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Meth.
Phys.
Part II
Gradinaru
D-MATH
4.5
p. 260
Introduction Num.
Meth.
Phys.
f (xi) = yi, i = 1, . . . , m
Gradinaru
In this context: t, y =
two state variables of a physical system, a functional dependence y = y(t) is
assumed.
4.0
p. 261
Known: several accurate measurements y Num.
Meth.
Phys.
(ti, yi) , i = 1, . . . , m
Examples:
t y
voltage U current I
pressure p density t
magnetic field H magnetic flux B
t1 t2 t3 t4 t
Fig. 485
Meaning of attribute accurate: justification for interpolation. If measured values yi were affected by
considerable errors, one would not impose the interpolation conditions but opt for data fitting.
Gradinaru
D-MATH
p. 262
(): simple described by small amount of information, easy to evaluate (e.g, polynomial or piece-
Num.
Meth.
wise polynomial e
f) Phys.
() small
f e
f
small for some norm kk on space C(D) of continous functions, e.g. L2-norm
2 R
kgk2 := |g(x)|2dx, maximum norm kgk := max |g(x)|
D xD
f (k)(t0)
f C k (I),I interval, k N, Tk (t) := (t t0)k , t0 I .
k!
Gradinaru
The Taylor polynomial Tk of degree k approximates f in a neighbourhood J I of t0 (J can be
D-MATH
small!). The Taylor approximation is easy and direct but inefficient: a polynomial of lower degree
gives the same accuracy.
3
4.0
free choice of nodes xi
p. 263
Num.
Remark 4.0.3 (Interpolation and approximation: enabling technologies). Meth.
Phys.
Approximation and interpolation are useful for several numerical tasks, like integration, differentiation
and computation of the solutions of differential equations.
!
Gradinaru
General function f : D R 7 K, D interval, contains an infinite amount of information. D-MATH
4.0
p. 264
Special case: Representation with finite linear combination of basis functions
Num.
bj : D R 7 K, j = 1, . . . , n: Meth.
Phys.
Xn
f= b , j K .
j=1 j j
f finite dimensional function space Vn := Span {b1, . . . , bn}.
bj (t) = tj1 leads to polynomial interpolation
bj (t) = cos((j 1) arccos t) leads to Chebychev interpolation
bj (t) = e2ijt leads to trigonometrical interpolation
Gradinaru
D-MATH
4.0
p. 265
Num.
Meth.
Phys.
5 Polynomial Interpolation
5.1 Polynomials
D-MATH
5.1
p. 266
' $
Num.
Theorem 5.1.1 (Dimension of space of polynomials). Meth.
Phys.
def h o r n e r ( p , x ) :
y = p[0]
f o r i i n xrange ( 1 , l e n ( p ) ) :
y = x y + p[ i ]
re t urn y
D-MATH
Want: adding another data point should not affect all basis polynomials! 5.2
p. 268
Tool: update friendly representation: Newton basis for Pn
Num.
Meth.
n1
Y Phys.
D-MATH
1 0 0
1 (t1 t0) ... ... a0 y0
.. ... ... a1 y1
. 0 . = . .
n1
.. ..
Q
1 (tn t0) (tn ti) an yn
i=0
a0 = y0 , p. 269
y1 a0 y1 y0 Num.
a1 = = , Meth.
Phys.
t1 t0 t1 t0
y2 y0 y1 y0
y2 y0 (t2 t0) yt1t
y0
y2 a0 (t2 t0)a1 t t0 t1 t0
a2 = = 1 0
= 2 ,
(t2 t0)(t2 t1) (t2 t0)(t2 t1) t2 t1
...
In order to find a better algorithm, we turn to a new interpretation of the coefficients aj of the interpo-
lating polynomials in Newton basis.
Gradinaru
D-MATH
a+1,...,m a,...,m1
a,...,m = .
tm t
5.2
p. 270
Simpler and more efficient algorithm using divided differences:
Num.
Meth.
Phys.
y[ti] = yi
y[ti+1, . . . , ti+k ] y[ti, . . . , ti+k1]
y[ti, . . . , ti+k ] = (recursion) (5.2.2)
ti+k ti
Recursive calculation by divided differences scheme
t0 y[t0]
> y[t0, t1]
t1 y[t1] > y[t0, t1, t2]
> y[t1, t2] > y[t0, t1, t2, t3], (5.2.3)
t2 y[t2] > y[t1, t2, t3]
> y[t2, t3]
t3 y[t3] Gradinaru
D-MATH
the elements are computed from left to right, every > means recursion (5.2.2).
If a new datum (tn+1, yn+1) is added, it is enough to compute n + 2 new terms
5.2
p. 271
Code 5.2.1: Divided differences, recursive implementation, in situ computation Num.
Meth.
1 def d i v d i f f ( t , y ) : Phys.
2 n = y . shape [ 0 ] 1
3 i f n > 0:
4 y [0:n] = divdiff ( t [0:n] , y[0:n ])
5 f o r j i n xrange ( 0 , n ) :
6 y[n] = (y[n] y[ j ]) / ( t [n] t [ j ])
7 re t urn y
By derivation: computed finite differences are the coefficients of interpolating polynomials in New-
ton basis:
n1
Y
p(t) = a0 + a1(t t0) + a2(t t0)(t t1) + + an (t tj ) (5.2.4)
j=0 5.2
If y0, . . . , yn are the values of a smooth function f in the points t0, . . . , tn, that is, yj := f (tj ), then Gradinaru
D-MATH
f (k)()
y[ti, . . . , ti+k ] =
k!
for a certain [ti, ti+k ], see [10, Thm. 8.21].
5.3
p. 273
5.3 Error estimates for polynomial interpolation Num.
Meth.
Phys.
D-MATH
polynomials.
p. 274
We consider Lagrangian polynomial interpolation on node set
Num.
Meth.
Phys.
T := {t0, . . . , tn} I, I R, interval of length |I|.
Goal: estimate of the interpolation error norm kf IT f k (for some norm on C(I)). Gradinaru
D-MATH
5.3
p. 275
0
10
Num.
Meth.
2
||fpn|| Phys.
10
||fp ||
n 2 computer-experiment: computation of the norms.
4
10
10
/1000.
L2-norm: numerical quadrature ( Chapter 7)
8
10
10
10 with trapezoidal rule (7.2.2) on a grid of mesh-
12
size /1000.
10
14
10
2 4 6 8 10 12 14 16
Fig. 49
n
3
Gradinaru
D-MATH
Often this goal can be achieved, even if a rigorous quantitative bound for a norm of the interpolation
error remains elusive.
5.3
p. 276
Important terminology for the qualitative description of kf IT f k as a function of the polynomial Num.
Meth.
Phys.
degree n:
Convergence behavior of interpolation error is often expressed by means of the Landau-O-notation: D-MATH
5.3
Given: pairs (ni, i), i = 1, 2, 3, . . ., ni =
polynomial degrees, i =
norms of interpolation error
p. 277
Conjectured: algebraic convergence: i Cnp Num.
Meth.
Phys.
Apply linear regression (numpy.polyfit) to points (log ni, log i) estimate for rate p.
Apply linear regression (Ex. 3.0.1, numpy.polyfit) to points (ni, log i) estimate for q :=
exp().
Gradinaru
D-MATH
n on 1
Phys.
T := tj := 5 + 10
n j , yj = 2
.j = 0, . . . , n .
j=0 1 + tj
7 x = l i n s p a c e ( 5 , 5 , 1001)
8 f = lambda x : 1 . 0 / ( 1 . 0 + x 2)
9
0 fv = f ( x )
1
2 # Compute approximation of increasing degree
3 err = [ ]
4
5 f o r d i n xrange ( 1 , 21) : 5.3
6 t = l i n s p a c e ( 5 , 5 , d +1)
p. 279
Num.
7 p = polyf it ( t , f ( t ) , d) Meth.
Phys.
8 y = polyval (p , x )
9
0 e r r . append ( h sta ck ( [ d , max( abs ( yf v ) ) ] ) )
1
2 err = array ( err )
3
4 # Plot
5 figure ()
6 semilogy ( e r r [ : , 0 ] , e r r [ : , 1 ] , " r +" )
7 x l a b e l ( r " Degree d " )
8 y l a b e l ( r " I n t e r p o l a t i o n e r r o r ( maximum norm ) " )
9 s a v e f i g ( " . . / PICTURES / rungeerrmax . eps " ) Gradinaru
D-MATH
5.3
p. 280
2 Num.
2 Meth.
1/(1+x )
Phys.
Interpolating polynomial
1.5
0.5
0.5
5 4 3 2 1 0 1 2 3 4 5
Fig. 50 Fig. 51
D-MATH
5.3
3 p. 281
' $
Num.
Theorem 5.3.1 (Representation of interpolation error). [10, Thm. 8.22], [29, Thm. 37.4] Meth.
Phys.
& %
n
Q
Proof. Write q(t) := (t tj ) Pn+1 and fix t I .
j=0
' $
Meth.
Phys.
(??). D-MATH
first bound the right hand side via f (n+1)(t)
f (n+1)
,
L(I)
then increase the right hand side further by switching to the maximum (in modulus) w.r.t. t (the
5.3
resulting bound does no longer depend on t!),
p. 283
and, finally, take the maximum w.r.t. t on the left of . Num.
Meth.
Phys.
(n+1)
f
L(I)
Thm. 5.3.1 kf IT f kL(I) max |(t t0) (t tn)| . (5.3.3)
(n + 1)! tI
D-MATH
Theoretical explanation for exponential convergence observed for polynomial interpolation of f (t) =
sin(t) on equidistant nodes: by Thm. 5.3.2 and (5.3.3)
1
(k)
f
1, kf pkL(I) max (t 0)(t n )(t 2
n ) (t )
L(I)
(1 + n)! tI
1 n+1
k N0 . 5.3
n+1 n p. 284
Uniform asymptotic exponential convergence of the interpolation polynomials Num.
Meth.
Phys.
(independently of the set of nodes T . In fact, kf pkL(I) decays even faster than expo-
nential!)
3
How can the blow-up of the interpolation error observed in Ex. 5.3.4 be reconciled with Thm. 5.3.2 ?
Here 1
f (t) = 1+t 2 allows only to conclude |f (n)(t)| = 2nn! O(|t|2n) for n .
Possible blow-up of error bound from Thm. 5.3.1 for n .
3 Gradinaru
D-MATH
Thm. 5.3.1 gives error estimates for the L-Norm. And the other norms?
I | {z } Sn+1
=1/(n+1)!
Z Z
|I|2n+2
= vol(n)(Ct, ) |f (n+1)( )|2 d dt ,
I (n + 1)! I | {z }
2(n1)/2/n!
where
Estimates like (5.3.4) play a key role in the analysis of numerical methods for solving partial differential
equations ( course Numerical methods for partial differential equations).
5.4
p. 286
5.4 Chebychev Interpolation Num.
Meth.
Phys.
D-MATH
1
(n+1)
Thm. 5.3.1: kf pkL(I)
f
kwkL(I) ,
(n + 1)! L (I)
w(t) := (t t0) (t tn) .
5.4
p. 287
Idea: choose nodes t0, . . . , tn such that kwkL(I) is minimal! Num.
Meth.
Phys.
Equivalent to finding q Pn+1, with leading coefficient = 1, such that kqkL(I) is
minimal.
Choice of t0, . . . , tn = zeros of q (caution: tj must belong to I ).
Gradinaru
Definition 5.4.1 (Chebychev polynomial). D-MATH
5.4
p. 288
1 1 n=5
n=6 Num.
n=7 Meth.
0.8 0.8 n=8 Phys.
n=9
0.6 0.6
0.4 0.4
0.2 0.2
T (t)
Tn(t)
0 0
n
0.2 0.2
n=0
0.4 0.4
n=1
1 1
1 0.8 0.6 0.4 0.2 0 0.2 0.4 0.6 0.8 1 1 0.8 0.6 0.4 0.2 0 0.2 0.4 0.6 0.8 1
t Fig. 52 t Fig. 53
D-MATH
2k 1
Zeros of Tn: tk = cos , k = 1, . . . , n . (5.4.1)
2n
Extrema (alternating signs) of Tn:
k
|Tn(tk )| = 1 k = 0, . . . , n: tk = cos , kTnkL([1,1]) = 1 .
n
Chebychev nodes tk from (5.4.1): 5.4
p. 289
20
Num.
18 Meth.
Phys.
16
14
12
n
10
D-MATH
3-term recursion by cos(n + 1)x = 2 cos nx cos x cos(n 1)x with cos x = t:
Num.
Theorem 5.4.2 (Minimax property of the Chebychev polynomials). Meth.
Phys.
D-MATH
5.4
2n
(n+1)
kf IT (f )kL([1,1])
f
. (5.4.3)
(n + 1)! L ([1,1])
Gradinaru
Remark 5.4.2 (Chebychev polynomials on arbitrary interval). D-MATH
t 7 t := a + 12 (b
b t + 1)(b a)
[1, 1] [a, b] fb(b
t) := f (t) .
tj ) = fb(b
p Pn p(tj ) = f (tj ) pb Pn pb(b tj ) . 5.4
p. 292
dnfb b 1 n dn f Num.
Meth.
With transformation formula for the integrals & (t) = ( 2 |I|) n (t): Phys.
b
dt n dt
2 n
d n+1 fb
b
kf IT (f )kL(I) =
f ITb (fb)
n+1
L ([1,1]) (n + 1)!
db t
L ([1,1])
22n1 n+1
(n+1)
|I|
f
. (5.4.4)
(n + 1)! L (I)
' $
D-MATH
2k + 1
tk := a + 12 (b a) cos +1 ,
2(n + 1)
(5.4.5)
k = 0, . . . , n .
a b& %
5.4
p. 293
5.4.2 Chebychev interpolation error estimates Num.
Meth.
Phys.
Runges function f (t) = 1 , see Ex. 5.3.4, polynomial interpolation based on uniformly spaced
1+t2
nodes and Chebychev nodes:
2 1.2
2 Function f
1/(1+x )
Interpolating polynomial Chebychev interpolation polynomial
1
1.5
0.8
Gradinaru
1
0.6 D-MATH
0.4
0.5
0.2
0
0
0.5 0.2
5 4 3 2 1 0 1 2 3 4 5 5 4 3 2 1 0 1 2 3 4 5
t
3
5.4
p. 294
Num.
Remark 5.4.4 (Lebesgue Constant for Chebychev nodes). Meth.
Phys.
3.2
2 2.6
T log(1 + n) + o(1) ,
T
2.4
T 2 log(1 + n) + 1 . (5.4.6)
2.2
2
Gradinaru
D-MATH
1.8
0 5 10 15 20 25
Polynomial degree n
0lN p. 295
ba X Num.
||f p||22 2
|f (xl ) p(xl )| + |f (xl+1) p(xl+1)| 2 Meth.
Phys.
2N
0l<N
1
10
1.2
Function f
||fpn||
Chebychev interpolation polynomial
||fpn||2
1
Gradinaru
0.8 0
10
D-MATH
Error norm
0.6
0.4
1
10
0.2
0.2
5 4 3 2 1 0 1 2 3 4 5 2
10
t 2 4 6 8 10 12 14 16 18 20
Polynomial degree n
5.4
1
10
2
10
||fpn||
||fp ||
n 2
3
10
Error norm
on a smaller interval I = [1, 1]. 5
10
8
10
9
10
2 4 6 8 10 12 14 16 18 20
Polynomial degree n
f (t) = max{1 |t|, 0}, I = [2, 2], n = 10 nodes (plot on the left).
f C 0(I) but f
/ C 1(I).
5.4
p. 297
1.2
0
10 Num.
Function f ||fpn|| Meth.
Chebychev interpolation polynomial ||fpn||2 Phys.
1
0.8
Error norm
0.6
1
10
0.4
0.2
2
0.2 10
2 1.5 1 0.5 0 0.5 1 1.5 2 2 4 6 8 10 12 14 16 18 20
t Polynomial degree n
0
10 Gradinaru
||fpn||
||fpn||2 D-MATH
Error norm 1
10
0 1 |t| 2 Phys.
0
1.2 10
Function f ||fpn||
Chebychev interpolation polynomial ||fp ||
n 2
1
0.8
1
10
Error norm
0.6
0.4
2
10
0.2
0 Gradinaru
D-MATH
3
0.2 10
0 1 2
2 1.5 1 0.5 0 0.5 1 1.5 2 10 10 10
t Polynomial degree n
p. 299
Essential role of smoothness of f : slow convergence of approximation error of the Cheychev Num.
Meth.
for smooth f C approximation error of the Cheychev interpolant seems to decay to zero
exponentially in the polynomial degree n.
' $
Gradinaru
The Chebychev polynomials are orthogonal with respect to the scalar product
Z 1
1
hf, gi = f (x)g(x) dx . (5.4.7)
1 1x 2
& %
5.4
p. 300
' $
Num.
Theorem 5.4.4 (Discrete orthogonality of Chebychev polynomials). Meth.
Phys.
The Chebychev polynomials T0, . . . , Tn are orthogonal in the space Pn with respect to the
scalar product:
n
X
(f, g) = f (xk )g(xk ) , (5.4.8)
k=0
where x0, . . . , xn are the zeros of Tn+1.
& %
Gradinaru
Theorem 5.4.5 (Representation formula). D-MATH
The interpolation polynomial p of f in the Chebychev nodes x0, . . . , xn (the zeros of Tn+1) is
given by:
1
p(x) = c0 + c1T1(x) + . . . + cnTn(x) , (5.4.9)
2
with
n
2 X 2l + 1 2l + 1
ck = f cos cos k . (5.4.10)
n+1 n+1 2 n+1 2
& % 5.4
l=0
p. 301
For sufficiently large n (n 15) it is convenient to compute the ck with the FFT; the direct computation Num.
Meth.
of the coefficients needs (n + 1)2 multiplications, while FFT needs only O(n log n).
Phys.
D-MATH
dn+2 = dn+1 = 0
dk = ck + (2x) dk+1 dk+2 for k = n, n 1, . . . , 0. (5.4.11)
5.4
p. 302
Code 5.4.6: Clenshaw algorithm Num.
Meth.
1 def clenshaw ( a , x ) : Phys.
2 # Degree of polynomial
3 n = a . shape [ 0 ] 1
4 d = t i l e ( reshape ( a , n + 1 ,1 ) , ( x . shape [ 0 ] , 1 ) )
5 d = d.T
6 f o r j i n xrange ( n , 1 , 1) :
7 d [ j 1 , : ] = d [ j 1 , : ] + 2.0 x d [ j , : ]
8 d [ j 2 ,:] = d [ j 2 ,:] d [ j , : ]
9 y = d [ 0 , : ] + x d [ 1 , : ]
10 re t urn y
Gradinaru
While using recursion it is important how the error (e.g. rounding error) propagates. D-MATH
Simple example:
xn+1 = 10xn 9,
x0 = 1 xn = 1 n
en = 1 + 10n.
x0 = 1 + x
5.4
This is not a problem here: Clenshaw algorithm is stable.
p. 303
' $
Num.
Theorem 5.4.7 (Stability of Clenshaw algorithm). Meth.
Phys.
Gradinaru
D-MATH
5.5
p. 305