Chaos, Solitons and Fractals 161 (2022) 112356

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Chaos, Solitons and Fractals

Nonlinear Science, and Nonequilibrium and Complex Phenomena
journal homepage: www.elsevier.com/locate/chaos

Mathematical analysis of the Cauchy type dynamical system under

piecewise equations with Caputo fractional derivative
Kamal Shah a,b, Thabet Abdeljawad a,c,⁎, Arshad Ali b
a
Department of Mathematics and Sciences, Prince Sultan University, 11586 Riyadh, Saudi Arabia
b
Department of Mathematics, University of Malakand, Chakdara Dir (Lower), 18000 Khyber Pakhtunkhawa, Pakistan
c
Department of Medical Research, China Medical University, Taichung 40402, Taiwan

a r t i c l e i n f o a b s t r a c t

Article history: This research work is related to study the Cauchy type dynamical system under piecewise equations with frac-
Received 21 April 2022 tional order Caputo derivative. Using traditional fixed point tools due to Banach and Schauder, the required re-
Received in revised form 10 June 2022 sults for the existence and uniqueness are developed. Since stability analysis is an important aspect of the
Accepted 14 June 2022
aforesaid analysis, so we also attempt on Hyers-Ulam (H\\U) type stability results for the proposed system.
Available online xxxx
For this purposes, we use tools of nonlinear functional analysis. Further a numerical method based on Newton
Keywords:
polynomials of interpolation is applied to compute approximate solution for the considered system. For applica-
Piecewise Caputo derivative tion and validity purpose of our main results, we give two illustrative examples.
Existence theory © 2022 Elsevier Ltd. All rights reserved.
Stability result
Newton polynomials
Numerical result

1. Introduction which has been named Atangana-Baleanu fractional derivative.

It is worth noticing that fractional calculus has received valuable
consideration from researchers. It is because of its wide range applica-
tions in various fields and disciplines of science and engineering. The
fundamental concepts have been introduced by mathematicians like
Riemann, Liouville, Hadamard, Caputo and others. In [1], author has pre-
sented the history of fractional calculus. In [2] and [3], authors have pre-
sented an introduction to fractional calculus. In [4] and [5], authors have
presented some basic history of fractional calculus and its applications
to engineering and other fields of science. The basic definitions have
been modified by some researchers like Atangana, Baleanu, Caputo,
Fabrizio and others by replacing the singular kernel by non-singular
kernel, nonlocal kernel or exponential kernel. For instance in [6], au-
thors have introduced the new definition of fractional derivative with
non-singular kernel which is named as Caputo-Fabrizio derivative and
gave its applications to the hysteresis phenomena. In [7], authors have
introduced the new definition with nonlocal and non-singular kernel
⁎ Corresponding author at: Department of Mathematics and Sciences, Prince Sultan
University, 11586, Riyadh Saudi Arabia and Department of Medical Research, China
Medical University, Taichung 40402, Taiwan.
E-mail addresses: kshah@psu.edu.sa (K. Shah), tabdeljawad@psu.edu.sa
(T. Abdeljawad).
Algahtani [8] gave comparison results of the two aforementioned deriv-
atives corresponding to different fractional order. These definitions
have been applied to numerous mathematical problems and important
results have been derived by researchers. Recently some updated re-
sults have been published in the area of fractional calculus like [9],
[10] and [11].
Here we state that the existence theory, stability results along with
numerical solutions for various problems with singular and non-
singular FDEs have been investigated very well. We know that many
physical phenomenons often suffer from abrupt changes which cannot
be well explained by traditional derivative either of integer or fractional
order. Most recently, authors [12–15] have pointed out that fractional
calculus in piecewise form plays significant roles in modeling aforemen-
tioned process. The aforementioned operators have the ability to de-
scribe such phenomenons more precisely as compared to ordinary
fractional derivatives.
The existence theory of solutions for coupled FDEs has been gotten
attention of many researchers. Recently such systems can be found in
variety of practical use in biology, chemistry, and physics, etc. Coupled
systems of non-integer order differential equations have been exten-
sively studied due to their wide applications in various disciplines, in-
cluding synchronization of chaotic systems, etc. Recently Ali and his
co-authors [16] studied existence and stability results of a coupled

https://doi.org/10.1016/j.chaos.2022.112356
0960-0779/© 2022 Elsevier Ltd. All rights reserved.
K. Shah, T. Abdeljawad and A. Ali Chaos, Solitons and Fractals 161 (2022) 112356

boundary value problem (BVP) of FDEs involving impulsive effects by where PCDα represents classical derivative on [0, t1] and Caputo
applying the ordinary Caputo derivative. To the best of our knowledge fractional derivative on [t1, η].
no results in literature are addressing the qualitative aspects of afore-
The following result given in Lemma 2.1 is important to establish our
mentioned problems, using the piecewise forms of fractional calculus.
main results.
Therefore, by overcoming this gap, we are going to investigate the fol-
lowing coupled system of piecewise equations with Caputo differential Lemma 2.1. Let x ∈ L[0,η] and assume that x(0) = 0, then the solution
derivative under initial conditions as of the following equation with piecewise Caputo fractional order deriv-
8 PC α ative
>
> D yðt Þ ¼ ωðt, yðt Þ, zðt ÞÞ, t ∈ ½0, η,
>
< PC Dα zðt Þ ¼ ψðt, yðt Þ, zðt ÞÞ, t ∈ ½0, η, PC
Dα yðt Þ ¼ xðt Þ, with α ∈ ð0, 1,
ð1Þ
>
> yð0Þ ¼ y0 , yð0Þ ¼ y0 ,
>
:
zð0Þ ¼ z0 ,
is given by
where PCDα indicates the piecewise Caputo derivative of order 0 < α ≤ 1 8 Z t1
and the functions namely ω, ψ : [0, η] × R × R → R are given to be con- >
>
>
< y0 þ xðsÞds, if t ∈ ½0, t 1 ,
tinuous. 0
yðt Þ ¼ Z t
By considering a Cauchy type dynamical coupled system given in >
> 1
>
: yðt 1 Þ þ ðt  sÞα  1 xðsÞds, if t ∈ ½t 1 , η:
Eq. (1) is studied to establish the existence theory for the solution Γðα Þ t1
under piecewise equations with Caputo fractional order derivative.
We use Schauder and Banach fixed theorems which play prominent
role in this regard to obtain the required results. The approach of
3. Main results
H\\U stability provides to investigate the stability of approximate solu-
tion to the proposed system. The mentioned concept was given by Ulam
For qualitative theory, we need to define the Banach space and prod-
in 1940, see [17] and Hyers applied it for the 1st time to a linear func-
uct space. Let
tional equation [18]. The said stability has also studied for both singular
and non-singular type problems of FDEs. For instance in [19], authors Z1 ¼ fy : ½0; η→R; y∈C ð½0; ηÞg
have investigated the H\\U stability result for a BVP of FDEs modeled
with Caputo derivative. Also we establish a numerical scheme for ap- and
proximate solution to the proposed problem by using some interpola-
tion method based on Newton polynomials. Two examples are Z2 ¼ fz : ½0; η→R; z∈C ð½0; ηÞg
presented to demonstrate the validity of our analysis. Also graphical
presentations are given to understand the fractional order dynamics be the Banach spaces with norms defined by ∥y ∥ = supt∈[0,1] ∣ y(t)∣ and
under piecewise equations with fractional order derivative. ∥z ∥ = supt∈[0,1] ∣ z(t)∣ respectively. Then the product space Z1  Z2 is
This work is organized as: Section 1 is devoted to a detailed intro- also a Banach space with norm defined by
duction about the area. Some fundamental results are given in the
∥ðy, zÞ∥ ¼ ∥y∥ þ ∥z∥:
Section 2. Existence theory for the solution of the proposed problem is
given in the Section 3 as main results. Also stability analysis for the con-
sidered problem is established in the Section 4. Section 5 is devoted to
numerical scheme to compute the approximate solution of the problem Corollary 1. In view of Lemma 2.1, the solution of the coupled system of
under consideration. Section 6 is devoted to some illustrative examples piecewise Eq. (1) with Caputo derivative is given by
to demonstrate our analysis. In the last Section 7, we give a brief conclu- 8 8 Z t1
sion and some future direction for further research in this area. >
> >
>
>
> > y0 þ
< ωðs, yðsÞ, zðsÞÞds, if t ∈ ½0, t 1 ,
>
>
> yðt Þ ¼
>
0
>
> > Z t
2. Preliminary work >
> >
> 1
>
> : yðt 1 Þ þ ðt  sÞα  1 ωðs, yðsÞ, zðsÞÞds, t ∈ ½t 1 , η,
< Γðα Þ t 1
In present section, we define basic definitions and lemmas from frac- 8 Z t1
>
> >z þ
tional calculus which are essential in existence and stability analysis for >
> >
> ψðs, yðsÞ, zðsÞÞds, if t ∈ ½0, t 1 ,
>
> < 0
>
> 0
the couple system of FDEs. These results are re-collected from [14]. >
> zðt Þ ¼ Z t
>
> >
> 1
>
> >
: zðt 1 Þ þ ðt  sÞα  1 ψðs, yðsÞ, zðsÞÞds, t ∈ ½t 1 , η:
Definition 2.1. Let y be a continuous function then piecewise version of :
Γðα Þ t1
Riemann-Liouville integral, with α ∈ (0, 1] is defined as ð2Þ
8Z t
>
>
1
>
< yðsÞds, if t ∈ ½0, t 1 ,
PRL α 0 For the required analysis, we need the following data dependence
I yðt Þ ¼ Z t
>
> 1 results to be hold:
>
: ðt  sÞα  1 yðsÞds, if t ∈ ½t 1 , η,
Γðα Þ t 1 (A1) For fixed real quantities Lω > 0, Lψ > 0, with ω, ψ : [0, η] × R × R
→ R and at each ðy; zÞ; ðy; zÞ∈Z1  Z2 ; one has
where PRLIα represents classical integral on [0, t1] and usual Riemann- h i
Liouville integral on [t1,η]. j ωðt; y; zÞ−ωðt; y; zÞ j ≤Lω jy−yj þ jz−zj ;

Definition 2.2. Let y be a continuous function, then piecewise version

and
of classical and fractional derivative in Caputo sense is defined as
h i
8 jψðt; y; zÞ−ωðt; y; zÞj ≤Lψ jy−yj þ jz−zj :
< dy , if t ∈ ½0, t ,
PC α 1
D yðt Þ ¼ dt
:C α (A2) For fixed real quantities Cω, Dω, Cψ, Dψ > 0 and Nω, Nψ > 0, the
D yðt Þ, if t ∈ ½t 1 , η,
given growth conditions hold

2
K. Shah, T. Abdeljawad and A. Ali Chaos, Solitons and Fractals 161 (2022) 112356

∣ωðt, yðt Þ, zðt ÞÞ∣ ≤ C ω ∣yðt Þ∣ þ Dω ∣zðt Þ∣ þ Nω , Case-II: For t ∈ [t1, η], if (y, z), ðy, zÞ ∈ Z  Z, then one has
Z t
1
and jF 1 ðy, zÞ  F 1 ðy, zÞj ≤ ðt  sÞα  1
jωðs, yðsÞ, zðsÞÞ ð10Þ
Γðα Þ t1
∣ψðt, yðt Þ, zðt ÞÞ∣ ≤ C ψ ∣yðt Þ∣ þ Dψ ∣zðt Þ∣ þ N ψ :  ωðs, yðsÞ, zðsÞÞjds:

To derive the existence theory, we define two operators as After simplification and applying Assumption (A1), we have from
Eq. (10)
F ¼ ð F 1 ; F 2 Þ : Z1  Z2 →Z1  Z2
ηα  
∥F 1 ðy, zÞ  F 1 ðy, zÞ∥ ≤ Lω ∥y  y∥ þ ∥z  z∥ : ð11Þ
by Γðα þ 1Þ

F ðy, zÞ ¼ ðF 1 y, F 2 zÞ: In same line repeating the procedure for second operator on [t1, η],
we obtain
Further the operators are expressed in more detailed form by using
ηα  
Eq. (2) as
∥F 2 ðy, zÞ  F 2 ðy, zÞ∥ ≤ Lψ ∥y  y∥ þ ∥z  z∥ : ð12Þ
8 Γðα þ 1Þ
Z t1
>
>
>
< y0 þ ωðs, yðsÞ, zðsÞÞds, if t ∈ ½0, t 1 ,
0 From Eq. (11), Eq. (12), we have for t ∈ [t1,η]
F 1 ðy, zÞ ¼ Z t
>
> 1
>
: yðt 1 Þ þ ðt  sÞα  1 ωðs, yðsÞ, zðsÞÞds, t ∈ ½t 1 , η, ηα  
Γðα Þ t 1 ∥F ðy, zÞ  F ðy, zÞ∥ ≤ Lω þ Lψ ∥ðy, zÞ  ðy, zÞ∥: ð13Þ
Γðα þ 1Þ
ð3Þ
ηα  
8 Z t1
Let K 2 ¼ Γðαþ1Þ Lω þ L ψ : Then Eq. (13) yields
>
>
>
< z0 þ ψðs, yðsÞ, zðsÞÞds, if t ∈ ½0, t 1 ,
F 2 ðy, zÞ ¼
0
Z t ∥F ðy, zÞ  F ðy, zÞ∥ ≤ K 2 ∥ðy, zÞ  ðy, zÞ∥: ð14Þ
>
> 1
>
: zðt 1 Þ þ ðt  sÞα  1 ψðs, yðsÞ, zðsÞÞds, t ∈ ½t 1 , η:
Γðα Þ t1 Thus, we have from Eqs. (9) and (13)
ð4Þ 
K 1 ∥ðy, zÞ  ðy, zÞ∥, if t ∈ ½0, t 1 ,
∥F ðy, zÞ  F ðy, zÞ∥ ≤ ð15Þ
K 2 ∥ðy, zÞ  ðy, zÞ∥, t ∈ ½t 1 , η:

Theorem 3.1. Under the assumption (A1), the problem Eq. (1) has a
Finally over t ∈ [0, η], we conclude from Eq. (15)
unique solution if max{K1, K2} < 1, where

  ηα h i ∥F ðy, zÞ  F ðy, zÞ∥ ≤ max fK 1 , K 2 g∥ðy, zÞ  ðy, zÞ∥: ð16Þ

K 1 ¼ t 1 Lω þ L ψ ; K 2 ¼ L ω þ Lψ :
Γðα þ 1Þ
Hence if max{K1, K2} < 1 then F is contraction and the given
Proof. Consider (y, z), and ðy, zÞ in Z  Z, then proceed in the follow- problem has a unique solution. □
ing cases. By using Schauder theorem, we derive next result.
Case-I: For t ∈ [0, t1], one has from Eq. (3)
Theorem 3.2. Under the hypothesis (A2), the proposed coupled system
Z t1 Eq. (1) has at least one solution.
j F 1 ðy; zÞ−F 1 ðy; zÞ j ≤ j ωðs; yðsÞ; zðsÞÞ−ωðs; yðsÞ; zðsÞÞ j ds: ð5Þ
0 Proof. Let E be a closed convex subset of Z  Z, such that E ¼
fðy, zÞ ∈ Z  Z : ∥ðy, zÞ∥ ≤ r 1,2 g, where r 1,2 ≥ 1λþNt θt 1 , N ¼ N ω þ N ψ , θ ¼
1

Taking maximum values of both sides of Eq. (5), we have max Dω þ Dψ , C ω þ C ψ and λ = ∣ y0 ∣ + ∣ z0 ∣ .
  Then here we define operator G = (G1, G2) : E → E by G(y, z) =
∥F 1 ðy; zÞ− F 1 ðy; zÞ∥≤t 1 Lω ∥y−y∥ þ ∥z−z∥ : ð6Þ (G1, G2)(y,z) = (G1(y, z),G2(y, z)), where
8 Z t1
>
>
Repeating the same process for the second operator in [0, t1], one has >
< y0 þ ωðs, yðsÞ, zðsÞÞds, if t ∈ ½0, t 1 ,
0
from Eq. (4) G1 ðy, zÞ ¼ Z t
>
> yðt 1 Þ þ 1
>
: ðt  sÞα  1 ωðs, yðsÞ, zðsÞÞds, t ∈ ½t 1 , η,
  Γðα Þ t1
∥F 2 ðy; zÞ−F 2 ðy; zÞ∥ ≤t 1 Lψ ∥y−y∥ þ ∥z−z∥ : ð7Þ
ð17Þ
8 Z t1
From Eq. (6), Eq. (7), we have for t ∈ [0, t1] >
>
>
< z0 þ ψðs, yðsÞ, zðsÞÞds, if t ∈ ½0, t 1 ,
0
∥F ðy; zÞ− F ðy; zÞ∥ ¼ ∥F 1 ðy; zÞ−F G2 ðy, zÞ ¼ Z t
 1 ðy; zÞ∥ þ ∥ F 2 ðy; zÞ−F 2 ðy; zÞ∥ ð8Þ >
>
> 1
≤ t 1 Lω þ Lψ ∥y−y∥ þ ∥z−z∥: : zðt 1 Þ þ ðt  sÞα  1 ψðs, yðsÞ, zðsÞÞds, t ∈ ½t 1 , η:
Γðα Þ t 1
ð18Þ
Hence using K1 = t1[Lω + Lψ], one has from Eq. (8) that
Here onward analysis is established in numbers of steps by using
∥F ðy, zÞ  F ðy, zÞ∥ ≤ K 1 ∥ðy, zÞ  ðy, zÞ∥: ð9Þ
Eqs. (17) and (18) as:

Now we repeat the above procedure for t ∈ [t1,η]. Case I. For t ∈ [0, t1], we have the following steps.

3
K. Shah, T. Abdeljawad and A. Ali Chaos, Solitons and Fractals 161 (2022) 112356

Step I: Let (y, z) ∈ E. Then at t ∈ [0,t1], we have ∥Gðy, zÞ∥ ≤ r 1,2 :

Z t1
∥G1 ðy, zÞ∥ ≤ jy0 j þ sup jωðs, yðsÞ, zðsÞÞjds Hence G is bounded in this case also. Also G(E) ⊆ E for t ∈ [t1, η]..
t ∈ ½0, t 1  0 ð19Þ Step II: Since ω, ψ ∈ C[0, η]. Hence G1, G2 are continuous in same
≤ jy0 j þ ðC ω ∥y∥ þ Dω ∥z∥ þ Nω Þt 1 : domain. Now to show that G = (G1, G2) is equi-continuous, we discuss
two cases. Let t ∈ [0, t1] then tm < tn ∈ [0,t1], we have
Similarly for t ∈ [0, t1], by 2nd operator, we have h i
  ∣G1 ðy, zÞðt n Þ  G1 ðy, zÞðt m Þ∣ ≤ ðt n  t m Þ C ω r1,2 þ Dω r 1,2 þ Nω
∥G2 ðy, zÞ∥ ≤ ∣z0 ∣ þ C ψ ∥y∥ þ Dψ ∥z∥ þ Nψ t 1 : ð20Þ
! 0 as t m ! t n
From Eq. (19), Eq. (20), one has
and
∥G1 ðy, h i
zÞ∥ þ ∥G2ðy, zÞ∥ ≤ ∣y0 ∣ þ ∣z0 ∣  ∣G2 ðy, zÞðt n Þ  G2 ðy, zÞðt m Þ∣ ≤ ðt n  t m Þ C ψ r 1,2 þ Dψ r 1,2 þ Nψ
þ C ω þ C ψ ∥y∥ þ Dω þ Dψ ∥z∥ þ Nω þ Nψ t 1 : ð21Þ
! 0 as t m ! t n :

Let Cω + Cψ = a, Dω + Dψ = b and ∣y0 ∣ + ∣ z0 ∣ = λ, max (a, b) = θ

Since G1, G2 are bounded in [0, t1] so G is also bounded. Thus it is
and Nω + Nψ = N. Then Eq. (21) implies
uniformly continuous. Thus we have
∥Gðy, zÞ∥ ≤ λ þ t 1 θ∥ðy, zÞ∥ þ Nt 1 ≤ r 1,2 : h i
∥G2 ðy, zÞðt n Þ  G2 ðy, zÞðt m Þ∥ ≤ ðt n  t m Þ C ψ r 1,2 þ Dψ r 1,2 þ Nψ
From which ∥G(y,z) ∥ ≤ λ + t1θ ∥ (y, z) ∥ + Nt1 ≤ r1, 2, where ! 0 as t m ! t n :

λ þ Nt 1 Now if tm < tn ∈ [t1,η], then

r1,2 ≥ : ð22Þ
1  θt 1
jG1 ðy, zÞðt n Þ  G1 ðy, zÞðt m Þj
Z tn
Hence ∥G(y, z) ∥ ≤ r1, 2. Thus G is bounded and G(y, z) ∈ E. Which 1
means G(E) ⊆ E in case if t ∈ [0, t1]. ≤ ðt n  sÞα  1 jωðs, yðsÞ, zðsÞÞjds
Γðα Þ t m ð26Þ
1   
Case II. At t ∈ [t1, η]. ≤ C ω þ Dω , r 1,2 þ Nω ðt n  t m Þα :
For (y, z) ∈ E at t ∈ [t1, η], we have Γðα þ 1Þ
 Z 
1 t Hence in Eq. (26) we see if tm → tn then the right hand side goes to
∥G1 ðy, zÞ∥ ≤ supt jyðt 1 Þjþ ðt  sÞα  1
jωðs, yðsÞ, zðsÞÞjds
∈ ½t 1 ,η
Γðα Þ t1 zero. Thus
 Z t   
1 ∣G1 ðy, zÞðt n Þ  G1 ðy, zÞðt m Þ∣ ! 0 with t m ! t n :
≤ supt jyðt 1 Þjþ ðt  sÞα  1 C ω jyðt ÞjþDω jzðt ÞjþNω ds
∈ ½t 1 ,η
Γðα Þ t1
1   Also G1 is bounded so it is uniformly continuous and hence
≤ ∣yðt 1 Þ∣ þ C ω ∥y∥ þ Dω ∥z∥ þ Nω ðη  t 1 Þ
Γðα þ 1Þ
∥G1 ðy, zÞðt n Þ  G1 ðy, zÞðt m Þ∥ ! 0 with t m ! t n :
1  
≤ ∣yðt 1 Þ∣ þ C ω ∥y∥ þ Dω ∥z∥ þ Nω η:
Γðα þ 1Þ Similarly we have
ð23Þ
∥G2 ðy, zÞðt n Þ  G2 ðy, zÞðt m Þ∥ ! 0 with t m ! t n :

In same line one has also Therefore,

1  
∥G2 ðy, zÞ∥ ≤ ∣zðt 1 Þ∣ þ C ψ ∥y∥ þ Dψ ∥z∥ þ Nψ η: ð24Þ ∥Gðy, zÞðt n Þ  Gðy, zÞðt m Þ∥ ! 0 with t m ! t n :
Γðα þ 1Þ
Thus G is equi-continuous. Hence all the conditions of the relatively
Now using Δ1, 2 = ∣ y(t1) ∣ + ∣ z(t1)∣ and the above defined notations compactness are fulfilled therefore, G has at least one fixed point. Thus
in Eq. (22), from Eqs. (23) and (24), we have problem Eq. (1) has at least one solution.
1  
∥G1 ðy, zÞ∥ þ ∥G2 ðy, zÞ∥ ≤ Δ1,2 þ a∥y∥ þ b∥z∥ þ N η 4. H-U stability analysis
Γðα þ 1Þ
θη   Nη
≤ Δ1,2 þ ∥ðy, zÞ∥ þ : Stability is an important consequence of numerical analysis and op-
Γðα þ 1Þ Γðα þ 1Þ
timization theory. During spectral analysis of a real world problems, the
important need is devoted to stability. Because if we cannot establish a
θη Nη
∥Gðy, zÞ∥ ≤ Δ1,2 þ r 1,2 þ ≤ r 1,2 : ð25Þ stable procedure for our numerical simulation, then rarely we can ex-
Γðα þ 1Þ Γðα þ 1Þ
pect good numerical results. Here for the considered coupled system,
we investigate some stability results devoted to H\\U type. We recall
For simplicity, we use the following notions
the definition of H\\U stability and its generalization from [21].
θη Consider the operator F : Z→Z; where ZZ ¼ Z  Z satisfies
p¼ ,
Γðα þ 1Þ
F ðwÞ ¼ w; for w ∈ Z: ð27Þ
η
q¼ :
Γðα þ 1Þ Definition 4.1. The solution of the operator Eq. (27) is H\\U stable if for
n o every ϵ > 0 and let w ∈ Z, be any solution of the inequality
Δ1,2 þNq λþNt1 Δ1,2 þNq
Then r1,2 ≥ 1  p : Now if max 1  θt 1 , 1  p ≤ r 1,2 , then Eq. (25)
implies that ∥w  F w∥ ≤ ϵ, for t ∈ ½0, η, ð28Þ

4
K. Shah, T. Abdeljawad and A. Ali Chaos, Solitons and Fractals 161 (2022) 112356

there exist a unique solution w of Eq. (27) with constant Ω > 0, satisfies And from Eq. (35), using Remark 1, we have
the following inequality 8 Z t1 
>
>  
>
>z ðt Þ  z þ ψð s, y ð sÞ, z ðsÞ Þds  ≤ t 1 ϵ, t ∈ ½0, t 1 ,
∥w  w∥ ≤ Ωϵ: ð29Þ >
>
0 
>
> 
0
Z 
< t 
zðt Þ  zðt 1 Þ þ 1 ðt  sÞα  1
ψðs, y ðsÞ, z ðsÞÞds  ð37Þ
>  Γðα Þ 
Definition 4.2. Further, if there exist function Φ ∈ C([0, η], ℝ) with >
> t1
> 
> 
>
> η α
Φ(0) = 0, for any solution ω of inequality Eq. (28) and a unique solution >
: ≤ ϵ, t ∈ ½t 1 , η:
w of Eq. (27), such that Γðα þ 1Þ

∥w  w∥ ≤ ΦðϵÞ, ð30Þ Which satisfy Eqs. (32) and (33).

then the solution of the problem Eq. (27) is generalized H\\U stable. Theorem 4.3. The solution of the system Eq. (1) is H\\U stable if condi-
tions K1 < 1 and K2 < 1, hold, where K1 = t1(Lω + Lψ) < 1 and K 2 ¼
Remark 1. Let a function f : [0, η] → ℝ is independent of solution ηα  
ðy, zÞ ∈ Z  Z, such that f(0) = 0, then Γðαþ1Þ Lω þ L ψ < 1:

∣f ðt Þ∣ ≤ ϵ, t ∈ ½0, η: Proof. We derive the proof by using the assumption (A1) and Lemma
4.1. Let ðy, zÞ ∈ Z  Z be the unique solution and ðy, zÞ ∈ Z  Z is any
solution of Eq. (1). Then for t ∈ [0, t1], we have
Lemma 4.1. The solution of the problem
∥y  y∥ ≤ t 1 ϵ þ t 1 Lω ð∥y  y∥ þ ∥z  z∥Þ ð38Þ
8
PC α
>
< D yðt Þ ¼ ωðt, yðt Þ, zðt ÞÞ þ f ðt Þ,
PC α and
D yðt Þ ¼ ψðt, yðt Þ, zðt ÞÞ þ f ðt Þ, ð31Þ
>
:
yð0Þ ¼ y0 , zð0Þ ¼ z0 , t ∈ ½0, η, ∥z  z∥ ≤ t 1 ϵ þ t 1 Lψ ð∥y  y∥ þ ∥z  z∥Þ: ð39Þ

satisfies the following relations Adding Eqs. (38), and (39), we have
8 Z t1   
>
>   ∥y  y∥ þ ∥z  z∥ ≤ 2t 1 ϵ þ t 1 Lω þ Lψ ð∥y  y∥ þ ∥z  z∥Þ: ð40Þ
>
> yðt Þ  y þ ωðs, yðsÞ, zðsÞÞds  ≤ t 1 ϵ, t ∈ ½0, t 1 ,
>
>  0
>
>
0
Z t 
<  As above using t1(Lω + Lψ) = K1, then we have from Eqs. (40)
yðt Þ  yðt 1 Þ þ 1 ðt  sÞα  1
ω ðs, y ðsÞ, zðsÞÞds  ð32Þ
>  Γ ðα Þ 
>
> t
2t 1
>
>   1
∥ðy, zÞ  ðy, zÞ∥ ≤ ϵ, t ∈ ½0, t 1 : ð41Þ
>
> η α
>
: ≤ ϵ, t ∈ ½t 1 , η 1  K1
Γðα þ 1Þ
In same line for t ∈ [t1, η], we have
and
8 Z t1  ηα ηα L ω
>   ∥y  y∥ ≤ ϵþ ð∥ðy, zÞ  ðy, zÞ∥Þ, ð42Þ
>
> z ðt Þ  z þ ψð s, y ð sÞ, z ðsÞ Þds  ≤ t 1 ϵ, t ∈ ½0, t 1 , Γðα þ 1Þ Γðα þ 1Þ
>
>  0 
>
> 0
>
< Z 
t  And
zðt Þ  zðt 1 Þ þ 1 ðt  sÞα  1
ψð s, y ðsÞ, z ðsÞÞds  ð33Þ
>  Γðα Þ 
>
> t1
>
>   ηα ηα Lψ
>
> η α ∥z  z∥ ≤ ϵþ ð∥ðy, zÞ  ðy, zÞ∥Þ: ð43Þ
>
: ≤ ϵ, t ∈ ½t 1 , η: Γðα þ 1Þ Γðα þ 1Þ
Γðα þ 1Þ
Adding Eqs. (42) and (43), we have
Proof. In view of Corollary 1, the solution of Eq. (31) is computed as
2ηα ηα  
8 Z Z ∥ðy, zÞ  ðy, zÞ∥ ≤ ϵþ Lω þ Lψ ð∥ðy, zÞ  ðy, zÞ∥Þ: ð44Þ
>
>
t1 t1 Γðα þ 1Þ Γðα þ 1Þ
>
< y0 þ ωðs, yðsÞ, zðsÞÞds þ f ðsÞds, if t ∈ ½0t1 ,
0 0
yðt Þ ¼ Z t Z t
>
>
> 1 1 ηα   2ηα
ðt  sÞα  1 ωðs, yðsÞ, zðsÞÞds þ ðt  sÞα  1
For easiness we put K 2 ¼ Γðαþ1Þ L ω þ Lψ , K 3 ¼ Γðαþ1Þ , then Eq. (44)
: yðt1 Þ þ f ðsÞds, t ∈ ½t1 η,
Γðα Þ t1 Γðα Þ t1
ð34Þ yields

K3
and ∥ðy, zÞ  ðy, zÞ∥ ≤ ϵ, t ∈ ½t 1 , η: ð45Þ
1  K2
8 Z t1 Z t1
>
> n o
>
< z0 þ ψðs, yðsÞ, zðsÞÞds þ f ðsÞds, if t ∈ ½0t1 ,
2t 1 K3
zðt Þ ¼
0
Z t
0
Z t Hence from Eqs. (41) and (45), if max 1  K1 , 1  K2 ¼ Ω, then
>
> 1 1
>
: zðt1 Þ þ ðt  sÞ α  1
ψðs, yðsÞ, zðsÞÞds þ ðt  sÞα  1
f ðsÞds, t ∈ ½t1 η,
Γðα Þ t1 Γðα Þ t1 Eq. (45) implies that
ð35Þ
∥ðy, zÞ  ðy, zÞ∥ ≤ Ωϵ: ð46Þ
Now from Eq. (34), using Remark 1, we have
Hence the solution is showed to be H\\U stable.
8 Z t1 
>   Further, if there exists a non-decreasing function Φ : ℛ+ → ℛ+
>
> yðt Þ  y0 þ ωðs, yðsÞ, zðsÞÞds  ≤ t 1 ϵ, t ∈ ½0, t 1 ,
>
> such that Φ(ϵ) = ϵ. Then from Eq. (46), we have
>
> 0
>
<  Z t 

yðt Þ  yðt 1 Þ þ 1 ðt  sÞα  1 ωðs, yðsÞ, zðsÞÞds  ð36Þ ∥ðy, zÞ  ðy, zÞ∥ ≤ ΦðϵÞΩϵ:
>  Γðα Þ
>
> t
>
>   1

>
> ηα
>
: ≤ ϵ, t ∈ ½t 1 , η: with Φ(0) = 0. Which proves the generalized H\\U stability of the
Γðα þ 1Þ solution.

5
K. Shah, T. Abdeljawad and A. Ali Chaos, Solitons and Fractals 161 (2022) 112356

5. Numerical scheme 0.4

We establish a scheme for numerical solutions to the proposed for

0.3
our proposed model Eq. (1). We use rules of definite integrals to de-
velop a scheme for our numerical results. We first construct the tech-

2
K
nique for the first equation of the system Eq. (1) and the same 0.2
procedure will be exercise for the second equation also. The suggested
scheme is also given for simple problems in [20]. In terms of Newton dif- 0.1
ferences formula, we approximate the function ψ(t, y, z) over [tj, tj+1] by
considering differences in equally spaced arguments form as Δtj = Δt, 0
such that 0 0.2 0.4 0.6 0.8 1
α
    
ψðt; yðt Þ;  ψ tj−1; y t j−1
zðt ÞÞ ≈  ; z t j−1 
    
ψ t j−1 ; y t j−1 ; z t j−1 −ψ t j−2 ; y t j−2 ; z t j−2   Fig. 1. Graphical presentation of approximate value of K2 corresponding to α.
þ t−t j−2
 Δt
              
ψ t j ; y t j ; z t j −2ψ t j−1 ; y t j−1 ; z t j−1 þ ψ t j−2 ; y t j−2 ; z t j−2   
 2
 t−t j−1 t−t j−2 : 1

2ðΔt Þ We see from the Fig. 1 that max 50 , 0:4 < 1, hence the given
ð47Þ problem has a unique solution by Theorem 3.1. Further by using the
technique established afore in the Section 5, we present the numerical
In same line, the other function ω(t, y, z) can be approximated as solution graphically in Figs. 2 and 3 respectively.
well. From the Figs. 2 and 3, we observe the dynamics of the approximate
So at t = tn+1, and using Eq. (48), we have for our coupled system solution. Also one can easily understand that numerical solutions are
8
H\\U stable by Theorem 4.3. Consequently if we take a non-
i  
>
> X 5   4   23 
decreasing function Φ(t) = t, then the condition of generalized H\\U
>
> y0 þ ψ t j−2 ; y j−1 ; z j−1 − ψ t j−2 ; y j−1 ; z j−1 þ ψ t j ; y j ; z j Δt; 0 < t ≤t 1 ;
>
> 12 3 12
>
> j¼2
>
> n h  i stability also holds.
>
> ðΔt Þα−1 X 
>
> yðt 1 Þ þ ψ t j−2 ; y j−2 ; z j−2 ðn−j þ 1Þα −ðn−jÞα
>
>
>
> Γðα þ 1Þ j¼iþ3
>
>
>
>
>
> ðΔt Þα−1 X n   Example 2. Here, we present another example
<þ ½ψ t j−1 ; y j−1 ; z j−1
yðt nþ1 Þ ¼
>
Γðα þ 2Þ j¼iþ3
  8
>
>
>

−ψ t j−2 ; y j−2 ; z j−2  ðn−j þ 1Þα ðn−j þ 3 þ 2α Þ−ðn−jÞðn−j þ 3 þ 3α Þ

>
> PC α 1 þ sin t 1 þ cos t
>
>
>
> >
> D yðt Þ ¼ þ , α ∈ ð0, 1, t ∈ ½0, 20,
>
>
>
> þ
α ðΔt Þ α−1 X n   
½ψ t jþ1 ; y jþ1 ; z jþ1 −2ψ t j−1 ; y j−1 ; z j−1
 >
< 10 þ jyðt Þj 10 þ jzðt Þj
>
>
> 2Γðα þ 3Þ j¼iþ3
>
>
>
>     PC α 1þt 4þt ð51Þ
>
> þψ t j−2 ; y j−2 ; z j−2 ½ðn−j þ 1Þα 2ðn−jÞ2 þ ð3α þ 10Þðn−jÞ þ 2α 2 þ 9α þ 12 −ðn−jÞα ð2ðn−jÞ2
> >
> D zðt Þ ¼ þ , α ∈ ð0, 1, t ∈ ½0, 20,
>
>
:   >
> 100 þ j yðt Þj 100 þ ∣zðt Þ∣
2
þ ð5α þ 10Þðn−jÞ þ 6α þ 18α þ 12 ; t 1 < t ≤ η: >
:
ð48Þ yð0Þ ¼ 0, zð0Þ ¼ 0,

Repeating the same argument like Eq. (48) for second equation of
0.22
the system Eq. (1), we obtain
8
i  
>
> X 5   4   23 
0.215
>
> z0 þ ω t j−2 ; y j−1 ; z j−1 − ω t j−2 ; y j−1 ; z j−1 þ ω t j ; y j ; z j Δt; 0 < t ≤ t 1 ;
>
> 12 3 12
>
> j¼2
>
> n h  i
>
> α−1 X

> zðt Þ þ ðΔt Þ
> ω t j−2 ; y j−2 ; z j−2 ðn−j þ 1Þα −ðn−jÞα
>
>
y(t)

1
>
> Γðα þ 1Þ j¼iþ3 0.21
>
>
>
> α−1 X n  
>
> þ ðΔt Þ
< ½ω t j−1 ; y j−1 ; z j−1
zðt nþ1 Þ ¼ Γðα þ 2Þ 0.65
>
>  j¼iþ3
 
>
> −ω t j−2 ; y j−2 ; z j−2  ðn−j þ 1Þα ðn−j þ 3 þ 2α Þ−ðn−jÞðn−j þ 3 þ 3α Þ 0.205
>
> 0.75
>
>
>
> α ðΔt Þα−1 X n    
>
> þ ½ω t jþ1 ; y jþ1 ; z jþ1 −2ω t j−1 ; y j−1 ; z j−1 0.85
>
>
> 2Γðα þ 3Þ j¼iþ3
>
>
>     0.95
>
> þω t ; y ; z
>
>
> j−2 j−2 j−2 ½ðn−j þ 1Þ
α
2ðn−jÞ2 þ ð3α þ 10Þðn−jÞ þ 2α 2 þ 9α þ 12 −ðn−jÞα ð2ðn−jÞ2 0.2
>
:  2
 0 5 10 15 20
þ ð5α þ 10Þðn−jÞ þ 6α þ 18α þ 12 ; t 1 < t ≤η: t
ð49Þ
Fig. 2. Graphical presentation of approximate solutions of y corresponding to various
values of α.

6. Application to authenticate our analysis

To demonstrate our results we give some examples.

0.515
Example 1. Consider the given Cauchy problem with piecewise deriva-
tive as
8 0.51
>
> sin jyðt Þj þ jzðt Þj
> PC Dα yðt Þ ¼
> , α ∈ ð0, 1, t ∈ ½0, 20,
z(t)

>
< t 3 þ 100
PC α jyðt Þj þ cos ∣zðt Þ∣ ð50Þ
>
> D zðt Þ ¼ , α ∈ ð0, 1, t ∈ ½0, 20, 0.505 0.65
>
> t 5 þ 100
>
: 0.75
yð0Þ ¼ 0:2, zð0Þ ¼ 0:5: 0.85
0.95
0.5
1 0 5 10 15 20
Then Lω ¼ 1
100 , L ψ ¼ 100 :
1
Let t1 = 1, then K 1 ¼ 1 50 ¼ 50
1
and K 2 ¼ t
20α
50Γðαþ1Þ : We plot the value of K2 for the given values of α ∈ (0, 1] in the
Fig. 3. Graphical presentation of approximate solutions of y corresponding to various
Fig. 1. values of α.

6
K. Shah, T. Abdeljawad and A. Ali Chaos, Solitons and Fractals 161 (2022) 112356

Fig. 4. Graphical presentation of approximate value of K2 corresponding to α.

3.5 decreasing function Φ(t) = t, then the condition of generalized H\\U

stability also holds.
3
7. Concluding remarks
2.5
We have established the qualitative theory for the solution of a
y(t)

2 Cauchy coupled system of piecewise equations with Caputo derivative

0.65 of fractional order. The concerned differential operator has been re-
1.5
0.75 cently identified as a powerful tool to detect crossover behavior in var-
0.85 ious evolutionary process. We have established a huge analysis by using
0.95 traditional fixed point results due to Banach and Schauder. The afore-
1
0 5 10 15 20 said analysis has been devoted to the existence and uniqueness of solu-
t
tion to the proposed problem. Moreover keeping in mind the
significance of H\\U stability, we have carried out some analysis for
Fig. 5. Graphical presentation of approximate solutions of y corresponding to various
values of α. the proposed problem. By using a numerical scheme based on Newton
interpolation polynomials, we have presented some numerical inter-
 11  pretation also. Two pertinent examples have been given to confirm
Then Lω ¼ 100
1
, Lψ ¼ 1000
1
: Let t1 = 1, then K 1 ¼ 1 1000 ¼ 1000
11
and the applicability of our analysis. The respective graphical presentations
α
K 2 ¼ 1000Γðαþ1Þ : We plot the value of K2 for the given values of α ∈ (0, 1]
11:10
of various fractional order have also given. In future, the aforesaid anal-
n o
ysis can be extended to piecewise equations of several variables under
in the Fig. 4.We can easily show that max 1 2t K3
 K1 , 1  K2
1
< 1,
fractional order derivatives.
hence the given problem has a unique solution by Theorem 3.1.
Further by using the technique established afore in the Section 5, we
present the numerical solution graphically in the Figs. 5 and 6 Data availability statement
respectively.
From the Figs. 5 and 6, one can easily understand that numerical so- The data used has been included within the paper.
lutions are H\\U stable by Theorem 4.3. Consequently if we take a non-
CRediT authorship contribution statement

0.06 First and third authors have prepared the draft. Second author
0.65
0.75 viewed the paper. Finally the paper has been read and approved by all
0.04
0.85 authors.
0.02 0.95

Data availability
0
z(t)

−0.02 No data was used for the research described in the article.

−0.04 Declaration of competing interest

−0.06
There does not exist any conflict of interest.
−0.08
0 5 10 15 20
t Acknowledgement

Fig. 6. Graphical presentation of approximate solutions of y corresponding to various The authors Kamal Shah and Thabet Abdeljawad would like to thank
values of α. Prince Sultan University for support through TAS research lab.

7
K. Shah, T. Abdeljawad and A. Ali
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