Complex Numbers
Topics covered
Complex Numbers
Topics covered
Complex numbers
complex number4 it is sometimes called an 7affix.7 In component notation4 !"e field of complex numbers includes t"e field of real numbers as a subfield.
Complex numbers 5ere first conceived and defined by t"e Italian mat"ematician Gerolamo Cardano4 5"o called t"em 7fictitious74 during "is attempts to find solutions to cubic e%uations. !"e solution of a general cubic e%uation in radicals 85it"out trigonometric functions9 may re%uire intermediate calculations containing t"e s%uare roots of negative numbers4 even 5"en t"e final solutions are real numbers4 a situation :no5n as casus irreducibilis. !"is ultimately led to t"e fundamental theorem of algebra4 5"ic" s"o5s t"at 5it" complex numbers4 a solution exists to every polynomial e%uation of degree one or "ig"er. Complex numbers t"us form analgebraically closed field4 5"ere any polynomial e%uation "as a root. !"e rules for addition4 subtraction4 multiplication4 and division of complex numbers 5ere developed by t"e Italian mat"ematician Rafael Bombelli.A more abstract formalism for t"e complex numbers 5as furt"er developed by t"e Iris" mat"ematician William Rowan Hamilton, 5"o extended t"is abstraction to t"e t"eory of quaternions. Complex numbers are used in a number of fields4including; engineering4 electromagnetism4 %uantum p"ysics4 applied mat"ematics4 and c"aos t"eory. 6"en t"e underlying field of numbers for a mat"ematical construct is t"e field of complex numbers4 t"e name usually reflects t"at fact. Examples are complex analysis4 complex matrix4 complex polynomial4 and complex <ie algebra. Complex numbers are plotted on t"e complex plane4 on 5"ic" t"e real part is on t"e "ori,ontal axis4 and t"e imaginary part on t"e vertical axis.
Definition
A complex number is an expression of t"e form /ere a and b are real numbers4 and i is a mat"ematical symbol 5"ic" is called imaginary unit. *or example4 = .$ > 2i is a complex number. !"e real number a of t"e complex number ? a > bi is called t"e real part of and t"e real number bis
t"e imaginary part.@#A !"ey are denoted 1e8 9 or 8 9 and Im8 9 or 8 94 respectively. *or example4
+ome aut"ors also 5rite a>ib instead of a>bi. In some disciplines 8in particular4 electrical engineering4 5"ere i is a symbol for current94 t"e imaginary unit i is instead 5ritten as !4 so complex numbers are sometimes 5ritten as a > b! or a > !b.
Complex numbers
Complex numbers are useful abstract %uantities t"at can be used in calculations and result in p"ysically meaningful solutions. /o5ever4 recognition of t"is fact is one t"at too: a long time for mat"ematicians to accept. *or example4 Co"n 6allis 5rote4 7!"ese Imaginary 0uantities 8as t"ey are commonly called9 arising from t"e +upposed 1oot of a Degative +%uare 85"en t"ey "appen9 are reputed to imply t"at t"e Case proposed is Impossible7 86ells 1-(&4 p. 229.
/ere4
is :no5n as t"e complex modulus 8or sometimes t"e complex norm9 and of
argument or p"ase. !"e plot above s"o5s 5"at is :no5n as an Argand diagram of t"e point 4 5"ere t"e das"ed circle represents t"e complex modulus and t"e angle represents its complex argument. /istorically4 t"e geometric representation of a complex number as simply a point in t"e plane 5as important because it made t"e 5"ole idea of a complex number more acceptable. In particular4 7imaginary7 numbers became accepted partly t"roug" t"eir visuali,ation. Enli:e real numbers4 complex numbers do not "ave a natural ordering4 so t"ere is no analog of complex=valued ine%ualities. !"is property is not so surprising "o5ever 5"en t"ey are vie5ed as being elements in t"ecomplex plane4 since points in a plane also lac: a natural ordering. de MoivreFs identity relates po5ers of complex numbers for real by
Elementary operations
Complex addition
complex subtraction
complex division
!"e real and imaginary part 8c and d4 respectively9 of t"e denominator must not bot" be ,ero for t"e division to be defined. Division is defined in t"is 5ay in order because t"e product of t"e rig"t "and expression 5it" c > di 8using t"e previous formula for multiplication9 is a > bi. !"us4 dividing a > bi byc > di and t"en multiplying it 5it" c > di again gives bac: a > bi4 as is familiar from real or rational numbers. can also be defined for complex numbers. Complex numbers may also be ta:en to complex po5ers.
Conjugation
2eometric representation of
!"e complex con!ugate of t"e complex number 2eometrically4 is t"e 7reflection7 of . complex number;
about t"e real axis. In particular4 conjugating t5ice gives t"e original
!"e real and imaginary parts of a complex number can be extracted using t"e conjugate;
? x > yi is given by
!"is formula can be used to compute t"e multiplicative inverse of a complex number if it is given in rectangular coordinates. Inversive geometry4 a branc" of geometry studying more general reflections t"an ones about a line4 can be expressed in terms of complex numbers4 too.
In %athematica4 t"e imaginary number is implemented as I. *or some reason4 engineers and p"ysicists prefer t"e symbol ! to 4 probably because t"e symbol 8or 9 is commonly used to denote current. In t"e novel &he 'a (inci Code4 t"e c"aracter 1obert <angdon jo:es t"at c"aracter +op"ie Deveu 7believes in t"e imaginary number because it "elps "er brea: code7 83ro5n 2.. 4 p. $19. In t"e movie )roof 82..$94 t"e c"aracter /al Dobbs 8played by Ca:e 2yllen"aal9 is a mat"ematics graduate student 5"ose roc:=and=roll band 7plays7 a song called 7 .7 !"e jo:e is t"at 5"en t"e band 7plays7 t"e song4 t"ey remain silent and motionless for several minutes since t"e song is 7imaginary.7 In Isaac AsimovFs s"ort story 7!"e Imaginary7 81-#294 eccentric psyc"ologist !an )orus explains t"e be"avior of a mysterious species of s%uid by using imaginary numbers in t"e e%uations 5"ic" describe its psyc"ology. !"e ant"ology *maginary +umbers, -n -nthology of %ar.elous %athematical /tories, 'i.ersions, )oems, and %usings 8*ruc"t 2...9 includes many ot"er 5or:s involving imaginary numbers. Dumbers of t"e form 4 5"ere is a real number4 are called imaginary numbers 8or sometimes4 for 5"ere and are real numbers are is used to denote a complex number4 it is sometimes 8in older texts9 called
emp"asis4 purely imaginary numbers9. Dumbers of t"e form called complex numbers4 and 5"en an 7affix.7 !"e s%uare root of is
since
Complex moduls
!"e modulus of a complex number 4 also called t"e complex norm4 is denoted and defined by
If
!"e complex modulus is implemented in %athematica as Abs@ A4 or as Dorm@ A. !"e s%uare <et of and is sometimes called t"e absolute s%uare. be t5o complex numbers. !"en
so
Also4
so
and4 by extension4
are
4 and
Absolute square
!"e absolute s%uare of a complex number 4 also :no5n as t"e s%uared norm4 is defined as
5"ere
and 4 5it"
is t"e complex modulus. and real4 t"en t"e absolute s%uare can be 5ritten
If
and
using
t"e %athematica commandComplexExpand@Abs@ AG24 !arget*unctions =H Conjugate A. An important identity involving t"e absolute s%uare is given by
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If
If
4 and
4 t"en
*inally4
Absolute value
!"e absolute value of a complex number 4 also called t"e complex modulus4 is defined as 8 9 !"is form is implemented in %athematica as Abs@ A and is illustrated above for complex . Dote t"at t"e derivative 8read; complex derivative9 plane4 t"e value of t"e derivative of does not exist because at every point in t"ecomplex
depends on t"e direction in 5"ic" t"e derivative is ta:en 8so t"e Cauc"y= as
1iemann e%uations cannot and do not "old9. /o5ever4 t"e real derivative 8i.e.4 restricting t"e derivative to directions along t"e real axis9 can be defined for points ot"er t"an
8#9
As a result of t"e fact t"at computer algebra programs suc" as %athematica generically deal 5it" complex variables 8i.e.4 t"e definition of derivative al5ays means complex derivative94 unevaluated by suc" soft5are. correctly returns
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!"e notations for t"e floor function used for t"e absolute value.
!"e unit s%uare integral of t"e absolute value of t"e difference of t5o variables ta:en to t"e po5er
is given by
5"ere i is t"e imaginary unit. Dote t"at EulerFs poly"edral formula is sometimes also called t"e Euler formula4 as is t"e Euler curvature formula. !"e e%uivalent expression
"ad previously been publis"ed by Cotes 81'1#9. !"e special case of t"e formula 5it" gives t"e beautiful identity
an e%uation connecting t"e fundamental numbers i4 pi4 e4 14 and . 8,ero94 t"e fundamental operations 4 4 and exponentiation4 t"e most important relation 4 and not"ing else. 2auss is reported to "ave commented t"at if t"is formula 5as not immediately obvious4 t"e reader 5ould never be a first=class mat"ematician. !"e Euler formula can be demonstrated using a series expansion.
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Properties
Field structure !"e set C of complex numbers is a field. 3riefly4 t"is means t"at t"e follo5ing facts "old; first4 any t5o complex numbers can be added and multiplied to yield anot"er complex number. +econd4 for any complex number a4 its negative Ba is also a complex number and t"ird every non,ero complex number "as a reciprocal complex number. Moreover4 t"ese operations satisfy a number of la5s4 for example t"e la5 of commutativity of addition and multiplication for any t5o complex numbers
1
and
!"ese t5o la5s and t"e ot"er re%uirements on a field can be proven by t"e formulas given above4 using t"at similar formulas "old for real numbers. Enli:e t"e reals4 C is not an ordered field4 t"at is to say4 it is not possible to define a relation necessarily positive4 so i2 ? B1 precludes t"e existence of an ordering on C. Solutions of polynomial equations 2iven any complex numbers 8called coefficients9 a.4 ...4 an4 t"e e%uation
1
t"at is
compatible 5it" t"e addition and multiplication. In fact4 in any ordered field4 t"e s%uare of any element is
"as at least one complex solution 4 provided t"at at least one of t"e "ig"er coefficients4 a14 ...4 an4 is non,ero. !"is is t"e statement of t"e fundamental theorem of algebra. 3ecause of t"is fact4 C is called an algebraically closed field. !"is property does not "old for t"e fields Q 8t"e polynomial x2 B 2 does not "ave a rational root4 since J2 is not a rational number9 or R 8t"e polynomial x2 > a does not "ave a real solution for a H .4 since t"e s%uare of x is positive for any real number x9. !"ere are various proofs of t"is t"eorem4 eit"er by analytic met"ods suc" as <iouvilleFs t"eorem4 ortopological ones suc" as t"e 5inding number4 or a proof combining 2alois t"eory and t"e fact t"at any real polynomial of odd degree "as at least one root.
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suc" t"at xx is in ) for any non,ero x in C. Any field 0 5it" t"ese properties can be endo5ed 5it" a topology by ta:ing t"e sets B8x4 p9 ? Ly M p B 8y B x98y Bx9 )N as a base4 5"ere xranges over t"e field and p ranges over ). 6it" t"is topology 0 is isomorp"ic as a topological field toC. !"e only connected locally compact topological fields are R and C. !"is gives anot"er c"aracteri,ation of C as a topological field4 since C can be distinguis"ed from R because t"e non,ero complex numbers are connected4 5"ile t"e non,ero real numbers are not.
Multiplicative Invers
In a monoid or multiplicative group 5"ere t"e operation is a product 4 t"e multiplicative inverse of any element is t"e element suc" t"at 4 5it" 1 t"e identity element. is its reciprocal 8,ero is not invertible9. *or
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!"e inverse of a non,ero real %uaternion t"em are ,ero9 is its reciprocal
85"ere
5"ere
!o detect t"e multiplicative inverse of a given element in t"e multiplication table of finite multiplicative group4 traverse t"e elementFs ro5 until t"e identity element 1 is encountered4 and t"en go up to t"e top ro5. In t"is 5ay4 it can be immediately determined t"at formed by all complex fourt" roots of unity. is t"e multiplicative inverse of in t"e multiplicative group
Complex analysis
!"e study of functions of a complex variable is :no5n as complex analysis and "as enormous practical use in applied mat"ematics as 5ell as in ot"er branc"es of mat"ematics. Often4 t"e most natural proofs for statements in real analysis or even number t"eory employ tec"ni%ues from complex analysis 8see prime number t"eorem for an example9. Enli:e real functions 5"ic" are commonly represented as t5o=dimensional grap"s4complex functions "ave four=dimensional grap"s and may usefully be illustrated by color coding at"ree= dimensional grap" to suggest four dimensions4 or by animating t"e complex functionFs dynamic transformation of t"e complex plane. Complex exponential and related functions !"e notions of convergent series and continuous functions in 8real9 analysis "ave natural analogs in complex analysis. A se%uence of complex numbers is said to converge if and only if its real and imaginary parts do. !"is is e%uivalent to t"e 8P4 Q9=definition of limits4 5"ere t"e absolute value of real numbers is replaced by t"e one of complex numbers. *rom a more abstract point of vie54 C4 endo5ed 5it" t"e metric
15
and
<i:e in real analysis4 t"is notion of convergence is used to construct a number of elementary functions; t"e exponential function exp8 94 also 5ritten e 4 is defined as t"e infinite series
and t"e series defining t"e real trigonmetric functions sine and cosine4 as 5ell as "yperbolic functionssuc" as sin" also carry over to complex arguments 5it"out c"ange. 1uler2s identity states;
Enli:e in t"e situation of real numbers4 t"ere is an infinitude of complex solutions t"e e%uation
of
for any complex number w K .. It can be s"o5n t"at any suc" solution Rcalled complex logarit"m ofaR satisfies
5"ere arg is t"e argument defined above4 and ln t"e 8real9 natural logarit"m. As arg is a multivalued function4 uni%ue only up to a multiple of 244 log is also multivalued. !"e principal value of log is often ta:en by restricting t"e imaginary part to t"e interval 8BS4SA. Complex exponentiation
5
is defined as
Conse%uently4 t"ey are in general multi=valued. *or 5 ? 1 T n4 for some natural number n4 t"is recovers t"e non= unicity of n=t" roots mentioned above. Holomorphic functions A function f; C U C is called "olomorp"ic if it satisfies t"e Cauc"y=1iemann e%uations. *or example4 any R= linear map C U C can be 5ritten in t"e form
5it" complex coefficients a and b. !"is map is "olomorp"ic if and only if b ? .. !"e second summand real=differentiable4 but does not satisfy t"e Cauc"y=1iemann e%uations.
is
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9n 5it" a "olomorp"ic
function f8 94 still s"are some of t"e features of "olomorp"ic functions. Ot"er functions "ave essential
Applications
+ome applications of complex numbers are; Control theory In control t"eory4 systems are often transformed from t"e time domain to t"e fre%uency domain using t"e <aplace transform. !"e systemFs poles and ,eros are t"en analy,ed in t"e complex plane. !"e root locus4 Dy%uist plot4 and Dic"ols plot tec"ni%ues all ma:e use of t"e complex plane. In t"e root locus met"od4 it is especially important 5"et"er t"e poles and ,eros are in t"e left or rig"t "alf planes4 i.e. "ave real part greater t"an or less t"an ,ero. If a system "as poles t"at are in t"e rig"t "alf plane4 it 5ill be unstable4 all in t"e left "alf plane4 it 5ill be stable4 on t"e imaginary axis4 it 5ill "ave marginal stability.
If a system "as ,eros in t"e rig"t "alf plane4 it is a nonminimum p"ase system. Signal analysis Complex numbers are used in signal analysis and ot"er fields for a convenient description for periodically varying signals. *or given real functions representing actual p"ysical %uantities4 often in terms of sines and cosines4 corresponding complex functions are considered of 5"ic" t"e real parts are t"e original %uantities. *or a sine 5ave of a given fre%uency4 t"e absolute value M M of t"e corresponding argument arg8 9 t"e p"ase. If *ourier analysis is employed to 5rite a given real=valued signal as a sum of periodic functions4 t"ese periodic functions are often 5ritten as complex valued functions of t"e form is t"e amplitude and t"e
5"ere V represents t"e angular fre%uency and t"e complex number explained above.
In electrical engineering4 t"e *ourier transform is used to analy,e varying voltages and currents. !"e treatment of resistors4 capacitors4 and inductors can t"en be unified by introducing imaginary4 fre%uency=dependent resistances for t"e latter t5o and combining all t"ree in a single complex number called t"e impedance. 8Electrical engineers and some p"ysicists use t"e letter ! for t"e imaginary unit since i is typically reserved for
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85"ic" implies t"at t"e triangle "aving sidelengt"s a4 b4 and c is a rig"t triangle9. !"ey can be studied by considering 2aussian integers4 t"at is4 numbers of t"e form x > iy4 5"ere x and y are integers. Analytic number t"eory Analytic number t"eory studies numbers4 often integers or rationals4 by ta:ing advantage of t"e fact t"at t"ey can be regarded as complex numbers4 in 5"ic" analytic met"ods can be used. !"is is done by encoding number=t"eoretic information in complex=valued functions. *or example4 t"e 1iemann ,eta=function Z8s9 is related to t"e distribution of prime numbers.
History
!"e earliest fleeting reference to s%uare roots of negative numbers per"aps occurred in t"e 5or: of t"e2ree: mat"ematician and inventor /eron of Alexandria in t"e 1st century AD4 5"en4 apparently inadvertently4 "e considered t"e volume of an impossible frustum of a pyramid4@&A t"oug" negative numbers 5ere not conceived in t"e /ellenistic 5orld. Complex numbers became more prominent in t"e 1&t" century4 5"en closed formulas for t"e roots ofcubic and %uartic polynomials 5ere discovered by Italian mat"ematicians 8see Diccolo *ontana !artaglia4 2erolamo Cardano9. It 5as soon reali,ed t"at t"ese formulas4 even if one 5as only interested in real solutions4 sometimes re%uired t"e manipulation of s%uare roots of negative numbers. *or example4 !artagliaFs cubic formula gives t"e follo5ing solution to t"e e%uation x B x ? .4
and 5"en t"e t"ree cube roots of B1 are substituted into t"is expression t"e t"ree real roots4 .4 1 and B14 result. 1afael 3ombelli 5as t"e first to explicitly address t"ese seemingly paradoxical solutions of cubic e%uations and developed t"e rules for complex arit"metic trying to resolve t"ese issues. !"is 5as doubly unsettling since not even negative numbers 5ere considered to be on firm ground at t"e time. !"e term 7imaginary7 for t"ese %uantities 5as coined by 1en[ Descartes in 1& ' and 5as meant to be derogatory@citation neededA 8see imaginary number for a discussion of t"e 7reality7 of complex numbers9. A furt"er source of confusion 5as t"at t"e e%uation inconsistent 5it" t"e algebraic identity incorrect use of t"is identity 8and t"e related identity of seemed to be capriciously 4 5"ic" is valid for positive real numbers a and b4 and 9 in t"e case 5"en bot" a and b are negative
5"ic" 5as also used in complex number calculations 5it" one of a4 b positive and t"e ot"er negative. !"e even bedeviled Euler. !"is difficulty eventually led to t"e convention of using t"e special symbol i in place to guard against t"is mista:e. Even so Euler considered it natural to introduce students to complex numbers muc" earlier t"an 5e do today. In "is elementary algebra text boo:4 1lements of -lgebra4 "e introduces t"ese numbers almost at once and t"en uses t"em in a natural 5ay t"roug"out.
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In 1'#( <eon"ard Euler 5ent furt"er and obtained EulerFs formula of complex analysis;
by formally manipulating complex po5er series and observed t"at t"is formula could be used to reduce any trigonometric identity to muc" simpler exponential identities. !"e existence of complex numbers 5as not completely accepted until t"e geometrical interpretation 8see above9 "ad been described by Caspar 6essel in 1'--W it 5as rediscovered several years later and populari,ed by Carl *riedric" 2auss4 and as a result t"e t"eory of complex numbers received a notable expansion. !"e idea of t"e grap"ic representation of complex numbers "ad appeared4 "o5ever4 as early as 1&($4 in 6allisFs 'e -lgebra tractatus. 6esselFs memoir appeared in t"e )roceedings of t"e Copen"agen Academy for 1'--4 and is exceedingly clear and complete4 even in comparison 5it" modern 5or:s. /e also considers t"e sp"ere4 and gives a %uaternion t"eory from 5"ic" "e develops a complete sp"erical trigonometry. In 1(.# t"e Abb[ 3u[e independently came upon t"e same idea 5"ic" 6allis "ad suggested4 t"at s"ould represent a unit line4 and its negative4 perpendicular to t"e real axis. 3u[eFs paper 5as not publis"ed until 1(.&4 in 5"ic" year Cean=1obert Argand also issued a pamp"let on t"e same subject. It is to ArgandFs essay t"at t"e scientific foundation for t"e grap"ic representation of complex numbers is no5 generally referred. Devert"eless4 in 1( 1 2auss found t"e t"eory %uite un:no5n4 and in 1( 2 publis"ed "is c"ief memoir on t"e subject4 t"us bringing it prominently before t"e mat"ematical 5orld. Mention s"ould also be made of an excellent little treatise by Mourey 81(2(94 in 5"ic" t"e foundations for t"e t"eory of directional numbers are scientifically laid. !"e general acceptance of t"e t"eory is not a little due to t"e labors of Augustin <ouis Cauc"y and Diels /enri: Abel4 and especially t"e latter4 5"o 5as t"e first to boldly use complex numbers 5it" a success t"at is 5ell :no5n. !"e common terms used in t"e t"eory are c"iefly due to t"e founders. Argand called cos\ > isin\ t"edirection factor4 and r[duite9W 2auss used i for t"e modulusW Cauc"y 81(2(9 called cos\ > isin\ t"e reduced form 8lFexpression 4 introduced t"e term complex number for a > bi4 and called a2 > b2 t"e norm.
!"e expression direction coefficient4 often used for cos\ > isin\4 is due to /an:el 81(&'94 andabsolute .alue, for modulus, is due to 6eierstrass. *ollo5ing Cauc"y and 2auss "ave come a number of contributors of "ig" ran:4 of 5"om t"e follo5ing may be especially mentioned; ]ummer 81(##94 <eopold ]ronec:er 81(#$94 +c"effler 81(#$4 1($14
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for some fixed complex number w can be represented by a 2_2 matrix 8once a basis "as been c"osen9. 6it" respect to t"e basis 14 i4 t"is matrix is
i.e.4 t"e one mentioned in t"e section on matrix representation of complex numbers above. 6"ile t"is is a linear representation of C in t"e 2 _ 2 real matrices4 it is not t"e only one. Any matrix
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Bibliography
Burton, 'a.id %. 8$99:", &he History of %athematics , +ew ;or6 <at , (ictor 7. 8=>>?", - History of %athematics, Brief (ersion +ahin, )aul 7. 8$99@", -n *maginary &ale, &he /tory of 8hardco.er ed.", )rinceton Ani.ersity )ress
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