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Differential equations of curves

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A Review of Curve Families

Andrew Grossfield

College of Aeronautics

Abstract

This paper is a review of curve families in light of their importance in a course on differential

equations. Many texts depict curve families but do not treat them as an important mathematical

concept that can greatly add to a student’s comprehension of differential equations and

continuous mathematics in general. It is not an accident that the solution of an nth order

differential equation is an n parameter curve family. It is not an accident that the solutions of

linear differential equations are linear curve families. The forms, features and properties of curve

families are discussed. Also to be discussed are the relations of one parameter curve families to

surfaces in three dimensional space.

It is a good question. A student, desirous of answering the question, is not going to obtain a

decent answer in most text books on Differential Equations. These texts assert “An equation with

derivatives.” Obviously! These equations have derivatives in them. But why? Who cares? Why

would anyone be interested? That is as uninformative as telling students that functions are

ordered pairs. What is needed is explanation.

Look at the simplest of the differential equations, those with just one derivative, the first order

differential equations. Instead of focusing on the equation, focus on the solution, an equation

with an independent variable, a dependent variable and a parameter. Solutions of these

differential equations are equations in three variables.

A student who has completed a calculus course is familiar with equations in two variables which

he/she may interpret as curves in a two dimensional plane. Now the student is embarking on a

study of something completely new, a study of equations in three variables. Faculty, of course,

are familiar with the graphical representations of equations in three variables as surfaces and curve

families, but these ideas may not be familiar to students. Perhaps there may be a pedagogical

advantage to ensuring that students understand the relationships between equations in three

variables and surfaces and curve families. There may also be pedagogical advantages to providing

at this time a discussion of surfaces and providing a discussion of curve families.

It is easy to show that beginning with the equation for curve family, F( x, y, pi, p2,... ,p,, ) = 0, in

n parameters one can derive an nthh order differential equation. However; it is only the simplest

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differential equations for which it is easy to derive the associated curve family. I am proposing

that students be told that differential equations describe curve families and that solving a

differential equation means finding the equation for the associated curve family. This would then

naturally force a discussion of curve families: what they are and what there is to say about them.

Most important, a curve family is not some graphical aid for solving a differential equation. It is

the solution.

Curve Families

What are curve families? A set of curves that depend on a parameter. If the parameter is time,

then the family could be said to be a moving curve. If the parameter, say p, is replaced with a

function of the parameter, f(p); then the curves are unchanged but the dependence on the

parameter is altered. A curve family in one parameter, p, can be described by an implicit equation

in three variables, F(x, y, p) = 0. This same equation will describe a surface in three dimensional

x-y-p space.

What is there to say about curve families? One could begin with a description of the forms,

properties, and features of curve families. And then examine the relations of curve families to

surfaces and also examine which characteristics of surfaces and curve families have meanings for

the associated differential equation.

Below is a list of common forms for curve families:

0 implicit, H(x> Y, P) = 0

l contour P = F(x, y)

l isolated dependent variable Y = G(x> P)

l differential equation K(Y’, Y, 4 = 0

a5 dy

l plane autonomous system 2= F(x, Y>; -g = G(x> Y>

The implicit form is ordinarily the common way to express a curve family. No variable is granted

precedence over the others. If either variable, p or y, can be isolated, the curve family can be

described by either contour form or isolated independent variable form. The contour form

provides an implicit relationship between the x and y variables for the individual curves of the

family. This form is also of value for computing 3-dimensional plots of an associated surface.

The isolated dependent variable form is good for computing the y values of the curves when the

parameter values are known.

The differential equation relates the slope of a curve to each point through which the curve

moves. Wondrously, this relationship can be enough to determine a whole family of curves that

occupy the region under study. The study of the techniques for obtaining a form of the curve

family without derivatives has constituted the traditional study of differential equations. The

plane autonomous system comprises a popular form for studying non-linear dynamic systems,

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which is extendible to multi-variable and higher order systems. The variable t is easily eliminated

by division and the resulting differential equation is first order and linear in y’. The phase plane

plots that accompany the study of plane autonomous systems are no more than the solution curve

families of the associated differential equation. Observe that the autonomous system can be linear

while the associated differential equation is not.

Among interesting properties of curve families are

l normal (monotonic) curve families

a regular curve families

0 linear curve families

Monotonic curve families are families whose curves move in one direction, as the parameter is

incremented. A curve family is regular in a region if only one curve goes through each point and

nearby curves are roughly parallel; that is, the curves appear as non-intersecting sfreamlines.

These families are easy to visualize by drawing typical members. Linear curve families are

families whose parametric forms are linear in the parameters. The solutions of linear differential

equations are linear curve families.

The simple curve families studied in an introductory DE course are regular mostly everywhere.

The most distinguishing features are the points and lines where the regularity disappears. Isolated

points, which lack regularity, called the critical points, are depicted in most introductory texts.

Early in the course students should be provided with examples of the different types of critical

points, -- the center, the saddle, the multiple-saddle, the proper node and the improper node.

Families of level curves for a surface have centers at the maxima and minima of the surface.

These families have saddle points where the surface appears as a saddle. In topographical maps

saddle points represent the mountain passes. While commonly texts do provide the pictures of the

critical points, the pictures are shown deep in the book in a chapter on systems rather than at the

beginning in a section on curve families. (See Borelli ~ 425. See also Borelli, the intriguing table

11.1, pages 476 and 477, which illustrates how nonilinearities can affect the behavior at critical

points of solutions of ODE’s,)

a separatrices or dividing lines

l envelopes

l boundaries

l limit cycles

These features also could be introduced graphically, early in the course as part of a discussion of

curve families.

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Connections between surfaces and curve families

Comparing surfaces and curve families the following points should be made evident.

l The family of gradient curves of a surface is orthogonal to the family of level curves

l The family of level curves of a surface has a center at points corresponding to maxima or

minima.

l The family of level curves of a surface has saddle points at points corresponding to passes.

l The family of gradient curves of a surface has proper nodes at points corresponding to

maxima or minima.

Conceptually differential equations do not come with initial conditions. They do describe curve

families. The selection of a particular curve from a curve family has nothing to do with solving a

differential equation. Many texts state that the solution of a differential equation is a function or

curve. Such a definition requires that some kind of condition be attached to the differential

equation in order to determine that unique solution. Historically the major numerical approaches

to finding a solution function entailed constructing the curve incrementally starting with the initial

conditions. But not all problems are initial condition problems. And sometimes it is the family

that is desired. Let’s avoid contusion. Tell your students that the solutions of differential

equations are curve families. How they obtain a particular curve will depend on the problem at

hand and the tools available for confronting that problem.

In many cases the fundamental laws governing continuous physical systems, (such as dynamics,

electronics, electromagnetics, thermodynamics and population dynamics) are relations between

the local (point) values (such as position, speed and acceleration) of the variables of the system.

Application of these laws results in differential equations. Solution of the differential equations

yields global information about the systems such as the curves along which particles may move or

the evolution of the system variables.

Examples

If examples are wanted, the second degree algebraic surfaces serve as a source of algebraically

manipulable problems which exhibit some special features such as maxima, minima, saddlepoints,

etc. Another source of examples can be obtained by relating the parameters in a multi-parameter

family. Selecting functions h(t), k(t), and r(t) for the three parameter family of all circles in the

plane,(x-h)* +(y-k)* =r2, results in a family of moving circles. These families can exhibit a

variety of envelopes and boundaries.

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Summary

The above has been an introductory survey of curve families as to their major properties and their

relations to differential equations and surfaces. This paper continues my efforts to focus attention

on the topic structure and treatment of major concepts in college mathematics. I suggest that the

reader examine my previous papers on functions and on curve plotting listed in the references

below.

References:

1. Grossfield, Andrew “On the Intrinsic Structure of Calculus” Proceedings of the 1995 ASEE

Annual Conference, Session 1265 (3 1 l-3 15)

2. Grossfield, Andrew “On the Classification of Functions and Curve Plotting” Proceedings of the

1990 ASEE Annual Conference, Session 2665 (1782-1784)

Approach,” Prentice Hall Publ. Englewood Cliffs, New Jersey

Biographical Information

Throughout his career Dr. Grossfield, has combined an interest in engineering design and

mathematics. He earned his BSEE at the City College of New York. During the early sixties, he

obtained an M. S. degree in mathematics at night while working full time during the day, designing

circuitry for aerospace/avionics companies. As a Graduate Associate, pursuing a doctoral degree

at the University of Arizona, he found himself in the odd position of both teaching calculus

courses and taking courses in applied mathematics. Being caught in the middle made him acutely

aware of the differences in mathematics, as viewed by the mathematician, as needed and used by

the engineer and as presented to the student. He is licensed in New York as a Professional

Engineer and is a member of ASEE, IEEE, and SIAM. His e-mail address is

ai207@freenet.buffalo.edu

Page 2.493.5

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