First-Order Theory, Linear Equations and the Laplace Transform
1. Existence and uniqueness for initial value problems
Consider y′ = f(x, y), y(x₀) = y₀ on a rectangle R = {|x − x₀| ≤ a, |y − y₀| ≤ b} with |f| ≤ M on R. Peano: if f is continuous on R, a solution exists on |x − x₀| ≤ h = min(a, b/M). Picard–Lindelöf: if moreover f is Lipschitz in y on R, |f(x, y₁) − f(x, y₂)| ≤ L|y₁ − y₂| (which holds if ∂f/∂y is continuous on R), the solution on that interval is unique, and Picard’s iterates yₙ₊₁(x) = y₀ + ∫x₀x f(t, yₙ(t)) dt converge to it uniformly.
| Equation | Hypothesis status | Outcome |
|---|---|---|
| y′ = y2/3, y(0) = 0 | continuous; not Lipschitz at y = 0 | y ≡ 0 and y = (x/3)³ are both solutions (and infinitely many others) |
| y′ = y², y(0) = 1 | smooth, locally Lipschitz, not globally | unique solution y = 1/(1 − x), which blows up at x = 1 |
| y′ = p(x)y + q(x), p, q continuous on I | globally Lipschitz on I | unique solution on the whole of I: linear equations never blow up |
2. First-order equations that can be solved
- Exact: M dx + N dy = 0 with My = Nₓ has a potential φ with φₓ = M, φy = N, and the solution is φ = c. If (My − Nₓ)/N depends on x alone, e∫(M_{y − Nₓ)/N dx} is an integrating factor; if (Nₓ − My)/M depends on y alone, e∫(Nₓ − M_{y)/M dy} is one.
- Linear: y′ + p(x)y = q(x). Multiply by μ = e∫p: (μy)′ = μq. For y′ + (2/x)y = x, μ = x², (x²y)′ = x³ and y = x²/4 + C/x²; with y(1) = 1, C = 3/4 and y(2) = 1 + 3/16 = 1.1875.
- Bernoulli: y′ + p(x)y = q(x)yⁿ, n ≠ 0, 1: v = y1−n makes it linear, v′ + (1 − n)pv = (1 − n)q. For y′ + y = y², v = 1/y gives v′ − v = −1, v = 1 + Ceˣ.
3. Linear equations with constant coefficients
For y⁽ⁿ⁾ + a₁y⁽ⁿ⁻¹⁾ + … + aₙy = 0, try y = emx: m solves the characteristic polynomial. A real root m of multiplicity k contributes emx, xemx, …, xk−1emx; a complex pair α ± iβ contributes eαxcos βx and eαxsin βx (times powers of x if repeated). The n functions obtained form a basis of the solution space, which has dimension exactly n.
4. Second-order equations with variable coefficients; the Cauchy–Euler equation
For y″ + p(x)y′ + q(x)y = 0 with p, q continuous on I, the solutions form a 2-dimensional space. The Wronskian W(y₁, y₂) = y₁y₂′ − y₁′y₂ satisfies Abel’s formula W(x) = W(x₀) exp(−∫x₀x p): it is either never zero on I (y₁, y₂ independent) or identically zero (dependent). For n functions W is the determinant of the matrix of derivatives; for ex, e2x, e3x at 0 it is the Vandermonde determinant (2 − 1)(3 − 1)(3 − 2) = 2.
- Reduction of order: if y₁ is a solution, y₂ = y₁∫ e−∫p/y₁² dx is a second, independent one.
- Variation of parameters: for y″ + py′ + qy = g, yp = −y₁∫ y₂g/W dx + y₂∫ y₁g/W dx.
- Cauchy–Euler: x²y″ + axy′ + by = 0 on x > 0. Put y = xᵐ: m(m − 1) + am + b = 0. Distinct real roots give xm₁, xm₂; a double root m gives xᵐ, xᵐ ln x; roots α ± iβ give xαcos(β ln x), xαsin(β ln x). The substitution x = eᵗ turns it into a constant-coefficient equation.
5. The Laplace transform
For f piecewise continuous of exponential order, F(s) = L{f}(s) = ∫₀^∞ e−stf(t) dt exists for s large. The properties used to solve initial value problems: linearity; L{f′} = sF − f(0) and L{f″} = s²F − sf(0) − f′(0); first shifting L{eatf} = F(s − a); second shifting L{u(t − a)f(t − a)} = e−asF(s); L{tf} = −F′(s); and the convolution theorem L{f ∗ g} = F·G with (f ∗ g)(t) = ∫₀ᵗ f(τ)g(t − τ) dτ. The transform of a product fg is not F·G.
| f(t) | F(s) |
|---|---|
| 1, tⁿ | 1/s, n!/sⁿ⁺¹ |
| eat, t eat | 1/(s − a), 1/(s − a)² |
| sin bt, cos bt | b/(s² + b²), s/(s² + b²) |
| u(t − a), δ(t − a) | e−as/s, e−as |
Worked IVP. y″ + 4y = sin t, y(0) = y′(0) = 0. Transforming, (s² + 4)Y = 1/(s² + 1), so Y = 1/((s² + 1)(s² + 4)) = (1/3)[1/(s² + 1) − 1/(s² + 4)] and y = (1/3)(sin t − ½ sin 2t). At t = π/2, y = 1/3.
Key takeaways
- Continuity of f gives local existence (Peano); a Lipschitz condition in y gives uniqueness (Picard–Lindelöf); neither gives a global solution.
- Exact, linear and Bernoulli equations reduce by a potential, an integrating factor and v = y1−n respectively.
- Constant coefficients: roots of the characteristic polynomial, with x-multiplied terms for repeated roots and for resonant forcing.
- Abel: W = W(x₀)e−∫p, so the Wronskian of two solutions is never zero or always zero; Cauchy–Euler uses y = xᵐ.
- Laplace turns an IVP into algebra: L{y′} = sY − y(0), shifting theorems, and convolution for products of transforms.
Practice questions (14)
Attempt each one before opening the answer. Every explanation names the tempting wrong option as well as the right one, because that is where marks are lost.
Which statements about initial value problems y′ = f(x, y), y(x₀) = y₀ are true?
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Answer: A — y′ = y^{2/3}, y(0) = 0 has more than one solution; C — if f and ∂f/∂y are continuous on a rectangle about (x₀, y₀), the problem has a unique solution on some interval about x₀; D — continuity of f near (x₀, y₀) alone guarantees that a solution exists near x₀
(1) y ≡ 0 and y = (x/3)³ both work: y′ = x²/9 = ((x/3)³)2/3. (2) The unique solution is 1/(1 − x), which blows up at x = 1. (3) A continuous ∂f/∂y makes f Lipschitz in y on the rectangle: Picard–Lindelöf. (4) Peano’s theorem.The solution of y′ = y², y(0) = 1/2 exists on an interval [0, b) with b as large as possible. The value of b is ____.
Numerical answer — type the value.
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Answer: 2
Separating, −1/y = x + C with C = −2, so y = 1/(2 − x). It is defined and smooth for x < 2 and tends to ∞ as x → 2⁻, so it cannot be continued past b = 2 although f(x, y) = y² is smooth everywhere.The solution of y′ + (2/x)y = x, y(1) = 1 on x > 0 has y(2), correct to two decimal places, equal to ____.
Numerical answer — type the value.
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Answer: 1.19
μ = e∫2/x = x², so (x²y)′ = x³ and x²y = x⁴/4 + C. y(1) = 1 gives C = 3/4, so y = x²/4 + 3/(4x²) and y(2) = 1 + 3/16 = 1.1875, i.e. 1.19.The solution of the Bernoulli equation y′ + y = y², y(0) = 1/2, has y(ln 3) = ____.
Numerical answer — type the value.
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Answer: 0.25
With v = 1/y, v′ = −y′/y² = −(y² − y)/y² = −1 + v, so v′ − v = −1 and v = 1 + Ceˣ. v(0) = 2 gives C = 1, so y = 1/(1 + eˣ) and y(ln 3) = 1/(1 + 3) = 0.25.The general solution of y″ − 4y′ + 4y = 0 is
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Answer: A — (c₁ + c₂x)e^{2x}
The characteristic polynomial m² − 4m + 4 = (m − 2)² has the double root 2, which contributes e2x and xe2x. A second-order equation needs two independent solutions, so c₁e2x alone is incomplete.For y″ + y = sin x, the correct form of a trial particular solution in the method of undetermined coefficients is
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Answer: A — x(A cos x + B sin x)
±i are simple roots of m² + 1, so sin x and cos x solve the homogeneous equation and must be multiplied by x. Keeping both the sine and cosine terms is needed: substitution gives B = 0, A = −1/2, yp = −(x/2)cos x, which the form A x sin x cannot produce.y₁ and y₂ are solutions of x²y″ + xy′ + (x² − 1)y = 0 on x > 0 with Wronskian W(y₁, y₂)(1) = 2. The value of W(y₁, y₂)(4) is ____.
Numerical answer — type the value.
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Answer: 0.5
In standard form y″ + (1/x)y′ + (1 − 1/x²)y = 0, so p = 1/x and Abel’s formula gives W(x) = W(1)exp(−∫₁ˣ dt/t) = 2/x. Hence W(4) = 0.5. The coefficient of y plays no part; forgetting to divide by x² would give p = x and a wrong exponential.The Wronskian of eˣ, e2x, e3x at x = 0 is ____.
Numerical answer — type the value.
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Answer: 2
At x = 0 the rows are the functions, first and second derivatives: (1, 1, 1), (1, 2, 3), (1, 4, 9). This Vandermonde determinant is (2 − 1)(3 − 1)(3 − 2) = 2. In general W(x) = 2e6x, never zero, so the three functions are independent.The general solution of the Cauchy–Euler equation x²y″ − 3xy′ + 4y = 0 on x > 0 is
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Answer: A — x²(c₁ + c₂ ln x)
y = xᵐ gives m(m − 1) − 3m + 4 = m² − 4m + 4 = (m − 2)², a double root. The second solution is x² ln x, just as a double root of a constant-coefficient equation gives xemx (put x = eᵗ). Writing (c₁ + c₂x)e2x confuses the two equations.The solution of x²y″ − 2xy′ + 2y = 0, y(1) = 1, y′(1) = 3, has y(2) = ____.
Numerical answer — type the value.
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Answer: 6
m(m − 1) − 2m + 2 = m² − 3m + 2 = (m − 1)(m − 2), so y = c₁x + c₂x². Then c₁ + c₂ = 1 and c₁ + 2c₂ = 3 give c₂ = 2, c₁ = −1, and y(2) = −2 + 8 = 6.The Laplace transform of t e2t is
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Answer: A — 1/(s − 2)²
L{t} = 1/s², and the first shifting theorem replaces s by s − 2: 1/(s − 2)². 2/(s − 2)³ is the transform of t²e2t, and 1/(s + 2)² shifts the wrong way.Which properties of the Laplace transform L (with L{f} = F, L{g} = G) are correct?
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Answer: A — L{f′}(s) = sF(s) − f(0); B — L{e^{at}f(t)}(s) = F(s − a); C — L{f ∗ g} = F·G, where f ∗ g is the convolution ∫₀ᵗ f(τ)g(t − τ) dτ
(1) follows by integrating by parts. (2) is the first shifting theorem. (3) is the convolution theorem. (4) is false: with f = g = 1, L{1} = 1/s but F·G = 1/s².The solution of y″ + 4y = sin t, y(0) = 0, y′(0) = 0 has y(π/2), correct to two decimal places, equal to ____.
Numerical answer — type the value.
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Answer: 0.33
(s² + 4)Y = 1/(s² + 1), so Y = (1/3)[1/(s² + 1) − 1/(s² + 4)] and y = (1/3)sin t − (1/6)sin 2t. At t = π/2: (1/3)(1) − (1/6)(0) = 1/3 = 0.33. Check: y″ + 4y = (1/3)(−sin t + 4 sin t) = sin t.Let f(t) be the inverse Laplace transform of 1/(s(s² + 1)). The value of f(π) is ____.
Numerical answer — type the value.
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Answer: 2
1/(s(s² + 1)) = 1/s − s/(s² + 1), so f(t) = 1 − cos t; equivalently f = 1 ∗ sin t = ∫₀ᵗ sin τ dτ. Then f(π) = 1 − (−1) = 2.