# Solution of the Brachistochrone Problem

### 5.22.3 Solution of the Brachistochrone Problem

To solve the brachistochrone problem (see Section 5.22.1), you can first find the Euler-Lagrange equations for the Lagrangian

L(x,y(x),y′(x))=

√

1+y′(x)2
2 g y(x)

You can simplify this somewhat by assuming that you are using units where 2g=1.
Input:

assume(y>=0):;
euler_lagrange(sqrt((1+y’^2)/y),x,y)

Output:

⎡
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎣

−

1

√

⎛
⎜
⎜
⎜
⎜
⎜
⎝

⎛
⎜
⎜
⎝

d
dx

y

⎛
⎝

x

⎞
⎠

⎞
⎟
⎟
⎠

2

+1

⎞
⎟
⎟
⎟
⎟
⎟
⎠

y

⎛
⎝

x

⎞
⎠

=K2,

d2
dx2

y

⎛
⎝

x

⎞
⎠

=

−

⎛
⎜
⎜
⎝

d
dx

y

⎛
⎝

x

⎞
⎠

⎞
⎟
⎟
⎠

2

−1

2 y | ⎛ ⎝ | x | ⎞ ⎠

⎤
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎦

It is easier to solve the first equation for y, since it is first-order and separable.

The first equation can be rewritten as

dy
dx

= −

√

C
x

− 1

for appropriate C, which can be solved by separation of variables, getting you the parametric equations

x

=

1
2

C

⎛
⎝

2θ −sin(2θ)

⎞
⎠

y

=

1
2

C

⎛
⎝

1 −cos(2θ)

⎞
⎠

which parameterize a cycloid. This implicitly defines a function y=y(x) as the only stationary function for L. The problem is to prove that it minimizes T, which would be easy if the integrand L was convex. However, it’s not the case here:
Input:

assume(y>=0):;
convex(sqrt((1+y’^2)/y),y(x))

Output:

⎡
⎢
⎢
⎢
⎢
⎢
⎣

−

⎛
⎜
⎜
⎝

d
dx

y

⎛
⎝

x

⎞
⎠

⎞
⎟
⎟
⎠

2

+3≥ 0

⎤
⎥
⎥
⎥
⎥
⎥
⎦

This is equivalent to |y′(t)|≤√3, which is certainly not satisfied by the cycloid y near the point x=0.

Using the substitution y(x)=z(x)2/2, you get y′(x)=z′(x) z(x) and

L(x,y(x),y′(x))=P(x,z(x),z′(x))=

√

2(z(x)−2+z′(x)2)

.

The function P is convex:
Input:

assume(z>=0):;
convex(sqrt(2*(z^(-2)+z’^2)),z(x))

Output:

true

Hence the function z(t)=√2 y(t), stationary for P (which is verified directly), minimizes the objective functional

U(z)=

∫

x1
0

P(x,z(x),z′(x)) dx.

From here and U(z)=T(y) it easily follows that y minimizes T and is therefore the brachistochrone. (For details see John L. Troutman, Variational Calculus and Optimal Control (second edition), page 257.)