 9.
10. 12. Proof
Exercise 1.3
1.1 1.2 1.3
1.4 1.5 2.
3.
4.1 4.2
5.1 5.2
6. 7.1 7.2
8. 9. 10.
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