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The pendulum linearisation bound at g=l=1: exact error bound for the data δ=1/100, T=1

Example

Take g=l=1 in The pendulum field near the downward equilibrium: bounded force derivative, cubic remainder and the finite-time small-angle error bound, so that ω=1, F(θ,v)=(v,−sin⁡θ), A=(01−10), L=1 and ∥A∥=1. Choose the ball radius r=1/2, the datum z0=(δ,0) with δ=1/100, and the horizon T=1. Then δeLT=e/100<3/100<1/2=r because 2<e<3 (The elementary numerical bound 2<e<3), so the proposition applies and gives

∥z(t)−y(t)∥2≤112⋅104(e2t−et)(0≤t≤1),

where y(t)=δ(cos⁡t,−sin⁡t) solves y′=Ay, y(0)=z0; at t=1 the bound reads (e2−e)/(12⋅104) and is at most e3/(12⋅104). The remainder checks at ∥z∥2≤r are: ∣sin⁡θ−θ∣≤∣θ∣3/6≤1/48, and ∣sin⁡θ∣≤∣θ∣≤r=1/2. All constants are exact; the single inequality e<3 is the only numerical input.

Facts & Assumptions

Given: The parameters g=l=1, the field F(θ,v)=(v,−sin⁡θ), the matrix A, the constants r=1/2, δ=1/100, T=1, and the solution y(t)=δ(cos⁡t,−sin⁡t) of the linear problem.

[L1]

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, ∥F(z)−Az∥2=∣sin⁡θ−θ∣≤∣θ∣3/6≤r∥z∥22/6 and ∥F(z)∥2≤L∥z∥2 with L=1 and ∥A∥=1 on ∥z∥2≤r; for δeLT<r the estimate ∥z(t)−y(t)∥2≤(ω2r/6)δ2∫0te∥A∥(t−s)e2Lsds holds on [0,T] (Finite-time linearization error bound: quadratic remainder, exponential growth bound and the variation-of-constants estimate).

[L2]

Exponential and trigonometric calculus (The exponential function is smooth and (exp⁡)′=exp⁡, The real exponential function and the number e by a power series, The elementary numerical bound 2<e<3, The exponential addition formula exp⁡(x+y)=exp⁡(x)exp⁡(y), A continuous function on [a,b] is Riemann integrable, by Heine-Cantor and Riemann's criterion, The second fundamental theorem: if G is differentiable on [a,b] with G′=f and f is integrable, then ∫abf=G(b)−G(a), 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: (f+g)′(c)=f′(c)+g′(c), (αf)′(c)=αf′(c), (fg)′(c)=f′(c)g(c)+f(c)g′(c), and (f/g)′(c)=(f′(c)g(c)−f(c)g′(c))/g(c)2 when g(c)≠0, The chain rule for total derivatives: D(g∘f)(a)=Dg(f(a))∘Df(a)): 2<e<3; et is its own derivative, and eu+v=euev for real u,v. For fixed t>0, G(s)=et+s has derivative G′(s)=et+s on [0,t]; this derivative is continuous, hence integrable, so the fundamental theorem gives ∫0tet+sds=e2t−et. At t=0 the integral and expression both vanish. sin⁡ and cos⁡ have range [−1,1] and sin⁡0=0; and the Taylor bound gives ∣sin⁡θ−θ∣≤∣θ∣3/6.

Verification

Proof technique: direct; instantiate the proposition at the stated constants, verify the smallness condition with e<3, evaluate the integral with the fundamental theorem, and check the pointwise remainder bounds.

1.1givenL1L2algebra

Smallness condition: L=1 and δ=1/100 give δeLT=e/100, and e<3 gives e/100<3/100<1/2=r, so the datum lies in the range of the proposition with T=1.

1.2givenL1L2algebra

Pointwise bounds at this data: on ∥z∥2≤1/2 one has ∣θ∣3/6≤(1/2)∥z∥22/6=∥z∥22/12 and ∣sin⁡θ∣≤∣θ∣≤1/2, so the two hypotheses of [L1] hold with C=1/12 and L=1; at z=(1/2,0) this reads ∣sin⁡(1/2)−1/2∣≤1/48.

2.1step 1.1step 1.2L1L2algebra

The error bound: by [L1] with ω=1, r=1/2, δ=1/100, L=∥A∥=1, ∥z(t)−y(t)∥2≤112⋅1104∫0tet−se2sds=e2t−et12⋅104 for 0≤t≤1. By [L2], et−se2s=et+s and ∫0tet+sds=e2t−et, including t=0. This evaluates the upper bound, not the actual nonlinear error.

3.1step 2.1L1L3algebra∎

Reading at t=1: the bound becomes (e2−e)/(12⋅104)<e3/(12⋅104), a finite quantity of order δ2=10−4, and y1(t)=δcos⁡t satisfies ∣z1(t)−y1(t)∣≤∥z(t)−y(t)∥2 by [L3]; the estimate is restricted to [0,1] and asserts nothing about the nonlinear pendulum beyond it.

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