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Partial Differential Equation Toolbox™ software handles the following basic eigenvalue problem:

$$-\nabla \cdot \left(c\nabla u\right)+au=\lambda du$$

where *λ* is an unknown complex number.
In solid mechanics, this is a problem associated with wave phenomena
describing, e.g., the natural modes of a vibrating membrane. In quantum
mechanics *λ* is the energy level of a bound
state in the potential well *a*(**x**),
where **x** represents a 2-D or 3-D point.

The numerical solution is found by discretizing the equation
and solving the resulting algebraic eigenvalue problem. Let us first
consider the discretization. Expand *u* in the FEM
basis, multiply with a basis element, and integrate on the domain
Ω. This yields the generalized eigenvalue equation

*KU* = *λMU*

where the mass matrix corresponds to the right side, i.e.,

$${M}_{i,j}={\displaystyle \underset{\Omega}{\int}d(x){\varphi}_{j}(x){\varphi}_{i}(x)\text{\hspace{0.17em}}dx}$$

The matrices *K* and *M* are
produced by calling `assema`

for the equations

–∇ · (*c*∇*u*)
+ *au* = 0 and –∇ · (0∇*u*)
+ *du* = 0

In the most common case, when the function *d*(**x**) is positive, the mass matrix *M* is
positive definite symmetric. Likewise, when *c*(**x**) is positive and we have Dirichlet boundary
conditions, the stiffness matrix *K* is also positive
definite.

The generalized eigenvalue problem, *KU* = *λMU*,
is now solved by the *Arnoldi algorithm* applied
to a shifted and inverted matrix with restarts until all eigenvalues
in the user-specified interval have been found.

Let us describe how this is done in more detail. You may want to look at the examples Eigenvalues and Eigenmodes of the L-Shaped Membrane or Eigenvalues and Eigenmodes of a Square, where actual runs are reported.

First a shift *µ* is determined close
to where we want to find the eigenvalues. When both *K* and *M* are
positive definite, it is natural to take *µ* =
0, and get the smallest eigenvalues; in other cases take any point
in the interval [lb,ub] where eigenvalues are sought. Subtract *µM* from
the eigenvalue equation and get (*K* - *µM*)*U* =
(*λ* - *µ*)*MU*.
Then multiply with the inverse of this shifted matrix and get

$$\frac{1}{\lambda -\mu}U={\left(K-\mu M\right)}^{-1}MU$$

This is a standard eigenvalue problem *AU* =
θ*U*, with the matrix *A* = (*K* – *µM*)^{-1}*M* and
eigenvalues

$${\theta}_{i}=\frac{1}{{\lambda}_{i}-\mu}$$

where *i* = 1, . . ., *n*.
The largest eigenvalues *θ _{i}* of
the transformed matrix

The Arnoldi algorithm computes an orthonormal basis *V* where
the shifted and inverted operator *A* is represented
by a Hessenberg matrix *H*,

*AV _{j}* =

(The subscripts mean that *V _{j}* and

Some of the eigenvalues of this Hessenberg matrix *H _{j,j}* eventually
give good approximations to the eigenvalues of the original pencil
(

The basis *V* is built one column *v _{j}* at
a time. The first vector

This is formulated as $${h}_{j+1}{v}_{j+1}=A{v}_{j}-{V}_{j}{h}_{j}$$,
where the column vector *h _{j}* consists
of the Gram-Schmidt coefficients, and

$$A{V}_{j}={V}_{j}{H}_{j,j}+{v}_{j+1}{h}_{j+1,j}{e}_{j}^{T}$$

where *H _{j,j}* is a

The eigensolution of the small Hessenberg matrix *H* gives
approximations to some of the eigenvalues and eigenvectors of the
large matrix operator *A _{j,j}* in
the following way. Compute eigenvalues

$${H}_{j,j}{s}_{i}={s}_{i}{\theta}_{i},\text{\hspace{0.17em}}\text{\hspace{0.17em}}i=1,\mathrm{...},j$$

Then *y _{i}* =

$${r}_{i}=A{y}_{i}-{y}_{i}{\theta}_{i}=A{V}_{j}{s}_{i}-{V}_{j}{s}_{i}{\theta}_{i}=(A{V}_{j}-{V}_{j}{H}_{j,j}){s}_{i}={v}_{j+1}{h}_{j+1,j}{s}_{i,j}$$

This residual has to be small in norm for *θ _{i}* to
be a good eigenvalue approximation. The norm of the residual is

$$\Vert {r}_{i}\Vert =\left|{h}_{j+1,j}{s}_{j,i}\right|$$

the product of the last subdiagonal element of the Hessenberg
matrix and the last element of its eigenvector. It seldom happens
that *h*_{j+1,j} gets
particularly small, but after sufficiently many steps *j* there
are always some eigenvectors *s _{i}* with
small last elements. The long vector

It is not necessary to actually compute the eigenvector approximation *y _{i}* to
get the norm of the residual; we only need to examine the short vectors

This eigenvalue computation and test for convergence is done
every few steps *j*, until all approximations to
eigenvalues inside the interval [lb,ub] are flagged as converged.
When *n* is much larger than *j*,
this is done very often, for smaller *n* more seldom.
When all eigenvalues inside the interval have converged, or when *j* has
reached a prescribed maximum, the converged eigenvectors, or more
appropriately *Schur vectors*, are computed and
put in the front of the basis *V*.

After this, the Arnoldi algorithm is restarted with a random
vector, if all approximations inside the interval are flagged as converged,
or else with the best unconverged approximate eigenvector *y _{i}*.
In each step

This is a heuristic strategy that has worked well on both symmetric,
nonsymmetric, and even defective eigenvalue problems. There is a tiny
theoretical chance of missing an eigenvalue, if all the random starting
vectors happen to be orthogonal to its eigenvector. Normally, the
algorithm restarts *p* times, if the maximum multiplicity
of an eigenvalue is *p*. At each restart a new random
starting direction is introduced.

The shifted and inverted matrix *A* = (*K* – *µM*)^{–1}*M* is
needed only to operate on a vector *v _{j}* in
the Arnoldi algorithm. This is done by computing an LU factorization,

*P*(*K* – *µM*)*Q* = *LU*

using the sparse MATLAB^{®} command `lu`

(*P* and *Q* are
permutations that make the triangular factors *L* and *U* sparse
and the factorization numerically stable). This factorization needs
to be done only once, in the beginning, then *x* = *Av _{j}* is
computed as,

*x* = *QU*^{–1}*L*^{–1}*PMv _{j}*

with one sparse matrix vector multiplication, a permutation, sparse forward- and back-substitutions, and a final renumbering.

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