JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS 206, 364]388 Ž1997.

ARTICLE NO. AY975219

The Characterization of Third Order Ordinary Differential

Equations Admitting a Transitive Fiber-Preserving
Point Symmetry Group
Guy Grebot*

´
Departamento de Matematica, Uni¨ ersidade de Brasılia-UnB,
´ Campus Uni¨ ersitario
´
Norte, Brasilia-DF, Brazil

Submitted by Maria Clara Nucci

Received November 29, 1995

Third order ordinary differential equations admitting a transitive symmetry

group of fiber-preserving point transformations are completely characterized. We
give the general expressions of these equations, as well as the canonical equations
representing the equivalence classes. The symmetry groups admitted by these
equations are also characterized. In some cases we give the transformation taking
the canonical equation into the general one. The linearization problem for third
order equations is solved. Q 1997 Academic Press

1. INTRODUCTION

The aim of this work is to give a complete characterization of third

order ordinary differential equations ŽODEs. admitting a transitive group
of fiber-preserving point symmetries.
These transformations were chosen for the following reasons: Since the
classes of equations admitting symmetry groups of fiber-preserving point
transformations are smaller than for contact transformations, we expect
that some special equations, such as the Painleve´ equations, determine for
each one an equivalence class. This is the case for second order equations
w8x, and it has been the case for the Painvele
´ equations of the third order
classified up to now w5x. Also, few equations admit point symmetries which
are not of this kind Žsee w4x. and the classes of equations presented here
are not the exceptions. Due to their restrictions, the task of finding the
transformations that take one equation into another should be easier.

* E-mail address: guy@mat.unb.br.

364
0022-247Xr97 $25.00
Copyright Q 1997 by Academic Press
All rights of reproduction in any form reserved.
 THIRD ORDER DIFFERENTIAL EQUATIONS 365

The determination of the equations admitting a transitive symmetry

group is relevant, not only because they are special equations, but also
because of its practical use. The program clasode3 w6x is based on the
solution of the Cartan equivalence problem for third order ODEs solved in
w5x, and thus it furnishes all the invariants of the symmetry group of a given
ODE. If these invariants exist, this program would be able to reduce the
order of the studied equation directly without the need of finding its
symmetries. But this is not possible for the kind of equations analysed in
this work. In this sense, the existing computer algebra program clasode3
is being implemented in order to use these invariants andror a data bench
of classified special equations in the solution, or classification, of a given
third order equation.
The local equivalence problem for third order ODEs is to determine
necessary and sufficient conditions for a coordinate transformation, taking
one third order ODE into another one, to exist. In w5x, Elie ´ Cartan’s
method of equivalence was used to solve this problem under the group G
of point transformations of the form X s X Ž x ., Y s Y Ž x, y ., where y
satisfies
y - s F Ž x, y, y9, y0 . ,
the 9 denoting total differentiation with respect to x. The different equiva-
lence classes are characterized by a set of functions, invariant under a
subgroup of a given prolongation of G. For self-equivalence, the group
formed by the solutions of the problem is the symmetry group of the
equation under study. Its dimension is related to the number of invariants
determining the class of the considered equation Žsee w9x..
In this work, we analyse the case where all the invariants returned by
the application of the equivalence method are constant. In this case we
obtain a complete characterization of the third order ODEs admitting
symmetry groups of dimension four to seven, as well as a characterization
of those groups.
The reason for not obtaining a characterization of the equations admit-
ting lower dimensional symmetry groups is due to the high number of
invariants. In concrete examples, it is always possible to completely charac-
terize a determined class of equations with the help of the symbolic
program clasode3 w6x. But in the general case it is not possible: many
possibilities appear as one must select at most three functionally indepen-
dent invariants among, say, nine.
In the next section we briefly resume the solution of the equivalence
problem for third order ODEs under fiber preserving point transforma-
tions. The linearization problem is solved in Section 2. In the remaining
sections we give the characterization of the equations admitting symmetry
groups of dimension 6 and 4.
366 GUY GREBOT

2. THE SOLUTION OF THE EQUIVALENCE PROBLEM

We briefly present the solution, obtained in w5x, to the problem of

finding necessary and sufficient conditions for the existence of a transfor-
mation

X s fŽ x.
Ž 1.
Y s c Ž x, y .

taking one third order ODE

y - s F Ž x, y, y9, y0 . , Ž 2.
into another one
Y - s G Ž X , Y , Y 9, Y0 . . Ž 3.
Such a problem is called an equivalence problem, and the method to solve
it is E. Cartan’s method of equivalence Žsee w3x.. We start with a coframe
 v4

 v 0 s dx, v 1 s dy y p dx, v 2 s dp y q dx, v 3 s dq y F dx 4

defined on the second order jet bundle J 2 Ž R, R ., with coordinates
Ž x, y, p, q ., and a similar coframe  V 4 determining the solutions
of Ž3.. The problem to be solved is to find the transformations
F: J 2 Ž R, R . ª J 2 Ž R, R ., which are given by the second prolongation of
Ž1. such that
F*V i s Gv i , Ž 4.
where the G is defined on J 2 Ž R, R . with values in the group G of matrices
of the form

A 0 0 0

Gs
 0
0
0
B
C
D
0
BrA
E
0
0
BrA2
0 .

The idea of the method is to reformulate the problem, using the tech-
Ž 5.

niques of reduction and prolongation w9x, such that it becomes

˜ i s s i.
F*S Ž 6.
The problem is completely solved in this form Žsee w9x.. The solution is
given in terms of a set F of functions, the invariants, defined on J 2 Ž R, R ..
 THIRD ORDER DIFFERENTIAL EQUATIONS 367

Among the elements of F , a maximal set of functionally independent

functions must be selected. The set F and the functional dependence of its
elements with respect to these independent functions characterize the
equivalence class of a given equation.
For self-equivalence, the solutions of the problem form the group of
symmetries of the equation. The dimension r of this group is related to the
number s of functionally independent invariants in F and the dimension n
of the space on which the coframe  s 4 is defined. We have

r s n y s. Ž 7.

The structure of the symmetry group is obtained from the Maurer]Cartan

equations Žsee w3, 9, 13x..
For the solution of the equivalence problem of third order ODEs, the
algorithm of the method splits depending on whether ŽA. F, q q s 0 or ŽB.
F, q q / 0.
In the first case, F, q q s 0, we are led to consider two subcases ŽA-a.
TD 0 s 0 and ŽA-b. TD 0 / 0, where

d
TD 0 s 18 F , p F , q q 4 F ,3q y 18 F , q
ž F, q
dx

d d2
q54F , y y 27 F, p q 9
dx dx 2
F, q
/ Ž 54 A3 . . Ž 8.

If TD 0 s 0 then we obtain two more cases. These cases lead to the class of
the trivial equation and to equivalence classes of equations admitting
symmetry groups of dimension 3, 1, or 0. If TD 0 / 0, then we must
consider the cases

ŽA-ba. TA1 , TA 2 , TA 3 not null,

ŽA-bb. TA1 s 0, and TA 2 , TA 3 not null,
ŽA-bc. TA 2 s 0 and TA1 , TA 3 not null,
ŽA-bd. TA 3 s 0 and TA1 , TA 2 not null,
ŽA-be. TA1 s TA 2 s 0 and TA 3 not null,
ŽA-bf. TA1 s TA 3 s 0 and TA 2 not null,
ŽA-bg. TA 2 s TA 3 s 0 and TA1 not null,
ŽA-bh. TA1 , TA 2 , TA 3 all null,
368 GUY GREBOT

where

d
TA1 s y6 A , p F , q q A , q 9F , p q F ,2q y 3 F , q q 18 A , y
ž ž dx / / Ž 18 BA .

q Ž y18 BA , p A2 E q 9 A , q A4 E 2 . r Ž 18 B 3A . Ž 9.
TA 2 s Ž BA , p y A , q A2 E . rB 2 Ž 10 .
TA 3 s A , q ArB, Ž 11 .

and
d
A3 s 18 F , p F , q q 4 F ,3q y 18 F , q
ž F , q q 54 F , y
dx
d d2
y27 F, p q 9
dx dx 2
F, q
/ 54. Ž 12 .

All these cases, apart from ŽA-be. and ŽA-bf. which are inconsistent,
furnish a set of invariants that are used to determine classes of equiva-
lence. The case ŽA-bh. leads to the classes of the non-trivial linear
equations, and to other classes of equations admitting a 2-dimensional
symmetry group. Apart from this case, the case ŽA-ba. is the only one
leading to possible classes of equations admitting a 4-dimensional group of
symmetries. These equations would be characterized by letting all the
invariants obtained in case ŽA-ba. be constant. In doing so, we observe
that these constants do not satisfy the Jacobi identities, and define no Lie
algebra.
In case ŽA., only the linear equations admit a maximal symmetry group
of fiber preserving point transformations, of dimension 4, 5, or 7.
In case ŽB., F, q q / 0, we have to consider the following cases
ŽB-a. TB3 s TB0 s TD 0 s 0,
ŽB-b. TB3 s TB0 s 0, TD 0 non-null,
ŽB-c. TB3 s 0, TB0 non-null, TB2 s y1,
ŽB-d. TB3 s 0, TB0 non-null, TB2 / y1,
ŽB-e. TB3 non-null,
where

d
TB0 s F , q q F , q q 3
ž F, q q / Ž 3 AF, q q . Ž 13 .
dx
 THIRD ORDER DIFFERENTIAL EQUATIONS 369

TB2 s Ž y9 AEF, q q q q 3F , p q q F , q q . rF ,3q q Ž 14 .

TB3 s Ž 3 AF , q q q . rF ,2q q Ž 15 .
d
TD 0 s 18 F , p F , q q 4 F ,3q y 18 F , q
ž F, q
dx
d2 d
q54F , y q 9 F , q y 27
dx 2
dx
F, p
/ Ž 54 A3 . , Ž 16 .

A and E being group parameters. Each of these cases will furnish a set of
invariants which must be used to characterize the equivalence class of a
given equation. Only cases ŽB-d. and ŽB-e. will allow equivalence classes of
equations admitting a 4-dimensional symmetry group. The case ŽB-a. leads
to the equivalence class of the equations admitting a 6-dimensional sym-
metry group.

3. THE LINEAR EQUATIONS

In this section we give the characterization of the linear equations.

These equations admit fiber-preserving symmetry groups of dimensions 4,
5, and 7 w12x.
Replacing F, in the expressions of the preceding section, by the form of
a canonical linear equation Žsee w7x.

F s y2 M Ž x . y9 y Ž N Ž x . q M9 Ž x . . y Ž 17 .

we obtain the conditions determining the equivalence classes of the linear

equations. There are two possibilities for the pseudo-invariant TD 0 Žsee
w2x. which assumes the form

N
TD 0 s y . Ž 18 .
A3

The conditions characterizing the class of the trivial equation are given by
TD 0 s 0. We directly see that the linear equations which can be equiva-
lent to the trivial equation must satisfy N s 0. This is exactly the condition
found in Example 1 of w1x. The equations belonging to this class admit the
maximal 7-dimensional group of symmetries.
370 GUY GREBOT

If TD 0 / 0, then we obtain two other classes of linear equations which

are characterized by the invariant

Ny8r3
I1 s Ž y18 MN 2 q 6 NN, X X y N,2X . Ž 19 .
18
which is a consequence of the restrictions imposed by a subcase of the case
ŽA-bh.. As I1 depends only on X, there can be at most one functionally
independent invariant, meaning that we can either have a 5-dimensional or
a 4-dimensional symmetry group.
We see that the linear equations with constant coefficients are
parametrized by the constant yMNy2r3, which is the value of the invari-
ant I1. This means that these equations are completely characterized by
the constant M, since we can always let N s y1. These equations admit a
5-dimensional symmetry group of fiber-preserving point transformations.
Linear equations with non-constant coefficients will admit a 4-dimen-
sional group of fiber-preserving point symmetries.
We can resume these results in the following
THEOREM 1. Consider the third order differential equation
y - s F Ž x, y, p, q . . Ž 20 .
Then Ž20. is locally equi¨ alent, under the point transformation X s f Ž x .,
Y s c Ž x, y . to
Ža. the tri¨ ial equation Ž d 3rdX 3 .Y s 0 or
Žb. the linear equation Y - q 2 MY9 q Ž M9 q N .Y s 0, where M and
N are functions of the independent ¨ ariable X only.
if and only if,
2
1 C0 1
F s p3
ž 3
C0, y y ž //
3
q p2
3
Ž 3C0, x y C0 C1 .

q pC2 q pqC0 q qC1 q C3 , Ž 21 .

where the coefficients Ci s Ci Ž x, y . satisfy
0 s C0, x y C1, y , Ž 22 .
0 s ­ y Ž 3C1, x y 3C2 y C12 . Ž 23 .
and either
­ C3 C0 TX
Ž a. 0s C3 y q Ž 24 .
­y 3 54
 THIRD ORDER DIFFERENTIAL EQUATIONS 371

with
TX s 9­x Ž C1, x y C12 y 3C2 . q C1 Ž 18C2 q 4C12 . , Ž 25 .
or
Ny8r3
Ž b.
18
Ž y18 MN 2 q 6 NN, X X y N,2X .
1
s Ž A2 Ž y3C1, x q C12 q 3C2 . q 6 AA , x x y 9 A2, x . , Ž 26.
6 A4
A being gi¨ en by Ž 12 . ,
is satisfied.
The last equation given in the theorem furnishes the sufficiency of the
conditions for the existence of an equivalence, and can be used to
determine the coordinate function X of the transformation.
We observe that the conditions for equivalence with y - s 0 generalize
the results of Laguerre w11x, as it is remarked in w10x. Laguerre showed that
the equation

y - q a2 Ž x . y0 q a1 Ž x . y9 q a0 Ž x . y s 0

can be written in the form Y - s 0 if and only if the coefficients a i Ž x .

satisfy

54 a0 y 18 a1 a2 q 4 a32 y 27aX1 q 18 a2 aX2 q 9 aY2 s 0.

But this is exactly the content of Ž24. with C0 s 0, C1 s ya2 Ž x ., C2 s

ya1Ž x ., and C3 s yya0 .
In order to obtain the transformation taking a canonical linear equation
into Ž21., we must solve the two equations

f0 f0 2
f0
y2 9y5 q 4C1 y 2 Mf 9 2 s C2 q C12 y C1, x Ž 27 .
ž / ž /
f9 f9 ž /
f9
c, x 1 c, y
yf 9 9 9yŽM
˙ q N . f 92c y 2 Mf 9c , x s
žž / / f9 f9 f9
C3 . Ž 28 .

The ˙ and 9 mean differentiation with respect to X s f Ž x . and to x,

respectively, and
1 1
c, y s f 9 exp yž HC 0 /
dy , Ž 29 .
a0 3

where a0 is an arbitrary non-zero constant.

372 GUY GREBOT

In the special case where the Ci are constant and satisfy the relation
Ž24., i.e., 0 s C3 C0 y Ž C1r9.Ž9C2 q 2C12 ., we can easily obtain the general
solution of Ž21..
The transformation taking Y - q 2 MY9 y Y s 0, with M constant, into
an equivalent equation of the form Ž21., and satisfying Ž26., can be given
partially. From Ž27. we get

f Ž x . s k 0 A dx q k 1 ,
H Ž 30 .

k i being constants of integration, and A is given in Ž12..

4. 6-DIMENSIONAL SYMMETRY GROUPS

The only equations admitting a 6-dimensional symmetry group are of

the form

F s Ž 12 q 2 q 36 qF21 , x q 64 p 4 F01 q 384 p 3 F21 F01

q4 p 2 Ž 216F21
2
F01 y F22 . q 12 p Ž yF21, x x q 72 F21
3
F01 y F21 F22 .

q9 Ž y2 F21 , x x F21 q 3F21,

2
x q 36 F21 F01 y F21 F22 . . r Ž 8 p q 12 F21 . ,
4 2

Ž 31 .

where F21 s F21Ž x ., F22 s F22 Ž x ., and F01 s F01Ž x, y ., and the further
condition

3
F01 , x s F01, y F21 ,
2

has to be satisfied. All these equations are equivalent to

2
3 y0
y- s . Ž 32 .
2 y9

The transformations X s f Ž x . and Y s c Ž x, y ., relating Ž32. to another

equation of the class are determined by

3
c, x s c , y F21 Ž 33 .
2
 THIRD ORDER DIFFERENTIAL EQUATIONS 373

2
3 Ž c, y y .
c, y y y s y 8 F01 c , y Ž 34 .
2 c, y

3 f0 2 f9
f- s y F22 . Ž 35 .
2 f9 2

For F22 s F01 s 0, we can easily obtain the general solution of Ž31., by
solving Ž34., Ž35., and Ž33..

5. 4-DIMENSIONAL SYMMETRY GROUPS

The determination of the equations admitting a four-dimensional sym-

metry group of fiber-preserving point transformations is not as direct as it
was for higher dimensions. As mentioned above, the only possible cases for
which a 4-dimensional symmetry group is possible are the cases ŽB-d. and
ŽB-e. and the linear equations treated above.

5.1. The Case Ž B-d .

We first consider the case ŽB-d., for which we have
d 1
F , q q s AF , q q y F, q q F, q Ž 36 .
dx 3
1
F, p q q s A , q F, q q y F ,2q q Ž 37 .
3
A , q q s 0. Ž 38 .
Assume that all the invariants given in Ž98. ] Ž105. in Appendix A are
constant. From Ž100. we have A, q s yI3 F, q qr3. This directly leads to
expressions for Ž drdx . A, q , ­q Ž dArdx ., and dArdx separately. The former
leads to
1
I2 s Ž 2 I3 q 1 . . Ž 39 .
2
From the compatibility conditions obtained from the latter two, we obtain

I4 s Ž 2 I3 q 1 . rI3 . Ž 40 .
I1 s constant gives Ž drdx . F, q and from ­q Ž drdx . F, q y Ž drdx . F, q q y F, p q
y F, q F, q q s 0 we obtain
I1 s Ž 2 I3 q 1 . r Ž 8 I3 . . Ž 41 .
374 GUY GREBOT

We compute now Ž d 2rdx 2 . F, q with the help of Ž drdx . A, p s ­p Ž dArdx .

y A, y y F, p A,q and Ž drdx . A, y s ­ y Ž dArdx . y F, y A, q . From I6 s
constant we get A, p p and the identity ­q A, p p y ­p A, p q s 0 furnishes

I6 s y Ž 4 I3 q 3 . r Ž 4 I3 . , Ž 42 .
and
I8 s Ž 8 I32 q 10 I3 q 3 . r Ž 16 I32 . . Ž 43 .
I7 s constant gives an expression for A, p y and from ­p A, q y y ­q A, p y s 0
we obtain

I5 s y Ž 6 I3 q 3 . r Ž 8 I32 . . Ž 44 .
From ­ y A, p p y ­p A, p y s 0 we obtain an expression which is differenti-
ated four times with respect to q in order to give

0 s Ž I3 q 1 . Ž 4 I7 I32 y 2 I3 y 1 . . Ž 45 .
However, using the Jacobi identities for the structure constants

Cmq p Cnr q q C pqn Cmr q q Cnqm C pr q s 0, m, n, p, q, r s 0 ??? 3, Ž 46 .

we obtain

I7 s Ž 2 I3 q 1 . r Ž 4 I32 . . Ž 47 .
For I3 / y1 the Jacobi identities Ž46. will give I3 s 0 and I3 s y1r4.
I3 s 0 is forbidden for this case since this would imply TB2 s y1. The
structure constants, as given by the Maurer]Cartan equations, are C01 0
s I1 ,
C01 s I5 , C01 s I7 , C01 s I4 , C02 s I2 , C02 s 1 s C02 , C02 s I5 , C03 s I3 ,
2 3 1 0 1 2 3 0
2
C03 s 1, C03 3
s yI4 q 2, C121
s 1 q I3 q I2 , C12
2
s I6 , C12
3
s I8 , C13
1
s I3 ,
C13 s y 2 , C13 s I1 , C23 s I2 y I3 y 1r2.
2 1 3 3

We resume the results for this case in Table I.

The general form of the equations of this case that obey the condition
I3 s y1 is

F s q 2 F2 q qF1 q F0 , Ž 48 .
with

1
F1 s Ž p Ž y2 yF2, x x F2 q 3G1 . y y 2 Ž F2, x x x F2 q F2, x x F2, x .
3
q3 yG1, x q 3G 0, x . Ž 49 .
 THIRD ORDER DIFFERENTIAL EQUATIONS 375

TABLE I
4-dimensional Lie algebras for the case ŽB-d.

Canonical
Invariants Symmetry Lie algebra equation

I3 s y1
I1 s 1r8, I2 s y1r2, I4 s 1 w X, Y x s w W, Z x s W, w X, Z x s X y - s y0 2
I5 s 3r8, I6 s y1r4 s I7 w W, X x s w W, Y x s w Y, Z x s 0
I8 s 1r16

I3 s y1r4
2 y0 2
I1 s y1r4, I2 s 1r4, I4 s y2 w W, Y x s W, w X, Z x s X y- s
y9
I5 s y3, I6 s 2, I7 s 2, I8 s 1 w W, X x s w W, Z x s w X, Y x s w Y, Z x s 0

1 2
F0 s 2
ž p Ž Ž 2 yF2, x x F2 y 3G1 . q 12 F2, x x F2 . F22
36 F23

q4 py 3 F2, x x F23 Ž F2, x x x F2 q F2, x x F2, x .

q2 py 2 F22 Ž y3 Ž F2, x x F2 G1 . , x q 2 Ž F2, x x q G1, x . F2, x x F2 .
q6 pyF22 Ž 4 F2, x x x F2 q 4 F2, x x F2, x y 2 F2, x x Ž F2, x q G 0, x F2 q G1 .
q3G1, x G1 .
q9 pF2 Ž 2 F2, x G1 q 2G 0, x F2 G1 y 4G1, x F2 q G12 .
2
qy 4 F22 Ž F2, x x x F2 q F2, x x F2, x . q 2 y 3 F22 Ž F2, x x F2 . , x
Ž F2, x x y 3G1, x .
q3 y 2 F2 Ž 2 F2, x x x x F22 q F2, x x x F2 Ž 2 F2, x y 2G 0, x F2 y G1 .

qF2 Ž 2 F2,2 x x y 2 F2, x x G1, x q 3G1,

2
x.

qF2, x x F2, x Ž y2 F2, x y 2G 0, x F2 y G1 . .

q3 yF2 Ž y6F2, x x F2, x y 2 F2 , x x G 0, x F2 q 6 F2, x G1, x
q6G 0, x G1, x F2 y 6G1, x x F2 q 3G1, x G1 .
q9 Ž 3F2,2 x q 2 F2, x G 0 , x F2 q 3F2, x G1 y 2G 0, x x F22

qG02 , x F22 q G 0, x F2 G1 . , / Ž 50 .
where F2 s F2 Ž x ., G 0 s G 0 Ž x ., and G1 s G1Ž x .. The canonical equation
y - s y0 2 Ž 51 .
376 GUY GREBOT

represents this equivalence class and is obtained by letting F2 s 1, and

G 0 s G1 s 0.
For I3 s y1r4, the general form of the equation is
1
Fs Ž 162 q 2 q 162 qpF0
Ž 81 p q 54 Ž yF0 q F1 . .
q36 q Ž 6 F1, x q 3 yF02 y F0 F1 .
q6 p Ž y9F1, x x q 24 F1, x F0 y 8 F02 F1 .
q4 Ž y9F1, x x yF0 y 9F1, x x F1 q 18 F1,2 x

q24F1, x yF02 y 8 yF03 F1 . . , Ž 52 .

where F1 is an arbitrary function of x and F0 s F0 Ž x . satisfies

2
F0, x s F02 . Ž 53 .
3
The canonical equation representing this equivalence class is
2
2 y0
y- s . Ž 54 .
y9

5.2. The Case Ž B-e .

We analyze now the case ŽB-e.. Let us assume that all the invariants
given in Eqs. Ž106. ] Ž115. in Appendix B are constant, so that we can
determine which equations have a 4-dimensional symmetry group of fiber-
preserving point transformations. I4 , I3 lead to
d
F , q q q s Ž y3F , p q q y 4 F , q q q F , q y F ,2q q I3 I6 q F ,2q q I6 y F ,2q q . r3 Ž 55 .
dx
F , q q q q s F ,2q q q Ž I3 q 2 . rF , q q . Ž 56 .
I6 and I5 give
d
F , q q s F , q q Ž yF , q q q F , q q F ,2q q I6 . r Ž 3F , q q q . Ž 57 .
dx
d
F , q s y9F ,2p q q q 6 F , q q q Ž F , p q F , q q q 3F , q q y y F , p q q F , q .
ž
dx
qF ,2q q q Ž 9F , p q F ,2q . y 6 F , p q q F ,2q q q 2 F ,4q q I5 r Ž 3F ,2q q q . , Ž 58 .
/
 THIRD ORDER DIFFERENTIAL EQUATIONS 377

and from ­q Ž drdx . F, q y Ž drdx . F, q q y F, p q y F, q F, q q s 0 we get

F , y q q q s Ž y6F , p q q F ,2q q I3 q 6 F , p q F , q q q F , q q I3 q 18 F , q q q F , q q y I3

q36F , q q q F , q q y q 4 F ,4q q I3 I5 q F ,4q q I6 . r Ž 18 F , q q . . Ž 59 .

We can compute Ž d 2rdx 2 . F, q and substitute it into the Ii . I2 and I7

respectively give

F , p q q q s Ž F , p q q F , q q q Ž I3 q 2 . . rF , q q Ž 60 .
F , p p q q s Ž 9F ,2p q q I3 q 18 F ,2p q q q 6 F , p q q F ,2q q

y6F , p q F , q q q F , q q y F ,4q q I7 y F ,4q q I5 . r Ž 9F , q q . . Ž 61 .

From I9 we obtain

F , p p q s y Ž Ž 2 I3 I62 q 8 I3 I6 I7 q 4 I3 I8 y I62 y 4 I6 I5

y8 I6 I7 q 2 I6 q 4 I5 y 2 I8 . F ,4q q

y18 F ,2p q q y 12 F , p q q F ,2q q q 12 F , p q F , q q q F , q q . r Ž 18 F , q q q . . Ž 62 .

I8 furnishes

F , y p q q s y18 F ,2p q q F ,2q q Ž 2 I3 y 3 . q 6 F , p q q

ž
= 6 Ž 3 Ž I3 q 2 . F , q q y q F ,2q q F , q . F , q q q
ž
y Ž 4 I3 I7 y I6 y 2 I5 y 2 I7 y 2 . F ,4q q q 6 F , p q F , q q q F , q q I3 /
qF ,6q q Ž 4 I3 I62 q 16 I3 I6 I7 q 8 I3 I8 y I62 y 12 I6 I5 y 16 I6 I7

q4I6 y 4 I7 y 2 I8 .

y4F ,2q q Ž Ž I5 q I7 . F ,2q q F , q q 9F , q q y . F , q q q

q6F , q q F , q q q y2 Ž 3F , q q q F , q q F ,2q q . F , p q
ž
y9F , p p F , q q q q 6 F , q q q F , y q r Ž 108 F , q q F , q q q . . Ž 63 .
//
378 GUY GREBOT

The compatibility conditions between these expressions lead to

0 s Ž I3 y 1 . Ž I5 q I7 . Ž 64 .
0 s Ž I3 y 2 . I9 Ž 65 .
0 s Ž I3 y 1 . Ž I6 q 4 I3 I5 . , Ž 66 .
and to I1 s yŽ2 I3 I7 y I6 y 2 I5 y 2 I7 .r2 I2 s 0, I4 s I3 I6 q 2 I6 q 1, I10
s yŽ I3 y 1. I7 and I9 s Ž2 I3 I62 q 8 I3 I6 I7 q 4 I3 I8 y I62 y 4 I6 I5 y 8 I6 I7
q 2 I6 q 2 I5 y 2 I7 y 2 I8 .r2. For I3 s 1, we obtain

I1 s Ž I6 q 2 I5 . r2, I4 s 3 I6 q 1, I2 s I9 s I10 s 0,
½ I7 s 1r2 I62 q I8 y I6 Ž I5 y 1 . y I5 Ž I6 y 1 .
Ž 67 .

and I5 , I6 , I8 are free constants.

If I3 s 2, then

I10 s I5 s y 12 I1 s y 18 I6 s yI7 ,
½ I2 s 0, I4 s y32 I5 q 1, I9 s 3 Ž 48 I52 y 2 I5 q I8 . ,
Ž 68 .

and I5 and I8 are free.

For the other cases, i.e., I3 / 2 and I3 / 1, we are left with
I7 s yI5 , I6 s y4I3 I5 ,
0 s Ž 2 I3 y 1 . Ž 8 I3 I52 Ž I3 q 1 . y 2 I5 q I8 . . Ž 69 .
For I3 s 1r2, I5 and I8 are free, and
1
2 I1 s 2 I10 s I6 s I7 s yI5 , I4 s y Ž 5I5 y 1 . , I9 s I2 s 0.
2
Ž 70 .
For I3 / 1r2, I3 and I5 are free and

I1 s 14 I6 s yI3 I5 , I7 s yI5 , I8 s 2 I5 y 8 I3 I52 Ž I3 q 1 . ,

½ I4 s y Ž 4 I32 I5 q 8 I3 I5 y 1 . , I9 s I2 s 0, I10 s Ž I3 y 1 . I5 .
Ž 71 .

In order to characterize the groups admitted by the different classes of

equations, we have to substitute the Ii given above into the expressions of
the structure constants, which are given by the Maurer]Cartan equations:
0
C01 s I1 , C01
1
s I4 , C01
2
s I5 , C01
3
s I8 , C02
0
s I2 , C02
1
s 1, C02
2
s I6 , C02
3
s I5 ,
C03 s I3 , C03 s 1, C03 s 2 I6 y I6 , C12 s I2 , C12 s I7 , C12 s I9 , C13 s I3 y
0 2 3 1 2 3 1
2
1, C13 s yŽ I2 q 1., C13 3
s I10 , C23
2
s y1.
Using Ž46. for each of the cases leads to the results shown in Table II.
 THIRD ORDER DIFFERENTIAL EQUATIONS 379

With the admissible values for Ii , we can go back to Eqs. Ž106. ] Ž115. and
get the conditions for the equations to admit a 4-dimensional symmetry
group.
The general form of the equations such that I3 s 1 is
3r2
F s 4K Ž q q J . q qL q M Ž 72 .
with

1
Ls ž 6 p ŽyK ,y q 2 I5 K 3 . q KL1 / Ž 73 .
K
1
Js 2
ž6 p Ž K ,y y I5 K 3 . q p Ž 6 K , x y KL1 . q 3 J1 K / Ž 74 .
3K
1
Ms ž 18 p ŽyKK
3
yy y K ,2y q 12 I5 K 3 K , y y 8 I52 K 6 .
9k 2
q 9 p 2 K Ž 2 K , y L1 q L1, y K y 4 I5 K 3 L1 .

q p Ž y36 K , x x K q 72 K ,2x q 12 K , x KL1 q 3 L1, x K 2

q72 I5 J1 K 4 y 2 K 2 L21 .
q3K Ž y3KJ1, x q 6 K , x J1 q 2 J1 KL1 . . Ž 75 .
1
L1, y s Ž 6 K , x K , y q 24 K , x I5 K 3 y 6 KK , x y . Ž 76 .
K2
2
J1, y s Ž 3 K , x x K y 3 K ,2x y K , x KL1 y 3 K , y J1 K . , Ž 77 .
3K 2

where K s K Ž x, y ., L1 s L1Ž x, y ., and J1 s J1Ž x, y .. The canonical equa-

tion representing the equivalence class characterized by I3 s 1 is
3r2
y - s 4 Ž y0 y 2 I5 y9 2 . q 4 I5 y9 Ž 3 y0 y 4 I5 y9 2 . . Ž 78 .

The general form of the equations for I3 s 2 is

9 5r3
Fs KŽq q J. q qL q M Ž 79 .
4
with

1
Js Ž 3 p 2 K , y q 6 pK , x q 2 J1 K . Ž 80 .
2K
380 GUY GREBOT

TABLE II
4-Dimensional Lie Algebras for the Case ŽB-e.

Canonical
Invariants Symmetry Lie algebra equation

I3 s 1 w X, Y x s X, w Y, Z x s Z
I1 s I7 s I5 w W, X x s w W, Y x s 0 y - s 4Ž y0 y 2 I5 y92 . 3r2
I4 s 1 w X, Z x s W y 4 I5 Y q4I5 y9Ž3 y0 y 4 I5 y92 .
I2 s I6 s I8 s I9 s I10 s 0 w W, Z x s 0

I3 s 2 w X, Y x s W, w X, Z x s 2 X
I4 s 15 s yI6 s y4I1 s 10 I8 w W, X x s w W, Y x s 0
I5 s I10 s 401 s yI7 w W, Z x s W, w Y, Z x s yY y - s 94 y0 Ž5r3.
I2 s 0 s I9

I3 s 1
2
w X, Y x s yW
y1
I5 s s y2 I1 s y2 I10 w W, X x s w W, Y x s 0
2 4r 3
1 I4 2 y0 q 3 y9
I7 s s w W, Z x s 12 W y- s 9
2 7
w Y, Z x s Y
ž 2x /
I6 s 1
I2 s I9 s 0 w X, Z x s y 12 X y3Ž2 x .y2 Ž4 xy0 q y9.
y5
I8 s
2

I3 s y1 w W, X x s w W, Y x s 0
I1 s I5 s yI7 s 1 w X, Y x s W y - s e y0
I4 s 5 w W, Z x s y4W
I6 s 2 I8 s y2 I10 s 4 w Y, Z x s y2Y
I2 s I9 s 0 w X, Z x s y2 X q 2Y

Ž I3 y 1.Ž I3 y 2.Ž I3 y 12 . / 0
I3 Ž I3 q 1.Ž I3 q 21 . / 0
2
I3 y 1 I6 y - s Ž I3 q 1 .
I1 s y s w W, X x s w W, Y x s 0 =y0 ŽŽ2 I 3q1.rŽ I 3q1..
2 I3 Ž 2 I3 q 1 . 4
I3 y 4
I4 s y w X, Y x s W
I3 Ž 2 I3 q 1 .
I3 y 1
I5 s s yI7 w W, Z x s Ž1 y I3 .W
2 I32 Ž 2 I3 q 1 .
1
I8 s Ž I3 q 2.Ž I3 y 1. w X, Z x s yI3 X
I33 Ž 2 I3 q 1 . 2
I2 s I9 s 0 w Y, Z x s Y
2
Ž I3 y 1 .
I10 s
2 I32 Ž 2 I3 q 1 .
 THIRD ORDER DIFFERENTIAL EQUATIONS 381

1
Ls Ž y9 pK , y q 2 KL1 . Ž 81 .
2K
1
Ms ž 27p Žy2 K
3
, yy K y K ,2y . q 18 p 2 K Ž 3 K , y L1 q 2 L1, y K .
36 K 2
q4 p Ž y54K , x x K q 135K ,2x q 36 K , x KL1
y3L1, x K 2 q K 2 L21 .

q36 K Ž yJ1, x K q 3 K , x J1 q J1 KL1 . / Ž 82 .

1
L1, y s Ž 9K , x K , y y 9KK , x y . Ž 83 .
2K2
1
J1, y s Ž 54 K , x x K y 54K ,2x y 18 K , x KL1 y 27K , y J1 K
18 K 2
q6 L1, x K 2 y 2 K 2 L21 . , Ž 84 .

where K s K Ž x, y ., L1 s L1Ž x, y ., and J1 s J1Ž x, y .. The canonical equa-

tion representing this equivalence class is

9
y- s y0 Ž5r3. . Ž 85 .
4

The general form of the equations for I3 s 1r2 is

4r3
1
F s 9K Ž q q pJ1 q J 2 . y 2 qJ1 y pJ12 y J 2, x y J1 J 2 , Ž 86 .
3

where J1 s 3rŽ2 x q c 0 . with c 0 s constant, K s K Ž x ., and J 2 s J 2 Ž x ..

The canonical equation representing this class is

2 y0 x q 3 y9 4r3
y2
y- s 9 ž / y 3Ž 2 x . Ž 4 xy0 q y9 . . Ž 87 .
2x

For I3 s y1, the general equation is given by

2
J , y qp K 1 .
q
F s K 2 e Ž q Jqp q Ž y6 pJ, y y JJ0 y 3 K 1 . q M Ž 88 .
2J
382 GUY GREBOT

with
1
Ms Ž y36 p 3 J, y y JK 2 q pJK 2 Ž6 J0, x J y 54 K 1, x q JJ02 q 9 J0 K 1 .
36 K 2 J 2

q18 p 2 JK 2 Ž yJ , y J 0 y 3 K 1, y .

q6 Ž y6 K 2 , x J y 5 JJ 0 K 2 y 3 K 1 K 2 . . Ž 89 .
JJ 0 q K 1
J, x s Ž 90 .
2
K2
K 2, y s Ž y36 J, y y 6 J0, x J 2 q 18 K 1, x J y J 2 J02 y 9 JJ0 K 1 . , Ž 91 .
36 J
where J s J Ž x, y ., K 1 s K 1Ž x, y ., K 2 s K 2 Ž x, y ., and J 0 s J 0 Ž x .. The
canonical equation representing this equivalence class is

y - s e y0 . Ž 92 .
Finally, for I3 Ž I3 q 1.Ž I3 y 1.Ž I3 y 1r2.Ž I3 y 2. / 0 the general equation
is
2
I3 q 1 Ž2 I 3 q1 .r Ž I 3 q1 .
Fs
ž I3 / K Ž q q J1 p q J 21 y q J 22 . q qL q M Ž 93 .

with
y3
Ls Ž Ž I3 q 1 . K , x y J 1 K . Ž 94 .
Ž I3 y 2 . K
3 Ž I3 q 1 . K , x y 3 J 1 K
M s Ž J1 p q J 21 y q J 22 . J1 y
ž Ž I3 y 2 . K /
y p Ž J1, x q J 21 . y yJ 21, x y J 22, x Ž 95 .
y1
K, x x s
Ž I3 q 1 . Ž I3 y 2 . K
= Ž Ž 3 K , x y I3 J1 K . Ž I3 q 1 . K , x y Ž I3 y 1 . Ž I3 y 2 . J1, x K 2

q Ž J12 y 4 J 21 . I3 K 2 q I32 J 21 K 2 y J12 K 2 q 4 J 21 K 2 . , Ž 96 .

where K, J1 , J 21 , and J 22 are functions of x only. The canonical equations

representing these classes are of the form

y - s Ž I3 q 1 . y0 ŽŽ2 I 3q1.rŽ I 3q1.. .

2
Ž 97 .
 THIRD ORDER DIFFERENTIAL EQUATIONS 383

6. CONCLUSION

The solution of the local equivalence problem for third order ODEs
gives a complete characterization of the equations admitting symmetry
groups of fiber preserving point transformations of dimension 4, 5, 6,
and 7.
The different possible 4-dimensional groups, and the general form of the
equations admitting these symmetry groups, are obtained from the values
of the invariants that characterize each case.
It is not always possible to determine the transformations taking the
canonical equation, representing the equivalence class, into the general
equation. Under some restrictions we are able to do this.
The search for special third order ODEs is very well suited to the
solution of the equivalence problem. In this line, the author is investigating
equations admitting Painleve ´ second order equations as first integrals, and
´ equations of the third order. Some of
also the characterization of Painleve
these latter equations were classified using the computer algebra program
clasode3.

APPENDIX A: INVARIANTS FOR THE CASE ŽB-d.

We give below the invariants obtained for the case ŽB-d..

dA
I1 s y 24 A , p A , q F , q q 12 A , p F , q q A y 72 A , p ­q
ž q 36 A2, q F , p
dx
d
q20 A2, q F ,2q y 12 A2, q F , q q 72 A , q A , y q 8 A , q F , q q F , q A
dx
dA dA
y48 A , q F , q ­q q F ,2q q A2 y 12 F , q q ­q A
dx dx
2
dA
q36 ­q ž // Ž 24 A , q F, q q A2 . Ž 98 .
dx
dA
I2 s 6 A , p q 4 A , q F , q q F , q q A y 6 ­q
ž / Ž2 F, q q A . Ž 99 .
dx
I3 s y3 A , qrF , q q Ž 100.
dA
I4 s y12 A , p A y 8 A , q F , q A q 6 A , q A2 q 6 A , q
ž dx
dA
y F , q q A2 q 6 ­q A / Ž 6 A , q A2 . Ž 101.
dx
384 GUY GREBOT

dA
I5 s 72 A , p A , q F , q y 36 A , p F , q q A y 216 A , p ­q
ž q 108 A2, q F , p
dx
d
q60 A2, q F ,2q y 36 A2, q F , q q 216 A , q A , y y 72 A , q F , p F , q q
dx
y8 A , q F , q q F ,2q q 24 A , q F , q q F , q A y 36 A , q F , q q A2
d dA dA
q24 A , q F , q q F , q y 36 A , q F , q q y 144 A , q F , q ­q
dx dx dx
d
y144 A , q F , y q q 72 A , q ­p F , q y 3F ,2q q A2
dx
2
dA
q108 ­q ž // Ž 216 A2, q A2 . Ž 102.
dx
dA
I6 s y 72 A , p p A , q y 72 A , p q A , p y 6 A , p q F , q q A q 36 A , p q ­q
ž dx

y30 A , p A , q F , q q q 48 A2, q F , p q y 12 A2, q F , q q F , q y 5 A , q F ,2q q A

dA dA
q18 A , q F , q q ­q y 36 A , q ­p2q / Ž 12 A2, q F, q q A . Ž 103.
dx dx
d
I7 s 18 F , p F , q q 4 F ,3q y 18 F , q
ž F , q q 54 F , y
dx
d2 d
q9 F , q y 27
dx 2
dx
F, p
/ Ž 54 A3 .

ž
I8 s y1728 A , p p A , p A , q y 864 A , p p A2, q F , q y 144 A , p p A , q F , q q A

dA
q864 A , p p A , q ­q q 1728 A , p q A2, p q 864 A , p q A , p A , q F , q
dx
dA
q288 A , p q A , p F , q q A y 1728 A , p q A , p ­q
dx
dA
q72 A , p q A , q F , q q F , q A y 432 A , p q A , q F , q ­q q 12 A , p q F ,2q q A2
dx
2
dA dA
q864 A , y p A2, q y 144 A , p q F , q q ­q A q 432 A , p q ­q ž /
dx dx
 THIRD ORDER DIFFERENTIAL EQUATIONS 385

y864 A , p A , y q A , q y 1152 A , p A2, q F , p q q 288 A2, p A , q F , q q

q216 A , p A2, q F , q q F , q q 144 A , p A2, q F , q q A q 108 A , p A , q F ,2q q A

dA dA
y360 A , p A , q F , q q ­q q 864 A , p A , q ­p2q y 72 A , y q A , q F , q q A
dx dx
dA
q432 A , y q A , q ­q q 216 A3, q F , p p y 432 A3, q F , p q F , q
dx
y36 A3, q F , p F , q q q 44 A3, q F , q q F ,2q q 48 A3, q F , q q F , q A
d d
q12 A3, q F , q q F , q q 288 A3, q F , y q y 72 A3, q ­p F, q
dx dx
dA
y120 A2, q F , p q F , q q A q 576 A2, q F , p q ­q q 72 A2, q A , y F , q q
dx
dA
q40 A2, q F ,2q q F , q A q 24 A2, q F ,2q q A2 y 144 A2, q F , q q F , q ­q
dx
dA dA dA
y72 A2, q F , q q ­q A q 432 A2, q F , q ­p2q y 432 A2, q ­ y2q
dx dx dx
2
dA dA
q7A , q F ,3q q A2 q 108 A , q F , q q ­q ž / y 60 A , q F ,2q q ­q A
dx dx

dA dA dA
q72 A , q F , q q ­p2q A y 432 A , q ­p2q ­q / Ž 144 A3, q F, q q A2 . .
dx dx dx
Ž 105.

B: INVARIANTS FOR THE CASE ŽB-e.

The invariants obtained for the case ŽB-e. are

I1 s y 18 F , p q q q F , p q q F , q q q F , q q q 6 F , p q q q F ,2q q q F , q q F , q
ž
y12 F , p q q F ,3q q q F , q y 9F ,2p q q F , q q q q F , q q y 18 F ,2p q q F ,2q q q

q18 F , p F ,4q q q y F , q q q q F ,2q q q F , q q F ,2q

386 GUY GREBOT

d
y9F , p F , q q q q F ,2q q q F , q q q 3F , q q q q F ,2q q q F , q q F, q
dx
d
y18 F , y q q q F ,2q q q F , q q q 2 F ,4q q q F ,2q y 6 F ,4q q q F, q
dx

q36F ,3q q q F , y q q . Ž 2 F,2q q q F,4q q . Ž 106.

I2 s 3 Ž F , p q q q F , q q q y F , p q q F , q q q q . r Ž F ,2q q q F , q q . Ž 107.
I3 s Ž F , q q q q F , q q y 2 F ,2q q q . rF ,2q q q Ž 108.
d
I4 s y3F , p q q F , q q y F , q q q F , q q F , q q 9F , q q q
ž F, q q
dx
d
y3F , q q F, q q q / F ,3q q Ž 109.
dx
d
I5 s y9F ,2p q q y 12 F , p q q F , q q q F , q y 18 F , p q q
ž F , q q q y F ,2q q q F ,2q
dx
d
q3F ,2q q q F , q y 9F , p F ,2q q q y 18 F , q q q F , y q q
dx
d
q18 F , q q q ­p F, q q / Ž 2 F,4q q . Ž 110.
dx
d
I6 s F , q q q F , q q F , q q 3
ž F, q q / F ,3q q Ž 111.
dx

I7 s y 18 F , p p q q F ,2q q q F , q q y 36 F , p q q q F , p q q F , q q q F , q q q 9F ,2p q q F ,2q q q

ž
q6F , p q q F ,3q q q F , q q 18 F ,2p q q F , q q q q F , q q y 6 F , p q q F ,2q q q F ,2q q
d
q6F , p q F ,3q q q F , q q y 9F , p F ,4q q q y F ,4q q q F ,2q q 3F ,4q q q F, q
dx

y18 F ,3q q q F , y q q . Ž 2 F,2q q q F,4q q . Ž 112.

F ,3q q q d
I8 s 18 F , p F , q q 4 F ,3q y 18 F , q F , q q 54 F , y
2 F ,6q q ž dx

d2 d
q9 F , q y 27
dx 2
dx
F, p
/ Ž 113.
 THIRD ORDER DIFFERENTIAL EQUATIONS 387

I9 s 3 y18 F , p p q q F , p q q F ,2q q q y 6 F , p p q q F ,3q q q F , q q 9F , p p F ,4q q q

ž
q 6 F , p q q q F , p q q F ,2q q q F , q q 27F , p q q q F ,2p q q F , q q q q 9F , p q q q F , p F ,3q q q
d
qF , p q q q F ,3q q q F ,2q y 3F , p q q q F ,3q q q F , q q 18 F , y p q q F ,3q q q
dx
y9F ,3p q q F , q q q q q 6 F ,2p q q F ,2q q q F , q q y 9F , p q q F , p F , q q q q F ,2q q q

y12 F , p q q F , p q F ,3q q q y F , p q q F , q q q q F ,2q q q F ,2q

d
q3F , p q q F , q q q q F ,2q q q F, q
dx

q2 F , p q F ,4q q q F , q y 18 F , p q q F , y q q q F ,2q q q q F , p q q F ,3q q q F , q q F , q

d d
q3F , p q q F ,3q q q F , q q y 3F ,4q q q ­p F, q / Ž 2 F,2q q q F,5q q . Ž 114.
dx dx

I10 s y 9F ,2p q q y 6 F , p q q F , q q q F , q y 6 F , p q q F ,2q q q 6 F , p q F , q q q F , q q

ž
d
q9F , p F ,2q q q q F ,2q q q F ,2q y 3F ,2q q q F , q q 18 F , q q q F , y q q
dx
d
y F , q q q F ,2q q F , q y 3F , q q q F , q q F, q q / Ž 2 F,4q q . q I1 .
dx

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