On the Uniqueness of Compressible Fluid Motions

JAMES SERRIN

One qf the fundamental questions which should be answered concerning any

problem of applied mathematics is whether it is well set, that is, whether solutions
actually exist and whether they are unique. We shall be concerned here with
the initial value problem fo'r compressible-fluid flow, a n d we shall study in
particular the uniqueness of its solutions. Aft exact statement of the problem
will be found in wt, while the main theorems are given in w3 (viscous fluids)
and w4 (non-viscous fluids). Stated roughly, these theorems assert that fluid
motion in a bounded region ~v'= ~ (t) is uniquely determined by its initial velo-
city, temperature, and density distribution together with certain boundary
conditions. The form of the boundary conditions is especially interesting for
non-viscous, non-heat conducting fluids, it being fourid, in fact, that such con-
ditions are superfluous at any point where the fluid is leaving r at a relatively
supersonic speed. This result is intimately associated with the existence of
characteristic manifolds in the flow region,, and allows us to prove for spatial
flows a theorem of the type given by COURANT& FRIEDRICHSfor one-dimensional
motions.
The uniqueness of the initial value problem for incompressible viscous fluids
was proved as long ago as ~929 by E. Fok. His proof, which applies equally
well to the non-viscous case, was rediscovered and presented more elegantly by
DOLIDZE (see w72 o f refe~renee [15] for a resum~ of this work). More recently,
GgAFFI showed that the initial value problem for compressible fluids is unique,
provided that the pressure and density satisfy a piezotropic relation ~----I(0)
with if(Q)> 0. Our work is an extension of GRAFFI'S,in that we make no assump-
tion'concerfling the equation of state of the fluid, beyond requiring it to satisfy
certain universal thermodynamic conditions. This generalization is non-trivial
from both the physical and/-nathematical point of view, for it is well known that
a relation between pressure and density is usually incompatible with the motion
of a tri-variate fluid, whether or not it is viscous. Moreover, treatment of the
general case requires that we use the full set of equations governing the fluid
motion, including the complete energy equation.
The proof makes use of the classical energy method, developed originally
by HADAMARD,ZAREMBA,and FRIEDRICHS& LEWY in connection with purely
mathematical problems, and by REYNOLDS, ORR and Fok for the study of
incompressible fluid motions. Perhaps the most novel feature of our treatment,
in comparison with these, is th~ systematic utilization of the transport equation
for the derivation of energy integral identities, thus taking into account in a
natural way the special form of the convection terms in the flow equations.
272 JAMES SERRIN :

Though a more abstract treatment does seem possible, this has been avoided on
the grounds that it would cloud the fundamental issues and make the whole
paper more difficult.
In view of the rather strong dependence of the viscosity and heat conduction
coefficients on temperature in actual liquids and gases, we have included i.n the
final section of the paper a brief discussion of this case. Also, although we do
not treat heterogeneous fluids here, our results remain valid even in this case.
The reader should observe that the uniqueness theorem for non-viscous fluids
specifically assumes the flows in question to be continuously differentiable. The
proof can be extended without difficulty to cover flows with first order singular
surfaces (Mach waves), but in its present form it does not apply to motions
admitting shock waves. Such an extension would be very important, since there
are numerous cases where the only possible solution involves a shock wave, or
in which shock waves occur in the initial data, and in none of these is there
reason to expect aliomalous behavior so far as uniqueness is concerned. Further
discussion of this point will be found in w4.

1. Statement' of the problem

We consider a fluid flow occupying a finite region 3r162 and subject to
certain prescribed conditions on the boundary ~9v of 3e'. Our purpose is to answer
the following question: given the velocity, temperature and density distribution
at some initial instant, does this uniquely determine the subsequent motion, or
might it happen that two different motions could be compatible with the same
initial conditions ? To make the problem precise, we shall now set down the dif-
ferential equations governing the fluid motion, and the exact boundary conditions
which we shall consider. These take a somewhat different form depending on
whether the fluid is viscous or not.

A. Viscous compressible fluid

The motion of the fluid is governed by the following standard equations of
fluid mechanics,
de
dt + 0 d i v v = 0' (1)
dv
o ~ T = O f + div T , T=(--p+~divv) l+2pD, (2)
dE
e ~- = T : D -- .div q, q = -- ~ grad T. (3)

In these equations the symbols have their usual meanings, except perhaps for
the stress tensor T, the deformation tensor D, the specific internal energy E,
and the heat flux vector q. The notation is that of ordinary Cartesian or Gibbsian
vector analysis, so that, for example,
(div T), = ~i, i, I = identity matrix, T : D = T,i D~j.
The material derivative d/dt is of course a differential operator and is defined by
d
-- + v 9grad.
dt ~t
 Uniqueness Theorems for Compressible Fluids 273

The reader unfamiliar with equations (t)--(3) will find a complete derivation
and explanation in the memoir of C. TRUESD~LL, The mechanical/oundations o/
elasticity and fluid dynamics, J. Rational Mech. & Analysis, vol. 1, t952.
To equations (1)--(3) must be added certain equations of state relating the
thermodynamic variables 0, P, E, and T. For this purpose we shall take
P=P(o,T) and E=E(~,T~ ~ (4)
as the defining relations; here P(0, T) and E(O, T) are given twice di]/erentiable
/unctions of the variables 0 and T, whose explicit form depends of course on the
particular fluid in question. I n order to simplify the proof somewhat, we shall
actually treat in detail only the case where the second equation has the special
form
E -----cv T, c~ = Const. > 0; (5)

the proof can be carried out equally well in the general case provided that the
specific heat c~----(OE]9T), is positive 1. I t m a y be added that (5) is quite well
satisfied by most real gases and liquids at ordinary conditions.
On the boundary of ~r we suppose the velocity distribution to be given
(this will be the case in particular if ~r is bounded b y material walls to which
the fluid must adhere). In addition to prescribing the velocity on 5r it is
necessary to assign certain further conditions in order to determine the fluid
motion. Various possibilities present themselves, depending on whether at a
particular boundary point the fluid is entering ~r or leaving ~s or is constrained
b y a material wall. For convenience in tabulating these cases, let n denote the
outer unit normal to ~ ' , and G the Outward normal velocity of 5~. Also, let

U = v- n -- G (6)

be the relative normal speed of particles at the boundary. Then we have the
following table of
B o u n d a r y Conditions. At all points o] the boundary 5e, and at all inslants
o/time, the velocity vector is given. Furthermore,
a) At all points where U < O the absolute temperature and the density are
prescribed.
b) At all points where U > O the absolute temperature is given.
c) At all points where U= 0 one o] the ]ollowing conditions is. assumed:
cl) The temperature is prescribed.
c 2) The heat flux q. n is prescribed.
1 The condition (~E/gT)q?>0 is a general attribute of all real materials, as shown
in textbooks on thermodynamics.
I t is also possible to treat heterogeneous fluids which behave as inert mixtures;
in this case the defining equations (4) become
dn
p=p(e,T,n), E=E(~,T,n), --~-i-= o, (4')
where n is a parameter specifying the constitution, of a given particle. The additional
details necessary to handle cases (4) and (4') can readily be supplied by the reader.
274 JAMES S~RRIN:

c 3) The heat flux is assumed to be proportional to the dl//erence between the

fluid temperature T and a siren wall temperature To, that is,
q.n=k(T-- To), k~O.
Cases a), b), c) above correspond respectively to fluid entering Y/',. fluid
leaving zrr, and fluid constrained to move tangentially to ~r Condition c3) is
the familiar Newtonian law of cooling. We remark t h a t any one of conditions
c l ) - - c 3 ) could be used at a boundary point where U > O, though only the first
one seems to be of any physical interest~
This completes the specification of the differential equations and the boundary
conditions for a viscous compressible fluid.

B. Non-viscous compressible fluid

Assuming that t h e fluid is devoid of heat conduction as well as viscosity,
the differential equations (1)--(3) reduce to the familiar system
do
d-~ + e div v '-----0, (7)
dv
e 3T = el- grad p, (8)
dS
-- 0, (9)
dt
where S denotes the specific entropy. The thermodynamic equation of state is
conveniently assumed given in the form p = p (e, S), where the function p (0, S)
is continuously differentiable and
> 0

corresponding to a real speed of sound in the fluid.

At each point of the boundary w e s u p p o s e the normal velocity component
v 9 n to be assigned (this is a weaker condition than was necessary for viscous
fluids). T h e case-of most interest is naturally that where the fluid is bounded
b y mat&rial walls and the normal velocity component is determined by the motion
of these walls. In this case, in fact, no further boundary conditions should be
imposed. The general situation is given in the following table, where U = v 9 n -- G.
B o u n d a r y Conditions. At all points o[ the boundary ~9a, and at all instants
o/ time, the normal velocity c.o?nponent v . n is given. Furthermbre at all points
where U < 0 the complete fluid state--velocity, density, and entropy2--is assigned.
I t is understood in this statement that no further conditions are to be imposed
at points where U_>0. On the other hand, the fact that the entire fluid state
must be prescribed at points where fluid is entering ~r will appear reasonable
upon a moment's reflection.
If heat conduction is present, the differential equations and boundary condi-
tions take a somewhat different form. It is convenient to defer this case until
a later section.
In place of the entropy one could of course assign the temperature or the pressure
and thus indirectly determine the entropy.
 Uniqueness Theorems for Compressible Fluids 275

C. The initial value problem

F o r b o t h p r o b l e m s A a n d B above, a solution o / t h e initial value problem is
defined to be a set o / c o n t i n u o u s l y di//erentiable /unctions s~tis/ying the given di/-
/erential equations and the boundary conditions, and reducing when t = 0 to assigned
initial distributions 3. These solutions need n o t be c o n t i n u a b l e for all t i m e s t > 0:
i t is n o t o u r i n t e n t i o n , nor is i t necessary in t h e proofs, to restrict c o n s i d e r a t i o n
to solutions which exist for all time. Concerning t h e b o u n d a r y of ~r we assume
it s m o o t h enough so t h a t t h e divergence t h e o r e m is a p p l i c a b l e a t each i n s t a n t ,
a n d also so t h a t the d e v e l o p m e n t s of t h e following sectioff a r e valid. I t w o u l d
be p e d a n t i c to s t a t e these a g r e e m e n t s w i t h a n y g r e a t e r precision.
T h e solutions w h i c h we consider will be u n d e r s t o o d w i t h o u t f u r t h e r c o m m e n t
to h a v e positive d e n s i t y a t e v e r y p o i n t , h i t h e closure of ~ .

2. The t r a n s p o r t e q u a t i o n
L e t F i x , y, z, t) be a c o n t i n u o u s l y differentiable f u n c t i o n defined over a
region ~/~= Y/" it) o c c u p i e d b y a m o v i n g fluid. I n t h e sequel we shall h a v e f r e q u e n t
occasion to use t h e t r a n s p o r t f o r m u l a

f oFdv=f dar
F
v- vFda, (.I
where ~ a n d v are t h e d e n s i t y a n d v e l o c i t y of t h e fluid m o t i o n , a n d U d e n o . t ~
as u s u a l t h e q u a n t i t y v 9 n - - G . To p r o v e ( t l ) , we b e g i n w i t h t h e r a t h e r o b v i o u s
identity 4

a W e do not consider "weak solutions" or solutions involving shock ~ V e s , : .On

the other hand, with slight modifications it would be possible to deal with flows
having first order singular surfaces.
a Formula (t2) is well known and physically obvious: it says t h a t the rate of
change of the integral fQF arises as the sum of internal changes of q F together with
changes due to the fact t h a t the b o u n d a r y of ~ is moving with normal speed G.
A proof m a y be given'as follows:
Suppose the moving region ~ c o n s i s t s of those points (x,y,z) such t h a t
x = l (a, b, c, t), y = g (a, b, c, t), z = h (a, b, c, t),
where a, b, c range over some closed r e g i o n ~ in R*, and l,g, h are continuously
dil/erentiable functions of all their variables; suppose also t h a t t h e mapping from of.
to ~ is one-to-one with non-vanishing Jacobian (?r is a differentiable homotope
o f - ~ ) , and t h a t the divergence theorem is applicable to ~ at each instant: If the
"velocity field" (~, ~,~) is denoted b y w, then i t c a n be shown t h a t

-d-i q~= + q~w . n , q~ = qJ(x , y , z , t ) ,

(of. [15], w 4, or [16], p. 53). Since tv 9 n = G is the outward normal speed of the
b o u n d a r y of ~, this completes the proof of (t2).
Lt is evident t h a t the conditior~s laid down on ~ in the preceding proof embrace
all reasonable configurations. I n a n y case, the regions which we shall consider in
the rest of the paper are supposed to belong to the class for which (t2) holds.
Arch. Rational Mech. Anal., Vol. 3 t9
276 JAMES SERRIN:

in which (as in the following work) the conventional volume a.nd surface infini-
tesimals are omitted, and the integrals are understood to be extended over either
or 2~ as the context indicates. With the help of the divergence theorem, one
sees that the right hand side of (t 2) is equal to

On the other hand,

O)_ ( o F ) + div( 0 F v ) = e { - ~ t + v " g r a d F } -t- F {~-~ + d i v ( 0 v ) } = 0 - ~dF

,

using the equation of continuity (t) or (6), and the definition of the operator
d]d.t. Combining the results of the last three displayed lines immediately establishes
the validity of (tt).

3. The main uniqueness theorem for viscous fluids

With the conditions and agreemelits of w l understood, we can now state
the fundamental uniqueness theorem for compressible viscous fluids.
T h e o r e m 1. Let the coefficients o/ viscosity and heat conduction be constants
satis/ying the inequalities
/~>0, 32+ 2/~>0, ~0.
Then there can be at most one solution o/ the initial value problem described in
w 1A. Moreover, i] ~ = 0 no boundary conditions on the temperature (or heat flux)
need be imposed at points where U~O.
The important case where 3 2 + 2t* = 0 is not included in this theorem, but
seems to require a more delicate treatment, see w 7. It may be remarked that
Theorem t applies also to flows occupying unbounded regions, provided that
certain boundary integrals at oo can be assumed to vanish.
Pro@ Let (v, 0, T) and (~, ~, T) be two solutions of the problem under
discussion. We shall show that they are in fact identical. For convenience in
notation, a tilde over a flow quantity, will mean that the quantity is to be evaluated
for the flow (~, ~, T). In addition, for an arbitrary flow quantity F we define
r'

thus in particular, v' = ~ -- v, 0' = ~ -- 0, etc. The following identities will be used
frequently throughout the paper:
A~B -- A B = A B ' + A ' B , (t3)
dF dF dF'
dt dt- dt + v ' . g r a d F . (t4)

The first of these is obvious, while the second follows from an easy calculation
using the definition of the operator d]dt. Note that dF'[dt means
_OF_'_+ v . grad F',
0t
and not (dF]dt)'.
 Uniqueness Theorems for Compressible Fluids 277

Since both flows satisfy the equation of continuity, we obtain by subtraction

and use of the identities (t3) and (t4)

do" Jr v'. grad~ + 0 d i v v ' + 0' div~ = 0. (t5)

dt
Multiplication by 0' yields

d/k2- e ) = -- (0' v'- grad ~ + 0 q' div v' + 0' ~div ~) = -- I ,

where I is defined by the last equality. Now using the transport equation (11)
there results
a ~ (t6)
f f ox- ou o".
This formula will be important in the sequel.
Again, since both flows satisfy the equations of motion, we have by sub-
traction
(dr" ) , av
Ok dt + v ' . g r a d ~ +O-d~

Forming the scalar product of this equation with the vector v', and rearranging
terms, yields

Od/d (-~- v,~) = -- [O' v'. (a -- [) + Ov"J9 9v' + T' : D"] + div (T'- v') ,

where for brevity we have put v'~=v ' 9v' and a =dv[dt. Finally, with the help
of the transport equation and the fact that v ' = 0 on the boundary of ~ , one
obtains
d 1

Turning next to the energy equation, we observe that in virtue of (5) it can be
written in the form
dT
e--d/- = W - - d i v q ( ~ T.:D),
where without loss of generality we have set c~== t. Applying the method already
described in connection with the previous equations, the reader will have no
trouble in proving the identity

diJ~d f t O~ ' ~ ' ' ' = j f [ T ' ~ ' + q ' ' g r a d T ' O'T'dT''w ~ O T ' v ' . grad T] - -

(~8)
.--~[T'q'.n+89
The next step in the proof iS to estimate the various terms which appear
on the right hand sides of equations (t6), (l 7) and (18). For this purpose it is
convenient to restrict attention to some /ixed time interval 0 _ _ t ~ z , where z
is an arbitrary positive number (if the solutions are known to exist only for a
finite time 0 < : t ~ % , then ~ is naturally chosen less than .%). We shall let N
be the generic notation for an upper bound: the number N will then not be'the
Arch. R a t i o n a l M e c h ~ A n a l , , Vol. 3 - 19a
278 JAMss SERRIN:

same in eacla estimate, though it will of course be possible to determine its size
at any stage. The expression ~ I appearing in (t6) has the following estimate,
valid for 0_<t_<7:
J e l l = l e ~ ' v ' . grad~ + ~*~' div v ' + e ~'*div vl
=< N(q'* + v'*) + e 0 ' * . (0 ~ div v).
Here the basic tool is CAvcmr's inequality 2ab<a*+b ~, a n d e is an arbitrary
positive number to be fixed later; N depends on e and on bounds for the magnitude
of (v, Q, T), (~, ~, T) and their derivatives during the time interval 0 < t < 7 .
In addition, because of the boundary conditions the term 0 UQ'* in (t6) is ~ 0.
Inserting these estimates into (t6) yields the inequality
d: o t 7,
dr -- - -

where it is" convenient to use the notation

,,/__--
f89O0' , , ;'~g'=flo v'', . ~ = f 8 9 T''.
In considering equation (t7) it will be advantageous to write T in the form
if'-=--pl+ IV, where g is the viscosity tensor, g=- ~ O l + 2ttD. Then since I:D =
div v = O, we have
T':D'= --p'O'+V':D'.
It is now easily verified that.
dot"
dt (eO''-v':D')' 7.
Turning finally to an estimate for tl~e right hand side of (t8), we see that
W'----T:D--T:D=7":D'+T':I)
---- T : D ' + ( - - p ' + ~ O ' ) O + 2 1 u D ' :D, (t9)
whence for 0 N t N 7,
i =[T'T:D'--p'T'N+~O'T'b+2~T'~':~ l
<=N(T'*+ p'*) + e(O'*+ D' : D').
Furthermore q'. grad T'------- n grad T' 2_< 0, and on the boundary of r in all
cases, ~ U T'*__>0 and T'q'. n>= O. When the above inequalities are inserted into
(t8) there results
dso
dt < fN(e'*+v"+p"+ T'*) +fe(o"+D' :D').
Adding the various estimates for the derivatives of J , ~ , and .LP, and using the
obvious inequality p ' * ~ N ( o ' z + T'2), gives easily
_a
dt ( J + yd+ ~') < N ( J + ~ + .~) + f [ e ( 3 0 " + D' : l)') - v' : 1)'].
This completes the main estimate. I t is necessary now to consider the term in
braces in the last integral.
 Uniqueness Theorems for Compressible Fluids 279

The following identity becomes obvious if the matrix D is written in diagonal

form,
3 D : o = O, + A, (~ -- V (dl -- d,}' + (d~--d~)~+ (d~--dl)');
here 0 = d i v v = T r a c e D, and A is the octahedral invariant defined in terms of
the characteristic values dl, dz, d3 Of D. From this identity follows

v ' : o ' = ~t0 ' , + 2~ D':D' = ~{(3 ~ + 2~) O" + 2~ d"},

and also
-8(30 '~ + o ' :o') = ~ (loO '~ + A',).
Thus if e is chosen small enough, we have
~(30'~ + O ' :O') < V' : D ' ,
and hence
d
-d~ (fir + ~ + -W) < N(fir + ~/~+ ~a), 0_~t<z.

This differential inequality has the integrating factor e -Nt, and the solution

fir+ ~+ -W< (fir+ ~ + -~')oe~r , 0<t<r.

Since the integrals fir, ~ , and .W are zero when t --' 0, it follows that they remain
zero throughout the whole time interval in question. But this forces v ' = O ' =
T'=O, and so t h e two flows a~e identical at least until t-----v. Finally, , being
arbitrary, the flows are identical so long as they exist, and the theorem is com-
pletely proved.
Another consequence of the final inequality is that solutions of the initial
value problem, so long as they remain uniformly bounded, depend continuously
on the initial data.

4. The main uniqueness theorem for inviscid fluids

We consider here the most important case A =/~ = ~ = 0, and refer the reader
to wt for a description of the problem. The principal result is the following
Theorem 2. Let tha equation o/the state.~p = p (~, S) be o/class C 2/or all values
o] the variables, and suppose that
> o ( ol

Then there can be at most one solution of the initial value prcblem described in
w l B . Moreover, i / / o r some solution o/ this problem we have

U=v.n--G>__c, c' = (-~-0)s

on a subset ,9a* o] the boundary, then the boundary conditions on ~ * are redurulant
with respect to the given data; that is, the conditions assigned on the remainder o]
the boundary, together with the given initial values, uniquely determine the solution.
(To the author's knowledge, the only previous uniqueness theorem for com-
pressible non-viscous fluids with equation of state P=P(o, S) is that given by
COUl~ANT&FmEDRICttS ([1], pp. 82--84 and pp. 48--53, 70--75). There is a
280 JAMES SERRIN :

large b o d y of l i t e r a t u r e concerning h y b e r b o l i c s y s t e m s of equations in more

t h a n two v a r i a b l e s [5], b u t this work does n o t seem to have i m m e d i a t e a p p l i c a t i o n
to o u r problem.)
Before c o m m e n c i n g the proof of T h e o r e m 2, there are several p o i n t s of r e l a t e d
i n t e r e s t which we wish to discuss.
TO begin with, the second p a r t of the t h e o r e m includes as a special case the
result t h a t initial values over a region 0~ u n i q u e l y d e t e r m i n e t h e flow (assumed
c o n t i n u o u s l y differentiable) t h r o u g h o u t a certain " h y p e r c o n e " in (x, y, z, t) space
w i t h its base on #t. If for geometric c l a r i t y we consider the m o t i o n to t a k e place
in two s p a t i a l dimensions, t h e n this conical domain o] determination will a p p e a r
as in Fig. t . I n o r d e r to d e t e r m i n e the e x a c t shape of t h e cone it is necessary
to k n o w one solution of the initial value p r o b l e m ; the l a t e r a l b o u n d a r y , or

Fig. I. Domain of determinacy for the region at (two spatial dimensions)

m a n t l e , of t h e cone is t h e n c h a r a c t e r i z e d b y the condition t h a t U = c a t each

of its r e g u l a r p o i n t s 5. I n view of t h e i n d e p e n d e n t i m p o r t a n c e of this result, we
shall r e s t a t e i t in t h e following precise form.
C o r o l l a r y . Consider a solution (with continuous/irst derivatives) o] equations
(6)--(8) in a region ~ * o / ( x , y, z, t) s p a ~ bounded by the plane t = 0 and a mantle
5r on which U ~ c. Suppose another solution with continuous [irst derivatives is
given, in ~ * which assumes ]or t = 0 the same values as the ]irst one. Then "the two
solutions are identical in ~ * .
A n o t h e r p o i n t which should be m a d e in connection w i t h T h e o r e m 2 is t h a t
t h e given initial value p r o b l e m m a y easily have no solutions at all, or only
solutions which b r e a k down after a finite length of time. This occurs most
o b v i o u s l y if we s i m p l y allow the b o u n d a r y to p e n e t r a t e the initial value cone
~ * , b u t i t m a y also occur even when the b o u n d a r y conditions a p p e a r quite
innocuous, as has been shown b y L UI)FORD in a v e r y i n t e r e s t i n g paper.

5 The equation U = c specifies a Monge cone at each point of (x, y, z, t) space where
the solution is known. The determination of the lateral boundary thus involves
solving a first order partial differential equation; the mantle is then the inner envelope
of the family of Monge conoids whose vertices lie on the boundary of R. Since the
relation U = ~ can be shown to be a characteristic condition of equations (6)--(8),
it follows t h a t the lateral boundary is a characteristic manifold of the solution (c/. [2],
pp. 374-- 376 (plane flow), [12], pp. 112-- 114, or [16], w 51 ; in the last named reference
the characteristic condition is derived in exactly the form used here).
The Monge cone noted above has obvious affinities with the Mach cone in (x, y, z)
space. Indeed the latter is just the projection of the Monge cone ~, this projection
is real if and only if the flow is ~upersonic at the point in question.
 Uniqueness Theorems for Compressible Fluids 28t

The fact that initial values uniquely determine the subsequent flow throughout
a portion of the flow field, and the fact that other solutions break down after
a finite time, arises, of course, because we are considering continuous solutions
of a hyperbolic system. If we allow solutions with shock waves, then the initial
values no longer dictate the subsequent motion, and the breakdown of a continuous
solution no longer disqualifies the future motion from consideration. For this
reason, it may be conjectured that the first statement of Theorem 2 remains
true for flows with shock waves. The work of LAX, OLEJNIK,and LADYSHENSKAYA
(see reference [11] and the accompan3ring bibliography) m a y provide the clue
to a deeper understanding of the situation.

5 . Proof of Theorem 2
Let (v, ~, S ) a n d (~, ~, S) be two solutions of the initial value problem under
discussion. Also, let ~ * denote the (possibly empty) set of boundary points
where the basic solution (v, ~, S) satisfies U ~ c. In order to prove Theorem 2,
it must be shown that the two solutions are identical, and thi~ must be done
without recourse to t h e assigned boundary conditions on the set 5P*.
Retaining the notation introduced in the proof of Theorem t, and applying
the methods developed there, it is clear that from equation (7) follows

fw*d, (2,)
(this shguld be compared with the analogous equation (t 7) ; note that the boundary
term in'(2t) cannot be assumed to vanish). The energy equation dS/dt-~O
likewise yields
dS"
dt + v'. grad S = 0 (22)
and
7/J-2
- qrid 8,2 = - f q S'v',grad~-~ 89 '~. (23)

Now let 0_--<t--< v be an arbitrary time interval throughout which both solutions
(v, ~, S) and (b, ~, S) exist, and let N be the generic notation for an upper bound.
Then we have the following estimates valid for 0 g l ~ v :
Idv'.(&-l)l<=N(e',+v'*), IQv'.~.v'l<Nv',,
and [ 0 S~v'. grad SI =< N ( v " + S") ; (24)

here N depends on bounds for the magnitude of (v, e, S), (b, ~, S) and their
derivatives during the time interval 0 ~ t < : v .
The remaining term in (2t,), namely v" 9 grad p', requires a separate treatment.
The algebraic effort in this estimate can be greatly reduced by agreeing that an
equality sign with a dot placed over it means equality modulo reims which cb~,tain
products and squares 61 the quantities v', ~', and S'. Since such terms "can be
majorized by inequalities of the form (24), it is clear that this procedure retains
at each stage the essential quantities. In any case, setting
282 JAMES SERRIN :

we have v'. grad p' -- v'. (c~grad ~' + A grad S')

-- (c9e' + A S') div v' + div (c~Q' + A S') v' (25)
I
(czO' + A S') ~ t " + div(c20' + A S') v',
0
where the final step is a consequence of equation (t 5). Now
I c~^, do' .~_ d ( ~ ) (26)
y e-~ e ~ - ~ e e '~,
and using equation (22),
I A s , d~" . ' A
dt Q -d~ e, "S . ~. . .= e ~d l t A~ e'
s'). (2z)
When (26) and (27) are, inserted into (25) there results

v'.gradp'-- od i e"+-~o'S')+div(c'o'+AS')v'.

Substituting this formula into (2t) ,and then applying the divergence theorem,
the transport equation and inequality (24) yields the inequality
d I ^/..*s + 2A
_dTf~e
V J t-~
_ c" _,2 -We, S , \)~_f N(d'+r S")-
(28)
-- ~ - ' [eU(r ' -t - ~~'
e - ' ' '"1- --p-e
2"4 +~)
' - " ' 2(c2e' W A S') v ' . n],.
this being valid for 0~t_~z. In addition, from (23) and ~24),
d 1
~ f - c e s " ~ _ f N(v"+ s")-#-~ovs'2. (29)
Now let 0 be a large positive number, whose value will be fixed in a moment,
and define quantities f and K by
] ~ v ' 2 + ~cOI ' l + - - ~2-AO ' S'
+ O S '~,
K~oUJ+2(cto'+AS')v'.n, onSk.
We observe that 0 can be chosen so large that
]>v'~+ c, (q,s+ S,~)~o (30)
for O _ ~ t ~ ; indeed; recalling that r we ntay take

o = ~ x I~-~d,+ ~ )
~. / 2A ~ . cz

With this choice of 0, it follows from the boundary conditions. (p. 274) that
K~_O at all points of 5 a. Even more, however, K ~ O o n the set 5f* irrespective
o/the boundary conditions. For on 5f* we have U~_c, so that either
K ~ #c ] + 2v'(c~ ~' + A S ') = Qz
or
K > OcJ- 2v'(c~O ' + A S ' ) = Q~.
 Uniqueness Theorems for Compressible Fluids 283

Since both the quadratic forms Q are easily shown to be non-negative definite,
the required inequality follows at once.
With the results of the preceding paragraph in mind, let us multiply inequality
(29) by 0 and add it to (28). Since K>=0, the resulting boundary integral is non-
negative, and we Obtain
eJ<=fN(o"+v"+ s,,),
therefore, with the help of (30) and the fact that e and c are positive,

eJ <Nfef,
It follows b y integration and use of the initial conditions that f ~ f = O, and they,,
using (30) again, that v ' - - Q ' = S ' = 0 . This completes the proof of Theorem 2.
In the following section we shall deal with the previously excluded case of
an inviscid fluid with non-zero heat conduction.

6. The excepted case ).~-ix= 0, x ~ 0

The type of fluid considered in this section, having zero viscosity but positive
heat conduction, is perhaps rather unlikely to occur in a physical problem.
Nevertheless, the results of this section are quite interesting from a mathematical
viewpoint, and will also be useful in a later part of the paper
The differential equations for the problem are obtained by specializing 0) --(3)
to the forms
dQ
d---/-+ ~ div v -----O, (31)
dv
e--d/- = e l - grad p, (32)

dealt= -- p div v -- div q. (33)

As in the treatment of viscous fluids, we shall consider only the equations of
state 2
p = p (q, T), E = co T, (34)

where co is a positive constant. It will also be assumed that the pressure-dengity-

temperature relation is twice continuously differentiable and satisfies the ine-
quality
o (./

corresponding to a real isothermal speed of sound. Inequality (35), like the

earlier conditions (OE/OT)o>O and (ap]8~)s>O, is a general attribute of all
real materials. Moreover, it is always the case that

see [16], w30. The boundary conditions appropriate to equations (31)--(33) are
as follows:
284 JAMES SERRIN:

A t all points o/ the boundary 5g, and at all instants o/ time, the normal
velocity component v 9n is given. Furthermore
a) At all points where U<'O the complete fluid state, velocity, density, and
temperature, is assigned.
b) At all points where U ~ 0 the temperature is given.
c) At all points where U = 0 , one o/the conditions c l ) - - c 3 ) listed on p. 273 is
assumed.
These conditions being understood, we have the following uniqueness theorem
for non-viscous, heat-conducting fluids.
T h e o r e m 3. There can be at most one solution o/ the initial value problem
corresponding to the equations and boundary conditions described above. Moreover,
i//or some solution O~this problem we have

U=v.n--G>=a, a2=(O~)r,

on a subset ~ * o] the boundary, then the boundary conditions on ~9a* are partly
superfluous with respect to the given data: that is, the conditions assigned on the
remainder o/ the boundary, together with the temperature on 5a* and the given
initial values, uniquely determine the solution.
Exactly as in the previous section, this theorem implies the following corollary:
Consider a solution (with continuous derivatives) of equations (31)--(33) in a
region ~ * of (x, y, z, t) space bounded by the plane t = 0 and a mantle ~9~ on
which U>=a. Suppose another solution with continuous derivatives is given in
~ * , which assumes for t----0 the same values as the first one, and whose tem-
perature agrees on ~9~ with the temperature of the first solution. Then the two
solutions are identical.
Since this situation is very much like that of the preceding section, we confine
our discussion to the remark that the Monge cone for the present problem lies
inside the Monge cone U = c, in virtue of (36). Thus the region ~ * here is "larger"
than the region of determination for a non-viscous, non-heat-conducting fluid,
assuming that the two can be compared at all,
Proo/ o/ Theorem 3. The difference between the present problem and the
problem/~ =2----~ = 0 lies entirely in the energy equation. Equation (21) then
holds exactly as before, but in place of (23) we now must deal with

-di ~ e T'~ = q ' . grad T ' - - ~' T' ~dT

/- ~ 9grad T -- T' ~ ' --

--~[T'q'.nq-~e 1 UT.,Z] ' (17)

where qS~ p div v (this identity is proved in the same way as (t8)). A perusal
of the various terms on the right hand side of equation (21) shows that, as before,
the only difficult quantity is v ' 9 grad p'. Using the " d o t " notation to denote
equality modulo squares and products of v'," ~', and T', and setting B == (op[o T)o,
 Uniqueness Theorems for Compressible Fluids 285

we have (c]. formulas (25) and (26))

v'- grad p' -- v ' . (a z grad ~' + B grad T')
-- a* t)' div v' + B v'. grad T' + div (a* q' v')
9 O-d-i
--~ d /( - a~~- O,~\+Bv,) 9grad T" + d i v ( # ~"v')
Substituting this formula into (2t), and then applying t h e divergence theorem,
the transport equation, and the usual kind of estimates, we obtain

a,_,,,}<fN(r
d t T'*) + /3~' [ g r a d T'12-
f

this holding as always for 0 < t ~ T.

Turning next to equation (37), one has the following identity for the term
T' r :
T' ~' = T'(p div v)' -----T'(p div v' + p' div b)
= div (p T' v') -- p v'. grad T' -- T' v ' . grad p + T' p' div 6.

If this formula is inserted into (37), then from the divergence theorem, the
boundary conditions, and the usual kind of estimates, we get the inequality
d t
(,9)
Now define
.K ~- U(Q2v'~ + a ~ '~) -}- 2 ~ a ~ ' v ' . n , on 5f.

Clearly / ~ 0 in virtue of the given boundary conditions. Moreover

12Qa'r "l 2a [ar IV"I

< a(Q~v'" + a2(2),
so t h a t / ~ > 0 on 5r irrespective o/the boundary conditions. Adding inequalities
^>
(38) and (39), and using.the fact that K _ 0, gives without difficulty

d d t --
< X"s f O ~ t ~_
where
~, --fw0(v',+ {:q,,+
t * T' *) (40)

Setting 8=~-~ and solving the resulting differential inequality leads easily to
the identical vanishing of v, e t, and T'.
,

7. T h e e x c e p t e d ease 3 Z + 2 ~ = 0
As we have already remarked, Theorem t does not apply in the important
case w h e n , ~t + 2p = 0, that is, when the Stokes relation holds. However, this
case is covered by the following
286 JAMESSERRIN:

Theorem 4. Let the coefficients o] viscosity and heat conduction be constants

satis[ying
/z>0, ~;>0, 3it + 2/* = 0 ,
and suppose akso that (oP/ee)z>0. Then there can be at most one solution o/ the
initial value problem described in w 1A.
Proo]. Because of the similarity between Theorem 4 and Theorems t and 3,
we can make considerable use of formulas already developed in the preceding
sections. In fact, since the only difference between equation (2) and equation (32)
is that the former has an extra term div V on the right, we have, by applying
to equation (2) the same development which led from (32) to (38),
d r t e /~v, , + ~-
-diJ-i a'e,2)<fN(Q,,+v,2 + T,,)+felgradT,]~;
in this inequality, the boundary conditions and the fact that V':O'__> 0 have
been employed. Besides this estimate, which takes the place of the inequality
for d,~g[di in the proof of Theorem t, it is necessary to find an estimate for
f 890 T' 2 corresponding to the earlier inequality for d.~[d t. To this end, we observe
that from (t9),
T'~'= T'T:D'-- p' T'6) + a O ' T ' O + 2l~ T ' D ' : D
= v ' . T . grad T ' + i t O v ' , grad T ' + 2t, v'. D . grad T'
+ {squares and products of v', p', and T'} + {divergence terms}.
Inserting this expression for T' ~ ' into (18), and applying the divergence theorem,
the boundary conditions, and the usual sort of estimates, yields
d 1
+ IgradT'p.
Now adding the two preceding inequalities, there results
d'~ <
-- N " l l + f ( 2 e - u ) lgrad O ~ t<-
_

where .~' is defined by (40). The rest of the proof is standard.

Remarks. In addition to the various combinations of inequalities restricting
it,/t, and ~ which have already been treated, there are two others which deserve
notice, namely
~=0, it>0, u__>o (41)
and
/t > 0, 3 • + 2/t = 0, ~ --~ 0. (42)
Case (4t) can be discussed exactly as in Theorem 1; when ~ = 0 the appropriate
boundary conditions are those in w l B, and when u > 0 the appropriate boundary
conditions are those of w6. The remaining case (42) does not seem to be acces-
sible b y our methods.
Cases (41) and (42) exhaust all the situations for which the constitutive
equations (2)2 and (3)2 satisfy the thermodynamic restrictions
V : / ) ~ O, q . grad T ~ O. (43)
It would be interesting to consider the initial value problem for more general
constitutive equations obeying (43) or some modification of (43).
 Uniqueness Theorems for Compressible Fluids 287

8. Temperature dependent viscosity and heat conduction

As mentioned in the introduction, the coefficients ~,/~, and ~ are rather
strongly dependent on the t e m p e r a t u r e in actual liquids a n d gases. F o r example,
in the case of air
k Tt
const ~ 200,
/z -- T + const '

while for water bt(100~ ~ = 6 . 3 t 4 e. The following t h e o r e m shows t h a t no

significant qualitative changes are brought a b o u t b y treating non-constant
viscosity and heat conduction.
Theorem 5. I] the coefficients o~ viscosity and heat conduction in Theorem 1
are assumed to be di//erentiable /unctions o / e and T, satis/yi~ig

~>0, 35+2#>0, x>0,

then the conclusion o/ Theorem I remains valid.

Proo]. If one r e p e a t s - t h e steps in the proof of T h e o r e m t, he is led with
only a few modifications (specifically, in the estimation of T ' ~ ' ) to the'inequality
d
d~ (ar + 3r "~r < N(a# + 3 g ' + ~a) + f [ e (30,, + . , : 0 , ) - v,: 0 , + q ' . grad T ' ] .
On the other hand,
V' :D'=(~O' + ~'~)O' + (2~D' + 2tt'~) :D'
= ~ O' 2 + 2Ix D ' : D ' + R x,

where I Rx I < N(0' ~+ T ' ~)+ e (O' ~+ D ' : D'). Similarly,

q ' . grad T ' =- (-- n grad T ' -- n' grad T) 9grad T '

= -- z [ grad T'[ ~ + R~,

where R 2 < N(q' * + T ' 2) + e / g r a d T ' ]~. I t is evident then (by the a r g u m e n t used
near the end of the proof of T h e o r e m t) t h a t if e is chosen small enough,

* (30' a + D' : D') -- V' : D ' + q ' . grad T ' =< N(O' z + T ' ~).
Thus we have
d
dt ( j + X+.LP) <N(J+3U+.W),
and the theorem follows at once.
Note : The above research was supported in part by the United States Air Force
Office of Scientific Research under Contract No. AF 49.(638)-262.

e Water, being an incompressible fluid insofar as its usual hydrodynamic properties

are concerned, does not properly come within the scope of this paper. Nevertheless,
by slight modifications Theorem 5 can be shown to hold also for incompressible fluids.
Arch. Rational Mech. Anal., Vol. 3 t9b
288 JAMES SERRIN: Uniqueness Theorems for Compressible Fluids

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University of Minnesota
Minneapolis, Minnesota

(Received March 6, 1969)