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Vol. 29, No. 5, pp. 1942–1958

c 2007 Society for Industrial and Applied Mathematics

**SPECTRAL ANALYSIS OF THE DISCRETE HELMHOLTZ
**

OPERATOR PRECONDITIONED WITH A SHIFTED LAPLACIAN∗

M. B. VAN GIJZEN† , Y. A. ERLANGGA‡ , AND C. VUIK†

Abstract. Shifted Laplace preconditioners have attracted considerable attention as a technique

to speed up convergence of iterative solution methods for the Helmholtz equation. In this paper we

present a comprehensive spectral analysis of the Helmholtz operator preconditioned with a shifted

Laplacian. Our analysis is valid under general conditions. The propagating medium can be heterogeneous, and the analysis also holds for diﬀerent types of damping, including a radiation condition

for the boundary of the computational domain. By combining the results of the spectral analysis of

the preconditioned Helmholtz operator with an upper bound on the GMRES-residual norm, we are

able to provide an optimal value for the shift and to explain the mesh-dependency of the convergence

of GMRES preconditioned with a shifted Laplacian. We illustrate our results with a seismic test

problem.

Key words. Helmholtz equation, shifted Laplace preconditioner, iterative solution methods,

GMRES, convergence analysis

AMS subject classiﬁcations. 65N55, 65F10, 65N22, 78A45, 76Q05

DOI. 10.1137/060661491

**1. Introduction. In this paper we investigate the spectral behavior of iterative
**

methods applied to the time-harmonic wave equation in heterogeneous media. The

underlying equation governs wave propagation and scattering phenomena arising in

acoustic problems in many areas, e.g., aeronautics, marine technology, geophysics,

and optical problems. In particular, we look for solutions of the Helmholtz equation

discretized by using ﬁnite diﬀerence, ﬁnite volume, or ﬁnite element discretizations.

Since the number of grid points per wavelength should be suﬃciently large to result in acceptable solutions, for very high frequencies the discrete problem becomes

extremely large, prohibiting the use of direct solution methods. Krylov subspace iterative methods are an interesting alternative. However, Krylov subspace methods are

not competitive without a good preconditioner.

Finding a suitable preconditioner for the Helmholtz equation is still an area of

active research; see, for example, [7]. A class of preconditioners that has recently

attracted considerable attention is the class of shifted Laplace preconditioners. Preconditioning of the Helmholtz equation using the Laplace operator without shift was

ﬁrst suggested in [1]. This approach has been enhanced in [8, 9] by adding a positive shift to the Laplace operator, resulting in a positive deﬁnite preconditioner. In

[2, 3, 4, 13] the class of shifted Laplace preconditioners is further generalized by also

considering general complex shifts.

It is well known that the spectral properties of the preconditioned matrix give

important insight in the convergence behavior of the preconditioned Krylov subspace

methods. Spectral analyses for the Helmholtz equation preconditioned by a shifted

∗ Received by the editors May 31, 2006; accepted for publication (in revised form) January 10,

2007; published electronically September 28, 2007. Part of this research was funded by the Dutch

BSIK/BRICKS project.

http://www.siam.org/journals/sisc/29-5/66149.html

† Delft Institute of Applied Mathematics, Delft University of Technology, Mekelweg 4, 2628 CD,

The Netherlands (M.B.vanGijzen@tudelft.nl, C.Vuik@tudelft.nl).

‡ Institut f¨

ur Mathematik, Technische Universit¨

at Berlin, Strasse des 17. Juni 136, D-10623 Berlin,

Germany (erlangga@math.tu-berlin.de).

1942

Copyright © by SIAM. Unauthorized reproduction of this article is prohibited.

A more thorough spectral analysis is presented in [4] for the case when the preconditioning operation is performed approximately by using multigrid.SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR 1943 Laplace operator have previously been given in [2. Finally. In section 3 we show that for the damped Helmholtz equation with Dirichlet and Neumann boundary conditions.inhomogeneous physical parameters (such as sound speed. is restricted to the homogeneous physical parameters case. This paper gives a spectral analysis from an algebraic point of view. which form the coeﬃcient matrix of the resulting linear system. under the same restriction as in [2]. and perfectly matched layer (PML) as well). pressure release. We specify some properties of the matrices (symmetry. Using this bound and the results of our spectral analysis we are able to derive the optimal value of the shift in the shifted Laplacian preconditioner. Section 5 contains numerical experiments to illustrate and verify the theoretical results derived in sections 3 and 4. the preconditioning operations are performed only approximately. our results do not hold unconditionally in these cases. . density. This paper is organized as follows. by using a multigrid method or by making an ILU decomposition of the shifted-Laplace operator.). however. and they allow us to analyze shifted-Laplace preconditioners for a much wider class of discrete Helmholtz problems than in previous publications. Of course. are obtained using shifts that are close to the optimal shift that follows from our analysis. These generalizations are new. 4]. complex valued. Therefore. For radiation boundary conditions and for general viscous media we show that the eigenvalues are located on one side of the line or within the circle. Copyright © by SIAM. positive deﬁniteness etc. where the preconditioning operations are performed approximately using either a multigrid method or incomplete LU factorization (ILU). In section 4 we use a simple bound on the GMRES-residual norm. for a purely imaginary shift preconditioner. 4]. We also show for a number of applications that the convergence of GMRES is independent of the grid size. This indicates that the optimal shift that we derive in this paper also gives strong guidelines for choosing the shift in the case when the preconditioning operations are performed approximately. for example.They do not depend on the discretization method. however. This analysis concerns the singular values of the preconditioned matrix rather than the eigenvalues.the analysis is also valid for various types of boundary conditions (reﬂecting. radiation. the results are valid under the following rather general conditions: . only reﬂecting and pressure release boundary conditions are considered. we are able to derive a “quasi” optimal value for the shift. . 3. The shift is derived under the assumption that the preconditioning operations with the shifted-Laplace preconditioner are performed suﬃciently accurately. In [3]. In section 2 we describe the acoustic wave equation and its discretization. This result is also new. By combining the results of our analysis with a bound on the norm of the GMRESresidual. Results from RFA. Furthermore. a convergence analysis of GMRES is discussed. 3. . In practice. the results that are reported in [2. 2. the eigenvalues are located on a line or on a circle with a given parameterization for a special type of damping. Unauthorized reproduction of this article is prohibited. The Helmholtz equation. The analysis is based on rigorous Fourier analysis (RFA) for homogeneous physical parameters. section 6 contains the conclusions of this paper. The analysis in [2]. However. and damping) are allowed. give little insight into the convergence of Krylov subspace methods.

AND C. 2. ρc2 ρ ρ ρ with boundary conditions (7) ∂ pˆ = 0 on Γ1 .1. VAN GIJZEN.1944 M. The wave equation for the acoustic pressure p(x. which transmits a signal with amplitude a s(x. We will assume that the right-hand side function s(x. If the source term is harmonic.2. Unauthorized reproduction of this article is prohibited. VUIK 2. ∂n ρc ∂t (4) where n is the outward pointing normal unit vector. t) 1 ∂ 2 p γ ∂p − ∇ · ∇p = + 2 2 ρc ∂t ρ ∂t ρ ρ in Ω. . A. The Helmholtz equation. which are described by the homogeneous Neumann condition ∂p = 0 on Γ1 . (5) Substitution of (5) into (1) yields the so-called Helmholtz equation −(2πf )2 1 γ a (6) pˆ − ∇ · ∇ˆ + 2πif p = δ(x − xs ) in Ω. where ∇ denotes the gradient operator and ∇· the divergence. and (9) 2πif ∂ pˆ =− pˆ on Γ3 . Here. t) = ae2πif t δ(x − xs ). Realistic conditions on the physical boundaries of an acoustic medium can be reﬂecting boundaries. which are described by the homogeneous Dirichlet condition (3) p = 0 on Γ2 . ∂n ρc This latter condition is also known as a Sommerfeld condition of the ﬁrst kind. In addition. t) (with x spatial coordinates and t time) in such a medium is (1) 1 s(x. which can be described by ∂p 1 ∂p =− on Γ3 . then the pressure ﬁeld has the factored form p(x. t) is a harmonic point source at xs . located √ and frequency f . B. t) = pˆ(x)e2πif t . and radiating boundaries. ERLANGGA. ∂n (2) pressure release boundaries. The acoustic wave equation. Copyright © by SIAM. ∂n (8) pˆ = 0 on Γ2 . An acoustic medium with space-varying density ρ(x) and sound speed c(x) occupies the volume Ω. bounded by the boundary Γ = Γ1 ∪ Γ2 ∪ Γ3 . the medium is assumed to be viscous with damping coeﬃcient γ(x). i = −1. Y.

The above equation can be discretized with a discretization method such as the ﬁnite element method. 3. For high frequencies. ﬁnite volume method. f ) = 2πf ν . The complex number z1 is deﬁned by (13) z1 = (2πf )2 (1 − iν). system (12) is sparse. is complex symmetric and indeﬁnite.e. 2. Unauthorized reproduction of this article is prohibited. for systems with a matrix with all eigenvalues in the right half of the complex plane. which means that the system matrix has eigenvalues with both negative and positive real parts. The matrix L + iC − z1 M . or ﬁnite diﬀerence method. Helmholtz-type systems such as (12). and the matrix M is real symmetric and positive deﬁnite. C corresponds to the Sommerfeld condition and/or to damping that does not satisfy (10). however. They have proved to be particularly eﬃcient for systems with an Hermitian positive deﬁnite matrix. This is a consequence of the fact that each wavelength has to be sampled with suﬃcient grid points. Spectral analysis of the Helmholtz operator preconditioned with the shifted Laplace preconditioner..SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR 1945 If the damping parameter has the special form (10) γ(x. In order to overcome this problem a suitable preconditioner has to be applied. Discretization of the above equation plus boundary conditions with any of these methods yields a discrete Helmholtz equation of the form (12) (L + iC − z1 M )x = b in which L is the discretization of −∇ · ρ1 ∇. Krylov-type iterative solvers such as GMRES [12] or Bi-CGSTAB [14] are among the most popular techniques for solving large and sparse linear systems. (1 − iν) − ∇ · (11) − ρc2 ρ ρ(xs ) Clearly.. and b to the source term. Fortunately. system (12) can be very large. i. . A class of promising preconditioners that has attracted a lot of attention is the class of shifted Laplace preconditioners [1. with γ = 0. 4]. 8. The shift parameter z2 has to be chosen such that the convergence of GMRES (or another suitable iterative method) applied to the preconditioned system (L + iC − z2 M )−1 (L + iC − z1 M )x = (L + iC − z2 M )−1 b Copyright © by SIAM. 3. Shifted Laplace preconditioners are preconditioners of the form P = L + iC − z2 M.e. however. c2 with ν a nonnegative constant. the Helmholtz equation (6) simpliﬁes to δ(x − xs ) 1 (2πf )2 ∇ pˆ = a in Ω. a characteristic that can result in a very slow convergence. in particular in three dimensions. the same form as the discrete Helmholtz operator A = L + iC − z1 M . or more generally. the assumption holds for nonviscous media. i. Both L and C are real symmetric and positive semideﬁnite. In the next section we will analyze these preconditioners by locating in the complex plane the spectrum of the preconditioned discrete Helmholtz operator. Numbers of unknowns in excess of 106 for realistic models are quite common. are highly indeﬁnite. M corresponds to the discretized zeroth order term ρc12 .

to a large extent. The spectrum of the preconditioned Helmholtz operator without the Sommerfeld condition. Substitution of λM x for Lx in (15) yields (λ − z1 )M x = σ(λ − z2 )M x. and z2 = (1 − 0. This means that all boundary conditions. The complex numbers z1 and z2 can be written as (14) z1 = α1 + iβ1 . which are the eigenvectors of (16) Lx = λM x. Since for our problem L is symmetric positive semideﬁnite and M symmetric positive deﬁnite. a matrix of the form L − z2 M . AND C. and hence α1 > 0.. VAN GIJZEN. z2 = α2 + iβ2 . the eigenvalues λ are real and nonnegative. α2 . z2 has to be chosen such that operations with the inverse of (L + iC − z2 M ) are easy to perform. and hence λ − z1 = σ(λ − z2 ). Recall that for our application. (17) which. We will consider a shifted Laplace preconditioner. 3]. We recall that L is symmetric positive semideﬁnite. λ − z2 Copyright © by SIAM. as recommended in [10]. i. the convergence of iterative methods as long as the matrix of the eigenvectors is well conditioned. z2 = −iα1 [2. VUIK is considerably faster than GMRES applied to the original system. Moreover. . Choices for the shift z2 that are considered in the literature are z2 = 0 [1]. Y. Unauthorized reproduction of this article is prohibited. are included in the preconditioner. as a preconditioner for the Helmholtz operator and analyze how the location of the eigenvalues σ of the preconditioned system depends on the parameters z1 and z2 . The spectrum governs. ERLANGGA.5i)α1 [4]. including the Sommerfeld condition. if z2 = λ.e. M symmetric positive deﬁnite. and z1 is a complex number. β1 ≤ 0.1946 M. In this section we will study the spectrum of the preconditioned system. The eigenvalues σ of the preconditioned matrix are solutions of the generalized eigenproblem (L − z1 M )x = σ(L − z2 M )x.1. In practice this means that z2 is chosen such that operations with the inverse of the preconditioner can be computed using a fast multigrid method [4]. in which α1 . A. We will ﬁrst assume that C = 0. and hence that the damped Helmholtz operator is given by L − z1 M . Note that L + iC is the operator that is being shifted. and β2 are real. 3. β1 . gives (18) σ= λ − z1 . (15) It is easy to see that the matrices (L−z1 M ) and (L−z2 M ) share the same eigenvectors. B. z1 is deﬁned by (13). z2 = −α1 [8].

2. In the following we will distinguish between the cases β2 = 0 and β2 = 0. the preconditioner P = L − z2 M will be singular. Then the eigenvalues σ = σ r + iσ i of (15) are located on the circle given by 2 2 β2 + β1 α2 − α1 (β2 − β1 )2 + (α2 − α1 )2 r i + σ − = . if z2 = λ. Theorem 3. If this is not the case.e. −β1 = −σ r β2 + σ i (λ − α2 ). (20) Proof. Let β2 = 0.1. If β1 = σ r β2 . This equation is valid for all values of α1 . i. . Theorem 3. The eigenvalues λ can be considered as a real parameterization of the curves (18) in the complex plane on which the eigenvalues σ of the preconditioned system are located. which is a situation that has to be avoided. which yields λ − α1 − iβ1 = σ r (λ − α2 ) − iσ r β2 + iσ i (λ − α2 ) + σ i β2 . Let β2 = 0. Unauthorized reproduction of this article is prohibited. σi Substitution of λ in the equation for the real terms yields the following result: (19) β2 (σ r )2 − (β1 + β2 )σ r + β2 (σ i )2 + (α1 − α2 )σ i = −β1 . (2β2 )2 Copyright © by SIAM.SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR 1947 Note that if z2 coincides with an eigenvalue of (16). including the case β1 = σ r β2 . 2β2 2β2 (β2 − β1 )2 + (α2 − α1 )2 . Then the eigenvalues σ = σ r + iσ i of (15) are located on the straight line in the complex plane given by −β1 σ r + (α1 − α2 )σ i + β1 = 0. and β2 . and let M be a symmetric positive deﬁnite real matrix. let L be a symmetric positive semideﬁnite real matrix. we get for λ that λ = α2 + σ r β2 − β1 . The result follows directly from substituting β2 = 0 in (19). β1 .1 deals with the case β2 = 0. and let M be a symmetric positive deﬁnite real matrix. α2 . So in the following we assume that z2 = λ for all eigenvalues of (16). Theorem 3. We can split this equation into an equation for the real terms and one for the imaginary terms: λ − α1 = σ r (λ − α2 ) + σ i β2 . the second equation reduces to σ i = 0. To determine these curves we write σ = σ r + iσ i and substitute this into (17). The next theorem characterizes the spectrum in the case when β2 = 0.. let L be a symmetric positive semideﬁnite real matrix. (21) σ − 2β2 2β2 (2β2 )2 The center c of this circle is c= and the radius R is R= β2 + β1 α2 − α1 .

This means. it is still possible to establish useful results regarding the location of σS . (2β2 )2 (2β2 )2 (2β2 )2 which is clearly the case. The center of the circle can also be written as c= and the radius as z1 − z 2 z2 − z 2 z 2 − z1 . we will distinguish between the three cases β2 = 0.2. R= z2 − z 2 3. β2 > 0. Although the eigenvalues σS will in general not be located on a straight line or on a circle in the complex plane if λS is complex. The following theorem gives a simple condition that determines this.2. Remark. the origin is not enclosed by the circle (21) given in Theorem 3. As in the previous section it is straightforward to show that (22) and (23) share the same eigenvectors x and that the eigenvalues σS of the preconditioned system are related to the eigenvalues λS by (24) (λS − z2 )σS = λS − z1 . VAN GIJZEN. We consider a shifted Laplace preconditioner. L and C are symmetric positive semideﬁnite matrices.2. Hence (β2 − β1 )2 (α2 − α1 )2 (β2 + β1 )2 + (α2 − α1 )2 > + . Theorem 3. The spectrum of the preconditioned Helmholtz operator with the Sommerfeld condition. Unauthorized reproduction of this article is prohibited. Proof. for example. To this end.e. B. M is a symmetric and positive deﬁnite matrix.. The main diﬀerence from the previous section is that λS is complex. We will now study the general damped Helmholtz operator L + iC − z1 M . Divide (19) by (2β2 ) and complete the square. and z1 is a complex number. whereas λ in the previous section was real. For our problem. Y. . To understand the convergence of iterative methods it is important to know if the origin is enclosed by the circle given in Theorem 3. Before we proceed we will formulate the following lemma that we will need in the remainder of this section.3. AND C. a matrix of the form L + iC − z2 M . i. and β2 < 0. which allowed us to consider λ as a real valued parameterization of a curve in the complex plane. that a damping matrix that stems from an absorbing layer is also covered by the theory below. VUIK Proof. ERLANGGA. A. to precondition the Helmholtz operator. Let λS be an eigenvalue of the generalized problem (23) (L + iC)x = λS M x. If β1 β2 > 0. The origin is not enclosed by the circle if the distance of the center to the origin is larger than the radius. As before. Copyright © by SIAM. The eigenvalues of this matrix are given by (22) (L + iC − z1 M )x = σS (L + iC − z2 M )x.1948 M. the matrix C stems either from the discretization of the Sommerfeld boundary condition or from damping that does not satisfy (10).

Splitting this equation into an equation for the real terms and one for the imaginary terms yields λrS σSr − λiS σSi − α2 σSr = λrS − α1 and λrS σSi + λiS σSr − α2 σSi = λiS − β1 . Since β2 = 0 we have (λS − α2 )σS = λS − z1 . We use the fact that any matrix can be split into two Hermitian matrices: (25) A= 1 1 (A + AH ) + i (A − AH ) = (A) + i(A). As in the previous section we ﬁrst consider the case β2 = 0. [6. let L and C be symmetric positive semideﬁnite real matrices. Copyright © by SIAM. so by Bendixon’s theorem we have λiS ≥ 0. in which case Im(A) = U −1 CU −T . and let M be a symmetric positive deﬁnite real matrix. Then the eigenvalues σS = σSr + iσSi of (22) are located in the half-plane −β1 σSr + (α1 − α2 )σSi + β1 ≥ 0. This latter matrix is positive semideﬁnite. we have (A) λmin ≤ Re(λA ) ≤ λ(A) max . S σSi σSi Substitution in the ﬁrst equation and some straightforward manipulations yield 2 2 −β1 σSr + (α1 − α2 )σSi + β1 = λiS ((σSr − 1) + σSi ). . Proof. e. Proof.g. Let β2 = 0. page 69]). 2 2i According to Bendixon’s theorem (see.. Let L and C be symmetric positive semideﬁnite real matrices and let M be a symmetric positive deﬁnite real matrix.1. The eigenvalues λS of the generalized problem (23) are also solutions of the standard eigenproblem U −1 (L + iC)U −T y = λS y in which M = U U T . Theorem 3. Then the eigenvalues λS = λrS + iλiS of the generalized eigenproblem (23) have a nonnegative imaginary part. This means that we can take A = U −1 (L + iC)U −T .4. 2 2i where (26) (A) = 1 1 (A + AH ) and (A) = (A − AH ) .SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR 1949 Lemma 3. (A) λmin ≤ Im(λA ) ≤ λ(A) max . The second equation gives that either σSi = 0 or λrS = α2 − r β1 i 1 − σS + λ . Unauthorized reproduction of this article is prohibited.

Copyright © by SIAM. − λ S − z2 z2 − z 2 (λS − z1 )(z2 − z 2 ) − (λS − z2 )(z1 − z 2 ) . Theorem 3. Then the eigenvalues 2 σS of (22) are either outside or on the circle with center c = zz12 −z −z 2 and radius R = z2 −z1 | z2 −z2 |. = λ S − z 2 z2 − z 2 λS − z 2 R. Theorem 3.1. such as the size of the matrix. B. and let M be a symmetric positive deﬁnite real matrix. AND C. let L and C be symmetric positive semideﬁnite real matrices. or on the mesh size h. λ S − z2 (λrS − α2 )2 + (λiS − β2 )2 Since β2 < 0 and by Lemma 3. Let β2 < 0. (13). (λrS − α2 )2 + (λiS − β2 )2 and hence the above condition is satisﬁed. let L and C be symmetric positive semideﬁnite real matrices. Unauthorized reproduction of this article is prohibited. λiS ≥ 0. Y. These regions are completely determined by the parameters z1 and z2 . VUIK By Lemma 3. Writing λS = λrS + iλiS we get (28) r 2 i 2 λS − z 2 2 = (λS − α2 ) + (λS + β2 ) .1950 M. λiS ≥ 0. Proof. If β2 > 0. Then the eigenvalues 2 σS of (22) are either inside or on the circle with center c = zz21 −z −z 2 and radius R = z2 −z1 | z2 −z2 |.5.6. A. If β2 < 0.1. We have to prove that |σS − c| ≤ R if β2 < 0: λ S − z1 z1 − z 2 |σS − c| = . the spectrum of the preconditioned matrix is characterized by Theorem 3. = (27) λ S − z2 2 What is left to prove is that | λλSS −z −z2 | ≤ 1. = (λS − z2 )(z2 − z 2 ) λS (z2 − z1 ) + (z1 − z2 )z 2 . Proof. Let β2 > 0. on the damping parameter ν.5. = (λS − z2 )(z2 − z 2 ) λ S − z 2 z2 − z1 . ERLANGGA. and of course on the shift for the preconditioner z2 .6. we have (λrS − α2 )2 + (λiS + β2 )2 ≤ 1. nor on computational parameters. The results presented above specify regions in the complex plane where the eigenvalues of the preconditioned matrix are located. and hence the right-hand side term is greater than or equal to zero. and let M be a symmetric positive deﬁnite real matrix. It is important to note that the regions in the complex plane where the eigenvalues are located do not depend on other physical parameters.5. This is analogous to the proof of Theorem 3. . such as the sound speed or density. Given the deﬁnition of z1 . VAN GIJZEN. these regions depend only on the frequency f . Remark. the spectrum of the preconditioned matrix is characterized by Theorem 3.

Unauthorized reproduction of this article is prohibited. If this condition number is large. In this equation X is the matrix of eigenvectors and c2 (X) its condition number in the 2-norm. 1 1 1 1 we get c2 (X) ≤ c2 (M ). β2 ) = R2 (α2 − α1 )2 + (β2 − β1 )2 = .. or. Then the GMRES-residual norm after k iterations rk satisﬁes (see. but for many problems we can consider (23) as a relatively small perturbation of (16).g. ∂f 8(α2 − α1 )β1 β2 = . it allows us to derive a “quasi” optimal choice for the shift. Moreover. Let the eigenvalues of the preconditioned matrix be enclosed by a circle with radius R and center c as in Theorem 3.SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR 1951 4. [12]) rk ≤ c2 (X) r0 (29) R |c| k . Combination of the results of the spectral analysis with an upper bound on the GMRES-residual norm. in which case we can still expect that c2 (X) is small. This can be seen from 1 X T M X = I ⇔ c2 (X T M X) = 1 ⇔ c2 (M 2 X) = 1. we expect that c2 (X) will be small in practice. |c|2 (α2 − α1 )2 + (β2 + β1 )2 To analyze this function we diﬀerentiate with respect to α2 . For this it is suﬃcient to R minimize the ratio |c| . which is in general well conditioned.1. This upper bound assumes that the spectrum is enclosed by a circle.5. These are unfortunately not M -orthogonal. 4.5. Since c2 (X) = c2 (M − 2 M 2 X) ≤ c2 (M − 2 )c2 (M 2 X). and hence this bound can be naturally combined with the circle speciﬁed in Theorems 3. in our application we may expect that the condition number of the eigenvector matrix is relatively small. If C = 0. using Theorem 3. e. . since the eigenvectors of (16) are M -orthogonal and M is a (scaled) mass matrix.2 and 3. If C = 0. Fortunately. the eigenvectors of the preconditioned system are the same as of (23).5. since in that case there is no relation between the location of the eigenvalues and the convergence behavior of the preconditioned Krylov method [5]. We derive this shift by minimizing the upper bound. In this section we will combine the results of the spectral analysis presented in the previous section with a well-known upper bound on the GMRES-residual norm. Although (29) gives only an upper bound on the GMRES-residual norm. the function f (α2 . and hence independent of the shift parameters. ((α2 − α1 )2 + (β2 + β1 )2 )2 ∂α2 Copyright © by SIAM. the upper bound gives no information about the convergence. the eigenvectors of the preconditioned matrix are the same as in (16). Optimization of the shift.

1952 M. if β1 < 0. but is outside the scope of this paper. and on ν. Y. so ∂α is negative for α2 ≤ 0. Unauthorized reproduction of this article is prohibited. B. β1 = β2 . By (13). ERLANGGA. ∂f α1 = (2πf )2 > 0. However. the performance of a multigrid method for the preconditioning operations will deteriorate if z2 is too close to z1 . Because of this.2. (30) yielding β2 = ±|z1 |. we have in mind the situation when preconditioning operations can be eﬃciently carried out using a ﬁxed number of cycles of a multigrid method for the whole range of shifts under consideration. However. We are interested in the case when the preconditioning operation is relatively cheap. We ﬁrst consider the purely imaginary shift [2. the derivative with respect to β2 is zero if (β22 − β12 ) − α12 = 0.3 β2 ≤ 0. the number of GMRES iterations should be bounded from above by a constant that is independent of the mesh size. As was remarked in the previous section. β1 β2 ≥ 0. is of great practical importance. inequality (29) yields an upper bound on the GMRES-residual norm that also depends only on the frequency f and on the damping parameter ν. We conclude that the choice (31) z2 = −|z1 |i minimizes the upper bound (29) for all z2 ∈ C. Consequently. meaning all possible shifts for which the preconditioner has all its eigenvalues in the right half-plane. because of continuity arguments. and by Theorem 3. This is the case if β1 < 0. 4β1 ((β22 − β12 ) − (α2 − α1 )2 ) ∂f = . Since by (13) β1 = −(2πf )2 ν ≤ 0. . on f . A. This choice for the shift minimizes of course the upper bound since this corresponds to using the original operator as a preconditioner. or equivalently if ν > 0. The upper bound (29) is meaningful only if the circle does not enclose the origin. the circle around the spectrum of the preconditioned matrix depends only on z2 . and hence such a shift would no longer minimize the total work of the whole solution process. both derivatives are zero at α1 = α2 . if the performance of multigrid depends on the shift. The same methodology for deriving an optimal shift can still be used if we do not restrict ourselves to the case α2 ≤ 0. 4]. In this case. 4. 2 Therefore f (α2 . this means that α2 equals zero. VAN GIJZEN. AND C. β2 ) takes its minimum on the edge α2 = 0. Discussion. with α2 ≤ 0. Copyright © by SIAM. Such a shift still (approximately) minimizes the number of GMRES iterations. and hence z2 = −|z1 |i as the shift that minimizes the upper bound (29). result (31) for the “quasi” optimal shift is still valid if β1 = 0. How to ﬁnd a shift that minimizes the total work. which means that performing the preconditioning operation is as hard as solving the original system. This choice is also optimal if we consider all possible shifts for which α2 ≤ 0. ∂β2 ((α2 − α1 )2 + (β2 + β1 )2 )2 Clearly. VUIK and with respect to β2 . we must choose by Theorem 3. 3. We therefore restrict our analysis to values for the shift for which multigrid is known to work well.3. In particular.

Copyright © by SIAM. 1000) ⎪ ⎩ with Sommerfeld conditions or Neumann conditions on Γ ≡ ∂Ω. The computations that are described in this section have been performed with MATLAB. the circle contains the origin. x2 ). x2 = (0.1.5. are located on a line. As was predicted by Theorem 3. 600). are all on one side of the line. 1000) meter . Consequently. In this section we describe a typical test problem with a variable sound velocity.1. The location of the eigenvalues of the discretized operators are compared with the theoretically predicted locations. which are indicated with the symbol o. 5. The eigenvalues of the Sommerfeld problem. 5. To this end we have taken as source frequency f = 2 and we have discretized the problem with mesh size h = 100/2. The local sound velocity is given as in Figure 1. The test problem that we consider mimics three layers with a simple heterogeneity and is taken from [11]. Location of the eigenvalues. The density is assumed to be constant. The eigenvalues of the Neumann problem are located on the circle that is given by Theorem 3. either on or inside this circle.SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR 1953 By scaling the shift z2 with the frequency we can make the upper bound on the number of GMRES iterations also independent of frequency. as is predicted by Theorem 3. and the eigenvalues of the Sommerfeld problem are. the line does not pass through the origin. The upper right-hand side subplot shows the spectrum of the preconditioner if a purely imaginary shift is chosen. Note that the eigenvalues move away from the origin if the Neumann problem is replaced with the Sommerfeld problem.2. which are indicate with the symbol *. To this end we introduce the scaled shift z2 ˜ 2 + iβ˜2 = . This example does not contain damping (apart from the radiation condition): z˜1 is real. Experiments. Since the example contains damping. (See Figure 2. (32) ≤ c2 (X) 0 r |c| (˜ α2 − 1)2 + (β˜2 − ν)2 Clearly.2. We have calculated all the eigenvalues of the preconditioned matrix for four typical combinations of values of the scaled parameters z˜1 and z˜2 . it appears that the convergence behavior of GMRES is independent of the mesh size. 5. The value of the optimal shift is validated by numerical experiments. as suggested in [8]. the eigenvalues for the Neumann problem. as predicted by Theorem 3. . Finally. We have discretized the above problem with the ﬁnite element method using linear triangular elements. ﬁnd p ∈ CN satisfying ⎧ 2πf 2 2 ⎪ ⎨−Δp − (1 − ν)( c(x) ) p = s in Ω = (0. z˜2 = α (2πf )2 Applying Theorem 3. this upper bound depends only on the damping parameter ν and on the choice for the parameter z˜2 . The ﬁrst experiments validate the theorems that are presented in section 3. Unauthorized reproduction of this article is prohibited.) The upper left-hand side subplot shows the spectrum of the preconditioner if a real shift is chosen.5 and substituting z2 = (2πf )2 z˜2 and the deﬁnition for z1 (13) into (29) yield k (˜ α2 − 1)2 + (β˜2 + ν)2 R rk = c2 (X) . x1 = (0. For ν ∈ R. 600) × (0.4. Description of the test problem. (33) s = δ(x1 − 300.

A. The second group of experiments validates the optimal value for the shift z2 that was found in section 4. this ratio can be written as (34) R = |c| (˜ α2 − 1)2 + (β˜2 + ν)2 . Optimization of the shift. Moreover. The lower right-hand side subplot shows for the same z1 what happens if the sign of the complex shift is wrongly (i. This value is given by (31). In this case the problem contains damping since z˜1 is complex.e. This is conﬁrmed by the numerical results. The values on R the contour lines correspond to the value of |c| . which is the case. As a result. ERLANGGA. R The optimal value was determined by minimizing the ratio |c| .6 the eigenvalues of the Sommerfeld problem should in this case be either on or outside the circle. AND C. 1. A small value of |c| vergence and a value close to 1 slow convergence. VAN GIJZEN. Copyright © by SIAM. for three diﬀerent R damping parameters ν. (˜ α2 − 1)2 + (β˜2 − ν)2 R indicates fast conThis function takes values between 0 and 1. Unauthorized reproduction of this article is prohibited. positively) chosen. the circle is smaller than for the previous example. the origin should be enclosed by the circle. The lower left-hand side subplot shows another picture of the spectrum of the preconditioner if a purely imaginary (negative) shift is chosen. 5. and that the optimal β˜2 becomes more negative when the damping parameter is increased. According to Theorem 3.3. The three plots show clearly that (34) takes its minimum when α ˜ 2 = 0. by Theorem 3. These observations are of course consistent with the optimal value for the shift parameter (31) that was derived in section 4. B. . and the origin is outside the circle.1954 M. Figure 3 shows. Using the scaled 2 variables z˜2 = z2 /(2πf ) . how the value of |c| depends on α ˜ 2 and β˜2 .3. VUIK Fig. Problem geometry with sound velocity proﬁle.. Y.

7 0 0.5 0. 0.5i.5 ν=1 1 0 0.6 −1 0.9 0 0.5 0.9 5 0 −1 0.5 0.5 Re 1 −2 −2 1.2 −1 −α2 (scaled) −0. Contour plot of the convergence factor as a function of the complex shift. To validate that this value is really (sub-) optimal in actual computations we solve the Sommerfeld problem with scaled imaginary shifts ranging from 0 to −2.5 0.2 0 −1 −0.5 0.6 0. The result is shown in Figure 4.5 2 1 1 Im Im z1 = 1−0.5 −2 −2 0. h = 100/2. z2 = −i 1 1. 3. the fewer the number of GMRES iterations.5 1 0. the more damping.5 0 Re 0.1 1 0 0 Fig.5 −1 −α2 (scaled) 0.5i|i 0 0.8 8 0. −1 −α2 (scaled) −2 −2 6 0. z2 = |1−0.1955 SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR z1 = 1−0. f = 2.5 Re 1 1.5 −2 −2 −β2 (scaled) 0.8 −1.5i|i 1.5i.95 −1 0.85 0.5 0.3 02 0.5 −0. The symbol * denotes eigenvalues for the Neumann problem. Unauthorized reproduction of this article is prohibited. Clearly.7 0.8 1 Im Im 0.3 ν = 0.5i. z2 = −|1−0.9 0.5 z1 = 1−0. Copyright © by SIAM.7 −β2 (scaled) 0. For the mesh size we take h = 100/8 and perform the experiment for four diﬀerent damping parameters.6 0.5 −0.9 0.5 −0.9 0.5 0. o denotes eigenvalues for the Sommerfeld problem. . z2 = −1 z1 = 1.4 0 0.7 0.7 −0.5 0 0 −1 −0. and the larger (more negative) the optimal imaginary shift.5 1 0.4 −β2 (scaled) −0.5 0.4 −1.5 −1 0 Re 1 2 Fig. 2.85 −1. 0.4 0. Spectra for diﬀerent values of the complex shift in the preconditioner.5 0 0.6 ν = 0.

ERLANGGA.4142 Iterations “optimal” shift 56 42 20 13 Min.2 −1 −0. A. The results show that for all four diﬀerent values of the damping parameter the number of iterations is independent of the step size h.2 0 Fig. Mesh dependency. Y. The last set of experiments examines the dependency of the number of iterations of preconditioned GMRES on the mesh size. . Damping ν=0 ν = 0.1956 M. Table 2 shows for an increasingly ﬁne step size h the number of iterations for the Sommerfeld problem. 4. The results show that the shift (31) is nearly optimal with respect to the number of GMRES iterations.118 1. AND C. does not make any predictions about the mesh-dependent performance of preconditioned GMRES for problems with a zero damping parameter. The experiment is performed for four diﬀerent damping parameters. however.8 scaled imaginary shift −0.8 −1. Actual number of iteration as a function of the imaginary shift (h = 100/8).1 ν = 0. Unauthorized reproduction of this article is prohibited.6 −0.6 −1.4 −1. VAN GIJZEN. The results of the same type of experiments. VUIK Frequency: 8 70 ν=0 ν = 0.5 ν=1 60 Number of iterations 50 40 30 20 10 −2 −1.1 ν = 0.005 1. but now with a frequency that scales Copyright © by SIAM. The theory that is presented in section 4. number of iterations 54 41 20 13 Table 1 shows the minimum number of iterations and compares this with the number of iterations when the “optimal” shift (31) is used. Based on the discussion at the end of section 4. Table 1 Number of iterations for “optimal” shift and minimum number of iterations.4 −0. 5.5 ν=1 Optimal shift 1 1. this could be expected.4. B. and the frequency is kept ﬁxed to f = 2.

Furthermore. may be used instead of GMRES. however. h: f : ν=0 ν = 0. the frequency. use values for the shift that are close to the predicted value for the optimal shift we present in this Copyright © by SIAM. using a multigrid method. As was remarked above. such as Bi-CGSTAB [14]. We have derived the close-to-optimal shift for the shifted-Laplace preconditioner in combination with GMRES under the assumption that preconditioning operations are performed exactly. These condition numbers are equal to 24 for all meshes. or in a half-plane. and the density. are tabulated in Table 3. We have shown that.5 ν=1 100/2 2 14 13 11 9 Number of iterations 100/4 100/8 100/16 2 2 2 13 13 13 12 12 12 10 11 11 9 9 9 100/32 2 13 13 11 9 Table 3 Number of iterations under mesh reﬁnement for increasingly high frequencies. the number of GMRES iterations is bounded by a number that is independent of the mesh size. 6. experimental results reported in [3]. we have shown for problems with a nonzero damping parameter that there is an upper bound on the number of GMRES iterations that depends only on the damping parameter and hence is independent of the mesh size. To check that c2 (X) is actually small for the above test cases we have also computed the condition numbers of the mass matrices on the ﬁve meshes. for example. depending on the value of the shift. Unauthorized reproduction of this article is prohibited.SPECTRAL ANALYSIS OF PRECONDITIONED HELMHOLTZ OPERATOR 1957 Table 2 Number of iterations under mesh reﬁnement for a ﬁxed frequency. Combining these results concerning the spectrum of the preconditioned matrix with a well-known bound on the GMRESresidual norm allowed us to determine a close-to-optimal shift. preconditioning operations are performed approximately.1 ν = 0. .5 and ν = 1. These results conﬁrm that if the damping parameter is nonzero. the sound speed. In practice. and another Krylov method. hence we have that √ c2 (X) ≤ c2 (M ) = 2 3. the eigenvalues of the preconditioned matrix are located either in or on a circle. This is most apparent in the results for ν = 0. We have presented a spectral analysis of the Helmholtz operator that is preconditioned with a shifted Laplace operator. the theory presented in section 4 does not make any predictions for the case when ν = 0. Conclusions. In this case the analysis that has been presented in this paper no longer holds.1 ν = 0. However. The results for ν = 0 seem to indicate that the number of GMRES iterations more or less doubles if the step size is halved. h: f : ν=0 ν = 0.5 ν=1 100/2 2 14 13 11 9 Number of iterations 100/4 100/8 100/16 4 8 16 25 56 116 22 42 63 16 20 23 11 13 13 100/32 32 215 80 23 13 with the mesh size. where Bi-CGSTAB is used as a Krylov solver and preconditioning operations are performed approximately with one multigrid cycle.

Any nonincreasing convergence curve is possible for GMRES. A. 49 (1983). Manteuffel and S. Soulaimani. ´k. and C. 443–457. B. SIAM J. SIAM J. SIAM J. Math. Vuik. Comparison of multigrid and incomplete LU shifted-Laplace preconditioners for the inhomogeneous Helmholtz equation. A. Saad and M. 465–469. pp. [9] A. Preconditioning and boundary conditions. Laird and M. pp. Oosterlee... H. Strako˘ [5] A. A novel multigrid based preconditioner for heterogeneous Helmholtz problems. and Y. VUIK paper. 409–425. 1964. Oosterlee. 27 (2006). Appl.. [13] E. pp. Numer. A. Schultz. [11] R. I. Comput. REFERENCES [1] A. W. Comput. 656–694. pp. 2654–2662. [12] Y. 1471–1492. SIAM J. Turkel. Sci. New York. eds.. 44 (2003). Saad.. Phys. Preconditioning harmonic unsteady potential ﬂow calculations. V. On a class of preconditioners for the Helmholtz equation. E. 2002. pp. L. A. Copyright © by SIAM. pp. Vuik. Kechroud. Math. Separation-of-variables as a preconditioner for an iterative Helmholtz solver. V. Greenbaum. GMRES: A generalized minimal residual algorithm for solving nonsymmetric linear systems. Sci. . [3] Y. We therefore conclude that our results provide strong guidelines on how to select the shift parameter for all Krylov methods. 17 (1996). 856–869. Berlin. A. J. A. C. Sci. van der Vorst. Preconditioning techniques for the solution of the Helmholtz equation by the ﬁnite element method. [8] A.1958 M. and E. C. [7] R. Sci. 28 (2006). and Z. Numer... pp. pp. Lecture Notes in Comput. Matrix Anal. and C. Unauthorized reproduction of this article is prohibited. SIAM J. Appl. 50 (2005). 13 (1992). Bayliss. 549–570. An iterative method for the Helmholtz equation. Giles. [6] A. Kumar et al. Preconditioned Iterative Solution of the 2D Helmholtz Equation. Acknowledgments. Erlangga. pp. W. Oosterlee. L. 44 (2006). Numer. and C. 2668. The experimental results are also in these cases quite satisfactory. pp. Oxford. pp.. AND C.. 56 (2006). Householder. Goldstein. 27 (1990). 847–858. Blaisdell Publishing Company. Appl. B. Part II. Pta s. W. Laird and M. Plessix and W. Vuik.. S. in Computational Science and Its Applications (ICCSA 2003). 385–400. Report 02/12. UK. J. C. Turkel. Erlangga. Mulder. Erlangga. Comput. A. ERLANGGA. Numerical methods and nature. Tech. 631–644. Bi-CGSTAB: A fast and smoothly converging variant of Bi-CG for the solution of nonsymmetric linear systems.. [14] H. [2] Y. [10] T. Parter. A. Anal. 648–666. Springer. 7 (1986). Comput. Stat. C. Comput. The authors thank Kees Oosterlee for valuable discussions. Oxford Computer Laboratory. VAN GIJZEN.. Appl. Sci. 2003. V. Y.. pp. as well as for approximate preconditioners. Giles. [4] Y. The Theory of Matrices in Numerical Analysis. Stat. Numer. B. AAIA J. Math.

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