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You can O R D E R this book Constantin I. Chueshov
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Chapter 5
Theory of Functionals
that Uniquely Determine Long-Time Dynamics
Contents
C
h
The following definition is based on the property established in [1] for the Fou-
a rier modes of solutions to the 2D Navier-Stokes system with periodic boundary con-
p
t ditions.
e
r
Let L = { lj : j = 1 , , N } be a set of continuous linear functionals on V .
Then L is said to be a set of asymptotically ( V , H , W ) -determining func-
5 tionals (or elements) for problem (1.1) if for any two solutions u , v W the con-
dition
t+1
lim
t t
l j ( u ( t ) ) - l j ( v ( t ) ) 2 dt = 0 for j = 1, , N (1.3)
implies that
lim u ( t ) - v ( t ) H = 0 . (1.4)
t
Thus, if L is a set of asymptotically determining functionals for problem (1.1), the
asymptotic behaviour of a solution u ( t ) is completely determined by the behaviour
of a finite number of scalar values { lj ( u ( t ) ) : j = 1 , 2 , , N } . Further, if no ambi-
guity results, we will sometimes omit the spaces V , H , and W in the description of
determining functionals.
[N
2
lim L (u (t) - v ( t ) ) ] dt = 0 ,
t
t
where NL ( u ) is a seminorm in H defined by the equation
NL ( u ) = max l ( u ) .
l L
The following theorem forms the basis for all assertions known to date on the exis-
tence of finite sets of asymptotically determining functionals.
Theorem 1.1.
Let L = { lj : j = 1 , , N } be a family of continuous linear functionals
Suppose that there exists a continuous function V ( u , t ) on H R +
on V . Su
with the values in R + which possesses the following properties:
a) there exist positive numbers a and s such that
V (u, t) a u s for all u H , t R+ ; (1.5)
Concept of a Set of Determining Functionals 287
and
t+a
+
Gy = lim
t max {0, -y (t) } dt <
t
(1.7)
for some a > 0 , and (iii) a positive constant C such that for all
t s t0 we have
t
V (u (t) - v(t) , t) +
y(t) V (u (t) - v((t) , t) ) dt
s
t
V (u (s) - v(s) , s) + C
s
max
j = 1, , N
lj ( u ( t ) ) - lj ( v ( t ) ) 2 dt . (1.8)
It is evident that the proof of this theorem follows from a version of Gronwall's lemma
stated below.
Lemma 1.1.
Let y ( t ) and g ( t ) be two functions that are locally integrable over
some half-interval [ t0 , ) . Assume that (1.6) and (1.7) hold and g ( t )
is nonnegative and possesses the property
t+a
t
lim
g ( t ) dt = 0 ,
t
a > 0. (1.9)
It should be noted that this version of Gronwall's lemma has been used by many au-
thors (see the references in the survey [3]).
288 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
Proof.
a
Let us first show that equation (1.10) implies the inequality
p
t
e t t t
w ( t ) w ( s ) exp - y ( s ) ds +
g ( t ) exp - y ( s ) ds dt (1.11)
r
5
s s t
for all t s t0 . It follows from (1.10) that the function w ( t ) is absolutely
continuous on any finite interval and therefore possesses a derivative w ( t ) al-
most everywhere. Therewith, equation (1.10) gives us
w ( t ) + y ( t ) w ( t ) g ( t ) (1.12)
for almost all t . Multiplying this inequality by
t
e ( t ) = exp y ( s ) ds ,
s
we find that
d
---- (w (t) e (t) ) g (t) e (t)
dt
almost everywhere. Integration gives us equation (1.11).
Let us choose the value s such that
t+a
max {-y(s) , 0} ds
+
G+1 , G Gy (1.13)
t
and
t+a
y(s) ds --2- ,
g +
g gy (1.14)
t
t -t
for all t s . It is evident that if t t s and k = ----------- , where [ . ] is the in-
a
teger part of a number, then
t ka + t t
y ( s ) ds =
t t
y ( s ) ds +
ka +t
y ( s ) ds
( k + 1) a + t
g
g
--- k - max { -y ( s ) , 0 } ds --- k - ( G + 1 ) .
2 2
ka + t
t
g g
y(s) ds
t
------- ( t - t ) - 1 + G + --- .
2a 2
g
where C ( G , g ) = exp 1 + G + --- . Therefore,
2
t
g
lim w ( t ) C ( G, g ) lim
t t g (t) exp -------
s
2a
- ( t - t ) dt .
(1.15)
It is evident that
t
g
G (t, s)
g (t) exp -------
s
2a
- ( t - t ) dt
N s + (k + 1) a
g
k=0
s + ka
g ( t ) exp - ------- ( t - t ) dt ,
2a
t -s t -s
where N = ----------- is the integer part of the number ----------- . Therefore,
a a
s+a N s + (k + 1) a
g
G ( t , s ) sup
ss g (t) dt
s k=0 s + ka
exp - ------- ( t - t ) dt =
2 a
s+ a s + (N + 1) a
g
= sup
s s s
g ( t ) dt
s
exp - ------- ( t - t ) dt =
2 a
s+ a g
g --- ( N + 1 )
= 2 a-
g ssup
------
s
s
g ( t ) dt exp - ------- ( t - s ) e 2
2a
-1 .
t -s
Since N = ---------- , this implies that
a
s+ a
lim G ( t , s ) C ( a , g ) sup
t ss g ( t ) dt
s
(1.16)
290 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
for any s such that equations (1.13) and (1.14) hold. Hence, equations (1.15)
a and (1.16) give us that
p
t s+ a
g (t) dt .
e
r lim w ( t ) C ( G, g , a ) sup
t ss
5 s
If we tend s , then with the help of (1.9) we obtain
lim w ( t ) = 0 .
t
This implies the assertion of Lemma 1.1.
In cases when problem (1.1) is the Cauchy problem for a quasilinear partial differen-
tial equation, we usually take some norm of the phase space as the function V ( u , t )
when we try to prove the existence of a finite set of asymptotically determining func-
tionals. For example, the next assertion which follows from Theorem 1.1 is often
used for parabolic problems.
Corollary 1.1.
Let V and H be reflexive Banach spaces such that V is continuously
and densely embedded into H . Assume that for any two solutions
u1 ( t ) , u2 ( t ) W to problem (1.1) we have
t
u1 ( t ) - u2 ( t ) 2
V
+
y(t) u (t) - u (t)
s
1 2
2
V
dt
u -u
2 2
u1 ( s ) - u 2 ( s ) V
+K 1 2 H dt (1.17)
s
for t s t0 , where K is a constant and the function y ( t ) depends on
u1 ( t ) and u2( t ) in general and possesses properties (1.6) and (1.7).
Assume that the family L = { lj : j = 1 , , N } on V possesses the pro-
perty
v H C max l j ( v ) + eL v V (1.18)
j=1N
for any v V , where C and eL are positive constants depending
on L . Then L is a set of asymptotically determining functionals for
problem (1.1), provided
t+a
2
eL 1- lim --1-
< ---
K t a y(t) dt g
t
+ -1 -1
ya K . (1.19)
Concept of a Set of Determining Functionals 291
Proof.
Using the obvious inequality
( a + b ) 2 ( 1 + d ) a 2 + 1 + --1- b 2 , d > 0,
d
we find from equation (1.18) that
2
vH 2
( 1 + d ) eL v V2 + C d max lj ( v ) 2 (1.20)
j=1N
for any d > 0 . Therefore, equation (1.17) implies that
t
u1 ( t ) - u 2 ( t ) 2
V
+
y(t) - (1 + d) K e u (t) - u (t)
s
2
L 1 2
2
V
dt
t
u1 ( s ) - u 2 ( s ) 2
V
+C
[N
s
L ( u1 ( t ) - u 2 ( t ) ) ] 2 dt ,
Another variant of Corollary 1.1 useful for applications can be formulated as follows.
Corollary 1.2.
Let V and H be reflexive Banach spaces such that V is continuously
embedded into H . Assume that for any two solutions u ( t ) , v ( t ) W to
problem (1.1) there exists a moment t0 > 0 such that for all t s t0
the equation
t
u (t) - v(t) 2
H +n
u (t) - v(t)
s
2
V dt
t
u (s) - v(s) 2
H +
f (t) u (t) - v(t)
s
2
H dt (1.21)
C
h
for some a > 0 , where the constant R > 0 is independent of u ( t ) and
a v ( t ) . Let L = { lj : j = 1 , , N } be a family of continuous linear func-
p
t tionals on V possessing the property
e
r
w H CL max lj ( w ) + eL w V
j = 1, , N
5
for any w V . Here CL and e L are positive constants. Then L is a set
of asymptotically ( V, H , W ) -determining functionals for problem (1.1),
provided that eL < n R .
Proof.
Equation (1.20) implies that
-2
w V2 ( 1 + d ) -1 e L 2
wH - CL , d max lj ( w ) 2
j = 1, , N
for any d > 0 . Therefore, (1.21) implies that
t
u (t) - v(t) 2
H +
y(t) u (t) - v(t)
s
2
H dt
t
u (s) - v(s) 2
H + n CL, d
s
max
j = 1, , N
lj ( u ( t ) - v ( t ) ) 2 dt ,
-2
where y ( t ) = n ( 1 + d ) -1 eL- f ( t ) . Using (1.22) and applying Theorem 1.1
2
with V ( u , t ) = u , we complete the proof of Corollary 1.2.
implies that u ( t ) v ( t ) .
Theorem 1.2.
Let L = { lj : j = 1 , , N } be a family of continuous linear functionals
on V . Let W be a class of solutions to problem (1.1) on the real axis R such
that
Concept of a Set of Determining Functionals 293
2
W C ( , + ; H ) Lloc ( , + ; V) . (1.24)
Assume that there exists a continuous function V ( u , t ) on H R with the
values in R which possesses the following properties:
a) there exist positive numbers a and s such that
s
V (u, t) a u for all u H, t R ; (1.25)
b) for any u ( t ) , v ( t ) W
sup V ( u ( t ) - v ( t ) , t ) < ; (1.26)
t R
c) for any two solutions u ( t ) , v ( t ) W to problem (1.1) there exist (i)
a function y ( t ) locally integrable over the axis R with the properties
t+a
-
gy lim
t - y(t) dt > 0
t
(1.27)
and
t+a
Proof.
It follows from (1.23), (1.8), and (1.11) that the function w (t) = V (u (t) - v(t) , t )
satisfies the inequality
t
w ( t ) w ( s ) exp - y ( t ) dt
(1.29)
s
for all t s . Using properties (1.27) and (1.28) it is easy to find that there exist
numbers s* , a0 > 0 , and b0 > 0 such that
s2
y ( t ) dt
s1
a0 ( s2 - s1 ) - b0 , s 1 s 2 s* .
This equation and boundedness property (1.26) enable us to pass to the limit
in (1.29) for fixed t as s - and to obtain the required assertion.
C
h
Corollary 1.3.
a
p
Let V and H be reflexive Banach spaces such that V is continuously
t embedded into H . Let W be a class of solutions to problem (1.1) on the
e
r real axis R possessing property (1.24) and such that
5 sup u ( t ) H < for all u(t) W . (1.30)
t R
Proof.
As in the proof of Corollary 1.2 equations (1.20) and (1.21) imply that
t
u (t) - v(t) H +
y (t) u (t) - v(t)
s
2
H dt 2
u (s) - v(s) H
-2
for all t s , where y ( t ) = n ( 1 + d ) -1 e L - f ( t ) and d is an arbitrary positive
number. Hence
t
u (t) - v (t) 2
H u (s) - v (s) 2
H
exp - y ( t ) dt
(1.32)
s
for all t s . Using (1.31) it is easy to find that for any h > 0 there exists
Mh > 0 such that
s2
f ( t ) dt
s1
( R + h ) ( s2 - s1 + a )
We now give one more general result on the finiteness of the number of determining
functionals. This result does not use Lemma 1.1 and requires only the convergence
of functionals on a certain sequence of moments of time.
Concept of a Set of Determining Functionals 295
Theorem 1.3.
Let V and H be reflexive Banach spaces such that V is continuously
embedded into H . Assume that W is a class of solutions to problem (1.1)
ume that there exist constants C , K 0 ,
possessing property (1.2).. Assum
Assume
b > a > 0 , and 0 < q < 1 such that for any pair of solutions u1 ( t ) and
u2 ( t ) from W we have
u1 ( t ) - u2 ( t ) V C u1 ( s ) - u2 ( s ) V , s t s +b, (1.33)
and
u1( t ) - u2 ( t ) V K u1( t ) - u 2 ( t ) H + q u1( s ) - u 2 ( s ) V , s + a t s + b (1.34)
It should be noted that relations like (1.33) and (1.34) can be obtained for a wide
class of equations (see, e.g., Sections 1.9, 2.2, and 4.6).
Proof.
Let u ( t ) = u1 ( t ) - u2 ( t ) . Then equations (1.34) and (1.18) give us
u ( tk ) V qL u ( tk - 1 ) V + C max lj ( u ( tk ) ) ,
j
where qL = q ( 1 - eL K ) -1 < 1 . Therefore, after iterations we obtain that
n
q
n n-k
u ( tn ) V q L u ( t0 ) V + C L max lj ( u ( tk ) ) .
j
k=1
Hence, equation (1.35) implies that u ( tn ) V 0 as n . Therefore, (1.36) fol-
lows from equation (1.33). Theorem 1.3 is proved.
Application of Corollaries 1.11.3 and Theorem 1.3 to the proof of finiteness of a set
L of determining elements requires that the inequalities of the type (1.17) and
(1.21), or (1.30) and (1.33), or (1.33) and (1.34), as well as (1.18) with the constant
eL small enough be fulfilled. As the analysis of particular examples shows, the fulfil-
ment of estimates (1.17), (1.21), (1.30), (1.31), (1.33), and (1.34) is mainly con-
nected with the dissipativity properties of the system. Methods for obtaining them
are rather well-developed (see Chapters 1 and 2 and the references therein) and in
many cases the corresponding constants n , R , K , and q either are close to opti-
296 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
mal or can be estimated explicitly in terms of the parameters of equations. There-
a fore, the problem of description of finite families of functionals that asymptotically
p
t determine the dynamics of the process can be reduced to the study of sets of func-
e
r
tionals for which estimate (1.18) holds with eL small enough. It is convenient to
base this study on the concept of completeness defect of a family of functionals with
5 respect to a pair of spaces.
2 Completeness Defect
Let V and H be reflexive Banach spaces such that V is continuously and densely
embedded into H . The completeness defect of a set L of linear functionals
on V with respect to H is defined as
eL ( V, H ) = sup w H : w V , l ( w ) = 0 , l L , w V 1 . (2.1)
It should be noted that the finite dimensionality of Lin L is not assumed here.
w
eL ( V, H ) = sup -----------H- : w V , w 0 , l ( w ) = 0 , (2.3)
wV
eL ( V, H ) = inf C : w H C w V , w V , l ( w ) = 0 . (2.4)
The following fact explains the name of the value eL ( V, H ) . We remind that a set L
of functionals on V is said to be complete if the condition l ( w ) = 0 for all l L im-
plies that w = 0 .
The following assertion plays an important role in the construction of a set of deter-
mining functionals.
Theorem 2.1.
Let eL = eL ( V, H ) be the completeness defect of a set L of linear func-
tionals on V with respect to H . Then there exists a constant CL > 0 such
that
u H eL u V + C L sup l ( u ) : l L , l 1 (2.5)
*
for any element u V , where L is a weakly closed span of the set L in
V *.
Proof.
Let
L ^ = {v V : l (v ) = 0 , l L} (2.6)
be the annihilator of L . If u L ^ ,then it is evident that l ( u ) = 0 for all l L .
Therefore, equation (2.4) implies that
u H eL u V for all u L^ , (2.7)
i.e. for u L ^ equation (2.5) is valid.
Assume that u L ^ . Since L ^ is a subspace in V , it is easy to verify that there
exists an element w L ^ such that
u - w V = dist V ( u , L ^ ) = inf u - v V : v L ^ . (2.8)
Indeed, let the sequence { vn } L ^ be such that
d dist V ( u , L ^ ) = lim u - vn V .
n
It is clear that { vn } is a bounded sequence in V . Therefore, by virtue of the reflexivi-
ty of the space V , there exist an element w from L ^ and a subsequence { vn }
k
such that vn weakly converges to w as k , i.e. for any functional f V * the
k
equation
f ( u - w ) = lim f ( u - vn )
k k
C
h
Equation (2.7) and the continuity of the embedding of V into H imply that
a
p u H w H + u - w H eL w V + C u - w V .
t
e It is clear that
r
w V u V + u -w V.
5 Therefore,
u H eL u V + ( eL + C ) u - w V . (2.9)
Let us now prove that there exists a continuous linear functional l0 on the space V
possessing the properties
l0 ( u - w ) = u - w V , l0 * = 1 , l0 ( v ) = 0 for v L^ . (2.10)
To do that, we define the functional l 0 by the formula
l 0 (m) = a u - w V , m = v + a (u - w) ,
on the subspace
M = m = v + a (u - w) : v L ^ , a R .
It is clear that l 0 is a linear functional on M and l 0 ( m ) = 0 for m L ^ . Let us cal-
culate its norm. Evidently
mV 1- v ,
v + a ( u - w ) V = a u - w + --a a 0.
V
Since w - a -1 v L ^ , equation (2.8) implies that
m V a u - w V = l 0 (m) , m = v + a (u - w) , a 0.
Consequently, for any m M
l 0 (m) m V .
This implies that l 0 has a unit norm as a functional on M . By virtue of the Hahn-Ba-
nach theorem the functional l 0 can be extended on V without increase of the norm.
Therefore, there exists a functional l0 on V possessing properties (2.10). Therewith
l0 lies in a weakly closed span L of the set L . Indeed, if l0 L , then using the re-
flexivity of V and reasoning as in the construction of the functional l0 it is easy to
verify that there exists an element x V such that l0 ( x ) 0 and l ( x ) = 0 for all
l L . It is impossible due to (2.10) .
In order to complete the proof of Theorem 2.1 we use equations (2.9) and
(2.10). As a result, we obtain that
u H eL u V + ( eL + C ) l0 ( u - w ) .
However, l0 L , l0 ( u - w ) = l0 ( u ) , and l0 = 1 . Therefore, equation (2.5)
*
holds. Theorem 2.1 is proved.
Completeness Defect 299
In particular, if the hypotheses of Corollaries 1.1 and 1.3 hold, then Theorem 2.1 and
equation (2.11) enable us to get rid of assumption (1.18) by replacing it with the cor-
responding assumption on the smallness of the completeness defect eL ( V, H ) .
The following assertion provides a way of calculating the completeness defect when
we are dealing with Hilbert spaces.
Theorem 2.2.
Let V and H be separable Hilbert spaces such that V is compactly and
densely embedded into H . Let K be a selfadjoint positive compact operator
in the space V defined by the equality
(K u , v)V = (u, v)H , u, v V .
Then the completeness defect of a set L of functionals on V can be evalua-
ted by the formula
e L ( V, H ) = m max ( PL K PL ) , (2.12)
where PL is the orthoprojector in the space V onto the annihilator
L ^ = {v V : l (v) = 0 , l L}
and m max ( S ) is the maximal eigenvalue of the operator S .
Proof.
It follows from definition (2.1) that
eL ( V, H ) = sup { u H: u BL }
C
h
It follows that
a 2
p ( K ( u0 + s v ) , u0 + s v ) V - m u0 + s v V
0.
t
e It is also clear that u0 V = 1 . Therefore,
r
5 s2 { ( K v , v ) V - m v 2 } + 2 s { ( K u0 , v ) V - m ( u0 , v ) V } 0
Corollary 2.1.
Assume that the hypotheses of Theorem 2.2 hold. Let { ej } be an ortho-
normal basis in the space V that consists of eigenvectors of the opera-
tor K :
K ej = m j e j , ( ei , ej ) V = di j , m1 m2 , mN 0 .
Then the completeness defect of the system of functionals
L = { lj V * : lj ( v ) = ( v , e j ) V : j = 1 , 2 , , N }
is given by the formula eL ( V, H ) = mN + 1 .
It should be noted that the functionals in Exercise 2.6 are often called modes .
Completeness Defect 301
Let us give several more facts on general properties of the completeness defect.
Theorem 2.3.
Assume that the hypotheses of Theorem 2.2 hold. Assume that L is a set
of linear functionals on V and K L is a family of linear bounded operators
R that map V into H and are such that R u = 0 for all u L ^ . Let
eVH ( R ) = sup u - R u H : u V 1 (2.14)
be the global approximation error in H arising from the approximation
of elements v V by elements R v . Then
eL ( V ; H ) = min e VH ( R ) : R K L . (2.15)
Proof.
Let R K L . Equation (2.14) implies that
H
u - R u H eV ( R ) u V , u V.
C
h
Theorem 2.3 will be used further (see Section 3) to obtain upper estimates of
a the completeness defect for some specific sets of functionals. The simplest situation
p
t is presented in the following example.
e
r
E x a m p l e 2.1
5
Let H = L 2 ( 0 , l ) and let V = ( H 2 H 01 ) ( 0 , l ) . As usual, here H s ( 0 , l ) is
the Sobolev space of the order s and H 0s ( 0 , l ) is the closure of the set C 0 ( 0 , l )
in H s ( 0 , l ) . We define the norms in H and V by the equalities
l
u 2
H = u 2
(u (x) ) dx ,
0
2 u V2 = u 2 .
u ( x ) - s ( x ) = - --1-
h dt dx u(y) dy ,
xj xj t
x [ xj , xj + 1 ] ,
u-s h 2- u .
------
3
This implies that eL ( H ; V ) h 2 3 .
The assertion on the interdependence of the completeness defect eL and the Kol-
mogorov N -width made below enables us to obtain effective lower estimates
for eL ( V ; H ) .
Let V and H be separable Hilbert spaces such that V is continuously and
densely embedded into H . Then the Kolmogorov N -width of the embedding
of V into H is defined by the relation
Completeness Defect 303
H
N = N ( V ; H ) = inf e V ( F ) : F FN , (2.17)
where F N is the family of all N -dimensional subspaces F of the space V and
eVH ( F ) = sup dist H ( v , F ) : v V 1
is the global error of approximation of elements v V in H by elements of the sub-
space F . Here
distH ( v , F ) = inf v - f H : f F .
In other words, the Kolmogorov N -width N of the embedding of V into H is the
minimal possible global error of approximation of elements of V in H by elements
of some N -dimensional subspace.
Theorem 2.4.
Let V and H be separable Hilbert spaces such that V is continuously
and densely embedded into H . Then
N ( V ; H ) = min eL ( V ; H ) : L V * ; dim Lin L = N = m N + 1 , (2.18)
where { m j } is the nonincreasing sequence of eigenvalues of the operator K
defined by the equality ( u , v ) H = ( K u , v ) V .
The proof of the theorem is based on the lemma given below as well as on the fact
that ( u , v) H = ( K u , v ) V , where K is a compact positive operator in the space V
(see Theorem 2.2). Further the notation { e j } j=1
stands for the proper basis of the
operator K in the space V while the notation m j stands for the corresponding eigen-
values:
K ej = mj ej , m1 m2 , mn 0 , ( ei , ej ) V = di j .
1
It is evident that ---------
- e i is an orthonormalized basis in the space H .
i m
Lemma 2.1.
Assume that the hypotheses of Theorem 2.4 hold. Then
min eL ( V ; H ) : L V * , dim Lin L = N = mN +1 . (2.19)
304 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
Proof.
a
By virtue of Corollary 2.1 it is sufficient to verify that
p
t
e eL ( V ; H ) mN + 1
r
for all L = { lj : j = 1 , , N } , where lj are linearly independent functionals
5 on V . Definition (2.1) implies that
[ eL ( V ; H ) ] 2 u 2
H = m (u, e )
j=1
j
2
j V (2.20)
^
Therefore, if u L F , then QH , F u = 0 . It is clear that Q H , F is a bounded operator
from V into H . Using Theorem 2.3 we find that
Completeness Defect 305
eL ( V ; H ) e VH ( Q H , F ) = sup u - Q H , F u H
: u V 1 .
F
However, u - Q H , F u H = dist H ( u , F ) . Hence,
min { eL } eL ( V ; H ) e VH ( F ) (2.23)
F
for any N -dimensional subspace F in V . Equations (2.22) and (2.23) imply that
N ( V ; H ) = min eL ( V ; H ) : L V * , dim LinL = N .
This equation together with Lemma 2.1 completes the proof of Theorem 2.4.
E x e r c i s e 2.9 Use Lemma 2.1 and Corollary 2.1 to calculate the Kolmogorov
N -width of the embedding of the space Fs = D ( A s ) into Fs = D ( As )
for s > s , where A is a positive operator with discrete spectrum.
C
h 3 Estimates of Completeness Defect
a
p in Sobolev Spaces
t
e
r
5 In this section we consider several families of functionals on Sobolev spaces that are
important from the point of view of applications. We also give estimates of the cor-
responding completeness defects. The exposition is quite brief here. We recommend
that the reader who does not master the theory of Sobolev spaces just get acquain-
ted with the statements of Theorems 3.1 and 3.2 and the results of Examples 3.1 and
3.2 and Exercises 3.23.6.
We remind some definitions (see, e.g., the book by Lions-Magenes [4]). Let W
be a domain in R n . The Sobolev space H m ( W ) of the order m ( m = 0 , 1 , 2 , )
is a set of functions
H m (W ) = f L2 (W ) : D j f (x ) L2 (W ) , j m ,
where j = ( j1 , , jn ) , jk = 0 , 1 , 2 , , j = j1 + + jn and
j f
D j f ( x ) = ------------------------------------------------------ . (3.1)
j j j
x1 1 x2 2 xn n
The space H m ( W ) is a separable Hilbert space with the inner product
(u , v )m = D
j m W
ju D j v dx .
(y) =
u
e ixy u ( x ) dx ,
Rn
2
y = y12+ + y22 ,
and x y = x1 y1 + + xn yn . Evidently this definition coin-
cides with the previous one for natural s and W = R n .
E x e r c i s e 3.1 Show that the norms in the spaces H s ( R n ) possess the pro-
perty
u s ( q ) u sq u s1 - q , s ( q ) = q s1 + ( 1 - q ) s2 ,
1 2
0 q 1, s1 , s2 0 .
Estimates of Completeness Defect in Sobolev Spaces 307
Lemma 3.1.
Let W be a domain in R n and let l ( x ) be a function from L( R n ) such
that
supp l W ,
l (x) dx = 1 . (3.2)
Rn
Assume that W is a star-like domain with respect to the support supp l
of the function l . This means that for any point x W the cone
Vx = { z = t x + ( 1 - t ) y ; 0 t 1 , y supp l } (3.3)
belongs to the domain W . Then for any function u ( x ) H m ( W ) the re-
presentation
-----a!- (x - y) a
m
u ( x ) = Pm - 1 ( x ; u ) + K ( x , y ) D a u ( y ) dy (3.4)
a =m Vx
is valid, where
Pm - 1 ( x , u ) =
a < m
1-
-----
a! l (y) ( x - y)
W
a
D a u ( y ) dy , (3.5)
a a
a = ( a1 , , an ) , a! = a1! an ! , za = z1 1 zn n ,
1
y-x
K (x, y) =
s
0
-n - 1 l x
+ ------------ ds .
s
(3.6)
Proof.
If we multiply Taylors formula
(x - y)a
u (x) =
a <m
--------------------- D a u ( y ) +
a!
1
(x - y)a
+ m
a =m
---------------------
a! s
0
m - 1 D a u (x + s ( y - x ) ) ds
308 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
by l ( y ) and integrate it over y , then after introducing a new variable
a z = x + s ( y - x ) we obtain the assertion of the lemma.
p
t
e Integral representation (3.4) enables us to obtain the following generalization of the
r
Poincar inequality.
5
Lemma 3.2.
Let the hypotheses of Lemma 3.1 be valid for a bounded domain
W R n and for a function l ( x ) . Then for any function u ( x ) H 1 ( W )
the inequality
s
u - u l ------n- d n + 1 l u (3.7)
L2 ( W ) n L ( W ) L2( W )
Proof.
We use formula (3.4) for m = 1 :
n
K (x, y) (x
u
u ( x ) = u l + - yj ) -------- ( y ) dy . (3.8)
j yj
j=1
Vx
It is clear that l ( x + ( 1 s ) ( y - x ) ) = 0 when s -1 x - y d diam W . There-
fore,
1
K (x, y) =
s -n - 1 l x + 1
--- ( y - x ) ds .
s
d -1 x - y
Consequently,
d dn
K ( x , y ) -----------------n- , d d ( l , n ) = -----
n l
- . (3.9)
x -y L( W )
u ( y )
u ( x ) - u l
d ------------------------
x - y n -1
W
- dy
1/2
u ( y ) 2 1/2
dy
d ------------------------
- d y n - 1
------------------------
- . (3.10)
x - y n -1 x-y
W W
------------------------
x-y
dy
n -1
-
Bd ( x )
dy
- sn d ,
------------------------
x - y n -1
(3.11)
W
Estimates of Completeness Defect in Sobolev Spaces 309
After integration with respect to x and using (3.11) we obtain (3.7). Lemma 3.2
is proved.
Lemma 3.3.
Assume that the hypotheses of Lemma 3.1 are valid for a bounded do-
main W from R n and for a function l ( x ) . Let mn = [ n 2 ] + 1 , where
[ . ] is a sign of the integer part of a number. Then for any function
m
u ( x ) H n ( W ) we have the inequality
max u ( x ) - Pm - 1 ( x ; u )
x W n
c m + n--- mn
----n- d n 2 l
n L( W )
a = mn
-------- D a u L2( W ) ,
a! (3.12)
Proof.
Using (3.4) and (3.9) we find that
x-y
mn
mn
u ( x ) - Pm - 1 ( x ; u ) -------- K (x , y) D a u (y) dy
n a!
a = mn Vx
d mn
mn - n
a = mn
------------
a!
x-y D a u (y) dy
W
d mn 1/2
2 ( mn - n )
a = mn
------------ D a u
a!
L2( W )
x -y d y .
W
x-y r
2 ( mn - n ) 2 mn - n - 1 2 mn - n
d y sn d r sn d ( 2 mn - n ) -1 .
W 0
Thus, equation (3.12) is valid. Lemma 3.3 is proved.
310 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
Lemma 3.4.
a
p
Assume that the hypotheses of Lemma 3.3 hold. Then for any function
m
t u ( x ) H n ( W ) and for any x* W the inequality
e
r
1/2
5 u - u (x ) u ( x ) - u ( x ) 2 dx
* L2 ( W ) *
W
mn
d -----a!-
Cn ( dn l 1
) j Dau
L( W ) L2 (W ) (3.13)
j=1 a =j
Proof.
It is evident that
u - u (x ) u - u l + d n / 2 u l - u ( x ) , (3.14)
* L2 ( W ) L2 ( W ) *
where
u l =
l(y) u (y) dy .
W
The structure of the polynomial Pm - 1 ( x , u ) implies that
u l - u ( x )
u ( x ) - Pm
n -1
(x, u) +
1 a mn - 1
1-
-----
a! l (y) (x - y)
W
a
D a u (y) dy
da
u ( x ) - Pm
n -1
(x, u) +
1 a mn - 1
-------- l 2
a! L (W)
D a u L2( W )
for all x W . Therefore, estimate (3.13) follows from (3.14) and Lemmata 3.2
and 3.3. Lemma 3.4 is proved.
Theorem 3.1.
Assume that a bounded strongly Lipschitzian domain W in R n can be
divided into subdomains { W j : j = 1 , 2 , , N } such that
N
W= W
j=1
j , Wi Wj = for i j. (3.15)
Here the bar stands for the closure of a set. Assume that l j ( x ) is a function
in L ( W j ) such that
supp l j W j ,
l (x) dx = 1
Wj
j (3.16)
holds, where L = max djn lj : j = 1, 2, , N , d = max dj ,
L ( W ) j
dj diam W = sup { x - y : x , y W j } ,
Proof.
Let us define the interpolation operator R T for the collection T by the formula
(R T u ) ( x ) = lj ( u ) =
l (x) u (x) dx ,
Wj
j x Wj , j = 1, 2, , N .
312 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
It is easy to check that
u - RT u Cn L u u L2 ( W ) .
a
,
p
L2 ( W ) L2( W )
t
e It further follows from Lemma 3.2 that
r
s
5 u - lj ( u ) -----n- djn + 1 lj u .
L2( Wj ) n L( Wj ) L2( Wj )
E x a m p l e 3.1
Let W = ( 0 , l ) n be a cube in R n with the edge of the length l . We construct
a collection T which defines local volume averages in the following way.
Let K = ( 0 , 1 ) n be the standard unit cube in R n and let w be a measurable set
in K with the positive Lebesgue measure, mes w > 0 . We define the function
l ( w , x ) on K by the formula
-1
l ( w , x ) = [ mes w ] , x w ,
0, x K\w .
Assume that
x
W j = h ( j + K ) x = ( x1 , , xn ) : ji < -----i < ji + 1 , i = 1 , 2 , , n ,
h
1 l w , --x- - j ,
l j ( x ) = ----- x Wj ,
hn h
Estimates of Completeness Defect in Sobolev Spaces 313
dj = diam W j = nh, nn / 2 -
L = --------------
mes w
and hence in this case we have
s-s
eL ( H s ( W ) ; H s ( W ) ) Cn , s ----------------
h
(3.21)
mes w
for the set L of functionals of the form (3.17) when s 1 and 0 s s .
It should be noted that in this case the number of functionals in the set L is
equal to NL = N n . Thus, estimate (3.21) can be rewritten as
s-s s-s
l 1 -----------
-
eL ( H s ( W ) , H s ( W ) ) C n , s ---------------
- - n .
-------
mes w N
L
However, one can show (see, e.g., [6]) that the Kolmogorov NL -width of the em-
bedding of H s ( W ) into H s ( W ) has the same order in NL , i.e.
s-s
1 -----------
-
- n .
N ( H s ( W ) , H s ( W ) ) = c 0 -------
L NL
Thus, it follows from Theorem 2.4 that local volume averages have a complete-
ness defect that is close (when the number of functionals is fixed) to the mini-
mal. In the example under consideration this fact yields a double inequality
c1 h s - s eL ( H s ( W ) , H s ( W ) ) c2 h s - s , s < s, (3.22)
where c 1 and c2 are positive constants that may depend on s , n , w , and W .
Similar relations are valid for domains of a more general type.
Theorem 3.2.
Assume the hypotheses of Theorem 3.1.. Let us choose a point xj (called
a node) in every set W j and define a set of functionals on H m ( W ) ,
m = [ n 2 ] + 1 , by
L = l j ( u ) = u ( xj ) : xj W j , j = 1 , , N . (3.23)
Then for all s m and 0 s s the estimate
eL ( H s ( W ) ; H s ( W ) ) C ( n , s ) ( d L ) s - s (3.24)
is valid for the completeness defect of this set of functionals, where
314 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
a d = max dj : j = 1 , 2 , , N , d j = diam W ,
p
t
e
r L = max djn l j : j = 1, 2, , N .
L( W )
5
Proof.
Let u H m ( W ) and let lj ( u ) = u ( xj ) = 0 , j = 1 , 2 , , N . Then using
(3.13) for W = W j and x = xj we obtain that
*
m
u
L2 ( W j )
Cn djn lj
L ( W j ) d
l=1
l
j u l, W ,
j
where
u l, W =
j -----a!1- D
a =l
au
L2( Wj )
.
It follows that
m
u
L2 ( W )
C (n) L d
l=1
l u
Hl ( W )
m-1
m m
l- - ----l- ----l- m
+ Cn
l=1
----
m d L + L d u H m (W) .
(3.26)
Estimates of Completeness Defect in Sobolev Spaces 315
E x a m p l e 3.2
We return to the case described in Example 3.1. Let us choose nodes xj W j
and assume that w = K . Then for a set L of functionals of the form (3.23) we
have
eL ( H s ( W ) ; H s ( W ) ) Cn , s h s - s
for all s [ n 2 ] + 1 , 0 s s and for any location of the nodes xj inside the
W j . In the case under consideration double estimate (3.22) is preserved.
C
h E x e r c i s e 3.4 Let
a
1
p H per ( 0 , l ) = { u H1( 0 , l) : u ( 0) = u ( l) } .
t
e
r
Show that
1
5 eL ( Hper (0 , l) ; L2 (0 , l ) ) =
2 p N 2 -1
---
1 ( 0 , l ) ; L 2 ( 0 , l ) ) = 1 + ------------
= 2 N - 1 ( H per - 2
,
l
where L consists of functionals l2c k and l2s k for k = 0 , 1 , , N -1
(the functionals ljc and ljs are defined in Exercises 3.2 and 3.3).
xj = j h , h = ---l- , j = 0, 1, , N -1 ,
N
on the space L 2 ( 0 , l ) . Assume that an interpolation operator Rh
maps an element u L 2 ( 0 , l ) into a step-function equal to lj ( u )
on the segment [ xj , xj + 1 ] . Show that
u - Rh u h u .
L2 ( 0 , l ) L2 ( 0 , l )
Prove the estimate
h -
---------------------- eL ( H 1 ( 0 , l ) ; L 2 ( 0 , l ) ) h .
p +h2 2
lj ( u ) = u ( xj ) , xj = j h , h = ---l- , j = 0, 1, , N -1 ,
N
on the space H 1 ( 0 , l ) . Assume that an interpolation operator Rh
maps an element u H 1 ( 0 , l ) into a step-function equal to lj ( u )
on the segment [ xj , xj + 1 ] . Show that
h
u - Rh u ------- u .
L2 (0 , l) 2 L2( 0 , l)
for all t and for all uj D ( A1/ 2 ) such that A1/ 2 uj r , where r is an arbitrary
positive number, M0 and M ( r ) are positive numbers.
Assume that problem (4.1) is uniquely solvable in the class of functions
W = C ( [ 0 , + ) ; H ) C ( [ 0 , + ) ; D ( A1/ 2 ) )
and is pointwise dissipative, i.e. there exists R > 0 such that
A1/ 2 u ( t ) R t t0 ( u )
when (4.3)
for all u ( t ) W . Examples of problems of the type (4.1) with the properties listed
above can be found in Chapter 2, for example.
The results obtained in Sections 1 and 2 enable us to establish the following as-
sertion.
Theorem 4.1.
For the set of linear functionals L = { lj : j = 1 , 2 , , N } on the space
V = D ( A1/ 2 ) with the norm . V = A1/ 2 . H to be ( V , V ; W ) -asymptotically
determining for problem (4.1) under conditions (4.2) and (4.3), it is suffi-
cient that the completeness defect eL ( V, H ) satisfies the inequality
eL eL ( V, H ) < M ( R ) -1 , (4.4)
where M ( r ) and R are the same as in (4.2) and (4.3)..
Proof.
We consider two solutions u1 ( t ) and u2 ( t ) to problem (4.1) that lie in W .
By virtue of dissipativity property (4.3) we can suppose that
A1/ 2 uj ( t ) R , t 0, j = 1, 2 . (4.5)
318 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
Let u ( t ) = u1 ( t ) - u2 ( t ) . If we consider u ( t ) as a solution to the linear problem
a
du
p
------- + Au = f ( t ) B ( u 1 ( t ) , t ) - B ( u 2 ( t ) , t ) ,
t dt
e
r then it is easy to find that
5 t t
1
--- u ( t ) 2 +
2
s
( Au ( t ) , u ( t ) ) dt 1
--- u ( s ) 2 + M ( R )
2 As
1/ 2 u ( t ) u ( t ) dt
Therefore,
t
u ( t ) 2 + 2 ( 1 - d - eL M ( R ) )
A s
1/ 2 u ( t ) 2 dt
t
u(s) 2 + C (R, L , d)
[ N(u(t) ) ]
s
2
dt . (4.6)
Using (4.4) we can choose the parameter d > 0 such that 1 - d - eL M ( R ) > 0 .
Thus, we can apply Theorem 1.1 and find that under condition (4.4) equation
t +1
lim
t [ N (u (t) - u (t) ) ]
t
1 2
2
dt = 0
Aq u u 1 - 2 q A1/ 2 u 2 q , 0 q < 1 2 ,
and dissipativity property (4.5) enable us to obtain (4.9) from equation (4.7). Now
we use the integral representation of a weak solution (see (2.2.3)) and the method
applied in the proof of Lemma 2.4.1 to show (do it yourself) that
Determining Functionals for Abstract Semilinear Parabolic Equations 319
Ab u j ( t ) C ( R , M0 ) , 1
--- < b < 1 , t t0 .
2
Therefore, using the interpolation inequality
A1/ 2 u A1 2 - d u A1 2 + d u , 0< d< 1
--- ,
2
we obtain (4.8) from (4.9). Theorem 4.1 is proved.
E x e r c i s e 4.1 Show that if the hypotheses of Theorem 4.1 hold, then equa-
tion (4.9) is valid for all 0 q < 1 .
The reasonings in the proof of Theorem 4.1 lead us to the following assertion.
Corollary 4.1.
Assume that the hypotheses of Theorem 4.1 hold. Then for any two weak
(in D ( A1/ 2 ) ) solutions u1 ( t ) and u2 ( t ) to problem (4.1) that are boun-
ded on the whole axis,
sup A1/ 2 u i ( t ) : - < t < R , i = 1, 2 , (4.10)
the condition lj ( u1 ( t ) ) = lj ( u2 ( t ) ) for lj L and t R implies that
u1 ( t ) u 2 ( t ) .
Proof.
In the situation considered equation (4.6) implies that
t
u (t) 2
+ bL
A
s
1/ 2 u ( t ) 2 dt u (s) 2
It should be noted that Corollary 4.1 means that solutions to problem (4.1) that are
bounded on the whole axis are uniquely determined by their values on the functionals
lj . It was this property of the functionals { lj } which was used by Ladyzhenskaya [2]
to define the notion of determining modes for the two-dimensional Navier-Stokes
system. We also note that a more general variant of Theorem 4.1 can be found in [3].
C
h
property (4.4). Then for any pair of trajectories u1 ( t ) and u2 ( t )
a lying in the attractor A the condition lj ( u1 ( t ) ) = lj ( u 2 ( t ) ) implies
p
t that u1 ( t ) u 2 ( t ) for all t R and j = 1 , 2 , , N.
e
r
Theorems 4.1 and 2.4 enable us to obtain conditions on the existence of N deter-
5 mining functionals.
Corollary 4.2.
Assume that the Kolmogorov N -width of the embedding of the space
V = D ( A1/ 2 ) into H possesses the property N ( V ; H ) < M ( R ) -1 . Then
there exists a set of asymptotically ( V, V ; W ) -determining functionals
for problem (4.1) consisting of N elements.
Theorem 2.4, Corollary 2.1, and Exercise 2.6 imply that if the hypotheses of Theorem
4.1 hold, then the family of functionals L given by equation (2.13) is a ( V, V ; W ) -
determining set for problem (4.1), provided l N + 1 > M ( R ) 2 . Here M ( R ) and R are
the constants from (4.2) and (4.3). It should be noted that the set L of the form
(2.13) for problem (4.1) is often called a set of determining modes . Thus, Theo-
rem 4.1 and Exercise 2.6 imply that semilinear parabolic equation (4.1) possesses
a finite number of determining modes.
When condition (4.2) holds uniformly with respect to r , we can omit the re-
quirement of dissipativity (4.3) in Theorem 4.1. Then the following assertion is valid.
Theorem 4.2.
Assume that a continuous mapping B ( u , t ) from D ( A1/ 2 ) R into H
possesses the properties
B ( 0 , t ) M0 , B ( u1 , t ) - B ( u 2 , t ) M A1/ 2 ( u1 - u2 ) (4.11)
Proof.
If we reason as in the proof of Theorem 4.1, we obtain that if eL < M -1 , then
for an arbitrary pair of solutions u1 ( t ) and u2 ( t ) emanating from the points u1 and
u 2 at a moment s the equation (see (4.6))
t t
u (t) 2
+b
s
A1/ 2 u ( t ) 2 dt u (s) 2
+C
[ N ( u ( t ) ) ] dt
s
2
(4.12)
t
lim
[ N (u(t) ) ] dt = 0
t
2
(4.13)
implies that
t +1
lim u ( t )
t
2
+
t
A1/ 2 u ( t ) 2 dt = 0 .
(4.14)
for t s . It should be noted that equation (4.16) can be obtained with the help
of formal multiplication of (4.15) by u ( t ) with subsequent integration. This conver-
sion can be grounded using the Galerkin approximations. If we integrate equation
(4.16) with respect to s from t - 1 to t , then it is easy to see that
t t
A1/ 2 u ( t )
t -1
A1/ 2 u ( s ) 2 ds + 1
---
2
t -1
f ( t ) 2 dt .
Using the structure of the function f ( t ) and inequality (4.11), we obtain that
t
A1/ 2 u ( t )
M2
1 + -------
2
t -1
A1/ 2 u ( t ) 2 dt .
Further considerations in this section are related to the problems possessing inertial
manifolds (see Chapter 3). In order to cover a wider class of problems, it is conve-
nient to introduce the notion of a process.
Let H be a real reflexive Banach space. A two-parameter family { S ( t , t ) ;
t t ; t , t R } of continuous mappings acting in H is said to be evolutionary ,
if the following conditions hold:
(a) S ( t , s ) S ( s , t ) = S ( t , t ) , t s t , S ( t , t ) = I .
(b) S ( t , s ) u0 is a strongly continuous function of the variable t .
322 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
A pair ( H , S ( t , t ) ) with S ( t , t ) being an evolutionary family in H is often called
a a process . Therewith the space H is said to be a phase space and the family
p
t of mappings S ( t , t ) is called an evolutionary operator. A curve
e
r gs [ u0 ] = { u ( t ) S ( t + s , s ) u0 : t 0 }
5 is said to be a trajectory of the process emanating from the point u0 at the moment s .
It is evident that every dynamical system ( H , St ) is a process. However, main
examples of processes are given by evolutionary equations of the form (1.1). There-
with the evolutionary operator is defined by the obvious formula
S ( t , s ) u0 = u ( t , s ; u0 ) ,
where u ( t ) = u ( t , s ; u0 ) is the solution to problem (1.1) with the initial condition
u 0 at the moment s .
E x e r c i s e 4.3 Assume that the conditions of Section 2.2 and the hypotheses
of Theorem 2.2.3 hold for problem (4.1). Show that weak solutions
to problem (4.1) generate a process in H .
Theorem 4.3.
Assume that V and H are separable Hilbert spaces such that V is con-
tinuously and densely embedded into H . Let a process ( V ; S ( t , t ) ) possess
an asymptotically complete finite-dimensional inertial manifold { M t } .
Assume that the orthoprojector P from the definition of { M t } can be conti-
nuously extended to the mapping from H into V , i.e. there exists a constant
L = L ( P ) > 0 such that
Pv V L v H , v V. (4.20)
If L = { lj : j = 1 , , N } is a set of linear functionals on V such that
eL ( V ; H ) < ( 1 + L2 ) -1/ 2 L-1 , (4.21)
then the following conditions are valid:
1) there exist positive constants c1 and c 2 depending on L such that
c1 u1 - u 2 H max { lj ( u1 - u2 ) : j = 1 , , N } c2 u1 - u 2 H (4.22)
C
h
Proof.
a
Let u1 , u2 Mt . Then
p
t
e
uj = P uj + F ( P uj , t ) , j = 1, 2 .
r
Therewith equation (4.17) gives us that
5
u1 - u2 V ( 1 + L 2 ) 1/ 2 Pu1 - P u2 V , uj Mt . (4.23)
Equations (4.24) and (4.25) imply estimate (4.22). Hence, assertion 1 of the theo-
rem is proved.
Let us prove the second assertion of the theorem. Let u j ( t ) = S ( t , s ) u j , t s ,
be trajectories of the process. Since
uj ( t ) = ( Puj ( t ) + F ( Puj ( t ) , t ) ) + ( ( 1 - P ) uj ( t ) - F ( P u j ( t ) , t ) ) ,
using (4.17) it is easy to find that
u1 ( t ) - u2 ( t ) V ( 1 + L 2 ) 1/ 2 P ( u 1 ( t ) - u2 ( t ) ) V +
+
j = 1, 2
( 1 - P) u j ( t ) - F ( Puj ( t ) , t ) V
.
The property of asymptotical completeness (4.19) implies (see Exercise 4.5) that
( 1 - P) u j ( t ) - F ( P uj ( t ) , t ) C e -g ( t - s ) , t s.
E x e r c i s e 4.8 Prove that if the hypotheses of Theorem 4.3 hold, then in-
equality (4.22) as well as the equation
c1 u1 - u2 V max { lj ( u1 - u 2 ) : j = 1 , 2 , , N } c2 u1 - u 2 V
B ( u0 , t ) M 1 + Aq u0 , B ( u1 , t ) - B ( u2 , t ) M Aq ( u1 - u2 )
for all u j D ( Aq ) , 0 q < 1 . Assume that the spectral gap condition
C
h
Due to Theorem 2.4 this estimate can be rewritten as follows:
a
1- q ln + 1 q - s
p
eL ( D ( Aq ) ; D ( As ) ) ------------------------------------ ------------- n ( D ( Aq ) ; D ( As ) ) ,
t ln
e 2 - 2 q + 2 q2
r
where n ( D ( Aq ) ; D ( As ) ) is the Kolmogorov n -width of the embedding of D ( Aq )
5 into D ( As ) , - < s < q , 0 q < 1 .
It should be noted that the assertion similar to Theorem 4.3 was first estab-
lished for the Kuramoto-Sivashinsky equation
ut + ux x x x + ux x + ux u = 0 , x (0, L) , t > 0,
with the periodic boundary conditions on [ 0 , L ] in the case when { lj } is a set of
uniformly distributed nodes on [ 0 , L ] , i.e.
lj ( u ) = u ( j h ) , whereL- , j = 0 , 1 , , N - 1 .
h = ---
N
For the references and discussion of general case see survey [3].
In conclusion of this section we give one more theorem on the existence of deter-
mining functionals for problem (4.1). The theorem shows that in some cases we can
require that the values of functionals on the difference of two solutions tend to zero
only on a sequence of moments of time (cf. Theorem 1.3).
Theorem 4.4.
As before, assume that A is a positive operator with discrete spectrum:
Aek = lk ek , 0 < l1 l2 , lim lk .
k
Assume that B ( u , t ) is a continuous mapping from D ( Aq ) R into H for
some 0 < q < 1 and the estimate
B ( u1 , t ) - B ( u2 , t ) M Aq ( u1 - u2 ) , u1 , u2 D ( Aq ) ,
holds. Let L = { lj } be a finite set of linear functionals on D ( Aq ) . Then for
any 0 < a < b there exists n = n ( a , b , q , l 1 , M ) such that the condition
--- l-nq
eL eL ( D ( Aq ) , H ) < 1
2
implies that the set of functionals L is determining for problem (4.1)
in the sense that if for some pair of solutions { u1 ( t ) ; u2(t) } and for some se-
quence { tk } such that
lim tk = , a tk + 1 - tk b , k 1,
k
the condition
lim lj ( u1 ( tk ) - u2 ( tk ) ) = 0 , lj L ,
k
holds, then
lim Aq ( u1 ( t ) - u 2 ( t ) ) = 0 . (4.27)
t
Determining Functionals for Abstract Semilinear Parabolic Equations 327
Proof.
Let u ( t ) = u1 ( t ) - u2 ( t ) . Then the results of Chapter 2 (see Theorem 2.2.3 and
Exercise 2.2.7) imply that
a 2(t - s)
Aq u ( t ) a1 e Aq u ( s ) , (4.28)
-l ( t - s) a 3 a ( t - s) q
( 1 - Pn ) Aq u ( t ) e n + 1 + ------------
-e 2 A u (s) (4.29)
1- q
l n +1
for t s 0 , where a 1 , a2 , and a3 are positive numbers depending on q , l1 , and
M and Pn is the orthoprojector onto Lin { e1 , , en } . It follows form (4.29) that
( 1 - Pn ) Aq u ( t ) qa , b Aq u ( s ) , s +a t s + b , (4.30)
where
-ln + 1 a a3 a b
qa , b = e + -------------
-e 2 .
1- q
ln + 1
Let us choose n = n ( a , b , q , l 1 , M ) such that qa , b 1 2 . Then equation (4.30)
gives us that
Aq u ( t ) lqn u ( t ) + 1
--- Aq u ( s ) , s+a t s+b.
2
This inequality as well as estimate (4.28) enables us to use Theorem 1.3 with V =
= D ( Aq ) and to complete the proof of Theorem 4.4.
The results presented in this section can also be proved for semilinear retarded
equations. For example, we can consider a retarded perturbation of problem (4.1)
of the following form
du
------- + A u = B ( u , t ) + Q ( ut , t ) ,
dt
u t [ -r , 0 ] = j ( t ) Cr C ( [ -r , 0 ] , D ( A1 2 ) ) ,
where, as usual (see Section 2.8), u t is an element of Cr defined with the help
of u ( t ) by the equality ut ( q ) = u ( t + q ) , q [ - r , 0 ] , and Q is a continuous map-
ping from Cr R into H possessing the property
0
Q ( v1 , t ) - Q ( v2 , t ) 2 M1
A
-r
1 / 2 (v ( q )
1 - v 2 ( q )) 2
dq
C
h 5 Determining Functionals
a
p for Reaction-Diffusion Systems
t
e
r
a+ ( x , t ) 1
--- ( a + a * ) m 0 I , m0 > 0 . (5.2)
2
We also assume that the continuous function
f = ( f1 ; ; fm ) : W R ( n + 1 ) m R+ R m
is such that problem (5.1) has solutions which belong to a class W of functions
on R + with the following properties:
a) for any u W there exists t0 > 0 such that
u ( t ) C ( t0 , + ; H 2 H01 ) , t u ( t ) C ( t0 , + ; L 2 ) , (5.3)
where C ( a , b ; X ) is the space of strongly continuous functions on
[ a , b ] with the values in X ;
Determining Functionals for Reaction-Diffusion Systems 329
b) there exists a constant k > 0 such that for any u , v W there exists
t1 > 0 such that for t > t1 we have
f ( u , u ; t ) - f ( v , v ; t ) k u - v + u - v . (5.4)
f p
-------k- C ( 1 + u 1 ) , 1 k m, 1 j n,
uj
where m 1 , m2 > 0 and p1 < min ( 4 n , 2 ( n - 2 ) ) for n > 2 , then any solution
to problem (5.1) with the initial condition from L 2 is unique and possesses proper-
ties (5.3) and (5.4).
Theorem 5.1.
A set L = { lj : j = 1 , , N } of linearly independent continuous linear
1
functionals on H 2 H0 is an asymptotically determining set with respect
1
to the space H0 for problem (5.1) in the class W if
c0 m0 27 k- 2 -1 / 2
eL ( H 2 H01 , L 2 ) < ------------ 1 + ------ ----- p ( k , m0 ) , (5.6)
k 2 4 m0
C
h
implies their asymptotic closeness in the space H 1 :
a
p
lim u ( t ) - v ( t ) 1 = 0 . (5.8)
t
t
e
r
Proof.
5 Let u , v W . Then equation (5.1) for w = u - v gives us that
t w = a ( x , t ) Dw - ( f ( x , u , u ; t ) - f ( x , v , v ; t ) ) .
If we multiply this by D w in L 2 scalarwise and use equation (5.4), then we find that
--- ----- Dw ( t ) 2 + m 0 Dw ( t ) 2 k w ( t ) + ( w ) ( t ) Dw ( t )
1 d
2 dt
for t > 0 large enough. Therefore, the inequality w 2 = ( w , Dw ) w Dw
enables us to obtain the estimate
----- w 2 + m 0 Dw 2 2
d k2 27 k- 2 w 2 .
------ -----
---------
m0 1 + (5.9)
dt 4 m0
Theorem 2.1 implies that
2
w 2 C ( N , d ) max lj ( w ) 2 + ( 1 + d ) eL w 22 (5.10)
j
for all w H 2 H01 and for any d > 0 , where C ( N , d ) > 0 is a constant and eL
eL ( H 2 H01 , L 2 ) . Consequently, estimate (5.9) gives us that
2
d ( 1 + d ) eL
----- w ( t ) 2 + m 0 1 - -------------------------
- Dw ( t ) 2 C max lj ( w ) 2 ,
dt p ( k , m0 ) 2 j
e
2 -b ( t - t0 ) 2 -b ( t - t )
w ( t ) e w ( t0 ) + C max lj ( w ( t ) ) 2 dt
j
t0
for all t t0 , where t0 is large enough. Therefore, equation (5.7) implies (5.8).
Thus, Theorem 5.1 is proved.
sup u ( t ) + v ( t ) < .
t < 0
Prove that if the hypotheses of Theorem 5.1 hold, then equalities
lj ( u ( t ) ) = lj ( v ( t ) ) for j = 1 , , N and t < s for some s im-
ply that u ( t ) v ( t ) for all t < s .
Determining Functionals for Reaction-Diffusion Systems 331
Let us give several examples of sets of determining functionals for problem (5.1).
-1
can be easily estimated as follows: eL ( H 2 H01 , L 2 ) n l N + 1 (see Exer-
cise 2.6). Thus, if N possesses the property l N + 1 > n p ( k , m 0 ) -1 , then L
is a set of asymptotically ( H 2 H01 , H01 , W ) -determining functionals for prob-
lem (5.1).
l (x) dx = 1 ,
Wj
j e s s sup l j ( x )
x Wj
L
------
hn
,
hold, where the constant L > 0 does not depend on h and j . Theorem 3.1 im-
plies that
eL ( H 2 ( W ) H 01 ( W ) ; L 2 ( W ) ) cn h 2 L 2
h
for the set of functionals
L h = lj ( u ) =
Wj
l (x) u (x) dx , j = 1, 2, , N .
j
C
h
One can check (see Exercise 2.8) that
a
p e (m ) ( H
Lh
2 H01 ; L 2 ) cm h 2 L 2 .
t
e
(m)
r Therefore, if h is small enough, then Lh is a set of asymptotically deter-
5 mining functionals for problem (5.1).
It is also clear that the result of Exercise 2.8 enables us to construct mixed determin-
ing functionals: they are determining nodes or local volume averages depending
on the components of a state vector. Other variants are also possible.
However, it is possible that not all the components of the solution vector u ( x , t )
appear to be essential for the asymptotic behaviour to be uniquely determined.
A theorem below shows when this situation can occur.
Let I be a subset of { 1 , , m } . Let us introduce the spaces
HIs = { w = ( w1 , , wm ) H s : wk 0 , k I } , s R.
We identify these spaces with ( H s ( W ) ) I , where I is the number of elements of
the set I . Notations L2I and H0s , I have the similar meaning. The set L of linear
functionals on HI2 is said to be determining if p*I L is determining, where p I is the
s
natural projection of H s onto HI .
Determining Functionals for Reaction-Diffusion Systems 333
Theorem 5.2.
Let a = diag ( d 1 , , dm ) be a diagonal matrix with constant elements
and let { I , I } be a partition of the set { 1 , , m } into two disjoint subsets.
Assume that there exist positive constants w , k * , qi , where i = 1 , , m ,
such that for any pair of solutions u , v W the following inequality holds
(hereinafter w = u - v ): ):
di
q
i I
i - ----
2
- Dw i 2
+ ( fi ( u , u ; t ) - fi ( v , v ; t ) , D wi ) +
+ q
i I
i - di wi
2
- ( fi ( u , u ; t ) - fi ( v , v ; t ) , wi )
-w
i I
wi 2 + k * w
i I
i
2
. (5.14)
s
where pI is the natural projection of H s onto HI , then equation (5.8)
holds.
Proof.
Let u , v W and w = u - v . Then
t wi = d i Dwi - ( fi ( x , u , u ; t ) - fi ( x , v , v ; t ) ) (5.17)
for i = 1 , , m . In L2 ( W ) we scalarwise multiply equations (5.17) by - qi Dwi
for i I and by qi wi for i I and summarize the results. Using inequality (5.14)
we find that
d q w
1 d-
--- ---- F(w (t) ) + 1
--- i i Dw i 2
+w wi 2 k* i
2
,
2 dt 2
i I i I i I
where
F(w) = q
i I
i wi 2
+ q
i I
i wi 2 .
334 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
As in the proof of Theorem 5.1 (see (5.10)) we have
a
+ d- e 2
p
t
e
w
i I
i
2
C ( N , d ) max lj ( pI w ) 2 + 1
j
-----------
c20
L Dw
i I
i
2
r
for every d > 0 . Therefore, provided (5.15) holds, we obtain that
5 d
----- F ( w ( t ) ) + b F ( w ( t ) ) C max lj ( pI w ( t ) ) 2
dt j
w C Dw , w H 2 H01 ,
imply that
t
e
2 - b ( t - t0 ) 2 -b ( t - t0 )
w ( t ) e w ( t0 ) +C w ( t ) 2 dt
t0
for all t t0 with t0 large enough and for b > 0 . Therefore, equation (5.8) follows
from (5.18). Theorem 5.2 is proved.
Here a , b , g , and d are positive numbers. The theorem on the existence of classi-
cal solutions can be proved without any difficulty (see, e.g., [7]). It is well-known
[10] that if a3 > a1 > max ( 1 , b -1 ) and a2 > g a3 , then the domain
D = { u ( u1 , u2 , u3 ) : 0 uj aj , j = 1 , 2 , 3 } R 3
is invariant (if the initial condition vector lies in D for all x W , then u ( x , t ) D
for x W and t > 0 ). Let W WD be a set of classical solutions the initial condi-
tions of which have the values in D . It is clear that assumptions (5.3) and (5.4) are
valid for W . Simple calculations show that the numbers w , k * , q2 , and q3 can be
Determining Functionals for Reaction-Diffusion Systems 335
F3 -( f3 ( u ) - f3 ( v ) , w3 ) - --d- w3 2
+ C3 w1 2 .
2
Consequently, for any q2 , q3 > 0 we have
d
F1 + q2 F2 + q3 F3 -----1- Dw1 2 + ( C 1 + q2 C 2 + q3 C3 ) w1 2
+
2
q q3 d
+ C 1 - ------2- w2 2 + q2 C2 - ---------
- w 2.
2a 2 3
It follows that there is a possibility to choose the parameters q2 and q3 such that
d
F1 + q2 F2 + q3 F3 -----1- Dw1 2 + k * w1 2 - w w2 2 + w3 2
2
*
with positive constants k and w . This enables us to prove (5.14) and, hence, the
validity of the assertions of Theorem 5.2 for the system of Belousov-Zhabotinsky
equations. Therefore, if L = { lj : j = 1 , , N } is a set of linear functionals on
H 2 ( W ) H01 ( W ) such that eL ( ( H 2 H 01 ) ( W ) , L 2 ( W ) ) is small enough, then the
condition
t +1
lim
t
t
lj ( u1 ( t ) ) - lj ( v1 ( t ) ) 2 d t = 0 , j = 1, , N ,
The approach presented above can also be used in the study of the Navier-Stokes
system. As an example, let us consider equations that describe the dynamics of a vis-
cous incompressible fluid in the domain W T 2 = ( 0 , L ) ( 0 , L ) with periodic
boundary conditions:
336 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h t u - n D u + ( u , ) u + p = F ( x , t ) , x T2 , t > 0,
a
u = 0 , x T2, u ( x , 0 ) = u0 ( x ) ,
p
t (5.19)
e
r where the unknown velocity vector u ( x , t ) = ( u1 ( x , t ) ; u2 ( x , t ) ) and pressure
p ( x , t ) are L -periodic functions with respect to spatial variables, n > 0 , and
5
F ( x , t ) is the external force.
Let us introduce some definitions. Let V be a space of trigonometric polynomi-
als v ( x ) of the period L with the values in R 2 such that div v = 0 and
T 2 v ( x )2 d x = 0 . Let H be the closure of V in L2 , let P be the orthoprojector onto
H in L , let A = -P Du = -Du and B ( u , v ) = P ( u , ) v for all u and v from
D ( A) = H H 2 . We remind (see, e.g., [11]) that A is a positive operator with dis-
crete spectrum and the bilinear operator B ( u , v ) is a continuous mapping from
D ( A) D ( A) into H . In this case problem (5.19) can be rewritten in the form
t u + n Au + B ( u , u ) = P F ( t ) ,
u t = 0 = u0 H . (5.20)
-----2- 1 + --------------
1
2
lim --1- Au ( t ) 2 dt F (5.22)
t a n a n l1
t
for any a > 0 . Here l 1 = ( 2 p L ) 2 is the first eigenvalue of the operator A in H
and
F = lim P F ( t ) .
t
Lemma 5.1.
Let u , v D ( A) and let w = u - v . Then
( B ( u , u ) - B ( v , v ) , Aw ) 2 w w Au , (5.23)
1/ 2 1/ 2
( B ( u , u ) - B ( v , v ) , Aw ) c L wk w Dw Au , (5.24)
where . is the L -norm, wk is the k -th component of the vector w ,
k = 1 , 2 , and c is an absolute constant.
Proof.
Using the identity (see [12])
( B ( u , w ) , Aw ) + ( B ( w , v ) , Aw ) + ( B ( w , w ) , Au ) = 0
for u , v D ( A) and w = u - v , it is easy to find that
( B ( u , u ) - B ( v , v ) , Aw ) = -( B ( w , w ) , Au ) .
Determining Functionals for Reaction-Diffusion Systems 337
( w , ) w 2 2 ( w1 , ) w2 2 + ( w2 , ) w1 2 . (5.25)
This implies (5.23). Let us prove (5.24). For the sake of definiteness we let
k = 1 . We can also assume that w V . Then (5.25) gives us that
( w , ) w 2 w1 w 2 + w2
w1 .
L4 L4
We use the inequalities (see, e.g., [11], [12])
1/ 2 1/ 2
v a0 v Dv
L
and
1/ 2 1/ 2
v a1 v v ,
L4
where a0 and a1 are absolute constants (their explicit equations can be found
in [12]). These inequalities as well as a simply verifiable estimate v
( L 2 p ) v imply that
( w , ) w --L- ( a12 + a0 ) w1 w 1/ 2 Dw 1/ 2 .
p
This proves (5.24) for k = 1 .
Theorem 5.3.
1. A set L = { lj : j = 1 , 2 , , N } of linearly independent continuous
linear functionals on D ( A) = H 2 H is an asymptotically determining set
with respect to H 1 for problem (5.20) in the class of solutions with property
(5.21) if
-1
eL eL ( D ( A) , H ) < c1 G c1n 2 lim P F ( t ) , (5.26)
t
C
h
Proof.
a
Let u ( t ) and v ( t ) be solutions to problem (5.20) possessing property (5.21).
p
t Then equations (5.20) and (5.23) imply that
e
r 1 d
--- ----- w 2 + n Dw 2 2 w w Au
2 dt
5
for w = u - v . As above, Theorem 2.1 gives us the estimate
w C h ( w ) + eL Dw , h ( w ) = max lj ( w ) .
j
Therefore,
w a0 w 1/ 2 Dw 1/ 2 c1 h ( w ) Dw 1/ 2 + a0 eL Dw .
The inequality
2
w w Dw
1/ 2
enables us to obtain the estimate (see Exercise 2.12) eL ( D ( A) , D ( A1/ 2 ) ) eL and
hence
2 -1
Dw -Cd h ( w ) 2 + ( 1 - d ) eL w 2
for every d > 0 . Therefore, we use dissipativity properties of solutions (see [8] and
[9] as well as Chapter 2) to obtain that
d-
---- w ( t ) 2 + a ( t ) w 2 C h ( w ) 2 + h ( w) ,
dt
where
-1
a ( t ) = n ( 1 - d ) eL - 2 a02 eL n -1 Au ( t ) 2 .
Equation (5.22) for a = ( n l 1 ) -1 implies that the function a ( t ) possesses proper-
ties (1.6) and (1.7), provided (5.26) holds. Therefore, we apply Lemma 1.1 to obtain
that w ( t ) 0 as t , provided
t +1
lim
t [ h(w(t) ) ]
t
2
dt = 0 .
In order to prove the second part of the theorem, we use similar arguments. For
the sake of definiteness let us consider the case k = 1 only. It follows from (5.20)
and (5.24) that
d-
1
--- ---- w 2 + n Dw 2 c L w1 1/ 2 w Dw 1/ 2 Au . (5.27)
2 dt
The definition of completeness defect implies that
1/2
w1 C h ( w1) + eL Dw1 1/ 2 C h ( w1 ) + e L
Dw 1/ 2
,
where h ( w1 ) = max lj ( w1 ) .Therefore,
j
Determining Functionals in the Problem of Nerve Impulse Transmission 339
c L w1 1/ 2 w Dw 1/ 2 Au
1/ 2
c L eL
w Dw Au + C h ( w1 ) w Dw Au
C [ h ( w1 ) ] 2 + + L c 2- e w 2 Au
-------- 2
+ n
--- Dw 2
n L 2
for any > 0 , where the constant C depends on , n , L , and L . Consequently,
from (5.27) we obtain that
2
----- w 2 + n Dw 2 C [ h ( w1) ] 2 + 2 + Lc w 2 Au 2 .
d --------- e L
dt n
2 -
Therefore, we can choose = d L c n eL
1 and find that
d 2 p- 2 - 2 ( 1 + d ) L
----- w 2 + n ------ c 2- Au 2 2
C [ h ( w1 ) ] 2 ,
n eL w
--------
dt L
where d > 0 is an arbitrary number. Further arguments repeat those in the proof
of the first assertion. Theorem 5.3 is proved.
It should be noted that assertion 1 of Theorem 5.3 and the results of Section 3 enable
us to obtain estimates for the number of determining nodes and local volume avera-
ges that are close to optimal (see the references in the survey [3]). At the same time,
although assertion 2 uses only one component of the velocity vector, in general it
makes it necessary to consider a much greater number of determining functionals in
comparison with assertion 1. It should also be noted that assertion 2 remains true if
instead of wk we consider the projections of the velocity vector onto an arbitrary
a priori chosen direction [3]. Furthermore, analogues of Theorems 1.3 and 4.4 can be
proved for the Navier-Stokes system (5.19) (the corresponding variants of estimates
(4.28) and (4.29) can be derived from the arguments in [2], [8], and [9]).
6 Determining Functionals
in the Problem of Nerve Impulse
Transmission
C
h
Here d 0 > 0 , dj 0 , and
a
p g ( u , v1 , v2 , v3 ) = - g1 v13 v2 ( d 1 - u ) - g 2 v34 ( d 2 - u ) - g3 ( d 3 - u ) , (6.3)
t
e
r
where g j > 0 and d1 > d 3 > 0 > d 2 . We also assume that kj ( u ) and hj ( u ) are the
given continuously differentiable functions such that kj ( u ) > 0 and 0 < h j ( u ) < 1 ,
5 j = 1 , 2 , 3 . In this model u describes the electric potential in the nerve and vj is
the density of a chemical matter and can vary between 0 and 1 . Problem (6.1) and
(6.2) has been studied by many authors (see, e.g., [9], [10], [13] and the references
therein) for different boundary conditions. The results of numerical simulation given
in [13] show that the asymptotic behaviour of solutions to this problem can be quite
complicated. In this chapter we focus on the existence and the structure of deter-
mining functionals for problem (6.1) and (6.2). In particular, we prove that the
asymptotic behaviour of densities vj is uniquely determined by sets of functionals
defined on the electric potential u only. Thus, the component u of the state vector
( u , v1 , v2 , v3 ) is leading in some sense.
We equip equations (6.1) and (6.2) with the initial data
u t = 0 = u0 ( x ) , vj = vj 0 ( x ) , j = 1, 2, 3 , (6.4)
t=0
and with one of the following boundary conditions:
u x = 0 = u x = L = dj vj = dj vj = 0, t > 0, (6.5a)
x=0 x=L
x u = x u = dj x vj = dj x vj = 0, t > 0, (6.5b)
x=0 x=L x=0 x=L
u ( x + L , t ) - u ( x , t ) = dj ( vj ( x + L , t ) - vj ( x , t ) ) = 0 , x R 1 , t > 0 , (6.5c)
for x [ 0 , L ] and for all t > 0 for which the solution to problem (6.1)(6.5) exists.
Let H0 [H ] 4 [ L 2 ( 0 , L ) ] 4 be the space consisting of vector-functions
U ( x ) ( u , v1 , v2 , v3 ) , where u L2 ( 0 , L ) , vj L2 ( 0 , L ) , j = 1 , 2 , 3 .
We equip it with the standard norm. Let
Determining Functionals in the Problem of Nerve Impulse Transmission 341
H0 ( D) = U ( x ) H0 : U ( x ) D for almost all x ( 0 , L ) .
Depending upon the boundary conditions (6.5 a, b, or c) we use the following nota-
tions H1 = [ V1 ] 4 and H 2 = [ V2 ] 4 , where
V1 = H01 ( 0 , L ) , or H1( 0 , L ) , or 1
H per (0, L) (6.6)
and
V2 = H 2 ( 0 , L ) H 01 ( 0 , L ) , or
2
u ( x ) H 2 ( 0 , L ) : x u = 0 , or Hper (0, L) , (6.7)
x = 0, x = L
respectively. Hereinafter H s ( 0 , L ) is the Sobolev space of the order s on ( 0 , L ) ,
H 01 and H per
1
are subspaces in H 1 ( 0 , L ) corresponding to the boundary conditions
(6.5a) and (6.5c). The norm in H s ( 0 , L ) is defined by the equality
L
u s2 = xs u 2 + u 2 =
u (x)
0
s
x
2
+ u ( x ) 2 dx ,
s = 1, 2,
We use notations . and ( . , . ) for the norm and the inner product in H
L2 ( 0 , L ) . Further we assume that C ( 0 , T ; X ) is the space of strongly continu-
ous functions on [ 0 , T ] with the values in X . The notation L p ( 0 , T ; X ) has a simi-
lar meaning.
Let dj > 0 for all j = 1 , 2 , 3 . Then for every vector U0 H 0 ( D) problem
(6.1)(6.5) has a unique solution U ( t ) H 0 ( D) defined for all t (see, e.g., [9], [10]).
This solution lies in
C ( 0 , T ; H0 ( D) ) L 2 ( 0 , T ; H1 )
U ( t ) C ( 0 , T ; H 0 ( D) H1) L2 ( 0 , T ; H 2 ) . (6.8)
Therefore, we can define the evolutionary semigroup St in the space H0 ( D) H 1
by the formula
St U0 = U ( t ) ( u ( x , t ) , v1 ( x , t ) , v2 ( x , t ) , v3 ( x , t ) ) ,
where U ( t ) is a solution to problem (6.1)(6.5) with the initial conditions
U0 ( u0 ( x ) , v10 ( x ) , v20 ( x ) , v30 ( x ) ) .
The dynamical system ( H 0 ( D) H1 ; St ) has been studied by many authors.
In particular, it has been proved that it possesses a finite-dimensional global attrac-
tor [9].
342 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
If d1 = d 2 = d3 = 0 , then the corresponding evolutionary semigroup can be
a defined in the space V1 = ( V1 [ H 1 ( 0 , L ) ] 3 ) H 0 ( D) . In this case for any segment
p
t [ 0 , T ] we have
e
r St U0 = U ( t ) C ( 0 , T ; V1 ) L 2 ( 0 , T ; V2 ( H 1 ( 0 , L ) ) 3 ) , (6.9)
5 if U0 V1 . This assertion can be easily obtained by using the general methods
of Chapter 2.
Theorem 6.1.
Let L = { lj : j = 1 , , N } be a finite set of continuous linear functio-
nals on the space Vs , s = 1 , 2 (see (6.6) and (6.7)). ). Assume that
(1) d0
e L eL ( V1 , H ) ------------------
- (6.10)
d0 + K1
or
( 2) d0
e L eL ( V2 , H ) ------------------------ , (6.11)
d0 + K 22
2
where
3 bj ( Aj + Bj )
K1 = ( d1 - d2 ) ----------------------------
j=1
k *
j
(6.12)
and
3 2 1/ 2
b j ( A j + B j )
K2 = 2 ( g1 + g 2 ) 2 + 5 ( d1 - d2 ) 2
j=1
---------------------------
2 kj*
-
(6.13)
with b1 = 3 g1 , b 2 = g1 , b 3 = 4 g2 , and
A j = max u kj ( u ) : d 2 u d 1 , Bj = max u ( kj hj ) ( u ) : d 2 u d 1 ,
kj* = min kj ( u ) : d 2 u d 1 .
Then L is an asymptotically determining set with respect to the space H0
for problem (6.1)(6.5) in the sense that for any two solutions
U ( t ) = ( u ( x , t ) , v1(x , t) , v2 (x , t) , v3 (x , t) )
and
U * ( t ) = ( u* ( x , t ) , v*1 ( x , t ) , v*2 ( x , t ) , v*3 ( x , t ) )
satisfying either (6.8) with dj > 0 , or (6.9) with dj = 0 , j = 1 , 2 , 3 , the con-
dition
Determining Functionals in the Problem of Nerve Impulse Transmission 343
t +1
lim
t t
lj ( u ( t ) ) - lj ( u* ( t ) ) 2 dt = 0 for j = 1, , N (6.14)
implies that
3
2
lim u ( t ) - u* ( t ) 2 +
t
j=1
vj ( t ) - v*j ( t ) =0 .
(6.15)
Proof.
Assume that (6.10) is valid. Let
U ( t ) = ( u ( x , t ) , v1 ( x , t ) , v2 ( x , t ) , v3 ( x , t ) )
and
U * ( t ) = ( u* ( x , t ) , v*1 ( x , t ) , v*2 ( x , t ) , v*3 ( x , t ) )
be solutions satisfying either (6.8) with dj > 0 , or (6.9) with d j = 0 , j = 1 , 2 , 3 .
It is clear that
G ( U, U * ) g ( u , v1 , v2 , v3 ) - g ( u* , v*1 , v*2 , v*3 ) =
= ( g1 v31 v2 + g2 v34 + g3 ) ( u - u* ) + h ( U , U * ) ,
where
h ( U , U * ) = - g1 ( v13 v2 - v*1 3 v*2 ) ( d 1 - u*) - g2 ( v34 - v*34 ) ( d2 - u*) .
Since U , U * D , it is evident that
3
h(U, U *) a
j=1
j vj - v*j ,
a
1 d-
--- ---- w 2 + d0 x w 2 + g3 w 2 j yj w . (6.17)
2 dt
j=1
Equation (6.2) also implies that
1 d
--- ----- y j 2 + d j x y j 2 + k*j y j 2 ( Aj + Bj ) yj w . (6.18)
2 dt
Thus, for any 0 < e < 1 and qj > 0 , j = 1 , 2 , 3 , we obtain that
344 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
3 3
d
h
a 1
--- ----- w 2 + qj y j 2 + d0 x w 2 + g 3 w 2 + e k*j qj y j 2
p 2 dt
t j=1 j=1
e
3 3
[ a + q (A + B )] y
r
- ( 1 - e ) kj* qj y j 2
+ j j j j j w
5 j=1 j=1
3 2
[ aj + qj ( Aj + B j ) ]
-----------------------------------------------
j=1
4 (1 - e) q k *
j j
w 2
. (6.19)
2 1 2
x w ----------------------------------- - 1 w - CL , h max lj ( w ) 2 . (6.20)
( 1) 2
( 1 + h ) [ eL ] j
3
+e k q
j=1
*
j j yj 2
CL , h max lj ( w ) 2
j
(6.21)
It is easy to see that if (6.10) is valid, then there exist 0 < e < 1 and h > 0 such that
w ( L , e , q , h ) > 0 . Therefore, equation (6.21) gives us that
3
w(t) 2
+ q
j=1
j yj ( t ) 2
3 t
2
w0
2
+ q
j=1
j yj 0
*
e -w t + CL , h
e
0
- w*( t - t ) max lj ( w ( t ) ) 2 dt ,
j
where w* > 0 . Thus, if (6.10) is valid, then equation (6.14) implies (6.15).
Determining Functionals in the Problem of Nerve Impulse Transmission 345
-( G ( U , U * ) , x2 w ) - g3 x w 2
+ ( g 1 + g2 ) w + h ( U , U * ) x2 w ,
then it follows from (6.16) that
1 d d
--- ----- x w 2 + -----0- x2 w 2 + g3 x w 2
2 dt 2
3
aj2
2- ( g + g ) 2 w
-----
d0 1 2
2
+ 2
j=1
------ y j 2 .
d0
(6.22)
Therefore, we can use equation (6.18) and obtain (cf. (6.19)) that
3 d
3
d
--- ----- x w 2 +
1 qj yj 2
+ -----0- x2 w 2 + g3 x w 2 + e kj* qj yj 2
2 dt 2
j=1 j +1
3 aj2 ( A j + B j ) 2
2- ( g + g ) 2 + 9
-----
d0 1 2
--
4
-
( 1 - e ) 2
[ k *]2 d
- w
--------------------------------------- 2
j=1 j 0
for any 0 < e < 1 and qj = 3 aj2 [ ( 1 - e ) k*j d0 ] -1 . As above, we find that
2 1 2
x2 w ----------------------------------- - 1 w - CL , h max lj ( w ) 2
( 2) 2
( 1 + h ) [ eL ] j
d
--- ----- x w 2 +
1 qj yj 2 + g3 x w 2 + e kj* qj yj 2 CL , h max lj ( w ) 2 ,
2 dt j
j=1 j+1
provided that
3 9 aj2 ( Aj + Bj ) 2
1 4- ( g + g ) 2 -
----------------------------------- - 1 - ----- 1 2 -------------------------------------------- 0 .
(2) 2 d02 2 * 2 2
( 1 + h ) [ eL ] j = 1 2 ( 1 - e ) [ kj ] d0
As in the first part of the proof, we can now conclude that if (6.11) is valid, then (6.14)
implies the equations
lim x w ( t ) = 0 and lim yj ( t ) = 0 , j = 1, 2, 3 . (6.23)
t t
It follows from (6.17) that
3
a
d- 3
---- w 2 + g 3 w 2 ----- 2
yj ( t ) 2
.
dt g3 j
j=1
Therefore, as above, we obtain equation (6.15) for the case (6.11). Theorem 6.1
is proved.
346 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
As in the previous sections, modes, nodes and generalized local volume averages can
a be choosen as determining functionals in Theorem 6.1.
p
t
e E x e r c i s e 6.1 Let { e k } be a basis in L 2 ( 0 , L ) which consists of eigenvec-
r
tors of the operator x2 with one of the boundary conditions (6.5).
5 Show that the set
L
L = lj ( u ) =
e (x) u (x) dx ,
0
j j = 1, , N
is determining (in the sense of (6.14) and (6.15)) for problem (6.1)
(6.5) for N large enough.
L- K
N > -- ------j , j = 1 or 2 . (6.24)
p d0
Obtain a similar estimate for the other boundary conditions (Hint:
see Exercises 3.23.4).
E x e r c i s e 6.3 Let
L- , j = 1 , , N . (6.25)
L = lj : lj ( u ) = u ( xj ) , xj = j h , h = ---
N
Show that for every w V1 the estimate
2
x w 2 -----------------------2- w 2 - CN , h max lj ( w ) 2 (6.26)
(1 + h) h
holds for any h > 0 (Hint: see Exercise 3.6).
L- , j = 0 , , N - 1 ,
xj = j h , h = ---
N
Determining Functionals in the Problem of Nerve Impulse Transmission 347
l (x) dx = 1 ,
-
supp l ( x ) [ 0 , 1 ] .
It should be noted that in their work Hodgkin and Huxley used the following expres-
sions (see [13]) for kj ( u ) and h j ( u ) :
aj ( u )
kj ( u ) = a j ( u ) + bj ( u ) , hj ( u ) = ------------------------------------- ,
aj ( u ) + bj ( u )
where a1 ( u ) = e ( - 0.1 u + 2.5 ) , b 1 ( u ) = 4 exp ( - u 18 ) ;
0.07 1
a 2 ( u ) = ---------------------------- , b2 ( u ) = --------------------------------------------------- ;
e ( - 0.05 u ) 1 + exp ( - 0.1 u + 3 )
a3 ( u ) = 0.1 e ( - 0.1 u + 1 ) , b 3 ( u ) = 0.125 exp ( -u 80 ) .
Here e ( z ) = z ( e z - 1 ) . They also supposed that d 1 = 115 , d 2 = - 12 , g1 = 120 ,
and g2 = 36 . As calculations show, in this case K1 5.2 10 4 and K2 7.4 10 4 .
Therefore (see Exercise 6.4), the nodes { xj = j h , h = l N , j = 0 , 1 , 2 , , N }
are determining for problem (6.1)(6.5) when N 2.3 10 2 L d0 . Of course,
similar estimates are valid for modes and generalized volume averages.
Thus, for the asymptotic dynamics of the system to be determined by a small
number of functionals, we should require the smallness of the parameter L d0 .
However, using the results available (see [14]) on the analyticity of solutions to
problem (6.1)(6.5) one can show (see Theorem 6.2 below) that the values of all
components of the state vector U = ( u , v1 , v2 , v3 ) in two sufficiently close nodes
uniquely determine the asymptotic dynamics of the system considered not depend-
ing on the value of the parameter L d0 . Therewith some regularity conditions for
the coefficients of equations (6.1) and (6.2) are necessary.
Let us consider the periodic initial-boundary value problem (6.1)(6.5c). As-
sume that dj > 0 for all j and the functions kj ( u ) and h j ( u ) are polynomials such
that kj ( u ) > 0 and 0 hj ( u ) 1 for u [ d 2 , d 1 ] . In this case (see [14]) every
solution
U ( t ) = ( u ( x , t ) , v1 ( x , t ) , v2 ( x , t ) , v3 ( x , t ) )
possesses the following Gevrey regularity property: there exists t* > 0 such
that
3
F (u (t)) 2 +
l
l = -
F (
l jv ( t ) )2
et l C (6.27)
j=1
for some t > 0 and for all t t* . Here Fl ( w ) are the Fourier coefficients of the
function w ( x ) :
348 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h L
a
p
t
Fl ( w ) = --1-
L w (x) exp i 2---------Lp -l x d x ,
0
l = 0 , 1 , 2 ,
e
r In particular, property (6.27) implies that every solution to problem (6.1)(6.5c) be-
5 comes a real analytic function for all t large enough. This property enables us to
prove the following assertion.
Theorem 6.2.
Let dj > 0 for all j and let kj ( u ) and hj ( u ) be the polynomials pos-
sessing the properties
kj ( u ) > 0 , 0 hj ( u ) 1 for u [ d2 , d1 ] .
Let x1 and x2 be two nodes such that 0 x1 < x2 L and
x2 - x1 < 2 d0 K1 , where K1 is defined by formula (6.12).. Then for every
two solutions
U ( t ) = ( u ( x , t ) , v1 ( x , t ) , v2 ( x , t ) , v3 ( x , t ) )
and
U * ( t ) = ( u* ( x , t ) , v*1 ( x , t ) , v*2 ( x , t ) , v*3 ( x , t ) )
to problem (6.1)(6.5 c) the condition
3
limmax u ( xl , t ) - u* ( xl , t ) +
t l = 1, 2
j=1
vj ( x l , t ) - v*j ( xl , t ) = 0
implies their asymptotic closeness in the space H0 :
3
2
lim u ( t ) - u* ( t ) 2 +
t
j=1
vj ( t ) - v*j ( t ) = 0.
(6.28)
Proof.
Let w = u - u* and let yj = vj - v*j , j = 1 , 2 , 3 . We introduce the notations:
x2
D = { x : x1 x x2 } , D = x2 - x1 , and 2
wD =
w (x)
x1
2
dx .
Let
3
m ( t , D ) = max w ( xl , t ) +
l = 1, 2
j=1
yj ( xl , t ) .
As in the proof of Theorem 6.1, it is easy to find that
1 d
--- ----- w D2 + d0 x w D2 + g3 w D
2
2 dt
Determining Functionals in the Problem of Nerve Impulse Transmission 349
3
l = 1, 2
w ( xl , t ) x w ( xl , t ) + a
j=1
j yj D
w D
and
1 d 2
--- ----- yj D + kj* yj D2 yj ( xl , t ) x yj ( xl , t ) + ( Aj + B j ) yj D
w D.
2 dt
l = 1, 2
It follows from (6.27) that
3
sup max
t > 0 x [ 0 , L]
x w ( x , t ) +
j=1
x yj ( x , t ) < .
Therefore, for any 0 < e < 1 and qj = aj ( Aj + B j ) -1 , j = 1 , 2 , 3 , we have
3 3
1 d- 2 + d w 2 + g w 2 + e
--- ---- w ( t ) D2 + qj yj D D k*j qj yj D2
2 dt 0 x D 3
j=1 j+1
K1 ( 1 - e ) -1 w 2
D + m (t, D) ,
2
for any h > 0 . Consequently, if D < 2 d0 K1 , then there exist 0 < e < 1 and
h > 0 such that
3 3
d
----- w D2 + 2
qj yj D + w w D
2
+ qj yj D2 C m ( t , D ) ,
dt
j=1 j=1
where w is a positive constant. As in the proof of Theorem 6.1, it follows that condi-
tion m ( t , D ) 0 as t implies that
3
2
2
lim U ( t ) - U *(t) D lim w D + qj yj D = 0 . (6.29)
t t
j=1
Let us now prove (6.28). We do it by reductio ad absurdum. Assume that there exists
a sequence tn + such that
lim U ( tn ) - U *(tn ) > 0 . (6.30)
n
Let { Vn } and { Vn* } be sequences lying in the attractor A of the dynamical system
generated by equations (6.1)(6.5c) and such that
U ( tn ) - Vn 0 , U *(tn ) - Vn* 0 . (6.31)
350 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
Using the compactness of the attractor we obtain that there exist a sequence { n k }
a and elements V, V * A such that Vn V and Vn* V * . Since
p k k
It should be noted that the connection between the Gevrey regularity and the exis-
tence of two determining nodes was established in the paper [15] for the first time.
The results similar to Theorem 6.2 can also be obtained for other equations (see the
references in [3]). However, the requirements of the spatial unidimensionality
of the problem and the Gevrey regularity of its solutions are crucial.
7 Determining Functionals
for Second Order in Time Equations
where the dot over u stands for the derivative with respect to t , A is a positive
operator with discrete spectrum, g > 0 is a constant, and B ( u , t ) is a continuous
mapping from D ( Aq ) R into H with the property
B ( u1 , t ) - B ( u2 , t ) M ( r ) Aq ( u1 - u2 ) (7.2)
for some 0 q < 1 2 and for all u j D ( A1/ 2 ) such that A1/ 2 uj r . Assume
that for any s R , u 0 D ( A1/ 2 ) , and u1 H problem (7.1) is uniquely solvable in
the class of functions
C ( [ s , + ) ; D ( A1/ 2 ) ) C 1 ( [ s , + ) , H ) (7.3)
and defines a process ( H ; S ( t , t ) ) in the space H = D ( A1/ 2 ) H with the evolu-
tionary operator given by the formula
S ( t , s ) ( u ; u ) = ( u ( t ) ; u ( t ) ) ,
0 1 (7.4)
Determining Functionals for Second Order in Time Equations 351
where u ( t ) is a solution to problem (7.1) in the class (7.3). Assume that the process
( H ; S ( t , t ) ) is pointwise dissipative, i.e. there exists R > 0 such that
S ( t , s ) y0 H
R, t s + t0 ( y0 ) (7.5)
for all initial data y0 = ( u 0 ; u1 ) H . The nonlinear wave equation (see the book
by A. V. Babin and M. I. Vishik [8])
2
u
--------- u
t 2- + g ------
t
- D u = f (u ) , x W , t > 0 ,
u u
W = 0 , u t = 0 = u0 ( x ) , ------
t t = 0
= u1 ( x ) ,
is an example of problem (7.1) which possesses all the properties listed above. Here
W is a bounded domain in R d and the function f ( u ) C 1 ( R ) possesses the pro-
perties:
u
-( l1 - e ) u2 - C1
f (v) d v
0
C2 u f ( u ) + C3 + 1
--- ( l 1 - e ) u 2 ,
2
f ( u ) C4 ( 1 + u b ) ,
where l 1 is the first eigenvalue of the operator - D with the Dirichlet boundary
conditions on W , C j > 0 and e > 0 are constants, b 2 ( d - 2 ) -1 for d 3 and
b is arbitrary for d = 2 .
Theorem 7.1.
Let L = { lj : j = 1 , , N } be a set of continuous linear functionals
on D ( A1/ 2 ) . Assume that
1
g ----------------
1-2q
e eL ( D ( A1/ 2 ) ; H) < -------------------------------------------------------- , (7.6)
M ( R ) ( 4 + 4 l-11 g 2 ) 3 / 2
implies that
lim A1/ 2 ( u1 ( t ) - u2 ( t ) ) 2 + u 1 ( t ) - u 2 ( t ) 2 = 0 . (7.8)
t
352 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h
Proof.
a
We rewrite problem (7.1) in the form
p
t
dy
e
------ + A y = B ( y , t ) , y t = s = y0 , (7.9)
r dt
5 where
y = ( u ; u ) , A y = ( -u ; g u + A u ) , B (y, t) = (0 ; B (u , t) ) .
Lemma 7.1.
There exists an exponential operator exp { - t A } in the space H =
= D ( A1/ 2 ) H and
g2 l1 g t
2 1 + ------ exp - --------------------------
exp { -t A } y H 2
y H , (7.10)
l1 4 l1 + 2 g
where l 1 is the first eigenvalue of the operator A .
Proof.
Let y 0 = ( u 0 ; u1 ) . Then it is evident that y ( t ) = e -tA y0 = ( u ( t ) ; u ( t ) ) ,
where u ( t ) is a solution to the problem
u + g u + A u = 0 , u t = 0 = u0 , u t = 0 = u1 , (7.11)
(see Section 3.7 for the solvability of this problem and the properties of solu-
tions). Let us consider the functional
g
--- u 2 + A1/ 2 u 2 + n u , u + --- u ,
V(u) = 1 0 < n < g,
2 2
on the space H = D ( A1/ 2 ) H . It is clear that
--- ( 1 - n
1 --g- ) u 2 + 1
--- A1/ 2 u 2 V ( u )
2 2
1 n- u
--- + ----- 2
--- + l-1 1 n g ) A1/ 2 u
+ (1 2
. (7.12)
2 2g 2
Moreover, for a solution u ( t ) to problem (7.11) from the class (7.3) with s = 0
we have that
d
----- V ( u ( t ) ) = - ( g - n ) u 2 - n A1/ 2 u 2 . (7.13)
dt
Therefore, it follows from (7.12) and (7.13) that
d
----- V ( u ( t ) ) + b V ( u ( t ) )
dt
- g - n - 1 n- b u
--- + ----- 2
- n - 1
--- + l-1 1 n g b A1/ 2 u 2
.
2 2g 2
d
----- V ( u ( t ) ) + b V ( u ( t ) ) 0 ,
dt
--- u 2 + A1/ 2 u 2 V ( u ) 3
1 --- + l-11 g 2 u 2 + A1/ 2 u 2 .
4 4
This implies estimate (7.10). Lemma 7.1 is proved.
Therefore, with the help of Lemma 7.1 for the difference of two solutions yj ( t ) =
= ( uj ( t ) ; u j ( t ) ) , j = 1 , 2 , we obtain the estimate
t
y(t) H De -b ( t - s)
y (s) H +D
e
s
-b (t - t )
B ( u1 ( t ) ) - B ( u2 ( t ) ) dt , (7.14)
t
+ C (L , D , R)
e
s
-b ( t - t )
NL ( u ( t ) ) dt ,
C
h t t
a
p
t
y(t) Dy(s) + a
y(t) dt + C e
s s
btN
L ( u ( t ) ) dt ,
e
1-2q
r where a = DM ( R ) e L . We apply Gronwalls lemma to obtain
5 t t
y(t) D y(s) e a (t - s)
+ C ea t
e -a t
e bx
NL ( u ( x ) ) dx dt .
s s
After integration by parts we get
t
y(t) H D y(s) H exp { -( b - a ) ( t - s ) } + C
e
s
-( b - a ) ( t - t )
NL ( u ( t ) ) dt .
t-a
+ C
e
s
-w ( t - t )
NL ( u ( t ) ) dt .
for t s and 0 < a < t - s . If we fix a and tend the parameter t to infinity, then
with the help of (7.7) we find that
lim y ( t ) H C ( R , L ) e -w a
t
for any a > 0 . This implies (7.8). Theorem 7.1 is proved.
Unfortunately, because of the fact that condition (7.2) is assumed to hold only for
0 q < 1 2 , Theorem 7.1 cannot be applied to the problem on nonlinear plate
oscillations considered in Chapter 4. However, the arguments in the proof of Theo-
rem 7.1 can be slightly modified and the theorem can still be proved for this case
using the properties of solutions to linear nonautonomous problems (see Section 4.2).
However, instead of a modification we suggest another approach (see also [3]) which
helps us to prove the assertions on the existence of sets of determining functionals
for second order in time equations. As an example, let us consider a problem of plate
oscillations .
Determining Functionals for Second Order in Time Equations 355
u + g u + A2 u + M A1/ 2 u Au + L u = p ( t ) ,
2
(7.15)
u = u0 , u t = 0 = u1 . (7.16)
t=0
We assume that A is an operator with discrete spectrum and the function M ( z) lies
in C 1 ( R + ) and possesses the properties:
z
a) M (z)
M(x) dx
0
-az -b , (7.17)
Theorem 7.2.
Assume that conditions (7.17)(7.20) hold. Let L = { lj : j = 1 , 2 , , N }
be a set of continuous linear functionals on D ( A) . Then there exists e0 > 0
depending both on R and the parameter of equation (7.15) such that the
condition e eL ( D ( A) ; H ) < e0 implies that L is an asymptotically deter-
mining set of functionals with respect to D ( A) H for problem (7.15) and
(7.16) in the class of solutions W , i.e. for two solutions u1 ( t ) and u2 ( t )
from W the condition
t +1
lim
t t
lj ( u1 ( t ) - u2 ( t ) ) 2 dt = 0 , lj L (7.23)
implies that
356 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
lim u 1 ( t ) - u 2 ( t ) 2 + A ( u1 ( t ) - u2 ( t ) ) 2 = 0 .
h
a (7.24)
p t
t
e
r Proof.
5 Let u1 ( t ) and u2 ( t ) be solutions to problem (7.15) and (7.16) lying in W . Due
to equation (7.22) we can assume that these solutions possess the property
Auj ( t ) 2 + u j ( t ) 2 R 2 , t 0, j = 1, 2 . (7.25)
Let us consider the function u ( t ) = u1 ( t ) - u 2 ( t ) as a solution to equation
u + g u + A2 u + M A1/ 2 u1 ( t ) 2 Au = F ( u1 ( t ) , u2 ( t ) ) , (7.26)
where
F ( u1 ( t ) , u 2 ( t ) ) C R A1/ 2 u + Aq u . (7.27)
Let us consider the functional
g
V ( u , u ; t ) = 1
--- E ( u , u ; t ) + n ( u , u ) + --- u 2 (7.28)
2 2
on the space H = D ( A) H , where
E ( u , u ; t ) = u 2 + Au 2 + M A1/ 2 u1 ( t ) 2 A1/ 2 u 2 + m u 2
and the positive parameters m and n will be chosen below. It is clear that for
( u ; u ) H we have
E ( u , u ; t ) u 2 + Au 2 + m R A1/ 2 u 2 + m u 2 ,
1- u 2 ( u , u ) + --g- u 2 -----
- ----- 1- u 2
+g u 2
.
2g 2 2g
Therefore, the value m can be chosen such that
a1 Au 2
+ u 2 V ( u , t ) a 2 Au 2
+ u 2 (7.29)
for all 0 < n < g , where a 1 and a2 are positive numbers depending on R . Let us
now estimate the value ( d dt ) V ( u ( t ) , u ( t ) ; t ) . Due to (7.26) we have that
--- ----- E ( u ( t ) , u ( t ) ; t ) = - g u ( t ) 2 + m ( u ( t ) , u ( t ) ) +
1 d
2 dt
+ M A1/ 2 u1 ( t ) 2 ( A u1 ( t ) , u 1 ( t ) ) A1/ 2 u ( t ) 2
+ ( F ( u1 ( t ) , u 2 ( t ) ) , u ( t ) ) .
Determining Functionals for Second Order in Time Equations 357
u 2 - Au 2 + MR A1/ 2 u 2 + CR A1/ 2 u 2 + Aq u 2 u ,
where
MR = max M ( z ) : 0 z l-11 R 2 .
We choose n = g 4 and use the estimate of the form
d g
--- E ( u , u ; t ) + n u , u + --- u
----- V ( u , u ; t ) = ----- 1
d
dt dt 2 2
g
- --- Au 2
+ u 2 + C R u ( t ) 2
.
8
Therefore, using the estimate
u ( t ) 2 CL max lj ( u ) 2 + 2 eL ( D ( A) , H ) Au 2
j
and equation (7.29) we obtain the inequality
----- V ( u ( t ) , u ( t ) ; t ) + w V ( u ( t ) , u ( t ) ; t ) C max lj ( u ( t ) ) 2 ,
d
dt j
g -1
provided eL ( D ( A) , H ) < e 0 = ----- C R . Here w is a positive constant. As above, this
16
easily implies (7.24), provided (7.23) holds. Theorem 7.2 is proved.
E x e r c i s e 7.1 Show that the method used in the proof of Theorem 7.2 also
enables us to obtain the assertion of Theorem 7.1 for problem (7.1).
E x e r c i s e 7.2 Using the results of Section 4.2 related to the linear variant of
equation (7.15), prove that the method of the proof of Theorem 7.1
can also be applied in the proof of Theorem 7.2.
Thus, the methods presented in the proofs of Theorems 7.1 and 7.2 are close to each
other. The same methods with slight modifications can also be used in the study
of problems like (7.1) with additional retarded terms (see [3]).
358 Theory of Functionals that Uniquely Determine Long-Time Dynamics
C
h E x e r c i s e 7.3 Using the estimates for the difference of two solutions to equ-
a
p
ation (7.15) proved in Lemmata 4.6.1 and 4.6.2, find an analogue
t of Theorems 1.3 and 4.4 for the problem (7.15) and (7.16).
e
r
The fact (see Sections 57 as well as paper [3]) that in some cases determining func-
tionals can be defined on some auxiliary space admits in our opinion an interesting
generalization which leads to the concept of boundary determining functionals.
We now clarify this by giving the following simple example.
In a smooth bounded domain W R d we consider a parabolic equation with
the nonlinear boundary condition
------
u
= n Du - f ( u ) , x W, t > 0 ,
t
(8.1)
u-
------ + h (u) = 0, u t = 0 = u0 ( x ) .
n W
W
W = C 2 , 1 ( W R+ ) C 1 , 0 ( W R+ ) . (8.3)
Here C 2 , 1 ( W R + ) is a set of functions u ( x , t ) on W R+ that are twice continu-
ously differentiable with respect to x and continuously differentiable with respect
to t . The notation C 1 , 0 ( W R+ ) has a similar meaning, the bar denotes the closure
of a set.
Let u1 ( x , t ) and u2 ( x , t ) be two solutions to problem (8.1) lying in the class
W (we do not discuss the existence of such solutions here and refer the reader to
the book [7]). We consider the difference u ( t ) = u1 ( t ) - u 2 ( t ) . Then (8.1) evidently
implies that
1 d
--- ----- u ( t ) 2 2 + n u ( t ) 2 2 + ( f ( u1 ( t ) ) - f ( u2 ( t ) ) , u ( t ) ) 2 =
2 dt L (W) L (W) L (W)
= -n
u (t ) (h(u (t) ) - h (u (t) ) ) d s .
1 2
W
On Boundary Determining Functionals 359
One can show that there exist constants c 1 and c2 depending on the domain W
only and such that
u 22 c1 u 2 + u 2 , (8.5)
L (W) L2( W ) L2( W )
u 2 1/ 2 c2 u 2 + u 2 . (8.6)
H ( W) L2( W ) L2( W )
Here H s ( W ) is the Sobolev space of the order s on the boundary of the domain
W . Equations (8.4)(8.6) enable us to obtain the following assertion.
Theorem 8.1.
Let L = { lj : j = 1 , , N } be a set of continuous linear functionals
on the space H 1/ 2 ( W ) . Assume that a c1 < n and
n - a c1 1/ 2
eL eL ( H 1/ 2 ( W ) , L 2 ( W ) ) < ------------------------------------------------
- e0 , (8.7)
n ( 1 + c1 ) c2 ( 1 + b )
where the constants n , a , b , c 1 , and c2 are defined in equations (8.1),,
(8.2),, (8.5),, and (8.6).. Then L is an asymptotically determining set with
respect to L 2 ( W ) for problem (8.1) in the class of classical solutions W .
Proof.
Let u ( t ) = u1 ( t ) - u2 ( t ) , where uj ( t ) W are solutions to problem (8.1).
Theorem 2.1 implies that
2 2
u 22 CL , d max lj ( u ) 2 + ( 1 + d ) eL u (8.8)
L ( W) j H 1/ 2 ( W )
for any d > 0 . Equations (8.5) and (8.6) imply that
2 2 2
u 22 CL , d max lj ( u ) 2 + ( 1 + c1 ) c 2 ( 1 + d ) eL u + u .
L ( W) j L2( W ) L2 ( W )
Therefore, equation (8.4) gives us that
1 d
--- ----- u 2 2 + n u 22 + u 2 2 - a u (t) 2 2
2 dt L (W) L ( W) L (W) L (W)
2 2 2
n (1 + b) u(t) n ( 1 + c 1 ) c 2 ( 1 + d ) ( 1 + b ) eL u + u +
L2 ( W ) L2( W ) L2( W )
+ C max lj ( u ) 2 .
j
C
h
provided that
a
2 c
p
1 - ( 1 + c1 ) c2 ( 1 + d ) ( 1 + b ) eL - a ----1- > 0 . (8.10)
t n
e
r It is evident that (8.10) with some d > 0 follows from (8.7). Therefore, inequality
(8.9) enables us to complete the proof of the theorem.
5
Thus, the analogue of Theorem 3.1 for smooth surfaces enables us to state that prob-
lem (6.1) has finite determining sets of boundary local surface averages.
An assertion similar to Theorem 8.1 can also be obtained (see [3]) for a nonlinear
wave equation of the form
2u u
--------- + g ------ = Du - f ( u ) , x W Rd , t > 0,
t 2 t
u u u
------ = - a ------ - j u G , u W\G = 0 , u t = 0 = u0 ( x ) , ------- = u1 ( x ) .
n G
t t
G t=0
Here G is a smooth open subset on the boundary of W , f ( u ) and j ( u ) are bound-
ed continuously differentiable functions, and a and g are positive parameters.
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