APPENDIX
Complex Numbers
A
A complex number z is expressed in standard (algebraic) form as:
pffiffiffiffiffiffiffi
z ¼ x þ y$j or z ¼ x þ y$i with j ¼ i ¼ 1 (A.1)
where the real numbers x and y are the real and imaginary parts, respectively. The
powers of j are j2 ¼ 1, j3 ¼ j, j4 ¼ 1, ., jnþ4 ¼ jn. When y ¼ 0, the complex
number z is real, z ¼ x, whereas for x ¼ 0, z ¼ y$j is imaginary.
Two complex numbers z1 ¼ x1 þ y1$j and z2 ¼ x2 þ y2$j are added/subtracted as:
z1 z2 ¼ ðx1 x2 Þ þ ðy1 y2 Þ$j (A.2)
Two complex numbers z1 and z2 are equal if and only if x1 ¼ x2 and y1 ¼ y2. The
complex number z ¼ x y$j is the conjugate of the original complex number
z ¼ x þ y$j. The following property:
z$z ¼ ðx þ y$jÞ$ðx y$jÞ ¼ x2 þ y2 (A.3)
enables expressing the reciprocal of a complex number, which is 1/z, in standard
form as:
1 z x y$j x y
¼ ¼ ¼ $j (A.4)
z z$z x2 þ y2 x2 þ y2 x2 þ y2
The trigonometric (or polar) form of a complex number is:
z ¼ jzj$½cos£z þ ðsin£zÞ $j ¼ r$½cos 4 þ ðsin 4Þ$j (A.5)
where r ¼ jzj is the modulus, and 4 ¼ £z is the argument. The image of a complex
number in the complex plane is illustrated in Figure A.1, which shows the two sets of
parameters, algebraic and trigonometric, defining the complex number z. The
following transformations apply between algebraic and trigonometric parameters:
( 8 qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
x ¼ r$cos 4 <
r ¼ x2 þ y 2
and (A.6)
y ¼ r$sin 4 :
4 ¼ tan1 ðy=xÞ
Euler’s identity:
e4$j ¼ cos 4 þ ðsin 4Þ$j (A.7)
System Dynamics for Engineering Students. [Link] 709
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710 APPENDIX A
Imaginary
axis
z
y
z=r
Real axis
ϕ= z x
FIGURE A.1
Graphical Representation of Complex Number in Complex Plane (Argand Diagram).
leads to:
e4$j þ e4$j e4$j e4$j
cosð4Þ ¼ ; sinð4Þ ¼ (A.8)
2 2j
Euler’s identity permits expressing the trigonometric complex number of Eq. (A.5)
in phasor (or exponential) form:
z ¼ r$e4$j ¼ jzj$eð£zÞ$j (A.9)
The phasor form simplifies division, multiplication, or raising to power of complex
numbers, as shown in Eq. (A.10):
z1 jz1 j$eð£z1 Þ$j jz1 j ð£z1 £z2 Þ$j
z¼ ¼ ¼ $e
z2 jz2 j$eð£z2 Þ$j jz2 j
z ¼ z1 $z2 ¼ jz1 j$eð£z1 Þ$j $jz2 j$eð£z2 Þ$j ¼ jz1 j$jz2 j$eð£z1 þ£z2 Þ$j
zn ¼ ðjzj$eð£zÞ$j Þn ¼ jzjn $eðn$£zÞ ¼ jzjn $fcosðn$£zÞ þ ½sinðn$£zÞ $jg
¼ r n $fcosðn$4Þ þ ½sinðn$4Þ$jg (A.10)
The last Eq. (A.10) is known as De Moivre’s theorem (or identity).
The hyperbolic functions:
e4 þ e4 e4 e4
coshð4Þ ¼ ; sinhð4Þ ¼ (A.11)
2 2
are connected to exponential complex numbers by means of Euler’s identity as:
e4$j þ e4$j
coshð4$jÞ ¼ ¼ cos 4;
2
(A.12)
e4$j e4$j e4$j e4$j
sinhð4$jÞ ¼ ¼ $j ¼ ðsin 4Þ$j
2 2j