Complex Numbers

Definition
A complex number z is a number of the form

x  jy

where j !  1

x is the real part and y the imaginary part, written as x = Re z, y = Im z. j is called the imaginary unit If x = 0, then z = jy is a pure imaginary number. The complex conjugate of a complex number, z = x + jy, denoted by z* , is given by z* = x jy. Two complex numbers are equal if and only if their real parts are equal and their imaginary parts are equal.
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Complex Plane
A complex number can be plotted on a plane with two perpendicular coordinate axes  The horizontal x-axis, called the real axis  The vertical y-axis, called the imaginary axis Represent z = x + jy geometrically as the point P(x,y) in the x-y*plane, or as the ))) vector OP from the origin to P(x,y).
The complex plane

x-y plane is also known as the complex plane.

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Polar Coordinates
With x ! r cos U ,

y ! r sin U
z ! r (cos U  j sin U )

z takes the polar form:

r is called the absolute value or modulus or magnitude of z and is denoted by |z|.

z ! r ! x 2  y 2 ! zz *
Note that :

zz ! ( x  jy )( x  jy ) !x y
2 2
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Complex plane, polar form of a complex number Geometrically, |z| is the distance of the point z from the origin while is the directed angle from the positive xaxis to OP in the above figure. From the figure,

y U ! tan x
1
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is called the argument of z and is denoted by arg z. Thus,

y U ! arg z ! tan x
1

z{0

For z = 0,

is undefined.

A complex number z 0 has infinitely many possible arguments, each one differing from the rest by some multiple of 2 . In fact, arg z is actually

y U ! tan s 2nT , n ! 0,1,2,... x

1

The value of that lies in the interval (- , ] is called the principle argument of z ( 0) and is denoted by Arg z.
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Euler Formula an alternate polar form

The polar form of a complex number can be rewritten as :

z ! r (cos U  j sin U ) ! x  jy ! re jU
This leads to the complex exponential function :

e z ! e x  jy ! e x e jy ! e cos y  j sin y
x

Further leads to :
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1 jU cos U ! e  e  jU 2 1 jU sin U ! e  e  jU 2j

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In mathematics terms, U is referred to as the argument of z and it can be positive or negative. In engineering terms, U is generally referred to as phase of z and it can be positive or negative. It is denoted as z The magnitude of z is the same both in Mathematics and engineering, although in engineering, there are also different interpretations depending on what physical system one is referring to. Magnitudes are always > 0. The application of complex numbers in engineering will be dealt with later.

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Im

z1 x r1 +U1 -U2 r2
 jU 2

z1 ! r1e

jU1

Re

z 2 ! r2 e

z2

r1 , r2 , U1 , U 2 " 0

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Example 1
A complex number, z = 1 + j , has a magnitude

| z |! (12  12 ) ! 2
and argument : T 1 z ! tan  2nT !  2nT rad 4 1
1

Hence its principal argument is : Hence in polar form :

Arg z ! T / 4
T

rad

j T T z ! 2 cos  j sin ! 2e 4 4 4

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Example 2
A complex number, z = 1 - j , has a magnitude

| z |! (12  12 ) ! 2
and argument : 1 T z ! tan 1  2nT !   2nT rad 1 4

T rad Hence its principal argument is : Arg z !  4

Hence in polar form :
j T 4

z ! 2e

T T ! 2 cos  j sin 4 4

In what way does the polar form help in manipulating complex numbers?
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Other Examples
What about z1=0+j, z2=0-j, z3=2+j0, z4=-2?

z1 ! 0  j1 ! 1e ! 10.5T z3 ! 2  j0 ! 2e ! 2 0
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z 2 ! 0  j1 ! 1e ! 1  0.5T
 j 0.5T

j 0.5T

z 4 ! 2  j 0 ! 2e  jT ! 2  T
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j0

Im

z1 = + j z4 = -2 z3 = 2
Re

0.5T

z2 = - j

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Slide 13

Arithmetic Operations in Polar Form rithmetic

The representation of z by its real and imaginary parts is useful for addition and subtraction. For multiplication and division, representation by the polar form has apparent geometric meaning.

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Slide 14

Suppose we have 2 complex numbers, z1 and z2 given by :

z1 ! x1  jy1 ! r1e

jU1  jU 2

z 2 ! x 2  jy 2 ! r2 e

z1  z 2 ! x1  jy1  x 2  jy 2 ! x1  x 2  j y1  y 2

Easier with normal form than polar form

z1 z 2 ! r1e

jU1

r e 
2

 jU 2

! r1 r2 e
magnitudes multiply!
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j (U1  ( U 2 ))

Easier with polar form than normal form

phases add!
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For a complex number z2 0,

z1 r1e r1 j (U1 ( U 2 )) r1 j (U1 U 2 ) ! ! e ! e jU 2 z 2 r2 e r2 r2

magnitudes divide! phases subtract!

jU1

z1 r1 ! z2 r2

z ! U1  (U 2 ) ! U1  U 2

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Slide 16

A common engineering problem involving complex numbers

Given the transfer function model :

20 H ( s) ! s 1
Generally, this is a frequency response model if s is taken to be s ! j[ . In Engineering, you are often required to plot the frequency response with respect to the frequency, [.

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20e j 0 For a start : H ( s ! 0) ! ! 200 j0 1e

Lets calculate H(s) at s=j10.

20 H ( j10) ! ! j10  1 20e j 0 101e
10 j tan 1 1

101 H ( j10) ! 0  tan 1 (10) ! 1.47 rad ! 84.3 0

Im
84.30

H ( j10) !

20

$ 2 ! 20 log10 2 dB ! 5.98 dB

Re

2 x 2e  i1.47
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Lets calculate H(s) at s=j1.

20 ! H ( j1) ! j1  1 20e j 0 2e
1 j tan 1 1

2 H ( j1) ! 0  tan 1 (1) ! 0.7854 rad ! 45 0

Im
84.30  45 0

H ( j1) !

20

$ 14.142 ! 20 log10 14.142dB ! 23 dB

Re

2 x H (i10)
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H (i1)
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What happens when the frequency tends to infinity?

H ( s ) s ! jg 20 ! ! 0 ? jg  1 20 20 ! ! j tan 1 g jg  1 g e 0 ! 0  90

H ( s ) s ! jg

When the frequency tends to infinity, H(s) tends to zero in magnitude and the phase tends to -900!

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Slide 20

Polar Plot of H(s) showing the magnitude and phase of H(s)

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Frequency response of the system

Alternate view of the magnitude and phase of H(s)

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