6 04 Interpolasi Spline SJK

Spline Method of
I t
Interpolation
l ti
Why Splines ?
1
f ( x) =
1 + 25 x 2
Table : Six equidistantly
q
y spaced
p
p
points in [[-1,, 1]]
x
y=
1
1 + 25 x 2
-1.0
10
0 038461
0.038461
-0.6
0.1
-00.22
05
0.5
0.2
0.5
0.6
0.1
1.0
0.038461
Figure : 5th order polynomial vs. exact function
Why Splines ?
1.2
0.8
0.4
0
-1
-0.5
0.5
-0.4
-0.8
x
19th Order Polynomial
f (x)
5th Order Polynomial
Figure : Higher order polynomial interpolation is a bad idea
Linear Interpolation
Given ( x0 , y0 ), (x1 , y1 ),......, (x n 1 , y n 1 )( x n , y n ) , fit linear splines to the data. This simply involves
forming the consecutive data through straight lines. So if the above data is given in an ascending
order, the linear splines are given by ( yi = f ( xi ) )
Figure : Linear splines
Linear Interpolation (contd)

f ( x ) = f ( x0 ) +
f ( x1 ) f ( x 0 )
( x x 0 ),
x1 x 0
x 0 x x1
= f ( x1 ) +
f ( x 2 ) f ( x1 )
( x x1 ),
)
x2 x1
x1 x x 2
.
.
.
= f ( x n 1 ) +
f ( x n ) f ( x n 1 )
( x x n 1 ), x n 1 x x n
x n x n 1
Note the terms of

f ( xi ) f ( x i 1 )
xi x i 1
in the above function are simply slopes between xi 1 and x i .
Example
The
h upward
d velocity
l
off a rocket
k is given as a
function of time in Table 1. Find the velocity at
t=16 seconds using linear splines.
splines
Table Velocity as a
function of time
t (s)
v (t ) (m/s)
0
10
15
20
22.5
30
0
227.04
362.78
517.35
602.97
901 67
901.67
Figure. Velocity vs. time data
for the rocket example
Linear Interpolation
t 0 = 15,
v (t 0 ) = 362.78
t1 = 20,
v (t1 ) = 517.35
v(t ) v (t 0 )
v (t ) = v(t 0 ) + 1
(t t 0 )
t1 t 0
517.35
500
ys
f ( range)
= 362.78 +
517.35 362.78
f(x
)
(t 15) desired
20 15
v (t ) = 362.78 + 30.913( t 15)

At t = 16,
= 393.7
m/s
450
400
362.78
v (16) = 362.78 + 30.913(16 15)
550
350
10
12
x s 10
0
14
16
18
x s , range, x desired
20
22
24
x s + 10
1
Quadratic Interpolation
Given ( x0 , y0 ), ( x1 , y1 ),......, (x n 1 , y n 1 ), ( x n , y n ) , fit quadratic splines through the data. The splines
are given by
f ( x ) = a1 x 2 + b1 x + c1 ,
= a 2 x 2 + b2 x + c2 ,
x 0 x x1
x1 x x 2
.
.
.
= a n x 2 + bn x + cn ,
x n 1 x x n
Find a i , bi , ci , i = 1,
1 22, , n
Quadratic Interpolation (contd)

Each quadratic spline goes through two consecutive data points
a1 x 0 + b1 x 0 + c1 = f ( x0 )
2
a1 x1 + b1 x1 + c1 = f ( x1 )
2
.
.
a i xi 1 + bi xi 1 + ci = f ( xi 1 )
2
a i xi + bi xi + c i = f ( xi )
2
.
.
a n x n 1 + bn x n1 + c n = f ( xn 1 )
2
a n x n + bn xn + cn = f ( x n )
2
This condition gives 2n equations
Quadratic Splines (contd)

The first derivatives of two quadratic splines are continuous at the interior points.
For example, the derivative of the first spline
a1 x 2 + b1 x + c1 is
2 a1 x + b1
The derivative of the second spline

a 2 x 2 + b2 x + c 2 is
2 a2 x + b 2
and the two are equal at x = x1 giving

2 a1 x1 + b1 = 2a 2 x1 + b2
2 a1 x1 + b1 2a 2 x1 b2 = 0

Similarly at the other interior points,
2a 2 x 2 + b2 2a3 x 2 b3 = 0
.
.
.
2ai xi + bi 2ai +1 xi bi +1 = 0
.
.
.
2a n 1 x n 1 + bn 1 2a n x n1 bn = 0
We have (n-1)
(n 1) such equations
equations. The total number of equations is (2n) + (n 1) = (3n 1) .
We can assume that the first spline is linear, that is a1 = 0

This gives us 3n equations and 3n unknowns. Once we find the 3n constants,
we can find the function at any value of x using the splines,
f ( x) = a1 x 2 + b1 x + c1 ,
= a 2 x 2 + b2 x + c 2 ,
x0 x x1
x1 x x 2
.
.
.
= a n x 2 + bn x + c n ,
x n 1 x x n
Quadratic Spline Example

The upward velocity of a rocket is given as a function of time.
Using quadratic splines
a)) Find the velocity at t=16 seconds
b) Find the acceleration at t=16 seconds
c) Find the distance covered between t=11 and t=16 seconds
Table Velocity as a
function of time
t (s)
v (t ) (m/s)
0
10
15
20
22.5
30
0
227.04
362 78
362.78
517.35
602.97
901 67
901.67
Figure. Velocity
Fi
V l it vs. time
ti
data
d t
for the rocket example
Solution
2
v(t ) = a1t + b1t + c1 , 0 t 10
= a 2 t + b2 t + c 2 , 10 t 15
2
= a3 t + b3t + c3 , 15 t 20
2
= a 4 t + b4 t + c 4 , 20 t 22.5
2
= a5 t + b5 t + c5 ,
2
22.5 t 30
Let us set up the equations
Each Spline Goes Through

Two Consecutive Data Points
v(t ) = a1t + b1t + c1 , 0 t 10

2
a1 (0) + b1 (0) + c1 = 0
2
a1 (10) + b1 (10) + c1 = 227.04
2
Each Spline Goes Through

Two Consecutive Data Points
t
s
0
10
15
20
22.5
30
v(t)
m/s
0
227.04
362.78
517.35
602.97
901.67
a 2 (10) 2 + b2 (10) + c 2 = 227.04

a 2 (15) 2 + b2 (15) + c 2 = 362.78
a 3 (15 ) + b3 (15 ) + c 3 = 362 . 78
2
a 3 ( 20 ) + b3 ( 20 ) + c 3 = 517 .35
2
a 4 ( 20 ) + b4 ( 20 ) + c 4 = 517 .35
a4 (22.5) 2 + b4 (22.5) + c4 = 602.97
2
a5 (22.5) + b5 (22.5) + c5 = 602.97

a 5 (30 ) 2 + b5 (30 ) + c 5 = 901 .67
2
Derivatives are Continuous at

Interior
Data
Points
2
v(t ) = a1t + b1t + c1 , 0 t 10
= a 2 t + b2 t + c 2 ,10 t 15
2
d
2
a1t + b1t + c1
dt
t =10
d
2
=
a2t + b2t + c2
dt
(2a1t + b1 ) t =10 = (2a2t + b2 ) t =10

2a1 (10) + b1 = 2a2 (10) + b2
20a1 + b1 20a2 b2 = 0
)
t =10
Derivatives are continuous at

I t i Data
Interior
D t P
Points
i t
At t=10
2a1 (10) + b1 2a 2 (10) b2 = 0
At t=15
2a 2 (15) + b2 2a3 (15) b3 = 0
At t=20
2a3 (20) + b3 2a 4 (20) b4 = 0
At t=22.5
2a 4 (22.5) + b4 2a5 (22.5) b5 = 0
Last Equation
a1 = 0
Final Set of Equations

0
100
0
0
0
0
0
0
0
0
20
0
0
0
1
10 1
100
10
225
15 1
225
15 1
400
20 1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
400
20 1
0 506.25 22.5 1
0 20 1 0
30
0 30 1 0
40
40
45
0 a1
0 b1
0
227.04
0
0
227.04
0
0
0 c1

0
0
0 a 2 362.78
0
0
0 b2 362.78
517.35
0
0
0 c2

0
0
0 a3 517.35
0
0
0 b3 = 602.97
506.25 22.5 1 c3 602.97

900
30 1 a 4 901.67
0
0
0 b4 0
0
0
0 c4 0

0
0
0 a5
0
45
1 0 b5 0
0
0
0 c5 0
0
Coefficients of Spline
i
ai
bi
ci
22.704
0 8888
0.8888
4 928
4.928
88 88
88.88
0.1356
35.66
141.61
1.6048
0.20889
33.956 554.55
28.86
152.13
152.13
v (t ) = 22.704t ,
Final Solution
0 t 10
= 0.8888t 2 + 4.928t + 88.88,
10 t 15
= 0.1356t 2 + 35.66t 141.61,

= 1.6048t 2 33.956t + 554.55,
15 t 20
20 t 22.5
= 0.20889t 2 + 28.86t 152.13,
22.5 t 30
Velocityy at a Particular Point

a) Velocity at t=16
0 t 10
v (t ) = 22.704t ,
= 0.8888t 2 + 4.928t + 88.88,
10 t 15
= 0.1356t 2 + 35.66t 141.61,

= 1.6048t 2 33.956t + 554.55,
15 t 20
20 t 22.5
= 0.20889t 2 + 28.86t 152.13,
22.5 t 30
v(16) = 0.1356(16) + 35.66(16) 141.61

= 394.24 m/s
2
Acceleration from Velocity Profile

b) The quadratic spline valid at t=16 is
given
i
by
b
d
a (166) = v(t ) t =16
dt
v (t ) = 0 .1356 t 2 + 35 .66 t 141 .61, 15 t 20
d
2
a (t ) = ( 0.1356t + 35.66t 141.61)
dt
= 0.2712t + 35.66, 15 t 20
2
a (16) = 0.2712(16) + 35.66 = 31.321 m/s
Distance from Velocity Profile

c) Find the distance covered by the rocket from t=11s to
t=16s.
16
S (16) S (11) = v (t )dt

11
v(t ) = 0.8888t 2 + 4.928t + 88.88, 10 t 15

= 0.1356t 2 + 35.66t 141.61, 15 t 20
16
15
16
11
11
15
S (16) S (11) = v(t )dt = v(t )dt + v(t )dt

15
16
= 0.8888t 2 + 4.928t + 88.88 dt + 0.1356t 2 + 35.66t 141.61 dt

11
= 1595.9 m
15

6 04 Interpolasi Spline SJK

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Spline Method of

Figure : 5th order polynomial vs. exact function

5th Order Polynomial

Figure : Higher order polynomial interpolation is a bad idea

Linear Interpolation (contd)

Note the terms of

in the above function are simply slopes between xi 1 and x i .

v (t ) = 362.78 + 30.913( t 15)

v (16) = 362.78 + 30.913(16 15)

Quadratic Interpolation (contd)

This condition gives 2n equations

Quadratic Splines (contd)

The derivative of the second spline

and the two are equal at x = x1 giving

Quadratic Splines (contd)

Quadratic Splines (contd)

Quadratic Spline Example

Let us set up the equations

Each Spline Goes Through

v(t ) = a1t + b1t + c1 , 0 t 10

Each Spline Goes Through

a 2 (10) 2 + b2 (10) + c 2 = 227.04

a5 (22.5) + b5 (22.5) + c5 = 602.97

Derivatives are Continuous at

(2a1t + b1 ) t =10 = (2a2t + b2 ) t =10

Derivatives are continuous at

2a1 (10) + b1 2a 2 (10) b2 = 0

2a 2 (15) + b2 2a3 (15) b3 = 0

2a3 (20) + b3 2a 4 (20) b4 = 0

2a 4 (22.5) + b4 2a5 (22.5) b5 = 0

Final Set of Equations

= 0.8888t 2 + 4.928t + 88.88,

= 0.1356t 2 + 35.66t 141.61,

= 0.20889t 2 + 28.86t 152.13,

Velocityy at a Particular Point

= 0.8888t 2 + 4.928t + 88.88,

= 0.1356t 2 + 35.66t 141.61,

= 0.20889t 2 + 28.86t 152.13,

v(16) = 0.1356(16) + 35.66(16) 141.61

Acceleration from Velocity Profile

Distance from Velocity Profile

S (16) S (11) = v (t )dt

v(t ) = 0.8888t 2 + 4.928t + 88.88, 10 t 15

S (16) S (11) = v(t )dt = v(t )dt + v(t )dt

= 0.8888t 2 + 4.928t + 88.88 dt + 0.1356t 2 + 35.66t 141.61 dt

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