E M Programmer's N otebook Founded by J o h n Volak is

David B. Davidson

Dept. E&E Engineering Un iversity of Stel lenbosch Ste l lenbosch 7600, South Africa Tel : +27 2 1 808 4458 ; Fax: +27 2 1 808 498 1 E-mai l : davidson@sun .ac.za

A Personal Selectio n of Books on E lectromag netics and

Com putational E lectromag netics

David B. Davidson

Department of Electrical and Electronic Engineering Un iversity of Stel lenbosch

Private Bag X1 , Matieland 7602 , South Africa

E-mai l : davidson@sun .ac.za

Abstract

A review of a number of books on electromagnetics and computational electromagnetics is presented .

Keywords: Books ; electromagnetics; computational e lectromagnetics ; electrical engineering education

1 . I ntrod uction

Whilst computerized databases have revolutionized the way we access journals, the same is not true of books.

My own bookshelves sti l l groan with texts that I value highly, and of which almost none are currently available in electronic form. I am quite frequently asked by students and young researchers which I consider to be the cIassic texts. For some time, I have been considering putting this down in writing, and a delay in the paper scheduled for this column finally resuIted in the fol lowing review of personal favorites. I emphasize the term personal: this does not pretend to be an exhaustive bibli­ography of the field, aIthough some fifty books are cited. It is possible that some of these books may now be available in later editions; I have mostly referenced the edition that I have.

2. General Books on Electromagnetics

When our department recently reviewed our junior-level text, we were struck by the large number of books now avail­able from wh ich to teach introductory electromagnetics. Here, I mention only my two personal favorites. The first is Ramo, Whinnery and van Duzer 's cIassic text [ I ] , first published in 1 965. This is the text from which I was taught as a student in 1 98 1 . My second favorite is the unique text by Haus and Me\cher [2] , now sadly out of print. The book offers an unri­valled and rigorous development of quasi-statics, a field that most texts gloss over. We used this text for our juniors for many years, but it requires a stronger grounding in physics than most EE students now have. This, combined with being out of print, led us to replace it with a text more accessible to our students .

1 56 IEEE Antennas and Propagation Magazine. Vol . 53 , No. 6, December 20 1 1

The classic text on electromagnetics remains Stratton [3 ] , and this work is sti l l regularly cited today. I t has recently been reissued by the IEEE, and it is again readily available. At the post-graduate level, Balanis's text has become a standard ref­erence [4] . It is especially notable for its detailed and rigorous derivation of classic analytical results in electromagnetics, such as scattering from right circular cylinders and spheres. Harrington 's book [5] is another standard reference, also available as an IEEE reprint; it is not dissimilar in coverage to Balanis. For more-advanced treatments - in particular, of integral equations - Ishimaru 's text can be recommended [6] . Unlike most books on electromagnetics that first introduce analytical solutions, with numerics only introduced later, Smith 's book [7] starts with an immediate application of the FDTD before moving on to the more-classical approach. Another book taking a less-conventional approach is Elliot's particularly erudite text [8] . The book starts immediately with special relativity, and develops electromagnetics in that con­text. Jones presents an interesting unified treatment of acous­tics and electromagnetics in [9] . His two-volume text is also of interest, although the slightly unconventional notation therein requires adjustment [ 1 0] . Tai 's text [ 1 1 ] is the standard refer­ence on dyadic Green functions in electromagnetics. Felsen and Marcuvitz [ 1 2] - first published in 1 973, and also now available again as an IEEE reprint - is another classic in advanced EM theory, although not the easiest reading. Their coverage of the asymptotic evaluation of integrals is regularly cited. On guided waves, Collin is the standard reference [ 1 3] . For an very good treatment of stratified media, Chew's book rewards study [ 1 4] ; Kong also addresses this i n some detail i n [ 1 5] . For an excellent treatment of electromagnetics in the context of radio astronomy, Kraus's book remains a valuable reference [ 1 6] . (The second edition ofthis text was effectively self-published). Although the latter part of both editions, especially that focusing on specific telescopes, is now of course very outdated, the first part retains its relevance.

Many excellent books on electromagnetics are more phys­ics than engineering oriented. A frequently referenced book in physics is Jackson 's text [ 1 7] . Whilst I have referred to it on occasions, it can be a somewhat inaccessible for engineers . A volume (actually three volumes) to which I regularly refer are Feynman's Lectures in Physics [ 1 8] . Although first presented almost fifty years ago, Feynman's idiosyncratic approach remains compelling today, and his discussion of electromagnetic potential theory, including the Lienard-Wiechert potential, is superb. An interesting footnote here is that the final lecture concludes with a discussion of the Josephson junction, just invented at the time, and F eynman 's insight into its potential. In the closely related field of optics, Born and Wolf is the classic reference [ 1 9] . Finally, for those wanting an unconventional and challenging development with a very strong physics perspective, Schwinger 's recently published and edited lecture notes on electromagnetics [20] can be recommended.

3. General Books on Computational E lectromagnetics

Peterson, Ray, and Mittra 's book [2 1 ] is a classic, with excellent coverage of both integral- and differential-equation­based techniques. It is perhaps strongest on the former. Bondeson, Rylander, and Ingelström's text [22] offers par­ticularly concise coverage of the field, combined with a rigorous mathematical approach. It is particularly strong on basic aspects of finite differencing, especially when applied to complex exponentials - which underlies both dispersion and stabil ity analyses of the FDTD. My own book [23] takes a slightly different approach to both these texts: it integrates theoretical development; MATLAB examples in one, two, and three dimensions; and application of commercial software . It provides approximately equal coverage of the FDTD, MoM, and FEM. Sadiku 's book is widely referenced [24] . It is more general that the three discussed above, which focus primarily on full-wave applications. Booton 's text [25] is similar to Sadiku 's in its generality, but with less-extensive coverage. None of these texts addresses asymptotic methods - in particular, UTD - for which [26] remains the standard reference. It should also be mentioned that some recent antenna texts, for example [27, 28], contain introductory coverage of MoM, FDTD, and UTD.

4. Special ized Books on Computational E lectromag netics

There are several very good texts on the FDTD method. Kunz and Luebber 's was the first [29] , appearing in 1 993 . Taftove 's volume, presently in its third and co-authored edi­tion [30] , is the standard reference for the FDTD in CEM. The book offers encyclopedic coverage of the method. (Kunz and Luebbers were unfortunate to publish their book just before the revolutionary perfectly matched layer (PML) was invented by Berenger in 1 994, although the book stil l contains useful material, not the least a working FDTD code. This code has served as the basis for a number of academic codes.)

Similarly, the FEM is weil served. There are a number of excellent texts on the FEM, including those by Jin (revised in 2002) [3 1 ] , S ilvester and Ferrari [32] , and Volakis et al. [33 ] . Another useful source i s the 1 996 volume edited b y Itoh e t al . [34] . More recently, Zhu and Cangellaris 's text [35] provides coverage of many advanced issues in full-wave FEM. The book by Monk repays careful study by those wanting a text with more mathematical rigor, whilst sti l l being firmly rooted in electromagnetics [36] .

The MoM is currently less weil served by single-focus books. The original text by Harrington [37] , although reprinted

IEEE Antennas and Propagation Magazine, Vol . 53 , No. 6, December 20 1 1 1 57

- but not revised - on several occasions and still very widely referenced, is not particularly useful when implementing complex RF simulation codes, since its focus is more on basic concepts . The text by Wang [38] is quite widely referenced, but was published many years back, and some of the more troublesome and advanced issues of a MoM implementation are not discussed in the book. Several important chapters in the now hard-to-find [39] are of considerable interest when implementing complex wire codes, and this sti ll appears to be the only comprehensive derivation available of the magnetic­field integral equation as generally used; this work generalized some aspects of Maue 's original derivation. Another hard-to­find reference with useful information on MoM procedures for arbitrarily oriented wire antennas is [40] . In this context, Moore and Pizer's monograph [4 1 ] was useful in its time, but unfortunately has never been revised, and may be difficult to locate. (Although a report rather than a book, a useful and readily available source on this topic is the theory manual for NEC-2 [42] . ) Although focused specifically on antenna modeling as an application of MoM, the book by Makarov can be recommended [43] .

5 . Other Books

Computational electromagnetics uses many techniques of numerical analysis. On this general topic, Press et al. is both highly entertaining and informative [44] , and my first stop when I need to understand a numerical method new to me. They also provide an excellent introductory treatment to finite differencing, in general [44] . Richtmyer and Morton's text on finite-difference methods applied to initial-value problems remains the classic reference [45 ] . Although out ofprint, copies may be found at special ist online booksellers.

For general FEM, a widely cited text is [46] , and it is particularly useful for time-domain FEM. Although quite widely cited in solid mechanics, I find Braess's book [47] very difficult going.

On mathematics and mathematical physics, I regularly refer to Boas 's text [48] , which is especially accessible. As a comprehensive reference on mathematical physics, Artken and Weber [49] is an excel lent acquisition. For functional analysis, I refer to Reddy's introductory text [50] , as it is specifically focused on finite elements. For matrix algebra, Golub and van Loan is the standard reference [5 1 ] , although I find [52] more accessible. For boundary-value problems, Stakgold is widely cited [53 ] . Oudley's book is also of note [54] .

6. Concl usions

The more than fifty books referenced here were acquired during the course of almost a quarter-century of work in elec­tromagnetics. As a community, we are fortunate that a number of these are back in print as part of an IEEE program. These

books also represent a significant financial investment. For young researchers at universities and research institutions, it would be worth insuring that a representative selection of these texts is avai lable in your institution 's library, if they are not already. If one was to make a very limited "starting-up" selection for one 's own shelves in electromagnetics and com­putational electromagnetics, I would recommend the follow­ing: Stratton [3] as the classic reference on electromagnetics; Balanis [4] as an excellent and comprehensive modem refer­ence; for contemporary computational electromagnetics, either Bondeson, Rylander and Ingelström [22] or my own text [23 ] , depending o n whether one 's interests incline more towards mathematics or applications, respectively; and then for more­specialized CEM coverage, Jin for FEM [3 1 ] , or Taftove and Hagness for FOTO [30] .

Any list of this nature inevitably overlooks some very worthy volumes. I have also specifically not included books on antennas, except where there is overlap, nor books on microwave devices. I have also not included collected volumes of papers : with the ready availability of electronic databases these are less useful nowadays, although the editorial comments in some ofthe volumes were very insightful. There have also no doubt been some recently published texts that are not included. Finally, whilst correspondence is - as always - welcome, it may not be possible to publish all comments.

7. References

1 . S. Ramo, 1. R. Whinnery, and T. van Ouzer, Fields and Waves in Communication Electronics, Third Edition, New York, John Wiley and Sons, 1 994.

2 . H . A. Haus and 1. R. Melcher, Electromagnetic Fields and Energy, Englewood Cliffs, NJ, Prentice-Hall, 1 989.

3 . J . A. Stratton, Electromagnetic Theory, New York, McGraw Hill , 1 94 1 .

4 . C . A . Balanis, Advanced Engineering Electromagnetics, New York, John Wiley and Sons, 1 989.

5. R. F. Harrington, Time-Harmonic Electromagnetic Fields, New York, McGraw-Hill, 1 96 1 .

6 . A. Ishimaru, Electromagnetic Wave Propagation, Radiation and Scattering, Engelwood Cliffs, NJ, Prentice-Hall, 1 99 1 .

7 . G. S . Smith, A n Introduction to Classical Electromagnetic Radiation, Cambridge, UK, Cambridge University Press, 1 997.

8 . R. S . Elliott, Electromagnetics: History, Theory and Appli­cations, Piscataway, NJ, IEEE Press, 1 993 .

9. O. S. Jones, Acoustic and Electromagnetic Waves, Oxford, Oxford University Press, 1 986.

1 58 IEEE Antennas and Propagation Magazine, Vol . 53 , No. 6, Oecember 20 1 1

1 0. D. S . Jones, Methods in Electromagnetic Wave Propaga­tion, Oxford, Oxford University Press, 1 987 .

1 1 . C . T . Tai, Dyadic Green s Functions in Electromagnetic Theory, Second Edition, New York, IEEE Press, 1 994.

1 2 . L . B . Felsen and N. Marcuvitz, Radiation and Scattering of Waves, IEEE Press, IEEE Press, 1 994, originally published 1 973 .

1 3 . R. E. Collin, Field Theory of Guided Waves, New York, IEEE Press, 1 99 1 .

1 4. W. C . Chew, Waves and Fields in Inhomogeneous Media, New York, van Nostrand Reinhold, 1 990.

1 5 . J . A. Kong, Electromagnetic Wave Theory, New York, John Wiley and Sons, 1 986.

1 6 . J . D. Kraus, Radio Astronomy, New York, McGraw-Hil l , 1 968 .

1 7 . 1 . D. Jackson, Classical Electrodynamics, Second Edition, New York, John Wiley and Sons, 1 975 .

1 8 . R. P. Feynmann, R. B . Leighton, and P. Sands, The Feynmann Lectures on Physics, Reading, MA, Addison-Wesley, 1 963 .

1 9 . M. Born and E. Wolf, Principles ofOptics: Electromagnetic Theory of Propagation, Interference and DifJraction of Light, Seventh Edition, Cambridge, UK, Cambridge University Press, 1 999.

20. 1 . Schwinger, L. L. DeRaad, K. A. Milton, and w.-Y. Tsai , Classical Electrodynamics, Reading, MA, Perseus Books, 1 998.

2 1 . A. F . Peterson, S . L. Ray, and R. Mittra, Computational Methods for Electromagnetics, Oxford and New York, Oxford University Press and IEEE Press, 1 998 .

22. A. Bondeson, T . Rylander, and P. Ingelström, Computational Electromagnetics, New York, NY, Springer Science, 2005 .

23 . D. B. Davidson, Computational Electromagnetics for RF and Microwave Engineering, Second Edition, Cambridge, UK, Cambridge University Press, 20 1 1 .

24. M . N . O. Sadiku, Numerical Techniques in Electromag­netics with MATLAB, Boca Raton, Florida, CRC Press, 2009.

25. R. C . Booton, Computational Methods for Electromag­netics and Microwaves, New York, John Wiley and Sons, 1 992.

26. D. A. McNamara, C . W. I . Pistorius, and J. A. G. Malherbe, The Uniform Geometrical Theory of DifJraction, Norwood, MA, Artech House, 1 990.

27. W. L. Stutzman and G. A. Thiele, Antenna Theory and Design, Second Edition, New York, John Wiley and Sons, 1 998.

28 . C . A. Balanis, Antenna Theory: Analysis and Design, Sec­ond Edition, New York, John Wiley and Sons, 1 997.

29. K. S . Kunz and R. 1 . Luebbers, The Finite DifJerence Time Domain Method for Electromagnetics, Boca Raton, Florida, CRC Press, 1 993 .

30 . A. Taflove and S. Hagness, Computational Electrody­namics: The Finite DifJerence Time Domain Method, Third Edition, Norwood, MA, Artech House, 2005 .

3 1 . 1 . -M. J in, The Finite Element Method in Electromagnetics, Second Edition, New York, John Wiley and Sons, 2002 .

32 . P. P. Si lvester and R. L. Ferrari , Finite Elements for Elec­trical Engineers, Third Edition, Cambridge, Cambridge Uni­versity Press, 1 996.

33. J . Volakis, A. Chatterjee, and L. Kempel, Finite Element Method for Electromagnetics: Antennas, Microwave Circuits and Scattering Applications, Oxford and New York, Oxford University Press and IEEE Press, 1 998.

34. T. Itoh, G. Pelosi, and P. P. Si lvester (eds .) , Finite Element Software for Microwave Engineering, New York, John Wiley and Sons, 1 996.

35. Y. Zhu and A. C . Cangellaris, Multigrid Finite Element Methods for Electromagnetic Field Modeling, New York, IEEE Press, 2006.

36. P. Monk, Finite Element Methodsfor Maxwell s Equations, Oxford, UK, Oxford University Press, 2003 .

37 . R. F. Harrington, Field Computation by Moment Methods, Malabar, Florida, Robert E. Krieger, 1 982, reprint of 1 968 edition.

38 . J . 1. H. Wang, Generalized Moment Methods in Electro­magnetics, New York, John Wiley and Sons, 1 99 1 .

39 . R. Mittra (ed.) , Computer Techniquesfor Electromagnetics, Oxford, Pergamon, 1 973 .

40 . W. A. Imbriale, "Applications of the Method ofMoments to Thin-Wire Elements and Arrays," in R. Mittra (ed.), Numerical and Asymptotic Techniques in Electromagnetics, Berlin, Springer-Verlag, 1 975 .

4 1 . J . Moore and R. Pizer (eds.) , Moment Methods in Electro­magnetics Techniques and Applications, Letchworth, Hert­fordshire, Research Studies Press, 1 986.

IEEE Antennas and Propagation Magazine, Vol. 53, No. 6, December 20 1 1 1 59

42. G. 1. Burke and A . 1. Poggio, "Numerical Electromagnetics Code (NEC) - Method ofMoments; Part I: Program Description - Theory," January 1 98 1 .

43 . S . N . Makarov, Antenna and EM modeling with MATLAB, New York, John Wiley and Sons, 2002.

44. W. H. Press, S . A. Teukolsky, W. Vettering, and B . R. Flannery, Numerieal Reeipes: The Art ofScientifie Computing, Third Edition, Cambridge, England, Cambridge University Press, 2007.

45 . R. D. Richtmyer and K. Morton, DifJerenee Methods for Initial- Value Problems, Seeond Edition, New York, John Wiley and Sons, 1 967, 1 994 reprint, Malabar, FA, Krieger.

46. T. 1. R. Hughes, The Finite Element Method: Linear Static and Dynamic Finite Element Analysis, Englewood Cliffs, NJ, Prentice-Hall , 1 987, Dover reprint, 2000.

47. D. Braess, Finite Elements Theory, Fast Solvers, and Applications in Solid Mechanics, Second Edition, Cambridge, UK, Cambridge University Press, 200 1 .

48. M . Boas, Mathematical Methods in the Physical Sciences, Third Edition, New York, John Wiley and Sons, 2005 .

49. G. B. Arfken and H . J. Weber, Mathematical Methods for Physicists, Second Edition, Burlington, MA, Elsevier, 2005 .

50. B. D. Reddy, Introductory Functional Analysis: With Applications to Boundary- Value Problems and Finite Elements, New York, Springer-Verlag, 1 998 .

5 1 . G. H . Golub and C . F . Van Loan, Matrix Computations, Third Edition, Baltimore, Johns Hopkins University Press, 1 996.

52. A. Jennings, Matrix Computation for Engineers and Sci­entists, Chichester, John Wiley and Sons, 1 985 .

5 3 . I . Stakgold, Green :S Functions and Boundary Value Problems, New York, John Wiley and Sons, 1 979.

54. D. G. Dudley, Mathematieal Foundations for Electromag­netie Theory, New York, IEEE Press, 1 994. A�

1 60 IEEE Antennas and Propagation Magazine, Vol. 53 , No. 6, December 20 1 1