2.1.58 Problem 58

Internal problem ID [10044]
Book : Own collection of miscellaneous problems
Section : section 1.0
Problem number : 58
Date solved : Monday, December 29, 2025 at 09:00:46 PM
CAS classification : [[_homogeneous, `class C`], _dAlembert]

2.1.58.1 Solved using first_order_ode_dAlembert

28.065 (sec)

Entering first order ode dAlembert solver

\begin{align*} y^{\prime }&=-4 \sin \left (x -y\right )-4 \\ \end{align*}

Let \(p=y^{\prime }\) the ode becomes

\begin{align*} p = -4 \sin \left (x -y \right )-4 \end{align*}

Solving for \(y\) from the above results in

\begin{align*} \tag{1} y &= x +\arcsin \left (\frac {p}{4}+1\right ) \\ \end{align*}

This has the form

\begin{align*} y=x f(p)+g(p)\tag {*} \end{align*}

Where \(f,g\) are functions of \(p=y'(x)\). The above ode is dAlembert ode which is now solved.

Taking derivative of (*) w.r.t. \(x\) gives

\begin{align*} p &= f+(x f'+g') \frac {dp}{dx}\\ p-f &= (x f'+g') \frac {dp}{dx}\tag {2} \end{align*}

Comparing the form \(y=x f + g\) to (1A) shows that

\begin{align*} f &= 1\\ g &= \arcsin \left (\frac {p}{4}+1\right ) \end{align*}

Hence (2) becomes

\begin{equation} \tag{2A} p -1 = \frac {p^{\prime }\left (x \right )}{\sqrt {-p^{2}-8 p}} \end{equation}

The singular solution is found by setting \(\frac {dp}{dx}=0\) in the above which gives

\begin{align*} p -1 = 0 \end{align*}

Solving the above for \(p\) results in

\begin{align*} p_{1} &=1 \end{align*}

Substituting these in (1A) and keeping singular solution that verifies the ode gives

\begin{align*} y = x +\arcsin \left (\frac {5}{4}\right ) \end{align*}

The general solution is found when \( \frac { \mathop {\mathrm {d}p}}{\mathop {\mathrm {d}x}}\neq 0\). From eq. (2A). This results in

\begin{equation} \tag{3} p^{\prime }\left (x \right ) = \left (p \left (x \right )-1\right ) \sqrt {-p \left (x \right )^{2}-8 p \left (x \right )} \end{equation}

This ODE is now solved for \(p \left (x \right )\). No inversion is needed.

Integrating gives

\begin{align*} \int \frac {1}{\left (p -1\right ) \sqrt {-p \left (8+p \right )}}d p &= dx\\ \frac {\arctan \left (\frac {-8-10 p}{6 \sqrt {-\left (p -1\right )^{2}-10 p +1}}\right )}{3}&= x +c_1 \end{align*}

Singular solutions are found by solving

\begin{align*} \left (p -1\right ) \sqrt {-p \left (8+p \right )}&= 0 \end{align*}

for \(p \left (x \right )\). This is because we had to divide by this in the above step. This gives the following singular solution(s), which also have to satisfy the given ODE.

\begin{align*} p \left (x \right ) = -8\\ p \left (x \right ) = 0 \end{align*}

Substituing the above solution for \(p\) in (2A) gives

\begin{align*} y &= x -\arcsin \left (\frac {9 \tan \left (3 x +3 c_1 \right ) \left (4 \tan \left (3 x +3 c_1 \right )+5 \sqrt {\tan \left (3 x +3 c_1 \right )^{2}+1}\right )}{5 \left (9 \tan \left (3 x +3 c_1 \right )^{2}+25\right )}-\frac {4}{5}\right ) \\ y &= x -\frac {\pi }{2} \\ y &= x +\frac {\pi }{2} \\ \end{align*}

The above solution was found not to satisfy the ode or the IC. Hence it is removed.

The above solution was found not to satisfy the ode or the IC. Hence it is removed.

The above solution was found not to satisfy the ode or the IC. Hence it is removed.

Figure 2.139: Slope field \(y^{\prime } = -4 \sin \left (x -y\right )-4\)

Summary of solutions found

\begin{align*} y &= x +\arcsin \left (\frac {5}{4}\right ) \\ \end{align*}

2.1.58.2 Solved using first_order_ode_form_A1

0.188 (sec)

Entering first order ode form A1 solver

\begin{align*} y^{\prime }&=-4 \sin \left (x -y\right )-4 \\ \end{align*}

The given ode has the general form

\begin{align*} y^{\prime } & = B+C f\left ( ax +b y +c\right ) \tag {1} \end{align*}

Comparing (1) to the ode given shows the parameters in the ODE have these values

\begin{align*} B &= -4\\ C &= 4\\ a &= -1\\ b &= 1\\ c &= 0 \end{align*}

This form of ode can be solved by change of variables \(u=ax+b y +c\) which makes the ode separable.

\begin{align*} u^{\prime }\left (x \right ) &=a+b y^{\prime } \end{align*}

Or

\begin{align*} y^{\prime } &= \frac { u^{\prime }\left (x \right ) - a} {b} \end{align*}

The ode becomes

\begin{align*} \frac {u' - a}{b} & = B+C f\left ( u\right ) \\ u' & =b B+ b C f\left ( u\right ) +a \\ \frac {du}{b B+b C f\left ( u\right ) +a} &= d x \end{align*}

Integrating gives

\begin{align*} \int \frac {du}{b B+ b C f(u) +a} &=x+c_1\\ \int ^{u}\frac {d\tau }{b B + b C f(\tau ) +a} & = x+c_1 \end{align*}

Replacing back \(u=ax+b y +c\) the above becomes

\begin{equation} \int ^{ax+b y +c}\frac {d\tau }{b B+b C f\left ( \tau \right ) +a} = x+c_{1}\tag {2} \end{equation}

If initial conditions are given as \(y\left ( x_{0}\right ) = y_{0}\), the above becomes

\begin{align*} \int _{0}^{a x_{0}+b y_{0}+c}\frac {d\tau }{b B + b C f\left ( \tau \right ) +a} & =x_{0}+c_{1}\\ c_{1} & =\int _{0}^{ax+by_{0}+c}\frac {d\tau }{b B+ b C f\left ( \tau \right )+a}-x_{0} \end{align*}

Substituting this into (2) gives

\begin{align*} \int ^{ax+by+c}\frac {d\tau }{bB+bC f\left ( \tau \right ) +a}= x+\int _{0}^{ax+by_{0}+c}\frac {d\tau }{bB+bC f\left ( \tau \right ) +a}-x_{0} \tag {3} \end{align*}

Solving for \(y\) gives

\begin{align*} y &= x -2 \arctan \left (\frac {3 \tan \left (\frac {3 x}{2}+\frac {3 c_1}{2}\right )}{5}-\frac {4}{5}\right ) \\ \end{align*}

Figure 2.140: Slope field \(y^{\prime } = -4 \sin \left (x -y\right )-4\)

Summary of solutions found

\begin{align*} y &= x -2 \arctan \left (\frac {3 \tan \left (\frac {3 x}{2}+\frac {3 c_1}{2}\right )}{5}-\frac {4}{5}\right ) \\ \end{align*}

2.1.58.3 Solved using first_order_ode_LIE

0.762 (sec)

Entering first order ode LIE solver

\begin{align*} y^{\prime }&=-4 \sin \left (x -y\right )-4 \\ \end{align*}

Writing the ode as

\begin{align*} y^{\prime }&=-4 \sin \left (x -y \right )-4\\ y^{\prime }&= \omega \left ( x,y\right ) \end{align*}

The condition of Lie symmetry is the linearized PDE given by

\begin{align*} \eta _{x}+\omega \left ( \eta _{y}-\xi _{x}\right ) -\omega ^{2}\xi _{y}-\omega _{x}\xi -\omega _{y}\eta =0\tag {A} \end{align*}

To determine \(\xi ,\eta \) then (A) is solved using ansatz. Using these anstaz

\begin{align*} \tag{1E} \xi &= 1 \\ \tag{2E} \eta &= \frac {A x +B y}{C x} \\ \end{align*}

Where the unknown coefficients are

\[ \{A, B, C\} \]

Substituting equations (1E,2E) and \(\omega \) into (A) gives

\begin{equation} \tag{5E} \frac {A}{C x}-\frac {A x +B y}{C \,x^{2}}+\frac {\left (-4 \sin \left (x -y \right )-4\right ) B}{C x}+4 \cos \left (x -y \right )-\frac {4 \cos \left (x -y \right ) \left (A x +B y \right )}{C x} = 0 \end{equation}

Putting the above in normal form gives

\[ -\frac {4 A \cos \left (x -y \right ) x^{2}+4 B \cos \left (x -y \right ) x y -4 \cos \left (x -y \right ) C \,x^{2}+4 B x \sin \left (x -y \right )+4 B x +B y}{C \,x^{2}} = 0 \]

Setting the numerator to zero gives

\begin{equation} \tag{6E} -4 A \cos \left (x -y \right ) x^{2}-4 B \cos \left (x -y \right ) x y +4 \cos \left (x -y \right ) C \,x^{2}-4 B x \sin \left (x -y \right )-4 B x -B y = 0 \end{equation}

Looking at the above PDE shows the following are all the terms with \(\{x, y\}\) in them.

\[ \{x, y, \cos \left (x -y \right ), \sin \left (x -y \right )\} \]

The following substitution is now made to be able to collect on all terms with \(\{x, y\}\) in them

\[ \{x = v_{1}, y = v_{2}, \cos \left (x -y \right ) = v_{3}, \sin \left (x -y \right ) = v_{4}\} \]

The above PDE (6E) now becomes

\begin{equation} \tag{7E} -4 A v_{3} v_{1}^{2}-4 B v_{3} v_{1} v_{2}+4 v_{3} C v_{1}^{2}-4 B v_{1} v_{4}-4 B v_{1}-B v_{2} = 0 \end{equation}

Collecting the above on the terms \(v_i\) introduced, and these are

\[ \{v_{1}, v_{2}, v_{3}, v_{4}\} \]

Equation (7E) now becomes

\begin{equation} \tag{8E} \left (-4 A +4 C \right ) v_{1}^{2} v_{3}-4 B v_{3} v_{1} v_{2}-4 B v_{1} v_{4}-4 B v_{1}-B v_{2} = 0 \end{equation}

Setting each coefficients in (8E) to zero gives the following equations to solve

\begin{align*} -4 B&=0\\ -B&=0\\ -4 A +4 C&=0 \end{align*}

Solving the above equations for the unknowns gives

\begin{align*} A&=C\\ B&=0\\ C&=C \end{align*}

Substituting the above solution in the anstaz (1E,2E) (using \(1\) as arbitrary value for any unknown in the RHS) gives

\begin{align*} \xi &= 1 \\ \eta &= 1 \\ \end{align*}

The next step is to determine the canonical coordinates \(R,S\). The canonical coordinates map \(\left ( x,y\right ) \to \left ( R,S \right )\) where \(\left ( R,S \right )\) are the canonical coordinates which make the original ode become a quadrature and hence solved by integration.

The characteristic pde which is used to find the canonical coordinates is

\begin{align*} \frac {d x}{\xi } &= \frac {d y}{\eta } = dS \tag {1} \end{align*}

The above comes from the requirements that \(\left ( \xi \frac {\partial }{\partial x} + \eta \frac {\partial }{\partial y}\right ) S(x,y) = 1\). Starting with the first pair of ode’s in (1) gives an ode to solve for the independent variable \(R\) in the canonical coordinates, where \(S(R)\). Therefore

\begin{align*} \frac {dy}{dx} &= \frac {\eta }{\xi }\\ &= \frac {1}{1}\\ &= 1 \end{align*}

This is easily solved to give

\begin{align*} y = x +c_1 \end{align*}

Where now the coordinate \(R\) is taken as the constant of integration. Hence

\begin{align*} R &= -x +y \end{align*}

And \(S\) is found from

\begin{align*} dS &= \frac {dx}{\xi } \\ &= \frac {dx}{1} \end{align*}

Integrating gives

\begin{align*} S &= \int { \frac {dx}{T}}\\ &= x \end{align*}

Where the constant of integration is set to zero as we just need one solution. Now that \(R,S\) are found, we need to setup the ode in these coordinates. This is done by evaluating

\begin{align*} \frac {dS}{dR} &= \frac { S_{x} + \omega (x,y) S_{y} }{ R_{x} + \omega (x,y) R_{y} }\tag {2} \end{align*}

Where in the above \(R_{x},R_{y},S_{x},S_{y}\) are all partial derivatives and \(\omega (x,y)\) is the right hand side of the original ode given by

\begin{align*} \omega (x,y) &= -4 \sin \left (x -y \right )-4 \end{align*}

Evaluating all the partial derivatives gives

\begin{align*} R_{x} &= -1\\ R_{y} &= 1\\ S_{x} &= 1\\ S_{y} &= 0 \end{align*}

Substituting all the above in (2) and simplifying gives the ode in canonical coordinates.

\begin{align*} \frac {dS}{dR} &= \frac {1}{-4 \sin \left (x -y \right )-5}\tag {2A} \end{align*}

We now need to express the RHS as function of \(R\) only. This is done by solving for \(x,y\) in terms of \(R,S\) from the result obtained earlier and simplifying. This gives

\begin{align*} \frac {dS}{dR} &= \frac {1}{4 \sin \left (R \right )-5} \end{align*}

The above is a quadrature ode. This is the whole point of Lie symmetry method. It converts an ode, no matter how complicated it is, to one that can be solved by integration when the ode is in the canonical coordiates \(R,S\).

Since the ode has the form \(\frac {d}{d R}S \left (R \right )=f(R)\), then we only need to integrate \(f(R)\).

\begin{align*} \int {dS} &= \int {\frac {1}{4 \sin \left (R \right )-5}\, dR}\\ S \left (R \right ) &= -\frac {2 \arctan \left (\frac {5 \tan \left (\frac {R}{2}\right )}{3}-\frac {4}{3}\right )}{3} + c_2 \end{align*}

\begin{align*} S \left (R \right )&= -\frac {2 \arctan \left (\frac {5 \tan \left (\frac {R}{2}\right )}{3}-\frac {4}{3}\right )}{3}+c_2 \end{align*}

To complete the solution, we just need to transform the above back to \(x,y\) coordinates. This results in

\begin{align*} x = \frac {2 \arctan \left (\frac {5 \tan \left (\frac {x}{2}-\frac {y}{2}\right )}{3}+\frac {4}{3}\right )}{3}+c_2 \end{align*}

The following diagram shows solution curves of the original ode and how they transform in the canonical coordinates space using the mapping shown.

Original ode in \(x,y\) coordinates	Canonical coordinates transformation	ODE in canonical coordinates \((R,S)\)
\( \frac {dy}{dx} = -4 \sin \left (x -y \right )-4\)		\( \frac {d S}{d R} = \frac {1}{4 \sin \left (R \right )-5}\)
	\(\!\begin {aligned} R&= -x +y\\ S&= x \end {aligned} \)

Solving for \(y\) gives

\begin{align*} y &= x +2 \arctan \left (\frac {3 \tan \left (-\frac {3 x}{2}+\frac {3 c_2}{2}\right )}{5}+\frac {4}{5}\right ) \\ \end{align*}

Figure 2.141: Slope field \(y^{\prime } = -4 \sin \left (x -y\right )-4\)

Summary of solutions found

\begin{align*} y &= x +2 \arctan \left (\frac {3 \tan \left (-\frac {3 x}{2}+\frac {3 c_2}{2}\right )}{5}+\frac {4}{5}\right ) \\ \end{align*}

2.1.58.4 ✓ Maple. Time used: 0.011 (sec). Leaf size: 21

ode:=diff(y(x),x) = -4*sin(x-y(x))-4; 
dsolve(ode,y(x), singsol=all);
 

\[ y = x +2 \arctan \left (\frac {3 \tan \left (-\frac {3 x}{2}+\frac {3 c_1}{2}\right )}{5}+\frac {4}{5}\right ) \]

Maple trace

Methods for first order ODEs: 
--- Trying classification methods --- 
trying a quadrature 
trying 1st order linear 
trying Bernoulli 
trying separable 
trying inverse linear 
trying homogeneous types: 
trying homogeneous C 
1st order, trying the canonical coordinates of the invariance group 
   -> Calling odsolve with the ODE, diff(y(x),x) = 1, y(x) 
      *** Sublevel 2 *** 
      Methods for first order ODEs: 
      --- Trying classification methods --- 
      trying a quadrature 
      trying 1st order linear 
      <- 1st order linear successful 
<- 1st order, canonical coordinates successful 
<- homogeneous successful
 

Maple step by step

\[ \begin {array}{lll} & {} & \textrm {Let's solve}\hspace {3pt} \\ {} & {} & \frac {d}{d x}y \left (x \right )=-4 \sin \left (-y \left (x \right )+x \right )-4 \\ \bullet & {} & \textrm {Highest derivative means the order of the ODE is}\hspace {3pt} 1 \\ {} & {} & \frac {d}{d x}y \left (x \right ) \\ \bullet & {} & \textrm {Solve for the highest derivative}\hspace {3pt} \\ {} & {} & \frac {d}{d x}y \left (x \right )=-4 \sin \left (-y \left (x \right )+x \right )-4 \end {array} \]

2.1.58.5 ✓ Mathematica. Time used: 0.698 (sec). Leaf size: 208

ode=D[y[x],x]==4*Sin[y[x]-x]-4; 
ic={}; 
DSolve[{ode,ic},y[x],x,IncludeSingularSolutions->True]
 

\[ \text {Solve}\left [\int _1^x\frac {4 (\sin (K[1]-y(x))+1)}{4 \sin (K[1]-y(x))+5}dK[1]+\int _1^{y(x)}-\frac {4 \sin (x-K[2]) \int _1^x\left (\frac {16 \cos (K[1]-K[2]) (\sin (K[1]-K[2])+1)}{(4 \sin (K[1]-K[2])+5)^2}-\frac {4 \cos (K[1]-K[2])}{4 \sin (K[1]-K[2])+5}\right )dK[1]+5 \int _1^x\left (\frac {16 \cos (K[1]-K[2]) (\sin (K[1]-K[2])+1)}{(4 \sin (K[1]-K[2])+5)^2}-\frac {4 \cos (K[1]-K[2])}{4 \sin (K[1]-K[2])+5}\right )dK[1]-1}{4 \sin (x-K[2])+5}dK[2]=c_1,y(x)\right ] \]

2.1.58.6 ✓ Sympy. Time used: 2.891 (sec). Leaf size: 42

from sympy import * 
x = symbols("x") 
y = Function("y") 
ode = Eq(4*sin(x - y(x)) + Derivative(y(x), x) + 4,0) 
ics = {} 
dsolve(ode,func=y(x),ics=ics)
 

\[ C_{1} + x - \frac {2 \operatorname {atan}{\left (\frac {5 \tan {\left (\frac {x}{2} - \frac {y{\left (x \right )}}{2} \right )}}{3} + \frac {4}{3} \right )}}{3} - \frac {2 \pi \left \lfloor {\frac {x - y{\left (x \right )} - \pi }{2 \pi }}\right \rfloor }{3} = 0 \]