Suppose y = f(x) to represent the equation of a curve, and let us write y=f(x)+aψ(x) (1), where α is an infinitesimal quantity, and ψ (x ) any function of x subject only to the condition of being finite for all values of x within the limits of the problem. Then equation (1) represents a new curve indefinitely close to the curve y =f(x) ; and by varying the form of ψ(x) we may regard (1) as representative of any continuous curve indefinitely near to the original curve....
2. Again aψ(x) is the difference of the y ordinates of the two curves for the same value of x; this indefinitely small difference is called the variation of y, and is denoted by δy. It may be regarded as the change in y arising solely from a change in the relation connecting y with x, while x itself remains unaltered. In general, if y be a function of any number of independent variables x 1 , x 2 ,. .. x n , then δy represents any indefinitely small change in y arising solely from a change in the form of the function, while x 1 , x 2 , &c., are unchanged. Thus the variable y may receive two essentially distinct kinds of increment,—one arising from a change in one or more of the variables, the other arising solely from a change in the relation which connects y with these variables. The former increments are those contemplated and treated of in the ordinary calculus; the latter are those principally considered in the calculus of variations.
We shall follow Strauch, Jellett, Moigno, and the principal modern writers on the subject, by restricting, in general, the symbol δ to the latter species of increment. In many problems both kinds of increment have place simultaneously. Thus, if y =f(x 1 , x 2 , x 3 ), and if ∆y denote the total increment of y, we have = + (2); and so on in all cases. g y g
3. It is readily seen that = and in general jn y ç» β that δ y j ζ = ¾Λ The last equation may be written δD n y=D n δy . (3), where D stands for the symbol of differentiation, d/dx .
4. We shall adopt Newton’s notation and write y for dy/dx, ÿ for d 2 y/dx 2 , y(n) for d n y/dx n and proceed to consider the variation of the general expression V =f(x, y,y,ÿ,... y n ), in which the form of the function f is given, while that of y in terms of x is indeterminate. Here, considering x as unchanged, we have
Now let then we have δ V~= Pδy + P v Dδy + P⅛D~δy + . . . +P n D n δy (4).
5. Next let us consider the variation of the definite i xι integral Z7 = I Vdx, where V does not contain either of the limits x 0 and x 1 . Here, when the limits are unchanged, we have 8U= I δ Vdx, and, when the limits undergo change, J *0
δU=δ∣ 1 Kdx= ∣δVdx+ V 1 dx 1 - V 0 dx 0 (5).
J xo J xo
6. We shall here bring in a new symbol, called the sign of substitution, which was introduced by Sarrus. Thus, if F be any function of x, y, &c., the result of substituting x 1 for x in F —the other variables being unchanged—is
∕ xl F in the form of notation adopted by ∕ x l
Moigno and Lindelöf. The difference between ∕ F and ∣ x ^F is represented by J 1 F. Employing this notation, (5) is written δU= ∣ δVdχ+ ∕ Vdx (6).
J xo ∕ XO
7. We now proceed to transform the last equation, commencing with the case in which V is a function of x, y, and y solely.
∕⅛1 ∕≈ι
Here δU= I <J>δy + P v Dδy}dx+I Vdx, -h F - d ·^ + /y 9+ /^ m
Next let V be a function of x, y, ÿ, and ÿ, then
δ U= Γ (Pδy + Pι∑>δy + P 2 B 2 δy)dx + ∕ Vdx.
Hence, observing that we get W=∫^(i>-⅛ i +⅛)⅛'fe+∕ j .' r *'
+ ∕^ λ -S) s ≈' + ∕> λ (8) ·
In general, if V be a function of x, y, y, ÿ,. . . y n we have δU= Γ∖pδy + P 1 Pδy + . . . + P n D n δy)dx + ∕ 1 Vdx. J a⅛ ' a ⅛ . .
Now let D 1 denote the differentiation of δy, and D 2 the differentiation of P 1 , P 2 , &c.; we may write P m D m δy - ( - 1) m δyD m P m =(D 1 m - ( - 1) m D 2 m )P m δy = (D 1 + D 2 )(D 1 m-1 -D 1 m-2 D 2 + .... ±D 2 m-1 )P m δy
Hence [ 11 p m D m δydx={- l) m f 1 ^^δydx J x 0 J x 0 dx + <- ι )"-⅛^⅛)∙ Applying this to the different terms in the value of δ U given above, " egβt
√>-⅛÷∙∙∙÷<-υ"-≤⅜> ÷∕>S÷∙∙∙÷<-^)⅛ √>5⅛t∕> w ∙
This result may be written
ΛT 1 ,x 1 δU= ∕ {P)δydx+ ∕ Vdx J X 0 'Xo +∣ x ∖{P 1 )δy+{P 2 ')δy+ ... +(P n )δ√ n - 1 >} (10).
when, (P)=P-⅛√⅛- .... (P,)= λ -¾ + ⅛- ..„and so on.
8. This expression consists of three parts,—(1) the de-
P 1 finite integral I (P)δydx, which depends on δy, the change J XO Vdx, x 0 which depends solely on the change in the limiting values of x; and (3) the quantity ∕ 1 {(Z∖)δy + (P 2 )δ^ + · · · } , ' ⅜
which depends on the variations of y, y, &c., at the limits. It is often convenient to write (10) in the abbreviated form δU=L + f Mδydx (ll).
J xo
9. The principal applications of the calculus of variations have reference to the determination of the form of one or more unknown functions contained in a definite integral, in such a manner that the integral shall have a maximum or minimum value. For instance, to determine the form of the function y which renders f Vd jc a maximum or a minimum, we have as above δU-L + ^ 1 Jfδydx. Here, as in the differential calculus (see Infinitesimal Calculus, § 64), for a maximum or minimum value of U it is readily seen that we must have δ U= 0; this leads to Γx 1 L = 0 and I Jfδydx = 0. Now the latter integral cannot J xo . be zero for all indefinitely small values of δy unless M = 0 for all values within the limits of integration. Hence we get the differential equation in y,
<>’>·
10. We here suppose that there is no restriction on δy, so that for any value of x the increments + δy and - δy are equally compatible with the conditions of the problem. The reasoning consequently will not apply if the conditions render this impossible. For instance, if a curve be restricted to lie within a given boundary, then for all points on the boundary the displacements must be inwards, and the opposite displacements are impossible. In this case the curve satisfying a required maximum or minimum condition consists partly of portions of the boundary and partly of portions of a curve satisfying the equation M= 0.
11. The equation M =0 is in general a differential equation of the degree 2n; accordingly its solution usually contains 2n arbitrary constants. The values of these constants are to be determined by aid of the equations deduced from L =0 in combination with the given conditions at the limits. For example, if V be a function of x, y, dP and ÿ solely, the solution of P--^=0 is in general of the form y=f(,x, c 1 , c 2 ). Now, suppose that the limiting points are restricted to the curves y 0 =f o (x o ) and y 1 = f 1 (x 1 ), then we get at the limits δy0+y0dx0=f 0 '(x 0 )dx 0 and δy 1 + y l dx l =f 1 '(x 1 )dx 1 . Hence, substituting in L = 0 the values of δy 0 and δy 1 derived from these equations, we get, since dx 0 and dx 1 are arbitrary,
F"o + (∙Pι)oC∕o ’ (⅜) - ⅛ ’ o) = θ∖ ∕'i¾'(
P 1 +(Λ)ι(ΛX¾)→ι)=oΓ∙∙÷ ( λ
We have therefore six equations for the determination of the six quantities x 0 , y 0 , x 1 , y 1 , c 1 , and c 2 .
The integration of the equation M =0 is much simplified in particular cases. -
(1) Let V be a function of x and y solely, then we have =0, therefore P 1 = c (14).
(2) If V be a function of y and ÿ solely, P=⅛⅜, also ⅛ V) = Pÿ + P 1 jf dP dx dx
= -τ⅛' + P 1 y. Hence, integrating, we get V=P 1 y + c (15), where c is an arbitrary constant.
12. For example, let us consider Bernoulli’s problem of the curve of quickest descent under the action of gravity. Take the axis of x vertical and that of y horizontal, and suppose the particle to start from the point x 0 , y 0 , with the velocity due to the height h; then, if v be the velocity at any point, we have v 2 =2g(x + h-x 0 ), also dt= —= ..... Here, neglecting a constant factor, we may v √2<7√z + ⅛-ar 0 & J write Z7=; and by ( 14 ) we get - =c V¾ + hx„. jχ o ^dx + h-x o , ∖L+y
Now, writing a for l∕c 2 and assuming x + h - x 0 = a sin 2θ , we find dy =tan θdx=a(1 - cos2θ)dθ ; therefore y=a(θ - sin θ cos θ) + K, and we infer that the curve is a cycloid.
(a ) If we suppose the upper limit to be fixed and the lower restricted to the curve y 1 = f 1 (x 1 ), we get from (13)
l + tanθ 1 f 1 '(x 1 )=0 (16); accordingly the curve intersects the bounding curve orthogonally. (β ) Next let the upper limit be restricted to the curve y 0 = f 0 (x 0 ); then since V contains x 0 , we have an additional term in δU arising from C x ^d V the change in x 0 , viz., dx 0 I dx ; consequently the coefficient of J x o clx o dx 0 in δU is f'⅛⅛x - {F o + (PM ’ { χ o) ~ ^o)}, f x ιdV and we have J ^d χ = f r o + (Λ)o(∕o'(a ⅛) ~ ⅛ ’ o) (17)∙
If we substitute for V its value, we get without difficulty from this equation 1 + tan θ 1 f 0 '(x 0 ) = 0. Comparing this with (16), we see that the tangents to the bounding curves at the extremities of the trajectory are parallel (Moigno, op. cit., p. 230).
13. More generally, consider the curve for which U— ί μds rχι . J xo = Ι ΛV1 + i> 2 dx is a maximum or a minimum, where μ rs a given
* ∙^0 d∣JL U.Ï/ function of x and y. Here P= ~r∖∕l + z∕ 2 , P- l =— ==λ- , and we get ⅜ 1 √Γ+Z 6 dμ Λ ίdμ .dμ∖ d ( ÿ ∖ + ÿ2= √i7FΛ^ ⅞∕ ; hence' if ρ be the radius of curvature, we have
Γ-J(cos ⅛ +c,,s ^t) < 18 >’
where α, β are the angles which the normal makes with the coordinate axes respectively. Jellett remarks that, if the proposed /ds ·
• , we should then have arrived at the equation
- = -i cos a, c ^ + cosS⅛Y and consequently have seen that the two P μ∖ dx dyj curves contained under the equation ρ 2 =f(x,y,y) are such that, if one renders J^ μds a maximum or a minimum, the other possesses the same property with regard to (—.
14. Next, to find the curve such that the surface generated by its revolution round a given line shall be a minimum. Here, neglecting a constant multiplier, we may write U = I yVl + y i dx;
J XQ
accordingly by (15) we have y =c√1+ y 2 . This gives -, —- = . ∖∕y--c i c , , x+b 1 ∕ ∖⅞ 2 -c 2 ∖
and hence —= log (yd —— 1, or y = c -^+b∙)∣c +e -(x+b)l^ (19), which represents the common catenary.
15. We now proceed to generalize the results in § 11. If V be a function of x, ÿ, ÿ, . .. y {n not containing y explicitly, we have by integration
Λ-S÷⅛-∙÷<-υ-^ -
where c is an arbitrary constant. Again, if V does not contain x explicitly, ^( Γ)= ÿP+yP 1 + ... + ^ ft+1 ^P n ∙ Also, from the equation 3f= 0 we see that P=^- 1 -⅛⅛ + ... - ( -1)" ςτ~p; hence dx dx i dx n =(D 1 + Z) s X⅛P 1 ) + (2√ - Λ 2 )(^<s) +... + (Λ" - ( - 1 WW,), where D 1 represents the differentiation of y, ÿ, &c., and Z> 2 that of ∕∖, P 2 , &c. Consequently, by integration
Γ=c + 2 ∕(P 1 ) + ÿ(P 2 ) + . ·. + √ 7l >Λ 1 (21), a differential equation of the order 2n - 2 at the highest. Again, if V contains neither x nor y explicitly, we may substitute c' for (P 1 ), and consequently we have
V=c + c'⅛+y(P 2 )+ ... +√ n >P n (22).
16. As an example, let us investigate the curve for which the area between the curve, its evolute, and the extreme radii of curva-fs 1 ∕∙¾(1 + λ2)2 ture shall be a minimum. Here U= pds= — -d x. Hence J √ J χ 0 y by (22), since yP 2 = - V, we have P^=c 1 + c i f∣, or p = . C1 - -1—-=; ds . Vl + ÿ 2 VI + y 1 therefore 5 - = c 1 cos <∕> + c 2 sin ≠, where φ is the angle made by the dφ tangent with the axis of x. This leads to s= -c 1 sin ≠ + c 2 cos φ + c 3 (23), which shows that the curve is a cycloid. Again, (1) if the extreme points be fixed, the equations at the limits are (P 2 ) 0 = 0, (P 2 ) 1 = 0. This shows that the radius of curvature vanishes at both limits and the curve must be a complete cycloid. (2) If the extremities lie on the curves y 0 -∕o(⅞)> Vι=fι( x ι) ! then the equations furnished by L =0 are Po + (P])ol∕o'(⅜) - ⅞i = θ> (Ρ2)ο = θ1 ι<)i∖ i r ι + (P 1 ) 1 W(a∙ 1 )~⅛ι} =0, (P 2 ) 1 = 0 f
Hence the extreme points are cusps on the cycloid; moreover, since in this case V o = 0 and V 1 = 0, we have y 0 -∕ 0 '(a⅛) = θ> ⅛ 1 -∕ 1 '(αq) = 0, which show that the cycloid at each of its extremities touches these curves, and that the line joining the extreme points is normal to each of the bounding curves.
It is easily seen that the minimum area is four times that of the circle which generates the cycloid. vι
17. Next let us consider the variation of £7= I Vdx, J Xo where V is a given function of x, y, 2, ÿ, 2,y,2,... y^ n ∖ zt m ∖ and y, z are undetermined functions of x. τ . λ dV n dV r ,
Ut ' Q= li ,Q t =- 3i ,l u1 ., then SU= ∕ 1 ^Pdx+ ί (Pδy + P 1 Dδy +.. ,+P n IPSy)dx
'Xo J x o
Γ x ι
+ I (Qδz+Q 1 Dδ2 + . . . +Q m D δz)dx. J zθ
Proceeding as in § 7, we find δU= Γ∖p)δydx + Γ 1 (Q)δzdx + ∕ xi Vdx
J Xn J Xλ I x a
+ ∕ xι {(P 1 )δy+(ΛW+· · · + 7 ’ n δ√ n - υ }
∕ x 0 + / X1 {(Qι)Sz+(Q a )δz + ...+ Q m δz<∙ m - 1 >} (25), ' Xo where (7 1 ), (Z ’ 1 ),... have the same meaning as in § 7, and (Q ), (Q 1 ),.. . are the corresponding functions for the variable z . r χ ι
18. The determination of y and z where 1 Vdx is a χ o maximum or a minimum leads, as in § 8, to the equations (P ) = 0, (Q)=0, along with the equation at the limits ∕Vd⅛+ ∕* 1 {(P 1 ')δy + ...P n δ∕ n ~ γ >} + ∕ x ∖(Q 1 )δz+ ...Q m δJ m ~V} =0. I Xo ' Xo ,χ o
The mode of treatment is similar to that for a single dependent variable.
19. In the discussion of a curve which possesses a maximum or minimum property, if we limit the investigation to all curves of a given length or which satisfy some other condition, we have a distinct class of problems, which originated in the isoperimetrical problems of James Bernoulli. They were originally styled isoperimetrical, but are now called problems of relative maxima and minima. Thus, let it be proposed to determine the form of y which renders c χ ι U = I Vdx a maximum or a minimum, and which also J Xo f x l satisfies the condition V = I Vdx = constant, where V and j Xo V are given functions of x, y, ÿ, &c. It is obvious that, if U is a maximum or a minimum, so also is U+ aU', where a is any arbitrary constant. Accordingly the problem reduces to the determination of the maximum or minimum value of the integral f (V + aV')dx, regarding a as a constant, whose value is to be determined by aid of the given value of U'.
20. Another class of problems closely allied to the preceding is that in which the variables are connected by one or more equations of condition: for instance, when y, ÿ, ÿ, & c., z, z , &c., are connected by a relation W= 0, we investigate the maximum or minimum values of U=[ xι (Γ+λJV)dx (26), J xo where λ is an indeterminate function of x. We will illustrate these principles by examples.
21. To find the curve connecting two fixed points such that the surface generated by its revolution round a fixed line shall be given, and the volume of the generated solid shall be a maximum. Taking the fixed line as the axis of x, we may write U= (y 2 + ay∖ll + y∙ i )dx. J X o
Hence by (15) we have 1∕ 2 + αy√l+⅛ 2 =c + ^p==,
ΛV
or ^ + √γ⅞f= c -' ' 2i, ∙
If the curve meets the fixed axis we have c =0, and the curve is a circle whose centre lies on the axis.
The further integration of (27) depends on elliptic functions; it can, however, be shown without difficulty, as was proved by De-launey, that the curve is that generated by the focus of...