List of Runge–Kutta methods

Runge–Kutta methods are methods for the numerical solution of the ordinary differential equation

\frac{d y}{d t} = f(t, y)\,

which take the form

y_{n+1} = y_n + h \sum_{i=1}^s b_i k_i\,

k_i = f\left(t_n + c_i h, y_n + h \sum_{j = 1}^{s} a_{ij} k_j\right).

The methods listed on this page are each defined by its Butcher tableau, which puts the coefficients of the method in a table as follows:

\begin{array}{c|cccc} c_1 & a_{11} & a_{12}& \dots & a_{1s}\\ c_2 & a_{21} & a_{22}& \dots & a_{2s}\\ \vdots & \vdots & \vdots& \ddots& \vdots\\ c_s & a_{s1} & a_{s2}& \dots & a_{ss} \\ \hline & b_1 & b_2 & \dots & b_s\\ \end{array}

Explicit methods

The explicit methods are those where the matrix $[a_{ij}]$ is lower triangular.

Forward Euler

The Euler method is first order. The lack of stability and accuracy limits its popularity mainly to use as a simple introductory example of a numeric solution method.

\begin{array}{c|c} 0 & 0 \\ \hline & 1 \\ \end{array}

Explicit midpoint method

The (explicit) midpoint method is a second-order method with two stages (see also the implicit midpoint method below):

\begin{array}{c|cc} 0 & 0 & 0 \\ 1/2 & 1/2 & 0 \\ \hline & 0 & 1 \\ \end{array}

Heun's method

Heun's method is a second-order method with two stages (also known as explicit trapezoid rule):

\begin{array}{c|cc} 0 & 0 & 0 \\ 1 & 1 & 0 \\ \hline & 1/2 & 1/2 \\ \end{array}

Ralston's method

Ralston's method is a second-order method with two stages and a minimum local error bound:

\begin{array}{c|cc} 0 & 0 & 0 \\ 2/3 & 2/3 & 0 \\ \hline & 1/4 & 3/4 \\ \end{array}

Generic second-order method

\begin{array}{c|ccc} 0 & 0 & 0 \\ x & x & 0 \\ \hline & 1-\frac{1}{2x} & \frac{1}{2x} \\ \end{array}

Kutta's third-order method

\begin{array}{c|ccc} 0 & 0 & 0 & 0 \\ 1/2 & 1/2 & 0 & 0 \\ 1 & -1 & 2 & 0 \\ \hline & 1/6 & 2/3 & 1/6 \\ \end{array}

Classic fourth-order method

The "original" Runge–Kutta method.

\begin{array}{c|cccc} 0 & 0 & 0 & 0 & 0\\ 1/2 & 1/2 & 0 & 0 & 0\\ 1/2 & 0 & 1/2 & 0 & 0\\ 1 & 0 & 0 & 1 & 0\\ \hline & 1/6 & 1/3 & 1/3 & 1/6\\ \end{array}

3/8-rule fourth-order method

This method doesn't have as much notoriety as the "classical" method, but is just as classical because it was proposed in the same paper (Kutta, 1901).

\begin{array}{c|cccc} 0 & 0 & 0 & 0 & 0\\ 1/3 & 1/3 & 0 & 0 & 0\\ 2/3 & -1/3 & 1 & 0 & 0\\ 1 & 1 & -1 & 1 & 0\\ \hline & 1/8 & 3/8 & 3/8 & 1/8\\ \end{array}

Embedded methods

The embedded methods are designed to produce an estimate of the local truncation error of a single Runge-Kutta step, and as result, allow to control the error with adaptive stepsize. This is done by having two methods in the tableau, one with order p and one with order p-1.

The lower-order step is given by

y^*_{n+1} = y_n + h\sum_{i=1}^s b^*_i k_i,

where the $k_i$ are the same as for the higher order method. Then the error is

e_{n+1} = y_{n+1} - y^*_{n+1} = h\sum_{i=1}^s (b_i - b^*_i) k_i,

which is O(h p). The Butcher Tableau for this kind of method is extended to give the values of $b^*_i$

\begin{array}{c|cccc} c_1 & a_{11} & a_{12}& \dots & a_{1s}\\ c_2 & a_{21} & a_{22}& \dots & a_{2s}\\ \vdots & \vdots & \vdots& \ddots& \vdots\\ c_s & a_{s1} & a_{s2}& \dots & a_{ss} \\ \hline & b_1 & b_2 & \dots & b_s\\ & b_1^* & b_2^* & \dots & b_s^*\\ \end{array}

Heun–Euler

The simplest adaptive Runge–Kutta method involves combining Heun's method, which is order 2, with the Euler method, which is order 1. Its extended Butcher Tableau is:

\begin{array}{c|cc} 0&\\ 1& 1 \\ \hline & 1/2& 1/2\\ & 1 & 0 \end{array}

The error estimate is used to control the stepsize.

Bogacki–Shampine

The Bogacki–Shampine method has two methods of orders 3 and 2. Its extended Butcher Tableau is:

0
1/2	1/2
3/4	0	3/4
1	2/9	1/3	4/9
	2/9	1/3	4/9	0
	7/24	1/4	1/3	1/8

The first row of b coefficients gives the third-order accurate solution, and the second row has order two.

Fehlberg

The Runge–Kutta–Fehlberg method has two methods of orders 5 and 4. Its extended Butcher Tableau is:

0
1/4	1/4
3/8	3/32	9/32
12/13	1932/2197	−7200/2197	7296/2197
1	439/216	−8	3680/513	−845/4104
1/2	-8/27	2	−3544/2565	1859/4104	−11/40
	16/135	0	6656/12825	28561/56430	−9/50	2/55
	25/216	0	1408/2565	2197/4104	−1/5	0

The first row of b coefficients gives the fifth-order accurate solution, and the second row has order four.

Cash-Karp

Cash and Karp have modified Fehlberg's original idea. The extended tableau for the Cash–Karp method is

0
1/5	1/5
3/10	3/40	9/40
3/5	3/10	−9/10	6/5
1	−11/54	5/2	−70/27	35/27
7/8	1631/55296	175/512	575/13824	44275/110592	253/4096
	37/378	0	250/621	125/594	0	512/1771
	2825/27648	0	18575/48384	13525/55296	277/14336	1/4

The first row of b coefficients gives the fifth-order accurate solution, and the second row has order four.

Dormand–Prince

The extended tableau for the Dormand–Prince method is

0
1/5	1/5
3/10	3/40	9/40
4/5	44/45	−56/15	32/9
8/9	19372/6561	−25360/2187	64448/6561	−212/729
1	9017/3168	−355/33	46732/5247	49/176	−5103/18656
1	35/384	0	500/1113	125/192	−2187/6784	11/84
	35/384	0	500/1113	125/192	−2187/6784	11/84	0
	5179/57600	0	7571/16695	393/640	−92097/339200	187/2100	1/40

The first row of b coefficients gives the fifth-order accurate solution, and the second row has order four.

Implicit methods

Backward Euler

The backward Euler method is first order. Unconditionally stable and non-oscillatory for linear diffusion problems.

\begin{array}{c|c} 1 & 1 \\ \hline & 1 \\ \end{array}

Implicit midpoint

The implicit midpoint method is of second order. It is the simplest method in the class of collocation methods known as the Gauss methods. It is a symplectic integrator.

\begin{array}{c|c} 1/2 & 1/2 \\ \hline & 1 \end{array}

Gauss–Legendre methods

These methods are based on the points of Gauss–Legendre quadrature. The Gauss–Legendre method of order four has Butcher tableau:

\begin{array}{c|cc} \frac{1}{2}-\frac{\sqrt3}{6} & \frac{1}{4} & \frac{1}{4}-\frac{\sqrt3}{6} \\ \frac{1}{2}+\frac{\sqrt3}{6} & \frac{1}{4}+\frac{\sqrt3}{6} &\frac{1}{4} \\ \hline & \frac{1}{2} & \frac{1}{2}\\ \end{array}

The Gauss–Legendre method of order six has Butcher tableau:

\begin{array}{c|ccc} \frac{1}{2} - \frac{\sqrt{15}}{10} & \frac{5}{36} & \frac{2}{9}- \frac{\sqrt{15}}{15} & \frac{5}{36} - \frac{\sqrt{15}}{30} \\ \frac{1}{2} & \frac{5}{36} + \frac{\sqrt{15}}{24} & \frac{2}{9} & \frac{5}{36} - \frac{\sqrt{15}}{24}\\ \frac{1}{2} + \frac{\sqrt{15}}{10} & \frac{5}{36} + \frac{\sqrt{15}}{30} & \frac{2}{9} + \frac{\sqrt{15}}{15} & \frac{5}{36} \\ \hline & \frac{5}{18} & \frac{4}{9} & \frac{5}{18} \\ \end{array}

Lobatto methods

There are three families of Lobatto methods, called IIIA, IIIB and IIIC. These are named after Rehuel Lobatto. All are implicit methods, have order 2s − 2 and they all have c₁ = 0 and c_s = 1. Unlike any explicit method, it's possible for these methods to have the order greater than the number of stages. Lobatto lived before the classic fourth-order method was popularized by Runge and Kutta.

Lobatto IIIA methods

The Lobatto IIIA methods are collocation methods. The second-order method is known as the trapezoidal rule:

\begin{array}{c|cc} 0 & 0 & 0 \\ 1 & 1/2 & 1/2\\ \hline & 1/2 & 1/2\\ \end{array}

The fourth-order method is given by

\begin{array}{c|ccc} 0 & 0 & 0 & 0 \\ 1/2 & 5/24& 1/3 & -1/24\\ 1 & 1/6 & 2/3 & 1/6 \\ \hline & 1/6 & 2/3 & 1/6 \\ \end{array}

Lobatto IIIB methods

The Lobatto IIIB methods are not collocation methods, but they can be viewed as discontinuous collocation methods (Hairer, Lubich & Wanner 2006, §II.1.4). The second-order method is given by

\begin{array}{c|cc} 0 & 1/2 & 0 \\ 1 & 1/2 & 0 \\ \hline & 1/2 & 1/2\\ \end{array}

The fourth-order method is given by

\begin{array}{c|ccc} 0 & 1/6 & -1/6& 0 \\ 1/2 & 1/6 & 1/3 & 0 \\ 1 & 1/6 & 5/6 & 0 \\ \hline & 1/6 & 2/3 & 1/6 \\ \end{array}

Lobatto IIIC methods

The Lobatto IIIC methods also are discontinuous collocation methods. The second-order method is given by

\begin{array}{c|cc} 0 & 1/2 & -1/2\\ 1 & 1/2 & 1/2 \\ \hline & 1/2 & 1/2 \\ \end{array}

The fourth-order method is given by

\begin{array}{c|ccc} 0 & 1/6 & -1/3& 1/6 \\ 1/2 & 1/6 & 5/12& -1/12\\ 1 & 1/6 & 2/3 & 1/6 \\ \hline & 1/6 & 2/3 & 1/6 \\ \end{array}

Radau methods

Radau methods are fully implicit methods (matrix A of such methods can have any structure). Radau methods attain order 2s − 1 for s stages. Radau methods are A-stable, but expensive to implement. Also they can suffer from order reduction. The first order Radau method is similar to backward Euler method.

Radau IA methods

The third-order method is given by

\begin{array}{c|cc} 0 & 1/4 & -1/4 \\ 2/3 & 1/4 & 5/12 \\ \hline & 1/4 & 3/4 \\ \end{array}

The fifth-order method is given by

\begin{array}{c|ccc} 0 & \frac{1}{9} & \frac{-1 - \sqrt{6}}{18} & \frac{-1 + \sqrt{6}}{18} \\ \frac{3}{5} - \frac{\sqrt{6}}{10} & \frac{1}{9} & \frac{11}{45} + \frac{7\sqrt{6}}{360} & \frac{11}{45} - \frac{43\sqrt{6}}{360}\\ \frac{3}{5} + \frac{\sqrt{6}}{10} & \frac{1}{9} & \frac{11}{45} + \frac{43\sqrt{6}}{360} & \frac{11}{45} - \frac{7\sqrt{6}}{360} \\ \hline & \frac{1}{9} & \frac{4}{9} + \frac{\sqrt{6}}{36} & \frac{4}{9} - \frac{\sqrt{6}}{36} \\ \end{array}

Radau IIA methods

The c_i of this method are zeros of

P_{s}(2x-1) - P_{s-1}(2x-1) = 0,

where $P_s$ is the Legendre polynomial of degree s. The third-order method is given by

\begin{array}{c|cc} 1/3 & 5/12 & -1/12\\ 1 & 3/4 & 1/4 \\ \hline & 3/4 & 1/4 \\ \end{array}

The fifth-order method is given by

\begin{array}{c|ccc} \frac{2}{5} - \frac{\sqrt{6}}{10} & \frac{11}{45} - \frac{7\sqrt{6}}{360} & \frac{37}{225} - \frac{169\sqrt{6}}{1800} & -\frac{2}{225} + \frac{\sqrt{6}}{75} \\ \frac{2}{5} + \frac{\sqrt{6}}{10} & \frac{37}{225} + \frac{169\sqrt{6}}{1800} & \frac{11}{45} + \frac{7\sqrt{6}}{360} & -\frac{2}{225} - \frac{\sqrt{6}}{75}\\ 1 & \frac{4}{9} - \frac{\sqrt{6}}{36} & \frac{4}{9} + \frac{\sqrt{6}}{36} & \frac{1}{9} \\ \hline & \frac{4}{9} - \frac{\sqrt{6}}{36} & \frac{4}{9} + \frac{\sqrt{6}}{36} & \frac{1}{9} \\ \end{array}

References

Hairer, Ernst; Nørsett, Syvert Paul; Wanner, Gerhard (1993), Solving ordinary differential equations I: Nonstiff problems, Berlin, New York: Springer-Verlag, ISBN 978-3-540-56670-0 .
Hairer, Ernst; Wanner, Gerhard (1996), Solving ordinary differential equations II: Stiff and differential-algebraic problems, Berlin, New York: Springer-Verlag, ISBN 978-3-540-60452-5 .
Hairer, Ernst; Lubich, Christian; Wanner, Gerhard (2006), Geometric Numerical Integration: Structure-Preserving Algorithms for Ordinary Differential Equations (2nd ed.), Berlin, New York: Springer-Verlag, ISBN 978-3-540-30663-4 .

Numerical integration methods by order

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Euler backward semi-implicit exponential	Verlet (velocity) Trapezoidal Beeman Midpoint Heun Newmark-beta Leapfrog	Exponential integrators General linear Runge–Kutta (list) multistep