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The pendulum linearisation bound at : exact error bound for the data ,
Example
Take in The pendulum field near the downward equilibrium: bounded force derivative, cubic remainder and the finite-time small-angle error bound, so that , , , and . Choose the ball radius , the datum with , and the horizon . Then because (The elementary numerical bound ), so the proposition applies and gives
where solves , ; at the bound reads and is at most . The remainder checks at are: , and . All constants are exact; the single inequality is the only numerical input.
Facts & Assumptions
Given: The parameters , the field , the matrix , the constants , , , and the solution of the linear problem.
The proposition (The pendulum field near the downward equilibrium: bounded force derivative, cubic remainder and the finite-time small-angle error bound): for this field, and with and on ; for the estimate holds on (Finite-time linearization error bound: quadratic remainder, exponential growth bound and the variation-of-constants estimate).
Exponential and trigonometric calculus (The exponential function is smooth and , The real exponential function and the number by a power series, The elementary numerical bound , The exponential addition formula , A continuous function on is Riemann integrable, by Heine-Cantor and Riemann's criterion, The second fundamental theorem: if is differentiable on with and is integrable, then , The derivatives of sine and cosine are cosine and minus sine, Sine and cosine defined by their real power series, Signs, monotonicity intervals, and ranges of sine and cosine, A uniform derivative bound gives a uniform Taylor remainder bound, Sums, scalar multiples, products and quotients: , , , and when , The chain rule for total derivatives: ): ; is its own derivative, and for real . For fixed , has derivative on ; this derivative is continuous, hence integrable, so the fundamental theorem gives . At the integral and expression both vanish. and have range and ; and the Taylor bound gives .
Norm data (The Euclidean inner product on , The operator norm as the least bound and as the unit-sphere or unit-ball supremum, The derivative and the Riemann integral of a vector-valued function: an intrinsic derivative and a componentwise integral, The derivative of at a point that is a limit point of , and differentiability on a set, Intervals of : the nine order-convex forms, nondegeneracy, and length, Open ball, closed ball and sphere in a metric space): use the one-based component labels for , . Then ; and satisfy and .
Verification
Proof technique: direct; instantiate the proposition at the stated constants, verify the smallness condition with , evaluate the integral with the fundamental theorem, and check the pointwise remainder bounds.
Smallness condition: and give , and gives , so the datum lies in the range of the proposition with .
Pointwise bounds at this data: on one has and , so the two hypotheses of [L1] hold with and ; at this reads .
The error bound: by [L1] with , , , , for . By [L2], and , including . This evaluates the upper bound, not the actual nonlinear error.
Reading at : the bound becomes , a finite quantity of order , and satisfies by [L3]; the estimate is restricted to and asserts nothing about the nonlinear pendulum beyond it.
Depends on
The pendulum field near the downward equilibrium: bounded force derivative, cubic remainder and the finite-time small-angle error bound
Finite-time linearization error bound: quadratic remainder, exponential growth bound and the variation-of-constants estimate
The elementary numerical bound
A uniform derivative bound gives a uniform Taylor remainder bound
The exponential function is smooth and
The real exponential function and the number by a power series
The exponential addition formula
A continuous function on is Riemann integrable, by Heine-Cantor and Riemann's criterion
The second fundamental theorem: if is differentiable on with and is integrable, then
The derivatives of sine and cosine are cosine and minus sine
Sine and cosine defined by their real power series
Signs, monotonicity intervals, and ranges of sine and cosine
The Euclidean inner product on
The operator norm as the least bound and as the unit-sphere or unit-ball supremum
Sums, scalar multiples, products and quotients: , , , and when
The chain rule for total derivatives:
The derivative and the Riemann integral of a vector-valued function: an intrinsic derivative and a componentwise integral
The derivative of at a point that is a limit point of , and differentiability on a set
Intervals of : the nine order-convex forms, nondegeneracy, and length
Open ball, closed ball and sphere in a metric space
Dependency tree · 2 levels
Sources
- K. Likharev, Essential Graduate Physics: Classical Mechanics, Chapter 1 Section 1.2, Eq. (1.18), printed page 6 of Chapter 1 (PDF page 10): the pendulum equation whose linearisation error is bounded here
- G. Teschl, Ordinary Differential Equations and Dynamical Systems (AMS Graduate Studies in Mathematics 140, online edition), Section 2.4 and Sections 6.2-6.3: the linearisation estimate that the proposition instantiates