Preface |
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Acknowledgments |
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ix | |
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1 Introduction to Differential Equations |
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1 | (18) |
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2 | (4) |
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1.1.1 Ordinary vs. Partial Differential Equations |
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2 | (1) |
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1.1.2 Independent Variables, Dependent Variables, and Parameters |
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3 | (1) |
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1.1.3 Order of a Differential Equation |
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3 | (1) |
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1.1.4 What is a Solution? |
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3 | (2) |
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1.1.5 Systems of Differential Equations |
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5 | (1) |
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1.2 Families of Solutions, Initial-Value Problems |
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6 | (5) |
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1.3 Modeling with Differential Equations |
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11 | (8) |
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2 First-order Differential Equations |
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19 | (62) |
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2.1 Separable First-order Equations |
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20 | (8) |
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2.1.1 Application 1: Population Growth |
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23 | (2) |
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2.1.2 Application 2: Newton's Law of Cooling |
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25 | (3) |
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2.2 Graphical Methods, the Slope Field |
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28 | (8) |
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2.2.1 Using Graphical Methods to Visualize Solutions |
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32 | (4) |
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2.3 Linear First-order Differential Equations |
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36 | (8) |
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2.3.1 Application: Single-compartment Mixing Problem |
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41 | (3) |
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2.4 Existence and Uniqueness of Solutions |
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44 | (7) |
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2.5 More Analytic Methods for Nonlinear First-order Equations |
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51 | (8) |
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2.5.1 Exact Differential Equations |
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51 | (5) |
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2.5.2 Bernoulli Equations |
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56 | (2) |
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2.5.3 Using Symmetries of the Slope Field |
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58 | (1) |
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59 | (12) |
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60 | (4) |
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2.6.2 Improved Euler Method |
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64 | (2) |
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2.6.3 Fourth-order Runge-Kutta Method |
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66 | (5) |
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2.7 Autonomous Equations, the Phase Line |
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71 | (10) |
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2.7.1 Stability---Sinks, Sources, and Nodes |
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73 | (1) |
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Bifurcation in Equations with Parameters |
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74 | (7) |
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3 Second-order Differential Equations |
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81 | (64) |
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3.1 General Theory of Homogeneous Linear Equations |
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82 | (6) |
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3.2 Homogeneous Linear Equations with Constant Coefficients |
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88 | (7) |
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3.2.1 Second-order Equation with Constant Coefficients |
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88 | (5) |
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3.2.2 Equations of Order Greater Than Two |
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93 | (2) |
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3.3 The Spring-mass Equation |
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95 | (7) |
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3.3.1 Derivation of the Spring-mass Equation |
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95 | (1) |
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3.3.2 The Unforced Spring-mass System* |
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96 | (6) |
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3.4 Nonhomogeneous Linear Equations |
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102 | (12) |
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3.4.1 Method of Undetermined Coefficients |
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102 | (7) |
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3.4.2 Variation of Parameters |
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109 | (5) |
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3.5 The Forced Spring-mass System |
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114 | (11) |
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117 | (8) |
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3.6 Linear Second-order Equations with Nonconstant Coefficients |
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125 | (10) |
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3.6.1 The Cauchy-Euler Equation |
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125 | (2) |
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127 | (8) |
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3.7 Autonomous Second-order Differential Equations |
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135 | (10) |
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136 | (1) |
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3.7.2 Autonomous Equations and the Phase Plane |
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137 | (8) |
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4 Linear Systems of First-order Differential Equations |
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145 | (38) |
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4.1 Introduction to Systems |
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146 | (4) |
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4.1.1 Writing Differential Equations as a First-order System |
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146 | (1) |
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147 | (3) |
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150 | (8) |
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4.3 Eigenvalues and Eigenvectors |
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158 | (7) |
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4.4 Analytic Solutions of the Linear System x = Ax |
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165 | (11) |
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4.4.1 Application 1: Mixing Problem with Two Compartments |
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169 | (2) |
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4.4.2 Application 2: Double Spring-mass System |
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171 | (5) |
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4.5 Large Linear Systems; the Matrix Exponential |
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176 | (7) |
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4.5.1 Definition and Properties of the Matrix Exponential |
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176 | (2) |
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4.5.2 Using the Matrix Exponential to Solve a Nonhomogeneous System |
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178 | (2) |
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4.5.3 Application: Mixing Problem with Three Compartments |
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180 | (3) |
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5 Geometry of Autonomous Systems |
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183 | (38) |
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5.1 The Phase Plane for Autonomous Systems |
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184 | (3) |
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5.2 Geometric Behavior of Linear Autonomous Systems |
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187 | (11) |
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5.2.1 Linear Systems with Real (Distinct, Nonzero) Eigenvalues |
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188 | (2) |
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5.2.2 Linear Systems with Complex Eigenvalues |
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190 | (1) |
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5.2.3 The Trace-determinant Plane |
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191 | (2) |
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193 | (5) |
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5.3 Geometric Behavior of Nonlinear Autonomous Systems |
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198 | (9) |
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5.3.1 Finding the Equilibrium Points |
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199 | (1) |
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5.3.2 Determining the Type of an Equilibrium |
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200 | (4) |
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5.3.3 A Limit Cycle---the Van der Pol Equation |
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204 | (3) |
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5.4 Bifurcations for Systems |
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207 | (7) |
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5.4.1 Bifurcation in a Spring-mass Model |
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208 | (1) |
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5.4.2 Bifurcation of a Predator-prey Model |
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208 | (3) |
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5.4.3 Bifurcation Analysis Applied to a Competing Species Model |
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211 | (3) |
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214 | (7) |
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5.5.1 The Wilson-Cowan Equations |
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214 | (4) |
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5.5.2 A New Predator-prey Equation---Putting It All Together |
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218 | (3) |
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221 | (40) |
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6.1 Definition and Some Simple Laplace Transforms |
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221 | (6) |
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6.1.1 Four Simple Laplace Transforms |
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223 | (1) |
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6.1.2 Linearity of the Laplace Transform |
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224 | (1) |
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6.1.3 Transforming the Derivative of f(t) |
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225 | (2) |
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6.2 Solving Equations, the Inverse Laplace Transform |
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227 | (5) |
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6.2.1 Partial Fraction Expansions |
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228 | (4) |
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232 | (7) |
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6.3.1 Inverting a Term with an Irreducible Quadratic Denominator |
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233 | (3) |
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6.3.2 Solving Linear Systems with Laplace Transforms |
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236 | (3) |
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6.4 The Unit Step Function |
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239 | (12) |
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6.5 Convolution and the Impulse Function |
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251 | (10) |
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6.5.1 The Convolution Integral |
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251 | (2) |
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6.5.2 The Impulse Function |
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253 | (3) |
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6.5.3 Impulse Response of a Linear, Time-invariant System |
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256 | (5) |
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7 Introduction to Partial Differential Equations |
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261 | (24) |
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7.1 Solving Partial Differential Equations |
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261 | (5) |
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7.1.1 An Overview of the Method of Separation of Variables |
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263 | (3) |
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7.2 Orthogonal Functions and Trigonometric Fourier Series |
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266 | (8) |
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7.2.1 Orthogonal Families of Functions |
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266 | (3) |
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7.2.2 Properties of Fourier Series, Cosine and Sine Series |
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269 | (5) |
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7.3 Boundary-Value Problems: Sturm-Liouville Equations |
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274 | (11) |
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8 Solving Second-order Partial Differential Equations |
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285 | (44) |
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8.1 Classification of Linear Second-order Partial Differential Equations |
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285 | (4) |
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8.2 The 1-dimensional Heat Equation |
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289 | (10) |
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8.2.1 Solution of the Heat Equation by Separation of Variables |
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291 | (3) |
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8.2.2 Other Boundary Conditions for the Heat Equation |
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294 | (5) |
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8.3 The 1-dimensional Wave Equation |
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299 | (10) |
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8.3.1 Solution of the Wave Equation by Separation of Variables |
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300 | (5) |
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8.3.2 D'Alembert's Solution of the Wave Equation on an Infinite Interval |
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305 | (4) |
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8.4 Numerical Solution of Parabolic and Hyperbolic Equations |
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309 | (9) |
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318 | (6) |
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8.6 Student Project: Harvested Diffusive Logistic Equation |
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324 | (5) |
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329 | (68) |
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A Answers to Odd-numbered Exercises |
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331 | (54) |
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B Derivative and Integral Formulas |
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385 | (2) |
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C Cofactor Method for Determinants |
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387 | (2) |
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D Cramer's Rule for Solving Systems of Linear Equations |
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389 | (2) |
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391 | (2) |
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F Table of Laplace Transforms |
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393 | (2) |
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G Review of Partial Derivatives |
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395 | (2) |
Index |
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397 | |