Learning Objectives
- Recognize when a function of two variables is integrable over a general region.
- Evaluate a double integral by computing an iterated integral over a region bounded by two vertical lines and two functions of [latex]x[/latex] or two horizontal lines and two functions of [latex]y[/latex].
- Simplify the calculation of an iterated integral by changing the order of integration.
General Regions of Integration
An example of a general bounded region [latex]D[/latex] on a plane is shown in Figure 1. Since [latex]D[/latex] is bounded on the plane, there must exist a rectangular region [latex]R[/latex] on the same plane that encloses the region [latex]D[/latex], that is, a rectangular region [latex]R[/latex] exists such that [latex]D[/latex] is a subset of [latex]R(D \subseteq R)[/latex].
Suppose [latex]z=f(x, y)[/latex] is defined on a general planar bounded region [latex]D[/latex] as in Figure 1. In order to develop double integrals of [latex]f[/latex] over [latex]D[/latex], we extend the definition of the function to include all points on the rectangular region [latex]R[/latex] and then use the concepts and tools from the preceding section. But how do we extend the definition of [latex]f[/latex] to include all the points on [latex]R[/latex]? We do this by defining a new function [latex]g(x, y)[/latex] on [latex]R[/latex] as follows:
[latex]\hspace{8cm}\large{g(x,y)=\Bigg\{\begin{align} &f(x,y)&\ &\text{if }(x,y)\text{ is in }D \\ &0&\ &\text{if }(x,y)\text{ is in }R\text{ but not in }D \end{align}}[/latex]
Note that we might have some technical difficulties if the boundary of [latex]D[/latex] is complicated. So we assume the boundary to be a piecewise smooth and continuous simple closed curve. Also, since all the results developed in Double Integrals over Rectangular Regions used an integrable function [latex]f(x, y)[/latex], we must be careful about [latex]g(x, y)[/latex] and verify that [latex]g(x, y)[/latex] is an integrable function over the rectangular region [latex]R[/latex]. This happens as long as the region [latex]D[/latex] is bounded by simple closed curves. For now we will concentrate on the descriptions of the regions rather than the function and extend our theory appropriately for integration.
We consider two types of planar bounded regions.
DEFINITION
A region [latex]D[/latex] in the [latex](x, y)[/latex]-plane is of Type I if it lies between two vertical lines and the graphs of two continuous functions [latex]g_1(x)[/latex] and [latex]g_2(x)[/latex]. That is (Figure 2),
[latex]{D} = \left \{(x,y) \mid a \leq x \leq \ b,g_1 \leq y \leq g_2 \ (x) \right \}[/latex].
A region [latex]D[/latex] in the [latex]xy[/latex] plane is of Type II if it lies between two horizontal lines and the graphs of two continuous functions [latex]h_1(y)[/latex] and [latex]h_2(y)[/latex]. That is (Figure 3),
[latex]{D} = \left \{(x,y) \mid c \leq y \leq \ d,h_1 \leq x \leq h_2 \ (y) \right \}[/latex].
Example: Describing a region as type I and also as type ii
Consider the region in the first quadrant between the functions [latex]{y} = {\sqrt{x}}[/latex] and [latex]y=x^{3}[/latex] (Figure 4). Describe the region first as Type I and then as Type II.
try it
Consider the region in the first quadrant between the functions [latex]y=2x[/latex] and [latex]y=x^{2}[/latex]. Describe the region first as Type I and then as Type II.
Double Integrals over Nonrectangular Regions
To develop the concept and tools for evaluation of a double integral over a general, nonrectangular region, we need to first understand the region and be able to express it as Type I or Type II or a combination of both. Without understanding the regions, we will not be able to decide the limits of integrations in double integrals. As a first step, let us look at the following theorem.
Theorem: double integrals over nonrectangular regions
Suppose [latex]g(x, y)[/latex] is the extension to the rectangle [latex]R[/latex] of the function [latex]f(x, y)[/latex] defined on the regions [latex]D[/latex] and [latex]R[/latex] as shown in Figure 1 inside [latex]R[/latex]. Then [latex]g(x, y)[/latex] is integrable and we define the double integral of [latex]f(x, y)[/latex] over [latex]D[/latex] by
[latex]\underset{D}{\displaystyle\iint} {f(x,y)dA} = \underset{R}{\displaystyle\iint} {g(x,y)dA}[/latex].
The right-hand side of this equation is what we have seen before, so this theorem is reasonable because [latex]R[/latex] is a rectangle and [latex]\underset{R}{\displaystyle\iint}{g(x,y)dA}[/latex] has been discussed in the preceding section. Also, the equality works because the values of [latex]g(x, y)[/latex] are [latex]0[/latex] for any point [latex](x, y)[/latex] that lies outside [latex]D[/latex], and hence these points do not add anything to the integral. However, it is important that the rectangle [latex]R[/latex] contains the region [latex]D[/latex].
As a matter of fact, if the region [latex]D[/latex] is bounded by smooth curves on a plane and we are able to describe it as Type I or Type II or a mix of both, then we can use the following theorem and not have to find a rectangle [latex]R[/latex] containing the region.
Theorem: fubini’s theorem (strong form)
For a function [latex]f(x, y)[/latex] that is continuous on a region [latex]D[/latex] of Type I, we have
[latex]\underset{D}{\displaystyle\iint}{f(x,y)dA} = \underset{D}{\displaystyle\iint}{f(x,y)dy \ dx}=\displaystyle\int_a^b\left[\displaystyle\int_{g_1(x)}^{g_2(x)}f(x,y)dy\right]dx.[/latex]
Similarly, for a function [latex]f(x, y)[/latex] that is continuous on a region [latex]D[/latex] of Type II, we have
[latex]\underset{D}{\displaystyle\iint}{f(x,y)dA} = \underset{D}{\displaystyle\iint}{f(x,y)dx \ dy}=\displaystyle\int_c^d\left[\displaystyle\int_{h_1(y)}^{h_2(y)}f(x,y)dx\right]dy.[/latex]
The integral in each of these expressions is an iterated integral, similar to those we have seen before. Notice that, in the inner integral in the first expression, we integrate [latex]f(x, y)[/latex] with [latex]x[/latex] being held constant and the limits of integration being [latex]g_1(x)[/latex] and [latex]g_2(x)[/latex]. In the inner integral in the second expression, we integrate [latex]f(x, y)[/latex] with [latex]y[/latex] being held constant and the limits of integration are [latex]h_1(x)[/latex] and [latex]h_2(x)[/latex].
Example: evaluating an iterated integral over a type I region
Evaluate the integral [latex]\underset{D}{\displaystyle\iint}{x^2}{e^{xy}}{dA}[/latex] where [latex]D[/latex] is shown in Figure 5 (see solution for image).
In the Example: Evaluating an Iterated Integral over a Type I Region, we could have looked at the region in another way, such as [latex]{D} = {\left \{{(x,y)}{\mid}{0} \ {\leq} \ {y} \ {\leq} \ {1,0} \ {\leq} \ {x} \ {\leq} \ {2y} \right \}}[/latex] (Figure 6).
This is a Type II region and the integral would then look like
[latex]\large{\underset{D}{\displaystyle\iint}{x^2}{e^{xy}}{dA} = \displaystyle\int_{y=0}^{y=1}\displaystyle\int_{x=0}^{x=2u}{x^2}{e^{xy}}{dx} \ {dy}}[/latex]
However, if we integrate first with respect to [latex]x[/latex], this integral is lengthy to compute because we have to use integration by parts twice.
Example: evaluating an iterated integral over a type II region
Evaluate the integral [latex]\underset{D}{\displaystyle\iint}{({3x^2}+{y^2})} \ {dA}[/latex] where [latex]{=} \ {\left \{{(x,y)}{\mid}{-2} \ {\leq} \ {y} \ {\leq} \ {3,y^2-3} \ {\leq} \ {x} \ {\leq} \ {y+3} \right \}}[/latex].
try it
Sketch the region [latex]D[/latex] and evaluate the iterated integral [latex]\underset{D}{\displaystyle\iint}{xy} \ {dy} \ {dx}[/latex] where [latex]D[/latex] is the region bounded by the curves [latex]{y} = {\cos{x}}[/latex] and [latex]{y} = {\sin{x}}[/latex] in the interval [latex][{-3}{{\pi}/{4}},{{\pi}/{4}}][/latex].
Recall from Double Integrals over Rectangular Regions the properties of double integrals. As we have seen from the examples here, all these properties are also valid for a function defined on a nonrectangular bounded region on a plane. In particular, property 3 states:
If [latex]{R} = {S} \ {\cup} \ {T}[/latex] and [latex]{S} \ {\cap} \ {T} = {\emptyset}[/latex] except at their boundaries, then
[latex]\underset{R}{\displaystyle\iint}f(x,y)dA=\underset{S}{\displaystyle\iint}f(x,y)dA=\underset{T}{\displaystyle\iint}f(x,y)dA[/latex].
Similarly, we have the following property of double integrals over a nonrectangular bounded region on a plane.
theorem: decomposing regions into smaller regions
Suppose the region [latex]D[/latex] can be expressed as [latex]{D} = {D_1} \ {\cup} \ {D_2}[/latex] where [latex]D_1[/latex] and [latex]D_2[/latex] do not overlap except at their boundaries. Then
[latex]\underset{D}{\displaystyle\iint}f(x,y)dA=\underset{D_1}{\displaystyle\iint}f(x,y)dA=\underset{D_2}{\displaystyle\iint}f(x,y)dA[/latex].
This theorem is particularly useful for nonrectangular regions because it allows us to split a region into a union of regions of Type I and Type II. Then we can compute the double integral on each piece in a convenient way, as in the next example.
Example: decomposing regions
Express the region [latex]D[/latex] shown in Figure 8 as a union of regions of Type I or Type II, and evaluate the integral
[latex]\underset{D}{\displaystyle\iint}(2x+5y)dA[/latex].
try it
Consider the region bounded by the curves [latex]y = \ln{x}[/latex] and [latex]y = e^x[/latex] in the interval [latex][1,2][/latex]. Decompose the region into smaller regions of Type II.
Watch the following video to see the worked solution to the above Try It
try it
Redo Example “Decomposing Regions” using a union of two Type II regions.
Changing the Order of Integration
As we have already seen when we evaluate an iterated integral, sometimes one order of integration leads to a computation that is significantly simpler than the other order of integration. Sometimes the order of integration does not matter, but it is important to learn to recognize when a change in order will simplify our work.
Example: changing the order of integration
Reverse the order of integration in the iterated integral [latex]\displaystyle\int_{x=0}^{x=\sqrt2}\displaystyle\int_{y=0}^{y=2-x^2}xe^{x^2}dydx[/latex]. Then evaluate the new iterated integral.
Example: evaluating an iterated integral by reversing the order of integration
Consider the iterated integral [latex]\underset{R}{\displaystyle\iint}{f(x,y)}{dx} \ {dy}[/latex] where [latex]{z} = {f(x,y)} = {x-2y}[/latex] over a triangular region [latex]R[/latex] that has sides on [latex]x=0,\text{ }y=0[/latex] and the line [latex]x+y=1[/latex]. Sketch the region, and then evaluate the iterated integral by
a. integrating first with respect to [latex]y[/latex] and then
b. integrating first with respect to [latex]x[/latex].
try it
Evaluate the iterated integral [latex]\underset{R}{\displaystyle\iint}{(x^2+y^2)}{dA}[/latex] over the region [latex]D[/latex] in the first quadrant between the functions [latex]y=2x[/latex] and [latex]y=x^{2}[/latex]. Evaluate the iterated integral by integrating first with respect to [latex]y[/latex] and then integrating first with resect to [latex]x[/latex].
Watch the following video to see the worked solution to the above Try It