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Contents
1 Sequences and Infinite Series
1.1 Sequences and Convergence of Sequences . . . . . . . . . . . . . . .
1.1.1 Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Convergence of a Sequence . . . . . . . . . . . . . . . . . .
1.1.3 Monotone and Bounded Sequences . . . . . . . . . . . . . .
1.1.4 Proving the convergence of sequences by definition . . . . .
1.2 Infinite Series and Convergence of Infinite Series . . . . . . . . . .
1.2.1 Infinite Series . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Convergence Tests . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 The Divergence Test and Four Convergence Theorems . . .
1.3.2 Convergence Tests for Infinite Series of Nonnegative Terms
1.3.3 Convergence Test for Alternating Series . . . . . . . . . . .
1.4 Absolute and Conditional Convergence . . . . . . . . . . . . . . . .
1.5 Summary of Convergence and Divergence Tests . . . . . . . . . . .
2 Power Series
2.1 Power Series . . . . . . . . . . . . . . . . .
2.2 Power Series Representation of a Function
2.3 Taylor and Maclaurin Series . . . . . . . .
2.4 Approximation Using Taylor Polynomials
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1
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13
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15
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16
17
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25
27
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29
29
30
31
32
32
33
34
ii
Chapter 1
1.1.1
Sequences
1 1 1 1
2 , 4 , 8 , 16 , ...
3. {1, 0, 1, 0, ...}
4. {1, 12 , 13 , 41 , ...}
5. {1, 12 , 31 , 41 , ...}
6. { 12 , 23 , 34 , 54 , ...}
7. {0, 1, 1, 2, 3, 5, ...}
Focus: sequences with infinite terms, rule is defined by a function.
Definition 1.1.1. A sequence of real numbers is the ordered range of some function f (n) whose
domain I is an ordered set of the form {k, k + 1, k + 2, ...}, where k .
The following text usually assumes that k = 1, but the discussion is true for any starting index.
Example. What is the function defining the rule for the following sequences?
1. {5, 2, 1, 4, 7, ...} =
1
2. 21 , 41 , 81 , 16
, ... =
3. {1, 0, 1, 0, ...}
4. {1, 12 , 13 , 41 , ...} =
5. {1, 12 , 31 , 41 , ...} =
6. { 12 , 23 , 34 , 54 , ...} =
Graphs of Sequences
1. {3n 8}
n=1
2.
(1)n
2n
o
n=1
3. {1, 0, 1, 0, ...}
4.
1
n n=1
5.
(1)n+1
n
o
n=1
6.
n
n+1
o
n=1
1.1.2
Convergence of a Sequence
We are interested in the behavior of a sequence at the tail end, when n is very, very large. (We
say: for all values of n greater than some fixed index N .)
Definition 1.1.2 (Convergence of a Sequence). A sequence {an } is said to converge to the limit
L if given any > 0, there exists a number N such that if n is an integer and n > N , then
|an L| < .
A sequence that does not converge is said to diverge.
Notation. lim an = L, or an L as n .
n
2.
(1)n
2n
o
n=1
converges to 0.
6.
n
n+1
o
n=1
converges to 1.
1
n
, where f (n) =
1
n,
and the
R R
Remark. Let {an } be a sequence, where an = f (n). Consider f (x), f : . Then the behavior
of f (n) as n follows the behavior of f (x) as x . (But not the other way around.)
Theorem 1.1.1. Let {an }
n=1 , where an = f (n). Consider f (x), f :
), then lim f (n) = L (or ).
R R. If x
lim f (x) = L (or
Note. Usefulness of theorem: To compute lim f (n), we can use limit theorems for function
n
f : (thms from Math 36 and 37!)
R R
Example.
1. {3n 8}
n=1 is divergent.
lim 3n 8 =
2.
1
n n=1
converges to 0.
lim
3.
n
n+1
1
=0
n
converges to 1.
lim
n
=1
n+1
2. {n n2 }
1
3. ln
n1
n=2
1
4. tan1 n
n
n
2
5.
1 + 2n
n
n
6.
n+1
1
7.
n!
Theorem 1.1.2 (Squeeze Theorem for Sequences). Let {an }, {bn }, {cn } be sequences such that
an bn cn (for all value of n beyond some fixed index N ). If the sequences {an } and {cn }
converge to L, then {bn } also converges to L.
Example. Determine whether the following sequences converge or diverge. Assume the starting
index is 1, unless otherwise specified.
cos n
1.
n+1
sin n
2.
n
3n + sin n
3.
3 4n
Convergence of Alternating Sequences
If the signs of a sequence alternate from positive to negative, or vice-verse, we say that the sequence
is an alternating sequence.
Theorem 1.1.3. If lim |an | = 0, then lim an = 0.
n
(1)n
2n
is convergent.
1.1.3
N
2. decreasing if an an+1 for all n N
1. increasing if an an+1 for all n
3. monotonic if {an }
n=1 is either increasing or decreasing.
Question. Is it possible for a sequence to be both increasing and decreasing?
Remark. Two methods to show that a sequence {an } is monotonic:
1. Let f (n) = an . Consider f (n) as a function of
R. Find f 0(n).
increasing:
Recall. n! = n (n 1) (n 2) ... 3 2 1
Example. Determine whether or not the following sequences are monotonic:
5n + 1
1.
2n
n!
2.
10
1
3.
(2n)!
4. (1)n+1
n
o
5. cos
n n=2
Definition 1.1.4. If {an }
n=1 is a sequence, then
1. l is a lower bound of the sequence if l an for all n
N.
N.
3. The sequence is bounded if it has both an upper bound and lower bound.
Example. Which among the sequences in the previous example are bounded?
1.1.4
Recall:
Definition 1.1.5 (Convergence of a Sequence). A sequence {an } is said to converge to the limit
L if given any > 0, there exists a number N such that:
If n is an integer and n > N , then |an L| < .
Remark. To show that {an } converges to L by definition:
1. Find a suitable N in terms of
2. Show that the given N satisfies the condition: If n > N , then |an L| < .
Tip:
1. Simplify |an L|
2. In the inequality |an L| < , solve for n in terms of . The the expression in terms of is
your candidate for N .
Example. Prove the following using the definition of convergence of a sequence:
1.
1
2.
2n1
n
5n
converges to 0.
converges to 25 .
1.2
1.2.1
an = a1 + a2 + a3 + ... + an + ...
n=1
is called a infinite series. The numbers a1 , a2 , ..., an , ... are called the terms of the infinite series.
The number n is the index of summation.
Again, the following text assumes that the lower index is 1, but the discussion is still true for other
lower indices.
Definition 1.2.2. Let
an be an infinite series.
n=1
1. sn =
n
X
k=1
2. {sn }
n=1 is called the sequence of partial sums of the series.
Definition 1.2.3 (Convergence and Sum of an Infinite Series). Let
let
{sn }nn=1
n=1
n=1
converges to a limit S. In this case, we say that the sum of the infinite series is S and write
an = S
n=1
If {sn }
n=1 diverges, then
an is said to be divergent.
n=1
Remark. By definition, an infinite series is convergent if its sequence of partial sums is convergent.
Otherwise, it is divergent.
Definition 1.2.4 (Geometric Series).
(a 6= 0)
n=0
(The first term of the series is a and each term is obtained by multiplying the previous term by the
ratio r of the series.)
Note.
8
an+1
an
X
n=0
n=0
a
.
ar =
1r
n
X
1
n
n=1
X
1
Theorem 1.2.2. The harmonic series
is divergent.
n
n=1
f (n) =
n=k
1.3
1.3.1
f (n 1) =
n=k+1
f (n + 1)
n=k1
Convergence Tests
The Divergence Test and Four Convergence Theorems
an diverges.
Remark.
1. The divergence test is one of the easiest way to show that a series is divergent!
P
2. lim an = 0 DOEST NOT imply that
an converges. If lim an = 0, then NO CONCLUn
n
P
SION can be made. That is,
an may converge or diverge.
Definition 1.3.1. An alternating series is a series whose terms form an alternating sequence.
(That is, the signs alternate from positive to negative.)
Theorem 1.3.2 (Four Convergence Theorems). Suppose
is a nonzero constant.
an and
P
P
P
P
P
P
1. If
an converges, then
can converges and
can = c an . If
an diverges, then
can
diverges.
P
P
P
P
2. Suppose
an and
bn both converge. Then (an + bn ) and (an bn ) both converge and
P
P
P
P
P
P
(an + bn ) = an + bn and (an bn ) = an bn
3. If either
an or
bn diverges, then
P
(an + bn ) diverges.
P
P
4. If
an and
bn differ only by a finite number of terms, then either both converge or both
diverge. (That is, convergence or divergence is unaffected by deleting a finite number of terms
from the series.)
Note. Bawal magdistribute ng infinite summation sign over addition.
1.3.2
Before using a convergence test, make sure that all assumptions are satisfied. However, the conditions stated in the assumption need to be true only for the tail end of the series. That is, you may
still use the test even if the assumptions do not hold for a finite number of terms at the beginning
of the series. (Yes, a googol is an incredibly large number. Nevertheless, it is still finite.)
Theorem 1.3.3 (Integral Test). Suppose
n=k
Consider f (x) as a function of a real variable. If f (x) is continuous, decreasing and positive for all
real x [k, ), then
f (x) dx is convergent.
k
n=k
(That is, the series converges if the the improper integral converges and diverges is the improper
integral diverges.)
Definition 1.3.2 (p-series or Hyperharmonic series).
X
1
np
(p > 0)
n=1
X
1
Theorem 1.3.4 (Convergence of p-series).
converges if p > 1 and diverges if 0 < p < 1.
np
n=1
P
P
Theorem 1.3.5 (Comparison Test). Let
an and
bn be infinite series of nonnegative terms
such that an bn for all n = 1, 2, ...
P
P
1. If
bn converges, then
an converges.
2. If
an diverges, then
bn diverges.
Remark.
1. Difficulty with comparison test: you have to make an intelligent guess as to whether
or not the series is convergent.
If your guess is convergent, try to find a greater convergent special series.
If your guess divergent, try to find a lesser divergent special series.
10
an and
an
= L > 0, then the two series either both converge or both diverge.
n bn
P
P
an
= 0 and
bn is convergent, then
an is convergent.
2. If lim
n bn
P
P
an
3. If lim
= and
bn is divergent, then
an is divergent.
n bn
1. If lim
Note. Put the nth TERM of the series you are testing in the numerator, and the nth TERM of
the special series you are comparing it to in the denominator.
SOME TIPS:
1. Limit comparison test: f (n) is a rational function or algebraic function
2. Integral test: f (n) is easy to integrate.
3. Comparison test: could work if f (n) involves sin, cos, ln or Arctan because:
1 sin n 1; 1 cos n 1
ln n n n
2 Arctan n
1.3.3
P
Theorem 1.3.7 (Alternating Series Test for Convergence). Let an be an alternating series. The
alternating series is convergent if both of the following conditions hold:
1. lim |an | = 0
n
1.4
Given
|an |.
an be an infinite series.
|an | is convergent.
2.
an is convergent, but
|an | is divergent.
an is convergent.
Problem: Draw a Venn diagram illustrating the relationship between the set of convergent series,
the set of absolutely convergent series, the set of conditionally convergent series and the set of
divergent series.
TESTS FOR ABSOLUTE CONVERGENCE
P
Theorem 1.4.2 (Root Test). Let
an be an infinite series.
p
1. If lim n |an | = L < 1, then the series is absolutely convergent.
n
2. If lim
p
n
3. If lim
p
n
p
n
|an | = , then the series is divergent.
TIP: The Root Test is useful when the index of summation is a power that can be extracted.
P
Theorem 1.4.3 (Ratio Test). Let
an be an infinite series for which each term is nonzero.
an+1
= L < 1, then the series is absolutely convergent.
1. If lim
n
an
an+1
an+1
= , then the series is divergent.
= L > 1 or lim
2. If lim
n
n
an
an
an+1
= 1, then no conclusion can be made.
3. If lim
n
an
TIP: The Ratio Test is useful when the series involves factorials, or the index of summation is a
power that cannot be extracted.
12
1.5
an diverges.
X
Thm (Integral Test). Suppose
an is a series with positive terms. Let f (n) = an . Consider f (x)
n=k
as a function of a real variable. If f (x) is continuous, decreasing and positive for all real x [k, ),
then
Z
Z
X
X
f (x) dx is convergent
f (x) dx is divergent
an is convergent;
an is divergent
k
n=k
n=k
Thm (Comparison Test). Let an and bn be infinite series of non-negative terms such that an bn
for all n = 1, 2, ...
P
P
(a) If
bn converges, then
an converges.
P
P
(b) If
an diverges, then
bn diverges.
X
X
Thm (Limit Comparison Test). Let
an and
bn be infinite series of positive terms.
an
= L > 0, then the two series either both converge or both diverge.
bn
X
X
an
= 0 and
bn is convergent, then
an is convergent.
(b) If lim
n bn
X
X
an
(c) If lim
= and
bn is divergent, then
an is divergent.
n bn
(a) If lim
13
an+1
= L < 1, then the series is absolutely convergent.
(a) If lim
n
an
an+1
= L > 1 or lim an+1 = , then the series is divergent.
(b) If lim
n
n
an
an
an+1
= 1, then no conclusion can be made.
(c) If lim
n
an
TIPS:
1. Limit comparison test: f (n) is a rational function or algebraic function
2. Integral test: f (n) is easy to integrate.
3. Comparison test: could work if f (n) involves sin, cos, ln or Arctan because:
1 sin n 1; 1 cos n 1
ln n n n
2 Arctan n
4. The Root Test is useful when the index of summation is a power that can be extracted.
5. The Ratio Test is useful when the series involved factorials, or the index of summation is a power that
cannot be extracted.
SPECIAL SERIES:
1. Geometric series
2. Harmonic and alternating harmonic series
3. p-series
4. Constant series
P 1
P 1
5.
n! and
nn are convergent.
REMARKS:
1. If the instruction is to determine if convergent or divergent:
(a) Guess
(b) Determine the appropriate test to use. Set D Tests may be used because if the IS is absolutely
convergent, then the IS is convergent.
2. If the instruction is to determine if the series is absolutely convergent, conditionally convergent
or divergent:
X
(a) Test for absolutely convergence. Set B Tests may be used because
|an | is an IS of nonnegative
terms.
(b) If it is not absolutely convergent and you have not been able to conclude that it is divergent (via
ratio or root test), test for conditional convergence.
(c) If it is not conditionally convergent, prove that it is divergent.
3. NO CONCLUSION is NOT an acceptable final answer.
14
Chapter 2
Power Series
2.1
Power Series
cn (x a)n
n=0
(Again, the lower index may be some other nonnegative integer k.)
Remark.
A power series is a function in x, so we can evaluate it as some x = x0 . If
we plug in x = x0 , we obtain an infinite series. (Note: Be careful about evaluating a power
X
series in x a at x = a. Evaluated at x = a,
cn (x a)n = c0 .)
n=0
Relevant question: For what values of x = x0 will we obtain a convergent infinite series?
(Note: A power series will always converge when x = a.)
Theorem 2.1.1. Let
n=0
R. (Case 2)
3. There exists R > 0 such that the power series is absolutely convergent for all x such that
|x a| < R and divergent for all |x a| > R. (Case 3)
Remark.
1. The theorem states that the set of all values for which a power series in x a
converges is always an interval centered at a. Hence this set of values is called the interval
of convergence (IOC) of the power series.
2. The radius of the interval of convergence is called the radius of convergence (ROC) of the
power series.
15
i. ROC: R =
1
L
ii. IOC:
(1) The interval of convergence includes all x such that R < x a < R.
(2) Test for convergence at x a = R and x a = R (do not use ratio or root
test!)
(3) Get the union of (1) and (2) solve for x.
2.2
n=0
n=0
n=0
16
You must know the power series representation for the following, which we shall derive in the
lecture:
1. f (x) =
1
, where |x| < 1
1x
2. f (x) = ex , where x
R
5. f (x) = cos x, where x R
4. f (x) = sin x, where x
cn (x a)n
n=0
X
X
0
n
f (x) = Dx
cn (x a) =
Dx [cn (x a)n ]
n=0
n=0
cn (x a)n
n=0
Z "X
#
n
cn (x a)
dx =
n=0
2.3
Z
X
cn (x a) dx + C
n=0
Definition 2.3.1. If f is a function for which f (n) (a) exists for all n
for f about x = a is
X
f (n) (a)
n=0
n!
f 00 (a)
(x a)2 + ...
2!
X
f (n) (0)
n=0
n!
xn = f (0) + f 0 (0)x +
f 00 (0) 2
x + ...
2!
Remark.
1. A function f (x) for which f (n) (x) exists for all n
function.
X
f (n) (a)
f (x) 6=
(x a)n
n!
n=0
4. However, if a function has a power series representation in x a [in x], then that power series
representation must be the same as its Taylor Series [Maclaurin Series]. (Did you get that?)
2.4
Definition 2.4.1. If f can be differentiated n times at a, then we define the nth Taylor Polynomial for f about x = a to be
pn (x) =
n
X
f (k) (a)
k!
k=0
(x a)k
n
X
f (k) (0)
k=0
k!
xk
X
f (n) (a)
n=0
18
n!
(x a)n .
Chapter 3
R R R
Recall:
= 2 = {(x, y) | x
and y }. Geometrically,
dimensional Euclidean space, or simply, Euclidean 2-space.
Definition 3.1.1. A function of two variables f (x, y) is a rule that assigns a unique real number
to each point (x, y) in some subset D of 2 .
Remark.
The set D is called the domain of f , which we denote by dom f . If no set D is specified, as
is usually the case in this course, we assume that the domain of f is the largest subset of 2
containing all points (x, y) for which f (x, y) is defined. This largest subset is referred to as
the natural domain of f .
The set of all possible values of f (x, y) is called the range of f and is denoted by ran f .
The graph of f (x, y) is the surface in
f (x, y).
R3 .
Projxy (Ck ). A set of level curves for various values of k is called a contour map of f . We get an
idea about the graph of f from its contour map. For example, the steepness of its graph can be
gleaned from the contour map.
Remark. All the above notions can be extended to functions of 3 or more variables. In particular,
we are also interested in functions of 3 variables.
3.2
Limits
(x,y)(x0 ,y0 )
(x,y)(x0 ,y0 )
Recall: For functions of one variable, we have the concept of one-sided limits. There are only two
types since there are only two ways of approaching x0 : from the left and from the right. Since the
limit is the unique value that the y-values approach as the x-values approach x0 from both sides,
the limit of the function exists if the two one-sided limits are equal.
In the case of functions of two variables, the point (x, y) may approach (x0 , y0 ) via an infinite
number of paths. Intuitively, the limit of f (x, y) as (x, y) approaches (x0 , y0 ) is the unique value
that f (x, y) approaches as (x, y) approaches (x0 , y0 ) via all these possible paths! This makes the
computation of limits of functions of two variables much more complex. Thus, we restrict our
computation of limits to very simple types of functions: polynomial and rational functions.
Theorem 3.2.1.
1.
lim
c=c
(x,y)(x0 ,y0 )
lim
(x,y)(x0 ,y0 )
lim
(x,y)(x0 ,y0 )
then
1.
lim
f (x, y) g(x, y) = L M
(x,y)(x0 ,y0 )
20
f (x, y) = f (x0 , y0 )
f (x, y) = L and
lim
(x,y)(x0 ,y0 )
g(x, y) = M ,
2. If c
R, then (x,y)(x
lim
cf (x, y) = c L.
,y )
0
3.
lim
f (x, y) g(x, y) = L M .
(x,y)(x0 ,y0 )
4. If M 6= 0, then
f (x, y)
L
=
.
M
(x,y)(x0 ,y0 ) g(x, y)
lim
f (x, y)
is a rational function
g(x, y)
h(x, y) =
(x,y)(x0 ,y0 )
f (x0 , y0 )
g(x0 , y0 )
Definition 3.2.2. Let P 2 and let f be a function in 2 variables defined on some open ball
B(P, r) centered at P , except possibly at P . Then
lim
(x,y)(x0 ,y0 )
f (x, y) = f (x0 , y0 )
21
3.3
Continuity
lim
f (x, y) =
(x,y)(x0 ,y0 )
f (x0 , y0 ).
Types of Discontinuities
1. Removable: limit exists, but is not equal to the function value
2. Essential: limit does not exist
Definition 3.3.2. A function of 2 variables that is continuous at every point (x, y) is said to be
continuous everywhere, or simply continuous.
Theorem 3.3.1 (Continuity Theorems).
1. A polynomial function is continuous everywhere.
2. A rational function is continuous at every point in its domain.
3. A sum, difference, product, quotient (except where the denominator is 0) or composition of
continuous functions are continuous.
Theorem 3.3.2. If
lim
b, then
lim
(x,y)(x0 ,y0 )
3.4
(x,y)(x0 ,y0 )
Partial Derivatives
fx (x, y) = lim
fy (x, y) = lim
Other notations:
f f
,
x y
If z = f (x, y):
z z
,
x y
xx0
f (x, y0 ) f (x0 , y0 )
x x0
fy (x0 , y0 ) = lim
Remark.
Use definition 3.4.1 if you wish to get the partial derivatives of f (functions)
Use definition 3.4.2 if you wish to get the partial derivative at particular point (value)
Remark. Computation of Partial Derivatives:
1. To get fx (x, y), treat y as a constant and get the derivative of f wrt x.
2. To get fy (x, y), treat x as a constant and get the derivative of f wrt y.
Remark. Geometric Interpretation of Partial Derivatives:
fx (x0 , y0 ) gives the slope of the surface in the direction of the positive x-axis.
fy (x0 , y0 ) gives the slope of the surface in the direction of the positive y-axis.
Remark. Partial Derivatives as Rate of Change:
f
give the instantaneous rate of change in f per unit change in x as y is held constant
x
f
give the instantaneous rate of change in f per unit change in y as x is held constant
y
Implicit Differentiation
Let z be a function in x and y defined implicitly by the equation F (x, y, z) = C, where C
Implicit differentiation allows us to get the partial derivatives of z with respect to x and y.
R.
dt
x dt
y dt
Note: For Type 1, note that z = f (x, y) = f (x(t), y(t)) is a function of a single variable t. Thus,
dz
we call
the total derivative of z with respect to t (as opposed to partial derivatives).
dt
Type 2: z = f (x, y) and x = x(u, v), y = y(u, v)
Theorem 3.4.2. If x = x(u, v) and y = y(u, v) have first order partial derivatives at (u, v) and if
f (x, y) is differentiable at (x, (u, v), y(u, v)), then:
z x z y
z
=
u
x u y u
and
3.5
z
z x z y
=
v
x v
y v
lim
(x,y)(x0 ,y0 )
f (x, y) L(x, y)
p
= 0, where
(x x0 )2 + (y y0 )2
L(x, y) = f (x0 , y0 ) + fx (x0 , y0 )(x x0 ) + fy (x0 , y0 )(y y0 )
3.6
3.6.1
Definition 3.6.1. Given a function of two variables f (x, y) and a point (x0 , y0 ) on the xy-plane:
1. f is said to have a relative maximum at (x0 , y0 ) if there exists an open ball B on the
xy-plane centered at (x0 , y0 ) such that f (x0 , y0 ) f (x, y) for every (x, y) B
2. f is said to have a relative maximum at (x0 , y0 ) if there exists an open ball B on the
xy-plane centered at (x0 , y0 ) such that f (x0 , y0 ) f (x, y) for every (x, y) B
3. f is said to have a relative extremum at (x0 , y0 ) if either f has a relative maximum or a
relative minimum at (x0 , y0 ).
Remark. Suppose f has a relative minimum [maximum, extremum] at P .
1. The value f (x0 , y0 ) is said to be a relative minimum [maximum, extremum] value of f .
2. The point (x0 , y0 , f (x0 , y0 )) is called a relative minimum [maximum, extremum] point of f .
3. Graphically, the graph of z = f (x, y) has peaks and trenches at relative maximum and relative
minimum points, respectively.
4. It is relative or local because the point is highest or lowest relative to its very close
neighbors.
5. Note that a function may have several relative extrema.
Definition 3.6.2. The point (x0 , y0 ) is a critical point of the function f (x, y) if (x0 , y0 ) dom f
and either
1. fx (x0 , y0 ) = 0 and fy (x0 , y0 ) = 0 (Type 1), or
2. fx (x0 , y0 ) or fy (x0 , y0 ) does not exist (Type 2)
25
Theorem 3.6.1. If the function f (x, y) has a relative extremum at (x0, y0 ) and fx (x0 , y0 ) and
fy (x0 , y0 ) exist, then fx (x0 , y0 ) = 0 and fy (x0 , y0 ) = 0.
Remark.
1. The theorem tells us that if f (x, y) has a relative extrema at (x0 , y0 ) and the partial derivatives
of f exist at that point, then (x0 , y0 ) must be a Type 1 critical point.
2. As a consequence, if f is differentiable at all points in its domain, then the candidates for
points where relative extrema occur come from the critical points of f . (Naturally, these are
all Type 1 critical points)
3. In addition, if the graph of f has a tangent plane at a relative extreme point, then it must
be horizontal.
4. The converse of the theorem is NOT true. It is not true that if (x0 , y0 ) is a critical point of
f , then f has a relative extrema at (x0 , y0 ).
Definition 3.6.3. A point (x0 , y0 , z0 ) is said to be a saddle point of a surface if there exist
two vertical planes such that the trace of in one plane has a relative maximum at (x0 , y0 ) and
the trace of in the other plane has a relative minimum at (x0 , y0 ).
Theorem 3.6.2 (Second Derivative Test for Relative Extrema). Suppose that the first and second order partial derivatives of a differentiable function f (x, y) is continuous on some open ball
B ((x0 , y0 ), r) and fx (x0 , y0 ) = fy (x0 , y0 ) = 0. Let
D = fxx (x0 , y0 )fyy (x0 , y0 ) [fxy (x0 , y0 )]2 .
1. If D > 0 and
(a) fxx (x0 , y0 ) > 0, then f (x, y) has a relative minimum at (x0 , y0 ).
(b) fxx (x0 , y0 ) < 0, then f (x, y) has a relative maximum at (x0 , y0 ).
2. If D < 0, then f (x, y) has a saddle point at (x0 , y0 ).
3. If D = 0, then no conclusion can be made.
Remark. One way to remember the formula for D:
The Jacobian of f is the matrix of partial derivatives of f
"
#
fxx fxy
fyx fyy
D is the determinant of the Jacobian of f .
26
3.6.2
Definition 3.6.4. Let f be a function of two variables x and y. Let R be a region on the xy-plane
and (x0 , y0 ) a point in R.
1. f is said to have an absolute maximum on R at (x0 , y0 ) if f (x0 , y0 ) f (x, y) for every
(x, y) R.
2. f is said to have an absolute minimum on R at (x0 , y0 ) if f (x0 , y0 ) f (x, y) for every
(x, y) R.
3. f is said to have an absolute extremum on R at (x0 , y0 ) if either f has an absolute
maximum value or absolute minimum value on R at (x0 , y0 ).
Remark. Suppose that f has an absolute maximum [minimum, extremum] at (x0 , y0 ).
1. We say f (x0 , y0 ) is the absolute maximum [minimum, extremum] value of f on R.
2. What is the difference between a relative extremum and an absolute extremum?
Definition 3.6.5. Let R be a region on the xy-plane
1. R is bounded if it can be contained in some rectangle.
2. R closed if R contains its boundary.
Theorem 3.6.3 (Extreme Value Theorem). If f (x, y) is continuous on a closed and bounded set
R, then f has both an absolute maximum and an absolute minimum on R.
Remark. If f and R satisfy the conditions of EVT, the absolute extrema occur at (1) critical
points inside R, or (2) points on the boundary of R
PROCEDURE: Finding Absolute Extrema on a Region R satisfying EVT
1. Find the critical numbers of f (x, y) in R. Evaluate f (x, y) at the critical numbers.
2. Evaluate f (x, y) at the vertices of R (if any).
3. Convert f (x, y) to a function of one variable g (x) or g (y) on the boundaries of R. Find the
critical numbers of g and evaluate f (x, y) at these numbers. (Recall: For a function of one
variable, the critical numbers are points for which the derivative of g is 0 or does not exist.)
4. Compare the values obtained.
Remark. Let f be a function of two variables and R = {(x, y) | x > 0 and y > 0}. Suppose f is
continuous on R and (x0 , y0 ) is the only critical point of f .
1. If f (x, y) is very large when either x or y are very close to zero or very large, then f has an
absolute minimum at (x0 , y0 ).
27
2. If f (x, y) is very negative when either x or y are very close to zero or very large, then f
has an absolute maximum at (x0 , y0 ).
Examples:
1. A manufacturer wishes to make an open rectangular box with volume 500 cm3 using the least
possible amount of material. Find the dimensions of the box.
2. The cost of materials for a rectangular box 16 cm3 in volume is one peso per square inch for
the sides and two pesos per square inch for the top and bottom. Determine the dimensions
of the box so that the cost is minimum.
28
Chapter 4
Recall that the partial derivatives fx (x, y) and fy (x, y) measure the rate at which f is changing in
the direction of the positive x-axis and positive y-axis, respectively. What if we wish to measure
the rate of change in another direction?
Definition 4.1.1. Given f (x, y) and a unit vector ~u = u1i + u2 j, the directional derivative of
f in the direction of ~u is
D~u f (x, y) = lim
xa
f (x + u1 h, y + u2 h) f (x, y)
h
~u = 22 i + 22 j.
Remark.
1. D~u (x0 , y0 ) gives the rate at which f is changing in the direction of ~u at (x0 , y0 ).
2. Note that if ~u = i, then D~u (x, y) = fx (x, y). Similarly, if ~u = j, then D~u (x, y) = fy (x, y).
3. Geometrically, D~u (x0 , y0 ) is the slope of the surface z = f (x, y) in the direction of ~u at the
point (x0 , y0 , f (x0 , y0 )).
Example. Consider the previous example. Find the rate at which f is changing in the direction
of ~u at the origin.
the directional derivaDefinition 4.1.2. Given f (x, y, z) and a unit vector ~u = u1i + u2 j + u3 k,
tive in the direction of ~u is
f (x + u1 h, y + u2 h, z + u3 h) f (x, y, z)
D~u f (x, y, z) = lim
xa
h
provided this limit exists.
29
Definition 4.1.3.
~ (x, y) = fx (x, y) i + fy (x, y) j.
1. Given f (x, y), the gradient of f is f
Example.
1. Compute the directional derivative of the previous example using the theorem.
2. Find the directional derivative of f (x, y, z) = x2 yz 3 + z in the direction of h2, 1, 2i.
3. Find the directional derivative of f (x, y) = exy at (2, 0) in the direction of the vector that
makes an angle of 3 with the positive x-axis.
4. Given a metal plate, the temperature at the point (x, y) is given by the function T (x, y) =
x2 xy +y 2 . What is the rate at which the temperature is changing in the south east direction
at the point (1, 1)?
4.2
Problem: At the point (x0 , y0 ), in which direction will f increase or decrease most rapidly?
~ (x0 , y0 ) 6= ~0.
Theorem 4.2.1. Given f (x, y) such that f is differentiable at (x0 , y0 ) and f
~ (x0 , y0 ). We say that f
~ (x0 , y0 )
1. At (x0 , y0 ), f will increase most rapidly in the direction of f
points in the direction of
steepest
ascent. Moreover, the rate of change of f in this
~
direction is D~u f (x0 , y0 ) =
f
(x0 , y0 )
30
direction of 35 , 54 .
2. Find the directional derivative of f (x, y, z) = x3 y yz 3 + z in the direction of h2, 1 2i.
3. In what direction should one initially travel, starting from the origin, to obtain the most rapid
rate of increase in the function f (x, y) = (3 x + y)2 + (4x y + 2)3 ?
4.3
Given a vector function F~ (x, y) = P (x, y)i + Q(x, y)j, the scalar functions P (x, y) and Q(x, y) are
called the components of F~ (x, y).
Definition 4.3.1. A vector function (or more appropriately, a vector field) F is said to be a
conservative vector field if it is the gradient of some scalar function f . That is, there exists a
scalar function f such that
~ = F~
f
The function f is called a potential function for F~ .
Note that not all vector fields are are conservative. What condition guarantees that a given vector
field is a conservative?
Theorem 4.3.1.
1. Suppose that F~ (x, y) = P (x, y)i + Q(x, y)j is a vector field on 2 and whose components
have continuous first-order partial derivatives. Then F~ (x, y) is a conservative vector field on
2 if and only if P = Q .
y
x
2. Suppose that F~ (x, y, z) = P (x, y, z)i + Q(x, y, z)j + R(x, y.z)k is a vector field on 3 whose
components have continuous first-order partial derivatives. Then F~ is a conservative vector
field on 3 if and only if the following hold
Py = Qx
Pz = Rx
31
Qz = Ry
Example. Determine if the following vector fields are conservative. If it is conservative, find all
potential functions.
~ (x, y) = (ey 2xy) i + xey x2 j
1. f
~ (x, y) = (2x + ln y) i + y 2 + x j
2. f
y
3. F~ (x, y) = 2xy + 1, x2 + 2yz, y 2 2
4. F~ (x, y, z) = ex sin z + 2yz, 2xz + 2y, ex cos z + 2xy + 3z 2
If F~ is a conservative force field, then total energy is conserved as F~ moves a particle along a curve
in space. Moreover, its potential function f is related to the potential energy of F~ .
Exercises. Determine whether or not the following vector fields are conservative. If the vector
field is conservative, find all potential functions.
~ (x, y) = (2x 3y) i + 3x + 12y 2 ~j.
1. f
2. F~ (x, y) = 6x2 y 2 14xy + 3, 4x3 y 7x2 8
3. F~ (x, y) = h3y, 2xi
4. F~ (x, y) = 2xy + 1, x2 + 2yz, y 2 2
5. F~ (x, y, z) = hy cos xy, x cos xy, sin zi
4.4
4.4.1
y = g(t)
tD
2. 3-space:
x = f (t)
where D
domain.
y = g(t)
z = h(t)
tD
R. The variable t is called the parameter and the set D is called the parametric
The graph of a given set of parametric equations is a curve containing all points in the set:
1. 2-space: {(f (t), g(t)) | t D}
2. 3-space: {(f (t), g(t), h(t)) | t D}
Recall: Given a line in 3-space:
32
y = bt + y0
z = ct + z0
y = g(t)
z = h(t)
tD
Let t0 D. Then P = (f (t0 ), g(t0 ), h(t0 )) is a point on C. Moreover, a vector parallel to the line
tangent to the curve at P is hf 0 (t0 ), g 0 (t0 ), h0 (t0 )i. This vector is called a tangent vector to C at
P.
The parameter t may represent some entity such as the polar angle of a point, or the arc length of a
curve, or one of the independent variables. In many applications, the parameter t represents time.
In this case, the parametric equations give the position of a particle at time t, and are hence called
parametric equations of motion of the particle. The curve that is traced out as the parameter
t increases gives the trajectory of the particle. Moreover, the vector hf 0 (t), g 0 (t), h0 (t)i gives the
velocity of the particle at time t.
4.4.2
Recall: If is the graph of z = f (x, y), then an equation of the tangent plane to at the point
(x0 , y0 , f (x0 , y0 )) is z = L(x, y).
Now suppose that is some surface in 3-space which is not necessarily the graph of a function in
2 variables. What is an equation of the tangent plane to at a point on ?
Remark. A normal vector of the tangent plane to at P is orthogonal to the tangent vector of
every curve on passing through P .
Remark. Suppose that 1 : F (x, y, z) = 0 and 2 : G(x, y, z) = 0 are surfaces in 3-space. Let
~ (x0 , y0 , z0 )
P = (x0 , y0 , z0 ) be a point on the curve of intersection C of 1 and 2 . Then F
~
G(x
0 , y0 , z0 ) is a tangent vector of C at P .
Definition 4.4.2. Let P be a point on two surfaces 1 and 2 . The surfaces 1 and 2 are said to
be tangent at a point if they have the same tangent plane at P .
4.5
~ (x, y) = g(x,
~
f
y)
g(x, y) = 0
35
6 , 0, 1
Chapter 5
Double Integrals
The Volume Problem: Suppose f (x, y) is continuous and nonnegative on a region R in the
xy-plane. Find the volume of the solid bounded above by the surface z = f (x, y) and below by the
region R on the xy-plane.
n
X
V = lim
f (x , y )Ak
n
k=1
ZZ
ZZ
[f (x, y) g(x, y)] dA =
2.
k=1
ZZ
f (x, y) dA
g(x, y) dA
R
3. If R is the union of two regions R1 and R2 such that R1 and R2 intersect only at their
boundaries (if at all), then
ZZ
ZZ
ZZ
f (x, y) dA =
f (x, y) dA +
f (x, y) dA
R
R1
R2
To evaluate double integrals, we shall convert them to what are called iterated integrals. In the
previous chapter, we applied partial integration (the reverse of partial differentiation) to obtain
potential functions of conservative vector functions. Integrals of the form
Z b
Z d
f (x, y) dx and
f (x, y) dy
a
36
are called partial definite integrals with respect to x and y, respectively. (Why definite?)
An iterated integral is a combination of two or more partial definite integrals. We evaluate iterated integrals by repeating the integration process several times, hence, the term iterated integrals.
In this chapter, we only deal with iterated integrals of the form
!
Z Z
Z
Z
b
g2 (x)
g2 (x)
f (x, y) dy dx =
a
g1 (x)
f (x, y) dy dx
a
g1 (x)
and
Z
d Z h2 (y)
f (x, y) dx dy
f (x, y) dx dy =
c
h1 (y)
h2 (y)
h1 (y)
g1 (x)
g1 (x) y g2 (x)
axb
2. Type 2 Region R: left boundary is the curve x = h1 (y), right boundary is the curve x = h2 (y),
c is the smallest y-coordinate in R, and d is the largest y-coordinate in R
R:
h1 (y) x h2 (y)
cyd
g1 (x) y g2 (x)
, then
axb
Z bZ
ZZ
g2 (x)
f (x, y) dA =
f (x, y) dy dx
a
37
g1 (x)
h1 (y) x h2 (y)
, then
cyd
d Z h2 (y)
f (x, y) dA =
f (x, y) dx dy
c
h1 (y)
Note: Sometimes it is difficult (or even impossible) to evaluate iterated integrals in a given order
of integration. However, reversing the order of integration may allow us to evaluate the iterated
integral. If you wish to reverse the order of integration, you must change the description of region
to the appropriate type. You do not reverse the order of integration by changing
Z
d Z h2 (y)
Z
f (x, y) dx dy
h2 (y) Z d
f (x, y) dy dx
to
h1 (y)
h1 (y)
(No, sadly, it is not that simple.) Remember that the outer limits of integration must be constants,
so the second integral makes no sense.
5.2
Volumes of Solids
Let G be a solid bounded below by the surface z = f1 (x, y), and above by the surface z = f2 (x, y).
Let R = Projxy (G). Then
ZZ
VG =
[f2 (x, y) f1 (x, y)] dA
R
In the special case that the base of the solid is a region R on the xy-plane and the upper surface
is z = f (x, y), then
ZZ
VG =
f (x, y) dA
R
Example.
1. Set up the iterated integral that gives the volume of the solid in the first octant enclosed by
the coordinate planes and the plane 3x + 2y + 4z = 12
2. Set up an iterated integral to find the volume of the solid bounded by z = 9 x2 3y 2 and
the xy-plane.
3. Set up the iterated integral that gives the volume of the solid in the first octant bounded by
x2 + y 2 = 4 and x2 + z 2 = 4.
38
N.B. Geometrically:
b
Z
dx = b a gives the length of the interval of integration.
dx =
[a,b]
ZZ
dA gives the area of the region of integration.
Example. Find the area of the region bounded by y = sin x and y = cos x from x =
5.3
and x = .
y = r sin
r 2 = x2 + y 2
2. (x, y) (r, )
r=
If x 6= 0: tan =
y
x
p
x2 + y 2
If x = 0 and y > 0: =
If x = 0 and y < 0: =
3
2
gives one
A simple polar region in a polar coordinate system is a region that is enclosed between two rays
= and = , and two continuous polar curves, r = g1 () and r = g2 (), such that
0 g1 () g2 ()
g1 () r g2 ()
g1 ()
Remark.
In Cartesian or rectangular coordinates: dA dx dy or dy dx
In polar coordinates: dA r dr d
Example.
ZZ
1. Evaluate
cos dA, where R is the region bounded by r = sin in the first quadrant.
R
2. Set up and iterated integral to find the area of the region inside the circle r = 4 sin and
outside the circle r = 2.
3. Set up an iterated integral to find the volume of the solid bounded by z = 9 x2 3y 2 and
the xy-plane.
4. Derive the volume of a sphere using double integration in polar coordinates.
Z 2 Z 4y2
1
p
5. Evaluate
dx dy
1 + x2 + y 2
0
y
40
41
Bibliography
[1] H. Anton, I. Bivens, S. Davis, Calculus: Early Transcendentals, John Wiley and Sons,
7th Edition, 2002.
[2] L. Leithold. The Calculus 7. Harpercollins College Div., 7th edition, December 1995.
[3] J. Stewart, The Calculus: Early Transcendentals, Brooks/Cole, 6th Edition, 2008.
42