Mathematics II

Automatics Control and Robotics

Dr. Muhammad Usman
Institute of Mathematics, Poznan University of Technology
Tutorial of Complex Numbers

Problem 1. Evaluate the following:

i. 𝒾 8 or (0,1)8 .
ii. 𝒾 43 or (0,1)42 .
iii. 𝒾10 or (0,1)10 .
iv. 𝒾105 or (0,1)105 .
v. 𝒾 47 or (0,1)47.
Problem 2. Write the given number in the form 𝑎 + 𝒾𝑏 or (𝑎, 𝑏)
5 2 20
i. 𝑖 + 𝑖 3 − 𝑖 18 .
(8,0)
ii. (2,0) × (0,1)6 + (0,−1)3 + (5,0) × (0,1)−5 − (12,0) × (0,1).
(0,1) (−2,4)
iii. (1,−2) + (4,1)
.

Problem 3. Compute addition, multiplication and division for following complex numbers 𝑧1 and
𝑧2 as:
i. 𝑧1 = (2,4) = 2 + 4𝒾, 𝑧2 = (−3,8) = −3 + 8𝒾.
ii. 𝑧1 = (2, −3) = 2 − 3𝒾, 𝑧2 = (4,6) = 4 + 6𝒾.
iii. 𝑧1 = (3,1) = 3 + 𝒾, 𝑧2 = (6, −3) = 6 − 3𝒾.
1 1 5 6 5 6
iv. 𝑧1 = (2 , −1) = 2 − 𝒾, 𝑧2 = (6 , 7) = 6 + 7 𝒾.

Problem 4. Compute the conjugate, additive and multiplication inverse of the following complex
numbers as:
i. 𝑧 = (2, −3) = 2 − 3𝒾.
ii. 𝑧 = (6,7) = 6 − 7𝒾.
2 2
iii. 𝑧 = (3 , −𝜋) = 3 − 𝜋𝒾.
2 2
iv. 𝑧 = (− 3 , √2) = − 3 + √2𝒾.

Also compute Re(1/𝑧) and Im(𝑧̅2 + 𝑧 2 − 𝑖)

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Problem 5. Compute the distance of the following complex numbers
i. 𝑧1 = 2 − 3𝒾, 𝑧2 = −2 + 7𝒾.
1 2 1
ii. 𝑧1 = 1 − 2 𝒾, 𝑧2 = − 3 + 3 𝒾.

Problem 6. Describe the set of points 𝑧 in the complex plane that satisfy |𝑧| = |𝑧 − 𝒾|.
Problem 7. Find the modulus of the given complex number.
2𝒾
i. 𝑧 = 2−4𝒾.
1
ii. 𝑧 = 𝒾(2 − 𝒾) − 4 (1 + 𝒾).
4

Problem 8. Determine which of the given two complex numbers is closest to the origin. Which is
closest to 1 + 𝒾?.
i. 𝑧1 = 10 + 8𝒾, 𝑧2 = 11 − 6𝒾.
1 1 2 1
ii. 𝑧1 = 2 − 4 𝒾, 𝑧2 = 3 + 6 𝒾.
1 1
iii. 𝑧1 = (3 , 1) , 𝑧2 = (1, 3).

Problem 9. Describe the set of points 𝑧 in the complex plane that satisfy the given equation
i. |𝑧 − 𝒾| = 2|𝑧 − 1|.
ii. |𝑧 − 2| = Re(𝑧).
iii. 𝑧̅ = 𝑧 −1 .
Problem 10. Find an upper bound for the modulus of 3𝑧 2 + 2𝑧 + 1 if |𝑧| ≤ 1.
−1
Problem 11. Find the upper bound for |𝑧 4 −5𝑧+1| if |𝑧| = 2.

Problem 12. Express the following in polar coordinates

i. 𝑧 = −√3 − 𝒾.
ii. 𝑧 = 3/(−1 + 𝒾).
iii. 𝑧 = −3𝒾.
iv. 𝑧 = 12/(√3 + 𝒾).
√3 1
v. ( 2 , − 2).

Problem 13. Write the given complex number in polar form first using an argument 𝜃 ≠ Arg(𝑧)
and then using 𝜃 ≠ Arg(𝑧).
i. 𝑧 = 5 − 5𝑖.
ii. 𝑧 = 12/(√3 + 𝒾).

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Problem 14. Write the complex number whose polar form is given in the form 𝑎 + 𝒾𝑏.
7𝜋 7𝜋
i. 𝑧 = 5 (cos ( 6 ) + 𝒾 sin ( 6 )).
11𝜋 11𝜋
ii. 𝑧 = 8√2 (cos ( ) + 𝒾 sin ( )).
4 4
𝜋 𝜋
iii. 𝑧 = √2 (cos ( 4 ) + 𝒾 sin ( 4 )).

Problem 15. Find 𝑧1 𝑧2 and 𝑧1 /𝑧2 . Write the number in the form 𝑎 + 𝒾𝑏.
𝜋 𝜋
i. 𝑧1 = 2 (cos (8 ) + 𝒾 sin ( 8 )),
3𝜋 3𝜋
𝑧2 = 4 (cos ( 8 ) + 𝒾 sin ( 8 )).
𝜋 𝜋
ii. 𝑧1 = √2 (cos (4 ) + 𝒾 sin (4 )),
𝜋 𝜋
𝑧2 = √3 (cos (12) + 𝒾 sin (12)).

Problem 16. Write each complex number in polar form. Then use either Error! Reference source
not found. or Error! Reference source not found. to obtain the polar form of the given number.
Finally, write the polar form in the form 𝑎 + 𝒾𝑏.
i. (3 − 3𝒾)(5 + 5√3𝒾).

ii. (√2 + 6𝒾)/(−1 + √3𝒾).

Problem 17. Compute 𝑧 3 for the following complex numbers
i. 𝑧 = −√3 − 𝒾.
ii. 𝑧 = −2 − 2√3𝒾.
Problem 18. Compute the indicated powers.
9
i. (1 + √3𝒾) .
4
ii. (−√2 + √6𝒾) .
𝜋 𝜋 12
iii. (√2 cos ( 8 ) + √2𝒾 sin (8 )) .
51
iv. [(3 − 3𝒾)(5 + 5√3𝒾)] .
Problem 19. Apply the de Moivre’s Formula to compute the following expressions
i. 𝑧 = √3/2 + 𝒾/2, evaluate 𝑧 6 .
ii. 𝑧 = 1/2 − √3/2𝒾 evaluate 𝑧 5 .
Problem 20. Convert the following complex numbers in Euler’s form

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i. 𝑧 = 1 + 𝒾.
ii. 𝑧 = −2 − 2𝒾.
Problem 21. For the complex numbers
𝑧1 = −1 and 𝑧2 = 5𝒾,
verify that:
i. Arg(𝑧1 𝑧2 ) ≠ Arg(𝑧1 ) + Arg(𝑧2 ).
ii. Arg(𝑧1 /𝑧2 ) ≠ Arg(𝑧1 ) − Arg(𝑧2 ).
iii. arg(𝑧1 𝑧2 ) ≠ arg(𝑧1 ) + arg(𝑧2 ).
iv. arg(𝑧1 /𝑧2 ) ≠ arg(𝑧1 ) − arg(𝑧2 ).
Problem 22. Find the three cube roots of 𝑧 = 𝒾.
Problem 23. Find the fourth roots of 𝑧 = 1 + 𝒾.
Problem 24. Compute all roots. Give the principal nth root in each case. Sketch the roots
𝑤0 , 𝑤1 , … , 𝑤𝑛−1 on an appropriate circle centered at the origin.
i. (−125)1/3 .
1/6
ii. [(1 + 𝒾)/(√3 + 𝒾)] .

iii. (1 + 𝒾)1/5 .
1/8
iv. (16𝒾/(1 + 𝒾)) .

v. (𝒾)1/3 .

1.1 Real Life Applications/Situations (Optional)

Complex numbers play a significant role in the field of automatic control and robotics due to
their ability to simplify mathematical modeling and problem-solving in these domains. Here are
a few key applications:
Application # 1. Control Systems (Transfer Functions and Frequency Response)
Transfer Functions: In control theory, transfer functions are used to describe the relationship
between input and output of a system in the Laplace domain. Complex numbers are used in the
Laplace transform to convert differential equations (governing the system’s behavior) into
algebraic equations. The transfer function 𝐺(𝑠) is typically expressed in terms of complex
variables 𝑠, where:
𝑌(𝑠)
𝐺(𝑠) = .
𝑋(𝑠)

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Here, 𝑠 = 𝑎 + 𝒾𝑏, with 𝑎 representing the real part (damping) and 𝑏 the imaginary part
(frequency).
Stability Analysis: The poles and zeros of the transfer function are complex numbers, and their
location in the complex plane (specifically the 𝑠-plane) determines the system's stability. For
example, a system is stable if all the poles have negative real parts.
Bode Plot & Nyquist Plot: In frequency response analysis, complex numbers allow the creation
of Bode plots (magnitude and phase vs. frequency) and Nyquist plots (frequency response in the
complex plane), which help in determining the stability margins and performance characteristics
of control systems.
Application # 2. Signal Processing in Robotics

In robotics, signal processing often involves dealing with periodic signals, vibrations, and
waveforms. Complex numbers are used to represent sinusoids in the form:
e 𝒾𝜃 = cos(𝜃) + 𝒾 sin(𝜃).
This is particularly useful in analyzing and representing signals in both the time and frequency
domains using tools like the Fourier Transform and Fast Fourier Transform (FFT).
Filters and Control Signals: Complex numbers are used in the design of filters (low-pass, high-
pass, band-pass, etc.), which process sensor signals in robotics. The poles and zeros of the
transfer functions are key in designing these filters.
Application # 3. State-Space Representation
The state-space model in control systems, which describes a system by a set of first-order
differential equations, can also benefit from the use of complex numbers. The system matrices
are typically real, but the eigenvalues (which determine the system's stability) can be complex.
The real and imaginary parts of these eigenvalues give insight into the damping and oscillatory
behavior of the system.
Application # 4. Robot Kinematics and Dynamics
Motion Representation: Complex numbers can be used in 2D robot kinematics to represent
rotations and translations. For example, a robot arm's orientation can be represented as a complex
number where the real and imaginary parts correspond to the cosine and sine of the angle,
simplifying calculations.

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Quaternions: In *3D robotics, complex numbers (specifically quaternions) are used to represent
rotations in space. Quaternions are an extension of complex numbers and avoid issues like gimbal
lock that can arise when using Euler angles for 3D rotations.
Application # 5. Impedance in Electrical Control Systems
In systems that involve electrical components, such as actuators and motors in robotics,
impedance (resistance, inductance, and capacitance) is a key concept. Impedance is often
expressed as a complex number, where the real part represents the resistance and the imaginary
part represents reactance. In robotic systems, understanding and controlling the impedance of
actuators is critical for precise movement and force control.
Application # 6. Adaptive and Robust Control
Complex numbers are often used in adaptive control and robust control techniques (like H-
infinity control), where the system must handle uncertainties or varying conditions. In these
methods, the control law may involve complex variables, and the analysis often leverages the
complex plane for designing controllers that adapt to changes in the system or environment.

Application # 7. Robot Vision and Image Processing

Image processing techniques like the Fourier Transform (used for analyzing frequency
components in images) rely on complex numbers to decompose an image into its sinusoidal
components. This is helpful in tasks like object recognition, feature extraction, and motion
tracking in robots.
Application # 8. Simulating Physical Systems
Many real-world physical systems exhibit oscillatory behavior, such as motors, vibrations, and
circuits. By using complex numbers, these systems can be modeled more easily. The solutions to
the governing differential equations often involve complex eigenvalues, which provide
information about natural frequencies and damping factors.
Application # 9. Synchronization in Multi-Robot Systems
In multi-robot systems, synchronization of movement, communication, and coordination can be
modeled using complex numbers. For example, when multiple robots need to move in a
coordinated fashion, complex numbers can help model the relative phase and frequency of their
motions.
In automatic control and robotics, complex numbers are essential in representing and analyzing
systems, designing controllers, processing signals, and simulating physical behaviors. They

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simplify the mathematical representation of rotations, oscillations, and signals, which are
common in these fields. Complex analysis, via the use of Laplace transforms, Fourier
transforms, and state-space methods, provides powerful tools for system design, analysis, and
control.