Professional Documents
Culture Documents
in Physics
Edited by H. Araki, Kyoto, J. Ehlers, MLinchen, K. Hepp, ZQrich
R. Kippenhahn, ML~nchen,D. Ruelle, Bures-sur-Yvette
H.A. WeidenmLiller, Heidelberg, J. Wess, Karlsruhe and J. Zittartz, K61n
Managing Editor: W. Beiglb6ck
318
Bertrand Mercier
An Introduction
to the Numerical Analysis
of Spectral Methods
Springer-Verlag
Berlin Heidelberg NewYork London Paris Tokyo
Author
Bertrand Mercier
Aerospatiale, Division Syst6mes Strat~giques et Spatiaux
Etablissement des Mureaux
Route de Verneuil, F - 7 8 1 3 0 Les Mureaux, France
This work is subject to copyright. All 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. Duplication
of this publication or parts thereof is only permitted under the provisions of the German Copyright
Law of September 9, 1965, in its version of June 24, 1985, and a copyright fee must always be
paid. Violations fall underthe prosecution act of the German Copyright Law.
Springer-Verlag Berlin Heidelberg 1989
Printed in Germany
Printing: Druckhaus Beltz, Hemsbach/Bergstr.
Binding: J. Sch~ffer GmbH & Co. KG., GrL~nstadt
2158/3140-543210 - Printed on acid-free paper
III
EDITORS' PREFACE
Atomic
Energy
M ~ t h o d e s Spectrales.
Commission,
titled
Analyse
Num~mlq~e
des
and no
to
revisions
1981.
The
have b e e n made
reader
interested
to
in
account
recent
for
results
theory
and
May 1988
Iv
AUTHOR'S PREFACE
as a C.E.A. report.
Scientific Director,
acknowledged.
February 1985
B.MERCIER
(C.E.A.),
is also
CONTENTS
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A. FOURIER SPECTRAL M E T H O D
i. R e v i e w
of H i l b e r t
2. S i m p l e
Examples
3. F o u r i e r
Series
Bases ............................................
of H i l b e r t
in ~
(-K,K) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. T h e U n i f o r m
Convergence
5. T h e F o u r i e r
Series
6. P e r i o d i c
Sobolev
7. F i r s t - O r d e r
8. L a g r a n g e
10.
Time
of F o u r i e r
14
Series ..........................
19
21
Spaces ............................................
Equations
- The Galerkin
Equation
Discretization
Method ........................
in S N - T h e D i s c r e t e
- The C o l l o c a t i o n
Fourier
Transform
......
Method ......................
Schemes ........................................
ii. A n A d v e c t i o n
- Diffusion
12.
of an E l l i p t i c
The Solution
7
9
of a D i s t r i b u t i o n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interpolation
9. F i r s t - O r d e r
Bases ...................................
Equation ..................................
Problem ................................
26
32
43
56
62
77
93
B. P O L Y N O M I A L SPECTRAL M E T H O D S
I. A R e v i e w
of O r t h o g o n a l
2. A n I n t r o d u c t i o n
3.
The A p p r o x i m a t i o n
2.
Approximation
5. The S o l u t i o n
Polynomials .................................
to C e r t a i n
Integration
of a F u n c t i o n
by the
by Chebyshev
Interpolation
of t h e A d v e c t i o n
Formulae
....................
P o l y n o m i a l s ...........
Operator ........................
Equation .............................
97
100
106
122
126
6. T i m e D i s c r e t i z a t i o n
Schemes ........................................
137
7. T h e U s e of t h e F a s t
Fourier
Transform ..............................
141
of the H e a t E q u a t i o n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
145
8.
Solutions
REFERENCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
153
INTRODUCTION
"Spectral
methods"
is
the
name
given
to a numerical
approach
to
the
series.
in
the
periodic
definition
of periodic
distribution
Sobolev spaces in
and
this
section 6 where
is
used
in
the
the approximation
PN are reviewed.
~u
"~+
8u
8 (au) = O,
a ~-~+ ~ x
defined by
~u
Lu = a ~ x + ~ x (au).
The
coefficient
a(x)
is assumed
to be smooth,
u 0.
If
u0
is
in
then
it
is well
is
still
known
convergence
with
for any
On the contrary, if
(see Gottlieb
to some undamped
weak
N -s
and
oscillations.
spectral
Orszag
s > 0 (this
u0
[8])
is disthat
the
accuracy.
In
particular,
integral quantities are much more accurately captured than pointwise values.
This result shows why smoothin ~ is quite useful in the case of discontinuous
data.
Section
If
8 is devoted
is continuous, PC u
with
at
PC"
PC
We
some
to the study of
equally-spaced
PC u
points
e..
3
We
u(Sj)
by means of the
~u
~+Lu
~t
we
carry
out,
in
section
9,
an
error
= 0
analysis
for
the
collocation
(or
review some
facts about
At
I0 where we
of order
I/N.
L, i.e.,
~u
--+
~t
Au + Lu = 0
is a second-order operator.
Finally,
section
Au=
In Part
tions.
B, we
The main
tool
I, we
properties
of families
of polynomials
(.,-)~
defined by
is
interval
given
weight
function
is
usually
defined
as
the
(-I,+I).
~(x) = (i - x2) - I~
we
Transform.
can
then
onto
and
xj = cos 8.
3
of
where the
u
with
8.
3
(0,~)
8.
are equally
the Fast
Fourier
and
2 discusses
Gauss-Lobatto
the numerical
types.
In
integration
section
3 we
formulae
study
of Gauss,
the
Gauss-
approximation
properties
of the orthogonal
Sobolev spaces
projection
{{uI}~ ~ (u,u)~/2 .
Hm(I)
operator
PN
in the space
c o n t a i n i n g the f u n c t i o n s which a l o n g w i t h t h e i r
t i v e s up to the order
are in
L2(I)
deriva-
L2(1).
-m
{{UIIHm(I)'
which is quite similar to what was proved for Fourier series in Part A.
Following Canuto and Quarteroni
IIu - P
N
Part
A.
operator
ull
Hm(i)
The
which
same
show a loss
kind
of
analysis
is
compared
performed
for
to the results
the
in
interpolation
PC in section 6.
xc
~u + a(x) ~u
2-7
Tfx --'
(x.)3I<j<N
denote a set of
uN
is everywhere
t >0
x = i.
N
to be a polynomial of degree
Du N
Du N
(~-- + a 3--~--)(xj) = 0,
When
I,
positive at least
< N
such that
I ~ j < N.
X.
--
method)
COS
is
J~
N +------~
'
j = I,..-,N
--
COS
j~
~-V--rTT~
I_ ,
J.,~ . T
time
discretization
j = I, "',N.
/2
in section
6.
The
stability
is shown to be
At < C N -2 .
In
section
7 we
computations.
show
This
but it is possible
Finally,
coefficients.
how
to use
is not
following
section
is
the
obvious
Fast
for
the first
the argument
devoted
Fourier
to
Transform
set
in Gottlieb
the
heat
to speed
of collocation
up the
points,
[8].
equation
with
variable
PART A
I.
R e v i e w of Hilbert Bases
Let
associated norm
(.,.).
The
II.II is defined by
Recall
that a family
{W. g H}
where
3
jcl'
(W.,Wk) = 6
3
Suppose
u g H
d~f
jk
is given.
if
otherwise
j = k
j c I,
uj = (u,Wj)
Let
be
Un
{Wjk}, 1 < k ~ n.
un
I u. W.
k= 1 3k 3 k
is the projection of
on the subspace
Mn
Consequently,
u - un
is
orthogonal
to
Mn,
and
thus by Pythagorases
theorem
n
{jl,...,jn },
the inequality
X lu 12<
k=l
IIuU2
Jk
(1.z)
^12
IUj
< I,U,,2 .
(Bessel's Inequality)
jgl
In
particular,
efficients
uj
for
can
a given
be
u g H,
non-zero.
only
Let
a denumerable
{Jk}kc ~
be
the
{Un}n=l,
subset
of
co-
indices
of
the
where
11 = ]~ U. W.
n
kEN ]k Jk
is Cauchy in
lUjkI2 + 0
as
m + ~
with
n > m,
m<k~n
u" = lim u n.
The element
u"
obviously belongs to the complen+~
of the subspace spanned by (Wj)je I.
As u-u" is orthogonal to M,
it is deduced that
We
say
then
u~
that
family
(Wj)je I
M = H; in other words if
u =
lie un
n->~
is
a Hilbert
on
M.
basis
of
if
or equivalently, if
II u II
2 =
luj^ 12.
Hilbert basis.
2.
itself.
denote
by
B(H)
the set
iff
M s ~
(T ~ B(H)
T*
of
of all bounded
such that
linear
operators
of H
to
v s H).
is defined by
and that if
Kato [10]).
10
Theorem 2.1:
Hermitian
Let
operator.
H
Then
be a separable Hilbert
there
exists
space and
a sequence
(kn)neIN
T
and
a compact
(Wn)ne IN
such that
(i)
(ii)
(iii)
Example
functions
I.
~,
the family
TW
= X W for all
n n - -
Let
I = ]0,~[
basis in
H,
n ~ IN.
and
H = L2(1), the
space
of
measurable
The space
(f'g) = 71 f
f(e)g(e)d0
o
where
the
defined for
bar
denotes
complex
f ~ L2(1)
by
Let
conjugation.
Tf = u, where
T:
L2(1) L2(1)
problem.
-u" = f
u(0)
= u(~)
be
-- 0.
11
(2.1)
for
some
HI(1).
constant
where
II.II1
follows that
denotes
in
L2(1)
the norm
of
is compact,
the
Sobolev
(see e.g.,
space
[II]), it
is compact.
The eigenfunctions
of
satisfy
-(%nWn )'' = W n
Wn(0 ) = Wn(~) = 0,
and we have
and
Wn(X) = /2
sin nx,
for
n > i.
From Theorem
(2.2)
with
u(e) =
Wn(X) = / ~
sin nx
~ Un Wn(8) ,
n> i
and
u
n
= (u
'Wn)
u ~ L2(0,~)
may be
12
We now consider
Exampl e 2.
for
f ~ L2(I)
by
Tf = u, where
the operator
is defined
problem.
-u" + u = f
u'(0)
Here again,
u'(~)
o.
ly establishs
the compactness
The eigenfunctions
of the operator
of the operator
T.
satisfy
-(k W )" + k W = W ,
n n
n n
n
w~(o) = w~(~) = o.
It follows that
1
%n
for
n > O,
i + n
W0(x) = i
W (x) = # ~ cos nx
n
for
n > I.
(2.3)
u(O) =
~ UnWn(O),
n~O
u g L2(O,~)
may be
13
where
W0(e)
= 1
and
^
I
U0 = ~
u(O)dO,
while
Wn(O)
= / 2 cos nO,
for
n > i.
Remark
function
If
2.1:
u
we
truncate
to
approximation
may
of
not
boundaries.
We
these
the
u
converge
The second
sum of functions
derivative
Relations
in a sine series
approximations
which
v~
,g
Un
whose
see
that
results.
at
u.
series
uniformly
are
termed
the
expansion
order
The
of
to
N,
first
functions
u, if
we
(the
obtain
sine
vanishing
two
series)
at
of a
first derivative
uniformly,
expansions
in
vanishes
terms
of Fourier
expansions)
u"
series
gives
vanish
of
at the boundaries,
to the derivative
different
an
the boundaries
(2.3)
function
by
and
expansions
will
(2.2)
of
at the
u
by a
and whose
u.
(which are
com-
more
14
3.
Fourier Series in
We
consider
L2(-~,w)
now
the
complex
llilbert
L2(-~,~)
space
with
scalar
p r o d u c t d e f i n e d by
1
(f,g) = ~
f f(e)g(e)de.
(Wn)ne~
W (e)
n
Theorem 3.1:
Proof:
The set
Any function
an odd function
uo
(Wn)ne ~
ine
is a Hilbert basis.
u e L2(-~,~)
ue
defined by:
(3.1)
Uo(X) =
(3.2)
Ue(X) = b 0 +
where
x ~ ]0,~[,
[ a sin nx
n>l n
~ b cos nx
n 1 n
we can expand
and
15
II
2 f Uo(O)sin nO dO,
an=~- 0
(3.3)
(3.4)
=~ f0Ue(0)cos
bn
nO dO
for n a 1,
and
II
b 0 = ~I f0Ue(0)d0.
functions,
x e ]-~,~[.
As
cos nx = I/2 (einX+ e -inx)
and as
I (einX
-inx),
sin nx =-~- e
~ [?(einX+
n>l
i.e.,
u(x) =
~
n~
e inx
n
where
u 0 = b0
and
^
Un
(b n _ Jan)
16
for
n > I.
I
an = ~ f
l
Uo(8)sin ne d0 = ~ f
u(8)sin n8 de,
bn = [I f
Ue(8)cos n8 dO = T1 f
u(8)cos ne de,
consequently,
^
Un = ~
As
(Wn)ne~
is a complete orthonormal
Corollary
the functions
PN : H + S N
3.1:
Le___!t SN
(einx),
In[ ~ N
be the subspace
of
(and of dimension
H d~f L2(_~,~)
spanned by
defined by
(PNU)(X) =
In
u e
<N n
inx
for
--
'
u e H,
where
SN
is defined
by
(3.5),
coincides
with
the orthogonal
and satisfies:
llu - PNU11 0
as
N + ~.
projection
on
17
Remark 3.1:
(i)
For a given
approximation
The
unless
in
function
u
is
(2)
there
However,
uN
being
that
is
the
function
u N = PN u
constitutes
an
L2(-~,~).
periodic,
Recall
everywhere;
u.
of
u e L2(-z,~),
L2
no
not
converge
uniformly
to
2~.
convergence
reason
this difficult
may
for
does
PN u
to
not
imply
converge
convergence
almost
almost
everywhere
to
[6]).
The
cients
coefficients
of the function
Remark
3.2:
defined
by
(3.5)
are
called
the
Fourier
coeffi-
u.
The relationship
between
the Fourier
transform:
(I)
Suppose
is a periodic
u(x)
if
otherwise
2~; we set
x s I E (__~,~)
f(x) =
transform
f(w) dsf
1
~-~ m
of
satisfies
e -iwx f(x)dx =
f e -iwx u(x)dx.
2ti71
Therefore
f(k) = ~
In other words,
terval
(-~,~))
the Fourier
u k.
transform of
u
(vanishing outside
^
uk ~
at the points
k e Zg.
the in-
18
(2)
at
the
multiplied by
k ~ ~
are
precisely
the
Fourier
coefficients
of
/~.
In effect, if
f(w)
= 2~7~
i f~
then
I
f(x) =
fir
f(w)eiWX dw.
tie
6
w0 '
^
f = 6
==>
w0
1
iWoX
f(x) ....... e
;
2~E
therefore,
u(x) =
^
inx
un e
==>
u(w) = 2~E
prove
the
u n ~n(W)
ne
nc
Remark 3.3:
completeness
reader
should be warned
ness.
We have
chosen
method
involves
quite
(e inx)
ne
in
L2(-~,~).
The
that this is not the usual way of proving completeto do it this way
lengthy
proofs,
and
[9].
for
b)
two reasons:
to justify
a) the standard
the name
"spectral
19
4.
in the first
place that if
I = [-~,7]
and
u e L2(1),
lu[
(4.1)
]u(x) ldx.
--7
Moreover,
ferentiable,
if
then, setting
v = u"
with period
we have
^
V
n
in '
^
i
Un = ~
e -inx +7
More generally,
if
is
m~ n x
_i--~----]_7- ~ f
u(x)e-inXdx = ~ I [u(x)
u'(x) e_in
times differentiable,
dx).
s-l, we have
^
(4.2)
where
are
the
Fourier
(in)~ '
coefficients
of
(4.1)) we have
(4.3)
lUnl
M(u(a))
fn)
v =
u,~,
./~
In particular
(see
20
Thus,
the
more
regular
a function
Proposition
is,
the more
In[ + ~.
4.1: I f
is
twice
continuously
differentiable
u N = PN u
Proof:
conver~_es uniformly to
and
its
u.
lUnl <
where
coeffi-
M2
-in12 '
for
n # 0,
M 2 = M(u").
The series of moduli
fUn einXl
neTz
is less, (independently of
M 2
Uo+ l-~"
n*0 n
Therefore
W.
W = u
L2(I)
to
since
21
5.
The F o u r i e r
Suppose
Series
of a Distribution
I = [-~,~].
Let us define
C~(1)
P
2~.
From
(4.3),
which decrease
rapidly;
positive constant
if
in
C~(I)
have Fourier
~ > 0,
coefficients
there exists a
such that
C
(5.1)
-[~nI ~
[nl ~
In other words, if
(5.2)
~ e C=(1)
P
for all
then
>
^I+nl
lira
0,
Inl s 0 ,
In I+=o
us
~ = B+I).
call
D'(I)
P
the
dual
will
denote
by
<..>
space
of
and
the duality
(.,-)
If
the
between
C~(I)
and
space
D'(I);
P
~ s C~(1), we have
<f,+>
where
is
f s D'(1),
p
of
2~.
'
f g L2(I)
C~(I). This
P
= (f,~),
L2(I)
defined previously.
fn = <f,Wn>
(f)
by:
n ne2z
if
22
where
Wn ~ Cp(1)).
@ g C~(1)
P
^
~-
<f'~> = <f' [
~n Wn> = [
<f'Wn> #n '
ne ZZ
ne ZZ
<f,~> = ~ fn@n
n
Therefore,
the
series
on
the
right-hand
~ e C~(1).
P
side
(of
the
last
equation)
C~(1)
p
' we see that
f e D~(1)
(5.3)
f e D'(1)
P
k > 0
fact that any periodic distribution can be represented as a finite sum of the
derivatives of continuous functions.
We can now define the derivative in the periodic distribution sense by:
(5.4)
The
derivative
of
order
of
% e Cp(1).
is then by definition
distribution
g = f(~) e D ' ( 1 ) .
P
a periodic
23
We show that
(5.5)
gn = (in)a fn"
u = @
and
-A-
<f(=)'~> = (-i)~ ~
fn Vn
nc~
= (-i)= ~ fn(in) ~ ~n
ng2Z
^
(in)~ fn #n '
ng 7Z
The
with ~
The
derivative
(concentrated
modulo
derivative
in
in
the
periodic
a Dirac mass
coincides
point.
5.1:
now study
mass)
distribution
sense
at the point
(or at
of
will in-~
which
2~)
the
sense
D'(I)
of
D'(I)
P
does
the convergence
in
D'(I)
P
not
coincide
with
at a
the
(4.2) is false).
of the Fourier
series
for
f:
nEZZ
(where
nWn
Wn(X) = einx).
24
P r o p o s i t i o n 5.1:
Proof:
6 converges
<6,~> = ~(0),
for all
in
D'(1).
P
we have
~ e C~(1)
P
therefore
= i, for all
n e ~.
We get
6N = inI< N Wn'
(6 N
that
6N + ~
in
D'(I)
P
Suppose
~ ~ Cp(I).
Now,
know
we
truncated to order
(see
~ truncated
when
to the
N).
order
We will
N + =.
We have
Proposition
4.1)
that
N) converges uniformly to
lira
PN~
(Fourier
series
~, therefore:
to
in
D'(I).
The
for
N+~
Theorem 5.1:
show
Q.E.D.
Fourier
series
of distribution
f e D'(I)
P
conver~es
2S
Proof:
functions
and
with period
2~, we may
(5.6)
f'g(0) = ~
This possesses
Therefore,
if
# ~ CI(I)
P
i
<h,~> = ~ - f
and
f f(0-w)g(w)dw.
I
of convolution in
h = f'g, we have
h(e')~(0")d8"
Suppose, we set
f f f(O'-w)g(w)~(6")de'dw.
I I
0 = 8" - w, then
<h,~> -
When
i
(2~) 2
f,g s D~(I)
are
1 2 f
f(0)g(w)~--(eT~d0dw.
(2~)
II
some
distributions,
we
may
then
generalize
the
con-
<f*g,~> = <fogw,~(e+w)>,
where
and
<-,->
in the right-hand
side
denotes
the duality
between
(D~(1)) 2
(C~(1)) 2 .
Since
distribution
of the convolution
[18], p. 294)
in the sense of
26
following
Proposition
2.
Now
nl Wnn
*Wn
and
(f*Wn)(e)
according
= <f,%,0>,
to (5.6), where
= e in0 e -inw.
Finally
in@
(f*Wn)(@)
= e
^
<f,Wn> = fn Wn(8)'
and so
^
f = lim
~
N+~ I n ~ N
f W .
n n
Q.E .D.
6.
Let
following
be
the
fashion;
for
interval
]-~,~[.
We
u s L2(1), we set
ilulir = ( I
(l+m2)rl~mi2) I~
me
^
where
define
of
u.
the norm
ti.tl
in the
27
Hr(1)
P
where
the
derivative
denoted
by
the
superscript
is
(a)
The space
Hr(I)
P
taken
in
the
is based on
the norm
Ir = ( ~
llluJ
~=0
Where the
Ca
r
of
defined in section 3.
L2(I)
ca llu(e),l2) i/2
r
Lemma 6.1:
The space
Proof:
u s Hr(1)
p
' we know that
N + ~.
If
C~(1)
is dense in
u N = PN u u in
(6.1)
(PNU) (a) =
I
(in) a
In ~N
Hr(1).p
L2(1)
as
PN
= PN u(a)
n
'
of
u (~)
are
(in)eu
from (5.5).
Therefore
UN(e)
converges to
Finally,
u (a)
in
L2(I).
r l lU-UNIll r + 0
as
PN u e Cp(I).
Q.E.D.
The
relation
(6.1)
shows
that
the
operator
PN
commutes
with
the
28
Hr(1)
= {u e L2(1):
where
II.ll
r
(u,V)r =
Proposition
the norm
6.1:
liE. Ill r
The space
[ (i + m2) r Um Vm.
me ZZ
Hr(1)
H~(1)
and
II.II .
r
Proof:
Suppose that
0~
e<
r,
mg~
Consequently
u (~) g L2(1)
for
0 < ~ ~ r.
II lulli2r =
~ C~r
~ m2e lUm 12 = [
(l+m2)r
=0
me 2Z
m~ Zg
lUm [2 = ;lUrli2
Q.E.D.
The
values
definition
of
extended to
r .
Hr(1)
is such that it is sensible for noninteger
P
The previous result permits the definition of Hr(I)
to be
P
r ~
of
29
spaces.
Theorem 6.1:
Let
r,s c ~
with
0 < s < r;
then we have
s-r
Proof:
for
;lUllr'
u s Hr(1).P
We have
ilU-PNUll2s = Oral>N
Q.E.D.
Remark 6.1:
better an approximation
PN u
have
of
an
error
improves as
Lena
estimate
is to
order
u.
0(N -r)
More precisely,
in norm
if
L2(I)
is the
u s Hr(I), we
P
which
clearly
increases.
6.2:
(Sobolev Inequality).
lluli2
< Cilu;l0 11ufl
(!)
i'
e
and in particular
HI(1)
p
L~(1).
for all
u ~ HI(1),
p
such that
30
Proof:
over
I.
Suppose
u e C~(1).
We know that
u0
is the average of
such that
u 0 = U(Xo).
Let
i/2 iv(x)i2 = f x v(y)v'(y)dy < (fXlv(y)Imdy) i/2 (fx Iv'(y)I2dy) < 2~,Ivil ilv'li,
x0
x0
x0
[u(x)] <
because
v" = u"
and
]u(x) l ~ Clluijl~
2 HuJ;#/2.
Since
u s C~(1).
P
C~(1)
is dense in
u e HI(1).
P
Q.E.D.
L~(I)
norm;
we have
1-r
ilu_P,uli2
4 C(I+N2)-r/Z(I+N 2) 2
= C(I+N 2) I/2-r
L~(1)
thus
IIU-PNUll
= 0(Nl/2-r),
L(1)
valid for
this case
is continuous.)
u e Hi(l).
P
(Note that in
31
Proposition 4.1.
Remark 6.2:
the
functions
If, instead of
SN
is of dimension
some
PN :L2 + SN"
analogous
SN
spanned by
approximation
32
7.
First-Order
Let
Eqtmtlons
- The Galerkin
Method
au
a(au)
Lu ~ a ~ x + 'ax
where
a e C~(1)
P
(Lu,v) = ~ -
is skew symmetric:
~ x + ~--x-----jvcx = ~
--~
for
and
Hk(1)
P
in
gx
+ au ~-~x)dX = -(u,Lv),
operator of
-~
We observe that
is a bounded
Hk-l(1).
P
L2(1).
Find
such that
~u
--+Lu=0
~t
t > 0
(7.1)
u(x,0) = u0(x)
where
u 0 e D(L)
is given.
Theorem
7.1:
a unique solution
independent of
u0
Let
s > i
and
u ~ C0(0,r;H~(1)).
and
such that:
33
.u(.,t)ll
< Cllu01Ls,
for
t s [0,T],
where
Proof:
of pseudo-differential
A s : ~(I)
+ L2(1)
defined by
^ einx + ASu ~ [
[ Un
ne ~
ns
u =
(l+n21S/2, u^
e inx
n
We note that
and if
s = 2, we have
is a multiple of
2, we have
A s u = (I - d2 Is/2
- -
dx 2~
U,
Hpr
Let us
of the
34
operator of order
As
is a pseudo-
s.)
d
2
d
2
~u
ASu) + (hSu, A s ~u
d'-~ llu(t)l]s = d'~ t]hSu(t)110 = (AS ~
'
~-t)
L.
is an operator (pseudo-differential
s, it follows that
Therefore,
llu(t)il2 4 e2Ctltu011
S
S'
85
s = 2
that
is truely an operator
of
d2
Ku = (i - ~ ) ( L u )
- L(u-u")
dx ~
whence by setting
Lu = bu" + C
with
b = 2a
= bu" + C - (b"u'+2b'u"+bu"')
and
C = a', we get,
- C(u-u")
- C" - b(u'-u"')
- C(u-u"),
for an approximate
uN
semi-discretization
solution
(einX)ini4N
UN(t ) E UN(.,t )
Q.E.D.
of the problem
in the space
(1).
problem is therefore
the following.
such that
~u N
(~--{--+ LUN;VN)
= 0,
for all
v N c SN,
(~N(0) - u0,vN) = 0,
for all
v N s S N.
(7.2)
(I)
See Corollary
3.1.
t~0
(7.1) by
SN
36
Let
LN = PN L, where
PN : L2(1) SN
is the projection on
SN, we may
uN
8t + L N U N
=0
(7.3)
UN(0) = PN u0"
Note that
LN
is also antisymmetric
for
UN, v N E S N.
In particular, with
(7.4)
uN = vN
Re(L N VN,VN) = 0.
Since
SN
differential
operator
LN
is of finite dimension,
Theorem 7.2: If
u 0 e H~+I(1),
and
CI
~(t)
cO].
We set
(7.3) is in fact a
u N ~ C0(0,T;SN)
Proof:
the equation
= PNU(t)
independent
llu011s+l,
of
u0
for
and
t s [0,T].
such that
$7
Du
Du
(U'Wn) = d-t Un
therefore
8u = ~-~
D PN u = ~-~
D IN
PN ~-~-
Du N
D--F-+ LNU = 0
therefore
au~
8t + LN]N = LN(UN-U)"
WN = UN - UN' we obtain
8W N
8t + LNWN = LN(U-~N)"
WN, we obtain
DW N
(~--, W N) + (LNWN,W N) = (LN(U-UN) , WN)-
i/2~'~
d IlWN(t)II02 = llWN(t)it0 d
IIWN(t)IIO ,
38
we Obtain
(7.5)
C2
L : Hi(l) + L2(1).
Since
II(U-~N)(t)ti 1 < (l+N2)-s/21iu(t)lls+l < C(l+N2)-s/2ilu0iis+l ,
C.
Q.E.D.
Remark 7.1:
(i)
the norm
If
0(N -s)
t.
The method is thus of infinite order in the sense that the accuracy of
the method is only limited by the regularity of the initial data (and the
in
39
coefficients).
faster than
If this is in
N -s
for all
s > 0.
N +
accuracy."
This shows that the spectral methods will be superior to all the finite
element or finite difference methods from the point of view of accuracy when
one is dealing with regular solutions.
(2)
SN
(of dimension 2N) introduced by Remark 6.2, with exactly the same results.
Remark 7.2:
Let
quantity
N + =
(, UN(t) - u(t))
even if
u(t)
is not regular.
aW
*
t~--+ L W = O,
w(o)
where
L* (= -L)
Let
t ~ 0
is the adjoint of
WN(t) ~ S N
L.
aW N
,
(~--~--+ L WN,VN) = 0,
for all
v N ~ SN
(WN(O) - ,VN) = 0,
for all
v N e SN.
40
According
_s+l
~ e lip
(I),
for
t < T.
Using the relation
(7.6)
(7.7)
Noting that
(,UN(t)-u(t))
llUN(t) - u(t)l;_o ~
sup
~ H~(~)
we may interpret
li~ I;
indices.
In the extreme case where
u0
is discontinuous,
we observe then on
solution in
"in
the mean," according to the relation (7.7) (since the second member of (7.7)
converges
to zero as
is regular).
This explains intuitively the success of the Fourier method with smooth-
41
ing, consisting
Osher,
[12]).
of smoothing
the initial
solution
let
u 0 (see Majda-McDonoughp
be a positive
regular
/ p(x)dx = I.
We set
s(x)
x)
and
us(t) = Os* u(t)
We know that
us(t) + u(t)
when
e + 0,
u (x) = / Os(X-y)u(y)dy
since by definition
= (U,Psx)
We have
~ CN-(S-l)llPexllsltUollo
as
ifOsxlls = ilpells.
We deduce that if
constant
C(s,e)
such that
is very regular,
for all
42
uN
to the
Proof of (7.6):
We have by definition
Now,
t
d (~NCS),UN(S))ds
(WN(0),uN(t)) = (WN(t) , UN(0)) + f ~7
0
where have set
WN(S) = WN(t-s ).
Noting that
t
f
W~(s) = -W~(t-s)
we have
t
(~N(S),U(s))ds = f ((WN(t_s),u~<s)) _ (W~(t_s),uN(S))d s
t
= f (WN(t-s),-LUN(S)) - (-L WN(t-s),uN(s)))ds
0
=0,
which yields
(WN(0),UN(t)) = (WN(t),UN(0)).
43
(W(0),u(t))
= (W(t),u(0)),
whence
(~,UN(t)-u(t))
= (WN(t),UN(0))
- (W(t),u(0))
Q.E.D.
8.
Lagrange I n t e r p o l a t i o n i n
In practice,
interval
if
u ~ C0(1) is a continuous
P
coefficients
UN
of
u.
in
to determine a function
coincides with
at
L2(I)).
v g SN,
2N+I
PN u
points
(xj)lj I < N
x. = jh,
3
(8.1)
of
u, which
defined by
lJl 4 N
where
2~
h = 2N+I
In fact if we set
v(x) =
2N+I
coefficients
I
akeikx'
Ik ~N
ak
44
ikxj
(8.2)
ikl! N e
ak = u(xj),
Now, up to a multiplicative
factor
lJl ~ N.
(2N+I), the
(2N+I) x (2N+I)
matrix
(8.3)
where
W = e
ih
= e
2i~
2N+I
is the principal
lJl < N
1
2N+I
(8.4)
i!
lJ
if
otherwise
Lemma 8.1:
Suppose
I
2N+I
Proof:
Set
k =
wJkw-J~ = ~k =
[J (N
M = 2N+I
is a root of order
~J =
m = W k-~)
2N+l
m=
if
otherwise
and
if
0~
j ~ N
J+M
if
-N ~ J < 0
j" =
Since m j+M = m j
we have
45
M-I
2N+I
~I
lJ <N
mJ
~0J"
= ~ j'=0
Z
(l-m)
M-I
Z 0~j" -= i-~oM,
j'=0
m ~ (~.
Q.E.D.
Corollary 8.1:
inte~polant of
Let
i__n_n S N
(ak) Ik I < N
of the
i
i~
w-Jkz.
me = 2N+i lJ < N
J '
(8.5)
where the
(zj)ljl < N
z. = u(x.)
J
]
Definition 8.1:
a__~t xj
given by:
lJl ~ N.
(zj)lji< N + (ak)[kl~<N
Remark 8.1:
thanks to the existence of the Fast Fourier Transform (see, for example,
Auslander-Tolimieri,
the
ak
from the
can be performed in
zj
O(N log N)
from the
ak
and of
46
in 0 ( N 2)
full
(2N+I) x (2N+I)
matrix by a vector.
sesquilinear form on
C~(I)
PC : C~(I) + SN.
Let
its inter-
('")N
be the
defined by
The operator
PC
satisfies
(PcU)(X.)
j = u(xj)
lJl < N
and, in particular
(8.7)
for all
(u-PcU,VN) N = 0,
By the definition of
PN
for all
(U-PNU,VN) = 0,
(.,.)
v N s S N.
v N g SN,
('")N"
(8.8)
and
(.,.)
coincide on
SN.
(UN,VN) N = (UN,VN) ,
for all
UN,V N s SN.
47
This results from the fact that the numerical integration formula
(8.9)
2-~f
f(x)dx = ~
~
f(xj),
lJ <N
--~T
is exact for
f c S2N.
2N+I lJ 4N
ikx.
e
2N+I lJ
<N
wJk=
if k = 0 (mod 2N+I)
otherwise
and thus
ikx.
2N+I lJ 4N
J:~ 2~
f eikXdx'
I
The Relation Between the Fourier Coefficients of a Function and the Fourier
Coefficients of its Interpolant.
Lemma 8.2:
coefficients, and
PC u
Let
u e C~(1)
(an)lni< N
with
(Uk)ke ~
as its Fourier
an = 12Z Un+M
where
M dsf 2N+I.
48
Proof:
Let
(Wn)ne ~
be the basis of
tx~
= e
L2(1)
defined by
inx
We have
I
(Wk'Wn)N = 2N+I ljI(N Wk(Xj)
1
I
ei(k-n)xj
= 2N+I lJ ~N
I
~ wJ (k-n)
= 2N+I lJ ~N
Using Lemma 8.1, applied with
(8.io)
(Wk,Wn) N =
if
k = n (mod M)
otherwise
Since
(8.ii)
: (kl
uk Wk'WN)N = Z
~
Zg
Un+~M"
Q.E.D.
49
Remark 8.2:
(8.12)
Uk = (U'Wk) = ~-~
(8.13)
ak
(U'Wk)N
/I u~k dx
i
[ u(xj) ~
2N+I ljl~N
which shows that if we use the numerical integration formula (8.9) to evaluate
the integral defining a Fourier coefficient
uk
Estimation of
but)
a k,
u.
UU-PcULI0 .
Theorem 8.1:
Let
r >I~
that
(8.14)
for all
u g H~(1).
r ~
Proof:
PcPN = PN"
PC
leaves
SN
invariant, we have
(8.15)
u - PC u = u - PN u + Pc(PN - l)u.
Therefore, by setting
v = (I - PN)U
such
50
(8.16)
of
ak
(8.17)
where the
ak =
vn
~
Vk+EM ,
~ ZZ
Vn =
of
and satisfy
if Inl ~ N
^
un
otherwise
Suppose
Y(k) = {n ~
2Z :
n = k + M
with
s ~/{0}},
ak =
~ Sn =
~ (l+n2)-r/2
ngY(k)
neY(k)
(8.18)
lak I < (
Sn (l+n2)r/2
51
Now,
(l+n2) -r ~ CN -2r.
(8.19)
nsY(k)
In fact,
(l+n2)-r = N-2r
neY(k)
N-2r
neY(k)
2 r
N~ )
(~.~.+
[
g~/{0}
1
r
b
where
[k+M )2
b e ~ +
c---N--j.
Now,
bE ~ 2 ,
(since
M = 2N+I
and
Ikl < N)
b r ~
>0
We deduce (8.19) with
so the series
~ ~-2r
~>0
C = 2o(r).
def
= a(r) < +~.
lakl ~ CN-2r
I (l+n2)rlSnI2
nsY(k)
Thus
52
IIPcvIIg =
lakl2
I
Ikl <N
< CN-2r
Ikl<N
CW-2r I
ne
~ (l*n2)rl~n]2
nEY(k)
lSn 12(l+nm)r < CN-2r
I
fUn I2(l+n2)r
ne2Z
< CN-2rllull 2 ,
r
Q.E .D.
Remark 8.3:
r >i 6 .
Thus
PC
is defined when
u e Hpr(1)
for
lak]
is bounded since
r >I 6
This is
into
C~(1)
Remark 8.4:
when
r >I 6 .
x. = jh,
3
2N.
SN
(introduced in
To do this we choose
-N + 1 < j < N
~=~.
The analogue of (8.2) is then
ik~.
e
k =-N+ 1
3a k = u(x.)
J
-N+
I~
2N, is unitary.
j < N ,
53
1
ak = 2-~
~
W -kj zj ,
j =-N+I
of (8.5)) with
W = e
We have
2i~/2N
PC : C0(1) + SN'
zj = u(~j).
and
with
for all
(u-PcU,VN) N = 0,
v N E SN
(analogue
of (8.7))
(u,v)N = 2-~
1
Finally,
j=-N+I
as the numerical
u(~j) v(~j) .
integration
formula
i
i
2-~ f f(x)dx ~ 2N
-~
j=-N+I
is exact for
f(~j
,
(8.20)
for
llu-PcUll0
similar to that
54
Estimation of
llU-PcU~ls
Proposition 8.1:
II vN Us
Proof:
l,VNl,2 =
For
(I+N2)(s-~)/211VNH
We have. for
for all
v N e S N.
vN e SN:
[
(l+m2)Slvm 12 < (I+N2) s-O ~ (l+m2)IVm 62 = (l+N2)S-O,lVN,t2
ImI<N
ImI~N
Corollary
8.2:
such that if
Suppose
s < r
u e H~(I), we have
LIu-PCull
Proof:
is given,
55
As
Proposition
8.1 (with
a = 0).
established
in
56
9.
method which can be applied in the case where the coefficient, a, entering the
definition of the operator
~u
Lu - a ~ + ~
(au),
is not constant.
The approximate problem is then the following.
Find
Uc(t) e SN
such that
~-~ u C + LcU C = 0
for > 0
(9.1)
uc(O) = PcUo .
(9.2)
L C : SN + S N
is defined by
+ ~ x (Pc(a(x)u))
LcU E Pc(a ~ )
LC
is antisymmetric.
u,v c SN
Using definition
57
bu
(LcU,V) = (a ~-~x,V)N + (a-xx (Pc (au))'v) = (integrating by parts)
(9.3)
= (~xu , av) N
= (~
'
av
(au, ~x)N
Pc(aV))N
(u,Pc( a ~av)]
x
JN
Pc(aV) ) _ (u,Pc( a ~v
= -(u,Lcv).
Since
SN
differential
u C s C0(0,T ; SN).
Remark 9.1:
true for
and
If
is constant, L C
and
uC = u N
coincide on
SN; as is also
Theorem
constant C
9.1:
Le____tt T > 1
such that if
and
u 0 g H;(1)
T > 0
and
(7.1), then
I-T
llu(t) -Uc(t)ll 0 < C(I+N 2) 2 llu011r,
for
0 ~ t ~< T.
58
Proof:
Let
UN(t) - PNU(t)
and
z ( t ) = (UN-U)(t),
3q N
~+
~t + LUN - - ~z
Lz,
that is to say
~UN
~t
az
+ LcuN = (Lc-L)UN + ~-t+ Lz,
WN ~ ~
- uC
~WN
az
~t + LcW N = (Lc-L)u N + ~ + Lz.
WN
(.,.), we
have
aW N
(~--~', W N) + (LcWN,W N) " ((Lc-L)UN,WN) + (~, W N) + (LZ,WN).
d ~ #WN' 0 ~ ~'~-~"
1 d IWNI~ = Re((Lc-L)UN,WN) + R eL-~-~rSz , W N) + Re(LZ,WN).
'WN'o'-~-
59
so integrating between
(9.4)
and
we find
First consider
(pc_ I )au N.
Let
y(t) = a ~
(t);
vo
as
a e Cp(1), we have
~N(t)
li. ti
given in section 6,
(9.5)
since
UN(t) = PNU(t)
We deduce then from Theorem (8.1) (applied with
r = T'I)
C(l+N2)-(T-l)/2tiull .
that
60
We have
C(l+N2)(l-~)/2iluIIT + ;i(Pc-l)a]Nil I.
s = 1
and
r = T
we find that
I-T
L
l;(eC-l)auNii I
Using inequality
C(I+N 2) 2
(9.5) we have
This establishes
ilauNflT,
Cil uil
T.
that
l-r
(9.6)
ilu(t)ll .
As
z(t) : -(l-PN)U(t) ,
it follows that
I--T
(9.7)
(9.8)
z
~u
)--f- ~u
11~_~ii0 = il(l_PN) ~-t li0 ~ C(I+N 2
U~IIT-I < C(I+N 2) 2
l-r
i-~
liullr'
61
~U
B--~ = -Lu,
an d
Therefore
I--T
~Z
sup
(II(Lc-L)UNII 0
te[0,T]
IIu 0 II.
We also have
T
2 itUoll ,
(see (8.16)).
From (9.4) then we have
l-r
ilWN(t)ll0 ~ (I+Ct)(I+N 2) "2"
IlUoIIr ,
0 ~ t < T,
(9.9)
Remark 9.2:
we
have
an
error
of
order
0(N I-T)
u c H~(1), with
which
is
identical
T > I,
to
that
62
I0.
is a
MxM
matrix and
U(t) e
is
the solution
of the
differential system
d
d--~U + AU -- 0,
(10.1)
u(o)
We
former
can
discretize
correspond
(I0.I)
to the
by
= u o.
either
approximation
implicit
of
the
or explicit
true
schemes.
exponential
solution
The
by
U n+l = (I + AtA)-iu n,
is an implicit
scheme,
As
U((n+l)At) = e-AtAu(nAt),
and
as
(I + AtA) -I
is
an
approximation
(10.2)
U n+l = Pj(AtA)U n
of
-AtA
for
At
sufficiently
63
where
(-T)J
(10.3)
Pj(~) -
[ .....
J'O
Jl
'
(of order
J) to the exponential
Pj(AtA)
e -T
Pj(T)
when
approximate
-etA)
We do not assert a priori that the explicit schemes have a big advantage
in
full matrix
A.
the implicit
using
case of a
schemes
Un
by the matrix
can be evaluated
Let us examine
first question
to
converge,
approximation
to
it
not
sufficient
the exponential;
it
is
that
the
further
matrix
required
Un
Pj(At)
that
For the
be
an
the spectral
Proposition
I0. I:
The
Proof:
differential
A
of order
system
MxM
(9.1)
with
Suppose
1
f
w-nkelnX '
Sk ~" 2N+I' In CN
is
A.
M = 2N+I.
64
where
(2N+I)
of unity;
(10.4)
*k(Xj ) = 6jk
u ~ SN
and
*k ~ SN"
we have
We set
~k
so that
U = (Uk) e
~N+I.
we have
(10.5)
i
(*k'*) = (*k'*)N _ 2N+I
lJi<N~k(Xj ) ~ g - ~ =
N _i~
Letting
Uc(t ) = ikI6N Uk(t)~k(x)'
(~Uc,,z)
+ (Lcuc,%) = O,
I I < N,
that is to say
dUk
fk~<N[(,k,,
) |
-~
+ (Lck,,)Uk] = O.
6k.
65
dU
dt + (2N+I)
$ (Lc~k,)Uk = 0,
Ik| ~N
A = (ak)ikl,l1<N,
and
(10.6)
a~k = (2N+I)(Lc~k,~).
The
antisymmetry
(9.3)
of
LC
shows
that
the
matrix
is
anti-
Q.E.D.
symmetric.
Remark 10.1:
~u N
~u N
~v N
(~-~- ,VN) + (a ~ x 'VN) - [anN' ~ x ) = 0,
for all
v N e SN,
~u C
(zo.7)
where
~u C
~v N
form
of
numerical
summation
(8.9)
has
been
used
to evaluate exactly.
to evaluate
the
66
Remark 10.2:
given vector
In practice,
a~k
by a
of the matrix
a~k = (2N+I)(Lc~k,~) N ,
that is to say
ak = [jl<N
(In this
form in which
of
is less obvious).
Suppose
then that
(10.8)
In order to calculate
it is sufficient
the function
to calculate
LC u
at the points
Given
the Fourier
coefficients
an
of
(see Corollary 8.1) with the help of Fast Fourier Transform (FFT).
2.
vn = ina n.
~u
v = ~x
67
3.
Using
points
x~
the inverse
FFT we obtain
(~Pc(aU))(x).
(i)
Bu
a ~x
In order to evaluate
the values
(Lcu)(x)
at
v(x)
of
~U
~x
at the
x~.
it remains to calculate
We calculate by multiplication
(ii)
Wn
(iii)
from
W - PC(au).
~W
~ x (x)
that
operations.
the
calculation
(Instead
of
of
of the
8W
~x ;
then by an inverse
and finally
count of
the
0(M 2)
(cf. 2 above)
(Lcu)(x).
O(M log2M)
product
AU
operations
needed
costs
only
0(Mlog2M )
if we calculated
the
product directly).
We shall then use discretization
systems of the
is antisymmetric.
[14])
(10.9)
un+l - un-i + AU n = 0,
2At
68
or
one
of
the
schemes
(10.2)
provided
that
the
following
condition
is
satisfied
(I0.I0)
there exists
6 > 0
such that
implies
IPj(iT)I < I.
In
matrix
fact,
as
Q, where
is
D = Q*AQ
antisymmetric
it
is
diagonalizable
by
a unitary
Let
%. = d..
J
33
and
V n = Q U *; n
we may write
QV n+l = pj(AtA)QV n
vn+l = Q *Pj(AtA)QV n
V n+l = pj(AtD)V n
whence
vn+ i = Pj(At%j )Vjn
The condition
that
At
[j
is chosen sufficiently
J, then
V n = (Pj(At%j))nv~
J
"
< N.
small so
69
is bounded
or
that
the condition
(I0.I0) is satisfied,
e.g., if
J =
8.
For example,
for J = 3 we have
2
T2
Pj(i~) = 1 - iT
2
[Pj(iT)I 2 = (1 _ ~ ) 2
(iT)36
2
3
i ---~-~ i(T - ~ )
3
+ (T _ ~ ) 2
4
6
T
T
= i - ' i 2 - + 3-6
Q.E.D.
To
finish
the analysis
Proposition
10.2:
If
of stability,
of the matrix
A.
% s Sp(A)
for
it remains
only
to find an upper
I%1 ~ CN.
Proof:
Suppose
~ s Sp(A)
and
E(2N+l)(u,u)
i.e., assuming
llull0 = I,
is an eigenvector
u =
~
Uk~ k
Ik| ~N
so that
AU = ~U.
(as in (10.8)
= XU U = U AU = ....(2N+I)(LcU,U),
70
k = (LcU,U).
Im
~u
(au, ~x)N
(Lcu,U)=(a ~x
~u 'U)N
2 Im(a ~u ,U)N
and
~U
liUflo, N
where
in (8.6).
is the norm of
As
u ~ SN, we have
consequently,
J
constant
C.
Corollary I0. I: If
(I0.I0) and
6
At < ~-~
where
iiun+ID <Iung
0
where
HUff0
d~f
Error Estimate
Let
g c SN
be given, we define
O'
71
U(g) = g
uc(t;g)
n > 0
@u C
B t + LcUc = 0
Uc(0;g)
(10.11)
At
g.
I I u n ( g ) l l 0 < IIgrl O.
~Uc , Uc) = 0
Re(~-E--
>
LC
shows that
I dd'--tliUc(t)ii2 = 0,
-2
(I0.12)
llUc(t;g)l;0 = llgllO.
Setting
(10.13)
where
tj E jAt;
we note that
Ej
is linear in
g.
72
We
are
interested
in
estimating
Ej(Pcu0).
To
do
that,
we will
Lem,n~ 1 0 . 1 :
If
At
we have
(i)
lIEn(g)ll0 ~ Cilgll0
(ii)
where
for
T C = (I + LC )-I.
Proof:
(10.12).
f = T~g
According
to the stability
result established
in the Corollary
i0.i we
have,
liEj+l(f)fi0 ~ llEj(f)ll0 + iI(Pj(AtLC) - exp(-AtLc))Uc(tj,f)Ll 0.
we have
Uc(t j,f) = r~uc(t j,g).
73
LC
%k e ~
and
~k e SN
Set
Uc(tj,g) = ~ ak~ k
k
Uc(tj,f) = ~ Bk~ k
k
(pj(AtL C) - exp(-AtLc))Uc(t j,f) = ~ Tk~ k"
k
We have
Be
~k
-- _ _
(l+%k)m
and
(l+~k)m
Atm%k
= ~k (l+%k)m
As by hypothesis
(-At%k)
~k
Yk = [Pj(AtXk) - exp(-At%k)]Bk
>J
(-ht%k)"
~
'>J-m
IAt%k I 4 ~,
(%-+m) !
we have
(-Atlk)"
~ -~f~-[= e ,
I I
">J-m
therefore
ITk
Thus
ST
satisfies
< I~klAtm e ~
74
whence
(ii) with
hypothesis that
C = to e~
by summation
from
j = 0
to
nat < t o .
Q.E.D.
Theorem I0.I:
If
where
Un = un(Pcuo)
tn = nat
discretized problem.
Proof:
u=
J+l
T~(Lc-LN)(I+LN )j-lu + TJ+I(I+LN
)J+Iu'C
j=l
for all
u g SN.
En
75
(10.14)
J+l
J+l
+ gn(T C (I+L N)
PNU0)-
j=l,...,J+l
v c SN
i-~
Lfvlir + (I+N 2)
tlLvll_i,
where we have applied a variant of (9.6) for the first term and Theorem 6.1 to
the second term.
As
is smooth) we have
I-T
II(Lc_LN)Vll 0 < C(I+N 2) 2
Finally,
L
from
HSp(1)
supposing
in
v = ~I+LN)J-IPNu0, we
11v11T"
have
from
_
Hps+l (1)
the continuity
of
76
CA tJ llu0ilj+I.
ilEn(TJ+I(!+LN)J+IPNu0)II
We have then
I--T
J+l
itEn(PNU0)ll ~ ~ cAtJ-I(I+N2) 2
j=l
llu0ilT+j_1 + CAtJl[u01lj+l
and
;IE n (Pcu0) II0 ~ ItEn (Pcuo-PNU0) it0 + 11En (PNUo) ;I0
that is to say
1-T
+ AtJ) IIuoiET+j,
g = PcU0 , JlEn(PcU0)ll0
the solution of the semi-discrete problem and that of the fully discrete problem.
U(tn)
and
UC(tn)
is of order
N I-T
according
Remark 10.3:
i.
The
error
estimate
established
in
Theorem
i0.I
requires
strong
77
regularity
0(At J)
Un
to
In practice,
established
schemes
u(t)).
Uc(t n)
as
At + 0 but the
N.
in Corollary
to be very high (J = 3
of the
We might as well
use the leap-frog scheme which is second order accurate and requires only the
product of the matrix
II.
An Advection-Diffuslon Equation
We consider now the parabolic equation
i)
ii)
iii)
~u
~ + Tu = 0,
t > 0,
u(0,x) = u0(x)
(initial condition),
(periodicity condition),
is given by
T = sA + L,
where
x s I,
78
(11.2)
and
A = - ~fx b ( x )
~fx + e ( x ) ,
~u
3
Lu = a ~ x + ~ x (au).
The
coefficients
periodic,
a,
b,
and regular,
We shall examine
and
of
e > 0
the
operator
the dependence
b(x) ) 8,
assumed
to be
real,
is a real number.
of the solution,
(11.3)
~ > 0
us, on
and
e.
7 e R
such that
for all
x e I.
for all
u e H$(1)
3Ul2
yllull2,
(Au,u) ~ ell~xl 0 -
(11.4)
(Au,u) > ~llull 2
1
The existence
the classical
of a solution
(+B)NuU
of (11.1)
We will confine
U
our attention
for
e > 0
follows
to establishing
then from
[Ii]).
an a priori estimate
for
Theorem
positive
II.I:
constant
Let
C
A > 0
such that
and s ~ 0
for all
~ > 0
~iven;
and
then
there
exists
t ~ [0,A] we have
a
the
79
inequalit~
Proof:
the operator
A s : Hp(1) + L2(1),
such that
IIASull
Ilull
=
0
Recall that
where
As
is an operator (pseudo-differential,
d Uu e(t)li2 = (AS(_Tu),ASue)
dt
s
s.
We have then
+ (ASue,AS(_Tue))
- 2e(AASue,hSu ) - e([hS,Alu
where
K ~ [AS,L] E ASL - LA s
In order
antisymmetry
(see
(11.4)),
to get an upper
of
and
the fact
on
us,
the
and
L.
is of order
that
As
s, the coercivity
operator
[AS,A]
of
the
A
is of order
80
We obtain
a-{
d llus(t)ll 2s ~ 2(C+s(Y+B))llus if2s - 2eBliASuslt 2I + 2CleLiuslis+lliUe ~Is
(11.5)
with
taken equal to
11ASusll1 = ]tuslts+l))
we find that
wi th
c 2 ~ 2(c+~(~+~))
+-%--
Thus
C2t
2
2
llue(t)ils < e
;lUoII s ,
C2
is bounded independently
of
s.
Q.E.D.
The Semi-discrete
We introduce
Problem
the operator
AC
defined by
81
(11.6)
SN
to itself.
Set
(11.7)
where
T C = cA C + L C
LC
is the operator,
LcU = PC (a ~ )
The semi-discrete
a
+ ~ x PC (au)"
(i)
a---tUc + TcUc = 0
(ii)
Uc(0) = Pc(U0).
Uc(t) < S N
satisfying
(11.8)
I~ua
II.I:
The
operator
TC
defined
in
(11.7)
satisfies
coercivity inequality
Re(Tcu,U) )
Proof:
As
EBII~---~II02
Re(Lcu,u) = 0
eyIlull~
for all u s S N.
the
82
~u 2
2
Re(Acu,U) ~ BII~II0 - yllullO.
u s SN
~u)),u )
(Acu'U) = (- ~x (Pc(b ~x
(Pc(eu)'u)
~u),~u
= ImC(b~x
~x ) + (eu,u) N
= (b ~x'
~u ~x)N
~u
+ (eu'u)N
1
2N+I ij~<N[b(xj )[u'(xj)I 2 + e(xj)lu(xj)[ 2)
1
12
lu(xj)i2)
2N+I ijI<N(BIu'(xJ )
- Y
3u 2
0
= B lir--ll
oE
since
u ~ SN
exact for
2
0
y IIu li
f c S2N).
Q.E.D.
uC
E.)
(For simplicity,
83
Theorem 11.2:
constant
Let
Y ) 1
(independent
of
and
s)
A > 0
such
be given;
that if
~+i
u0 e-p
(I), we have
the
error estimate:
I-T
for all
t E [0,A].
Proof:
= 0)
e ~ 0
(and hence
Suppose
UN(t) = PNU(t)
and
a~N
~-{--+ TC~ N =
Letting
WN = ~
Bz
(Tc-T)]N + T f+ Tz.
aWN
t~+
(11.9)
az
TcW N = (Tc-T)~ N + - ~ +
Tz.
aWN 2
d IIWNII2 + EBII~T~0 ~ Zl + z2 + z3 '
21 dt
84
where
Z I ~ Re((Tc-T)~N,WN)
Z 2 E Re(~8-~, W N)
Z 3 E Re(TZ,WN).
ZI; we have
Z 1 = eRe((Ac-A)~N,WN) + Re((Lc-L)]N,WN)
(11.1o)
((Ac_A)~N,WN)
= (_ ~--~x
~ PC b ~-'~-,WN)
~UN
~ b ~-~--,
~ N W N)
- (- ~-~x
~W N 2
~N
~WN
1
~N 2
= ((Pc -l)b ~x ' ~xx ) < 2-~ il(Pc-l)b ~-x--x
11 + ~ IL~--~--II0'
and
~
I (Lc_L)UNII02 '
Re((Lc-L)UN,WN) ~ ~ ilWNfl0 + ~II
whence
~ N 2 + ~iI (Lc-L)UN~0 + ~
Z1 ~ -i~ II(Pc-I)B ~-~-X-110
Now, if
~W N 2 + 7~) ilWNIle.
1'~-x--i'0
~u N
y(t) = b ~x-x- (t), we have in a manner analogous to the proof of
Theorem 9.1:
(II.ii)
85
Moving onto
Z2, we have
1
Z2 < ~
8z 2
ll~-~II
0
0
2
~ llWNil0,
with
8z2
8ui12
I-T 8UEl2
t~8-tT-I"
ii~-~tI0 = il(l-eN) ~-~ 0 < C(I+N2)
Finally, for
Z 3 we have
8zH2
8WN 2
llb ~ 0 + ~ ll~--x--ll0'
and
1
(Lcz.W N) ~ ~
2
8
2
llLczli0 + ~ ;IWNI)0"
(11.12)
therefore
86
+ 8 IIWNIII
30 IIWNI2
lu 2
21 ddt IIWNI20 < 2-0 + C(l+N2)l-X(llu(t)llr2 + ll~-tllT-IJ"
0
where we have used the estimate established in Theorem 9.1 namely
with a constant
independent of
~U
l]~--~I]
T_1
so we conclude that
Lemma
(11.13)
function
87
then:
t
y(t) ~ yo eat + f
g(s)ea(t-S)ds.
0
Proof:
so integrating betwen
and
yields
t
y(t) < e~t(y 0 +
g(s)e-~Sds).
0
Remark II.I:
~(I)
u 0 ~ H~+I(1)
instead
which was all that was needed for the earlier error estimate.
8U 2
2
,,8-~,,z_1 ~ C (,,Uol, 2 + ~,,Uot,T+I),
is independent of
is
possible
though at
vicinity of
the
g.
(see
cost
t = O.
following
of introducing
in
a term in
the
constant
I/t 2
which
coefficient
Now
case
diverges in the
88
Example
II.i:
Consider
the particular
case where
d2
A = -
and
L = ~--~
dx 2
is the solution
~u
i)
~2u
g
of
~u
~-i---s--+~--f-=
~x 2
ii )
u s ( t, -~ ) = u s ( t , ~ )
(11.14)
iv)
In this
~u
~ s (t,-~)=
us(0,x) = g(x)
n~
then,
referring
(initial
the Fourier
ug(x,t)
we have
~u
~ s (t,~)
coefficients
^ . . inx
Un~t)e
,
to (ii.14)(i)
du n
^
t~-6--+ (en 2 + in)u n = 0
Un(0)
= gn
Un(t)
= e-(en2 + in)tgn.
so
condition).
of
us;
if
89
,,ue(t),,2 = ~ le-(Sn2+in)t]2Ign]2
n
I.
-2en2t
= I
[gnl
<
Ilgll 0
and that
I,u~(t)I,~ = ~ (l+n2)Se-2en2tlgnlr2
2.
and
, g L 2 + u(t) s H s
for
t > 0
and any
3.
Consider
t~
We have
~u 2
I't~lls = I (l+n2)s [ne+inl 2 e-2n2t Ign 12
n
= ~ (1+n2)S(2n4+n2)e-2n2t Ign 12
n
As the function
2
~(y) = y e
is bounded by
-2yt
), and
(regularizing
90
~(~)
=.
(te)2 '
we have
2
2 4 -2~n t
~ne
1
(te)2 ;
therefore
~us 2 n l+n2)Sf I
n2]iSnl 2
2
I
'r~'s < I (
~777~ +
< 'gs+1 + 7 7 7 7
I,g,I~
without
having
to
solve
the
discrete
problem
with
the
methods
Remark 11.2:
preceding
If
example
coefficients (1))
s > 0
(which
ensures that
to
u(t) e H~(1)
0(N -s)
the
case
of
for all
nonconstant
t > 0.
The
]0,~[
the
Dirichlet
boundary
conditions;
replaced by
u(t,0) = u(t,~) = 0,
(i)
for all
t ~ 0.
(ll.1)(iii)
is
91
We
will
interval
show
that
I = ]-~,~[
To
we
may
convert
this
problem
do so we will
that
to
the
one
posed
in the
conditions.
the derivative
of an odd function
is
that
the
solution
coefficients
a, b
and
u,
the
initial
solution
Uo,
and
the
[0,~].
We can extend
even;
for
u,u 0
and
b(x) = b(-x),
Au
this
fashion
and
to be
~au
x
Uo(X) = -Uo(-X),
a(x) = -a(-x)
e(x) = e(-x).
will
be
even
be
odd,
au
as will, b~-~
8u
while ,
~ x b ~-~
~u
and
(au)
is
will be odd.
Similarly,
odd and
Ln
If
the
interval
a ~x
equation
other
periodic
problem,
we
boundary
conditions.
]0,~[,
are
(ll.l)(i)
and at
hand
cient
will
will
be even,
therefore
]-~,0[
On the
on
I, and
x < O, we let
U(X) = -U(-X),
In
regular
holds
(since
is periodic.
are
brought
However,
even
over
an odd function
will
back
to
solving
also
on
of the solution
problem
so for
hold
the
By the uniqueness
]0,~[, it
the Dirichlet
the problem
with
of the
periodic
conditions
with periodic
boundary
92
conditions
except
derivatives)
The
if
vanish at
Fourier
method
on the interval
]0,~[
u0
0
and
and
can
(at
same
time
their
even
order
produces
in fact
an approximation
to the function
by a sine
series,
an approximation
which
also
the
~.
consider
well
vanish at
the
problem
functions
and
with
suffers
from
z.
homogeneous
Neumann
boundary
conditions.
~u
~--x (t,0) = ~~u
x (t,~) = 0;
in
this
case
functions,
and
the
and
u0
Fourier
are
extended
method
will
over
the
correspond
entire
interval
as
to an approximation
even
by
cosine series.
Remark
Suppose
11.4:
A Nonhomo~eneous
equation.
~u
--+Tu=f
~t
with
f # 0
(II.8)(i)
((ll.l)(i)
and
(ii))
being
unchanged.
is replaced by
~u C
~ t + TcUc = fc
with
fc = PC f"
The
discrete
problem
03
The equivalent
of equation
is
~WN
~
~z
~t + T c W N = (Tc-T)u N + ~--~+ Tz + f - fc'
f.
(Note that the estimates given in Theorems 9.1 and Ii.i are always
valid.)
12.
The Solution
of an Elliptic
Problem
i)
Au = f,
u = u(x)
such that
x e I,
(12.1)
ii)
We
u(~)
suppose
= u(u),
that
u'(-~r)
= u'(~)
the scalar
introduced
in the hypothesis
(11.3) is
2
(Au,u) > ailull
I
(12.2)
with
~ = min(8,-y) > 0.
The
inequality
(12.2)
expresses
the
fact
H~(1).
that
the
operator
is
94
The Lax-Milgram lemma along with the regularity results for the elliptic
problems
(see Lions-Magenes,
solution
u ~ H~+2(1)
if
[11]) permits
f e H~(1), for
us
of a
s > 0.
AcUc = fc'
where
AC
The
AC
satisfies
fc = PN f"
an inequality
of uniform ellipticity
(see
Lemma II.i):
(AcU,U) ~
~llull~,
for all
u ~ SN.
Theorem
that if
12.1:
Let
f s H -2(I)
T > 1
(and
be $iven;
there
exists
a constant
We have, by setting
~N = PN u
Ac~uN = (Ac-A) ~
so for
WN = ~
- Uc,
such
Proof:
IlulIT "
and
+ Az + f,
z = UN - u,
95
AcWN
(Ac-A)~N
Az
fc'
and
~IIWNI'~ ~ (AcWN,WN) = ((Ac-A)~N,WN)
(Az,WN)
(f-fc,WN).
~N
((Ac-A)~N,Wn) = ((Pc-l)(b T~--) + ((Pc-I)(euN),WN)
I-~
< C(I+N 2) 2 llu;l IIWNI;I
and
~W N
(Az,W N) = (b ~)z
~x ' ~ ) + (eZ,WN)
<
C(lJzll1
IIWNII I
+ tlzli0 IIWNII0)
I-T
< C((I+N2) "2 + (I+N2)-T/2)IluflT IIWNIII.
Finally,
l-Y
(f_fc,WN) < itf_fcll_l llWNtl1 ~ (I+N 2)
II ull+t"
we have
2 llfilT_2 IIWNUl'
(regularity result),
96
1-'E
llfllT-2
LIWNIIi'
Remark 12.1:
must at least choose
If we choose
f
in
fc = PC f
H~(1)
for
(the interpolant of
PC f
to have a meaning.
ilU_Ucii 1 ~ C(I+N 2) 2
ilull,r+l,
f), then we
(for
~ > 3).
On the
PART B
POLYNOMIAL SPECTRAL METHODS
I.
I = ]a,b[
: I + ~+
be
weight
strictly positive on
We denote by
is a given interval
function
which
(bounded or not).
is
positive
Let
and
continuous
(and
into
I).
L~(I)
functions
from
such that
(f
Uv]I E
L2(I)
(u,v)
= f
(i.I)
xnmdx < += ;
for all
n ~
I
so that space
L2(I)
By othogonalization
{l,x,x 2 , . . . - } ,
family of polynomials
(Pn)ng~
such that
98
i)
(1.2)
Pn e ~n
ii)
the coefficient
iii)
It
Pn
is well
of
(Pn'Pm)m = ~nm
known
(cf.
satisfy a recurrence
(1.3)
where
(space of polynomials
e.g.,
xn
of degree ~ n)
i_.~n Pn
is strictly positive.
(orthonormality).
Davis-Rabinowitz
[7])
> 0.
the
polynomials
that
It is also well
known
n ) I,
Pn
separate
the
zeros of
In particular
(see (l.2)(ii))
i)
Pn
has
distinct roots on
I.
this yields
Pn(b) > 0,
n e
(1.4)
ii)
Example
and
i.i:
I = ]-i,+I[.
Pn(a)Pn+l(a)
< 0,
Chebyshev Polynomials.
The Chebyshev polynomials
n e I%
In this case
are defined by
(1.5)
As
tn
relation
~ = (l-x2) - I~ ,
99
+I
f
f(x)m(xldx
-1
(1,6)
we infer
= ~
0
f(cos
8)d8,
that
+I
t (x)t (x)~0(x)dx = f cos n8 cos m0 dS,
n
m
0
(t n, tin)m =
-1
whence
(t n ,tin)~ =
0
Therefore
the
(tn)n~ ~
family
is
if
n = m = 0
if
n = m ~ 0 .
if
n # m.
orthogonal,
but
not
orthonormal.
We
then set
/V
Pn = ~v/w~
tn
for
n > 1
for
n = O.
(1.7)
I
PO = - ~-
Thus
n>
the recurrence
1
to = - -
relation
(1.5)
follows
as
an = Yn =i/2'
Bn = 0
2.
We note
that
the change
of variable
u E L2(1)
by the f o r m u l a
This
u(8)
to
x = cos 8
transforms
~ e L2(O,w),
= u(cos 8).
tr an sf or ma t i o n
is itself
isometric
since
according
to (1.6)
for
100
(1.8)
For
other
[u(0)[ 2 dO = f
examples
of orthogonal
]u(x)[ 2 o~(x)dx.
polynomials
(Legendre,
Jacobi, Hermite
2.
An I n t r o d u c t i o n
to
the
Numerical
Formulae of G a u s s , G a u s s -
Integration
Radau and G a u s s - L o b a t t o
We return to the general case of an interval
arbitrary
weight
function
orthogonal polynomial
We
may
choose
m.
PN
some
We
denote
by
(Xj)l~j< N
the
roots
of
the
(wj)1~j< N
such
that
the
numerical
integration formula
f f (x)to(x)dx =
(2.1)
is exact for
f e ~N-I
(the
wj
~ w.f(x.)
j=l J
J
( x . ) k wj = f
j=l
x k codx,
0<
k<
N-I,
xj
Monde matrix).
We recall that as the
order
the
N,
N
the formula
xj
(2.1)
f e ~2N-I;
it is called
101
The Gauss-Radau
polynomial
formula,
is defined
in terms
of the
defined by
q(x) = PN(a)PN+I(X)
which vanishes at
Let
t0 = a
- PN+I(a)PN(X),
x = a.
and
(~j)I4j<N
q; we determine
(mj)0<j<N
(2.2)
f f0Jdx = ~ ~ojf(~j )
I
j=0
is exact for
f ~ ~N"
The formula
point
Gauss-Radau
formula
another
Gauss-Radau
by
(associated
formula
in the definition
Gauss'Lobatto
with
associated
of
a).
with point
There
is,
in fact,
b, obtained by replacing
q.
Finally,
to obtain
the
N+I
(N+I)
q
point
defined by
where
and
q(a) = q(b) = 0.
Let
t 0 = a, (~j)I<j~N-I' ~N = b
be the roots of
q.
N
(N+I)
coefficients
(mj)O~j<N'
by
102
(2.3)
f~dx =
be exact for
f ~ ~N"
~jf(~j)
j=0
f c ~2N-I
and is
are going
explicit
the Gauss,
~(x) = (l-x2) - I ~
Gauss-Radau
and Gauss-Lobatto
is given by
The
corresponding
Radau-Chebyshev,
formulae
will
be
called
the Gauss-Chebyshev,
formulae.
the Gauss-
Part
A (see section
8) we have
seen
that
the numerical
integration
formula
i
~-~
where
0j = j ~
f--x
g(0)d8
is exact for
lJ
g ~ S2N.
g
(that is to say
j=l
of this form.
x = cos 0
103
+i
(2.4)
with
N
f(x)~(x)dx = 2N+~ 1 (f(~0) + 2 ~ f(~j))
-i
j=1
~j = cos 8j
is exact for
This is therefore
point
f e ~2N"
the Gauss-Radau-Chebyshev
+I).
(The Gauss-Radau-Chebyshev
formula
~. = -cos 8.).
3
]
To obtain the Gauss-Lobatto-Chebyshev
associated
with
the point
x = -i,
integration formula
1
z
2--~ /
with
N
g(e )as = 1
~ g(~j )
2N j=-N+I
to the above,
g s S2N_I
we d e d u c e
that
+i
(2.5)
f(x)~(x)dx = ~-~
~ (f(~0) + 2
-i
with
~j = cos 8j,
This
is
the
is exact for
the
N-I
1 f(~j) + f(~N)),
j=l
f e ~2N-I"
Gauss-Lobatto-Chebyshev
formula.
Finally,
to obtain
the
where
fractional
for
values
g ~ S2N_I.
(j" + 1/2
N - 1/2
lJ'l=l/2g(ej')'
IT
j"
takes only
104
In fact,
N-I/2
--
2N lJ';= i~
if
n = 0
if
-i
if
Inl = 2N
inS..
e
+i
(2.6)
f(x)~(x)dx = ~
-i
xj = cos (j/ ~ 2I!~ ) ,
with
N
~if(xj),
j=
is exact for
formula.
Example
2.2:
Gauss-Radau
We are going
to make
explicit
the
(This
g e ~2N-I
be given, and
f = (l+x)g e ~2N-I"
+I
f
N-I
-I g(x)(l+x)(l-x2)-I/2dx = ~w
(2g(~o) + 2
[ (1+~j
~ )g(~j))
j=1
f(~N ) = 0).
(2.7)
+i
l+x
= ~
N-I
g ( x ) ( ~ ) I/2dx
~ (g(1) + I (l+gj)g(gj)),
-i
is
exact
for
g e IP2N_2.
j=1
This
is
the
point
Gauss-Radau
formula
a s s o c i a t e d w i t h t h e J a c o b i weight
'
(and a t t h e p o i n t
x = 1).
S i m i l a r l y , we show t h a t t h e formula
i s exact f o r
lP2N-2.
T h i s i s t h u s a Gauss-Radau
formula b u t a s s o c i a t e d
w i t h t h e weight
(and w i t h t h e p o i n t
x = -1).
W ( X )= (1-x 2 ) 112
formulae,
r o o t s of u n i t y of o r d e r
a r e t h e p r o j e c t i o n s on t h e r e a l a x i s of
M, where
the
i s an even o r odd i n t e g e r .
T h i s n i c e p r o p e r t y w i l l e n a b l e us t o u s e t h e F a s t F o u r i e r Transform t o
compute t h e polynomial i n t e r p o l a n t of a g i v e n f u n c t i o n .
Before going
Canuto-Quarteroni
to
this,
we
shail
first
review some r e s u l t s
o b t a i n e d by
106
3.
is
projection
on
L2(1)
L2(-~,~)
u(x)
(3.1)
(3.2)
llull
= 2Uull
L2(-~ ,7 )
Proposition
the
subspace
3.1:
~N
Le__~t PN : L~(1) + ~N
of polynomials
of degree
be the ortho~onal
< N.
For all
u e L2(1)
we
have
llU-PNUllm + O,
Proof:
expand
Suppose
as
From Part
in Fourier series
(3.3)
~(O) =
[
ng
u n e in0,
N + ~.
A (see
Section
3) we may
107
In particular,
let
(3.4)
~N(8) =
[
u n e ine
Inl<N
(3.5)
when
IIU-UNII 2
0,
L (-~ ,~)
N + ~.
As (by definition)
is even in
8, we have
Un=U_
n ,
~(8) = u 0 + 2
[ u n cos n0
n~ 1
UN(X ) = u 0 + 2 n~ 1 Untn(X),
therefore
u N = PN u
scalar product
(.,-)m
since
the Chebyshev
polynomials
are orthogonal
for the
108
Finally,
with
as
N =.
Q.E.D.
llU-PNUllm
To do that, we introduce
2 (1)'
Hmm(1) : { u : u (c~) e L m
where
sense.
u (e)
denotes
The space
the derivative
H m(I)
is a Hilbert
m,m
0 < 8 < ~
Proof:
x = ~(O),
from
In general,
and
is a
of
in the distribution
16
,,u(~),,~)
~=0
u + u
Hm(1)
defined by
to
](e) = U(COS e)
function.
for
Hm(0,~).
Let
u(e) = u(~(e)),
then
result.
The mapping
is continuous
c~ : O , . . . , m } .
m
~ ( [
,u,
Theorem 3.1:
of order
Sobolev spaces
x + 0,
where
109
Iu(=)(~(o)) I
Iu~~
where
c X
c~=O
and
m.
We deduce in
~(x)dx,
a=0 1
Remark
3.1:
isomorphism from
The
mapping
L2(1)
onto
u + ~
L2(0,g)
Hm(1)
defined
in
Theorem
3.1
Hm(0,~)
for
m ~ 0, but a
e L2(1)}
HI(o,~).-
(~/l_x 2 lU.[2 + . 1
I
~/1-X
an
smaller space.
is
110
Theorem 3.2:
-~ ~ 0 ( ~,
u ~
is an isometry from
The mapping
u + ~
defined by
is continuous from
Hm(1)
into
Proof:
The
function
even;
consequently,
tives
the restriction of
]-~,0[
is in
to
is in
HI(0,~).
~(0) ~ u(cos 0)
H~(-~,~)
(where
by
~(O) E u(cos O)
According
]0,7[
onto
for
Hp(-~,~)m
is
defined
its derivatives
to Theorem 3.1, if
is
obviously
then
Hm(-~,0).
m
u e Hp(-~,~), it suffices that all its derivatives of order
In order that
less than or equal to m-i be continuous and periodic (of period 2~);
as
is even,
necessary
at
8 = 0
however
and
~(8) ~ cos 8
to verify
0 = ~.
are zero for
that its
odd order
derivatives
(< m-i)
It is
vanish
and
8 = ~.
u e Hm(1)
with
~'(0)
m> 2, then
= ~'(~)
= 0,
111
and that if
u ~
Hm(1)
with
we have in addition
4,
~'"(0)
= ~'-'(,~)
= o,
0 ~ m ~ 5.
Remark
definition
3.2:
We
of spaces
refer
the
HS(1), s
reader
to
noninteger,
Canuto-Quarteroni
[4]
for
the
of the
preceding
real
theorems
the integer
is replaced by positive
s.
Theorem 3 . 3 :
Let
s > 0
be given.
such
that
llU-PNUllm < CN -s Ilull
for all
S,~O
u e HS(1).
Proof:
Let
uN - P N U , ~ ( O )
= UN(COS 0)
and
From
(3.2), we have
IIU-PNUlI~ = IIU-UNII~ = ~1 l'u-uN,,L 2 (-~,~)
Now,
(see
the proof
of Proposition
3.1), u N
Fourier series of
truncated to order
N.
happens
to be equal to the
112
"u-uNto 2
L (-~ ,~)
c N -s
s
Hp(-~
,7)
lieu
~ C R u~
H~(-~ ,~)
HS(1)
We will
between
We
now establish
an estimate
for
introduce
the
following
convention;
01U-PNUUo,m
~N
if
which
in the norm of
(bn) n ~ IN
sequence, we denote by
def
=m
where
[~]
[~]
"=0
(Ck)keiN
by
if
otherwise
k = 0
ck =
(I)
is the error
~.
H(I).
denotes
any
113
Lemma 3.1 :
Let
u g ]PN
of results.
be a polynomial
of degree
and
N
u =
be its expansion
in Chebyshev
a k tk
k=O
polynomials.
by
N
u" =
bk tk
k=0
where
2
bk - Ck
Proof:
[ " a
=k+l
tO = tl
1 ftn+l
2 ' ~
tn-i
n-i ") '
for
n ) I.
We have then
u" =
Thus
N
N
t~+ 1
Z bkt k = bot" I + 1/2 I be( k+l
k=O
k=l
tk'-i .)
k-1
u"
is $1ven
114
u" =
[ akt ~
k=O
b2
b0 --~=
aI
1
2--n (bn-I - bn+l) = an'
2~n~
N-2
bN- 2
2 (N-I) = aN-I
bN- 1
2N
= aN-2 '
whence
the result,
by substitution.
Q. E. D.
Le--.~
constant
3.2
(3.6)
Proof:
(Inverse Inequality):
Let
s > 0
be give n.
There exists a
such that:
HU{{s,m
CN 2s }{uN ,
for all
u e ~N,
N > 0.
we have
N
u =
~ akt k
k=O
s = i.
Let u e ]PN;
115
and
N
u" =
~ bkt k ,
k=0
wi th
2
bk - Ck
N~
" ~a ,
%=k+l
Noting that:
(tn'tm)m
Cn ~ ~nm '
~"
=k+ 1
~a~
I N
~a
12 ~
~=k+l
( N
~ 2)( N
I la~I2) ~
~=k+l
~=k+l
N3 N~
~=0
We deduce
Ifu'll2 < CN 4 ilull2
repeated
positive integer
s = I.
application
of
this
theorem
s.
the
result
for
any
s.
furnishes
116
Q.E.D.
Remark
3.2:
In
inequality
(3.6)
the
exponent
of
is
optimal
Proposition
[4],
polynomials
8.1).
In
of degree N
fact,
(see
Canuto-Quarteroni
we
may
find
such that
IIPNIIm,~
N2m .
IIPN[Im
We
present
constitutes
the
following
result
(prove
in Canuto-Quarteroni,
[4]) which
Proposition 3.2:
Let
u =
~ akt k ,
k=0
then we have
u" =
~ bkt k
k=0
wi th
2
~" ~ag
bk = c-~ g=k+l
In order to estimate
and
is necessary to estimate
ilu" - (PNU)'II
PN u
in the space
HI(1),- it
117
Now,
PN u"
contrary
N-I, and
PN u"
(note that
is a polynomial
series
(PNU)"
is a polynomial
of degree
of degree
N).
llPNU" - (PNU)'II
Lem~a
3.3:
Suppose
u ~ HS(1)
Proof:
Let
qN = PN u" - (PN u)''
u =
~ a kt k ,
k>0
u" =
~ bkt k.
k>0
Similarly
~" a.
=k+l
as
N
PN u =
we have
~ akt k ,
k=0
(PNU)"
and
118
(PNU)" =
~ b Nk tk
k=0
wi th
N
N=2__
bk
Ck
[
a.
=k+l
We deduce that
N
qN
k[0 Yk tk '
with
m S
~k = bk - bk = ~
I
'=0
(k+2'+l)ak+2.+l
(k+2'+l)ak+2-+l],
'=0
where
n-k-I
2
if
N-k
is odd
n-k-2
2
if
N-k
is even
Therefore
(k+2'+ i )ak+2.+ i.
CkY k = 2
~,'=m'+l
That is to say
co
I" ~a - bN+ 1
=N
if
N-k
is odd
if
N-k
is even
Ck Yk =
2
[" Za ~ b N
=N+I
is even
119
I
qN = ~ bN to + bN+l tl + bN t2 + .... + bNtN '
and if
is odd
1
qN = ~ bN+l to + bN tl + bN+l t2 + .... + bN tN'
that is to say
qN =
N
N
bN dP0 + bN+l ~I
if
N
N
bN ~i + bN+l ~0
otherwise
even
where
N
~0 =
As the functions
N
dp0
and
N
I"
~=0
N
~I
1
~
N
t~,
= I"
~=i
~i
N
t~
if
even
if
odd
ilqNII2 =
Since
u" - PN-IU" =
~ bn tn,
n~N
120
we have established
that
Finally,
forall
n > N.
as
,
we deduce
that
ilull2
2 < CN3-2s
IIqNllm
s
Q.E.D.
Corollary
3.1:
exists a constant
For
C
all
and
such
Lemmas
3.2
and
Theorem
constant
ilullcf,o~
u e H(I).
(Apply
extended
0 4 p ~ o-1, there
such that
for all
that
3.4:
For
3.3.
p
Following
and
all
Remark
3.2,
- PNUll
result
may
be
exists
are real.)
and
0 < ~ ( o, there
such that
Ilu
this
< ON e(~')
llullo.,~
121
for all
u e Ho(1), where
2~ - o
-I/2
for
~ > 1
for
0 < p < 1
e(~,o) =
3
Proof:
~ - ~
~ = 0.
~).
The result
ilvlf 2
= uv(m)fl2
m~,6o
+ Iiv[12_l,
~ IIv'l; 2 ,
+ Uvll2m 1
m - i ,60
- ,60
2
Uu - PNUIlm,60
m+ CN2e(m-l')
ilu" - (PNU)'II 1,60
PNU'II m
fluil2
o,m "
+ IIPNU" - (PNU)'IIm_I, m
CNe(m-l'~-l)rlu'lio_l,m + CN2(m-I)-o+
3/2 lluli
we deduce
122
CNe(m'a)11 uU
(In
fact
e(m-l,o-l)
and
e(m-l,o)
are
bounded
by
e(m,o);
for
m > I.)
the
dominant
Q.E.D.
Remark 3.4:
The exponent
4.
where
PN
This
does not
suffice
L2(1)
u - PN u,
on ~ .
in applications
where
boundary
conditions
Pc : c(T)
+ mN
defined by
0<
(Pcu)(yj) = u(yj)
where
(Yj)o<j~N
are
(N+I)
distinct
points
of
j ~ N,
the
interval
I.
The
123
operator
PC
(Lagrange interpolation).
Yj
that
is
points
to
say,
we
use
as
~j
2j~
COS 2N+l
interpolation
'
points
the
Gauss-Radau-Chebyshev
X = COS 0
U(X)
~(0)
: C~(-~,~)
SN
PC
with
operator
defined by
(Pcu)(0j) = u(e.)
J
(with
0j ~ ~ ' ~ )
lJ[ 4 N,
Theorem 4.1:
exists a constant
we have
Let
C
s > I~
and
0 < o < s.
such that
IIU-PcU]I
~ C N 2-s llu]1
~0J
S~L0 ~
for all
u ~ HS(1).
0~
There
124
Proof:
a = O.
Setting
I1~11
,
~(_~,~)
~;
C II ull
s >
s,~
IIU-PcUll 2
~ C N-Sllufl
L (-~ ,I~)
s
Hp(-~,x)
whence
For
IIU-PcUlI0,m = ~ llU-PcUll 2
~ C N -s Ilull
L (-~ ,.~)
(4.1)
S,(0
ilu-PcUlla,~
The conclusion follows from Theorem 3.4 and the inequality (4.1).
Q.E.D.
Remark
PC
4.1:
cO(l)
defined by
properties
a > O.
of the operator
Actually, let
l;.tl
125
where
AN
uH~ '
AN
grows like
log N.
AN
not
using
of
PC u
constant
AN
spaced
poCnts,
another
that
the computation
Remark 4.2:
yj
x = I.
We have an analogous result in the case where the interpolation points are
those
of
(change
Gauss-Radau-Chebyshev
x
to
formula
associated with
the
point
x = -I
-x).
Let us consider now the case where the interpolation points are those of
Gauss-Lobatto-Chebyshev formula.
J" ,
= cos---~
yj
Suppose
~C
j = 0,..-,N.
C0(W)
+ ~N
(defined by
Theorem 4.2:
exists a constant
Let
C
s >
I~
such that
and
0 g G g s.
There
126
llU-~cUll
for all
The
Theorem
,m
C N2 - s
Ilull
u e HS(I).
proof
of this
4.1 because
variable
x 0
result
the image
is in every
respect
of the operator
is an interpolation
analogous
~C
under
to the proof
the change
of
of the
5.
The Solution
of
the Advection
Equation
(5.1)
Unlike
i)
~u+
~--~ a(x)~u
~x =
ii)
u(-l,t) = g(t)
, t > 0,
iii)
U(x,O) = Uo(X)
, x 8 I.
I = ]-I,+I[
, x e I, t > 0.
a c C=(T)
is strictly positive in
T.
127
Let
UN = {P s ~N : p(-1) = 0}.
and let
(xj)j=l,..., N
be
I.
Find
UN(t) s ~N such
that
(5.2)
where
i)
Du N
Du N
(~-f- + a ~--f-) (xj) = 0
, j
ii)
uN(-l,t) = 0
, t ~ 0
iii)
UN(X,0) = U0N(X),
, x s I,
U0N e U N
I,...,N,
> 0.
(In
one
choose
other
words,
so
that
the
uN
xj
of
system
of
ordinary
Method A:
128
(5.3)
xj
J = I,...,N
1-x I/2
~i - (TW)
Theorem 5.]:
With
II-IIN
product
=
~j
(u'v)N j~0 ~
u(xj)v(xj),
where
x 0 = -I,
~0 = N+I
and
~j = (l-xj) ~
IUN(t)II2N
Proof:
(5.4)
~UN(0)" 2 ,
for all
t > 0.
8 uN
8 uN
8t (xj) + a(xj) ~
(xj) = 0,
J = I,-..,N.
129
(5.5)
~- X ~j g (xj),
j=0
g(x)~ l(X)dx
I
(where
l-x 1~
~l(X) = (~x)
g e ~2N
(this is a (N+l)-point
Gauss-Radau formula.
Multlplying (5.4):by
UN(X0) = 0
~j U~I~I ))
according to (5.2ii))
N
m.
8uN
N
[
3
uN(x j )
) + [
j--0 x--~j)
a
8--{--(xj
j=0
8u N
~j UN(Xj ) ~
(xj) = 0,
(5.6)
8uN
(UN, t ~ ) N
8u N
f UN x ~ m
I
I dx = 0.
UN(-l) = 0
and
ml(1) = 0)
SUN
8
flUN ~--x--ml dx = -~i UN ~x (mlUN)dX
whence
SUN
2 m: dx
2 / uN ~
m l dx = -f uN
I
I
0.
1 d llUN(t)ll~
2 at
=
~UN
(UN' ~--~-)N <
0,
130
Remark
5.1:
Suppose
and
are
such
that
0 < ~ ~ a(x) ~ C.
(5.7)
~-livNli
<
llVNH2
for all
v N e PN"
0~.
a(xJj) [VN(Xj)[ 2
~-llVNll21 ,
j=0
llUN(t)ii21
<
C.lUN(t)il2
<
t > 0
+ ~,
L2 .
We will show later that method A is easily implemented using Fast Fourier
Transforms
Remark 5.2:
Let
constant.
us
consider
the
particular
ml
case
when
the
coefficient
u(x,t) = u0(x-at) ,
Tlu(t)ll i
only if
~I
<
flu011 1 ,
for
is decreasing.
t > 0,
is
131
i-xi~
~i~(i-V~)
This
explains
why we
Theorem 5.2:
if
cannot
for
0 ~ t ~ T, there exists
flu(t) - UN(t)ll 1
for all
stability
with
m = (l_x2)_ i~
Suppose
u(t) e HS(1)
have
<
and
T > 0
C > 0
are $iven.
Then
such that
t < T.
Proof:
Let
Radau-Chebyshev
PC : C0(T)
~ j = -cos N--~72
J~
'
j=0,...,N,
+ ~N
be
the interpolation
be the
N+I
points of Gauss-
x = $0 = -i.
operator
Let
associated
with
these
(N+I)
points.
Let
~(t)
According
= Pcu(t), where
(5.8)
where
Uu(t) - UN(t)ll ~
m(x) z (l-x2) - I ~
is
the
is
~(-1,t)
~0 1
z(t) = (u - ~N)(t),
solution
= u(-l,t) = 0
of
problem
(5.1).
(5.8)
follows
and
C N 2~-s llu(t)ll
s~0~
Chebyshev
the
weight.
x s I.)
(Equation
132
8~N
(5.9)
~t
~qN
+ a(x) Fx
In particular,
setting
the
equation
~WN
(~r
Multiplying by
8z + a(x) 8z
~x '
xe
- ~t
(5.9) is
true for
x = x., j=I,..-,N, so
3
we have
~WN
~z
+ a -~x)(~j)
= ('~ + a
~-~)(xj).
WN(X j )
mj aN(xj) and summing up from
~WN
8z
+ fl WN ~--x-~l dx = (-~-~,WN) N +
8WN
(WN' ~ ) N
I, t ) 0.
j = 0
to
N
~z
~ ~j Yx (xj) WN(Xj) ,
j=0
whence
HW NIIN
~-{
~wN
3z
(jN
,,w~,,N +
8z
Upon simplification
~z
-d-
dt
o >1/2
c( N
j=0
~z
mj I ~x (xj)l2)
tlWN(t)iI
N
<
C I ll~-{ll~Z+
i~,l
i/2
))2 ).
133
av~
<
UvI
L==(I )
whence for
z = u-
gv]~
o,m
0 >'1/2
d HWN(t)NN
d'-{
As
';
Ho(1)
uN(t) , we have
<
~)x o,c0
IIz!
1+o ,~
< C N 2(l+a)-s
llu(t)U
s
~Slnde
~z
=
~u
~'{ -
~u
PN ~-6 '
we have
~z
C N2 - ( s - l )
I[~t o ,oJ
Finally,
i~u~
I~-~. s-I
C N 2o+l-s
Uu(t)~
(5.1i)).
we have
IIWN(t)~ N
<
C N 2(l+a)-s
llu(t)l
s,~
so integrating
between
and
t
gWN(t)N N < ,WN(O)H N + C N 2(l+)-s f
Uu(t)U
0
s~
134
t < T
C
~ ~ llWN(0)lim
ilWN(t)II~
1
+ C
N2(l+a)-s
Now,
(5.10)
llU0N-u0il i + C N-Sflu01fs,m ,
whence
liWN(t)IIml < C llU0N-U01; 1 + C N 2(l+)-s
and that
flu(t) -UN(t)fl
~ C N -s llu(t)ll
Q.E .D.
Remark 5.3:
i.
We may choose
U0N = PcU0 .
135
we obtain directly
(5.11)
flu(t) - uN(t)Jl ~
<
C N 2(l+a)-s
u(t)
solutions
has
a known
(at least
rate
when
C2); however,
s > 3,
of
UN(t)
regular
Method B
We now consider collocation
(5.12)
x.J = - c o s
The
point
xj
points
~ J~
j=0,--.,N.
of Gauss-Radau-Chebyshev
The numerical
integration
formula
(5.13)
f(x) m(x) dx
I
~ ~jf(xj),
j=0
f e ]P2N' with
27
~. l
2N+I '
(See
j=I,...,N
and
(2.4).)
~0 - 2N+I"
136
(5.14)
g(x)ml(X)dx
X mjg(xj ),
j=0
where
Theorem 5.3:
stability for
g e ]P2N-I"
ll.IIN
associated
scalar
product
N
m.
j=0 a-~J) u(xj)v(xj ),
(u,v) N
that is to say
ilUN(t)llN
<
IIUN(O)IIN,
Du N
Du N
[~-- + a ~--~)(xj) = 0,
Multiplying by
=
t > O.
Proof:
UN(X 0)
for all
~j UN(Xj)
a(xj)
j = l~...,N.
0)
~0j
Du N
[ a-UfTY uN(xj) ~
j=0
j
Du N
~uN
~u N
137
liu(t) - UN(t)liN
< C N 2(l+~)-s.
II.II
N
by the norm
li,ll
6.
Time D i s e r e t i z a t i ~
Following
reasons
Schemes
of efficiency to use
some explicit
(6.1)
(The
(~k)k=l,..., N
xj
We consider first
are arbitrary.
UN
is the basis in
UN
defined by
~k(Xj ) = ~jk"
~k
For any
v ~ UN, we have
138
v(x) =
~ Zk~k(X),
k=l
with
zk = V(Xk).
Setting
N
UN(X,t ) =
where
uN
~ Yk(t)~k(X);
k=l
dyk
~
*k(Xj ) +
k=l
N
a(xj )~(xj )Yk = 0,
k=l
i.e.~
d_~y+ Ay = 0,
dt
where
is the
NN
j, k=l,..,N.
a(xj )~(xj ),
i.e.,
N
and setting
N
uN = k~ I Yk~k (x)
U N,
A.
Suppose
139
we obtain
3u N
a(xj) ~
(xj) = 1 UN(Xj).
(6.2)
Finally,
complex
multiplying
valued--recall
by
that
a(~j) UN(Xj)
uN
(in general
denotes
the
complex
I e ~
and
conjugate
of
uN
is
u N)
we
UN(X0) = 0)
Du N
__
N
~o.
(x) U N
) = I X a(xj)
J %.(xj) -u N (xj ).
mj
~
j =0
3
(xj
j=0
Now, we notice
xj
DUN__
UN
f ml ~x
= lllUN[l~ .
dx
2 Re f
u N __
u N ~I dx = - f
We deduce
(6.3)
Re(1) > 0.
the numerical
Furthermore,
xj
integration
is
also
exact,
points (method B)
so that
Ill. Let
(6.3)
I e Sp(A),
still
140
~u N
__
j=0 ~k ~
formula (see
(5.13)).
We have then (using the fact that
fI ~
uN ~o dx
a(x)
is bounded)
I%
fl fuN
12
to dx
and so
~u N
il-~--xII
Ix l
(6.4)
< CN 2 ,
IIu NII
practice
problem
(5.2)
is solved using
explicit
Run~e-Kutta
schemes
(6.3)
ensures
the
stability
of
the
order
scheme
method
using
the
for
condition
(6.4),
obtained
for
the
Gauss-Radau-
At
Remark
Fourier
6.1:
series
limitation
in
Result
(see
time
Part
step.
(6.4)
A,
<
is
C N
less
Proposition
This
affects
-2
favorable
than
10.2)
leads
the
N.
and
efficiency
that
obtained
to a more
of
the
for
severe
method
in
141
7.
limitations
to use
the
explicit
schemes
advantageously
with
(given
it is necessary
the
severe
to calculate
components.
Let
be given.
y = (Yk)k=l,...,N
Setting
UN(X) =
~ Yk ~k (x)"
k=l
We have by definition
~u N
(Ay)j = a(xj) ~
(xj).
In
the
coefficients
first
stage we use
(an)n=0,..., N
the Fast
Fourier
in the expansion of
Transform
uN
to calculate
the
in Chebyshev polynomials
UN(X ) =
(x.)
3 j=0,...,N
bn
stage,
~ an tn(X).
n=0
2N+I
roots of unity.
in the expansion of
~u N
~
in Chebyshev polynomials.
In the third stage we again use the Fast Fourier Transform (actually, its
8u N
inverse) to calculate from
bn
the values
~
(xj)
at the collocation
points
The
xj.
calculation
in this
fashion
requires
0(N
log 2 N)
operations
and
142
multiplications
(instead
elements of matrix
of
0(N 2)
operations
if we directly
calculate
the
A).
Method A
We
shall
see
that
for
Transform to evaluate
return
to
points
these
we
may
still
use
the Fast
Fourier
[8]).
the
choice
(5.3)
of
the
collocation
points
xj.
The
Proposition 7.1:
Let
(xj)j=0,...
X~
N+ 1
j~
COS ~-~
be given by
Suppose
u s IPN
is given.
We have
U(X) =
[ a t (x),
n= 0 n n
wi th
an
where
the
dn
(dn)n=O,...,N+ 1
Chebyshev polynomials
of
2 ( l)N+n
~-- dN+ 1 ,
n
are
v s IPN+1
v(xj) = u(xj),
(7.1)
the
n=0~...,N,
expansion
coefficients
such that
j=0,...,N-I
in
terms
of
143
V(XN+l)
= 0
and
y
n
Before
proving
polynomial
u ~ ~N
j=0,..o,n
we
an .
N+2
projections
To
this
(In fact,
v s ~N+I
equals
at
of
for
1 ~ n ~ N.
result,
directly
the
this
polynomial
expansion
n = 0
or
N+I
let us first
explain
use
the
Fast
(xj)j=0,..,, N
Fourier
constitute
Transform
only
difficulty,
which
N+2 nd
we
coincides
point
in Chebyshev
will
calculate
to
N+I
with
XN+ I.
at
Thus,
polynomials
the
calculate
of the needed
2N+2).
coefficients
(xj)j=O,..., N
the coefficients
will
As the
xj,
circumvent
to
for
is determined
cannot
the
2
E
be calculable
of
and which
dn
using
of the
the Fast
Fourier Transform.
Now,
it
7.1) between
turns
the
out
ak
that
there
and the
Let
i
2N+2
(The verification
n=-N
(given by Proposition
be such that
N+I
~
relation
d k.
Lemma 7.1:
is a simple
2N+2
= i, then
if
m = 1
otherwise
results:
144
Lem.~ 7.2:
We have
N+I
I
n=O
q1 (-1)n tn(Xj) = 0,
(where the
~n
for
j=O,...,N,
Proof:
According
N+i
eik ~---~N+I),
we have
ink N+I
e
= 0,
for
I ~ k ~ 2N+I.
n=-N
Let us set
k = N+j+I, with
ink N+--~
~
e
j=0,..-,N;
in ~N+j+I ~
= e
= e
we have
in~ in ~
e
j~
in N+I
= (-I) n e
whence
N+I
in
(-11 n e
J~
N+I
= 0.
n=-N
0 =
N+I
nj~
(-l)n es N--~ = 2
n=-N
N+I
N+I
(-l)___~n
~
(_l)n tn(Xj ),
~
~n
cs nJ N--~ = 2 ~
----~
n=0
n=0
Proof of Proposition
(dn)n=0,...,N+ I
7.1:
Let
v ~ PN+I
145
v(xj) =
N
~ d tn(Xj) + ~ + I
n= 0 n
tN+l(Xj)
N+I
+ (-i) N 2dN+l[ ~
n=0
for
1
)n tn(Xj)],
~-- (-I
n
j=0,-..,N, i.e.,
N
N
v(x.) = ~ d t (x.) + (-I)N 2dN+ 1 n~= 0
3
n= 0 n n J
of degree
an
+ 2
dn
)N+n
~-- (-I
dN+ 1 .
Q.E.D.
8.
~U_
i)
ii)
(8.1)
iii)
The
a(x) ~2u
~i-
boundary
x ~ I, t ) 0,
~--~x = 0
t ) 0
u(x,0) = u0(x) ,
x e I.
conditions
(8.1ii)
are
not
periodic,
unlike
the
problem
considered in Part A.
We consider for simplicity the case of homogeneous boundary conditions,
g(t)
h(t)
(i)
to
approximate
problem
(8.1)
with
the
following
146
collocation method.
Suppose
VN
N-I) defined by
V N = {p s PN : p(-l) = p(1) = 0}
and
(xj)0<j~ N
the
(N+I)
(8.2)
xj = cos ~N
points defined by
UN(t) s V N
i)
j=I,...,N-I;
problem by
such that
~u N
.Ca-"~-
~2u N
- a---~]
(x.)
= 0,
~x ~
(8.3)
ii)
I~
UN(Xj,0) = u0(xj),
j ~N-I.
the
present
coefficient
a(x)
Theorem
8.1:
section,
all
functions
are
supposed
[8]).
real-valued,
and
Let:
(mj)0<j~N
points Gauss-Lobatto-Chebyshev
denote
formula and
the
U,llN
coefficients
of
the
(N+I)-
147
I'PI'N E ((p,p)N)i~
N
~.
(P'q)N ~ 3~
O= ~
p(xj) q(xj),
then we have
llUN(t)llN ~ UUN(0)liN.
We will need the following lemma from Gottlieb and Orszag [9]):
Lem
8.1:
Let
u s CI(T)
= u(-1)
u(1)
= o
then, we have
f
where
u u w' to d x ~ 0,
lim
~ ( x ) u ( x ) = O.
x+l
It follows that
f
I
NOW~
U U" m dx = - f
(mu)'u'dx.
is Lipschitz continuous
148
f
I
(60u)'u'dx
--
(tou)'(tou)"
to dx - f
--
to~
(tou)" -to- u
dx,
and
f
( t o u ) " to"
--60 U dx = f
I
2 f
I
(~2u2)"
dx
~ f
I
to2u2
to
Now,
yields
f (60u)"-60"
I
U dx = -I/2f
I
to
((60u)~2 ~I dx -I/2f
u u" 60 dx = - f
I
VN, we
have
N
mj
~u N
the
fact
that
(Xj )UN(Xj)-
the
N
~2u N
~
m
(Xj)UN(X j) = 0
j=0 J ~
(N+l)-point
Gauss-Lobatto-Chebyshev
formula is
149
of degree
Du N
UN)N -
~ 2N
32UN
--u
~x 2
N ~ dx = 0.
d iiUN(t) it2N
~UN
--at
= (~--~-, UN) N ~ 0,
An Error Estimate
Theorem
~iven;
8.2:
then if
Let
~ >I~,
s > 2G + 4
u e LI(0,T;H~(1)),
and
such that
Proof:
Let
~(x,t)
= (~cU)(X,t),
z =~
- u.
where
~C
is
the
~t ~
32
- a(x) ~
uN
= - ~~. z
be
such that
~ < t < T.
0 < ~ < T
a(x)
~2z
~x 2
interpolation
150
Let then
~W N
~2
3z
32z~
(~-- - a --3x
2 WN)(Xj) = (~-~ - a 3xmJ(Xj) ,
J
a(xj)
l~j
<N-I.
obtain
32W N
--W
(8--~'-'WN)N + f
I 3x 2
3w N
N m dE = ( ~ -
a 32z,
3x-~ WN)N,
~W N
llWN(t)ilN = (8--t--'WN)N <
d
IIWNIiN ~
(3z
~ - a 322,
3x WN) N
ii~z
~2z11
~-~ - a ~x2 N liWNfiN,
to
IIWN(0)IIN = 0)
t
32z]
IIWN(t)IIN < ~0 ,.(~-~- a -~j(T)I, Nd~.
Now,
i~l~-~z_ a ~3x--2z~ FIN < Cli~-~- a 3x
282zilo,m '
since
H:(:)
H(~)
~1a ~2zll
n~
(I)
for
o >i/2
C N 2"+2"-s(~ Ilull
S~
151
/
and
II~t Ic~,
= II~-~C
I1~,~11s-2,m"
CIIull s,~o
z
~ 2z I
N2o+4-s
il(~--~- a ~x2J(T)jlo, m < C
llu(T)lls,t0 ,
so for
0 < t < T
N
Cli(u-uN)(t)II ,m + C N 2~+4-s
Now,
for
that
u(t) e HI(1)
effect), therefore
ll(U-UN)(t)rr ~
~ C N 2-s.
S,0J
for all
aT
(regularizing
t52
Remark 8.1:
belong to
satisfy certain regularity and compatibility conditions and also the boundary
conditions (see Bramble'Schatz-Thomee
[2]).
References
[i]
Auslander-Tolimieri:
"Is
Fast
Fourier
Transform
pure
or
applied
[2]
Bramble-Schatz- Thomee:
[3]
Brutman, L.:
[4]
Canuto,
C. and A. Quarteroni:
"Proprietes d'approximation
dans
les
C.R. Acad.
[5]
Spectral
[6]
Carleson:
[7]
Davis,
P. J.
and P. Rabinowitz:
[8]
Gottlieb,
D.:
"The
stability
of pseudospectral
Chebyshev methods,"
154
[9]
[to]
Kato, T.:
Springer-Verlag,
Berlin, 1980.
[11]
[12]
Majda,
A.,
J.
McDonough,
and
S.
0sher:
"The
Fourier
method
for
[13]
Pasciak,
J.:
"Spectral
and
pseudospectral
methods
for
advection
[14]
Richtmyer,
R. and K. Morton:
Difference Methods
[15]
Rivlin,
T. J.:
An Introduction
to the Approximation
of Functions,
[16]
Schwartz, L.:
[17]
Taylor, M.:
[18]
Treves, F.:
Topolo$ical
and Kernels,