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You can O R D E R this book Constantin I. Chueshov
from the Russian edition (ACTA, 1999)
while visiting the website
of ACTA Scientific Publishing House Translation edited by
http://www.acta.com.ua
www.acta.com.ua/en/ Maryna B. Khorolska
Chapter 2
Long-Time Behaviour of Solutions
to a Class of Semilinear Parabolic Equations
Contents
1 Positive Operators
with Discrete Spectrum
This section contains some auxiliary facts that play an important role in the subse-
quent considerations related to the study of the asymptotic properties of solutions
to abstract semilinear parabolic equations.
Assume that H is a separable Hilbert space with the inner product ( , ) and . .
the norm . . Let A be a selfadjoint positive linear operator with the domain D ( A) .
An operator A is said to have a discrete spectrum if in the space H there exists
an orthonormal basis { e k } of the eigenvectors:
( ek , ej ) = dk j , A ek = lk ek , k, j = 1, 2, , (1.1)
such that
0 < l1 l2 , lim l k = . (1.2)
k
The following exercise contains a simple example of an operator with discrete spec-
trum.
78 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h E x e r c i s e 1.1 Let H = L 2 ( 0 , 1 ) and let A be an operator defined by the
equation Au = - u with the domain D ( A) which consists of conti-
a
p
t nuously differentiable functions u ( x) such that (a) u (0 ) = u (1) = 0 ,
e
r (b) u ( x ) is absolutely continuous and (c) u L 2 ( 0 , 1 ) . Show
that A is a positive operator with discrete spectrum. Find its eigen-
2
vectors and eigenvalues.
In particular, one can define operators A a with a R . For a = - b < 0 these ope-
rators are bounded. However, in this case it is also convenient to introduce the line-
als D ( A a ) if we regard D ( A -b ) as a completion of the space H with respect to the
norm A -b . .
E x e r c i s e 1.2 Show that the space F-b = D ( A -b ) with b > 0 can be identi-
fied with the space of formal series c k e k such that
c
k=1
2 -2 b
k lk < .
The collection of Hilbert spaces with the properties mentioned in Exercises 1.71.9
is frequently called a scale of Hilbert spaces. The following assertion on the com-
pactness of embedding is valid for the scale of spaces { F s } .
Theorem 1.1.
Let s1 > s2 . Then
Then the space F s is compactly embedded into F s , i.e.
1 2
every sequence bounded in F s is compact in F s .
1 2
Proof.
It is well known that every bounded set in a separable Hilbert space is weakly
compact, i.e. it contains a weakly convergent sequence. Therefore, it is sufficient to
prove that any sequence weakly tending to zero in F s converges to zero with re-
1
spect to the norm of the space F s . We remind that a sequence { fn } in F s weakly
2
converges to an element f F s if for all g F s
lim ( fn , g ) s = ( f , g ) s .
n
Let the sequence { fn } be weakly convergent to zero in F s and let
1
fn s C , n = 1, 2, . (1.5)
1
Then for any N we have
N -1
2 s2 2 s1
2
fn s
2
k=1
lk
N
1
( fn , e k ) 2 + --------------------------
2 ( s1 - s 2 )
-
l
k=N
k ( fn , ek ) 2 . (1.6)
C
h
Let us fix the number N . The weak convergence of fn to zero gives us
a
p lim ( fn , ek ) = 0 , k = 1, 2, , N - 1 .
t n
e
r
Therefore, it follows from (1.7) that
2 lim fn s e .
n 2
We point out several properties of the scale of spaces { Fs } that are important for
further considerations.
1/p 1/q
p q
k
ak bk
k
ak
k
bk ,
--1- + 1
p q
--- = 1 , ak , bk > 0 ,
lim e -t A u - e -t A u s = 0 . (1.8)
tt
lim --1- ( f ( t0 + h ) - f ( t0 ) ) - v = 0 .
h0 h a
C
h u = e s s sup Aa u ( t ) .
a L ( a , b ; D ( Aa ) ) t [ a , b]
p
t We consider the Cauchy problem
e
dy
r
------ + A y = f ( t ) , t (a, b) ; y ( a ) = y0 , (1.9)
dt
2
where y F a and f ( t ) L 2 ( a , b ; Fa - 1 2 ) . The weak solution (in F a ) to this
problem on the segment [ a , b ] is defined as a function
y ( t ) C ( a , b ; Fa ) L 2 ( a , b ; Fa + 1 2 ) (1.10)
such that d y d t L 2 ( a , b ; Fa - 1 2 ) and equalities (1.9) hold. Here the derivative
y ( t ) d y d t is considered in the generalized sense, i.e. it is defined by the equality
b b
j ( t ) y ( t ) d t = - j ( t ) y ( t ) d t ,
a a
j C0 ( a , b ) ,
where C 0 ( a ,
b ) is the space of infinitely differentiable scalar functions on ( a , b )
vanishing near the points a and b .
E x e r c i s e 1.19 Show that every weak solution to problem (1.9) possesses the
property
t t
y (t) 2
a +
y (t)
a
2
a+1
---
2
dt y0 a
+
f (t)
a
2
a -1
---
2
dt . (1.11)
f ( t1 ) - f ( t2 ) a C t1 - t2 q
for some 0 < q 1 . Then formula (1.12) gives us a solution to pro-
blem (1.9) belonging to the class
C ( [ a , b ] ; Fa ) C 1 ( ] a , b ] ; Fa ) C ( ] a , b ] ; F a + 1) .
Such a solution is said to be strong in Fa .
Positive Operators with Discrete Spectrum 83
Lemma 1.1.
Let Q N be the orthoprojector onto the closure of the span of elements
{ ek , k N + 1 } in H and let PN = I - Q N , N = 0 , 1 , 2 , . Then
1) for all h H , b 0 and t R the following inequality holds:
b l t
A b PN e -t A h l N e N h ; (1.13)
2) for all h D ( A b ) , t > 0 and a b the following estimate is valid:
a - ba - b
------------- a -b -t l
A a QN e -t A h - + lN + 1 e N + 1 Ab h , (1.14)
t
in the case a - b = 0 we supose that 0 0 = 0 in (1.14).
Proof.
Estimate (1.13) follows from the equation
N
A b PN e -t A h 2 = l
k=1
2 b -2 t lk
k e (h, ek ) 2 .
A a QN e -t A h 1 -
------------ max ( m a - b e -m ) A b h .
t a -b m t l N +1
g -l t
( lN + 1 t ) e N + 1 , if l N + 1 t g ;
max ( m g e -m ) =
m l N +1 t g g e -g , if l N + 1 t < g .
Therefore,
-lN + 1 t
max ( m g e -m ) ( g g + ( lN + 1 t ) g ) e .
m l N +1 t
C
h E x e r c i s e 1.22 Using estimate (1.15) and the equation
a
p t
t
e
r
e -t A u - e -s A u
= - A e -t A u d t ,
s
t s, u Fb ,
2 prove that
e -t A u - e -s A u q Cq , s t - s s - q u s ; t , s > 0 , (1.16)
provided q < s 1 + q , where a constant Cq , s does not depend
on t and s (cf. Exercise 1.16).
Lemma 1.2.
Let f ( t ) L ( R , Fa - g ) for 0 g < 1 . Then there exists a unique solu-
tion v ( t ) C ( R , F a ) to the nonhomogeneous equation
d-----
v-
+ A v = f (t) , t R , (1.18)
dt
that is bounded in F a on the whole axis. This solution can be
represented in the form
t
v (t) =
e
-
-( t - t ) A
f (t) d t . (1.19)
Proof.
If there exist two bounded solutions to problem (1.18), then their diffe-
rence w ( t ) is a solution to the homogeneous equation. Therefore, w ( t ) =
= exp { -( t - t0 ) A} w ( t 0 ) for t t0 and for any t0 . Hence,
-( t - t0 ) l1 -( t - t0 ) l1
Aa w ( t ) e Aa w ( t 0 ) Ce .
If we tend t0 - here, then we obtain that w ( t ) = 0 . Thus, the bounded so-
lution to problem (1.18) is unique. Let us prove that the function v ( t ) defined
by formula (1.19) is the required solution. Equation (1.15) implies that
g g
---------- g -( t - t ) l1
Aa e -( t - t ) A + l1 e e s s sup A a - g f ( t )
t - t t R
for t > t and 0 < g < 1 . Therefore, integral (1.19) exists and it can be uniform-
ly estimated with respect to t as follows:
Semilinear Parabolic Equations in Hilbert Space 85
1+ k
Aa v ( t ) ----------- e s s sup Aa - g f ( t ) ,
l11- g t R
where k = 0 for g = 0 and
k= gg
s
0
-g e -s d s for 0 < g < 1.
e
- ( t - t0 ) A -( t - t ) A
v (t) = e v (t 0) + g (t) d t .
t0
This also implies (see Exercise 1.18) that v ( t ) is a solution to equation (1.18).
Lemma 1.2 is proved.
B ( u1 , t ) - B ( u 2 , t ) M ( r ) Aq ( u1 - u2 ) (2.2)
for all u 1 and u2 from the domain F q = D ( A q ) of the operator A q and such that
Aq uj r . Here M ( r ) is a nondecreasing function of the parameter r that does
not depend on t and . is a norm in the space H .
A function u ( t ) is said to be a mild solution (in F q ) to problem (2.1) on the
half-interval [ s , s + T ) if it lies in C ( s , s + T ; F q ) for every T < T and for all
t [ s , s + T ) satisfies the integral equation
t
u (t) = e -( t - s ) A
u0 +
e
s
-( t - t ) A
B (u (t) , t) d t . (2.3)
The fixed point method enables us to prove the following assertion on the local
existence of mild solutions.
86 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
Theorem 2.1.
Let u0 F q . Then there exists T * depending on q and u0 q such that
a
p
t problem (2.1) possesses a unique mild solution on the half-interval
e
r [ s , s + T * ) . Moreover, either T * = or the solution cannot be continued
in F q up to the moment t = s + T * .
2
Proof.
On the space C s , q C ( s , s + T ; F q ) we define the mapping
t
G [ u] (t) = e -( t - s ) A
u0 +
e
s
-( t - t) A
B (u(t) , t) d t .
e
- ( t2 - t1 ) A - ( t2 - t ) A
G [ u ] ( t2 ) = e G [ u ] ( t1 ) + B (u (t) , t) dt . (2.4)
t1
By virtue of (1.8) we have that if t2 t1 , then
- ( t2 - t1 ) A
G [ u ] ( t1 ) - e G [ u] (t 1) q 0.
Therefore, it is sufficient to estimate the second term in (2.4). Equation (1.15) im-
plies that
t2
e
- ( t2 - t ) A
B ( u (t ) , t) d t
t1 q
t2
q -q
------------ q
+ l1 d t max B (u (t) , t)
t2 - t t [ s , s + T]
t1
qq
t2 - t1 1 - q ------------ + lq1 t2 - t1 q max B (u (t) , t) (2.5)
1 - q t [ s , s + T]
(if q = 0 , then the coefficient in the braces should be taken to be equal to 1). Thus,
G maps C s , q = C ( s , s + T ; F q ) into itself. Let v0 ( t ) = e -( t - s ) A u 0 . In Cs , q
we consider a ball of the form
U = u ( t ) Cs , q : u - v0 C max u ( t ) - v0 ( t ) q 1 .
s, q [s, s + T ]
Let us show that for T small enough the operator G maps U into itself and is con-
tractive. Since u C 1 + u0 q for u U , equation (2.2) gives
s, q
Semilinear Parabolic Equations in Hilbert Space 87
+ ( 1 + u 0 q ) M ( 1 + u0 q ) C ( T0 , u0 q )
for all T T0 , where T0 is a fixed number. Therefore, with the help of (2.5) we find
that
G [ u ] - v0 C T 1 - q C 1 ( T0 , q , u0 q ) .
s, q
Similarly we have
G [ u] - G [ v] C T 1 - q C2 ( T0 , q ) M ( 1 + u q ) u - v C
s, q s, q
E x e r c i s e 2.2 Using equations (1.16) and (2.5), prove that for any mild solu-
tion u ( t ) to problem (2.1) on [ s , s + T * ) the estimate
C
h
onto the span of elements { e 1 , e2 , , em } . Galerkin approximate solution
a of the order m with respect to the basis { e k } is defined as a continuously diffe-
p
t rentiable function
e
m
g
r
um ( t ) = k ( t ) ek (2.7)
2 k=1
with the values in the finite-dimensional space Pm H that satisfies the equations
d
---- u ( t ) + A um ( t ) = Pm B ( um ( t ) , t ) , t > s, um = Pm u 0 . (2.8)
dt m t=s
It is clear that (2.8) can be rewritten as a system of ordinary differential equa-
tions for the functions gk ( t ) .
E x e r c i s e 2.5 Using the method of the proof of Theorem 2.1, prove the local
solvability of problem (2.9) on a segment [ s , s + T ] , where the pa-
rameter T > 0 can be chosen to be independent of m . Moreover,
the following uniform estimate is valid:
max um ( t ) q < R , m = 1, 2, 3, , (2.10)
[s, s + T]
where R > 0 is a constant.
Theorem 2.2.
Let u0 F q . Assume that there exists a sequence of approximate solu-
tions um ( t ) on a segment [ s , s + T ] for which estimate (2.10) is valid. Then
there exists a mild solution u ( t ) to problem (2.1) on the segment [ s , s + T ]
and
u ( t ) - u m ( t ) q C ( 1 - Pm ) u 0 q + ---------------- ,
1
max (2.11)
[ s, s + T] l 1- q
m+1
where C = C ( q , R , T ) is a positive constant independent of s .
Semilinear Parabolic Equations in Hilbert Space 89
Proof.
Let n > m . We use (2.9), (1.14) and (1.17) to find that for q > 0 we have
u n ( t ) - um ( t ) q ( Pn - Pm ) u0 q +
t
q
----------
q - -lm + 1 ( t - t )
+ + lqm + 1 e B ( un( t ) , t ) d t +
t - t
s
t
q - q B (u (t) , t) - B (u (t) , t) dt .
+ e -q
s
----------
t - t n m
un ( t ) - u m ( t ) q ( Pn - Pm ) u0 q +
+ max B ( 0 , t ) + M ( R ) R Jm ( t , s ) +
[ s , s + T]
t
+ M ( R ) q q e -q
(t - t)
s
-q
un ( t ) - um ( t ) q d t , (2.12)
where
t
q - q + lq
---------- -lm + 1 ( t - t )
Jm ( t , s ) = m+1 e dt .
t - t
s
Jm ( t , - ) = l-m1++1q 1 + q q
0
x -q e -x d x l m + 1 ( 1 + k ) .
- 1+ q
a1 ( q , R )
un ( t ) - um ( t ) q ( Pn - Pm ) u0 q + ----------------------
- +
l1m- +q 1
t
+ a2 ( q , R )
(t - t)
s
-q
un ( t ) - um ( t ) q d t .
Hence, if we use Lemma 2.1 which is given below, we can find that
u n ( t ) - u m ( t ) q C ( Pn - Pm ) u0 q + ----------------
1
(2.13)
l 1- q
m+1
90 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
for all t [ s , s + T ] , where C > 0 is a constant depending on q , R , and T . It is also
a evident that estimate (2.13) remains true for q = 0 . It means that the sequence of
p
t approximate solutions { um ( t ) } is a Cauchy sequence in the space C ( s , s + T ; F q ) .
e
r
Therefore, there exists an element u ( t ) C ( s , s + T ; F q ) such that equation
(2.11) holds. Estimates (2.10) and (2.11) enable us to pass to the limit in (2.9) and
2 to obtain equation (2.3) for u ( t ) . Theorem 2.2 is proved.
E x e r c i s e 2.6 Show that if the hypotheses of Theorem 2.2 hold, then the es-
timate
a1 a2
max u ( t ) - u m ( t ) a ---------------
- ( 1 - Pm ) u0 q + ---------------
-
[ s, s + T] q
lm + 1 - a
lm- +a 1
1
The following assertion provides a simple sufficient condition of the global solvability
of problem (2.1).
Theorem 2.3.
Assume that the constant M ( r ) in (2.2) does not depend on r , i.e. the
mapping B ( u , t ) satisfies the global Lipschitz condition
B ( u1 , t ) - B ( u2 , t ) M u1 - u2 q
(2.14)
for all uj F q with some constant M > 0 . Then problem (2.1) has a unique
mild solution on the half-interval [ s , + ) , provided u0 F q . Moreover,
for any two solutions u 1 and u2 the estimate
a2 ( t - s )
u1( t ) - u2 ( t ) q a1 e u1 ( s ) - u2 ( s ) q , t s , (2.15)
The proof of this theorem is based on the following lemma (see the book by Henry [3],
Chapter 7).
Lemma 2.1.
Assume that j ( t ) is a continuous nonnegative function on the interval
( 0 , T ) such that
t
- g0 -g1
j ( t ) c0 t + c1 ( t - t ) j (t) dt , t (0, T) , (2.16)
0
where c 0 , c1 0 and 0 g 0 , g 1 < 1 . Then there exists a constant K =
= K ( g1 , c 1 , T ) such that
c0 -g
j ( t ) -------------
- t 0 K ( g1 , c1 , T ) . (2.17)
1 - g0
Semilinear Parabolic Equations in Hilbert Space 91
-l (t - s) a3 a (t - s)
e N + 1 + --------------
-e 2 u1 ( s ) - u2 ( s ) q (2.18)
1- q
lN + 1
is valid for any two solutions u1( t ) and u 2 ( t ) . Here Q N = I - PN
and PN is the orthoprojector onto the span of { e 1 , eN } , the num-
ber a2 is the same as in (2.15) and a3 depends on l 1 , q , and M .
Let us consider one more case in which we can guarantee the global solvability
of problem (2.1). Assume that condition (2.2) holds for q = 1 2 and
92 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h B ( u ) = - B0 ( u ) + B1( u , t ) , (2.19)
a
p where B 1 ( u , t ) satisfies the global Lipschitz condition (2.14) with q = 1 2 and
t
e B 0 ( u ) is a potential operator on the space V = F1 2 . This means that there exists
r
a Frecht differentiable functional F ( u ) on V such that B0 ( u ) = F ( u ) , i.e.
2 1 - F(u + v) - F(u) - (B (u) , v) = 0 .
lim -------------- 0
v 1 2 0 v 1 2
Theorem 2.4.
Let (2.2) be valid with q = 1 2 and let decomposition (2.19) take place.
Assume that the functional F ( u ) is bounded below on V = F 1 2 . Then prob-
lem (2.1) has a unique mild solution u ( t ) C ( [ s , s + T ] ; D ( A1 / 2 ) ) on an
arbitrary segment [ s , s + T ] .
Proof.
Let um( t ) be an approximate solution to problem (2.1) on a segment [ s , s + T ] ,
where T does not depend on m (see Exercise 2.5):
d
---- u ( t ) + Aum ( t ) = Pm B ( um ( t ) , t ) , u m ( s ) = Pm u0 . (2.20)
dt m
Multiplying (2.20) by u m ( t ) = ---- u m ( t ) scalarwise in the space H , we find that
d
dt
d
u m 2 + ---- 1
--- A1 / 2 um 2 + F ( um ) = ( B1 ( um , t ) , u m )
dt 2
--- u m
1 2
+ B1 ( 0 , t ) 2
+ M 2 A1 / 2 um 2 .
2
Since F ( u ) is bounded below, we obtain that
d
---- W ( u m ( t ) ) a W ( um ( t ) ) + b + B 1 ( 0 , t ) 2
dt
with constants a and b independent of m , where
W ( u) = 1
--- A1 / 2 u 2 + F ( u ) .
2
Therefore, Gronwalls lemma gives us that
t
a
W ( um ( t ) ) W ( um ( s ) ) + --b- e a ( t - s ) + 2 e a ( t - t ) B 1 ( 0 , t ) 2 d t
s
for all t in the segment [ s , s + T ] of the existence of approximate solutions. Firstly,
this estimate enables us to prove the global existence of approximate solutions
(cf. Exercise 2.1). Secondly, by virtue of the continuity of the functional W on
V = F 1 2 Theorem 2.2 enables us to pass to the limit m on an arbitrary seg-
ment [ s , s + T ] and prove the global solvability of limit problem (2.1). Theorem 2.4
is proved.
Examples 93
t [ s, s + T] , q a < 1.
Thus, if B ( u , t ) B ( u ) and the hypotheses of Theorem 2.3 or 2.4 hold, then equa-
tion (2.1) generates a dynamical system ( F q , St ) with the evolutionary operator St
which is defined by the equality St u0 = u ( t ) , where u ( t ) is the solution to problem
(2.1). The semigroup property of St follows from the assertion on the uniqueness
of solution.
E x e r c i s e 2.10 Show that Theorem 2.4 holds even if we replace the assump-
tion of semiboundedness of F ( u ) by the condition F ( u )
- a A1 / 2 u 2 - b for some a < 1 2 and b > 0 .
3 Examples
C
h
a
p
(u, v)m = D u(x) D v (x ) d x .
j m W
j j
t
m
e
r
Below we also use the space H0 ( W ) which is constructed as the closure in H m ( W )
of the set C 0( W ) of infinitely differentiable functions with compact support. For
2 more detailed information we refer the reader to the handbooks on the theory of So-
bolev spaces.
u = n D u + f (t, x, u, u) , x W , t > 0 ,
t
(3.1)
u W = 0 , u t = 0 = u0 .
Here W is a bounded domain in R d , D is the Laplace operator, and n is a posi-
tive constant. Assume that f ( t , x , u , p ) is a continuous function of its vari-
ables which satisfies the Lipschitz condition
d 1/2
f ( t , x , u , p ) - f ( t , x , u , q ) K u1 - u2 2 +
j=1
pj - qj 2
(3.2)
B ( u1 , t ) - B ( u2 , t ) K u1 - u2 2 +
j
xj ( u 1 - u2 )
2 1 / 2
. (3.3)
u- 2
-------
A1 / 2 u 2 = ( Au , u ) = dx , u D ( A1 / 2 ) = H01 ( W ) .
x j
j=1 W
E x a m p l e 3.2
Let us consider problem (3.1) in the case of one spatial variable:
u = n 2 u - g (x , u) + f (t, x, u, u) , t > 0, x (0, 1)
t x x
(3.4)
u x = 0 = u x = 1 = 0, u t = 0 = u0 .
Assume that g ( x , u ) is a continuously differentiable function with respect to
the variable u and gu ( x , u ) h ( u ) , where h ( u ) is a function bounded on
every compact set of the real axis. We also assume that the function f ( t , x , u , p )
is continuous and possesses property (3.2). For any element u D ( A1 / 2 ) =
= H 01 ( 0 , 1 ) the following estimates hold:
max u ( x ) u and u u ,
[0, 1] L2 ( 0 , 1) L2 ( 0 , 1 ) L2 ( 0 , 1)
F (x, y) =
g (x, x) dx
0
is bounded below, then we can use Theorem 2.4 to obtain the assertion on the
existence of mild solutions to problem (3.4) on an arbitrary segment [ 0 , T ] .
It should be noted that the reasoning in Example 3.2 is also valid for several spatial
variables. However, in order to ensure the fulfilment of the estimate of the form (3.5)
one should impose additional conditions on the growth of the function h ( u ) .
For example, we can require that the equation
h ( u ) C1 + C2 u p
be fulfilled, where p 2 ( d - 2 ) if d > 2 and p is an arbitrary number if d = 2 .
In this case the inequality of the form (3.5) follows from the Hlder inequality and
96 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
the continuity of the embedding of the space H 1 ( W ) into L q ( W ) , where q =
a = 2 d ( d - 2 ) if d = dim W > 2 and q is an arbitrary number if d = 2 , q 1 .
p
t The results shown in Examples 3.1 and 3.2 also hold for the systems of parabo-
e
r
lic equations. For example, a system of reaction-diffusion equations
2 t u = n D u + f ( t , u , u ) ,
u (3.6)
------ = 0 , u t = 0 = u0 ( x ) ,
n W
can be considered in a smooth bounded domain W R d . Here u = ( u1 , u2 , ,
u m ) and f ( t , u , x ) is a continuous function from R+ R ( m + 1 ) d into R m such
that
f (t, u, x) - f (t, v, h) M ( u - v + x - h ) , (3.7)
where M is a constant, u , v Rm , x, h Rm d and n is an outer normal to W .
A = -n x2 x , D ( A) = H 2 ( 0 , l ) H 01 ( 0 , l ) ,
B ( u ) = - ( w , u ) ux + f ( t ) .
E x e r c i s e 3.6 Use equations (3.9) and (3.10) to prove the global existence
of the Galerkin approximate solutions to problem (3.8) and to obtain
the uniform estimate of the form
x um ( t ) C ( x u 0 , T ) , t [ 0, T] (3.11)
for any T > 0 .
Thus, Theorem 2.2 guarantees the global existence and uniqueness of weak solu-
tions to problem (3.8) in F 1 2 = H 01 ( 0 , l ) .
u + n 4 u - 2 ( u3 + a u2 + b u ) = 0 , x ( 0 , l ) , t > 0 ,
t x x
3 3
x u x = 0 = x u x = 0 = 0 , x u x = l = x u x = l = 0 , (3.12)
u = u0 ( x ) ,
t=0
where n > 0 , a , and b R are constants. The result of the cycle of Exercises
3.73.10 is a theorem on the existence and uniqueness of solutions to problem
(3.12).
C
h
Let us consider the Galerkin approximate solution um ( t ) to problem (3.12):
a
m
pk
g (t) cos -------l x .
p
t
1- g ( t ) +
u m ( t ) um ( t , x ) = ---- 2
---
0 l k
e l
r k=1
[ n
2
um ( t , x ) - p ( u m ( t , x ) ) ] d x = 0 (3.13)
d 2
---- W ( u m ( t ) ) +
dt x x
0
holds for any interval of the existence of approximate solutions
{ um ( t ) } . Here p ( u ) = u 3 + a u 2 + b and
l
W (u) =
n--2- u
0
2
x --- u 4 + a
+1
4 3
--- u 2 d x .
--- u 3 + b
2
(3.14)
In particular, equation (3.13) implies that approximate solutions exist for any seg-
ment [ 0 , T ] . For u0 V they can be estimated as follows:
x um ( t ) + max um ( t , x ) CT , t [ 0, T] , (3.15)
x [ 0 , l]
E x e r c i s e 3.10 Using Theorem 2.2 and the result of the previous exercise,
prove the global theorem on the existence and uniqueness of weak
solutions to the Cahn-Hilliard equation (3.12) in the space V (see
Exercise 3.7).
b ( u , v ) C d A1 2 - d u A1 2 + d v , 0< d< 1
--- (3.18)
2
and
Ab b ( u , v ) Cd , b A( 1 2) + d u A1 2 + b v , 0b1
--- , 0 < d 1
--- (3.19)
2 2
hold. We also assume that f ( t ) is a continuous function with the values in H .
d
d----t um ( t ) + n A um ( t ) + Pm b ( um ( t ) , u m ( t ) ) = Pm f ( t ) ,
(3.20)
u (0) = P u .
m m 0
and
-l n t 2 -l n t
1- F
um( t ) 2 um ( 0 ) 2 e 1 + ----- --- ( 1 - e 1 ) (3.22)
l n 1
are valid for an arbitrary interval of the existence of solutions to prob-
lem (3.20). Here F = sup A-1 / 2 f ( t ) . Using these estimates, prove
t 0
the global solvability of problem (3.20).
C
h
Using the interpolation inequality (see Exercise 1.13) and estimate (3.18), it is easy
a to find that
p
2
---- u 2 A1 / 2 u 4 + n
2
b ( u , u ) 2 C u A1 / 2 u 2 Au C
t
------ Au 2 .
n
e
r 4
2 Therefore, equation (3.23) implies that
d
---- A1 / 2 u m ( t ) 2 sm ( t ) A1 / 2 um ( t ) 2 + --2- f ( t ) 2 , (3.24)
dt n
where sm ( t ) = ( 2 C 2 n 3 ) um ( t ) 2 A1 / 2 u m ( t ) 2 . Hence, Gronwalls inequality gives
us that
t t t
2
A1 / 2 u m(t)
2
A1 / 2 u 0 2 exp
sm ( t ) d t + --n
-
2
f ( t ) exp sm( x ) d x d t .
0 0 0
It follows from equation (3.21) that the value t sm ( t ) d t is uniformly bounded with
0
respect to m on an arbitrary segment [ 0 , T ] . Consequently, the uniform estimates
A1 / 2 u m( t ) C T , t [ 0, T] , u0 D ( A1 / 2 ) (3.25)
are valid for any T > 0 and m = 1 , 2 , .
A um( t ) 2 + n
d 1/2 --- Aum ( t ) 2 C T ,
---- t [0, T]
dt 2
for any T > 0 .
C1 Ab b ( um ( t ) , um ( t ) ) 2
+ CT .
E x e r c i s e 3.16 Use the results of Exercises 3.14 and 3.15 and inequality
(3.19) to prove the global existence of mild solutions to problem
(3.16) in the space D ( A1 2 + b ) , provided that u0 D ( A1 2 + b )
and f ( t ) is a continuous function with the values in D ( A b ) . Here
b is an arbitrary number from the interval ( 0 , 1 2 ) .
Existence Conditions and Properties of Global Attractor 101
In this section we study the asymptotic properties of the dynamical system genera-
ted by the autonomous equation
du
------ + Au = B ( u ) , u t = 0 = u0 , (4.1)
dt
where, as before, A is a positive operator with discrete spectrum and B ( u ) is
a nonlinear mapping from F q into H such that
B ( u1 ) - B ( u2 ) M ( r ) Aq ( u1 - u2 ) (4.2)
Lemma 4.1.
Let ( F q , St ) be dissipative and let B 0 = { u : Aq u R0 } be its absorbing
ball. Then the set Ba = { u : Aa u Ra } is absorbing for all a ( q , 1 ) ,
where
aa
Ra = ( a - q ) a - q R 0 + ------------ sup { B ( u ) : u F q , Aq u R0 } . (4.3)
1- a
Proof.
Using equation (2.3) and estimate (1.17), we have
t+1
a
Aa u ( t + 1) (a - q) a- q
Aq u ( t ) +
-------------------
t
a
t + 1- t
B (u (t) ) d t ,
C
h
Theorem 4.1.
Assume that the dynamical system ( F q , St ) generated by problem (4.1)
a
p
t is dissipative. Then it is compact and possesses a connected compact global
e
r attractor A . This attractor is a bounded set in F a for q a < 1 and has
a finite fractal dimension.
dimension.
2
Proof.
By virtue of Theorem 1.1 the space Fa is compactly embedded into F q for
a > q . Therefore, Lemma 4.1 implies that the dynamical system ( F q , St ) is com-
pact. Hence, Theorem 1.5.1 gives us that ( F q , St ) possesses a connected compact
global attractor A . Evidently, Aa u R a for all u A , where Ra is defined
by equality (4.3). Thus, we should only establish the finite dimensionality of the at-
tractor. Let us apply the method used in the proof of Theorem 1.9.1 and based on
Theorem 1.8.1. Let St u1 and St u2 be semitrajectories of the dynamical system
( F q , St ) such that St u j q R for all t 0 , j = 1 , 2 . Then equations (2.3) and
(1.17) give us that
t
St u1 - St u2 q u1 - u2 q + M ( R ) qq
(t - t)
0
-q St u1 - St u2 q d t .
Using Lemma 2.1, we find that for all uj F q such that St uj q R the following
estimate holds:
St u1 - St u2 q C u 1 - u2 q for 0 t 1 ,
where the constant C depends on q and R . Therefore,
St u1 - St u2 q C St u1 - St u2 q for 0 t t t+1
for the considered u1 and u2 . Consequently,
St u 1 - St u2 q C S[ t ] u1 - S[ t ] u2 q C [ t ] + 1 u 1 - u2 q ,
where [ t ] is an integer part of the number t . Thus, the estimate of the form
St u1 - St u2 q C e a t u1 - u2 q (4.4)
is valid, where the constants C and a depend on q and R . Similarly, Lemma 1.1
gives
-lN + 1 t
QN ( St u1 - St u2 ) q e u1 - u2 q +
t
q - q + lq
---------- -lN + 1 ( t - t )
+ M (R) t - t N+1 e St u1 - St u2 q d t (4.5)
0
for all u1 , u 2 F q such that St uj q R , where Q N = I - PN and PN is the ortho-
projector onto the first N eigenvectors of the operator A . If we substitute equation
(4.4) in the right-hand side of inequality (4.5), then we obtain that
Existence Conditions and Properties of Global Attractor 103
-lN + 1 t
QN ( St u 1 - St u2 ) q ( e + C M ( R ) e a t JN ( t ) ) u1 - u 2 q
,
where
t
q q
---------- -l (t - t)
JN ( t ) = + lqN + 1 e N + 1 dt .
t - t
0
After the change of variable x = l N + 1 ( t - t ) it is easy to find that JN ( t )
C 0 l-N1++1q . Therefore,
-l t C (R , q)
QN ( St u1 - St u2 ) q e N + 1 + --------------------
1- q
- e a t u1 - u 2 q (4.6)
lN + 1
for all u1 , u 2 F q such that St uj q R . Hence, there exist t0 > 0 and N such
that
QN ( St u1 - St u2 ) d u1 - u2 q , 0 < d < 1,
0 0 q
for all u 1 , u2 F q such that St u j q R . However, the attractor A lies in the ab-
sorbing ball B 0 . Therefore, this estimate and inequality (4.4) mean that the hypo-
theses of Theorem 1.8.1 hold for the mapping V = St0 . Hence, the attractor A has
a finite fractal dimension. It can be estimated with the help of the parameters in in-
equalities (4.4) and (4.6). Thus, Theorem 4.1 is proved.
Equations (4.4) and (4.6) which are valid for any R > 0 enable us to prove the exis-
tence of a fractal exponential attractor of the dynamical system ( F q , St ) in the same
way as in Section 9 of Chapter 1.
Theorem 4.2.
Assume that the dynamical system ( F q , St ) generated by problem (4.1)
is dissipative. Then it possesses a fractal exponential attractor (inertial
( inertial
set).
Proof.
It is sufficient to verify that the hypotheses of Theorem 1.9.2 (see (1.9.12)
(1.9.14)) hold for ( F q , St ) . Let us show that
K= S B
t t0
t a, Ba = { u : Aa u R a }
can be taken for the compact K in (1.9.12)(1.9.14). Here a is a number from the
interval ( q , 1 ) and Ra is defined by formula (4.3). We choose the parameter
t0 = t0 ( Ba) such that St K Ba for t t0 . Since K is a bounded invariant set,
equation (4.4) is valid for any u 1 , u2 K with some constants C and a . It is also
easy to verify that K is a compact. Indeed, let { kn } K . Then kn = St yn , there-
n
with we can assume that kn w , yn y Ba and either tn t* < or
tn . In the first case with the help of (4.4) we have
104 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
a tn
h
St yn - St y Ce yn - y q + St y - St y .
a n * q n * q
p
t Therefore, kn = St yn St y K . In the second case
e n *
w = lim St yn w ( Ba ) St ( Ba ) K .
r
n n 0
2
Here w ( Ba ) is the omega-limit set for the semitrajectories emanating from Ba .
Thus, K is a compact invariant absorbing set. In particular this means that condition
(1.9.12) is fulfilled, therewith we can take any number for g > 0 . Conditions (1.9.13)
and (1.9.14) follow from equations (4.4) and (4.6). Consequently, it is sufficient
to apply Theorem 1.9.2 to conclude the proof of Theorem 4.2.
Lemma 4.2.
Assume that B ( u ) satisfies the global Lipschitz condition
B ( u1) - B ( u2 ) M Aq ( u 1 - u2 ) . (4.7)
Let the dynamical system ( F q , St ) generated by mild solutions to prob-
lem (4.1) be F a -dissipative for some a ( q -1 , q ] . Then ( F q , St ) is
a compact dynamical system, i.e. it possesses an absorbing set which is
compact in F q .
Proof.
By virtue of Lemma 4.1 it is sufficient to verify that the system ( F q , St ) is
dissipative (i.e. F q-dissipative). If we use expression (2.3) and equation (1.17),
then we obtain
t+s
q - a- q - a Aa u ( t ) + q - q B(u (t) ) d t
Aq u ( t + s) -------------
s t
-------------------
t + s - t
s
q
+M
-----------
0
q -
s - t
Aq u ( t + t ) d t
E x e r c i s e 4.1 Show that the assertion of Lemma 4.2 holds if instead of (4.7)
we suppose that B ( u ) = B1 ( u ) + B2 ( u ) , where B1 ( u ) possesses
property (4.7) and B2 ( u ) is such that
sup { B2 ( u ) : *} < .
Aa u R a
Theorem 4.3.
Assume that condition (4.2) is fulfilled with q = 1 2 and B ( u ) =
= -F ( u ) is a potential operator from F 1 2 into H (the prime stands for
the Frecht derivative).
derivative). Let
2
F( u ) -a , ( F ( u ) , u ) - b F ( u ) - g A1 / 2 u -d (4.8)
for all u F 1 2 , where a , b , g , and d are real parameters, therewith
b > 0 and g < 1 . Then the dynamical system is dissipative in F 1 2 .
Proof.
In view of Theorem 2.4 conditions (4.8) guarantee the existence of the evolu-
tionary operator St . Let us verify the dissipativity. As in the proof of Theorem 2.4 we
consider the Galerkin approximations { um ( t ) } . It is evident that
1 d
--- ---- u ( t ) 2 + A1 / 2 u m ( t ) 2 + ( F ( um ) , um ) = 0
2 dt m
and
---- 1
--- A1 / 2 um ( t ) 2 + F ( um ( t ) ) + u m ( t ) 2 = 0 .
d
dt 2
If we add these equations and use (4.8), then we obtain that
d
---- 1 --- u 2 + 1
--- A1 / 2 um 2 + F ( um ) + ( 1 - g ) A1 / 2 um 2 + b F ( u m ) d .
d t 2 m 2
106 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
Let
a
p V (u) = 1
--- u 2 + 1
--- A1 / 2 u 2 + F ( u ) + a .
t 2 2
e
r Therefore, it is clear that
d
2 ---- V ( um ( t ) ) + w V ( um ( t ) ) C
dt
with some positive constants w and C that do not depend on m . This (cf. Exer-
cise 1.4.1) easily implies the dissipativity of the system ( F 1 2 , St ) , moreover,
1 C-
--- A1 / 2 St u 2 V ( u0 ) e -w t + --- -w t ) .
2 w (1 - e (4.9)
E x e r c i s e 4.2 Show that the assertion of Theorem 4.3 holds if (4.2) is ful-
filled with q = 1 2 and
B ( u ) = - F ( u ) + B0 ( u ) ,
where F ( u ) possesses properties (4.8) and B 0 ( u ) satisfies the esti-
mate B0 ( u ) C e + e A1 / 2 u for e > 0 small enough.
Let us look at the examples of Section 3 again. We assume that the function
f (t, x, u, p) f (x , u , p) (4.10)
in Example 3.1 possesses property (3.2) and
Therefore, if conditions (3.2), (4.10) and (4.11) are fulfilled, then the dynamical sys-
tem ( H01 ( W ) , St ) generated by a mild (in H01 ( W ) ) solution to problem (3.1) posses-
ses both a finite-dimensional global attractor and an inertial set.
f ( x , u ) u ( l1 - d ) u2 + C , u R
for any x W .
g ( x , x ) d x -a ,
0
y g( x , y ) - b g( x , x ) d x -g
0
for some positive a , b , and g . Then the dynamical system genera-
ted by (3.4) is dissipative in H01 ( 0 , 1 ) .
E x e r c i s e 4.6 Find the analogue of the result of Exercise 4.5 for the system
of reaction-diffusion equations (3.6).
E x e r c i s e 4.7 Using equations (3.9) and (3.10) prove that the dynamical
system generated by the nonlocal Burgers equation (3.8) with f ( t )
f L2 ( 0 , l ) is dissipative in H 01 ( W ) .
In conclusion of this section let us establish the dissipativity of the dynamical system
( D ( A1 2 + b ) , St ) generated by the abstract form of the two-dimensional Navier-
Stokes system (see Example 3.5) under the assumption that f ( t ) f D ( A b ) .
We consider the dynamical system ( Pm H , Stm ) generated by the Galerkin approxi-
mations (see (3.20)) of problem (3.16).
108 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h E x e r c i s e 4.10 Using (3.24) prove that
a
p
1
c0 +
A1 / 2 Stm u 0 2 d t
t
t A1 / 2 Stm u0 2
e
r
0
2
1
d t
2
exp c 1 Sm u 2
A1 / 2 Stm u0
t 0 (4.13)
0
for all 0 < t 1 , where c 0 and c 1 are constants independent of m .
E x e r c i s e 4.11 With the help of (3.21), (3.22) and (4.13) verify the property
of dissipativity of the system ( D ( A 1 2 + b ) , St ) in the space
D ( A1 2 ) . Deduce its dissipativity (Hint: see Exercise 3.143.16).
In this section we consider problem (4.1) on the assumption that condition (4.2)
holds with q = 1 2 and B ( u ) is a potential operator, i.e. there exists a functional
F ( u ) on F 1 2 = D ( A1 / 2 ) such that its Frecht derivative F ( u ) possesses the pro-
perty
B ( u ) = -F ( u ) , u D ( A1 / 2 ) . (5.1)
Below we also assume that the conditions
2
F ( u ) -a , ( F ( u ) , u ) - b F ( u ) - g A1 / 2 u -d (5.2)
are fulfilled for all u D ( A1 / 2 ) , where a , d R , b > 0 , and g < 1 . On the one
hand, these conditions ensure the existence and uniqueness of mild (in D ( A1 / 2 ) )
solutions to problem (4.1) (see Theorem 2.4). On the other hand, they guarantee
the existence of a finite-dimensional global attractor A for the dynamical system
( F 1 2 , St ) generated by problem (4.1) (see Theorem 4.3). Conditions (5.1) and
(5.2) enable us to obtain additional information on the structure of attractor.
Theorem 5.1.
Assume that conditions (5.1),, (5.2),, and (4.2) hold with q = 1 2 . Then
the global attractor A of the dynamical system ( F 1 2 , St ) generated by
Systems with Lyapunov Function 109
Lemma 5.1.
Assume that a semitrajectory u ( t ) = St u0 possesses the property
Aa u ( t ) Ra for all t 0 , where 1 2 < a < 1 . Then
A1 / 2 ( u ( t ) - u ( s ) ) C ( Ra ) t - s a - 1 2 (5.4)
for all t , s 0 .
Proof.
For the sake of definiteness we assume that t > s 0 . Equation (2.3) im-
plies that
t
u (t) - u (s) = (e -( t - s ) A
- I) u(s) +
e
s
-( t - t ) A
B(u (t) ) d t .
Since
t
e -( t - s ) A
- I = - A e-( t - t) A d t ,
s
equation (1.17) gives us that
t
A1 / 2 ( u ( t ) - u (s) ) c0
(t - t)
s
a - 3 2
d t Aa u ( s ) +
t
+ c1
(t - t)
s
-1 / 2
d t max B ( u ( t ) ) .
t 0
Lemma 5.2.
There exists R 1 > 0 such that the set B1 = { u : Au R 1 } is absorbing
for the dynamical system ( F1 2 , St ) .
Proof.
By virtue of Theorem 4.3 the system ( F 1 2 , St ) is dissipative. Therefore, it
follows from Lemma 4.1 that Ba = { u : Aa u Ra } is an absorbing set,where
110 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
Ra is defined by (4.3), 1 2 < a < 1 . Thus, to prove the lemma it is sufficient to
a consider semitrajectories u ( t ) possessing the property Aa u ( t ) Ra , t 0 .
p
t Let us present the solution u ( t ) in the form
e
r t
2 u (t) = e -( t - s ) A
u (s) +
e
s
-( t - t ) A
B (u (t) ) - B (u (t) ) d t +
+ A-1 ( 1 - e -( t - s ) A ) B ( u ( t ) ) .
Using Lemma 5.1 we find that
t 3
- --- + a
Au ( t ) C0 ( t - s ) -1 / 2 R 1 2 + C1 ( Ra ) (t - t) 2 dt + C2 ( R1 2 ) .
s
This implies that
Au ( t + 1 ) C ( Ra ) , t 0,
provided that Aa u ( t ) Ra for t 0 . Therefore, the assertion of Lemma 5.2
follows from Lemma 4.1.
V (u) = 1
--- ( Au , u ) + F ( u ) , u F 1 2 = D ( A1 / 2 ) . (5.5)
2
It is clear that
t
-
P ( Au
s
N m( t) - B ( um ( t ))) 2 d t
for t s and for any N m , where PN is the orthoprojector onto the span of
{ e1 , , eN } . With the help of Theorem 2.2 and due to the continuity of the func-
Systems with Lyapunov Function 111
for any solution u ( t ) to problem (4.1) and for any N 1 . If the semitrajectory
u ( t ) = St u0 lies in the attractor A , then we can pass to the limit N in (5.6)
and obtain the equation
t
V ( u ( t )) +
Au(t) - B (u(t))
s
2
dt V (u (s)) (5.7)
E x e r c i s e 5.1 Using (5.6) show that any solution u ( t ) to problem (4.1) with
u 0 F1 2 possesses the property
t
Au (t)
0
2
dt < , t > 0.
E x e r c i s e 5.3 Prove that the assertions of Theorems 4.3 and 5.1 hold if we
consider the equation
du
------ + Au = B ( u ) + h , u t = 0 = u0 (5.8)
dt
instead of problem (4.1). Here h is an arbitrary element from H and
B ( u ) possesses properties (5.1), (5.2) and (4.2) with q = 1 2
(Hint: Vh ( u ) = V ( u ) - ( h , u ) ).
C
h
Theorem 5.1 and the reasonings of Section 6 of Chapter 1 reduce the question on the
a structure of global attractor to the problem of studying the properties of stationary
p
t points of the dynamical system under consideration. Under some additional condi-
e
r
tions on the operator B ( u ) it can be proved in general that the number of fixed
points is finite and all of them are hyperbolic. This enables us to use the results of
2 Section 6 of Chapter 1 to specify the attractor structure. For some reasons (they will
be clear later) it is convenient to deal with the fixed points of the dynamical system
generated by problem (5.8).
Thus we consider the equation
L ( u ) Au - B ( u ) = h , u D (A) , (5.9)
where as before A is a positive operator with discrete spectrum, B ( u ) is a nonline-
ar mapping possessing properties (5.1), (5.2) and (4.2) with q = 1 2 , and h is an
element of H .
Lemma 5.3.
For any h H problem (5.9) is solvable. If M is a bounded set in H ,
then the set L-1 ( M ) of solutions to equation (5.9) is bounded in D ( A )
for h M . If M is compact in H , then L-1 ( M ) is compact in D ( A ) .
Proof.
Let us consider a continuous functional
W (u) = 1
--- ( Au , u ) + F ( u ) - ( h , u ) (5.10)
2
on F1 2 = D ( A1 / 2 ) . Since F ( u ) - a for all u F1 2 , the functional W ( u )
possesses the property
W (u) 1
--- A1 / 2 u 2 - a - A-1 / 2 h A1 / 2 u
2
1
--- A1 / 2 u 2
- a - A-1 / 2 h 2
. (5.11)
4
In particular, this means that W ( u ) is bounded below. Let us consider the func-
tional W ( u ) on the subspace Pm F1 2 ( Pm is the orthoprojector onto the span
of elements e1 , e 2 , , e m , as before). By virtue of (5.11) there exists a mini-
mum point u m of this functional in Pm F1 2 which obviously satisfies the equa-
tion
A um - Pm B ( um ) = Pm h . (5.12)
Equation (5.11) also implies that
1
--- A1 / 2 um 2 W ( um ) + a + A-1 / 2 h 2
4
inf { W ( u ) : u Pm H } + a + A-1 / 2 h 2
.
Systems with Lyapunov Function 113
Hence,
A1 / 2 um F ( 0 ) + a + A-1 / 2 h 2
C ( 1 + A-1 / 2 h 2 )
with a constant C independent of m . Thus, equations (5.12) and (4.2) give us
that
Aum B ( um ) + h B ( 0 ) + h + M ( A1 / 2 u m ) A1 / 2 u m .
Therefore, if h R , then Aum C ( R ) . This estimate enables us to extract
a weakly convergent (in D ( A ) ) subsequence { um } and to pass to the limit as
k
k in (5.12) with the help of Theorem 1.1. Thus, the solvability of equation
(5.9) is proved. It is obvious that every limit (in D ( A ) ) point u of the sequence
{ um } possesses the property
Au CR if h R. (5.13)
This means that the complete preimage L-1( M ) of any bounded set M in H is
bounded in D ( A ) . Now we prove that the mapping L is proper,proper i.e. the pre-
image L-1( M ) is compact for a compact M . Let { u n } be a sequence from
L-1( M ) . Then the sequence { L ( un ) } lies in the compact M and therefore there
exist an element h M and a subsequence { nk } such that L ( unk ) - h 0
as k . By virtue of (5.13) we can also assume that { A unk } is a weakly con-
vergent sequence in D ( A ) . If we use the equation
Au nk - B ( un ) - h 0 , k ,
k
Theorem 1.1, and property (4.2) with q = 1 2 , then we can easily prove that
the sequence { unk } strongly converges in D ( A ) to a solution u to the equation
L ( u ) = h . Lemma 5.3 is proved.
Lemma 5.4.
In addition to (5.1), (5.2), and (4.2) with q = 1 2 we assume that the
mapping B ( . ) is Frecht differentiable, i.e. for any u F1 2 there
exists a linear bounded operator B ( u ) from F1 2 into H such that
B ( u + v ) - B ( u ) - B ( u ) v = o ( A1 / 2 v ) (5.14)
for every v F1 2 , such that A1 / 2 v 1 . Then the operator A - B ( u )
is a Fredholm operator for any u F1 2 = D ( A 1 / 2 ) .
C
h G = A - C A1 / 2 = A1 / 2 ( I - A-1 / 2 C ) A1 / 2 ,
a
p where C is a bounded operator in H ( C = B ( u ) A-1 / 2 ) . By virtue of Theorem
1.1 the operator K = A-1 / 2 C is compact. This implies the closedness of the
t
e
r
image of G . Moreover, it is obvious that
2 dim Ker G = dim Ker ( I - K )
and
dim Ker G * = dim Ker ( I - K * ) .
Therefore, the Fredholm alternative for the compact operator gives us that
dim Ker G * = dim Ker G < .
Let us introduce the notion of a regular value of the operator L seen as an ele-
ment h H possessing the property that for every u L -1 h { v : L ( v ) = h } the
operator L( u ) = A - B ( u ) is invertible on H . Lemmata 5.3 and 5.4 enable us to use
the Sard-Smale theorem (for the statement and the proof see, e.g., the book by
A. V. Babin and M. I. Vishik [1]) and state that the set R of regular values of the
mapping L ( u ) = Au - B ( u ) is an open everywhere dense set in H . The following
assertion is valid for regular values of the operator L .
Lemma 5.5.
Let h be a regular value of the operator L . Then the set of solutions to
equation (5.9) is finite.
Proof.
By virtue of Lemma 5.3 the set N = { v : L ( v ) = h } is compact. Since
h R , the operator L ( u ) = A - B ( u ) is invertible on H for u N . It is also
evident that L( u ) has a domain D ( A ) . Therefore, by virtue of the uniform
boundedness principle A L( u ) -1 is a bounded operator for u N . Hence,
it follows from (5.14) that
A( v - w ) AL( v ) - 1 L ( v ) ( v - w ) =
= AL( v ) -1 B ( v ) - B ( w ) - B ( v ) ( v - w ) = o ( A1 / 2 ( v - w ) )
for any v and w in N . This implies that for every v N there exists a vicinity
that does not contain other points of the set N . Therefore, the compact set N
has no condensation points. Hence, N consists of a finite number of elements.
Lemma 5.5 is proved.
In order to prove the hyperbolicity (for the definition see Section 6 of Chapter 1) of
fixed points we should first consider linearization of problem (5.8) at these points.
Assume that the hypotheses of Lemma 5.4 hold and v0 D ( A ) is a stationary solu-
tion. We consider the problem
Systems with Lyapunov Function 115
du
------ + ( A - B ( v0 ) ) u = 0 , u t = 0 = u0 . (5.15)
dt
Its solution can be regarded as a continuous function in F1 2 = D ( A 1 / 2 ) which satis-
fies the equation
t
u ( t ) = e -t A u0 +
e
0
-( t - t ) A
B ( v0 ) u ( t ) d t .
If u 0 D ( A1 / 2 ) ,
then we can apply Theorem 2.3 on the existence and uniqueness
of solution. Let Tt stand for the evolutionary operator of problem (5.15).
E x e r c i s e 5.6 Prove that for any r > 0 and t > 0 the set of points of the
spectrum of the operator Tt that are lying outside the disk { l :
l r } is finite and the corresponding eigensubspace is finite-di-
mensional.
The next assertion contains the conditions wherein the evolutionary operator St be-
longs to the class C 1 + a , a > 0 , on the set of stationary points.
Theorem 5.2.
Assume that conditions (5.1),, (5.2),, and (4.2) are fulfilled with q = 1 2 .
Let B ( u ) possess a Frecht derivative in F1 2 such that for any R > 0
B ( u + v ) - B ( u ) - B ( u ) v C A1 / 2 v 1 + a , a > 0, (5.16)
provided that A1 / 2 v R , where the constant C = C ( u , R ) depends on u
and R only. Then the evolutionary operator St of problem (5.8) has a
Frecht derivative at every stationary point v0 . Moreover, ( [ St ( v0 ) ] , u ) =
= Tt u , where Tt is the evolutionary operator of linear problem (5.15)..
Proof.
It is evident that
t
St [ v0 + u ] - v0 - Tt u =
e
0
-( t - t ) A
B ( St [ v0 + u ] ) - B ( v 0 ) - B ( v0 ) Tt u d t .
Therefore, using (1.17) and (5.16) we have
116 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h t
a
p
t
A1 / 2 y ( t )
(2 e [ t - t] )
0
-1 2
{ C A1 / 2 ( St [ v0 + u ] - v0 ) 1+ a
+
e
r
2 + B ( v0 ) A1 / 2 y ( t ) d t ,
where y ( t ) = St [ v0 + u ] - v0 - Tt u . Using the result of Exercise 5.4 we obtain that
aR t
A1 / 2 ( St [ v0 + u ] - v0 ) bR e A1 / 2 u if A1 / 2 u R .
Thus,
t
(t - t)
( 1 + a ) aR t 1+a -1 2
A1 / 2 y ( t ) C0 t e A1 / 2 u + C1 A1 / 2 y ( t ) d t .
0
Consequently, Lemma 2.1 gives us the estimate
A1 / 2 ( St [ v0 + u ] - v0 - Tt u ) CT A1 / 2 u 1 + a , t [ 0, T] .
The reasoning above leads to the following result on the properties of the set of fixed
points of problem (5.8).
Theorem 5.3.
Assume that conditions (5.1),, (5.2) and (4.2) are fulfilled with q = 1 2
and the operator B ( u ) possesses a Frecht derivative in F1 2 such that
equation (5.16) holds with the constant C = C ( R ) depending only on R for
A1 / 2 u R and A1 / 2 v R . Then there exists an open dense (in H ) set
R such that for h R the set of fixed points of the system ( F1 2 , St ) gen-
erated by problem (5.8) is finite. If in addition we assume that B ( z ) is a
symmetric operator for z D ( A ) , then fixed points are hyperbolic.
hyperbolic.
In particular, this theorem means that if h R , then the global attractor of the dy-
namical system generated by equation (5.8) possesses the properties given in Exer-
cises 1.6.91.6.12. Moreover, it is possible to apply Theorem 1.6.3 as well as the other
results related to finiteness and hyperbolicity of the set of fixed points (see, e.g., the
book by A. V. Babin and M. I. Vishik [1]).
Systems with Lyapunov Function 117
E x a m p l e 5.1
Let us consider a dynamical system generated by the nonlinear heat equation
u 2 u
------ - n ---------2- + g ( x , u ( x ) ) = h ( x ) , 0 < x < 1 , t > 0 ,
t x (5.17)
u = u x = 1 = 0 , u t = 0 = u0 ( x ) ,
x=0
in H01 ( 0 , 1 ) . Assume that g ( x , u ) is twice continuously differentiable with re-
spect to its variables and the conditions
y y
g ( x , x ) d x -a ,
0
y g( x , y ) - b g( x , x ) d x -g
0
are fulfilled with some positive constants a , b , and g .
It should be noted that if a property of a dynamical system holds for the parameters
from an open and dense set in the corresponding space, then it is frequently said that
this property is a generic property .
However, it should be kept in mind that the generic property is not the one that
holds almost always. For example one can build an open and dense set R in [ 0 , 1 ] ,
the Lebesgue measure of which is arbitrarily small ( e ) . To do that we should
take
R= x (0, 1) :
k=1
x - rk < e 2- k - 2 ,
where { rk } is a sequence of all the rational numbers of the segment [ 0 , 1 ] . There-
fore, it should be remembered that generic properties are quite frequently encoun-
tered and stay stable during small perturbations of the properties of a system.
118 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h 6 Explicitly Solvable Model
a
p of Nonlinear Diffusion
t
e
r
2 In this section we study the asymptotic properties of solutions to the following non-
linear diffusion equation
1
0
ut - n u x x + u ( x , t ) 2 d x - G u + r ux = 0 ,
0 < x < 1, t > 0,
(6.1)
u
x = 0 = u x = 1 = 0 , u t = 0 = u0 ( x ) ,
where n > 0 , > 0 , G and r are parameters. The main feature of this problem is
that the asymptotic behaviour of its solutions can be completely described with the
help of elementary functions. We do not know whether problem (6.1) is related to
any real physical process.
E x e r c i s e 6.1 Show that Theorem 2.4 which guarantees the global existence
and uniqueness of mild solutions is applicable to problem (6.1) in the
Sobolev space H 01 ( 0 , 1 ) .
E x e r c i s e 6.2 Write out the system of ordinary differential equations for the
functions { gk ( t ) } that determine the Galerkin approximations
m
um ( t ) = 2 g (t) sin p k x
k=1
k (6.2)
and
2 G 2 - ( 1 - e -2 n p 2 t ) .
u ( t ) 2 u0 2 e -2 n p t + ------------------ (6.4)
4 n p2
Here and below . is a norm in L2 ( 0 , 1 ) .
E x e r c i s e 6.4 Using equations (6.3) and (6.4) prove that the dynamical sys-
tem generated by problem (6.1) in H 01 ( 0 , 1 ) is dissipative.
Explicitly Solvable Model of Nonlinear Diffusion 119
v = n v , x ( 0, 1) , t > 0 ,
t xx
(6.7)
v r
x = 0 = v x = 1 = 0 , v t = 0 = u 0 ( x ) exp - ------
- x .
2n
The following assertion shows that the asymptotic properties of equation (6.7)
completely determine the dynamics of the system generated by problem (6.1).
Lemma 6.1.
Every mild (in H 01 ( 0 , 1 ) ) solution u ( x , t ) to problem (6.1) can be re-
written in the form
w (x, t)
u ( x , t ) = ---------------------------------------------------------------- , (6.8)
t 1 / 2
1 + 2 w (t) 2 dt
0
where w ( x , t ) has the form
r2 r
w ( x , t ) = v ( x , t ) exp G - ------- t + ------- x (6.9)
4 n 2 n
and v ( x , t ) is the solution to problem (6.7).
120 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
Proof.
a
Let w ( x , t ) have the form (6.9). Then we obtain from (6.6) that
p
t
e t
r
2
w ( x , t ) = u ( x , t ) exp u (t) d t . (6.10)
2
0
Therefore,
t t
2
d
1 ----
w ( x , t ) 2 = u ( x , t ) 2 exp 2 u ( t ) 2 d t = ------
d t
exp 2 u ( t ) 2 d t .
0 0
Hence,
t t
exp 2
2
u(t) d t = 1 + 2
w( t) 2
dt .
0 0
Now let us find the fixed points of problem (6.1). They satisfy the equation
2
-n ux x + ( u - G ) u + r ux = 0 , u x=0 = u x=1 = 0.
r
Therefore, u ( x ) = w ( x ) exp ------- x , where w ( x ) is the solution to the problem
2 n
r2
-n wx x + u 2 - G + ------- w = 0 , w x = 0 = w x = 1 = 0 .
4 n
However, this problem has a nontrivial solution w ( x ) if and only if
2 r2
w ( x ) = C sin p n x and u - G + ------- + n ( p n ) 2 = 0 ,
4n
r
where n is a natural number. Since u = w exp ------- x , we obtain the equation
2 n
1 r
r2
--- x
C 2 e n sin2 p n x d x + n ( p n ) 2 - G + ------- = 0
4n
0
which can be used to find the constant C . After the integration we have
2 n2 n2 p2 r2
--n- ( e r / n - 1 ) -------------------------------------- = G - ------- - n ( p n ) 2 .
C2 r
r2 + 4 n2 n2 p2 4n
The constant C can be found only when the parameter n possesses the property
G - r 2 ( 4 n ) - n ( p n ) 2 > 0 . Thus, we have the following assertion.
Explicitly Solvable Model of Nonlinear Diffusion 121
Lemma 6.2.
r2
Let g = g ( G , n , r ) G - ------
4n
. If g n p 2 , then problem (6.1) has a unique
fixed point u0 ( x ) 0 . If ( p n ) 2 < g p 2 ( n + 1 ) 2 for some n 1 , then
the fixed points of problem (6.1) are
r
------ x
u0 ( x ) 0 , uk ( x ) = m k e 2n sin p k x , k = 1, 2, , n , (6.11)
where
1 2 r dk ( G , r , n )
m k m k ( G , r , n ) = ------------------
- ---------------------------------------- , (6.12)
4n pk 2 r
exp --- - 1
n
dk ( G , r , n ) = [ 4 G n - r2 - 4 ( p n n ) 2 ] [ r2 + 4 ( p n n ) 2 ] .
Theorem 6.1.
r2
Let g G - ------- < n p 2 . Then for any mild solution u ( t ) to problem (6.1)
4n
the estimate
C ( r , n ) e -( n p
2 - g) t
x u ( t ) x u0 , t 0, (6.14)
is valid. If g n p 2 and n p 2 N 2 > g , then the subspace HN - 1 defined by
formula (6.13) is exponentially attracting:
( St u0 , HN - 1 ) C ( r , n ) e -( n p
2 N2 - g ) t
dist 1 x u0 . (6.15)
H0 ( 0 , 1 )
Proof.
Let w ( x , t ) be of the form (6.9). Then
r
- ------ x
e
2
wr ( t ) e 2n w ( t ) = -( n ( p k ) - g ) t Ck , r ek ( x ) , (6.16)
k=1
where e k ( x ) = 2 sin p k x and
1 r
- ------ x
Ck , r = e 2n u0 ( x ) ek ( x ) d x .
0
122 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
Assume that g < n p 2 . Then it is obvious that
a
(p k)
p
t x wr ( t ) 2
= 2
C k2, r exp { -2 ( n ( p k ) 2 - g ) t }
e
r k=1
r
- ------ x 2
2 exp { -2 ( n p 2 - g ) t } x e 2n u0 .
(6.17)
In particular, Theorem 6.1 means that if g G - r 2 ( 4 n ) < n p 2 , then the global at-
tractor of problem (6.1) consists of a single zero element, whereas if g n p 2 , the
attractor lies in an exponentially attracting invariant subspace HN , where N0 =
0
= [ ( 1 p ) g n ] and [ . ] is a sign of the integer part of a number.
The following assertion shows that the global minimal attractor of problem
(6.1) consists of fixed points of the system. It also provides a description of the cor-
responding basins of attraction.
Theorem 6.2.
r2
Let g G - ------ > n p 2 . Assume that the number p -1 g n is not integer.
4n
Suppose that N0 is the greatest integer such that n ( p N0 ) 2 < g . Let
Explicitly Solvable Model of Nonlinear Diffusion 123
1 r
- ------ x
Cj ( u0 ) = 2 e 2n u 0 ( x ) sin p j x d x
0
and let u ( t ) be a mild solution to problem (6.1)..
(a) If Cj ( u0 ) = 0 for all j = 1 , 2 , , N0 , then
x u ( t ) C ( n , r ) exp { -( n p 2 ( N0 + 1 ) 2 - g ) t } x u0 , t 0 . (6.20)
Proof.
In order to prove assertion (a) it is sufficient to note that the value hN ( t ) is
identically equal to zero in decomposition (6.18) when N = N0 + 1 . Therefore,
(6.20) follows from (6.19).
Now we prove assertion (b). In this case equation (6.18) can be rewritten in the
form
w ( t ) = gk ( t ) + h k ( t ) + wr , N +1 ( t ) , (6.22)
0
where
r
------ x 2
gk ( t ) = 2 e 2n e -[ n ( p k ) - g ] t Ck ( u0 ) sin p k x ,
r N0
------ x
2
hk ( t ) = 2e 2n e -[ n ( p j ) - g ] t C j , r sin p j x ,
j=k+1
and hk ( t ) 0 if k = N 0 . Moreover, the estimate
2
-( n p 2 ( N0 + 1 ) - g ) t
x wr , N0 + 1 ( t ) C (r, n) e x u 0 (6.23)
( 2 gk ( t ) + hk ( t ) + wr , N0 + 1 ( t ) ) ( hk ( t ) + wr , N0 + 1 ( t ) ) ,
w ( t ) 2 - gk ( t ) 2 C exp { 2 [ g - n p 2 ( k 2 + ( k + 1 ) 2 ) ] t } x u 0 2 .
124 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
Integration gives
a
t 1 r t
g (t) e
p
--- x 2 (g - n (p k) ) t
2
t
2 2
d t = 4 [ Ck ( u0 ) ] 2 n
e sin p k x d x
2 dt =
e k
r
0 0 0
2 C k ( u 0 ) 2 2 ( g - n ( p k ) 2 ) t
= 2 ------------------ (e - 1) ,
mk
where
k2 + ( k + 1 ) 2
ak ( t ) C 1 + exp 2 g - n p 2 --------------------------------- t x u0 2
, k N0 - 1 .
2
Let
gk ( t )
vk ( t ) = -------------------------------------------------------------
-.
t 1/2
1 + 2 w ( t ) 2 d t
0
We consider the case when 1 k N 0 - 1 . Equations (6.23)(6.25) imply that
x hk ( t )
x ( u ( t ) - vk ( t ) ) x wr , N0 + 1( t ) + -------------------------------------------------------------
-
t 1/2
1 + 2 w ( t ) 2 d t
0
-( n p 2 ( N0 + 1 ) 2
- g) t
C ( r , n ) x u0 e +
exp { ( g -n p 2 ( k + 1 ) 2 ) t }
+ -------------------------------------------------------------------------------------------------------------- .
k ( u 0 )
2 1/2
1 + 2 C
- e 2 ( g - n ( p k ) ) t + a k ( t )
2
-----------------
mk
Therefore,
x ( u ( t ) - vk ( t ) )
- ( n p2 ( N0 + 1 ) 2 - g ) t 2
+ e -n p ( ( k + 1 ) - k ) t G ( t ) -1 / 2 ,
2 2
C ( r , n , u0 ) e
Explicitly Solvable Model of Nonlinear Diffusion 125
where
C k ( u0 ) 2
G ( t ) = ( 1 + ak ( t ) ) e -2 ( g - n p k ) t + 2 ------------------
2 2
.
mk
It follows from (6.25) that G ( t ) > 0 for all t 0 and G ( 0 ) = 1 . Moreover, the
above-mentioned estimate for ak ( t ) enables us to state that
Ck ( u0 ) 2
lim G ( t ) = 2 ----------------- > 0.
t mk
This implies that there exists a constant Gmin = Gmin ( g , k , n , u0 ) > 0 such that
G ( t ) Gmin for all t 0 . Consequently,
x ( u ( t ) - vk ( t ) ) C ( r , n , g ; u0 ) e -a t , (6.26)
with the constant b = n p 2 ( 2 k + 1 ) . This and equation (6.26) imply (6.21), provi-
ded k N0 - 1 . We offer the reader to analyse the case when k = N0 on his / her
own. Theorem 6.2 is proved.
Corollary 6.1.
Let g G - r 2 ( 4 n ) > n p 2 . Assume that the number p -1 g n is not in-
teger. Let N 0 be the greatest integer possessing the property n ( p N0 ) 2 < g .
We denote
1 r
- ------- x
Cj ( u ) = 2 e 2 n u ( x ) sin p j x d x
0
and define the sets
D k = { u H01 ( 0 , 1 ) : Cj ( u ) = 0 , j = 1 , , k - 1 , Ck ( u ) > 0 } ,
D -k = { u H01 ( 0 , 1 ) : Cj ( u ) = 0 , j = 1 , , k - 1 , Ck ( u ) < 0 }
126 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
for k = 1 , 2 , , N0 . We also assume that
a
p D 0 = { u H 01 ( 0 , 1 ) : Cj ( u ) = 0 , j = 1 , 2 , , N0 } .
t
e
r
Then for any l = 0 , 1 , 2 , , N0 we have that
2 lim St v -ul 1 = 0 v Dl ,
t H0 ( 0 , 1 )
where { u l } are the fixed points of problem (6.1) which are defined by
equalities (6.11).
The next assertion gives us a complete description of the global attractor of problem
(6.1).
Theorem 6.3.
Assume that the hypotheses of Theorem 6.2 hold and N0 is the same as
in Theorem 6.2.. Then the global attractor A of the dynamical system
( H01 ( 0 , 1 ) , St ) generated by equation (6.1) is the closure of the set
r
------ x
N0
2 x k e 2n sin p k x
A = v ( x ) = -------------------------------------------------------------------------------------
k=1
- : xj R , (6.27)
ak j 1 / 2
N0
1 + 2 x x -----------------
k , j = 1 k j n k + n j
where nk = g - n ( p k ) 2 , k = 1 , 2 , , N0 , and
1 r
--- x
ak j = 2 e n sin p k x sin p j x d x , k , j = 1 , 2 , , N0 .
0
Every complete trajectory { u ( t ) : t R } which lies in the attractor and
does not coincide with any of the fixed points u k , k = 0 , 1 , , N0 , has
the form
r
------ x
N0 nk t
2 x e e 2n sin p k x
k=1 k
u ( t ) = ----------------------------------------------------------------------------------------------------------------
- , (6.28)
ak j 1/2
1 + 2 N0 (n + n ) t
xk xj ----------------- e k j
k, j = 1 nk + nj
N0
E x e r c i s e 6.6 Show that for all x R the function
ak j ( n + n ) t
N0
a (t, x) = 2 xk xj ----------------
nk + nj e
- k j , t 0 (6.29)
k, j=1
and the value a ( t , x ) is defined according to (6.29). Simple calculations show that
t
a (t , x ) - a( 0 , x )
2
w(t)
0
2
d t = --------------------------------------------- .
1 + a(0, x)
Therefore, it is easy to see that St h = u ( t ) for t 0 , where u ( t ) has the form (6.28).
It follows that St A = A and that a complete trajectory u ( t ) lying in A has the form
(6.28). In particular, this means that A A . To prove that A = A it is sufficient to
verify using Theorem 6.1 and the reduction principle (see Theorem 1.7.4) that for
any element h HN there exists a semitrajectory v ( t ) A such that
0
lim x ( St h - v ( t ) ) = 0
t
uniformly with respect to h from any bounded set in HN . To do this, it should be
0
kept in mind that for
N0
r
------ x
h= 2
k=1
xk e 2n sin p k x HN
0
(6.31)
C
h St h - v ( t ) = y ( t , h ) St h , (6.32)
a
p where
t
a (0, x) 1/2
y ( t , h ) = 1 - 1 - ---------------------------- .
e
r
1 + a (t, x)
2 Using the obvious inequality
1 - (1 - x)1/2 x , 0 x 1,
we obtain that
a (0, x)
y ( t , h ) ---------------------------- ,
1 + a (t, x)
provided that h has the form (6.31). It is evident that
t N0
e
2 nN t
a ( t , x ) a ( 0 , x ) + c0 0 dt x
k=1
2
k .
0
Therefore,
-1
t 2n t
y (t, h) C e
0
N0
d t
.
E x e r c i s e 6.7 Show that the set A coincides with the unstable manifold
M+ ( 0 ) emanating from zero, provided that the hypotheses of Theo-
rem 6.3 hold.
E x e r c i s e 6.8 Show that the set A = M + ( 0 ) from Theorem 6.3 can be de-
scribed as follows:
N0 r
------ x
A = v = 2
k=1
h k e 2n sin p k x :
N0
ak j N0
2
k, j=1
h k h j ----------------- < 1 , h R .
nk + nj
Explicitly Solvable Model of Nonlinear Diffusion 129
N0 r
------ x
A = v = 2
k=1
hk e 2n
sin p k x :
N0
ak j N
2
k, j=1
h k h j ----------------
nk + nj
- = 1 , h R 0
of the set A is a strictly invariant set.
E x e r c i s e 6.11 Using the result of Exercise 6.10 find the unstable manifold
M+( u k ) emanating from the fixed point uk , k = 1 , 2 , , N0 .
C
h E x e r c i s e 6.14 Study the structure of the global attractor of the dynamical
a
p
system generated by the equation
t
e
r
1
2 t
xx
u - n u + ( u ( x , t ) 2 + v ( x , t ) 2 ) d x - G u - a v = 0, 0 < x < 1 , t > 0 ,
0
1
0
2 2
vt - n vx x + ( u ( x , t ) + v ( x , t ) ) d x - G v + a u = 0, 0 < x < 1 , t > 0 ,
u = u x = 1 = v x = 0 = v x = 1 =0
x=0
In 1948 German mathematician E. Hopf suggested (see the references in [3]) to con-
sider the following system of equations in order to illustrate one of the possible sce-
narios of the turbulence appearance in fluids:
u = m ux x - v * v - w * w - u * 1 , (7.1)
t
v = mv + v u + v a + w b ,
t xx * * * (7.2)
w = mw + w u -v b + w a ,
t xx * * * (7.3)
where the unknown functions u , v , and w are even and 2 p -periodic with respect
to x and
2p
1-
( f * g ) ( x ) = ------
2p f (x - y) g (y) dy .
0
Here a ( x ) and b ( x ) are even 2 p -periodic functions and m is a positive constant.
We also set the initial conditions
u t = 0 = u 0 ( x ) , v t = 0 = v0 ( x ) , w t = 0 = w0 ( x ) . (7.4)
Evidently H is a separable Hilbert space with the inner product and the norm de-
fined by the formulae:
2p
( f, g) =
f (x) g(x) dx ,
0
f 2 = ( f, f )
C
h
while the corresponding eigenelements are defined by the formulae
a
p 1 - ( 1 ; 0 ; 0 ) , e = ---------- 1 - ( 0 ; 1 ; 0 ) , e = ----------
1 - (0 ; 0 ; 1) ,
t e 0 = ---------- 1 2
e 2p 2p 2p
r
1 1
e 3 k = ------- ( cos k x ; 0 ; 0 ) , e 3 k + 1 = ------- ( 0 ; cos k x ; 0 ) , (7.8)
2 p p
1 - ( 0 ; 0 ; cos k x ) ,
e 3 k + 2 = ------
p
where k = 1 , 2 ,
Let
b1 ( u , v , w ) = -v * v - w * w - u * 1 ,
b2 ( u , v , w ) = v * u + v * a + w * b ,
b3 ( u , v , w ) = w * u - v * b + w * a .
B ( y1) - B ( y2 ) C 1 + a + b + y1 + y2 H y1 - y2 ,
H H H
where yj = ( uj ; vj ; wj ) H , j = 1 , 2 .
1 d
--- ---- u ( m ) ( t ) 2 + v ( m ) ( t ) 2 + w ( m ) ( t ) 2 +
2 dt
+ m u x( m ) 2
+ vx( m ) 2
+ wx( m ) 2 =
= -( u( m) * 1 , u( m ) ) + ( v( m ) * a , v ( m ) ) + ( w ( m ) * a , w( m ) ) .
Therefore, inequality (7.5) leads to the relation
d
---- y ( t ) H2 C ( 1 + a ) ym ( t ) H2 .
dt m
This implies the global existence of approximate solutions ym ( t ) (see Exercise 2.1).
Therefore, Theorem 2.2 guarantees the existence of a mild solution to problem
(7.1)(7.4) in the space H = H 3 on the time interval of any length T . Moreover, the
mild solution y ( t ) = ( u ( t ) ; v ( t ) ; w ( t ) ) possesses the property
max y ( t ) - ym ( t ) 0 , m
[0, T ]
for any segment [ 0 , T ] . Approximate solution ym ( t ) has the structure (7.9).
C
h
Therefore, the phase space H of the dynamical system ( H , St ) falls into the ortho-
a gonal sum
p
t
e
r
H=
k=0
L k
2
of invariant subspaces. Evidently, the dynamics of the system ( H , St ) in the sub-
space Lk is completely determined by the system of three ordinary differential
equations (7.11)(7.13).
Lemma 7.1.
Assume that a , b H and
2p
1-
C0 = ----------
2p a (x) dx < 0 .
0
(7.14)
Proof.
Let us fix N and then consider the initial conditions y0 = ( u0 , v0 , w0 )
from the subspace
N N
HN =
k=0
Lk = Lin {e
k=0
3 k, e3 k + 1 , e3 k + 2 } ,
1 d
--- ---- ( u 2 + v 2 + w 2 ) + m ( u x
2
+ vx 2
+ wx 2 ) =
2 dt
m m
= ( ( - u + a ) * 1 , u ) + m ( ax , ) + (v (q a) , v) +
u x * m
+ ( w * ( qm a ) , w ) + ( v * ( p0 a ) , v ) + ( w * ( p0 a ) , w ) . (7.18)
It is clear that
( ( -u ) = -[ C ( u
+ am) 1 , u ) ]2 , 1 - C ( a ) [ C ( v) ] 2 ,
( v * ( p0 a ) , v ) = ----------
* 0 0 0
2p
where C0 ( f ) is the zeroth Fourier coefficient of the function f ( x ) H . Moreo-
ver, the estimate
qm v vx , m 1,
C
h E x e r c i s e 7.8 Consider the restriction of the dynamical system ( H , S t ) to
a
p
the subspace
t
2p
e
H = h ( x ) = ( u ( x ) ; v ( x ) ; w ( x ) ) H ,
r
2
h (x) dx = 0 =
L
n 1
n.
0
Show that ( H , St ) is dissipative not depending on the validity of
condition (7.14).
Lemma 7.2.
Assume that the hypotheses of Lemma 7.1 hold and let pm be the ortho-
projector onto the span of elements { cos k x : k = 0 , 1 , , m } in H ,
qm = 1 - pm . Then the estimate
qm a
2
ym ( t ) H y0 H2 exp -2 ( m + 1 ) 2 m - --------------
- t (7.21)
2p
holds for all m such that qm a < m 2 p ( m + 1 ) 2 . Here ym ( t ) = ( qm u ( t ) ;
qm v ( t ) ; qm w ( t ) ) and ( u ( t ) ; v ( t ) ; w ( t ) ) is the mild solution to problem
(7.1)(7.4) with the initial condition y0 = ( u 0 ; v0 ; w0 ) .
Proof.
As in the proof of Lemma 7.1 we assume that y0 = ( u0 ; v0 ; w0 ) H N for
some N . If we apply the projector qm to equalities (7.15)(7.17), then we get
the equations
u m - m u m = - vm vm - wm wm ,
t xx * *
m m
vt - m vx x = v m * u m + w m * b + v m * qm a ,
w m - m w m = wm um -vm b + wm q a ,
t xx * * * m
y ( t ) H2 + m ( m + 1 ) 2 - ----------
1 - q a y (t) 2 0 .
1 d
--- ----
2 dt m 2p
m m H
Lemmata 7.1 and 7.2 enable us to prove the following assertion on the existence
of the global attractor.
Theorem 7.1.
Let a , b H and let condition (7.14) hold. Then the dynamical system
( H , St ) generated by the mild solutions to problem (7.1)(7.4) possesses a
global attractor A m . This attractor is a compact connected set. It lies in the
finite-dimensional subspace
N
HN = Lin {e
k=0
3 k, e3 k + 1 , e3 k + 1 } ,
where the vectors { e n } are defined by equalities (7.8) and the parameter N
is defined as the smallest number possessing the property qN a <
< m 2 p ( N + 1 ) 2 . Here qN is the orthoprojector onto the subspace generated
by the elements { cos n x : n N + 1 } in H .
To prove the theorem it is sufficient to note that the dynamical system is compact
(see Lemma 4.1). Therefore, we can use Theorem 1.5.1. In particular, it should be
noted that belonging of the attractor A m to the subspace HN means that
dimf A m 3 ( N + 1 ) , where N is an arbitrary number possessing the property
qN a < m 2 p ( N + 1 ) 2 . Below we describe the structure of the attractor and evalu-
ate its dimension exactly.
Theorem 7.2.
Let the hypotheses of Theorem 7.1 hold. Then the global minimal attrac-
(m)
tor A min of the dynamical system ( H , St ) generated by mild solutions to
(m)
problem (7.1)(7.4) has the form Amin = { 0 } S m , where
cos k x
Sm =
k Jm ( a ) 0 j <
( uk ; rk cos j ; rk sin j ) ---------------- .
2 p
p
C
h
Fourier coefficients of the function a ( x ) , and the number k ranges over
a the set of indices Jm ( a ) such that 0 < m k 2 < ak . Topologically S m is a torus
p
t (i.e. a cross product of circumferences) of the dimension Card Jm( a ) . The
(m )
e
r
global attractor A m of the system ( H , St ) can be obtained from Amin by at-
taching the unstable manifold M+ ( 0 ) emanating from the zero element of
2 the space H . Moreover, dim A m = 2 Card Jm ( a ) .
It should be noted that appearance of a limit invariant torus of high dimension pos-
sesssing the structure described in Theorem 7.2 is usually assosiated with the Land-
au-Hopf picture of turbulence appearance in fluids. Assume that the parameter m
gradually decreases. Then for some fixed choice of the function a ( x ) the following
picture is sequentially observed. If m is large enough, then there exists only one at-
tracting fixed point in the system. While m decreases and passes some critical value
m 1 , this fixed point loses its stability and an attracting limit cycle arises in the sys-
tem. A subsequent decrease of m leads to the appearance of a two-dimensional
torus. It exists for some interval of values of m : m 3 < m < m2 ( < m 1 ) . Then tori
of higher dimensions arise sequentially. Therefore, the character of asymptotic be-
haviour of typical trajectories becomes more complicated as m decreases. According
to the Landau-Hopf scenario, movement along an infinite-dimensional torus corres-
ponds to the turbulence.
8 On Retarded Semilinear
Parabolic Equations
In this section we show how the above-mentioned ideas can be used in the study of
the asymptotic properties of dynamical systems generated by the retarded perturba-
tions of problem (2.1). It should be noted that systems corresponding to ordinary re-
tarded differential equations are quite well-studied (see, e. g., the book by J. Hale [4]).
However, there are only occasional journal publications on the retarded partial dif-
ferential equations. The exposition in this section is quite brief. We give the reader
an opportunity to restore the missing details independently.
As before, let A be a positive operator with discrete spectrum in a separable
Hilbert space H and let C ( a , b , Fq ) be the space of strongly continuous functions
on the segment [ a , b ] with the values in Fq = D ( A q ) , q 0 . Further we also use
the notation C q = C ( - r , 0 ; F q ) , where r > 0 is a fixed number (with the meaning
of the delay time). It is clear that C q is a Banach space with the norm
v C max Aq v ( s ) : s [ -r ; 0 ] .
q
On Retarded Semilinear Parabolic Equations 139
for any v1, v2 Cq such that vj C R , where R > 0 is an arbitrary number and M(R)
q
is a nondecreasing function. In the space H we consider a differential equation
du
------ + Au = B ( ut ) , t t0 , (8.2)
dt
where ut denotes the element from C q determined with the help of the function
u ( t ) by the equality
ut ( s ) = u ( t + s ) , s [ -r , 0 ] .
We equip equation (8.2) with the initial condition
ut ( s ) = u ( t0 + s ) = v ( s ) , s [ -r , 0 ] , (8.3)
0
------
u
- Du = f 1 ( u ( t , x ) ) - f 2 ( u ( t - r , x ) ) , x W , t > t0 ,
t
(8.4)
u W = 0 , u (s) s [ t - r, t ] = v (s) .
0 0
-( t - t0 ) A - ( t - t0 ) A
u (t) = e v (0) + e B (u t) dt . (8.5)
t0
The following analogue of Theorem 2.1 on the local solvability of problem (8.2)
and (8.3) holds.
Theorem 8.1.
Assume that (8.1) holds. Then for any initial condition v Cq there
exists T > 0 such that problem (8.2) and (8.3) has a unique mild solution
on the half-interval [ t0 , t0 + T ) .
Proof.
As in Section 2, we use the fixed point method. For the sake of simplicity we
consider the case t0 = 0 (for arbitrary t0 R the reasoning is similar). In the space
Cq ( 0 , T ) C ( 0 , T ; F q ) we consider a ball
140 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
w - v C ( 0 , T ) r } ,
C
h Br = { w Cq ( 0 , T ) :
a q
2 w C ( 0 , T ) max { Aq w ( t ) : t [ 0 , T ] } .
q
-------------------
q - q
Aq ( K w1 ( t ) - K w2 ( t ) ) B ( w1 , t ) - B ( w2 , t ) d t . (8.7)
e ( t - t )
0
If w B r , then
max Aq w ( t ) r + Aq v ( 0 ) .
[0 , T]
This easily implies that
wt C r+ vC , t [ 0, T] ,
q q
w (t) , t [ 0, T ] ,
u (t) =
v ( t ) , t [ -r , 0 ] ,
lies in C ( - r , T ; Fq ) and is a mild solution to problem (8.2), (8.3) on the segment
[ 0 , T ] . Thus, Theorem 8.1 is proved.
In many aspects the theory of retarded equations of the type (8.2) is similar to the
corresponding reasonings related to the problem without delay (see (2.1)). The exer-
cises below partially confirm that.
For the sake of simplicity from now on we restrict ourselves to the case when the
mapping B has the form
B ( v ) = B0 ( v ( 0 ) ) + B1 ( v ) , v = v ( s ) C1 2 , (8.9)
where B 0 ( . ) is a continuous mapping from F 1 2 D ( A 1 / 2 ) into H , B1 ( . ) continu-
ously maps C 1 2 into H and possesses the property B1( 0 ) = 0 . We also assume
that B 0 ( . ) is a potential operator, i.e. there exists a continuously Frecht differenti-
able function F ( u ) on F1 2 such that B0 ( u ) = - F ( u ) . We require that
F ( u ) -a , ( F (u) , u ) - b F(u ) g u 2 -d (8.10)
for all u F1 2 , where a , b , g , and d are real parameters, b and g are positive
(cf. Section 2). As to the retarded term B1 ( v ) , we consider the uniform estimate
0
B1( v1 ) - B 2 ( v2 ) M
A
-r
1 / 2 (v (s)
1 - v2 ( s ) ) d s (8.11)
C
h E x e r c i s e 8.3 Assume that conditions (8.9)(8.11) hold. Then problem (8.2)
and (8.3) has a unique mild solution (in F1 2 ) on any segment
a
p
t [ t0 , t0 + T ] for every initial condition v from C = C1 2 .
e
r
Therefore, we can define an evolutionary operator St acting in the space C C1 2
2 by the formula
( St v ) ( s ) = ut ( s ) u ( t + s ) , s [ -r , 0 ] , (8.12)
where u ( t ) is a mild solution to problem (8.2) and (8.3).
Theorem 8.2.
Let conditions (8.9)(8.11) and (8.1) with q = 1 2 hold. Assume that
the parameters in (8.10) and (8.11) satisfy the equation
Proof.
We reason in the same way as in the proof of Theorem 4.3. Using the Galerkin
approximations it is easy to find that a solution to problem (8.2) and (8.3) satisfies
the equalities
1 d
--- ---- u ( t ) 2 + A1 / 2 u ( t ) 2 + ( F ( u ( t ) ) , u ( t ) ) = ( B 1 ( ut ) , u ( t ) )
2 dt
and
--- ---- ( A1 / 2 u ( t ) 2 + 2 F ( u ( t ) ) ) + u ( t ) 2 = ( B1 ( ut ) , u ( t ) ) .
1 d
2 dt
If we add these two equations and use (8.10), then we get that
---- V ( u ( t ) ) + A1 / 2 u ( t ) 2 + g u ( t ) 2 + u ( t ) 2 + b F ( u ( t ) )
d
dt
d + B ( u ) ( u ( t ) + u ( t ) ) ,
1 t (8.13)
where
V (u) = 1
--- u 2 + 1
--- A1 / 2 u 2 + F ( u ) + a . (8.14)
2 2
Using (8.11) it is easy to find that there exists a constant D0 > 0 such that
On Retarded Semilinear Parabolic Equations 143
t
d
---- V ( u ( t ) ) + w1V ( u ( t ) ) D 0 + 1
dt
--- w 2
2
t -r
A1 / 2 u ( t ) 2 d t ,
where
j (t) d t
w t w r
j ( t ) D 0 e 1 + w 2 e 1
t -r
for the function
w1 t w1 t
j (t) = e y (t) = e V(u(t) ) .
If we integrate this inequality from 0 to t , then we obtain
t
j (t) dt .
D w t w r
j ( t ) j ( 0 ) + ------0- ( e 1 - 1 ) + w 2 e 1 r
w1
-r
Therefore, Gronwalls lemma gives us that
-w3 t
V ( u ( t ) ) ( V ( u ( 0 ) ) + C 0 v C2 ) e + C1 ,
1 2
provided that
w 1r
w2 e r < w1 .
w r
Here C 1 and C2 are positive numbers, w 3 = w 1 - w 2 e 1 r > 0 . This implies
the dissipativity of the dynamical system ( C , St ) . In order to prove its compactness
we note that the reasoning similar to the one in the proof of Lemma 4.1 enables us
to prove the existence of the absorbing set B q which is a bounded subset of the
space C q = C ( - r , 0 ; D ( Aq ) ) for 1 2 < q < 1 . Using the equality (cf. (8.5))
t
u(t) = e -( t - s ) A u ( s ) +
e
s
-( t - t ) A B ( u
t) dt
A1 / 2 ( u ( t ) - u ( s ) ) C t - s b
holds for the solution u ( t ) in the absorbing set B q . Here the constant C depends
on B q and the parameters of the problem only, b > 0 . This circumstance enables
144 Long-Time Behaviour of Solutions to a Class of Semilinear Parabolic Equations
C
h
us to prove the existence of a compact absorbing set for the dynamical system
a ( C , St ) . Theorem 8.2 is proved.
p
t
e Theorem 8.2 and the results of Chapter 1 enable us to prove the following assertion
r
on the attractor of problem (8.2) and (8.3).
2
Theorem 8.3.
Assume that the hypotheses of Theorem 8.2 hold. Then the dynamical
system ( C , St ) possesses a compact connected global attractor A which is
a bounded set in the space Cq = C ( - r , 0 ; Fq ) for each q < 1 .
It should be noted that the finite dimensionality of this attractor can be proved
in some cases.
References