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MHTCET
–|| Complex Numbers ||–
The Power of Complex Numbers in Robot Control
Complex numbers are mathematical marvels that
enable engineers to create robust and efficient control
mechanisms for robots, ensuring their precise and
graceful navigation through complex environments.
So, if you're curious about the secrets behind
controlling cutting-edge robots, buckle up for a journey
where the analysis of complex numbers unlocks the
path to extraordinary control and automation!

Chapter Outline
❖ Equality of two complex numbers, Conjugate of a complex number, Algebra of complex numbers, Powers
of i
❖ Square root of a complex number, Fundamental theorem of algebra
❖ Argand diagram, Modulus, Argument, Polar form and Exponential form of a complex number
❖ De Moivre's theorem, Cube roots of unity
_________________________________________________________________________________________
COMPLEX NUMBERS: In general,
i. i4n = 1, i4n+1 = i  where n  N
i4n + 2 = -1, i4n+2 = -i

EQUALITY OF TWO COMPLEX NUMBERS:

If Re(z) = x = 0, then complex number z is

purely imaginary.
For example: z=-3i, z = 4i, z = i
If Im(z) = y = 0, then complex number z is
purely real. i.e. two complex numbers z1, and z2 are equal
For example: z = 3, z=-4, z=1 iff Re(z1) = Re(z2) and Im(z1) = Im(z2) or a = c
ii. Integral powers of iota (i): and b = d
i2 = -1
i3 = -i Note: in+in+1+in+2+in+3 = 0, n  Z CONJUGATE OF A COMPLEX NUMBER:
i4 = 1 Conjugate of a complex numbers then is the
mirror image of z along real axis
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PROPERTIES OF CONJUGATE OF A COMPLEX NUMBER:

i. 𝑧̅ = z ii. z + 𝑧̅ = 2Re (z)
iii. z - 𝑧̅ = 2i lm (z) iv. z = 𝑧̅  z is purely real.
v. z + 𝑧̅ = 0  z is purely imaginary vi. Z. 𝑧̅ = [Re (z)]2
vii. 𝑧1 𝑧2= 𝑧̅1+𝑧̅2 viii. 𝑧1 𝑧2=𝑧̅1 - 𝑧̅2
̅̅̅̅̅
𝑧 𝑧̅
ix. 𝑧1 𝑧2= 𝑧̅1𝑧̅2 x. ( 1 )= 1 , 𝑧̅2  0
𝑧2 𝑧2
̅̅̅

xi. 𝑧 𝑛 = (𝑧̅)n xii. 𝑧1 𝑧2 + 𝑧1 𝑧2 = 2Re (𝑧1 𝑧2) = 2Re(𝑧1 𝑧2)

ALGEBRA OF COMPLEX NUMBERS:

i. Addition of complex numbers:
Complex Numbers Addition
z1 z2 z1+z2
(a + ib) (c + id) (a + c) + i(b + d)
Thus, Re(z1 + z2) = Re(z1) + Re(z2) and Im(z1 + z2) = Im(z1) + Im(z2)

Properties of addtionon of
complex numbrs

Addition is Existence of additive

Addition is associative Existence of
additive identity Inverse
commutative If z1 and z2 and z3 be
The complex number For any complex number z
If z1 and z2 are two three complex
o = 0 + i0 is the = a + ib,
complex numbers then numbers then
z1 + z 2 = z 2 + z 1 identity element for –z =-a+ i(–b) such that z
(z1 + z2) + z3 addition i.e., z + o = + (–z) = o = (–z)+z
= z1 +(z2 + z3) z = o + z z C.
 The complex number –
z=–a+i(–b) is called
negative or additivie
inverse of z.

ii. Subtraction of complex numbers:

Complex Numbers Subtraction
z1 z2 z1+z2
(a + ib) (c + id) (a + c) + i(b + d)

iii. Multiplication of complex numbers:

Complex Numbers Multiplication
z1 z2 z1 z2
a + ib c + id (ac – bd) + i(ad + bc)
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Properties of Multiplication

Multiplication is Multiplication is Existence of identity Existence of Multiplicative Multiplication is

commutative associative element for inverse distributive over
If z1 and z2 are Let z1 and z2 and z3 be Multiplication Corresponding to every non- addition
two complex three complex numbers The complex number zero complex number z= a+ If z1, z2, z3 are any
numbers then z1z2 then 1 = 1 + i0 is the ib,  a complex number z1 = three complex number
= z2z1 identity element for x + iy such that z.z1 = 1 = z1.z
(z1z2) z3 = z1 (z2z3) i. z1(z2 + z3)
multiplication i.e., for
The multiplicative inverse of = z1z2 + z1z3
every complex
number z, we have z is denoted by z–1 or1/z
(Left distributive)
z.1 = z = 1.z ii. (z2 + z3)z1
= z1z2 + z3z1
(Right distributive)

iv. Division of complex numbers:

Let a + ib and c + id be any two complex numbers, where c + id is non-zero, then division is defined as
𝒂 + 𝒊𝒃 𝒂 + 𝒊𝒃 𝒄 − 𝒊𝒅 𝒂𝒄 + 𝒃𝒅 𝒃𝒄 − 𝒂𝒅
= × = 𝟐 𝟐
+𝒊 𝟐
𝒄 + 𝒊𝒅 𝒄 + 𝒊𝒅 𝒄 − 𝒊𝒅 𝒄 + 𝒅 𝒄 + 𝒅𝟐

SQUARE ROOT OF A COMPLEX NUMBER:

Let 𝑥 + i𝑦 be a square root of a + ib.
𝑥 + i𝑦 = √a + ib
Squaring both sides, we get
(𝑥 + 𝑖𝑦) 2 = 𝑎 + 𝑖𝑏
 𝑥 2 − 𝑦 2 + 2𝑥𝑦𝑖 = 𝑎 + 𝑖𝑏
Equating real and imaginary parts, we get 𝑥 2 − 𝑦 2 = a and 2𝑥𝑦 = b
Solving these equations, we can find 𝑥 and 𝑦 then 𝑥 + i𝑦 will be the required square root of a + ib.

FUNDAMENTAL THEOREM OF ALGEBRA:

Solution of a quadratic equation in complex number system:
i. Consider the quadratic equation ax 2 + bx + c = 0,
where 𝑎, 𝑏, 𝑐 ∈ 𝑅 and 𝑎 ≠ 0
On solving this quadratic equation, we get
−𝒃 ± √𝒃𝟐 − 𝟒𝒂𝒄
𝒙=
𝟐𝒂
−𝑏+√𝑏2 −4𝑎𝑐 −𝑏−√𝑏2 −4𝑎𝑐
𝑥 = and 𝑥 = are the roots of the equation 𝑎𝑥 2 + 𝑏𝑥 + 𝑐 = 0.
2𝑎 2𝑎
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ii. The expression (𝑏2 − 4𝑎𝑐 ) is called the discriminant (D).

If D < 0, then the roots of the given quadratic equation are complex.
iii. If p + iq is the root of the equation 𝑎𝑥 2 + 𝑏𝑥 + 𝑐 = 0, then 𝑝 − 𝑖𝑞 is also a another root of the given
quadratic equation
complex roots occur in conjugate pairs.
iv. If D = 0, then the roots of the given quadratic equation are real and equal.
Modulus of a complex number:
Modulus of a complex number 𝑧 = 𝑎 + 𝑖𝑏 denoted by |𝑧| is defined as
|𝒛| = √𝒂𝟐 + 𝒃𝟐 or |𝒛| = √(𝐑𝐞 (𝒛))𝟐 + (𝐈𝐦 (𝒛))𝟐 .

ARGUMENT OF A COMPLEX NUMBER:

If 𝑧 ≠ 0, the argument (amplitude) 𝜃 of 𝑧 is defined by two equations:
𝒂 𝒃
𝐜𝐨𝐬 𝜽 = ; 𝐬𝐢𝐧 𝜽 =
|𝒙| |𝒛|
𝑏
So arg 𝑧 = 𝜃 = tan−1 ( ) , 0 ≤ 𝜃 < 2𝜋
𝑎

It is denoted by arg 𝑧 or amp 𝑧.

GEOMETRICAL MEANING OF MODULUS AND ARGUMENT (ARGAND'S DIAGRAM):

i. Modulus of 𝑧 (denoted by |𝑧| ): The length of the line segment 𝑂𝑃 is called |𝑧|
⇒ |𝒙𝟐 | − 𝐎𝐏 − √𝐚𝟐 + 𝐛𝟐
ii. Argument or Amplitude of z (denoted by arg ( 𝐳 ) or amp (z)) :
The angle 𝜃 which OP nakes with + ve direction of X -axis in anticlockwise direction is called arg ( z ).
From the above figure,
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𝒂 𝒃 𝒃 𝒃
𝐜𝐨𝐬 𝜽 = , 𝐬𝐢𝐧 𝜽 = , 𝐭𝐚𝐧 𝜽 = ⇒ 𝜽 = 𝐭𝐚𝐧−𝟏 ( )
√𝒂𝟐 + 𝒃𝟐 √𝒂𝟐 + 𝒃𝟐 𝒂 𝒂
iii. Principal arg (𝐳): The argument 𝜃 which satisfies the inequality −𝜋 < 𝜃 ≤ 𝜋 is known as the princip
argument of 𝑧
This is denoted by Pr. arg (z) or arg (z).
iv. Argument of 𝐳 in different quadrants/axes:
b
Let z = a + ib = (a, b) and tan−1 | a | = 𝛼.
𝑏
Then, arg (𝑧) = tan−1 (𝑎) always gives the principal value. It depends upon the quadrant in which the por
(a, b) lies.

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