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Operator Theory: Advances and

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Vol. 148
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New Difference
Schemes for Partial
Differential Equations

Allaberen Ashyralyev
Pavel E. Sobolevskii

Springer Basel AG

Authors:
Aliaberen Ashyralyev

Pavel E. Sobolevskii

Department of Mathematics

Department of Mathematics

Fatih University
Buyukcekmece
34900 Istanbul, Turkey
aashyr@fatih.edu.tr

Hebrew University of Jerusalem


Givat Ram Campus
91904 Jerusalem
Israel
pavels@math.huji.ac.il

and
Department of Mathematics
International Turkrnen-Turkish University
32 Gerogly Slreet
74400 Ashgabat, Turkrnenistan

2000 Mathematics Subject Classification 39A12, 47B39, 65M06, 65N06, 65Q05

A CIP catalogue record for this book is available from the


Library ofCongress, Washington D.C., USA
Bibliographic information published by Die Deutsche Bibliothek
Die Deutsche Bibliothek Iists this publication in the Deutsche Nationalbibliografie; detailed bibliographic data is available
in the Internet at <http://dnb.ddb.de>.

ISBN 978-3-0348-9622-1

ISBN 978-3-0348-7922-4 (eBook)

DOI 10.1006/978-3-0348-7922-4
This work is subject to copyright. AII rights are reserved, whether the whole or part of the material is concerned,
specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms
or in other ways, and storage in data banks. For any kind of use permission of the copyright owner must be obtained.

2004 Springer Basel AG


Originally published by Birkhuser Verlag in 2004
Softcover reprint of the hardcover 1st edition 2004
Printed on acid-free paper produced from chlorine-free pulp. TCF 00
Cover design : Heinz Hiltbrunner, Basel
ISBN 3-7643-7054-8
987654321

www.birkhauser-science.com

Contents

Preface

1 Linear Difference Equations


1.1 Difference Equations of the First Order . . . . .
1.2 Difference Equations of the Second Order . . . .
1.3 Difference Equations with Constant Coefficients .

Vll

1
3
5

2 Difference Schemes for First-Order Differential Equations


2.1 Single-Step Exact Difference Scheme and Its Applications
2.2 Taylor's Decomposition on Two Points and Its Applications

11
31

3 Difference Schemes for Second-Order Differential Equations


3.1 Two-Step Exact Difference Scheme and Its Applications
3.2 Taylor's Decomposition on Three Points and Its Applications

37
77

4 Partial Differential Equations of Parabolic Type


4.1 A Cauchy Problem. Well-posedness . . . . . . . . . . . . . . . .
99
4.2 Difference Schemes Generated by an Exact Difference Scheme
146
4.3 Single-Step Difference Schemes Generated
by Taylor's Decomposition . . . . . . . . . . . . . . . . . . . . . . . 188
5 Partial Differential Equations of Elliptic Type
5.1 A Boundary-Value Problem. Well-posedness . . . . . . . . . . .
197
5.2 Difference Schemes Generated by an Exact Difference Scheme.
229
5.3 Two-Step Difference Schemes Generated
by Taylor's Decomposition. . . . . . . . . . . . . . . . . . . . . . . 291
6 Partial Differential Equations of Hyperbolic Type
6.1 A Cauchy Problem. . . . . . . . . . . . . . . . . . . . . . . .
6.2 Difference Schemes Generated by an Exact Difference Scheme
6.3 Two-Step Difference Schemes Generated
by Taylor's Decomposition. . . . . . . . . . . . . . . . . . . .

313
317
332

Contents

vi

7 Uniform Difference Schemes for Perturbation Problems

7.1 A Cauchy Problem for Parabolic Equations . . . .


7.2 A Boundary-Value Problem for Elliptic Equations
7.3 A Cauchy Problem for Hyperbolic Equations

343
364
387

8 Appendix: Delay Parabolic Differential Equations


8.1 The Initial-Value Differential Problem
8.2 The Difference Schemes

393
400

Comments on the Literature

411

Bibliography . . . . . . . . .

423

Preface
The present monograph is devoted to the construction and investigation of the
new high order of accuracy difference schemes for approximating the solutions of
regular and singular perturbation boundary-value problems for partial differential
equations. The construction is based on an exact difference scheme and Taylor's
decomposition on two or three points. This approach permits us to extend essentially a class of problems where the theory of difference methods is applicable.
Namely, now it is possible to investigate differential equations with variable coefficients and regular and singular perturbation boundary-value problems. The
investigation is based on new coercivity inequalities. The stability and coercive
stability estimates in various Banach norms for solutions of the high order of accuracy difference schemes of the initial-value problem for parabolic equations and
boundary-value problem for elliptic equations are obtained. This investigation is
based on the theory of positive operators, theory of semigroup operators and theory of interpolation of linear operators. The stability estimates for the solutions
of the high order of accuracy difference schemes of the initial-value problems for
hyperbolic equations are established. This investigation is based on the spectral
theory of self-adjoint positive definite operators in a Hilbert space. This approach
permits us to study the stability of the simple difference schemes for various partial differential equations. The simple first and second order of accuracy difference
schemes for delay partial differential equations are considered. The stability estimates for the solutions of these difference schemes of initial-value problems for
delay partial differential equations are established.
Let us give a brief description of the contents of our monograph. It consists
of eight chapters. In Chapter 1 we study first- and second-order linear difference
equations. These equations arise in numerical analysis of the approximate solutions
of boundary-value problems for ordinary and partial differential equations.
Chapter 2 presents the high order of accuracy single-step difference schemes
generated by an exact difference scheme or by Taylor's decomposition on two
points for the numerical solution of an initial-value problem for first-order differential equations and for a system of first-order differential equations. In general,
these difference schemes for the same problem are different. However, in the case of
a homogeneous equation or a system of differential equations with independent in
t coefficients, by using both methods we have exactly the same difference schemes.
Chapter 3 is devoted to study of the high order of accuracy two-step difference
schemes generated by an exact difference scheme or by Taylor's decomposition on

viii

Preface

three points for the numerical solutions of an initial-value problem and boundaryvalue problem for the second-order differential equations.
Note that in recent years important progress has been made in the study
of the theory of high order of accuracy difference schemes for partial differential
equations from the viewpoint of applications of an exact difference scheme or
of Taylor's decomposition function on two or three points. Chapter 4 presents
the high order of accuracy single-step difference schemes generated by an exact
difference scheme or by Taylor's decomposition on two points for the numerical
solutions of the abstract Cauchy problem for differential equations of parabolic
type
v'(t) + A(t)v(t) = f(t) (0 ~ t ~ T), v(O) = Va
in an arbitrary Banach space E with linear positive operators A(t). The wellposedness of these difference schemes in various Banach spaces is studied. The
stability and coercive stability estimates in Holder norms for the solutions of the
high order of accuracy difference schemes of mixed type boundary-value problems
for parabolic equations are obtained.
Chapter 5 is devoted to study of the high order of accuracy two-step difference schemes generated by an exact difference scheme or by Taylor's decomposition on three points for approximate solutions of the boundary-value problem for
differential equations of elliptic type

-v"(t) + Av(t)

f(t)

(0

T), v(O)

Va, v(T)

VT

in an arbitrary Banach space E with positive operator A. The well-posedness of


these difference schemes in various Banach spaces is studied. The stability and
coercive stability estimates in Holder norms for solutions of the high order of
accuracy difference schemes of mixed type boundary-value problems for elliptic
equations are obtained.
Chapter 6 gives the high order of accuracy two-step difference schemes generated by an exact difference scheme or by Taylor's decomposition on three points for
the approximate solutions of an abstract Cauchy problem for differential equations
of hyperbolic type

v"(t) + Av(t)

f(t)

(0 ~ t ~ T), v(O)

Va, v'(O)

vb

in a Hilbert space H with positive definite self-adjoint operator A. The stability


estimates of solutions of the high order of accuracy difference schemes for approximate solutions of mixed type boundary-value problems for hyperbolic equations
are obtained.
Chapter 7 is devoted to study of two abstract Cauchy problems

V'(t) + Av(t)
2 v"(t) + Av(t)

= f(t)

f(t)

(0

T), v(O)

(0 ~ t ~ T),v(O)

= VA,

vo,v'(O)

vb

Preface

IX

and the boundary-value problem

-e 2 v"(t)

+ Av(t)

= f(t)

(0 ~ t ~ T), v(O) =

Vo,

v(T) =

VT

for differential equations in an arbitrary Banach space E with the positive operator
A and an arbitrarye positive parameter multiplying the derivative term. The high
order of accuracy single-step uniform difference schemes generated by an exact difference scheme of the approximate solutions for differential equations of parabolic
type with an arbitrary parameter e in the highest derivative are presented. The
high order of accuracy two-step uniform difference schemes generated by an exact
difference scheme of the approximate solutions for differential equations of elliptic
and hyperbolic types with an arbitrary parameter e in the highest derivative are
presented. The well-posedness of these difference schemes for parabolic and elliptic equations in various Banach spaces is established. The stability estimates of
solutions of the high order of accuracy difference schemes for hyperbolic equations
with an arbitrary e parameter in the highest derivative are obtained.
Chapter 8 is devoted to study of the initial-value problem for delay partial
differential equations of parabolic type. A sufficient condition for the stability of
the solution of this initial-value problem is given. The stability estimates for solutions of the first and second order of accuracy difference schemes for approximately
solving this initial-value problem are presented. The stability estimates in Holder
norms for the solutions of the initial-value problem of the delay differential and
difference equations of parabolic type are obtained.
The monograph will be of value to professional mathematicians, as well as
advanced students in the fields of numerical analysis, functional analysis, ordinary
and partial differential equations.
Finally, we wish to express our warmest thanks to Professor S.G. Krein
(Voronezh, Russia), Professor 1. Gohberg (Tel Aviv, Israel), Professor M.A. Krasnosel'skii (Moscow, Russia), Professor V. Lakshmikantham (Florida, USA), Professor M.Z. Nashed (Florida, USA), Professor H.O. Fattorini (Los Angeles, USA),
Professor G.M. Vainikko (Helsinki, Finland), Professor H. Amann (Zurich,
Switzerland), Professor A. Pazy (Jerusalem, Israel) and Professor M.L. Gorbachuk
(Kiev, Ukraine), whose interest and enthusiastic support made this work possible.
We are immensely pleased that our book appears in this series.

Chapter 1
Linear Difference Equations
In the present chapter we consider first- and second-order linear difference equations. These equations arise in numerical analysis of approximate solutions of
boundary-value problems for ordinary and partial differential equations.

1.1

Difference Equations of the First Order

The first-order linear difference equations to be studied in this chapter may be


expressed in the form
(1.1)
where ak, bk , and'l/Jk are known numbers, Uk are unknown numbers, n is the given
integer. We will call Uk the value of grid function {udO' at the point with index
k.
A solution of the first-order difference equation (1.1) is a grid function {Yk}O
that satisfies (1.1) for all k, that is, (1.1) becomes an identity if we replace the
unknown grid function {udO' by {Yk}O'.
The initial-value problem associated with (1.1) is to find a solution {udO' of
the difference equation (1.1) satisfying the initial condition
Uo

= <p,

(1.2)

where <p is a given number.


To solve this problem, we must find a grid function {Yk}O' that not only
satisfies the difference equation (1.1) but also satisfies the initial condition Yo = <po
If bk :j; 0 for all k, 1 :S k :S n, then the difference equation (1.1) is equivalent
to the equation
(1.3)
where

Chapter 1. Linear Difference Equations

Theorem 1.1.1. There exists a unique solution of the initial-value problem (1.1)(1.2) and for the solution of (1.1)-(1.2) the formula
k

Uk = u(k,O)ep+ 2:u(k,j)epj,
j=l

(1.4)

u(k ")= {qk ... qj+1,k=l-j,


,J
1, k = J..

(1.5)

holds. Here

Proof. Using formulas (1.3) and (1.5) we can obtain formula (1.4) for k = 1.
Suppose that formula (1.4) is satisfied for k = m,
Um = u(m, O)ep +

2: u(m,j)epj.
j=l

From that and (1.3) it follows


m

Um+1

= qm+1 Um + epm+! = qm+!u(m,O)ep + 2:qm+1 u (m,j)epj + epm+1


j=l

Using formula (1.5), we can write

qm+1u(m,j) = u(m + l,j),j =I- m, u(m + 1, m + 1) = 1.


Therefore

Um+1 = u(m + 1, O)ep +

2: u(m + l,j)epj + u(m + 1, m + l)epm+1


j=l

m+1

= u(m

+ I,O)ep + 2: u(m + l,j)epj.


j=l

So, using mathematical induction we obtain formula (1.4) for any k. This completes
the proof of Theorem 1.1.1.
Theorem 1.1.2. Let Iqkl :S q. Then for solution Uk of the initial-value problem
(1.1) -(1.2) the stability inequality
k

IUkl :S qklepl + 2: qk- j !epjl


j=l

holds.

1.2. Difference Equations of the Second Order

The proof of Theorem 1.1.2 is based on formulas (1.4) and (1.5).


Finally, note that the boundary-value problem associated with (1.1) is to find
a solution Uk of the difference equation (1.1) and satisfying the supplementary
condition
(1.6)
auo + bUn = <p,
where a, band <p are given numbers.
If a or b are equal to 0, then the condition is called a local boundary condition.
If a f; 0 and b f; 0, then the condition is called a nonlocal boundary condition.
In a similar way we can obtain an analogous result for the solution of the
nonlocal boundary-value problem (1.1) and (1.6).

1.2

Difference Equations of the Second Order

The second-order linear difference equations to be studied in this chapter may be


expressed in the form

(1.7)
where ak, bk , Ck and 'lj;k are known numbers, Uk are unknown numbers, n is the
given integer. Suppose that ak f; 0 and bk f; 0 for all k.
The definition of a solution of a given second-order difference equation such
as (1.7) is like the definition of a solution of a difference equation such as (1.1).
The initial-value problem associated with (1.7) is to find a solution {udO' of
the difference equation (1.7) satisfying the initial conditions
Uo = <p, Ul = 'Ij;,

(1.8)

where <p and 'l/J are given numbers.


To solve this problem, we must find a grid function {Yk}O' that not only
satisfies the difference equation (1. 7) but also satisfies the initial conditions Yo = <p
and Yl = 'l/J.
The local boundary-value problem associated with (1.7) is to find a solution
{udO' of the difference equation (1. 7) satisfying the boundary conditions

(1.9)
where )1l,J.Ll,A.2,J.L2 are given numbers.
The nonlocal boundary-value problem associated with (1. 7) is to find a solution {udO' of the difference equation (1.7) satisfying the boundary conditions
QIUO

+ Q2 U l + f31U n + f32 u n-l = J.Ll,Q3 UO + Q4 U l + f33un + f34un-l = J.L2,

(1.10)

where Ql,Q2,Q3,Q4,f31,f32,f33,f34,J.Ll and J.L2 are given numbers.


Now we will consider the local boundary-value problem (1.7) and (1.9). To
solve them by computer we will use the following method which is called the

Chapter 1. Linear Difference Equations

modified Gauss elimination method. We seek a solution of difference equations


(1.7) in the form
(1.11)
Uk = ak+ 1Uk+l + I1k+l , 0 :S k :S n - 1,
where

ak+l, 11k+1

are unknown coefficients. Hence we find

+ 11k = ak(ak+1 U k+l + 11k+1) + 11k


= akak+luk+1 + (akl1k+1 + 11k), 1 :S k :S n - 1.

Uk-1 = akUk

Now putting expressions for


[ak+1(akak - Ck)

Uk

and

Uk-1

into equation (1.7) we have

+ bk]Uk+1 + [11k +1 (akak -

Ck)

+ akl1k + 'lh]

= O.

The last equation is satisfied if we select


ak+l(akak - Ck)
11k +1(akak - Ck)

+ bk =

+ akl1k + 'k

0,

= 0,1 :S k :S n - 1.

From that it follows


(1.12)
The relations (1.12) are first-order nonlinear difference equations. For the
solution of difference equations (1.12) we need to find a1 and 111. We can find
them from Uo = Al U1 + J.L1. Thus, we have
(1.13)

For the first step using formulas (1.12) and (1.13), we can compute ak+1 and
1 :S k :S n - 1. For the second step we will find Uk, 0 :S k :S n. But, for this
we need to find Un' We can find Un from Un = Al Un -1 +J.L2 and U n -1 = an Un +I1n.
Namely

11k+1l

A111n
112
Un = .
1- A2an

(1.14)

Thus using formulas (1.11) and (1.14), we can compute Uk, 0 :S k :S n.


Finally note that when we apply algorithms (1.11), (1.12), (1.13) and (1.14), to
find a solution by computer of the boundary-value problems (1.7), (1.9), we need
(1.15)
for all k.
Theorem 1.2.1. Let for all k

(1.16)
and

IA11:S 1,IA21 < 1.

Then the requirements (1.15) and

lakl :S 1 for

all k are satisfied.

(1.17)

1.3. Difference Equations with Constant Coefficients

Proof. From (1.13) it follows that

lall = JAIl :S 1. Let lakl :S 1. We will prove that


lak+ll :S 1.

Namely

h -

akakl 2: ICkl-lakllakl 2: hl-Iakl 2: Ibkl > o.

From that it follows Ck - akak

Therefore,

::f 0 and

lakl :S 1 for all k, 1 :S k :S n.

From

lanl :S 1 and (1.11) it follows that

Thus Theorem 1.2.1 is proved.


Theorem 1.2.2. Let for all k

(1.18)

and lAd :S 1, IA21 :S 1. Then the requirements (1.15) and


satisfied.

lakl < 1 for all 1 < k are

The proof of Theorem 1.2.2 follows the scheme of the proof of Theorem 1.2.1.

1.3

Difference Equations with Constant Coefficients

The second-order linear homogeneous difference equation with constant coefficients may be written in the form

aUk-1 - CUk

+ bUk+l = 0,1 :S k < n,

(1.19)

where a, band c are given numbers. We put a ::f 0 and b ::f O.


Since for constant q and positive integer k,

it is easy to find if q is a root of the equation


a - cq + bq2 = 0;

(1.20)

if so, then the grid function {udo = {qk}O is the solution of equation (1.19).
Equation (1.20) is called the auxiliary equation associated with (1.19). The
auxiliary equation for (1.19) is of degree 2. The key quantity is c2 - 4ab, which is
known as the discriminant of the quadratic equation (1.20).

Chapter 1. Linear Difference Equations

If C2 - 4ab is positive, there will be two real values for q and they are defined

by
C

ql,2 =

Jc 2

2b

4ab

(1.21)

Recall that given the grid functions {uno and {uno, if constants AI, A2, not all
zero, exist such that
or

Al u~ + A2u~ = 0,0 :s: k :s: n,


then the grid functions {uno and {uno are said to be linearly dependent.

If no such relation exists, the functions are said to be linearly independent.


That is, the grid functions {uno and {uno are linearly independent when the
last equation implies that Al = A2 = O.
It is easy to show that for any linearly independent grid functions {uno and
{uno, we can determine

~~

Uk _ l

~~

Uk - l

I,

such that the determinant is not equal to zero for any k,l
easy to show that the solutions

{uDo =

:s: k :s:

n. Then it is

{q~}o,{uno = {q~}o

are linearly independent and the general solution of (1.19) can be written at once.
It is
{Uk}O = {Clq~ + C2q~}O
(1.22)
in which CI, C2 are arbitrary constants.
If c2 - 4ab is zero, then the auxiliary equation (1.20) has repeated roots
q = ql = q2 It is easy to show that the grid functions {kffiqk}O' where m = 0,1
are linearly independent and the general solution of (1.19) is

{udo = {cIl + C2kqk}O

(1.23)

in which CI, C2 are arbitrary constants.


If c2 - 4ab is negative, then the auxiliary equation (1.20) has two complex
roots
C iJ4ab - c2
ql,2 =
2b
= rei<p,
where r

= Jf, tan cp = ~. It is easy to show that the grid functions


{r k sin kcp}o, {r k cos kcp}o

are linearly independent and the general solution of (1.19) is

{Uk}O =
in which

CI, C2

{CI r

k sin kcp + C2rk cos kcp}

are arbitrary constants.

(1.24)

1.3. Difference Equations with Constant Coefficients

Now using the variation of parameters method we will find the general solution of the nonhomogeneous equation
aUk-l - CUk

+ bUk+l

= <Pk, 1 :s: k

:s: n

- 1,

(1.25)

where a, b, c and <Pk are given numbers.


Namely, if {vd(}, {wd(} are linearly independent solutions of (1.25), then we
can use them to determine the general solution of the nonhomogeneous equation
(1.25). Suppose that
(1.26)
is a solution of (1.25). Let us see what happens if we replace both of the constants
in (1.25) with Ctk and 13k, respectively. That is, we consider
(1.27)

and try to determine Ctk and 13k so that the grid function {CtkVk
solution of the equation (1.25). From (1.27) it follows that

+ 13kwd(}

is a

(1.28)

+(Ctk+l - Ctk)Vk+l

+ (13k+l

- 13k)wk+l'

We now choose some particular function for the expression


(Ctk+l-Ctk)Vk+l +(13k+l-13k)wk+l.
Technically, we could let this grid function be {sin k<p} () , { qk}(), {cos k<p} () or any
other suitable grid function. For simplicity we choose

or
(Ctk - Ctk-l )Vk

+ (13k -

(1.29)

13k- dWk = O.

Then it follows from (1.28) that


Uk+l - Uk = Ctk(Vk+l - Vk)
or
Uk - Uk-l = Ctk-l

+ (Vk

+ 13k (Wk+l

- Wk)

+ 13k-l(wk -

- vk-d

wk-d

(1.30)

It is easy to see that from (1.25) it follows that


-a(Uk - uk-d

+ (a - c + b)Uk + b(Uk+l

- Uk) = <Pk, 1 :s: k < n.

We substitute (1.27) and (1.30) into equation (1.31) to obtain


-a[Ctk-l (Vk - vk-d

+ 13k-l (Wk

+b[Ctk(Vk+l - vd

- Wk-l)]

+ (a - c + b)[Ctkuk + 13kwk]

+ 13d w k+l

- Wk)] = <Pk,

(1.31 )

Chapter 1. Linear Difference Equations

or
O!k[aVk-l - CVk

+ bVk+d + .8k[aWk-l -

+a[(O!k - O!k-d(Vk - vk-d

+ (.8k -

CWk

+ bWk+l]

.8k-d(Wk - Wk-l)] = <{}k

But VkS and WkS are solutions of the homogeneous equation (1.19), so that finally

Equations (1.29)and (1.32) now give us two equations that we wish to solve for
O!k - O!k-l and .8k - .8k-l. This solution exists provided that the determinant

Vk-l
Vk - Vk-l

Wk-l
Wk - Wk-l

does not vanish. But

and the last determinant is not equal to zero for the linearly independent solutions
{vdS and {wdS of equation (1.19). Therefore using equations (1.29)and (1.32)
we can find O!k - O!k-l and.8k - .8k-l. Namely

.8k - .8k-l =

Vk<{}k
a(vk-lwk - VkWk-l)

Hence using formula (1.4), we can find


k

O!k = O!o -

Wj<{}j

L a(vo-lwo - VoWo-l) ,

j=l

(1.33)

.8k = .80 + "


Vj<{}j
.
LJ
a(vo-lwo
- voWo-l)
j=l
J
J
J J

(1.34)

Thus, O!k and .8k of (1.33) and (1.34) may be inserted in (1.27) to give us the
general solution of equation (1.25)
(1.35)
where O!O, .80 are arbitrary constants.

1.3. Difference Equations with Constant Coefficients

Finally note that the method of variation of parameters can be applied to


the solution of equation
akUk-1 - CkUk

+ bkUk+1

= <Pk, 1 ~ k

<n

with dependent coefficients. Namely we have the formula

Uk

"

(WkVj - VkWj )<pj

= O:OVk + (30Wk + L.J

j=1 aj Vj-1 Wj - VjWj-1

).

Now we will consider the initial-value problem


aUk-1 - CUk

Recall that

+ bUk+1

< n, Uo

= <Pk, 1 ~ k

= <P, U1 =

'l/J.

(1.36)

{vdo and {wdo are linearly independent solutions of (1.19), therefore


Vk

Vk

> 0,

q~'C2 - 4ab
qk, c2 - 4ab
r sin k<p, c

q~'C2

> 0,

= 0,

- 4ab
2
k qk,c - 4ab
k

r cos k<p, c

(1.37)

< 0,

4ab

= 0,

(1.38)

4ab

< 0.

Thus using formula (1.35) we have the following theorem.


Theorem 1.3.1. There exists a unique solution of the initial-value problem (1.36)
and for the solution of (1.36) the following formulas are satisfied:
If c2 - 4ab > 0, then
Uk =

If c2

4ab

= 0,

If c2

4ab

< 0, then

k-1
k-1)
q1 q2 ( q1
- q2
q2 - q1

<P

+ q2k -

k
q1 .1.

q2 - q1

'P

then

sin(l -

k)<p k

sm<p

<p

~ sin(k - j)<p

+ L.J
j=1

asm<p

sin k<p

+ -.- r
sm<p

k-J+1

k.l,
'P

<po
J

Chapter I, Linear Difference Equations

10

Here and in future we will put


k

2: ak,j = 0, when k < 1.


j=l

Now we will consider the boundary-value problem


(1.39)
Using formulas(1.35), (1.37) and (1.38), we have the following theorem,
Theorem 1.3.2. There exists a unique solution of the boundary-value problem (1.39)
and for the solution of (1.39) the following formulas are satisfied: If c2 - 4ab > 0,
then

If c2

4ab = 0, then
n - k k
- - q J.1.1

+_k
n

If c2

4ab

2:
j=l

k k-n
+ -q
J.1.2
n

,
J- n
_-l-J+1cp
a

k '
2: __
-J qk-)+lcp',
'
a
)
k

j=l

< 0, then
sin( n - k)cp k
.

r J.1.1

smncp

sinkcp k-n

+ -,
-r
smncp

sinkcp ~ sin(j - n)cp k-)'+l

+-,--~

smncp ,asmcp

)=1

~ sin(k - j)cp

+~
j=l

asmcp

k-)"+l

J.1.2

cp

cpo
)

In the same way we can study solutions of the local and nonlocal boundaryvalue problems for equation (1.25), with boundary conditions (1.9) and (1.10),
respectively,

Chapter 2
Difference Schemes for
First-Order Differential Equations
In the present chapter we consider the single step difference schemes generated
by an exact difference scheme or by Taylor's decomposition on two points for the
numerical solution of an initial-value problem for first-order differential equations
and systems of first-order differential equations.

2.1

Single-Step Exact Difference Scheme and Its Applications

We consider the initial-value problem of the form

y'(t)

+ a(t)y(t) =

f(t),O < t ::; T, y(O)

Yo

(2.1)

assuming a(t) and f(t) to be such that problem (2.1) has a unique smooth solution
defined on [0, T]. In this section we shall construct difference schemes of a high
order of accuracy for an approximate solution of problem (2.1). On the segment
[0, T] we consider the uniform grid space

[0, T]r = {tk = kr, k = 0, 1, ... , N, NT = T}


with step T > O. Here N is a fixed positive integer. We will discuss single-step difference schemes for computing numerical values of the solutions. These difference
schemes are step-by-step methods, that is, we start from the given approximate
values of y(tk-l) and proceed stepwise, computing approximate values of y(tk) at
the grid (mesh) points.

= tk. Then
{y(tknS" is the solution of the initial-value problem for the first-order difference
equations

Theorem 2.1.1. Let y(tk) be the solution of (2.1) at the grid points t
1

-(y(tk) - y(h-l))
T

1
+ -(1
T

J'k

'k-l

a(s)ds

)y(tk-d
(2.2)

Chapter 2. Difference Schemes for First-Order Differential Equations

12

Proof. For solution of (2.1) we have the formula

= e- I~ a(s)ds yO +

yet)

Putting t

= tk

= tk-I

and t

e- I: a(z)dz f(s)ds.

into the last formula, we can write

e- 10 k a(s)ds yO

r e-

+ io

tk

I:k

a(z)dz f(s)ds

e _ I'k
'k-l a(s)ds ['k-l
e- 10
a(s)ds yO

tk

+ io

tk l
-

e- Is'k-l a(z)dz f(s)ds ]

e- I:k a(z)dz f(s)ds,

tk-l

y(tk-I) = e- I~k-l a(s)ds yO

tk l
-

e- I.'k-l a(z)dz f(s)ds.

Hence, we obtain the following relation between y(tk) and y(tk-d :

y(tk) = e- 1':_1 a(s)dsy(tk_l)

tk

e- I:k a(z)dz f(s)ds.

tk-l

The last relation and equality (2.2) are equivalent. Theorem 2.1.1 is proved.
Thus, the solution yet) of the differential problem (2.1) at the grid points
t = tk is the solution of the difference problem (2.2). Therefore, the initial-value
problem (2.2) is called the single-step exact difference scheme for solution of the
initial-value problem (2.1).
Now, we will consider the applications of this exact difference scheme. From
(2.2) it is clear that for approximate solutions of problem (2.1) it is necessary to
approximate the expressions
e

-I:k-l a(s)ds
k

and

Let us remark that in constructing difference schemes it is important to know


how to construct a right-hand side <P~,q that satisfies

1i

-:;

tk

e- I:k a(z)dz f(s)ds - <P~,q = 0(7 P+q )

(2.3)

tk-l

and is sufficiently simple. Here p and q are positive integers and we will put p
The choice formula <P~,q is not unique. Using Taylor's formula, we obtain

- p+q-I
1; {;
_

()

>.

tk

e- J:k a(z)dz f(s)ds

(2.4)

tk-l

,
- I,Ll
a(z)dz

f3m-A(tk-df

(A)

q.

(tk-I) (m + I)!

+ 0(7

p+q

),

13

2.1. Single-Step Exact Difference Scheme and Its Applications

(2.5)

(2.6)

Here and in this chapter we will put

= 0,
1::; i ::;p+q.

(2.7)

Therefore, for the construction of <pf.,q we can put

(2.8)
Moreover, for the construction of <P~,q we will also use (2.4) and (2.6). But, first
of all let us study the approximate formulas for the expressions
- J,'k

e - J,':_1 a(s)ds

and

a(s)ds

e k- ~
that will be needed in the future for the construction of difference
schemes of a high order of accuracy for an approximate solution of problem (2.1).
-

Now, let us consider the approximate formulas for the expression e


constructed by Pade's rational functions. It is clear that

e - J::- 1 a(s)ds

e-

J,'k a(s)ds
k-1

= e-a(tk)or

=e -a(t k _ 2"l)or -

tk

'k

J a(s)ds
'k-1

e-a(tkHtk-z)(a(tk) _ a(z))e - J':_l a(s)ds dz,

tk-1

tk

tk-1

- J'k
e
'

a z -a (t k-~ )) e -a(t k _ 2"1 )(z-tk-Il dz.

a(s)ds( ( )

14

Chapter 2. Difference Schemes for First-Order Differential Equations


Using Taylor's formula, we obtain

e-

f":_1 a(s)ds = e-a(tk)T + T(a(tk)

+ '~

(::+; t, (7)

_ ~ (n

)!

_ a(tk_d)e-a(tk)T

P(t,-!l [(a(t,)- a(t,-!l )(a(t, ))n-;

j i) aU) (t,_!l(a(t,))n-;-j ] e-oU,)' + o( ,,+0+

),

Here and in this chapter we will put


i

= 0,

1~ i

~ p

+ q.

Further, using the last formulas and Pade fractions for the function e- z , we
can write

2.1. Single-Step Exact Difference Scheme and Its Applications

'%' (::+;)! ~ (7)

- ~ (n j

15

iJ,(tk-d [(a(tk) - a(tk-d)(a(tkn-'

i) aUI (tk-,)( a(tk))n-'-i ] R,-n+[,[_',,_[,[(rae tk)) + a(rv+O+'),

e- Ijtkk_l a(s)ds = Rq,p(Ta(tk_l)) - r(a(tk) - a(t k_l))Rq- 1,p-2(Ta(t k_l)) (2.11)


2
2
2

p+q-l (

)n+l

+ ~ (:: I)!

+~

(n j i)

t; 7 (3i(tk) (a(tk) - a(tk_4))(-a(t k_4)t- i


(

alii (tk)( -a(tk_! ))n-'- i ] R,_n+[,[_ ',,_"[(

rat t k_))

+o( rp+q+l ).

Here Rq,p(z) = ~:::g? are Pade's approximations of the function e- Z near


= O. They are given by the formulas

=L
q

Qp,q(z)

k=O

(p+q-k)!q!
k
(p + q)!k!(q _ k)! (-z) ,Pp,q(z)

=L
p

k=O

(p+q-k)!p!
k
(p + q)!k!(p _ k)! Z .

Now let us consider approximate formulas for the expression

J
tk

exp{ -

tk _

a(s)ds},

constructed by Pade's rational functions. We have that

-J -

- I: k

k-!

a(s)ds

= e

-a(t

I)L
k- 2 2

tk

a(s)ds( a ()
e Itk
z
Z

dZ.
a (t k- 4)) e -a(tk_l)(Z-tk_l)
2
2

16

Chapter 2. Difference Schemes for First-Order Differential Equations

Using Taylor's formula, we obtain

-f:k-~
k

a(s)ds

T I l

= e-a(tkh' + 2'T(a(t k ) - a(tk_k))e-2a(tk)T

/~' 2n+;;~ 1)!


-

~ (n j

t.(:)

Pi(I'-J +a(I') - a(I'_J ))(a(I,))n-i

i) aU) (1,_ J)( a(I,) r- H ] e- n(',); + o(

TP+'+1),

Further, using the last formulas and Pade's approximations of the function

e- z , we can write
e

- f.' k

k-~

a(s)ds

T I T
+ 2'T(a(t k ) - a(tk-4))Rq-l,p-l('2a(tk))

= Rq,p('2a(tk))

/~' 2n+;;~ 1)!

t.(:) d

(a(lkl- a(I'_j ))(a(I,)

A(I,-

_~ (n j i) aGl(lk_! )(a(lk))n-i-

(2.12)

r-'

R,-n+II-1,P-II( ;a(t,))

+ 0(T P+O+ 1),

(2.13)

2.1. Single-Step Exact Difference Scheme and Its Applications

17

Now, using formulas (2.4), (2.6), (2.9), (2.10), (2.11), (2.12) and (2.13), <fJf.,q can
be defined by one of the following formulas:
(2.14)

(2.15)

(2.16)

Chapter 2. Difference Schemes for First-Order Differential Equations

18

<P~,q

J.;f; (2r;) f32m->.(t k-!)j(>)(tk_!)


p-1 2m

2m

(2.17)

22m (2m + 1)! R q- m,p-m(-2 a(t k ))


T

+"2T(a(tk) - a(t k_! ))Rq-m-1,p-m-1 (2"a(t k ))


m-1

n+1

+ ~ 2n+;(n + 1)! ~

7 A(tk_!) (a(tk) - a(tk_!))(a(tk)t-i


)

-~ (n j i) aU) ('k-!)( a(tk) j"-'- 14-0+[;


~a(tk))] ,
(2 )
(2.18)
<P~,q ~of; r; f32m->.(t k-!)j(>')(t k_!)
[-1,,-[; [(

j]

p-1 2m

2m

X 22m (2m

T
+ 1)! [ Rq-m,p-m( 2"a(tk-!))

-"2T(a(tk) - a(tk_!))Rq-m-1,p-m-l(2"a(tk_!))
m-1

(_ )n+1

+ ~ 2n+1~n + 1)! ~

+~

7 f3i(tk)
)

(n j i) aU) (tk)(a(tk-l

(a(tk) -

a(tk_~))( -a(tk_~))n-i

))O-'-j] 14-0+[>[-1,,-1'1[(

~a(tk-l))] .

Now replacing the expression e- ft : - I a(s)ds with its Pade fractions from (2.9) or
(2.10) or (2.11) we obtain the difference schemes

,-I(Uk - Uk-I)

+ ,-I

[1-

R",(a(tk_I)')

+T(a(tk) - a(tk-d)Rq-1,p-1(a(tk-dT)
-

7
+ I: (n ~ i) a(j)(tk)(-a(tk_1))n-i-

p+q-1 (_ T)n+1 n ( )
[
~ (n + 1) ~
f3i(tk) (a(tk) - a(tk_d)(-a(tk_d)n-i

j=l

XRq-n+II-1,p-Ij(a(tk-1)T)]] Uk-1

<P~,q, 1 :s k :s N, Uo = Yo;

(2.19)

2.1. Single-Step Exact Difference Scheme and Its Applications

r-' (Uk -Uk-') +r-'

p+q-1
-

[1-

R",,(ra(t,) -r(a(ik) - a( tk_') )R,,-',,_' (a(t,)r) (2.20)

~ (7) A(tk-1)
n

+1

(:: I)!

19

_I: (n ~ i)

(a(tk) -

a(tk_~))(a(tk))n-i

a(j)(tk_1)(a(tk)t- i- j

j=l

XR,-n+I'lI-',,-I'iI (ra(tk))]] Uk-'

r-'(uk - Uk_,)

+ r-'

~ 1':",1 '" k '" N, Uo ~ yo;

[1-

(2.21)

R",,(ra('k-l))

+r(a(tk) - a(t k_l))Rq1,p-dra(t k_l))


2
2
-

7
a(tk_~))(-a(tk_~)t-i
+ I: (n ~ i) a(j)(tk)( -a(tk_)t- i-

p+q-1 (_ )n+1 n ( )
[
~ (n~ I)! ~
f3i(tk) (a(tk) -

j=O

x R,-n+1 'i1-",-I 'i1(ra(tk_l))] ] Uk-'

~ 'Pl:", 1 '" k '" N, Uo ~ Yo

Let us remark that in constructing such difference schemes we can choose <P~,q by
formulas (2.8) or (2.14) or (2.15) or (2.16) or (2.17) or (2.18). Thus, we construct
the difference schemes of (p + q)-order of accuracy for the approximate solution of
the initial-value problem (2.1). Finally, let us give some examples of the simplest
difference schemes.
In the case p + q = 1 from formulas (2.8), (2.14), (2.15), (2.19) and (2.20) it
follows that

Uk - Uk-1

-- + a(tk-duk-1 = f(tk-d, 1 ~ k
r

N, Uo = Yo

(an explicit Euler's difference scheme of first order of accuracy for the initial-value
problem (2.1)), and that

Uk - Uk-1
r
1

+ (1 -

1 + ra(tk) )Uk-1

-(Uk - uk-d + a(tk)uk = f(tk), 1 ~ k


r

= f(tk) 1 + ra(tk) '


~ N, Uo =

Yo

(an implicit Euler's difference scheme of first order of accuracy for the initial-value
problem (2.1)).

20

Chapter 2. Difference Schemes for First-Order Differential Equations

In the case p + q = 2 from formulas (2.18), (2.20) it follows that

1 ~ k ~ N, Uo = Yo

(an explicit difference scheme of second order of accuracy for the initial-value
problem (2.1)), and that

or

(a Crank-Nicolson difference scheme of second-order accuracy for the initial-value


problem (2.1)), and that

Uk - Uk-l
T

+ -:1;:

1-

1 +Ta(tk_~)

(ra(t

_ 1

))2

Uk-l

or

(an implicit difference scheme of second order of accuracy for the initial-value
problem (2.1)).
Now, we consider the initial-value problem of the form

y'(t)

+ a(t)y(t) = f(t, y(t)), 0 < t

T, y(O)

= Yo

(2.22)

assuming a(t) and f(t, y(t)) to be such that problem (2.22) has a unique smooth
solution defined on [0, T]. The exact difference scheme of problem (2.22) obviously
has the form
-1 (Y(tk) - Y(tk-l ))
T

11

=T

tk

tk-l

e- J:k

+ -1 (1 T

a(z)dz f(s,

e-

J:

k-l

a(s)ds) y ( tk-l )

y(s))ds, 1 ~ k:S N, y(O)

= Yo.

(2.23)

2.1. Single-Step Exact Difference Scheme and Its Applications

21

From (2.23) it is clear that for the approximate solution of problem (2.22) it is
necessary to approximate the expressions

e- J,'kk-l a(s)ds
and

In exactly the same manner with approximate formulas for the expression

one establishes the formulas

11

tk

e- J:k a(z)dz f(s, y(s))ds

(2.24)

tk-l

(2.25)

( )m
q
fa E r;: ) f3m->.(tk)!>.(tk, y(tk)) (r::
I)! + O(T + ).

p+q-l m (

Here and in this chapter we will put

/>.(s, y(s)) = f(s, y(s)),


a),
f>'+l(S,y(S)) = [fSAf(s,y(s))

+ Li=l
>.

(,\)

a),

,\ = 0,

as' iaiyf(s, y(s))Ji(s, y(s)),

0::; ,\ ::; p + q - 1.

(2.26)

Here s = tk or tk-l. Now, replacing the expression e-J,':_la(s)ds by its Pade


fractions from (2.9) or (2.10) or (2.11), for example, we can obtain the difference
schemes

r-' (Uk - Uk-,)

+ r-' [1 - R"p(a(tk-,)r)

+r(a(tk) - a(tk-d)Rq-l.p-l(a(tk-dT)

(2.27)

Chapter 2. Difference Schemes for First-Order Differential Equations

22

p+q-l (_ T )n+l n ( )
[
i
~ (n + 1) ~
f3i(tk) (a(tk) - a(tk-I))(-a(tk-dt-

+~

(n j i) ali) (tk)( -a(tk- d )n-i-; R,_n+[

'1)-1,,- ['I) (ra(t k ))] Uk-1

l; ~ (m)>. f3m->-.(ik-df>.,(tk-l, uk-d

p+q-I
=

x (m : I)! [R,-m-['l']'p+['l')(a(tk-d r )

-T(a(tk) - a(tk-d)Rq-m-[TI-I,P+[TJ-I(a(tk-I)T)
m-I (_ T )n+1

7 f3i(tk) [(a(tk) - a(tk-I))(-a(tk-dt- i

n ( )

+ ~ (n + 1) ~

I: (n ~ i)

a(j)(tk)( -a(tk_l))n-i- j

j=1

x R,,-n+['! )-1,,-[ '!) (ra(tk_

r-

(Uk -Uk-l) +r - l
p+q-I

d)]], ~
1

~ N, Uo ~ Yo,

[1- R", (ra(tk - Teartk) -a(t'-9) )R,,n+1

l,,-l

(a(tk)r) (2,28)

n ( )

- ~ (:+ 1)! ~

7 a(tk-d[(a(tk) - a(tk_I))(a(tk)t- i

_~ (n j i) a(;)(tk_d(a(td))n-i-; R,_n+['1[_l,,_['!)(Ta(tk]
7 f3n-i(tk-I)!i(tk, Uk) ((:~)n+11)! ,1 :S k:S N, Uo

U'-l

p+q-I n ( )
=

~ ~

Yo

Thus, we construct the difference schemes of (p + q)-order of accuracy for approximate solutions of the initial-value problem (2.22). We observe that the difference
scheme (2.28) is a first-order nonlinear difference equation in Uk. Therefore we
use an iteration formula

23

2.1. Single-Step Exact Difference Scheme and Its Applications

1 :S k :S N, u~ = Yo, m = 1,2, ...

,u2 = Yo

But what about a criterion for stopping the iteration? We can use the criterion
of closeness of consecutive terms to terminate the iterative procedure of (2.29). If
there exists M for them
u~ _U~-l =o(r p +q )
for any k, 1 :S k :S N. Then we will put Uk = u~ for any k, 1 :S k :S N.
Now, we consider the initial-value problem of the first-order linear system
of ordinary differential equations. Let y(t) be an m-dimensional column unknown
vector function of t and f (t) a column vector whose components are known functions of t. Further suppose that A(t) is defined by

A(t) =

al.l.(.t)
(

aml (t)

be an m x m matrix function of t. Then the initial-value problem

y'(t)

+ A(t)y(t) = f(t), 0 < t :S T, y(O) = Yo

(2.30)

represents an initial-value problem for a system of m linear ordinary differential


equations

~~~~t!.~.~l.l.(~~~l.(~~ ~::: ~ ~.l~(.t~Ym(t) =


{

ftYm(t)

+ aml(t)Yl(t) + ... + amm(t)Ym(t)

in the m unknown Yl (t), ... , Ym (t) functions. Let

ft(t),

= fm(t)

(2.31)

24

Chapter 2. Difference Schemes for First-Order Differential Equations

be a solution y(t) of problem (2.30) at the mesh points t = ik. Then the exact
difference scheme of problem (2.30) obviously has the form

I1

= -;;

tk

tk-l

u(t, s )f(s)ds, 1 S k S N, y(O) = Yo,

where I is the m x m unit matrix. Here u(t, s) is the m x m matrix of functions


of t and s. It will be defined as a solution of the problems

au(t,s)
as

= u(t, s)A(s), 0 S sSt S T, u(t, t) = I,

au(t, s)
at = -A(t)u(t,s),O S sSt S T,u(s,s) = I.

(2.33)
(2.34)

It is easy to show that

u(t, s) = e-A(>-.)(t-s) - i t u(t, z)[A(z) - A(A)]e-A(>-')(Z-S)dz,


and

u(t, s) = e-A(>-.)(t-s) + it e-A(>-.)(t-Z) [A(A) - A(z)]u(z, s)dz


for any A, s :5 A :5 t. Hence we can write

U(tk, tk-l) = e-A(tk-d T

_l

1::,

U(tk, tk-d

e-A(tk)T

(2.35)

(2.36)

e-AU,)(',-') [A(t,) - A(z)I"(z, t,_,)dz,


(2.37)

tk

U(tk, z)[A(z) -

tk-l

A(tk_~)] e-A(tk_!)(z-t k- d dz.

From (2.32) it follows that for an approximate solution of problem (2.30) it is


necessary to approximate the expressions U(tk' tk-d and

Ijt

tk-l

U(tk, s)f(s)ds.

25

2.1. Single-Step Exact Difference Scheme and Its Applications

Using Taylor's formula, we obtain

11

tk

u(tk,s)f(s)ds

(2.38)

tk-l

(2.39)

(2.40)

where

Bi(S) = 1,
()
{ Bi(s) = Bi~l
(s)

= 0,

+ B i- 1 (s)A(s), 1:S i

:s p + q.

(2.41)

Now, we study approximate formulas for the expressions U(tk, tk-d and
u(tk, tk_l).
Using Taylor's formula and formulas (2.35), (2.36) and (2.37), we
2

obtain

U(tk, tk-l) = e-A(tk-d r - T(A(tk) - A(tk_d)e-A(tk-dr

(n:

p+q-l (_

+ ~

+~

)n+l
1)!

t;
n

~ Bi(tk) (A(tk) - A(tk-d)(-A(tk_d)n-i

(n j i) AI;) (tk)( _ A(tk-l ))n-H] e-AI'.-,)' +


U(tk, tk-d = e-A(tk)r

/~l (::+:)!

t, (7)

_~ (n j i) A

0(7'+9+ 1),

+ T(A(tk) - A(tk_d)e-A(tk)r

B,(tk-Il [(A(tk) - A(tk_l))(A(tk))n-,

I;) (tk-Il(A(tk W-'-;] e-AU,)'

+ o(7H '+1),

26

Chapter 2. Difference Schemes for First-Order Differential Equations

p+q-l (

)n+l

+ ~ (:: I)! ~
x

7 Bi(tk) (A(tk) - A(tk_!))( -A(tk_!)t-i


)

~ (n j i) A(;) (t,)( _ A(t,_!) )n-i-

e-A,_!)< + o(T'*'+'),

where

Further, using the last formulas and Pade fractions for the function e- z, we
can write

0+ 1) ~ 7 Bi(tk) (A(tk) - A(h-l))(-A(tk_d)n-i


+ ~ (n j i)
p+q-l (

)n+l n ( )

+ ~

A(j)(t,)(-A(t,_,)"-H] R,-n+[;[-"p-[;[(A(t,_,)T)

U(tk, tk-d

+ p~,

Rq,p(7A(tk)) + 7(A(tk) - A(tk-d)Rq-1,p-l (A(tk)7)

(::+;)1 to (7)

-~ (n j i)

(2.44)

Bi(t,_,) [(A(t,) - A(t,_,))(A(t,) )n-i

A (j) (t,_ ,)(A (t,))n- H ] R,-n+[; ]_',p_[;] (TA(t,))

+o( 7 P+ q + 1 ),
u(tk, tk-l)

Rq,p(7A(tk_l))
- 7(A(tk) - A(t k_l))Rq(2.45)
1,p-l(7A(t k_l))
2
2
2

p+q-l (

)n+l

+ ~ (:7+ I)! ~
+~

(n j i)

7 Bi(tk) (A(tk) - A(tk_!))( -A(tk_!)t- i


)

A(j)(t,)( -A(t,_! ))n-i- j ] R,_n+[;]_"p_[;](TA(t'_j))

+o( 7 P+q+ 1).

2.1. Single-Step Exact Difference Scheme and Its Applications

27

Now, we consider the approximate formulas for the expression U(tk, tk-d con2
structed by Pade's rational functions. We have that

U(tk, tk_l) = e -A(tk_!)~

U(tk, z)(A(z) - A(tk_l))e -A(tk_!)(z-t k _!) dz.

_itk

k- 2

Using Taylor's formula, we obtain

Therefore, using the last formulas and Pade's approximations of the function e- z ,
we can write

/~' 2n+;~~ 1)!

-~ (n j i)

t,(;) B'("-l

>[rA(t,) - A(t,_ j ))( A(t,)

~ (~A(t,

AU) ("-I )(A(,,))n-'-j] R,-n+[ ,1_ ',p_[ 1

t-'

28

Chapter 2. Difference Schemes for First-Order Differential Equations

+o(r P+q+ 1 ).
Finally, replacing the expression U(tk, tk-d by its Pade approximations from (2.43)
or (2.44) or (2.45) (neglecting the last terms, respectively) and the expression

by the expression from (2.39) or by the expressions from (2.38) and (2.40) first
by its Pade approximaone replacing the expressions U(tk, tk-d and U(tk, t k_!)
2
tions from (2.41) or (2.42) or (2.43) or (2.46) or (2.47) (neglecting the last terms,
respectively) we obtain the difference schemes of (p + q)-order of accuracy for an
approximate solution of the initial-value problem (2.30)
(2.48)

+r(A(tk) - A(tk-d)Rq-1,p-l(A(tk-l)r)
-

+~

p+q-l (_ r )n+l n ( )
[
~ (n + 1)
~ Bi(tk) (A(tk) - A(tk-d)(-A(tk_dt- i

(n j i) A0I(tk)(-A(tk_d)n- H R,-n+I~]-',p-I~1 (A(tk-dT)]] Uk-l


= {f'lp,q
< N, Uo = Yo',
rk ' 1 <
- k T-

(Uk - uk-d + T-'

[I - R",p(TA(tk))

-r(A(td - A(tk-l))Rq-1,p-l(A(tk)r)

_P%l (::+~)! ~ (~)

Bi(tk-d [(A(t k ) _ A(tk_d)(A(tk))n-i

(2.49)

2.1. Single-Step Exact Difference Scheme and Its Applications

-~ (n j i)

29

A(j) (tk_,)(A(tk))n- H R,-n+[ [-I,p-[, [( r A(t,))]]


=

1<
- k

InP,q
Yk
'

r-I(u, - Uk-,)

<

-N
, Uo

+ r- I [1 -

.'-1

= Yo',

R"p(rA(t k_

(2,50)

+7(A(tk) - A(t k_l))Rq1 ,p-l(7A(t k_l))


2
2
-

+~

)n+l n ( )

p+q-l (

~ (~: I)! ~ ~ Bi(tk) (A(tk) - A(tk_~))( -A(tk_~))n-i

(n j i)

A(j)(t,)(-A(t k_ j))n-'-j

R,_n+[~]_I,p_[>](rA(tk_j))]] .'-1

= InP,q
rk ' 1 <
- k <
- N , Uo

= Yo.

Here, we can choose of 'P~,q which can be defined by one of the following formulas:

p,q _
'Pk or

~:" ~ :~I

1; f;m ( A ) Bm-.x(tk)f

p+q-l

E(7)

( . x l -( 7 )m

(tk) (m + I)!'

r
Bm-, (tk-,) (m : I)! [R,-m-['l'],p+['l'[(A(t,_,)r)

-7(A(tk) - A(tk-t})Rq- m-[TJ-l,P+[TI-l(A(tk-l)7)


m-l (

+~

+~
or

(n j i)

0+)n+l ~n ( ~) Bi(tk) [(A(tk) - A(tk-l))(-A(tk_t})n-i


7

1)

A (j) (t,)( - A(tk_,) )n-H ] R,-n+[, ]-I,p-[,] (A(t,_,)r)]

II') (tk-l),

30

Chapter 2. Difference Schemes for First-Order Differential Equations

or

m-l (

)n+l

+ ~ (~: 1)! ~

(n j i)

+~

7 Bi(tk) (A(tk) - A(tk_ 1 ))(-A(tk_ 1 ))n-i


)

A(j)(t,)(_ A(t,_! ))n-i- j

R,,-n+]~]-I'P-]~](7A(t,_! n] l')(t,-,),

or

+i7(A(tk) - A(tk-1))Rq-m-l,p-m-l("2A(tk))
m-l

n+l

+ ~ 2n+;(n + 1)! ~

-~ (n j i)

7 Bi(t k- 1) (A(tk) - A(tk_ 1 ))(A(tk))n-i


)

A(J)(t,_,)(A(t,))"-H R,-n+]'I)-I,p-]'I)(

~A(t,n] j(')(t,_,),

or

-27(A(tk) - A(tk-1))Rq-m-l,p-m-l(2A(tk-1))
m-I

)n+l

+ ~ 2n+~~n + 1)! ~

+~

(n j i)

7 Bi(tk) (A(tk) - A(tk_ 1 ))(-A(tk_ 1 ))n-i


)

A (j) (t,)(A(t,_!) )n-i- j R,_n+]

~(-I,p-]~ I(~A(t,_ j n] jl') (t,_!)

31

2.2. Taylor's Decomposition on Two Points and Its Applications

Note that using the exact difference scheme, we can extend our discussion to construct the difference schemes of an arbitrary high order of accuracy for approximate solutions of the initial-value problem for the first-order nonlinear system of
ordinary differential equations

y'(t)

+ A(t)y(t) = f(t,y(t)),O < t::; T,y(O)

= Yo.

It is left to the reader.

2.2 Taylor's Decomposition on Two Points and Its Applications


We consider again the initial-value problem (2.1). Utilization of Taylor's decomposition on two points in the construction of the single-step difference schemes of
a high order of accuracy for approximate solutions of problem (2.1) is based on
the following theorem.
Theorem 2.2.1. Let the function v(t)(O ::; t ::; T) have a (p

derivative and tk-1, tk

V(tk) - v(tk-d

+ I>l!jv(j) (ik)T j j=l

where

a = (p+q-j)!p!(-ljJ

+ q + l)-th continuous

[0, TJr. Then the following relation holds:

(p+q)!j!(p-j)!
. - (p+q-j)!q!
,BJ - (p+q)!j'(q_j)!
J

L,BjV(j)(tk-1)T j
j=l

for any j,l ::; j ::; p,


for any j, 1 ::; j 5:. q.

(2.51 )

(2.52)

Proof. Using the formula for integration by parts, we obtain the representation

jt

(tk _ s)q(s - tk_1)PV(P+q+1)(s)ds

tk-l

p+q
L( -l)p+q-'((tk - s)q(s - tk-1)P)(P+q-')v(r)(s)1~~_1'
,=0
We will calculate the expressions

and
1 Prof.

V.L. Makarov (Ukraine) told me about this proof.

32

Chapter 2. Difference Schemes for First-Order Differential Equations

If j

p + 1, then p + q - j

:s q -

1. Therefore

(-l)p+q-j [(tk - s)q(s - tk-dP](p+q-j) !S=tk = O.

If 0

:s j :s p, then

p+q-j (
- ')'
P + q J. ((t - s)q)(P+q-j-i) ((s - t _ )P)(i) I _
LJ
"(
+
k 1
s-tk
i=O Z. P
q - J. - Z')'. k

= (-l)p+q-j ~

(
')'
P+ q - J .
~ i!(p + q - j - i)! (j

p+q-j
(-1 )p+q- j ~

q.

+i -

p)!

p
x (-1 )p+q-j-i(tk - s )j+i- (p ~ i)! ((s - tk_l)P-i IS=tk

(-l)p+q-j ( p+q

')'

J 'q!(-l)qP'T j
j!

(p - j)!q!

(-l)P-j (p+q)!(p+q-j)! , j _ (-l)P( + )1 .


,
(_ ')'"
p.T P q .0:).
(P + q ) .
P J .J.

So,
(-l)p+q-j [(tk - s)q(s - tk-l)P](P+q-j) IS=tk

If j

q + 1, then p + q - j

:s p -

= (-l)P(p + q)!O:j.

1. Therefore

(-l)P+q-j [(tk - s)q(s - tk-l)P](P+q-j)

If 0

IS=tk-l

= O.

:s j :s q, then

p+q-j (
- ')'
P + q J. ((t - s)q)(p+q-j-i) ((s - t _ )p)(i) I _
LJ
"( + q - J. - Z')1. k
k 1
s-tk-l
i=O Z. P

= (-l)p+q-j ~

p+q-j (
- ')'
,
(-l)p+q-j ~
p+q J.
q.
~ i!(p+q-j-i)!(j+i-p)!
1

x( -l)p+q-j-i(tk - S)j+i- p (p~' i)! ((s - tk-dp-ils=tk_l

33

2.2. Taylor's Decomposition on Two Points and Its Applications


-

')1

(-l)p+q-j ( p+q J 'q!(-l)q-j~rj


p!(q - j)!j!
O!
(-l)P-j (p+q)!(p+q-j)!q'r j
(p + q)!
(q _ j)!j!

(-l)P(p+q)!,B.

So,
(-l)p+q-j [(tk - S)q(S - tk-dPj(p+q-j)

IS=tk_l

= (-l)P(p + q)!,Bj.

Theorem 2.2.1 is proved.


Note that relation (2.51) is called Taylor's decomposition of function v(t) on
two points.
Now, we will consider applications of Taylor's decomposition of function on
two points. From (2.51) it is clear that for the approximate solution of problem
(2.1) it is necessary to find yi:~) for any j, 1 :S j :S p and yi:~-il for any j,
1 :S j :S q. Using the equation

y'(t)

-a(t)y(t)

+ f(t),

we obtain
(2.53)
where

a1(t) = -a(t), h(t) = f(t),


aj(t) = aJ'2 1(t) - aj-1(t)a(t),fj(t)
{
for any j, 2 :S j :S p.

= fj2 1(t) + aj-1(t)f(t),

(2.54)

Replacing y(j) (t) by (2.53) and neglecting the last term, we obtain the single-step
difference schemes of (p + q)-order of accuracy for the approximate solution of
problem (2.1)
P

j=l

j=l

Uk -- Uk-1
a
(tk-1 ) r j-1 Uk-1 = <Pkp,q ,
- + '"'
LJajaj ()
tk r j-1 Uk - '"'
LJ!Jjaj
r
P

(2.55)

j
j
<P~,q = -l:aj!J(tk)r - 1 + l:,Bj!J(tk-1)r -1, 1:S k:S N,uo = Yo
j=l
j=l
Now let us give some examples for the constructed difference schemes.
In the case p + q = 1 from formulas (2.52), (2.54) and (2.55) it follows that
Uk - Uk-1
- - - + a(tk-d u k-1 = f(tk-d, 1 :S k :S N, Uo = Yo
r

(an explicit Euler's difference scheme of first order of accuracy for the initial-value
problem (2.1)), and that

Uk - Uk-1
- + a(tk)uk =
r

f(tk), 1 :S k :S N, Uo = Yo

(an implicit Euler's difference scheme of first order of accuracy for the initial-value
problem (2.1)).

34

Chapter 2. Difference Schemes for First-Order Differential Equations

In the case p + q = 2 from formulas (2.52), (2.54) and (2.55) it follows that

Uk 1
Uk -T -

+ (a(tk-l) + ~(a(!)(tk-d -

a2(tk_l)))Uk_l

f(tk-l) + ~(f(')(tk-d - a(tk-l)f(tk-l)),l ::; k::; N,uo = Yo


(an explicit difference scheme of second order of accuracy for the initial-value
problem (2.1)); and that

Uk - Uk-l T
T
+ "2(a(tk)uk + a(tk-duk-d

= 2(f(tk) + f(tk-d), 1::; k

::; N, Uo

= Yo

(a Crank-Nicolson difference scheme of second order accuracy); and that

Uk-Uk-l
T
=

T( -a (')()
+ (()
a tk +"2
tk + a2( tk ))) Uk

f(tk) - ~(f(')(tk) - a(tk)f(tk))' 1 ::; k::; N,uo = Yo

(an implicit difference scheme of second order of accuracy for the initial-value
problem (2.1)).
Now, we consider again the initial-value problem (2.22). Using the equation

y'(t)
we obtain

-a(t)y(t) + f(t, y(t)),

y(j)(t) = aj(t)y(t) + fj(t, y(t)),

(2.56)

where (see formula (2.26))

>. =

f>..(t, y(t)) = f(t, y(t)),


a\
f>..+l(t, y(t)) = W f(t, y(t))
A
(>.)
+ Ei=l
i
at Xa\ia;J(t, y(t))fi(t, y(t)),

0::;

1,

>. ::; p -

1.

Replacing y(j)(t) by (2.56) and neglecting the last term, we obtain the single-step
difference schemes of (p + q)-order of accuracy for an approximate solution of
problem (2.22)
(2.57)
p

= <P~,q(Uk, uk-d, <P~,q(Uk, uk-d

= -

L (}:j!J(tk, Uk)T
j=l

2.2. Taylor's Decomposition on Two Points and Its Applications

35

Now, we consider again the initial-value problem (2.30). Using the equation

yt(t) = -A(t)y(t)

+ f(t),

we obtain
where

(2.58)

Replacing y(j)(t) by (2.58) and neglecting the last term, we obtain the single-step
difference schemes of (p + q)-order of accuracy for an approximate solution of
problem (2.30)

Uk - rUk-1

'P~,q = -

A ( ) j-1 Uk +~
~ aj j tk r
j=l

j=l

j=l

~!3
~ j

j=l

A j (tk-1 )r j-1 Uk-1 = 'Pkp,q ,

(2.59)

L a j Fj (tk)r j - 1 + L !3jFj (tk_d rj - 1, 1 :::; k :::; N, Uo = Yo

Note that using Taylor's decomposition on two points, we can extend our discussion to construct the difference schemes of an arbitrary high order of accuracy
for approximate solutions of the initial-value problem for the first order nonlinear
system of ordinary differential equations

y'(t)

+ A(t)y(t) = f(t, y(t)), 0 < t

:::; T,

y(O)

Yo.

It is left to the reader.


Finally, in this chapter we consider two types of arbitrary high order of
accuracy difference schemes generated by an exact difference scheme or Taylor's
decomposition on two points for the numerical solutions of an initial-value problem
for differential equations and systems of differential equations. They are different
types of difference schemes for the same problem. Nevertheless, in the case of
a homogeneous equation or system of differential equations with independent in
t coefficients using the two types of methods above, we have exactly the same
difference schemes.

Chapter 3
Difference Schemes for
Second-Order Differential Equations
In the present chapter we consider the two-step difference schemes generated by
an exact difference scheme or by Taylor's decomposition on three points for the
numerical solutions of an initial-value problem and a boundary-value problem for
second-order differential equations.

3.1

Two-Step Exact Difference Scheme and Its Applications

We consider the initial-value problem of the form

y" (t)

+ a(t)y(t)

= f(t), 0< t ::; T, y(O) = Yo, y'(O) = y~

(3.1)

assuming a(t) and f(t) to be such that problem (3.1) has a unique smooth solution
defined on [0, T]. For the construction of difference schemes we consider again the
uniform grid space

[O,T]r={tk=kT, k=O,l, ... ,N, Nr=T}.


The construction of two-step difference schemes of an arbitrary high order of accuracy for approximate solutions of the initial-value problem (3.1) is based on the
following theorem.
Theorem 3.1.1. Let y(tk) be a solution of problem (3.1) at the grid points t = tk.

Then {y(tknS' is the solution of the initial-value problem for the following secondorder difference equations:

38

Chapter 3. Difference Schemes for Second-Order Differential Equations

(3.2)

Here
I(t s) = eiJ:b(A)dA r1(t s) = _1_ = I(s t)
,
" I (t, s)
"
where
(3.3)

Proof. Using the relations (3.3) we can obviously write the equivalent initial-value
problem for a system of first-order linear differential equations

+ ib(t)y(t)

y: (t)
{

~ v(t), y(O) ~ Yo, y' (0) ~ y;,

(3.4)

v (t) - ib(t)v(t) = f(t).

Integrating these, we at once obtain

y(t)
{ v(t)

e- i J~ b(A)dA yo

= eiJ~

b(A)dA VO

+ J~ e- i J: b(A)dAV(s)ds,

+ J~ eiJ: b(A)dA f(z)dz.

That is,

y(t)

r1(t, O)y(O)

it

it

r1(t, s)/(s, O)dsv(O)

r1(t, s)

I(s, z)f(z)dzds,

39

3.1. Two-Step Exact Difference Scheme and Its Applications

so, using the condition y' (0)

y(t)

+ ib(O)y(O) =

[r 1(t,0) +ib(O)

it

1
t

v(O), we obtain

r 1(t,S)1(S,0)dS] Yo

1- 1(t,s)1(s,0)dsYb +

it

r 1(t,s)

is

1(s,z)j(z)dzds.

By the definition of 1(t, s) and interchanging the order of integration, we obtain


y(t) = 1- 1(t,0)

1t

[1 + ib(O)

1- 1(t, z)

it

it

12(S,0)dS] Yo + r 1(t,0)

12(s, z)dsj(z )dz

u(t)

it

12(s,0)dsYb

(3.5)

+ v(t) + g(t).

Putting t = tk+ 1, t = tk and t = tk-1 into the formula for u(t), we can write

U(tk+1)

rtk+l 2
]
r 1(ik+1,0) [ 1 + ib(O) Jo
1 (s,0)ds Yo

[1 +ib(O) [l

= r 1(tk+1,tk)r 1(tk,0)

tk

12(s,0)ds+

l
1

=1- 1(tk+1,tk) u(tk)+1- 1(ik,0)ib(0)


U(tk-1) = r 1(tk_1,0)
= [(t" 'k-,)r' ('k,

[1 + ib(O)

1:k+ 12(s,0)dS]] Yo
1

t k2+ l ]
tk
1 (s,0)dsyo,

tk

12(S,0)dS] Yo

0) [1 + ib(O) [l' 1'(s, O)ds - l', [2(S, O)d']] Yo

= [(t" ,,-,) [U(tk) -

r' (t" O)ib(O)

l',['(

s, O)dsYo] .

Hence, we obtain the following relation between u(tk+ d, u(tk) and u(tk-1) :

(1:k+ 1 (s, O)dS)


1

(I

tk

tk-l

-1

(I(tk+1, tk)U(tk+1) - U(tk))

r 1(tk, O)ib(O)yo,

12(S,0)dS) -1 (U(tk) _ r 1(ik, tk-1)U(tk-1)) = 1- 1(tk, O)ib(O)yo.

40

Chapter 3. Difference Schemes for Second-Order Differential Equations

Therefore

(3.6)

In a similar manner, using the definition of /(t, s) and the formula for v(t), we get

jt

/2(s, O)ds(I(tk+l, tk)V(tk+d - V(tk))

(3.7)

tk-l

Now, putting t = tk+l, t = tk and t = tk-l into the formula for g(t) and using the
definition of / (t, s), we get

3.1. Two-Step Exact Difference Scheme and Its Applications

J.:'"

I'(S,O)dS[l' r'(tk,Z) [" 1 (s,z)ds!(z)dz

_l

tk

tk

+I

r1(tk, Z)

k 1
j t _ [2(S,

z)dsf(z)dz

r1(tk, Z)

k I
j t - [2(8,

Z)dSf(Z)dZ]

tk-I
tk

=I

[2(S, O)ds [

tk-I

_l

tk
+!

41

J.:'"

t
io

r1(tk, Z)

tk

t
io

1
k+

[2(S, z)dsf(z)dz

tk

r'(tk,Z)

[2(S, O)ds [

+ l " r'(tk,Z)

['H

12 (S,Z)dS!(Z)dZ]

r1(tk, Z)

tk
I

[2(S, z)dsf(z)dz

tk_1

1.:-, I'(S,Z)ds!(Z)dZ]

Now, using the identity

we obtain

I
I

tk

12(s,O)ds(1(tk+l,tk)g(tk+l) - g(tk))

tk-l

tk + 1

12(s, O)dS(g(tk) - r1(tk, tk-dg(tk-l))

tk

tk

+I

tk-I

[2(S, O)ds

Itk+1
tk

tk 1
+ 2
tk
1 (s,O)ds Itk
tk-I

r1(tk, z)
r1(tk, z)

l
l

tk 1
+

[2(S, z)dsf(z)dz

tk-l

[2(s, z)dsf(z)dz.

So, using the last formula and the identities (3.6) and (3.7) we obtain the following
relation between Y(h+d, y(tk) and y(tk-d:

Chapter 3. Difference Schemes for Second-Order Differential Equations

42

1~:1 /2(s,0)ds 1~k+1 /-l(tk,Z)

+ 1~k+1 /2(s,0)ds 1~:1 r1(ik,z)

Since /2(tk,0):f:.

/2(s,z)dsj(z)dz

1:-1 /2(s,z)dsj(z)dz.

it follows that

1~:1 r
-

= i

l k+1

tk

tk + 1

tk

2
(tk, s)ds(I(tk+l, tk)y(tk+l) - y(tk))
/2(S, tk)ds(y(tk) - /-l(tk, tk-dy(tk-d)

l k+

t
1
r 2(tk, s)ds itk+ /-l(tk, z)
tk_1
tk
Z

+ l~k+1 /2(s, tk)ds 1~:1 r1(tk, z)

/2(S, z)dsj(z)dz

1:-1 /2(s, z)dsj(z)dz,

l::;k::;N-1.
From this it follows (3.2) for any k, 1 ::; k ::; N - 1. The identity (3.2) in the case
k = 1 follows from (3.5). Theorem 3.1.1 is proved.
Let us note that the initial-value problem (3.2) is called the two-step exact
difference scheme for the solution of the initial-value problem (3.1).
Note that for b(t) we have a system of first-order nonlinear differential equations of Riccati type (3.3). Therefore for the smooth a(t) there exist smooth solutions of this system defined on the segment [0, T]. We will choose one of these
smooth solutions b(t) = br(t) + ibi(t),
t ::; T.
Now, we will consider the applications of this exact difference scheme. From
(3.2) it is clear that for the approximate solutions of problem (3.1) it is necessary
to approximate the expressions
tk
tk 1
-1 i + /2(s, tk)ds, -1 i r 2(tk, s)ds, r1(tk, tk-l), /(tk+l, tk)
T tk
T tk_1

::;

and

Let us remark that in constructing difference schemes it is important to know how


to construct a right-hand side <P~,q that satisfies

tk

tk 1

k 1
(3.8)
r1(tk, z) Jt + /2(S, z)dsj(z)dz
T tk-I
tk
Z
Z
tk 1
q
tk + /2(S, tk-d ds itk
tk-I r1(tk, z) i tk-I /2(s, z)dsj(z)dz] - <P~,q = O(TP+ )
1 i
:d

2(tk, s)ds i

3.1. Two-Step Exact Difference Scheme and Its Applications

43

and is sufficiently simple. The choice formula <P~,q is not unique. Using Taylor's
formula, with respect to the function

on the variable z, we obtain

(3.9)
where

3::; m

::; p + q.

(3.10)

Using Taylor's formula, with respect to the function

on the variable z, we obtain


(3.11)

where

3::; m

::; p

+ q.

(3.12)

Moreover, for the construction of <P~,q we will use (3.9) and (3.11). But, first of all
let us study the approximate formulas for the expressions

44

Chapter 3. Difference Schemes for Second-Order Differential Equations

that will be needed for the construction of difference schemes of a high order of
accuracy for the approximate solution of problem (3.1). First, let us consider the
approximate formulas for the expression
tk
I -1(t k, t k-l ) = e -ift k-l b(s)ds

constructed by Pade's rational functions. It is clear that


t
k
e-ift :- 1 b(s)ds = e-ib(tkl T + i jt e-ift'k_l b(z)dz(b(tk) _ b(s))ei(S-tk)b(tk)ds.
tk-l

Using Taylor's formula, with respect to the function


e-ift'k_l b(Z)dZ(b(tk) _ b(s))ei(S-tk)b(tkl

on the variable s, we obtain


t
e-ift :- 1 b(z)dz

n+l

= e-ib(tk)T + iT(b(tk)
(

+ ~ i (: + I)! ({; ~

+~

_ b(tk_l))e-ib(tk)T

Cn-),(tk-d (b(tk) - b(tk_l))(ib(tk))),e-ib(tk)T

C) b('-') ('k-l)(ib('k))'e-<b(')' ]

+cn(tk-d(b(tk) - b(tk_d)e-ib(tk)T)

m~
t
:- 1

e-ift

b(z)dz = e-ib(tk)T

+ 0(T m +2)

2,

+ iT(b(tk) _

iT 2
+Tb'(tk_l)e-ib(tk)T

b(tk_l))e-ib(tk)T

+ 0(T 3 ),

tk
e - i f tk_l b(z)dz = e- t'b(t k )T

+ O(T 2 ),

45

3.1. Two-Step Exact Difference Scheme and Its Applications

where

Further, using the last formulas and Pade fractions for the function e- z (see Chapter 2), we can write

r1(h,tk-d = R[T],m-[T]+l(i7b(tk))

(3.13)

+i7(b(h) - b(tk-l))R[T]-1,m-[T](i7b(tk))

+ }; i (::+~)!

~ (~) cn->.(tk-d(b(tk) - b(tk-l))(ib(tk))>'

m~

2,
. 2

I-1(tk, tk-d = R u,2-u(i7b(tk)) + i7(b(tk) - b(tk-d) + t~ b'(tk-l)


+o( 7 3 ), a = 0, 1,2,
r1(tk, tk-l) = R x ,1-x(i7b(tk)) + 0(7 2), X = 0,1.
Second, let us consider the approximate formulas for the expression
t k +1
I(t k+l, t k ) -- ei Jt k b( s )ds

constructed using Pade's rational functions. We have that

Using Taylor's formula, we obtain

46

Chapter 3. Difference Schemes for Second-Order Differential Equations

+~

G) b(A-") (tk+ d(ib(tk) )"Je"U,)' + en (tk+' )(b(tk+d - b(tk))e'bU,)')


+0(rm+2) = eib(tk)r + ir(b(tk+l) _ b(tk))eirb(t k)

m-l

t;

l)n r n+l n ( )

+ ~ i (n+ 1)!

~ Cn->.(tk+l)(b(tk+l) - b(tk))(ib(tk))>'eib(tk)r

(_l)n r n+l n (n)

+ ~ i (n + I)! {; >. Cn->.(tk+l)


X

~ G) b(A-") (tk+,)(ib(tk))"Je"U.)' + o(r

eiftkk+l b(s)ds = eib(tk)r

+ ir(b(tk+l) _ b(tk))eirb(tk) _
eiftt:+l b(s)ds

+'), m 2: 2,

. 2

t~ b'(tk+deib(tklr

+ 0(r3),

eib(tk)r + 0(r2),

where

Further, using the last formulas and Pade fractions for the function e- z , we can
write
I(tk+l,tk) = R[T],m-[TI+l(-rib(tk))
(3.14)

+ir(b(tk+l) - b(tk))R[TI-1,m-[TI( -irb(tk))


m-l (

l)n

n ( )

n+l

+ ~ i (n +r1)! {; ~ cn->.(tk+d(b(tk+l) - b(tk))(ib(tk))>'


.
m . (-1)nrn+l n (n)_
xR[m;-nl_l,m_n_[m;-nl(-trb(tk)) + ~ t (n + I)! {; >. cn->.(tk+d

~ G) b(A-") (tw)(ib(tk))" R[m," ],m-n-[ m," I(-irb(tk)) + o(r m +2),


m22,

I(tk+l, tk)

R a,2-a(-rib(tk)) + ir(b(tk+l) - b(tk)) a

I(tk+l, tk)

t;

. 2

b'(tk+l) + 0(r 3),

= 0,1,2,

Rx,l-x( -rib(tk)) + 0(r 2), x

= 0,1.

47

3.1. Two-Step Exact Difference Scheme and Its Applications

In the sequel we denote that if n <

Rn,m(x)

(m < 0), then

= Ro,m+n(x)(Rn,m(x) = Rm+n,O(x)), n + m

::: 0.

Third, let us consider approximate formulas for the expression

Using Taylor's formula, we can write


(3.15)
where dn(s) = Dn (s)I 2 (s, tk),

Dn(S) = 0, n < 0,
{ Do(s) = 1, Dn+l(s)

= D~(s)

+ 2ib(s)D n(s), 0::; n.

Fourth, let us consider approximate formulas for the expression

Using Taylor's formula, we can write


(3.16)
where dn(s) = Dn (s)I- 2 (s, tk). Note that dn(tk) = dn(tk) for any n.
Now, using formulas (3.9), (3.10), (3.11), (3.12), (3.13), (3.14), (3.15), (3.16)
and neglecting the last small terms o(r p+q), 'P~,q can be defined by the formula

fl {;

( - l)m T m-I
p,q _ p+q-3 m ( m ) (.\)
'Pk >. f (tk+l) (m + I)!

p+q-m-3
X

f='o

(-1) T d (t )Bn,p+q-m-n(t )
(n + I)! n k m-.\
k+1

48

Chapter 3. Difference Schemes for Second-Order Differential Equations

p+q-3

L L
m

m=l A=O
X(

p+q-3
)1

p+q-m-1.

+
X(

l; {;

p+q-3

p+q-2

)'
p+q-m.

d-

f(A)(tk_d (m

d-

( )B-p+q-m-22(

p+q-m-2 tk

+ I)!

m-A

'

f(A)(tk-d (m

+ I)!

tk-l

p+q-m-l

()B-p+q-m-ll()
tk m-A
' tk-l

3.1. Two-Step Exact Difference Scheme and Its Applications

P+q-l(p + q - 1)
A

(A)

r P+-2
q

(tk-l) (p + q)!

where

I;+Ol,k

1, I;+\'k = R",l-,,( -rib(tk)), K = 0,1,


2
n,2 = Ra,2-a (
. ())
. (
) - b(tk ) )
Ik+1,k
-nb
tk + 2r
b(
tk+l
- .2 r b'(tk+l)
2
'
=

(J

= 0,1,2,

I;il'k = Rq_[mtnj,p_m_n+[mtnj( -rib(tk))

+ ir(b(tk+l) - b(tk))

x Rq_1_[mtn],p-l-m-n+[mtnj (-rib(tk))

+
X (b(tk+l)

f;

p+q-m-n-2 (-1 )~r~+l ~ (~)


i (~+ I)!
A Z~-A(tk+d

- b(tk))(ib(tk))A Rq_l_[m+;H],p_l_m_n_~+[m+;H] (-rib(tk))

f;

p+q-m-n-l (-l)~r~+l ~ (~)


i (~+ I)! {; A Z~-A(tk+l)

49

Chapter 3. Difference Schemes for Second-Order Differential Equations

50

~ C) bIA-"1 (tk+ d(ib(tk" R,_I_[ m';"],p_m_n_,+[m,;" [( -rib(tk),


j

? 3,

and

3::; m

::; p + q,

J;,'~_l = 1, J;,'1-1 = R x ,l-x(rib(tk)),}( = 0,1,

2
n2
., (
( ) ) .r b'(tk_1)
J k:k- 1 = R a,2-a(nb(tk)) +zr b(tk)-btk-1 +z
2
,a=0,1,2,
J;:1-1 = Rq_[mtnj,p_m_n+[mtnj(irb(tk)) + ir(b(td - b(h-1))

~ C) blA-" I (tk- d (ib( tk))" R,-1-[.,;', [,p-m-n-'+[ .,;"] (irb(tk)), j 2: 3,

Applying the identity dn(tk) = dn(tk) for any n, we can write


(3.17)

x ((_l)m+n Bn,p+q-m-n(t
m-,),
k+1 )f(,),) (t k+1 ) + jjn,p+q-m-n(t
m-,),
k-1 )f(,),) (t k-1 ))

3.1. Two-Step Exact Difference Scheme and Its Applications

51

X((_I)P+q-1BP+q-m-1,1(t
m-A
k+1 )f(A)(t k+1 ) + BP+q-m-1,1(t.
m-A
k-1 )f(A)(t k-1 ))

f t;

p+q-3

+
X

()

p+q-1
(m + I)! (p +: - m + I)! dp+q-m(tk)

((-I)p+q BP+q-m,O(t
m-A
k+1 )f(A) (t k+1 ) + BP+q-m,O(t
m-A
k-1 )f(A) (t k-1 ))

(+ 2)
+ f;
1p+q-2

(p

+q-

I)!

p+q-3+n
r(n + I)! dn(tk)

n,2-n (t
p+q-2-A (t k+1 )f(A) (t k+1 ) + B p+q-2-A
k-1 )f(A) (t k-1 ))

x ((_I)p+q+n-2 B n ,2-n

(+ 1) 1
+ f;
1p+q-1

(p+q)!

p+q-2+n
r(n+ I)! dn(td

x ((_I)p+q-1+n Bn,l-n
p+q-1-A (t k+1 )f(A)(t k+1 ) + Bn,l-n
p+q-1-A (t k-1 )f(A)(t k-1 ))

f; ,\

p+q ( P + q)

r P+q -1

(p + q + I)! dO(tk)

x (( -1)p+q B~~q_A (tk+1 )f(A) (tk+d

+ B~~q_A (tk-1 )f(A) (tk-d).

Now, using formulas (3.13), (3.14), (3.15) and (3.16), we can write
1
2'
r

(ljt
r

12(s, tk)dsl- 1(tk, tk-1) - 1)

(3.18)

tk

~ :' ('%;,' (m': l),dm(t,)[R'-I'l'I,'+I-m+ I'l'I(i'b(t,))


+ir(b(tk) - b(tk-d)Rq-1-[~J,p-m+[~)(irb(tk))

+i P+%,-l

(::+~)! ~ (~) Cn-A(tk-d(b(tk) _ b(tk_1))(ib(tk))A

xRq_1_[ffitnj,p_m_n+[mrJ(irb(tk))

+i

p+q-m

L (: + I)! A=l
L
n+1

n=l

Cn-A(tk-1)

~ G) b('-') (t'-I)( ib(t,))"R'-lmi" l,p-m-n+lmi" I(i,b(t,))]

r P+q - 1
+ (p + q)!dp+q-1(tk)[RO",2-0"(rib(tk))
r p +q

+ ir(b(tk)
r P+ q + 1

- b(tk-d)

r2

+ i2

b'(tk-dJ

+ (p+q+l.),dp+q(tk)Rx ' 1-x(rib(tk)) + (p+q+2.),dp+q+1(tk ) - 1) + o(r p+q),


(1

= 0,1,2, x = 0, 1;

52

Chapter 3. Difference Schemes for Second-Order Differential Equations

(3.19)

1 p+q-2 (_1)m 7m
72

(fa (m + I)! dm(tk)[Rq-[';'],p-m+[';']+l (-7ib(tk)) + i7(b(tk+l) - b(tk))

.
xRq-1-[';'I,p-m+[';'J(-z7b(ik))

E(n)_

?;

p+q-m-l . (-1 )n 7n+l n


z (n + I)!

?;

p+q-m (_1)n 7 n+l n


+
i (n + I)! {;

cn->.(tk+d

- b(tk))(ib(tk))>' R q_ 1_[ m;n],p_m_n+[ m;n] (-i7b( tk))

X (b(tk+l)

oX

(n) cn->.(tk+d
oX

~ C) b('-") (tk+1)(ib(tk))" R,-l mi'],p-m-n+l mi'] ( -irb(tk))1

(-1 )p+q-l7P+q- 1

72

(p)'+
dp+q- 1(tk) [R q 2-q (-7ib(tk) )+i7(b(tk+d-b(tk)) -i-b' (tk+dl
q.'
2
(-1 )P+q7P+q

+ (p+q+1.)1 dp+q(tk)R x ' l-x( -nb(td)


+

(-1 )p+q+ 17 P+q+1


(p+q+ 2)'. dp+q+1(tk) - 1) + O(7 P+Q ),

1jt

1
2"(2-7
7

fl

p+q+l
=

1jt

2(tk,S)ds-7

tk-l

12 (s,tk)ds)

(3.20)

tk

m-2
q
(~+ l)!dm(t k)((_l)m+l -1) + O(7 P+ );

1(7,0)ib(0)!

~ ib(O) C~: (mr:

= 0,1,2, x = 0,1;

(J
k

ia

1 )! dm(O)

12 (s,0)ds

+ !(I-l(7,0) -1)

(3.21)

[11,->-[ ';'],p-m+l';'](irb(r)) + ir(b(r) - b(O))

X R q- 2 -[';'],p-l-m+[';'1(i7b(7))

+i

p+q-m-3

n+l

(: + I)!

E~

n ( )
cn->.(O)

3.1. Two-Step Exact Difference Scheme and Its Applications

53

x (b( r) - b(O))(ib(r))A R q_2_[ mtn],p-1-m-n+[ mtn I (irb(r))


n+1

p+q-m-2

+i
X

(: + 1)!

n ( )

f;

Cn-A(O)

~ C) b('-) (O)(;b(T))" R,_l_[ -to ),,-l-m-n+[mt") (iTb(T))] )

+ib(O) ( rp+q-32),dp+q_3(0) [Ra2-a(rib(r))


p+q- . '

+ ir(b(r) -

b(O))

+ i r2 b'(O)]

r P+q - 2
r P+q - 1
+ib(O) (
),dp+q- 2(0)R x ,1-X(rib(r)) + ib(O) (
),dp+Q- 1(0)
p+q-1.
p+q.

+~(RQ,p(irb(r))

p+Q-2

+ ir(b(r) - b(0))RQ- 1,p-1(irb(r))

n ( )

n+1

+i ~ (: + 1)! ~ ~ Cn-A (O)(b(r) - b(0))(ib(r))ARq_1_[ ~],p-l-n+[~1 (irb(r))

(J

= 0,1,2, x = 0, 1,p + q 2

liT

r1(r,0)ib(0)r

3,

1
]2(S, O)ds + -(1-1(r,
0) - 1)

= ib(O)do(O)R x ,l-x(rib(r)) + ib(O) 2d1 (0)


1
+~(Rq,p(irb(r))

+ ir(b(r) - b(O)) + i

liT

r 1(r,0)ib(0)r

= ib(O)do(O) +

I:

m=O

2 b'(0) -

1)

+ o(r 2),p + q = 2;

1
]2(s, O)ds + -(1-1(r,
0) - 1)

~(Rq,p(irb(r))

r1(r,0)~ r
r Jo
p+q-4

r2

- 1) + o(r),p + q = 1;

]2(s,0)ds

r
(m + 1)!dm(0)[R q- 1-[T],p-m+[TI(irb(r))

(3.22)

Chapter 3. Difference Schemes for Second-Order Differential Equations

54

+ir(b(r) - b(0))Rq- 2-ITJ,p-l-m+ITj(irb(r))

+i

P+%,-3

(:::)! t, (~)

c,._,(O)(b(r) - b(O))

x (ib(r))>' R q_2_[ mrJ,p_l_m_n+lmtnj(irb( r))

p+q-m-2

~)

>'-1 (

/L=O
r P+q -

n ( )

L (: + 1)! >'=1
L

+i
x

n+l

n=1

cn->.(O)

b(>'-/L) (O)(ib(r))/L Rq_l_lmtnj,p_l_m_n+lmtnj(irb(r))]

r2
2),d p+q- 3 (0)[R a,2-a(rib(r)) + ir(b(r) - b(O)) + i-b'(O)]
p+q- .
2

+(

r P+q - 1
p q
),d p+q- 2 (0)R x ,I-X(rib(r)) + (
),d p+q- 1(0) + o(r + ),
p+q-1.
p+q.

+(

r P+q -

(J

= 0,1,2, x = 0, 1,p + q 2 3,

(3.23)

where

11

1(r, z)

1
T

[2(s, z)dsj(z)dz

= 0 + o(r),p + q = 1.

Now, neglecting the last terms in formulas (3.18), (3.19), (3.20), (3.21), (3.22),
(3.23) and using formula (3.17), we obtain the difference schemes

3.1. Two-Step Exact Difference Scheme and Its Applications


P
= II1
rk ,q , 1 <
- k <
- N - 1, Uo =

~(Ul
r
where

1 p+q-2

al,k

r2

55

Yo ,

(3.24)

uo) = ao,oYo + ao,lY'(O) + <Pb,q,

(1; (mr+ l),dm(tk)[Rq_[';'-J,P+l-m+[';'-I(irb(t k))


m

+ir(b(tk) - b(tk-l))Rq-1-[,;,-J,p-m+[,;,-I(irb(tk))

C)

b('-") (tk-})(ib(tk))" R,_[ mi" ],p-m-n+( mi"](irb(tk1 11

r P+q - 1
+ (p+ q)!dp+q-l(tk)[R,r,2-0'(rib(tk))

r2

+ ir(b(tk) - b(tk-l)) + i 2 b'(tk- 1)]

r p+q
+ (p + q + I)! dp+q(tk)Rx,l-x(rib(tk))
(j

r P+q+1

+ (p + q + 2)! dp+q+1(tk) -

1),

= 0,1,2, x = 0,1;

(1;

1 p+q-2 (_l)m r m
.
(m + I)! dm(tk)[Rq_[';'-J,p-m+[';'-]+l( -nb(tk))

a3,k = r2

+ir(b(tk+d - b(tk))Rq-1-[';'-I,p-m+[,;,-1( -irb(tk))

+
X

(b(tk+l) - b(tk))(ib(tk))A Rq-1-I"'tnJ,p-m-n+[",;nl( -irbh))

+
X

(n)

?;

p+q-m-l (_l)n r n+l n


i (n + I)! {; A Cn-A(tk+l)

C)

?;

f;

p+q-m (_l)n r n+l n


i (n + I)!

(n)

A cn-A(tk+l)

b('-") (tk+ 1 )(ib(t,))"R,_ [mi" },p-m-n+ [mi" I( -irb(tk))]

(-1 )p+q-l r P+q- 1


r2
(p + q)!
dp+q- 1(tk)[RO',2-0'( -rib(tk) )+ir(b(tk+l )-b(tk)) -i 2 b' (tk+l)]

56

Chapter 3. Difference Schemes for Second-Order Differential Equations

(J

fl

p+q+l

a2,k =

= 0,1,2, x = 0,1;
m-2
(~+ I)! dm(tk)(( _l)m+l - 1);

p+q-4
m
T
ao,o = ib(O)('; (m + 1)!dm(0)[R q- 1-[T],p-m+[TI(iTb(T))
+iT(b(T) - b(0))Rq- 2-[T],p-l-m+[TI(iTb(T))

(J

= 0,1,2, x = 0, 1,p + q ~ 3;

57

3.1. Two-Step Exact Difference Scheme and Its Applications


1
+~(Rq,p(iTb(T))

+ iT(b(T) - b(O)) + i

ao,o = ib(O)do(O)

fo

p+q-4
aO,l =

2 b'(0) -

1),p + q = 2;

+ ~(Rq,p(iTb(T)) -1),p+ q =

1;

T
(m + 1),dm(0)[R q- 1-[T],p-m+[TI(iTb(T)) + iT(b(T) - b(O))

XR q- 2-[T],p-l-m+[TI(iTb(T))
X (b(T)

+i

p+q-m-3

n ( )
(: + I)! {; ~ cn-,\(O)
n+l

- b(O))(ib(T)),\ R q_2_[ mr],p-l-m-n+[mtnj (iTb(T))


p+q-m-2

+i
x

n+l

(:+ I)!

n ( )

f;

cn-,\(O)

~ C) b(A-") (0)(ib(7}}" Rq_1_1m,"I,,_1_m_n+( ","I (;7b(7))]


TP+q- 3

iT 2

+ (p+q- 2),dp+q(0)[Ru 2-u(Tib(T)) + iT(b(T) - b(O)) + -b'(O)]


.3 '
2
TP+q-2
TP+q- 1
p
q
+ (p+q _ 1),d
+ - 2(0)Rx ,1-X(Tib(T)) + (
),dp+q-1(0),
.
p+q.
a

aO,l

= 0, 1, 2, x = 0, 1, P + q ~ 3;
.

do(O)Rx,l-x( nb(T))

+ 2d1 (0), p + q =

2;

aO,l=l,p+q=l;
O'P+q=I'
{nP,q - p+q-l m ( )
""0 '" '"
m BOO ()f('\) ( ) (_l)mrm 2
{ m~l
,\~o A
m-,\ T
T
(m+l)!' :s p + q.
Thus, we constructed the difference schemes of (p + q)-order of accuracy for the
approximate solution of the initial-value problem (3.1). Finally, let us give some
examples of the simplest difference schemes.
In the case p + q = 1 from formulas (3.17), (3.18), (3.19), (3.20), (3.21),
(3.22), (3.23) and (3.24) it follows that
1(

T2 Uk+l - 2Uk

b2 (tk)

1 ,

+ uk-d + (-2- + iT- (b(tk) - b(tk-d) + i 2b (tk-l)


+ ~! (6ib'(tk) - 4a(tk))Uk-l

58

Chapter 3. Difference Schemes for Second-Order Differential Equations

b2 (tk)

+( -2ib (tk) + 3a(tk))Uk + (-2- + iT- (b(tk+d - b(tk))

-i~b'(tk+1) + ;, (6ib'(tk) 1

4a(tk))Uk+1 =

~ k ~ N -

~(f(tk+d + f(tk-d),

1, Uo = Yo,

!(Ul - uo) = i(b(O) - b(T))Y(O)


T

+ y'(O)

(a difference scheme of first order of accuracy for an initial-value problem (3.1)


generated by the first order of accuracy explicit difference scheme).
In the case p + q = 2 from formulas (3.17), (3.18), (3.19), (3.20), (3.21),
(3.22), (3.23) and (3.24) it follows that

b2 (tk)

.Tb 3 (tk)
1
T2 (Uk+1 - 2Uk + Uk-I) + (-2- - z-6- + i-;(b(tk) - b(tk-d)
1

+~b(tk-d(b(tk) -

b(tk-d) -

~(b(tk) -

b(tk-d)b(tk) + i~b'(tk-l)(l - iTb(tk))


2

2T (tk-l )b'( tk-l )+z-3


. T (b"( tk-l )+2b'( tk-l ).zb (tk )) +zb
. (tk )( - Tb
+,b
- -(tk)
+ -iT,(
b tk-l ))
1
3 . .

+~(2ib'(tk) -

4b 2 (tk))(1- iTb(tk)) + ;, (2ib"(tk) -12ib(tk)b'(tk) - 8ib 3 (tk))))Uk_l


,

b2 (tk). Tb 3 (tk)

+( -2ib (tk) + 3a(tk))Uk + (-2- + z-6- + -;(b(tk+d - b(tk))

-~b(tk+d(b(tk+d

- b(tk)) + ~(b(tk+d - b(tk))b(tk) -

i~b'(tk+1)(l + iTb(tk))
2

2T b(tk+1 )b'( tk+1 ) +i T! (b"( tk+1 )+2b'( tk+l )ib ())


Tb (tk) iT, (tk+d)
+3T
tk -ib ()
tk (--2--2b
3

+~(2ib'(tk) =

4b 2 (tk))(1 +iTb(tk)) -

~(2ib"(tk) -12ib(tk)b'(tk) -

8ib3 (tk))))Uk+l

~(f(tk+l) + f(tk-d) + ~iTb(tk)f(tk+l) - ~iTb(tk)f(tk-l)


+i(- j'(tk+d + j'(tk-d), 1 ~

~(Ul

- uo) = (Tb(O)(b(T) - b(O))

~N-

1, Uo = Yo,

+ ~(ib'(O) - b2 (T)))YO

+(1 + iT(b(O) - b(T)))Y'(O) + ~f(T)


(a difference scheme of second order of accuracy for an initial-value problem (3.1)
generated by the second order of accuracy explicit difference scheme).

3.1. Two-Step Exact Difference Scheme and Its Applications

59

Now, we consider the boundary-value problem of the form

-y" (t)

+ a(t)y(t)

= f(t), 0< t ~ T, y(o) = Yo, y(T) = Yr

(3.25)

assuming a(t) and f(t) to be such that problem (3.25) has a unique smooth solution
defined on [0, T]. But for existence of a unique solution of the boundary-value
problem (3.25) we need some estimate from below of a(t).
For the construction of difference schemes we consider again the uniform grid
space
[0, T]r = {tk = kT, k = 0,1, ... , N, NT = T}.
The construction of the two-step difference schemes of an arbitrary high order of
accuracy for the approximate solutions of the boundary-value problem (3.25) is
based on the following theorem.

Theorem 3.1.2. Let y(tk) be a solution of problem (3.25) at the grid points t = tk.

Then {y(tknS" is the solution of the boundary-value problem for the second-order
difference equations

+ l~k+l J 2 (tk+l,s)ds 1~:1


1

Here

{1:-1

J(tk,s)J(z,s)ds}f(z)dz],

k ~ N -1,y(O) = yo,y(T) = Yr.

J(t, s) = e- J; b()")dJ..,

where b(t) is a solution of the equation


b2 (t) - b'(t) = a(t),
and the following estimate holds:

b(t) ~ bo > 0, ~ t ~ T.

(3.27)

(3.28)

60

Chapter 3. Difference Schemes for Second-Order Differential Equations

Proof. Using relation (3.27), we can obviously write the equivalent boundary-value
problem for a system of first-order linear differential equations

y' (:) + b(t)y(t) = v(t), yeO) ~ Yo, YeT) ~ !IT,


{

-v (t) + b(t)v(t) = f(t).

Integrating these, we at once obtain

y(t)

e- I~ b(>')d>'yo

+ I; e- I: b(>')d>'v(s)ds,

{ v(t) = e- I,r b(>')d>'v(T) + It e- It b(>')d>' f(z)dz.


That is,

y(t) = J(t,O)yO + I; J(t,s)v(s)ds,


{

v(t) = J(T, t)v(T)

+ It J(z, t)f(z)dz.

From these formulas and the condition y(T) = YT it follows that

y(T) = J(T, O)YO +

lT

J(T, s)

iT

J2(T, s)dsv(T)

iT J(z, s)f(z)dz.

Since IoT e- 2Is b(>')d>'ds t=- 0, then


T

- [

( [ J(T,,)J(Z,S)dS) f(z)dz].

So, we have that

v(t)

~ J(T, t) (iT J'(T, S)d')

-iT (J.T

-I

[,(T) - J(T, O)Yo

J(T,S)J(Z,S)d.s) f(z)dz] +

iT

J(z,t)f(z)dz

3.1. Two-Step Exact Difference Scheme and Its Applications


and

y(t)

~ J(t, O)yo +

l'

-iT (iT

61

J(t, ')[J(T, ,) ( [ ' J'(T, T)dT) -1 [y(T) - J(T,O)yo

J(T,T)J(Z,T)dT) !(z)dz] +

iT

J(z,s)f(z)dzlds.

By an interchange of the order of integration, we obtain

T
y(t) = (iT J 2(T,S)ds)-1[{i J 2(T,s)dsJ(t,O)yO +
-it J(t, s)J(T, s)ds x i
t

{l

it

J(t,s)J(T,s)dsy(T)}

J 2(z,s)ds}f(z)dz]

+ i {i J(t,s)J(z,s)ds}f(z)dz
+ iT{it J(t, s)J(z, s)ds}f(z)dz = u(t) + w(t) + g(t),

(3.29)

where

u(t)

(iT J2(T, S)dS)-l iT J2(T, s)dsJ(t, O)Yo,

w(t) = (iT J2(T, s)dst 1

g(t)

it

J(t, s)J(T, s)dsy(T),

-(iT J2(T, S)dS)-l

it

J(t, s)J(T, s)ds

x iT {i J 2(z,s)ds}j(z)dz

+ i {i J(t,s)J(z,s)ds}j(z)dz + i
Putting t

{l

t
J(t,s)J(z,s)ds}j(z)dz.

= tk+l, t = tk and t = tk-l into the formula for u(t), we can write

62

Chapter 3. Difference Schemes for Second-Order Differential Equations

t k +1

-(I
tk

(jt

J 2(tk+l,S)ds)-1(U(tk+d - J(tk+l,tk)U(tk))
J2(T, S)dS)-l J2(T, tkH)J(tk+l, O))YO'

J2(tk, S)dS)-l(U(tk) - J(tk, tk-l)U(tk-I))

tk-l

Therefore,

or

-J(tk+l' tkH1T J2(T, S)dS)-l J2(T, tkH)J(tk+l, O))YO'

3.1. Two-Step Exact Difference Scheme and Its Applications

tk

63

J 2(tk, S)dSJ 2(tk+l' tk)]U(tk)

tk-I

t k +1

J 2(tk+l' S)dSJ(tk, tk-l)U(tk-I) = O.

(3.30)

tk

In a similar manner, using the definition of J(t, s) and the formula for w(t), we
can obtain

tk

J2(tk, s)dsJ 2(tk+l' tk)]w(ik)

tk_1

tk +1

J 2(tk+l' s)dsJ(tk, tk-l)W(tk-d = O.

(3.31 )

tk

Now, putting t = tk+l, t = tk and t = tk-l into the formula for g(t) and using the
definition of J(t, s) we can obtain

64

Chapter 3. Difference Schemes for Second-Order Differential Equations

x(

tk
lo

lz

J(tk,s)J(z,s)ds}f(z)dz+

lo

lz

itk

ltk+l J(tk+1, s)J(z, s)ds}f(z)dz)

iTtk {l tk
ltk l

J(tk,s)J(z,s)ds}f(z)dz +

J(tk,s)J(z,s)ds}f(z)dz)

tk +
1

J(tk, s)J(z, s)ds}f(z)dz)

tk+ ltk+l
{
J(tk+1,s)J(z,s)ds}f(z)dz)
tk 0

tk

x(

iTtk l tk

J 2 (tk+1,s)dsJ(tk,tk_d(

t
tk io

+i

t rt
itk_l io
k

J(tk-l,S)J(z,s)ds}f(z)dz)

k
-

J(tk_l,S)J(z,s)ds}f(z)dz

J(tk_l,S)J(z,s)ds}f(z)dz)

3.1. Two-Step Exact Difference Scheme and Its Applications

65

So, using the last formula and the identities (3.30) and (3.31) we obtain the following relation between y(tk+l), y(tk) and y(tk-d:

tk 2
Itk+l J2(tk+l' s)dsJ(tk' tk-dy(tk-d
J (tk, s)dsJ 2(tk+l' tk)]y(tk) +
Itk-l
tk
tk
Itk+l {Jt k+1J(tk+l,S)J(z,s)ds}f(z)dz
=J2(tk, s)dsJ(tk+l' tk)
I
tk
z
tk+1 2
Itk
- Itk J (tk+l,S)ds
tk_l J(tk,s)J(z,s)ds}f(z)dz.
tk-l

tk-l{

From this it follows (3.26) for any k, 1 ::; k ::; N - 1. Theorem 3.1.2 is proved.
Let us note that the boundary-value problem (3.26) is called the two-step
exact difference scheme for solution of the boundary-value problem (3.25).
Note that for b(t) we have the Riccati differential equation (3.27). Therefore
for the smooth a(t) there exists a smooth positive solution of this differential
equation defined on the segment [0, T].
Now, we will consider the applications of this exact difference scheme. From
(3.26) it is clear that for the approximate solutions of the problem (3.25) it is
necessary to approximate the expressions

and

tk+1 rtk+l
jtk jZ
jtk {Jz J(tk+l,s)J(z,s)ds}f(z)dz, tk-l{ tk-l J(tk,s)J(z,s)ds}f(z)dz.
Let us remark that in constructing difference schemes it is important to know how
to construct a right-hand side <P~,q that satisfies
(3.32)

and is sufficiently simple. The choice formula


formula, with respect to the function

tk +

Jr
z

<P~,q

is not unique. Using Taylor's

J(tk+l, s)J(z, s)ds}f(z)

66

Chapter 3. Difference Schemes for Second-Order Differential Equations

on the variable z, we obtain


1
2"

k
lt

+ {

tk

tk

J(tk+l,s)J(z,s)ds}f(z)dz

(3.33)
where
(3.34)

Using Taylor's formula, with respect to the function

lZ

J(tk,s)J(z,s)ds}f(z)

tk-l

on the variable z, we obtain


1
2"
T

it {itr
k

tk-l

J(tk' s)J(z, s)ds}f(z)dz

tk-l

(3.35)
where

Moreover, for the construction of rp~,q we will use (3.33) and (3.35). But, first of
all let us study the approximate formulas for the expressions

that will be needed further for the construction of difference schemes of a high
order of accuracy for the approximate solution of problem (3.25).
Let us consider the approximate formulas for the expression

J(t k, t k-l ) = e

J:

k-l

b(s)ds

3.1. Two-Step Exact Difference Scheme and Its Applications

67

constructed by Pade's rational functions. It is clear that

Using Taylor's formula, we obtain

m-1

n+1

= e-b(tk)T + r(b(tk) - b(tk_d)e-b(tk)T + ~ (:+ 1)!


x
m

+ '"

to (~)
n+1

Cn-,\(tk-1)(b(tk) - b(tk_1))b'\(tk)e-b(tk)T
,\-1

f:'o

r
, "'cn-,\(tk-d ' "
~ (n+1). ~

(A) b{'\-J.L) (tk_dbJ.L(tk)e-b(tk)T


J1-

+o(rm +2 ), m 2: 2,
e- f"kk_ 1b(z)dz = e-b(tk)T

+ r(b(tk) _

b(tk_1))e-b(tk)T

+r

2
e- f,':_1 b(z)dz = e-b(tk)T + 0(r 2),

b'(tk_de-b(tk)T

+ 0(r3),

where

Further, using the last formulas and Pade fractions for the function e- z, we
can write
(3.37)

68

Chapter 3. Difference Schemes for Second-Order Differential Equations

XR[m;nj_l,m_n_[m;nj(Tb(tk))

A-I (

J.L=O

_J'k

~)

b(z)dz

'k-l

n ( )

n+l

+ ~ (:+ I)! {; ~

b(A-J.L)(tk-lW"(tk)R[m;nj,m_n_r m;nJ(Tb(tk))
T

Cn-A(tk-d

+ 0(Tm+2), m 2: 2,

= R<7,2-<7(Tb(t k ))+T(b(t k )-b(t k-d)+2"b (tk_l)+0(T 3 ),a = 0, 1,2,

Jt'L, b(z)dz =

e-

Therefore

e-

R x ,l-x(Tb(tk)) + 0(T 2), X = 0,1.

J'k+l b(z )dz


'k

= R[TJ,m-[TJ+l(Tb(tk+d)

(3.38)

+T(b(tk+l) - b(tk))R[TJ-l,m-[T](Tb(tk+d)

I: (::+~)! t
1

n=1

A=1

(~) cn- A(tk)(b(tk+l) - b(tk))bA(tk+l)


m

XR r m;nJ_l,m_n_r m;nJ(Tb(tk+d) + ~
x~

A-I (

e-

J k+l
tk

~)

b(z)dz

n ( )

n+l

(:+ I)! ( ; ~

Cn-A(tk)

b(A-J.L)(tk)bJ.L(tk+l)R[m;nj,m_n_[m;nj(Tb(tk+l)) + 0(T m+2), m 2: 2,


T

= R<7,2-<7(Tb(tk+l))+T(b(tk+d-b(tk))+"2b (tk)+O(T ), a = 0, 1, 2,

- J'k+l b(z)dz
'k

= R x ,l-x(Tb(tk+l))+O(T ),x=O,1.

Moreover, we can obtain

e-

2J'k+ l b(z)dz
tk

(3.39)

= R[TJ,m-[T]+l(2Tb(tk+l))

+2T(b(tk+d - b(tk))R[Tl- 1 ,m-[TJ(2Tb(tk+l))

+ ~1

(::+~)!

t, (~)

1 A
Cn-A(tk)(b(tk+l) - b(tk))2A+ b (tk+l)

XR[m;nJ_l,m_n_[m;nJ(2Tb(tk+d)

I: (~)
J.L=O

+~

(::+~)!

t, (~)

Cn-A(tk)

b(A-J.L) (tk)2J.L+lbJ.L(tk+d R 1m;nJ,m_n_l m;nj (2Tb(tk+d)


+0(Tm+2), m 2: 2,

69

3.1. Two-Step Exact Difference Scheme and Its Applications


'k+l ( )

e- 2J'k

z dz = R CT ,2-CT(2rb(tk+l)) + 2r(b(tk+d - b(tk)) + r 2b'(tk)


(j

e _2J'k+l
'k

b(z)dz

+ 0(r3),

= 0,1,2,

))
= R x ,1-x(2rb(tk+l
+ 0(2
r ), x = 0,1,

where

Now, let us consider the approximate formulas for the expression

Using Taylor's formula, we can write


(3.40)
where dn(s) = Dn(S)}2(tk+l, s),

Dn(S) = 0, n < 0,
{ Do(s) = 1,Dn+1(s)
Therefore

= D~(s) + 2b(s)Dn(s), 0:::; n.

1jtk
m (_l)n r n
j2(tk,S)ds=
1),dn(tk)+0(rm+1).
r tk_l
n=O n + .

L (

(3.41)

Now, using formulas (3.33), (3.34), (3.35), (3.36), (3.37), (3.38), (3.39) and
(3.40) and neglecting the last small terms o(r p+q), <P~,q can be defined by the
following formula:

<P~,q =

fl (;

p+q-3

(m)

(3.42)

A j(>)(tk+l)(3m->.(tk+l)

m m-l p+q-m-3 ( l)n n


x ( - l) r
'"
r d (t )jn,p+q-m-n
(m+1)!
~
(n+1)! n k k+l,k

fl (; 7

p+q-3

j(>') (tk+d(3m->. (tk+d (m + I)!

( - l) p+q r p+q-3 d

x (p+q-m- 1)'.

p+q-on-2

tk

)jP+q-m-n-22
k+l k

'

'

70

Chapter 3. Difference Schemes for Second-Order Differential Equations

fl E

p+q-3 m

p+q-m-3

"

LJ

n=O

m)

(-1)

(.x)

m-l

(tk-I) (m + I)!

n
T

) -n p+q-m-n(

(n+ 1)'. dn tk+l Brr:-.x

X jjp+q-m-2,2(t
)
m-.x
k-l

tk-l

71

3.1. Two-Step Exact Difference Scheme and Its Applications

fl ~

p+q-3

f(A}(tk_l) (m + I)!

_
( _1)p+q-m-1 7 P+q-2
P+q-m-ll(t
dp+q-m-I (t k+1 )Bm-A
'
k-I )
p+q-m.

x -'---'-(:-------:)-=-,p+q-3
+

L L
A=O

f(A)(

m=1

f(A}(tk_d (m + I)!

q
(-1)p+q-m 7 P+ -I
(
)B-p+Q-m,O(
)
X (
)' dp+Q-m tk+1
m-A
tk-I
p+q-m+1.

(2)

p+q-2
""' p + q A
A=O

+ ~
+

p+q-I (

""'
~
A=O

p+q-1
A

h-I (

(A)(

p+q-3

""'

l)n n
7

+ _ I)! ~ (n + I)!
q

n=O

d (
)jjn 2-n (
)
n tk+1 p.tq-2-A tk-I

p+q-2 I ( l)n n
""' 7
(
)-nl-n (
)
tk-I ( + )! ~ (n + I)! dn h+1 Bp.tq-I-A tk-I
P q n=O

)7

p+q ( )
p+q-I
P+q
(A)
7
-0
A
f (tk-I) (p + q + 1)!do(tk+dBp+q_A (tk-I),

+ ""'
~
where

= R x ,l-x(7b(tk+I)), x = 0,1,

J;.tI,k

1, J;.t\,k

J;;I,k

R a,2-a(7b(tk+I))+7(b(tk+I)-b(tk))

7 2b'(tk)
2
,0-=0,1,2,

J;:;l,k = R q_[mt n j,p_m_n+[mt n j(7b(tk+l)) + 7(b(tk+l) - b(tk))


xRq_ 1 _["'i n j,p_l_m_n+["'i n J(7b(tk+d)

p+q-m-n-2

~=l

and

~+I

(b(tk+l) - b(tk))bA(tk+1)Rq_l_["'+;H],p_l_m_n_~+[m+;HJ (7b(tk+l))

/H~n-, (;:+:)!
x

(;+ 1)! A=O


L (i) C~-A(tk)

t, (i)

C,-A(tk+.)

~ C) b(A-") (tk)b"(tkH)R,_ '_lm+;H),p_m_n_'+lm+;H)(rb(tk+' )),j "

3,

Chapter 3. Difference Schemes for Second-Order Differential Equations

72

J~'~_l

1, J;~\,k = Rx,l-x(rb(tk)), x = 0,1,

J~'LI

R 17 ,2-17(rb(tk)) + r(b(tk) - b(tk-l)) +

r 2b'(tk_l)
2
,0"

= 0,1,2,

J;:Ll = Rq_[mtnJ,p-m-n+lmrl(rb(tk)) + r(b(tk) - b(tk-I))

X (b(tk)

- b(tk_l))(b(tk))A Rq_1_1m+;HJ,p_l_m_n_{+[m+;Hj (rb(tk))


p+q-m-n-l
+

(;+ I)! L (i) C{-A(tk-I)


{H

{=l

A=l

~ (~) b(A-iL)(tk-I)(b(tk)Y'Rq_1_1m+;HJ,p_m_n_{+[m+;H](rb(h)),j 2:: 3.

iL=O

Now, using formulas (3.37), (3.38), (3.39) and (3.40), we can write
1

1jt

2"(1 - r

tk

+1

2
J (tk+l' s)dsJ(tk' tk-l))

(3.43)

1
p+q-2 (_l)m r m
r 2 (1- , ; (m+ I)! dm(tk+l)[Rq-[TJ,p-m+[T]H(rb(tk))

+r(b(tk) - b(tk-l))Rq-1T]-1,p-m+IT](rb(tk))

~ G)

b(A-") (tk_,)(b(tk))" R'_

mi" ]..-m-""mi' I (rb(tk))]

(_1)p+q- 1r P+q- 1
r2 ,
(
)'
dp+q- 1(h+l)(R17 2-17(rb(tk))+r(b(tk)-b(tk-l))+-b (h-l))
p+q.'

(-1 )p+qr p+q


(-1 )p+q+ 1 r p+q+1
- (p + q + I)! dp+q(tk+l)Rx,l-x(rb(tk)) (p + q + 2)! d p+q+1(tk+l))

+o(r

+q ) , 0"

0 '"
1 2 x = 0, l',

3.1. Two-Step Exact Difference Scheme and Its Applications

73

(3.44)

fa

p+q-2 (-l)m r m
(m+ I)! dm(tk)[Rq-[~],p-m+[~1+1(2rb(tk+I))
+2r(b(tk+I) - b(tk))Rq_[~)_1,p_m+[~1(2rb(tk+I))

p+q-m
XRq_ImtnJ_l.p_m_n+lmtnJ (2rb(tk+l))

n+l

n=l

(-1 )p+q-l r P+q- 1

(p + q)!

L (: + I)! L en-A(tk)
A=l

2
dp+q- 1(tk)(Ra,2-a(2rb(tk+I)) + 2r(b(tk+d - b(tk)) + r b'(tk))

(-1 )p+qr p+q


(-1 )p+q+ 1 r p+q+1
+ (p + q + I)! dp+q(tk)R x ,1-x(2rb(tk+l)) +
(p + q + 2)! dp+q+1(h))

+o(rp +q ) , a

= 0 1 2 x = 0 l'

'"

"

(3.45)

fa (m

p+q-2 (_l)m r m
= r 2 (1+ I)! dm(tk)[Rq-[~],p-m+[~I+l(rb(tk+l))
1

+r(b(tk+l) - b(tk))Rq_[~]-l,p-m+[~I(rb(tk+I))

p+q-m

XRq_lmtnl_l,p_m_n+lmtnJ (rb(tk+I))

+ ~

n
(:+ I)! {; en-A(tk)
n+l

74
-

Chapter 3. Difference Schemes for Second-Order Differential Equations

(_1)p+q- 1r P+q- 1
r2
(p + q)!
dp+q- 1(tk)(Ra,2-a(rb(tk+l)) + r(b(tk+d - b(tk)) + 2"b'(tk))
(-1 )p+q+ 1 r p+q+1
- (p+q+1)! dp+q(tk)Rx,l-x(rb(tk+l)) (p+q+2)! dp+q+1(tk))
(-1 )p+qr p+q

+o(r p +q ), (j

= 0,1,2,){ = 0, 1.

Now, neglecting the last terms in formulas (3.43), (3.44), (3.45) and using
formula (3.42), we obtain the difference schemes

(3.46)
where
1

al,k = r 2 (1- 2rbh) -

fo (m

p+q-2 (_l)m r m
+ I)! dm(tk+l)[Rq-[T],p-m+[T]+l(rb(tk))

+r(b(tk) - b(tk-d)Rq_[TI-l,p-m+[TJ(rb(tk))

p+q-m

xRq _ 1mtnl-1,p-m-n+lmtnJ (rb(tk)) +

I: (A) C
11=0

J.L

b 'x-I1)(tk_db l1 (tk)R

q-I

m+n
2

n
(:+ I)! {; Cn-,X(tk-l)
n+l

l.p-m-n+1

m+n
2

(rb(tk))]

(_1)p+q- 1r P+q- 1
r2 ,
(p + q)!
dp+q- 1(tk+l)(Ra,2-a(rb(tk)) +r(b(tk) - b(tk-d) + 2"b (tk-d)
(-1 )p+qr p+q

(
1)' dp+q(tk+l)Rx l-x(rb(tk))
p+q+ .
'
(-1 )p+q+ 1 r p+q+1
(
2)' dp+q+l (tk+d), (j = 0,1,2,){ = 0,1,
p+q+ .
1

a2,k

= 2"(-2

fo (m

+ 4rb(tk) +

p+q+l(_l)n r n

2:= (n + 1)'. dn(tk+l)

n=O

p+q-2 (_l)m r m
+
+ I)! dm(tk)[R q-[T],p-m+[TI+l(2rb(tk+l))

75

3.1. Two-Step Exact Difference Scheme and Its Applications

(-1 )p+q-1rP+q- 1
2
+
(p + q)!
dp+q- 1(tk)(Ra,2-a(2rb(tk+d) + 2r(b(tk+d - b(tk)) + r b'(tk))
(-1 )p+qr p+q
(-1 )p+q+ lr P+q+1
p
q
x
+ (p+q+1)! d + (h)R ,1-x(2rb(tk+d) +
(p+q+2)! dp+q+1(tk)),
(J

= 0,1,2, x = 0,1,

fa (m

p+q-2 (_l)m r m
a3,k = r 2 (1- 2rb(tk) + I)! dm(tk)[Rq-ITJ,p-m+IT]+l(rb(tk+l))
1

+r(b(tk+l) - b(tk))Rq-ITI-l,p-m+[T](rb(tk+l))

~
(..\) b(A-/-I) (tk)b/-l(tk+dR
~ J.t
/-1=0

q-[

"'t n ].p-m-n+[ "'t n J (rb(tk+d)]

(-1 )p+q-1rP+q- 1
(
)'
dp+q- 1(tk)(Ra,2-a(rb(tk+l))
p+q.

r2

+ r(b(tk+l) - b(tk)) + -2 b'(tk))

(-l)p+qr p+q
(_1)p+q+lr P+q+1
- (p + q + I)! dp+q(h)Rx,l-x(rb(tk+d) (p + q + 2)! dp+q+1(tk)),
(J

= 0,1,2, x = 0,1.

Thus, we constructed the difference schemes of (p + q)-order of accuracy for the


approximate solution of the boundary-value problem (3.25). Finally, let us give
examples of the simplest difference schemes.

76

Chapter 3. Difference Schemes for Second-Order Differential Equations

In the case p + q = 1 from formulas (3.42), (3.43), (3.44), (3.45) and (3.46)
it follows that
b2 (tk)
(Uk+l
2Uk
+Uk-l)(l27b(tk))
+
(--2- b(tk+l)b(tk)
2

- 7

-"3 b (tk+d

+(8b2(~k+l) + 2b(tk+l)b(tk) + ~b2(tk)


-7- I(b(tk+l) - b(tk)) + ~b'(tk) + ~b'(tk+I))Uk

+( -

b2(tk+l)
2

- b(tk+db(tk) -

1 ,

1 ,

"3 b (tk) - 2b (tk) - "3 b (tk))Uk+1

= 2(f(tk+1) + !(tk-l)), 1 :S k :S N - 1, Uo = YO,uN = YT


(a difference scheme of first order of accuracy for the boundary-value problem
(3.25) generated by the first order of accuracy explicit difference scheme).
In the case p + q = 2 from formulas (3.42), (3.43), (3.44), (3.45) and (3.46)
it follows that
1

-2(Uk+1 - 2Uk + uk-d(l - 27b(tk)) + (-(b(tk+l) - b(tk))


7

b2(tk)

--2-

rb (tk)

+ -6- -

1
~(b(tk)

- b(tk-d)(l - 7b(tk)) + 27 b(tk-l)(b(tk) - b(tk-d)

1
- 27 (b(tk) - b(tk-d)b(tk) -

-;!

~b'(tk-l)(l -

7b(tk)) -

;!

(-b(tk-l))b'(tk-l)

(b 2(tk_l) + 2b'(tk-l)b(tk))

7b2 (tk)
7 ,
+b(tk+l)(-b(tk) + - 2- + (b(tk) - b(tk-d) + 2b (tk-d)
-A(2b'(tk+l) + 4b2(tk+l))(1 - 7b(tk))
3.
+ (2b"(tk+d + 12b'(tk+l)b(k+l) + 8b 3 (tk+l))))Uk_1

;!

+(7- I (b(tk+d - b(tk)) + ~(2b'(tk+l) + 4b 2(tk+I))


- ;, (2b"(tk+l) + 12b'(tk+l)b(tk+d
+8b (tHI)) + 2b (tk+d 3

47b 3 (tk+l)
3

- 4(b(tk+l) - b(tk))b(tk+d

77

3.2. Taylor's Decomposition on Three Points and Its Applications

-2r- 1b(tk)(b(tk+d - b(h)) + 2r- 1(b(tk+1) - b(tk))b(tk+1)


+b'(tk)(l - 2rb(tk+l)) -

~~ b(tk)b'(tk) + ~(2b"(tk) + 4b'(tk)b(tk+1))

-b(tk)(-2b(tk+1) + 2rb2 (tk+l) + 2(b(tk+l) - b(tk)) + rb'(tk))


+ r, (2b'(tk)
3.

+ 4b2 (tk))(1 - 2rb(tk+d)

-;(2b"(tk) + 12b'(tk)b(tk) + 8b3 (tk)))Uk


4.

+( _

b2 (t

k+l

r- 1

rb3 (t

+ (b(tk+1) - b(tk))b(tk+d

r- 1
b(tk)) - - , (b(tk+1) - b(tk))b(tk+1)
2.

- rb(tk+d) + ;,b(tk)b'(tk) - ;, (b"(tk) + 2b'(tk)b(tk+d)

+b(tk)( -b(tk+d +

-~(2b'(tk)
3.

+-,
b(tk)(b(tk+1) 2.

-~b'(tk)(1

k+l

rb 2 (tk+d
2

r ,

+ (b(tk+1) - b(tk)) + "2 b (tk))

+ 4b 2 (tk))(1 - rb(tk+d) + r, (2b"(tk) + 12b'(tk)b(tk) + 8b 3 (tk)))Uk+1


4.

"2 (f(tk+d + !(tk-I)) - "2!(tk+d(b(tk+1) + b(tk)) - "2!(tk-I)(b(tk+d + b(tk-I))


-i(f'(tk+d - !'(tk-1)), 1 :S k :S N - 1, Uo

YO,UN

YT

a difference scheme of second order of accuracy for the boundary-value problem


(3.25) generated by an explicit difference scheme.

3.2

Taylor's Decomposition on Three Points and Its Applications

We consider again the initial-value problem (3.1). The utilization of Taylor's decomposition on three points in the construction of the two-step difference schemes
of a high order of accuracy for the approximate solutions of problem (3.1) is based
on the following two theorems.
Theorem 3.2.1. Let 17m, m = 1, ... ,q be a solution of the system

~
L

m=1

(2j)'17m
(2' _ 2m)!
]

= 1, p + 1 :S ] :S p + q.

(3.47)

Chapter 3. Difference Schemes for Second-Order Differential Equations

78

Let the function v(t) (0 ::; t ::; T) have a (2p + 2q + 2)-th continuous derivative
and tk-1, tk, tk+ 1 E [0, TJr. Then the following relation holds:
V(tk+1) - 2V(tk)

+ V(tk-1) -

L (}:jV(2 j )(tk)r 2j
P

(3.48)

j=l

- L '1]j(V(2 j )(tk-I) + V(2j) (tk+1))r 2j = o(r2p+2q+2),


q

j=l
where
(}:1 =

(}:j =

1-

2'1]1, (}:j =

((2~)! t
-

m=l

((2~)!

'1]m

j-1

- '1]j -

'1]m

for any j,2::; j ::; q,

(2(j~m))!)2

(2(j~m))!)2 ~:~ any

j, q + 1 ::;

Proof. We obtain the formula

(3.49)

(2p + 2q + l)!(V(tk+d - 2V(tk)


_

~ (2p + 2q + I)! 2
L.J
j=l

(2)!
J

2j

r v

+ v(tk-d)

(2j) (t )
k .

Using the formula of integration by parts, we obtain

2p+2q+2

(_1)2 P+2q+2-"'I ((tk+1 - s)2 p+2 q+l )(2 p+2 q+2-"'I)V b - 1)(S)]~:+l

"'1=1

2p+2q+2

"'1=1

(_1)2 p+2q+2-"'I((s -

tk_d2p+2q+l)(2p+2q+2-"'I)vb-1)(s)1~~_1

3.2. Taylor's Decomposition on Three Points and Its Applications

79

In a similar manner one can show that


(3.50)

= (2p

+ 2q - 2m + 1)!7 2m (v(2m) (tk+l)


_

. LJ

J=m+l

(2p

- 2V(2m)(tk)

+ V(2m)(tk_l))

+ 2q -

2m + I)! 2j (2j)
_
(2( . _ m))!
27 v (tk), m - 1, ... ,q.
J

Now, using formulas (3.49) and (3.50), we obtain that

- L 7Jm 72m (V(2m) (h+l) - 2v(2m)(tk) + v(2m)(h_l))


q

m=l

Since

80

Chapter 3. Difference Schemes for Second-Order Differential Equations

- L 7]m T2m (V(2m) (tk+d q

2V(2m)(tk)

+ v(2m)(tk_d)

m=1

m=1

m=1

- L 7]m T2m (V(2m) (tk+l) + V(2m)(tk_l)) + L 7]mT2m2v(2m) (tk)

-L
q

m=1
j-l

~ ~

7]m T2m (V(2m) (tk+I) + V(2m)(tk_I)) +

L
q

7]mT2m2v(2m)(tk)

m=1
q

2
2' (2')
~ ~
2
2 (2)
_m))!T Jv J (tk) +.~ ~ 7]m(2(' _m))!T Jv J (tk)
J
J=q+l m=1
J

+ ~ ~ 7]m(2('
J=2 m=1

and (3.47) holds, then (3.48) follows. Theorem 3.2.1 is proved.


Theorem 3.2.2. Let 7]m, m = 1, ... , q be a solution of the system

j-l

. __1__ ~

7]J -

(2j)!

7]m

~1 (2j - 2m)!'P

+1<'<

- J - q.

~ (2j)!7]m
.
~1 (2j - 2m)! = 1, q + 1 ~ J ~ P + q.
Let the function vet) (0 ~ t ~ T) have a (2p + 2q + 2)-th continuous derivative
and tk-l, tk, tk+l E [0, TJ.,.. Then the following relation holds:
V(tk+l) - 2V(tk)

+ v(tk-d -

L Q:jV(2 j )(tk)T 2j
j=1

3.2. Taylor's Decomposition on Three Points and Its Applications

81

- L rlj (V(2 j )(tk- d + V(2j) (tk+l) )72j = o(72p+2q+2),


j=1

where
al

=1-

2ryl, aj

= ((2j)!

fl

j-l

- ryj -

rym (2(j _ m))!)2 for any j, 2

Proof. Using formulas (3.49) and (3.50), we obtain that

-L
q

rym 72m (V(2m) (h+l) - 2v(2m)(tk)

+ v(2m)h_t})

m=1
q

p+q

+ ~ rym ,~
m=1

J=m+l

1
2' (2)
(2(' _ m))!27 Jv J (tk)

We have that

-L
q

m=1

rym 72m (V(2m)(tk+l) - 2V(2m) (tk)

+ v(2m)(tk_l))

~ j ~ p.

82

Chapter 3. Difference Schemes for Second-Order Differential Equations

- L 1Jm 72m (V(2m) (tk+l) + V(2m)(tk_t}) + L 1Jm72m2v(2m) (tk)


q

m=1

m=1

L 1Jm72m2v(2m) (tk)
P

m=1

- L 1Jm 72m (V(2m) (tk+l) + V(2m)(tk_l))


q

m=1

- L 1Jm 72m (V(2m)(tk+d + v(2m)(tk_d)


m=1
q

j-l

'"
1
'"
2
2 (2)
- "LJ [(2 .)! -1Jj - LJ 1Jm (2( _ m)),]27 Jv J (tk)
J=p+l

m=1

p+q

'"

( .)'

2
'"
2J .
2j (2j)
- L J (2"),(1- LJ1Jm(2("_m)),)7 v
(tk).
J=q+l

m=1

Theorem 3.2.2 is proved.


Note that the relation (3.48) is called Taylor's decomposition of function v(t)
on three points.

83

3.2. Taylor's Decomposition on Three Points and Its Applications

Now, we will consider the applications of Taylor's decomposition of function


on three points to approximate solutions of the initial-value problem (3.1) and
boundary value problem (3.25).
We consider two cases: the simple case when a(t) = a, for any t E [0, T] and
the general case when a(t) is the smooth function defined on the segment [0, T].
Let a(t) = a, for any t E [0, T]. First, we consider an initial-value problem
(3.1). From (3.48) it is clear that for the approximate solution of problem (3.1) it
fi d '
d (2j).
. 1 < .<
d (2j)
(2j).
.
IS necessary to n Y(r) an Y(td lor any J,
_ J _ p an Y(tk-,)' Y(tk+,)lor any
j, 1 ::; j ::; q. Using the equation
y"(t) = -ay(t)

+ j(t),

we obtain
n

+ l)-a)n->. j(2)'-2)(t),n =

2,....

(3.51)

2q
j
LPjy(j)(r)r - L Ojy(j) (O)r j = o(r2p+2q+1),

(3.52)

y(2n)(t) = (-a)ny(t)

>'=1

From (2. 51) it follows that


y(r) - y(O)

2p

j=l

where

.=

j=1

(2p+2q-j)!(2p)!(-1)i
(2p+2q)!j!(2p-j)!

PJ

{ '.

UJ -

y'(r) - y'(O)

lor any j,1::; j ::; 2p,

(2p+2q-j)!(2q)!
(2p+2q)!j!(2q-j)!

and

lor any J,

::; J::; q,

2p-2[.!f]

ajy(j+l) (r)r

j=l
2q-2m+2[.!f]+l

bj y(j+1) (O)T j = O(T2p+2q-2m+2),O::;

L
j=l

where
aj =

(2p+2q-2 m +l-j)!(2p-2[.!f ])!( -I)i


(2p+2q+1-2m)!j!(2p-2[.!f]-j)! '

for any j,1::; j ::; 2p - 2[~],


b. =
J

(2p+2q+1-2m-j)!(2q-2m+2[.!f1+ 1)!
(2p+2q+1-2m)!j!(2q-2m+2[.!f1+1-j)!'

for any j, 1 ::; j ::; 2q - 2m + 2[~]

+ 1.

m::; q -1,

84

Chapter 3. Difference Schemes for Second-Order Differential Equations

Using formulas (3.51) and (3.53), we obtain

y'(T) - y'(O)

p-[TI

L a2n( -aty'(T)T 2n
n=1

P-[TJ

P-[T]

L a2n L( -at->' j(2).-1) (T)T2n


n=1
>'=1

P-[T]

L a2n_1(-a)n Y(T)T 2n - 1 + L a2n-1 L(-at->'j(2>.-2) (T)T 2n - 1


n=1
n=1
>'=1
q-m+[TI
q-m+[TI
n
2n
L
b2n (-aty'(O)T L
b2n L( -at->' j(2).-1) (O)T2n
n=1
n=1
>'=1
q-m+[T]+1
L
b2n - 1(_a)n y(O)T 2n - 1
n=1
q-m+[T]+1
n
L
b2n - 1 L( -at->' j(2)'-2) (O)T2n-1
n=1
>'=1
= O(T2p+2q-2m+2), 0 ~ m ~ q - 1.

From the last formula it follows that

(1

p-[TI

L
n=1

a2n( -atr 2n )y'(r) = y'(O) -

P-[T]

p-[T]

p-[Tl

L a2n L( _a)n->. j(2).-1) (T)T2n


n=1
>-=1
n

L a2n_1(-a)n Y(T)T 2n - 1 - L a2n-1 L(-at->-j(2>--2) (T)T 2n - 1


n=1
n=1
>-=1
q-m+[TI
q-m+[TI
n
+ L
b2n (_a)n y'(O)T 2n + L
b2n L( _a)n->- j(2)--1) (O)T2n
n=l
n=1
>-=1

+
+

q-m+[T]+l

L
n=1

b2n - 1(_a)n Y(O)T 2n - 1

q-m+[T)+l

L
n=1

b2n - 1 L(-at->- j(2)--2) (O)T2n-1


>-=1

+ O(T2p+2q-2m+2),

or
y'(T)

p-['-]

'" 1
[y'(O)
1 + L:~:~2J a2n( _a)nT2n
n

L a2n L(_a)n->. j(2)'-1)(T)T 2n


n=1
>'=1

(3.53)

85

3.2. Taylor's Decomposition on Three Points and Its Applications


p-[T]

a2n-1 (-aty(r)r 2n - 1 -

p-[Tl

n=l

a2n-1

n=l

q-m+[ T)

b2n (_a)n y '(O)r 2n

L( _a)n-,\ j(2,\-2) (r)r2n-1


'\=1

q-m+[ T]

n=l

b2n

n=l

q-m+[T]+l

L( _a)n-,\ j(2,\-1)(O)r 2n
'\=1

b2n - 1( -aty(O)r 2n - 1

n=l

q-m+[TJ+1

b2n - 1

L( _at-'\j(2,\-2)(O)r 2n - 1] + o(r2p+2q-2m+2).
'\=1

n=l

Now, neglecting the last terms in formulas (3.52), (3.53) and using formulas
(3.51) and (3.48), we obtain the difference schemes
Uk+1 - 2Uk
r2

+ Uk-1

L (-a )j r 2j-2 Uk
P

j=l

Q"
J

=L

1]j

j=l

L( -a)j-'\(j(2,\-2)(tk+1) + j(2,\-2) (tk_1))r2j-2


'\=1

j=l

'\=1

+ LQj L(-a)j-Aj(2A-2)(tk)r2j - 2,1:::; k:::;


U1 ~ Uo

+L

N -1,

P2n( -atu1r2n-1

n=l

q-m+[T]
b2n (_a)n y '(O)r 2n
+ L
n=l

+L

P2m-1( _a)m-1 r 2m-2

m=l

q-m+[T)
n
L
b2n L( _a)n-,\ j(2,\-1)(O)r 2n
n=l
'\=1

(3.54)

86

Chapter 3. Difference Schemes for Second-Order Differential Equations

q-m+[T]+l
q-m+[T]+1
n
L
b2n - 1(-at u or 2n - 1 +
L
b2n - 1 L(-at->' j(2)'-2) (O)r2n-1j
n=1
n=1
>'=1
q

- L82n(-afnuor2n-l - L82n_l(-a)2(n-l)y'(O)r2n-2
n=1
n=1
n

= - L

n=1

p2n L( -at->' j(2)'-2) (r)r2n-1

+L

>'=1

82n L( _a)n->. j(2).-2) (O)r2n-1


n=1
>'=1

p
n-l
- L P2n-l L( -at- 1->. j(2).-I) (r)r2n-2
n=1
>'=1

n-l
82n - 1 L (_a)n-l->. j(2).-I) (O)r 2n - 2,Uo = YO.
n=1
>'=1

+L

Thus, we constructed the difference schemes of (2p + 2q)-order of accuracy


for the approximate solution of the initial-value problem (3.1). Finally, let us give
some examples of the simplest difference schemes.
In the case p + q = 1 from formulas (3.54) and (3.55) it follows that

Uk+l - 2Uk

+ Uk-l + aUk =

-'------=-2---

= -PI

~)

1 + a2 -a r

j(tk), 1 :S k :S N - 1,

[y'(O) - a2f'(r)r 2 - ad(r)r] - P2j(r)r, Uo = Yo

(a difference scheme of second order of accuracy for the initial-value problem (3.1)).
Second, we consider the boundary-value problem (3.25). From (3.48) it is
clear that for the approximate solution of the problem (3.25) it is necessary to
(2j) lor
~
. 1 < .<
d (2j)
(2j) ~
. 1 < . < U th
fi n d Y(tk)
any J, _ J _ p an Y(tk-Il' Y(tk+Il lor any J, _ J _ q. smg e
equation
y"(t) = ay(t) - j(t),
we obtain

y(2n) (t) = any(t) - L an->' j(2)'-2) (t), n = 2, . . . .

(3.55)

>'=1

Now, using formulas (3.55) and (3.48), we obtain the difference schemes

- Uk+!

- 2Uk
r2

+ Uk-1 + L

j=l

a-a
r
J

2j-2

Uk

(3.56)

3.2. Taylor's Decomposition on Three Points and Its Applications

j=l

..\=1

87

l:>7J I>j-oX (j(2oX-2) (tk+d + f(2oX-2)(tk_d)r 2j - 2

j=l

..\=1

+ L Ckj L aj -..\ f(2oX-2)(tk)r 2j - 2, 1 ~ k

~ N - 1, Uo

= Yo, UN = YT

Thus, we constructed the difference schemes of (2p + 2q)-order of accuracy


for the approximate solution of the boundary-value problem (3.25). Finally, let us
give some examples of the simplest difference schemes.
In the case p + q = 1 from formula (3.56) it follows that
-

Uk+1 - 2Uk + Uk-1


2
r

+ aUk = f(h), 1 ~

k ~ N - 1, Uo

= Yo, UN = YT

(a difference scheme of second order of accuracy for the boundary-value problem


(3.25)).

Now, let a(t) be the smooth function defined on the segment [0, T]. First,
we consider an initial-value problem (3.1). From (3.48) it is clear that for the
approximate solution of problem (3.1) it is necessary to find Y~;:? for any j, 1 ~

j ~ p and yg;~l)'

yg;:Jl for any j, 1 ~ j ~ q. Using the equation


y"(t) = -a(t)y(t) + f(t),

we obtain

y(2 j )(t)
y(2 j+1)(t)

A 2j (t)y(t) + B 2j (t)y'(t) + hj(t),


A2j+l(t)y(t) + A2j+1(t)y'(t) + hj+1(t),j = 1, ... , (3.57)

where

A 2(t) = -a(t), B 2(t) = 0, h(t) = f(t),


A 3 (t) = -a'(t), B 3 (t) = -a(t), h(t) = f'(t),
A 2j (t) = Ab-1 (t) - B2j - 1(t)a(t), B2j (t) = A 2j - 1(t) + B~j_1 (t),
hj(t) = f~j-1 (t) + B 2j - 1(t)f(t),j = 2,3, ... ,
A2j +l(t) = A;j(t) - B 2j (t)a(t), B 2j +l(t) = A 2j (t) + B~j(t),
hj+1 (t) = f~j(t) + B 2j (t)f(t),j = 2,3, ....

(3.58)

From (3.51) it is clear that for the approximate solution of the problem (3.1) it is
necessary to find y(tk)' y(tk-Jl and y(tk+Jl' The choice formula for y(tk)' Y(tk-Jl and

Chapter 3. Difference Schemes for Second-Order Differential Equations

88

Y(tk+l) is not unique. First, we consider the approximation of Y(T)' Using formulas

(3.53) and (3.57), we obtain that


2p-2[~1

y'(T) - y'(O)

aiTi{Ai+1(T)Y(T)

+ Bi+l(T)y'(T) + fi+l(T)}

i=l
2q-2m+2[~I+l

biTi{Ai+1(0)Y(T)

+ Bi+l(O)Y'(T) + fi+l(O)}

= O(T2p+2q-2m+2).

i=l

Since
2p-2[~)

1+

ai Ti Bi+l (T)

=1=

i=l

for the small

> 0, we obtain
y'(T) = TO,TY(O)

+ PO,TY'(O) + Ro,TY(T) + FO,T>

(3.59)

where
2p-2[~]

TO,T = (1

2q-2m+2[~1+l

aiTiBi+l(T))-l

i=l
2p-2[~]

PO,T = (1 +

2q-2m+2[~]+1

ai TiB i+l(T))-l[l

i=l

Ro,T = -(1

2p-2[ ~ I

biTiBi+l(O)],

2p-2[ ~ I
aiTiBi+l(T))-l

2p-2[~1

i=l

i=l

FO,T = (1+

biTiAi+l(O),

i=l

2p-2[~)

aiTiBi+l(T))-l[

i=l

aiTiAi+l(T),

i=l

2q-2m+2[~1+1

aiTifi+l(T)+

i=l

biTi fi+ 1 (0)].

i=l

Second, we consider the approximation of Y(tk) and Y(tk-d' Using formulas (3.53)
and (3.57), we obtain that
2p-m+l

y'(tk) - y'(tk-l)

CiTi{Ai+l(tk)y(tk)

+ Bi+l(tk)y'(tk) + fi+l(tk)}

i=l

2q-rn+2

- L

i=l

diTi{Ai+l(tk-t}y(tk-t}

+ Bi+l(tk-t}y'(tk-l) + fi+l(tk-t}}

89

3.2. Taylor's Decomposition on Three Points and Its Applications

where
C' t -

(2p+2q-2m+3-j)!(2p-m+l)!(-1)i
(2p+2q+3-2m)!i!(2p-m+l-i)!

d. =

for any i,1:S i :S 2p - m + 1,

(2p+2q+3-2m-j)!(2q-m+2)!
(2p+2q+3-2m)!i!(2q-m+2-i)!

for any i,1:S i :S 2q - m

+ 2,

and
2p-m+2

y'(tk) - y'(tk-l)

CiTi{Ai+l(tk)y(tk)

+ Bi+l(tk)y'(tk) +

fi+l(tk)}

i=l

2q-m+l

- L

tLTi{Ai+l(tk-l)y(tk-l)

+ Bi+l(tk-l)y'(tk-l) + fi+l(tk-l)}

i=l

where

-. -

Ci -

(2p+2q-2m+3-j)!(2p-m+2)!(-1)i
(2p+2q+3-2m)!i!(2p-m+2-i)!

J.J =

(2p+2q+3-2m-j)!(2q-m+l)!
(2p+2q+3-2m)!i!(2q-m+l-i)!

for any i,1 <_ i <_ 2p - m

+ 2,

for any i,1::; i ::; 2q - m + 1.

Hence, we can write

To solve the last system, we need


2p-m+2
t:.k=-[1+

2q-m+l
Ci TiB i+l(tk)][1+

i=l

i=l

tLTiBi+l(tk_l)]

i=l

2q-m+2

+[1 +

2p-m+2
i

diT Bi+l (tk-d][l

i=l

CiT

B i+ 1(tk)] =I 0

(3.60)

90

Chapter 3. Difference Schemes for Second-Order Differential Equations

for all k. Applying formula (3.59), we obtain

ti. k = -CZT ZB 3(tk) - dZT ZB 3(tk-l) + dZT ZB 3(tk-l) + CZT ZB 3(tk)] + 0(T 3)

Since

_
(2p + 2q + 1 - 2m)!
Cz + dz - dz - Cz = - (2p + 2q + 3 _ 2m)!2!4(p + q + 1 - m)

we have that if a(tk) # for all k, then for all small


satisfied. From that it follows that

y'(tk) = ti.;;l{ -[1

# 0,

the requirement (3.60) is

Zq-m+l

~TiBi+l(tk-d]

i=l

Zp-m+Z

[- L

CiTi{AH1(tk)y(tk)

+ fHl(tk)}

i=l

Zq-m+l
+

~Ti{Ai+l(tk-l)y(tk-d + fHl(tk-d}]}

i=l

Zq-m+Z

+[1 +

diT i B H1 (tk)]

i=l
Zp-m+l

[- L

CiTi{A+l(tk)y(tk)

+ fHl(tk)}

i=l

Zq-m+Z
+

diTi{AH1(tk-l)y(tk-d

+ fHl(tk-l)}] +O(Tzp+Zq-Zm+Z)

i=l

where

Zq-m+l
Ck,T

ti.;;1{-[1+
Zq-m+Z
+[1+

i=l

Zq-m+l

~TiBi+l(tk-l)l

i=l

diTiBH1(ik)]

Zq-m+Z

L
i=l

~TiAHl(tk_l)

i=l

diTiAi+l(tk-d},

3.2. Taylor's Decomposition on Three Points and Its Applications

2q-m+l

~kl{[l+

Dk,r

2p-m+2

<LTiBi+l(tk-l)]

i=l

-[1 +

2p-m+l

diTiBH1(tk)]

i=l

CiTiAHl(tk),

i=l

2q-m+l

~kl{_[l+

Fl,r

2p-m+2
<LTiBH1(tk_I}][-

i=l

2q-m+l

Z.TifHl(tk)

i=l

2q-m+2

<LT fHl (tk-I)]

+ [1 +

i=l

i
diT B H1 (tk)]

i=l

2q-m+2

2p-m+l

x[-

CiTiAi+l(tk)

i=l

2q-m+2

91

CiTifHl(tk)

i=l

diTifHl(tk-I}]},

i=l

and
y'(tk-I} = ~kl{_[l

2q-m+2

CiTiBi+l(tk)]

i=l

2p-m+l

x[-

CiTi{Ai+l(tk)y(tk)

+ fi+l(tk)}

i=l

2q-m+2
+

diTi{Ai+l(tk-l)y(tk-l)

+ Ii+l(tk-l)}]}

i=l

2q-m+l

+[1 +

i
CiT Bi+l (tk)]

i=l

2p-m+2

x[-

CiTi{AH1(tk)y(tk)

+ fHl(tk)}

i=l

2q-m+l
+

<LTi{Ai+l(tk-l)y(tk-I}

+ fHl(tk-I}}] + O(T2p+2q-2m+2)

i=l

where

2q-m+l
Ek,r

~kl{_[l+

2q-m+l
CiTiBi+l(tk)]

i=l

2p-m+2
-[1+

i=l

<LTiAH1(tk_l)

i=l

2q-m+2
CiTiBHl(tk)]

i=l

diTiAi+l(tk_l)},

92

Chapter 3. Difference Schemes for Second-Order Differential Equations


2p-m+l

2:

~kl{[1 +

Hk,r

2p-m+l

2:

"(\TiBiH(tk)]

i=l

2p-m+2

2p-m+l

2:

-[1 +

2:

diTiBiH(tk)]

i=l

~kl{[1 +

2:

2q-m+l

2:

Ci Ti Bi+l (tk)][

i=l

2p-m+2

- 2:

Ci Ti fi+l(tk)]+[1+

2:

i=l

(\TiBi+l(tk)]

i=l

2q-m+2

2p-m+l

2:

i
;T fi+l (tk-l)

i=l

2p-m+2

x[

CiTiAi+l(tk)},

i=l

2p-m+l

F~,r

CiTiAiH(tk)

i=l

CiTifi+l(tk) -

i=l

2:

diT i fi+ 1 (tk-l)]).

i=l

From that it follows that

Now, neglecting the last terms in formulas (3.48), (3.52), (3.60), (3.61), (3.62),
(3.63) and using formula (3.58), we obtain the two-step difference schemes of
(2p + 2q)-th order of accuracy

'L..J
" ' TfjT 2-2
J
{A2j (tk-d Uk-l

+ B 2j (tk-l)[Ek,r Uk-l + Hk,rUk]

j=l

+A2j (tk+l)Uk+l

+ B 2j (tk+d[Ck+l,r Uk + Dk+l,rUk+d}

2: r/j[B2j(tk-dF~,r + B2j(tk+l)Fl+1,r]T2j-2 + 2:
j=l

Q:

2j 2
j B 2j (tk)Fl,r T - ,

j=l

T Uo

Ul -

N -1,

+ '"'
L..J P2m {A2m Ul + B 2m [TO,ruo + Ro,rUl ]} T2n - 1
m=l
q

- 2: 82m{A2mUO + B 2m [TO,rUO+ Ro,r u d}T 2n - 1


m=l

93

3.2. Taylor's Decomposition on Three Points and Its Applications


p

= -

P2m{A 2m (r)Ul

+ B 2m (r)[PO,TY/(0) + Fo,T]}r2n - 1

m=l
q

+L

82m {A 2m (0)uO

+ B2m (0)yb + hm(0)}r 2m - 1 ,uO =

Yo

m=l

for the approximate solution of the initial-value problem (3.1).


Second, we consider the boundary-value problem (3.25). From (3.48) it is
clear that for the approximate solution of problem (3.25) it is necessary to find
(2j) "
.1 <
(2j)
(2j) "
.1 <
Y(tk) Lor any J,
_ J. <
_ p an d Y(tk-d'
Y(tk+d Lor any J,
_ J. <
_ q. U'
smg th e
equation

y"(t) = a(t)y(t) - f(t),


we obtain

y(2 j )(t)
y(2j+l)(t)

+ B 2j (t)y'(t) + hj(t),
A 2j+l(t)y(t) + A 2j+l(t)y/(t) + hj+l(t),j =
A 2j (t)y(t)

1, ... , (3.64)

where

A 2(t) = a(t), B 2(t) = 0, h(t) = - f(t),


A 3(t) = a/(t), B 3(t) = a(t), h(t) = f'(t),
A2j (t) = A~j_l (t) + B2j- 1 (t)a(t), B2j (t) = A2j- 1 (t) + B~j_l (t),
hj(t) = f~j-l (t) - B2j- 1 (t)f(t), j = 2,3, ... ,
A 2j+l (t) = A~j(t) + B2j (t)a(t), B 2j+l (t) = A 2j (t) + B~j(t),
hj+I(t) = f~j(t) - B 2j (t)f(t),j = 2,3, ....

(3.65)

Now, using formulas (3.61), (3.62), (3.63), (3.64) and (3.48), we obtain the difference schemes

L 7]jr2j-2{A2j(tk_l)Uk_l + B 2j (tk-I)[Ek,T Uk-l + Hk,TUk]


j=l

+A2j (tk+d u k+l

+ B2j (tk+d [Ck+I,TUk + Dk+l,TUk+l]}

L 7]j[B2j(tk-l)F~,T + B2j(tk+l)F1+I,T]r2j-2
j=l

L (}:jB2j (tk)Fl,T r 2j - 2, 1 ::; k ::; N - 1, Uo = Yo, UN = Yr.

j=l

94

Chapter 3. Difference Schemes for Second-Order Differential Equations

Thus, we constructed the difference schemes of (2p + 2q)-th order of accuracy for
the approximate solution of the boundary-value problem (3.25).
The choice of Taylor's decomposition on three points in the construction
(2p + 2q)-th order of accuracy difference schemes for the approximate solutions
of the initial-value problem (3.1) and of the boundary-value problem (3.25) is not
unique. We will give another Taylor's decomposition on three points in which we
use V(2i) (tk), 0 ::; i ::; p and v(i)(tkd, 0 ::; i ::; 2q.
Theorem 3.2.3. Let the function vet) (0::; t ::; T) have a (2p+2q+2)-th continuous
derivative and h-l, tk, tk+1 E [0, T]r' Then the following relation holds:
v(tk+d - 2V(tk)

+ V(tk-l) + L

j
2j
OjV(2 ) (tk)r

(3.66)

j=1

+L

/'j(V(2 j -l)(tk_l) - v(2 j -l)(tk+1))r 2j - 1

j=1
q

+ L,8j(v(2 j )(tk-d + V(2j)(tk+1))r 2j

= o(r2p+2q+2),

j=1

where

__ _
oJ -

2(2p+2q+1-2j)!
(2p+1)!
(2p+2q+1)!(2p+1-2j)! (2j)!

,8J- --

(2p+2q+1-2j)!(2q)!
(2p+2q+1)!(2q-2j)!(2j)!

__

(2p+2q+2-2j)!(2q)!

/'J - (2p+2q+1)!(2q+1 2j)!(2j

for any j,l ::; j ::; p,


for any j,l :::; j :::; q,

I)!

for any j,l:::; j :::; q.

Proof. Using the formula of integration by parts, we obtain

2p+2q+2

(-1)2 p +2 q+2-')'((tk+1 - S)2 P+1(S - tk)2q)(2P+2q+2-')')v(')'-I)(S)]~:+1

')'=1

2p+2q+2
')'=1

(_1)2 p +2 q+2-')'((s - tk_l)2 P+1(s - tk)2q)(2p+2q+2-')')V(')'-I)(S)]~~_1

3.2. Taylor's Decomposition on Three Points and Its Applications

2p+2q+2

95

(-1)2 p+2q+2-'Y((tkH - S)2p H(S - tkfq)(2P+2q+2-'Y)vh-1)(s)1~:+1

"1=2

-(2p + 2q + l)!(V(tk) - v(tk-d)

2p+2q+2

(_1)2 p+2q+2-'Y((S - tk_d 2p +1(S - tkfq)(2p+2q+2-'Y)vh-1)(S)]~:_1'

"1=1

We will calculate the expressions

_ ,tk'
( _1)2 p+2 q+2-'Y((t k+1 _ S)2 p+1(S _ t k )2q)(2 p+2 q+2-'Y) Is-tk+l
and

(_1)2 p+2q+2-'Y((S - tk_d 2PH (S - tk)2 q)(2 p+2 q+2-'Y)!S=tk_l,tk

If j 2 2q + 2, then 2p + 2q + 2 - j

:s 2p. Therefore

(-1)2 p+2q+2- j ((tkH - S)2p H(s - tk)2 q)(2 p+2 q+2- j )ls=tk+l =
If 1

o.

:s j :s 2q + 1, then
(-1)2 p+2 q+2- j ((tkH - S)2 p+1(S - tk)2 q)(2 p+2 q+2- j )ls=tk+l

(-l)j

2p+2q+2-j (2
2
2 - .)'
""
p+ q+
J. (_1)2 p+2 q+2- j -i
L..J
i!(2p + 2q + 2 - j - i)!
i=O

x (j

(2p + I)!
(
_ )j+i-2q-1 (2q)! ( _ )2q- i l
2q _ I)! tkH S
(2q _ i)! S tk
S=tk+l

+i _

= _( -IF (2p + 2q + 2 - j)!(2q)! T j - 1.


(2q + 1 - j)!(j - I)!

So,
(-lfp+2q+2-j((tkH - S)2 P+1(S - tk)2 q)(2 p+2 q+2- j )ls=tk+l
=

(-IF- 1 (2p + 2q + 2 - j)!(2q)! Tj- 1.


(2q + 1 - j)!(j - 1)!

If j 2 2p + 3, then 2p + 2q + 2 - j

:s 2q -

1. Therefore

(-1)2 p+2 q+2- j ((tk+1 - S)2 p+1(S - tk)2 q)(2 p+2 q+2- j )ls=tk

= o.

96

If 1

Chapter 3. Difference Schemes for Second-Order Differential Equations


~

j ~ 2p + 2, then

(-1)2 P+2q+2- j ((tk+l - s)2 p+1(S - tk)2 q)(2 p+2 q+2- j )ls=tk

(-1)j
x

2p+2q+2-j
'"
(2p + 2q + 2 - j)!
LJ
i!(2p + 2q + 2 - j - i)!
i=O
p
X ((tk+1 - s)2 +l)(2 p+2 q+2- j -i)((S - ik)2 q)(i)ls=tk

(_1)2 p+2q+2- j

2p+2q+2-j (2
2
2 - ')'
'"
p+ q+
J. (_1)2P+2q+2- j -i
~
i!(2p + 2q + 2 - j - i)!

(2p + I)!
(t
_ )j+i-2q -1 (2q)! ( _ t )2q-il
(j+i-2q-1)! k+l s
(2q-i)! s
k
S=tk

+ 2q + 2 - j)! (2p + 1)! 1' j - 1.


(2p+ 2 - j)!
(j -I)!

= (2p

So,

(-1)2 p+2q+2- j ((tk+1 - s)2P+l(s - tk)2 q)(2P+2 q+2- j )ls=tk


=

(2p + 2q + 2 - j)! (2p + 1)! j-1


(2p+2-j)!
(j_1)!1'
.

Now, we will calculate the expressions

q
( _1)2 p+2q+2-1'((s _ t k-1 )2 p +1 (s _ t k )2 )(2P+2q+2-1') IS=tk-l,tk'

If j 2:: 2q + 2, then 2p + 2q + 2 - j ~ 2p. Therefore


(_1)2 P+2 q+2- j ((S - tk_1)2 p +1(S - tkf q)(2 p+2 q+2- j )ls=tk_l = O.
If 1 ~ j

2q + 1, then
(_1)2 P+2 q+2- j ((S - tk_d 2P+1(S - tk)2 q)(2 p +2 q+2- j )ls=tk_l

2p+2q+2-j
=

(-l)j
x(s-t

k-1

(2p + 2q + 2 - j)!
(2p + I)!
i!(2p+2q+2-j-i)!(j+i-2q-1)!

)j+i-2q-1

(2q)! (s-t )2 q - i l_
(2q _ i)!
k
s-tk-l

3.2. Taylor's Decomposition on Three Points and Its Applications

= (-1)j (2p + 2q + 2 - j)!(2q)! (_r)j-l = _ (2p + 2q + 2 - j)!(2q)! r j- 1 .


(2q + 1 - j)(j - 1)!
(2q + 1 - j)!(j - 1)!
So,

(_1)2 p+2 q+2- j ((S - tk_l)2 p+l(S - tk)2 q)(2 p+2q+2- j )ls=tk_l
_ (2p + 2q + 2 - j)!(2q)! r j - 1 .

(2q
If j

+ 1 - j)!(j - 1)!

2p + 3, then 2p + 2q + 2 - j

2q - 1. Therefore

(_1)2 P+2q+2-j((s - tk_d 2P+1 (S - tk)2 q)(2 p+2 q+2- j )ls=tk = o.


If 1 ~ j

2p + 2, then
(_1)2 p+2q+2-j((s - h_l)2P+l(s - tk)2 q)(2 p+2q+2- j )ls=tk

2p+2q+2-j
=

(-1)j
x(s - t

k-l

(2p + 2q + 2 - j)!
(2p + 1)!
i!(2p+2q+2-j-i)!(j+i-2q-1)!

)J+i-2q-l

(2q)! (s _ t )2 q- i l _
(2q _ i)!
k
s-tk

= (-1)j (2p + 2q + 2 - j)! (2p + 1)! r j- 1 .


(2p+2-j)!

(j-1)!

So,

From this it follows

= (2p

+ 2q + 1)!(V(tk+d - 2V(tk) + v(tk-d)

97

98

Chapter 3. Difference Schemes for Second-Order Differential Equations

+ 2~1(_I)j_l (2p + 2q + 2 - j)!(2q)! Tj - 1V(j-l)(t


)
~
(2q+l-j)(j-l)!
k+l
)=2

2p+2

L.

)=2

.) (
)
(2p+2q+2-]! 2p+l! j-l (j-l)( )
T
V
tk
(2p+2-j)!
(j-l)!

2 +2( )j (2p + 2q + 2 - j)! (2p + I)! j-l (j-l)( )


-1
T
v
tk
j=2
(2p+2-j)!
(j-l)!

+L
q

2 +l (2p + 2q + 2 - j)!(2q)! j-l (j-l)(


)
T V
tk-l
j=2 (2q + 1 - j)(j - I)!

= (2p

+ 2q + 1)!(v(tk+l) - 2V(tk) + v(tk-d)

~(2p+2q+I-2j)!(2q)! 2j ( (2j)(

+~

(2q _ 2j)!(2j)!

)=1

tk-l

+v

(2j )(

tk+l

))

(2p+2q+2-2j)!(2q)!T2j-l(V(2j-l)(t _ ) _V(2 j -l)(t


))
+~
~ (2q + 1 - 2j)!(2j _ I)!
k
k+l
1

)=1

2j (2 j )( )
2 ~(2p+2q+1-2j)!(2p+1)!
~
T V
tk.
j=1 (2p + 1 - 2j)!
(2j)!

Theorem 3.2.3 is proved.


Note that using this Taylor decomposition on three points, we can extend our
discussion to construct difference schemes of an arbitrary high order of accuracy
for the approximate solutions of the initial-value problem (3.1) and the boundaryvalue problem (3.25). It is left to the reader.

Chapter 4
Partial Differential Equations
of Parabolic Type
In the present chapter we consider the well-posedness of an abstract Cauchy problem for differential equations of parabolic type,

v'(t) + A(t)v(t) = f(t)

(0::; t ::; T), v(O) = vo,

in an arbitrary Banach space with the linear positive operators A(t). The high
order of accuracy difference schemes generated by an exact difference scheme or
by Taylor's decomposition on two points for the numerical solutions of this problem
are presented. The well-posedness of these difference schemes in various Banach
spaces are studied. The stability and coercive stability estimates in Holder norms
for the solutions of the high order of accuracy difference schemes of mixed type
boundary-value problems for parabolic equations are obtained.

4.1

A Cauchy Problem. Well-posedness

We consider the abstract Cauchy problem for differential equations

v'(t) + A(t)v(t) = f(t)

(0::; t ::; T), v(O) = vo

(4.1)

in an arbitrary Banach space E with the linear (unbounded) operators A(t). Here
v(t) and f(t) are the unknown and the given functions, respectively, defined on
[0, T] with values in E. The derivative v' (t) is understood as the limit in the norm
of E of the corresponding ratio of differences. A( t) is a given, closed, linear operator
in E with domain D(A(t)) = D, independent of t and dense in E. Finally, Vo is a
given element of E.
A function v(t) is called a solution of problem (4.1) if the following conditions
are satisfied:
i. v(t) is continuously differentiable on the segment [0, T]. The derivatives at
the endpoints of the segment are understood as the appropriate unilateral
derivatives.

Chapter 4. Partial Differential Equations of Parabolic Type

100

ii. The element v(t) belongs to D = D(A(t)) for all t E [0, T] and the function
A(t)v(t) is continuous on [0, T].
iii. v(t) satisfies the equation and the initial condition (4.1).

A solution of problem (4.1) defined in this manner will from now on be


referred to as a solution of problem (4.1) in the space C(E) = C([O, T], E). Here
C(E) stands for the Banach space of all continuous functions <p(t) defined on [0, T]
with values in E equipped with the norm

From the existence of such solutions evidently follows that f(t) E C(E) and
Vo E D.

We say that problem (4.1) is well posed in C(E) if the following conditions
are satisfied:

f(t) E C(E) and any Vo E D. This


means that an additive and homogeneous operator v(t) = v(t; f(t), vo) is
defined which acts from C(E) x D to C(E) and gives the solution of problem
(4.1) in C(E).

1. Problem (4.1) is uniquely solvable for any

2. v(t; f(t), vo), regarded as an operator from C(E) x D to C(E), is continuous.


Here C(E) x D is understood as the normed space of the pairs (f(t), vo),
f(t) E C(E) and Vo E D, equipped with the norm

11(f(t),vo)llc(E)XD = Ilfllc(E) + IlvollD.


By Banach's theorem in C(E) and these properties one has coercive inequality
Ilv'IIC(E)

+ IIA(.)vllc(E)

~ Mc[llfllc(E)

IlvollD],

(4.2)

where Mc (1 ~ Mc < +00) does not depend on Vo and f(t). This inequality
is called the coercivity inequality in C(E) for (4.1). If A(t) = A, then the coercivity inequality implies analyticity of the semigroup exp{ -sA} (s 2 0), i.e., the
estimates
lIexp(-sA)II E->E' IlsAexp(-sA)IIE->E ~ M (s > 0)
hold for some M E [1, +00). Thus, the analyticity of the semigroup exp{ -sA},
(s 2 0) is a necessary for the well-posedness of problem (4.1) in C(E). Unfortunately, the analyticity of the semigroup exp{ -sA}(s 2 0) is not sufficient for the
well-posedness of problem (4.1) in C(E).
Suppose that for each t E [0, T] the operator -A(t) generates an analytic
semigroup exp{ -sA(t)}(s 2 0) with exponentially decreasing norm, when s --+
+00, i.e., the estimates
Ilexp( -sA(t))IIE->E' IlsA(t) exp( -sA(t))IIE->E ~ M e- 6s (s > 0)

(4.3)

101

4.1. A Cauchy Problem. Well-posedness

hold for some M E [1, +(0), 8 E (0, +(0). From this inequality it follows that
operator A-I (t) exists and is bounded and hence A(t) is closed in C(E) .
Suppose that the operator A(t)A -1 (s) is Holder continuous in t in the uniform operator topology for each fixed s, that is,
II[A(t) - A(T)]A- 1 (s)IIE .....E ~ Mit - Tlo,O < E ~ 1,

(4.4)

where M and E are positive constants independent of t, sand T for ~ t, s, T ~ T.


An operator-valued function v(t, s), defined and strongly continuous jointly
in t, s for ~ s < t ~ T, is called a fundamental solution of (4.1) if

1) the operator v(t, s) is strongly continuous in t and s for


2) the following identity holds:

v(t,s)

= V(t,T)V(T,S),V(t,t) = I

for

s
~

<t

T,

t ~ T,

3) the operator v(t, s) maps the region D into itself. The operator u(t, s) =
A(t)v(t,s)A- 1 (s) is bounded and strongly continuous in t and s for ~ s <

T,

4) on the region D the operator v(t, s) is strongly differentiable relative to t and


s, while

8v(t,s) _ -A() ( )
8t tv t, s
and

8v(t,
8s s) = v ( t, s )A()
s.

v( t, s) is also called an evolution operator, Green's function, etc.


H the function f(t) is not only continuous, but also continuously differentiable
on [0, T] and Vo E D, it is easy to show that the formula

J
t

v(t) = v(t,O)vo +

(4.5)

v(t,s)f(s)ds

gives a solution of problem (4.1). Here v( t, s) is the fundamental solution of (4.1).


Now we shall establish a series of interesting lemmas and estimates concerning
the semigroup exp{ -sA(t)}(s 2 0) and the fundamental solution v(t, s) of (4.1)
which will be useful in the sequel.
Lemma 4.1.1. For any
inequality

<

< s + T < T,

~ T and

lIexp(-sA(t))-exp{-(s+T)A(t)}IIE..... E~M(
where M does not depend on a, t, sand T.

a ~ 1 one has the


TO

S+T

)O '

(4.6)

102

Chapter 4. Partial Differential Equations of Parabolic Type

Proof Using the formula

S+T

exp( -sA(t)) - exp {-(s

+ r)A(t)}

A(t) exp( -pA(t))dp

and estimate (4.3), we obtain that


Ilexp( -sA(t)) - exp {-(s

+ r)A(t)}II E---' E ~ M I -.
s

The inequality
Ilexp( -sA(t)) - exp {-(s

+ r)A(t)}II E---' E ~

MI

follows from (4.3) and the triangle inequality. Therefore


Ilexp( -sA(t)) - exp {-(s

+ r)A(t)}IIE---.E ~ M I min{l, ~}.


s

From this it follows that


lIexp( -sA(t)) - exp {-(s

+ r)A(t)} II E---.E

~ MI t

2r

+ r'

Interpolating the last inequality and


lIexp( -sA(t)) - exp {-(s

+ r)A(t)}II E---' E ~ M I ,

we obtain (4.6). Lemma 4.1.1 is proved.


Lemma 4.1.2. For any 0

s, r, t

T and u ED the following identity holds:

[exp( -rA(t)) - exp( -rA(s))]u

(4.7)

J
T

= -

exp{ -(r - p)A(t)}[A(s) - A(t)]A-I(s) exp{ -pA(s)}A(s)udp.

o
Proof. Define the function
G(p) = - exp{ -(r - p)A(t)} exp{ -pA(s)}u,

p ~ r.

G(p) is strongly differentiable with respect to p with derivative


G'(p) = - exp{ -(r - p)A(t)}A(t) exp{ -pA(s)}u

+ exp{ -(r =

p)A(t)}A(s) exp{ -pA(s)}u

exp{ -(r - p)A(t)} [A(s) - A(t)] exp{ -pA(s)}u

= exp{ -(r - p)A(t)} [A(s) - A(t)]A-I(s) exp{ -pA(s)}A(s)u.


Since G' (p) is continuous in p, (4.7) follows upon integrating the last identity from
Lemma 4.1.2 is proved.

o to r.

103

4.1. A Cauchy Problem. Well-posedness

Lemma 4.1.3. For any 0::; s,

7,

t ::; T and 0::; c ::; 1 the following estimates hold:

Ilexp( -7 A(t)) - exp {-7 A(s)} IIE->E ::; Mit - s\<e- o T,

(4.8)

IIA(t)[exp( -7 A(t)) - exp {-7 A(s)}] IIE->E ::; M 7- l lt - sl< e- o T, 7

> 0, (4.9)
IIA(t)[exp( -7 A(t)) - exp {-7 A(s)}]A -1 (s) IIE->E ::; Mit - sl<e- o T,
(4.10)

Ij[exp( -tA(7)) - exp {-SA(7)}]A- l (7)IIE->E ::; Mit - sle-omin{t,s},

(4.11)

II A (t)[exp( -tA(7)) - exp {-SA(7)}]A- 2 (7)IIE->E ::; Mit - sle-omin{t,s}, (4.12)

where M 2: 0 and 0> 0 do not depend on c, t, sand 7.


Proof. Let u E E. Then
[exp( -7A(t)) - exp {-7A(s)}]u
= [exp( -~A(t))

- exp {-~A(s)}] exp {-~A(s)} u

+exp( -~A(t))[exp(-~A(t)) - exp


= [exp( -~A(t))

{-~A(s) }]u

- exp {-~A(s)}] exp {-~A(s)} u

+A(t) exp( -~A(t))[exp(-~A(t)) - exp {-~A(s) }]A-l(s)u


+ exp( -

~A(t))[A(t) - A(s)]A- l (s) exp( - ~ A(s ))]u

- exp{ -rA(t)} [A(t) - A(s)]A-l(s)u = J 1 + h


where

J l = [exp( -~A(t)) - exp {-~A(s)}] exp

+ h,

{-~A(s)} u,

A(t) exp( -~A(t))[exp(-~A(t)) - exp { -~A(s) }JA-l(s)u


J3

= eXP(-~A(t))[A(t) - A(s)]A-l(s)exP(-~A(s))]u
- exp{ -7A(t)} [A(t) - A(s)]A-l(s)u.

Applying formula (4.7), we can write

J
T

2"

Jl = -

exp{ -(~ - p)A(t)}[A(s) - A(t)]A-l(s)

x exp{ -pA(s)}A(s) exp {-~A(s)} udp

Chapter 4. Partial Differential Equations of Parabolic Type

104

for u ED. Using the last formula and estimates (4.3) and (4.4), we obtain
T

IIJIIIE ~ / II exp{ -(~

- p)A(t)}IIE->EII[A(s) - A(t)]A-I(s)IIE->E

o
x II exp{ -pA(s)}IIE->EIIA(s) exp { -~A(s)} ullEdp
T

~/

M exp{ -( ~ - p)6)}Mlt -

siC M exp{ -p6}M ~ exp {-~6} ullEdp

o
~

MIlt - sic exp{ -7"6}lluIIE.

Applying formula (4.7), we can write

/2 exp{ -( 27" - p)A(t)}


T

7"

J2 = -A(t) exp( -2 A(t))

x [A(s) - A(t)]A-I(s) exp{ -pA(s)}dp


for u ED. Using the last formula and estimates (4.3) and (4.4), we obtain
T

IlhilE ~

7" A (t))IIE->E
IIA(t) exp( -2

/' II exp{ -( 2
7" -

p)A(t)}IIE->E

x II[A(s) - A(t)]A-I(s)IIE->EII exp{ -pA(s)} IIE->E lIuliEdp

,
T

~ M ~ exp {-~6} /

M exp{ -(~ - p)6)}Mlt -

sic M exp{ -p6}lluIIEdp

o
~

MIlt - sic exp{ -7"6}lluIiE.

Using estimates (4.3) and (4.4), we obtain

7"
II exp{ -2A(s)}IIE->ElluIlE

+11 exp {-7"A(t)} IIE->EII[A(s) -

A(t)]A- I (s)IIE->Ell u IlE

~ 2M exp { -~6} Mit - sic M exp{ -~o}lluIiE ~ MIlt - sic exp{ -7"o}lluIiE.

4.1. A Cauchy Problem. Well-posedness

105

Combining the estimate for J 1 , hand h, we obtain estimate (4.8). Applying


formula (4.7), we can write

[exp(-rA(t)) - exp(-rA(s))]u

(4.13)

J
r

= -

exp{ -(7 - p)A(t)} [A(s) - A(t)]A- 1 (s)exp{ -pA(s)}A(s)udp

J
~

= -

exp{ -(7 - p)A(t)}[A(s) - A(t)]A- 1 (s) exp{ -pA(s)}A(s)udp

-J
r

exp{ -(7 - p)A(t)}[A(s) - A(t)]A- 1 (s) exp{ -pA(s)}A(s)udp = G 1 + G2 ,

"2

where

J
r

"2

G1 = -

exp{ -(7 - p)A(t)}[A(s) - A(t)]A- 1 (s) exp{-pA(s)}A(s)udp

J
r

G2 = -

exp{ -(r - p)A(t)}[A(s) - A(t)]A- 1 (s) exp{ -pA(s)}A(s)udp.

"2

Integrating by parts, we can write

J
r

"2

G1 =

exp{ -(r - p)A(t)}[A(s) - A(t)]A- 1 (s)d[exp{ -pA(s)}u]

+ exp{ -"2A(t)}[A(s) -

A(t)]A- 1 (s) exp{ -"2A(s)}u

- exp{ -rA(t)}[A(s) - A(t)]A- 1 (s)u

-J
r

"2

A(t) exp{ -(r - p)A(t)}[A(s) - A(t)]A- 1 (s) exp{ -pA(s)}udp.

a
Applying estimates (4.3) and (4.4), we can write
r

IIA(t)G11I E :S IIA(t) exp{ -"2 A(t)}IIE->EII[A(s) - A(t)]A -1 (s)IIE->E

Chapter 4. Partial Differential Equations of Parabolic Type

106

+IIA(t) exp{ -7 A(t)} IIE-+EII[A(s) - A(t)]A -1 (S)IIE-+ElluIIE

J
T

"2

IIA2 (t) exp{ -(7 - p)A(t)}IIE-+E

x II[A(s) - A(t)]A- 1(s)IIE-+EII exp{ -pA(s)}IIE-+ElluIIEdp

~ M(~ )-1 exp{ -~J}Mlt - sl< exp{ -~J}lluIIE + M7- 1exp{ -7J}Mlt - sl<lIuliE

J
T

"2

M(7 - p)-2 exp{ -(7 - p)J}Mlt - sl< exp{ -pJ}lIuIiEdp

~ MIlt - sl<7- 1 exp{ -7J}lluIIE.

Integrating by parts, we can write

J
T

G2 =

-A- 1(t)

d[exp{ -(7 - p)A(t)}][A(s) - A(t)]A- 1(s) exp{ -pA(s)}A(s)u

"2

-A- 1(t)[A(s) - A(t)]A- 1(s)exp{-7A(s)}A(s)u

+A -1 (t) exp{ -~A(t)}[A(s) - A(t)]A -1 (s) exp{ -~ A(s)}A(s)

J
T

-A- 1(t)

exp{ -(7 - p)A(t)}][A(s) - A(t)]A- 1(s)exp{ -pA(s)}A 2(s)udp.

"2

Applying estimates (4.3) and (4.4), we can write

IIA(t)G2I1E ~ II[A(s) - A(t)]A- 1(s)IIE-+EIIA(s) exp{ -7 A(s)} IIE-+E lIuliE

+11 exp{ -~A(t)}IIE-+EII[A(s)

- A(t)]A- 1(s)IIE-+E

IIA(s) exp{ -'2A(s)}IIE-+ElluIiE

J
T

II exp{ -(7 - p)A(t)} IIE-+EII [A(s) - A(t)]A- 1(s)IIE-+E

"2
X

IIA 2(s) exp{ -pA(s)} II E-+E lIuli Edp


~ Mit - sl< M7- 1exp{ -7J}lIuIiE

+M exp{ -~J}Mlt - SilO M(~)-1 exp{ -~J}lIuIiE

4.1. A Cauchy Problem. Well-posedness

107

J
T

M exp{ -(7 - p)o}Mlt - sI0(p)-2 exp{ -po}lluIIEdp


~ MIlt - S107- 1exp{ -7o}lluIIE.

Combining the estimates for A(t)G1 and A(t)G2, we obtain estimate (4.9). Using
formula (4.13), we notice that, for every u E E,

[exp(-7A(t)) - exp{-7A(s)}]A- 1(s) = HI

+ H 2,

where

J
T

exp{ -(7 - p)A(t)} [A(s) - A(t)]A-1(s) exp{ -pA(s)}udp,

HI = -

J
T

H2 = -

exp{ -(r - p)A(t)}[A(s) - A(t)]A-1(s) exp{ -pA(s)}udp.

Applying estimates (4.3) and (4.4), we can write

J
T

IIA(t)H11I E

IIA(t) exp{ -(r - p)A(t)}IIE->EII[A(s) - A(t)]A- 1(s)IIE->E

x II exp{ -pA(S)}IIE->ElluIIEdp

J
,T

M(7 - p)-l exp{ -(7 - p)o}Mlt -

slo exp{ -po}lIuIiEdp

Integrating by parts, we can write

J
T

H 2 = -A-1(t)

d[exp{ -(7 - p)A(t)}][A(s) - A(t)]A-1(s) exp{ -pA(s)}u

-A-1(t)[A(s) - A(t)]A-1(s)exp{-rA(s)}u

+A-1(t) exp{ -~A(t)}[A(s) - A(t)]A-1(s) exp{ -~A(s)}

J
T

-A-1(t)

exp{ -(7 - p)A(t)}][A(s) - A(t)]A-1(s) exp{ -pA(s)}A(s)udp.

Chapter 4. Partial Differential Equations of Parabolic Type

108

Applying estimates (4.3) and (4.4), we can write


IIA(t)H2 1IE

! II

:s II[A(s) -

A(t)]A-

(s)IIE--.EII exp{ -r A(s)}IIE--.e1luIIE

exp{ -(r - p)A(t)}IIE--'EII[A(s) - A(t)]A- 1(s)IIE--.E

:s Mit -

x IIA(s) exp{ -pA(s)}IIE--.ElluIIEdp


r
r
sic M exp{ -r8}lluIIE + M exp{ -'28}Mlt - sic M exp{ -'28}lluIIE
T

+!

M exp{ -(r - p)8}Mlt -

sic M(p)-1 exp{ -p8}lluIIEdp

"2

:s MIlt - sic exp{ -r8}lluIIE.


Combining the estimates for A(t)H1 and A(t)H2 , we obtain estimate (4.10). We
can write
[exp( -tA(r)) - exp( -sA(r))]A- 1(r)u
(4.14)

!
t

= -

exp{ -pA(r)}A(r)A- 1(r)udp.

Applying estimates (4.3) and (4.4), we can write

I [exp( -tA(r)) -

exp {-sA(r)}]A -1 (r) II E--.E

:s I! II exp{ -pA(r)}IIE--.Ellulldpl :s Mit - sle- 6min{t,s}.


s

Estimate (4.11) is established. Using formula (4.14), we notice that, for every u,
A(t)[exp(-tA(r)) - exp( -sA(r))]A- 2 ( r)u

!
t

= -

exp{-pA(r)}udp- !(A(t) - A(r))A- 1(r)exp{-pA(r)}udp.


s

Applying estimates (4.3) and (4.4), we obtain


IIA(t)[exp( -tA(r)) - exp {-sA(r)}]A -2(r) II E--.E

4.1. A Cauchy Problem. Well-posedness

109

~ I II exp{ -pA(r)}IIE-+Ellulldpl + I

II(A(t) - A(r))A-I(r)IIE-+E

x II exp{ -pA(r)} II E-+E lIulldpl


~

MIlt - Sle- 5min {t,s}.

Estimate (4.12) is established. Lemma 4.1.3 is proved.


Lemma 4.1.4. For any 0

<t

T and u E D the following identities hold:

v(t, s)u = exp{ -(t - s)A(s)}u

(4.15)

J
t

+ v(t, z)[A(s) - A(z)]A-I(s)exp{ -(z - s)A(s)}A(s)udz,


s

v(t, s)u = exp{ -(t - s)A(t)}u

(4.16)

J
t

exp{ -(t - z)A(t)}[A(z) - A(t)]v(z, s)udz.

Proof. Define the function

G(z) = v(t, z) exp{ -(z - s)A(s)}u, s ~ z ~ t.


G(z) is strongly differentiable with respect to z with derivative
G'(z) = v(t, z)A(z) exp{ -(z - s)A(s)}u
-v(t, z)A(s) exp{ -(z - s)A(s)}u
= v(t, z)[A(z) - A(s)] exp{ -(z - s)A(s)}u
=

v(t, z)[A(z) - A(s)]A-I(s) exp{ -(z - s)A(s)}A(s)u.

Since G'(z) is continuous in z, (4.15) follows upon integrating the last identity
from s to t. In a similar manner one establishes the identity (4.16). Lemma 4.1.4
is proved.
Lemma 4.1.5. For any 0
following estimates hold:

<

t ~ t

+r

T, 0 ~ a ~ 1 and 0

<

1 the

IIv(t,s)IIE-+E ~ M,

(4.17)

IIA(t)v(t,s)A-I(s)IIE-+E ~ M,

(4.18)

IIv(t, s) - exp{ -(t - s)A(t)}II E-+ E ~ M(t - s)",

(4.19)

IIA(t)[v(t, s) - exp{ -(t - s)A(t)}] II E-+E ~ M(t - S)"-l,

(4.20)

Chapter 4. Partial Differential Equations of Parabolic Type

110

:s M(t -

IIA(t)v(t, s)II E __ E

S)-l,

(4.21)

IIA(t+r)v(t+r,s) -A(t)v(t,s)II E __ E :s M(t-S)-l W,

IIA(t + r)v(t + r,s)Awhere M 2

(s) - A(t)v(t, s)A- (s)IIE __E

does not depend on c, t, sand r. Here W= rE:

(4.22)

:s MW,

+ ra(t -

(4.23)
s)-a.

Proof. Applying formula (4.15) and estimates (4.3) and (4.4), we obtain

Ilv(t, s)ullE

:s II exp{ -(t -

s)A(s)}uIlE

J
t

Ilv(t, z)IIE__EII[A(s) - A(z)]A- 1 (s)IIE __E

x II exp{ -(z - s)A(s)}A(s) IIE--E lIullEdz

J
t

:s MllullE +

Ilv(t, z)IIE __ EM(z - s)E:(z - s)-llluIIEdz

J
t

= MllullE + M 1

IIv(t, z)IIE__ E(Z - s)E:- 1 dzlluIlE.

Thus, we have that

IIv(t, s)ullE

:s MllullE + M

J
t

IIv(t, z)IIE__E(Z - s)E:- 1 dzlluIlE

or

J
t

IIv(t, s)IIE__E ::; M

+ M1

IIv(t, z)IIE__E(Z - s)E:- 1 dz.

From the integral inequality, (4.17) follows. Note that from (4.4) it follows that
(4.24)
for each t, s E [0, T]. Actually,

Applying formula (4.16) and estimates (4.3), (4.4) and (4.24), we obtain
IIA(t)v(t, s)A- 1 (s)uIlE ::;

II exp{ -(t -

s)A(t)}IIE__EIIA(t)A- 1 (s)IIE __ElluIIE

II A(t) exp{ -(t - z)A(t)}IIE __EII[A(t) - A(z)]A- 1 (z)IIE __E

111

4.1. A Cauchy Problem. Well-posedness

x IIA(z)v(z, s)A- 1 (s)IIE-.ElluIIEdz ::; MllullE

IIA(z)v(z, S)-l A(s)IIE-.EM(t - z)O(t -

z)-llluIIEdz

MllullE + M 1

IIA(z)v(z, S)-l A(s)IIE-.E(Z - sr- dzlluIIE.

Thus, we have that

IIA(t)v(t,s)A- 1 (s)uIIE-.E::;

MllullE

+M1

IIA(z)v(z, s)A- 1 (s)IIE-.E(t - z)t:- 1 dzlluIIE

or

f
t

IIA(t)v(t, s)A- (s)IIE-.E ::; M

+ M1

IIA(z)v(z, s)A- 1 (s)IIE-.E(t - z)t:- 1 dz.

Using the integral inequality, we obtain (4.18).


Applying formula (4.15) and estimates (4.3), (4.4), (4.8) and (4.18), we obtain

Ilv(t, s)u ::; II exp{ -(t -

exp{ -(t - s)A(t)}uIIE

s)A(t)}u - exp{ -(t - s)A(s)}uIIE

IIv(t, z)IIE-.EII[A(s) - A(z)]A- 1 (s)IIE-.E

xIIA(s) exp{ -(z -

f
f

s)A(s)}IIE-.ElluIIEdz

::; M(t -

s)t:lluIIE +

MM(z - s)t:(z - s)-llluIIEdz

MllullE(t -

s)t:

+ M 1 (z - s)t:- 1dzlluIIE

M2 11u11E(t -

s)t:.

The estimate (4.19) is proved.


In a similar manner one establishes estimate (4.20). Using estimates (4.20)
and (4.3), we obtain

IIA(t)v(t, s)IIE-.E

::; IIA(t) exp{ -(t -

s)A(t)}II E-. E

+ IIA(t)[v(t, s) - exp{ -(t - s)A(t)}]II E-. E

::; Mit - SI-l + Mit - slt:-l ::; Milt - SI-l.


The estimate (4.21) is proved.

Chapter 4. Partial Differential Equations of Parabolic Type

112

Applying formula (4.16), we can write

A(t)v(t, s)A- 1(s)u = A(t) exp{ -(t - s)A(tnA- 1(s)u

J
t

A(t) exp{ -(t - z)A(tn[A(z) - A(t)]v(z, s)A-1(s)udz = J 1 (t)u + h(t)u.

Using estimates (4.3), (4.4), (4.8) and (4.24), we obtain


IIJ1 (t + r) - J 1 (t)IIE-+E

(4.25)

~ II[A(t + r)[exp{ -(t + r - s)A(t + rn - exp{ -(t - s)A(tn]A- 1(s)IIE-+E

+11(A(t + r) - A(t))A- 1 (t)IIE-+ElII exp{ -(t - s)A(tnIIE-+E


xIIA(t)A- 1 (s)IIE-+E ~ Mw + Mir c ~ M2 w
for 0 ~ s < t ~ t + r ~ T. Now let us estimate h(t + r) - h(t) for 0 ~ s < t ~
~ T.
To this end we shall examine separately the two cases t-s ~ 2r and t-s > 2r.
If t - s ~ 2r, then using estimates (4.3), (4.4) and (4.18), we obtain

t +r

J
t

Ilh(t)IIE-+E

IIA(t) exp{ -(t - z)A(tnIIE-+E

x II[A(z) - A(t)]A -1 (z)IIE-+EIIA(z)v(z, s)A- 1(s)IIE-+Edz

J
t

M 1(t - z)c- 1dz = M 2 (t - sy.

From this estimate and the triangle inequality it follows that


Ilh(t + r) - h(t)IIE-+E ~ Ilh(t + r)IIE-+E + IIJ2(t)IIE-+E
~

Now let t - s

M2 (t + r - s)c + M2 (t - sy

(4.26)

M3 r c .

> 2r. We have that


h(t + r) - h(t)

J
t+r

A(t + r) exp{ -(t + r - z)A(t + r)}[A(z) - A(t + r)]v(z, s)A-I(s)udz

t-r

-J
t

t-r

A(t)exp{ -(t - z)A(tn[A(z) - A(t)]v(z, s)A- 1(s)udz

4.1. A Cauchy Problem. Well-posedness

113

J
t-r

[A(t + r) exp{ -(t + r - z)A(t + r)}

-A(t) exp{ -(t - z)A(t)}][A(z) - A(t)]v(z, s)A- 1(s)udz

J
t-r

A(t + r) exp{ -(t + r - z)A(t + r)}[A(t) - A(t + r)]v(z, s)A- 1(s)udz

where

J
t+r

L 1(t)u =

A(t + r) exp{ -(t + r - z)A(t + r)}[A(z) - A(t + r)]v(z, s)A -1 (s)udz,

t-r

J
t

L 2 (t)u = -

A(t) exp{ -(t - z)A(t)}[A(z) - A(t)]v(z, s)A- 1(s)udz,

t-r

J
t-r

L 3 (t)u =

[A(t + r) exp{ -(t + r - z)A(t + r)}

-A(t) exp{ -(t - z)A(t)}][A(z) - A(t)]v(z, s)A- 1(s)udz,

t-r

L 4 (t)u =

A(t + r) exp{ -(t + r - z)A(t + r)}[A(t) - A(t + r)]v(z, s)A- 1(s)udz.

Using the estimates (4.3) and (4.4), we obtain

t+r

IIL 1 (t)IIE-.E:::;

IIA(t + r) exp{ -(t + r - z)A(t + r)}IIE-.E

t-r

x II[A(z) - A(t + r)]A- 1(z)IIE-.EIIA(z)v(z, s)A -1 (s)IIE-.Edz

: :; J
t+r

M 1(t + r - z)"-1dz = M2 r".

t-r

In a similar manner one establishes the estimate

Chapter 4. Partial Differential Equations of Parabolic Type

114

Using estimates (4.3), (4.4), (4.6) and (4.9), we obtain

J
t-r

IIL 3 (t)IIE-->E:S

{IIA(t + r)[exp{ -(t + r - z)A(t + r)}

- exp{ -(t - z)A(t + r)}]IIE-->E


+IIA(t + r)[exp{ -(t - z)A(t + r) - exp{ -(t - z)A(t)}]IIE-->E
+11[A(t + r) - A(t)]A- 1 (t)IIE-->EIIA(t) exp{ -(t - z)A(t)} IIE-->el

x II[A(z) - A(t)]A- 1 (z)IIE-->EIIA(z)v(z, s)A- 1 (s)IIE-->Edz

Now let us estimate L 4 (t). Using estimates (4.3), (4.4), (4.6) and (4.9), we obtain

J
t-r

IIL 4 (t)IIE-->E:S

IIA(t + r) exp{ -(t + r - z)A(t + r)}]IIE-->E

x II[A(t

+ r)

- A(t)]A -1 (z)IIE-->EIIA(z)v(z, s)A-l(s)IIE-->Edz

t-r

:S

t-r

r'" dz
M
t + r _ z:S 1

dz

(t + r _ z)l-"':S

M r '"
2 .

Combining the estimates for L 1 (t), L 2 (t), L 3 (t) and L 4 (t), we obtain estimate
(4.26) for t - s > 2r. Therefore,
IIJ2 (t + r) - h(t)IIE-->E :S M 3 r'"
for all 0 :S s < t :S t + r :S T. From this and (4.25) it follows (4.23). Applying
property 2) of v(t, s) and estimates (4.21) and (4.23), we obtain

IIA(t + r)v(t + r, s) - A(t)v(t, s)IIE-->E


:S II[A(t+r)v(t+r, t;s)_A(t)v(t, t;s)]A- 1 (t;s)IIe-->E

x IIA(t;s)v(t;s,S)IIe-->E :sMwM(t-S)-l =M1 (t-s)-l W.


Estimate (4.22) is established. Lemma 4.1.5 is proved.
A function v(t) is said to be a solution of problem (4.1) in F(E) if it is a
solution of this problem in C(E) and the function v'(t) and A(t)v(t) belong to
F(E).
As in the case of the space C(E), we say that problem (4.1) is well posed in
F(E), if the following two conditions are satisfied:

4.1. A Cauchy Problem. Well-posedness

115

1. For any f(t) E F(E) and Vo E D there exists the unique solution v(t) =
v(t; f(t), vo) in F(E) of problem (4.1). This means that an additive and
homogeneous operator v(t; f(t), vo) is defined which acts from F(E) x D to
F(E) and gives the solution of (4.1) in F(E).

2. v(t; f(t), vo), regarded as an operator from F(E) x D to F(E), is continuous.Here F(E) x D is understood as the normed space of the pairs (f(t), vo),
f(t) E F(E) and Vo E D, equipped with the norm

11(f(t), vo)IIF(E)xD = IIfIlF(E) + II voliD.


First, we set F(E) equal to C~,Q(E) = C~,Q([O, T], E), 0 < 0: < 1, the Banach
space obtained by completion of the set of smooth E-valued functions cp(t) on [0, T]
in the norm

II cp IlcQQ(E)= IIcpIlC(E)
o

IIcp(t + 7) - cp(t) liE

sup

O:St<t+r:ST

(t + 7) .
Q

As in the case of the space C(E), from the well-posedness of the Cauchy problem
(4.1) one derives the coercivity inequality
Ilv/llc~'Q(E) + IIA(.)vllc~'Q(E) ::; MC(o:)[lIfllc~'Q(E)

IIA(O)voliel ,

(4.27)

where Mc (0:)(1 ::; Mc(o:) < +00) does not depend on Vo and f(t).
Theorem 4.1.6. Suppose Vo E D, f(t) E C~,Q(E). Suppose that assumptions (4.3)
and (4.4) hold and 0 < 0: ::; ::; 1. Then the Cauchy problem (4.1) is well posed

in Holder space C~,Q(E). For the solution v(t) in


the coercive inequality

IIv'IIc~'Q(E) + IIA(.)vllc~,Q(E) ::; 0:(1~ 0:)

C~,Q(E)

II f

of the Cauchy problem

Ilc~,Q(E) +M II A(O)voIlE

holds, where M does not depend on 0:, Vo and f(t).


Proof. If v(t) is a solution in C~,Q(E) of problem (4.1), then it is a solution in
C(E) of this problem. Hence, by (4.5), we have the representation

v(t) = v(t, O)vo

v(t, s)f(s)ds.

To prove the theorem we must show that the functions v'(t) and A(t)v(t) belong
to C~,Q (E) and finally obtain estimates for the norms of these functions. Here we
address only the last task. Using formula (4.5), we obtain

A(t)v(t)

A(t)v(t, O)vo

A(t)v(t, s)dsf(t)
3

A(t)v(t, s)(f(s) - f(t))ds

~ Jk(t),

(4.28)

Chapter 4. Partial Differential Equations of Parabolic Type

116

where

J1 (t) = A(t)v(t,O)vo,

1
t

h(t)

A(t)v(t, s)dsf(t),

h(t) =

A(t)v(t, s)(I(s) - f(t))ds.

Let us estimate Jk(t) for any k = 1,2,3 separately. We start with J1 (t). Using
estimate (4.18), we show that, for 0::; t ::; T,

11J1(t)IIE::; IIA(t)v(t,0)A- 1 (0)IIE--+EIIA(0)voIIE::; MIIA(O)voIIE'


Further, applying (4.23), we show that, for 0 < t < t + 7 < T,

11J1 (t + 7) - h(t)IIE ::; IIA(t + 7)V(t + 7,0) - A(t)v(t, O)]A- 1 (O)IIE--+EIIA(O)voIlE


70.
::; M[7 + (t + 7)o.]II A(O)voIlE .
Since a ::; c, we have proved that

IIJ1 1Icg" (E) ::; MIIA(O)vo liE.

(4.29)

Now let us estimate J2(t). Using property 4) of vet, s), we can write

h(t) = [1 - A(t)v(t,O)A-1(t)]f(t)

1
t

A(t)v(t, s)[A(t) - A(s)]A- 1 (t)dsf(t).

Using this formula and estimates (4.4), (4.18), (4.21) and (4.24), we obtain

11J2(t) liE ::; [1 + IIA(t)v(t, O)A -1 (O)IIE--+EIIA(O)A -1 (t) IIE--+El IIf(t) liE

1
t

IIA(t)v(t, s)IIE--+EII[A(t) - A(s)]A- 1 (t)IIE--+Edsllf(t)IIE

::; Mllf(t)IIE + M

1
t

(t - s)-l+dsllf(t)IIE ::; M 1 II f Ilcg'''(E)

for all t, t E [0, T]. Now let us estimate J2(t + 7) - J2(t) for 0 ::; t < t + 7 ::; T.
To this end we shall examine separately the two cases t ::; 27 and t > 27. If
t ::; 27, then using the last estimate and the triangle inequality, we obtain

Ilh(t + 7) - J2(t)IIE ::; IIh(t + 7)IIE + Ilh(t)IIE ::; 2M1 II f IIcg'''(E)


70.
::; (t + 7)0. M 2 II f Ilcg'''(E) .

(4.30)

4.1. A Cauchy Problem. Well-posedness

> 27. We have that

Now let t

J2(t + 7) - h(t)

{[I - A(t + 7)V(t + 7, O)A-1(t + 7)]

t+

A(t + 7)V(t + 7,s)[A(t + 7) - A(s)]A-1(t)ds}[f(t + 7) - f(t)]

+ Jo

+[A(t)v(t,O)A-1(t) - A(t + 7)V(t + 7,O)A- 1(t + 7)]f(t)

-J
t+T

A(t + 7)V(t + 7, s)[A(s) - A(t + 7)]A- 1(t)dsf(t)

t-T

J
t

A(t)v(t, s)[A(s) - A(t)]A-1(t)dsf(t)

t-T

-J +
-J
t-T

[A(t

7)V(t + 7, s) - A(t)v(t, s)][A(s) - A(t)]A-1(t)dsf(t)

t-T

A(t + 7)V(t + 7, s)[A(t) - A(t + 7)]A- 1(t)dsf(t)

J
t-T

A(t + 7)V(t + 7, s)[A(t + 7) - A(s)]A- 1(t)ds

x[A(t) - A(t + 7)]A- 1(t + 7)f(t + 7)


=

L1(t) + L 2 (t) + L 3 (t) + L 4 (t) + L 5 (t) + L6 (t) + L7 (t),

where

L1(t)

HI - A(t + 7)V(t + 7, O)A-1(t + 7)]

(+T

+J
A(t + 7)V(t + 7, s)[A(t + 7) - A(s)]A-1(t)ds}[f(t + 7) - f(t)],
o
L 2 (t) = [A(t)v(t, O)A-1(t) - A(t + 7)V(t + 7,O)A- 1(t + 7)]f(t),

J
t+T

L 3 (t)

= -

A(t + 7)V(t + 7, s)[A(s) - A(t + 7)]A- 1(t)dsf(t),

t-T

J
t

L 4 (t)

A(t)v(t, s)[A(s) - A(t)]A-1(t)dsf(t),

t-T

117

Chapter 4. Partial Differential Equations of Parabolic Type

118

J
t-r

L 5 (t) = -

[A(t

+ r)v(t + r, s) -

A(t)v(t, s)][A(s) - A(t)]A- 1 (t)dsf(t),

t-r

A(t + r)v(t + r, s)[A(t) - A(t + r)]A- 1 (t)dsf(t),

L 6 (t) = -

J
t-r

L 7 (t) =
X

A(t + r)v(t + r, s)[A(t + r) - A(s)]A- 1 (t)ds

o
[A(t) - A(t + r)]A- 1 (t + r)f(t + r).

Let us estimate Lk(t) for any k = 1,2,3,4,5,6,7 separately. We start with L 1 (t).
Using estimates (4.4), (4.18), (4.21) and (4.24), we obtain
IIL 1 (t)IIE
~ [1 + IIA(t+r)v(t+r,0)A- (0)IIE--.EIIA(0)A- (t+r)IIE--.E]llf(t+r) - f(t)IIE
1

(t+ r

+ Jo

IIA(t + r)v(t + r, s)IIE--.EII[A(t + r) - A(s)]A- 1 (t)IIE--.Eds

x Ilf(t + r) - f(t)IIE

~ [M + M

1
t

+ (t

ro.

~ M 1 (t + r)o.

II f

+ r - s)l-"ds]llf(t + r) - f(t)IIE
Ilcg'''(E)

for all t, t E [0, T]. Let us estimate L 2 (t). Using the formula

L 2 (t)

[A(t)v(t,O) - A(t + r)v(t

+ r, O)]A -1 (t)f(t)

+A(t + r)v(t + r,0)[A- (t) - A- 1 (t + r)]f(t),


1

and estimates (4.3), (4.4), (4.8), (4.23) and (4.24), we obtain


IIL 2 (t)IIE

II[A(t)v(t,O) - A(t + r)v(t + r,0)]A- 1 (0)IIE--.E

x IIA(O)A -1 (t)IIE--.Ellf(t)IIE
+IIA(t + r)v(t + r,0)A- 1 (t)IIE--.EII[A(t + r) - A(t)]A- 1 (t + r)IIE--.Ellf(t)IIE
ro.
~ M[r" + (t + r)o.]Mllf(t)IIE + Mr"llf(t)IIE
for all t, t E [0, T]. Since a ::;

we have proved that

4.1. A Cauchy Problem. Well-posedness

119

for all t, t E [0, T]. Let us estimate L 3 (t). Using estimates (4.3), (4.4), (4.8), (4.23)
and (4.24), we obtain

J
t+r

IIL3 (t)IIE:S

IIA(t+r)v(t+r, s)IIE-+EII[A(s) - A(t+r)]A- (t)IIE-+Ellf(t)IIEds

t-r

J
t+r

:s

M 1 (t

+ r - s)O-ldsllf(t)IIE

= M 2r

II f Ilc~O(E)

t-r

for all t, t E [0, T]. Therefore,

for all t, t E [0, T]. In a similar manner one establishes the estimate

for all t, t E [0, T]. Now let us estimate L 5 (t). Using estimates (4.4) and (4.22), we
obtain

J
t-r

IIA(t + r)v(t + r, s) - A(t)v(t, s)IIE-+E

IIL5 (t)IIE:S

xll[A(s) - A(t)]A- 1 (t)IIE-+Edsllf(t)IIE

:s M 1

J
t-r

J(
t-r

(t - s)-l[r

+(

rO ) ]dsllf(t)IIE:S M 2
t+r-so

:s

rOds )1+ Ilf(t)IIE


t+r-s

rO
~ (t + r)O II f Ilc~,O(E)
M3

for all t, t E [0, T]. Now let us estimate L 6 (t). Using estimates (4.4) and (4.21),
we obtain

t-r

IIL 6 (t)IIE

:s

IIA(t + r)v(t + r, s)IIE-+EII[A(t + r) - A(t)]A- 1 (t)IIE-+Edsllf(t)IIE

J+
t-r

:s M 1

(t

J + ~~:)1+0
t-r

T -

O
s)-l r dsllf(t)IIE

:s M 2

(t

M3

TO

:s ~ (t + T)o II f

IIc;'O(E)

IIf(t)IIE

120

Chapter 4. Partial Differential Equations of Parabolic Type

for all t, t E [0, T]. Finally we have

J
t+T

IIL7 (t)IIE:::;

M 1 (t+r-s)-1+ dsM2 r llf(t+r)IIE :::; M3 (t

::)<> II f IIc~'Q(E) .

Combining the estimates for Lk(t) for any k = 1,2,3,4,5,6,7, we obtain


estimate (4.30) for t > 2r. Therefore,
Ilhllc~Q(E)

:::; -Cl:' II f

IIc~,Q(E)

(4.31)

Now let us estimate J3 (t). Using estimate (4.21), we obtain

J
t

II J3(t) liE:::;

IIA(t)v(t, s)IIE--;Ellf(s) - f(t)

liE ds

ds

(t _ S)l-<>t<> II f

:::; M

M
Ilc~'Q(E)= ~

I f Ilc~,Q(E)

E [0, T]. Now let us estimate the difference h(t + r) - h(t) for
T. We will consider separately the cases t :::; 2r and t > 2r. If
then from the last estimate it follows that

< 2r,t <t, tt+ r <


for all

t :::;

II J3(t + r) - J3(t) IIE:::;II J3(t + r) liE + II J3(t) liE

: :; 2~3<> II f IIc~'Q(E) r<>(t + r)-<> = ~l II f Ilc~,Q(E) r<>(t + r)-<>.


Now let t > 27. Let us represent the difference h(t + r) - h(t) as the sum of the
following integrals:

J
t+T

h(t + r) - J3(t) =

A(t + r)v(t + r, s)(I(s) - f(t + r))ds

t-T

-J
J +
t

A(t)v(t, s)(I(s) - f(t))ds

t-T

t-T

A(t

r)v(t + r, s)(I(t) - f(t + r))d8

t-T

[A(t + r)v(t + r, s) - A(t)v(t, 8)](I(S) - f(t))ds

121

4.1. A Cauchy Problem. Well-posedness

where

t+r

PI (t) =

A(t + T)V(t + T, s)(f(s) - f(t + T))ds,

t-r

J
t

P2(t) = -

A(t)v(t, s)(f(s) - f(t))ds,

t-r

J
t-r

[A(t + T)V(t + T, s) - A(t)v(t, s)](f(s) - f(t))ds,

P3 (t) =

J
t-r

A(t + T)V(t + T, s)(f(t) - f(t + T))ds.

P4 (t) =

Let us estimate Pk(t) for any k = 1,2,3,4 separately. We start with PI (t). Using
estimate (4.21), we obtain

J
t+r

IIA(t + T)V(t + T, s)IIE--+Ellf(s) - f(t + T)IIEds

IIP1 (t)IIE:::;

t-r

t+r

:::; (

t+T ) o

M 1 (t

+T

t-r

s)

0-1

M2

TO

ds II f IICn,n(E)=
-a (t+T )O II f IIC0n,n(E)
0

for all t, t E [0, T]. In a similar manner one establishes the estimate

for all t, t E [0, T]. Now let us estimate P3(t). Using estimate (4.22), we obtain

J
t-r

11P3(t)IIE:::;

IIA(t + T)V(t + T, s) - A(t)v(t, s)IIE--+Ellf(s) - f(t)IIEds

t-r
1

:::; M
to

(t - s)-HO[T" +

+T

]ds II f Ilcn.n(E)
0

o
M2To
M3 To
:::; a(l - a)t o II f Ilc;,n(E):::; a(l _ a)(t + T)o II f Ilc;,n(E)

for all t, t E [0, T]. Let us estimate P4 (t). Using property 4) of v(t, s), we can
write
P4 (t) = [A(t + T)V(t + T, t - T)A- 1 (t + T)

122

Chapter 4. Partial Differential Equations of Parabolic Type

-A(t + r)v(t + r, O)A-I(t + r)](J(t) - f(t + r))


t

A(t + r)v(t + r, s)[A(t + r) - A(s)]A-I(t + r)ds(J(t) - f(t

+ r)).

Using this formula and estimates (4.4), (4.18), (4.21) and (4.24), we obtain

IIP4 (t)IIE:::; [IIA(t + r)v(t + r, t - r)A-I(O)IIE--+E


+IIA(t + r)v(t + r, O)A-I(O)IIE--+eJIIA(O)A-I(t + r)IIE--+Ellf(t) - f(t + r)IIE
+

IIA(t + r)v(t + r, s)IIE--+EII[A(t + r) - A(s)]A-I(t + r)IIE--+Eds

xllf(t) - f(t

+ r)IIE :::; 2MMllf(t) - f(t + r)IIE

I
t

+M

(t + r - s)I-Cdsllf(t) - f(t + r)IIE

MIrO:
:::; (t + r)o: II f Ilc;'''(E)
for all t, t E [0, T]. Combining the estimates for Pk(t) for any k = 1,2,3,4, we
obtain the estimate

for t > 2r. Therefore,

Ilhllc;'''(E) :::;

a(l _ a)

II f Ilc;'''(E) .

(4.32)

Finally, applying estimates (4.29), (4.31) and (4.32), we obtain the estimate

II A(.)v Ilc;'''(E):::;

M
a(l _ a)

II f IIc;'''(E) +M II A(O)voIIE'

By the triangle inequality, this last estimate and equation (4.1) yields

II v'llc;'''(E) :::;

a(l~ a)

II f Ilc;'''(E) +M II A(O)voIIE'

Theorem 4.1.6 is proved.


With the help of A(t) we introduce the fractional spaces Eo:,q(E, A(t)), 0 <
a < 1, consisting of all vEE for which the following norms are finite:
00

dz

II V IIE",q = ( [ZI-O: II A(t) exp{ -zA(t)}v IIE]q ~)"q, 1:::; q < 00,
1

II v IIE,,=II V IIE",oo= SUpZI-o: II A(t)exp{-zA(t)}v liE.


z>o

123

4.1. A Cauchy Problem. Well-posedness

From (4.3) and (4.4) follows


Theorem 4.1.7. Eo:,q(E, A(t)) = Eo:,q(E, A(O)) for all 0

o ~ t ~ T.

< 0: < 1, 1 ~ q ~

00

and

Note that the coercivity inequality

Ilv'IIF(E) + IIA(.)vIIF(E)

~ MC[llfIlF(E)

+ IIA(O)voIIE]

fails if we set F(E) equal to CO:(E), (0 < 0: < 1), the Banach space obtained by
completion of the set of all smooth E-valued functions ep(t) on [O,T] in the norm

I ep Ilc<>(E)=

max
05,t5,T

lIep(t)IIE +

sup
05,t<t+r5,T

II ep(t + T) -

ep(t)

liE

TO:

Nevertheless, we have the following result.


Theorem 4.1.8. Suppose vb = f(O) - A(O)vo E Eo:, f(t) E CO:(E)(O < 0: < 1).
Suppose that assumptions (4.3) and (4.4) hold and 0 < 0: ~ E ~ 1. Then the

Cauchy problem (4.1) is well posed in Holder space CO:(E). For the solution v(t)
in CO:(E) of the Cauchy problem the coercive inequality

holds, where M does not depend on

0:,

Vo and f(t).

Proof. By formula (4.28), we have


V' (t)

= A(t)v(t, O)A -1 (O)vb

+ A(t)v(t, O)A -1 (O)(A(O) - A(t))A -1 (t)f(t)

+A(t)v(t, O)A- 1 (0)(J(t) - f(O))

-I

A(t)v(t, s)[A(t) - A(s)]A- 1 (t)dsf(t)

r A(t)v(t, s)(J(s) - f(t))ds L Jk(t),


o

- in

k=1

where

J 1 (t) = A(t)v(t, O)A -1 (O)vb,


h(t)

A(t)v(t, 0)A- 1 (0)(A(0) - A(t))A- 1 (t)f(t),

h(t) = A(t)v(t,0)A- 1 (0)(J(t) - f(O)),


J4 (t) =

-I

J5 (t)

A(t)v(t, s)[A(t) - A(s)]A- 1 (t)dsf(t),

-I

A(t)v(t, s)(J(s) - f(t))ds.

124

Chapter 4. Partial Differential Equations of Parabolic Type

Let us estimate Jk(t) for any k = 1,2,3,4,5 in CQ(E) and C(EQ) separately. We
start with J1(t). Using estimate (4.18), we show that, for 0 :S t :S T,

11J1(t)IIE:S IIA(t)v(t,O)A-l(O)IIE--.Ellv~IIE:S Mllv~IIE:S Mllv~IIEa'


Further, applying (4.16), we can write

J1(t) = exp{ -tA(tnv~ + exp{ -tA(tn[A(t) - A(O)]A-l(O)V~

(4.33)

+
=

A(t)exp{-(t-s)A(tn[A(s)

-A(t)]v(s,O)A-l(O)v~ds

o
J ll (t) + J 12(t) + J 13 (t),

where

J ll (t) = exp{ -tA(tnv~,


J 12 (t) = exp{ -tA(tn[A(t) - A(O)]A-l(O)V~,

J
t

J 13 (t) =

A(t) exp{ -(t - s)A(tn[A(s) - A(t)]v(s,O)A-1(O)vbds.

o
Using estimates (4.3) and (4.8), we obtain

IIJll (t+r) -Jll(t)IIE :S II exp{ -(t+r)A(t+r)}vb -exp{ -(t+r)A(t)}vbIlE

(4.34)

JIIA(t) + s)A(tnv~dsIIE
+ J ::~~_Q "
~l
T

exp{ -(t

:S MrllvbllE

(t
vbllEa :S
rQllvbllEa
o
for 0 < t < t + r < T. Using estimates (4.3), (4.6) and (4.8), we obtain

IIJ12 (t + r) - J 12 (t)IIE :S II exp{ -(t + r)A(t + rnllE--.E


x II [A(t

<

(4.35)

+ r) - A(t)]A-1(O)IIE--.EllvbIIE

II exp{ -(t + r)A(t + rn - exp{ -(t + r)A(tnIlE--.E


x II [A(t)

- A(O)]A-1(O)IIE--.EllvbIlE

+11 exp{ -(t + r)A(t)} - exp{ -tA(t)} IIE--.EII [A(t) - A(O)]A-1(O)IIE--.EllvbIlE


r

:S M Mr II vb liE + Mr MtllvbllE + M (t + r)Q MtllvbllE :S M1rQllvbllE a

4.1. A Cauchy Problem. Well-posedness

125

for 0 < t < t + 7 < T. Let us estimate J 13 (t + 7) - Jdt) for 0 < t < t + 7 < T.
Using estimates (4.3), (4.4) and (4.18), we obtain

J
t

IIJ13 (t)IIE ::;

IIA(t) exp{ -(t - s)A(tnIIE-+EII[A(t) - A(s)]A- 1(O)IIE-+E

J
t

x IIA(s)v(s, O)A- (O)IIE-+EdsllvbIIE ::;

M M(t - s)-He MdsllvbllE

1
1
::; M tQllvbllE ::; M t II vb IIE
Q

0:

0:

If t ::; 27, then using the last estimate and the triangle inequality, we obtain

IIJ13 (t + 7) - J13(t)IIE ::; IIJ13 (t + 7)IIE + 11J13(t)IIE


1
Q
::; M ((t+7)Q+t )lIvbIIEQ::; M27QllvbIlEQ'
0:

0:

Now let t > 27. We have that

J
t+r

A(t + 7) exp{ -(t + 7 - s)A(t + 7n[A(s) - A(t + 7)]V(S, O)A- 1(O)vbds

t-r

-J
t

A(t)exp{-(t-s)A(t)}[A(s)-A(t)]v(s,O)A-1(O)vbds

t-r

J
t-r

[A(t + 7) exp{ -(t + 7 - s)A(t + 7n - A(t)

x exp{ -(t - s)A(tn][A(s) - A(t)]v(s, O)A- 1 (O)vbds

t-r

A(t + 7) exp{ -(t + 7 - s)A(t + 7n[A(t) - A(t + 7)]V(S, O)A- 1(O)vbds

where

J
t+r

K 1(t) =

A(t + 7) exp{ -(t + 7

t-r

s)A(t + 7n[A(s) - A(t + 7)]V(S, O)A -1 (O)vbds,

126

Chapter 4. Partial Differential Equations of Parabolic Type

J
t

K 2 (t) = -

A(t) exp{ -(t - s)A(tn[A(s) -

A(t)lv(s,O)A-1(O)v~ds,

t-T

J
t-T

K 3 (t) =

[A(t

+ r) exp{ -(t + r - s)A(t + rn - A(t)

x exp{ -(t - s)A(tn][A(s) - A(t)]v(s,O)A-1(O)v~ds,

t-T

K 4 (t) =

A(t + r) exp{ -(t + r - s)A(t + rn[A(t) - A(t + r)]v(s, O)A-1(O)v~ds.

o
Using estimates (4.3), (4.4) and (4.18), we obtain

JIIA(t +

t+T

IIK1 (t)IIE:::;

r) exp{ -(t + r - s)A(t + rnllE--+EI

t-T

x I[A(s) - A(t + r)]A- 1(s)IIE--+E


x IIA(s)v(s, O)A -1 (O)IIE--+Ellv~IIEds

: ; JMM(t+r-s)-l+Mdsllv~IIE:::; ~lrallv~IIEQ.
t+T

t-T

In a similar manner one establishes the estimate

Using estimates (4.4), (4.18) and (4.23), we obtain

J
t-T

IIK3 (t)IIE :::;

IIA(t+r) exp{ -(t+r-s)A(t+rn - A(t) exp{ -(t-s)A(tnIlE--+E

x II [A(s) - A(t)]A- (s)IIE--+EIIA(s)v(s, O)A-1(O)IIE--+Ellv~IIEds

: :; J

(;1 )

t-T

MM(t + r - s)-1+[r

o
Applying the formula

+ _r_]Mdsllv~IIE:::;
rallv~IIEQ.
t-s
(} -(}

K 4 (t) = [exp{ -2rA(t + rn

exp{ -(t + r)A(t

x [A(t) - A(t + r)]v(t,O)A-1(O)v~

+ Tn]

4.1. A Cauchy Problem. Well-posedness

127

t-T

A(t+T) exp{ -(t+T- S)A(t+T) }[A(t) - A(t+T)][V(S, 0) -v(t, O)]A -1(O)v~ds

o
and estimates (4.3), (4.4), (4.18) and (4.23), we obtain
IIK4 (t)IIE:S II exp{ -2TA(t + T)} - exp{ -(t + T)A(t + T)}IIE-+E
x II[A(t) - A(t + T)]A -1 (t)IIE-+EIIA(t)v(t, 0)A- 1(O)IIE-+Ellv~IIE

J
t-T

IIA(t + T) exp{ -(t + T - s)A(t + T)}IIE-+E

o
x II [A(t + T) - A(t)]A -1 (s)IIE-+EIIA(s)(v(t, 0) - v(s, O))A -1 (O)IIE-+Ellv~IIEds

t-T

:S MT

Mllv~IIE

MM(t + T - S)-I T[T +

_T-]Mdsllv~IIE
t-s

a(~ a) Tallv~IIE".

:S

Combining the estimates for Kk(t) for any k = 1,2,3,4, we obtain the estimate

IIJI3 (t + T) - Jdt)IIE :S

a(~ a) Tallv~IIE"

for t > 2T. Therefore,


IIJI3 (t + T) - J I3 (t) liE :S
for 0 < t < t +

a(~ a) TallvbllE"

< T. Using estimates (4.3), (4.6) and (4.8), we obtain


II J lllc"(E) :S

a(~ a) IlvbIIE".

(4.36)

Using formula (4.33) and estimates (4.3), (4.6) and (4.8), we obtain

zl-a

II A(t)exp{-zA(t)}J1(t)IIE:S zl-a II

A(t)exp{-(z+ t)A(t)}vbIIE
+zl-a II A(t) exp{ -(z + t)A(t)} IIE-+EII [A(t) - A(0)]A- 1(0)IIE-+EllvbIlE

J
t

zl-a II A2 (t) exp{ -(z + t - s)A(t)}IIE-+EII[A(s) - A(t)]A- 1(s)IIE-+E

I-a

xIlA(s)v(s,O)A-l(O)IIE-+Ellv~IIEds:S(t +z)l
z -a II v~IIE"
Mt
+z l_a Z+tII'11
Vo E +

J
t

M (t-s)ds 'll
M111 Vo'II E"
z l_a (z+t-s
)2 ll Vo E:S I-a

128

Chapter 4. Partial Differential Equations of Parabolic Type

for all z > 0 and t, t E [0, T]. Therefore,


(4.37)
Now let us estimate h(t). Using estimates (4.4), (4.18), we show that, for
o :s t :s T,

Ilh(t)IIE:S IIA(t)v(t,0)A-1(0)IIE-+EII(A(0) - A(t))A-1(t)IIE-+EII!(t)IIE

:s MMt"II!(t)IIE :s MIt" II! IIc<>(E) .


Therefore,
Moreover, if t
obtain

:s 2r, then using the last estimate and the triangle inequality, we
Ilh(t + r) - h(t)IIE

:s Ilh(t + r)IIE + Ilh(t)IIE

:s M 2 t + r)Q + tQ)II! Ilc<>(E):S M3 r QII! Ilc<>(E) .


Now let t > 2r. Using estimates (4.3), (4.6), (4.23), (4.24) and (4.18), we obtain

Ilh(t + r) - J2 (t)IIE

:s IIA(t + r)v(t + r, 0)A-1(0)IIE-+E

xll(A(O) - A(t + r))A-1(t + r)IIE-+EII!(t + r) - !(t)IIE


+II[A(t + r)v(t + r,O) - A(t)v(t,0)]A-1(0)IIE-+E
x II(A(O) - A(t + r))A-1(t + r)IIE-->E1I!(t)IIE
+IIA(t)v(t, 0)A- 1(O)IIE-+EIIA(O)A -1 (t)IIE-+E
xll(A(t) - A(t + r))A-1(t + r)IIE-+EII!(t)IIE

:s MM(t + r)"rQII! Ilc<>(E) +M[r" + :: ]M(t + r)"II! Ilc<>(E)


+MMr"ll! Ilc<>(E):S M1rQII! Ilc<>(E)
for t > 2r. Therefore,

Ilhllc<>(E)

:s M1rQII! Ilc<>(E) .

(4.38)

Using formula (4.33) and estimates (4.3), (4.4), (4.6) and (4.8), we obtain

Zl-Q II A(t) exp{ -zA(t)}J2 (t)IIE

:s zl-Q II A2 (t) exp{ -(z+t)A(t)}A-1(0)IIE-+EII(A(0) -

A(t))A -1 (t)IIE-+EII!(t)IIE

+Zl-Q II A (t) exp{ -(z + t)A(t)}A-1(0)IIE-->E


2

129

4.1. A Cauchy Problem. Well-posedness

xll(A(O) - A(t))A- 1(0)IIE-+EII(A(0) - A(t))A- 1(t)IIE-+EII!(t)IIE

J
t

Zl-c> II A2(t) exp{ -(z + t - s)A(t)}A-1(0)IIE-+EII[A(s) - A(t)]A-1(s)IIE-+E

x IIA(s)v(s, O)A -1 (0) IIE-+EIIE-+EII(A(O) - A(t))A -1 (t)IIE-+EII!(t)IIEds


Zl-c>t'"
:::; --II!(t)IIE
t+z

J
t

Me'"
z+t

+ zl-c>-II!(t)IIE

Zl-c> M(t - s)"'t"'ds 11!(t)IIE :::; M 1II!llo(E )


z+t-s
0:
<>

for all z > 0 and t, t E [0, T]. Therefore,


(4.39)
Now let us estimate J3 (t). Using estimate (4.18), we show that, for 0 :::; t :::; T,

IIh(t)IIE :::; IIA(t)v(t,0)A- 1(0)IIE-+EII!(t) - !(O)IIE


:::; Mt'" II! IIo<>(E):::; Mt'" II! IIo<>(E) .
Therefore,
Moreover, if t :::; 2r, then using the last estimate and the triangle inequality, we
obtain
Ilh(t + r) - J3(t)IIE :::; Ilh(t + r)IIE + Ilh(t)IIE

::; M 2((t

+ r)C> + tcII! IIo<>(E):::; M2rC>II! 110<>(E) .

Now let t > 2r. Using estimates (4.23) and (4.18), we obtain

Ilh(t + r) - h(t)IIE :::; IIA(t + r)v(t


+II[A(t + r)v(t

+ r, 0)A- 1(0)IIE--+EII!(t + r) - !(t)IIE

+ r,O) - A(t)v(t, 0)]A-1(0)IIE--+EII!(t) - !(O)IIE

:::; M r C>II! 110<>(E) +M[r'"

+ :: ]MtC> II! 110<>(E):::; M 1rC>II! 110<>(E)

for t > 2r. Therefore,

IIhllo<>(E) :::; M1rC>II! IIo<>(E) .


Using formula (4.33) and estimates (4.3), (4.4), (4.6) and (4.8), we obtain

Zl-c> II A(t) exp{ -zA(t)}h(t)IIE

(4.40)

Chapter 4. Partial Differential Equations of Parabolic Type

130

:::; Zl-Q II A2 (t) exp{ -(z + t)A(t)}A-1(0)IIE--+Ellf(t) - f(O)IIE


+Zl-Q II A2 (t) exp{ -(z + t)A(t)}A-1(0)IIE--+E

Jzl-Q II

xII(A(O) - A(t))A-1(0)IIE--+Ellf(t) - f(O)IIE

A2 (t) exp{ -(z + t - s)A(t)}A-1(0)IIE--+EII[A(s) - A(t)]A-1(s)IIE--+E

xIIA( s)v(s, O)A -1 (O)IIE--+E IIE--+E Ilf(t) - f(O) II Eds


MtQ+c
zl-Qt Q
:::; --llfIIC(E
)
+
zl-Q--llf(t)IIE
t+Z
a
Z+t

JZl-Q
t

M(t - s)ctQds Ilf(t)IIE :::; MlllfllC(E )


Z+t-s
Q:
a

for all z > 0 and t, t E [0, T]. Therefore,


M1

Ilhllc(Ea) :::; ~llfIIC(Ea)'

(4.41 )

Using this formula and estimates (4.4) and (4.21), we obtain

IIJ4 (t)IIE :::;

it

:::; M

IIA(t)v(t, s)IIE--+EII[A(t) - A(s)]A-1(t)IIE--+Edsllf(t)IIE

1
rt
(t - s)l-Cdsllf(t)IIE :::; M tQII f IIca(E)
h
Q:

for all t, t E [0, T]. Now let us estimate J4 (t + r) - J4 (t) for 0 :::; t < t + r :::; T.
To this end we shall examine separately the two cases t :::; 2r and t > 2r. If
t :::; 2r, then using the last estimate and the triangle inequality, we obtain

IIJ4 (t + r) - J4 (t)IIE :::; IIJ4 (t + r)IIE + IIJ4 (t)IIE

(4.42)

1tQ] II f Ilca(E):::; M 2 r II f Ilca(E) .


:::; [MQ:1(t + r)Q + M
Q:
Q

Now let t > 2r. We have that

rt+- A(t + r)v(t + r, s)[A(t + r) r

= - Jo

-J

A(s)]A-1(t + r)ds[f(t + r) - f(t)]

t+T

A(t + r)v(t + r, s)[A(s) - A(t + r)]A-1(t)dsf(t)

t-T

4.1. A Cauchy Problem. Well-posedness

131

A(t)v(t, s)[A(s) - A(t)]A-1(t)dsj(t)

t-7'

-J
t-7'

[A(t + r)v(t + r, s) - A(t)v(t, s)][A(s) - A(t)]A-1(t)dsj(t)

-J
t-7'

A(t + r)v(t + r, s)[A(t) - A(t + r)]A-1(t)dsj(t)

J
t-7'

A(t + r)v(t + r, s)[A(t) - A(s)]A-1(t)[A(t) - A(t + r)]A-1(t + r)dsj(t + r)

where
t+7'

L1(t) = - io

A(t + r)v(t + r,s)[A(t + r) - A(s)]A-1(s)ds}[j(t + r) - j(t)],

t+7'

L2 (t)

=-

A(t + r)v(t + r, s)[A(s) - A(t + r)]A-1(s)dsj(t),

t-7'

J
t

L3 (t) = -

A(t)v(t, s)[A(s) - A(t)]A-1(s)dsj(t),

t-7'

t-7'

L4 (t) =

[A(t + r)v(t + r, s) - A(t)v(t, s)][A(s) - A(t)]A-1(s)dsj(t),

J
t-7'

Ls(t) =

A(t + r)v(t + r, s)[A(t) - A(t + r)]A-1(s)dsj(t),

t-7'

L6 (t) =

A(t + r)v(t + r, s)[A(t) - A(s)]

A-1(t)[A(t) - A(t + r)]A-1(t + r)dsj(t + r).

132

Chapter 4. Partial Differential Equations of Parabolic Type

Let us estimate Lk(t) for any k = 1,2,3,4,5,6 separately. We start with L 1 (t).
Using estimates (4.4), (4.18), (4.21) and (4.24), we obtain

t+

IIL 1 (t)IIE :S io

IIA(t + T)V(t + T, s)IIE--+EII[A(t + T) - A(s)]A- 1 (s)IIE--+Eds

x Ilf(t + T) - f(t)IIE
t +T
M
:S M
(t + T - s)l- Edsllf(t + T) - f(t)IIE :S _1 TO II f Ilco(E)
o
a

for all t, t E [0, T]. Let us estimate L 2 (t). Using estimates (4.3), (4.4), (4.8), (4.23)
and (4.24), we obtain

t+T

IIL 2 (t)IIE :S

IIA(t + T)V(t + T, s)IIE--+EII[A(s) - A(t + T)]A- 1 (t)IIE--+Ellf(t)IIEds

t-T

J
t+T

:S

M 1 (t + T - s)E- dsllf(t)IIE =
1

~2TE II

f Ilco(E)

t-T

for all t, t E [0, T]. Thus,

IIL2 (t)IIE :S M 2T o II f Ilco(E)


a

for all t, t

[0, T]. In a similar manner one establishes the estimate

for all t, t E [0, T]. Now let us estimate L 4 (t). Using estimates (4.4) and (4.22),
we obtain

J
t-T

IIL4 (t)IIE:S

IIA(t + T)V(t + T, s) - A(t)v(t, s)IIE--+E

xll[A(s) - A(t)]A- 1 (t)IIE--+Edsllf(t)IIE

:S M
a

TO

II f Ilco(E)

for all t, t E [0, T]. Now let us estimate L 5 (t). We have that

L 5 (t)

= [exp{ -2TA(t

Tn - exp{ -(t + T)A(t + Tn][A(t) - A(t + T)]A- (t)f(t)


1

133

4.1. A Cauchy Problem. Well-posedness

t-T

[A(t + r)v(t + r, s) - A(t + r) exp{ -(t + r - s)A(t + rn]

x [A(t) - A(t + r)]A-1(t)dsf(t)

t-T

A(t + r)v(t + r, s)[A(t) - A(t + r)]A-1(t)[A(s) - A(t)]A-1(t)dsf(t).

Using estimates (4.3), (4.4) and (4.21), we obtain

IIL5 (t)IIE ~ II exp{ -2rA(t + rn - exp{ -(t + r)A(t + rnllE--+E


x II[A(t + r) - A(t)]A-1(t)IIE--+Ellf(t)IIE

t-T

IIA(t + r)v(t + r, s) - A(t + r) exp{ -(t + r - s)A(t + rnllE--+E

x II[A(t + r) - A(t)]A- 1(t)IIE--+Edsllf(t)IIE

J
t-T

IIA(t + r)v(t + r, s)IIE--+EII[A(t + r) - A(t)]A-1(t)IIE--+E

xll[A(s) - A(t)]A-1(t)IIE--+Edsllf(t)IIE

J
t-T

[Mr c + M

(t - s)-l+crcds

J
t-T

+M1

(t + r - s)-l+crcdsJllf(t)IIE

~ ~2rQ II f

Ilc<>(E)

for all t, t E [O,T]. Finally let us estimate L 6 (t). Using estimates (4.3), (4.4) and
(4.21), we obtain

t-T

IIL6 (t)IIE

IIA(t + r)v(t

+ r, s)IIE--+E

xll[A(t) - A(s)]A-1(t)IIE--+EII[A(t + r) - A(t)]A-1(t + r)IIE--+Edsllf(t + r)IIE

t-T

~ M1

(t - s)-l+crcds II f

IIc<>(E)~ ~2 II f

Ilc<>(E)

134

Chapter 4. Partial Differential Equations of Parabolic Type

for all t, t E [0, T]. Combining the estimates for Lk(t) for any k = 1,2,3,4,5,6,
we obtain estimate (4.30) for t > 2T. Therefore,
(4.43)
Using estimates (4.3), (4.4) and

II A 2(t) exp{ -zA(t)}v(t, s)IIE->E ::; M min{


we obtain

I II
t

::; Zl-Q

:2'

(t! S)2}'

(4.44)

II A(t) exp{ -zA(t)}J4 (t)IIE

Zl-Q

A2 (t) exp{ -zA(t)}v(t, s)IIE->EII[A(t) - A(s)]A-1(t)IIE->Ellf(t)IIE


t

1 QM(t - s)E:ds
z - (z + t _ s)2 Ilf(t)IIE

::;

M1

1_

ex Ilfllc(Ea)

for all z > 0 and t, t E [0, T]. Therefore,


(4.45)
Now let us estimate J5 (t). Using estimate (4.21), we obtain

J
t

II

liE::;

J5 (t)

IIA(t)v(t, s)IIE->Ellf(s)

- f(t) liE ds

J
t

::; M

(t _ ~~l-Q

II f IIc a(E)=

~t

II f Ilca(E)

o
for all t, t E [0, T]. Now let us estimate the difference J5 (t + T) - J5 (t) for
o < t < t + T < T. We will consider separately two cases, t ::; 2T and t > 2T. If
t ::; 2T, then the last estimate yields

II

J5 (t

+ T) - J5 (t) IIE::;II J5 (t + T) liE + II J5 (t) liE

::; M [(t

ex

+ Tt + t II f Ilca(E)=
Q

ex

II f Ilca(E) .

Now let t > 2T. Let us represent the difference J5 (t + T) - J5 (t) as the sum of the
following integrals:

J
t+r

J5 (t + T) - J5 (t) =

A(t + T)V(t + T, s)(J(s) - f(t + T))ds

t-r

135

4.1. A Cauchy Problem. Well-posedness

-J
t

A(t)v(t, s)(J(s) - f(t))ds

t-T

t-T

A(t + r)v(t + r, s)(J(t) - f(t + r))ds

J
t-T

+ r)v(t + r, s) -

[A(t

A(t)v(t, s)](J(s) - f(t))ds

where

t+T

PI (t) =

A(t + T)V(t + r, s)(J(s) - f(t + T))ds,

t-T

f
t

P2(t) = -

A(t)v(t, s)(J(s) - f(t))ds,

t-T

t-T

P3 (t) =

[A(t + T)V(t + T, s) - A(t)v(t, s)](J(s) - f(t))ds,

J
t-T

P4 (t) =

A(t + T)V(t + T, s)(J(t) - f(t + T))ds.

o
Let us estimate Pk(t) for any k
estimate (4.21), we obtain

= 1,2,3,4 separately. We start with PI (t).

Using

t+T

IIPI(t)IIE

IIA(t + T)V(t

+ r, s)IIE_Ellf(s) - f(t + r)IIEds

t-T

:; J
t+T

MI(t + r - s)a-Ids

II

IIC"(E)=

~2ra I

IIC"(E)

t-T

for all t, t E [0, T]. In a similar manner one establishes the estimate

11P2(t)IIE :::; MIra II f

IIc"(E)

for all t, t E [0, T]. Now let us estimate P3 (t). Using estimate (4.22), we obtain

t-T

11P3(t)IIE:::;

IIA(t + T)V(t + T, s) - A(t)v(t, s)IIE-+Ellf(s) - f(t)IIEds

136

Chapter 4. Partial Differential Equations of Parabolic Type

J
t-r

..::; MI

(t - s)-HQ[r" +

2rQ
r
]ds II f Ilco(E)"::;
) II f Ilco(E)
t+r-s
n1-n

for all t, t E [0, T]. Let us estimate P4 (t). Using property 4) of v(t, s), we can
write
P4 (t) = [A(t + r)v(t + r, t - r)A-I(t + r)

-A(t + r)v(t + r, O)A-I(t + r)](f(t) - f(t + r))


t r
-

A(t + r)v(t + r, s)[A(t + r) - A(s)]A-I(t + r)ds(f(t) - f(t + r)).

Using this formula and estimates (4.4), (4.18), (4.21) and (4.24), we obtain

IIP4 (t)IIE"::; UIA(t + r)v(t + r, t - r)A-I(O)IIE-+E


+IIA(t + r)v(t + r, O)A-I(O)IIE-+E]IIA(O)A-I(t + r)IIE-+Ellf(t) - f(t + r)IIE
+

t r
-

IIA(t + r)v(t + r, s)IIE-+EII[A(t + r) - A(s)]

xA-I(t + r)IIE-+Edsllf(t) - f(t + r)IIE ..::; 2MMllf(t) - f(t + r)IIE


+M

t r
-

(t + r - s)-H"dsllf(t) - f(t + r)IIE ..::; MIr II f IIcO(E)


Q

for all t, t E [0, T]. Combining the estimates for Pk (t) for any k = 1, 2, 3, 4, we
obtain the estimate

II J5 (t + r) - J5 (t) liE"::;

n(~ n)

II f Ilco(E) r

for t > 2r. Therefore,


M

IIJ5 1Ico(E) ..::; n(l _ n) II f Ilco(E) .


Using estimates (4.3) and (4.44), we obtain

..::; ZI-Q

ZI-Q II A(t) exp{ -zA(t)}J5 (t) liE


t

II A2 (t) exp{ -zA(t)}v(t, s)IIE-+Ellf(t) - f(s)IIE

(4.46)

137

4.1. A Cauchy Problem. Well-posedness


for all z

> and t, t

E [0, T]. Therefore,

IIJsllc(EQ) ~

M1

1_ a

Ilfllc(EQ).

(4.47)

Finally, applying estimates (4.36), (4.37), (4.38), (4.39), (4.40), (4.41), (4.43),
(4.45), (4.46) and (4.47), we obtain the estimates

I v' Ilc(EQ) ~
II v' IlcQ(E)

a(l~ a) [II f

IlcQ(E)

+ I vbllEal,

~ a(l~ a) [II f IlcQ(E) + I vbllEal

By the triangle inequality, this last estimate and equation (4.1) yield

II

A(.)vllcQ(E) <

a(l~ a) [II f IlcQ(E) + I vbllEal

Theorem 4.1.8 is proved.


Second, one can enrich the family of spaces of smooth functions in which the
boundary-value problem (4.1) is well posed by introducing the spaces Cf/(E),
(0 :S "( :S {3,0 < (3 < 1), obtained by completion of the set of all smooth E-valued
functions <p(t) on [O,T] with respect to the norm

I <p Ilcil,-Y
o

E = max
()

O~t~T

11<p(t)IIE +

sup
(t + r)'Y
oSt<t+T~T

II <p(t + r)
r{3

- <p(t)

liE

Let us give, without proof, the following result.

Theorem 4.1.9. Suppose vb E E{3_" f(t) E Cg"(E)(O :S "( :S {3,0 < (3 < 1).
Suppose that assumptions (4.3) and (4.4) hold and 0 < (3 :S :S 1. Then for the
solution v(t) in Cg"(E) of the Cauchy problem (4.1) the coercive inequalities

I v' Ilc(Eil_-Y):S M[li vb


II v'
:S

IIEil--Y +(3-1(1 _(3)-1

Ilcg'-Y(E)

f Ilcg'-Y(E)],

+ I A(.)v Ilcg'-Y(E)

M[lvblg" + (3-1(1 _(3)-1

f Ilcg'-Y(E)]

hold, where M does not depend on (3, "(, vb and f(t). Here, Iwlg" denotes that the
norm of the Banach space Eg" consists of those wEE for which the norm

is finite.

Chapter 4. Partial Differential Equations of Parabolic Type

138

Note that the parameter, can be chosen freely in [0, (3), which increases the
number offunction spaces in which problem (4.1) is well posed. In particular, it is
important that problem (4.1) is well posed in the Holder space without a weight
(r = 0).
Problem (4.1) is not well posed in C(E) for arbitrary E. It turns out that
a Banach space E can be restricted to a Banach space E' in such a manner that
the restricted problem (4.1) in E' will be well posed in C(E'). The role of E' will
be played here by the fractional spaces Eo: = Eo:(E, A(t)) (0 < a < 1).
Theorem 4.1.10. Suppose A(O)vo E Eo:, f(t) E C(Eo:) (0 < a < 1). Suppose that
assumptions (4.3) and (4.4) hold and 0 < a :S :S 1. Then for the solution v(t) in

C(Eo:) of problem (4.1) the coercive inequality

II v' Ilc(Ea) + II

A(.)v Ilc(Ea)

:S Ma- l (l - a)-lUI A(O)vo ilEa + II f IIC(Ea)]

(4.48)

holds, where M does not depend on a, Vo and f(t).


Proof. Using formula (4.5), we obtain
A(t)v(t) = A(t)v(t, O)vo +
where

A(t)v(t, s)f(s)ds = { ; Jk(t),

Jl(t) = A(t)v(t,O)vo,
h(t)

it

A(t)v(t, s)f(s)ds.

Let us estimate Jk(t) for any k = 1,2 separately. We start with J l (t). Using
formula (4.33) and estimates (4.3), (4.6) and (4.8), we obtain

Zl-O: II A(t) exp{ -zA(t)}Jl(t)IIE :S Zl-O: II A(t) exp{ -(z + t)A(t)}A(O)voIIE


+zl-o:

II

A(t) exp{ -(z + t)A(t)}IIE--+EII[A(t) - A(O)]A-l(O)IIE--+EIIA(O)voIIE

Jzl-O: II
t

A 2 (t) exp{ -(z + t - s)A(t)}IIE--+EII[A(s) - A(t)]A-l(s)IIE--+E

1-0:

x IIA(s)v(s, O)A-l(O)IIE--+Ellv~IIEds :S (t +z)l


Z
Mt
+z - -IIA(O)voIIE +
z+t
1 0:

J
t

-0:

II A(O)voIIE

1 0: M(t - s)ds
Ml
z - (
)2 IIA(O)voIIE :S -1-IIA(O)voIIEa
z+t-s
-a

139

4.1. A Cauchy Problem. Well-posedness

> 0 and t, t

for all z

E [0, T]. Therefore,

M1

IIJ11IC(Ea) :S a(l- a) IIA(O)voIIEa'


Now let us estimate h(t). Using formula (4.33) and estimates (4.3), (4.6) and
(4.8), we obtain
Zl-a I A(t) exp{ -zA(t)}h(t)IIE

it I
itit II
-1
itit I

A 2(t) exp{ -(z + t - s)A(t)} f(s)IIE

:S zl-a
+zl-a
x II[A(t)

A(p)]A

+zl-a

A 2(t) exp{ -(z + t - p)A(t)}IIE--+E

(p)IIE--+EIIA(p) exp{ -(p - s)A(p)} f(s )IIEdpds


A 2(t) exp{ -(z + t - p)A(t)}IIE--+E

x II[A(t) - A(p)]A-l(p)IIE--+EIIA(p)[v(p, s) - exp{ -(p- s)A(p)}IIE--+Ellf(s)IIEdpds

< zl-a
-

rM
t

Jo

+zl-a
for all z

Ilf(s)IIEads
(z+t-s)2-a

tit

Jo

> 0 and t, t

+ zl-a

r it M Ilf(s)IIEaM(t - p)Odpds
t

Jo

(z+t-p)2(p_s)l-a

MM(t - p)ollf(s)IIEdpds < M1 Ilfllc E


(z + t - p)2(p - s)l-o - a(l - a)
( a)

E [0, T]. Therefore,

Combining the estimates for It, /2, we obtain estimate (4.48). Theorem 4.1.10 is
proved.
Let us give, without proof, the following result.
Theorem 4.1.11. Suppose that assumption (4.3) holds. Suppose that the operator

A(t)A-1(S) is Holder continuous in t in the uniform operator topology for each


fixed s, that is,

where M and are positive constants independent oft, sand T for 0 :S t, s, T :S T.


Suppose A(O)vo E E a , f(t) E C(Ea)(O < a < 1). Then for the solution v(t) in
C(Ea ) of problem (4.1) the coercive inequality

I Vi Ilc(E + I
Q

:S

M[li

A(O)vo

IlEa

Ilc(Ea)
a)-l I f IIC(Ea)]

A(.)v

+a- 1(1 -

holds, where M does not depend on a, Vo and f(t).

Chapter 4. Partial Differential Equations of Parabolic Type

140

For our third step, let us study now problem (4.1) in the spaces Cg'''(Ea -f3),
(0 ~ I ~ 13 ~ a,O < a < 1). To these there correspond the spaces of traces E~'!f3'
which consist of elements wEE for which the norm
,"
Iwl f3a-f3

max

Ile-zA(t)wIIE _
"

O:S;z:S;T

sup

T- f3 (Z

/3
+ T)'YII(e-(z+r)A(t)

- e- zA (t))wIIE"_/3

O:S;z<z+r:S;T

is finite. Let us give, without proof, the following results.


Theorem4.1.12. Suppose that assumptions (4.3) and (4.4) hold and 0 < a ~ ~ 1.
Let vb E E~'!f3and f(t) E Cg'''(Ea - f3 ), (0 ~ I ~ 13 ~ a, 0 < a < 1). Then for the

solution v(t) in Cg'''(Ea -f3) of problem (4.1) the coercive inequality

II v' Il cg.-r(E,,_/3) + II A(.)v Il cg,-r(E,,_/3) + II v' Ilc(E~:?/3)


~ M[lvbl~'!f3 + a- I (1 - a)-I II f Il cg,-r(E,,_/3)]
holds, where M does not depend on a, 13, " vb and f(t),
Theorem 4.1.13. Suppose that assumptions (4,3) and (4.4) hold and 0 < a ~ ~ 1
Let vb E E a -" and f(t) E Cg'''(Ea -,,), (0 ~ I ~ 13 ~ a, 0 < a < 1). Then for the

solution v(t) in Cg'''(Ea - f3 ) of problem (4,1) the coercive inequality

II v' Il cg,-r(E,,_/3) + II A(.)v II cg,-r(E,,_/3) + II v' Ilc(E"--r)


IIE"--r + II f II cg,-r(E,,_/3)]
holds, where M does not depend on a, 13, I, vb and f(t).
I

~ Ma- (1- a)-I[ll vb

Note that the spaces of smooth functions Cg'''(Ea - f3 ), in which coercive


solvability has been established, depend on the parameters a, 13 and I' However,
the constants in the coercive inequalities depend only on a. Hence, we can choose
the parameters 13 and I freely, which increases the number of function spaces
in which problem (4.1) is well posed. In particular, Theorem 4.1.13 implies the
well-posedness Theorem 4.1.10 in C(Ea ) established in the above.
Fourth, let us study now the Cauchy problem (4,1) in the spaces Lp(E) =
Lp([O,T],E), (1 ~ P < 00) of all strongly measurable E-valued functions v(t) on
[0, T] for which the norm

(J II
T

II V IILp(E)=

is finite.

v(t)

II~ dt):'

4.1. A Cauchy Problem. Well-posedness

141

A function v(t) is said to be absolutely continuous if it has a derivative v'(t)


for almost every t such that v'(t) E Ll(E) and if the Newton-Leibniz formula

J
t

v(t) - V(T) =

v'(s)ds

7'

holds for all t, T E [0, T]. Here the integral is understood in the sense of Bochner.
A function v(t) is said to be a solution of problem (4.1) in Lp(E) if it is absolutely continuous, the functions v'(t) and A(t)v(t) belong to Lp(E), and equation
(4.1) is satisfied for almost every t and v(O) = Va. From this definition it follows
that a necessary condition for the solvability of problem (4.1) in Lp(E) is that
f(t) E Lp(E). It will be shown that in certain cases this condition is also sufficient for the solvability of problem (4.1). As concerns the boundary elements, in
contrast to the situation considered earlier, from the solvability of problem (4.1)
in Lp(E) it follows only that Va E E. In the case of an unbounded operator A(t)
this does not allow us to prove the solvability of problem (4.1).
From the unique solvability of (4.1) it follows that the operator v(t; f(t), va)
is bounded in Lp(E) and one has coercive inequality

Ilv'IILp(E) + IIA(.)v(t)IILp(E) ~ Me[llfIILp(E) + IIA(O)voIIEJ,


where Me (1 ~ Me < +(0) does not depend on Vo and f(t).
Let us give, without proof, the following results.
Theorem 4.1.14. Suppose that assumptions (4.3) and (4.4) hold and 0 <

E ~ 1
Suppose problem (4.1) is well posed in L po (E) for some Po, 1 < Po < 00. Then it
is well posed in Lp(E) for any p,l < p < 00 and the coercivity inequality holds:

Ilv'IILp(E) + IIA(.)vIILp(E) + Ilvlle(E,_,/P.P)


M(pO)p2
p _ 1 IlfIILp(E) + MllvoIIE,_,/P,P'

where M(po) and M does not depend on p, Vo and f(t). Here the Banach space
El-f;,p = El_f;,p(E,A(t)) consist of all these vEE for which norm
IlvIlE,_,/p,P =

l"A(t) exp{ -zA(t)}ll~dz

lip
(l~p<oo)

is finite.
~ p ~ 00 and 0 < a < 1. Suppose that assumptions (4.3)
and (4.4) hold and a ~ E ~ 1. Then problem (4.1) is well posed in Lp(Ea,p) and
the coercivity inequality holds:

Theorem 4.1.15. Let 1

Ilv'IILp(E",p) + II A (.)vIIL p(E",p)

~ a(l~ a) IIfIlL p(E",p) + MllvoIIE,_,/p,p(Ea,p,A(t)),

where M does not depend on a:, p, va and f (t).

Chapter 4. Partial Differential Equations of Parabolic Type

142

~ p ~ 00 and 0 < 0: < 1. Suppose that assumption (4.3)


holds. Suppose that the operator A(t)A-1(s) is Holder continuous in t in the uniform operator topology for each fixed s, that is,

Theorem 4.1.16. Let 1

where M and E: are positive constants independent oft, sand T for 0 ~ t, s, T ~ T.


Then problem (4.1) is well posed in Lp(Ea,p) and the coercivity inequality holds:

where M does not depend on


Theorem 4.1.17. Let 1

0:,

p, Va and f(t).

< p, q <

Suppose that assumptions (4.3) and (4.4)


hold and 0 < 0: ~ E: < 1. Then problem (4.1) is well posed in Lp(Ea,q) and the
coercivity inequality holds:
00.

where M(q) and M does not depend on 0:, p, Va and f(t).


Theorem 4.1.18. Let 1 < p, q <

00. Suppose that assumption (4.3) holds. Suppose


that the operator A(t)A-1(s) is Holder continuous in t in the uniform operator
topology for each fixed s, that is,

where M and E: are positive constants independent of t, sand T for 0 ~ t, s, T ~ T.


Then problem (4.1) is well posed in Lp(Ea,q) and the coercivity inequality holds:

where M(q) and M does not depend on

0:,

p, Va and f(t).

Finally, we consider the applications of these results to the parabolic equations. First, we consider the mixed boundary-value problem for parabolic equation

~~ - a(t,x)~:~ +<5u = f(t,x),O < t ~ T,O < x < 1,

{ u(O,x) = cp(x), f(O,x) = 0, ~ x ~ 1,


u(t,O) = u(t, 1), ux(t,O) = ux(t, 1), ~ t ~ T,

(4.50)

where a(t, x), cp(x) and f(t, x) are given sufficiently smooth functions and a(t, x) >
0, 8 > 0 is a sufficiently large number.

143

4.1. A Cauchy Problem. Well-posedness

We introduce the Banach spaces C13[O, 1] (0 < (3 < 1) of all continuous


functions <p(x) satisfying a Holder condition for which the following norms are
finite:
l<p(x + T) - <p(x)1
II <P Ilc 13 [o,I]=11 <P Ilc[o,11 +
sup
13
O~x<x+T~1

where C[O, 1] is the space of all continuous functions <p(x) defined on [0,1] with
the usual norm
II <p Ilc[o,I]= orr~II<p(x)l.
It is known that the differential expression

At,xv = -a(t, x)v"(t, x) + <5v(t, x)


defines a positive operator At,x acting in C13[O, 1] with domain CI3+2[0, 1] and
satisfying the conditions v(t,O) = v(t, 1), vx(t, 0) = vx(t, 1).
Therefore, we can replace the mixed problem (4.50) by the abstract Cauchy
problem (4.1). Using the results of Theorems 4.1.6, 4.1.8, 4.1.9, 4.1.10, 4.1.11,
4.1.12 and 4.1.13, we can obtain that
Theorem 4.1.19. For the solution of the mixed problem (4.50) the following coercive

inequalities are valid:

M(J.1.)
::; ({3 - ,)(1 - (3) II

::; , <

Ilcg''Y(cl'[O,Ij) +M(J.1.)II<pllc2+I'+2(13-'Y)[O,lj,
(3 < 1, 0::; J.1.

II u Il c ci+ 13 .'Y (C2(o-l3) [0,11)

+ 2({3 - ,) ::; 1,

+ II u

Ilcg'Y (C2+2(o-l3) [0,11)

M(ex,{3)
::; ex(l- ex) II f Il c g''Y(c 2(O-I3)[o,ll) +M(ex,{3)II<pllc2+ 2(o-'Y)[O,lj,

o::; , ::; {3 ::; ex,O < ex -

(3 <

2'

Here M(J.1.) and M(ex,{3) are independent of " !(t,x), <p(x).


Second, let n be the unit open cube in the n-dimensional Euclidean space
lRn(O < Xk < 1,1 ::; k ::; n) with boundary S, 0 = nus. In [0, T] x 0 we consider
the mixed boundary-value problem for the multidimensional parabolic equation

8u(t,x) ~
8 2u(t,x)
8t
- L.,..exr(t,x) 8x2
r=l

(Xl, ...

+ <5u(t, x)

= !(t,x),

,xn ) E 0,0 < t::; T,

u(O,x) = <p(x), !(O,x) =0, XEO,


u(t,x) = 0, XES,

(4.51)

Chapter 4. Partial Differential Equations of Parabolic Type

144

where QAt, x), f(t, x) (t E [0, T], x En), cp(x)(x En) are given smooth functions
and ar(t,x) > 0, 8> 0 is a sufficiently large number.
We introduce the Banach spaces 1(n) ((3 = ((31, ... ,(3n), 0 < Xk < 1, k =
1, ... , n) of all continuous functions satisfying a Holder condition with the indicator
(3 = ((31, ... , (3n), (3k E (0,1),1
k
n and with weight X~k (1 - Xk - hd3k ,
o Xk < Xk + hk 1,1 k n which is equipped with the norm

cg

:s

:s

:s :s

:s :s

sup
If(xl,'" ,xn ) - f(Xl
O::;Xk <Xk+hk::; 1,1::;k::;n

+ hi, ... ,xn + hn)1

II h;f3kx~k(1 -

k=l

Xk - h k )f3k,

where C(n)-is the space of all continuous functions defined on n, equipped with
the norm

II f Ilc(o)= ma~ If(x)l


xE!1

It is known that the differential expression


At ,x v = -

~
(
)8 v(t,x)
(t, x )
~ a r t, x
ax 2 + uV
r=l

cg

c5i

f3
defines a positive operator At,x acting on 1 (0) with domain D(At,X) C
(0)
and satisfying the condition v = 0 on S.
Therefore, we can replace the mixed problem (4.51) by the abstract Cauchy
problem (4.1). Using the results of Theorems 4.1.6, 4.1.8, 4.1.9, 4.1.10, 4.1.11,
4.1.12 and 4.1.13, we can obtain that
Theorem 4.1.20. For the solution of the mixed boundary-value problem (4.51) the

following coercive inequality is valid:

M(f-L)
< ((3 - 1')(1 - (3)
O:S l'

II

8 2 cp

f Ilcgr"Y(cb'(O)) +M(f-L) ~ II ax~ IIcb,+2(i3-"Y) CO) ,

< (3 < 1,f-L = {f-Ll,'" ,f-Ln},

< f-Lk + 2((3 - 1') < 1,1 :s

where M(f-L) is independent of (3,"1 and f(t,x), cp(x).

k:S n,

145

4.1. A Cauchy Problem. Well-posedness

Third, we consider the Cauchy problem on the range {O :S t :S T, x E IR n }


for the 2mth-order multidimensional parabolic equation

au
a1r1u
-a + '" ar(t,x)a r1
a
+ 8u (t,x)=!(t,x),
t
~
x X rn
n
Irl=2m

0< t :S T, x, r E IR , Irl = rl + ... + rn,


u(O,X) = <p(x), f(O,x) = 0, x E IR n ,
n

(4.52)

where ar(t,x) and f(t,x), <p(x) are given sufficiently smooth functions and 8 > 0
is the sufficiently large number.
Let us consider a differential operator with constant coefficients of the form

acting on functions defined on the entire space Rn. Here r E R n is a vector with
nonnegative integer components, Irl = rl +... +rn' If <p (y) (y = (Yl, ... , Yn) E Rn)
is an infinitely differentiable function that decays at infinity together with all
its derivatives, then by means of the Fourier transformation one establishes the
equality
F (B<p) (~) = B (~) F (<p) (~).
Here the Fourier transform operator is defined by the rule

F(<p)

Jexp{-i(y,~)}<p(y)dy,

(~) = (27f)-n/2

Rn

(y,~) = Y16

The function B

(~)

+ ... + Yn~n.

is called the symbol of the operator B and is given by

B (~) =

br (i6f 1

(i~nfn .

Irl=2m

We will assume that the symbol

Bt,X(~)=

ar(t,x)(i~drl(i~nfn,~=(~l, ... ,~n)ERn

Irl=2m

of the differential operator of the form


(4.53)

146

Chapter 4. Partial Differential Equations of Parabolic Type

acting on functions defined on the space IR n , satisfies the inequalities

for ~ =I O. Problem (4.52) has a unique smooth solution. This allows us to reduce
problem (4.52) to the abstract Cauchy problem (4.1) in a Banach space E =
GJ-J, (Rn) of all continuous bounded functions defined on IRnsatisfying a Holder
condition with the indicator fJ, E (0,1) with a strongly positive operator At,x =
Bt,x + 8I defined by (4.52).
Theorem 4.1.21. For the solution of the Cauchy problem (4.52) the following co-

ercivity inequalities are satisfied:

M(fJ,)
:::; ((3 - 'Y )(1 - (3)

f Il c OT
13'Y(C IL (Rn)) +M(fJ,)
0:::; 'Y < (3 < 1, 0 < fJ,

II U

Il c OT
2+13'Y(C 2m (o-13)(Rn))

Irl=2m

:::;M(a,(3)lljllc13~p(C2m(o-13)(Rn))+M(a,(3)
o

0:::; 'Y :::; (3, 0

II

Irj=2m

8 1rl <p

8Xlrl

+ 2m((3 -

'Y)

...

8 X r n Ilc IL + 2m (13-'Y)(Rn),
n

< 1,

8 1r1 u

8Xlrl

...

Ir l=2m

8X r n Il c OT
13''Y(c 2m (o-13)(Rn))
n
8 1rl <p

11

rl

8 Xl'"

< fJ, + 2m(a - (3) <

8 r n llc IL + 2m (o-'Y)(Rn),
Xn

1,

where M(fJ,) and M(a,(3) does not depend on'Y and j(t,x),<p(x).
The proof of Theorem 4.1.21 is based on the abstract Theorems 4.1.6,4.1.8,
4.1.9, 4.1.10, 4.1.11, 4.1.12 and 4.1.13, the coercivity inequality for an elliptic
operator A t,x in GJ-J, (Rn) and on the following theorem on the structure of the
fractional spaces Eo:(C(Rn), At,X).
Theorem 4.1.22. Eo:(C(Rn), At,X) = C 2mO:(Rn) for all 0 < a

<

2~

and 0:::; t :::; T.

4.2 Difference Schemes Generated by an Exact Difference Scheme


In this section we consider the difference schemes of a high order accuracy for the
approximate solutions of problem (4.1). On the segment [0, T] we consider again
a uniform grid space
[0, T]r

= {tk = kT, k = 0, 1, ... , N, NT = T}

147

4.2. Difference Schemes Generated by an Exact Difference Scheme

with step r > 0. Here N is a fixed positive integer. From formula (4.5) it follows
that

1jt

V(tk, s)f(s)ds, 1 :S k :S N, v(o) = Vo

= -:;.

tk-l

or
(4.54)

= fk, fk

1jt

V(tk, s)f(s)ds, 1 :S k :S N, Uo = Vo

= -:;.

tk-l

The last system is called the single-step exact difference scheme for the solution of the initial-value problem (4.1).
Let us investigate the well-posedness of the exact single-step difference
scheme (4.54). This problem is uniquely solvable and the following formula holds:

Uk

V(tk, O)uo +

L V(tk, tj) !Jr.

(4.55)

j=l

Let us reduce the difference scheme (4.54) to an operator problem in the space
FT(E) of vectors v T = {vd~=l' Recall that the space FT(E) can be equipped with
various norms and thus become a normed space. Thus, for instance, the vector
space FT(E) generates the normed space CT(E) = C([O, T]T, E) with the norm

the normed space C~(E) = CI3([O,T]nE),

II <pTll e J3(E) = I <pTll e


T

(E)

< 13 <

+ l$k<k+r$N
max
I

1, with the norm

<Pk+r - <Pk

the weighted normed space C~"(E) = CI3,,([O, T]T, E),


with the norm
T

I <p Il eJ3'"Y(E)
T

II <p lie

(E)

+ l$k<k+r$N
max
I

I <pTIILp.T(E)

(L I <Pkll~r)~.
k=l

!J

< , :S 13, < 13 <

<Pk+r - <Pk

and the normed space Lp,T(E) = Lp([O, T]T, E), 1 :S p <

liE (rr1)""

00,

liE

((k

+ r)r)'
()13
'
rr

with the norm

1,

Chapter 4. Partial Differential Equations of Parabolic Type

148

First we will define the operator Dr, acting from the space E x Fr(E) of vectors
wr = {wd~=o into the space Fr(E) of vectors v r = {Vd~=1 by the rule

v r = Drw r ,Vk =

~(Wk
7

wk-d, k = 1, ... , N.

Second we will define an operator A r from the space E x Fr(E) of vectors wr =


{Wk}~=O into the space Fr(E) of vectors v r = {Vk}~=1 by the rule
v r = Arw r ,Vk =

7-

(1 - V(tk, tk-1) )Wk-1, k = 1, ... , N.

Next, let us introduce the continuation operator II(uo), which acts from Ex Fr(E)
to Fr(E) according to the rule

II(uo)(u1, ... ,uN)

(uo,UI, ... ,UN).

Then the difference schemes (4.54) can obviously be rewritten as the equivalent
operator equation
Here

DrII(uo)u r + ArII(uo)u r

is defined by the formula

The last operator problem will be considered in the space Fr(E). From its unique
E Fr(E) it follows that its solution u r defines
solvability for any Uo E E and
an additive and homogeneous operator ur(r, uo).
The initial-value difference problem (4.54) is said to be stable in Fr(E) if we
have the stability inequality

r,

where M is independent not only of


Uo but also of 7.
From formula (4.55) one derives the following results.
Theorem 4.2.1. Suppose that assumptions (4.3) and (4.4) hold and 0
Then difference problem (4.54) is stable in C r (E).
Theorem 4.2.2. Suppose that assumptions (4.3) and (4.4) hold and 0
Then difference problem (4.54) is stable in C::'cE).

<

E ::;

l.

< ex ::; E ::; 1.

Theorem 4.2.3. Suppose that assumptions (4.3) and (4.4) hold and 0
Then difference problem (4.54) is stable in Lp,r(E), 1 ::; p < 00.

<

E ::;

1.

The initial-value difference problem (4.54) is said to be well posed (coercively


stable) in Fr(E) if we have the coercive inequality

II {7- 1(Uk - uk-d}f' Ik(E) + II ArII(uo)urIIFT(E)

::; M[li r IIFT(E) + II A(O)uoIIEJ,


where M is independent not only of

r, Uo but also of

7.

4.2. Difference Schemes Generated by an Exact Difference Scheme

149

Since the initial-value differential problem (4.1) in G(E) is not well posed
for the unbounded operator A(t) and space E, then the well-posedness of the
difference initial-value in Gr(E) norm does not take place uniformly with respect
to T > O. This means that the coercive norm

tends to 00 as T -+ +0. The investigation of the difference problem (4.54) permits


us to establish the order of growth of this norm to 00.
Theorem 4.2.4. Suppose that assumptions (4.3) and (4.4) hold and 0 < E ::S 1.
The solutions of the difference problem (4.54) in GT(E) obey the almost coercive
inequality
II uT IIKT(E) ::S Mdll A(O)uoII E
(4.56)

+ min{ln~, 1 + lIn IIA(O)IIE.-d//I


where M 1 is independent not only of

r,

Uo,

IlcT(E)],

but also of T.

Proof. Using formula (4.55), we can write

k-1

+L

T- 1(1 - V(tk, h-1)V(tk-1, tj ) liT = Jk

+ Gk,

j=l

where
k-1

Gk = L(1 - V(tk, tk-d)v(tk-1, tj)

!J.

j=1

Let us estimate Jk and Gk separately. We start with Jk. Using property 4) of


v(t,s) and estimates (4.17), (4.18) and (4.21), we obtain
IIT- 1 (1 - V(tk, tk-1))V(tk-1,O)A- 1(O)IIE.-E ::S M,l ::S k::S N,

(4.58)

11(1 -V(tk,tk-I))V(tk-1,0)IIE.-E::S Mmin{l,TIIA(O)IIE.-E},l::S k::S N.

(4.59)

From estimate (4.58) it follows that

IIJk II E::S II T- 1(1 - V(tk, tk-1))V(tk-1, 0)A- 1(0)IIE.-EIIA(0)uo II E


::S MIIA(O)uoIIE
for all k, k = 1, ... ,N. Using the last inequality, we obtain

150

Chapter 4. Partial Differential Equations of Parabolic Type

Now let us estimate Gk separately. From estimate (4.59) it follows that


k-l
IIGk II E ::;

L II (1 - V(tk, tk-d)v(tk-l, tj)IIE->Ellf j liE


j=l

::; M

L yll r

IICT(E) ::; M1ln ~II

j=l

r IICT(E)

for all k, k = 1, ... ,N. Using the last inequality, we obtain


II G IlcT(E) ::; M1ln ~II
T

r IlcT(E)'

(4.60)

Further, using the triangle inequality, we obtain


k-l
IIGk II E ::;

L II (I - V(tk, tk-l))V(tk-l, tj)IIE->Ellf j liE


j=l
k-l

::; L II (I - V(tk,tk-l))V(tk-l, tj)IIE->E11 r I CT (E)


j=l

for all k, k = 1, ... , N. Let us estimate


k-l

ak

= LII
j=l

(l-V(tk,tk-l))V(tk-l,tj)IIE->E.

If IIA(O)IIE->E > N, then

N-l

IIA(O)IIE~E

ak ::; M '"'
L..J -:-1 ::; M
-ds < M
. J
S
)=1
1

-ds ::; Miln IIA(O)IIE->EI


S

If IIA(O) IIE->E < 1, then


N-l

ak ::; M

L rIlA(O)IIE->E ::; MI.


j=l

Finally, if 1 ::; IIA(O) IIE->E ::; N, then


[IIA(O)IiE~E]

ak ::; M[

N-l

rIlA(O)IIE->E

j=[
T

::; M(l

j=l

ds
- ) ::; M(l
S

~]

IIA(O)f1E~E1+1 J

+ In IIA(O)IIE->E)'

4.2. Difference Schemes Generated by an Exact Difference Scheme

151

Thus, in all three cases we have the estimate


ak

Therefore,

:S M(l

+ lIn IIA(O)IIE--+EI).

IIGTIICr(E) :S M 1 (1 + lIn IIA(O)IIE--+E)III r

II Cr (E)'

(4.61)

Finally, the estimate

follows from (4.60) and (4.61). Combining the estimates for JT and GT, we obtain

II{T- 1 (I - V(tk, tk-1))Uk-d~IICr(E) :S M1[1IA(0)uoIIE

+min{In~, 1 + lIn IIA(O)IIE--+EI}II r

II Cr (E)]'

The estimate for II{T- 1(uk - Uk-1)}f"llc r(E) follows from the triangle inequality
and the last estimate. Theorem 4.2.4 is proved.
Now let us study the well-posedness of the difference problem (4.54) in the
various Banach spaces.
Theorem 4.2.5. Suppose that assumptions (4.3) and (4.4) hold and O<a:Sc:S1.
The solutions of the difference problem (4.54) in C::,Q(E) obey the coercivity inequality

I {T- 1(I -

II{T- 1(Uk - Uk-1)}~llc~.a(E)+

V(tk, tk-1))Uk-d~llc~a(E)

:s M 1[a(1 ~ a) Ilrllc~a(E) + IIA(O)uoIlEJ,


where M 1 is independent not only of

r, uo, a, but also of

T.

The proof of Theorem 4.2.5 follows the scheme of the proof of Theorem 4.1.6
and relies on estimates (4.3), (4.4), (4.17), (4.18), (4.19), (4.20), (4.21), (4.22),
(4.23), (4.24) and on the formula

T- 1(I - V(tk, tk-d)Uk-1

T- 1(I - V(tk, tk-d)v(tk-l> O)uo

+(I - exp{ -tk-1 A (tk-d})!k


k-1
+ L[(I - V(tk, tk-dv(tk-1, tj ) - (I - exp{ -TA(tk-d}) exp{ -tk-1 A (tk-1)}]!k
j=l

k-1
+ L(I - V(tk, tk-1)V(tk-l> tj)(fj - fk)'
j=l

152

Chapter 4. Partial Differential Equations of Parabolic Type

Theorem 4.2.6. Suppose that assumptions (4.3), (4.4) hold and 0 < a::; ::; 1. The
solutions of the difference problem (4.54) in CT(Ecr ) obey the coercivity inequality

II{T- 1(Uk - Uk-l)}f lI e,.(E

::; M 1 [a(1

)+

II {T- 1(1 - V(tk, tk-I))Uk-df IJe,.(E

~ a) II r

where M 1 is independent not only of

lI e,.(E + II A(O)uoIlEJ,
Q

r, Uo, a, but also of T.

The proof of Theorem 4.2.6 follows the scheme of the proof of Theorem 4.1.8
and relies on estimates (4.3), (4.4), (4.17), (4.18), (4.19), (4.20), (4.21), (4.22),
(4.23), (4.24) and on the formula

T- 1 (1 - V(tk, tk-I))Uk-l = T- 1 (I - V(tk, tk-l))V(tk-l, O)uo


k-l

+ L:(I -

exp{ -TA(tk-l)}) exp{ -tk-l- j A(tk-l)}l!s

j=1

k-l

+ L:[(I - V(tk, tk-l)V(tk-l, tj) - (I -

exp{ -TA(tk-I)}) exp{ -tk-l- jA(tk-I) }]!J.

j=1

Let us give, without proof, the following results.


Theorem 4.2.7. Suppose that assumptions of Theorem 4.1.11 hold. Then for all
o < a < 1 the solutions of the difference problem (4.54) in CT(Ecr ) obey the
coercivity inequality

II{T- 1 (Uk - Uk-l)}f lI e,.(E

::; M 1 [a(1

)+

II {T- 1 (I - V(tk, tk-l))Uk-df IJe,.(E

~ a) II r

where M 1 is independent not only of

lI e,.(E + II A(O)uoIl EQ ]'


Q

r, Uo, a, but also of T.

Theorem 4.2.8. Suppose that assumptions (4.3) and (4.4) hold and 0 < /3 ::; e ::; 1.
The solutions of the difference problem (4.54) in C~"(E) (0::; 'Y ::; /3,0< /3 < 1)
satisfy the following coercivity inequalities:

II {T- (Uk - Uk-l)}f Ile,.(EiJ-"Y) ::;


+M1 11 (I -

e-

TA

/3(~ (3) II r lIe~'"Y(E)

(O))T- 1uo -

II IIEiJ-"Y'

II {T- 1 (Uk - uk-lnf" lIe~'"Y(E) + II {T- 1 (I - V(tk, tk-l))Uk-df" Ile~'"Y(E)


1
:::; /3(1M_ /3)

II

fT

II e~""(E) + M 1 1(1 -

e -TA(O)) T -1 Ua -

where M 1 is independent not only of r,Ua, /3, 'Y but also ofT.

f 1 I{J"
a '

153

4.2. Difference Schemes Generated by an Exact Difference Scheme

Note that the parameter 'Y can be chosen freely in [0, (3), which increases the
number of spaces Ce'''!(E), (0 S 'Y S (3,0 < (3 < 1) of grid functions in which
difference problem (4.54) is well posed.
Theorem 4.2.9. Suppose that assumptions (4.3) and (4.4) hold. The solutions of
difference problem (4.54) in Ce'''!(Eex -f3), (0 S 'Y S (3 S a S c S 1) satisfy the
following coercivity inequalities:

II {r- 1 (uk

- Uk-l)}i"

+I
S a(1M_ a) I
1

Il ce'''(Eo_I3)+ I {r- 1 (uk -

Uk-l)}i" IICr(E~~I3)

{r- (I - V(tk,tk-l))Uk-di" Il c e'''(Eo_l3)


1

fT

I Ce'''(E

-l3)

+ M 1 1(1 -

e -TA(O)) r -1 Uo -

II {r- 1(uk -

1
Uk-l)}i" Il c e'''(Eo_I3)+ II {r- (uk - Uk-l)}i"
+ I {r- 1(1 - V(tk' tk-l))Uk-di" Il c e'''(Eo_l3)

a(~ a) I r II c e'''(Eo_l3) + M 1 11(I -

where M 1 is independent not only of

e-

TA

(O))r-

1u

o -

1f3ex-f3'
,"!

IICr(Eo_,,)
hII Eo _,,'

r, Uo, a, (3, 'Y but also of r.

Note that the spaces Ce'''!(Eex -f3) of grid functions, in which coercive solvability has been established, depend on the parameters a, (3 and 'Y. However, the
constants in the coercive inequalities depend only on a. Hence, we can choose the
parameters (3 and 'Y freely, which increases the number of spaces of grid functions
in which difference problem (4.54) is well posed.
Now let us consider the initial-value difference problem (4.54) in the spaces
Lp,T(E) = Lp([O, T]T> E), 1 S P < 00 of all grid functions. We have not been able
to obtain the coercivity inequality

I {r- 1(u k-Uk-d}i"


S

IILp,r(E)
M[II

+ I {r- 1(I - V(tk,tk-l))Uk-di"


IIL p,r(E)

IIL p,r(E)

+ I A(O)uoIl E ]'

in the arbitrary Banach space E and for the general strong positive operator A(O).
Nevertheless, we have established the almost coercivity inequality.
Theorem 4.2.10. Suppose that assumptions (4.3) and (4.4) hold. The solutions of
the difference problem (4.54) in Lp,T(E) obey the almost coercive inequality

II {r- 1(u k-Uk-d}i"


S

M 1 [1I

A(O)uoIl E

IIL p,r(E)

+ I {r- 1(I - V(tk,tk-l))Uk-di"

+ min {ln~, 1 + lIn I

where M 1 does not depend on

r, Uo, P and r.

A(O)

I E-->E I} I r

II Lp ,r(E)

IIL p,r(E)],

154

Chapter 4. Partial Differential Equations of Parabolic Type

Note that if A(O) is the unbounded positive operator in E, then

min{ln~,l+llnll A(O) II E EI} =ln~.


--+

Finally, let us give, without proof, the following results about well-posedness of
the initial-value difference problem (4.54) in the spaces Lp,T(E) = Lp([O, TIT> E),
1:::; p < 00.
Theorem 4.2.11. Suppose that assumptions (4.3) and (4.4) hold and 0 < c :::; 1.
Suppose that difference problem (4.54) is well posed in LpO,T(E) for some Po, 1 <
Po < 00. Then it is well posed in Lp,T(E) for all p, 1 < P < 00 and the following
coercivity inequality holds:

II {T-1(Uk-Uk-l)}i"

IIL p,T(E)

+ II {T-1(I - V(tk, tk-l))Uk-di"

+lluTllcc(El_l/P,p) :::; M(po)[11 Uo IIE


where M (Po) does not depend on

p, + pPp

r, uo, p and

II r II

IILp,T(E)

Lp,T(E)

],

T.

Theorem 4.2.12. Let 1 :::; P :::; 00. Suppose that assumptions (4.3) and (4.4) hold
and 0 < a :::; c < 1. Then problem (4.54) is well posed in Lp,T(Ea,p) and the
following coercivity inequality holds:

II {T-1(Uk-Uk-d}i"
:::; M[li

IIL p,T(Ea ,p)

+ II {T-1(I - V(tk, tk-d)Uk-l}i" IILp,T(Ea,p)

A(O)uollEa,p

+ a(1 ~ a) II

where M does not depend on fT, UO, p, a and

II

Lp,T(Ea,p)

],

T.

Theorem 4.2.13. Let 1 :::; p :::; 00 and 0 < a < 1. Suppose that the assumptions
of Theorem 4.1.18 hold. Then problem (4.54) is well posed in Lp,T(Ea,p) and the
following coercivity inequality holds:

II {T-1(Uk-Uk-l)}i" IILp,T(Ea,p) + II {T-1(I - V(tk, tk-l))Uk-di" IILp,T(Ea,p)

:::; M[II A(O)uoIIEa,p + a(l ~ a) II r II


where M does not depend on

r, Uo, p, a and

Lp,T(Ea,p)

],

T.

Theorem 4.2.14. Let 1 < p, q < 00. Suppose that the assumptions (4.3) and (4.4)
hold and 0 < a :::; c < 1. Then difference problem (4.54) is well posed in Lp,T(Ea,q)
and the following coercivity inequality holds:

II {T-1(Uk-Uk-d}i" IILp.T(Ea,q) + II {T-1(I - V(tk, tk-l))Uk-di" IILp,T(Ea,q)


2

:::; M(q)[11

A(O)uoli Ea q
,

where M(q) does not depend on

+ ~ II

and

T.

P -

r, uo, p, a

II

Lp,T(Ea,q)

],

155

4.2. Difference Schemes Generated by an Exact Difference Scheme

< p, q < 00 and < a < 1. Suppose that the assumptions


of Theorem 4.1.18 hold. Then difference problem (4.54) is well posed in Lp,T(Eo:,q)
and the following coercivity inequality holds:

Theorem 4.2.15. Let 1

II

{T-1(Uk-Uk-l)}f IIL p.T(Ea,q)

+ II

{T-1(I - v(tk, tk-d)Uk-df IIL p,T(Ea,q)


2

::; M(q)[11 A(O)uoli Ea q + ~ I


,
pwhere M(q) does not depend on
uo, p, aand T.

r,

II

Lp,T(Ea,q)

J,

Now, we will consider the applications of this exact difference scheme (4.54).
From (4.54) it is clear that for the approximate solutions of problem (4.1) it is
necessary to approximate the expressions

fttkk_l

V(tk, s)f(s)ds is not unique. In this section we


The choice of V(tk, tk-l) and ~
consider two approaches. The first approach is carried out in three steps. Applying
the definition of v(t, s), we can write
00

v(t, s)
Vi(t, s) =

it

=L

Vi(t, s), vo(t, s)

= exp{ -(t -

s)A(s)},

i=O

Vi-l(t, z)[A(s) - A(z)j exp{ -(z - s)A(s)}dz, i 2 1.

Therefore, in the first step we consider

uT(k, k - 1)

= u[(k, k -

1)

=L

Vi(tk, tk-l)

i=O

iii

= exp{-TA(tk_d}+L
i=l

itk jt k... jt k exp{-(tk-Zi)A(Zi)}


tk-l

Zl

Zi-l

X(A(Zi-d - A(Zi)) exp{ -(Zi - Zi-l)A(Zi-l)}dz i


X (A(Zi-2)
X ...

- A(Zi-d) exp{ -(Zi-l

Zi-2)A(Zi-2)}dzi - 1

(A(zd - A(Z2)) exp{ -(Z2 - zdA(Z2)(A(zd - A(Z2)) exp{ -(Z2 - zl)A(Z2)}


x (A(tk-d - A(zd) exp{ -(Zl

tk-dA(tk-d}dz 1.

Suppose that the operator N(t)A(z)A-(r+l)(s) satisfies the condition

IIA r (t)[A(Z2) - A(zdjA-(r+l)(s)!IE-tE ::; M IZ2 - zll, r = 0,1, ... ,


where M is a positive constant independent of t,
Z2 ::; T.

S, Zl

(4.62)

and Z2 for 0 ::; t, s,

Zl,

156

Chapter 4. Partial Differential Equations of Parabolic Type

Note that if r = 0, then it follows that

If 0 ::; r ::; iii, then it follows that

m
2m 2
II[v(tk' tk-I) - uT(k, k - l)]A- (O)IIE-+E ::; Mr + .
From the formula for u[(k, n) it is clear that for the approximate calculation of
u[(k,n) it is necessary to approximate the expressions A(t),exp{-sA(z)} and
their product. For an analytic semigroup we have the formula

L 'lMt, s; A, B),
00

exp{ -(t - s)A} - exp{ -(t - s)B} =

i=l

where

'l/Ji(t, s; A, B) =

it

'l/Ji-l(t, z;

A, B)(A - B)'l/Jo(t, s, A, B)dz, i = 1,2"" ,

'l/Jo(t,s,A,B) = exp{-(t - s)B},O::; s::; t::; T.


Therefore, in the second step applying the last formula and Taylor's formula and
neglecting the small terms, we can write

m-T-al

x(A(Zr-l) - A(zr))

'l/Ja"a2[Zn t k-l;A(zr-l),A(tk-d]dzr

a2=O
m-r- a l-a2

x (A(Zr-2) - A(Zr-l))

aa=O

x ... x (A(zI) - A(Z2))

where

'l/Ja2,aa [Zr-l,

tk-l; A(Zr-2), A(tk-l)]dzr- 1

4.2. Difference Schemes Generated by an Exact Difference Scheme

X ... X

(A(tk-l ) -

2m-2T-2an (
'"'

A ( X n ))

7 -

)i
San., + Xn Ai( tk-l)
2.

i=O
X

157

exp{ -7 A(tk-l) }ds 1 ... ds an ,

an = 1, ... , m; n = 1, ... , r; r = 1, ... , m.


Finally, in the third step replacing the operator exp{ -7 A( tk- t}} by its Pade
approximant Rj,l (7 A(tk-l)), we obtain

uT(k, k - 1) = uIII(k, k - 1) = B~:d [tk' tk-l; A(tk), A(tk-l)]

l-r- a 1
(A(zr-t} - A(zr)) '"'
B~+ja-2r-2a2[ZT,tk_l;A(zr_d,A(tk_t}]dzr
~
1,2
a2=O
l-r-a1- a2
X (A(Zr-2) - A(Zr-l))
B~~~a~2r-2a3 [Zr-l' tk-l; A(Zr-2), A(tk-t}]dzr- 1
a3=O
X

where

1+'

Bo,d [tk' tk-l; A(tk-l), A(tk-t}]

Rj,I(7A(tk-t}),

B~~j-2r [Zl' tk-l; A(tk-t}, A(tk-t}]

l+j

'"' (7 -

= ~
i=O

Zl

+ tk_t}l

i!

A (tk-t}Rj_r_[~],I_r+i+l(7A(h-t}),

Chapter 4. Partial Differential Equations of Parabolic Type

158

XRj-r-[~J,I-r+an+i+l-[~J(rA(tk-d)(rA(tk-d- A(xn))

l+j-2r-a n
X

(r - Sa~, + x n ) Ai(tk_d
t.

i=O

XRj-r-[~l,l-r-an+i+l-[~l(rA(tk-d
( A(tk-d - A(xn ))

l+j-2r-a n
X

(r - Sa~, + x n ) Ai(tk_d
t.

i=O

XRj-r-[~J,I-r+an+i+l-[~1(r A(tk-d)(rA(tk-d)ds1... dsan ;

an = 1, ... , l; n = 1, ... , r; r = 1, ... , l.


Here [a] denotes the integer part of a> O. In exactly the same manner using the
1
three steps, we can obtain the formula for fk' such that

Ilfk - fk,IIIE ::; Mr l +j ,


where M does not depend on r.
Thus, replacing the operator V(tk, tk-d by uT(k, k - 1)) and the elements !k
by elements fk,l, we obtain the difference schemes of approximation order I + j,

r-1(uk - uk-d

+ r-1(I - ur(k, k - l))Uk-l


1 ::; k ::; N,

Uo

fe,

(4.63)

= Va

on the solutions v(t) of the Cauchy problem (4.1).


Note that the difference schemes (4.63) for j = I - I and j = I - 2 include
difference schemes of arbitrary high order of approximation. Moreover, the main
corresponding functions Rj,l(z) tend to 0 as z --+ 00 for j = l - 2, I - 1. Such
difference schemes are simplest, in the sense that the degrees of the denominators
of the corresponding Pade approximants of the function exp{ - z} are minimal for
a fixed order of approximation of the difference schemes.
Now let us give, without proof, the following estimates concerning Rj,1 (r A( t))
for j = l - 1 and j = l - 2 which will be useful in the sequel.
Lemma 4.2.16. Suppose that the assumption (4.3) holds. Then for any t, t, E [0, T]
the following estimates are satisfied:

IIRj,l(rA(t))IIE--.E ::; M,l ::; k::; N,

(4.64)

IIA(t)Rj,l(rA(t))IIE--.E ::; M(kr)-I, 1::; k::; N,


II exp(-kTA(t)) - Rj,l(rA(t))IIE--.E ::; Mk- j - 1, 1::; k::; N,

(4.65)

IIRj,l(rA(t)) - R7t(rA(t))IIE--.E ::; M (k :Qr)Q' 1::; k < k + r::; N.

(4.67)

Here M does not depend on k, rand r.

(4.66)

4.2. Difference Schemes Generated by an Exact Difference Scheme

159

Now we shall investigate the well-posedness of the single-step difference


schemes (4.63). This problem is uniquely solvable and the formula

+ L u T(k,r)f;,17
k

Uk = uT(k,O)uo

(4.68)

r=1

holds, where

uT(k, n) =

uT(k,k-1)uT(n+1,n),k>n,
{

I,k = n.

(4.69)

Let us reduce the difference scheme (4.63) to an operator problem in the space

FT(E) of vectors v T = {Vk}~=1' Recall that the space FT(E) can be equipped with

the various norms and thus become a normed space.


First we will define the operator D n acting from the space E x FT(E) of
vectors wT = {wd~=o into the space FT(E) of vectors v T = {Vk}~=1 by the rule

Second we will define an operator AT from the space E x FT(E) of vectors wT =


{wd~=o into the space FT(E) of vectors v T = {Vd~=1 by the rule

v T = ATwT,Vk

= 7- 1 (1 -

uT(k, k - 1) )Wk-1, k

= 1, ... , N.

Next, let us introduce the continuation operator II(uo), which acts from Ex FT(E)
to FT (E) according to the rule

II(uo)(u1, ... ,UN) = (UO,U1, ... ,UN).


Then the difference schemes (4.63) can obviously be rewritten as the equivalent
operator equation

DTII(uo)u T + ATII(uo)uT = r

Here

r is defined by the formula

f},l)
f T -- (f},l
1 , ... , N .
The last operator problem will be considered in the space FT(E). From its unique
solvability for any Uo E E and r E FT(E) it follows that its solution uT defines
an additive and homogeneous operator uT(r, uo) and is continuous.
The initial-value difference problem (4.63) is said to be stable in FT (E) if we
have the stability inequality

where M is independent not only of

r, Uo but also of

T.

160

Chapter 4. Partial Differential Equations of Parabolic Type

Let us prove a number of estimates for uT(k, n) that will be needed in the
sequel. First we consider ii7(k, n) defined by

ii,T(k,k-1)ii,T(n+1,n),k>n,
ii,T(k, n) =

(4.70)

I,k = n,

where ii,T(k, k - 1) = Rj,l(rA(tk-d).


Lemma 4.2.17. For any 0 ::; n ::; r ::; k ::; N the following identities hold:

ii,T(k,n) = ii,T(k,r)ii,T(r,n),O::; n::; k::; k::; N,

(4.71)

ii,T(k, n) = R7,ln(rA(t n-d)

(4.72)

r=n+1

ii,T(k,r)[Rj,l(rA(tr_t}) - Rj,l(rA(tn_ 1))]Rj,ln-1(rA(t n_1))'

(4.73)
k

r=n+1

R77(rA(tr _t})[Rj,l(rA(tk-1)) - Rj,l(rA(tr_ 1))]ii,T(r -1,n).

Proof. Identity (4.71) follows from the definition of ii,T (k, n). Using formula (4.70),
we obtain

From this it follows that

r- 1(ii,T(k, n) - ii,T(k - 1, n)) + r- 1(1 - Rj,l(rA(tq_d)ii,T(k - 1,n)


r- 1(R j ,l(rA(tq_d) - Rj,l(rA(tk_d))ii,T(k - 1, n)
for any 1 ::; q ::; N. Therefore

ii,T(k,n) = R7,ln(rA(tq -d)

R77(rA(t q -1))

r=n+1

x [Rj,l(rA(tq _1)) - Rj,l(rA(tr_d)]ii,r(r -1,n).


Choosing q = k, we obtain the identity (4.72). In a similar manner one establishes
the identity (4.72). Lemma 4.2.17 is proved.
Lemma 4.2.18. Suppose that assumption (4.62) holds for r

o::; n < k ::; N

= O. Then for any

the following estimates hold:


(4.74)

4.2. Difference Schemes Generated by an Exact Difference Scheme

IIA(h)uT(k, n)A-1(tn)IIE->E :S M,
IIA(tk)uT(k, n)IIE->E :S (k

161

(4.75)

~n)r'

(4.76)

where M 2 0 does not depend on r, k, n.


Proof. Using identity (4.72) and estimates (4.64), (4.65) and
IHRj,l(rA(tt-l)) - Rj,l(rA(tn-l)] A-1(tn-l)IIE->E :S M(r - n)r 2 ,

(4.77)

we obtain

r=n+l

IluT(k, r)IIE->EII[Rj,l(rA(tr-d) - Rj,l(rA(tn-l))]A-1(tn-dIIE->E


k

xIIA(tn_l)Rj,jn-l(rA(tn_l))IIE->E:S M

+M

r=n+l

IluT(k,r)IIE->E r .

Therefore,

IluT(k, n)IIE->E :S M

+M

IluT(k, r)IIE->E r.
r=n+l
Now using the difference analogy of the integral inequality, we obtain (4.74). In a
similar manner one establishes the inequality (4.75). Interpolating estimates (4.64)
and (4.65), we obtain

IIA~ (t)Rj,l(rA(t))IIE->E :S M(kT)-~, 1 :S k :S N,

(4.78)

Using identity (4.72) and estimates (4.64), (4.65), (4.77) and (4.78), we obtain

IIA ~ (tk)UT(k, n)IIE->E :S

IIA ~ (tk)R7,jn( r A(tn-l))IIE->E

r=n+l

IIA~ (tk)uT(k, r)IIE->EII[Rj,l(TA(tr-l)) - Rj,l(TA(tn-d)]A-1(tn-dIlE->E

<
Therefore,

162

Chapter 4. Partial Differential Equations of Parabolic Type

Now using the difference analogy of the integral inequality, we obtain the estimate

In a similar manner one establishes the estimate

From these and the identity

it follows that

IIA(tk)UT(k, n) I E--+ E <

IIA(tkYiLT(k, i)A-1/2(ti) IIE--+EIIA1/2 (ti)UT(i, n) IIE--+E


M1

< (k-n)7'
Lemma 4.2.18 is proved.
Lemma 4.2.19. Suppose that the assumption (4.62) holds for r = O. Then for any

o :S n < r :S k :S Nand 0 :S a :S 1 the following estimates hold:

IIR7t-n(7A(tk+r)) - R7,ln(7A(tk))IIE--+E :S MiII,

II [A(tk+r)R7t- n(7A(tk+r)) -

(4.79)

A(tk)R7,ln(7A(tk))]A-1(tn)IIE--+E :S MiII, (4.80)

IIA(tk+r)R7t-n(7A(tk+r)) - A(tk)R7,ln(7A(tk))IIE--+E:S M (k

~n)7'

IluT(k + r, n) - uT(k, n)II E--+ E :S MiII,


II [A(tk+r)uT(k + r, n) - A(tk)uT(k, n)]A- 1(t n )IIE--+E :S MiII,
IIA(h+r)uT(k + r, n) - A(tk)uT(k, n)IIE--+E :S
where M

0 does not depend on

7,

(k~:)7'

k, r, n. Here iII = r"'(k - n)-"'.

Proof. We have that


R~r(7A(h+r)) - Rj,I(7A(tk)) = Rjr(7A(tk+r)) - R~r(7A(tk))

+Rjr(7A(tk)) - Rj,I(7A(tk)) = J 1 + h,

(4.81)
(4.82)
(4.83)
(4.84)

4.2. Difference Schemes Generated by an Exact Difference Scheme

163

where

h = R~r(rA(tk+r)) - Rjr(rA(tk)),
h

= Rjr(rA(tk)) - Rj,l(rA(tk))'

From estimate (4.67) it follows that

Now let us estimate J 1 . We have that


[ i+2 r]

J1 =

i+r-1

(L + L
s=o

)Rjr-S(rA(tk+r))

s=[i.]+l

where

n
= L
r

J ll

s=o

R~r-S(rA(tk+r))(Rj,l(rA(tk+r)) - Rj,l(rA(tk)))Rj,l (rA(tk)) ,

i+r-1
J 12 =

S=[it r]+l

Rjr-S(rA(tk+r))(Rj,l(rA(tk+r)) - Rj,l(rA(tk)))Rj,l (rA(tk)).

Using estimates (4.64), (4.65) and (4.77), we obtain


i+r-l

IIJ12 1I E

-+ E

::;

s=[itr]+l

IIRjr-S(rA(tk+r))IIE-+E

Applying Abel's formula, we can write

[itr]
J ll =

s=o

Rjr-S(rA(tk+r))(Rj,l(rA(tk+r)) - Rj,l(rA(tk)))(I - Rj ,l(rA(tk)))-l

[itr]
X (Rj,l

(rA(tk)) - Rj,l (rA(tk))) =

s=l

(R~r-S+1(rA(tk+r)) - Rjr-S(rA(tk+r)))

164

Chapter 4. Partial Differential Equations of Parabolic Type

x (Rj,l(TA(tk+r)) - Rj,l(TA(tk))) (I - Rj ,l(TA(tk))-lRj,l(TA(tk))

+R::r_[itr] (TA(tk+r ))(Rj,l(TA(tk+r)) - Rj,l(T A(tk)))R~,T]+l (TA(tk))


-R~r(TA(tk+r)) [Rj,l(TA(tk+r)) - Rj,l(TA(tk))].

Using the last formula and estimates (4.64), (4.65), (4.77) and

II(TA(tk))-l(1 - Rj,l(TA(tk))IIE---.E ::; M,


IITA(tk)(I - Rj ,l(TA(tk)))-l Rj,l(TA(tk))IIE---.E ::; M,
IIRj,l(TA(tk+r)) - Rj,l(TA(tk))II E---. E ::; MrT,
we obtain

II J 11II E ---. E

[]

'L

::;

II R jr-

8
(TA(t k+r )) -

8=1

R~r-8(TA(tk+r))IIE---'E

IIRj,l(TA(tk+r)) - Rj,l(TA(tk))II E---. E 11(1 - Rj ,l(TA(tk))-l Rj,l(TA(tk))II E---. E


+IIR::r_[itr] (TA(tk+r ))IIE---.E IIRj,l(TA(tk+r)) - Rj,l(TA(tk))II E---. E

x IIRtT]+l (TA(tk))IIE---.E
+

IIR~r(TA(tk+r))IIE---'E IIRj,l(TA(tk+r)) -

Rj,l(TA(tk))II E ---. E

[itr]
1
::; MrT + MT ""'
::; M 1rT ::; M 1w.
L.J n+r-s
8=1

Combining the estimates for J 11 and J 12 , we obtain

From this and the estimate for h follows estimate (4.79). The proofs of estimates
(4.80) and (4.81) follow the scheme of the proof of estimate (4.79). Now let us
establish (4.83). Let us denote

wT(k,n) = A(tk)uT(k,n)A- 1(t n).


By (4.73),

'L

r=n+1

A(tk)R;,lr+1(TA(tk_d)(Rj ,l(TA(tk_1))

4.2. Difference Schemes Generated by an Exact Difference Scheme

165

where

J1(k,n) = A(h)RJ,ln(rA(tk_l))A-1(tn),
k

J2 (k,n) =

r=n+l

A(tk)RJ7+l (rA(tk-I))(Rj,1 (rA(tk-I))

- Rj,l(r A(tt_l)))A- 1(t r _1)W1' (r - 1, n).


Applying the identity

J1(k + r, n) - J1(k, n) = A(tk+r)[RJr- n(r A(tk+r-1)) - RJ,ln(r A(tk-I))]A -1 (t n)


+(A(tk+r) - A(tk))RJ,ln(rA(tk))A- 1(t n )
and estimates (4.64), (4.65), (4.62), we obtain

11J1(k + r, n) - J1(k, n)II E--. E

IIA(tk+r)[RJr-n(rA(tk+r-1)) - RJ,ln(rA(tk_I))]A- 1(tn) IIE--.E

1
+ II(A(tk+r) - A(tk))A- (tn)IIE--.E IIRJ,ln(rA(tk))IIE--.E

~ MiI!.

Now let us estimate h(k+r, n)-J2 (k, n). Using estimates (4.65), (4.62), we obtain

IIJ2 (k,n)IIE--.E

~M

r=n+1

IIA(tk)RJ,lr+1(rA(tk-1))IIe--.E

From this and the triangle estimate it follows that

Ilh(k + r, n) for all k - n

J2 (k

2r. Now let k - n

+ r, n) - J2 (k, n) =

- L

J2 (k, n)II E --. E ~ Mrr

> 2r. We have that


k+r

A(tk+r)RJr-i+1(rA(tk+r-1))

i=k-r+1

A(tk)RJt+ 1(rA(tk-I)HRj,l(rA(tk-1))

i=k-r+1
- Rj,l(rA(ti-I)))A -1 (ti_1)W1' (i - 1, n)

166

Chapter 4. Partial Differential Equations of Parabolic Type

k-r

(A(tk+r)R;,tr-i+l(rA(tk+r_I)) - A(tk_dR;,li+l(rA(tk_I)))

i=n+1

k-r

A(tk+r)R;,tr-i+l(rA(tk+r-d)(Rj,l(rA(tk+r-I))

i=n+1

-Rj,l(rA(tk_1)))A- 1(ti_dwT(i - 1, n) =

LL

n,

n=l

where

k+r

L1=

A(tk+r)R;,tr-i+l(rA(tk+r-1))(Rj,l(rA(tk+r-1))

i=k-r+1

L2 = -

A(tk)R;t+1(rA(tk-I))(Rj,l(rA(tk-I))

i=k-r+1

L3 =

k-r

(A(tk+r)R;,tr-i+l(rA(tk+r_r)) - A(tk_1)R;,-;-i+l(rA(tk_r)))

i=n+1

k-r
L4 =

A(tk+r)R;,tr-i+1(rA(tk+r-1))(Rj,l(rA(tk+r-I))

i=n+1

- Rj,l(rA(tk-1 )))A- 1 (ti_1)W T(i - 1, n).


Using estimates (4.65), (4.62) and (4.75), we obtain

IIL11IE-->E :S M

k+r

i=k-r+1

IIA(tk+r)R;,tr-i+1(rA(tk+r-1))IIE-->E

In a similar manner one establishes the estimate

4.2. Difference Schemes Generated by an Exact Difference Scheme

167

Now let us estimate L 3 . Using estimates (4.82), (4.62) and (4.75), we obtain

k-r

<

IIA(tk+r)Rj,tr-Hl(rA(tk+r-l)) - A(tk_dRj,l"i+l (rA(tk-d) IIE---.E

i=l

Finally let us estimate L 4 . Using estimates (4.65), (4.62) and (4.75), we obtain

IIL4 1I E---. E:S

k-r

k-r

:S M

IIA(tk+r)Rj,tr-Hl(rA(tk+r-l))IIE---.E

i=n+l

.
t=n+l

(k

rrr
. ) : S M 1TT(1
+r-z+1 T

+ Iln(rr)J).

Thus, the operator L 4 has "worse" properties than the operators L n for n = 1,2,3.
Combining the estimates for L n for n = 1,2,3,4, we obtain

for all 0: < 1. Nevertheless this estimate permits us to establish the same estimate
for L 4 . Indeed, using the formula

L 4 = A(tk+r)(I - Rj,l(TA(tk+r-d))-l(R;~(TA(tk+r-l))
- Rj,tr-n(TA(tk+r-d))(Rj,l (T A(tk+r-l))
-Rj,l(TA(tk_d))A-1(tk_l)Wr(k -l,n)

k-r

A(tk+r)Rj,tr-i+l(TA(ik+r_d)

i=n+l

k-r

i=n+l

A(tk+r)Rj,tr-Hl(TA(tk+r-l))(Rj,l(TA(tk+r-d)

Chapter 4. Partial Differential Equations of Parabolic Type

168

and estimates (4.65), (4.62) and (4.75), we obtain

k-r
""'
rr .) (k - i)n
IIL 4 11 E ~ E:S Mrr + M ~ (k +r-2r
i=n+l

k-r
""'

+M(a) ~ (k
i=n+l

rr

((k - i)r)O

+ r _ i)r ((i + 1 _ n)r)o r:S

M
2

rr .

Now combining the estimates for L n for n = 1,2,3,4, we obtain estimate (4.83).

In a similar manner one establishes estimate (4.82). Finally let us establish (4.84).
Estimate (4.84) for k-n :s 2 follows from estimates (4.76) and (4.77). Let k-n > 2.

Then using the formula

A(tk+r)ur(k + r,n) - A(tk)uT(k,n) = (wT(k

+ r, [k; n])

-wT(k, [k; n]))A([k; n]r)uT([k; n],n)


and estimates (4.82) and (4.76), we obtain estimate (4.84) for k - n > 2. Lemma
4.2.19 is proved.
Suppose that the assumption (4.62) holds for r = 0 and r = 1. Then

IluT(k,k -1) - Rj,l(rA(h-d)IIE~E:S Mr,


lJ[uT(k, k - 1) - Rj,l(rA(tk-d)]A-l(tk-dIIE~E

:s Mr 2 .

Now using the formulas

uT(k, n) - uT(k, n) =

k-l

L uT(k, i + l)(uT(i + 1, i) - uT(i + 1, i))uT(i, n),

i=n

k-l

uT(k, n) - uT(k, n) =

L uT(k, i + l)(uT(i + 1, i) -

uT(i + 1, i))uT(i, n)

i=n

and the last estimates and estimates of Lemma 4.2.18 and Lemma 4.2.19, we can
establish the estimates for uT(k, n).
Lemma 4.2.20. Suppose that the assumption (4.62) holds for r = 0 and r = 1.
Then for any 0 n < r k N, 0 a 1 the following estimates hold:

:s

:s :s
:s :s
IluT(k, n)IIE~E :s M, II A (tk)u T(k, n)A-l(tn)IIE~E :s M,
IIA(tk)uT(k, n)IIE~E

:s

(k

~n)r'

4.2. Difference Schemes Generated by an Exact Difference Scheme

IluT(k

169

+ r, n) - uT(k, n)II E --. E :S Milt,

II[A(tk+T)uT(k + r, n) - A(tk)uT(k, n)]A-1(tn)IIE--.E :S Milt,


IIA(tk+r)uT(k + r, n) - A(tk)uT(k, n)II E--. E :S (k ~:)T'
where M 2 0 does not depend on T, k, r, n. Here ilt = rOt(k - n)-Ot.
From formula (4.68) and the estimates of Lemma 4.2.20 one derives the
following results.
Theorem 4.2.21. The difference problem (4.63) is stable in CT(E).
Theorem 4.2.22. The difference problem (4.63) is stable in C::,Ot(E).
Theorem 4.2.23. The difference problem (4.63) is stable in Lp,T(E), 1 :S p

< 00.

Theorem 4.2.24. The solutions of the difference problem (4.63) in CT(E) obey the

almost coercive inequality

II{T-1(Uk - uk-d}fllcT(E)+ II {T- (1-U (k,k -l))uk-dfllcT(E)

:S M1[II A(O)uoII E +

min{ln~, 1 +

where M 1 is independent not only of

lIn IIA(O)IIE--.EI}II

r, uo, but also of T.

r IlcT(E)],

The proof of Theorem 4.2.24 follows the scheme of the proof of Theorem
4.2.4 and relies on the estimates of Lemma 4.2.20.
Now let us study the well-posedness of the difference problem (4.63) in the
various Banach spaces.
Theorem 4.2.25. The solutions of the difference problem (4.63) in C::,Ot(E) obey

the coercivity inequality


II{ T-1(Uk - Uk-l)}fllc;'O(E)+

II

{T-1(I - uT(k, k - l))Uk-l}fllc;',O(E)

:S M1[a(1 ~ a) Ilrllc;'O(E) + IIA(O)uoII E]'


where M 1 is independent not only of

r, uo, a, but also of T.

The proof of Theorem 4.2.25 follows the scheme of the proof of Theorem
4.2.5 and relies on the estimates of Lemma 4.2.20 and on the formula
T- 1(1 - uT(k,k -l))Uk-l = T- 1(1 - uT(k,k -l))uT(k -l,O))uo

+(1 - R7,11{ -TA(tk-l)} )f{l

170

Chapter 4. Partial Differential Equations of Parabolic Type

k-1

+ 2: [(I -uT(k, k-1))uT(k-1, i) - (I -Rj,l{ -TA(tk-1)} )R~t-1{-TA(tk-1)}]ff


i=l

k-1

uT(k, k - l))u T(k - 1, i) (f!,l - ff)

+ L(I i=l

Now let us give the definition of positive operators and introduce the fractional
spaces that will be needed in the sequel.
The operator A is said to be strongly positive if its spectrum a (A) lies in
the interior of the sector of angle , 0 < 2 < 7T, symmetric with respect to the
real axis and if on the edges of this sector, 8 1 () = {peic/> : 0 ::; p ::; oo} and
8 2 () = {pe-ic/>: 0::; p::; oo} and outside of the resolvent (A - A)-l is subject to
the bound

II

(A-A)-lll
E-.E

::; M().
1 + IAI

(4.85)

The infimum of all such angles is called the spectral angle of the strongly positive
operator A and is denoted by (A) = (A, E). Since the spectrum a (A) is a closed
set, it lies inside the sector formed by the rays 8 1 ( (A)) and 8 2 ( (A)) and some
neighborhood of the apex of this sector does not intersect a (A). We shall consider
contours r = r (, r) composed by the rays 8 1 (), 8 2 () and an arc of circle of
radius r centered at the origin; and r will be chosen so that a (A) < lal < 7T/2
and the arc of circle of radius r lies in the resolvent set p (A) of the operator A.
Let f (z) be an analytic function on the set bounded by such a contour r
and suppose that f satisfies estimate

If (z)j

::; M

Izl-c

for some c > O. Then the operator Cauchy-Riesz integral

f (A)

rf (z)(z - A)-l dz

27TZ Jr

(4.86)

converges in the operator norm and defines a bounded linear operator f (A), a function of the strongly positive operator A. If f (z) is continuous in a neighborhood
of the origin, then in (4.86 ) we shall consider that r = 0, i.e., r = 8 1 () U8 2 ().
As in the case of a bounded operator A one shows that f (A) does not depend
on the choice of the contour r in the domain of analyticity of the function f (z)
and that the correspondence between the function f (z) and the operator f (A) is
linear and multiplicative.
The function f (z) = z-a defines a bounded operator A-a whenever a>O.
Here the contour r is chosen with r > O. By the multiplicativity property,
A-(a+,B) = A-a A-,B = A-,B A-a for any powers of the strongly positive operator A and not only for negative integer ones. From this identity it follows (when
a + (3 is an integer) that the equation A-ax = 0 has the unique solution x = O.

171

4.2. Difference Schemes Generated by an Exact Difference Scheme

Hence, the positive powers AQ = (A-Q)-l of the strongly positive operator are
defined. The operators AQ (a> 0) are unbounded if A is unbounded; they have
dense domains D (AQ) and one has the continuous embeddings D (AQ) C D (AI3)
if (3 < a.
The theory of fractional powers of operators can be constructed for a wider
class of positive operators. For such operators the estimate (4.85) is required to
hold for some and not only from the interval [0, 1r /2], but from the larger interval

[0,1r).

Now let us consider the function f (z) = e- tz . For any t > 0 this function
tends to zero faster than any power z-Q as Izl ---+ 00 and its values lie inside any
sector bounded by a contour r. Therefore, formula (4.86) can be used to define
the function exp { -tA} of the strongly positive operator A. By multiplicativity,
the semigroup property holds:

Consider the function W(z) = zQe- tz for some a > 0 and t > O. Since,
obviously, W(z) ---+ 0 faster than any negative power of z as Izl ---+ 00, w (z) defines
the operator function

w (A) =

~
21r2

r zQe-

ir

tz

(z - A)-l dz.

(4.87)

Let us show that the operator exp {- tA} maps E into D (A Q) and AQexp {- tA}
= w(A). Let x be an arbitrary element of E. By the multiplicativity property,
(4.69) implies that

A-Qw (A) x

~
21r2

re-

ir

tz

(z - A)-l xdz

= exp {-tA}

x,

which proves our assertion. Thus, we have the formula


A exp {-tA} =
Q

~
21r2

r zQe-

ir

tz

(z - A)-l dz.

(4.88)

In the above argument we must assume that the contour r contains an arc
of radius r, since we applied the operator A -Q, which corresponds to the function
z-Q. The final formula (4.88) is valid for any (small) r > O. Since the integrand in
(4.88) is continuous at the point z = 0, letting z ---+ 0 we obtain the formula

172

Chapter 4. Partial Differential Equations of Parabolic Type

for some 0 < < 7r /2. From this and estimate (4.85 ) it follows that

IIAC> exp {-tA}11

E--+E

:::;

M ()
7r

roo pc>-le-tpcos<Pdp =

Jo

M () rea) t-C>.
7r(cos)c>

(4.89)

In particular, we have the estimate

lI exp{-tA}II E --+ E

:::;

M().
7r

(4.90)

Let us show that the estimate (4.90) can be sharpened by a factor that decays
exponentially when t ~ +00.
Let A be a strongly positive operator. We claim that for sufficiently small
8> 0 the operator A - 8 is also strongly positive and (A - 8) = (A). Indeed,
let A E r (). Consider the equation AX - (A - 8) X = Y for an arbitrary y E E.
The substitution AX - Ax = z yields the equation z + 8 (A - A)-l z = y. Since

if A E r (), we see that for 8:::; [2M ()r1the equation for z has a unique solution
and Ilzll :::; 211yll Consequently, the equation for x has a unique solution and

Ilxll :::; M () [IAI +

1r

Ilzll :::; 2M () [IAI +

This means that the operator A - (A


[2M ()]-l and

+ 8)

1r

Ilyll

has a bounded inverse for 0

< 8 :::;

Thus, we have shown that A - 8 is a strongly positive operator. Hence, by (4.90),


we have the estimate
Ilexp {- (A - 8) t}II E --+ E

:::;

2M ().
7r

This obviously yields


(4.91)

1
where we can put 8 = [2M ()r .
Let t > 1. Then, using the semigroup property, we can write
exp {-tA} = exp {- A} exp {- (t - 1) A} .
Next, applying estimates (4.89) with t = 1 and (4.91), we obtain

IIAC> exp {-tA}11

E--+E

:::;

M () r(~) 2M () e- 6 (t-l)
7r (cos)
7r

4.2. Difference Schemes Generated by an Exact Difference Scheme

173

Hence, the following estimate holds for t > 1:

If 0 < t ::S 1, then estimate (4.91) prevails. Combining these two estimates, we
conclude that
IIA exp {-tA}IIE--+ E ::s if () e-OtC Q
(4.92)
Q

for some if () > 0 and b > O.


Further, formula (4.86) allows us to establish that the operator-valued function exp { -tA} is differentiable in the operator norm for t > 0 and
d
dt exp {-tA} = -Aexp {-tA}.

(4.93)

In particular, this implies that exp {-tA} is continuous in the operator norm.
Using the semigroup property we deduce that the derivative of exp { -tA} is also
continuous in the operator norm for t > O. Finally, formula (4.93) shows that
the operator-valued function exp {-tA} has derivatives of arbitrary order in the
operator norm for t > O.
Now let xED (A). Then the (E-valued) function exp {-tA} x has a derivative for t > 0 and, by (4.93),
d
dt exp{-tA}x = -exp{-tA} Ax.

Next, for x as above we can write

Using formula (4.86), we obtain


exp {-tA} x =
Here the contour

r e-tz[z-lx +

271'z Jr

z-l

(z - A)-l Ax]dz.

has the form

I
I

/ cI>

(4.94)

174

Chapter 4. Partial Differential Equations of Parabolic Type


Using the Cauchy theorem, we get
1
exp{-tA} x = -2.
1rZ

re-tzz-1(z_A)-1 Axdz+x.

ir

Estimate (4.85) shows that in the last equality one can pass to the limit
under the integral sign when t ~ +0. Hence, the limit
lim exp {-tA} x = x

t-++O

+~
21rz

irr Z-l (z -

A)-l Axdz

exists (in the norm of E). By Cauchy's theorem, the integral


1

{) = -2.
1rZ

for some

(j

ir

Z-l

.j-O"+ioo
-O"-ioo

1
(z - A)-l Axdz = -2

Z-l

(z _ A)-l Axdz

1rZ

> O. Hence, by (4.85),


M
II{)II E ~ -2
1r

Since {) does not depend on

(j,

joo
-00 (j

dt

+ t2

II Ax II E

it follows that {) == O. Hence, we proved that


lim exp{-tA}x = x

t-++O

(4.95)

for any x E D(A). Since the norm Ilexp{-tA}II E -+ E is uniformly bounded for
t > 0, the limit relation (4.95) holds for any x E E.
Thus, if we extend the operator-valued function U(t) = exp{-tA}, t > 0,
at t = 0 by U (0) = I, we obtain a strongly continuous semigroup. From estimate
(4.92) (with a = 0) it follows that this semigroup is analytic. Finally, let us show
that its generator is U' (0) = -A. From (4.94) and estimate (4.91) we derive the
identity

U (t) x - x = - i t U (8) Axd8


for xED (A). Since U (t) is strongly continuous to the left at the point t = 0, this
implies that xED (U' (0)) and U' (0) x = -Ax. Hence, U' (0) is an extension of
the operator -A. By estimate (4.91), the operator U' (0) + A and -A + A have
bounded inverses for any A < O. Therefore, U' (0) = -A.
We have shown that the operator-valued function exp {-tA} is an analytic
semigroup with generator - A and with an exponentially decaying norm. Operators
- A that generate such semigroups were called strongly positive operators.
Let A be a strongly positive operator. With the help of A we introduce the
fractional space E~,q (E, A), 0 < a < 1, consisting of all vEE for which the
following norms are finite:

4.2. Difference Schemes Generated by an Exact Difference Scheme

175

Recall that in Section 4.1 of Chapter 4 we introduced the fractional spaces


EQ,q in which the norms are defined with the help of the semigroup exp { -tA}
generated by a strongly positive operator A.
Theorem 4.2.26. E~,q(E, A(t)) = EQ,q(E, A(t)) for all 0
1 q 00.

:s :s

:s t :s T,O < a

< 1 and

Now let us consider the well-posedness of the difference problem (4.63) in the
various Banach spaces.
Theorem 4.2.27. The solutions of the difference problem (4.63) in

CT(E~)

obey

the coercivity inequality


T
II{T-1(uk - uk-I}}f IIcT(E~)+ II {T-1(I - u (k, k -l))uk-df IlcT(E~)

:s M 1[a(1 ~ a) I r IIcT(E~) + I A(O)uoIIE~],


where M1 is independent not only of

r, uo, a, but also of T.

The proof of Theorem 4.2.27 follows the scheme of the proof of Theorem
4.2.6 and relies on the estimates of Lemma 4.2.20 and on the formula

k-l
+ L(I - Rj,l{ -TA(tk_l)})Rj,ii-l{ -TA(tk-I}}l!1,1
i=l

k-l
+ ~)(I

uT(k, k - 1))uT(k - 1, i) - (I - Rj,l{ -TA(tk-l)})

i=l

k i 1
x R j,1- - { -T A(t k-l )}]fj,l
k'

Let us give, without proof, the following results.


Theorem 4.2.28. The solutions of the difference problem (4.63) in C~,'Y(E)
(0 "f {3, 0 < {3 < 1) satisfy the following coercivity inequalities:

:s :s

II

{T-1(Uk - Uk-l)}f

+M111
I

IlcT(E~_~) :s {3(~ {3) II r Ilc~'~(E)

(1 - Rj,I(TA(0)))T-1Uo -

{T-1(Uk - Uk-l)}f IIc~'~(E) +

II

H,I IIE~_~'

{T-1(I - uT(k,k -l))uk-df Ilc~'~(E)

:s {3(~ {3) I r IIc~'~(E) + M11(I -

Rj,I(TA(0)))T-1Uo -

where M 1 is independent not only of r,uo, 13, "f but also ofT.

H,lI~''Y,

176

Chapter 4. Partial Differential Equations of Parabolic Type

Here, Iwlg,')' denotes the norm of the Banach space Eg,')' and consists of those
wEE for which the norm

sup
O:::;i<i+r:::;N

(rr)-/3((i

+ r)r)1' II(R)ir- 1(rA(t)) - R)i1l(rA(t)))wIIE


'

is finite.
Note that the parameter 'Y can be chosen freely in [0, ,8), which increases
the number of spaces C~'')'(E)(O ::; 'Y ::; ,8,0 < ,8 < 1) of grid functions in which
difference problem (4.63) is well posed.
Theorem 4.2.29. The solutions of the difference problem (4.63) in C~'')'(E~_/3)
(0 ::; 'Y ::; ,8 ::; Q < 1) satisfy the following coercivity inequalities:

{r-1(uk - Uk-l)}f Ilc~'-Y(E~_I3)+ II {r-1(uk - Uk-l)}f IIcT(E~~I3)

+ II {r-1(I - uT(k, k -l))uk-df Ilc~'-Y(E~_I3)


::;

Q(~ Q) II r Ilc~'-Y(E~_I3) + M1!(I -

Rj,l(rA(0)))r-1uo -

Jf,II:~/3'

II {r-1(uk - Uk-l)}f IIc~'-Y(E~_I3)+ II {r-1(uk - Uk-l)}f IlcT(E~_-y)


+ II {r-1(I - uT(k, k -l))uk-df
::;

Q(~ Q) II r Ilc~'-Y(E~_I3) + M111(I -

where M 1 is independent not only of

r, Uo,

IIc~'-Y(E~_I3)

Rj,l(rA(0)))r-1uo Q,

fi,lIIE~_-y'

,8, 'Y but also of T-

Here, Iwl~:2/3 denotes that the norm of the Banach space E~:2/3 consists of
those wEE for which the norm

is finite.
Note that the spaces Ce'')'(E~_f3) of grid functions, in which coercive solvability has been established, depend on the parameters Q, ,8 and 'Y. However, the
constants in the coercive inequalities depend only on Q. Hence, we can choose the
parameters ,8 and 'Y freely, which increases the number of spaces of grid functions
in which difference problem (4.63) is well posed.

177

4.2. Difference Schemes Generated by an Exact Difference Scheme

Now let us consider the initial-value difference problem (4.63) in the spaces
Lp,T(E) = Lp([O, T]T' E), 1 ::; p < 00 of all grid functions. We have not been able
to obtain the coercivity inequality
II {r-1(uk-Uk-d}f IIL p.T(E) + II {r-1(I - uT(k,k -l))Uk-df IILp.T(E)

::; M[li

IILp.T(E)

+ II A(O)uoII E]'

in the arbitrary Banach space E and for the general strong positive operator A(t).
Nevertheless, we can establish the almost coercivity inequality.
Theorem 4.2.30. The solutions of the difference problem (4.63) in Lp,T(E) obey
the almost coercive inequality
II {r-1(uk-Uk-d}f IILp,T(E) + II {r-1(I - uT(k,k -l))Uk-df IILp.T(E)
::; MIlII A(O)uoII E + min

{ln~, 1 + lIn II A(O) IIE->EI} II r

IIL p,T(E)],

where M 1 does not depend on fT, uo, p and r.


Note that if A(O) is the unbounded positive operator in E, then
. { In:;:,
1 1 + lIn II A(O) IIE->EI } = In:;:.
1
mm

Finally, let us give, without proof, the following results about well-posedness
of the initial-value difference problem (4.63) in the spaces Lp,T(E) = Lp([O, T]T' E),
1 ::; p

< 00.

Theorem 4.2.31. Suppose that the difference problem (4.63) is well posed in
LpO,T(E) for some Po, 1 < Po < 00. Then it is well posed in Lp,T(E) for all
p, 1 < p < 00 and the following coercivity inequality holds:
II {r-1(uk-Uk-l)}f IILp,T(E) + II {r-1(I - uT(k,k -l))uk-df IILp,T(E)
2

+lluTlb(E1_1/P,p) ::; M(poHII Uo IIEl-l/p.p +

where M(po) does not depend on

r, uo, p and r.

p~ 1

II

II],

Theorem 4.2.32. Let 1 ::; P ::; 00 and 0< a < 1. The problem (4.63) is well posed
in Lp,T(E~,p) and the following coercivity inequality holds:
II {r-1(uk-Uk-l)}f IILp.T(E:',p) + II {r-1(I - uT(k,k -l))uk-df IILp'T(E:"p)

::; M[II A(O)uoIIE:"p

+ a(l ~ a)

II

where M does not depend on rr, Uo, p, a and r.

r IILp,T(E:')'

Chapter 4. Partial Differential Equations of Parabolic Type

178
Theorem 4.2.33. Let 1

is well posed in

< p, q < 00 and 0 < a < 1. The difference problem

Lp,T(E~,q)

(4.63)

and the following coercivity inequality holds:

:s M(q)[11 A(O)uoIiEIo,q + ~
II r II
pwhere M(q) does not depend on fT, Uo, p, aand

Lp,T(E~.q)

],

To

Now, the abstract theorems given above are applied in the investigation of
difference schemes of higher order of accuracy with respect to the set of all variables
for approximate solution of the Cauchy problem (4.52). The discretization of problem (4.52) is carried out in two steps. Let us define the grid space Rh (0 < h ho)
as the set of all points of the Euclidean space R n whose coordinates are given by

:s

sk=O,1,2,... , k=l, ... ,n.


The number h is called the step of the grid space. A function defined on
R h will be called a grid function. To the differential operator A with constant
coefficients of the form

we assign the difference operator


'""'
L..J

~Sl ~S2
1-

1+

~S2n-l~S2n
nn+ '

(4.96)

2m$lsl$S

which acts on functions defined on the entire space R h. Here s E R 2n is a vector


with nonnegative integer coordinates,

is the unit vector of the axis Xk.


An infinitely differentiable function of the continuous argument y E Rn that
is continuous and bounded together with all its derivatives is said to be smooth.
Let <p(y) be a smooth function on Rn. Using the Taylor expansion of <p(y), one
can show that

and

ek

Here the grid function <p (x) and -aa


<p (x) are the traces of the functions <p (y)
Yk
and -a
ayk <p (y), respectively. The last inequality means that the difference operator
h -1 ~k is a first-order approximation for the differential operator -a
a .
Yk

179

4.2. Difference Schemes Generated by an Exact Difference Scheme

We say that the difference operator Ah is a Ath-order (A > 0) approximation


of the differential operator A if the inequality
sup IAh'P (x) - A'P (x)j :::; M ('I') h A
xER~

holds for any smooth function 'I' (y). We shall assume that the operator A h approximates the differential operator A with any prescribed order.
A function of a continuous [resp., discrete] argument that decays at infinity
faster than any negative power of Iyl [resp., Ixl] is said to be rapidly decreasing.
Let us define the Fourier transform of a grid function fh (x) by the formula

1(0 =

(21rr n

L exp{-i(x,~)}fh(x)hn,~ERn.

(4.97)

xER~

This formula defines a 21rh- 1-periodic smooth function of the continuous argument
~ whenever fh (x) is a rapidly decreasing grid function. In this last case (4.97) is
just a Fourier series expansion of the function 1(~) and the numbers
(x) are
the Fourier coefficients, given by the formula

fh (x)

1 1
16/:-:;7Th- 1

l~nl:-:;7Th-l

exp{i(x,~)} 1(~)d6" d~n.

(4.98)

The inverse Fourier transform of a 21rh- 1-periodic function 'I' (~) is defined to be
the grid function <ph (x) given by the formula

<ph (x)

=1

l~ll:-:;7Th-l

.. r

JI~nl~7Th-l

exp{i(x,0}'P(~)d6d~n.

(4.99)

Formulas (4.98) and (4.99) establish a one-to-one correspondence between


rapidly decreasing grid functions of a continuous argument. In particular, if fh (x)
is a rapidly decreasing grid function, then
-h

[1]

(x) = fh (x).

If fh (x) is a rapidly decreasing grid function, then the grid function Ahfh (x)

exists and is given by (4.97) and we have the equality

Ahf (~)

= A (~h, h)

1(~).

The function A (~h, h) is obtained by replacing the operator ~k in the right-hand


side of equality (4.96) with the expression (exp {i~kh} - 1), respectively and is
called the symbol of the difference operator. Since exp {i~kh} are bounded analytic 21rh- 1-periodic functions, the symbol A (~h, h) is a bounded analytic 21rh- 1periodic function. It follows that for large I~I one has the estimate

180

Chapter 4. Partial Differential Equations of Parabolic Type

In the first step let us give the difference operator A~x by the formula

At,xuh
=
h
x

h
bt,x
Drh u Xh + 6u x
r

L..J

(4.100)

2m~lrl~S

The coefficients are chosen in such a way that the operator A~x approximates in
a specified way the operator

We shall assume that for I~khl :s: 1r and fixed t and x the symbol
operator A~x - 6 satisfies the inequalities

At,X(~h,

h) of the

With the help of A~x we arrive at the initial-value problem

_dv_h--,--(t_,x--'--)
dt

+ At,Xvh(t
x)
h'

= fh(t x) 0

<t <T

,,--,

(4.101)

for an infinite system of ordinary differential equations.


In the second step we replace problem (4.101) by the difference scheme
(4.102)

Let us give a number of corollaries of the abstract theorems given in the


above. To formulate our result we need to introduce the space C~ = C13(R'h),
o:s: f3 :s: 1 of all bounded grid functions uh(x) defined on R'h, equipped with the
norm

Ilu Il c/3
h

Ilu Ilc + x,ye:Rsup,xopy


h

luh(x) - uh(y)1
I
/13
X -

Here Ch = C(R"h) denotes the Banach space of bounded grid functions uh(x)
defined on R"h, equipped with the norm

lIu h llc

= sup luh(x)l.
xe:R h

4.2. Difference Schemes Generated by an Exact Difference Scheme

181

Theorem 4.2.34. The solutions of the difference schemes (4.102) satisfy the fol-

lowing stability estimates:


II UT,h Ilc;-'''(cn:S M[llu~llc~+ II F,h II c ;-'"(cn], 0

< a < 1,0:S (3 < 1,

II uT,h I Lp ,r(cn:S M[llu31Ic~+ II F,h IILp,r(c~)], 1 :S P:S 00,0 :S (3 < 1,

where M does not depend on

r,h, ug,

a, (3, p, hand T

The proof of Theorem 4.2.34 is based on the abstract Theorems 4.2.21,4.2.22,


4.2.23 and on the following two theorems.
Theorem 4.2.35. The operator A~x is strongly positive in Ch .
Theorem 4.2.36. For any 0

< (3 < 2~ the norms in the spaces E~(Ch,A~X) and

C~m{3 are equivalent uniformly in h.


Theorem 4.2.37. The solutions of the difference schemes (4.102) satisfy the fol-

lowing almost coercive stability estimates:

+ In T ~ h II r,h IILp.r(C,,)], 1 :S p :S 00,

where M does not depend on r,h, ug, p, hand T.


The proof of Theorem 4.2.37 is based on the abstract Theorems 4.2.24 and
4.2.30, the positivity of the operator AI'; in C~ and on the almost coercivity inequality for an elliptic operator A~x in C h and on the estimate
min

{ln~,
1 + lIn II A~x
T

Ilcil cill}:s MIn

"-0,,

~h'
T+

Next, to formulate our result we need to introduce the space W:'h = Wf(Rh),
o :S (3 :S 1,1 :S p < 00 of all bounded grid functions uh(x) defined on R h, equipped
with the norm

Here Lp,h = Lp(Rh) denotes the Banach space of bounded grid functions uh(x)
defined on R h, equipped with the norm
IluhIIL p,,,

[L

xcR h

luh(x)IPhnl~

182

Chapter 4. Partial Differential Equations of Parabolic Type

Theorem 4.2.38. The solutions of the difference schemes (4.102) satisfy the coer-

civity estimates:

II {T-l(U~ - ULlnf- 1 Ilc~'''(cn

::; M(a,,B)[

Ir l=2m

IIDhu~llc~+ I

r,h IIc~'''(c~)],O::; a < 1,0 <,B < 1,

I {T-l(U~ - ULlnf- 1 II Lp 'T(w;'h)


::; M(a,p,q)[

Ir l=2m

IIDhu~llw;'h+ I r,h

IILp,T(w;'h)], 1 < p,q < 00,0 < a <

where M(a,,B) and M(a,p,q) do not depend on

r,h,

ua, hand

~,

The proof of Theorem 4.2,38 is based on the abstract Theorems 4.2.25, 4.2.33
and Theorems 4.2,35, 4.2.36 and on the following two theorems.
Theorem 4.2.39. The operator A~x is strongly positive in
Theorem 4.2.40. For any 0

W q,2m
(3
h

< ,B <

W:'h'

2~ the norms in the spaces E~,q(Lq,h,

A,J

and

are equivalent uniformly in h,

Note that in a similar way the difference schemes of the high order of accuracy
with respect to one variable for approximate solutions of the mixed problems (4,50)
and (4.51) can be constructed. Abstract theorems given from above permit us to
obtain the stability, the almost stability and the coercive stability estimates for
the solutions of these difference schemes.
Now, we will consider the second approach of choice V(tk' tk-l) and

By (4.15) and (4.16), we have

V(tk, tk-d = e-A(tk-Ilr

(4.103)

(4.104)

(4.105)

183

4.2. Difference Schemes Generated by an Exact Difference Scheme

Using Taylor's formula, we obtain


(4.106)

(4.107)

1jt

where

Bi(t)
{ Bi(t)

= 1,
=

V(tk,s)f(s)ds

(4.108)

tk-l

= 0,

B~~l (t) + B i- 1(t)A(t), 1:S i :S j + l.

Now, we will study the approximate formulas for the expressions V(tk, tk-d and
V(tk,tk_l).
Using Taylor's formula and formulas (4.103), (4.104) and (4.105), we
2
obtain

V(tk, tk-d
1+1-1 (_

e- A(tk-ll"T - 7(A(tk) - A(tk_1))e- A(t k- ll "T

)n+1 n ( )

+ ~ (n 7+ I)! ~ ~ Bi(tk)[(A(tk) - A(tk-d)(-A(tk_dt- i

+~

(n ~ i) A(s) (tk)( -A(tk_dt-i-sJe-A(tk-ll"T +

0(71+1+1),

V(tk, tk-d = e-A(tk)"T + 7(A(tk) - A(tk_d)e-A(tkl"T

n ( )
?; (:n+1
+ I)! ~ ~ Bi(tk-d[(A(tk) - A(tk_d)(A(tk))n-i
_~ (n ~ i) A(S) (tk_d(A(tk))n-i-SJe-A(tk)"T +
j+I-1

0(71+1+1),

Chapter 4. Partial Differential Equations of Parabolic Type

184

where

Bi(t) = 1,
i = 0,
{ Bi(t) = B;~l (t) - B i_ 1(t)A(t), 1:S i :S j + l.

Further, using the last formulas and Pade fractions for the function e- z, we
can write

V(tk, tk-1) = Rj,I(A(tk_1)T) - T(A(tk) - A(tk-1))Rj- 1,1-1 (A(tk-1)T)

(4.109)

)+1-1 ( T)n+1 n ( )
i
+ 1) ~
Bi(tk)[(A(tk) - A(tk-1))(-A(tk_dt-

+ ~
+~

(n ~ i) A(s)(tk)( -A(tk-1)t-i-S]Rj_n+[~1_1,1_[~1(A(tk_1)T) + O(T)+I+1),

V(tk, tk-1) = Rj,I(TA(tk)) + T(A(tk) - A(tk-d)Rj- 1,1-1 (A(tk)T)


j+I-1

n+1

7 Bi(tk-1)[(A(tk) - A(tk_d)(A(tk)t-

n ( )

+ ~ (:+ I)! ~

-:- ~ (n ~ i) A(s)(tk_d(A(tk))n-i-s]Rq_n+[~l_l'P_[~l(TA(tk))
V(tk,tk-1) =

)+l-l (

+ O(T)+I+1),

A(tk_~))Rj-1,l-1(TA(tk_~))

(4.111)

7 Bi(tk)[(A(tk) - A(tk_~))(-A(tk_~))n-i

)n+1 n ( )

+ ~ (:: I)! ~
+~

- T(A(tk) -

Rj,I(TA(tk_~))

(4.110)

(n ~ i) A(S) (tk)( -A(tk_ ~ ))n-i-s]Rj_n+[~]_l,l_[~l (T A(tk_ ~)) + o(T)+I+l).

The approximate formulas for the expression V(tk, tk-l)


can be constructed using
2
Pade's rational functions. We have that
2

v(tk, tk_l)
2

tk

I
-A(tk_!)~ _l

V(tk' tk_l) = e-A(tkH +

tk _

= e

e-A(tk)(tk-Z)(A(tk) - A(z))v(z, tk_l)dz,


2
!
tk
V(tk, z)(A(z) - A(tk_l))e-A(tk_!)(z-t k_!) dz.

k-

4.2. Difference Schemes Generated by an Exact Difference Scheme

185

Using Taylor's formula, we obtain

j+l-l

7 Bi(tk_!)[(A(tk) - A(tk_!))(A(tk)t-i

n ( )

n+l

+ ~ 2n+;(n + 1)! ~
_

~ (n~i) A(S)(tk_!)(A(tk))n-i-SJe-A(tk)t +O(Ti+ 1+1),

V(tk, tk_l) = e

-A(t

j+l-l

(_ )n+l

2 -

-2 T(A(t k ) - A(tk_I))e
2

_lA(t
2

1)7

k- 2

7 Bi(tk)[(A(tk) - A(tk_!))(-A(tk_!))n-i

n ( )

+ ~ 2n+l~n+ 1)! ~
+ ~ (n ~

1)1:

k- 2

i) A(s)(tk)(-A(tk_!)t-i-SJe -A(tk_~)t + O(Ti+1+1).

Therefore, using the last formulas and Pade's approximants of the function
e- z , we can write

j+l-l

n+l

+ ~ 2n+;(n + 1)!
_

t; 7
n ( )

Bi(tk_!)[(A(tk) - A(tk_!))(A(tk))n-i

~ (n ~ i) A(S)(tk_!)(A(tk)t-i-SJRj_n+[~l_l,I_[~l(~A(tk))
1

+ O(Ti+l+1),

V(tk, t k_ 1)
= Rj,l( -2 A(tk- -d)
- -2T(A(tk) -A(t k_ 1
))Rj-1,1-1 (-2 A(t k_ 1))
(4.113)
2
2
2
2
i+l-l

(_ )n+l

+ ~ (n ~

7 Bi(tk)[(A(tk) - A(tk_!))( -A(tk_!))n-i

n ( )

+ ~ 2n+l~n + 1)! ~

i) A(S)(tk)(A(tk_!))n-i-S]Rj_n+[~)_l,I_[~)(~A(tk_!))

+ O(Tj+I+l).

Finally, replacing the expression V(tk, tk-l) by its Pade approximants from (4.109)
or (4.110) or (4.111) (neglecting the last terms, respectively) and the expression

Chapter 4. Partial Differential Equations of Parabolic Type

186

by the expressions from (4.106) or (4.107) or (4.108) and replacing the expressions
V(tk' tk-l) and V(tk, tk_l)
by their Pade approximants from (4.109) or (4.110) or
2
(4.111) or (4.112) or (4.113) (neglecting the last terms, respectively), we obtain
the following difference schemes of (j + l)-th order of accuracy for the approximate
solution of the initial-value problem (4.1):
(4.114)

+T(A(tk) - A(tk-l))Rj - 1,I-l(A(tk-l)T)


-

)n+l n ( )
i
'0T+ 1) ~
Bi(tk)[(A(tk) - A(tk-d)( -A(tk_l)t-

]+1-1 (

+ ~ (n~i) A(S)(tk)(-A(tk_l))n-i-S
1

XRj-n+[~J-l,I-[~J(A(tk-dT)]]Uk-l = f~' ,1 ~ k ~ N, Uo = Yo;

T- 1 (Uk - Uk-I)

+ T- 1 [1- Rj,I(TA(tk))

(4.115)

-T(A(tk) - A(tk-l))Rj - 1 ,I-l(A(tk)T)


j+l-l

7 Bi (tk-l)[(A(tk) - A(tk_d)(A(tk))n-i
_~ (n ~ i) A(s)(tk_l)(A(tk)t-i - S

n+l

n ( )

- ~ (:+ I)! ~

xRj_n+[~I_l,I_[~I(TA(tk))]]Uk_l = f~' ,1 ~ k ~ N, Uo = Yo;

T- 1 (Uk - uk-d

+ T- 1 [1- Rj,I(TA(tk_l))
2

+T(A(tk) - A(t k_l))Rj


- 1 ,I-l(TA(t k_l))
2
2

j+l-l (

7 Bi(tk)[(A(tk) - A(tk_!))(-A(tk_!))n-i

)n+l n ( )

~ (~: I)! ~
+~

(n ~ i)

A(S) (tk)(-A(tk_!))n-i-S
1

Here,

n'

xRj-n+[~I-l,I-[~I(TA(tk_!))]]Uk-l = f~' ,1 ~ k ~ N,uo = Yo

can be defined by one of the following formulas:

(4.116)

4.2. Difference Schemes Generated by an Exact Difference Scheme

187

or

rm

(m + I)! [Rj-m-[~I,I+[~)(A(tk-dr) - r(A(tk)

- A(tk-d )Rq - m-[ ~ ]-l,p+[ ~ ]-1 (A(tk-1 )r)


m-1(_ r )n+l

+~
+~

(n + 1)

t;
n

7 Bi(tk)[(A(tk) - A(tk-d)( -A(tk_d)n-i

()

(n ~ i) A(S) (tk)(-Ah-dt-i-SjRj-n+['i1-1,1-['iI(A(tk-1)r)]J(>') (tk-1 ),

or

rm
x (m + I)! [Rj_m_[~],I+[~](rA(tk))

+ r(A(tk)

- A(tk-d)

xRj-m-[~1-1,1+[~1-1(A(tk)r)
m-1

n+1

+ ~ (:+ I)!

t; 7
(

Bi(tk-d[(A(tk) - A(tk_1))(A(tk))n-i

- ~ (n ~ i) A(s) (tk_d(A(tk))n-i-s Rj-n+['i]-l,I-['i] (rA(tk))]J(A) (tk-d,


or

rm

x (m + I)! [Rj-m-[~],I+[~I(rA(tk_!)) - r(A(tk) - A(t k_!))


x Rj-m-[~1-1,l+[~1-1 (rA(t k_!))

(n: t; 7

m-1 (_ )n+1

+~
+~

(n ~ i)

I)!

Bi(tk)[(A(tk) - A(tk_!))(-A(tk_!))n-i

A(s) (tk)( -A(t k_!))n-i-S

Rj-n+[~]-l,l-[~J(rA(t k_! ))]J(>') (tk-1),

Chapter 4. Partial Differential Equations of Parabolic Type

188

or

or

m-l

(_ )n+l

+ ~ 2n+l~n + I)! ~
+ ~ (n ~

7 Bi(tk)[(A(tk) - A(tk-!))(-A(tk_!))n-i
)

i) A(s)(tk)(A(tk_!))n-i-S Rj-n+[~I-l,I-[~I(~A(tk_!))]f(>')(tk_!)'

Note that in a similar manner with the difference schemes (4.63) one can investigate the stability, coercive stability of the difference schemes (4.114), (4.115) and
(4.116) under the smooth assumptions for A(t).

4.3

Single-Step Difference Schemes Generated


by Taylor's Decomposition

We consider again the Cauchy problem (4.1). Let the function v(t), for (0 :s: t :s: T)
have (l + j + 1) continuous derivatives and tk-l, tk E [0, T]T' Then by Theorem
2.2.1 we have the following Taylor decomposition on two points
I

V(tk) - V(tk-l) + L:>~iV(i)(tk)ri - L.BiV(i)(tk_dri


i=l

i=l

(4.117)

4.3. Single-Step Difference Schemes Generated by Taylor's Decomposition

where
Qi

{3i

(l+j-i)!l!(-l)i
(l+j)!i!(l-i)!

(l+j-i)!j!
(l+j)!i!(j-i)!

lor any
~

. 1

1,

lor any

189

:S t:S ,
(4.118)

. 1< .< .

I,

_ t _

J.

Now, we will consider the applications of Taylor's decomposition of function on


two points. From (4.117) it is clear that for the approximate solution of problem
(4.1) it is necessary to find v(i)(tk) for any i,l :S i :S land v(i)(tk_l) for any
i,l :S i :S j. Using the equation

Vf(t) = -A(t)v(t) + f(t),


we obtain
(4.119)
where

Al (t)

= -A(t), Ai(t) = A~~l (t) - A-I (t)A(t)

for any i, 2 :S i :S l,

It (t) = f(t), fi(t) = fi(~l (t) + A i- 1(t)f(t) for any i, 2 :S i :S l.


From this formula for Ai(t) it follows that
(4.120)
where
Therefore,

2) _l)i-r A~~l (t) Ai- r (t).


i

Bi(t) =

(4.121)

r=l

Replacing the v(i)(t) by (4.119) and neglecting the last term, we obtain the singlestep difference schemes of (l + j)-th order of accuracy for the approximate solution
of problem (4.1):

1
7- (Uk - Uk-I) -

Qi 7i -

A i- 1 (tk) Uk

(4.122)

i=l
j

+L

{3i 7i -

Ai- 1 (tk-l) Uk-l

fe,

i=l

f{l

= -

L
i=l

7 -

Qdi_l

(tk)

+L
i=l

i 1
7 - f3di_l

(tk-l), 1 ::; k ::; N, Uo

Yo

190

Chapter 4. Partial Differential Equations of Parabolic Type

Suppose that the operator N(t)A(i-r) (t)A-(r+1)(t) satisfies the condition

liAr (t) A(i-r) (t) A-(Hr) (t)IIE-->E : :; M,1 :::; i:::; I- r,O:::; r:::; I-I,

(4.123)

where M is a positive constant independent of t, 0 :::; t :::; T. Then the following


estimate holds:
IIA~~l (t) A- r
M,1 :::; r :::; I.

(t)IIE-->E : :;

From this it follows that


(4.124)
Using the identity
I

(I - I>::ti'TiA i- 1 (tk))-l - Qj}(7A(tk))


i=l
I

= (I - I:>~i7i Ai- 1 (tk))-17 L


i=l

fri7i-1

B i- 1 (tk) Qj}( 7 A(tk)),

i=l

the estimate (4.124) and

we obtain that the operator I - L~=l fri7i A i - 1 (tk) has the bounded inverse
(I - L~=l fri7iAi_l (tk))-l. Therefore the difference problem (4.122) is uniquely
solvable and the following formula holds:
k

s=l

i=l

Uk = uT(k, O)uo + L uT(k, 8)(1 - I>i7iAi-l (ts))-l 11,17,


where

(4.125)

uT(k,k-l)uT(n+l,n),k>n,
uT(k, n) =

I,k

= n.

(4.126)

Here
I

i=l

i=l

uT(k,k -1) = (I - Lfri7iAi-l (tk))-l(I - LBi7i Ai - 1 (tk-l)).

(4.127)

Let us reduce the difference scheme (4.122) to an operator problem in the space
FT(E) of vectors v T = {Vd"=l' Recall that the space FT(E) can be equipped with
the various norms and thus become a normed space.

4.3. Single-Step Difference Schemes Generated by Taylor's Decomposition

191

First we will define the operator D'T' acting from the space E x F'T(E) of
vectors w'T = {wkl"=o into the space F'T(E) of vectors v'T = {Vkl"=l by the rule

Second we will define an operator A'T from the space E x F'T(E) of vectors w'T =
{Wk}"=o into the space F'T(E) of vectors v'T = {Vk}"=l by the rule
j

v'T = A'TW'T,Vk = - L>~iTi-1Ai_l (tk)Wk


i=l
k= 1, ... ,N.

+ L.8iTi-1A_l (tk-l)Wk-l,
i=l

Next, let us introduce the continuation operator TI(uo), which acts from Ex F'T(E)
to F'T (E) according to the rule

Then the difference schemes (4.122) can obviously be rewritten as the equivalent
operator equation

D'TTI(uo)u'T

Here

r is defined by the formula

+ A'TTI(uo)u'T =

r.

fj,l)
f 'T -- (fj,l
1 , ... , N .

The last operator problem will be considered in the space F'T(E). From its unique
solvability for any Uo E E and
E F'T(E) it follows that its solution u'T defines
an additive and homogeneous operator u'T (r, uo) that is continuous.
The initial-value difference problem (4.122) is said to be stable in F'T(E) if
we have the stability inequality

r,

where M is independent not only of


Uo but also of T.
Let us consider the operator v'T(k, n) defined by

v'(k,n)

~{

v'T(k, k - 1) v'T(n + 1, n), k > n,


(4.128)

I,k = n,

where
j

v'T(k,k -1)

(I - L.8iTiAi-l (tk-l))(I - LQiTiAi-l (tk_l))-l.


i=l
i=l

(4.129)

192

Chapter 4. Partial Differential Equations of Parabolic Type

Using formulas (4.126), (4.127), (4.128) and (4.129), we obtain


I

(k, n)(I -

Qi Ti

Ai -

1 (tn))-l

i=l

= (I - I>iTiAi-1 (tk))-lVT(k

-1,n), 1:S n:S k-1.

i=l

From this and formula (4.125) it follows that


I

Uk = (I - L

Qi Ti A i-

T
1 (tk))-lV (k - 1, k)(I - L .Bi Ti A i- 1 (O))uo

i=l

(4.130)

i=l

8=1

i=l

+ L(I - LQiTiAi-1 (tk))-lVT(k -1,S)R' IT, k 2: 2,


I
U1

= (I - L

QiTiAi_1 (td)-l(I - L.BiTiAi-1 (O))UO

i=l

i=l

+ (I - L

Qi Ti Ai-

1 (td)-lJi,IT.

i=l

By formula (4.127),
j

vT(k, k -1) - Rj,I(TA(tk))

vT(k, k -1) - (I - L.BiTiAi-1 (tk))Qj} (TA(tk))


i=l

+(1 - L.BiTiAi-1 (tk) - Pj,I(TA(tk)))Qj}(TA(tk))


i=l

= -vT(k,k -1) L.BiTiBi-1 (tk) Qj,l(TA(tk)) - L.BiTiBi-1 (tk) Qj,l(TA(tk))'


i=l

i=l

Using estimate (4.124), we obtain

From this estimate it follows that

In a similar manner one establishes the estimate


(4.132)

4.3. Single-Step Difference Schemes Generated by Taylor's Decomposition

193

Now we define the operator

Since

17(k, k - 1) = uT(k + 1, k),

we obviously have

17(k, n) = uT(k + 1, n + 1).

Therefore, by Lemma 4.2.18 and Lemma 4.2.19, we have that


(4.133)
for 1 ::; n ::; k ::; N,
(4.134)
for 1 ::; n

< k ::; N,
IIA(tk+r)vT(k + r, n) - A(tk)vT(k, n)II E _

E ::;

(k ~:)T'

IHA(tk+r)vT(k + r, n) - A(tk)vT(k, n)]A-1(tn)IIE_E ::; MiII,

(4.135)
(4.136)

for 1 ::; n < k ::; k + r ::; N. Here iII = ra(k - n)-a, 0::; Q ::; 1.
From formula (4.130) and estimates (4.133), (4.134), (4.135) and (4.136) one
derives the following results.
Theorem 4.3.1. The solutions of the difference problem (4.122) in CT(E) obey the
stability inequality
j

IluTllc(T,E) ::; M[lI(I - L,BiTiAi-l (O))uoIIE + Ilrllc(T,E)],


i=l

where M 1 is independent not only of

r, uo, but also of

T.

Theorem 4.3.2. The solutions of the difference problem (4.122) in C;:,Q(E) obey
the stability inequality
j

IluTllc~,a(T,E) ::; M[II(I - L,BiTiAi-l (O))uoIIE + Ilrllc~,a(T,E)],


i=l

where M 1 is independent not only of

r, uo,

Q,

but also of T.

194

Chapter 4. Partial Differential Equations of Parabolic Type

Theorem 4.3.3. The solutions of the difference problem (4.122) in Lp,T(E), 1 ::;
p < 00 obey the stability inequality
j

IluTIILp,T(E) ::; M[II(I - Ll3i TiA i-l (O))uoIIE + IlrIlLp,T(E)],


i=l

where M1 is independent not only of

r, uo, p. but also of

T.

Theorem 4.3.4. The solutions of the difference problem (4.122) in CT(E) obey the
almost coercive inequality

i=l

i=l

+ II {- LaiTi-1A_l (tk) Uk + Ll3i Ti - 1Ai_l (tk-duk-l}f IICT(E)


j

::; M1 [1I A(O)(I - Ll3iTiAi-l (0)) uoll E


i=l

+ min{ln~, 1 + lIn IIA(O)IIE-.EI}II r IlcT(E)],


where M 1 is independent not only of

r, uo, but also of

T.

Theorem 4.3.5. The solutions of the difference problem (4.122) in C,:,Q:(E) obey
the coercivity inequality

i=l

i=l

+ II {- L ai Ti - 1Ai- 1(tk) Uk + L l3i Ti - 1Ai- 1(tk-l) uk-df IIc~'''(E)


::; M 1 [a(1 ~ a) IlrIlC~'''(E)

+ IIA(O) (I -

where M1 is independent not only of

~l3iTiAi_l (0)) uoll E]'

r, uo, a, but also of

T.

Theorem 4.3.6. The solutions of the difference problem (4.122) in


the coercivity inequality

i=l

i=l

CT(E~)

+ II {- L ai Ti - 1Ai- 1(tk) Uk + Ll3i Ti - 1Ai- 1(tk-d uk-df IICT(E~)


::; Md a (l ~ a) II

r IICT(E~) + II A(O)(I -

where M 1 is independent not only of

Ll3i TiA i-1 (0))


>=1

r, uo, a, but also of

T.

uoIlE~],

obey

4.3. Single-Step Difference Schemes Generated by Taylor's Decomposition

195

Theorem 4.3.7. The solutions of the difference problem (4.122) in Lp,,,(E) obey
the almost coercive inequality

+11 {- ~::>);i'Ti-lA i- 1 (tk) Uk + L


i=l

.Bi Ti - Ai- 1 (tk-d uk-df


1

IILp,T(E)

i=l
j

::; M1[ll A(O)(I - L.BiTiAi-l (0)) uoll E


i=l

+ min {ln~, 1 + lIn II A(O) IIE--+EI} II


where M 1 does not depend on

r, uo, p and

IILp,T(E)],

To

Theorem 4.3.8. Suppose that difference problem (4.122) is well posed in Lpo,,,(E)
for some Po, 1 < Po < 00. Then it is well posed in Lp,,,(E) for all p, 1 < P < 00
and the following coercivity inequality holds:

+ II {-

1
L ai Ti - A i- 1 (tk) Uk

+ L.Bi Ti - 1 A i- 1 (tk-l) uk-df

i=l

IIL p.T(E)

i=l

+llu"IICT(E1 _ 1 / P.p)
2

::; M(po)[ll(I - L.BiTiAi-l (0)) uoIIEl_l/p,P + p~ 1


i=l

where M(po) does not depend on

II r

IILp,T(E)],

r, uo, p and T.

Theorem 4.3.9. Let 1 ::; P ::; 00 and 0 < a < 1. Problem (4.122) is well posed in
Lp,,,(E~,p) and the following coercivity inequality holds:

+11 {- L

j
1
ai Ti - A i- 1 (tk) Uk

i=l

+L

.Bi Ti - A i- 1 (tk-l) uk-df IILp'T(E~,p)


1

i=l

::; M[li A(O)(I - L.BiTiAi-l (0))


t=l

uoIIE~,p + a(l ~ a) II r IILp'T(E~,p)],

where M does not depend on f", uo, p, a and T.

196

Chapter 4. Partial Differential Equations of Parabolic Type

Theorem 4.3.10. Let 1 < p, q <

is well posed in

00 and 0 < Q < 1. The difference problem (4.122)


and the following coercivity inequality holds:

Lp,T(E~,q)

+11 {- L

j
i

Q(T -

A i-

I (tk) Uk

i=1

+L

,Bi Ti - A-I (tk-d uk-I}l" IILp'T(E~,q)


1

i=1
j

:S M(q)[I1 A(O)(I - L,BiTiA-I (0))


i=1

where M(q) does not depend on

r, uo, p,

uoIlE~,q + p~ 1 II r IILp'T(E~,),
Q

and To

Note that the difference schemes of the high order of accuracy with respect
to one variable for approximate solutions of the mixed problems (4.50), (4.51) and
(4.52) generated by (4.122) can be constructed. Abstract theorems given above
permit us to establish the stability, almost stability and coercive stability of these
difference schemes.

Chapter 5
Partial Differential Equations
of Elliptic Type
In the present chapter we consider the well-posedness of an abstract boundaryvalue problem for differential equations of elliptic type

-v"(t)

+ Av(t) =

f(t)

(O:S t :S T), v(O) = vo, v(T) =

VT

in an arbitrary Banach space E with the positive operator A. The high order of
accuracy two-step difference schemes generated by an exact difference scheme or
by the Taylor decomposition on three points for the numerical solutions of this
problem are presented. The well-posedness of these difference schemes in various
Banach spaces are studied. The stability and coercive stability estimates in Holder
norms for solutions of the high order of accuracy difference schemes of the mixed
type boundary-value problems for elliptic equations are obtained.

5.1

A Boundary-Value Problem. Well-posedness

We consider the boundary-value problem for differential equation

-v"(t) + Av(t) = f(t)

(O:S t :S T), v(O) = vo, v(T) =

VT

(5.1)

in an arbitrary Banach space E with the linear positive operator A.


A function v(t) is called a solution of problem (5.1) if the following conditions
are satisfied:
i. v(t) is twice continuously differentiable on the segment [0, T]. The derivatives
at the endpoints of the segment are understood as the appropriate unilateral
derivatives.
11.

The element v(t) belongs to D(A) for all t E [0, T], and the function Av(t)
is continuous on the segment [0, T].

iii. v(t) satisfies the equation and boundary conditions (5.1).

Chapter 5. Partial Differential Equations of Elliptic Type

198

A solution of problem (5.1) defined in this manner will from now on be


referred to as a solution of problem (5.1) in the space C(E) = C([O, T], E). Here
C(E) stands for the Banach space of all continuous functions <p(t) defined on [0, T]
with values in E equipped with the norm

If v(t) is a solution in C(E) of problem (5.1), then the data of the problem satisfy
the following conditions:
a) f(t) belongs to C(E) ;
b) va and VT belongs to D(A).
We say that problem (5.1) is well posed in C(E), if the following two conditions are satisfied:

f E C(E) and va, VT E D(A) there exists the unique solution


v(t) = v(t;f(t),VO,VT) in C(E) of problem (5.1). This means that an
additive and homogeneous operator v(t; f(t), va, VT) is defined which
acts from C(E) x D(A) x D(A) to C(E) and gives the solution of (5.1)
in C(E).

1. For any

2. v(t; f(t), va, VT), regarded as an operator from C(E) x D(A) x D(A)
to C(E), is continuous. Here C(E) x D(A) x D(A) is understood as
the normed space of the triplets U(t), va, VT), f(t) E C(E) and va,
VT E D(A), equipped with the norm
IIU(t),VO,VT)IIC(E)XD(A)XD(A) =

Ilfllc(E) + IlvoIID(A) + IlvTIID(A)'

By Banach's theorem in C(E) and these properties one has coercive inequality

II v"II C(E) + II Av ll c (E) :::; Mc[llfllc(E) + IIAvollE + IIAvTIIE],

(5.2)

where Mc (1 :::; Mc < +(0) does not depend on va, VT and f(t). Inequality (5.2)
permits us to investigate the spectral properties of operator A generated by the
well-posedness in C(E) of problem (5.1). For any U E D(A) and oX 2 we will put

'ljJ = Au+Au.

Then, evidently, the function eiVAtu(i =

-v"(t)
with f(t)

A) is a solution in C(E)

+ Av(t) =

of equation

f(t)

= eiVAt'ljJ. Let w(t) be a smooth function defined on [0, T] by the formula


w(t) =

O,
a(t),
{
1,

tJ
tJ

for any t E [0,


U [7[, T],
for any t E [t, u [3;, 7[],
for any t E [t, 3;],

5.1. A Boundary-Value Problem. Well-posedness

199

where a(t) be some smooth function and la( t)1 :S 1. Then, the function v(t) =
w(t)eiVAtu is a solution in C(E) of problem (5.1) with v(o) = v(T) = and
f(t) =

O,
-(a(t)eiVAt)ttu + a(t)eiVAt Au,
{ iVAt l
e
0/,,

for any t E [0, ~J U [7[, T],


for any t E [~, u [31', 7[],
for any t E [I4' 3TJ
4 .

fJ

Therefore from the coercive inequality (5.2) it follows that


A IluliE

+ IIAullE

max IIv"(t)IIE

tE[f, 3[1

+ max IIAv(t)IIE
tE[f, 3JJ

:S max Ilv"(t)IIE + max IIAv(t)IIE


=
= Mc

tElt, 7[1

tE[t, 7[]

Ilv"IIC(E)

+ IIAvIIC(E) :S M c IlfIIC(E)

max{II'l/JIIE,

max

tE[t,flu[3[, 7[1

II - (a(t)eiVAt)ttu + a(t)e iVAt Aulld

Since

we have that

<

11- (a(t)eiVAt)ttu + a(t)e iVAt AullE


la(t)III'l/JIIE + 2Ia'(t)11 ~ (eiVAt)llluIIE + la"(t)llluIIE

< 11'l/JIIE + 2Ml~llullE + M2 11u11E,


where
M1 =

max

tElt,flu[3[,7[]

Therefore

Using the inequality


for c > 0, we obtain that

Let

la'(t)l, M 2 =

max

tE[t,fJu[3[,7[)

la"(t)l.

200

Chapter 5. Partial Differential Equations of Elliptic Type

and A ~ fJ + TJ for some TJ > O. Then the inequality

(A + 1) IlullE + IIAullE

::; Mp (TJ)II1/1IIE

holds for some 0 ::; Mp(TJ) < 00. This means that there exists the inverse operator
(M + A) -1, which is defined on the range R( M + A) of operator M + A. We will
prove that R(M + A) = E for sufficiently large A, A> O.
Then it follows that there exists the inverse operator (M + A)-l and the
inequality

holds for all A, A ~ fJ + TJ and 1/1 E E. Now we will prove that R( M + A) = E for all
\ A > O. We consider the boundary-value problem (5.1). Making the substitution
t = OtT for a > 0, we obtain the well-posed in C([O, ~], E) boundary-value problem

_~VII(7) + AV(7) =
a

1(7)(0 ::; 7 ::; '), v(O) = va, v(') =


a

VT.

Let V(7) be the solution of this problem for va = VT = 0 and 1(7) = fa, where
fa is an arbitrary element of E. Since fa and A are not dependent in 7, we have
that v( 7) = v(:L - 7) for all 0 ::; 7 ::; :L. Then, in particular, it follows that
v'(O) = -v'(~). Finally, choosing J>.~ = (2m + 1)1T for some m = 1,2, ... and
integrating by parts, we obtain
T

- rc; v"(7)e i .fiTd7 =

[-v'(~ )ei.fi~ - v'(O)] + iJ>.[v(~ )ei.fi~ - v(O)]


a

Therefore,

A rc;V(7)e i .fiTd7+A rc;V(7) ei .fiTd7= rc;


2
a io
io
io

foei.fiTd7=-~fo
zJ>.

for all \ A > 0 and fa E E. This means that R(M + A) = E for all J>.~ =
(2m + 1)1T and m = 1,2, .... From that it follows that there exists the bounded
inverse (M + A)-l for all A ~ fJ + TJ.
An operator A acting in a Banach space E and having a dense domain D(A)
is called positive if the operator M + A has a bounded-in-E inverse for all \ A ~ 0,
and the estimate
(5.3)

201

5.1. A Boundary-Value Problem. Well-posedness

is satisfied for some 1 :S M p < +00. Note that we are not able to obtain the
estimate (5.3) for all A, A ~ 0.
Is the positivity of operator A a sufficient condition for the well-posedness
of (5.1) in C(E)? As it turns out, problem (5.1) is not well posed in C(E) for all
such operators. Let us give an example.
Let A be the operator acting in E = C[O, 1] defined by the formula Av(x) =
-v"(x) + v(x), with the domain

D(A)

= {v (x) : v"(x) E C[O, 1], v(O) = v(l) = O}.

Evidently, the operator AI + A has a bounded inverse for any A ~ 0, and formula

[(AI + A)-lV](X)

1 (1 _e- 2v'1+>.)-1 [e-(l-X)v'f0 _ e-(l+x)v'l+>']

= -

2~
1

x j[e-(1-T)v'f0 - e-(l+T)v'f0]v(-r)dr
a
1

2~

j[e-1x-T1v'f0 _ e- 1X +T1 v'f0jv(r)dr

a
holds. From this formula it follows that A is a positive operator in the Banach
space E = C[O, 1]. Now let us show that in this case the boundary-value problem
(5.1) is not well posed in C(E) = C([O, 1], C[O, 1]). Then (5.1) turns into the
boundary-value problem

~:~ - ~:~ + u =

f(t, x),

0< t < 1,

< x < 1,

u(O,x)=u(l,x) =0, O:Sx:Sl,


u(t,O) = u(t, 1) = 0, O:S t:S 1.

However, it is well known that problem (5.4) is not well posed in

C(E) = C([O, 1], C[O, 1]).


The corresponding counterexample can be given by

2
2
u(t,x) = [x (1- x)2 - t (1-

tfJin X2( I-x )2 +t 2( I-t )2'

It means that u(t, x), Ut(t, x), ux(t, x) E C([O, 1], C[O, 1]) and
1

Utt(t,x)=-2In x 2( I-x )2 +t 2( I-t )2+(t,X),


1

uxx (t,x)=2In x 2( I-x )2 +t 2( I-t )2 + <p(t, x)

(5.4)

202

Chapter 5. Partial Differential Equations of Elliptic Type

for some continuous functions 7jJ(t, x) and <p(t, x). Therefore, evidently, the boundary-value problem (5.4) is ill posed in C([O, 1]' C[O, 1]). It means that coercive
inequality (5.2) is not true for any solution in C(E) of the boundary-value problem

(5.1).
Note that from the estimate (5.3), evidently, it follows that the operator
>..I + A has bounded inverse for all complex numbers
.\ = C!

+ iT E Gt =

Gt(Mp ) (0 < < 1),

such that
or

and the estimate

II (>..I + A)-lIIE->E S M 1-1(1 + 1.\1)-1


holds for some M 1 E [1, +00) but does not depend on E (0,1). It means that
the spectrum C!(A) of A is a subset of set G-; =
and inside of G-; and on its
boundary 8G-; the resolvent (>..I - A)-l is subject to the bound

-G-:

(5.5)
Let 7jJ(z) be an analytic function on a neighborhood of C!(A), and suppose that 7jJ
satisfies the estimate
(1 + Izl)Q 17jJ(z) 1S M 2
for some

<

a < +00, 1 S M 2 < +00. Then the Cauchy-Riesz integral operator

7jJ(A) =

~
2m

7jJ(z)(zI - A)-ldz

(5.6)

aa;

converges in the operator norm and defines a bounded linear operator 7jJ(A), a
function of A. In particular, the function 7jJ(A) = z-Q defines a bounded operator
A-Q whenever a > 0. The positive powers AQ = (A-Q)-l(a > 0) of the operator
A are defined. The operators AQ (a > 0) are unbounded, and their domains
D(AU) are dense in E if A is unbounded. One has the continuous embeddings
D(AQ) C D(A.B) if (3 < a. The following moment inequality holds:

IIAQullE S M(a, (3)

IIA.Bull~.B lIullk-Q/.B (0 S a S (3 < +oo,u E D(A.B))

(5.7)

for some M(a,(3) E [1,+00) that does not depend on u E D(A.B). The operator
A1/2 has better spectral properties than the positive operator A. Indeed, using
the identity

203

5.1. A Boundary-Value Problem. Well-posedness

inequality (5.7) for a = ~, (3 = 1 and estimate (5.5) we obtain

~ MM1c- 1(1

+ 1>'1)-1

+M(a,(3)(1 + M1C 1 1>'1 (1 + 1>'1)-1)(M1c- 1(1 + 1>'1)-1)~.


Thus, the operator J>...I - A ~ has a bounded inverse for>. E G; , and the estimate

holds for some M 3 E [1, +(0) and does not depend on E and >.. This means that
B = A~ is a strongly positive operator in a Banach space E (see Chapter 4).
Therefore, the operator -B is a generator of an analytic semigroup exp {-tB}
(t 2 0) with exponentially decreasing norm, when t ~ +00, i.e., the estimates
Ilexp( -tB)IIE---. E , litE exp( -tB)II E---. E ~ M(B)e-c>(B)t(t > 0)

(5.8)

hold for some M(B) E [1, +(0), a(B) E (0, +(0). From that it follows that the
operator I - e- 2TB has a bounded inverse and the following estimate holds:

(5.9)
First of all let us prove a lemma that will be needed in the sequel.
Lemma 5.1.1. For any 0

< t < t + T < T and 0

lone has the inequality

TC>

Ilexp(-tB) -exp{-(t+T)B}II E---. E ~ M (t+T)C>'


where M does not depend on a, t, and

T.

Proof. Using the formula

J
t+T

exp( -tB) - exp {-(t

+ T)B}

B exp( -sB)ds

and estimate (5.8), we obtain that


lIexp( -tB) - exp {-(t

+ T)B}II E---. E ~ M rt .
T

The inequality
Ilexp(-tB) -exp{-(t+T)B}II E---. E ~ M 1

(5.10)

204

Chapter 5. Partial Differential Equations of Elliptic Type

follows from (5.8) and the triangle inequality. Therefore

II exp( -tB) -

exp {-(t

+ 7)B}II E-. E :S M 1min{l, ~}.

From this it follows that


Ilexp( -tB) - exp {-(t

27

+ 7)B}II E -. E :S M 1t + 7'

Interpolating the last inequality and


Ilexp(-tB) -exp{-(t+7)B}II E -. E :S M 1
we obtain (5.10). Lemma 5.1.1 is proved.
Now, we consider the boundary-value problem (5.1). It can be obviously
rewritten as the equivalent boundary-value problem for the system of first-order
linear differential equations

v' (:) + BV(I) ~ z(I)(O ,; 1,; T), viOl ~ Vo, v(T) ~ Vr,
{ -z (t) + Bz(t) =

j(t).

Integrating these, we at once obtain

V(t)
{ z(t)

=
=

e-tBvo + f~ e-Ct-s)Bz(s)ds,
e-CT-t)Bz(T) + ft e-(s-t)B j(s)ds.

From these formulas and the condition v(T) = VT it follows that

v(T) = e-TBvo

+ iT e- 2(T-s)Bdsz(T)

+ iT iT e-(T+y-2s)B j(y)dyds.
Since faT e- 2(T-s)Bds = (2B)-1(I - e- 2TB ), we have that

z(T) = (I - e- 2TB )-12B[VT - e-TBvo


-iT iT e-(T+y-2s)B j(y)dyds]
= (I - e- 2TB )-12B[VT - e-TBvo

-(2B)-1 iT (e-(T-y)B - e-(T+y)B)j(y)dy].

5.1. A Boundary-Value Problem. Well-posedness

So,

205

z(t) = e-(T-t)B(I - e- 2TB )-12B[Vy - e-TBvo


-(2B)-1 iT (e-(T-y)B - e-(T+Y)B)f(y)dy]

+ iT e-(s-t)B f(s)ds

and

-(2B)-1 iT (e-(T-y)B - e-(T+Y)B)f(y)dy]

it

IT e-(t+s-2y)B f(s)dyds.

By an interchange of the order of integration, we obtain

-(2B)-1 iT (e-(T-y)B - e-(T+Y)B)f(y)dy]

it

= e-tBvo

e-(t+s-2y)B f(s)dsdy

+ iT

it

e-(t+s-2y)B f(s)dyds

+ (e-(T-t)B _ e-(T+t)B)(I _ e- 2TB )-1[VT _ e-TBvo


-(2B)-1
+(2B)-1

it

(e-CT-s)B - e-CT+s)B)f(s)ds]

(e-(t-s)B - e-Ct+S)B)f(s)ds

+(2B)-1 iT (e-(s-t)B - e-(t+s)B)f(s)ds


= (I - e-2TB)-1{(e-tB - e-(2T-t)B)vo

+ (e-(T-t)B -

e-(TH)B)VT

_(e-CT-t)B _ e-(TH)B)(2B)-1 iT (e-(T-s)B _ e-(T+s)B)f(s)ds}


+(2B)-1 iT (e-lt-sIB - e-(t+s)B)f(s)ds.
Thus,

Chapter 5. Partial Differential Equations of Elliptic Type

206

_(e-(T-t)B _ e-(T+t)B)(2B)-1 iT (e-(T-s)B _ e-(T+S)B)f(s)ds}


+(2B)-1 iT (e-lt-sIB - e-(t+S)B)f(s)ds.
It is easy to show that vet) defined on [0, T] by formula (5.11) is a unique solution
in G(E) of problem (5.1) if, for example, vo, VT E D(A 2 ) and Af(t) E G(E) or
f'(t) E G(E). Sufficient conditions for the well-posedness of the boundary-value
problem (5.1) can be established if one considers this problem in certain spaces
F(E) of smooth E-valued functions on [0, T].
A function vet) is said to be a solution of problem (5.1) in F(E) if it is a
solution of this problem in G(E) and the functions v"(t) and Av(t) belong to
F(E).
As in the case of the space G(E), we say that problem (5.1) is well posed in
F(E), if the following two conditions are satisfied:
1. For any f E F(E) and vo, VT E D(A) there exists a unique solution vet) =
vet; f(t), Vo, VT) in F(E) of problem (5.1). This means that an additive and
homogeneous operator vet; f(t), vo, Vy) is defined which acts from F(E) x
D(A) x D(A) to F(E) and gives the solution of (5.1) in F(E).

2. vet; f(t), vo, VT), regarded as an operator from F(E) x D(A) x D(A) to F(E),
is continuous. Here F(E) x D(A) x D(A) is understood as the normed space
of the triplets (J(t), Vo, VT), f(t) E F(E) and vo, VT E D(A), equipped with
the norm

11(J(t),VO,VT)IIF(E)XD(A)XD(A) = IlfIIF(E) + IlvoIID(A) + IlvTIID(A).


First, we set F(E) equal to G~Ta(E) = G~t([O,T],E),O < a < 1, the Banach
space obtained by completion of the set of smooth E-valued functions Y'(t) on
[0, T] in the norm

II Y' lIe a.a(E)= 1IY'lIe(E) +


OT

sup

o:::;t<t+T::oT

1IY'(t + r) - Y'(t)IIE
r

(T - t) (t

+ r) .

As in the case of the space G(E), from the well-posedness of the boundary-value
problem (5.1) one derives the coercivity inequality

Ilv"lIe~+Q(E)

+ IIAvlle~+a(E) :S Mc(a)[lIflle~+a(E) + IIAvollE + IIAvTllel (5.12)

where Me (a)(l :S Mc(a) < +00) does not depend on Vo, Vy and f(t).
Theorem 5.1.2. Suppose Vo, VT E D(A), f(t) E G~t(E)(O < a < 1). Then the
boundary-value problem (5.1) is well posed in the Holder space G~Ta(E), if A is

5.1. A Boundary-Value Problem. Well-posedness

207

the positive operator in the Banach space E. For the solution v(t) in C~TO!(E) of
the boundary-value problem the coercive inequality

Ilv"llc;+"CE) + IIAvllc;+"CE) :S

a(l~ a)

II f IIc;+"CE) +M[li

Avo/IE

+ I/AvTlleJ

holds, where M does not depend on a, Vo, VT and f(t).


Proof. If v(t) is a solution in C~t(E) of problem (5.1), then it is a solution in
C(E) of this problem. Hence, by (5.11), we have the representation
v(t) = (I - e-2TB)-1{(e-tB - e- C2T - t )B)vo

+ (e-CT-t)B - e-CTH)B)VT

_(e-CT-t)B _ e-CTH)B)(2B)-1 iT (e-CT-s)B _ e-CT+s)B)f(s)ds}


+(2B)-1 iT (e-lt-sIB - e-Ct+s)B)f(s)ds.
To prove the theorem we must show that the functions v"(t) and Av(t) belong to
C~t(E), and finally obtain estimates for the norms of these functions. Here we
address only the last task. Using formula (5.11), we obtain

Av(t) = (I - e-2TB)-1{(e-tB - e-C2T-t)B)Avo

(5.13)

+(e-CT-t)B _ e-CTH)B)AvT}
_(e-CT-t)B _

T
r (e-CT-s)B _ e-CT+s)B)dsf(t)}
2 Jo

e-CT+t)B)~B

+~B
2

_(e-(T-t)B _

((e-lt-sIB - e-Ct+s)B)dsf(t)

Jo

e-(TH)B)~B
2

rT(e-CT-S)B _ e-CT+s)B)(f(s) - f(t))ds}

Jo

+~B

((e-lt-sIB - e-Ct+s)B)(f(s) - f(t))ds


2 Jo
= (I _e-2TB)-1(e-tB -e-(2T-t)B)Avo+(I _e- 2TB )-1(e-(T-t)B -e-CTH)B)AvT
+(I - e- 2TB )-1(I - e-tB)(I - e-(T-t)B)(I - e-TB)f(t)

208

Chapter 5. Partial Differential Equations of Elliptic Type

Let us estimate Jk(t) for any k = 1,2,3,4,5 separately. We start with J1 (t). Using
estimates (5.8)and (5.9) we show that, for 0 :::; t :::; T,

Further, applying (5.9) and (5.10) we show that, for 0 < t < t

+lle-(2T-t)B - e-(2T-t-r)BII

TO.

-+
]IIAv II < M[
E E
0 E(t + T)o.

+ T < T,

TO.

+ (T _ t)o. ]IIAv0 II E.

Thus, we have proved that


(5.14)

In a similar manner we can show that


IlhIIC~T"(E) :::; MIIAvTIIE.

(5.15)

Now let us estimate h(t). Using estimates (5.8) and (5.9), we obtain that

h(t)

liE:::; 11(1 -

e- 2TB )-11IE-+EIII - e-tBIIE-+E

xiiI - e-(T-t)BIIE-+EIII - e-BIIE-+Ellf(t)IIE :::; Mllfllcg+"(E)


for 0 :::; t :::; T. From this inequality it follows that

max
O::=;t::=;T

h(t)

liE:::; M I f IIc"'''(E) .
OT

Since

+(1 - e-2TB)-1{(e-tB - e-(t+r)B)(I _ e-(T-t)B)


+(1 - e-tB)(e-(T-t)B _ e-(T-t-r)B)}(I - e-TB)f(t)
it follows that

h(t + T) - h(t)

liE:::; 11(1 -

e- 2TB )-11IE-+E

xiiI - e-tBlls-+EiII - e-(T-t)Bl/s-+sI/I - e-TBlls-+Ellf(t + T) - f(t)/IE

+11(1 - e-2TB)-11IE-+E{lle-tB - e-(t+r)BIIE-+EIII - e-(T-t)BIIE-+E


+111 - e-tBIIE-+Elle-(T-t)B - e-(T-t-r)BIIE-+e}III - e- TB IIE-+Ellf(t)IIE

209

5.1. A Boundary-Value Problem. Well-posedness

for 0 < t < t + T < T. Using estimates (5.8), (5.9) and (5.10), we obtain

h(t + T) - h(t)

+ T < T.

for 0 < t < t

liE

~ M[ (t + T)a + (T _ t)a 111 1 IIc~+a(E)

From this it follows that

I h

Ilc~+a(E)~ M I

I 1 Ilc~+a(E) .

(5.16)

Now let us estimate J4 (t). We have to consider two cases: 0 ~ t ~ and


T. In the first case, using estimates (5.8) and (5.9), we obtain that

~t ~

J4 (t)

IIE~ II(I - e-2TB)-IIIE-+E~

IIBe-(t-s)B(I - e-(2T-2t)B)

IIE-+E

xiiI -

e-

2sB

IIE-+E 11/(s) -

I(t)

M
~ -;;(T - t)-a

liE ds

~M

J
t

(t _ S)l-:tSa(T _ s)a

M2 a
1 Ilc~+a(E)~ o:Ta

I 1 Ilc~+a(E)

I 1 Ilc~+a(E) .

In the second case, using estimates (5.8), (5.9) and (5.10), we obtain that

J
t

J4 (t)

IIE~ II(I - e-2TB)-IIIE-+E~

IIBe-(t-s)B(I - e-(2T-2t)B)

IIE-+E

xIII -

e-

2sB

IIE-+E 11/(s) -

liE ds

I(t)

< MJ

Since
t

J
o

2(T - t)ds
(t - s)l-a(2T - t - s)ta(T - s)a
1

= ta(T -

~ ta(T - t)a

J
t

2(T - t)ds
(t - s)l-a(2T - t - s)

t)a

a,a
I 1 IlcoT (E)

2(T - t)ds
(t - s)l-a(2T - t - s)ta(T _ S)a

2(T - t)dz
1
zl-a(2T - 2t + z) ~ ta(T - t)a(2T - 2t)l-a

00

2(T - t)dp
pl-a(1 + p)

Chapter 5. Partial Differential Equations of Elliptic Type

210

it follows that

Combining the estimates for

IIE:S

J4 (t)

a(l _ a)

J4 (t)

II f

IIc~T"(E)

liE, we obtain
M

O~t~T I J4(t) IIE:S a(l _ a) I f I .

(5.17)

Now let us estimate the difference J4 (t + 7) - J4 (t) for 0 < t < t + 7 < T. We will
consider separately the cases t :S 7, T - t :S 27 and t > 7, T - t > 27. If t :S 7,
then (5.17) yields

:S

M21+
a(l _ a)
Q

If T - t

:S

I f Ilc~+"(E) 7Q(t + 7)-Q

:S 27, then (5.17)

7
2

II
Q

1+ )

a1-a

= a(l

~ a) I f IIC~T"(E)

Q
7 (t + 7)-Q.

yields

J4 (t + 7) - J4 (t)

I f IIC"'''(E)
7
~

IIE:s1I J4 (t + 7) liE + I
(MI )
a1-a

(T - t)-Q =

J4 (t)

liE

I f IIC"'''(E)
7
~

Now let t > 7 and T - t > 27. Let us represent the difference J4 (t
the sum of the following integrals:

J
t+r

e-(t+r-s)B(I - e- 2sB )(f(s) - f(t

t-r

(T - t)-Q.

+ 7) -

J4 (t) as

+ 7))ds

J
J
t

-(1 - e- 2TB )-1 ~ (1 - e-(2T-2t)B)

e-(t-s)B(1 - e- 2sB )(f(s) - f(t))ds

t-r
t-r
+(1 _e- 2TB )-1 ~ (I _e-(2T-2t-2r)B)
e-(t+r-s)B(I -e- 2sB )(f(t) - f(t+7))ds

J
t-r

+(I - e- 2TB )-1

~ [(e-(2T-2t)B - e-(2T-2t-2r)B)e-(t-s)B

o
+(1 - e-(2T-2t)B)(e-(t+r-s)B - e-(t-s)B)](1 - e- 2sB )(f(s) - f(t))ds
= PI

+ P2 + P3 + P4

5.1. A Boundary-Value Problem. Well-posedness

211

Now let us estimate Pl' Using estimates (5.8) and (5.9), we obtain that

II PI IIE~ 11(1 - e-2TB)-IIIE-+E~

t+r

IIBe-(t+r-s)B(1 - e-(2T-2t-2r)B)

t-r

x III -

e-

2sB

IIE-+E Ilf(s) -

t+r

~M

t-r

f(t

+ r) liE ds

ds
(t + r _ s)1-"(t + r)"(T _ s)"

I f Ilc~+a(E)

In exactly the same manner one establishes the estimate

Since

J
t-r

e-(t+r-s)B(1 - e- 2sB )ds(f(t) - f(t

+ r))

= (I - e- 2TB )-1 ~(I - e-(2T-2t-2r)B)


2

x[e- 2rB - 2e-(t+r)B

+ e- 2tB ](f(t) -

f(t

+ r)),

it follows that

II P3 IIE~ 11(1 - e-2TB)-IIIE-+E~III x Ile- 2rB

2e-(t+r)B

e-(2T-2t-2r)BIIE-+E

+ e- 2tB IIE-+Ellf(t) -

Using estimates (5.8) and (5.9), we obtain

f(t

+ r)IIE.

IIE-+E

212

Chapter 5. Partial Differential Equations of Elliptic Type

Now let us estimate P4. Using estimates (5.8), (5.9) and (5.10), we obtain

J{II

t-T

II P3 I1E:S 11(1 - e-2TB)-11IE--->E~

o
-(2T-2t-2T)B) -(t-s)B
-e
e

+ I B(1 -

B(e-(2T-2t)B

II E--->E

e-(2T-2t)B)(e-(t+T-S)B - e-(t-s)B)

xIII -

e-

2sB

IIE_E

f(t) - f(s)

IIE-E }

liE ds

t-T

:s M
Since for t

> 7 and T -

<

(t _

S)2-:~~(T _ s)a

If

IIc~+Q(E) .

> 27, we have the bound

- (1 - a)ta(T - t + 7)a

-l+a

a a

<

- (1 - a)(t + 7)a(T - t)a

Therefore, we conclude that

Thus, we have shown that for any 0

< t < t + 7 < T the following inequality holds:

Estimates (5.17) and (5.18) give

M
J 4 IIc~+Q(E):S a(1 _ a)

II f

Ilc~+Q(E)

(5.19)

(5.20)

In exactly the same manner one establishes the inequality

M
J5 Ilc~+Q(E):S a(1 _ a)

I f

Ilc~+Q(E)

Finally, applying estimates (5.14), (5.15), (5.16), (5.19) and (5.20) we obtain the
estimate

II

Av

Ilcg+Q(E):S

a(1 _ a)

If

Ilcg~t(E)

+M[li AvoilE + IIAvTIIE]'

213

5.1. A Boundary-Value Problem. Well-posedness

By the triangle inequality, this last estimate and equation (5.1) yields

II v"(t) IIcQ,Q(E)
~ a (M
+M[II
OT
1 - a ) II f IlcQ,Q(E)
OT

AvoilE + IIAVrIIE]'

Theorem 5.1.2 is proved.


We denote by C~t(E) = C~:y::~([o, T]' E),
< a < 1, the Banach space
obtained by completion of the set of smooth E-valued functions <.p(t) on [0, T] in
the norm

II <.pllcQ,Q(E)= 11<.pIIC(E) +
OT

sup

II<.p(t

+ 7) -

OSt<t+TST

Ct

<.p(t) liE

Ct

Ct

mm{(T-t) ,(t+7)}.

It is easy to show that

II <.p Ilc~+Q(E)~

Ct

II <.p Ilc~+Q(E) .

By the way, the norms of the spaces C~TCt(E) and C~t;(E) are not equivalent.
Nevertheless let us give, without proof, the following result.
Theorem 5.1.3. Suppose Vo, VT E D(A), f(t) E C~TCt(E)(O < a < 1). Then the
boundary-value problem (5.1) is well posed in Holder space C~t(E), if A is the
positive operator in the Banach space E. For the solution v(t) in C~t(E) of the

boundary-value problem the coercive inequality

Ilv"llc~+Q(E) + IIAvllc~+Q(E) ::; a(l~ a) II f Ilc~+Q(E) +M[li AvoilE + IIAvTIIE]


holds, where M does not depend on a, Vo, VT and f(t) .
Note that the coercivity inequality

Ilv"IIF(E) + IIAvIIF(E)

::;

MC[llfIIF(E) +

IIAvoliE

+ IIAvTIIE]

fails if we set F(E) equal to CCt(E), (0 < a < 1), the Banach space obtained by
completion of the set of all smooth E-valued functions <.p(t) on [0, T] in the norm

II <.p IlcQ(E)=

max
OStST

11<.p(t)IIE +

sup
OSt<t+TST

II <p(t + 7) Ct-

<p(t)

liE

Nevertheless, we have the following result.


Theorem 5.1.4. Suppose v~, v~ E E Ct , f(t) E CCt(E)(O < a < 1). Then the
boundary-value problem (5.1) is well posed in the Holder space CCt(E), if A is the
positive operator in the Banach space E. For the solution v(t) in CCt(E) of the

boundary-value problem the coercive inequality

Ilv"lIcQ(E) + IIAvllcQ(E) + Ilv"llc(EQ) ~


+ Ma [II v~IIEQ + Ilv~IIEal

a(l~ a) II f IlcQ(E)

214

Chapter 5. Partial Differential Equations of Elliptic Type

holds, where M does not depend on 0:, va, Vr and f(t). Here, the Banach space
Eo: = Eo:(E, B) (0 < 0: < 1) consists of those vEE for which the norm

I v IIE,,= SUpZl-o:
z>o

II Bexp{-zB}v liE +

II V

liE

is finite.
Proof. By formula (5.11), we have

v"(t) = {I - e-2TB)-1(e-tB -

e-(2T-t)B)v~

+{I - e- 2TB )-1(e-(T-t)B -

e-(T+t)B)v~

+(1 - e- 2TB )-1(e-(t+T)B - e-(2T-t)B)f(0)


+(I - e- 2TB )-1(e-(2T-t)B - e-(T+t)B)f(T)
-(I - e-2TB)-le-tB{I - e-TB)(f(t) - f(O))
-(I - e- 2TB )-le-(T-t)B{I - e-TB)(f(t) - f(T))
+{I - e- 2TB )-1 B (I - e-(2T-2t)B)

rt e-(t-s)B{I -

e- 2sB )(f(s) - f(t))ds

Jo

+{I - e- 2TB )-1 B (I - e- 2tB ) iT e-(s-t)B{I - e-(2T-2s)B)(f(s) - f(t))ds

= LGk(t).
k=l

To prove the theorem it suffices to establish the estimates for v"(t) in CO:(E) and
in C(Eo:). Let us estimate Gk(t) for any k = 1,2,3,4,5,6,7,8 separately. We start
with G 1 (t). Using estimates (5.8), (5.9) and the definition of the spaces Eo: we show
that, for 0 S t S T,
2T-t
2TB
IIG 1(t)IIE < II{I - e)-11IE->E
IIBexp(-sB)v~IIEds

f
t

2T-t

J s~~o:llv~IIE"

< M

~lllv~IIE'"

Further, applying (5.8), (5.9) and the definition of the spaces Eo: we show that,
for 0 < t < t + T < T,
t+r
IIG1(t + T) - G1(t)IIE S II{I - e-

2TB

)-11IE->e[

liB exp( -sB)v~IIEds

2T-t

2T-t-r

IIBexp(-sB)v~IIEds]

215

5.1. A Boundary-Value Problem. Well-posedness


t+T

<
-

2T-t

M[J ~ + J

~]llv"ll
8 1- 0
0 E", <
-

81-0

oM1

11v"II
0 E", .

2T-t-T

Thus, we have proved that

In a similar manner we can show that

Using estimates (5.8), (5.9) and the definition of the spaces Eo we show that, for

o :=; t :=; T,

Thus, we have proved that

In a similar manner we can show that

Now let us estimate G3 (t). Using estimates (5.8) and (5.9) we show that, for

o:=; t :=; T,

II G3(t)IIE :=; 11(1 -

e- 2TB )-II1E-+Elle-(t+T)B - e-(2T-t)BIIE-+Ellf(0)IIE

:=; Mllfllc"'(E)'
Further, applying (5.8), (5.9) and (5.10) we show that, for 0 < t < t

II G3 (t + T)

G3 (t) liE:=;

x{lle-(t+T)B _ e-(t+T+T)BIIE-+E
TO

11(/ -

e-

+ Ile-(2T-t)B

TO

2TB

+ T < T,

)-IIIE-+E

- e-(2T-t-T)BIIE-+E}llf(0)IIE

:=; M[(t + T + T)O + (2T _ t)o] II f IIc"'(E):=; M 1To II f Ilc"'(E) .


Thus, we have proved that

In a similar manner we can show that

Chapter 5. Partial Differential Equations of Elliptic Type

216

By the definition of the spaces Ea: and using estimates (5.8), (5.9), we obtain that

II AI-a: Be->.BG3 (t) liE::; AI-a:II(I - e-ZTB)-IIIE--+E


x IIBe->.B(e-(t+T)B - e-(ZT-t)B)f(O)IIE

AI-a:

::; M[ A + t + T
1

AI-a:
+ A - t + 2T 111f (0)IIE
1

::; M[(t + T)a: + (2T _ t)a:lIlf(O)IIE ::; MI II f IIc<>(E)


for all A, A > 0 and for 0 ::; t ::; T. So, we have established that

In a similar manner we can show that

Now let us estimate G5 (t). Using estimates (5.8) and (5.9) we obtain that

II G5 (t) liE::; 11(1 - e-ZTB)-IIlE--+EIII - e-TBIIE--+E


xlle-tBIIE--+Ellf(t) - f(O)IIE ::; Mllfllc<>(E) ::; Mta:llfllc<>(E)
for 0 ::; t ::; T. From this inequality it follows that

max II G5 (t) liE::; MI II f IIc<>(E) .

O::;t::;T

Since

G5 (t + r) - G5 (t)

(I - e- 2TB )-le-(t+T)B(1 - e-TB)(f(t + r) - f(t))

-(1 - e-ZTB)-I{(e-tB - e-(t+T)B)(I - e-TB)(f(t) - f(O)),


it follows that

II G5 (t + r) - G5 (t) liE::; 11(1 - e-ZTB)-IIIE--+E


xIle-(t+T)BIIE--+EI11 - e-TBIIE--+Ellf(t + r) - f(t)IIE
+11(1 - e-ZTB)-IIIE--+Elle-tB - e-(t+T)BIIE--+EI11 - e- TB IIE--+EIIf(t) - f(O)IIE
::; M(ra: + :: ta:) II f IIc<>(E)= MIra: II f IIc<>(E)
for 0 < t < t

+ r < T.

From this it follows that

5.1. A Boundary-Value Problem. Well-posedness

217

In a similar manner we can show that


IIG61ICO(E) :S Ml II

1 Ilco(E) .

By the definition of the spaces Eo: and using estimates (5.8), (5.9), we obtain that
II Al-o: Be->'BGs(t) IIE:S Al-O:II(I - e- 2TB )-lIIE-+E
xiiI - e-TBIIE-+EIIBe-(>.+t)B(f(t) - I(O))IIE
Al-O:tO:
:S M A + till IlcO(E):S Mill IIcO(E)
for all A, A > 0 and for 0 :S t :S T. So, we have established that

In a similar manner we can show that


II G6I1C(Eo) :S Ml II

1 IIco(E) .

Now let us estimate G7 (t). Using estimates (5.8) and (5.9) we obtain that

J
t

II G7 (t) IIE:S 11(1 _e-2TB)-lIlE--+E~

IIBe-(t-s)B(1 _e-(2T-2t)B) IIE--+E (5.21)

x III - e- 2sB IIE-+E II/(s) - I(t) liE ds

J
t

(t _ ~~l-O: II 1 IIco(E)= ~ to: II IlIco(E)


o
T. From this inequality it follows that
:S M

for 0 ~ t

max II G7 (t) IIE~ - II 1 IIco(E) .


O:5;t:5;T
a

(5.22)

Now let us estimate the difference G7 (t + r) - G7 (t) for 0 < t < t + r < T. We
will consider separately the cases t ~ rand t > r. If t ~ r, then (5.21) yields
II G7 (t

+ r) -

:S M (to:
a

G7 (t) IIE~II G7 (t

+ r) liE + II

G7 (t) liE

+ (t + rt) II 1 IICO(E):S MlrO: II 1 IICO(E) .


a

Now let t > r. Let us represent the difference G 7 (t + r) - G7 (t) as the sum of the
following integrals:

G7 (t + r) - G7 (t) = (I - e- 2TB )-l B (I _ e-(2T-2t-2T)B)


2
t+T
x
e-(t+T-s)B(1 - e- 2sB )(f(s) - I(t + r))ds
t-T

Chapter 5. Partial Differential Equations of Elliptic Type

218

J
t

-(1 - C 2TB )-1 ~ (1 - e-(2T-2t)B)

e-(t-s)B(1 - e- 2sB )(f(S) - f(t))ds

t-r

J
t-r

e-(t+r-s)B(1 - e- 2sB )(f(t) - f(t

J
t-r

+(1 - e- 2TB )-1

+ r))ds

~ [(e-(2T-2t)B - e-(2T-2t-2r)B)e-(t-s)B

o
+(1 - e-(2T-2t)B)(e-(t+r-s)B - e-(t-s)B)](I - e- 2sB )(f(S) - f(t))ds
= PI + P2 + P3 + P4 .

Now let us estimate Pl. Using estimates (5.8) and (5.9) we obtain that

II

PI

liE::; 11(1 - e-2TB)-IIIE-+E~

J
t+r

IIBe-(t+r-s)B(1 - e-(2T-2t-2r)B)

t-r

xiiI -

J(+

e- 2sB

IIE-+E

IIf(s) - f(t

+ r) liE ds

t+r

::; M

dS)l
r - s -0

II f IlcQ(E)::; Ma (2r)0 II f IlcQ(E) .

t-r
In exactly the same manner one establishes the estimate

Since

t-r
X

e-(t+r-s)B(1 - e- 2sB )ds(f(t) - f(t

+ r))

o
= (1 - e- 2TB )-1 ~(1 - e-(2T-2t-2r)B)

2
x [e- 2rB _ 2e-(t+r)B + e- 2tB ](f(t) - f(t

+ r)),

it follows that

II P3

11E::;

11(1 - e-2TB)-11IE-+E~III -

xlle- 2rB -

e-(2T-2t-2r)BIIE-+E

2e-(t+r)B + e- 2tB IIE-+Ellf(t) - f(t

+ r)IIE.

IIE-+E

219

5.1. A Boundary-Value Problem. Well-posedness

Using estimates (5.8) and (5.9) we obtain

Now let us estimate P4. Using estimates (5.8), (5.9) and (5.10), we obtain

J{II
t-r

B(e-(2T-2t)B - e-(2T-2t-2r)B)e-(t-s)B

IIE--+E

+ II B(I -

e-(2T-2t)B)(e-(t+r-s)B - e-(t-s)B)

xiiI -

e- 2sB IIE--+E

II

f(t) - f(s)

IIE--+E }

liE ds

J ::;2-0 II f IIC<>(E) .
t-r

::; M

(t

Since for t > 7, we have the bound


t-r

J
o

t-r
tds
7
..,--------,-,;:-<
(t-s)2-0 - t o (T-t+7)0

ds
7
-1+0
7
< -7
= (t-S)2-0 -1-0:
1-0:

Therefore, we conclude that

Thus, we have shown that for any 0 < t < t+7 < T the following inequality holds:

Estimates (5.22) and (5.23) give

In exactly the same manner one establishes the inequality

II Gs Ilc<>(E)::;

M
0:(1 _ 0:)

II f IIc<>(E) .

Chapter 5. Partial Differential Equations of Elliptic Type

220

By the definition of the spaces Eo: and using estimates (5.8), (5.9), we obtain that
II .xl-o: Be- AB G7 (t) IIE~ .xl-O:I/(I - e- 2TB )-11IE-.E

J
t

IIB 2e-(A+t-s)B(I - e-(2T-2t)B) IIE-.E

o
xiiI - et

~M
for all .x,.x

>0

.xl-O:ds

J
o

2sB IIE-.E IIf(s) - f(t) liE ds

(.x + t _

S)2-0:

II f

IIco(E)~ 1 _ a II f IIco(E)

and for 0 ~ t ~ T. So, we have established that

M
II G 7I1c(Eo) ~ 1- a II

Ilco(E) .

IIco(E) .

In a similar manner we can show that


M
IIGsllc(Eo) ~ 1 _ a II
Combining the estimates for Gk(t), k
IIv"IICO(E):S

M
(1

-a

1,2,3,4,5,6,7,8 we obtain the estimates

) II f IIco(E)

+M
[II
a

v~IIEo + Ilv~IIEal,

M
(1

) II f IIco(E) + M [II v~IIEo + Ilv~IIEo]'


a -a
a
The estimate for Av(t) in the norm of CO:(E) follows from the triangle inequality.
Theorem 5.1.4 is proved.
Second, one can enrich the family of spaces of smooth functions in which the
boundary-value problem (5.1) is well posed by introducing the spaces CgP(E),
(0 :s 'Y :s f3,0 < f3 < 1), obtained by completion of the set of all smooth E-valued
functions <p(t) on [0, T] with respect to the norm

IIv"lIc(Eo):S

II <p

max II <p (t )11 E +


sup
II C13'Y(E)=
OT
O~t~T
O~t<t+T~T

(t + r)r(T - t)' II <p(t + r) - <p(t) liE


(3
r

Let us give, without proof, the following result.

Theorem 5.1.5. Let A be the positive operator in a Banach space E and f(t) E
CgP(E) (0 ~ 'Y ~ f3,0 < f3 < 1). Then for the solution v(t) in CgP(E) of the
boundary-value problem (5.1) the coercive inequalities
II v" Ilc(EI3-"'f) M[II v~ IIEI3-"'f + II v~ IIEI3-"'f +f3- 1(1 - (3)-1 II f II cg+"'fcE)],

:s

II v" Ilcg+"'f(E)

+ II Av II c g+"'f(E)

:s M[lv~lg,y + Iv~lg,r + f3-1(1 - m-

II f Ilcg+"'fcE)]

221

5.1. A Boundary-Value Problem. Well-posedness

hold, where M does not depend on (3,'Y,vg,v~ and f(t). Here, Iwlg,"! denotes that
the norm of the Banach space Eg,"! consists of those wEE for which the norm

is finite.
Note that the parameter 'Y can be chosen freely in [0, (3), which increases the
number offunction spaces in which problem (5.1) is well posed. In particular, it is
important that problem (5.1) is well posed in the Holder space without a weight
b = 0). Recall that the positivity of A is a necessary condition for well-posedness
of problem (5.1) in C(E). However, problem (5.1) is not well posed in C(E) for
all positive operators. It turns out that a Banach space E can be restricted to a
Banach space E' in such a manner that the restricted problem (5.1) in E' will be
well posed in C(E'). The role of E' will be played here by the fractional spaces
Eo: = Eo:(E, B)(O < a < 1).
Theorem 5.1.6. Let A be the positive operator in a Banach space E and f(t) E
C(Eo:), (0 < a < 1). Then for the solution v(t) in C(Eo:) of the boundary-value
problem (5.1) the coercive inequality

I v"

Ile(E,,) + II Av Ile(E,,)

:s: M[II Avo liE" + I AVT liE" +a- 1(1 - a)-l I f Ile(E,,)]
holds, where M does not depend on a, vg,

v~

(5.24)

and f(t).

Proof. Using formula (5.7), we obtain


Av(t) = (1 - e-2TB)-1{(e-tB - e-(2T-t)B)Avo

+ (e-(T-t)B - e-(T+t)B)Avr}

T
B e-(T-s)B f(s)ds
r
Jo 2
T
+(1 - e- 2TB )-1(e-(2T-t)B _ e- tB ) r B e- sB f(s)ds
Jo 2

-(1 - e- 2TB )-1(e-(T-t)B _ e-(TH)B)

Jo

B e-(t-s)B f(s)ds
2

rT B e-(s-t)B f(s)ds

Jt

h(t).

k=l

Let us estimate h(t) for any k = 1,2,3, ... ,6 separately. We start with h (t).
Using estimates (5.8), (5.9) and the definition of the spaces Eo: we show that, for
O:S: t :s: T,

IIh(t)IIE" :s: 11(1 - e-2TB)-1IlE-->Elle-tB - e-(2T-t)BIIE-->E II Avo liE"


::; MIiAvoIlE".

222

Chapter 5. Partial Differential Equations of Elliptic Type

Thus, we have proved that

IlhIIC(Ea )

::;

MIIAvoIIEa

a ) ::;

MIIAvTIIEa

In a similar manner we can show that

IllzIIC(E

By the definition of the spaces E a and using estimates (5.8), (5.9), we obtain that

II

).,1-0 Be->.B h(t)

liE::; 11(1 x

<M
-

J
T

T ).,1-0

--IIB 2e-(T-s+>.)B l(s)IIEds

a
ds

I 1 IIC(E
<M
s+ ).,)(T - s)1-a -

).,1-

(T -

e- 2TB )-IIIE-->Elle-(T-t)B - e-(T+t)BIIE-->E

a )

J
~

I 1 IIC(E < M 1
+ z)zl-a - a(l _ a) I IIIC(E

dz

a )

(1

o
0
for all )..,)., > 0 and for 0 ::; t ::; T. So, we have established that

Ilhllc(E

a ) ::;

M1
a(l _ a)

a )

I 1 IIc(E

a ) .

In a similar manner we can show that

Next, using estimates (5.8), we obtain

J
t

II ).,1-a Be->'B h liE::; ~

II B 2e-(s+>.)B I(s) liE ds

<M

).,1-0

dz

(1

II 1 IIC(E < M 1 II 1 II
+ z)zl-a - a(l _ a)
C(E
a )

a )

o
for all ).., )., > 0 and for 0 ::; t ::; T. So, we have established that

IIhllc(E

a ) ::;

M1
a(l _ a)

III IIc(E

a )

In a similar manner we can show that

Ilhllc(E

a ) ::;

M1
a(l _ a)

III Ilc(E

a ) .

Combining the estimates for h, lz, h, [4, h, h we obtain estimate (5.24). Theorem 5.1.4 is proved.
Third, let us study now the boundary-value problem (5.1) in the spaces
cgp(Ea -f3), (0:::; "y::; (3:::; a,O < a < 1). To these there correspond the spaces of

223

5.1. A Boundary-Value Problem. Well-posedness

traces E~~fJ' which consist of elements wEE for which the norm
fJ "
Iwl o-f3

max

O~z~T

Ile-zBwIIEa_1J
T- f3 (Z + T)'(l - z)'ll(e-(z+T)B - e-ZB)wIIEa_1J

sup
O~z<z+T~T

is finite. Let us give, without proof, the following results.


Theorem 5.1.7. Let A be the positive operator in a Banach space E, v~ E E~~fJ'

v!j. E E~~f3 and f(t) E Cgp(Eo-fJ) (0 ::; 'Y ::; f3 ::; a, 0 < a < 1). Then for
the solution v(t) in Cgp(Eo-f3) of the boundary-value problem (5.1) the coercive
inequality
II v" IlcgT"Y(Ea_lJ) + II Av IlcgT"Y(Ea_lJ) + II v" Ilc(E~~IJ)
::; M[lv~I~~fJ

+ Iv!j.I~~fJ + a- I (1- a)-l II f IlcgT"Y(Ea_IJ)]

holds, where M does not depend on a, f3, 'Y,

v~,

v!j. and f (t).

Theorem 5.1.8. Let A be the positive operator in a Banach space E and v~ E


E o -" v!j. E E o - , and f(t) E Cgy'(Eo-,) (0::; 'Y ::; f3 ::; a, 0 < a < 1). Then for
the solution v(t) in Cgp(Eo-fJ) of the boundary-value problem (5.1) the coercive

inequality

II v" II cgT"Y(Ea_lJ) + II Av II cgP(Ea_lJ) + II v" IIc(E a-"y)


< Ma- l (l - a)-lUI v~ IIEa-"y + II v!j. IIEa-"y + II f II cgT"Y(Ea_IJ)]

holds, where M does not depend on a, f3, 'Y,

v~,

v!j. and f (t).

Note that the spaces of smooth functions Cgp(Eo- f3 ), in which coercive


solvability has been established, depend on the parameters a, f3 and 'Y. However,
the constants in the coercive inequalities depend only on a. Hence, we can choose
the parameters f3 and 'Y freely, which increases the number of function spaces
in which problem (5.1) is well posed. In particular, Theorem 5.1.6 implies the
well-posedness Theorem 5.1.4 in C(Eo ) established in the above.
Fourth, let us study now the boundary-value problem (5.1) in the spaces
Lp(E) = Lp([O, T], E) (1 ::; p < 00) of all strongly measurable E-valued functions
v(t) on [0, T] for which the norm
T

II

IILp(E)= (/ II v(t) Iii dt)~


o

is finite.
Recall that a function v(t) is said to be absolutely continuous if it has a
derivative v'(t) for almost every t such that v'(t) E LI(E), and if the Newton-

Chapter 5. Partial Differential Equations of Elliptic Type

224

Leibniz formula

J
t

v(t) - V(T) =

v'(s)ds

holds for all t, T E [0, T]. Here the integral is understood in the sense of Bochner.
A function v(t) is said to be a solution of problem (5.1) in Lp(E) if it is
absolutely continuous, the functions v"(t) and Av(t) belong to Lp(E), equation
(5.1) is satisfied for almost every t, and v(o) = va, v(T) = VT. From this definition
it follows that a necessary condition for the solvability of problem (5.1) in Lp(E)
is that f(t) E Lp(E). It will be shown that in certain cases this condition is also
sufficient for the solvability of problem (5.1). As concerns the boundary elements,
in contrast to the situation considered earlier, from the solvability of problem (5.1)
in Lp(E) it follows only that vo, VT E E. In the case of an unbounded operator A
this does not allow us to prove the solvability of problem (5.1).
From the unique solvability of (5.1) it follows that the operator v(t; f(t), VA,
VT) is bounded in Lp(E) and one has coercive inequality

II v"IIL p(E)

+ IIAv(t)IILp(E)

~ Me[llfIILp(E)

+ IIAvollE + IIAvTllEl

where Me (1 ~ Me < +(0) does not depend on VO,VT and f(t). From that we
can obtain the positivity of A under the stronger assumption that the operator
A-I is compact in E. Let us give, without proof, the following results.
Theorem 5.1.9. Let A be the positive operator in a Banach space E. Suppose
problem (5.1) is well posed in Lpo(E) for some Po, 1 < Po < 00. Then it is well
posed in Lp(E) for any p, 1 < P < 00 and the coercivity inequality holds:

Ilv"liLp(E) + II Av IILp(E) + Ilvlle(E1_1/p,p)


~

M(pO)p2
p_ 1

IlfIILp(E) + M(llvoIIE1_1/P,P + IIvrIIE1_1/p,p),

where M(po) and M does not depend on p, Vo, VT and f(t). Here the Banach space
EI-I/p,p = E I_ I/ P ,p(D(AI/ 2), A I / 2) consists of those vEE for which norm

IlvIlE1_1/p,P

) lip

is finite.

~ II exp{ -zAI/2}v(z)lI~dA

(1 ~ P < (0)

< p < 00 and < a < 1. Suppose that A is the positive


operator in a Banach space E. Then problem (5.1) is well posed in Lp(Eo:,p) and
the coercivity inequality holds:

Theorem 5.1.10. Let 1

Ilv"IILp(E p)+ IIAvIlLp(Ea,p) ~ a(l~ a) IlfIlLp(Ea,p) +M(IIAvoIIEa,p + IIAvTIIEa),


a

where M does not depend on a, p, va, VT and f(t).

225

5.1. A Boundary-Value Problem. Well-posedness


Theorem 5.1.11. Let 1 < p, q <

00 and 0 < a < 1. Suppose that A is the positive


operator in a Banach space E. Then problem (5.1) is well posed in Lp(Ea,q) and
the coercivity inequality holds:

where M(q) and M does not depend on a, p, va,

VT

Here, the Banach space Ea,q = Ea,q(B, E)(O


of those vEE for which the norm

roo

II v IIE",q= (}o

>..1-0.

II

and f(t).

< a < 1,1 < q < (0) consists

Bexp{ ->..B}v II~

d>"

-:x)

l/q

is finite.
Finally, we consider the applications of these results to the elliptic equations. First, we consider the boundary-value problems for two-dimensional elliptic
equations

f)2 u
f)2 u
- f) 2 - a(x) f)x 2 +<5u = f(y,x),O < y < T,O < x < 1,
y
u(O,x)

= <p(x),u(T,x) = ~(x),

f(O,x)

= Hr,x) = 0,0::; x::;

(5.25)

1,

u(y,O) = u(y, 1), ux(y,O) = ux(Y, 1), 0::; y ::; T,


where a(x), <p(x), ~(x) and f(y,x) are given sufficiently smooth functions and
a(x) > 0, <5 > 0 is a sufficiently large number.
We introduce the Banach spaces C,B[O,l] (0 < j3 < 1) of all continuous
functions <p(x) satisfying a Holder condition for which the following norms are
finite:

II <p IlciJ[o,l]=1I <p Ilc[o,l] +

sup

O~x<x+T~l

l<p(x + T) - <p(x) I
,B
T

where C[O, 1] is the space of all continuous functions <p(x) defined on [0, 1] with
the usual norm
II <p Ilc[o,l]= orp~ll<p(x)l.

It is known that the differential expression

AXv = -a(x)v"(x) + 6v(x)


defines a positive operator AX acting in C,B[O, 1] with domain C,B+2[0, 1] and satisfying the conditions v(O) = v(l), vx(O) = v x (1).
Therefore, we can replace boundary-value problem (5.25) by the abstract
boundary-value problem (5.1). Using the results of Theorems 5.1.2,5.1.5 and 5.1.8,
we can obtain that

226

Chapter 5. Partial Differential Equations of Elliptic Type

Theorem 5.1.12. For the solution of the boundary-value problem (5.25) the follow-

ing coercive inequalities are valid:

II U II C6i B'''(Cl'[O,1J) + II u IIcgr"(c2+I'[O,1J)


M(/-L)
~ ((3 - ')')(1 - (3) II f Ilcgr"(Cl'[O,lJ) +M(/-L)(II<plb+I'+B-"[O,l] + 11'l/JIIC2+I'+B-"[O,lj),

')' < (3 < /-L + (3 - ')' <


~

1,

II u IIC6iB,,,(ca-B[o,1J) + II

1,

IIcgp(C2+a-B[o,1J)

M(Ci,(3)
~ Ci(l _ Ci) II f II c gr"(c a- B[O,lJ) +M(/-L)(II<pllc 2 + a -"[O,lj

')'
~

~ (3 ~ Ci,

+ 1I'l/Jllc2+ a-"[O,lj),

< Ci - (3 < 2'


1

Here M(/-L) and M(Ci,(3) are independent of ')', f(y,x), <p(x), 'l/J(x).
Second, let n be the unit open cube in the n-dimensional Euclidean space
IR n
(0 < Xk < 1, 1 ~ k ~ n) with boundary S, 0 = nUs. In [0, T] x n
we consider the mixed boundary-value problem for the multidimensional elliptic
equation

8 2 u(y,x) ~
8 2 u(y,x)
8 2 -L.,..Cir(X) 8x 2 +<5u(y,x)=f(y,x),
y
r=l
r
= (Xl, ... ,xn ) E n, < y < T,

u(O, x) = <p(x) , u(T, x) = 'l/J(x), f(l,x) = f(T, x)


u(y,x) = 0, XES,

(5.26)
E

0,

where Cir(X) (x E n) and f(y,x) (y E (O,T), x En), <p(x), 'l/J(x)(x EO) are given
smooth functions and Cir(X) > 0, <5 > is a sufficiently large number.
We introduce the Banach spaces
l (0) ((3 = ((31, ... , (3n), < Xk < 1,
k = 1, ... , n) of all continuous functions satisfying a Holder condition with the
indicator (3 = ((31, ... ,(3n),(3k E (0,1), 1 ~ k ~ n and with weight xfk(l - Xk h k )!3k, ~ Xk < Xk + h k ~ 1, 1 ~ k ~ n which is equipped with the norm

cg

sup
If(Xl,"" xn) - f(Xl + hI,"" xn + hn)1
O::;Xk<Xk+hk::; l,l::;k::;n
n

II h'k!3k Xfk (1 -

Xk - hk)!3k,

k=l

where C(O) stands for the Banach space of all continuous functions defined on n,
equipped with the norm

II f IIc(TI)= m~ If(x)l
xEfl

227

5.1. A Boundary-Value Problem. Well-posedness

It is known that the differential expression


x
~ ()i)2v(y,x)
A v = - ~ ar x
ax 2

+ <5v (y, )
X

r=l

cg

c5i

i3 (n)
defines a positive operator AX acting on 1 (n) with domain D(AX) C
and satisfying the condition v = 0 on S.
Therefore, we can replace boundary-value problems (5.26) by the abstract
boundary-value problems (5.1). Using the results of Theorems 5.1.2 and 5.1.5, we
can obtain that

Theorem 5.1.13. For the solution of the boundary-value problem (5.26) the follow-

ing coercive inequality is valid:

M(f.l)

< ({3 - ')')(1 - {3)


n
+M(f.l)(L
r=l

O:S; ')'

II

If

Ilcgr'Y(ctl(IT))

a2~

ax21Ict/I3-'Y(IT)
r

a2~

+ L " ax21Ict/I3-'Y(IT)),
r=l

< {3 < 1,f.l = {f.ll, ... ,f.ln},O < f.lk

where M(f.l) is independent of {3,')' and f(y,x),

+ {3 -

')' < 1,1

:s; k:S; n,

~(x), ~(x).

Third, we consider the boundary-value problem on the range {O


lRn } for 2m-order multidimensional elliptic equations

a 2u
- ay2

:s; y :s; T,

x E

a1r1u

+ '"
ar(x)a x a X rn +<5u(y,x)=f(y,x),
L...J
n
Ir l=2m
1
rl

0< Y < T, x, r E lRn , Irl = rl + ... + r n ,


U(O,X) = ~(X), u(T, X) = ~(X), f(l,x) = f(T, X)

= 0,

(5.27)
E

lRn ,

where ar(x) and f(y,x), ~(x), ~(x) are given sufficiently smooth functions and
ar(x) > 0, <5 > 0 is a sufficiently large number.
We will assume that the symbol
BX(~) =

ar(x) (i6f' ... (i~nfn,~ = (6, ... ,~n)

Rn

Ir l=2m

of the differential operator of the form


(5.28)

228

Chapter 5. Partial Differential Equations of Elliptic Type

acting on functions defined on the space IR n , satisfies the inequalities

for ~ :j:. O. Problem (5.48) has a unique smooth solution. This allows us to reduce
the boundary-value problem (5.48) to the boundary-value problem (5.1) with a
strongly positive operator AX = BX + 6I defined by (5.27) in a Banach space
E = CJl(Rn) of all continuous bounded functions defined on IR n satisfying a Holder
condition with the indicator f.L E (0,1).
Theorem 5.1.14. For the solution of the boundary-value problem (5.27) the follow-

ing coercivity inequalities are satisfied:

o :S 'Y < (3 < 1,

0 < f.L

+ m((3 -

'Y) < 1,

O:S 'Y:S (3, 0 < m(o: -13) < 1,

where M(f.L) and M(o:,(3) does not depend on 'Y and f(y,x),cp(x),'ljJ(x).
The proof of Theorem 4.1.8 is based on the abstract Theorems 2.1.1 and
3.1.1, the positivity of the operator AX in CJl(Rn), the structure of the fractional
spaces Ea(C(Rn), (AX)~) and the coercivity inequality for an elliptic operator AX
in CJl(Rn).

5.2. Difference Schemes Generated by an Exact Difference Scheme

5.2

229

Difference Schemes Generated by an Exact Difference Scheme

We consider the boundary-value problem (5.1). For the construction of the twostep difference schemes of an arbitrary high order of accuracy for the approximate
solutions of the boundary-value problem (5.1) we consider the uniform grid space

[0, T]T

= {tk = kT, k = 0,1, ... , N, N7 = T}.

By Theorem 3.1.2 we have the following two-step difference scheme for the solution
of the boundary-value problem (5.1):

+( -21 + (2B7)-1{I - exp( -27B)} exp( -27B)


+(2B7)-1 {I - exp( -27 B)} )V(tk)
+(1 - (2B7)-1{I - exp( -27B)} exp( -7B))v(tk+d]

+(2BT)-1{I - exp( -2TB)}

tk

(2B)-1{exp( -(tk - z)B)

tk-l

-exp(-(z - tk-2)B))}f(z)dz],

= vo, v(T) = vr.

1 ::; k ::; N - 1, v(O)

It can obviously be rewritten as the equivalent boundary-value problem for the


second-order difference equations

-(2B7)-1{I - exp(-27B)} exp( -7B)v(tk-d


+(2B7)-1{I - exp( -27B)}{I + exp( -27B)} )V(tk)
-(2B7)-1{I - exp( -27B)} exp( -7B)v(tk+d

(2B7)-1{I - exp( -27B)}[

tk + 1

tk

-exp(-(tk+2 - z)B))}f(z)dz

(2B)-1{exp( -(z - h)B)

230

Chapter 5. Partial Differential Equations of Elliptic Type

itt

(2B)-I{exp(-(tk - z)B) - exp(-(z - tk-2)B))}f(z)dz],

tk-l

1 :S k :S N - 1, v(O) = vo,v(T) = VT,


or

1
-2'(Uk+l - 2Uk
7

+ Uk-I) + 2'[(1
7

exp( -7B))(Uk-l

+ uk+d

(5.29)

+ (exp( -27B) - 1)ukJ = /k,


fk = (2B7)-I(h,k + hk+d - (2B7)-1 exp( -7B)(h,kH + hk),
k

II k =! {t
,

h ,k =

it

11

-7

1 :S k :S N - 1, Uk

exp( -(tk - z)B))f(z)dz,

tk-l

tk

exp( -(z - tk-dB)f(z)dz,

tk_l

= V(tk), 0 :S k :S N, Uo = v(O), UN = v(T).

The latter will be referred to as the exact two-step difference scheme for
the boundary-value problem (5.1). Let us investigate the well-posedness of the
exact two-step difference scheme (5.29). This problem is uniquely solvable, and
the following formula holds:

Uk = (I - e-2tNB)-I{(e-tkB - e-(2t N-t k)B)uo

(5.30)

+(e-(tN-tdB _ e-(tNHdB)UN
_(e-(tN-tk)B _ e-(t NHk)B)7 2

N-l

L (e-(tN-ti)B -

e-(tN+ti)B)(1 - e- 2TB )-1 fi}

i=1

+7 2

N-l

L (e-ltk-tiIB - e-(t d t;JB)(1 - e- 2TB )-1 fi, 1 :S k :S N -

1.

i=1

Really, problem (5.29) can be rewritten as the equivalent nonlocal boundary-value


problem for first-order linear difference equations

7- 1(Uk - Uk-I) + 7- 1 (1 - e- TB )uk_l = Zk,


1 :S k :S N, Uo = v(O), UN = v(T),
{

-7- 1 (Zk+l

- Zk)

+ 7- 1 (1 - e-TB)zkH

/k, 1 :S k :S N

From this there follows the system of recursion formulas

Uk = e-TBuk_l

+ 7Zk, 1 :S k :S N,

Zk = e-TBzk+l

+ 7fk, 1 :S k:S N-1.

- 1.

231

5.2. Difference Schemes Generated by an Exact Difference Scheme

Hence
Uk

e-kTBu 0

+"
L.J e-(k-i)rB 7Z

t,

1<
_ k

<
_ N,

i=l

Zk

= e-(N-k)rB zN +

N-1

e-(j-k) rB 7

fJ,1 :::; k:::; N -

1.

j=k

From this it follows that

+L

N-1

UN

e-NrBUO

+L

N-1

e-(N-i)rB 7 {e-(N-i)rB ZN

e-(j-i)rB 7 !j}

+ 7ZN

j=i

i=l

Since

N-1
e-(N-i)rBTe-(N-i)rB

+ 71 = 7(1 -

L
N

e- 2rB )-1

i=l

e- 2(N-i)rB(1 - e- 2rB )

i=l

= 7(1 -

N-1

e- 2rB )-1(1 _ e- 2NrB ),

N-1
e-(N-i)rB 7

e-(j-i) rB 7

j=i

i=l

L 7(1 -

fJ

L L

N-1

j=l

e -(N+j-2i)

rB

fJ

i=l

N-1

e- 2rB )-1(e-(N-j)rB - e-(N+j)rB)7!j,

j=l

we have that
7- 1 (1

ZN

e- 2rB )(1

-2::= 7(1 -

e- 2NrB )-1{UN _ e-NrBUO

N-1

e- 2rB )-1(e-(N-j)rB - e-(N+j)rB)7!j}

j=l

e- 2rB )(1

7- 1 (1

-(1 -

e- 2NrB )-1

e- 2NrB )-1{UN _ e-NrBUo}

N-1
(e-(N-j)rB - e-(N+j)rB)7!i-

j=l

Therefore
Uk

= e-kTBuo +

L
k

e -(k-i)rB 7 {e-(N-i)rB ZN

N-1
e-(j-i)rB 7 ! J

j=i

i=l

-kTB

+~
-(k-i)rB
-(N-i)rB
+~
-(k-i)rB
Uo
Le
7e
ZN
Le
7
i=l

i=l

N-1
~

j=i

-(j-i)rB

! j.

232

Chapter 5. Partial Differential Equations of Elliptic Type

Since
k

e-(k-i)rBTe-(N-i)rB = T(I - e- 2TB )-1 L

i=l

e-(N+k-2i)rB(1 - e- 2rB )

i=l

k
N-1
'"'
-(k-i)TB
'"' -(j-i)rB Tj
!
~e
T~e
j=i

i=l

e-(j+k-2i) TB T fJ

= LT L

j=l

N-1
k
L
T L e-(k+ j -2i) TB T fJ
j=k+1

i=l

i=l

= T(I - e- 2rB )-1 L(e-(k-j)TB - e-(k+j)TB)T!j


j=l
N-1
+T(I - e- 2rB )-1 L
(e-(j-k)TB - e-(k+j)TB)T!j
j=k+1

= T(I

N-1
- e- 2rB )-1 L (e-lk-jITB - e-(k+j)TB)TfJ,
j=l

we have that
Uk

e-krBuQ

+ T(1 -

e- 2TB )-1(e-(N-k)TB - e-(N+k)TB)ZN

N-1
+T(I - e- 2rB )-1 L (e-lk-jlrB - e-(k+j)TB)T k
j=l

From this formula and using the formula for ZN, we can obtain formula (5.30).
Let us denote by Fr(E) = F([O, T].,., E) the space of grid functions <pr =
{ <pd f~/ for fixed T = ft Thus, F T (E) is the vector space whose elements are
ordered (N - 1)-tuples of elements of E. The space Fr(E) can be equipped with
various norms and thus become a normed space. Thus, for instance, the vector
space FT(E) generates the normed space Cr(E) = C([O, T].,., E) with the norm

the normed space Ce(E) = CI3([O, T]r, E) 0< j3 < 1, with the norm

II <pTIICI'(E)
= II <pTll c (E)l
+ :=;k<k+r:=;N
max
II <Pk+r TT
-1

<Pk

liE (rT1)f.l'
IJ

5.2. Difference Schemes Generated by an Exact Difference Scheme

233

= C.8,'Y([O,T]nE),O < ,

:S /3, 0 < /3 < 1,

the weighted normed space Ce'''!(E)


with the norm

II 'PTllc~'-Y(E) = II 'PTllcT(E)
((k

+ l~k<k+r~N-I
max
II 'Pk+r - 'Pk I E

+ r)r)'Y((N - k)r)'Y
(rr).8

and the normed space Lp,T(E) = Lp([O, T]n E), 1 :S p <

00,

with the norm

N-I

II cpTIILp,T(E) = (2: I CPkllir)~.


k=l

Let us consider the difference problem (5.29). We will reduce it to an operator


problem in the space FT (E). First we shall define an operator D; acting from the
space E x FT(E) x E of vectors wT = {wdf=o into the space FT(E) of vectors
vT = {vd~=-/ according to the rule

vT = D;UT,Vk =

~(Wk+l
r

2Wk

+ wk-d,k = 1, ... ,N-1.

Second we shall define an operator AT acting from the space E x FT(E) x E of


vectors wT = {wdf=o into the space FT(E) of vectors vT = {vd~~/ according to
the rule
v T = ATuT,Vk = ~[(I - exp( -rB))(wk_1 + wk+d
r

+(exp( -2rB) - I)wk], k = 1, ... , N - 1.


Next, let us introduce the continuation operator IT(uo, UN), which acts from
Ex FT(E) x E to FT(E) according to the rule

IT(uo, UN HUI, ... , uN-d

(uo, UI,, UN-I, UN)'

Then, clearly, the difference problem (5.29) is equivalent to the operator problem

-D;IT(UO,UN)U T + ATIT(UO,UN)UT =
Here

is defined by the formula

= (iI,, iN-d

The last operator problem will be considered in the space FT(E). From its unique
solvability for any un, UN E E and
E FT(E) it follows that its solution u T
defines a continuous additive and homogeneous operator uT(fT, UN, UN)'
The boundary-value problem (5.29) is said to be stable in FT(E) if we have
the inequality

where M is independent not only of

r, un, UN, but also of r.

Chapter 5. Partial Differential Equations of Elliptic Type

234

From formula (5.30) one derives the following results.


Theorem 5.2.1. Let A be the positive operator in a Banach space E. Then difference

problem (S.29) is stable in CT(E).


The proof of this theorem is based on formula (S.11) and the estimate
Ilexp(-hB)/IE-oE ~ M e- 6kT ,J > 0,

(S.31)

for all k, k ~ 1 and all r > O,where M does not depend on k and r. Estimate
(S.31) follows from (S.8) for t = tk = hand a(B) = J.
Theorem 5.2.2. Let A be the positive operator in a Banach space E. Then difference
problem (S.29) is stable in C,:,Cl(E), 0 < a < 1.

The proof of this theorem is based on formula (S.11), estimate (S.31) and
Ilexp( -hB) - exp {-(k

rCl

+ r)rB} IIE-o E ~ M (k + r)Cl'

(5.32)

for all k, r, 1 ~ k < k + r ~ N - 1 and all r > 0, where M does not depend on k,
rand r. Estimate (S.32) follows from (5.10).
Theorem 5.2.3. Let A be the positive operator in a Banach space E. Then difference

problem (S.29) is stable in Lp,T(E), 1 ~ p < 00.

The proof of this theorem is based on formula (S.11) and estimate (S.31).
The boundary-value difference problem (5.29) is said to be well posed (coercively stable) in FT(E) if we have the coercive inequality

II
+

II

{r- 2 (uk+l - 2Uk + uk_d}~-l IIFT(E)

{r- 2 [(I - exp( -rB))(uk-l + uk+d + (exp( -2rB) - I)uk]}~-l IIFT(E)

r IIFT(E) + II Auoil E + IIAuNII E],


where M is independent not only of r, Uo, UN, but also of r. Since the boundary~

M[II

value differential problem (S.l) in C(E) is not well posed for the general positive
operator A and space E, then the well-posedness of the difference boundary-value
in CT(E) norm does not take place uniformly with respect to r > O. This means
that the coercive norm

I uT IIKT(E)
+

II

{r- (uk+l - 2Uk

+ Uk_l)}~-l IlcT(E)

{r- 2 [(1 - exp( -rB))(uk-l + Uk+l) + (exp( -2rB) - I)uk]}~-l

II cT (E)

tends to 00 as r ~ +0 . The investigation of the difference problem (5.29) permits


us to establish the order of growth of this norm to 00. First, let us prove a lemma
that will be needed in the sequel.

5.2. Difference Schemes Generated by an Exact Difference Scheme

235

Lemma 5.2.4. Suppose A is the positive operator in a Banach space E. Then the
following estimate holds:
N-l

2: 11(1 - e-TB)e-tj-lBIIE-+E :=::; M min (In(l/T), 1 + lIn /lBIII),

(5.33)

j=l

where M does not depend on

T.

Proof. Using estimate (5.10), we obtain

2: II(I - e-TB)e-tj-lBIIE-+E :=::; M 2: ~J :=::; M Jds = M

N-l

N-l

. 1

. 1

J=

J=

In N :=::; M 1 In(1/T) .

(5.34)

Further, using estimate (5.10), we obtain

If IIBIIE-+E

> N, then

2: 11(1 - e-TB)e-tj-lBIIE---->E :=::; M 2: ~

N-l

N-l

j=l

j=l

:=::; M

<M

If IIBIIE---->E

IIBIIE~E

ds
--;

ds
--; :=::; Mlln IIBIIE---->EI.

< 1, then
N-l

N-l

j=l

j=l

2: 11(1 - e-TB)e-tj-lBIIE---->E :=::; M 2: TIIBIIE---->E :=::; Mi'

Finally, if I:=::;

IIBIIE-+E :=::; N,

then

:=::; M(l+

ds
s

- ) :=::; M(l

+ In IIBIIE---->E)'

236

Chapter 5. Partial Differential Equations of Elliptic Type

Thus, in all three cases we have the estimate

N-l

11(1 - e-rB)e-tj-1BIIE--.E

:s M(l + lIn II B IIE--.EI)

(5.35)

j=l

Finally, estimate (5.33) follows from (5.34) and (5.35). Lemma 5.2.4 is proved.
Theorem 5.2.5. Let A be the positive operator in a Banach space E and Uo E D(A),
UN E D(A). Suppose the operator 1 +exp(-rB) has an inverse (1 +exp(-rB))-l
and
11(1 + exp( -rB))-lIIE--.E :s M,
(5.36)

where M does not depend on r. Then the solutions of the difference problem (5.29)
in Cr(E) obey the almost coercive inequality

II u r

IIKT(El

:s MIlII

+ min {ln~, 1 + lIn II


where M 1 is independent not only of

Auoil E + IIAuNIlE

B IIE--.EI} II

II cT (El],

r, uo, UN, but also of r.

Proof. Using formula (5.30), we obtain


r- 2(uk+l - 2Uk + Uk-r)
=

r- 2(1 - e-2tNB)-1(1 _ e-rB)2{(e-tk-1B _ e-(2t N-tk+l lB)uo


+(e-(tN-tk+dB _ e-(tNHk-dB)UN

_(e-(tN-tk+dB _ e-(t N+tk- d B)r 2


+r- 2r 2(1 - e- rB )2

N-l

L (e-(tN-t;JB - e-(tNH;lB)(I - e- 2rB )-1 fi}

i=l
k-l

L e-(tk-l-til B(1 - e- 2rB )-1 Ii


i=l

+r- 2r 2(1 - e- rB )2

N-l

e-(t i -t k+d B(1 - e- 2rB )-1 fi - r- 2r 22(1 _ e- rB )

i=k+l
X (1

- e- 2rB )-lik - r- 2r 2(1 - e- rB )2

N-l

L e-(tk-l H;lB)(1 - e- 2rB )-1 fi

i=l
= (1 - e- 2tNB )-1(I - e-rB)2r-2{(e-tk-1B - e-(2t N-t k+1l B)uo
+(e-(tN-tk+dB _ e-(tNHk-dB)UN}

-(1 - e- 2tNB )-1(I _ e-rB)(e-(tN-tk+llB _ e-(tNHk-d B )

(5.37)

5.2. Difference Schemes Generated by an Exact Difference Scheme

L (e-(tN-ti)B -

N-1
X

e-(tN+ti)B)(1

237

+ e- TB )-l Ii

i=l

k-1

+(I - e- TB )

e-(tk-1-ti)B(I

+ e- TB )-l Ii

i=l

N-1

+(I - e- TB )

e-(ti-tk+tlB(I

+ e- TB )-l Ii

- 2(1

+ e- TB )-l!k

i=k+1
N-1

-(I - e- TB )

e-(tk-1H;)B)(I

+ e- TB )-l Ii

= gk

+ Pk,

i=l

where
gk = 7- 2 (I - e- 2tNB )-1(I - e-TB)2{(e-tk-lB _ e-(2t N - t k+tl B )UO
+(e-(tN-tk+tl B _ e-(tNHk-tlB)UN},
Pk = -(I - e- 2tNB )-1(I - e-TB)(e-(tN-tk+tl B _ e-(tNHk-tl B )

L (e-(tN-ti)B -

N-1

e-(tNHi)B)(1

+ e- TB )-l Ii

i=l

+(I - e- TB )

k-1
e-(tk-l-ti)B (I

+ e- TB )-l Ii

i=l

N-1

+(I - e- TB )

e-(ti-tk+tlB(1

+ e- TB )-l Ii -

2(1

+ e- TB )-l Ik

i=k+1

-(I -

e- TB )

N-1
e-(tk-1H;)B)(1

+ e- TB )-l k

i=l

To this end it suffices to show that

II gTllc,.(E)
T

II p Ilc,.(E) :::; M 1 min

:::;

MIlII

Auoil E

+ IIAuNIIE],

{ln~, 1 + lIn II B IIE->EI} II r

(5.38)

Ilc,.(E)

(5.39)

Estimate (5.38) follows from the estimate

11(1 -

e-

TB

)2(7B)-21IE->E :::;

and the fact that the homogeneous difference equation (r = 0) is stable in CT(E)
uniformly in 7. Using estimates (5.10), (5.11) and (5.36), we obtain
IlpkllE :::;
N-1
X

i=l

11(1 -

e-2tNB)-11IE->Elle-(tN-tk+tlB -

Ile- TB - e-(tN+1+ti)BIIE->EII(I -

e-(tNHk-tlBIIE->E

e-TB)e-(tN-l-ti)BIIE->E

238

Chapter 5. Partial Differential Equations of Elliptic Type

k-1

L 11(1 - e-rB)e-(tk-l-ti)BIIE--+EII(1 + e- rB )-lIIE--+EllfiIIE


i=l

N-1

11(1 -

e-rB)e-(ti-tk+IlBIIE--+EII(1 + e- rB )-lIIE--+EllfiIIE

i=k+1

N-1

i=l

Ile-tkBIIE--+EII(I - e-rB)e-ti-lBIIE--+E1I(1 + e- rB )-lI1E--+EIIJiIIE


N-1

:S M

L 11(1 - e-rB)e-tj-lBIIE--+E11 r

IlcT(E)'

j=l

From the last estimate and estimate (5.33) follows estimate (5.39). Theorem 5.2.5
is proved.
Note that estimate (5.37) is established for arbitrary positive operator A. In
contrast, estimate (5.38) is established under the assumption (5.36). When is the
last condition satisfied? We have an answer in the case where E = H is a Hilbert
space. Furthermore, the method of proof of Theorem 5.2.5 enables us to establish
the following fact.
Theorem 5.2.6. Let A be the positive operator in a Banach space E and uo, UN E
D(A). Suppose the operator I +exp(-TB) has an inverse (1 +exp(-TB))-l and
E D((1 + exp( -TB)) -1). Then the solutions of the difference problem (5.29) in
Cr(E) obey the almost coercive inequality
II u r II KT (E) :S Mdll Auoil E + IIAuNIl E

+ min {ln~, 1+ lin II B IIE--+EI} II (1 + exp( -TB)) -1


where M 1 is independent not only of
Since

r, uo,

UN,

r IlcT(E)],

but also of T.

J
r

B- (1

+ exp( _rB))-l

exp( -sB)ds( 1- exp( -2TB))-\

o
using estimates (5.9) and (5.10), we obtain

IIB- 1 (1 + exp( -T B)) -lIIE--+E

(5.40)

:S

lIexp( -sB)IIE--+Eds

x 11(1 -

o
This yields the following result.

exp( -2TB))-

II E--+ E :S

M(l - e- Or )

<5(1 _ e- 20r ) :S

T'

239

5.2. Difference Schemes Generated by an Exact Difference Scheme

Theorem 5.2.1. Suppose A is the positive operator in a Banach space E and uo,

E D(A),
E D(B). Then the solutions of the difference problem (5.29) in
Cr (E) obey the almost coercive inequality

UN

II ur IIKT(E) :s M1 [II Auoil E+ IIAuNll E


+ min {In~, 1 + lIn I
where M 1 is independent not only of

IIE-oEI} I

r, uo,

UN,

Br II cT (E)],

but also of T.

Now let us study the well-posedness of the difference problem (5.29) in various
Banach spaces.
Theorem 5.2.8. Suppose that the assumptions of Theorem 5.17 hold. Then the

solutions of the difference problem (5.29) in C;;'CE) obey the coercivity inequality

I
+

II

2
{T- [(1 -

2
{T- (Uk+l - 2Uk

+ Uk_l)}~-1 Ilc~''''(E)

exp( -TB))(Uk-l + uk+d + (exp( -2TB) - I)uk]}~-1 Ilc~''''(E)

:s M1 [a(1 ~ a) I r Ilc~''''(E) + I AuoilE+ IIAuNII E],


where M 1 is independent not only of

r, uo,

UN,

a, but also of T.

Proof. Using formula (5.37), we obtain


2
T- (Uk+l - 2Uk

= (1 +(1 -

+ Uk-I)

e- 2tNB )-I(I - e-rB)2T-2(e-tk-1B _ e-(2t N -t k +d B)uo

e- 2tNB )-I(1 - e-rB)2T-2(e-(tN-tk+dB - e-(tNHk-dB)UN

+{ -(1 -

e- 2tNB )-I(1 - e-rB)(e-(tN-tk+d B _ e-(tNHk-d B )

N-l
X

(e-(tN-ti)B - e-(t N +t i )B)(1

+ e- rB )-1

i=1

+(1 -

e- rB )

L e-(t k- 1-t i )B(1 + e- rB )-1


k-l
i=1

N-l

+(1 -

e- rB )

e-(t i -tk+d B (1

e- rB )-1 -

2(1 +

e- rB )-1

i=k+l

-(I -

e- rB )

N-l

i=1

e-(tk-1HilB)(I

+ e- rB )-I} fk

240

Chapter 5. Partial Differential Equations of Elliptic Type


-(I - e- 2tNB )-1(I - e-rB)(e-(tN-tk+tlB _ e-(tN+tk-tl B )

L (e-(tN-ti)B - e-(tN+ti)B)(I + e-rB)-l(Ji - !k)

N-l
i=l

+(I - e- rB )

L e-(tk-1-t;jB(I + e-rB)-l(Ji k-l

!k)

i=l

N-l

+(1 - e- rB )

e-(ti-tk+dB(I + e-rB)-l(Ji - /k)

i=k+l

-(I - e- rB )

N-l

L e-(tk-1+ti)B)(I + e-rB)-l(fi - !k)


i=l

= (I - e- 2tNB )-1(I - e-rB)2r-2(e-tk-IB - e-(2t N-t k+tl B)uo

(5.41)

+(I - e- 2tNB )-1(I - e-rB)2r-2(e-(tN-tk+tlB - e-(tNHk-dB)UN

+{ -I + (I - e- 2tNB )-1(I - e-tNB)[I _e- tk - 1B - e-tN-k-IB + e-tNB]}!k


+(1 - e-2tNBtl(I - e-2tN-kB)(I _ e- rB )

xL e-(tk-1-t;jB(I - e- 2tiB )(I + e-rB)-l(Ji k-l

/k)

i=l

N-l
X

e-(ti-tk+dB(I - e-2tN-iB)(I + e-rB)-l(fi - !k)

i=k+l

where

if =

(I - e- 2tNB )-1(I - e-rB)2r-2(e-tk-IB - e-(2t N-t k+d B)uo,

Jf = (I -

e- 2tNB )-1(I - e-rB)2r-2(e-(tN-tk+tlB - e-(tNHk-tlB)UN,

Jr = {-I + (I - e- 2tNB )-1(I - e-tNB)[I_e-tk-IB - e-tN-k-IB + e-tNB]}!k,


Jt =

(I - e- 2tNB )-1(I - e-2tN-kB)(I - e- rB )

xL e-(tk-1-ti)B(I - e- 2tiB )(I + e-rB)-l(Ji - !k),


k-l
i=l

JZ = (I -

N-l
i=k+l

e- 2tNB )-1(I - e- 2tkB )(I - e- rB )

e-(ti-tk+dB(I - e-2tN-iB)(I + e-rB)-l(fi - /k).

5.2. Difference Schemes Generated by an Exact Difference Scheme

241

J:n

Let us estimate
= Uk} ~,;/ for any m = 1,2,3,4,5 separately. We start with
Using estimates (5.8) and (5.9) we show that, for 1 ::; k ::; N - 1,

Jr

IIJfIIE::; 11(1 xIle- tk - 1B -

e- 2tNB )-IIIE--+EII(I - e-TB)(7B)-III~--+E

e-(2tN-tk+IlBIIE--+EIIAuoIIE ::;

MIIAuoIIE'

From this it follows that


1

IIJ1

JHrll E ::;

(2r)a

IIJ1 11E + IIJHrllE ::; 2MII AuoilE ::; 2M (1 + r)a IIAuollE


::;

M [
1

t~ + (tN t~
111 A Uo II E,
t~+l
_ tt}a

for 1 < r + 1 ::; N - 1. Further, applying (5.9) and (5.10) we show that, for
2 ::; k < k + r ::; N - 1,

IlJf -

Jf+rlIE ::;

11(1 -

e- 2tNB )-lIIE--+EII(I - e-TB)(7B)-lll~--+E

x[lle- tk - 1B _ e-tk+r-IlBIIE--+E
+lle-(2t N-t k+Il B _ e-(2tN-tk+r+IlBIIE--+EJIIAvoIIE

::;

M[tat~
k+r-l

+ (2t

~~t )a11IAvoIIE::; Ml[t:~k+r + (t N :tk)aJIIAuoIIE.

N
k+l
Thus, we have proved that

(5.42)

In a similar manner we can show that


(5.43)
Now let us estimate J3. Using estimates (5.8) and (5.9) we obtain that

II J~ liE::; [1 + 11(1 - e- 2tNB )-IIIE--+EIII - e-tNBIIE--+E


x[1 + Ile-tk-1BIIE--+E + Ile-tN-k-1BIIE--+E + Ile-tNBIIE--+El11IikIIE
::; MIll r IIc~,a(E)
for 1 ::; k ::; N - 1. From this inequality it follows that

From this it follows that

IIJ{ -

J{+rIIE ::;

::; 2Ml

IIJ{IIE + IIJ{+rIIE ::; 2M1 11 r

Ilc~,a(E)

(l(~)~JI r Ilc~,a(E) ::; M2[t;:l + (tN :

tdJl1

r IIc~,a(E)'

Chapter 5. Partial Differential Equations of Elliptic Type

242

for 1 < r

+1~ N

- 1 and

1112 -

J2+rIIE ~

IIJ211E + 1112+r11E ~ 2M1 11 r Ilc;"(>(E)

(2r)a
r
~ 2M1 (1 + r)a II f

+ }:~a_ k)a II r Ilc;"(>(E)

= 2M1 (1

for 1 < k < r

+k = N

J2+r - J2

Ilc;"(>(E)

~ MZ[t~:r

+ (tN :tk)a]11 r IIc;"(>(E)'

- 1. Since

{-I + (1 - e- ZtNB )-l(1 - e-tNB)[I_e-tk+r-1B

+ e-tNBn(fk+r - ik)
+(1 - e- ZtNB )-l(1 - e-tNB)[e-tk-1B_e-tk+r-1B + e-tN-k-1B - e-tN-k-r-1B]fk,
_e-tN-k-r-1B

it follows that

II

xiiI -

J2+r - J2 IIE~ [1

+ 11(1 -

e-tNB)-lIIE->E

+ Ile-tk-1BIIE->E + lIe-tk+r-1BIIE->E
+lle-tN-k-1BIIE->E + Ile-tN-k-r-1BIIE-->e]Jllfk+r - fkllE
+11(1 - e-ZtNB)-11IE->e{lIe-tk-1B _e-tk+r-1BIIE->E
e-tNBIIE-->e[I

+lIe-tN-k-1B _ e-tN-k-r-1BIIE-->e}III - e-tNBIIE->EllikIlE


for 2 ~ k < k

II

+r

N - 2. Using estimates (5.8), (5.9) and (5.10), we obtain

J2+r - J211E

for 2 ~ k < k

+r

~ M1[(tk :tr)a + (tN :tk)aJIl r

IIc;"(>(E)

N - 2. From this it follows that

II J;

IIc;"(>(E~

r II c;"(>(E)'

MIll

(5.44)

Now let us estimate J:[. By the definition Jt = O. Therefore, we have to consider


and
~ k ~ N - 1. In the first case, using estimates (5.8)
two cases: 2 ~ k ~
and (5.9) we obtain that

If

II

If

k-l

Jt IIE~

11(1 _e-ZtNB)-lIlE->E L

Ile-(t k- 1-t i )B(1 _e-ZtN-kB)(1 _e- rB ) IIE-->E

i=l

x III - e- ZtiB IIE-->E 11(1 + e- rB )-lIIE-->EiIfi - fk liE


k-l
~ M (t _ t.)1-a~a(t _ t.)a II IIc;"Q(E)

I:
i=l

k-l

~ ta(t
~ t )a [L (t k _ :)1-a]1I r
k N k
i=l

Ilc;"(>(E)'

5.2. Difference Schemes Generated by an Exact Difference Scheme

243

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Thus, for 2 :S k :S J- we have established the bound

In the second case, using estimates (5.8), (5.9) and (5.10) we obtain that

II

k-l

J~ IIE:S 11(1 _e- 2tNB )-11IE--.E

L Ile-(t

k- 1

-t;)B(1 _e-2tN-kB)(I _e- rB ) IIE--.E

i=l

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since

it follows that

Chapter 5. Partial Differential Equations of Elliptic Type

244

Thus, for ~ ~ k ~ N - I we have established the bound


II

Jt

IIE:S a(1

~~)tk II r Ilc~,o(E) :S ~~2QQ II r Ilc~,o(E)'

Combining the estimates for II

Jt

liE, we obtain

II

Jt

IIE:S

max

19~N-l

a(~ a) II r Ilc~,o(E)'

(5.45)

Now let us estimate the difference Jt+r - Jt for 2 :S k < k + r :S N - 1. We will


consider separately the cases k ~ r, N - k :S 2r and k > r, N - k > 2r. If k ~ r,
then (5.17) yields
II Jt+r - Jt IIE~II Jt+r liE
HQ
12
M
~ a(1- a) II fT II C~,O(E{Q(k

+ II

Jt liE

+ r )-Q = a(1M_ a) II

fT II C~,O(E)trQ( tk

+ t r )-Q .

If N - k :S 2r, then (5.17) yields

II Jt+r - Jt IIE:SII Jt+r liE


:S

~12HQ) II r

a1-a

Ilco,o(E)rQ(N - k)-Q =
T

+ II

Jt liE

(M2 ) II

aI-a

r Ilco,o(E)t~(tN -

tk)-Q.

Now let k > rand N - k > 2r. Let us represent the difference Jt+r - Jt as the
following sums:

x{

k+r-l

e-(tk+ T -

1-

t il B (1 - e- 2tiB )(1 - e-2tN-k-rB)(I

+ e-TB)-l(fi -

fk+r)

i=l

-L

k-l

e-(t k - 1 -t il B(1 - e-2tN-kB)(I - e- 2tiB )(1

+ e-TB)-l(fi -

i=l

(1 -

e- 2tNB )-1(I - e- TB )

k+r-l

e-(tk+r-l-ti)B

i=k-r

-(1 -

k-l

e- 2tNB )-1(1 - e- TB )

i=k-r

e-(tk-l-til B

fk)}

5.2. Difference Schemes Generated by an Exact Difference Scheme

+(1 -

l:

245

k-r-l
e- 2tNB )-1(1 - e- rB )

e-(tk+r-l-t;jB

i=l

+(1 -

e- 2tNB )-1(1 - e- rB )

l:

k-r-l
{e-(tk+ r -l- t ;)B(1 - e-2tN-k-rB)

i=l

_e-(t k - 1 -t;)B(1 _ e-2tN-kB)}(I - e- 2t ;B)(1

Now let us estimate

l:

k+r-l
X

11(1 -

+ e-rB)-l(fi - /k)

pI + P~ + pf + P:'

PI. Using estimates (5.8) and (5.9), we obtain that

e-rB)e-(tk+r-l-t;jB(I - e-2tN-k-rB)IIE-+E

i=k-r

(tk

k+r-l

+ ~r)Q [i~r

(tk+r - ty:Q(tN -

ti)QJII

r Ilc;>"(E)

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since

it follows that

Thus, we have established the bound

Chapter 5. Partial Differential Equations of Elliptic Type

246

In a similar manner we can show that

Since

p2 = (I -

e-2tNB)-le-2t2rB(I - e-tk-r-1B)

X(I - e- 2t ;B)(I - e-2tN-k-rB)(I

+ e-TB)-l(Jk -

fk+r),

it follows that

II p2 IIE:S II(I -

e-2tNB)-11IE-+Elle-2t2rB(I - e-tk-r-1B)IIE-+E

xIII - e- 2t ;BIIE-+EI [I - e-2tN-k-rBIIE-+EII(I + e-TB)-lIIE-+Ellik -

fk+rIIE.

Using estimates (5.8) and (5.9), we obtain

Now let us estimate

2: {II

k-r-l
X

pr Using estimates (5.8), (5.9) and (5.10), we obtain

(I - e- TB )(e-(2t N -2t kl B - e-(2tN-2tk-2tr)B)e-(tk-l-t;)B

IIE-+E

i=l

+ II

xiiI - e- 2t;BIIE-+EII(I + e-TB)-lIIE-+E


k-r-l

:S

IIE-+E }
II fi - ik liE

(I - e-TB)(I - e-tr)B)e-(tk-1-t;)B

M::[ L
k

i=l

(t -t.)2-:(t
k

_t)aJII

tNt

Ilc;"o(E)'

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since for k

> rand

N - k

> 2r we have the bound

5.2. Difference Schemes Generated by an Exact Difference Scheme

247

it follows that
M

II pt liE::; --t~(tN
1- a

tk)-Otk"ll

Ilc"'''(E)'
T

Thus, we have established the bound

II pt liE::; ~2: t~(tN

- tk)-O(tk + tr)-Oll

r IIc~'''(E)'

Thus, we have shown that for any 2 ::; k < k + r ::; N - 1 the following inequality
holds:

II J~+r

J~ liE::; a(~ a) t~(tN -

tk)-O(tk + tr)-Oll

Ilc~'''(E)'

(5.46)

Estimates (5.45) and (5.46) give

II J;

IIc~'''(E)::; a(~ a) II r IIc~'''(E) .

(5.47)

In exactly the same manner one establishes the inequality

II J;

Ilc~'''(E)::; a(~ a) II r Ilc~'''(E) .

(5.48)

Finally, applying estimates (5.42), (5.43), (5.44), (5.47) and (5.48) we obtain the
estimate
II {r- 2 (uk+! - 2Uk + Uk_1)}f- 1 Ilc~'''(E)

::; M 1[a(1 ~

a) II r

IIc~'''(E) + II Auoil E + IIAuNIIE1

By the triangle inequality, this last estimate and difference equation (5.29) yields
II {r- 2 [(1 - exp( -rB))(Uk-1 + Uk+!) + (exp( -2rB) - I) uk]}f- 1 IIc~'''(E)

::; Mda(l

~ a) II r IIc~'''(E) + II Auoll E + IIAuNII E]

Theorem 5.2.8 is proved.


Furthermore, the method of proof of Theorem 5.2.8 enables us to establish
the following fact.
Theorem 5.2.9. Suppose that the assumptions of Theorem 5.2.6 hold. Then the
solutions of the difference problem (5.29) in C,:,O(E) obey the coercivity inequality

II

2
1
{r- (uk+1 - 2Uk + Uk_1)}f- Ilc~'''(E)

+ II {r- 2 [(1 - exp( -rB))(uk-1 + uk+d + (exp( -2rB) - I) uk]}f- 1 Ilc~'''(E)


::; Mda(l ~ a) II (1 + exp( _rB))-l

where M 1 is independent not only of

r Ilc~'''(E) + II Auoil E + IIAuNII E],

r, uo, UN, a, but also ofr.

248

Chapter 5. Partial Differential Equations of Elliptic Type

This yields the following result


Theorem 5.2.10. Suppose that the assumptions of Theorem 5.19 hold. Then the
solutions of the difference problem (5.29) in c~,a(E) obey the coercivity inequality

II
+ II {T- 2[(1 -

{T-2(uk+1-2uk+uk-d}f-Illc~,0(E)

exp( -TB))(Uk_1

+ uk+d + (exp( -2TB) -

I)uk]}f- l II c -:",o(E)

~ Md aI-a
(1 ) II Br Ilco,o(E) + II AuoilE + IIAuNII E],
T

where M 1 is independent not only of

r, uo, UN, a, but also of T.

Note that the coercivity inequality

II

+ II {T- 2[(1 -

2
l
{T- (Uk+1 - 2Uk +Uk-Inf- IIc~(E)

exp( -TB))(Uk-1

+ Uk+l) + (exp( -2TB) -

I)uk]}f- l IIc~(E)

~ Md a (1 ~ a) II r Ilc~(E) + II Auoll E + II Au NII E]


fails. Nevertheless, we have the following result.
Theorem 5.2.11. Suppose that the assumptions of Theorem 5.17 hold. Then the
solutions of the difference problem (5.29) in C~(E) obey the coercivity inequality

II

+ II {T- 2[(1 -

2
1
{T- (Uk+1 - 2Uk +Uk_Inf- IIc~(E)

exp( -TB))(Uk-1

+ II {T- 2(Uk+1

+ uk+d + (exp( -2TB) - 1)Uk]}f- 1 Ilc~(E)


- 2Uk +Uk-Inf- l I cT (Eo )

~ a (~l-a ) II r II co(E) + M 1 [II


T

+11(1 -

(1 - e-rB)2T-2uo a

II liE

e-rB)2T-2UN - fN-IIIEJ,

where M 1 is independent not only of

r, uo, UN, a, but also ofT.

Proof. To prove the theorem it suffices to establish the estimates for


{T- 2(Uk+1 - 2Uk
in

C~(E)

+uk_d}f- l

and in Cr(Ea ). By formula (5.41), we have

T- 2(Uk+1 - 2Uk + Uk-I)


= (1 - e-2tNB)-1(e-tk-lB - e-(2t N-t k+,)B)[(1 - e-rB)2T-2uo -

II]

5.2. Difference Schemes Generated by an Exact Difference Scheme

249

+(I - e-2tNB)-I(e-(tN-tk+l)B - e-(t N+tk-d B )[(1 - e-TB)2T-2UN - IN-I]


+(1 - e-2tNB)-I(e-tk-IB - e-(2t N- t k+JlB)[h - ik]
+(I - e-2tNB)-I(e-(tN-tk+dB - e-(tN+tk-JlB)[fk - IN-I]
+(I - e- 2tNB )-I(I - e-2tN-kB)(I _ e- TB )
X

k-I
I>-(tk-1-ti)B(I - e- 2tiB )(I + e-TB)-I(fi - ik)
i=1

N-I
X

e-(ti-tk+1)B(I - e- 2tN -;B)(I + e-TB)-I(fi - ik)

i=k+1
6

=LGk ,
m=1

where
G~ =

G~ =

(1 - e-2tNB)-I(e-tk-IB - e-(2t N-t k+J)B)[(I - e-TB)2T-2uo - h],

(1 - e-2tNB)-I(c(tN-tk+l)B - e-(t N+t k- d B)[(1 - e-TB)2T-2uN - IN-I],


(1 - e-2tNB)-I(e-tk-IB - e-(2t N-t k+Jl B)[h - Ik],

G~ =

G'k =

(I - e-2tNB)-I(e-(tN-tk+dB - e-(tN+tk-1)B)[ik - IN-I],


G~ = (I - e- 2tNB )-I(I - e-2tN-kB)(I _ e- TB )
k-I

XL e-(t k- 1-t i )B(1 - e- 2tiB )(1 + e-TB)-I(fi - ik),


i=1

G% = (1 - e- 2tNB )-I(I - e- 2tkB )(I _ e- TB )


N-I
X

e-(ti-tk+1)B(I - e- 2tN -;B)(1 + e-TB)-I(fi - ik)

i=k+1

Let us estimate G~ = {Gk}~~1 for any m = 1,2,3,4,5,6 separately. We


start with Gr. Using estimates (5.8), (5.9) and the definition of the spaces Ea., we
show that, for 1 :S k :S N - 1,
IIG~IIE :S

II(I - e- 2tNB )-IIIE->E

2tN-tk+l

IIBexp(-sB)[(I - e-TB)2T-2uo - hJllEds

tk-l

2tN- t k+l

:S M

tk-l

s~~a.II[(I _e-TB)2T-2uo_ hlllE"

:S

~111(I _e-TB)2T-2uo_ hIIE".

Chapter 5. Partial Differential Equations of Elliptic Type

250

Further, applying (5.8), (5.9) and the definition of the spaces Eo we show that,
for 1 :s k < k + r :s N - 1,

IIG~

J liB

G~+rIIE

:s 11(1 - e- 2tNB )-11IE-->E

tk+r-l

x[

exp(-sB) [(1 -

e-rB)2r-2uo -

hJllEds

tk-l

2tN- t k+l

IIBexp(-sB)[(1 -

e-rB)2r-2uo -

hJIIEdsJ

2tN- t k+r+l

M
:s t~-lll(1
-

e-rB)2r-2uo -

hIIE".

Thus, we have proved that

In a similar manner we can show that

Using estimates (5.8), (5.9) and the definition of the spaces Eo we show that, for
1 :s k :s N - 1,
IIG~IIE"

:s 11(1 - e-2tNB)-11IE-->Elle-tk-lB -

e-(2t N -t k+Il BIIE-->E

xll(1 - e-rB)2r-2uo - hlIE",


:s MII(1 - e-rB)2r-2uo - hIIE".
Thus, we have proved that

In a similar manner we can show that

Now let

IIG;IICT(E",) :s MII(1 - e-rB)2r-2uN - fN-11IE".


us estimate G'3. Using estimates (5.8) and (5.9) we obtain that,

k:S N -1,
IIG~IIE

:s 11(1 -

for 1 :s

e-2tNB)-1IlE-->Elle-tk-lB - e-(2t N -t k+Il BIIE-->Ellh - fkllE

:s Mllrllc~(E)

5.2. Difference Schemes Generated by an Exact Difference Scheme


Further, applying (5.8), (5.9) and (5.10) we show that, for 1 :S k
/I G~+r - G~

251

< k + r :S

N - 1,

/lE:S 11(1 - e- 2tNB )-IIIE->E

x {Ile- tk - IB _e-tk+r-IB IIE->E+lle-(2t N - tk +l l B_e-(2tN- t k+r+JlB IIE->e}llh - fk/lE


+11(1 - e-2tNB)-IIIE->Elle-tk+r-lB - e-(2t N -t k+r+Jl BIIE->Ellfk+r - fkllE
:S Mt~llrllc~(El'
Thus, we have proved that

In a similar manner we can show that

By the definition of the spaces Eo and using estimates (5.8), (5.9), we obtain that

II A1- 0 Be-ABG~ IIE:S A1- o ll(1 - e- 2tNB )-11IE->E


x IIBe-AB(e-tk-lB - e-(2t N- t k+JlB)(h - /k)IIE

A1- o t o
:S M A + tkk~11 /lr/lc~(El :S M/lrllc~(El
for all A, A > 0 and for 1 :S k :S N - 1. So, we have established that

IIG31IC(Enl :S M 1 /I r /lC~(E) .
In a similar manner we can show that

IIG~IIC(En) :S M 1 /I

/lC~(E) .

Now let us estimate G'5. By the definition Gf = O. Therefore, we have to consider


the cases 2 :S k :S N - 1. Using estimates (5.8) and (5.9) we obtain that

II G% /lE:S 11(1 _e- 2tNB )-IIIE->E

L Ile-(t k- -til B(1 _e-2tN-kB)(1 _e- rB ) IIE->E

k-l

i=1

k-l

:S

M[~ (tk _ :i)l- o JlI r Ilc~(E)

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

252

Chapter 5. Partial Differential Equations of Elliptic Type

Thus, for 2 ~ k

N we have established the bound

II G~ IIE~ ~ltkall

r Ilc~(E)'

(5.49)

From this inequality it follows that


max

l~k~N-l

II G~ IIE~

M Tall
a

r IlcQ(E)'

(5.50)

Now let us estimate the difference G~+r - G~ for 2 ~ k < k + r ~ N - 1. We


will consider separately the cases k ~ rand k > r. If k ~ r, then (5.49) yields

I G~+r

~ ~ltkall
a

Now let k

liE + I G~ liE

G~ IIE~II G~+r

r IIC~(E) + ~ltkall r Ilc~(E)

M1(1 + 2 ) r all
a
t

fT

I C~(E) = -;;t
M 2 r all

> r. Let us represent the difference

fT

I C~(E)'

G~+r - G~ as the following sums:

G~+r - G~ = (I - e- 2tNB )-1(I - e- TB )

x{

k+r-l

e-(tk+r-l-t;)B(I - e- 2t ;B)(I - e-2tN-k-rB)(I

i=l
k-l

- L e-(tk-1-t;)B(I -

e-2tN-kB)(I - e- 2t ;B)(1

i=l

= (I - e- 2tNB )-1(I - e- TB )

+ e-TB)-l(Ji -

h+r)

+ e-TB)-l(Ji - h)}

k+r-l
e-(tk+r-l-t;)B

i=k-r
x(I - e- 2t ;B)(1 - e-2tN-k-rB)(1
-(I - e- 2tNB )-1(I - e- TB )

+ e-TB)-l(Ji -

fk+r)

k-l

e-(tk-l-t;)B

i=k-r

+(1 -

+(1 -

e- 2tNB )-1(I - e- TB )

l:

k-r-l
e-(tk+r-l-t;)B

i=l

e- 2tNB )-1(1 - e- TB )

k-r-l
{e-(tk+T-1-t;)B(I _ e-2tN-k-rB)

i=l

_e-(tk-1-t;)B(I - e-2tN-kB)}(I - e- 2t ;B)(I

Pf + Pf + P~ + pt

+ e-TB)-l(Ji -

fk)

5.2. Difference Schemes Generated by an Exact Difference Scheme

253

Now let us estimate Pl. Using estimates (5.8) and (5.9), we obtain that

II
k+r-l

plllE:S

II(I -

11(1 - e- 2tNB )-11IE--+E

e-rB)e-(tk+r-l-ti)B(I - e-2tN-k-rB)IIE--+E

i=k-r

xiiI -

e- 2tiB
1

IIE--+E II(I +e-rB)-lIIE--+EIIJi k+r-2

:S M[ra + ifr

(tk+r

k+r-l

:S Mdifr

(tk+r

!k+r

liE

~ tiP-alii r IIC;'(E)

~ tiP-alii r

II

c ;'(E)'

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since

it follows that

II

PlIIE:S

~l (2q a l r Ilc~(E)'

Thus, we have established the bound

In a similar manner we can show that

Since
P~

x(I -

= (I - e-2tNB)-le-2t2rB(I - e-tk-r-lB)

e- 2tiB )(I - e-2tN-k-rB)(I + e-rB)-l(Jk - !k+r),

it follows that

II

xiiI -

P~

IIE:S II(I -

e-2tNB)-11IE--+Elle-2t2rB(I - e-tk-r-lB)IIE--+E

e- 2tiB IIE--+EIII - e-2tN-k-rBIIE--+EII(I + e-rB)-lIIE--+Ellfk - !k+rIIE.

254

Chapter 5. Partial Differential Equations of Elliptic Type

Using estimates (5.8) and (5.9), we obtain

Now let us estimate

k-r-l
X

{II

P:' Using estimates (5.8), (5.9) and (5.10), we obtain

(I - e- rB )(e-(2t N -2t k )B - e-(2tN-2tk-2tr)B)e-(tk-l-t;jB

IIE--+E

i=l

+ II

xiiI -

(I - e-rB)(I -

e-tr)B)e-(tk-1-t;jB IIE--+E }

e- 2tiB IIE--+EII{I + e-rB)-lIlE--+E II


k-r-l

::; Mtr[

(tk _ :i)2- a JIl

Ii - Ik

liE

IIC~(E)'

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since for k > r we have the bound

it follows that

II

pt liE::; 1 ~a t~11 r IIc~(E)'

Thus, we have established the bound

Thus, we have shown that for any 2 ::; k < k + r ::; N - 1 the following inequality
holds:

II

G~+r - G~ liE::; a(~ a) t~1I r Ilc~(E)'

Estimates (5.50) and (5.51) give

(5.51 )

5.2. Difference Schemes Generated by an Exact Difference Scheme

255

In exactly the same manner one establishes the inequality

a(~ a) I r

I C6 Ilc;.'(E):S

Ilc;.'(E) .

By the definition of the spaces Eo: and using estimates (5.8), (5.9), we obtain that
11,\1-0: Be->.BC% IIE:S

,\1-0:11(1 - e- 2tNB )-11IE--->E

k-l

L III -

e-2tN-kB IIE--->E

i=l

xiiI - e- 2tiB IIE--->E

11(1 + e- TB )-lIIE--->EiI(1 -

e-TB)Be-(tk-l-ti+>.)B(!i - !k)

k-l

:S M,\l-O:[; (tk

_ ti:

,\)2-0:]11

liE

r Ilc;.'(E)

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral
k

ds

j
o
t

Since

(tk -

+ ,\)2-0:'

tk

ds
(tk -

+ ,\)2-0:

it follows that

,\l-O:Be->.BC%

for all A, A > 0 and for 2 :S k

:S N

IIE:S

< _1_,\-1+0:
- 1- a

M
1- a

II r

'

Ilc;.'(E)

- 1. So, we have established that

IIC~IIC~(Ea) :S 1 ~ a I r Ilc;.'(E) .
In a similar manner we can show that

IIC~IIC~(Ea) :S 1 ~ a II r

IIc;.'(E) .

Combining the estimates for C;", m = 1,2,3,4,5,6 we obtain the estimates

II

2
{r- (uk+l - 2Uk

+ uk_t}}f-

Ilc;.'(E)

:S

M
a(l ~ a) II

r IIc;.'(E)

+_1 [II (1 - e-TB)2r-2uo - II liE + 11(1 - e-TB)2r-2uN - !N-lilE ],


a

II

2
{r- (Uk+l - 2Uk

+ uk_t}}f- IIC~(Ea) :S

M
a(l ~ a)

II

r II c ;.'(E)

l
TB
2u
+M
a [II (1 - e- ?r- o - h liE a + 11(1 - e-TB)2r-2uN - IN-lilE ],
c<

Chapter 5. Partial Differential Equations of Elliptic Type

256

f-

The estimate for {r- 2[(1 - exp( -rB))(Uk-1 + Uk+l) + (exp(- 2rB) - I) Uk]} 1
in the norm of Cr(Ec,,) follows from the triangle inequality. Theorem 5.2.11 is
proved.
Furthermore, the method of proof of Theorem 5.2.11 enables us to establish
the following fact.
Theorem 5.2.12. Suppose that the assumptions of Theorem 5.2.6 hold. Then the
solutions of the difference problem (5.29) in C~(E) obey the coercivity inequality

II {r- 2(uk+1 - 2Uk + Uk-1)}f- 1 II c-?(E)

+ II {r- 2[(1 -

exp( -rB))(uk_1

+ Uk+1) + (exp( -2rB) - I)uk]}f- 1 II c-?(E)

+ II {r- 2(uk+1 - 2Uk + Uk-1nf- 1IlcT(E",)


::;

(M1 )11 (1 +exp(-rB))-lr Ilc"'(E)


a1-a
T

+ M 1[ II (1 - e-rB)2r-2uo - II liE + 11(1 - e-rB)2r-2uN - !N-1IIE ],


a
'"
'"
where M 1 is independent not only of
uo, UN, a, but also of r.

r,

This yields the following result.


Theorem 5.2.13. Suppose that the assumptions of Theorem 5.19 hold. Then the
solutions of the difference problem (5.29) in C~(E) obey the coercivity inequality

II {r- 2 (uk+l - 2Uk + Uk_1)}i"-1 Ilc-?(E)

+ II {r- 2[(1 -

exp( -rB))(uk-1

+ Uk+1) + (exp( -2rB) - I)uk]}f- 1 II c-?(E)

+ II {r- 2(uk+l - 2Uk + Uk_1)}f- 1 IlcT(E",)


::;

a(~ a) II Br Ilc-?(E) + ~1 [II (1 +11(1 -

e-rB)2r-2uo -

II liE",

e-rB)2r-2uN - !N-1IIEJ,

where M 1 is independent not only of

r, uo, UN, a, but also ofr.

Let us give, without proof, the following results.


Theorem 5.2.14. Suppose that the assumptions of Theorem 5.2.5 hold. Then the
solutions of the difference problem (5.29) in C~,'Y(E) (0::; 'Y::; 13,0 < 13 < 1) obey
the coercivity inequalities

II {r-2(uk+l-2uk+uk-I}}f-11IcT(Ei3_-Y)::;

j3(~j3)11 r IIc~'-Y(E)

+MIl II (1 - e-rB)2r-2uo - II IIEi3_-Y + 11(1 - e-rB)2r-2uN - fN-1IIEi3_J,

5.2. Difference Schemes Generated by an Exact Difference Scheme

II {r- 2(Uk+l
+ II

<

+ uk_d}f- 1 Ilce'Y(E)

- 2Uk

2
{r- [(1 - exp(-rB))(Uk_l

+ uk+d + (exp(-2rB)

{3(~ /3) I r IIce'Y(E) + Mdl(1 +1(1 -

257

- I)uk]}f-

e-rB)2r-2uo -

Ilce.'Y(E)

1I16''Y

e-rB)2r-2uN - fN-llg,'Y],

where M 1 is independent not only of r, uo, UN, {3, "f but also ofr.

Theorem 5.2.15. Suppose that the assumptions of Theorem 5.2.6 hold. Then the
solutions of the difference problem (5.29) in Cf,'Y(E) (0::; "f ::; {3, 0 < {3 < 1) obey
the coercivity inequalities

2
{r- (Uk+l - 2Uk

::;

{3(~ /3) I (1 + exp( -rB))-l r IIce'Y(E)

+Mdll (1 - e-rB)2r-2uo - II
2
{r- [(1 - exp( -rB))(uk-l

<

IIE,.,_'Y + 11(1 -

2
{r- (uk+l - 2Uk

I
+ II

+ uk-d}f- 1 IlcT(E,.,_'Y)

e-rB)2r-2uN - fN-IIIE,.,_...,],

+ uk-d}f- 1 IIce.'Y(E)

+ uk+d + (exp( -2rB) - I)uk]}f- 1 Ilce.'Y(E)

{3(~ {3) I (1 + exp( -rB))-l r IIce'Y(E)


+M1 [1(1 -

e-rB)2r-2uo -

where M 1 is independent not only of

1I16''Y + 1(1 -

e-rB)2r-2uN - fN_llg,'Y],

r, uo, UN, {3, 'Y but also ofr.

Theorem 5.2.16. Suppose that the assumptions of Theorem 5.2.7 hold. Then the
solutions of the difference problem (5.29) in Cf,'Y(E)(O ::; "f ::; {3,O < {3 < 1) obey
the coercivity inequalities

2
{r- (uk+l - 2Uk

+ uk-d}f- IlcT(E,.,_'Y) ::;

+M1[1I (1 - e-rB)2r-2uo - II

IIE,.,_'Y + 11(1 -

{3(1

~ {3) I

Br

Ilce'Y(E)

e-rB)2r-2uN - fN-IIIE,.,_'Y],

2
{r- (uk+l - 2Uk

+ Uk_l)}f- 1 IIce'Y(E)
+ II {r- 2[(1 - exp( -rB))(uk-l + Uk+d + (exp( -2rB) - I)uk]}f- 1 IIce.'Y(E)
<

{3(~ /3) II Br IIce'Y(E) + M 1 [I (1 +1(1 -

e-rB)2r-2uo -

1I16''Y

e-rB)2r-2uN - fN_llg,'Y],

where M 1 is independent not only of

r, uo, UN, {3, 'Y but also of r.

Chapter 5. Partial Differential Equations of Elliptic Type

258

Here,

Iwlg,')' denotes that the norm of the Banach space Eg,')' consists of those

vEE for which the norm

max

l~n~N-l

Ile-tnBwllE

sup
l~n<n+r~N-l

t:;f3(t n + tr)'Y(tN - tn)'Yll(e-(tnHr)B - e-tnB)wIIE

is finite.
Note that the parameter 'Y can be chosen freely in [0, (3), which increases the
number of spaces of grid functions in which difference problem (5.29) is well posed.
Recall that the difference problem (5.29) is not well posed in GT(E) for all
positive operators. It turns out that a Banach space E can be restricted to a
Banach space E' in such a manner that the restricted problem (5.29) in E' will be
well posed in GT(E'). The role of E'will be played here by the fractional spaces
E a = Ea(E,B) (0 < 0: < 1).
Theorem 5.2.17. Suppose that the assumptions of Theorem 5.2.5 hold. Then the
solutions of the difference problem (5.29) in GT(Ea ) obey the coercivity inequality
I {r- 2(uk+l - 2Uk + Uk_l)}f- 1 II (E",)
Cr

+ II {r- 2[(1 - exp( -rB))(uk-l + Uk+l) + (exp( -2rB) - I)uknf- 1 IICr(E",)

~ M1[o:(1 ~ 0:) I r I Cr (E",) + I Auoll E", + II AuNII E J,


where M 1 is independent not only of fr, UO, UN,
Proof. Using formula (5.37), we obtain
r- 2(uk+l - 2Uk
=

0:,

but also ofr.

+ Uk-I)

(1 - e- 2tNB )-1(1 - e-TB)2r-2{(e-tk-IB - e-(2t N-t k+d B)uo


+(e-(tN-tk+JlB _ e-(tN+tk-dB)UN}
-(I - e- 2tNB )-1(1 _ e-TB)(e-(tN-tk+dB _ e-(tNHk-d B )

N-l

L (e-(tN-ti)B - e-(t NHi)B)(1 + e-TB)-l Ii


i=l

+(1 - e- TB )

L e-(t k- 1-t;)B(1 + e-TB)-l Ii

k-l
i=l

+(1 - e- TB )

N-l

e-(t i -t k+d B(1 + e-TB)-l Ii

2(1 + e-TB)-l Ik

i=k+l

-(1 - e- TB )

N-l

i=l

e-(tk-1H;)B)(I + e-TB)-l Ii = 9k

+ Pk,

5.2. Difference Schemes Generated by an Exact Difference Scheme

259

where

+(e-(tN-tk+IlB _ e-(tN+tk-IlB)uN},
Pk =

-(I -

e- 2tNB )-I(1 - e-TB)(e-(tN-tk+IlB _ e-(tNHk-IlB)

N-I

L (e-(tN-ti)B -

e-(t N+t i )B)(1

+ e-TB)-I Ii

i=1

+(1 -

e- TB )

L e-(t k- 1-t i )B(1 + e-TB)-I Ii

k-I
i=1

+(1 -

e- TB )

N-I

e-(t i -t k+ Il B(1

+ e-TB)-l Ii -

2(1 + e-TB)-l Ik

i=k+1

-(1 -

e- TB )

N-I

e-(t k- 1+t;JB)(1

+ e-TB)-I Ii-

i=1

To this end it suffices to show that

II gTIICT(E a ) ~

I pTIICT(E

MIlII Auoll Eo + AUNIIEJ,

~ M1a-I(1- a)-III

IICT(E

(5.52)
)'

(5.53)

Estimate (5.52) follows from the estimate

and the fact that the homogeneous difference equation (r = 0) is stable in CT(Eo )
uniformly in T. By the definition of the spaces Eo and using estimates (5.10), (5.11)
and (5.36), we obtain

I .x 1- o Be->.B pk
N-I
X

IIE~

.x 1 - o ll(1 -

e- 2tNB )-IIIE-+E

Ile- TB - e-(tN+1Hi)BIIE-+E

i=1

+.x

k-I

I- o

i=1

11(1 + e- TB )-IIIE-+EIIB(1 -

e-TB)e-(tk-l-ti+>.)B fillE

260

Chapter 5. Partial Differential Equations of Elliptic Type

+A 1 - o

N-l

I:

11(1 + e- TB )-lIIE--->EIIB(1 - e-TB)e-(t;-tk+JlB fillE

i=k+l

+A 1- o

N-l

I: Ile-

tkB

IIE--->EI/(1 + e-TB)-ll/E--->EI/B(I - e-TB)e-(ti-l+A)B fillE

i=l

N-l

:S M(l

+ AI-O[~

(tj-l +TA)A 1- o ])11

II cT (E,,)

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral
T

J
o

Since

ds
(s + A)Sl-o

J
o

J
00

ds
1
(s + A)Sl-o :S A1 - o

dr
(1 + r)r 1 -

o '

it follows that

for all A, A > 0 and for 1 :S k :S N - 1. From the last estimate follows estimate
(5.53). Theorem 5.2.17 is proved.
Furthermore, the method of proof of Theorem 5.2.17 enables us to establish
the following fact.
Theorem 5.2.18. Suppose that the assumptions of Theorem 5.2.6 hold. Then the
solutions of the difference problem (5.29) in CT(Eo ) obey the coercivity inequality

+ II {T- 2 [(1 - exp( -TB))(Uk_l + uk+d + (exp( -2TB) - I)Uk]}f-l II cT (E,,)

:S M1 [a(1 ~ a) II (1 + exp( -TB))-l r IICT(E,,) +


where M 1 is independent not only of
This yields the following result.

II

Auoll E" + I/AuNIIEJ,

r, Uo, UN, a, but also ofT.

261

5.2. Difference Schemes Generated by an Exact Difference Scheme

Theorem 5.2.19. Suppose that the assumptions of Theorem 5.2.7 hold. Then the
solutions of the difference problem (5.29) in CT(Eo ) obey the coercivity inequality

II {T- 2(Uk+l - 2Uk + Uk_l)}f- 1 IlcT(E,,)


+ II {T- 2[(1 - exp( -TB))(Uk-l + Uk+l) + (exp(-2TB) - I)Uk]}f-l IlcT(E,,)

:S M1[a(1 ~ a) II Br IlcT(E,,) + II Auoll E" + IIAuNIIEJ,


where M 1 is independent not only of

r, Uo, UN, a, but also of T.

Let us give, without proof, the following results.


Theorem 5.2.20. Suppose that the assumptions of Theorem 5.2.5 hold. Then the
solutions of the difference problem (5.29) in Ce,'"Y(Eo -f3) (0 :S , :S (3 :S a,O < a <

1) obey the coercivity inequalities

II

1
2
{T- (Uk+l - 2Uk + Uk_l)}f- Ilc~''''(E,,-{3)

+ II {r- 2[(1 - exp( -TB))(Uk-l + Uk+l) + (exp( -2TB) - I)uk]}f- 1 Ilc~''''(E,,_{3)


+

II {r- 2(uk+l
:S

1
- 2Uk + Uk_l)}f- IlcT(E~:!{3)

a(~ a) II r Ilc~''''(E,,-{3)

+Mdl(1 - e-TB)2r-2uo - hl~~f3 +

II

1(1 -

e-TB)2T-2uN - fN-11~:2'f3],

1
2
{r- (uk+l - 2Uk + Uk_l)}f- Ilc~''''(E,,-{3)

+ II {T- 2 [(I - exp( -TB))(Uk-l + Uk+l) + (exp( -2TB) - I)Uk]}i'-l

IIc~''''(E,,-{3)

+ II {T- 2(Uk+l - 2Uk + Uk_l)}i'-l IlcT(E,,_..,)


:S

a(~ a) [II r Ilc~''''(E,,-{3)

+M1 [11(1 - e-TB)2T-2uo -

hII E,,_.., + 11(1 -

where M1 is independent not only of

e-TB)2T-2uN - fN-l IIE,,_..,]] ,

r, Uo, UN, a, (3, ,

but also of T.

Theorem 5.2.21. Suppose that the assumptions of Theorem 5.2.6 hold. Then the
solutions of the difference problem (5.29) in Ce,'"Y(Eo - f3 ) (0 :S , :S (3 :S a, 0 < a <

1) obey the coercivity inequalities

II
+

II {T- 2[(1 -

2
{T- (Uk+l - 2Uk

+ Uk_l)}f- 1 Ilc~''''(E,,-{3)

1
exp( -TB))(Uk-l + uk+d + (exp( -2TB) - I)uk]}f- Ilc~''''(E,,-{3)
+ II {T- 2(Uk+l - 2Uk + Uk_l)}f- 1 IIcT(E~:!{3)

262

Chapter 5. Partial Differential Equations of Elliptic Type

::;

a(~a)1I

(1 +exp(-TB))-lr

IIc~''''(E<>-{3)

Y + 1(1 - e-rB)2 T-2 UN - f N-l 1{3,'


+M 1 [1(1 - e-rB)2 T-2 Uo - f 1 1{3,'
o.-{3
o.-{3Y] ,
II {T- 2(Uk+l - 2Uk + Uk-lnf- 1 IIc~''''(E<>-{3)
+ II {T- 2[(1 - exp( -rB))(Uk-l + uk+d + (exp(-2rB) - I)uk]}f- 1 IIc~''''(E<>-{3)
+ II {r- 2(Uk+l - 2Uk + Uk-lnf- 1 Ilo.r(E<>_..,)
::;

a(~ a) [II (1 + exp( -TB))-l r Ilc~''''(E<>_{3)

+M1 [l1(1 - e-rB)2r-2uo - h IICT(E<>_..,) + 11(1 - e- rB fT- 2UN - fN-r1lcT(E<>_..,)]],


where M 1 is independent not only of

r, Uo, UN, a, (3, 'Y but also ofT.

Theorem 5.2.22. Suppose that the assumptions of Theorem 5.19 hold. Then the
solutions of the difference problem (5.29) in C~,'Y(Eo._{3) (0::; 'Y::; (3::; a,O < a <

1) obey the coercivity inequalities

+ II {T- 2 [(I - exp( -TB))(Uk_l + Uk+!) + (exp( -2TB) - I)uk]}f- 1

IIc~''''(E<>-{3)

+ II {T- 2(Uk+l - 2Uk + Uk_l)}f- 1 IlcT(E~~{3)


::;

a(~ a) II Br IIc~''''(E<>-{3)

+M1 [! (1 - e-rB)2T-2uo - hl~'2{3 + 1(1 - e- rB fT- 2UN - fN-ll~:2{3],


II {T- 2(Uk+l - 2Uk + Uk-lnf- 1 Ilc~''''(E<>-{3)
+ II {T- 2[(1 - exp( -TB))(Uk_l + Uk+l) + (exp( -2rB) - I)uk]}f- 1 Ilc~''''(E<>-{3)
+ II {T- 2(Uk+! - 2Uk + Uk-lnf- 1 IlcT(E<>_..,)
::;

a(~ a) [II Br IIc~''''(E<>-{3)

+Mrlll(1 - e- rB fr- 2uo - hllcT(E<>_..,) + 11(1 - e-rB)2T-2uN - fN-lllcT(E a _..,)]],


where M1 is independent not only of

r, Uo, UN, a, (3, 'Y but also of T.

263

5.2. Difference Schemes Generated by an Exact Difference Scheme

Here, Iwl~:213 denotes that the norm of the Banach space E~:213 consists of
those vEE for which the norm
Iwl 13 :2 = max Ile-tnBwIIE_
13 l~n~N-I
" iJ
Q

sup
l~n<n+r~N-I

t;13(t n + tr)'Y(tN - tnPII(e-(tnHr)B - e-tnB)wIIE"_iJ

is finite.
Note that the spaces of grid functions C~,'Y(EQ_13)' in which coercive solvability has been established, depend on the parameters a, (3 and 'Y. However, the
constants in the coercive inequalities depend only on a. Hence, we can choose the
parameters (3 and 'Y freely, which increases the number of spaces of grid functions
in which difference problem (5.29) is well posed.
Let us consider now the boundary-value difference problem (5.29) in the
spaces Lp,T(E) = Lp([O, T]T1 E), 1 ::; p < 00 of all grid functions. We have not
been able to obtain the coercivity inequality
2

II {7- (Uk+l - 2Uk

+ II {7- 2[(1 -

+ Uk_I)}~-1

IILp,T(E)

+ uk+d + (exp( -27B) - I)uk]}~-I


IILp,T(E) + II Auoil E + IIAuNII E],

exp( -7B))(Uk-1

IIL p,T(E)

::; M[II
in the arbitrary Banach space E and for the general positive operator A. Nevertheless, we can establish the almost coercivity inequality.
Theorem 5.2.23. Suppose that the assumptions of Theorem 5.2.5 hold. Then the
solutions of the difference problem (5.29) in Lp,T(E) obey the almost coercive inequality
2
II {7- (Uk+1 - 2Uk + Uk_I)}~-1 II Lp ,T(E)

+ II

{7- 2[(1 - exp( -TB))(Uk_1


::;

+ Uk+l) + (exp( -27B) MIlil Auoil E + IIAuNll E

+ min {ln~, 1 + lIn II

B IIE-->EI} II

where M I does not depend on fT, uo, UN, P and

I)uk]}~-I II Lp ,T(E)

IILp,T(E)],

7.

Proof. The proof of this theorem in the case p = 1 is carried out according to
the same scheme of Theorem 5.2.5 and is based on estimate (5.33). So, we will
consider the proof of this theorem for any p, 1 < p < 00. By formula (5.37) we
have that
2

7- (Uk+1 - 2Uk

+ Uk-I)

= gk

+ Pk

Therefore, to prove the theorem it suffices to show that


II gTIILp,T(E) ::; MIlil Auoil E + IIAuNII E],
II pT II LpT (E) ::; MI min

{ln~, 1 + lIn II B

(5.54)

IIE-->EI} II

IILp.T(E)'

(5.55)

Chapter 5. Partial Differential Equations of Elliptic Type

264

Estimate (5.54) follows from the estimate

and the fact that the homogeneous difference equation (r = 0) is stable in Lp,r(E)
uniformly in T. We have that
1

Pk = Pk
where

3
+ Pk2 + Pk,

k-l
Pk = (I - e- 2tNB )-1(I - e- rB ) I>-(tk-1-ti)B
i=l

x (I - e- 2tiB )(I - e-2tN-kB)(I + e- rB )-l J;, 2:::; k :::; N - 1,pt = 0,


p~

= -(I - e- 2tNB )-1(I - e-rB)(e-(tN-tk+tlB _ e-(tNHk-tl B )

x (e-(tN-tk)B - e-(tN+tklB)(I + e- rB )-l fk - 2(I + e-rB)-l fk


-(I - e-rB)e-(tk-1Hk)B)(I + e- rB )-l fk,
p~ = (I - e- 2tNB )-1(I - e- rB )

N-1

e-(ti-tk+tl B

i=k+l
x (1

- e- 2tkB )(1 - e-2tN-iB)(I + e-rB)-l J;, 1 :S k :S N - 2,P}._1

Let us estimate {Pk}f=-/ for any m


(5.11) and (5.36), we obtain
Ilp~IIE

:::; 11(1 -

O.

= 1,2,3 separately. Using estimates (5.10),

e- 2tNB )-1IlE--+EIII - e-2tN-kBIIE--+E

k-l
X

L III - e- 2tiB IIE--+EII(I - e-rB)e-(tk-l-ti)BIIE--+E


i=l

k-l

xll(I + e- rB )-lIIE--+EllfiIIE :::; ML 11(1 -

e-rB)e-(tk-l-ti)BIIE--+EIIJiIIE

i=l

k-l
= M

L 11(1 - e-rB)e-tj-1BIIE--+Ellfk_jIIE, 2:::; k:::; N-l.


j=l

Set 'Pi = Ii if i = 1, ... , k - 1, and 'Pi = 0 otherwise. We have that

IlplllE :::; M

N-l

j=l

11(1 - e-rB)e-tj-1 BIIE--+ElliI'k-j liE, 2:::; k :::; N - l.

5.2. Difference Schemes Generated by an Exact Difference Scheme

265

Using this estimate and Minkowski sum inequality it follows that


II

{pD~~/IILp.T(E)

N-1

(L II Pk II~T)~
k=2

N-1 N-1

:S

L (L (MII(I -

e-rB)e-tj-lBIIE--.E1lcpk_jIlE)PT)

j=l k=2

:S

N-1

N-1

j=l

i=l

L Mil (1 - e-rB)e-tj-lBIIE--.E( L Ilcpill~T)t.

By the definition of the grid function {'I'd ~,:/ we obtain that


N-1

II

{pD~':/IILp'T(E) :S

L MII(1 -

N-1
e-rB)e-tj-lBIIE--.e(

j=l

L 1I1i1l~T)t.
i=l

Using this estimate and estimate (5.33), we obtain that


II

{pD~:/IILp'T(E)

:S

M 1 min

{ln~, 1 + Iln II B IIE--.EI} II r

IILp,T(E)'

Let us estimate {pD~':/. Using estimates (5.10), (5.11) and (5.36), we obtain
IIp~IIE

:S [11(1 -

e- 2tNB )-1I1E--.EIII - e-rBIIE--.E

x lIe-(t N-t k+d B

- e-(tNHk-l)BIIE--->E

+ e- rB )-lI1E--.E + 211(1 + e- rB )-lIIE--.E


+11(1 - e-rB)e-t2k-lBIIE--.EII(1 + e- rB )-lIIE--->dllikIIE :S MllfkllE.

x lIe-(t N-t k )B - e-(t N+t k)BIIE--.EII(1

From this it follows that


N-1

II

{pn~=~lI1Lp,T(E):S M(I: Ilikll~T)t.


k=l

Let us estimate {pD~':/. Using estimates (5.10), (5.11) and (5.36), we obtain that

Ilp~IIE :S
N-1

III -

11(1 -

e-

2tNB

)-11IE--.EIII - e-

2tkB

IIE--.E

e-2tN-iBIIE--.EII(1 - e-rB)e-(ti-tk+dBIIE--.E

i=k+1

x 11(1 + e- rB )-lIIE--.EllfiIIE :S M

N-1

11(1 -

e-rB)e-(ti-tk+dBIIE--.EllfiIIE

i=k+1

=M

N-k-1

j=l

11(1 -

e-rB)e-tj-lBIIE--.Ellfk+jIIE, 1

:S k :S N - 2.

266

Chapter 5. Partial Differential Equations of Elliptic Type

Set 'Pi = fi if i = k + 1, ... , N - 1, and 'Pi = 0 otherwise. We have that

N-1
IIp~IIE :::; M

2: 11(1 -

e-TB)e-tj-IBIIE--..EII'Pk+jIIE, 1:::; k :::; N - 2.

j=l

Using this estimate and Minkowski sum inequality it follows that

II {pD~=-/IILp'T(E)
N-1 N-2

:::; 2:(2:(MII(I j=l k=l


N-1

:::; 2: MII(I j=l

N-2

(2: II p~ 11~7)~
k=l

e-TB)e-tj-IBIIE--..EII'Pk+jIIE)P7)~
N-1

e-TB)e-tj-IBIIE--..E( 2: II'Pill~7)~.
i=l

By the definition of the grid function {'Pd~=-/ we obtain that

II {pD~';/IILp'T(E)

N-1
:::;

2: MII(I j=l

N-1
e-TB)e-tj-IBIIE--..e( 2: IIJiII~7)~.
i=l

Using this estimate and estimate (5,33), we obtain that

Combining the estimates for {Pk} ~=l\ m = 1, 2, 3 and using the triangle
inequality we obtain estimate (5.39). Theorem 5.2.23 is proved.
Furthermore, the method of proof of Theorem 5.2.23 enables us to establish
the following facts.
Theorem 5.2.24. Suppose that the assumptions of Theorem 5.2.6 hold. Then the
solutions of the difference problem (5.29) in Lp,T(E) obey the almost coercive in-

equality

I {7- 2(Uk+1

+ I {7- 2[(I -

- 2Uk

exp( -7B))(Uk-l

+ Uk_1)}~-1 IILp.T(E)

+ Uk+1) + (exp( -27B) -

I)uk]}~-l

IILp,T(E)

:::; Mdll Auoil E + IIAuNll E


+ min {ln~, 1 + jln I B IIE--..EI} I (I + exp( -7B))-1
where M 1 does not depend on fT, uo, UN, P and

7.

r IILp,T(E)],

267

5.2. Difference Schemes Generated by an Exact Difference Scheme

Theorem 5.2.25. Suppose that the assumptions of Theorem 5.2.7 hold. Then the
solutions of the difference problem (5.29) in Lp,T(E) obey the almost coercive in-

equality

+ II

II

{r- (uk+l - 2Uk

+ Uk_l)}~-l

{r- 2 [(1 -exp(-rB))(uk-l +Uk+l)

IILp,r(E)

+ (exp(-2rB)

- I)uk]}f- 1 IILp,r(E)

:::; Mdll Auoll E + IIAuNllE


+ min

{ln~, 1 + Iln II B IIE---->EI} II Br IILp,r(E)],

where M 1 does not depend on fT, uo, UN, p and r.


Finally, let us give, without proof, the following results about well-posedness
of the boundary-value difference problem (5.29) in the spaces

Theorem 5.2.26. Suppose that the assumptions of Theorem 5.2.5 hold. Suppose that
the difference problem (5.29) is well posed in LpO,T(E) for some Po, 1 < Po < 00.
Then it is well posed in Lp,T(E) for any p, 1 < p < 00 and the following coercivity

inequality holds:

+ II {r- 2 [(1 - exp( -rB))(uk-l + uk+d + (exp( -2rB) - I)uk]}f- 1 IILp,r(E)


2

+lluTIICc(El-l/P,p) :::; M(poHII uoIIE,_,/P p + lI u NIIE , _, / p p + --.!!.....-l


,
,
p-

where M (Po) does not depend on r, uo, UN, P and

II

r II

Lp,r(E)

],

T.

Theorem 5.2.27. Suppose that the assumptions of Theorem 5.2.6 hold. Suppose that
the difference problem (5.29) is well posed in LpO,T(E) for some Po, 1 < Po < 00.
Then it is well posed in Lp,T(E) for any p, 1 < P < 00 and the following coercivity

inequality holds:
2

II {r- (uk+l - 2Uk

+ uk-d}f- 1 II Lp ,r(E)

+ II {r- 2 [(1 - exp( -rB))(uk-l + uk+d + (exp( -2rB) - I)uk]}f- 1 IILp,r(E)


+lluTllcc(E,_,/P,p) :::; M(po)[11 UOIIE,_,/p,P +
2

II U NIIE , _, / p

+ -P-II (1 +exp(-rB))-lr II
],
p- 1
Lp,r(E)
where M (Po) does not depend on

r, Uo, UN, P and

T.

,P

268

Chapter 5. Partial Differential Equations of Elliptic Type

Theorem 5.2.28. Suppose that the assumptions of Theorem 5.2.7 hold. Suppose that
the difference problem (5.29) is well posed in LpO,T(E) for some Po, 1 < Po < 00.
Then it is well posed in Lp,T(E) for any p, 1 < p < 00 and the following coercivity

inequality holds:

II
+ II

{T- (Uk+l - 2Uk

{T- 2 [(I - exp( -TB))(Uk-l

+ Uk-lnf- 1 IILp,T(E)

+ Uk+l) + (exp( -2TB) -

I)uk]}f- 1 IILp,T(E)
2

+ L111
+lluTIICc(EI_I/P,P)::; M(po)[11 uoIIEl_l/P ,p+IluNIIE1 _ 1 / P'Pp
Br II Lp,T(E) ],
where M (Po) does not depend on

r, uo, UN, P and

T.

Theorem 5.2.29. Let 1 ::; p ::; 00 and 0 < Q < 1. Suppose that the assumptions
of Theorem 5.2.5 hold. Then problem (5.29) is well posed in Lp,T(Eo:,p) and the

following coercivity inequality holds:

II {T- 2 (Uk+l
+ II

- 2Uk

{T- 2 [(1 - exp( -TB))(Uk_l


::; M[II

+ uk-d}f- 1 IILp,T(Eo,p)

+ uk+d + (exp( -2TB) -

AUoIIEo,p + IIAuNIIEo,p + Q(l ~ Q) II r II

where M does not depend on fT, Uo, UN, p,

IILp,T(Eo,p)

1)Uk]}f-l
Lp,T(Eo,p)

],

and T.

Theorem 5.2.30. Let 1 ::; p ::; 00 and a < Q < 1. Suppose that the assumptions
of Theorem 5.2.6 hold. Then problem (5.29) is well posed in Lp,T(Eo:,p) and the

following coercivity inequality holds:

II
+ II

{T- (Uk+l - 2Uk

{T- 2 [(1 - exp( -TB))(Uk_l

::; M[II

+ Uk-lnf- 1 IILp,T(Eo,p)

+ uk+d + (exp( -2TB) -

AuollEo,p + IIAuNIIEo,p + Q(l ~ Q) II

1)Uk]}f-l

(I + exp( -TB))-l

IILp,T(Eo,p)

r II Lp,T(Eo,p) ],

where M does not depend on fT,uo, UN, P,Q and T.


Theorem 5.2.31. Let 1 ::; p ::; 00 and 0 < Q < 1. Suppose that the assumptions
of Theorem 5.2.7 hold. Then problem (5.29) is well posed in Lp,T(Eo:,p) and the

following coercivity inequality holds:

II
+ II

{T- (Uk+l - 2Uk

{T- 2 [(I - exp( -TB))(Uk-l

+ Uk-lnf- 1 IILp,T(Eo,p)

+ uk+d + (exp( -2TB) 1

::; M[II AuollEo,p + IIAuNIIEo,p + Q(l _


where M does not depend on fT, Uo, UN, p,

Q)

and T.

1)Uk]}f- 1

II Br II

Lp,T(Eo,p)

IILp,T(Eo,p)
],

269

5.2. Difference Schemes Generated by an Exact Difference Scheme

Theorem 5.2.32. Let 1 < p, q < 00 and 0 < Q < 1. Suppose that the assumptions of
Theorem 5.2.5 hold. Then the difference problem (5.29) is well posed in Lp,r(Ea,q)
and the following coercivity inequality holds:

II
+ II {r- 2 [(I -

{r- (uk+1 - 2Uk

+ Uk-1nf- 1IILp,T(E",q)

+ Uk+!) + (exp( -2rB) - I)uk]}f- 1 II Lp ,T(E",q)

exp( -rB))(uk-1

:s M(q)[11 AUoIIE",q + IIAuNIIE".q + p~ 1 II r

r, uo, UN, p, q,

where M(q) does not depend on

IILp'T(E,,)'

and r.

Theorem 5.2.33. Let 1 < p, q < 00 and 0 < Q < 1. Suppose that the assumptions of
Theorem 5.2.6 hold. Then the difference problem (5.29) is well posed in Lp,r(Ea,q)
and the following coercivity inequality holds:
2

II {r- (uk+! - 2Uk

+ II {r- 2 [(I -

+ uk-d}f- 1 II Lp .T(E",q)

+ Uk+!) + (exp( -2rB) - I)uk]}f- 1 IILp,T(E",q)

exp( -rB))(uk-1

:S M(q)[11 Auoil E + IIAuNIIE" + -p- II (I + exp( -rB))-l r


",q
,q
p- 1

r, uo, UN, p,

where M(q) does not depend on

II L

p,T

(E

o,q

],

and r.

Theorem 5.2.34. Let 1 < p, q < 00 and 0 < Q < 1. Suppose that the assumptions of
Theorem 5.2.7 hold. Then the difference problem (5.29) is well posed in Lp,r(Ea,q)
and the following coercivity inequality holds:
2

II {r- (uk+! - 2Uk

+ II {r- 2 [(I -

exp( -rB))(uk-1

+ uk_d}f- 1

+ Uk+1) + (exp( -2rB) - I)uk]}{"-l


p2

:S M(q)[11 AUoIIE",q + IIAuNIIE",q + P -1


where M(q) does not depend on

IILp,T(E",q)

r, uo, UN, p,

II Br

IILp,T(E",q)

IILp'T(E,,)'

and r.

Now, we will consider the applications of the exact difference scheme (5.29).
From (5.29) it is clear that for the approximate solutions of the problem (5.1) it
is necessary to approximate the expressions exp( -r B) and

1jt

exp( -(tk - z)B))f(z)dz,

tk-l

11

tk

tk-l

exp( -(z - tk-1)B)f(z)dz.

270

Chapter 5. Partial Differential Equations of Elliptic Type

Let us remark that in constructin difference schemes it is important to know


how to construct a right-hand side fk' that satisfies

11

11

tk

(2B7)-1 [-

exp( -(tk -z)B))f(z )dz+ -

tk-l

11

7
tk

-exp(-7B)(-

11

+7

tk

tk

+ exp( -(z-tk)B)f(z)dz (5.56)

tk

exp(-(tk+l - z)B))f(z)dz

tk

exp( -(z - tk-dB)f(z)dz)]- fe = 0(7 j +l )

tk-l

and is a sufficiently simple. The choice formula fe is not unique. Using Taylor's
formula, with respect to function exp( -(tk - z)B))f(z) on variable z, we obtain

11

= f(tk) +

tk

exp( -(tk - z)B))f(z)dz

tk-l

l+j
I::
I::
m

m=l)..=O

B m->' f(>')(tk) -

l)m m+1
7

(m + I)!

+ 0(7 1+1+ 1).

Using Taylor's formula, with respect to function exp(-(z - tk-1)B)f(z) on


variable z, we obtain

1jt

-:;.

exp( -(z - tk-1)B)f(z)dz

tk-l

= f(tk-1) +

I+j
l;(;
m

m+1

~ (_l)m->. Bm->'f(>')(tk_d (~+ I)! + 0(71+ 1+1).

Further, using the last formulas and Pade fractions for the function e- z , we
can write

5.2. Difference Schemes Generated by an Exact Difference Scheme

271

Now, using the last formula and Pade fractions for the function e- z , we
obtain the difference schemes of (j + l)-order of accuracy
(5.57)

= fk''I ,1 :S k :S N -

1, Uo = Vo, UN = VT

for the approximate solutions of the boundary-value problem (5.1).


Note that the difference schemes (5.57) for j = land j = 1 - 1 include
difference schemes of arbitrary high order of approximation. Moreover, the corresponding functions Rj,l+ 1 (z) tend to 0 as z -+ 00 for j = 1- 1, l. Such difference
schemes are simplest, in the sense that the degrees of the denominators of the
corresponding Pade approximants of the function exp{ - z} are minimal for a fixed
order of approximation of the difference schemes.
It is clear that this problem is uniquely solvable, and the following formula
holds:
Uk = (I - R;,f+1 (1'B))-1 {(R7,l+1 (1'B) - RJ.f+~k(1'B))uo
(5.58)

+(Rfl~~(1'B) - Rfl~~(1'B))UN
N-1

-(Rfl~~(1'B) - Rfl~~ (1'B))1'2

L (Rfl~i1 (1'B)
i=l

N-1
+1'2

L (R;~I~i~ (1' B) -

R~,t~l (1' B))(1 - R;,l+l (1' B) )-1 Jl'1, 1 :S k :S N - 1.

i=l

Let us reduce such difference schemes to an operator problem in the space FT(E).
In addition to the operator D;, acting from the space E x FT(E) x E of vectors
wT = {wdi:'=o into the space Fr(E) of vectors v T = {Vk}~=-/ by the rule

define an operator A~,I from the space E x Fr(E) x E of vectors wr


into the space Fr (E) of vectors vT = {vd ~=~1 by the rule

+(R],I+1 (1' B) - I)WkJ, k = 1, ... , N - 1.

= {wd~=o

272

Chapter 5. Partial Differential Equations of Elliptic Type

Then the difference schemes (5.57) can obviously be rewritten as the equivalent
operator equation

-D;II(uo, UN )UT + A~lII(uo, UN)U T = fIl'


Here fIl is defined by the formula

T - (fj,l
fj,l)
f j,l
- 1 ' " ' ' N-l .
The last operator problem will be considered in the space FT(E). From its unique
solvability for any Un, UN E E and fIl E FT(E) it follows that its solution uT
defines a continuous additive and homogeneous operator uT(fIl' un, UN).
The boundary-value problem (5.57) is said to be stable in FT(E) if we have
the inequality

where M is independent not only of fIl' un, UN, but also of r.


From formula (5.58) one derives the following result.
Theorem 5.2.35. Let A be the positive operator in a Banach space E. Then the difference problem (5.57) is stable in Lp,T(E), 1 ::; p::; 00.( Here CT(E) = LOO,T(E).)

The proof of this theorem is based on formula (5.58) and the estimates

IIRj,l+l (rB)IIE--.E ::; M,l ::; k ::; N,

(5.59)

11(1 - R;,'iv+1(rB))-11IE--.E ::; M.

(5.60)

The proof of estimate (5.60) is based on the estimates

11(1 and

II exp( -hB) -

exp( -2NrB))-11IE--.E ::; M

Rj,l+l(rB)IIE-+E ::; Mk- j - l - 1, 1 ::; k ::; N.

(5.61)

Here M does not depend on k and r.


Theorem 5.2.36. Let A be the positive operator in a Banach space E. Then the
difference problem (5.57) is stable in c;;,a(E), 0 < a < 1.

The proof of this theorem is based on formula (5.58), estimates (5.59), (5.60)
and

IIRJ,l+l (rB) -

R;,t~l (rB)IIE-+E ::; M (k :Qr)Q'

(5.62)

for all k, r, 1 ::; k < k + r ::; N - 1 and all r > O,where M does not depend on k,
rand r. Estimate (5.62) follows from (5.59) and

kTIIBRj,l+l(rB)IIE-+E ::; M,l ::; k::; N.

(5.63)

5.2. Difference Schemes Generated by an Exact Difference Scheme

273

The boundary-value difference problem (5.57) is said to be well posed (coercively stable) in FT(E) if we have the coercive inequality
II {r- 2 (uk+l - 2Uk +uk_d}f- 1 IIFT(E)

+I

1
{r- 2 [(1 - Rj,l+l(rB))(uk-l +Uk+l) + (RJ,l+l(rB) - I)uk]}f- IIFT(E)
~

M[II

fj,l IIFT(E)

+I

Auoil E + IIAuNII E],

where M is independent not only of fj,l' Uo, UN, but also of r. Since the difference
boundary-value problem (5.57) in Lp,T(E), 1 ~ P ~ 00 is not well posed for the
general positive operator A and space E, then the coercive norm
I u T IIKp,T(E) = I {r- 2 (uk+l - 2Uk + Uk_l)}f- 1 IILp.T(E)

+ I {r- 2 [(1 - Rj,l+l(rB))(uk-l + Uk+l) + (RJ,l+l(rB) - I)uk]}f- 1 IILp,T(E)


tends to

00

as r

----+

+0 . We have

Theorem 5.2.37. Let A be a strongly positive operator in a Banach space E with


spectral angle (A, E) < T and uo, UN E D(A). Then the solutions of the difference problem (5.57) in Lp,T(E) obey the almost coercive inequality
T
" u IIKp,T(E) ~ Mdll Auoil E + IIAuNll E

+ min {ln~, 1 + lIn I B IIE-+EI} I fj,l IILp,T(E)],


where M1 is independent not only of f;'l' Uo, UN, but also of r.
The proof of Theorem 5.2.37 follows the scheme of the proofs of Theorem
5.2.5 and 5.2.23, and relies on the formula
r- 2(uk+l - 2Uk + Uk-I)
(5.64)
=

(1 - R;,f+l(rB))-l(1 - Rj,l+1(rB))2r-2{(R;,1~1(rB) - R},f+--;.k-l(rB))uo


+(Rfl+~-l(rB) - Rflt~-l(rB))uN}

-(1 - R;,f+l(rB))-1(1 - Rj,l+l(rB))(Rfl+~-l(rB) - Rflt~-l(rB))


N-l
x
(Rfl+il (rB) - Rfltil (rB))(1 + Rj,l+l(rB))-l f{l

2:
i=l

k-l

+(1 - Rj,l+l(rB))

2: R;,I~li(rB)(1 + Rj,l+l (rB))-l fl,l


i=l

N-l

+(1 - Rj,l+l(rB))

2:

i=k+l

Rj"j~11(rB)(1 + Rj,I+l(rB))-l ff

Chapter 5. Partial Differential Equations of Elliptic Type

274

and on estimates (5.59), (5.63) and

N-1

2: 11(1 - Rj,l+1 (7 B) )R}:Z~1 (7B) IIE-.E ::; M min ( In(1/7), 1 + lIn IIBIII), (5.65)
j=1

11(1 - Rj,I+1(7B))2(7B)-21IE---.E ::; M,

(5.66)

11(1 + R j,I+1(7B))-1I1E---.E ::; M.

(5.67)

Estimate (5.66) is obvious. The proof of estimate (5.65) follows the scheme of proof
of Lemma 5.2.4 and is based on estimates (5.59) and (5.63). The proof of estimate
(5.67) is based on the following lemma.
Lemma 5.2.38. Let B be a strongly positive operator in a Banach space E with

spectral angle ( B, E) <


one has estimate (5.67).

ii.

Then the operator 1 + Rj,l+1 (7 B) is invertible and

Proof. Since
(1

+ R j,I+1(Z))

-1

Qj,l+1(Z)

= P j,l+1 ()+Q
Z
j,I+1 ()
Z

is a rational function, it suffices to show that the function P j,l+1 (z) + Q j,l+1 (z)
has no zeros in the sector {z E C : z = pe</> , 0 ::; p < 00,0 ::; ::; ii}. Since

P j ,l+1 ( z)

+ Qj,I+1 ()
Z

~ (j + l + 1 - i)! [ (l + I)!
( ) - i j! ] i
~ (j + 1 + l)!i! (l + 1 _ i)! + -1 (j _ i)! z

1+1 (j+l+1-i)! (l+l)! i


+2: (j+l+1)!i! (l+l_i),z
t=J+1
and (l~i~):)!

+ (_l)-i (j~i)! >

0 for j = l - 1, l, we obviously have IPj,I+1(z) +


Qj,I+1(z)1 ~ 2. Lemma 5.2.38 is proved.
Now let us study the well-posedness of the difference problem (5.57) in various
Banach spaces.
Theorem 5.2.39. Let A be a strongly positive operator in a Banach space E with

spectral angle (A, E) < T and uo, UN E D(A). Then the solutions of the difference problem (5.57) in C~,Q(E) obey the coercivity inequality

II
+ II

2
{7- (Uk+1 - 2Uk

2
{7- [(1 - R j,I+1(7B))(Uk-1

::; MIl a (l ~ a) II

+ uk_d}f- 1 Ilc;""(E)

+ Uk+1) + (R;'I+1(7B) - I) u knf- 1 Ilc;."'''(E)

f],l Ilc;.""(E)

+ II Auoil E + II Au NII E],

where M 1 is independent not only of 1],1' UO, UN, a, but also of 7.

5.2. Difference Schemes Generated by an Exact Difference Scheme

275

The proof of Theorem 5.2.39 follows the scheme of proof of Theorem 5.2.8,
and relies on the formula
(5.68)
= (I - R;,f+l(rB))-l(I - Rj,I+l(rB))2r-2(R;,1~1(rB) - RJ.~+lk-l(rB))uo

+(1 - R;,f+l(rB))-l(I - Rj,I+1(rB))2r-2(Rfl+~-1(rB) - Rflt~-I(rB))uN

+{ -1 + (I - R;,f+l (rB))-l(I - Rfl+l (rB))[1 - R;,l~l (rB) - Rfl+~-l(rB)


+Rfl+l(rB)]}Ik,1 + (I - R;,f+l(rB))-l(I - R~,~+12k(rB))(1 - Rj,I+I(rB))
k-l
X

L R;,I~li(rB)(I - R;:l+l (rB))(I + Rj,l+l(rB))-IUI,1 - Ie)


i=1

N-I
X

i=k+l

Rj~~11(rB)(1 - R~,~+12i(rB))(1 + Rj,I+l(rB))-lUl,1 - Ik,l)

and on estimates (5.59), (5.60), (5.62), (5.66) and (5.67). The coercivity inequality

I {r- 2(uk+1
+ I {r- 2[(I -

Rj,I+1 (rB))(uk_1

:::; M1[a(1

- 2Uk + uk-Inf- Ilc~(E)

+ Uk+l) + (R;'I+1 (rB)

I
- I)uk]}f- Ilc~(E)

~ a) I III IIc~(E) + I Auoil E + IIAuNII E ]

fails. Nevertheless, we have the following result.


Theorem 5.2.40. Let A be a strongly positive operator in a Banach space E with

spectral angle (A, E) < Tand (I -Rj,I+1 (rB))2 r -2 uo - H,l, (I -Rj,l+l (rB))2 r -2
XUN - JiLl E E~. Then the solutions of the difference problem (5.57) in C:;(E)
obey the coercivity inequality

II {r- 2(uk+l - 2Uk +Uk-Inf- I Ilc~(E)

+ II {r- 2[(I -

Rj,l+l(rB))(uk-l

+I
:::;

2
{r- (uk+1

+ Uk+l) + (R;'I+l(rB) - I)uk]}f- 1 Ilc~(E)


I
- 2Uk +Uk-lnf- IlcT(E~)

ex(~ ex) [II lIz Ilc~(E) + I (I +II(I -

Rj,l+l (rB)fr- 2uo - J{'l

Rj,I+I(rB))2 r -2uN - f~~IIIE'],


"

IIE~

276

Chapter 5. Partial Differential Equations of Elliptic Type

where M 1 is independent not only of fIl' UO, UN, a, but also of r. Here, the
Banach space E~ = E~(E, B) (0 < a < 1) consists of those vEE for which the
norm
I V IIE~ = supzQ I B(z1 + B)-IV liE + II V liE
z>o

is finite.
Proof. To prove the theorem it suffices to establish the estimates for
{r- 2(uk+l - 2Uk + uk-d}f- 1
in

C~(E)

and in

Cr(E~).

By formula (5.64), we have

r- 2(Uk+l - 2Uk + uk-d


= (1 -

RIf+l (rB))-I(RJ:l~1 (rB) -

R~,f+~k-l(rB))

x [(1 - R j ,l+l(rB))2 r -2 uo - fl,l]

+(1 - R;,f+l(rB))-I(Rfl~~-I(rB) - Rflt~-I(rB))


x [(1 - Rj,l+l(rB)fr- 2uN - f~Ll]

+(1 - R;:i+l (rB))-I[RJ,I~1 (rB) - R],f+~k-l(TB)](Jl'l - fe)


+(1 - R;,f+l(TB))-I[Rfl~~-I(TB) - Rflt~-I(TB)](Jt,l- f~~I)
+(1 - RIf+l(TB))-1(1 - R],f+~2k(TB))(I - Rj,l+I(TB))
k-l
x L,RJ,I~-;i(TB)(1 - R;:l+I(TB))(1 + Rj,l+I(TB))-I(J/,l - ft,l)
i=1

N-l
L, RjJ~~I(rB)(1 - R~,f+~2i(TB))(1 + Rj,l+l (TB))-1 (J/,l - fe)
i=k+l

where
H~ = (1 - RIf+l (TB))-I(RJ:l~1 (TB) - R~:i+~k-l(TB))

x [(1 - R j ,l+l(TB))2 T-2 uO - H,l],


2
2N (TB))-I(R N- k- 1(TB) _ R N+k-l(TB))
H k = (1 - R J,l+1
J,l+1
J,I+1
x[(I - Rj,l+l(rB))2T-2 uN - f~~I],
2N
k- 1 (B) R 2N - k- 1( B)](fj,l fj,l)
k - (1 - R j,l+l (TB))-I[R j,l+1
T - j,l+1
T
1 k '
N
N
1
4
2N
k
1
H k = (1 - RJ,l+l (TB))-I[R J,l+1
- - (TB) - R J,l+1
+k- (TB)](!j,l
k - fj,l
N-l ) ,
H3 -

5.2. Difference Schemes Generated by an Exact Difference Scheme

277

k-l
x LR;,I';'~i(7B)(I - RJ~I+l(7B))(I + Rj ,I+1(7B))-lU!,1 -

Ie),

i=l

N-l

2i
L RjJ~11(7B)(1 - RJ,f+i (7B))(I + Rj,I+1(7B))-lU/,1 i=k+l

Ie)

The proof of estimates

II{Hk}~';/IIC;'(E) ~ a(l~ a) I Ij,l IIC;'(E)


for m = 3,4, 5,6 follows the scheme of proof of the estimates

for m = 3,4,5,6 of Theorem 5.2.11, and relies on estimates (5.59), (5.60), (5.62),
(5.66) and (5.67). Therefore to prove the theorem it suffices to establish the estimates for {Hk }f-l, m = 1,2 in C;:(E) and for {Hk}f-l, m = 1,2,3,4,5,6 in
Cr (E~). Let us estimate H::n = {Hk }~,;/ for any m = 1, 2 in C;: (E). We start
with
Using estimates (5.59), (5.60) and the definition of the spaces E~, we show
that, for 1 ~ k ~ N - 1,

Hr

IIH~IIE::;

11(1 -

RJ:i+l(7B))-11IE---.EIIR7,1~1(7B) - R}~+lk-l(TB)IIE---.E

x 11(1 - Rj ,I+l(7B))27-2 UO - fi'IIIE ~

MII(I -

Rj ,I+l(7B))27-2 uO -

Further, applying estimates (5.59) and (5.60), we show that, for 1


N-1,

IIH~

H~+rIIE ~

II(I -

H,IIIE;'.

k < k +r

R}f+l(7B))-11IE---.E

x [I I(R;,l';'l (7B) - R;,t~~1(7B))[(I - Rj,l+d7B))27-2uO - fi'1]IIE


2k r
+IIRJ,f+1 - (7 B) IIE---.E
xll(R;,I';'l (7B) - R;,t~~1(7B))[(I - Rj ,I+l(7B))27-2uO -

H,I]lleJ

~ M[II(R;,I';'l (7B) - R;,t~~1(7B))[(I - Rj,l+l (7B))2 7-2UO - fi'1]IIE'


To estimate

278

Chapter 5. Partial Differential Equations of Elliptic Type

in the norm of E we use the following Cauchy-Riesz representation formula for


the operator (R~:I~1 (rB) - R~:I~t(rB))(rB) -1 (see Chapter 4):

(R~,I~1 (rB) - R~,I~t(rB))(rB) -1 y

J(

k-l ()
k-l+r())
Rj,I+1
z - Rj,l+l
Z Z-1 r B( z - rB )-1 ydz,

1
27ri

SlUS2

where 8 1 = {pei,p, 0 ::; p


obtain

Since z = pei,p, with

< oo} and 8 2

I'l/JI < fL,

{pei,p, 0 ::; p < oo}, 0 ::; 'l/J <

fL.

from the strong positivity of B it follows that

r-l

I: IR~,I~t8(z)(I - Rj,I+I(Z))Z -11::; Mmin{p-l,r}.


8=0

Hence,

J
00

II

(Rj,I+1 (rB) 00

Ml

R7,t~1 (rB))(rB) -I YIIE ::; M l

s+ 1 dsllyllEI

o
This shows that

Js+
00

rUru S-u

= t~ M l

:U:-l.U dpllyllE~

M2

S-u

-ldsllyIIE/::; t~ aI-a
(
) IlyllEI .
Q

for any 1 ::; k < k + r ::; N - 1. Thus, we have proved that

In a similar manner we can show that

We

5.2. Difference Schemes Generated by an Exact Difference Scheme

279

Now, let us estimate H::r, = {Hk}~=-;.l for any m = 1,2,3,4,5,6 in CT(E~) separately. We start with HI' Using estimates (5.59), (5.60) and the definition of the
spaces E~ we show that, for 1 :S k:S N - 1,

IIH~IIE~ :S

xll(1 -

11(1 -

R;,f+1(-TB))-IIIE~EIIR7,1~I(rB) - R],f+-;.k-l(rB)IIE~E

Rj ,I+I(rB))2r -2 uo - f{,lIIE~ :S

MII(1 -

Rj ,I+I(rB))2r -2 uo - Jl,IIIE~'

Thus, we have proved that

IIHlllcT(E~) :S MII(1 - Rj ,I+I(rB))2 r -2 uo - Jl,IIlE~'


In a similar manner we can show that

IIH;IICT(E~) :S Mil (1 - Rj,I+1(rB))2 r -2 uN


By the definition of the spaces
that

E~

ft~II1E~'

and using estimates (5.59), (5.60), we obtain

II ,X'''B('x + B)-1 H2 IIE:S ,Xall(1 - R;,f+l (rB))-II1E~EIII -RJ,f+-;.2k(rB)IIE~E


x IIB('x + B)-1 R7,1~1 (rB) (f{,l - fk,I)IIE :S M ,Xatk_1IlfJ,dlc;,(E)
for all ,x, ,x > 0 and for 1 :S k :S N - 1. Using the estimate

IIB('x+B)-IR71~1(rB)IIE~E:SMmin{~,l},
t k-l
,

/l

we obtain that

lI,Xa B('x + B)-1 H2I1E:S M 1,Xatk_1min{~, l}lIfJIlIco(E) :S M 1I1fJIlIco(E)


/l t k-l
'T

for all A, A > 0 and for 2 :::; k :::; N - 1. So, we have established that

In a similar manner we can show that


IIH;IICT(E~) :S M1I1fJ,lllc;'(E)'

By the definition of the spaces


we obtain that

k-l
X L

III -

E~

and using estimates (5.59), (5.60) and (5.67),

RJ,f+-;.2k(rB) IIE~E

III -

R;:I+1 (rB) IIE~E

i=1

x11(1 +Rj,l+I(rB))-II1E~EII(1

-Rj,l+1 (rB))B('x+B)-1 R7,I~li(rB)(f!,I-fe)

liE

k-l

:S M,Xa L(tk - ti)all(1 - Rj ,l+I(rB))B('x+ B)-I R7,I~li(rB) IIE~E II fJ,1 II C ;'(E)


i=1

280

Chapter 5. Partial Differential Equations of Elliptic Type

for all A, A> 0 and for 2 :::; k :::; N - 1. Using the estimate

II(I - R j ,I+1(rB))B(A + B)-1 R7,I~li(rB)IIE->E :::; Mrmin{_l_,

~},

tk-. /lt k_ i

we obtain that

k-1

:::;

M2X:~[L t.1-0(~ + At-) 111


i=1

fII Ilc;'(E)"

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

j
t

ds

s1-0(1

+ SA) .

Since

it follows that

II

A<> B(A

+ B)-l HZ liES;

a(~ a) II 1j,1 Ilc;'(E)

for all A, A > 0 and for 2 :::; k :::; N - 1. So, we have established that

IIH;llcT(E;') :::;

a(~ a) II fII

Ilc;'(E)"

In a similar manner we can show that

IIH;IICT(E;') :::;

a(~ a) II fII Ilc;'(E)"

Theorem 5.2.40 is proved.


Let us give, without proof, the following result.
Theorem 5.2.41. Let A be a strongly positive operator in a Banach space E with
'I
spectral angle (A,E) < T and (I - R j ,I+1(rB))2r -2 uo - Ii' , (1 - R j ,I+1(rB))2
xr- 2uN - f~I_1 E E~_/" Then the solutions of the difference problem (5.57) in
Ce'/'(E) (0:::; 'Y:::; {3,0 < {3 < 1) obey the coercivity inequalities

II {r- 2 (Uk+1

- 2Uk

+ uk-t}}f- IIcT(E~_oy) :::; {3(1 ~ {3) II III Ilc~'OY(E)

+M1 [11 (I - R j ,I+l(rB))2r -2 uo -

J1,l liE'{3-oy

281

5.2. Difference Schemes Generated by an Exact Difference Scheme

+11(1 I
+ I {7- 2[(1 <

R j,I+1(7B))27 -2UN -

2
{7- (Uk+l - 2Uk

n/-lIIE

{3--y

],

+Uk_l)}f- 1 Ilc~'-Y(E)

1
R j ,I+1(7B))(Uk-l +Uk+l) + (R;'I+l(7B) - I)uk]}f- IIc~'-Y(E)

(3(~ (3) I fj,l IIc~'-Y(E) + Mdl(1 +1(1 -

R j ,I+1(7B))2 7 -2 UO -

H,ll~'''!

R j,I+l(7B))27-2 UN - f~~llg,,,!],

where M 1 is independent not only of fj,l' Uo, UN, (3, 'Y but also of7.
Here,

!wlg,"! denotes that the norm of the Banach space Eg,"! consists of those

wEE for which the norm

is finite.
Note that the parameter 'Y can be chosen freely in [0, (3), which increases the
number of spaces of grid functions in which difference problem (5.57) is well posed.
We have
Theorem 5.2.42. Let A be a strongly positive operator in a Banach space E with
spectral angle (A, E) < T' Then the solutions of the difference problem (5.57) in
Cr (E~) obey the coercivity inequality

I {7- 2(Uk+l
+ I {7- 2[(1 -

exp( -7B))(Uk-l

- 2Uk

+ Uk_l)}{"-l IlcT(E;')

+ uk+d + (exp( -27B) -

I)uk]}{"-l

IlcT(E;')

r IlcT(E;') + I Auoll E;, + IIAuNIIE;'],


is independent not only of r, Uo, UN, a, but also of 7.
:::; M 1[a(1 ~ a) I

where M 1

Proof. Using formula (5.64), we obtain


7- 2(Uk+l - 2Uk

+ uk-d

= (1 - R;,f+l(7B))-1(1 - Rj,I+1(7B)f7-2{(R;,1~1(7B) - R;,f+lk- 1(7B))uo


+(Rfl+~-1(7B) - Rfl~~-1(7B))UN}

-(1 - R;,f+l(7B))-1(1 - Rj,I+l(7B))(Rfl+~-1(7B) - Rfl~~-1(7B))

Chapter 5. Partial Differential Equations of Elliptic Type

282

N-I
L (Rfl+il (rB) - Rfl~il (rB))(1

+ Rj,l+l(rB))-1 !1,l

i=1

k-I

+(1 - Rj,l+l(rB)) L R;,I~~i(rB)(1 + Rj,l+1 (rB))-1 fl,l


i=1

N-I

+(1 - Rj,l+l(rB)) L
i=k+1

Rj~~ll(rB)(1 + Rj,l+l(rB))-1 !1,l

-2(1 + Rj,l+l(rB))-1 ft,l = gk

+ Pk,

where
gk = (1 - R;,f+1 (rB))-I(1 - Rj,l+1 (rB))2r-2{(R;,I~1 (rB) - RJ,f+lk-l(rB))uo

+(Rfl+~-I(rB) - Rfl~~-I(rB))uN}'
Pk = -(I - R;,f+l(rB))-I(1 - Rj,l+l(rB))(Rfl+~-I(rB) - Rfl~~-I(rB))
N-I
x L (Rfl+il (rB) - Rfl~il (rB))(1

+ Rj,l+l(rB))-1 !1,l

i=1

k-I

+(1 - Rj,l+l(rB)) LRJ,I~~i(rB)(1+ Rj,l+l(rB))-1 ff'!


i=1

N-I

+(1 - Rj,l+l(rB)) L
i=k+1

Rj~~ll(rB)(1 + Rj,l+l(TB))-1 f f

-2(1 + Rj,l+I(TB))-1 ft,l.


To this end it suffices to show that

II g'TllcT(E~) ::; MI[II AuolIE~ + AUNIIE~],

II p'T

IIcT(E~) ::; MIa-l(l- a)-III fj,l IIcT(E~)'

(5.69)
(5.70)

Estimate (5.69) follows from the estimate

11(1 - R j ,l+I(TB)f(rB)-2I1E-tE ::; M


and the fact that the homogeneous difference equation Uj,l = 0) is stable in
C'T(E~) uniformly in T. By the definition of the spaces E~ and using estimates
(5.59), (5.60) and (5.67), we obtain

II

).,Ol B()"

+ B)-Ipk

liE::; ).,0l11(1 - R;,f+1 (TB))-IIIE-tE

x IIRfl+~-I(TB) - Rfl~~-I(rB)IIE-tE

283

5.2. Difference Schemes Generated by an Exact Difference Scheme


N-1

i=l

IIRj,l+l(rB) - Rflt~+2i(rB)IIE->EII(1 + Rj,l+l(rB))-lIIE->E

k-1

L 11(1 +Rj,l+l (rB))-lIIE->EIIA B(A+B)-l(I -Rj,l+l (rB))R;:I~-;i(rB)I!,lIIE


Q

i=l

N-1

II(I + Rj,I+l(rB))-lIIE->E

i=k+1

xIIAQB(A

+ B)-l(I - Rj,I+l(rB))R~J~11(rB)I!,lIIE

+211(I + Rj,l+l (rB))-lIIE->EIIA B(A + B)-l Ie liE


Q

N-1

i=l

IIRJ,l+l(rB)IIE->EII(I + Rj,l+l(rB))-lIIE->E

N-1

~ M(II III IlcT(E~) + A

j=l

IIB(A + B)-l(I -

Rj,l+l(rB))R~J~l (rB)J1,lIIE)'

To estimate the last sum we use the following Cauchy-Riesz representation formula
for the operator B(A + B)-l(I - Rj,I+l(rB))RjJ~l (rB) (see Chapter 4):
A B(A + B)-l(I - Rj,I+l(rB))R~J~l (rB)J1,l
1
-2.
(A + ~ )-1(I - Rj 1+l(z))RJil~l (z)B(z - rB)-l I!,ldz
Q

ll't

'

SlUS2

= {pei'l/J, ~ p < oo} and S2 = {pei'l/J,O ~ p < oo},O ~ 'l/J <


z = pei'l/J, with I'l/JI < ft, from the strong positivity of A it follows that

where Sl

From this estimate and the estimates


1
M
.,....--...,.<-IAr

+ zl -

Ar + p'

ft.

Since

284

Chapter 5. Partial Differential Equations of Elliptic Type

it follows that

N-l

N'L IIB(A + B)-I(I - Rj,I+l(rB))Rj~~1 (rB)J!,lIIE


j=1

5. M 1JOO ~

o j=1 (1

5. M1

pI-a.

(r A)a. (e)a.

+ 2apcos7/J + a2p2)-r Ar+p r

OON-l

pI-a.

I B( e + B)-1 f/,l liE dp

(rA)a.

-dpll fj,l lie (E')'


jL
o j=1 (1 + 2ap cos 7/J+ a2p2)-r Ar+p
i

1 -,

<>

Summing the geometric progression, we get

N-l
Aa.

j=1

IIB(A + B)-1(1 - Rj,I+l(rB))R~~~1 (rB)f/,IIIE

j p~:(:Ar dpll fIl IleT(E~) 5. a(~


00

< M(a, 7/J)

a) II fIl

IleT(E~r

So, it follows that

for all A, A > 0 and for 1 5. k 5. N - 1. From the last estimate follows estimate
(5.70). Theorem 5.2.42 is proved.
Let us give, without proof, the following result.
Theorem 5.2.43. Let A be a strongly positive operator in a Banach space E with
spectral angle ( A, E) <
and

(1 - R j,I+I(rB))2r -2 uo - ff,l,

(I - R j ,I+l(rB))2r -2 uN - f~~1

E E~_,.

Then the solutions of the difference problem (5.57) in C~"(E~_{3) (0 5. 'Y 5. (3 5.


a,O < a < 1) obey the coercivity inequalities

II

1
2
{r- (uk+l - 2Uk + Uk_l)}f- Ile~'"Y(E~_I3)

+ II {r- 2[(I - R j ,I+l(rB))(uk-l + uk+d + (R1.1+l(rB) - I) u k]}f- 1 lIe~'"Y(E~_I3)

+ II {r- 2(uk+l - 2Uk + Uk_l)}f- 1 IleT(E~~I3)


5. a

(;1 )

- a II fIl Il e l3'"Y(E'<>-{3 )
T

5.2. Difference Schemes Generated by an Exact Difference Scheme

ff,II:~f3 +I(I -

+M1[l(1 - R j ,I+l(rB))2r -2 uo -

I
+I

2
{r- (Uk+l - 2Uk

2
{r- [(I - Rj,l+l(TB))(Uk-l

285

R j ,I+l(rB))2r -2 uN -

f;tLll~:::f3],

+ Uk-lnf- 1Ilc~'''(E~_I3)

+ uk+d + (R;'l+l (rB)

1
- I)uk]}f- Ilc~'''(E~_I3)

+ II {T- 2(Uk+l - 2Uk + uk_d}f- 1 IIcT(E~_.,)


:::;

a(~ a) [II fJ,1 Ilc~'''(E~_I3)

+Mdll(I - R j ,I+1(rB))2r -2uo - H,IIIE


a-.,
I

+11(1 -

R j,I+l(rB))2 r -2uN - f~~lIIE~_.,]],

where M 1 is independent not only of f;'l' UO, UN, a, (3, , but also OfT.
Here, Iwl~:2'f3 denotes that the norm of the Banach space E~:::f3 consists of
those wEE for which the norm

Iwl~:::f3 =

sup

l::on<n+r::oN-l

max

l::on::oN-l

IIRjl+l (rB)wIlE a _13


'

t;f3(t n + tr)1'(tN - tn)"II(Rj,i';l (TB) - Rj,I+l(TB))wIIEa _13

is finite.
Finally, let us give, without proof, the following results about well-posedness
of the boundary-value difference problem (5.57) in the spaces

Theorem 5.2.44. Let A be a strongly positive operator in a Banach space E with


spectral angle (A, E) < T' Suppose that the difference problem (5.57) is well posed
in Lpo,r(E) for some Po, 1 < Po < 00. Then it is well posed in Lp,r(E) for any p,
1 < P < 00 and the following coercivity inequality holds:

I {r- 2(uk+l

- 2Uk

+ Uk-lnf- 1 IILp.T(E)

+ II {r- 2[(I - Rj,l+l(rB))(uk-l + Uk+l) + (R;'I+l(rB) - I)uk]}f- 1 IILp.T(E)

+llurllcT(El_l/P.P) :S M(po)[I1
p2

+-1

p-

uoIIE1_I/P.P

+ IluNIIE

II hi II Lp.T(E) ],

where M(po) does not depend on f;'l' Uo, UN, P and T.

1 _ 1/

P.P

286

Chapter 5. Partial Differential Equations of Elliptic Type

Theorem 5.2.45. Let 1 ::; p ::; 00 and 0 < a < 1. Suppose that A is a strongly
positive operator in a Banach space E with spectral angle ( A, E) < T' Then the
difference problem (5.57) is well posed in Lp,r(Ea:,p) and the following coercivity
inequality holds:

II {7-2(Uk+l-2uk+Uk-d}f-lIILp,T(Ea,p)
+ II {7- 2[(I - R j ,I+l(7B))(Uk-l + Uk+l) + (R;,I+l (7B) - I)uknf- 1 II Lp ,T(Ea ,p)

::; M[II AUoIIEa,p + II Au NIIEa,p + a(1 ~ a) I

f;'1

Lp,T(Ea,p)

],

where M does not depend on f;'I' Uo, UN, p, a and 7.


Theorem 5.2.46. Let 1 < p, q < 00 and 0 < a < 1. Suppose that A is a strongly
positive operator in a Banach space E with spectral angle ( A, E) < T' Then the
difference problem (5.57) is well posed in Lp,r(Ea:,q) and the following coercivity
inequality holds:
I {7- 2(Uk+l - 2Uk + uk_d}f- 1 I Lp ,T(Ea ,q)

+ II {7- 2[(I - R j ,I+l(7B))(Uk-l + Uk+l) + (R;,l+l (7B) - I)uknf- 1 II Lp ,T(Ea ,q)


p2

::; M(q)[11 AUOIIEa,q

+ II Au NII Ea ,q + p _

f;'1

II Lp 'T(E

,)'
a

where M(q) does not depend on f;'I' Uo, UN, p, a and 7.


Here, the Banach spaces E~,p =
of those vEE for which the norm

E~,p(E,

00

I vilE'a,p =(

J
o

B) (0 < a < 1,1 ::; P ::; (0) consist


dz

IIza:B(zI+B)-lvll~-)p,l::;p<oo,
z

are finite and II v liE' =11 V liE' .


Now, the abstr~t theoren';s given above are applied in the investigation of
difference schemes of higher order of accuracy with respect to the set all variables
for approximate solution of the boundary-value problem (5.27). The discretization
of problem (5.27) is carried out in two steps. In the first step let us give the
difference operator AI; by the formula

x h=
A hUx

'"'
~
2mslrisS

bXDr
s: h'
r
hUxh + uU
x

(5.71)

The coefficients are chosen in such a way that the operator AI; approximates in a
specified way the operator

287

5.2. Difference Schemes Generated by an Exact Difference Scheme

We shall assume that for I~khl


satisfies the inequalities

::;

IT

the symbol A(~h, h) of the operator AI;. - b

With the help of AI;. we arrive at the boundary-value problem

d2 v h (y,x)
x h
h
+Ahv (y,x)=f (y,x),O<y<T,
d 2
y

(5.73)

vh(O,x) = cph(X),vh(T,x) = 'ljJh(X), X E IRh,


for an infinite system of ordinary differential equations.
In the second step we replace problem (5.73) by the difference scheme

(5.74)

+ :2 (I -

Rj,l+! (7 Bh))(uLl (x)

= fk,l(x), 1 ::; k ::; N - 1, u~(x)

+ U~+l (x)) + :2 (R1,l+l (7 B h ) - I)u~(x)

= vg(x),

u~

= v~,

x E R h, (B h )2

= AI;..

Let us give a number of corollaries of the abstract theorems given above.


Theorem 5.2.47. The solutions of the difference schemes (5.74) satisfy the follow-

ing stability estimates:

II u'T,h IIc;"Q(c~)::; M[llu~llc~ + Ilu~lIc~+ II


o < 0' < 1,0 :s (3 < 1,
I

u'T,h IILp'T(c~):S M[llugllc~

+ Ilu~llc~+ II

f;'lh Ilc;"Q(c~)],

f;,t IILp'T(c~)],

1::; p::; 00,0::; {3 < 1,

where M does not depend on fIl' u3, u ~!

0',

{3, p! hand

The proof of Theorem 5.2.47 is based on the abstract Theorems 5.2.35 and
5.2.36, the positivity of the operator AI;. in C~ and on the fact that for any
o < {3 < 2~ the norms in the spaces E~ (Ch, AI;.) and C~mf3 are equivalent uniformly in h and on the following theorem on the structure of the fractional spaces
E~(Ch, (AI;.)!).
Theorem 5.2.48. Let A be a strongly positive operator in a Banach space E with
spectral angle (A, E) < ~. Then for 0 < 0' < ~ the norms of the spaces E~(E, A!)

and

E~
2

(E, A) are equivalent.

288

Chapter 5. Partial Differential Equations of Elliptic Type

Proof. Using the following Cauchy-Riesz representation formula for the operator
A! (,\ + A! ) -1 (see Chapter 4),

X:> A-! (,\ + A!)-l y

where 8 1 = {pe i 1/>,O :S p < oo} and 8 2 = {pe i 1/>,O :S p < oo},O :S 'Ij; < ~. Let
y E E~ (A, E). Then from the strong positivity of A it follows that
2

Iz~ III A(z - A)-l y

IIE:S M p~ I

A(p + A)-l y

IIE:S M I y IIE'a (A,E)


"2

From this estimate and the estimates

M
<
,
1,\ + z 2 1- ,\ + yIP
1

--1;-

it follows that

00

:S M 1
Since

J+

,\

N"

yIP ylPp~ dp I Y IIE~ (A,E)

00

J,\ +

00

,\ Q

yIP ylPp2

dp= 2

dr
M,
<
(1 + r)r
a(l - a)

we have
Q

11M2

,\ IIA2(,\+A2)-

YIIE:S

a(l-a)

II y IIE~(A,E)

for all'\ > O. This shows that y E E~(A!,E) and

I y IIE~(A!,E):S

M2

a(l- a) "y IIE~(A,E) .

Next, using the the following Cauchy-Riesz representation formula for the operator
A! (,\ + A)-l (see Chapter 4),

,\ ~ A('\ + A)-l y =

~
27rZ

J,\ ~

S1 US 2

z('\ + Z2)-1 A! (z - A!)-l y dz

5.2, Difference Schemes Generated by an Exact Difference Scheme

289

where 8 1 = {pei'l/> , 0 ~ p < oo} and 8 2 = {pei'l/> , 0 ~ p < oo}, 0 ~ 7/J < ~. Let
y E E~ (A ~ , E). Then from the strong positivity of A it follows that

From this estimate and the estimates


1
M
--=-:-<-2

IA + z

1 -

A + p2'

it follows that

Since

we have

M2

0<

A'2IIA(A+A)- ylIE~ a(1-a) IIYIIE~(A!,E)


for all A > O. This shows that y E

E~ (A,
2

E) and

Theorem 5.2.48 is proved.


Theorem 5.2.49. The solutions of the difference schemes (5.74) satisfy the following almost coercive stability estimates:

{T-

(UZ+ 1 -2uZ+uL1nf-

~ M[In ~[
+ In T

L
Irl=2m

IID~u~lIch +

~h I

where M does not depend on

1;'/1

11ILP,r(C )
h

L
Irl=2m

IID~u~llchl

f;'lh IILp,r(Ch )], 1 ~ P ~


u~,

u'N, p, hand T.

00,

Chapter 5. Partial Differential Equations of Elliptic Type

290

The proof of Theorem 5.2.49 is based on the abstract Theorems 5.2.37 and
5.2.48, the positivity of the operator AI; in C~ and on the almost coercivity inequality for an elliptic operator AI; in Ch and on the estimate

min{ln~,l+
Ilnll Bf, II c cJ3I}::; Mln~h'
r
r+
J3

h~

Theorem 5.2.50. The solutions of the difference schemes (5.74) satisfy the follow-

ing coercivity estimates:

< M(a,l3)[

Irl=2m

IID;;uallc~ +

jrl=2m

IID;;u~lIc~+ II f;'lh Ilc~'Q(cn],

o::; a < 1,0 < (3 < 1,


II {r- 2 (uZ+l

- 2uZ + ULl)}~-l IILp.,.(w;,',:')

< M(a,p,q)[lluaIlE;_i)W;,',:') + Ilu~IIE;_t)W;,'hQ)+ II f;'lh IILp.T(Wq':',:')],


1 < p, q <

00,0

< a < -,
m

where M(a,f3) and M(a,p,q) do not depend on 1;'1' u3, ujy, hand T
The proof of Theorem 5.2.47 is based on the abstract Theorems 5.2.39 and
5.2.45, the positivity of the operator AI; in W:'h' on the almost coercivity inequality
for an elliptic operator AI; in C~, W:'h' 1 < q < 00, 0 < (3 < 1, on the fact that
for any 0 < (3 < 2~ and 1 ::; q ::; 00 the norms in the spaces Ep,q(Lq,h, AI;) and
W:,'J:f3 are equivalent uniformly in hand on the following theorem on the structure
of the fractional spaces E~,q(Lq,h, (A,;)!).
Theorem 5.2.51. Let A be a strongly positive operator in a Banach space E with
spectral angle <!>( A, E) < ~. Then for 0 < a < ~,1 ::; p ::; 00 the norms of the
spaces E~,p(E, A!) and E~ ,p(E, A) are equivalent.

This result was proved in the case p = 00 in Theorem 5.2.48. In the case
p = 1 the proof follows the same scheme. In the case 1 < p < 00 the proof is based
on Minkowski's inequality and follows the same scheme.
Note that in a similar manner we can construct the difference schemes of a
high order of accuracy with respect to one variable for approximate solutions of
the boundary-value problems (5.25) and (5.26). Abstract theorems given above
permit us to obtain the stability, the almost stability and the coercive stability
estimates for the solutions of these difference schemes.

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

5.3

291

Two-Step Difference Schemes Generated


by Taylor's Decomposition

We consider again the boundary-value problem (5.1). Let the function v(t)(O :S t :S
T) have a (2l + 2j + 2)-th continuous derivative and tk-1, tk, tk+1 E [0, T]r. Then
by Theorem 3.2.1 we have the following Taylor decomposition on three points:

V(tk+1) - 2V(tk)

+ v(tk-d -

L CtiV(2i) (tk)7 2i

(5.75)

i=l

- L 17i(V(2i) (tk-d + V(2i) (tk+l))7 2i = 0(721+2j+2),


j

i=l

where 17m, m = 1, ... ,j is a solution of system

(2 ')'

j
'"

t 17m
= 1 l
LJ (2i - 2m)!
'

m=l

+ 1 <- i -< l + J' ,

(5.76)

and
for any i, 2 :S i :S j,
i :S l.

Now, we will consider the applications of Taylor's decomposition (5.75) of


function v(t) on three points to approximate solutions of the boundary-value problem (5.1). From (5.75) it is clear that for the approximate solution of problem
' IS
. necessary to fi nd V(tk)
(2i)
. < l and V(tk_tl'
(2i)
(2i)

(5 .1) It
or any t,. 1 <
_ t _
V(tk+tl or any
i,l :S i :S j. Using the equation

v"(t)
we obtain

v(2n)(t)

= Anv(t) -

Av(t) - f(t),

L An-'\ f(2,\-2)(t), n = 2, ....


n

(5.77)

'\=1

Now, using formulas (5.75) and (5.77), we obtain the difference schemes

Uk+1 - 2Uk
7

+ Uk-1 + 'LJCti
" Ai 2i-2
7
Uk
i=l

LJ 17i Ai 7 2i-2 ( Uk-l + Uk+1 ) = fj,1


k ,
+ '"'
i=l

(5.78)

Chapter 5. Partial Differential Equations of Elliptic Type

292
j

j~,1 =
I

L'Tli LAi-'\(j(2,\-2)(tk+d
i=l '\=1

+ j(2,\-2) (tk_d)T2i-2

2 1< k <N ' " A i-'\j(2,\-2)(t k


)T2i -,
~ a '~
_
_
+ '"

1,U
0 = v0, UN = vT
i=l '\=1
Thus, we have constructed the difference schemes of (2l + 2j)-order of accuracy for the approximate solution of the boundary-value problem (5.1).
This problem is uniquely solvable, and the following formula holds:

Uk = (1 - R 2N (TB))-l{(R k(TB) - R 2N - k(TB))uo

(5.79)

+(RN-k(TB) - RN+k(TB))UN - (RN-k(TB) - R N+k(TB))(1

+ TB)

N-1
x(2I + TB)-l B- 1 L (RN-i(TB) - RN+i(TB))Cjl,I T
i=l
N-1
+(1 + TB)(21 + TB)-l B- 1 L (R1k-il(TB) - Rk+i(TB))Cjl,I T, 1 ::; k::; N -1,
i=l
where

2
T AI
B = B(T,A) = -2j

Al

(2)ai
i=l

+ 2'Tli)AiT2i - 2 +

A I )2
2

+ A I,

2::

aiAiT2i-2)C,

i=j+1

2:: 'TliAiT2i)-1.
j

(1 -

i=l
Actually, problem (5.78) can obviously be rewritten as the equivalent boundaryvalue problem
-

Uk+1 - 2Uk
T

+ Uk-1

_
j,1
__
+AIUk-Cjk ,1::;k::;N-l,uo-vo,uN-VT

In a similar manner with the boundary-value problem (5.1) it can be rewritten as


the equivalent boundary-value problem for first-order linear difference equations

T- 1(Uk - Uk-1)
{

+ BUk

-T- 1(Wk+1 - Wk)

Wk, 1::; k ::; N, Uo

v(O), UN

v(T),

+ BWk = (I + TB)CJk''/ ,1::; k ::; N - 1,

with operator B = B(T,A). Note that B(T, A) =I A!, but then B(T,A) ~ A! as
T ~ 0 and it has the same spectral properties of A! under some assumption for A

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

293

and for some cases of j and l. From the last system follows the system of recursion
formulas
Uk = R(rB)uk-1 + TR(rB)wk, 1 ~ k ~ N,
{

Wk

'I

= R(TB)Wk+1 + TCfk' ,1

~ k ~ N -1,

= (1 + TB)-l. Hence

where R(TB)

Uk = Rk(TB)uo

+ l: Rk-i+l(TB)TWi' 1 ~ k ~ N,
i=1

Wk = RN-k(TB)WN

N-l

+ l:

8=k

R8-k(TB)Cfl,lT, 1 ~ k ~ N-1.

From this it follows that


N-1

UN = RN(TB)uo

+L

RN+1-i(rB)TWi +TR(TB)WN.

i=1

Since
N-1

RN+1-i(rB)TRN-i(rB)

+ rR(TB)

i=1

L RZN - Zi+1(rB)r
i=1

N-1
N-1
N-1
8
L RN-i+l(rB)T L R 8- i (rB)Cfi,lr = L T LR N+l+ 8- Zi (rB)C!i,lr
i=1

8=i

8=1

i=1

N-1
L r Z(1 - R Z(rB))-1 R(rB)(R N- 8(rB) - R N+ 8(rB))Cf{l,
8=1

we have that

N-1

- L TZ(1 - R Z(rB)t 1R(rB)(RN- 8(rB) -

R N+ 8(rB))Cf1,1}

8=1

N-1

-(1 - R ZN (rB))-1 L

8=1

r(R N- 8(TB) - R N+ 8(rB))Cfl,l

Chapter 5. Partial Differential Equations of Elliptic Type

294

Therefore

Uk = Rk(TB)uo + L Rk-i+l(TB)T(RN-i(TB)WN
i=l

N-1

+ L RS-i(TB)Cft,IT) = Rk(TB)uo + L R k-i+ 1(TB)TR N- i (TB)WN


s=i

i=l

N-1
k
i
1
+ LR - + (TB)T L R S- i (TB)C!1,IT.
i=l
s=i
k

Since

i=l

i=l

L Rk-i+l(TB)TRN-i(TB) = L R N+k- 2i+l(TB)T

k
N-1
LR k-i+ 1(TB)T L RS-i(TB)Cft,lT
i=l
s=i
k
s
N-1
k
= LT LRk+s+l-i(TB)C!i'IT + L
T LRk+s- 2i+1(TB)Cft,IT
s=l i=l
s=k+1 i=l

= (1 - R 2 (TB))-1 LTR(TB)(Rk-S(TB) - Rk+s(TB))Cft,IT

s=l
N-1
+(1 - R 2 (TB))-1 L TR(TB)(RS-k(TB) - R k+s(TB))C!1,IT
s=k+1
N-1
= (1 - R 2 (TB))-1 L TR(TB)(R1k-SI(TB) - Rk+s(TB))Cft,IT,
s=l
we have that

N-1
+(1 - R 2 (TB))-1 L TR(TB)(R1k-SI(TB) - Rk+S(TB))Cft,IT.
s=l
From this formula and using the formula for WN we can obtain formula (5.79).
Let us reduce the difference schemes (5.78) to an operator problem in the
space Fr(E). In addition to the operator D;', acting from the space Ex Fr(E) x E
of vectors w r = {wdf=o into the space Fr(E) of vectors vr = {vdi:"=-/ by the
rule

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

295

define an operator A?,I from the space E x FT(E) x E of vectors w T = {wdf=o


into the space FT (E) of vectors vT = {vd ~,;/ by the rule
j

= AjT' IU T , Vk = ~
L.J TJi Ai 7 2i-2(Wk-1

+ wk+1 )

i=l

+L

(YiAi72i-2Wk,

k = 1, ... , N - 1.

i=l

Then the difference schemes (5.78) can obviously be rewritten as the equivalent
operator equation

-D;IT(uo, UN )uT + A~,IIT(uo, UN )uT = fII'


Here fI I is defined by the formula

fj,l)
T - (fj,1
f j,1
1"'"
N-1 .
The last operator problem will be considered in the space FT(E). From its unique
solvability for any Uo, UN E E and fj,1 E FT(E), it follows that its solution uT
defines a continuous additive and homogeneous operator uT(fj,I,UO,UN).
The boundary-value problem (5.78) is said to be stable in FT(E) if we have
the inequality

where M is independent not only of fI I, Uo, UN, but also of 7.


The boundary-value difference problem (5.78) is said to be well posed (coercively stable) in FT(E) if we have the coercive inequality

+ II

{L

TJiAi72i-2(Uk_1

+ uk+d + L

i=l

(YiAi72i-2uk}{"'-1

::; M[li

fII

IIFT(E) + II

Auoil E

II
FT(E)

i=l

+ IIAuNII E ],

where M is independent not only of fI I, Uo, UN, but also of 7. From formula (5.58)
it follows that the investigation of the stability and well-posedness of difference
schemes (5.78) relies in an essential manner on a number of properties of the powers
of the operator (I + 7B)-1. We were not able to obtain estimates for powers of
the operator (1 + 7Bt 1 in the general cases of operator A and numbers j and i.
We begin by deriving some estimates for powers of the operator (1 + 7 B) -1 in the
cases j = 0 and alli, i 2 1 and a strongly positive operator A in a Banach space
E with spectral angle (A, E) < fl.

296

Chapter 5. Partial Differential Equations of Elliptic Type

Lemma 5.3.1. Let A be a strongly positive operator in a Banach space E with

spectral angle (A, E) < fz. Then -AI is a generator of the analytic semigroup
exp {-tAt} (t ~ 0) with exponentially decreasing norm, when t - 4 +00, i.e., we
have the estimates
Ilexp{ -tAI}IIE---+E :S MI e- tol (t

> 0),

(5.80)

IltAlexp{-tAt}IIE---+E:S MI e-tol(t > 0)

(5.81)

for some 1 :S MI < +00,0 < 01 < +00. Here MI does not depend on

T.

Proof. Let us show by induction that for any integer m, 2 :S m :S l, Am is a strongly


positive operator in a Banach space E. Let m = 2 and A = IAlei<p, 7r > lipl ~ ~.
We consider the identity
2

AI - A = (A2J - A)(A2J + A).


1

SinceA~ = IAI~ei-r,~ > I~I ~~, by the definition ofastrongly positive operator
in a Banach space E we have that the operator A~ I - A has a bounded inverse,

and the estimate

holds for some MA E [1, +00) that does not depend on A. It is readily proved that

-(A ~ I

+ A)

+ A)} (t ~ 0)
+00, Le., we have the following

is a generator of the analytic semigroup exp { -t(A ~ I

with exponentially decreasing norm, when t


estimates:
Ilexp{ -t(A~ I

+ Anll ---+
E

-4

:S M e-t(I>.I! cos -r+O) (t

~ 0)

for some 1 :S M < +00, 0 < 0 < +00. From this it follows that the operator
A~ I + A has a bounded inverse, and the estimate
II(A ~ I

+ A)-lIIE-+E

:S M(l

+ IAI ~ cos ~ )-1

holds for some M E [1, +00) that does not depend on A. Therefore, the operator
AI - A 2 has a bounded inverse, and the estimate

holds for some M A 2 E [1, +00) and for all A, A = IAlei<p, 7r > lipl ~ ~. This means
that A 2 is a strongly positive operator in a Banach space E. Suppose that for any
integer k, 2 :S k :S m - 1, Ak is a strongly positive operator in a Banach space E.
Then, we will prove that Am is a strongly positive operator in a Banach space E.
We consider the identity

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

297

We have that for any integer k, 1 :S k :S m, Am-k is a strongly positive operator


in a Banach space E. Therefore, the operator AI - Am-k has a bounded inverse,
and the estimate

i.

holds for some MA=-k E [1, +00) and for all z, z = Izl ei 1/J, 7r > 111'1 2
It is readily
proved that the operator A k;;;l Am-k has a bounded inverse, and the estimate

holdsforsomeMA=-k E [1,+00), for all z,z = Izl ei 1/J,7r > 111'12


Indeed,

II (zI - Ak;;;l Am-k)-lIIE--+E

i and IAI2 <5 > O.

IIA k;;;l (ZA - k;;;l I - Am-k)-lIIE--+E

< MA=_kIAlk;;;l (1 + IAI-k;;;llzl)-l

From this it follows that -A k;;;l Am-k is a generator of the analytic semigroup
exp { -tA k;;;l Am-k } (t 2 0) with exponentially decreasing norm, when t ~ +00,
i.e., we have the estimates

for some 1 :S

if < +00, 0 < J < +00.

Since the operators A k;;;l Am-k commute, we have that a generator of the analytic semigroup exp

k=l

is

{-t k=lf, Ak;;;l Am-k} (t 2 0) with ex-

ponentially decreasing norm, when t ~ +00. Therefore,


bounded inverse, and the estimate

L A k;;;l Am-k

L
m

k=l

k-l

A-;;;- Am-k has a

298

Chapter 5. Partial Differential Equations of Elliptic Type

holds. From this it follows that the operator


the estimate

11(>.1 -

>.1 -

Am has a bounded inverse, and


m

Am)-lIIE--.E :S

11(>,.k 1- A)-lIIE--.E 11(2:: A

k;;;l

Am-krlllE--.E

k=l
:S MA(1 + IAI.k)-1(M)m-l e- Cm-1)6IAI- m~l = M Am(1 + IAI)-l

holds for some MAm E [1,+(0) and for all A, A = IAle i ,p,ll' > I~I ~~. This
means that Am is a strongly positive operator in a Banach space E. Finally, we
will prove that - Al is a generator of the analytic semigroup exp {- tAL} (t ~ 0)
with exponentially decreasing norm, when t -----+ +00. The operators <l'iAir2i-2
commute. Therefore, - L:~=l <l'iAir2i-2 is a generator of the analytic semigroup
exp { -t L:~=l <l'iAir2i-2} (t

+00. Indeed,
II exp { -t

~ 0) with exponentially decreasing norm, when t

a,A'r 2'-2 }

IIE-E

-----+

~ lIexp { -tA} IIE-E

:S Ilexp{ -tA} IIE--.E

II Ilexp

{-t<l'iAir2i-2}

IIE--.E

i=2
I

:S MAexp {-t8}

II MAiexp {

2i 2
-t<l'iJ:r - }

:S MA1exp {-t8 1}.

i=2

Estimate (5.80) is established. In a similar manner one can obtain estimate (5.81).
Lemma 5.3.1 is established.
Lemma 5.3.2. Let - A be a generator of the analytic semigroup exp { -tA} (t ~ 0)
with exponentially decreasing norm, when t -----+ +00. Then the following estimates
hold for any k ~ 1 :

11(>.1 + rB)-kII E--. E :S M[A + r 2 a(A)t\

(5.82)

IjkTB(I + rB)-kII E--. E :S M,

(5.83)

where M does not depend on r. Here

Proof. We consider the operator

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

where Al =
operator (A

299

A. Using the following Cauchy-Riesz representation formula for the

+ B1)-1 (see Chapter 4), we can write

Here the contour

is chosen with Re{ z} :S O. If z = pei1r and p > 4, then

Therefore
1

lim [-.

E-+O 27l'2

-4+iE (A + z/2 + !f:z2


- + z)-l(zI - A1)-ldz
j

-oo+iE

+ -.
27l'2

-OOj-iE

(A + z/2 +

!f:z2
- + z)-l(zI - Ad-1dz ]
4

-4-iE

O.

If z = pei1r and 0 :S p :S 4, then

~
1.
(A + z/2 + V4' + Z)-l = (A - p/2 + '2 ve t1rp(4 - p))-l
=

(A - p/2 +

~e4i1r Vp(4 -

p))-l = (A - p/2

~iV p(4 _

p))-l.

Therefore
1
lim[-2'

E-+O

7l'2

-OJ+iE (A+z/2+ !f:z2


-+z)-1(zI-A1)-ldz
4

-4+iE

+ -.
27l'2

-4 -iE (A + z/2 + !f:z2


- + z)-l(zI - A1)-ldz ]
j

-O-iE

j [(A - p/2 - -2p(4 - p))


4

= - -1.
27l'2

1 ...;

-1

1
2

- (A - p/2 + -iJ p(4 - p))-l](-pI - Ad-1dp

Chapter 5. Partial Differential Equations of Elliptic Type

300

Then the deformation of integration contour

leads us to obtain the formula

J
4

(>.1 + B1)-1 =

M1(>.,p)(pI + A1)-ldp,

(5.84)

where
(5.85)

In a similar manner one can obtain

J
4

(>.1 + Bd- k =

Mk(>", p)(pI + Ad-1dp, k

= 2,3, ... ,

(5.86)

p))-k

(5.87)

where

M k (>", p) =

2~i [(>.. -

p/2 -

~iVp(4 -

1
-(>.. - p/2 + -iV p(4 _ p))-k]
2

t (

[HI]

1
=
211"

m=l

Clearly, M1(>",p)

2m -1

)(_1)m(>,,_p/2)k-2m+l(1Ip(4_ p))2m-l
(>..2 _ >..p + p)k

2V

2 0 for O:S p:S 4 and>.. 2 o. Therefore, using the estimate

we obtain that

J
J
4

11(>"1 + Bd-11IE--.E :S

M1(>",p)ll(pI + Ad-11IE--.Edp

:S M

M1(>..,p)(p+ad-1dp,

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

where al

= r 2a(A).

Now, using formula (5.84) for Al

301

= all, we obtain

J
4

MI(A, p)(p + a(Ad)-ldp = (A + aI/2 +

Therefore,
(5.88)
where

BI(al) = aI/2 +

(al)2
4 + al > 0.

So, from estimate (5.88) it follows that B I (AI) is a positive operator in E. Now,
we will estimate (AI + Bd- k for k 2 2. Clearly, the function M k ( \ p) for k 2 2
changes sign on the segment 0 :S p :S 4. Therefore, the last method of estimate
of (AI + BI(Ad)-1 does not work in the general cases k 2 2. Now, we will use
another formula for (AI + BI)-k. Since -A is a generator of the strongly continuous
semigroup exp {-tA} (t 2 0) with exponentially decreasing norm, when t ---+ +00,
we have the estimate
Ilexp{ -tA}II E - + E :S M

e-ta(A)

(t 2 0)

for some 1 :S M < +00, 0 < a(A) < +00. Then, there exists a bounded inverse
(AI + AI)-l for any complex number A with ReA> -al(Ad, and the following
formula holds:

(AI + Ad- l =

+00

e->.t exp{ -tAddt.

(5.89)

o
Then, from formulas (5.86) and (5.89) it follows that

Mk(A, p)

pt
e- exp{ -tAI}dtdp

JJ

+00
=

+00

(AI + Bd- k =
4

Mk(A, p)e-ptdpexp{ -tAddt

(5.90)

+00
=

Lk(A, t) exp{ -tAI}dt,

where

J
4

Lk(A, t) =

Mk(A, p)e-ptdp.

(5.91)

302

Chapter 5. Partial Differential Equations of Elliptic Type

Note if Al is a complex number with Re Al > 0, then (AI + B1)-k is the Laplace
transform of the function L k().., t). Since (AI + B1)-k-l = (AI + Bt}-k(AI +
Bt}-l = I1:+~1 (AI + Bt}-l, from properties of the Laplace transform it follows
that L k ().., t) is a convolution of the k functions L 1 (A, t) defined by the recurrence
relation

J
t

Lk+1(A,t) =

Lk(A,S)L 1(A,t-s)dsk=1,2,....

(5.92)

o
Since M1(A,p) ~ 0, then from formula (5.91) it follows that L1()..,p)
Therefore, from formula (5.92) it follows that

Lk(A,p)

for all k,k = 1,2, ....

O.

(5.93)

Formula (5.90) and inequality (5.93) permit us to apply the same approach of
estimate (5.88) for the estimate of (AI + B1(A1))-k in the general cases k ~ 2.
Namely, we have that

II(AI + B1(At})-kII E-+ E ~

~M

+00

+00

Lk().., t)11 exp{ -tAdIIE-+Edt

Lk(A, t) exp{ -tal}dt = M[A + alr k

o
for A ~ O. Therefore, - B 1 (AI) is a generator of the strongly continuous semigroup
exp{ -tB1(At}} (t ~ 0) with exponentially decreasing norm, when t ---+ +00, Le.,
we have the estimate
lIexp{ -tB 1 (At}}II E - + E ~ M

e-tB1(a

(t ~ 0)

for some 1 ~ M < +00. Now we consider Al (AI + Bt}-k for 0 < a < 1. Applying
the formula

+00

1
- fCB)

-(3 -

Al

z (3-1 exp { -zAl } dz,(3 > 0

o
and (5.90), we obtain

Af(AI + B1)-k u
= A~(1-a)

= r(1

~ a)

= A~(l-a)(AI

+00

L k().., t) exp{ -tAddtAlu

+00

z-a exp{ -zA1}dz

+ B1)-k A1u

+00

Lk(A, t) exp{ -tAddtAlu

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

=f(I~a)

for

303

JJ

+00 +00

Z-O:Lk(A,t)exp{-(t+z)AddzdtA1u

o 0
D(AI). Using the last formula and the estimate
(t + z)IIA 1exp{ -(t + z)A1}IIE_E ::; M e-(t+z)a l

we obtain that

JJ

+00 +00

< f( M )
I-a

z-o: Lk(A, t)_I_


t+z

x exp{ -(t + z)al}dzdt

+00

Mf(a)

Lk(A, t) exp{ -tal}dt

x f(a)r~1 _ a)
Since

t-O: =

f(a)r~1 _ a)

+00

z-O:(t + z)-ldz.

+00

z-O:(t + z)-ldz,

(5.94)

we have that

+00

IIAf(U + B1)-kIl E_ E S; Mr(a)

Lk(A, t)CO' exp{ -taddt.

Using formula (5.91), we obtain

IIAnAI + Bd-kIIE_E

JJ

+00

::; Mf(a)

Mk(A, p)e-ptdpCO: exp{ -taddt

J
4

Mf(a)f(1 - a)

o
x exp{ -tal}dt]dp

Mk(A, P)[r(1 ~ a)

+00

e-ptCO'

J
4

= Mf(a)f(1 - a)

Mk(A, p)(p + ado:-1dp.

304

Chapter 5. Partial Differential Equations of Elliptic Type

Using formula (5.94), we obtain

J
J

IIAf(AI + Bd-kIIE-+E :::; M

Z-(l-a)(Z

+ p + ad-1dzdp

Z-(l-a)

Mk()..,p)

+00

+00

Mk(A,p)(Z

+ p + al)-ldpdz

+00

=M

Z-(l-a)(A + B1(z + ad)-kdz.

Finally, by passing to the limit a


estimate

----t

1 in the last inequality one can obtain the

J+

+00

IIA1(AI + B1)-kII E-+ E :::; M

(A

B1(z + al))-kdz.

Since

B1(z+al)
and al

d2
(z+al)/2+ v(z+a
4
+z+al

> 0, it follows that

Let us make the substitution

x
Clearly,

z/2 + V"4 + z.

x 2 - zx - z = 0.

Therefore, z

= x~l

= extl); dx.

2 2 2

and dz

From this it follows that

J+

+00

IIA1(I + B1)-kII E-+ E :::; M

(1

x)-(k+2)(x 2 + 2x)dx.

Integrating the last integral by parts, we obtain

J+

+00

(1

x)-(k+2)(X 2 + 2x)dx

J+

. :. .l(_+-----'x)'----_(k_+_l) (x2 + 2x) 100


k+1
0

+00

+_1_
k+1

(1

x)-(k+l)(2x + 2)dx

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

- (k

+ 1)k

(k

+ 1)k

(1 + x)-k+l 2 00
- (k + 1)k(k - 1) 10

for k

2. Therefore,

for k

2. Using the identity

for k

+ 2)10 + (k + 1)k

+ 1)k + (k + 1)k(k -

we obtain

00

(2x

= (k

+00

(1+X)-k

1) =

(1

+ x)

-k

305

2dx

2[k - 1 + 1]
2
(k 2 - 1)k = (k 2 - 1)

+ B 1 )-(k+l)11 E--.E <II B2(I


1

k22M
_ 1

2. The estimate

for all k, k ~ 1 follows from estimate (5.82). Since B1(Ad is a positive operator
in E, we have the moment inequality
1

IIBiullE ~ MIIBi u11111 u111(u

E D(Bi))

From this it follows that

Lemma 5.3.2 is established.


We have the following results.

Theorem 5.3.3. Let A be a strongly positive operator in a Banach space E with


spectral angle (A, E) < fl. Then difference problem (5.78) in the case j = 0 is

stable in C~,Q;(E), (0 ~ 0: ~ 1) and in Lp,T(E), 1 ~ p ~ 00 (here Loo,r(E) =


CT(E)), since the solutions of the difference problem (5.78) satisfy the stability
inequalities

I uT Ilc;:""(E)~ M[II

fIl

Ilc;:""(E) + I uoll E + IluNII E],

Iu

fIl

IILp,T(E)

IILp.T(E)~

M[li

where M does not depend on fIl'

Uo, UN,

p,

+ I uoll E + IluNIIE],

0:

and T.

306

Chapter 5. Partial Differential Equations of Elliptic Type

Theorem 5.3.4. Let A be a strongly positive operator in a Banach space E with

spectral angle (A, E) < fL and uo, UN E D(A). Then the solutions of the difference problem (5.78) for j = 0 in Lp,r(E) obey the almost coercive inequality
i
II {r- 2(uk+i - 2Uk + uk_d}f- IILp,T(E) + II

{L QiAir2i-2udf-i IILp,T(E)
i=i

:s Mdll Auoil E + IIAuNll E


+ min

{ln~, 1 + Iln II B IIE-.EI} II 1;'1 IILp,T(E)],

where M 1 is independent not only of 1;'1' UO, UN, but also of r.


In the case j = 0 we have the estimate

Therefore, we have the following results.


Theorem 5.3.5. Let A be a strongly positive operator in a Banach space E with
spectral angle (A, E) < fL and uo, UN E D(A). Then the solutions of the difference problem (5.78) for j = 0 in Lp,r(E) obey the almost coercive inequality

i
i
2
II {r- (uk+i - 2Uk +uk-d}f- IILp,T(E) + II {Audf- IILp,T(E)

:s Mi[II Auoil E +
+ min

IIAuNll E

{ln~, 1 + Iln II B IIE-.EI} II f;'1

IILp,T(E)],

where M i is independent not only of f;'I' UO, UN, but also of r.


Theorem 5.3.6. Let A be a strongly positive operator in a Banach space E with
spectral angle (A, E) < fL and uo, UN E D(A). Then the solutions of the difference problem (5.78) for j = 0 in C~,Q(E) obey the coercivity inequality

i
i
2
II {r- (uk+i - 2Uk + Uk_i)}f- Ilc;""(E)+ II {AUk}f- Ilc;""(E)

:s MdQ(l ~ Q) II

f;'1 IIc;""(E) + II Auoil E + IIAuNII E],

where M i is independent not only of f;'I' UO, UN,

Q,

but also ofr.

Theorem 5.3.7. Let A be a strongly positive operator in a Banach space E with

spectral angle (A, E) < fL and (I - R(rB))2r -2 uo - Ji'1, (1 - R(rB))2r -2 uN 1~~1 E E~. Then the solutions of the difference problem (5.78) for j = 0 in C~(E)
obey the coercivity inequality
i
i
2
II {r- (Uk+i - 2Uk + Uk_i)}f- IIc~(E) + II {Audf- IIc~(E)

+ II {r- 2(uk+l - 2Uk + uk-d}f- i IIcT(E~)

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

~ ex(~ ex) [II fIl IIc;>(E) + I (I +11(1 -

R(TB))2 T-2 UO - H,l

307

IIE~

R(TB))2T-2UN - f~~IIIEI],
Q

where M I is independent not only of fIl' Uo, UN, ex, but also of T. Here, the
Banach space E~ = E~(E, B) (0 < ex < 1) consists of those vEE for which the
norm
I V liE' = supzQ I B(zI + B)-Iv liE + I V liE
z>o

is finite.
Theorem 5.3.8. Let A be a strongly positive operator in a Banach space E with

spectral angle (A, E) < fL and (I - R(TB) )2T-2 uO - f{l, (I - R(TB))2 T-2 UN E E~_,. Then the solutions of the difference problem (5.78) for j = 0 in
C~"(E) (0 ~ "I ~ (3,0 < (3 < 1) obey the coercivity inequalities

nLI

II

I
2
{T- (Uk+1 - 2Uk + Uk-Inf-

+MI[l1 (1 -

IICT(Er,_-y) ~

(3(1 ~ (3) II fIl IIc~'-Y(E)

liE'B--y + 11(1 - R(TB))2T-2 UN - f~~IIlE'B--y ],


I
I
2Uk +uk-d}f- Ilc~'-Y(E) + II {Audf- Ilc~'-Y(E)

R(TB))2 T-2 UO - Ji'l

II {T- 2(Uk+1

(3(~ (3) I

<

+I(I -

IIc~'-Y(E) + Mdl(I -

fIl

R(TB))2T-2 UN -

R(TB))2 T-2 uO -

nLIlg,,],

Ji'll~"

where M 1 is independent not only of fIl' Uo, UN, (3, "I, but also ofT. Here, Iwlg"
denotes that the norm of the Banach space Eg,' consists of those wEE for which
the norm
max

1~n:':;N-I

IIRn(TB)wIIE

sup
l~n<n+r~N-I

t;f3(t n + tr)'(tN - tnPII(Rn+r(TB) - Rn(TB))wIIE

is finite.
Theorem 5.3.9. Let A be a strongly positive operator in a Banach space E with

spectral angle (A, E) < fl. Then the solutions of the difference problem (5.78)
for j = 0 in CT(E~) obey the coercivity inequality

2
{T- (Uk+1 - 2Uk

+ uk-d}f- I IlcT(E~) + I {Audf- 1 IlcT(E~)

~ M I [ex(l ~ ex) I r IIcT(E~) + I AUoIIE~ + IIAuNIIE~],


where M 1 is independent not only of fT, uo, UN, ex, but also of T.

Chapter 5. Partial Differential Equations of Elliptic Type

308

Theorem 5.3.10. Let A be a strongly positive operator in a Banach space E with

Jl,l,

spectral angle <f>(A, E) < fL and (1 - R(TB))ZT-2uo (1 - R(TB))2T-2 uN rJJ~l E E~-'Y' Then the solutions of the difference problem (5.78) for j = 0 in
C~''Y(E~_f3) (0::; 1::; (3::; a,O < a < 1) obey the coercivity inequalities

II

2
{T- (Uk+l - 2Uk

+ II

2
{T- (Uk+l - 2Uk

+M1 [l(1 -

II

+ uk_I}}f- 1 Ilc~''''(E~_I') + II

R(TB))2 T-2 uo -

2
{T- (Uk+l - 2Uk

+ II
::;

+Mdll(1 -

+ uk-I}}f-

{AUk}f- Ilc~''''(E~_I')

IlcT(E~~I') ::; a(~ a) II r Ilc~''''(E~_I')

fi'11:~f3 + 1(1 - R(TB))2T-2UN - I~~ll~'2'f3],

+ Uk-lnf- 1 Ilc~''''(E~_I') + II {Audf- 1 Ilc~''''(E~_I')

2
{T- (Uk+l - 2Uk

+ uk-I}}f- 1 IlcT(E~_..,)

a(~ a) [II (1 + TB)-lCI;'1 Ilc~''''(E~_I')

R(TB))2T-2 UO - Ir,IIIE f

Q-~

+ 11(1 -

R(TB))2T-2uN - f~~lIIEf

Q-~

]],

where M 1 is independent not only of 1;'1' uo, UN, a, (3, 1, but also ofT.
Here, Iwl~'2'f3 denotes that the norm of the Banach space E~'2'f3 consists of
those vEE for which the norm

Iwl~'2f3 =

sup

lSn<n+rSN-l
is finite.

max

lSnSN-l

n
IIR (TB)wIIE o _1'

t;f3(t n + trP(tN - tnPII(Rn+r(TB) - R n(TB))wIIE o _1'

Finally, let us give the following results about well-posedness of the boundaryvalue difference problem (5.78) in the spaces Lp,T(E) = Lp([O, T]r, E), 1 ::; p < 00.
Theorem 5.3.11. Let A be a strongly positive operator in a Banach space E with
spectral angle <f>(A, E) < fl. Suppose that the difference problem (5.78) for j = 0 is
well posed in LpO,T(E) for some Po, 1 < Po < 00. Then it is well posed in Lp,T(E)
for any p, 1 < p < 00 and the following coercivity inequality holds:

II

2
{T- (Uk+l - 2Uk

+ Uk-lnf- 1 IILp,T(E) + II

{Audf-

IILp.T(E)

+lluTllcc(El_l/p,p) ::; M(Po)[ll UOIlEl_l/p,P + IluNIIE1_1/p,P


p2
+p~
-

II

fj,l

II

Lp,T(E)

],

where M(po) does not depend on f;'l' Uo, UN, P and T.

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

309

00 and 0 < a < 1. Suppose that A is a strongly


positive operator in a Banach space E with spectral angle 4>(A, E) < it. Then the
difference problem (5.78) for j = 0 is well posed in Lp,r(Ea,p) and the following
coercivity inequality holds:

Theorem 5.3.12. Let 1 :S p :S

{r- (uk+l - 2Uk

:S

+ Uk-lnf- 1II Lp ,T(Eo,p) + I {AUk}f- 1 IIL p,T(Eo,p)


1

M[II AUoIIEo,p + IIAuNllEo,p + a(l _ a) II

fIl

II

Lp,T(Eo,p)

],

where M does not depend on fIl' Uo, UN, p, a and r.

< p, q < 00 and 0 < a < 1. Suppose that A is a strongly


positive operator in a Banach space E with spectral angle 4>( A, E) < it. Then the
difference problem (5.78) for j = 0 is well posed in Lp,r(Ea,q) and the following
coercivity inequality holds:

Theorem 5.3.13. Let 1

II {r- 2 (uk+l

- 2Uk

+ Uk-lnf- 1IILp,T(EO,q) + II {Audf- 1 IILp,T(EO,q)


p2

:S M(q)[11 AuollEo,q + IIAuNllEo,q + P _ 1

fII IILp'T(EO,q)],

where M(q) does not depend on fIl' Uo, UN, p, a and r.


Now, the abstract theorems given above are applied in the investigation of
difference schemes of higher order of accuracy with respect to the set of all variables
for approximate solution of the boundary-value problem (5.78). The discretization
of problem (5.27) is carried out in two steps. In the first step let us give the
difference operator A h by the formula

'"'
L...J

A xhUxh =

2,.,.:Slrl:SS

brXDrhUxh + UU
r h'
x

(5.95)

The coefficients are chosen in such a way that the operator A h approximates in a
specified way the operator

Irl=2m

We shall assume that for


satisfies the inequalities

I~khl

alrl

ar(x) axrl ... ax~n

+ 8.

:S

1r

the symbol

A(~h,

h) of the operator A h - 8

(_l)m AX(~h, h) 2 Mll~12m, I argAX(~h, h)1 :S 4> < 4>0 :S ;.


With the help of A h we arrive at the boundary-value problem
d2 v h(y,x)
x h
h
d 2
+Ahv (y,x)=f (y,x),O<y<T,
y

vh(O,x) = cl(x),vh(T,x) = 'ljJh(X), X E IR. h,


for an infinite system of ordinary differential equations.

(5.96)

(5.97)

310

Chapter 5. Partial Differential Equations of Elliptic Type

In the second step we replace problem (5.78) by the difference scheme


I

---;-(U~+l (x) - 2u~(x) + ULI (x)) + L Qi(AIJiT2i-2u~(x)


T

(5.98)

i=l

le(x), 1 :S k :S N - 1, u~(x) = v~(x), u~ = v~, x E Rh.

Let us give a number of corollaries of the abstract theorems given above.


Theorem 5.3.14. The solutions of the difference schemes (5.98) satisfy the following stability estimates:

I uT,h Ilc~,a(cO :S M[llu~llc~ + Ilu~llc~+ I I;'lh Ilc~,a(c~)],


o < < 1,0 :S (3 < I,
Q

I uT,h

II Lp ,r(cO :S M[llu~llc~

+ Ilu~llc~+ I

1 :S p :S 00,0 :S (3
where M does not depend on 1;'1' u~, u~,

I;'lh IILp,r(CO],

< 1,
Q,

(3, p, hand r.

The proof of Theorem 5.3.14 is based on the abstract Theorem 5.3.3 and the
positivity of the operator A h in C~.
Theorem 5.3.15. The solutions of the difference schemes (5.98) satisfy the following almost coercive stability estimates:

II {T-2(U~+1

- 2u~ + ULlnf- IILP,r(C h) +


1

:S M[ln ~[

Irl=2m

IIDhU~llch +

L II{DhU~}f-lIILP,r(Ch)

Irl=5

Ir l=2m

IIDhU~llch]

+ In T: h I II,lh IILp,r(Ch)], 1 :S p :S 00,


where M does not depend on 1;'1' u3, u~, p, hand T.
The proof of Theorem 5.3.15 is based on the abstract Theorem 5.3.5, the
positivity of the operator A h in Ch and on the almost coercivity inequality for an
elliptic operator A h in C~.
Theorem 5.3.16. The solutions of the difference schemes (5.98) satisfy the coercivity estimates

I {r- 2(uZ+l

- 2uZ + utl)}~-l II c;""(cn

Irl=2m

II{DhUZ}~-lllc;,'''(cO

5.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

~ M(a,,8)[

Irl=2m

where M (a,,8) does not

IIDhu311c~ +

Ir l=2m

311

IIDhu~llc~+ I fJ,lh Ilc~a(c~)],

o ~ a < 1,0 < ,8 < 1,


depend on fIl' u3, u~, hand T

The proof of Theorem 5.3.16 is based on the abstract Theorem 5.3.6, the
positivity of the operator A h in C~ and on the coercivity inequality for an elliptic
operator Ah in C~. Note that in a similar manner we can construct the difference
schemes of a high order of accuracy generated by Taylor's decomposition of the
function on three points with respect to one variable for approximate solutions
of the boundary-value problems (5.25) and (5.26). Abstract theorems given above
permit us to obtain the stability, the almost stability and the coercive stability
estimates for the solutions of these difference schemes.

Chapter 6
Partial Differential Equations
of Hyperbolic Type
In the present chapter we consider the abstract Cauchy problem for differential
equations of the hyperbolic type

v" (t) + Av(t)

= f(t) (0 ~ t

T), v(o)

= vo, v' (0) = v~

in an arbitrary Hilbert space H with the self-adjoint positive definite operator


A. The high order of accuracy two-step difference schemes generated by an exact
difference scheme or by Taylor's decomposition on three points for the numerical
solutions of this problem are presented. Stability estimates for the solutions of
these difference schemes are established. In applications, the stability estimates
for solutions of a high order of accuracy difference schemes of the mixed type
boundary-value problems for hyperbolic equations are obtained.

6.1

A Cauchy Problem

We consider the abstract Cauchy problem for hyperbolic equations

v"(t) + Av(t)

= f(t)

(0

~ t ~

T),v(O)

= vo,v'(O) = v~

(6.1)

in a Hilbert space H with the self-adjoint positive definite operator A.


A function v( t) is called a solution of problem (6.1) if the following conditions
are satisfied:
1. v(t) is twice continuously differentiable on the segment [0, T]. The derivatives
at the endpoints of the segment are understood as the appropriate unilateral
derivatives.
ll. The element v(t) belongs to D(A) for all t E [0, T] and the function Av(t) is
continuous on the segment [0, T].
iii. v( t) satisfies the equations and initial conditions (6.1). If the function f (t) is
not only continuous, but also continuously differentiable on [0, Tj, Vo E D(A)

Chapter 6. Partial Differential Equations of Hyperbolic Type

314

and vb E D(A!). It is easy to show that the formula

J
t

v(t) = c(t)vo + s(t)vb

(6.2)

s(t - >")f(>")d>"

gives a solution of problem (6.1). Here

C(t) = e

itA 1/2

~e

-itA 1/2

itA 1/2
,S(t) = A- l / 2 e

~ie

-itA 1/2

Actually, obviously (6.1) can be rewritten as the equivalent initial-value problem for a system of first-order linear differential equations

v: (t)
{

+ iBv(t) ~ zit) (0 ,; t

T), v(O) ~ Vo, v' (0) ~ v~,

,;

z (t) - iBz(t) = f(t),

where B = A!. Integrating these, we at once obtain

V(t) ~ e-iB<"" + :~ e-iBU-,j z(,)ds,


{ z(t) = etBtzo + fo etB(t-p) f(p)dp.
That is,

v(t) = e-iBtvo +

it

1t

e-iB(t-s)eiBszods

e-iB(t-s) is eiB(s-p) f(p)dpds,

so, using the condition v' (0)

v(t)

+ iBv(O)

(e- iBt

1
+ it
t

+ iB

e-iB(t-s)eiBsdsv' (0)

z(O), we obtain

e-iB(t-s)eiBsds)vo

e-iB(t-s)

eiB(s-p) f(p)dpds.

By an interchange of the order of integration, we obtain

v(t)
+B- l

eiBt _ e- iBt
.

.
(e- tBt

,
dsv (0)

it
0

eiBt _ e- iBt
2

B- 1

)vo

eiB(t-s) - e-iB(t-s)
.

Thus, by the definitions of B, c(t) and s(t) we have (6.2).

f(s)ds.

6.1. A Cauchy Problem

315

Theorem 6.1.1. Suppose that Vo E D(A) , vb E D(A~) and f(t) is a continuously

differentiable function on [0, T]. Then there is a unique solution of problem (6.1)
and the stability inequalities
OTtaz-T II v(t)
OTtaz-T
max

O~t~T

II

IIH:S: M [II Vo IIH + II A-l/2v~ IIH + OTtaz-T I


/

2
v(t)

d2 v(t)
-d
2
t

IIH:S: M [II

IIH + 09~T
max I

A-

IIH + II v~ IIH + OTtaz-T I

2
vO

Av(t)

2
f(t) IIH] ,
f(t)

IIH] ,

IIH:S: M[II Avo IIH + I Al/2V~ IIH

fI
T

+I

f(O) IIH

o
hold, where M does not depend on f(t), t

J'(t)

IIH dt]

[0, T] and Vo, vb.

Proof. Using formula (6.2) and estimates


IIc(t)IIH--+H :s: 1, IIA~s(t)IIH--+H :s: 1,

(6.3)

we obtain

f IIA~s(t
t

A)IIH--+HIIA-~ f(A)II HdA

:S:II Vo IIH + II A-1 vb IIH +T 09~T


max I

A- 1 / 2 f(t)

IIH .

Applying A1 to the formula (6.2) and using estimates (6.3), in a similar manner,
we obtain

f IlA1
t

s(t - A)IIH--+Hllf(A)IIHdA

:s:1I A1 vo IIH + I v~ IIH +T max II f(t) IIH .


O~t~T

Now, we obtain an estimate for I Av(t) IIH. Applying A to formula (6.2) and
using an integration by parts, we can write the formula

J
t

1
Av(t) = c(t)Avo + A21 S(t)A2V~
+ f(T) - c(t)f(O) -

c(t - >..)J'(>..)d>...

Chapter 6. Partial Differential Equations of Hyperbolic Type

316

Using the last formula and estimates (6.3), we obtain

IIAv(t)IIH:S Ilc(t)IIH-+H I

Avo

IIH +IIA~s(t)IIH-+H I A~v~ IIH

J
t

+I

IIH + I c(t)IIH-+Hllf(O) IIH + Ilc(t -

f(T)

A)IIH-+HIlf'(A)IIHdA

<II Avo IIH


-

+ I A~v~ IIH +21If(0) IIH +2T 0:St:ST


max I

f'(t) IIH .

Then from the last estimate, it follows that


max

O:St:ST

II Au(t) IIH:SII Avo IIH + II A~v~

The estimate for max

O:St:ST

IIH

+21If(0) IIH +2T O:St:ST


max II

f'(t)

IIH .

I d:~~t) IiH follows from the last estimate and the triangle

inequality. Theorem 6.1.1 is proved.

Remark 6.1.2. Theorem 6.1.1 holds in an arbitrary Banach space E under the
assumptions

IIc(t)IIE-+E:S M,

IIA 2 s(t)IIE-+E:S M,

O:S t:S T.

(6.4)

Now, we consider the application of this abstract Theorem 6.1.1. First, we


consider the mixed problem for hyperbolic equations

Utt(t' x) - (a(x)uxh + u(t, x) = f(t, x), :s t :s T,


u(O,x) = <p(x),Ut(O,x) = '(x), :S x:s L,
{
u(t,O) = u(t,L),ux(t,O) = ux(t,L),O:S t:S T.

:s x :s L,

(6.5)

Problem (6.5) has a unique smooth solution u(t,x) for smooth a(x) > (x E
[O,L]), <p(x), '(x) (x E [O,L]) and f(t,x) (t E [O,T], x E [O,L]) functions. This
allows us to reduce the mixed problem (6.5) to the initial-value problem (6.1) in a
Hilbert space H = L 2 [0, L] with a self-adjoint positive definite operator A defined
by (6.5). Let us give a number of corollaries of the abstract Theorem 6.1.1.
Theorem 6.1.3. For solutions of the mixed problem (6.5) the stability inequalities

OTt~T

I u(t,')

II

f(t,') II L2[0,L)

+ I <p Ilwi!o,Lj

+ I ' IIL2[0,L]],
2[0 L] + max I Utt(t,') IIL2[0 Lj
Ilw2
'
O:St:ST
'

O:St:ST

I u(t,')

ft(t,')

IIL2[0,LI + I

max

:s M [O~t~T I

IIwi!o,Lj:S M[oTt~T

f(O,')

IIL2[0,LI + I <p Ilwi[O,L] + II 'ljJ IIWilO,LJ]

hold, where M does not depend on f(t,x) and <p(x), '(x).

6.2. Difference Schemes Generated by an Exact Difference Scheme

317

The proof of this theorem is based on the abstract Theorem 6.1.1 and the
symmetry properties of the space operator generated by problem (6.5).
Second, let n c lRn be a bounded open domain with smooth boundary S,
= nUS. In [0, T] x n we consider the mixed boundary-value problem for
hyperbolic equations

Utt(t,x) - 2)ar (x)u Xr )X r

= f(t,x),x = (Xl, ... ,xn ) E 0,0::; t::; T,

(6.6)

r=l

u(O,x) = <p(x),

au(o,x)
at
='(x),xEn,

u(t,x) = O,X

S,o::; t::; T,

where ar(x), (x EO), <p(x), '(x) (x E 0) and f(t, x) (t E [0, T], x E 0) are given
smooth functions and ar(x) > 0. We introduce the Hilbert space 2(0), the space
of all integrable functions defined on 0, equipped with the norm

Problem (6.6) has a unique smooth solution u(t, x) for smooth ar(x) > and
f(t,x) functions. This allows us to reduce the mixed problem (6.6) to the initialvalue problem (6.1) in Hilbert space H = 2(0) with a self-adjoint positive definite
operator A defined by (6.6). Let us give a number of corollaries of the abstract
Theorem 6.1.1.
Theorem 6.1.4. For solutions of the mixed problem (6.6) the stability inequalities

o~ttT II u(t,) IIWiCi'i)::; M [O~taz:T II f(t,') II L2 Ci'i) + II <p IlwiCO) + II ' IIL2CO)] ,
max II u(t,) IIw 2Co) + O::;t::;T
max II Utt(t,) IlL CO)
O::;t::;T
2

::; M

[O~taz:T II ft(t,) II L2co) + II f(O,)

II L2CO) + II <p IlwiCO) + II ' IIWiCO)]

hold, where M does not depend on f(t,x) and <p(x), '(x).


The proof of this theorem is based on the abstract Theorem 6.1.1 and the
symmetry properties of the space operator generated by problem (6.6).

6.2

Difference Schemes Generated by an Exact Difference Scheme

We consider the initial-value problem (6.1). On the segment [0, T] we consider a


uniform grid
[O,T]T = {tk = kT,k = 0, 1, ... ,N,NT = T}

Chapter 6. Partial Differential Equations of Hyperbolic Type

318

with step r. By Theorem 3.1.1 we have the following two-step difference scheme
for the solution of the initial-value problem (6.1):

1 2 1
-s(r)v(tk+d - -s(r)c(r)v(tk) + -s(r)v(tk-1)
r
r
r

-s(r){
1
r

tk

S(tk+1 - z)f(z)dz +

tk

tk

s(z - tk-df(z)dz},

tk-l

1 < k:S N - 1, v(O) = vo,


r- 1(v(r) - v(O)) = r- 1(c(r) - I)v(O)
or

1
2"(Uk+l - 2Uk
r

!t,k

= r- 1

+ r- 1s(r)v'(O) + r- 1

+ Uk-1)

fk = r- 1{!t,k+l

tk

S(tk - z)f(z)dz, hk

= 2" (c(r) - I)uk


r

s(r - z)f(z)dz

+ fk,

(6.7)

+ s(r)h,k - c(r)!t,d,

= r- 1

tk-l

tk

C(tk - z)f(z)dz, 1 :S k :S N - 1,

tk-l

Uo =

VO,

U1 = c(r)v(O)

+ s(r)v' (0) + r !t,1.

The latter will be referred to as the exact two-step difference scheme for the
initial-value problem (6.1).
Suppose the operators (1 - e2TiB ) and (1 + eTiB ) have the bounded inverses
(I - e2TiB )-1 and (I + eTiB )-l. Then this problem is uniquely solvable and the
following formula holds:

Uk = [e- kTiB - (1 - e2TiB)-1(e-kTiB - ekTiB)]uo

(6.8)

+eTiB(I _ e2TiB)-1(e-kTiB _ ekTiB )u1


+r 2

k-1

L eTiB (1 - e2TiB )-1(e-(k-m)TiB - e(k-m)TiB)fm, 2 :S k:S N.

m=l

Actually, (6.7) can be rewritten as the equivalent initial-value problem for a system
of first-order difference equations

T-I(U' - U'_I)

+ T- I (1 -

r- 1(zk+l - Zk)

+ r- 1(1 - enB)zk = fk, 1 :S k :S N

,-,'B)u'_1 ~ Z" 1 ,; k ,; N,
- 1.

From this follows the system of recursion formulas

Uk = e- TiB uk_1
{

+ rZk, 1 :S k :S N,

Zk+l = eTiBzk +rfk,1:S k:S N-1.

uo, u, are given,

6.2. Difference Schemes Generated by an Exact Difference Scheme


Hence

= e-kTiBu0 +"
LJ

uk

e-(k-S)TiB TZ s,

1<
_ k

319

<
_ N,

s=1
k-1

Zk

= e(k-1)iTB Z 1 + "e(k-1-m)TiB
T ! m, 2 <
LJ
_ k <
_ N.
m=l

From this it follows that

+ TZl,

U1 = e-TiBuO
Uk

+L

+ e-(k-1)TiB TZ1

= e-kTiBuo

+L

s-l

e-(k-S)TiB T [e(S-1)iTB Z1

s=2

e(s-l-m)TiB T 1m]

m=l

+ [e-(k-1)TiB + L
k

= e-kTiBuo

e-(k-S)TiBe(S-1)iTB]rZ1

s=2

s-1

e-(k-S)TiB

s=2

e(S-1-m)TiB r 21m,

:s k :s N.

m=1

Since

+L
k

e-(k-1)TiB

e-(k-s)TiB e (s-l)iTB

= (I - e 2TiB )-1(e-(k-1)TiB _ e(k+ 1 )TiB)

s=2

and

L
k

s-1
e-(k-S)TiB

s=2

e(S-1-m)TiB r 2 /m

m=l

L (I -

L L

k-1

e-(k-s)TiB e (s-1-m)TiB r 2 /m

m=l s=m+1

k-1

e2TiB)-1eTiB(e-(k-m)TiB - e(k-m)TiB)r 2 /m,

m=l

we have that

+L

k-1

(I -

e2TiB)-1eTiB(e-(k-m)TiB - e(k-m)TiB)r 2 1m,

2 :s k

:s N.

m=1

Using this formula and the formula rZ1 = U1 - e-TiBuo, we can obtain formula (6.8).
Let us investigate the stability of the exact two-step difference scheme (6.7).

Chapter 6. Partial Differential Equations of Hyperbolic Type

320

Theorem 6.2.1. Suppose the operators (I - e2TiB ) and (I + eTiB) have the bounded
inverses (I - e2TiB )-1 and (I + eTiB)-l. Suppose further that Uo E D(B 2(I +
eTiB)-l), Ul - Uo E D(B 2(I - e2TiB )-1) and ik E D(B(I - e2TiB )-1), 1 ~ k ~
N - 1. Then for the solution of the exact two-step difference scheme (6.7) the

following stability inequalities hold:


(6.9)

+ I (I - e2TiB )-1(Ul - uo) IIH + I (I + eTiB)-luo IIH],

maxllr-1(uk -

l~k~~

~ M[

max I

2~k~N-1

uk-l)IIH

+ maxllr-1(I - e-TiB)uk_lIIH
l~k~~

B(I - e2TiB )-1(ik - fk-1)

IIH + I rB(I -

(6.10)

e2TiB )-1 h IIH

+ I B 2(I - e2TiB )-1(U1 - uo) IIH + I B 2(I + eTiB)-luo IIH],


where M does not depend on r, fk, 1 ~ k

N - 1 and uo,

Ul.

Proof. Using formula (6.8) and the estimates

Il ekTiBII H

< 1 1<
< N,
_k_

---+ H _ ,

(6.12)

we obtain

+r 2

k-l

IleTiB(e-(k-m)TiB - e(k-m)TiB)IIH---+HII(I - e2TiB )-1 fmllH

m=l

+ I (I - e2TiB )-1(Ul - uo) IIH + II (I + eTiB)-luo IIH]


for k 2 2. It obviously holds also for k = 0,1. The estimate (6.9) is established.
Applying r- 1(I - e- TiB ) to formula (6.8) and using estimates (6.12) and
(6.13)

321

6.2. Difference Schemes Generated by an Exact Difference Scheme

in a similar manner as (6.9), we obtain

117- 1 (I -

e-TiB)uk_11IH ~

117- 1 (I -

e-TiB)B-11IH-->H

x{ll(I + eTiB)e-(k-1)TiB - (e-(k-1)TiB - e(k-1)TiB)IIH-->H

B(I + eTiB)-lUO

IIH

+lle-(k-1)TiB - e(k-1)TiBIIH-->H I B(I - e2TiB )-1(U1 - Uo) IIH


k-2
+7

IIeTiB(e-(k-1-m)TiB - e(k-1-m)TiB)IIH-->HI17B(I - e2TiB )-1 fmllH}

m=l

+ I B(I - e2TiB )-1(U1 - Uo) IIH + I B(I + eTiB)-luo IIHl


for k 2: 3. It obviously holds also for k = 1,2. So, we have that

In a similar manner one can show that

+ II B(I - e2TiB )-1(U1 - uo) IIH + I B(I + eTiB)-luo IIH]'

;2

Estimate (6.10) is established. Now, we obtain the estimate for I


(C(7)- I)Uk IIH.
Applying
(C(7) - I) = ;2e-TiB(I - eTiB )2 to formula (6.8) and using Abel's
formula, we can write the formula

;2

(6.14)

-(I + eTiB)-l(e-kTiB - ekTiB)]uo

+~(I
- eTiB )2(I - e2TiB)-1(e-kTiB - ekTiB)(U1 - Uo)
2
7

+~(I - eTiB )
7

k-1

L 7(1 - eTiB)(I - e2TiB )-1(e-(k-m)TiB - e(k-m)TiB)fm

m=l

322

Chapter 6. Partial Differential Equations of Hyperbolic Type

+~(I
- eTiB )2(I - e2TiB)-I(e-kriB - ekriB)(UI - Uo)
2
7

L 7(1 - e2TiB )-I(e-(k-m)TiB + e(k+l-m)TiB)(Jm k-I

+~(I - eTiB)
7

fm-I)

m=1

+~(I - eTiB)(e-(k-I)TiB + ekTiB)(I _ e2TiB )-17II


7

-~(I - eTiB)(I + eTiB)(I - e2TiB )-17fk_I'


7

Using the last formula and estimates (6.12) and (6.13), we obtain

~ II(c(7) -

I)ukllH :S

II~(I
7

eTiB)B-Illk--+H

x IlcTiBIIH--+HII(I + eTiB)e-kriB - (e- kTiB - ekTiB)IIH--+H


xIIB 2(I

+ eTiB)-luoIIH + II~(I - eTiB)B-Illk--+HllckriB - ekriBIIH--+H


7

x1lB 2(I - e2TiB )-I(UI - uo)IIH

+ II~(I 7

eTiB)B-IIIH--+H

k-I
X

L 711(e-(k-m)TiB + e(k+l-m)TiB)IIH--+HIIB(I - e2TiB )-I(Jm -

fm-dllH

m=1

+11 ~ (I 7

eTiB)B-IIIH--+H Ile-(k-I)TiB

+II~(I 7

+ ekTiB IIH--+HI17 B(I -

e2TiB )-1 II IIH

eTiB)B-IIIH--+HIII + eTiB IIH--+HI17B(I - e2TiB )-1 fk-IIiH

I B(I - e2TiB )-I(Jm - fm-I) IIH + II 7B(I - e2TiB )-1 II IIH


2::;m::;N-I
+ II B 2(I - e2TiB )-I(UI - Uo) IIH + I B 2(I + eTiB)-luo IIH]

:S M[ max

for k 2: 2. It obviously holds also for k = 1. So, we have that


2

I::;~::;~J 72 (C(7) - I)UkIiH

II 7B(I - e2TiB )-I(Jk - fk-I) IIH + I 7B(I - e2TiB )-1 II IIH


2::;k::;N-I
+ II B 2(I - e2TiB )-I(UI - uo) IIH + II B 2(I + eTiB)-luo IIH]'

:S M[ max

The estimate for

max

1::;k::;N-I

117-2(uk+l-2uk+uk-dIiH follows from the last estimate

and the triangle inequality. Theorem 6.2.1 is proved.


Note that we have not been able to obtain the stability inequalities

6.2. Difference Schemes Generated by an Exact Difference Scheme

:S M[ max 117- 1(fk - fk-I) IIH + I II


2"S.k"5.N-1
+ II B7- 1(U1 - Uo) IIH + I B2uo IIH]

323

IIH

for the solution of the exact two-step difference scheme (6.7). Nevertheless, the
following result holds.

(1 - e2TiB ) and (1 + eTiB) have the bounded


2TiB
inverses (1 _e
)-1 and (1 +eTiB)-l. Suppose that Uo E D(B 3), U1 -Uo E D(B 2)
and fk E D(B), 1 :S k :S N - 1. Then for the solution of the exact two-step
difference scheme (6.7) the following stability inequalities hold:

Theorem 6.2.2. Suppose the operators

omc~~ukIIH :S M[l"5.~tJfkIIH+
maxI17- 1 (Uk

l"5.k"5.~

Uk-1)IIH

117- 1 (U1

uo)

max 117- 1 (1

1"5.k"5.N

IIH + I

7,

IIH],

e-TiB)uk_11IH

:S M[ max I B7- 1(fk - fk-1) IIH + II BII


2"5.k"5.N-1
+ I B 27- 1(U1 - Uo) IIH + I B3uo IIHl
where M does not depend on

Buo

fk, 1 :S k :S N - 1 and uo,

(6.15)

(6.16)

IIH

U1.

Proof. Using formula (6.8) and estimates (6.12), (6.13) and

11(1 -

e2TiB)-1(e-kTiB - ekTiB)IIH-->H :S k,

(6.18)

we obtain

IlukllH:S Ile-kTiBIIH-->H

I Uo

IIH

+117- 1 (1 -

e-TiB)B-11IH-->H

x11(1 - e2TiB)-1(e-kTiB - ekTiB )IIH-+H 7 11 Buo IIH


+11(1 - e2TiB)-1(e-kTiB - ekTiB)IIH-->H7117-1(u1 - uo) IIH
+7 2

k-1

m=l

Ile TiB IIH-->HII(1 -

e2TiB )-1(e-(k-m)TiB - e(k-m)TiB)IIH--+HllfmIIH

324

Chapter 6. Partial Differential Equations of Hyperbolic Type

for k ~ 2. It obviously holds also for k = 0,1. Estimate (6.15) is established.


Applying T- 1(1 - e- TiB ) to formula (6.8) and using estimates (6.12), (6.13) and
(6.18) in a similar manner as (6.15), we obtain

IIT- 1 (1 -

e- TiB )uk_11IH ~

IIT- 1 (1 -

e- TiB )B- 11IH--+H

x{lle-(k-1)T iB IIH--+H I Buo IIH +IIT- 1 (1 - e- TiB )B- 11IH--+H


xll(1 - e2TiB )-1(e-(k-1)TiB - e(k-1)TiB)IIH--+H I B2uo IIH

+11(1 -

e2TiB )-1(e-(k-1)TiB - e(k-1)TiB)IIH--+HT

II BT- 1(U1

- uo)

IIH

k-2
+T

L IleTiBIIH--+HII(I - e2TiB )-1(e-(k-1-m)TiB - e(k-1-m)TiB)IIH--+HIITBfmIIH}

m=l

for k

3. It obviously holds also for k = 1,2. So, we have that


max IIT- 1 (1

19~N

e- TiB )uk_IiIH
1

~ M[l~~~JB!kllH+I BT- (U1 - uo) IIH

+ II B2uo IIHJ.

In a similar manner one can show that

~ M[l~~~JBfkllH+I BT- (U1 - uo) IIH


1

+ I B2uo IIHJ.

Estimate (6.16) is established. Now, we obtain the estimate for II ~(C(T)- I)uk
Using formula (6.14) and estimates (6.12), (6.13) and (6.18), we obtain
2211 (c(T) - I)ukllH

~ /I~(1 T

IIH.

eTiB)B-11Ik--+Hlle-TiBIIH--+H[lle-kriBIIH--+H

xllB2uoliH + 11~(1
- eTiB )B- 11IH--+H
T
xll(I - e2TiB)-1(e-kriB - ekriB)IIH--+HIIB3uoIIHJ

+11~(1 T

+II~(I -

eTiB )B- 11Ik--+HII(1 - e2TiB)-1(e-kTiB - ekriB )IIH--+HIIB 2(Ul - uo)IIH


eTiB )B- 1/1H--+H

IIBUm -

TII(1 - e2TiB )-1(e-(k-m)TiB - e(k-m)TiB)/IH--+H

m=l
k-1

k-1

fm-l)IIH+ L 11(1 _e TiB )(1 _e2TiB )-1(e(k-m)TiB +e(k+1-m)TiB)IIH--+H


m=l

325

6.2. Difference Schemes Generated by an Exact Difference Scheme

xll(Jm - fm-I)IIH + 11~(1 - eTiB)B-IIIH.....H


T
x11(1 - e2TiB )-I[e-(k-I)TiB - e(k-I)TiB]IIH.....H
xllTBlIllH

eTiB )(1 - e2TiB )-I[e(k-I)TiB + ekTiB ]IIH.....HIIIIIIH


eTiB )(1 - e2TiB )-I[1 + eTiB ]IIH.....HIIIk_IIIH

+ 11(1 -

+11(1 ~ M[ max II BT-I(Jm 2~m~N-I


+ II BII

fm-I)

IIH + 2~m~N-I
max II T-I(Jm -

fm-I) IIH

+ II II IIH + I B 2T- I (UI - uo) IIH + II B3uo IIH +II B2uoIIH]


~ Md max II BT-I(Jm - fm-d IIH + I BII IIH
2~m~N-I

IIH

+I

2 I
B T- (UI - uo) IIH

+I

B3uo

IIH]

for k 2': 2. It obviously holds also for k = 1. So, we have that


2

I~~~J T2 (C(T) - I)ukllH


~ M I [ max

29~N-I

+ II
The estimate for

max

l~k~N-I

I BT-I(1k -

fk-I) IIH

B 2T- I (UI - uo) IIH

+I

+ II

BII

IIH

B3uo IIH]'

IIT-2(uk+I-2uk+uk-dIIH follows from the last estimate

and the triangle inequality. Theorem 6.2.2 is proved.


Remark 6.2.3. Theorem 6.2.2 actually holds in an arbitrary Banach space E under
the assumptions
(6.19)

where M does not depend on T.


Now, we will consider the applications of the exact difference scheme (6.7).
From (6.7) it is clear that for the approximate solutions of problem (6.1) it is
necessary to approximate the expressions
and

itt

tk-l

S(tk - z)f(z)dz,

itt

C(tk - z)f(z)dz.

tk-l

Let us remark that in constructing difference schemes it is important to know how


1
1
to construct fk' and 1i;1 such that
(6.20)

(6.21)

326

Chapter 6. Partial Differential Equations of Hyperbolic Type

and the formulas of

fk''I

and

Ji:l'I

Jk''I

are sufficiently simple. The choice of

and

ff:~ is not unique. Using Taylor's formula and integration by parts, we obtain the
representation
(6.22)

l;

]+1-1

(3mf(m)(tk-l)

+ 7- 2

itk

tk-l

is ((j ~~ _

)]+1-1

8(tk - z)

I)! f(j+I)(z)dzd8,

tk-l

in which

In a similar manner one can obtain that


(6.23)

1m = (3m-l, 1:::;

Using the definitions of 8(7) and


Chapter 2), we can write

m:::; j + l-

C(7)

and Pade fractions for the function e- z (see

C(7) = R;,L1(iTB)+2R ;,l1(-iTB)


{

8(7)

1,'0 = 7- 28(7).

+ 0(7]+1+2),
+ 0(7 j +1+2).

Now, using formulas (6.20), (6.21), (6.22), (6.23) and (6.24)


defined by the following formulas:
j,1 fk -

j~1 B
~
m=O

f(m)(

tk

]+1-1

(6.24)

= B- 1 Rj,ll(iTB)~~j,ll(-iTB)

I
fk'I
and fL can be

B-1 R j ,I+!(i7B) - Rj,I+!( -i7B)


2i
. .

]+1-1

"B
f(m)(t
)_Rj ,l+l(Z7B)+Rj ,l+l(-Z7B)"
~
m
k-l
2
~

m=O

m=O

]+1-2

j,l -f 1,1

"~
m=O

'

Bm f(m) (0) ,)0fj,l

j ,1
-- 7f1,1'

B f(m)(t
m

(6.25)

)
k-l ,

(6.26)

6.2. Difference Schemes Generated by an Exact Difference Scheme


where

327

Tm- 2

B m = _A- l _,_ + A-I B m- 2, 2 ~ m ~ j + I-I,


m.
B = T- 2A_ l (R j ,I+l(iTB) +2Rj ,I+I(-iTB) - 1),
o
B = T- 2A-l(B-l Rj ,I+I(iTB) ~iRj,I+I( -iTB) - T1),
l
Bm

= Bm -

l ,

~ m ~

+l -

1,

-2B-l Rj ,I+1 (iTB) - Rj,l+l( -iTB)


B 0= T
2i
.
Now, using formulas (6.24), (6.25) and (6.26), we obtain the difference schemes to
a (j + l)-th order of accuracy
2

T- (Uk+l - 2Uk

A=

+ Uk-I) + AUk

'I

= f~'

,1 ~ k ~ N - 1, Uo = vo,

(6.27)

2T-2(1 _ Rj ,I+I(iTB) +2Rj ,I+l(-iTB)),

-1(
)
_1(Rj ,l(iTB) + Rj,l( -iTB) I)
T Ul - Uo = T
2
- Vo
+T- l B- 1Rj,l(iTB) ~iRj,I(-iTB) v/(O)

fJ,1

for the approximate solution of the initial-value problem (6.1).


Note that the difference schemes (6.27) for j = l ,j = I - I and j = l + 1
include difference schemes of arbitrary high order of approximation. Moreover,
the corresponding functions IRj,I+l(z)1 tend to 0 as z -+ 00 for j = l - 1,1 and
IRj,l+l (z)1 = 1 for j = l + 1. Such difference schemes are simplest, in the sense that
the degrees of the denominators of the corresponding Pade approximants of the
function exp{ - z} are minimal for a fixed order of approximation of the difference
schemes.
Suppose the operators (1 - R;'I(iTB)) and (1 + Rj,l(iTB)) have the bounded
inverses (1 - R;,l(iTB))-1 and (1 + Rj ,l(iTB))-I. It is clear that this problem is
uniquely solvable and the following formula holds:

Uk = [Rj,l( -iTB) - (1 - R;'I(iTB))-I(Rj,l(-iTB) - Rj,l(iTB))]uo

(6.28)

+Rj,l(iTB)(I - R;'I(iTB))-I(Rj,l( -iTB) - Rj,l(iTB))Ul


+T 2

k-l

m=1

Rj,l(iTB)(I - R;'I(iTB))-I(R;,lm( -iTB) - R;,lm(iTB))f?;.l, 2 ~ k ~ N,

_ Rj,l(iTB) + Rj,l( -iTB)


Ul 2
Vo

B- 1Rj,l(iTB) - Rj,l( -iTB) /(0)


2i
v

+T

fj,l

)0 ,

Uo = Vo
Let us investigate the stability of the exact two-step difference scheme (6.27).

328

Chapter 6. Partial Differential Equations of Hyperbolic Type

Theorem 6.2.4. Suppose the operators (I - R;'I (iT B)) and (1 + Rj,1 (iT B)) have
the bounded inverses (1 - R;'I(iTB))-l and (1 + Rj,l(iTB))-l. Suppose that Uo E
D(B 2), U1 - Uo E D(B). Then for the solution of the two-step difference schemes
(6.27) for j = land j = l - 1 the following stability inequalities hold:
max IlukllH ~ M[

o9~iJ

max

IIB- 1fk,lllH+ I B-1T-1(U1 -

19~N-i

maxIlT-1(Uk - uk-1)IIH

l~k~~

'1

~ M[l~~~JfZ' IIH+

2~k~N-1

+ II

IIH],

maxIlT-1(I - e-TiB)uk_1llH

II T-1(U1

- uo) IIH

IIT- (Uk+1 - 2Uk + uk-dllH

~ M[ max

+ II Uo

l~k~~

max

19~N-1

uo) IIH

II T-1Ue

+ 19~Nmax !IAukliH

+ II Ii,l

- fk~l) IIH

IIH + I B2uo

BT-1(U1 - Uo)
'1

where M does not depend on T, fZ' , 1 ~ k

+ II Buo IIH],

IIH

IIH],

N -1 and Uo, U1.

The proof of Theorem 6.2.4 follows the scheme of the proof of Theorem 6.2.1
and relies on formula (6.28) and on the estimates
IIRj,I+1(iTB)IIH~H~ 1,

(6.29)

IITB(I - R;'I+l (iTB))-l Rj,I+1 (iTB)IIH~H ~ M.

(6.30)

Note that estimate (6.30) is not satisfied for j = l + 1. Therefore we have not been
able to obtain the same stability inequalities for the solution of the exact two-step
difference scheme (6.27) for j = l + 1. Nevertheless, the following result holds.

+ Rj,I(iTB)) have
the bounded inverses (I - R1,I(iTB))-1 and (I + Rj,l(iTB))-l. Suppose that Uo E
'1
D(B 3), U1 - Uo E D(B 2) and fZ' E D(B), 1 ~ k :S N - 1. Then for the solution of the two-step difference schemes (6.27) for j = l + 1 the following stability
inequalities hold:

Theorem 6.2.5. Suppose the operators (I - R;'I(iTB)) and (I

maxllukliH :S M[ max !lfk,IIIH+

o9~~

19~N-

maxIlT-1(Uk - uk-dliH

l~k~~

:S M[l~~~JBfk,IIIH+
max

19~N-1

II

2~k~N-1

- uo) IIH

+ II Buo IIH],

maxIIT-1(I - e-TiB)uk_1llH

l~k~iJ

BT-1(U1 - uo) IIH

IIT- (Uk+1 - 2Uk

:S M[ max

II T-1(U1

+ II

B2uo IIH],

+ uk-dliH + 19~Nmax !IAukliH

l
1
II T- BUt

Jk~l) IIH

+ II Bfi,l

+ II B 2T- 1(U1 - uo) IIH + II B3uo IIH],


where M does not depend on T, fZ' 1,1 :S k:S N -1 and Uo, U1.

IIH

6.2. Difference Schemes Generated by an Exact Difference Scheme

329

The proof of Theorem 6.2.5 follows the scheme of proof of Theorem 6.2.2 and
relies on formula (6.28) and on estimates (6.29) and

11(1 -

R j ,l+1(2irB))-1 (Rj,l+l (-irB) - Rj,l+l(irB))IIH-+H :S k.

(6.31)

Remark 6.2.6. Theorem 6.2.5 actually holds in an arbitrary Banach space E under
the assumptions

IIRj,l+l(irB)\\E-+E :S M,l :S k:S N,


where M does not depend on r.

(6.32)

Now, the abstract Theorems 6.2.4 and 6.2.5 are applied in the investigation
of difference schemes of higher order of accuracy with respect to one variable for
approximate solutions of the mixed boundary-value problem (6.6). The discretization of problem (6.6) is carried out in two steps. In the first step let us define the
grid sets

o:S

:S Nr,hrNr = L,r = 1, ... ,n},

mr

Oh

n n 0, Sh = n n S.
h

We introduce the Banach space L 2(n h) of the grid functions eph(x) = {ep(h1ml'
... , hnmn )} defined on h , equipped with the norm

II eph

II L2 (i'i h )=

(2: leph(xWh 1 h )!.


n

xEn h

To the differential operator AX generated by problem (6.6) we assign the difference


operator AI': by the formula
(6.33)
acting in the space of grid functions uh(x), satisfying the conditions uh(x) = 0
for all x E Sh. It is known that AI': is a self-adjoint positive definite operator in
L2 (n h ). With the help of AI': we arrive at the initial-value problem

d2v h(t, x)
dt 2
V

+ Ahv (t, x)

= f (t, x),

:S

:S T, x E Oh,

h
h
dvh(O,x)
h
(O,x) = ep (x),
dt
= 1/J (x), x

(6.34)

Oh

for an infinite system of ordinary differential equations.


In the second step we replace problem (6.34) by the difference schemes (6.27)
r-2(u~+1 (x) - 2u~(x)
tk

+ ULI (x)) + Al':u~(x) = ff(x),

= kr, 1 :S k

:S N - 1, x E

h,

(6.35)

Chapter 6. Partial Differential Equations of Hyperbolic Type

330

u~(x) = 'Ph(X), T-1(U~(X) - u~(X)) = T- 1(

R l(iTBX) + R-I(-iTBX)
J,
h 2 Y,
h - I) 'Ph (x)

+T- 1(B fJ-1 Rj,l(iTBfJ ~iRj,l( -iTBfJ 1/Jh(X) + Tf/;(x), x


A

ff(x)

h = 2T-

2(1 - R j,l+l(iTBh) +2Rj,l+l(-iTB'h\ (B'hf

Dh,

= A h,

j+l-l
' BX)
~ B f(m)(t
) + B- 1R j,l+l ('tT BX)
h - R j,I+1 (-tT
h
L.J m
k, X
2i
m=O
]+1-1

- ()
L.J Bmf
m (tk-1,X)

m=O

'BX)
_ R j,l+l (tT
h

+2R j,l+l ('BX)]+I-l


-tT h ~ B f(m)(
)
L.J m
tk-l,X,
m=O
]+1-2

f/;(x) = T

Bmf(m)(o,X),

m=O

where

m-2

B m = -(A h)-1 ~
m,

+ (A h)-1 B m - 2, 2 :::; m

:::; j

+ l - 1,

B = T- 2(A'h)-I(R j,I+1 (irB,,) +2 Rj,l+l (-irB'h) - 1),


o
B 1 = T- 2(A )-I((Bh)-1 R j ,l+l(iTB'h) ~iRj,I+l(-iTB'h) - T1),

Bm

= Bm -

1,

1 :::; m :::; j

+l -

1,

- _ -2(BX)-IRj,l+l(iTB'h) - Rj,I+l(-iTB'h)
B O-T
h
~
,
Theorem 6.2.7. Let T and Ihl be sufficiently small numbers. Then the solutions of
the difference schemes (6,35) for j = land j = l - 1 satisfy the following stability
estimates:

+ II (Bh)-I1/Jh II L2 (oh) + II 'P h IIL 2(oh)],


h
max IIT- 1(u h
max
lS:kS:N
k - u k-l ) II L2(f2- h )<- M 1[OS:kS:N-l

II

fhk II L2( f2- h)

6.2. Difference Schemes Generated by an Exact Difference Scheme

331

+ II f~ II L2 (nh) + 2: 7- 117jJh - r II L2 (n h) + 2: 11(<p~r )xr,m r } II L2 (nh)]'


1

xr,m

r=l

Here M 1 does not depend on

7,

r=l

h, <ph(x), 7jJh(x) and fr(x), 0::; k::; N - 1.

The proof of Theorem 6.2.7 is based on the abstract Theorems 6.2.2 and the
symmetry properties of the difference operator AI; defined by formula (6.33).

and Ihl be sufficiently small numbers. Then the solutions of


the difference schemes (6.35) for j = l + 1 satisfy the following stability estimates:

Theorem 6.2.8. Let

+ II7jJh II L2 (nh) + 2: II<phxr,m


- r II L2 (n h)],
r=l

:::; MIl 1S:;kS:;N-1


max
II 7- 1 L
IIUt) xr,m
- r - Ut-I) xr,m
- r II L2(0.h)
r=l
+

r=l

r=l

L IIU~)xr~mrIIL2(nh) + 2: 11(7jJ~)xr,mr

Here M 1 does not depend on

7,

II L2 (n h) + L 11((<p:--)xr)xr,mr II L2 (n h)]'
r=l

h, <ph(x), 7jJh(x) and ft(x),O::; k::; N - 1.

The proof of Theorem 6.2.8 is based on the abstract Theorem 6.2.4 and the
symmetry properties of the difference operator AI; defined by formula (6.33).
Note that in a similar manner one can construct the difference schemes of a
high order of accuracy with respect to one variable for approximate solutions of
the boundary-value problem (6.5). Abstract Theorems 6.2.2 and 6.2.4 permit us
to obtain stability estimates for the solutions of these difference schemes.

332

6.3

Chapter 6. Partial Differential Equations of Hyperbolic Type

Two-Step Difference Schemes Generated


by Taylor's Decomposition

We consider again the initial-value problem (6.1). For the construction of the twostep difference schemes of an arbitrary high order of accuracy for the approximate
solutions of the initial-value problem (6.1) we consider again a uniform grid space

[0, T]r =

{tk

= kT, k = 0, 1, ... , N, N 7 = T}.

Let the function v(t)(O ~ t ~ T) have a (2l + 2j + 2)-th continuous derivative


and tk-1, tk, tkH E [0, T]r- Then by Theorem 3.2.2 we have the following Taylor
decomposition on three points:
V(tk+1) - 2V(tk)

+ v(tk-d -

La

s v(2S) (tk)7

2s

(6.36)

s=1
j

-L

7}s(v(2s)(tk_1)

+ V(2s) (tk+d)7 2s

= 0(7 21 +2)+2),

s=1

where 7}m, m = 1, ... ,j


7}s = (2~)!

is a solution of the system


s-1
-

m=1

for any 8,

(2s2'2m)!'

"(2s)!1),,,
1
LJ (2s-2m)! = ,lor

m=1

+ 1 ~ 8 ~ j,
(6.37)

any 8, J. + 1 <
_ 8<
_

+ J,.

and
1
s-1
1
a1 = 1 - 27}1, as = ((28)! - 7}s - f17}m (2(8 _ m))!)2 for any 8, 2 ~ 8 ~ l.

Suppose further that the function v(t) (0 ~ t ~ T) has a (2l + 2j + 1)th continuous derivative. Then by Theorem 2.2.1 we have the following Taylor
decomposition on three points:
2j

+L

V(7) - v(O)

21

8s v(S) (7)7 S -

s=1

where

(21+2j-s)!(21)!
Ps = (21+2j)!s!(21-s)!
{

8 =
s

Psv(s) (0)7 S = 0(7

21 2
+ )+1),

s=1

or any 8, 1 ~

(21+2J-s)!(2J)!(-1)8
(21+2J)!s!(2J-s)!

for an
y

8,

8 ~ 2l,

1~

8 ~

2j.

(6.38)

6.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

333

Now, we will consider the applications of the Taylor decomposition (6.36) of


function vet) on three points and Taylor's decomposition (6.38) of function vet)
on three points to approximate solutions of the initial-value problem (6.1). From
(6.36) and (6.38) it is clear that for the approximate solution of the problem (6.1)
it is necessary to find v(j)(r) for any s, 1 :S s :S 2l, V(2s)(tk) for any s, 1 :S s :S l
and v(2s)(tk_t}, V(2s) (tk+t} for any s, 1 :S s :S j. Using the equation

V"(t) = -Av(t)

+ Jet),

we obtain

= (-A)nv(t) + 2) _A)n->. j(2)'-2)(t),


n

v(2n)(t)

= 2, ... ,

(6.39)

>'=1

= (-A)nv'(t) + I) _A)n->. j(2)'-1)(t),


n

v(2n+1)(t)

= 1,....

(6.40)

>'=1

Suppose further that the function v(t)(O :S t :S T) has a (2l + 2j - 2m + 2)th continuous derivative. Then by Theorem 2.2.1 we have the following Taylor
decomposition on two points:

vCr) - v(O)

21-2[TI

aSv(S) (r)r S -

2j-2m+2[T]+1

s=l
where

bsv(s)(O)r S = o(r21+2j-2m+2),

s=l

(6.41)

_ (21+2j-2m+l-s)!(21-2[T])!(-1)S
_ !!!J
as - (21+2j+l-2m)!s!(2p- 2 ITI- s )! for any s, 1:S s :S 2l 2[ 2 '
(21+2j+l-2m-s)!(2j-2m+2[1"]+l)!

bs - (21+2j+l-2m)!s!(2j-2m+2[1"J+1-s)! lor any s,


1 :S s :S 2j - 2m + 2[~J

+ 1,

where [aJ denotes the integer part of the number a. Further using formulas (6.39),
(6.40) and (6.41), we can write

v'(r) - v'(O)

l-ITI

a2n( -Atv'(r)r2n

n=l

l-[T]

a2n_1(-Atv(r)r 2n - 1 +

n=l
j-m+ITl

2:=

n=l

l-[T)

n=l
I-tTl

L( _A)n->. j(2).-1) (r)r2n


>'=1

L( -At->' j(2).-2) (r)r2n-1


n

a2n-1

n=l
b2n (-A)n v'(0)r 2n -

a2n

>'=1

j-m+[T]

2:=

n=l

b2n

2:=( _A)n->. j(2)'-1)(0)r2n


>'=1

334

Chapter 6. Partial Differential Equations of Hyperbolic Type


j-m+ITI+l

2:

b2n_l(-A)nv(O)r2n-l

n=l
j-m+ITI+l

2:

2:( _At- Aj(2A-2)(O)r 2n - 1


n

b2n - 1

n=l

A=l

= o(r21+2j-2m+2), O:S m:S

j-l.

From the last formula it follows that

(I

l-[T)

j-m+[T)

n=l

n=l

2: a2n(-Atr 2n )v'(r) = (I + 2:

l-[TI

j-m+IT)+l

n=l

n=l

- 2: a2n-l( _A)n v(r)r 2n - 1 + 2:

b2n (-A)n r 2n)v'(O)

b2n - 1(_A)n v(O)r 2n - 1

I-IT]

l-[T]

n=l

A=l

n=l

A=l

- 2: a2n 2:( -At-A j(2A-l)(r)r2n - 2: a2n-l 2:( -At-A j(2A-2) (r)r2n-1


j-m+ITJ

b2n L(-A)n-Aj(2A-l)(O)r 2n

n=l
A=l
j-m+[T)+l

2:

n=l

2:( _A)n-A j(2A-2) (O)r


n

b2n - 1

2n - 1

A=l

+o(r21+2j-2m+2), O:S m:S j - l .


Suppose further that the operator (I
verse. Then

v'(r) = (I

I-IT]

- 2:
n=l

+ L~-jrl a2n( _A)n r 2n)

l-[TI

j-m+[T]

n=l

n=l

2: a2n(-A)nr 2n)-1{(I + 2:

a2n-l( _A)nv(r)r 2n - 1 +

j-m+[T]+l

2:

has a bounded in-

b2n (-Atr 2n )v'(O)

(6.42)

b2n - 1(-Atv(O)r 2n - 1

n=l

I-ITI

I-ITl

n=l

A=l

n=l

A=l

- 2: a2n 2:( _A)n-A j(2A-l)(r)r 2n - 2: a2n-l 2:( _A)n-A j(2A-2)(r)r 2n - 1

6.3. Two-Step Difference Schemes Generated by Taylor's Decomposition


j-m+[~1

b2n

n=l

L( _A)n->. f(2)'-1)(0)r 2n
>'=1
n

j-m+[~J+1

335

b2n - 1

n=l

L( _A)n->. f(2).-2) (0)r 2n - 1}


>'=1

:s m :s j

+o(r2l+2j-2m+2), 0

- 1.

Now, using formulas (6.36), (6.38), (6.39), (6.40) and (6.42), we obtain the difference schemes of a (2l + 2j)-th order of accuracy:
Uk+1 - 2Uk
r

+ Uk-1

'"

+ Uk+1 ) =

fj,l
k ,

L TIs L( -A)S->'U(2).-2)(tk+1) + f(2).-2) (tk_1))r 2s - 2


j

s=l

>'=1

s=l

>'=1

2 1<k < N
+'" Q s "'(-A)S->'f(2>'-2)(tk
)r 2s -,
_
_

n=l

l-[~I

a2n(-Atr 2n )-1{(I +

62m-1( _A)m r 2m-2

j-m+[~1

b2n (-A)n r 2n)v'(0)

n=l

l-[~l

a2n-1( _A)n r 2n-1 U1

j-m+[~I+l

n=l

b2n - 1(_A)n r 2n-1 v (0)}

n=l

L P2n( -Atr2n - 1 2) _A)n->. f(2)'-2)(0)


1

n=l

>'=1

=
1

= v 0,

m=l

n=l

- 1, U0

L 62n( -Atr2n - 1U1 + L

x(I

(6.43)

Uk

s=l

" TIs ( - A)S r 2s-2 (Uk-1


- '~
s=l
fk,l

(A)S 2s-2

~Qs -

L
n=l

P2n-1( _A)n-1 r 2n-2

L( -At->' f(2).-1)(0)
>'=1

336

Chapter 6. Partial Differential Equations of Hyperbolic Type


n

- L 82n (-AtT 2n - 1 L( _A)n->. j(2).-2)(T)


n=l
>'=1
j
n-1
- L 82n - 1(_A)n T2n-2 L(-At->' j(2)'-1)(T)
n=l
>'=1
l-[~I

- L 82m - 1(_A)m T2m-2(I + L a2n( _A)n T2n)-1


m=l
n=l
l-[~J

l-[~]

X{ - L a2n L( _A)n->'j(2)'-1)(T)T 2n - L a2n-1 L( -At->'j(2).-2) (T)T 2n - 1


n=l
>'=1
n=l
>'=1
n
b2n L(_A)n->. j(2)'-1)(O)T 2n
>'=1
j-m+[~]+l
n
+
L
b2n_1L(-A)n->'j(2>.-2)(O)T2n-1}
n=l
>'=1
j-m+[~)

L
n=l

for the approximate solution of the initial-value problem (6.1). Suppose that the
operator
(I

n=l

m=l

+ L82n(-AtT2n - L 82m _ 1(-A)m T2m-1(1


l-[~]

l-[~l

+ L a2n(-A)n T2n)-1 L a2n_1(-A)n T2n-1)


n=l
n=l
has a bounded inverse. Suppose further that the operator (I - L~=l1]S( _A)ST 2s )
has a bounded inverse and

-l(2I

+ L a s(_A)ST 2S )2(1 - L 1]s( _A)ST 2s )-2 2:: O.


s=l
s=l

This problem is uniquely solvable and the following formula holds (see
Chapter 1)

Uk

= (Rj,I(-iTA) - Rj,l(iTA))-lRj,l(iTA)Rj,I(-iTA)(R;,"i 1(iTA) (6.44)


-RJ,ll(-iTA))uo
+(Rj,I(-iTA) - Rj,l(iTA))-l(Rj,I(-iTA) - Rj,l(iTA))U1

6.3. Two-Step Difference Schemes Generated by Taylor's Decomposition


k

+ L(i~j,l( -irA) -

Rj,l(irA))j) Rj,l(irA)Rj,l(-irA)

j=l

L 7]s(-A)Sr2s )-1 ft;l,

x (R7,i m (-irA) - R7,i m (irA))(I -

2:S k:S N,

s=l

Here

1
Rj,l(irA) = 2(21 +

L
l

s=l

1
i 1- 4(21 +

L
l

s (-A)sr 2s )2(I -

s=l

n=l

m=l

l-[~l

l-[~]

a2n(-A)n r 2n)-1

n=l
X{LP2n(-At r2n - 1 +
n=l
l-[~I

a2n(-Atr 2n )-1

62m_1(-A)m r 2m-1

a2n_1(-Atr 2n - 1)-1

62m_1(-A)mr 2m-2

j-m+[~1+1

b2n_1(-Atr2n-1},

n=l

+ 2: 82n (-Atr2n n=l

2: 82m - 1(_A)mr 2m-1

m=l

l-[~I

l-[~]

n=l

n=l

2: a2n(-Atr 2n )-1 2: a2n_1(-Atr 2n - 1)-1

x(I +

X{LP2n_1(-A)n-1 r 2n-2
n=l
x(I +

m=l

= (I

L 7]s( _A)sr 2s )-2,

n=l

sr

s=l

n=l

x(I +

s=l

cr = (I + L(hn(-A)nr 2n - L
x(I +

L 7]s( _A)Sr2s )-1

2s
s (-A)Sr )(I -

l-[~]

+L

a2n(-Atr 2n )-1(I +

j-m+[~l

n=l
fg,l

62m_1(-A)m r 2m-2

m=l

b2n(-A)nr2nn,

n=l

2: P2n( _A)n r 2n-1 2:( _A)n->. f(2)-2) (0)


I

n=l

>'=1

337

Chapter 6. Partial Differential Equations of Hyperbolic Type

338
1

+ 2: P2n-l (-At-lr2n-22:( -At-A f(2A-l)(O)


n

n=l

A=l

2:(
n

-2: 02n( _A)n r 2n-l


_A)n-A f(2A-2)(r)
n=l
A=l
j
n-l
02n-l (_A)n r 2n-22:(-At-A f(2A-l)(r)
n=l
A=l

-2:

I-[~]

-2: 02m_l(-A)mr 2m-2(I + 2: a2n(-Atr2n )-1


m=l

I-[~]

X{-2:

n=l

I-I~]

a2n2:(-A)n- Af(2A-l)(r)r 2n -2: a2n_12:(-A)n- Af(2A-2)(r)r 2n - 1


n=l
A=l
n=l
A=l
n

j-m+[~]

2:

b2n 2:(_A)n-A f(2A-l)(O)r 2n


A=l

n=l

j-m+[~]+l

2:

n=l

b2n - 1 2:( _A)n-A f(2A-2)(O)r 2n - 1}.


A=l

From formula (6.44) it follows that the investigation of the stability of difference
schemes (6.43) relies in an essential manner on a number of properties of the powers
of the operator Rj,I(irA). We were not able to obtain estimates for powers of
the operator Rj,1 (irA) in the general cases of numbers j and l.
Theorem 6.3.1. Suppose that Uo E D(A), Ul - Uo E D(A~). Then for the solution of the two-step difference schemes (6.43) for l = 0 the following stability
inequalities hold:

maxllukllH :S M[ max IIA- 1/ 2/k,IIIH+ II A-~r-l(ul - uo) IIH + II Uo IIH],

O:Sk:SN'

l:::;k:SN-i

max1Ir-1(Uk -

l:Sk:SN

uk-dllH

'I

:S M[l:s~~Jfk' IIH+ II r-1(Ul - Uo) IIH + II A2Uo IIH],


max

l:::;k:SN-l

:5 M[ max

2:Sk:SN-l

2
Ilr- (Uk+l -

2Uk + uk-dllH

II r-1Uk,1 - fk~l) IIH + II

+ II A~r-l(Ul - Uo)
'I

IIH

H,l IIH

+ II Auo IIH],

where M does not depend on r, /k' ,1 :S k :5 N - 1 and Uo, Ul

6.3. Two-Step Difference Schemes Generated by Taylor's Decomposition

339

The proof of Theorem 6.3.1 follows the scheme of proof of Theorem 6.2.1 and
relies on formula (6.44) and on the estimates
(6.45)
(6.46)

11(1 -

L 1]s( _A)S72S )-1 IIH--+H :s M.

(6.47)

s=1

Remark 6.3.2. Theorem 6.3.1 actually holds in the general cases of numbers j and
l under the assumption
711AIIH--+H ----; 0 when

7 ----;

O.

Remark 6.3.3. Applying formulas (6.22), (6.24), (6.26), (6.36), (6.39) and (6.42),
we can construct the difference schemes of a (2l + 2j)-th order of accuracy
Uk+l - 2Uk
7

+ Uk-l

~as

(A)S 2s-2
7
Uk

(6.48)

s=1

( A)S 7 2s-2( Uk-l


- ~
~ 1]s -

+ Uk+l ) =

fj,1
k ,

s=1
fk,l =

s=1

A=1

L 1]s L( -AV- AU(2A-2l(tk+l) + f(2A-2)(tk_l))7 2s - 2

s=1

A=1

2 1<k <N
+ ~ a s ~(_A)S-Af(2A-2)(t k
)7 2s -,
_
_

-1(

)
Ul - Uo =

-1 (R 21,2j (i7B)

- 1,U
0

= v0,

+2R 21,2j(-i7B) - I) Vo

+7-1 B-1 R 21,2j(i7B) ~iR21,2j( -i7B) v'(O)

#1

for the approximate solution of the initial-value problem (6.1). In a similar manner
one can obtain the stability inequalities for the solution of the two-step difference
schemes (6.48).
Now, the abstract Theorem 6.3.1 is applied in the investigation of difference
schemes of higher order of accuracy with respect to one variable for approximate

Chapter 6. Partial Differential Equations of Hyperbolic Type

340

solutions of the mixed boundary-value problem (6.6). The first step of discretization of problem (6.6) is given above. Suppose that the operator
j

(1 + L82n(-Atr2n - L 82m _ 1(-A)m r 2m-l


n=1
m=1
I-[TI

I-[T)
2n
L a2n(-Atr )-1 L a2n_l(-Atr 2n - 1)
n=1
n=1

x(I +

has a bounded inverse. Suppose further that the operator (I - E~=1 1]s(-A h )Sr2S )
has a bounded inverse and

-leu +

L a s (-A h )Sr 2S )2(I - L 1]s( _A h )Sr 2s )-2 2


s=1
s=1

o.

Then in the second step we replace problem (6.34) by the difference schemes

(6.43)

r- 2(uZ+ 1(x) - 2uZ(x)


h
+AA
h (Uk+l (x)

Ah

h
+ Uk-l
(x))

+ ULI (x)) + AhuZ(x)

= fk (x), tk = kT, 1 ~ k ~ N - 1, x E Oh,

=-

=-

Las(-AhYr2s-2, ~
s=1
s

f~(x) = L1]s L(-Ah )S-A(j(2A-2)(tk+l,X)

s=1

+~
L..J a

cr

L1]s(-Ah )Sr 2S - 2,
s=1

+ f(2A-2)(tk_l,x))r 2s - 2

A=1

s=1

s
t

~(_AX)S-Af(2A-2)(t

L..J

k"

x)r 2s - 2 1 <
k<
N - 1,
-

A=l

= (1 + L82n(-Ahtr2n - L

82m_l(-Ah)mr2m-l
n=1
m=1
l-(TI
I-[TI
x(I + L a2n(-A htr 2n )-1 L a2n_l(-A htr 2n - 1)-1
n=1
n=1
I

x{L P2n( _A h )n r 2n-l

+ L 82m - 1 ( _A,;)m r 2m-2

m=1
I-[TI
j-m+[91+ 1
L
x(I+
a2n(-A h )n r 2n)-1
b2n_l(-Ah)nr2n-l},
n=l
n=1
n=l

(6.49)

6.3. Two-Step Difference Schemes Generated by Taylor's Decomposition


j

n=l

m=l

+ L 62n(-Ah)n r 2n - L 62m_1(-A h )m r 2m-1

ST = (I

I-[TJ

I-ITl

(I + L a2n( _A h)n r 2n)-1 L a2n-1 (_A h )n r 2n-1 )-1


n=l
n=l
I

l-[TJ

j-m+[T]

X{LP2n_1(-Aht-1r2n-2 + L 62m_1(-A h)m r 2m-2


n=l
m=l
X(I + L a2n(-A htr 2n )-1(I +
n=l
I

L
n=l

b2n (-A h)nr 2n)},

P2n( -A htr 2n - 1 L( -Ah)n->. j(2)'-2) (0, x)


n=l
>'=1

j~(X) = L
I

n=l

>'=1

+ L P2n-1 (_A h )n-1 r 2n-2 L(-Ah)n->. j(2)'-1)(0, x)


n

- L 62n( -Ahtr 2n - 1 L(-Aht->'j(2)'-2)(r,x)


n=l
>'=1
j
n-1
-Ah)n->. j(2)'-1)(r, x)
- L 62n-1( -A htr 2n - 2
n=l
>'=1

2)

- 2:
j

62m-1 (-A

m=l

h )m r 2m-2(I +

I-[TJ

n=l

>'=1

x{ -

I-IT]

2: a2n( _Ah)n r 2n)-1

n=l

2: a2n 2:( -Ah)n->. j(2)'-1)(r,x)r 2n

I-[T)

n=l

>'=1

2: a2n-1 2:( -Ah)n->. j(2)'-2)(r, x)r2n - 1

j-m+[TJ

+ L

n=l

j-m+[T]+l

2:

n=l

b2n L(-Ah)n->. j(2)'-1)(0,x)r 2n


>'=1
n

b2n_12:(-Ah)n->'j(2>.-2)(0,x)r2n-1}.
>'=1

341

Chapter 6. Partial Differential Equations of Hyperbolic Type

342
We have that

Theorem 6.3.4. Let 7 and

Ihl

be sufficiently small numbers. Then the solutions of


the difference schemes (6.49) for l = 0 satisfy the following stability estimates:

+ II (Bh)-I7jJh II _ + I <phil -],


L2(l),h)

max 117-

15,k5,N

(u h k

uh )
k-l

L 2 (l),h)

II L2(l),h)
_ <- M 1 [05,k5,N
max I
-1
n

+ II 7jJh II _ + l: II <ph
L 2(l),h)

max

15,k5,N-l

117-2(u~+1 -2u~+uLl)

Here M does not depend on

7,

r=1

xr,m r

fh
k

I L (l),h)
2

II -],
L2(l),h)

I L2(l),h)
- ~ M 1 [ 15,k5,N-l
max

117-1(f~- f~-I)

II L2(l),h)
-

h, <ph(x), 7jJh(x) and f~(x), 0 ~ k ~ N - 1.

The proof of Theorem 6.3.4 is based on the abstract Theorem 6.3.1 and the
symmetry properties of the difference operator AI; defined by formula (6.33).
Note that in a similar manner one can construct the difference schemes of a
high order of accuracy with respect to one variable for approximate solutions of
the boundary-value problem (6.5). Abstract Theorem 6.3.1 permits us to obtain
stability estimates for the solutions of these difference schemes.

Chapter 7
Uniform Difference Schemes
for Perturbation Problems
In the present chapter we consider two abstract Cauchy problems

c:v/(t)

+ Av(t) =

f(t)

(0::; t ::; T), v(O) = Vo,

= f(t) (0::; t ::; T), v(O) = Vo, v/(O) = vb

f2V"(t) + Av(t)

and the boundary-value problem


-f2 V"

(t) + Av(t)

= f(t)

(0::; t ::; T), v(O)

= vo, v(T) = VT

for differential equations in an arbitrary Banach space E with the positive operator
A and an arbitrary f parameter multiplying the derivative term. The high order of
accuracy single-step uniform difference schemes generated by an exact difference
scheme of the approximate solutions for differential equations of parabolic type
with an arbitrary parameter f on the highest derivative are presented. The high
order of accuracy two-step uniform difference schemes generated by an exact difference scheme of the approximate solutions for differential equations of the elliptic
and hyperbolic types with an arbitrary parameter f on the highest derivative are
presented. The well-posedness of these difference schemes for parabolic and elliptic equations in various Banach spaces is established. The stability estimates of
solutions of a high order of accuracy difference schemes for hyperbolic equations
with an arbitrary f parameter on the highest derivative are obtained.

7.1

A Cauchy Problem for Parabolic Equations

We consider the abstract Cauchy problem for the differential equation

fV/(t)

+ Av(t) = f(t) (0::; t ::; T), v(O) = Vo

(7.1)

in an arbitrary Banach space E with the (unbounded) operator A. Here v(t) and
f(t) are the unknown and the given functions, respectively, defined on [0, T] with

Chapter 7. Uniform Difference Schemes for Perturbation Problems

344

values in E. The derivative v'(t) is understood as the limit in the norm of E of


the corresponding ratio of differences. A is a given, closed, linear operator in E.
We will assume that the operator A has dense domain D(A) and that for A ~ 0
the operator A + AI has a bounded inverse whose norm satisfies the inequality

II (A + A1)-l

IIE-+E:::; M(A

+ 0)-1 ( for some 0 > 0),

(7.2)

where I is the identity operator. Obviously (7.2) is fulfilled when the operator -A
is the generator of a strongly continuous semigroup exp( -tA)(t ~ 0), for which
the estimate
(7.3)
is valid. Finally, Va is a given element of E and c E (0,00).
A function v(t) is called a solution of problem (7.1) if the following conditions
are satisfied:
i. v(t) is continuously differentiable on the segment [0, T]. The derivative at
the endpoints of the segment are understood as the appropriate unilateral
derivatives.
11.

lll.

The element v(t) belongs to D(A) for all t E [0, T] and the function Av(t) is
continuous on [0, T].

v(t) satisfies the equation and the initial condition (7.1).

In Chapter 4 the stable high order of accuracy difference schemes generated


by an exact difference scheme or by Taylor's decomposition on two points for the
numerical solutions of an abstract Cauchy problem (7.1) for c = 1 were presented.
These difference schemes can be applied in the general c E (0,00). However, it can
be shown in general that no classic finite difference approximations yield uniform
convergence with respect to c. This is a very disappointing result and it raises the
question whether there are any difference schemes which are uniform in c? The
main result of this chapter gives an answer to this question. Actually, we study the
high order of accuracy single-step uniform difference schemes of the approximate
solutions for differential equations of parabolic type with an arbitrary parameter
c on the highest derivative.
On the segment [0, T] we consider a uniform grid

[O,T]r = {tk = kT,k = 0, 1, ... ,N,N7 = T}


with step
scheme

7.

Let

= pc. By Theorem 2.1.1 we have the exact single-step difference

(7.4)
k

=7

-1

jt

exp( -(tk - s) c- 1 A) f(s)ds,l :::; k :::; N

7.1. A Cauchy Problem for Parabolic Equations

345

for the solution of the initial-value problem (7.1). Later we will consider the singlestep difference scheme

(7.5)
m-1

fk

=L

Jjf(j) (tk-d, 1 :S k :S N, Uo

= Vo

j=O

1:S j:S m -1, J

= (pA)-1(1- g(pA)), g(pA) = exp(-pA)

for approximate solutions of the initial-value problem (7.1).


This problem is uniquely solvable and the following formula holds:
k

Uk = g(kpA)uo + Lg((k - j)p A) fJp


j=l

(7.6)

Let us reduce the difference schemes (7.5) to an operator problem in the space
FT(E) of vectors vT = {vkH"=l' Recall that the space FT(E) can be equipped with
various norms and thus become a normed space (see Chapter 4). Thus, for instance,
the vector space FT(E) generates the normed space CT(E) = C([O, T]n E) with
the norm

I <pTllcT(E) = l~~N I <Pk liE'


the normed space C~(E) = C,6([O, T]n E) 0 < {3 < 1, with the norm

I <pTllc~(E)

I <pTllcT(E) + l:9~l~:SN I <Pk+r -

<Pk

liE

(r~),6'

the weighted normed space C~,'Y(E) = C,6,'Y([O, T]n E), 0 < , :S {3, 0 < {3 < 1,
with the norm

II <P Ilc~"(E) = II <P IlcT(E) + l:Sk~~:SN II <Pk+r -

<Pk

liE

((k+r)r)'Y
(rr),6 ,

and the normed space Lp,T(E) = Lp([O, T]n E), 1 :S p < 00, with the norm
N

I <pTIILp.T(E)

(2: I <Pkll~r)t.
k=l

First we will define the operator D n acting from the space E x FT(E) of vectors
w T = {Wk}t'=o into the space FT(E) of vectors vT = {Vk}t'=l by the rule

Chapter 7. Uniform Difference Schemes for Perturbation Problems

346

Second we will define an operator AT from the space E x FT(E) of vectors w T =


{wdf=o into the space FT(E) of vectors v T = {vk}f=l by the rule
v T = ATwT,Vk = p-1(1 - g(pA)) Wk-1, k = 1, ... , N.

Next, let us introduce the continuation operator TI( uo), which acts from Ex FT (E)
to FT (E) according to the rule
TI(UO)(U1,"" UN) = (uo, U1,"" UN).

Then the difference schemes (7.5) can obviously be rewritten as the equivalent
operator equation
DTTI(uO)U T + ATTI(uO)UT = r
Here

r is defined by the formula


r = (h, ,fN).

The last operator problem will be considered in the space FT(E). From its unique
solvability for any Uo E E and r E FT(E) it follows that its solution u T defines a
continuous additive and homogeneous operator uT(r, uo).
The initial-value difference problem (7.5) is said to be stable in FT(E) if we
have the stability inequality

I uT(r,uo)

IIFr(E)::;

where M is independent not only of

M[li r

r, Uo,

IIFr(E)

+ I uollEJ,

but also of c.

Theorem 1.1.1. For the solution of the difference problem (7.5) the following estimate is valid:

max II Uk
19::; N

liE::; M [ II Uo II E + 1 - expP( - J)
max 11!k II E]
p l::;k::; N
'

where M is independent not only of

r, Uo,

7,

(7.7)

but also ofe.

Proof. Using formula (7.6) and estimate (7.3), we obtain

"e(kj=l
k

II Uk liE::; M [ II Uo II E + L.J

j p
)p
max

l<j<N
- -

II

fj

liE]

for all k, k = 1, ... ,N. Using the last inequality and


k

L ej=l

L e00

6 (k-j)p ::;

6ip

= 1/(1 - e- 6p ),

(7.8)

i=O

we obtain
p

II Uk liE::; M [ II Uo II E + 1_ e- 6p

1r"f!~N
_J_

II

fj

liE]

for all k, k = 1, ... , N. This completes the proof of Theorem 7.1.1.

347

7.1. A Cauchy Problem for Parabolic Equations


Note that if c = 1, then

---'----::=
15
1 - e- 15p
1 - e- T

<
M.
-

Therefore, (7.7) is the generalized stability inequality of (7.5) in CT(E).


We say that the difference problem (7.5) has an m-th order of accuracy in
FT(E) on the solutions v(t) of the Cauchy problem (7.1) if the error vector

satisfies the estimate

where M is independent not only 7, but also of c.


Generalized stability inequality (7.7) permits us to obtain the convergence of
(7.5) in CT(E).
Theorem 7.1.2. Suppose that the function f(t) has m derivatives and

II f

(m)(t)

liE ~ M,O ~ t

~ T.

(7.9)

Then for the solution of the difference problem (7.5) the following convergence
estimate is valid:
(7.10)
I {v(t k ) - ud~ Ilc,.(E) ~ M7 m ,
where M does not depend on
Proof. The components Zk
relations

and c.

= V(tk ) - Uk

of error vector ZT

= {zk}f

satisfy the

where

Rk = p-1(V(tk) - g(pA)V(tk-d) - fk.


From this and the generalized stability inequality (7.7) it follows that
max

19::; N

II

II E <- M

Zk

P
1 - exp( -8p)

Therefore to this end it suffices to estimate


we have that

{Rdf"

max

19:5

IIRk

II E.

in CT(E). By (7.5) and (7.11),

tk

Rk =

7-

exp( -(tk - s)c- 1A)

tk-l

(7.12)

f (s) ds - !k .

Chapter 7. Uniform Difference Schemes for Perturbation Problems

348

Now, using Taylor's formula, we obtain

J
tk

+7-1

J
8

exp(-(tk - s)c-1A)

tk-l

(s - z)mf(m) (z) dzds

~!

- fk .

tk-l

A simple calculation shows that

Therefore, we can write

tk

Rk =

7-1

exp( -(tk -

S)c-l A)

tk-l

(s z)m-l
f(m) (z) dzds .
(m - 1)!

tk-l

Then, using estimates (7.3) and (7.9), we obtain

From this and estimate (7.11) follows estimate (7.10). Theorem 7.1.2 is proved.
Note that for the convergence estimate I {v(t k ) - Uk)}i" IlpT(E) :S M7 m it
suffices to obtain the generalized stability inequality in FT(E).
From formula (7.6) one derives the following result.
Theorem 7.1.3. For the solution of the difference problem (7.5) the following esti-

mate is valid:

I {udf IILp,T(E) :S M [ II

Uo

II

(7.13)

+ 1 _ e~( -8p) I Udf IILp,T(E)], 1 :S p < 00,


where M is independent not only of

r,

Uo, 7,

but also of .

Proof. Using formula (7.6) and estimate (7.3), we obtain


N

II Uk II E:S M [ II Uo II E + I>-O(8-1)Pp II
8=1

fk-8+1

liE]

349

7.1. A Cauchy Problem for Parabolic Equations

for all k, k = 1, ... , N. Here f: = fs if 1 ~ s ~ k and J: = 0 if otherwise. From


the Minkowski sum inequality (with respect to k) it follows that
N

k=l

s=l

k=l

(LII Uk II ~T)~ ~ MT II Uo II E+MLe- S(s-l)Pp(LII fk-s+lll ~T)~.


By the definition of the grid function fk-s+l'
N

L Ilfk-s+1 II~T ~ L II !k II ~T.


k=l
k=l
Using the last estimate and inequality (7.8), we obtain estimate (7.13). Theorem
7.1.3 is proved.

Remark 7.1.4. Theorems 7.1.1 and 7.1.3 permit us to obtain error estimates of
the high order of accuracy difference schemes over time and space variables for
parabolic equations and the first-order hyperbolic system of equations with a small
parameter multiplying the time-derivative term in the various Banach norms.
Now, assume that the operator -A is the generator of an analytic semigroup
exp( -tA)(t :2 0), for which the estimates
II Aexp(-tA) IIE--.E~ Me- St ,

til

Aexp(-tA) IIE--.E~ M

(7.14)

are valid. From this it follows that


Ilexp( -kpA) - exp {-(k

+ r)pA}IIE--.E

for all k, r, 1 :S k < k + r :S N,O :S


on k, r, T,Q and e.

~ M (k

:S 1 and all

rQ

+ r)Q exp(-kpo),

(7.15)

> 0, where M does not depend

Theorem 7.1.5. For the solution of the difference problem (7.5) the following esti-

mate is valid:

II {uk}f
+ 1 -exp-p
P( 0)

Ilc;"a(E) ~ M [ II Uo II E
II

{!k}f

where M is independent not only of

Ilc",a(E)J, O:S Q ~ 1,

r, uo,

T, Q

Proof. By estimate (7.7), we have that

To this end it suffices to establish the estimate

but also of e.

(7.16)

350

Chapter 7. Uniform Difference Schemes for Perturbation Problems

for all k, r,l S k < k + r S N and all

> O. By (7.6), we have that

where

Wk = g(kpA)uo,
k

Vk = Lg((k - j)pA)fJp
j=l

Applying estimate (7.15), we obtain

I Wk -

wk+rll E =

I g(kpA)uo -

g((k + r)pA)uo

rO:

S M(k+r)o: II

Uo

II

liE

(7.18)

for all k, r,l S k < k + r S N and all T > O. Now let us estimate the difference
Vk - vk+r for all k, r,l S k < k + r S N and all T > O. We shall consider two
separate cases: k S 2r and k > 2r. If k S 2r, then from the estimate

I Vk liE s M 1 -exp-p
P( 8) I
for all k, 1 S k S N and all

S 31+0: M (k

Uk};""

Ilca,a(E)
T

> 0 and the triangle inequality it follows that

:O:r)o: 1 _ ex';(-8p) I Uk};"" Ilc~,a(E)'

Hence, for k S 2r we have the estimate

Now let k > 2r. We have that

k-1

Vk = (I - g(pA))-1[1 - g(kpA)]p!k

+ Lg((k - j)pA)(fJ - !k)p, k 2: 2.


j=l

Identity (7.20) yields

Vk+r - Vk = (I - g(pA))-1[1 - g((k + r)pA)]pUk+r - !k)

+(1 - g(pA))-l[g(kpA) - g((k + r)pA)]]p/k

(7.20)

7.1. A Cauchy Problem for Parabolic Equations

k+r-l

L
j=k-r+l

g((k + r - j)pA)(fj - fk+r)P -

351
k-l

g((k - j)pA)(fj - fk)p


L
j=k-r+l

k-r
+ Lg((k + r - j)pA)(ik - fk+r)P
j=l

k-r

+ L[g((k + r

j)pA) - g((k - j)pA)](fJ - fk)p

j=l

= Pl

+ P2 + P3 + P4 + P5 + P6 .

Let us estimate Pl , P2 , P3 , P4 , P5 and P6 separately. We begin with Pl. Using


estimate (7.3), we obtain

k+r-l
~ L

IIP11I E

Ilg((k + r

j)pA)IIE-+Epllfk+r - fkllE

j=l

f;

k+r-l

~M

c5

e- (k+r-j)p p(k: r)o

rO

{fdf'

Ilc;,a(E)

~ M (k + r)o 1 _ exp( -6p) I {fdf' Ilc;,a(E)


In exactly the same manner one establishes the estimate

Next, let us estimate P2 . Using estimates (7.3) and (7.15), we obtain

11P211E ~ 11(1 -

g(pA))-lIIE-+EPllg(kpA) - g((k + r)pA)IIE-+EPllikIIE

~ M (k :or)O 1 _ e;( -6p)


~

II Udf' IICr(E)

rO
p
M (k + r)o 1 _ exp(-6p) II {ik}f'

Ilc;,a(E)

Now, let us estimate P3 . Using estimates (7.3) and (7.14), we obtain

11P311E ~
~M

k+r-l
L
Ilg((k + r - j)pA)IIE-+EPllfj - fk+rllE
j=k-r+l

k+r-l
(k
')0
'" e- c5 (k+r-j)p p + r - J II {f }N I <>,a
~
(k + r)o
k 1
c r (E)
j=k-r+l

352

Chapter 7. Uniform Difference Schemes for Perturbation Problems

~M ~
~

j=k-r+l

~ M2

e- 8(k+r-j)p p (2r - l)Q I {f }N


(k+r)Q
k 1

1 _ ex;( -8p) (k :Qr)Q I {fk}f

I a,a
C.,.

(E)

Ilc;"a(E)

rQ

~ MIl _ exp( -8p) (k + r)Q I {fdf Ilc;"a(E)'


In exactly the same manner one establishes the estimate

Finally, let us estimate P6 . Using estimate (7.15), we obtain

k-r

P6 IIE~

L pllg((k + r j=1

k-r

'"'

~ ~ (k + r _ j)Q e

j)pA) - g((k - j)pA)IIE-+Ellfj - fk+r liE

-8(k-j)p

J=1

M 1 (k

(k
')Q
+ r - J I { }N
p (k + r)Q
Ik 1

C;"a(E)

+ r)Q 1 _ exp( -8p) II {Ik}f II c ;"a(E)'

Combining the estimates for PI, P2 , P3 , P4 , P5 and P6 , we obtain (7.19) for


k > 2r. Estimate (7.17) follows from the triangle inequality and estimates (7.18)
and (7.19). Theorem 7.1.5 is proved.
The initial-value difference problem (7.5) is said to be well posed (coercively
stable) in F.,. (E) if we have the coercive stability inequality

I {p-1(Uk -

Uk-l)}f II F.,.(E)+

I {p-l(l -

g(pA))Uk-l}{" IIF.,.(E)

r IIF.,.(E) + II Auoll E],


where M is independent not only of r, un, but also of c.
~ M[lj

Since the initial-value differential problem (7.1) in C(E) is not well posed for
the general strongly positive operator A and space E, then the well-posedness of
the initial-value difference problem in C.,.(E) norm does not take place uniformly
with respect to 7 > 0 and c. This means that the coercive norm

tends to 00 as 7 -+ +0 . The investigation of the difference problem (7.5) permits


us to establish the order of growth of this norm to 00. First, let us prove a lemma
that will be needed in the sequel.

7.1. A Cauchy Problem for Parabolic Equations

353

Lemma 7.1.6. The following estimate holds:


N

L 11(1 - e-pA)e-U-1)pAIIE......E ::; M 1 In(l/r),

(7.21)

j=1

where M 1 does not depend on rand E.


Proof. Using estimate (7.15), we obtain

L 11(1 - e-pA)e-U-1)pAIIE...... E ::; M L -:- ::; M Jd


N

. 1

J=

. 1

J=

SS

= M InN::; M 1 In(1/r).

Lemma 7.1.6 is proved.


Theorem 7.1.7. The solutions of the difference problem (7.5) in GT(E) obey the

almost coercive inequality

where M 1 is independent not only of

r, Uo, but also of rand

E.

Proof. Using the formula

J
1

(I - e- pA )(pA)-1 =

e-psAds

o
and estimate (7.14), we obtain
(7.23)

Using formula (7.6) and estimates (7.14) and (7.23), we obtain

IIp-1(1 -

g(pA))Uk-1

liE::; M [ II

1
p-1(1_ g(pA))g((k - 1)pA)A- 1IE...... E

k-1

IIAuo II E + L II

p-1(1 - g(pA))g((k -

j=1

::; M [ IIAuD

II E + L II
j=1

1-

j)pA)IIE...... EllfjIIE]

p-1(I - e-pA)e -U-1)PAIIE.. . . EII

r IlcT(E) ]

354

Chapter 7. Uniform Difference Schemes for Perturbation Problems

for all k, k = 1, ... , N. Using the last inequality, we obtain

{p-1(1 - g(pA))Uk-df I c ,.cE)

::;

MIlIl Auoll E + In ~II r II c ,.cE)]

The estimate for II{p-1(uk - Uk-1)}f I c ,.cE) follows from the triangle inequality
and the last estimate. Theorem 7.1.7 is proved.
Now let us study the well-posedness of the difference problem (7.5) in various
Banach spaces.
Theorem 7.1.8. The solutions of the difference problem (7.5) in

C~,O(E)

obey the

coercivity inequality
II{p-1(uk - Uk-1)}f I c ;-'''CE)+
::; M 1[a(1

{p-1(1- g(pA))Uk-1}{" I c ;-'''CE)

~ a) I r

where M 1 is independent not only of

Ilc;-'''CE)

+I

(7.24)

Auoll E]'

r, uo, a, but also of

and E.

Proof. Using formula (7.6), we obtain


p-1(1 - g(pA))Uk-1 = p-1(1 - g(pA))g((k - 1)pA)uo+[1 - g((k - l)pA)]fk
k-1
3
+ Lg((k -1- j)pA)(fJ - ik) = L If,

j=l

m=l

where
Jl

p-1(1 - g(pA))g((k - l)pA)uo,

Jf = [1 - g((k - l)pA)]fk,
k-1
J2 = Lg((k -1- j)pA)(fJ - ik)

j=l
= {Jk}"=l for all m, m = 1,2,3 separately. We start with

Let us estimate J:,.


Using estimates (7.14) and (7.23) we show that, for all k, 1 ::; k ::; N,

Jr

IIJ~IIE :::;

11(1 -

e-pA)(pA)-111E->Elle-Ck-1)pAIIE->EIIAuoIIE :::; MIIAuoIIE.

From this it follows that


1

IIJ1 - Jl+rIIE ::;

(2r)0

IIJ1 11E + IIJl+rIIE ::; 2MII AuoilE ::; 2M (1 + r)o IIAuollE,

for all r, 1 < r + 1 :::; N.


Further, applying (7.15) and (7.23) we show that, for all 2 :::; k < k + r :::; N,
IlJl- Jl+rllE :::;

11(1 -

e-pA)(pA)-l11E-+E

xlle- Ck - 1)pA _ e-(k+ r -1)p AIIE->EII AuoIIE


rO
rO
:::; M (k + r _ 1)0 II Avo liE :::; M 1(k + r)o II AvoilE.

7.1. A Cauchy Problem for Parabolic Equations

355

Thus, we have proved that


(7.25)
Now let us estimate

J2-

Using estimate (7.14), we obtain that

for all k, 1 ::; k ::; N. Therefore,


max

15.k5.N

II it liE::; M111 r Ilco.O(E)


T

From this it follows that

IIJr- Jr+rlIE ::; IIJrllE + IIJr+rIIE ::; 2M1 1


Q
::; 21+ M 1 (1 :Qr)Q II
for all r, 1 < r

+ 1 ::; N.

Ilc;-'O(E)

r Ilc;-,O(E)

Since

it follows that

J~+r - J~

liE::; [1 + Ile-(k+r-l)pAIIE->Elllfk+r - ikilE

+lle-(k-l)pA - e-(k+r-l)p AIIE->EIIfkIIE

for all k, 2 ::; k < k

+r

::; N. Using estimates (7.14) and (7.15), we obtain

for all k, 2 ::; k < k

+r

::; N. From this it follows that

(7.26)
Now let us estimate J;. By the definition Jr = O. Therefore, let us consider the
cases 2 ::; k ::; N. Using estimate (7.15), we obtain

II

k-l

J~

liE::; L 11(1 -

e-pA)e-(k-i-l)pAIIE->EIIJi -

ik liE

i=l

: ; ME (k-i~l_"k<>11 r Ilc;"O(E)::; ~[~


k-l

k-l

(tk

-:iP-JII

r IIc:;"O(E)'

Chapter 7. Uniform Difference Schemes for Perturbation Problems

356

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral
tk

J
o

ds

t'k

(tk - s)l-o - -;-.

Thus, for all k, 2 :S k :S N we have established the bound

Therefore,

(7.27)
J2 IIE:S Ma 111 r Ilco,o(E)'
Now let us estimate the difference J2+r - J2 for all k, 2 :S k < k + r :S N. We will
max II
l-;S.k-;S.N

consider separately the cases k :S 2r and k > 2r. If k :S 2r, then (7.27) yields

II J2+r -

J2 IIE:s11 J2+r

liE + II

J2 IIE:S 2~111 r

Ilc;-,o(E)

M 21+ 0
1
Ilrllc::"o(E{O(k+r)-o.
a
Now let k> 2r. Let us represent the difference J2+r as the following sums:

:S

J2

k+r-1

J2+r -

J2 = L

j=k-r+1

(I - g(pAg((k

+r -

1 - j)pA)(Jj - fk+r)

k-1

(I - g(pAg((k - 1 - j)pA)(Jj - fk)


j=k-r+1
k-r
+
g(pAg((k + r - 1 - j)pA)(Jk - h+r)
j=l

2:(1 -

k-r

+ 2:(1 - g(pA[g((k + r - j)pA) - g((k - j)p A)](fJ - h) =


j=l

2: PI:.
m=l

Let us estimate P~, P'f,


(7.14), we obtain

p1 and P: separately. We begin with Pl. Using estimate

k+r-1

IJP11IE:S

2:

j=k-r

11(1 - g(pAg((k + r - 1 - j)pA)IIE--+ElliJ - fk+rllE

k+r-2 (k +
')0-1
'"'"
r-2
N
::; M[(k + r)o + . L
(k + r)o
]11 {fkh Ilc~,a(E)
J=k-r
r

357

7.1. A Cauchy Problem for Parabolic Equations


rQ

:S M (k + r)Q II {fk}f IIc~,a(E)


1
k+r-2
1
+M (k + r)Q [.
(k + r _ i)l-Q
J=k-r

]11 {ik}f Ilc~,a(E)'

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since

it follows that

~2rQ(k + r)-QII r Ilc~Q(E)

pIIIE:S

In exactly the same manner one establishes the estimate

Next, let us estimate

k-r

Pl. Since

L(I - g(pA))gk + r -

1 - j)pA) = g2r - l)pA) - gk

+ r - 2)pA),

j=l

we have that

p2 = [g2r - l)pA) - gk + r - 2)pA)](fk - fk+r).


Using estimate (7.14), we obtain

IIP21IE:S

Ilg2r - l)pA) - gk + r - 2)pA)IIE--+Ellfk - fk+rllE


rQ

:S M (k + r)Q I
Now, let us estimate

k-r

P:

{ik}f IIc~,a(E)'

P:' Using estimate (7.15), we obtain

IIE:S L 11(1 - g(pA))[gk+r-1- j)pA) j=l

gk-1- j)pA)lIIE--+E IIIi - fk

liE

358

Chapter 7. Uniform Difference Schemes for Perturbation Problems

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since

it follows that

II

P: IIE~ 1 ~a ~: II r

Ilc;"<>(E)'

Thus, we have established the bound

Thus, we have shown that for all k, 2 ~ k < k + r ~ N the following inequality
holds:
Q
4
4
M1
r
T
II Jk +r - Jk IIE~ 1 _ a (k + r)Q II f Ilc;""(E)'
(7.28)
Estimates (7.27) and (7.28) give

II JJ Ilc;""(E)

~ a(~ a) II r Ilc;""(E) .

(7.29)

Finally, applying estimates (7.25), (7.26) and (7.29), we obtain the estimate

By the triangle inequality, this last estimate and difference equation (7.5) yield

Theorem 7.1.8 is proved.

359

7.1. A Cauchy Problem for Parabolic Equations

Theorem 7.1.9. The solutions of the difference problem (7.5) in Cr(Ee.) obey the

coercivity inequality

II{p-l(uk - Uk-l)}f

IlcT(Ea)+ II {p-l(l -

IlcT(Ea)

g(pA))Uk-df

r IICT(Ea) + I AuaIIEJ,
is independent not only of r, Ua, a, but also of and

(7.30)

::; M 1 [a(1 ~ a) I

where M 1

Proof. Using formula (7.6), we can write

p-l(1- g(pA)) Uk-l

p-l(l - g(pA)) g((k - l)p A)ua

k-l
+ 2:(1 - g(pA))g((k - j)pA)fj =

Jf + J~,

j=1

where

Jf =

p-l(l - g(pA)) g((k - l)pA)ua,

k-l

J~ = 2:(1- g(pA))g((k - 1- j)pA)fJ.


j=1

To complete the proof of Theorem 7.1.9 it suffices to establish that

II Jf IlEa::; M II
II

J~

IlEa::; M

Aua

IlEa'

a- 1 (1 - a)-III

(7.31)

IlcT(Ea)

(7.32)

for all k, k = 1, ... , N. Using the formula

J
1

Jf =

g((k - 1 + s)pA) ds Aua,

and estimate (7.24), we obtain

J
1

II Jf IlEa::; M

e- 6(k-l+s)Pds

II

Aua

lie. ::; M II

Aua

Estimate (7.31) is established. We have that

J~ =

k-1

2:
j=l

J
1

Ag((k - 1 - j + s)pA)ds

!J

p.

IlEa'

Chapter 7. Uniform Difference Schemes for Perturbation Problems

360

To estimate J~ in the norm Eo: we use the Cauchy-Riesz representation formula


for the operator (.\ + A)-1
We obtain

Jr

J~ =

A(.\ + A)-1

L j

k-1

A(.\ + A)-1

J=1

~
27fZ

Ag((k - 1 - j + s)pA)ds

k-l

+ s)p z) A (z - A)-1 !J dz.

z(.\ + z)-I" pg((k - 1 - j


L.J

SlUS2

!J

j=1

Since z = re'P, with

II

l<pl < ~, we have the estimate

A (z - A)-1

!J

liE::; M

II

A(r + A)-1 fj liE,

(7.33)

on the sides 8 1 and 8 2 . Then, using the inequality

I (.\ + z)-1 I ::; M(.\ + r)-1,


and estimates (7.24), (7.32), we obtain
00

II

A( A\+A)-1

< ~II
- cos<p

J211
< Mj
k E o

r I CT(E

J
00

n )

k-1

rp
"je-(k-j+S)prCOS'Pdsdr
(.\ + r)ro: L.J
J=1

II fJ'IIE n

k-l

1
"(1- e- rp COS'P)e-(k-j)p rcos'Pdr
(.\ + r)ro: L
J=1

for all .\ > O. Therefore,

c:<pll r

00

IICT(En

(1 ::)so: ::; M 1 a- (1- a)-III

IICT(En

for all >. > O. Estimate (7.32) is established. Theorem 7.1.9 is proved.
Note that estimate (7.24), established for the difference problem (7.5), allows
us to prove Theorem 7.1.8. Indeed, by the definition of the norm in C::,O:(E),

7.1. A Cauchy Problem for Parabolic Equations

361

Then, Theorem 7.1.8 implies that

II{p-l(uk - Uk-l)}~ IlcT(E)+ II {p-l(l - g(pA))Uk-d~ IlcT(E)

M[a~a II r II cT (E) + II AuolI E]

:S

for all sufficiently small a > O. Choosing a in the best way, we obtain estimate
(7.22). Furthermore, if A is the bounded positive operator in E, then from estimate
(7.30) it follows that

II{p-l(uk - Uk-l)}~ IlcT(E)+ II {p-l(1- g(pA))uk-d~ IlcT(E)

:S M[(l + lIn IIAIIE-->EDII

II cT (E) + II

(7.34)

Auollel

Indeed, by the definition of the norm in Cr(Ea ),

Then, Theorem 7.1.9 implies that

II{p-l(uk - uk-d}~ IlcT(E)+ II {p-l(l - g(pA))Uk-d~ II cT (E)

:S

M[IIAI~-->E II r

IlcT(E) + II AuolIE]

for all sufficiently small a > O. Choosing a in the best way, we obtain estimate (7.34).
By Theorem 7.1.7, estimate (7.34) yields the following result.
Theorem 7.1.10. The solutions of the difference problem (7.5) in Cr(E) obey the

almost coercive inequality

where M1 is independent not only of

r, uo, but also of

and c.

Let us give, without proof, the following results.


Theorem 7.1.11. The solutions of the difference problem (7.5) in C~"(E) (0 :S
'Y :S (3,0 < (3 < 1) satisfy the following coercivity inequalities:

II {p-l(Uk -

Uk-l)}~ Il cT (Ei3_-,) :S (3(~ (3) II r II cf'Y(E)

+M111 (I - e-pA)p-1uo - II II Ei3--, ,


II {p-l(Uk - uk-d}~ Ilcf"(E) + II {p-l(l - g(pA))Uk-d~ II c f"(E)

:S

(3(~ (3) II r

1I16",

Ilcf"(E) + M11(I - e-pA)p-1uo -

where M 1 is independent not only of

r, uo, (3, 'Y but also of

and c.

Chapter 7. Uniform Difference Schemes for Perturbation Problems

362

Here, the Banach space

Eg"

consists of those vEE for which the norm

is finite.
Note that the parameter 1 can be chosen freely in [0, (3), which increases the
number of spaces C~" (E) (0 ~ 1 ~ {3, < {3 < 1) of grid functions in which
difference problem (7.5) is well posed.

Theorem 7.1.12. The solutions of the difference problem (7.5) in C~"(EQ-{3)


(0 ~ 1 ~ {3 ~ a, < a < 1) satisfy the following coercivity inequalities:

II {p-l(Uk - uk-d}f Ilc~'-Y(Ea-IJ)+ II {p-l(Uk - Uk-l)}f IICr(E~:?IJ)


+ II {p-l(l - g(pA))Uk-df Ilc~'-Y(Ea-lJ)

~ a(~ a) II r Ilc~'-Y(Ea-lJ) + M11(I -

e-pA)p-1uo -

hl~~{3'

II {p-l(Uk - uk-d}f IIc~'-Y(Ea-IJ)+ II {p-l(Uk - Uk-l)}f IICr(Ea_-y)


+ II {p-l(1- g(pA))Uk-df IIc~'-Y(Ea-lJ)
M

~ a(l ~ a) II

Ilc~'-Y(Ea-lJ) + M111(I - e-pA)p-1uo - hIIEa_-y'

where M 1 is independent not only of

r, uo, a, {3, 'Y but also of

and c.

Here, the Banach space E~:!{3 consists of those vEE for which the norm

Iwl~'2'{3 = l~~N Ile-~AwIIEa_1J


(~)A!n.A
+ sup f; {3 (t + tr)'ll(e-'
- e-' )wIIEa_1J
l~n<n+r~N

is finite.
Note that the spaces C~"(EQ-{3) of grid functions, in which coercive solvability has been established, depend on the parameters a, (3 and 1. However, the
constants in the coercive inequalities depend only on a. Hence, we can choose the
parameters {3 and 1 freely, which increases the number of spaces of grid functions
in which difference problem (7.5) is well posed.
Now let us consider the initial-value difference problem (7.5) in the spaces
Lp,.,.(E) = Lp([O, T].,., E), 1 ~ p < 00 of all grid functions. We have not been able
to obtain the coercivity inequality

II {p-l(Uk-uk-I)}i"
~

IILp,r(E)

M[II r

+ II {p-l(l_ g(pA))Uk-di"

IILp,r(E)

II Lp ,r(E)

+ II AuolI E ]'

in an arbitrary Banach space E and for the general strong operator A. Nevertheless, we can establish the almost coercivity inequality.

7.1. A Cauchy Problem for Parabolic Equations

363

Theorem 7.1.13. The solutions of the difference problem (7.5) in Lp,r(E) obey the

almost coercive inequality


II {p-i(U k -Uk-i)}f IILp,T(E)

+ II {p-i(l -

g(pA))Uk-df IILp,T(E)

:S Mi[ll Auoil E + min {ln~, 1 + Iln II A IIE-+EI} II


where M i does not depend on

r, uo, p, T and c,

r IILp,T(E)],

Note that if A is the unbounded positive operator in E, then


min

{ln~, 1 + Iln II A IIE-+EI} = ln~.

Finally, let us give, without proof, the following results about well-posedness
of the initial-value difference problem (7,5) in the spaces Lp,r(E) = Lp([O, T]r, E),
1 :S p

< 00,

Theorem 7.1.14. Suppose that the difference problem (7.5) well posed in Lpo,r(E)
for some Po, 1 < Po < 00. Then it is well posed in Lp,r(E) for all p, 1 < P < 00

and the following coercivity inequality holds:


II {p-i(Uk-Uk-d}f IILp,T(E)

+ II

{p-i(l_ g(pA))Uk-df IILp,T(E)


2

+lIurIlCc(El_l/P,p) :S M(po)[11 TUoIIE1_I/p p + pP 1 II


,
where M (Po) does not depend on

r, uo, p and

II

Lp,T(E)

],

T and c.

00 and 0 < a < 1. Then problem (7.5) is well posed


in Lp,r(Ea,p) and the following coercivity inequality holds:

Theorem 7.1.15. Let 1 :::: p ::::

+ II

II {p-i(Uk-Uk-i)}f IILp,T(E",p)
:::: M[II AuollE",p

{p-i(l_ g(pA))Uk-di" IILp,T(E",p)


1

+ a(l _

a) II

II

Lp,T(E",p)

],

where M does not depend on fT, Uo, p, a, T, c.


and 0 < a < 1. Then the difference problem
(7,5) is well posed in Lp,T(Ea,q) and the following coercivity inequality holds:

Theorem 7.1.16. Let 1

< p, q <

00

+ II

II {p-i(Uk-Uk-d}f IILp,T(E",q)

{p-i(l_ g(pA))Uk-df IILp,T(Ea,q)


2

:S M(q) [II AuoII Ea q + ~ II


,

p-

II

Lp,T(Ea,q)

where M(q) does not depend on fT, un, p, a ,Tand c.

],

364

Chapter 7. Uniform Difference Schemes for Perturbation Problems

Remark 7.1.17. Theorems 7.1.5-7.1.16 permit us to obtain the error estimates of


the high order of accuracy difference schemes over time and space variables for
parabolic equations with a small parameter multiplying the time-derivative term
in the various Banach norms.
Remark 7.1.18. For practical computations, we have been approximating the elliptic operator A by some difference operator A h such that exp( -pA h ) is computable.
Thus, we shall construct difference schemes with fitting operator exp( -pA h ).
Therefore for numerical solution of (7.1) it is necessary to compute by (7.5)
exp( -pA h ) with a high order of accuracy. Accordingly, the methods we have proposed are not easy to implement exactly as for a system of ordinary differential
equations. Indeed, method (7.5) is useful, because the part of compute fitting operator exp( -pA h ) with a high order of accuracy we can make independent of (7.5).
For example, we can approximate exp( -pA h ) by the formula
Rj,I(PAh), if E :S a,
{ Rfl(wA h ), if E > a,

where L =

7.2

[H Lw = p, j + l = m (for Rj,l(pA h ), see Chapter 4).

A Boundary-Value Problem for Elliptic Equations

We consider the boundary-value problem for differential equation


2
-E V" (t)

+ Av(t) = f(t)

(0:S t :S T), v(o) = vo, v(T) = VT

(7.35)

in an arbitrary Banach space E with the positive operator A and E E (0,00).


A function v(t) is called a solution of the problem (7.35) if the following
conditions are satisfied:
1.

v(t) is a twice continuously differentiable on the interval [0, T]. The derivatives at the endpoints of the segment are understood as the appropriate
unilateral derivatives.

ii. The element v(t) belongs to D(A) for all t E [0, T] and the function Av(t) is
continuous on the segment [0, T].
iii. v(t) satisfies the equation and boundary conditions (7.35).

In Chapter 5, stable high order of accuracy difference schemes generated by


an exact difference scheme or by Taylor's decomposition on three points for the
numerical solutions of an abstract boundary-value problem (7.35) for E = 1 were
presented. Unfortunately, these difference schemes cannot be applied for the approximate solutions of (7.35) in the general cases E E (0,00). In this section we
study the high order of accuracy two-step uniform difference schemes of the approximate solutions for differential equations of the elliptic type with an arbitrary
parameter E on the highest derivative.

365

7.2. A Boundary-Value Problem for Elliptic Equations

On the segment [0, T] we consider again a uniform grid

[0, T]r = {tk = kT, k = 0, 1, ... ,N, N r = T}


with step r. Let r = pc and B 2 = A. By Theorem 3.1.2 we have the exact two-step
difference scheme
(7.36)

+p-2[(I - exp( -pB))(V(tk+l) + v(tk-d)

+ (exp( -2pB) - I)V(tk)]


-

1-

1,

1
- + !z,k+l)
- (2Bp)- exp( -pB)(h,k+l + !z,k),

fk = (2Bp)- (h,k

- 11
- 11

tk

h,k = -

tk-l
tk

!z,k = r

tk-l

1
exp( --(tk
- z)B))f(z)dz,
c
1 - tk-dB)f(z)dz,
exp( --(z
c

1 ::; k ::; N - 1, v(o) = va, v(T) = VT


for the solution of the boundary-value problem (7.35). Now, we consider the following two-step difference scheme:

_p-2(Uk+l - 2Uk-l

+ uk-d + p-2(1- g(pB)) (Uk+l + Uk-I)

(7.37)

+p-2(g(2pB) - l)uk = fk,


fk = h,k
m-l

h,k = L

+ !z,k+l - g(pB)(h,k+l + !z,k),


m-l

f (j)(tk-d, !z, k = L

j=O

Jz, j f (j)(tk-l),

j=O

= (-l)j(Bjc)-j ho

+ L( -1) j-i(Bj)-(j-i+ 1 ) r i- 1 ji!,


i=1
j

Jz, j

= (Bjc)-j Jz,o

- L(Bjc)-(j-i+ 1 )g(pB) r i- 1 ji!,


i=1

J1 ,0 = J2,0 = (pB)-I(l - g(pB)), 1 ::; j ::; m

- 1, tk = kr, 1 ::; k ::; N - 1,

g(pB) = exp( -pB), Uo = VA, UN = VI


for the approximate solutions of the boundary-value problem (7.35).
This problem is uniquely solvable and the following formula holds:

Uk = (I - g(2NpB))-I{(g(kpB) - g((2N - k)pB))uo

(7.38)

Chapter 7. Uniform Difference Schemes for Perturbation Problems

366

+(g((N - k)pB) - g((N + k)pB)UN - (g((N - k)pB) - g((N + k)pB)


N-l

Xp2

L (g((N - i)pB) - g((N + i)pB)(I - g(2pB))-1 Ii}


i=l

N-l

+p2

L [g(lk - i)pB) - g((k + i)pB)](I - g(2pB))-1 ii, 1 ::; k ::; N -

1.

i=l

Let us reduce the difference schemes (7.37) to an operator problem in the space
FT(E) of vectors v T = {vdf,;/. Recall that the space FT(E) can be equipped with
various norms and thus become a normed space (see Chapter 5). Thus, for instance,
the vector space FT(E) generates the normed space CT(E) = C([O, T]T' E) with
the norm

II c.pTllcT(E)

l:s~a;-lll c.pk liE'

the normed space C~(E) = CI3([O, T]T, E) 0<(3 < 1, with the norm

II c.pTllc~(E)

I c.pTllcT(E) + l:Sk<!f+~:SN-l I c.pk+r -

c.pk liE

(r~)I3'

the weighted normed space C~,'Y(E) = CI3,'Y([O,T]TlE),O < 'Y ::; (3,
with the norm

max

+ l:Sk<k+r:SN-l

II c.pTllc~'l(E) = II c.pTIICT(E)
I
I ((k + r)T)'Y((N 'Pk+r - 'Pk E

(rT)f3

and the normed space Lp,T(E) = Lp([O, T]n E), 1 ::; p <

00,

k)T)'Y

< (3 < 1,

'

with the norm

N-l

I c.pTIILp.T(E) = (2: I 'PklliT)*.


k=l

D;

First we shall define an operator


acting from the space E x FT(E) x E of
T
vectors w = {wd~=o into the space FT(E) of vectors v T = {vdf=-/ according to
the rule

vT

D2TW,
T
Vk

= 21 (Wk+l

- 2Wk

+ Wk-l ) , k =

1, ... , N -1.

Second we shall define an operator AT acting from the space E x FT(E) x E of


vectors wT = {wd~=o into the space FT(E) of vectors v T = {vdf~l according to
the rule
vT = ATwT,vk = ~[(I - g(pB))(Wk-l +wk+d
p

+(g(2pB) - I)wk], k = 1, ... , N - 1.

7.2. A Boundary-Value Problem for Elliptic Equations

367

Next, let us introduce the continuation operator l1(uo, UN), which acts from E x
FT(E) x E to FT(E) according to the rule

Then, dearly, the difference problem (7.37) is equivalent to the operator problem

Here

r is defined by the formula


r

= (fI,, fN-l).

The last operator problem will be considered in the space FT(E). From its unique
E FT(E) it follows that its solution u T
solvability for any Uo, UN E E and
defines a continuous additive and homogeneous operator UT (r , Uo, UN).
We will study stability and coercive stability of the boundary-value problem
(7.37) in the difference analogues of Banach spaces. Since

!k

= !I,k

+ h,k+l

- g(pB)(!I,k+l

+ h,k), 1 ~

(7.39)

k ~ N - 1,

we have that if
E FT(E), then f1 = (!I,I, ... ,!I,N-l,!I,N) E FT(E) x E and
= (h,I, ... ,h,N-l,h,N) E FT(E) x E. Note that FT(E) is the vector space
whose elements are ordered (N -l)-tuples of elements of E. The space FT(E) can
be equipped with various norms and thus become a normed space (see Chapter 5).
Nevertheless, FT(E) x E is the vector space whose elements are ordered N-tuples
of elements of E. In a similar way one obtains that the space FT(E) x E can be
equipped with various norms and thus become a normed space. We will use the
same notation for both cases. For instance, the vector space FT(E) generates the
normed space CT(E) = C([O, T]T' E) with the norm

12

and the vector space FT(E) x E generates the normed space CT(E) = C([O, T]n E)
with the norm

II <pTllcT(E) = 1~~N"

<Pk

liE'

Theorem 7.2.1. For the solution of the difference problem (7.37) the following
estimate is valid:
max
19:5: N-l

II

Uk

+p2 [

II

~ 1

M
(c5 ){
- exp - p

max II B fI k
19:5: N
'

II +

II

Uo

II E + II UN II

max II B h k
l:5:k:5: N
'

where M is independent not only of fI, f2, UO, UN,

T,

II ]},

but also of c.

(7.40)

368

Chapter 7. Uniform Difference Schemes for Perturbation Problems

Proof. Using formula (7.38), we can write


(7.41 )
where

Wk

(I - g(2NpB))-l{(g(kpB) - g((2N - k)pB))uo

+(g((N - k)pB) - g((N + k)pB)UN},


gk = -(I - g(2NpB))-l(g((N - k)pB) - g((N + k)pB)
N-1
Xp2

L (g((N - i)pB) - g((N + i)pB)(I - g(2pB))-1 Ii


i=l

N-1
+p2

L [g(lk - i)pB) - g((k + i)pB)](I - g(2pB))-1 Iii=l

Let us estimate Wk and gk separately. We begin with Wk. Using the estimate

BQexp(-tB)

IIE-+E~ Mt-

exp(-c5t), c5 > 0,

2: O,t > 0,

(7.42)

we obtain

II Wk II

E~

+11(1 -

II

(I - g(2NpB))-l(g(kpB) - g((2N - k)pB))

II E-+EII Uo II

g(2NpB))-l(g((N - k)pB) - g((N + k)pB))IIE-+EII UN


1
~ M 1 _ e- 2NpO [II Uo

for all k, 1 ~ k

II

II E + II UN II d

N - 1. Since

<

liE ~ M 1 -

1 - e- 2N pO - 1 - e- Po '

we have that
max IIWk
19::::
N-1

e- P0 [II Uo

II E + II UN II d

To complete the proof of Theorem 7.2.1 it suffices to establish that

II

gk

II

E~ M

for all k, 1 ~ k
we can write

p2
0 [

1 - e- P

max

19:::: N

II

BII k
'

II +

max

19:::: N

II

Bh k
'

II]

(7.43)

N - 1. Using formula (7.38), identity (7.39) and Abel's formula,

gk = (I - g(2NpB))-l(g((N - k)pB) - g((N + k)pB)

(7.44)

369

7.2. A Boundary-Value Problem for Elliptic Equations


N

Xp2 2:)g((N - i)pB)h,i - g((N + i - l)pB)h,iJ

+ p2 Lg((k + i

i=l

-l)pB)]h,i

i=l

-p2[Lg((k - i)pB)h,i + L g((i - k -l)pB)h,iJ =


i=l
i=k+1

gl + g~,

where
N

gl = (1 -

g(2NpB))-l(g((N - k)pB) - g((N + k)pB)p2 L[g((N - i)pB)h,i


i=l

_p2 Lg((k - i)pB)h,i,


i=l

g~ = -(1 - g(2N pB))-l(g((N - k)pB) - g((N + k)pB)p2 Lg((N + i -l)pB)h,i


i=l

+p2 L g((k + i - l)pB)Jh,i - p2 L g((i - k - l)pB)h,i'


i=l
i=k+1

gl and g~ separately. We begin with gl. Using estimate (7.42) and


11(1 - g(2NpB))-l(1 - g(2kpB))B- 11IE-<E :s M(8)
for all k, 1 :s k :s N, we obtain that

Let us estimate

Ilgl
N
X

II E:S 11(1 II

g(2NpB))-1(g((N - k)pB) - g((N + k)pB))B- 11IE-<Ep2

g((N - i)pB)

II

E-<EIIB fl,i

II E + p2 L

i=l

IIg((k - i)pB)IIE-<EIIh,i

II

i=l
N

:s M"'\:'
e- 6(N-j) p p2
~
j=l

max

II BII . liE

l<"<N,J
_J_

for all k, k = 1, ... , N - 1. Using the last inequality and (7.8), we obtain

for all k, k

= 1, ... ,N Ilgk2

1. In a similar way one establishes that

II E:S M 1 -

2
6
max
e- P P l~j~N

II

Bf2j liE

'

for all k, k = 1, ... , N - 1. From these estimates follows estimate (7.43). This
completes the proof of Theorem 7.2.1.

Chapter 7. Uniform Difference Schemes for Perturbation Problems

370

We say that the difference problem (7.37) has an m-th order of accuracy
in Fr(E) on the solutions v(t) of the boundary-value problem (7.35) if the error
vector
satisfies the estimate

where M is independent not only 7, but also of c:.


Stability inequality (7.40) permits us to obtain the estimate of convergence
of (7.37) in Cr(E).
Theorem 7.2.2. Suppose that the function f(t) has m derivatives and

Ilf (m)(t)IIE S M,O S t S T.


Then for the solution of the difference problem (7.37) the following convergence
estimate is valid:
(7.45)
II {v(t k ) - uk}f- 1 IlcT(E)S M7 m ,
where M does not depend on

and c:.

Proof. The components Zk = V(tk) - Uk of error vector zr =


relations

{zdf

satisfy the

_p-2(Zk+1 -2Zk-1 +Zk_1)+p-2(1-g(pB)) (Zk+1 +zk_d+p-2(g(2pB)-1)zk


ak = (2pB)-1 (a1,k
a1,k =

7-

ak,

+ a2,k+1 - g(pB)(a1,k+1 + a2,k)),

J
tk

exp(-(tk - S)c:- / 2B)f(s)ds 1

t k-l

m-1

2: h

f (j)(tk-d,

)=0

1 S k S N - 1,

Zo

= 0,

ZN

= O.

From this and the stability inequality (7.40) it follows that


max

l:::;k:::;

SM

N-1

P( - J p ) [ l:::;k:::;
max N
- exp

II

Zk

II

(7.46)

Ila1,k II E +

max N
l:::;k:::;

II Ba 2 k
'

II

E]'

7.2. A Boundary-Value Problem for Elliptic Equations

371

Therefore to this end it suffices to estimate {a1,k}f" and {a2,df" in Cr(E). Using
Taylor's formula, we obtain

a1,k=7- 1

m-1

tk

exp(-(h-s)C!B)j(s)ds-

tk-l

j=O

exp( -(tk - s)

-21

B)(s - tk_d J. dsj ( J.)

1
(tk-1)~
J

tk-l

tk

+ 7-

j(j)(tk-1)

tk

'""" 7- 1
LJ

,j

J=O

m-1

LJ1

exp( -(tk - s)

-! B)

tk-l

(s - z)m j(m) (z) dzds

~!

tk-l

m-1

-Lh

(j) (tk-d

j=O

A simple calculation shows that

m-1

L.

tk

7-

J=O

exp( -(tk - s)

C~ B)(s -

tk-d j dsj(j)

(tk-d~

tk_l

J.

m-1

L J1,

j (j)(tk-d .

j=O

Therefore, we can write

J
tk

a1, k

= 7-

J
S

exp( -(tk - s)

-1/2 B)

tk-l

(z - s)m-1 j(m)(z)dzdsj(m - I)!.

tk-l

In a similar way one shows that

J
tk

a2, k

= 7-

J
S

exp( -(s - tk-1)

-1/2 B)

tk-l

(z - s)m-1 j(m) (z) dzds j( m -I)!.

tk-l

Then, using the triangle inequality and estimate (7.40), we obtain

and
max

19::; N

Ila2k' liE

~ M c5p-1(1 - exp( -c5p))7 m

From this and estimate (7.46) follows estimate (7.45). Theorem 7.2.2 is proved.

Chapter 7. Uniform Difference Schemes for Perturbation Problems

372

Note that for the convergence estimate I {V(t k ) - uk}f


suffices to obtain the stability inequality in FT(E).
From formula (7.38) one derives the following results.

IIFr(E)

~ M7 m it

Theorem 7.2.3. For the solution of the difference problem (7.37) the following
estimate is valid:

Nl
M
{ukL - IIL p.r(E) ~ l-exp(-op){[

where M is

Uo

II E+II

UN

II

+ I {Bhdf IILp.r(E)]}' 1 ~ P < 00,


independent not only of fl, fI, uo, UN, 7, P but also of E.

+p2

[II {Bhdf

II

IILp.r(E)

Theorem 7.2.4. For the solution of the difference problem (7.37) the following
estimate is valid:
N

II {UkL
+p2

[II

IlcQa(E)
r

~ 1 -exp-p
(fJ ) {

II

Uo

II E+ II

UN

II E

{Bhk}f Ilc~,a(E) + I {Bhdf Ilc~,a(E)]}'O ~ a ~ 1,

where M is independent not only of f[, fI, uo, UN,

7,

a but also of E.

The proofs of Theorem 7.2.3 and 7.18 follow the scheme of the proofs of
Theorems 7.1.3 and 7.1.5 and rely on formula (7.38) and estimate (7.42).
Now let us study the well-posedness of the difference problem (7.37) in various
Banach spaces.
Theorem 7.2.5. The solutions of the difference problem (7.37) in c::,a(E) (0 <
a < 1) obey the coercivity inequality

D;II(uo, UN )uTllc~,Q(E)

+ I ATII(uo, UN )uTllc~'Q(E)

~ M{a(1 ~ a) [II {Bhdf IIc~,a(E)


N

+ II {Bhdl

1
Ilc~,a(E)l + 1 - exp (s:
-up) [II Auoil E

where M is independent not only of

fl, 12,

uo, UN,

7,

+ IIAuNII E ]},

a but also ofE.

Proof. Using formula (7.41), we obtain

p-2(Uk+l - 2Uk

+ uk-d

+ Wk-l)

(7.47)

+ gk-l), 1 ~ k ~ N - 1.
{p-2(Wk+l - 2Wk + Wk_l)}f- l and {p-2(gk+l - 2gk +

+p-2(gk+l - 2gk
Let us estimate
gk_l)}f- l separately.

= p-2(Wk+l - 2Wk

7.2. A Boundary-Value Problem for Elliptic Equations

373

Using formula (7.38), we obtain


p-2(Wk+l - 2Wk

(1 -

+(1 -

+ wk-d

e- 2NpB )-1(1 - e- pB )2 p -2(e-(k-1)pB _ e-(2N-k-1)pB)uo

e- 2NpB )-1(1 - e- pB )2 p -2(e-(N-k-1)pB - e-(N+k-1)pB)UN


2

LJi:\

m=l

where
Jf =
J~

(1 -

(I -

e- 2NpB )-1(1 - e- pB fp-2(e-(k-1)pB - e-(2N-k-1)pB)uo,

e- 2NpB )-1(1 _ e- pB )2 p -2(e-(N-k-1)pB - e-(N+k-1)pB)UN.

Let us estimate J:n = {Jk}~;ll for any m = 1,2 separately. We start with J[.
Using estimate (7.42), we show that, for 1 :S k :S N - 1,
IIJ~IIE :S 11(1 - e- 2NpB )-11IE--.EII(1 - e-pB)(pB)-lll~--.E

x Ile-(k-1)pB

- e-(2N-k-1)p B IIE--.EII AuoIIE

:S 1_ e_2NP61IAuoIIE :S 1_ e_p61IAuoIIE.
From this it follows that
1

IIJ1

Jl+rli E :S IIJ1 11E + IIJl+rll E :S 2MII Au oilE :s;


rO

(2r)O
2M (1 + r)o

IIAuollE

rO

:S M 1 [(1 + r)o + (N _1)olIlAu oIIE ,


for 1 < r

+ 1 :S N

1. By Lemma 5.1.1, one has the inequality

Ilexp -kpB) - exp {-(k

+ r)pB}II E --. E :S M

rO

(k

+ r)o

(7.48)

for any 1 :S k < k + r :S N - 1 and 0 :S Q :S 1, where M does not depend on Q, k,


rand T.
Further, applying (7.42) and (7.48) we show that, for 2 :S k < k + r :S N -1,

IIJf -

Jf+rlIE

:S 11(1 - e- 2NpB )-11IE--.EII(1 - e-pB)(pB)-lll~--.E


x Ule-(k-1)pB - e-(k+r-1)p B IIE--.E

+lIe-(2N-k-1)pB _ e-(2N-k-r-1) pB IIE--.E]II AuoIIE

374

Chapter 7. Uniform Difference Schemes for Perturbation Problems

Thus, we have proved that

In a similar manner we can show that

Therefore,

I {p -2 (Wk+l

- 2Wk

::; 1 -exp (8
- p ) [II

+ Wk-l) }N-l
1
Il c;-'" (E)
Auoil E + IIAuNII E ]

+ gk_l)}~-l.

Let us estimate {p-2(gk+l - 2gk

(7.49)

Using formula (7.44), we obtain

p-2(gk+l - 2gk + gk-l) =(1 - g(2NpB))-l(g((N - k -l)pB) - g((N + k -l)pB)


N-l

L g((N - i)pB)(h,i - h,N)

x(1 - g(pB))2

i=l

k-l

L(1 - g(pB))2 g((k - 1 - i)pB)(h,i - h,k)


i=l

- h,k+l + (2- g(pB))h,k+ (1 - g(2NpB))-I(g((N - k-l)pB) - g((N +k-l)pB)


N
k-l
X (1 - g(pB))2
g((N - i)pB)h,N +
g(pB))2 g((k - 1 - i)pB)h,k

L(1 -

i=1

i=1

-(1 - g(2NpB))-I(g((N - k - l)pB) - g((N + k - l)pB)


N-l
X (1 - g(pB))2 L g((N + i - l)pB)(hi - hN)
i=1
N

+(1 - g(pB))2 Lg((k + i

- 2)pB)](hi - 12,1)

i=1
N

-(1 - g(pB))2 L g((i - k - 2)pB)(hi - hk+l)


i=k+2
- hk

+ (2 -

g(pB))hk+l - (1 - g(2N pB))-1

7.2. A Boundary-Value Problem for Elliptic Equations

375

x(g((N - k -l)pB) - g((N + k -1)pB)(1 - g(pB))2


N

x Lg((N + i - l)pB)12,N + (1 - g(pB))2 Lg((k + i - 2)pB)]12,l


i=l

i=l

-(1 - g(pB))2 L g((i - k - 2)pB)12,k+l = L pr,


i=k+2
m=l
where

pl =

(1 - g(2NpB))-l(g((N - k - l)pB) - g((N + k - l)pB)


N-l
x(1 - g(pB))2 L g((N - i)pB)(!I,i - !I,N),
i=l

k-l

P'f = L(1 - g(pB))2 g((k - 1- i)pB)(!I,i - !I,k),


i=l

pf

= - !I,k+l + (2 - g(pB))!I,k + (1 - g(2NpB))-l


x(g((N - k -l)pB) - g((N + k -l)pB)
k-l

x(1 - g(pB))2 Lg((N - i)pB)!I,N + L(1 - g(pB))2 g((k -1- i)pB)!I,k'

pt =

i=l

i=l

-(1 - g(2NpB))-1(g((N - k -l)pB) - g((N + k -l)pB)


N-l
x(I - g(pB))2
g((N + i - l)pB)(h,i - h,N)

2:
i=l
N

+(1 - g(pB))2 Lg((k + i - 2)pB)](12,i - 12,1),


i=l
N

P~ = -(1 - g(pB))2 L

g((i - k - 2)pB)(12,i - 12,k+l),

i=k+2

P~ = -

12,k + (2 - g(pB))12,k+l - (1 - g(2N pB))-l

x(g((N - k - l)pB) - g((N + k - l)pB)(1 - g(pB))2


N

x Lg((N + i -l)pB)12,N + (1 - g(pB)f Lg((k + i - 2)pB)]12,l


i=l

i=l

-(1 - g(pB))2 L g((i - k - 2)pB)12,k+l


i=k+2

Chapter 7. Uniform Difference Schemes for Perturbation Problems

376

Let us estimate p:n. = {Pk}~=11 for any m = 1,2,3,4,5,6 separately. We start


with
Using estimate (7.42), we show that, for 1 ~ k ~ N - 1,

pr

e- 2NpB )-1(1 - e-pB)B-IIIE--+E


x Ile-(N-k-l)pB - e-(N+k-l)pB IIE--+E

I pIllE ~ 11(1 -

N-l
X

11(1 -

e-pB)e-(N-i)pB

IIE--+E IIBh,i -

Bh,N

liE

i=l

N-l

~ M[~ (tN _~i)l-a]11

Bf{

IIC~'''(E)'

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral
tN

f
o

Since

tN

f
o

it follows that
Thus, for 1 ~ k

ds

(tN - s)l-a'

ds
- tN
(tN - s)l-a - ~'

I PIIIE~ ~ I
~

Bf{

IIC~'''(E)'

N - 1 we have established the bound

max
l::;k::;N-l

I pIIIE~ Mil
a

Bf{

IIC"'''(E)'

(7.50)

Now let us estimate the difference PI+r - PI for 1 ~ k < k + r ~ N - 1. We will


consider separately the cases k ~ r, N - k ~ 2r and k > r, N - k > 2r. If k ~ r,
then (7.50) yields

pI+r - pIIIE~11 pI+r

liE + I pIllE

~ Ml~l+a I Bf{ Ilc~'''(E{a(k+ r)-a = ~211 Bf{ Ilc~'''(E)t~(tk + tr)-a.


If N - k ~ 2r, then (7.50) yields

pI+r - PIIIE~11 pI+r

~ Ml~l+a I Bf{ Ilc~'''(E)ra(N -

k)-a =

liE + I pIllE

~211 Bf{ Ilc~'''(E)t~(tN -

tk)-a.

7.2. A Boundary-Value Problem for Elliptic Equations

377

Now let k > rand N - k > 2r. Let us represent the difference Pf+r following sums:

Pf+r -

Pf = (1 -

Pf

as the

g(2N pB))-l(g((N - k - r - l)pB) - g((N - k - l)pB)


N-l

+g((N+k-1)pB) -g((N+k+r-1)pB)(I _g(pB))2

i=l

g((N -i)pB)(h,i - h,N).

Further, applying (7.42) and (7.48) we show that, for 2 ~ k < k + r

N - 2,

e- 2NpB )-1(1 - e-pB)B-11IE---->E


x [I1(e-(N-k-l)pB - e-(N-k-r-l)pB) IIE---->E

II Pf+r - PfllE ~ 11(1 -

+ II(e-(N+k+r-l)pB - e-(N+k-1)pB) IIE---->E]


N-l
X
11(1 - e-pB)e-(N-i)pB IIE---->E IIBh,i - Bh,N

i=l

rO:
M[(N _ r)o:

rO:
N-l
T
(k + r)o:] ~ (tN _ ti)l-O: II Bf[

liE

Ilc;-'''(E)

~ ---;11 Bf[ IIc;-'''(E)t~(tk + tr)-O:(tN - tk)-O:.


Thus, for 1

k < k +r

N - 1 we have established the bound

From this and estimate (7.50) it follows that

II P{ Ilc;-'''(E)

~ ~lll Bf[ Ilc;-'''(E)'

In a similar manner we can show that

IIPIIIC;-'''(E)

~ ~lll

Bf2

IIC;-'''(E)'

Now let us estimate P{. Using estimate (7.42), we show that, for 2 ~ k

k-2

+11(1 - e-pB)B-11IE---->E L 11(1 i=l

e-pB)e-(k-l-i)pB

IIE---->E

k-l

: : : ~ [2:::
(t
i=l
k

_:)1-0:]11 Bf[ IIC;-'''(E)'


t

N - 1,

IIBh,i - Bh,k

liE

Chapter 7. Uniform Difference Schemes for Perturbation Problems

378

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since

tk

ds_ _ __

tOtk

(h - s)l-Ot - ~'

it follows that

II
for 2 :S k

:S N

IIE:S : II

Pf

Bf{

Ilc;-'c>(E)

- 1. Since P'f = 0, it follows that


max

l~k~N-l

II

Pf

IIE:S Mil
a

Bf{

IlcC>'C>(E)'

(7.51 )

Now let us estimate the difference Pf+r - Pf for 1 :S k < k + r :S N - 1. We will


consider separately the cases k :S r, N - k :S 2r and k > r, N - k > 2r. If k :S r,
then (7.51) yields

:S

Ml~l+Ot II Bf{

If N - k

:S 2r,

Ilc;-'c>(E)rOt(k + r)-Ot =

then (7.51) yields

II
:S Ml~l+Ot II

~211 Bf{ Ilc;-'C>(E)t~(tk + q-Ot.

Pf+r -

Pf IIE:s11 Pf+r liE + II Pf liE

Bf{ Ilc;-'C>(E)rOt(N - k)-Ot

~211 Bf{ Ilc;-'C>(E)t~(tN -

Now let k> rand N - k > 2r. Let us represent the difference Pf+r following sums:

tk)-Ot.

Pf as the

k+r-l
Pf+r - Pf =

I: (I - g(pB))2 g((k + r -

1 - i)pB)(h,i - h,k+r)

i=k-r
k-l

-L

(I - g(pB))2 g((k - 1 - i)pB)(h,i - h,k)


i=k-r
k-r-l
(I - g(pB))2 g((k + r - 1 - i)pB)(h,k+I - h,k)

-L

i=l

7.2. A Boundary-Value Problem for Elliptic Equations

k-r-l
+

L
i=1

379
4

(I - g(pB))2[g((k+r-1-i)pB) - g((k -l-i)pB)](!I,i - !I,k) =

L Rk\
m=1

where

k+r-l

(I - g(pB))2 g((k + r - 1 - i)pB)(!I,i - !I,k+r),


i=k-r
k-l
R~ = (I - g(pB))2 g((k - 1 - i)pB)(!I,i - !I,k),
i=k-r
k-r-l
=(I - g(pB))2 g((k + r - 1 - i)pB) (!I,k+l - !I,k),

Rl =

R2
Rk =

k-r-l

i=1

i=1

(I - g(pB))2[g((k + r - 1 - i)pB) - g((k - 1 - i)pB)](!I,i - !I,k).

Let us estimate R'k for any m = 1,2,3,4 separately. We start with


estimate (7.42), we show that, for 1 ::; k ::; N - 1,

II Rl liE::;

k+r-l

Rk.

Using

II(I - e- pB )e-(k+r-l-i)p B IIE--.E

i=k-r

xiiI - e- pB IIE--.E II!I,i - !I,k+r liE


Ad
1
::; (tk + tr)a [Ta(tN - tk+r_l)a
Ad

k+r-l

k+r-2
T
T
+ ifr (tk+r - tiP-a(tN - ti)a]11 11

::; (tk + ~r)a [iIr (tk+r - ti)l:a(tN - ti)al ll

Ilc~,O(E)

g Ilc~,O(E)'

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since

it follows that

380

Chapter 7. Uniform Difference Schemes for Perturbation Problems

Thus, we have established the bound

In a similar manner we can show that

Since

R% = (I - g(pB)) (g(2rpB) - g((k + r

l)pB))(h,k - h,k+r),

it follows that

I R%

IIE~ Ile- 2rpB - e-(k+r-l)pBIIE--->EII1 - e- pB

IIE--->E IIh,k -

h,k+r

liE.

Using estimate (7.42), we obtain

Now let us estimate Rt. Using estimates (7.42) and (7.48), we obtain

II Rt "E~

k-r-l

2:

(I - g(pB))2[g((k + r - 1 - i)pB) - g((k - 1 - i)pB)]

IIE--->E

i=l

The sum enclosed in the right-hand side square brackets is the lower Darboux
integral sum for the integral

Since for k > rand N - k > 2r we have the bound

<
C
- (1 - o:)(tN - tk + tr)a r
it follows that

Ha

< (1 - o:)(tN - tk)Q Cr

Ha
,

381

7.2. A Boundary-Value Problem for Elliptic Equations

Thus, we have established the bound

Thus, we have shown that for any 2 :S k < k


holds:

+ r :S

N - 1 the following inequality

Estimates (7.51) and (7.52) give

II P{

IIc~'<>(E):S a(~ a)

II f{

Ilc~'<>(E) .

In exactly the same manner one establishes the inequality

Now let us estimate P;' Since


P~

=-

+ (2 - g(pB))/I,k + (I - g(2N pB))-l(g((N - k - 1)pB)

/I,k+l

-g((N +k -1)pB)(I - g(pB))(1 - g(N pB)/I,N + (I - g(pB))(1 - g((k -1)pB)/I,k'


it follows that

II P; Ilc~'<>(E) :S M II f{ Ilc~'<>(E) .
In exactly the same manner one establishes the inequality

Finally, combining the estimates for


the estimate

p:r, =

{Pk' }~==-/, m = 1,2,3,4,5,6, we obtain

II {p-2(gk+l - 2gk + gk-lnf- 1 Ilc~'<>(E)

:S

a(1~ a) [II Bf{ Ilc~'<>(E) + II BI; Ilc~'<>(E)]'

Using the last estimate and (7.49), we obtain

II {p-2(Uk+l - 2Uk + uk_d}f- 1 Ilc~'<>(E)


:S M {a(1 ~ a) [II Bf{

+ 1-

1
exp( -Jp) [II

Ilc~'<>(E) + II BI; Ilc~'<>(E)]

Auoil E + IIAuNII E ]}

Chapter 7. Uniform Difference Schemes for Perturbation Problems

382

By the triangle inequality, this last estimate and the difference equation (7.37)
yield

II ArII(uo, UN )urllc;:""(E)
:::; M{a(l ~ a) [II

BN Ilc;:""(E) + II BN Ilc;:""(E)]

1
exp( -fJp) [ II Auoil E + IIAuNII E]}

+1Theorem 7.2.5 is proved.

Theorem 7.2.6. The solutions of the difference problem (7.37) in Cr(Ea ) (0

<a<

1) obey the coercivity inequality

where M is independent not only of

fl, 12, UO,

UN,

T,

a but also ofe.

The proof of Theorem 7.2.6 follows the scheme of proof of Theorem 7.1.9 and
relies on the formula
p-2(Uk+l - 2Uk + Uk-I)

= (1 - e- 2NpB )-I(1 - e- pB )2 p-2(e-(k-l)pB - e-(2N-k-l)pB)uo


+(1 - e- 2NpB )-I(1 - e- pB )2 p-2(e-(N-k-l)pB - e-(N+k-I)pB)UN
+(1 - g(2NpB))-I(g((N - k - l)pB) - g((N + k - l)pB)
N

k-I

x(1 - g(pB))2 Lg((N - i)pB)!I,i - L(1 - g(pB))2 g((k - 1- i)pB)!I,i


i=1

i=1

- !I,k+1 + (2 - g(pB))!I,k - (1 - g(2NpB))-I(g((N - k -l)pB) - g((N +k -l)pB)


N

x(1 - g(pB))2 Lg((N + i -l)pB)/2,i + (1 - g(pB))2 Lg((k + i - 2)pB)]/2,i


i=1

i=1
N

-(1 - g(pB)f L g((i - k - 2)pB)/2,i - /2,k + (2 - g(pB))/2,k+1


i=k+2
and estimates (7.42) and (7.48).

7.2. A Boundary-Value Problem for Elliptic Equations

383

Theorem 7.2.7. The solutions of the difference problem (7.37) in CT(E) obey the

almost coercivity inequality

II
:::;

+ II ATII(uo,uN)uTllcT(E)

D;II(uo,uN)uTllcT(E)

M{min{ln~, 1 + lin IIBIIE....EIIIHII {Bhk}f IlcT(E) + II {Bh,k}f

IlcT(E)]

+ 1 -exp(8
- p) [II Auoil E + IIAuNII E]},
where M is independent not only of

f1,

f:;" un,

UN, T

but also of c.

Proof. By the definition of the norm in C;;,Q(E),

Then, Theorem 7.2.5 implies that

for all sufficiently small

0::

> O. Choosing 0:: in the best way, we obtain the estimate

+ II ATII(uo,uN)uTllcT(E)

II D;II(uo,uN)uTllcT(E)

1[ II {BhdlN IlcT(E)

:::; Mdln ~

+ 1 -exp (is
- p ) [ II

+ II

]
{Bh,dlN
IlcT(E)

Auoil E + IIAuNII E]}

By the definition of the norm in CT(E

Q ),

Then, Theorem 7.2.6 implies that

II D;II(uo,uN)uTIICT(E) +

II ATII(uo,uN)uTllcT(E)

1
N
:::; M{~IIBIIE .... e[11 {Bhdl IlcT(E)

+ II {Bh,df II cT (E)] + 1 _
for all sufficiently small

0::

ex~( -8p) [II Auoll E + IIAuNII E]}

> O. Choosing 0:: in the best way, we obtain the estimate

384

Chapter 7. Uniform Difference Schemes for Perturbation Problems

+ 1 -exp (8
- p) [II Auoil E + IIAuNII E]}
Theorem 7.2.7 is proved.
Note that if A is the unbounded positive operator in E, then
. { ln~,
1 1 + lIn II B
mm

IIE-.EI }

1
= ln~.

Let us give, without proof, the following results.


Theorem 7.2.8. The solutions of the difference problem (7.37) in Ce'''!(E) (0 :::;
, :::; 13, 0 < 13 < 1) obey the coercivity inequalities

II

T
D;II(uo, UN )u II Cr (E13_-Y) :::;

13(~ 13) [II {Bhd~

II Cr (E13_-Y)

+ II {Bh,k}~ II Cr (E13_)
+ MIl

(8 ) [ II (I - e-pB)2p-2uo - hI

-exp-p

II E13 _-y

+ 11(1 - e-pB)2p-2uN - h,N II E13--y],

II

D;II(uo,uN)uTllc~'-Y(E)

+ II ATII(uo,uN)uTllc~'-Y(E)

I
N
:::; 13(1M_ 13) [
II {Bhkh
IIc~'-Y(E) + II {Bh,khN Ilc~'-Y(E)1

1( 8 )[I(I-e-PB)2p-2uo-hll~'''!
+MI1
-exp - p

+ I(I - e-pB)2p-2uN - h,N!g,"!],


where M I is independent not only of f[,

f2,

uo, UN,

T,

13, , but also of

Here, Iwlg,"! denotes that the norm of the Banach space Eg,"! consists of those
vEE for which the norm

Iwlg,"! =

max Ile-~BwIIE

l~n~N-I

sup
l~n<n+r~N-I

is finite.

t; 13 (tn

)B
+ tr)"!(tN - tnPII(e- ( !n.!.r.
<

e- !n. B )wlIE
<

7.2. A Boundary-Value Problem for Elliptic Equations

385

Theorem 7.2.9. The solutions of the difference problem (7.37) in C~,"f(Eo:-{3) (O:S
'Y :S (3 :S 0:, 0 < 0: < 1) obey the coercivity inequalities

D;II(uo, UN )u'Tllc~'-'(E"_i3)

+ II

A'TII(uo, UN )u'Tllc~'-'(E"_i3)

+ II D;II(uo,uN)u'Tllc,.(E~:!i3)
MI

:S 0:(1 _ 0:) [II {Bh,kh IIc~'-'(E"_i3) + I {Bh,kh IIc~'-'(E"-i3)]


1 ( 6 ) [1(1 - e-pB)2p-2uo -exp - p
+ \(1 - e- pB )2 p-2 UN - h,NI~:2'{3],

+ MIl

h,11~'2'{3

I D;II(uo,uN)u'Tllc~'-'(E"_i3) + I A'TII(uo,uN)u'Tllc~'-'(E,,_,B)
+ I D;II(uo, UN )u'Tllc,.(Ea_-,)
~

:S 0:(1 _ 0:) [II {Bh,kh IIC~'-'(Ea-i3)+ II {Bh,kh Ilc~'-'(E"-i3)]


+ MIl

(6 ) [11(1 - e-pB)2p-2uo - h,1

-exp - p

I C,.(E a--,)

+ 11(1 - e-pB)2p-2uN - h,N II C,.(Ea_-,)]],


where M I is independent not only of fl, f:;" uo, UN,

T,

0:, (3, 'Y but also of c.

Here, Iwl~:2'{3 denotes that the norm of the Banach space E~:2'{3 consists of
those vEE for which the norm

is finite.
Note that the spaces of grid functions C~,"f(Eo:_{3), in which coercive solvability has been established, depend on the parameters 0:, (3 and 'Y. However, the
constants in the coercive inequalities depend only on 0:. Hence, we can choose the
parameters (3 and 'Y freely, which increases the number of spaces of grid functions
in which difference problem (7.37) is well posed.
Let us consider now the boundary-value difference problem (7.37) in the
spaces Lp,'T(E) = Lp([O, T]n E), 1 :S p < 00 of all grid functions.
Theorem 7.2.10. The solutions of the difference problem (7.37) in Lp,'T(E) obey

the almost coercive inequality

386

:S

Chapter 7. Uniform Difference Schemes for Perturbation Problems

M{min{ln~, 1 +

lIn IIBIIE--->EIIIHII

{Bhk}~

IILp.r(E) +

\I

{Bh,k}~

IILp,r(E)]

1
+ 1 -exp (<5
- p) [II Auoil E + IIAuNII E]},

where M is independent not only of

f1,

fI, uo, UN,

7,

P but also of c.

Recall that if A is the unbounded positive operator in E, then


min

{ln~, 1 + lIn II B II E--->E I} = ln~.

Finally, let us give, without proof, the following results about well-posedness
of the boundary-value difference problem (7.37) in the spaces

Theorem 7.2.11. Suppose that the difference problem (7.37) is well posed in
LpO,T(E) for some Po, 1 < Po < 00. Then it is well posed in Lp,T(E) for any
p, 1 < p < 00 and the following coercivity inequality holds:
II D;II(uo,uN)uTIILp.r(E)
+lluTIICr(El_l/P.p)

:S M(po)[l _

II ATII(uo,uN)uTIILp.r(E)

ex~( -<5p) [II uoIIEl_l/p,P + IIUNIIE1_1/p,p]

+ p~ 1 [II {Bhk}~
where M (Po) does not depend on

IILp.r(E) +

f1, 12,

II {Bh,k}~

uo, UN,

7,

IILp.r(E)]]'

P but also not on c.

00 and 0 < a < 1. Then problem (5.29) is well posed


in Lp,T(Eo:,p) and the following coercivity inequality holds:

Theorem 7.2.12. Let 1 :S p :S

II D;II(uo, UN )uTII Lp,r(EQ,p) + II ATII(uo, UN )u IILp,r(EQ,p)

:S M 1 _ exp( -<5p) [II AUoIIEQ,p + IIAuNIIEQ,pl

M
N
+ a(l _ a) [II {Bhkh
where M does not depend on

N
IILp,r(EQ,p) + II {Bh,kh IILp,r(EQ,p)],

f1, 12, Uo,

UN,

7,

p, a but also not on c.

< p, q < 00 and 0 < a < 1. Then the difference problem


(5.29) is well posed in Lp,T(Eo:,q) and the following coercivity inequality holds:

Theorem 7.2.13. Let 1

7.3. A Cauchy Problem for Hyperbolic Equations

387

:s M(q)[l _ exp( -8p) [II AuOIIEa,q

+ IIAuNIIEa,q]

+ p~ 1 [II {Bhdf IILp,T(Ea,q) + II {Bh,kW IILp,T(Ea)],


where M(q) does not depend on j[, f:;' uo,

UN, T,

p,

but also not on

E.

Remark 7.2.14. Theorems 7.2.5-7.2.13 permit us to obtain the error estimates of


the high order of accuracy difference schemes for elliptic equations with a small
parameter multiplying one-derivative term in the various Banach norms.

7.3

A Cauchy Problem for Hyperbolic Equations

We consider the abstract Cauchy problem for hyperbolic equations


E

V"(t)

+ Av(t)

= f(t)

(O:s t :s T), v(o) = Vo, v'(O) = v~

(7.53)

in an arbitrary Banach space E with the positive operator A and E E (0, (Xl).
A function v(t) is called a solution of the problem (7.53) if the following
conditions are satisfied:
i. v(t) is twice continuously differentiable on the segment [0, T]. The derivatives
at the endpoints of the segment are understood as the appropriate unilateral
derivatives.
ii. The element v(t) belongs to D(A) for all t E [0, T] and the function Av(t) is
continuous on the segment [0, T].
iii. v(t) satisfies the equations and the initial conditions (7.53).
Suppose that the function f(t) is not only continuous, but also continuously
differentiable on [0, T]' Vo E D(A) and vb E D(A~). Then by formula (6.2), we
have that the formula

v(t)

t
t,
1
c( - )vo + s( - )vo + 2"
E

J
t

t-s
s(-)f(s)ds
E

(7.54)

gives a solution of problem (7.53). Here

Suppose further that in an arbitrary Banach space E the assumptions

Ilc(t)IIE--+E :s M, IIA~s(t)IIE--+E:S M, O:s: t < (Xl


are valid.

(7.55)

388

Chapter 7. Uniform Difference Schemes for Perturbation Problems

In Chapter 6, stable high order of accuracy difference schemes generated


by an exact difference scheme or by Taylor's decomposition on the three points
for the numerical solutions of an abstract initial-value problem (7.53) for e = 1
were presented. Unfortunately, these difference schemes cannot be applied for the
approximate solutions of (7.53) in the general cases e E (0,00). In this section
we study the high order of accuracy two-step uniform difference schemes of the
approximate solutions for differential equations of the hyperbolic type with an
arbitrary parameter e on the highest derivative. The stability estimates of the
solutions of these difference schemes are obtained.
On the segment [0, T] we consider again a uniform grid
[O,T]T

= {tk = kT,k = 0,1, ... ,N,N7 = T}

with step 7. Let 7 = pc and B 2


exact two-step difference scheme:

= A.

By Theorem 3.1.1, we have the following

1
T

7
7,
1
7 - Z
V(7) - v(O) = (c( -) - I)v(O) + s( -)v (0) + 2"
s(--)j(z)dz
e
ceo
e

or

Uo

VO, Ul

7 7 s( - )v'(O)
7h 1

= c( - )v(O)

e
e
'
Applying this exact two-step difference scheme, we can construct the high order
of accuracy difference schemes

7.3. A Cauchy Problem for Hyperbolic Equations

h,k = (7A

389

1[J(tk) - c(p)f(tk-dl- (7A)-1

m-l

Bjf(jH)(tk_d,

j=O

h,k = -(e 27)-l s(p)f(tk_d + (e 27)-1

m-l

L Cj f(j+l)(tk_l),
j=O

B . = (e 2A- 1)j B - ~(e2 A- 1)j-iH


2J

~
t=1

7 2i - 1

2 < 2)' < m - 1


(2i _ I)! , ,
2i

B = (e 2A- 1)j B - ~(e2 A- 1)j-i+I2- 3 < 2)' + 1 < m - 1


2J+l
1
~
(2i)!' ,
t=1

Co = e2 A- 1 (1 - c(p)),
CJ

7j

= _(e 2A)-1 B_
+ (e 2A)-I_.,' 1 <)'
<
m-1
J 1
).

for the approximate solutions of the initial-value problem (7.53).


This problem is uniquely solvable and the following formula holds:

Uk

c(kp)vo + s(kp)v~

(7.57)

+ L {c((k - m)p)h,m + s((k - m)p)h,m}7, 1::; k::; N.


m=1

Actually, formula (7.57) is true for k = 1. Let k = 2. Then using the formula
7

U2 + Uo = 2c( - )Ul + T[h 2 + s( -)12 1


e
'e'

c( -)h 1],

e'

we obtain
7

U2 = -vo + 2c(- )(c( - )v(O) + s( -)v (0) + Th 1) + T[h 2 + s( -)12 1 - c(-)h 1]


e
e
e
'
,
e'
e'

= c(2p)v(0) + s(2p)v'(0) + T[h,2 + S(P)h,l + C(P)h,IJ


= c(2p)v(0)

+ s(2p)v'(0) + 7

L {c((2 - m)p)h,m + s((2 - m)p)h,m}.


m=1

Thus, formula (7.57) is true for k = 2. Applying mathematical induction, one can
easily show that it is true for every k. Namely, assume that formula (7.57) is true
for k - 1 and k. Using the formula

Chapter 7. Uniform Difference Schemes for Perturbation Problems

390
we obtain

Uk+l = -Uk-l + 2C(p)Uk + 7[h,k+l + S(p)h,k - C(p)h,k]


k-l

2: {c((k-1-m)p)h,m+ s((k-1-m)p)h,m}7}

= -{c((k-1)p)vo+s((k-1)p)v~+

m=l

+2c(p){c(kp)vo + s(kp)v~ +

2: {c((k - m)p)h,m + s((k - m)p)h,m}7}


m=l

+7[!t , k+l + s(-)h


kE:'

C( -)!t

c'

{2c(p)c(kp) - c((k - 1)p)}vo

k]

+{2c(p)s(kp) - s((k -

1)p)}v~

k-l

+ 2: {2c(p)c((k - m)p) - c((k -

1 - m)p)h,m{2c(p)s((k - m)p)

m=l

-s((k - 1 - m)p)h,m}7}
7

+2c(; )fl,k 7 + 7[h,k+l + S(p)h,k - c(p)fl,k]


=

c((k + 1)p)v(O) + s((k + 1)p)v'(O)

k+l

+7

L {c((k + 1 - m)p)h,m + s((k + 1- m)p)h,m}.

m=l

Thus, formula (7.57) is true for k + 1. Therefore, formula (7.57) is true for all k.
Let us investigate the stability of the exact two-step difference scheme (7.56).

Theorem 7.3.1. For the solution of the exact two-step difference scheme (7.56) the
following stability inequality holds:

where M does not depend on E,

7,

h,k,

h,k, 1 ~ k

N and Va, v~.

The proof of Theorem 7.3.1 is based on formula (7.57) and estimates (7.55).
Stability inequality (7.58) permits us to obtain the estimate of convergence
of (7.56) in Cr(E).

7.3. A Cauchy Problem for Hyperbolic Equations

391

Theorem 7.3.2. Suppose that the function f(t) has m

+ 1 derivatives

and

Ilf (m+I)(t)IIE ::; M,O ::; t ::; T.


Then for the solution of the difference problem (7.56) the following convergence
estimate is valid:
m
(7.59)
II {v(t k ) - udf IlcT(E) ::; MT ,
where M does not depend on T and E.
Proof. The components Zk = V(tk) - Uk of error vector ZT = {zk}f satisfy the
relations
p-2(Zk+1 - 2Zk
where

+ Zk-l)

2p-2(C(p) - I)zk

Zo

0,

Zl

+ T- I E2ak,

= Tal,l,

+ s(p)a2,k - c(p)al,k, 1::; k::;

ak = al,k+l
~

1 ::; k ::; N - 1,

N - 1,

al,k = hk - hk, a2,k = hk - hk, 1::; k ::; N.


From this and the stability inequality (7.58) it follows that
max II
l::;k::;
N

Zk

II

E ::;

Iial' k II E + E l::;k::;
max IIA-! a2 k II eJ
l::;k::; N
N
'

M [ max

(7.60)

Therefore to this end it suffices to estimate {al,k}t' and {a2,dt' in CT(E). Integrating by parts and using Taylor's formula, we obtain

m-l

-(TA)-l

Bjf(j+l)(tk_d}

j=O

m-l

+(TA)-l

j=O

Bjf(j+l)(tk_l) .

392

Chapter 7. Uniform Difference Schemes for Perturbation Problems

A simple calculation shows that

tk

tk - S
.)
1
c(--)(s
- tk-1F. dsf (J+1
(tk-1)~
tk-l
e
J.
m-1
-(TA)-l
B j f(j+1)(tk_1)'

- (TA)- 1

I:
j=O

Therefore, we can write

a1, k = -(TA)-l

tk

tk-l

tk - S
c(--)
e

J8

(z - s)m-1 f(m+1)(z)dzds/(m - I)!.

tk-l

In a similar way one shows that

J
8

(z - S)m-1 f(m+l) (z)dzds/(m - I)!.

tk_l

Then, using the triangle inequality and estimate (7.55), we obtain

and
From this and estimate (7.60) follows estimate (7.59). Theorem 7.3.2 is proved.
Remark 7.3.3. Theorem 7.3.2 permits us to obtain the error estimates of the
high order of accuracy difference schemes for hyperbolic equations with a small
parameter multiplying time-derivative term in the various Banach norms.
Remark 7.3.4. Applying this approach we can construct the high order of accuracy uniform difference schemes for three singular perturbation problems involving
second-order differential equations in a Banach space E. The equations are

e2 v"(t) + v'(t) = Av(t) + f(t),


e2 v"(t) - iv'(t)
e v"(t) + v'(t)
2

Av(t) + f(t),

(e A + B)v(t) + f(t),
2

where A, B are linear, generally unbounded operators in E. In each case, the usual
initial conditions are given:

v(O)

= VA,

v'(O)

= v~.

Chapter 8
Appendix: Delay Parabolic
Differential Equations
Chapter 8 is devoted to study of the initial-value problem for delay partial differential equations of the parabolic type. A sufficient condition for stability of the
solution of this initial-value problem is given. The stability estimates for solutions
of the first and second order of accuracy difference schemes for approximately
solving this initial-value problem are presented. The stability estimates in Holder
norms for solutions of the initial-value problem of the delay differential and difference equations of the parabolic type are obtained.

8.1

The Initial-Value Differential Problem

In the present section we consider the initial-value problem for linear delay differential equations
d~~t)
{

+ Av(t) = B(t)v(t - w), t 2: 0,


v(t) = g(t)( -w ::; t ::; 0)

(8.1)

in an arbitrary Banach space E with the unbounded linear operators A and B(t)
in E with dense domains D(A) s:; D(B(t)). Let A be a strongly positive operator,
i.e., -A is the generator of the analytic semigroup exp{ -tA}(t 2: 0) of the linear
bounded operators with exponentially decreasing norm when t ----7 00. That means
the following estimates hold:
Ilexp{-tA}IIEJ-+E::; Me- 6t ,lltAexp{-tA}IIEJ-+E::; Me- 6t ,t>0

(8.2)

for some M > 1, <5 > O. Let B(t) be closed operators. The operator function B(t)
is strongly continuous on D(A).
A function v( t) is called a solution of problem (8.1) if the following conditions
are satisfied:
i. v( t) is continuously differentiable on the interval [-w, 00). The derivative at
the endpoint t = -w is understood as the appropriate unilateral derivative.

394

Chapter 8. Appendix: Delay Parabolic Differential Equations

ii. The element v(t) belongs to D(A) for all t E [-w, (0), and the function
Av(t) is continuous on the interval [-w, (0).
iii. v(t) satisfies the equation and the initial condition (8.1).
A solution v(t) of the initial-value problem (8.1) is said to be stable if

Ilv(t)IIE'S max Ilg(t)IIE


-w~t~O

(8.3)

for every t, -w 'S t < 00. We are interested in studying the stability of solutions
of the initial-value problem under the assumption that
(8.4)
holds for every t 2: O. We have not been able to obtain estimate (8.3) in an
arbitrary Banach space E. Nevertheless, we can establish the analog of estimates
(8.3) where the space E is replaced by the fractional spaces Ea(O < a < 1) under
a stronger assumption than (8.4). Stability estimates for the solutions of the first
and second order of accuracy difference schemes for approximately solving this
initial-value problem are presented. The stability estimates in Holder norms for
solutions of the initial-value problem of delay differential and difference equations
of the parabolic type are obtained.
The strongly positive operator A defines the fractional spaces EO!. = EO!. (E, A)
(0 < a < 1) consisting of all u E E for which the following norms are finite:

IlulIE"

sup p.I-O!. Aexp{ ->.A}uIIE.


),>0

First, we consider problem (8.1)when A-I and B(t) commute, i.e.,


A-I B(t)x

= B(t)A-Ix,

x E D(A).

(8.5)

Theorem 8.1.1. Assume that the condition

(1 - a)

IIB(t)A- IIE>-;E'S M2 2 - a

(8.6)

holds for every t 2: 0, where M is the constant from (8.2). Then for every t 2: 0
we have
(8.7)
Proof. Using the formula

J
t

v(t) = exp{ -tA}g(O)

exp{ -(t - s)A}B(s)g(s - w)ds

(8.8)

8.1. The Initial-Value Differential Problem

395

the semigroup property, condition (8.5) and estimates (8.2), (8.6), we obtain

.\l- o IIAexp{ -.\A}v(t) liE :S .\l- o IlAexp{ -(.\ + t)A}g(O)IIE

.\+t-s
+.\ 10J
IIAexp{ 2
A}IIE--..EIIB(s)A- IIE--..E
t

o
x IIAexp{ -

for every t, 0 :S t :S wand .\,.\

.\+t-s
2

A}g(s - w)IIEds

> O. This shows that


(8.9)

for every t, 0 :S t :S w. Applying mathematical induction, one can easily show that
it is true for every t. Namely, assume that inequality (8.7) is true for t, (n -l)w :S
t :S nw, n = 1,2,3, ... , for some n. Letting t = s + nw, we have

dv
ds + Av = B(s + nw)v(s + (n - l)w), 0 :S s :S w.
Using estimate (8.9), we obtain
max

nw<::;s <::; (n+1)w

for every t, nw :S t :S (n

Ilv(s - w)IIE a :S

max

-(n-1)w<::;t<::;nw

+ l)w, n = 1,2,3, ....

and .\,.\

IIv(t)IIEa

> O. This shows that

for every t, nw :S t :S (n + l)w, n = 1,2,3, .... This result completes the proof of
Theorem 8.1.1.
Now, we consider problem (8.1) when

for some t 2: O. Note that A is a strongly positive operator in a Banach space


E iff its spectrum a(A) lies in the interior of the sector of angle cp,O < 2cp < 71",
symmetric with respect to the real axis, and if on the edges of this sector, 8 1 =

Chapter 8. Appendix: Delay Parabolic Differential Equations

396

[z = pexp(i~) : 0 :S p < 00] and 8 2 = [z = pexp( -i~) : 0 :S p <


it the resolvent (z - A)-l is subject to the bound
-1

II(z - A)

00] and outside

M1
IIE-E:S 1 + Izl

(8.10)

for some M 1 > O. First of all let us prove two lemmas. These will be needed in the
sequel.
Lemma 8.1.2. For any z on the edges of the sector,

8 1 = [z = pexp(i~) : 0 :S p < 00]

and

8 2 = [z =
and outside it the estimate
IIA(z - A)-l X II E :S

pexp(-i~): O:S p

MO: MO:(l

< 00]

+ M )1-0:2(2-0:)0:
a)(~ + Izl)o:
IlxllEa

a(l _

holds for any x E Eo:. Here and in the future M and M 1 are the same constants
as in estimates (8.2) and (8.10).
Proof. Applying the formula

00

x=

Aexp{-rA}xdr,

and using the semigroup property, we can write

A(z-A)-l X =

A(z-A)-lAexp{-rA}xdr

roo (z _ A)-l Aexp{ -~A}Aexp{-~A}xdr.


2
2

iN

Using estimates (8.2), (8.10) and the definition of the spaces E a , we obtain

IIA(z - A)-l x II E :S

05

IIA(z - A)-lIIE_eIIAexp{ -rA}x//Edr

roo II(z _ A)-lIIE>-+EIIAexp{ -~A}IIE>-+E/IAexp{


-~A}x"Edr
2
2

iN

(1 C
N

1+ M 1 )T"-IdT +

Here

L
oo

MII~2:Qt-

NO:

'ljJ(N) = (1

dT)

II xii Eo

~ ,pC N) II'I'll

Eo

M M 1 22 -0: No:- 1

+ Md~ + (izi + 1)(1 _

a) .

Taking the minimum of the function 'ljJ(N) over all N, 0 < N <
statement of Lemma 8.1.2.

00, we obtain the

8.1. The Initial-Value Differential Problem

397

Lemma 8.1.3. Let for all s 2: 0 operator B(s)A- I - A-I B(s) with domain which
coincide with D(A), admit a closure Q = B(s)A-I - A-I B(s) bounded in E. Then
for all T > 0 the following estimate holds:

IIA-I[Aexp{-TA}B(s) - B(s)Aexp{-TA}]xIIE

< e(n + l)M<>M{+<>(1 + 2MI )(1 + M I )I-<>2(2-<<>IIQIIE>-+EllxIIEo


TI-<>7l'n2(1 - n)

Here Q = A-I(AB(s) - B(s)A)A-I.


Proof. Applying the Cauchy-Riesz formula, we obtain the representation

Aexp{ -TA}x =

~
2m

exp{ -TZ}A(z - A)-Idzx

S\US2

J eXP{-TZ}dzx+~ J

=-~
2m

2m

~U~

for every

T, T

exp{-Tz}z(z-A)-Idzx

~U~

> O. From this it follows that


A-I [A exp{-TA}B(s) - B(s)Aexp{-TA}]x

2~i

exp{ -TZ }zA-I[(z - A)-I B(s) - B(s)(z - A)-I]dzx

S\US2

2~i

exp{ -TZ}Z(Z - A)-IQA(z - A)-I]dzx.

S\ US2

Making the substitution z = -~


parts, we can write the formula

e
= --

27l'

1
1

e
= --

27l'T

+ iy, -00 <

y <

00

and using integration by

A-I [A exp{ -TA}B(s) - B(s)Aexp{ -TA}]x

00

exp(-Tiy)(--1 +iy)(--1 +iy-A)-IQA(--1 +iy-A)-Idyx


T
T
T

-00

00

-00

exp(-Tiy)(--1 + iy - A)-I[Q - (--1 + iy)(--1


T
T
T

+ iy - A)-IQ

-(--1 + iy)Q( --1 + iy - A)-I]A(--1 + iy - A)-Idyx.

T
T
T
By Lemma 8.1.2 and performing the change of variable Ty = p, and using estimate(8.1O), we obtain
IIA-I[Aexp{-TA}B(s) - B(s)Aexp{-TA}]xIlE

:s _e_
Joo lexP(-TiY)III(-~T +iy 27l'T

A)-IIlE>-+E(1 + 2MdIIQIIE>-+E

-00

xllA(-- +iy-A)-ldyxIIE
T

Chapter 8. Appendix: Delay Parabolic Differential Equations

398

<e-

27TT

00

-00

(~

dy

+ y2) Ito

(1 + 2M1)IIQIIE>-+EMf+0 M O(l + M1)1- 02(2-0)01IxIIEo


a(l - a)

X-'------=-.:-:.:.....:...:.:..=--=-=---'----:----:.-.,------=-:.....--------.:~=

roo

e
7TT 1 -

io

dp

(1

+ p2) Ito

(1 + 2M1)IIQIIE>-+EMf+0MO(l + Md 1- 02(2-0)01IxIIE
a(l - a)

o
x-'----.:....:.:.-.:....:.:.-------'''-----:-------'--'---------'-'-----'.:--'::.

< e(l + a)(l + 2MdIIQIIE>-+EMf+0 MO(l + M 1)1- 02(2-0)01IxIIEo


7TT 1 - o

Lemma 8.2 is proved.


Suppose that

a 2 (1

- a)

IIA-l(AB(t) - B(t)A)A- 1I1 E>-+E

(8.11)

7T(1 - a)2 a 2c
- eMl+oMf+(1 + 2Md(1 + M1)l-022+0-0 (1 + a)

<---....--;-------'------'----.,-----:;---2

holds for every t 2: O. Here and in the future c is a some constant, 0 :::; c :::; 1.

Theorem 8.1.4. Assume that the condition

IIA-IB(t)11

< (1- a)(l - c)


E>-+E M2 2 - 0

(8.12)

holds for every t 2: O. Then for every t 2: 0, estimate (8.7) holds.


Proof. Let 0 :::; t :::; wand >., >.

> O. Then using formula (8.8), we have that

>.1-0 Aexp{ ->'A}v(t)

J
t

+>.

-a

exp{ -

>.+t-s
2

>.1-0 Aexp{ -(>. + t)A}g(O)

A}B(s)Aexp{ -

>.+t-s
2

A}g(s - w)ds

o
t

+>.1-0

exp{ -

>.+t-s
>.+t-s
2
A}[Aexp{2
A}B(s) - B(s)A

xexp{-

>.+t - s
2

A}]g(s-w)ds

=h+h+h,
where

>.1-0 Aexp{ -(>. + t)A}g(O),

8.1. The Initial-Value Differential Problem


t

12 = AI - o

exp{ -

A+t-S
2

399

A}B(s)Aexp{ -

A+t-S
2

A}g(s - w)ds,

13 = AI - o

exp{ -

A+t-S
2

A}[Aexp{ -

A+t-S
2

A}B(s) - B(s)A

x exp{ -

A+t-S
2

A}]g(s - w)ds.

Using estimates (8.2), (8.10) and condition (8.12), we obtain


IlhilE = AI-oIIAexp{ -(A + t)A}g(O)IIE

xIIAexp{-

A+t - s
2

A}g(s-w)IIEds

AI - o
:S -~~o Ilg(t)IIEa (1- (A + t)l-o )(1- c)
for every t, 0 :S t :S wand A, A> o. Now let us estimate
using estimate (8.11), we can obtain

h. By Lemma 8.1.3 and

IlhilE :S AIOJ
IIAexp {A+t-S
2
A}IIE>-+E
t

o
x IIA-I[Aexp{ -

A+t-S
2

A}B(s) - B(s)Aexp{ -

A+t-S
2

A}]g(s - w)IIEds

:S AI - oe(l + a)MHo M{+(1 + 2MI )(1 + M I )I-02(2-0)0


x

IIA-I(AB(s) - B(s)A)A- I II E>-+E2 2 - O llg(s - w)IIE a ds


io
(A + t - s)2-o na 2(1 - a)

:S max IIA-I(AB(s) - B(s)A)A-IIIE>-+E


o<s<w

400

Chapter 8. Appendix: Delay Parabolic Differential Equations

r e(l + o:)Ml+a M l+a (1 +


t

Jo

(A + t -

2M1 )(1

+ M 1 )I- a 2(2-a)a2 2- a ds

s)2-a1r0: 2 (1

- 0:)

.V-a

_~:s~~)lg(t)IIEa ~ -~:s~~o IIg(t)IIEa(1- (A + tF-a) E

for every t, 0

wand A, A > O. Using the triangle inequality, we obtain that

for every t, 0

wand A, A> O. This shows that

for every t, 0 ~ t ~ w. In a similar manner with Theorem 8.1 applying mathematical induction, one can easily show that it is true for every t. This result completes
the proof of Theorem 8.1.4.

8.2

The Difference Schemes

Using the first and second order of accuracy implicit difference schemes for differential equations without delay, we have the following difference schemes for
approximate solutions of the initial-value problem (8.1)

~(Uk - Uk-I) + AUk = BkUk-N, Bk = B(tk),


tk = kT, 1 :s; k, NT = W,
{
Uk = g(h),tk = kT,-N ~ k ~ 0,

~(Uk - Uk-I) + (A + ~TA2)Uk = ~(I + ~A)Bk(Uk-N + Uk-N-l),


{ B k = B(tk - ~),tk = h,l ~ k,Uk = g(tk),tk = h,-N ~ k:S; 0.

(8.13)

(8.14)

Theorem 8.2.1. Assume that all conditions of Theorem 8.1.1 are satisfied. Then
for the solution of difference scheme (8.13) the estimate
(8.15)

holds for any k 2 1.


Proof. Let us consider 1 ~ k

N. In this case
k

Uk = Rkg(O)

+L

R k-j+l Bjg(tj-N )T,

)=1

where R

= (1 + TA)-l. Using the formula

J
00

(1 +TA)-k

= (k ~ I)!

tk-1exp(-t)exp(-TtA)dt,k 2 1,

(8.16)

401

8.2. The Difference Schemes

condition (8.5) and estimate (8.6), we obtain


1
a
,X1- IIAexp{ -'xA}ukIlE ::; ,Xl-a (k _ 1)!

1
1
00

t k- 1 exp( -t)IIAexp{ -(Tt + 'x)A}g(O)IIEdt

00

1 a '"

~ T (k _ j)!

+,X -

)=1

k .
(Tt + 'x)A }
1
t -) exp( -t)IIAexp{ 2
IIE>-+EiIBj A- IIE>-+E

+ 'x)A

(Tt

IIAexp{ -

}g(tj-N)IIEdt

00

::;,X

I-a

1
(k -1)!

o
+,X

1- a ~
1
M2 2- a ~ T (k _ j)!

I-a

)=1

::; J

dt
exp(-t) (tT + ,X)l-a IIg(O) liE"

k-1

1
00

M2

k-j

2 a
- dt

exp( -t) (tT + ,X)2-a Ilg(tj-N )IIE"

IIg(tk)IIE",

max

-N95,O

where

J
00

I-a

J = ,X

(k _ 1)!

k-1

)
dt
exp( -t (tT + ,X)l-a

J
00

1-a( 1 - a ) '~
" T (k _1 j)!
+,X
)=1

k-j

()
dt
exp -t (tT + A)2-a .

We shall calculate J. Making the substitution k- j = m and using Taylor's formula


and integration by parts, we obtain that

J
00

J=A

I-a

1
(k-1)!

k-1

()
dt
exp-t(tT+'x)l-a

00

I-a

=A

1
(k _ 1)!

00

+,X

I-a

(1 - a)

exp(t)[l -

it
a

k-1

(
dt
exp -t) (tT + ,X)l-a

~k-1 exp( -~)~


dt
(k _ 1)!
] exp( -t) (tT + A)2-a

402

Chapter 8. Appendix: Delay Parabolic Differential Equations

J
00

I-a

= A

1
(k _ 1)!

k-l

exp( -t) (tT

dt

+ A)l-a + 1

00

-A

I-a

(k _ 1)!

k-l

exp( -t) (tT

dt

+ A)l-a

= 1.

Therefore,
for every k, 1 :s: k

:s:

N and A, A > O. This shows that

(8.17)
for every k,l :s: k :s: N. Applying mathematical induction, one can easily show
that it is true for every k. Namely, assume that estimate (8.15) is true for the
k, (n - l)N :s: k :s: nN, for somen = 1,2,3, .... Letting k = m + nN, we have
1
-(um - Um -l)
T

+ AUm =

Bm+nNUm-N, 1 :s: m

:s: N.

Using estimate (8.16), we obtain

for every k, nN

:s: k :s: (n + l)N, n = 1,2,3, ... , and A, A> O.

for every k, nN :s: k


of Theorem 8.2.1.

:s: (n + l)N, n =

This shows that

1,2,3, .... This result completes the proof

Theorem 8.2.2. Assume that all conditions of Theorem 8.1.4 are satisfied. Then
for the solution of the difference scheme (3.13) the estimate (8.15) holds for any
k 2: 1.

Proof. Let us consider 1 :s: k

:s: N.

Using the formula (8.16 ), we can write

J
00

AI-a Aexp{ -AA}Uk = AI-a (k

~ 1)!

t k- 1 exp( -t)Aexp( -(Tt + A)A)g(O)dt

+A

00

a "L....t T (k _1 j)! J tk-)


' ex p (-t)ex p(--2Tt+A A }Bj A
)=1

8.2. The Difference Schemes

403

Tt + >.
x exp( --2-A}g(tj-N )dt

11

00

+>.1-0 ~
LJ T (k _ j)!

J=l

Tt

Tt + >.
t k -J" exp(-t)Aexp( --2-A}A-1

+ >.

Tt

+ >.

x [exp(--2-A}ABj - B j Aex p{--2- A }]g(tj-N)dt

= T 1 +T2 +T3 .

Using estimates (8.2), (8.10) and assumption (8.12), we obtain

1
00

IIT111E :::; >.1-0 (k

~ 1)!

exp( -t)IIAexp{ -(Tt + >')A}g(O)IIEdt

1"
00

IIT21lE :::; >.1-0 LJ T (k _ j)!

k J
-

Tt+ >.
exp( -t)IIAexp{ - - 2-A}IIE->E

J=l

1
Tt + >.
x IIBjA- IIE->EIIAexp{ --2-A}g(tj-N )IIEdt

1
J

>.1-0(1- Q)(l- E) k
1
:::;
M2 2- 0
LT (k _ j)!

00

M2 2 - O dt
J exp( -t) (tT + >')2-0 Ilg(tj-N )IIE o

k-"

J=l

oo

<
- >.1-0(1- Q)(l- E) ~
LJ T (k
1
J=

1
- )

")'"

"

dt

t k - J exp( -t) (tT + >')2

-0

max

-Ns;k~O

Ilg(tk)IIE o

for every k, 1 :::; k :::; Nand >., >. > O. Now let us estimate T 3 . By Lemma 8.1.3
and using estimate (8.11), we can obtain
k

IIT3 11E :::; >.1-0 ~


LJ T (k _1 j)!

Jk"
Tt+>'
t
exp(-t)IIAexp{ --2-A}IIE->E
00

-J

J=l

1
Tt + >.
Tt + >.
x IIA- [Aexp{ --2-A}Bj - BjAexp{ --2-A}]g(tj-N )IIEdt
k
1
:::; >.1-0 max IIA-1(ABj - B j A)A- 11IE->E ~ T (k
')'
15,k5,N
LJ
- ) .
1
J=

"
1
00

tk-J exp(-t)

e(l

+ Q)M

M H0 (1 + 2M )(1
1
1
1rQ2(1 - Q)

+ M 1)1- 0 2(2-0)0 M2 2 - dt
(tT + >.)2-0
O

Chapter 8. Appendix: Delay Parabolic Differential Equations

404

(1 - a) E l:
k

1 a

::; A -

"1

J
00

J=

(k 1 ")'
- J .

"
-J exp( -t)

dt\)2
(
tT + 1\ -a

max

-N9~O

Ilg(tk) liE

0<

for every k, 1 ::; k ::; N and A, A > O. Using the triangle inequality, we obtain that

for every k, 1 ::; k ::; N and A, A> O.This shows that

for every k, 1 ::; k ::; N. In a similar manner with Theorem 8.2.1 applying mathematical induction, one can easily show that it is true for every k. This result
completes the proof of Theorem 8.2.2.
Now we consider the difference scheme (8.14). We have not been able to
obtain the same result for solution of the difference scheme (8.13) in the spaces
E a under the assumption for the difference scheme (8.13). Nevertheless, we have
asymptotic stability of the solution of the difference scheme under the supplementary restriction of the operator A. From the strong positivity of the operator A it
follows that there exists the bounded operator
whole space E.

(1 + TA + (T~)2 )-1, defined on the

Theorem 8.2.3. Let condition (8.5) be satisfied. Suppose that the following estimates hold:
(TA?

11(1 + TA)(1 + TA + -2-)-11I E.. . E <


TA

(TA)2

11(1 +"2)(1 + TA)(I + TA + -2-)-11IE.. . . E <


and

II B(t)A- 1 11 E ...... E -<

1,

1 + V2
2

(I-a)
t2:0.
M21-a(1 + V2) ,

(8.18)

(8.19)

Then for the solution of difference scheme (8.14) estimate (8.15) holds for any
k 2: 1.
Proof. Let us consider 1 ::; k ::; N. In this case

Uk = R kg(O)

TA )Bj(g(tj-N
+ ""'
~ R k-J+1 (1 + "2

+ g(tj-N-r))T,

(8.20)

j=l

where R = (I + TA + (T~)2)_1. Using formula (8.16) and estimates (8.2) and


assumptions (8.18) and (8.19), we obtain

405

8.2. The Difference Schemes


00

~ I)! J

XA - a (k
1

k 1
t - exp( -t)IIAexp{ -(Tt + A)A}g(O)IIEdt

00

Jk
Tt+A
1
t -J exp(-t)IIAexp{ - - 2 - A}IIE-.eII B j A- IIE-.E
o
Tt + A 1
x IIAexp{ --2-A}"2(g(tj-N) + g(tj-N-d)IIEdt

x (k _ j)!

J
00

:S

AI-a

1
(k _ I)!

L
k

T (k _ j)!

k-l

JOO

()
dt
II (0) I
(1 + /2)
1- a
exp -t (tT + Ap-a 9 I Eo +
2
M2 1- a(1 +

/2)

M2 2 - a dt 1
t -J exp( -t) (tT + A)2-a 1\ "2(g(tj-N ) + g(t j -N-d)I\Eo
k

J=1

:S J max I\g(tk)IIE,
-N5,k5,O

where

J
00

I-a

J = A

1
(k _ I)!

k-l

o
k

\ l-a(

+A

) '"'
1
1 - a ~ T (k _ j)!
J-l

exp( -t) (tT

dt

+ Ap-a

00

k-j

()

dt

exp -t (tT + A)2-a'

Therefore
for every k, 1 :S k :S N and A, A> O. This shows that

for every k,l :S k :S N. In a similar manner as with Theorem 8.2.1 applying


mathematical induction, one can easily show that it is true for every k. This result
completes the proof of Theorem 8.2.3.
Now, we consider the difference scheme (8.14) when
(8.21 )

Chapter 8. Appendix: Delay Parabolic Differential Equations

406

for some t 2 o. Suppose that operator B(t)A- 1 - A-I B(t), with domain which
coincides with D(A), admits a closure B(t)A-l - A-I B(t) bounded in E and that
the following estimate

IIA-l(AB(t) - B(t)A)A- 1 1IEr-;E

holds for every t 2 0 and some

E E

7[(1-0)2 0 2(1+0)-1
eM1+aM;+a
X
(1+V2)-1c:
(1+MIl1-a22+a-a2

::;

(8.22)

[0,1].

Theorem8.2.4. Let assumptions (8.18), (8.19) and (8.22) be satisfied. Suppose that
the estimate
(8.23)

holds for every t 2 o. Then for the solution of difference scheme (8.14) estimate
(8.15) holds for any k 2 1.
Proof. Let us consider 1 ::; k ::; N. Using formula (8.16), we obtain

~ I)!

ex>

XA

(k

t k- exp( -t)Aexp{ -(Tt + A)A}g(O)dt

ex>

(k - j)!

xAexp{ +A 1-

t k-J. exp( -t) exp{- (Tt+A)A }B


2

(Tt+A)A 1
2
}"2(g(tj-N) + g(tj-N-d)dt

k
(TA)2
TA
(TA)2
LT((I +TA)(I +TA+ _ _ )-I)k- j (I + -)(1 +TA)(I +TA+ _ _ )-1
j=1

ex>

x [exp{-

(Tt

(k - J)!

+ A)A
2

1 .

.
(Tt+A)A }A- 1
t k-Jexp(-t)Aexp{2

}ABj-BjAexp{= PI

(Tt

+ A)A
2

+ P2 + P3

}]"2(9(tj-N)+9(tj-N-l))dt

407

8.2. The Difference Schemes

Using estimates (8.2), (8.22) and assumptions (8.18), (8.19), (8.23), we obtain

(TA)2
11P111E:S 11((1 +TA)(1 +TA+ -2-)-1)kII E>->E
1 a
XA - (k

11P211E

x (k _ j)!

00

~ 1)!

k 1
t - exp( -t)IIAexp( -(Tt + A)A)g(O)IIEdt

:s A1- a I>II(I + TA)(I + TA +


j=l

T
(

A)2

j
)-l)k- IIE>->E

J00

k(Tt+A)A-t J exp( -t)IIAexp{ 2


}IIE--+EIIA-1 BjllE--+ E

(Tt + A)A 1
2
}2(g(tj-N)

x IIAexp{ -

(1

+ g(tj-N-1))IIEdt

+ J2) A1 - a (1- a)(l - 10)


2
M2 1- a (1 + J2)

< -'--------'- ----'-----'--'-----=~


-

LT (k _ j)!
J=l

/00

t -J

M2 2 - a dt 1
exp( -t) (tT + A)2-a II "2 (g(tj-N ) + g(tj-N-l))IIE"

k
1
:S(l-a)(l-)LT(k
.)1
. 1
J=

J .

/00
0

k .
A1-adt
t-Jexp(-t)(
\)2
tT + A -a

max IIg(tk)IIE

-N~k~O

"

for every k,l :s k :s N and A, A > O. Now let us estimate P3. By Lemma 8.1.3
and using estimate (8.11), we obtain
11P311E

:s A1- a z= Til (I + TA)(I + TA + T


k

j=l

00

A)2

)-l)k- j II E>->E

1
/ k .
(Tt + A)A
X(k_j)!
t -Jexp(-t)IIAexp{2
}IIE--+E
o

408

Chapter 8. Appendix: Delay Parabolic Differential Equations

x IIA- 1 [Aexp{ -

x exp{ -

(Tt

>.1-0(1 +}2)
2

+ >')A

-1

15,J5,N

~ >. 10
- (1 - a)f

~ >')A }Bj

}]2(9(tj-N)

max IIA

(Tt

- BjA

+ g(tj-N-l))II Edt

(AB j - BjA)A

Jk'
t
exp( -t) (

-1

L
k

IIE->E

. 1
J=

(k

1
-

')'
J .

00

. 1

(k 1 ')'

J .

J=

-J

tT

dt

+ >.)2

-0

max

-N5,k5,O

Ilg(tk)IIE"

for every k, 1 ~ k

N and A, >. > O. Using the triangle inequality, we obtain that

for every k, 1 ~ k

N and A, >. > O. This shows that

for every k, 1 ~ k ~ N. In a similar manner as with Theorem 8.2.1 applying


mathematical induction, one can easily show that it is true for every k. This result
completes the proof of Theorem 8.2.4.
In applications, we consider the initial-value problem on the range {O ~ t ~ 1,
x = (Xl,""X n) E IRn,r = (rl, ... ,rn)} for 2m-order multidimensional delay
differential equations of parabolic type,
au(t,x)
at

+ '"
u

Irl=2m

()

a1r1u(t,x)

aT x ax'I ... axrn


I

()(
' " a ()a1r1u(t-w,x)
-_ b
tu
r x a rl ... a rn
n

Irl=2m

u(t,x)

XI

= g(t,x), -w ~ t

+ uU,X
>: (t
)

>: ( ) )
+ uU
t - w, x ,0 < t < 00, x E IRn ,

(8.24)

O,x E IRn, I r

1= rl + ... + r n

where ar(x), b(t), g(t, x) are given sufficiently smooth functions and fJ > 0 is the
sufficiently large number. We will assume that the symbol [~ = (6, ... , ~n) E IRn],
AH~)

Ir l=2m

ar(x) (i~drl ... (i~nrn

409

8.2. The Difference Schemes


of the differential operator of the form

(8.25)
acting on functions defined on the space IR n , satisfies the inequalities

o < Mll~12m ~ (-l)mAf(~) ~ M21~12m < 00


2. Problem (8.24) has a unique smooth
for ~ i= 0, where 1~ 1= JI61 2+ ... + I~n 1
solution. This allows us to reduce the initial-value problem (8.24) to the initialvalue problem (8.1) in a Banach space E with a strongly positive operator AX =
Ai + M defined by (8.25). Let us give a number of corollaries of the abstract
Theorems 8.1.1 and 8.2.1.
Theorem 8.2.5. Assume that

1-a

sup Ib(t)1 ~ M2 2 - Ct '


O~t<oo
Then the solutions of the initial-value problem (8.24) satisfy the stability estimates

where M 2 (a) does not depend on g(t,x). Here CE(IRn) is the space of functions
satisfying a Holder condition with the indicator E (0,1).

The proof of theorem 8.2.5 is based on the estimate

and on the abstract Theorem 8.1.1, on the strong positivity of the operator AX in
c13(IRn), and on equivalence of the norms in the spaces E Ct = ECt(C(IRn), AX) and
C 2mCt(lR n ) when 0 < a < 2~ (see Chapter 4).
Let us define the grid space IRh(O < h ~ h o) as the set of all points of the
Euclidean space Rn whose coordinates are given by
Xi

= Sih, Si = 0, 1, 2, ... , i = 1, ... , n.

To the differential operator AX =


operator A h by the formula

Ai +M defined by (8.25) we assign the difference

Ahuh(x) =

2:

b~(x)Dhuh(x)

2m~lrl~S

of an arbitrary high order of accuracy that approximates this multidimensional


elliptic operator A X which acts on functions u~ defined on the entire space lR h. We

Chapter 8. Appendix: Delay Parabolic Differential Equations

410

shall assume that for


the inequalities

I~khl

::;

7r

the symbol

AX(~h,

h) of the operator A h satisfies

With the help of A h we arrive at the initial-value problem

(Uh(t, x))' + Ahuh(t, x) = b(t)Ahuh(t - w, x), t ::::: 0, x E lR. h,


uh(t, x) = gh(t, x) = g(t, x)( -w ::; t ::; 0), x E lR. h,

(8.26)

for an infinite system of ordinary differential equations. Now, we replace problem


(8.26) by the first-order of accuracy in t difference scheme

~(uZ(x) - uLl (x)) + AhuZ(x) = b(tk)AhuLN(x),


tk = kT, 1::; k,NT = W,X E IR. h,
{
uZ(x) = gh(ik, x), tk = kT, -N ::; k ::; O,x E IR. h.

(8.27)

Theorem 8.2.6. Assume that all the conditions of Theorem 8.2.5 are satisfied. Then
for the solution of difference scheme (8.27) the estimate

holds.
The proof of Theorem 8.2.6 is based on the estimate

and on the abstract Theorem 8.2.1, the positivity of the operator A h in C(IR. h),
and on the fact that the Eo: = Eo:(C(IR. h), Ah)-norms are equivalent to the norms
C 2mo:(IR.h) uniformly in h for 0 < Q < 2~ (see Chapter 4).

Comments on the Literature


Chapters 1 and 2
The material in Chapter 1 and Chapter 2 was written on the basis of lecture notes
that were used in a graduate course at Fatih University.

Chapter 3
Chapter 3 is based on the paper [35q].

Chapter 4
The role played by coercive inequalities in the study of boundary-value problems
for elliptic and parabolic partial differential equations is well known (see, e.g., [4a,
6a-b, 107a, 108a, 174a]).
Coercivity inequalities for the solutions of an abstract differential equation of
parabolic type were established for the first time in [154a]. The Cauchy problem
for such an equation was considered in various spaces F(E) of functions defined
on the segment [0, T] with values in a Banach space E, and it was established
that a necessary condition for coercivity is the strong positivity of the operator
coefficients A(t). This condition is also sufficient in the spaces C~'CE). In the
case of the spaces Lp(E) with P E (1,00) the following extrapolation result was
established: for the Cauchy problem to be coercive in Lp(E) for all such p it suffices
that it be coercive for some Po E (1,00).
As noted above, in contrast with Lp(E), in the spaces C~'CE) an unconditional coercivity inequality holds, and in connection with this there arises the
question of whether the same is valid for the ordinary Holder space CCE). In [16u]
it was shown that the coercivity inequality in CCE) holds under the additional
assumption that A(O)vo - f (0) E Ec<,
The coercivity inequality was established in the two-parameter series of
spaces C~'''! (E) with 0 < {3 < 1,0 :::; "( :::; {3, under the additional assumption
that A(O)vo - f (0) E E{3_"!' Furthermore the spaces of smooth functions C~'''! (E),
in which coercive solvability has been established, depend on the parameters {3 and
"(. However, the constants in the coercive inequalities depend only on {3. Hence, we
can choose the parameter {3 freely, which increases the number of function spaces

412

Comments on the Literature

in which problem (4.1) is well posed. Moreover the coercivity inequality was established in the three-parameter series of spaces Cg,'Y(Eo_l3) with 0 < a < 1,
o ~ 'Y ~ f3 ~ a, under the additional assumption that A(O)vo - f (0) E Eo-'Y'
Furthermore the spaces of smooth functions Cg,'Y(Eo_I3), in which coercive solvability has been established, depend on the parameters a, f3 and 'Y. However, the
constants in the coercive inequalities depend only on a. Hence, we can choose the
parameters f3 and 'Y freely, which increases the number of function spaces in which
problem (4.1) is well posed [16h, 351, 94a].
Earlier an unconditional coercivity inequality was established in the spaces
W;(E) with 1 ~ p < 00, 0 < a < 1 [lIa, 89a], as well as in the spaces Lp(Eo,p)
with 0 < a < 1, 1 ~ p ~ 00 [154g, 69a-b, 35d, 135a].
Finally, let us mention the paper [64a], in which an unconditional coercivity
inequality in Lp(E) was established under the assumption that the imaginary
powers A i l3 are bounded (in some restrictions of the space E).
The application of this result to parabolic partial differential equations allowed one to obtain a series of new coercivity inequalities involving different norms
with respect to t and the space variables.
In this book we do not discuss results on the well-posedness of the nonlocal
boundary-value problems for parabolic and parabolic-elliptic equations, for which
the reader is referred to the papers [16t, 23a-b, 24a, 31b, 36c].
The material in Section 1 was written on the basis of the papers [106a, 154a,
154g, 154m, 16u, 16h, 351, 94a, 69a-b, 35d, 135a, 162~.
The construction of the discretization with respect to time for parabolic equations was initiated in Rothe's paper [133a]. When the study of the discretization
with respect to t for the abstract Cauchy problem is applied to parabolic partial
differential equations, it also covers the case of the full discretization with respect
to time and space variables.
To prove stability, in a number of works (see [la, 3a, 1I4a, 1I5a, 139a,
140a, 141a, 142a, 171a-b] and the references given therein) difference schemes
were treated as operator equations in a Hilbert space, and the investigation was
based on the symmetry properties of operator coefficients. This led to Lz-stability
estimates.
Of great interest is the study of stability in the C-norm. In [lOa, 12a, 76a,
144a-d, 163a-b, 177a] the corresponding estimates were obtained for the simplest
difference schemes approximating the Cauchy problem for parabolic equations and
systems with constant coefficients and one space variable. The proof is based on
estimates of parabolic difference Green function (fundamental solutions). In the
case of parabolic equations with variable coefficient and more than one space
variable, stability in the C-norm is known to hold only for difference schemes that
satisfy a maximum principle (see [1I5a, 141a]).
An important type of stability is the coercive stability (well-posedness) of
difference schemes. There are no coercive estimates in the C-norm, because they
do not hold for the corresponding differential equations. The coercive stability

Comments on the Literature

413

of difference schemes of first order of accuracy was apparently studied for the
first time in [158a, 158b] for the first boundary-value problem for second-order
parabolic equations in 2. A more general sharp-angle inequality for parabolic
difference operators was established. Then followed the works [lOa, 65a, 87a, 99a,
158b, 158c], where coercive inequalities in the L 2 - and Lp-norms were given. In
[154d] difference schemes are treated as operator equations in Banach spaces. In
a Banach space there is no notion of symmetry and for this reason the study of
stability relies on the positivity property of the operator coefficients, expressed
in terms of properties of their resolvents. In this way in [154d] coercive estimates
were established in difference analogues of Holder spaces with weight with respect
to the time variable. Enlisting the theory of positive operators turned out to be
effective in the investigation of such difference schemes in difference analogues
of Bochner spaces (see [127a, 127b]). The coercivity inequality in the difference
analogue of the Bochner spaces L p ( T, E) holds for any P E (1,00) whenever it
holds for at least one Po E (1,00), i.e., here we have a result analogous to that in
the differential case [154a].
An unconditional coercivity inequality in the spaces Lq(T, E~,q) (0 < a <
1, 1 ~ q ~ (0) was obtained in [35d, 35e]. One is led to asking whether a coercivity inequality holds for the Rothe difference scheme in the difference analogue
of the usual Holder space COt (T, E). The answer turns out to be affirmative under
the additional restrictions A(O)uo - II E E~. This result is a particular case of the
assertion that the difference problem is coercive in the two-parameter family of Banach spaces Ct'l(E) with 0 < (3 < 1, 0 ~ 'Y ~ (3, under the additional assumption
that A(O)uo - II E E~_". Furthermore the spaces
(T, E), in which coercive
solvability has been established, depend on the parameters (3 and "f. However, the
constants in the coercive inequalities depend only on (3. Hence, we can choose the
parameter (3 freely, which increases the number of spaces in which a Rothe difference scheme for problem (4.1) is well posed. Moreover the coercivity inequality was
established in the three-parameter series of spaces Cg'''(T, E Ot -(3) with 0 < a < 1,
o ~ 'Y ~ (3 ~ a, under the additional assumption that A(O)uo - II E E~_".
Furthermore the spaces Cg'''(T, E~_(3)' in which coercive solvability has been established, depend on the parameters a, (3 and 'Y. However, the constants in the
coercive inequalities depend only on a. Hence, we can choose the parameters (3
and 'Y freely, which increases the number of spaces in which a Rothe difference
scheme for problem (4.1) is well posed [16h, 351, 94a].

cg,"

The utilization of Pade approximants for computational purposes has a long


history. The approximants R1,1(Z) and R2,2(Z) were first applied by Euler to calculate the scalar exponential. The fact that these approximants are attributed to
Pade is based on his 1892 dissertation, in which he studied and tabulated them.
In recent years we have seen a sharp rise in the interest in classical methods of rational approximation of analytical functions, primarily in Pade approximants and
their application to physics and engineering problems. For a detailed exposition
of these investigation we refer the reader to [43a].

Comments on the Literature

414

Apparently the first study that uses rational approximation of exp{ - 7 A} in


the case of a positive (unbounded) self-adjoint operator A was carried out in the
paper [171a], which deals with approximation on the positive half-line.
That study was continued by a number of authors [58a, 139a, 171b]. In applications to problems of mathematical physics this resulted in stability and convergence estimates for difference schemes in 2'
The application of the approximants Rj,l (7 A) in the construction of difference
schemes in the case of an unbounded strongly positive operator A acting in an
arbitrary Banach space E has been systematically developed by several authors
(see, e.g., [7a-e, 16a-d, 16g, 16p, 16r, 32a, 35a-b, 35e-h, 351-m, 37a, 54a, 55a, 56a,
60a, 77a, 81a-b, 91a-c, 95a, 97a, 124b, 127c-e, 130a, 154d~f, 154i, 155a-b, 85a,
104a, 125a, 173a]). In [161, 54a, 95a] difference schemes were studied for a class of
operators that generate not only analytic, but also strongly continuous semigroups.
Most of the results of the stability and coercive stability in the Banach spaces of
the single-step difference schemes of a high order of accuracy generated by RJ,1 (7 A)
for parabolic equations were considered in the book [351]. The application of these
results to the initial-value problem for parabolic equations allowed one to obtain
a series of new coercivity inequalities in difference analogies of various norms with
respect to t and x for the solutions of difference schemes of a high order of accuracy
in time and space variables.
However, the theory of a high order of accuracy single-step difference schemes
for parabolic differential equations with variable operator coefficients have received
less attention than parabolic differential equations with coefficients independent
of time. Most of the results of the stability and coercive stability in the Banach
spaces of the single-step difference schemes of the first and second order of accuracy generated by the Pade approximants for first-order differential equations in
the case of an unbounded strongly positive operators A(t) acting in an arbitrary
Banach space E were obtained in the papers [16e, 35c, 126a, 154i-j, 161a]. The
application of Pade approximants for parabolic equations with variable operator
coefficients A(t) was continued by a number of authors [143a-b, 178a]. The difference schemes of the third, fourth and fifth order of accuracy were constructed and
investigated. In applications to problems of mathematical physics this resulted
in stability and convergence estimates for difference schemes in 2. In [42a, 49a,
lOOa, 143a] Runge-Kutta difference schemes were studied for parabolic equations
with variable operator coefficients A(t).
The application of the Pade approximants to the Cauchy problem for parabolic equations with variable operator coefficients A(t) acting in an arbitrary Banach space E relies on the approximate formulas for expressions

I1

tk

V(tk, tk-d and -:;

V(tk, s)f(s)ds.

tk-l

Unfortunately, in the general case of operators A(t) the explicit formula for
V(tk, tk-d does not exist. Therefore, in this case we cannot use approaches of the

Comments on the Literature

415

construction of Pade difference schemes for parabolic equations with coefficients


independent of time.
The single-step difference schemes of a high order of accuracy generated by
an exact difference scheme for parabolic equations with variable operator coefficients A(t) acting in an arbitrary Banach space E were presented for the first time
in [35j]. They were based on a series of interesting properties concerning the semigroup exp{ -sA(t)} (s 2': 0) and the fundamental solution v(t, s) of (4.1). These
properties and series of interesting estimates for Rj,zCr A(tk)) and u(k, m) permit
us to study the stability and the coercive stability of presented difference schemes.
That study was continued in [160, 16q]. Furthermore the high order of accuracy
difference schemes generated by Taylor's decomposition on two points for the approximate solutions of the Cauchy problem for parabolic equations with variable
operator coefficients A(t) acting in an arbitrary Banach space E were presented.
The well-posedness of these difference schemes in various Banach spaces were studied. The stability and coercive stability estimates in Banach norms for solutions of
high order of accuracy difference schemes of mixed type boundary-value problems
for parabolic equations were obtained.
The study of high order of accuracy difference schemes in the case of strongly
positive operators A(t) allowed us to establish not only the stability, but also
the coercive stability in difference analogues of Banach spaces. The application
of these abstract results to mixed type boundary-value problems for parabolic
equations relies on the following facts: the strong positivity of an elliptic difference
operator A~x in the Banach space Eh, the well-posedness of the resolvent equation
of A~x in E h or in E~,p(Eh, A~X), 1 ::; P ::; 00, the structure of fractional spaces
E~,p(Eh, A~X).
The strong positivity of the wider class of differential operators has been
studied by a number of authors [4a, 5a, 89b, lOla, l03a, l54c, l54k, l59a-b,
l60a-b].
The strong positivity of elliptic difference operators in Hilbert norms was
studied in many works (see, e.g., [1l4a, 140a, 141a]). Such a study is based on the
self-adjointness and positive definiteness of the principal part of the operators A~x.
Considerably less studied is the strong positivity or simple positivity of difference operators in Banach norms. For second-order elliptic operators and the
simplest difference scheme, positivity in the Ch-norm follows from the maximum
principle (see [140a, 144a-b]).
The strong positivity in difference analogue of weighted Holder space for an
elliptic difference operator A~x of second order of accuracy that approximates an
elliptic operator without mixed derivatives was established in [154d].
The strong positivity of the simplest multidimensional second-order elliptic
difference operator in the Lp,h- and Ch-norms was established in [7a-c]. The most
thorough study of the strong positivity in the Ch-and C~ -norms of a wide class of
operators that approximate elliptic operators of arbitrary order in Rn was carried
out in [35e, l52a-d]. The situation is different for difference operators that ap-

416

Comments on the Literature

proximate boundary-value problems for an elliptic equation. The positivity in the


Ch - and
-norms of difference operators of this type was studied in a number of
particular cases [7a, 28a, 28c, 61a-c].
For the well-posedness of the resolvent equation of A~x in E h or in

Ce

E~,p(Eh, A~X), 1 ~ P ~ 00

we refer the reader to Chapter 5 of the present work.


Finally, let us comment on the structure of fractional spaces. It is established that for any 0 < Q < 112m and 1 ~ P ~ 00 the norms in the spaces
E~,p(Lp(R'hJ, A~X) and WgmQ(R'h) are equivalent uniformly in h. This fact corresponds to the following equality, known in interpolation theory (see [166a]):
E~,p(Lp(Rn), A~X) = w;mQ(R n ), 0

< Q < 112m, 1 ~ P ~ 00,

which in turn follows from the equality D(At,X) = wgmQ(Rn) for a 2mth-order
elliptic operator At,x in Lp(Rn), 1 ~ P ~ 00, via the real interpolation method.
The alternative method of investigation adopted in [160, 351], based on estimates
of fundamental solutions of the resolvent equation for the operator A~x, allows us
to consider also the cases P = 1 and P = 00.
This book does not touch upon the results of [19a, 26a, 27a, 36a-b, 36d, 29a,
44a-c] on the theory of the single-step difference schemes for nonlocal boundaryvalue problems.
Section 2 is based on the papers [160, 35j]. The results of Theorems 4.25-4.32
and 4.40-4.45 and the difference schemes (4.114), (4.115), (4.16) appear here for
the first time.
Section 3 is based on the paper [160]. The results of Theorems 4.59-4.62
appear here for the first time.

Chapter 5
Coercivity inequalities for the solutions of an abstract differential equation of elliptic type were established for the first time in [154c]. The boundary-value problem
for such an equation was considered in various spaces F(E) of functions defined
on the segment [0, T] with values in a Banach space E, and it was established that
a necessary condition for coercivity is the positivity of the operator coefficient A.
This condition is also sufficient in the spaces C~TQ(E). In the case of the spaces
Lp(E) with p E (1,00) the following extrapolation result was established: for the
boundary-value problem to be coercive in Lp(E) for all such p it suffices that it
be coercive for some Po E (1, 00).
As noted above, in contrast to Lp(E), in the spaces Cg+Q(E) an unconditional
coercivity inequality holds, and in connection with this there arises the question
of whether the same is valid for the ordinary Holder space CQ(E). In [16j] it
was shown that the coercivity inequality in CQ(E) holds under the additional
assumptions that Avo - f (0) E E and AVT - f (T) E E
Q

Comments on the Literature

417

The coercivity inequality was established in the two-parameter series of


spaces cgp(E) with 0 < (3 < 1,0 :S 'Y :S (3, under the additional assumptions
that Avo - f (0) E E/3-'Y and AVy - f (T) E E/3-T Furthermore the spaces
of smooth functions cgp (E), in which coercive solvability has been established,
depend on the parameters (3 and 'Y. However, the constants in the coercive inequalities depend only on (3. Hence, we can choose the parameter (3 freely, which
increases the number of function spaces in which problem (5.1) is well posed.
Moreover the coercivity inequality was established in the three-parameter series
of spaces Cgp(Ea - f3 ) with 0 < a < 1, 0 :S 'Y :S (3 :S a, under the additional
assumptions that Avo - f (0) E Ea-'Y and AVT - f (T) E Ea-'Y' Furthermore
the spaces of smooth functions cgp(Ea -/3), in which coercive solvability has been
established, depend on the parameters a, (3 and "(. However, the constants in the
coercive inequalities depend only on a. Hence, we can choose the parameters (3
and 'Y freely, which increases the number of function spaces in which problem (5.1)
is well posed [16j, 160].
Earlier an unconditional coercivity inequality was established in the spaces
Lp(Ea,p) with 0 < a < 1, 1 :S P :S 00 [89b].
The application of this result to elliptic partial differential equations allowed
one to obtain a series of new coercivity inequalities involving different norms with
respect to all variables.
In this book we do not discuss results on the well-posedness of the local and
nonlocal boundary-value problems for elliptic equations, for which the reader is
referred to the papers [9a, 16w, 21a-b, 28d, 34a, 84a-b, 86a, 145a-c, 148a].
The material in Section 1 was written on the basis of the papers [16j, 160,
154c, 154m, 89b].
The coercive stability of difference schemes of the second order of accuracy
was apparently studied for the first time in [120a] for the first boundary-value problem for second-order elliptic equations in L 2 . Then followed the works [12a, 169a,
170a, 66a-d, 179a, 134a, 158a-e, 78a-b, 117a, 118a-b], where coercive inequalities
in the L 2 - and Lp-norms were given. In [154d] difference schemes are treated as
operator equations in Banach spaces with the positive operator coefficient. In this
way coercive estimates were established in difference analogues of Holder spaces
with weight with respect to the one space variable. Enlisting the theory of positive
operators turned out to be effective in the investigation of such difference schemes
in difference analogues of Bochner spaces (see [127a, 127c]). The coercivity inequality in the difference analogues of the Bochner spaces Lp(r, E) holds for any
P E (1,00) whenever it holds for at least one Po E (1,00), i.e., here we have a
result analogous to that in the differential case [154c]. That study was continued
in [128a-c, 129a, 154h, 1541, 28b, 35j].
The applications of the Pade approximants in the theory of the high order
of accuracy two-step difference schemes for elliptic differential equations have received less attention than parabolic differential equations. The two-step difference
schemes of a high order of accuracy generated by an exact difference scheme for

418

Comments on the Literature

elliptic equations with the operator coefficient A acting in an arbitrary Banach


space E were presented for the first time in [16j]. The series of interesting estimates for R;,l (T A ~) permit us to study the stability and the coercive stability of
presented difference schemes. That study was continued in [160, 16n]. Furthermore
the high order of accuracy difference schemes generated by Taylor's decomposition
on three points for the approximate solutions of the boundary-value problem for
elliptic equations with the operator coefficient A acting in an arbitrary Banach
space E were presented. The well-posedness of these difference schemes in various Banach spaces were studied. The stability and coercive stability estimates in
Banach norms for solutions of the high order of accuracy difference schemes of
mixed type boundary-value problems for elliptic equations were obtained [35k].
That study was continued in [16i, 160, 16s, 35n, 81c, 82a].
The study of the high order of accuracy difference schemes in the case of
positive operator A allowed us to establish not only the stability, but also the
coercive stability in difference analogues of Banach spaces. The application of these
abstract results to the mixed type boundary-value problems for elliptic equations
relies on the following facts: the positivity of an elliptic difference operator AI; in
the Banach space Eh' the well-posedness of the resolvent equation of AI; in E h or in
E~,p(Eh, (AI;)~), 1 S p S 00, the structure of fractional spaces E~,p(Eh, (AI;)~).
For the positivity of the wider class of differential and difference elliptic
operators we refer the reader to Chapter 4 of the present work.
Finally, let us comment on the structure of fractional spaces. It is established
that for any 0 < 0: < 1/2 and 1 S p Soothe norms in the spaces E~,p(Eh, (AI;) ~)
and E 2cx ,p(Eh, AI;) are equivalent uniformly in h. Therefore for the structure of
fractional spaces E~,p(Eh, (AI;)~) we refer the reader to Chapter 4 of the present
work.
Section 2 is based on the papers [16j, 160]. The results of Theorems 5.23-5.48,
5.32-5.46 and 5.51-5.57 appear here for the first time.
Section 3 is based on the papers [160, 16s, 35k, 35n]. The results of Theorems
5.67-5.68 and 5.70-5.73 appear here for the first time.

Chapter 6
The method of operators as a tool for investigation of the solution to hyperbolic
differential equations in Hilbert and Banach spaces, has been systematically developed by several authors (see, e.g., [2a, 75a, 85a, 104a, 125a, 154b, 156a, 173a]).
A large cycle of works on difference schemes for hyperbolic partial differential
equations (see, e.g., [16f, 124a, 124c, 124d] and the references given therein), in
which stability was established under the assumption that the magnitude of the
grid steps T and h with respect to the time and space variables are connected.
In abstract terms this means, in particular, that the condition TllAhl1 ---+ 0 when
T ---+ 0 is satisfied.

Comments on the Literature

419

Of great interest is the study of absolute stable difference schemes of a high


order of accuracy for hyperbolic partial differential equations, in which stability
was established without any assumptions in respect of the grid steps T and h.
Such type stability inequalities for solutions of the first order of accuracy difference
scheme for differential equations of hyperbolic type were established for the first
time in [157a]. The new first and second order of accuracy difference schemes
approximately solving the abstract initial-value problem for hyperbolic equations
in a Hilbert space were presented in [30a, 350]. Applying the operator approach,
stability estimates for the solution of these difference schemes were obtained. In
[16f] the high order of accuracy two-step difference schemes generated by an exact
difference scheme for the numerical solutions of this problem were presented. The
convergence and stability estimates for the solutions of these difference schemes
were established.
This book does not touch upon the results of [17a, 25a-b, 30b, 30c, 31a, 38ad, 39a] on the theory of difference schemes for nonlocal problems for hyperbolic,
hyperbolic-parabolic, hyperbolic-elliptic equations. In this book we do not discuss
results on the difference schemes of the Goursat problem for hyperbolic equations
and the Cauchy problem for systems of differential equations of first order, for
which the reader is referred to the papers [14a, 15a, 33a].
Sections 1 and 2 are based on the paper [16f]. The results of Theorems 6.4-6.9
appear here for the first time.
The results of Section 3 appear here for the first time.

Chapter 1
The role played by asymptotic methods in the study of the solution of various
problems for elliptic, parabolic and hyperbolic partial differential equations with
a small parameter in higher-order derivatives is well known (see, e.g., [75a, lOla,
104a, IlIa]).
Of great interest is the study of stability uniform difference schemes for partial
differential equations with a small parameter in higher-order derivatives (see, e.g.,
[16v, 40a, 52a, 53a, 67a, 73a-b, 96a, 98a-c, 149a, 150a, 151a, 164a]).
In Chapters 4, 5 and 6 the stability of a wide class of difference schemes
for partial differential equations was investigated. However, it can be shown that
these difference schemes for partial differential equations with a small parameter
in higher-order derivatives are not uniform in E: convergence. This is a very disappointing result and it raises the question whether there are any difference schemes
which are uniform in E: convergence.
The high order of accuracy single-step uniform difference schemes of the
approximate solutions of the Cauchy problem for the abstract parabolic differential
equations in an arbitrary Banach space E with the strongly positive operator
A and an arbitrary E: positive parameter multiplying the derivative term were
investigated in [16k] and generated by the exact single-step difference scheme,

420

Comments on the Literature

which is presented in Chapter 4. The well-posedness of these difference schemes


in various Banach spaces were studied. That study was continued in [160].
The two-step uniform difference schemes of a high order of accuracy for the
approximate solutions of the boundary-value problem for abstract elliptic differential equations in an arbitrary Banach space E with the positive operator A and an
arbitrary E: positive parameter multiplying the derivative term were investigated
in [16m] and generated by the exact two-step difference scheme, which is presented
in Chapter 5. The well-posedness of these difference schemes in various Banach
spaces was established. That study was continued in [160].
In [22a-b] the high order of accuracy two-step uniform difference schemes
generated by an exact difference scheme of the approximate solutions for differential equations of hyperbolic type with an arbitrary parameter E: on the highest
derivative were presented. The stability estimates of the solutions of these difference schemes under the assumptions

IIc(t)IIE->E :::; M, IIA~s(t)IIE->E:::; M, 0:::; t < 00


in an arbitrary Banach space E were established. These estimates for the wider
class of differential operators in Banach and Hilbert spaces have been studied by
a number of authors (see, for example, [75a, 102a, 125a] and the references given
therein).
The material in Section 1 is written on the basis of the papers [16k, 160].
The results of Theorems 7.8-7.14 appear here for the first time.
The material in Section 2 is written on the basis of the papers [16m, 160].
The results of Theorems 7.22-7.27 appear here for the first time
The material in Section 3 is written on the basis of the papers [22a-b].

Chapter 8
The operator approach for theory and numerical solutions of the initial-value problem for evolution differential equations has been studied extensively by many researches (see [8a, 41a, 50a, 51a, 57a, 68a, 70a, 71a, 72a-b, 74a, 79a,80a, 81c, 82b,
83a, 112a, 119a-c, 121a, 122a, 123a, 124e, 131a-b, 132a, 146a, 147a-b, 167a, 168a,
169a, 175a, 176a-b] and the references therein).
Methods for numerical solutions of the delay ordinary differential equations
have been studied extensively in a large cycle of works (cf., e.g., [13a, 18a, 18b, 20a,
46a, 47a, 59a, 165a, 181a] and the references therein) and developed over the last
two decades. In this literature, stability of solutions of the difference schemes of
the initial-value problems for delay ordinary differential equations was considered
under the necessary condition of stability of the differential problem. However, the
theory and numerical solutions of delay partial differential equations have received
less attention than delay ordinary differential equations.
The role played by the operator approach in the study of the solution of
various problems for delay partial differential equations is well known (see, e.g.,

Comments on the Literature

421

[35p, 62a]). In [35p] the initial-value problem for delay differential equations of
parabolic type was considered in the spaces C(Ea ) of functions defined on the
segment [0,00] with values in a Banach space Ea and the stability inequalities
were established under the stronger assumption than the necessary condition of
the stability of the differential problem. The stability estimates for the solutions of
the first and second order of accuracy difference schemes for approximately solving
this initial-value problem for delay differential equations of parabolic type were
presented. Stability estimates in Holder norms for solutions of the initial-value
problem of the delay differential and difference equations of parabolic type were
obtained.
The material in Sections 1 and 2 is written on the basis of the paper [35p].

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