Journal of Evolution Equations

Indirect stability of coupled wave equations with local Kelvin-Voigt damping

--Manuscript Draft--

Manuscript Number: JEEQ-D-22-00107

Full Title: Indirect stability of coupled wave equations with local Kelvin-Voigt damping

Article Type: Research Article

Abstract: We consider an indirect stability problem for a coupled wave system with a local
Kelvin- Voigt damping. By using the frequency domain method and under the
assumption that the damping coefficient has a singularity at the interface of the
damped- undamped region, we prove a polynomial and an exponential stability results.

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5 1 Indirect stability of coupled wave equations with local
6
7 2 Kelvin-Voigt damping
8
9 3 Ahmed Bchatnia · Nadia Souayeh
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15 4

16 5 Received: date / Accepted: date

17
18
6 Abstract We consider an indirect stability problem for a coupled wave system with
19
7 a local Kelvin-Voigt damping. By using the frequency domain method and under
20
21 8 the assumption that the damping coefficient has a singularity at the interface of
22 9 the damped-undamped region, we prove a polynomial and an exponential stability
23 10 results.
24 11 Keywords Stability · coupled wave equations · Kelvin-Voigt damping
25
26 12 Mathematics Subject Classification (2010) 35B40 · 93D15 · 93D20
27
28
29 13 1 Introduction
30
31 14 One concept of the stability of the solution of an evolutionary equation relates
32 15 to the sensitivity of the solution to perturbations in initial conditions, it consists
33 16 of forcing a system to become asymptotically stable as times tends to infinity, by
34 17 choosing and synthesizing the most convening damping or dissipative term. Actu-
35 18 ally, it is a process that influences the behavior of a physical system on the aim
36 19 to achieve a desirable goal. As a matter of fact, it is applied in a diverge range
37 20 of scientific and engineering disciplines: in the regulation of biological systems , in
38 21 designing robots · · ·
39 Genuinely, when an elastic body occupies a bounded region Ω of Rn , it is more
40 common to use one of two types of dampers: either the viscous one, which could be
41 modeled in the equation as
42
43 utt − ∆u + a(x)ut = 0, x ∈ Ω, t > 0,
44
45 or the Kelvin-Voigt one, given by
46
utt − div[∇u − a(x)∇ut ] = 0, x ∈ Ω, t > 0.
47
48 22 In the case of global damping (a > 0), it is well known that the Kelvin-Voigt
49 23 damping is stronger than the viscous one. In fact, it was shown that when the
50
51 A. Bchatnia
52 LR Analyse non-linéaire et géométrie, LR21ES08,
Department of Mathematics, Faculty of Sciences of Tunis,
53 University of Tunis El-Manar, 2092 El Manar II, Tunisia
54 E-mail: ahmed.bchatnia@fst.utm.tn
55
N. Souayeh
56 LR Analysis and Control of PDEs, LR22ES03,
57 Department of Mathematics, Faculty of Sciences of Monastir,
58 University of Monastir, Tunisia E-mail: nadia.souayeh@fst.utm.tn
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 2 1 INTRODUCTION
1
2 1 Kelvin-Voigt damping coefficient does satisfy some geometrical control conditions,
3 2 the semigroup corresponding to this system is exponentially stable, it does also
4 3 generate an analytic semigroup where the spectrum is contained in a sector of the
5
4 left half complex plane ([17, 18, 22]). For the Kelvin-Voigt feedback stabilization of
6
5 the wave equation on multi-dimensional domain or graph geometry (see [3, ?]).
7
8 6 On another hand, for the viscous type, although the associated semigroup is still
9 7 exponentially stable, it does not have any smoothing property. However, it is not the
10 8 case when the damping is local in an internal region of the domain. The local viscous
11 9 damping for the one-dimensional wave equation, even if the damping coefficient
12 10 function has a discontinuity at the interface, leads to exponential energy decay (see
13 11 [4,?,?,?,?,?]). Surprisingly, for the Kelvin-Voigt damping, it is quite different. Many
14
12 researchers showed interest in this type of system, indeed they studied the energy
15
13 solution of a wave equation with locally disturbed Kelvin-Voigt damping, in the
16
17 14 interval (−1, 1),
18 
 utt − [ux (x, t) + a(x)uxt (x, t)]x = 0, −1 < x < 1, t > 0,
19
u(t, −1) = u(t, 1) = 0, t > 0, (1)
20
u(0, x) = u0 (x), ut (0, x) = u1 (x), −1 ≤ x ≤ 1,

21
22

∞ 0 for x ∈ (−1, 0],
23 15 with a ∈ L (−1, 1) and a(x) =
b(x) for x ∈ (0, 1),
24 16 where b(x) is a nonnegative function. Genuinly, the long time behavior of the solu-
25 17 tion of system (1) depends on the smoothness of the function b.
26
27 18 – In 1998, Liu and Liu [16] proved the lack of exponential stability when b = cst.
28 19 Due to the discontinuity of the material, the elastic waves are reflected at the
29 20 interface, which fail to be effectively damped because they do not enter the
30 21 region of damping.
31 22 – In 2016, Liu and Zhang [19] proved, under the assumption that the damping
32 23 coefficient has a singularity at the interface of the damped and undamped re-
33 24 gions, and behaves like xα near the interface, that the semigroup corresponding
34 25 to the system is polynomially or exponentially stable and that the decay rate
35
26 depends on the parameter α ∈ (0, 1]. In particular, for α ∈ (0, 1), the system (1)
36 1
27 is polynomially stable with order 1−α .
37
0 00 ∞
38 28 For α = 1, and a , a ∈ L (0, 1) they proved an exponential stability.
39 29 In general, waves are rarely encountered in isolation from it is surrounding, it most
40
30 likely shares a common component with at least another wave, or what we call
41
31 ”coupled” waves, so it would be possible to transmit energy to each other. It turned
42
43 32 out that certain systems possesses an internal structure that compensates the lack
44 33 of a control variables. Such a phenomenon is referred to as indirect stabilization or
45 34 indirect control.
46 35 Typically, the indirect damping is the coupling of a conservative equation with a
47 36 controlled one, and so the dissipation can be transmitted to the overall system. The
48 37 effectiveness of this transmission was the topic of discussion of many papers, we can
49 38 mention:
50
– In 2011, Alabau-Boussouira, Cannarsa and Guglielmi studied in [1] a weakly
51
coupled waves with partial frictional damping .
52
53 
utt − ∆u + αv = 0 x ∈ Ω, t ≥ 0,
54 vtt − ∆v + αu + βvt = 0 x ∈ Ω, t ≥ 0,
55
56 39 subject to Dirichlet boundary conditions. The main concern with this kind of sys-
57 40 tems is if the behavior of the first components is sufficient to have stabilization.
58 41 Although the damping is global, it was proved that the semigroup corresponding
59
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61
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 3
1
2 1 to this system is not exponentially stable, but polynomially stable with a rate
3 −1
2 equals to t 2 .
4
3 – In 2017, Oquendo and Pacheco studied in [20] a wave equation with internal
5
6 4 coupled terms where the Kelvin-Voigt damping is global in one equation and the
7 5 second equation does not. Although the damping is stronger than the frictional
8 6 one, they showed that the semigroup loses speed, with a slower rate, down to
1
9 7 t− 4 . For the stabilization of coupled systems see also [7].
10 8 Now, when dealing with strongly coupled waves, or in other words when the coupling
11 9 is achieved through velocities, we can refer to the results proven by F. Ammar-
12
10 khodja and A. Bader, in [2], they studied simultaneous boundary stabilization of a
13
11 strongly coupled waves.
14
15 12 So one may wonder about the behavior of this kind of systems if the damping
16 13 coefficient has a discontinuity at the interface of the damped and undamped regions.
17 14 In this work, we examine the behavior of a coupled waves system with a partial
18 15 Kelvin-Voigt damping. We consider the following system where the first wave is
19 16 dissipative and not for the second:
20
21 
22  utt (x, t) − [ux (x, t) + a(x)uxt (x, t)]x + vt (x, t) = 0 (x, t) ∈ (−1, 1) × (0, +∞),

 vtt (x, t) − c vxx (x, t) − ut (x, t) = 0 (x, t) ∈ (−1, 1) × (0, +∞),

23

24 u(1, t) = v(1, t) = 0, u(−1, t) = v(−1, t) = 0 ∀ t > 0,
 u(x, 0) = u0 (x), ut (x, 0) = u1 (x) ∀ x ∈ (−1, 1),

25 

v(x, 0) = v0 (x), vt (x, 0) = v1 (x) ∀ x ∈ (−1, 1),

26
27 (2)
28 where c > 0 and with a ∈ L∞ (−1, 1) and
29 
30 0 for x ∈ (−1, 0),
(A1 ) a(x) =
31 b(x) for x ∈ [0, 1).
32
33 17 where function b(x) is nonnegative.
34 The natural energy of (u, v) solution of (2) at an instant t is given by
35
36 1 1
Z
|ut (x, t)|2 + |vt (x, t)|2 + |ux (x, t)|2 + c |vx (x, t)|2 dx, ∀ t > 0.


37 E(t) =
2 −1
38
39 Multiplying the first equation of (2) by u, the second by v, integrating over (-1,1)
40 and then, taking the real part leads to
41
Z 1
42
43 E 0 (t) = − a(x) |uxt (x, t)|2 dx, ∀ t > 0.
−1
44
45 18 Therefore, the energy is a non-increasing function of the time variable t.
46 19 By setting y(t) = (u(t), v(t), ut (t), vt (t)) and y0 = (u0 , v0 , u1 , v1 ) we can rewrite the
47 20 system (2) as a first abstract order differential equation as follows
48
49 ẏ(t) = Ay(t), y(0) = y0 , (3)
50
51 where A : D(A) ⊂ H → H, H := H01 (−1, 1) × H01 (−1, 1) × L2 (−1, 1) × L2 (−1, 1)
52 and
A(u1 , v 1 , u2 , v 2 ) = u2 , v 2 , u1x + au2x x − v 2 , c vxx
1
+ u2 ,



53
54
55 with
56
(u1 , v 1 , u2 , v 2 ) ∈ D(A) = (u1 , v 1 , u2 , v 2 ) ∈ H, (u2 , v 2 ) ∈ (H01 (−1, 1))2 ,

57
v 1 ∈ H 2 (−1, 1) ∩ H01 (−1, 1), u1x + au2x x ∈ L2 (−1, 1) .


58
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 4 2 POLYNOMIAL STABILIZATION
1
2 1 When the damping coefficient is a piece-wise function, in particular, when a has
3 2 the following form a = d.1[0,1] , where d is a strictly positive constant, Hassine
4 3 and Souayeh [14], proved the lack of the exponential stability and the presence of
5
4 polynomial stabilization.
6
7 However in this paper, firs of all, under the assumption
8
9 a(x)
(A2 ) lim = K > 0, 0 < α < 1,
10 x→0+ xα
11
12 5 we prove that the semigroup corresponding to this system is polynomially stable
13 6 for regular initial data, with order tα−1 .
14
15 Secondly, for α = 1 and a satisfies
16 00
(A3 ) a0 , a ∈ L∞ (0, 1),
17
18
7 we do prove that the semi group is actually exponentially stable.
19
20 8 For the well posedness and the strong stability, the proofs are quite similar to
21 9 the ones in [14].
22
23
24
10 2 Polynomial stabilization
25
26
11 This section aims to prove the polynomial stability given by the following theorem:
27
28 12 Theorem 1 Under assumption (A1 ), the semigroup of contraction (etA )t≥0 is poly-
29 13
1
nomially stable of order 1−α .
30
31 14 Our method is based on the Batty-Duyckaerts [11] & Borichev-Tomilov [12] sum-
32 15 marized as follows:
33
34 Theorem 2 [12, Theorem 2.4] Let B be a generator of a C0 -semigroup of contrac-
35 tions in a Hilbert space X with a domain D(B) such that iR ⊂ σ(B) then, etB is
36 polynomially stable of order γ1 , γ > 0, i.e., there exists C > 0 such that
37
38 C
39 ketB U0 kX ≤ 1 kU0 kD(B) , ∀ t ≥ 0, ∀ U0 ∈ D(B),
(1 + t) γ
40
41 if and only if
42
lim sup kβ −γ (iβ − B)−1 kL(X ) < ∞.
43 β∈R, |β|→∞
44
45 16 Under the assumption (A1 ) and based on Theorem 2, we are able now to prove our
46 17 main first result given in Theorem 1 of this section.
47
48 18 First of all, we already have that iR ⊂ ρ(A). In fact, while using the Arendt and
49 19 Batty theorem ([18]), in order to proof the strong stability of our system ([14]), we
50 20 showed that the intersection of σ(A) with iR is an empty set.
51 21 Then we consider the following:
52
22 Proposition 1 Under Assumption (A1 ) the operator A defined in (3) satisfies:
53
54
lim sup kβ α−1 (iβ − A)−1 kL(H) < ∞. (4)
55 β∈R, |β|→∞
56
57 23 To begin with, we mention the following Lemma (see [19, Lemma 2.3] for the proof)
58 24 that we are going to use later during the proof of (4).
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 5
1
2 α
Lemma 1 Let x 2 y 0 ∈ L2 (0, 1), satisfying y(1) = 0. Assume that β ≥ α − 2 when
3 α > 1 and β > −1 when 0 ≤ α < 1. Then there exists a positive C, independent of
4 y, such that
5 Z 1
β
Z 1
6 x 2 |y(x)|2 dx ≤ C xα |y 0 (x)|2 dx.
7 0 0
8 Proof (Proof of Proposition 1) To prove (4) we argue by contradiction. In fact, if
9
(4) is false, then, there exists βn ∈ R+ and Yn = (u1n , vn1 , u2n , vn2 ) ∈ D(A) such that
10
11 kYn kH = 1, βn % +∞ and βnγ (iβn I−A)Yn := (fn1 , gn1 , fn2 , gn2 ) −→ 0 in H as n % +∞.
12
13 1 Equivalently, we have
14
βnγ iβn u1n − u2n = fn1 −→ 0 in H01 (−1, 1),


15 (5)
16 2
βnγ iβn vn1 − vn2 = gn1 −→ 0 in H01 (−1, 1),


17 (6)
3
18 βnγ iβn u2n − u1nx + au2nx x + vn2 = fn2 −→ 0 in L2 (−1, 1),



(7)
19 4
βnγ iβn vn2 − cvnxx
1
− u2n = gn2 −→ 0 in L2 (−1, 1).


20 (8)
21
22 We denote by
23 Tn = u1nx + au2nx .
24 Taking the real part of hβ γ (iβn I − A)Yn , Yn iH , by the dissipation property of the
25 semigroup of the operator A, we get
26
Z 1
27 γ 1

28 βn |a 2 u2nx |2 dx −→ 0,
0
29
30 5 which leads to γ 1
31 βn2 ka 2 u2nx kL2 (0,1) −→ 0. (9)
32
6 Now thanks to (5) and (9), we obtain
33
34 γ
+1 1
βn2 ka 2 u1nx kL2 (0,1) −→ 0. (10)
35
36 7 We drop the index n for the simplicity.
37 8 Now, we multiply (7) by u2 , (8) by v 2 and then by summing the two quantities, we
38
9 obtain
39
40 iβ γ+1 ku2 k2L2 (−1,1) + βhu1x , u2x + au1x iL2 (−1,1) + iβ γ+1 kv 2 k2L2 (−1,1)
41 (11)
+ cβ γ hvx1 , vx2 iL2 (−1,1) = o(1).
42
43 10 Next, multiplying (5) by u1x and (6) by cvx1 , one gets
44
45 −iβ γ+1 ku1x k2L2 (−1,1) − β γ hu2x , u1x iL2 (−1,1) = o(1), (12)
46
47 11 and
48 −icβ γ+1 kvx1 k2L2 (−1,1) − cβ γ hvx1 , vx2 iL2 (−1,1) = o(1). (13)
49 Moreover, by adding (11) to (12) and (13), then taking the imaginary part we get
50
51 ku1x kL2 (−1,1) + ckvx1 kL2 (−1,1) − ku2 kL2 (−1,1) − kv 2 kL2 (−1,1) = o(1).
52
53 12 Our main objective now is to prove the followings
54
55 ku2 kL2 (−1,1) = o(1) and kv 2 kL2 (−1,1) = o(1). (14)
56
A) First of all we prove that
57
58 ku2 kL2 (−1,1) = o(1).
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 6 2 POLYNOMIAL STABILIZATION
1
2 1 Step 1 In this step we consider the two equations (5) and (7):
3

4 β γ iβu1 − u2 = f 1 −→

0 in H01 (−1, 1),
(15)
5 γ
β iβu − ux + aux x = f − β γ v 2 = f3 .
2 1 2 2
6
7 Define
8 Z ξ
iβ 1
9 z± (x) = p u2 (t)dt ± u2 (x), ∀x ∈ [0, ξ] and ξ ∈ [ β −δ , β −δ ].
10 1 + iβa(x) x 2
11
We will determine δ > 0 afterwards. Next using (15) one gets
12
13 iβ iβa0 (x) iβ
0
14 z± = ∓p z± − [z+ (x) + z− (x)] ± T (ξ) ± F (x),
1 + iβa(x) 4(1 + iβa(x)) 1 + iβa(x)
15
16 where
17 0 Z ξ
f1n iβ
18 F (x) = − + f3 (s)ds.
β (1 + iβa(x)) β γ (1 + iβa(x))
γ
x
19
20 Consequently, for any x ∈ [0, ξ],
21 Z x
22 iβa0 (s)
23 z± (x) = e∓[q(x)−q(ξ)] z± (ξ) − [z+ (s) + z− (s)]ds
Z x ξ 4[1 + iβa(s)]
24 iβT (s)
25 ± e∓[q(x)−q(s)] [ + F (ξ)]ds,
ξ 1 + iβa(s)
26
27 2 where function q is defined by
28 Z x
29 iβ
q(x) = p ds. (16)
30 0 1 + iβa(s)
31
32 3 Step 2 Thanks to (A2 ), we have that a(x) behaves like a constant multiple of xα
33 4 near x = 0. We denote a constant ω in such way that the following estimates hold
34 5 true in the interval [ 12 β −δ , β −δ ]
35 6
√ δ ω ω
36 1
min (|u2 (x)| + |T (x)|) ≤ 2β 2 1
max |x 2 | kx 2 u2 kL2 (0,1)
x∈[ 2 β −δ ,β −δ ] x∈[ 2 β −δ ,β −δ ]
37 −α α
38 + max |x 2 | kx 2 u1x kL2 (0,1) (17)
x∈[ 12 β −δ ,β −δ ]
39 α α
+ max |x | kx
2 2 u2x kL2 (0,1) .
40 x∈[ 12 β −δ ,β −δ ]
41 ω α
42 From Lemma 1, ones get kx 2 u2 kL2 (0,1) ≤ Ckx 2 u2x kL2 (0,1) , for some ω > −1. And
43 so, using (9), (10) and (17), we end up with
44 δ(1+ω) δ(1+α) δ(1−α)−γ
− γ2 −1
45 min (|u2 (x)| + |T (x)|) = (β 2 +β 2 +β 2 )o(1).
x∈[ 12 β −δ ,β −δ ]
46
47 7 We suppose that, ω > −1, δ, γ > 0 and such that
48 8  
49 δ(1 + ω) γ δ(1 + α) γ δ(1 − α) − γ
p = max − , − − 1, ≤ 0. (18)
50 2 2 2 2 2
51
Now, we have
52
min (|u2x | + |T (x)|) = β p o(1).
53 x∈[ 21 β −δ ,β −δ ]
54
55 Choosing ξ ∈ [ 21 β −δ , β −δ ] such that
56
57 |z± (ξ)| = |u2 (ξ)| = o(1), (19)
58 |T (ξ)| = o(1). (20)
59
60
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 7
1
2 Step 3 For the sequence ξ ∈ [ 12 β −δ , β −δ ], already fixed, for, x ∈ [0, ξ], we have
3
4 Z x
ieiφ(s)
5 q(x) = ±β 1 ds,
6 0 [1 + (βa(s))2 ] 4
7 where
8 1
9 φ(x) = − arg[1 + iβa(x)].
2
10
11
And so we get,
12 Z x
sin(φ(s)
13 Re(q(x)) = ±β 1 ds.
14 0 [1 + (βa(s))2 ] 4
15 1 It follows from (A2 ), that
16
17 1

O(1) when 1 − δα ≤ 0,
18 1 = −1+αδ (21)
[1 + (βa(s))2 ] 4 β 2 O(1) when 1 − δα > 0.
19
20 2 And
21 s
22 1 1

o(1) when 1 − δα < 0,
23 | sin(φ(x))| = − = . (22)
2 2[1 + (βa(x))2 )] 21 O(1) when 1 − δα ≥ 0.
24
25
26 3 We can deduce, thanks to (13) and (22), that
27  1−δ
β o(1) when 1 − δα 6= 0,
28 |Re(q(x))| = (23)
β 1−δ O(1) when 1 − δα = 0.
29
30
4 Then, this last one leads to, for all x, s ∈ [0, ξ]
31
32 |e±(q(x)−q(s)) | < 1 if 1 − δ ≤ 0. (24)
33
34 Now, using (18) and (24), we can see that,
35
36 δ ≥ 1, γ ≥ 1 − α, ω ≥ −1, 1 + ω ≤ γ.
37
38 We choose δ = 1, γ = 1 − α and −1 < ω ≤ −α.
39 Next, it is not hard to prove that
40 Z x  
41 1 −2+α 1 1
ds = β O(1), ∀x ∈ [0, ξ], ∀ξ ∈ , .
42 ξ |1 + iβa(s)| 2β β
43
44 Then, using (19), (24) and (23), one gets
45 Z x 
46 ±[q(x)−q(s)] iβT (ξ)
 
 e ds = o(1), ∀x ∈ [0, ξ].
47 
ξ i + βa(s)
48
49 5 Furthermore, combining (5), (21) and (24)
50 Z x
fn01

51  ∓[q(x)−q(s)]

 e γ
ds = o(1). (25)
52 
ξ β (1 + iβa(s)) 
53
54 6 Moreover
55 Z
 x Z ξ 
56 ∓[q(x)−q(s)] iβ 2 γ 2

e (f (τ ) − β v (τ ))  dsdτ
 
57 β γ (1 + iβa(s)) s (26)

 ξ 
58 ≤β 2α− 25
o(1) + β α− 32
O(1) = o(1).
59
60
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65
 8 2 POLYNOMIAL STABILIZATION
1
2 1 We deduce from (25) and (26) that
3 Z x 
4  ∓[q(x)−q(s)]

5

 e Fn (s)ds = o(1). (27)
ξ
6
7 2 Step 4 Now, combining (16), (19), (24) and (27), one gets
8  Z x 0

9 z± (x) ≤ m  ∓[q(x)−q(s)] iβa (s)
  
e ds + o(1), ∀x ∈ [0, ξ], (28)
10  4 ξ 1 + iβa(s) 
11
12 where
13 m = max (|z+ (x)| + |z− (x)|) .
x∈[0,ξ]
14
15 3 Thanks to (A2 ), one gets
16 Z 
17  ξ iβa0 (s) 
 ≤ 1, ∀x ∈ [0, ξ], n −→ ∞. (29)
 
18  x 1 + iβa(s) 

19
20
4 Moreover, from (24) and (29), we have
21
Z x
22 0

±[q(x)−q(s)] iβa (s)
 
23  e ds ≤ 1, ∀x ∈ [0, ξ]. (30)

ξ 1 + iβa(s)
24
25 5 Now, thanks to (28) and (30), we can show that
26
27 m = o(1). (31)
28
29 6 Next, we have
30 ku2 kL2 (0,ξ) = o(1), (32)
31
32 7 and
33 u2 (0) = o(1). (33)
34 Step 5 An integration of (15) over (0, ξ), leads to
35
36 Z ξ Z ξ
f3 (s)
2
37 iβ u (s)ds − T (ξ) + T (0) = ds.
0 0 βγ
38
39 Now, using (31) and the fact that a(0) = 0, we end up with
40  Z 
41  ξ  1
iβ u2 (s)ds = |z+ (0) + z− (0)| = o(1).
 
42  2
 0
43
44
8 Those last two combined with (19), lead to
45
46 δ
|T (0)| ≤ |T (ξ)| + β −γ− 2 kf3 kL2 (0,ξ) + o(1). (34)
47
48 9 Now, thanks to (13), and (34), it is easy to show that
49
50 |T (0)| = o(1). (35)
51
52 A straightforward calculation shows, that the real part of the inner product over
53 (−1, 0) of (7) with β −γ (x + 1).u1nx and using (5):
54 Z 0 Z 0
55 2 2 1 2 1 2
56 −[|u (0)| + |ux (0)| ] + |ux (t)| dt + |u2 (x)|2 dx
Z 0  −1 −1
57 1 2
 
1 2 1 (x)dx .
58 = 2Re γ
(f (x) + f x (x)) + v (x) (1 + x)u x
−1 β
59
60
61
62
63
64
65
 9
1
2 1 Thus, combined with (11), (33) and (35)
3
4 Z 0 Z 0
5 |u1x (t)|2 dt + |u2 (t)|2 dt = o(1). (36)
6 −1 −1

7
2 Finally, using (9), (32) and (36), we end up with
8
9 ku2 kL2 (−1,1) = o(1). (37)
10
11 B) Now, we prove that kv 2 kL2 (−1,1) = o(1).
12
We consider the equations (6) and (8)
13
14 β γ iβv 1 − v 2 = g 1 −→ 0 in H01 (−1, 1),


15
β γ iβv 2 − cvxx
1
= g 2 + β γ u2 .


16
17
18 Let
√
19 ω± = v 2 ± cvx1 .
20
21 A straight forward calculation leads to
22 0 ! 
−i √βc 0
   
23 ω+ ω+ G+
− . = ,
24 ω− 0 i √βc ω− G−
25
26 where
27 gx1 g2 u2
28 G± = − ∓ √ ∓ √ .
βγ βγ c c
29
30 3 Case 1 If for an infinite number of n we have β √2c 6≡ [π], we consider a subsequence
31 4 of β such that β √2c 6≡ 0[π].
32
5 Then, it is easy to show that
33
34 2v 2 (s) = ω+ + ω−
35 √ β 2
Z s
β
36 = − cvx1 (−1)2i sin( √ (s + 1)) − γ gx1 (x) cos((x − s) √ )dx
c β −1 c (38)
37 Z s
β g2 u2
38 −2i sin((x − s) √ )( γ √ + √ )(x)dx.
39 −1 c β c c
40
41 6 Recalling that v 2 (1) = 0 , using (38), we have
42
43 1
Z 1
β g2 u2
Z 1
β

1 0
44 vx1 (−1) =√ 2β
sin((t − 1) √ )( γ √ + √ )(t)dt − (g ) (t) cos((t − 1) √ )dt .
c sin( √ ) −1 c β c c −1 c
45 c
46 (39)
47 Now, using (6), (8), (37) and (39), one gets |vx1 (−1)| = o(1). And so we end up with
48
49 kv 2 kL2 (−1,1) = o(1).
50
51 Case 2 Otherwise there exists n0 ∈ N, such that ∀n > n0 , β √2c ≡ 0[π],
52 Then, it is easy to show that
53
54 2v 2 (s) = ω+ + ω−
55 √ 1 β 1 1 β 1
= −2i cvx1 ( ) sin( √ (s − )) + 2u2 ( ) cos( √ (s − ))
56 2 c 2 2 c 2
Z s Z s
57 2 1 β β g2 u2
58 − γ gx (x) cos((x − s) √ )dx − 2i sin((x − s) √ )( γ √ + √ )(x)dx.
β 1
2
c 1
2
c β c c
59
60
61
62
63
64
65
 10 3 EXPONENTIAL STABILITY
1
2 1 Now, recalling that u2 (1) = u2 (−1) = 0, we can see that
3
4 √ 1 β 1 1 1 β 1
5 0 = −2i cvx1 ( ) sin( √ ( ))vx1 ( ) + 2v 2 ( ) cos( √ ( ))
Z s 2 c 2 2 2
Z s c 2
6 2 1 β β g2 u2
7 − γ gx (x) cos((x − s) √ )dx − 2i sin((x − s) √ )( γ √ + √ )(x)dx,
β 1 c 1 c β c c
8 2 2
(40)
9
10 2 and
11 √ 1 β 1 1 β 1
12 0 = −2i cvx1 ( ) sin( √ (− )) + 2v 2 ( ) cos( √ (− ))
Z s 2 c 2 2Z s c 2
13 2 β β g2 u2
14 − γ gx1 (x) cos((x − s) √ )dx − 2i sin((x − s) √ )( γ √ + √ )(x)dx.
β −1 c −1 c β c c
15 2 2

16 (41)
17 Next, summing (40), (41) then using (6), (8), (37) and (39), one gets
18  
1
19 v2 = o(1).
20 2
21 Now, taking the difference between (40), (41), it is not that hard to prove
22
23  
1
1
24 vx = o(1).
2
25
26 3 The proof of (14) is finished.
27
28
29 4 3 Exponential stability
30
31 5 The main concern of this section is to prove the exponential stability for the solutions
32
6 of (2).
33
34 7 Theorem 3 The semigroup (etA )t≥0 , is exponentially stable in the energy space
35 8 provided (A3 ) holds true.
36
37 9 Recall the following theorem due to F. Huang and J. Prüss.
38

39 Theorem 4 ([15, ?]) Let etB t≥0 be a bounded C0 -semigroup on a Hilbert space
40 H with generator B such that iR ⊂ ρ(B). Then, etB is exponentially stable if and
41 only if
42 lim sup k(iωI − B)−1 kL(H) < ∞.
43 ω∈R, |ω|→∞
44
10 Now, based on Theorem 4 we prove the Theorem 3.
45
46 Proof We argue by contradiction and we suppose that there exists βn ∈ R+ and
47 Yn = (u1n , vn1 , u2n , vn2 ) ∈ D(A) with kUn kH = o(1), such that
48
49 kYn kH = 1, βn % +∞ and β γ (iβn I−A)Yn := (fn1 , gn1 , fn2 , gn2 ) −→ 0 in H as n % +∞.
50
51 11 Equivalently, we have
52
53 iβn u1n − u2n = fn1 −→ 0 in H01 (−1, 1), (42)
54 12

55 iβn vn1 − vn2 = gn1 −→ 0 in H01 (−1, 1), (43)

13
56
iβn u2n − u1nx + au2nx x + vn2 = fn2 −→ 0 in L2 (−1, 1),


(44)
57 14
58 iβn vn2 − cvnxx
1
− u2n = gn2 −→ 0 in L2 (−1, 1). (45)
59
60
61
62
63
64
65
 11
1
2 We denote by
3
Tn = u1nx + au2nx .
4
5 Taking the real part of hβ γ (iβn I − A)Yn , Yn iH , then, by the dissipation property of
6 the semigroup of the operator A we get
7
Z 1
8
9 a|u2nx |2 dx −→ 0,
0
10
11 1 which leads to
1
12 ka 2 u2nx kL2 (0,1) = o(1). (46)
13
14 2 Now, using (42) and (46), we get
15 1
16 βn ka 2 u1nx kL2 (0,1) = o(1). (47)
17
18 3 Our main objective is to prove that kUn kH = o(1).
19 4 Step 1
20 5 In this step, all work is done in the interval (0, 1).
21
6 Let h ∈ C 2 ([0, 1]), multiplying (44) by hTn , one gets
22
23 Z 1
24 (iu2n − Tnx + vn2 )hTn dx = o(1). (48)
25 0 ¯
26 7 Next, using (44), we have
27
28 Z 1 Z 1
29 (βu2n + vn2 )hTn dx = Re iβu2n h(u1nx + au2nx )dx
30 0 0 Z 1
1
31 − (h(0)|u2n (0+ )|2 + h0 |u2n |2 dx)
32 2 0
(49)
Z 1 Z 1
33 + Im(β 2 2
h.aun .unx )dx + vn2 hTn dx
34 0 0
35 = o(1).
36
37 8 Then, a straightforwards calculation leads to
38 Z 1

1 1 0
Z
1
39 −Re Tnx .h.Tn dx = − h(1).|Tn (1)|2 − h(0).|Tn (0+ )|2 + h .|Tn |2 dx.
40 0 2 2 0
41 (50)
42 Moreover, (42) and (46) lead to
43 Z 1   
44 2  ≤ M ku1nx kL2 (0,1) .kvn2 kL2 (0,1) + ka 12 u2nx kL2 (0,1) .kvn2 kL2 (0,1) = o(1),
 
 v n hTn
45 
0

46
47 9 where M ≥ 0.
48 10 Thus, and by using (48), (49) and (50), we show that for any h ∈ C 2 ([0, 1]),
49
50 1
Z 1
1 1 0
Z Z 1
51 h0 |u2n |2 dx + h |Tn |2 dx − βIm h.a.u2n .u2nx dx
2 0 2 0 0 (51)
52 1
h(0)|u2 (0+ )|2 − h(1).|Tn (1)|2 + h(0)|Tn (0+ )|2 = o(1).


53 +
2
54
55 Step 2
56 Our goal now is to prove that
57 1
58 βka 2 u2n kL2 (0,1) = O(1). (52)
59
60
61
62
63
64
65
 12 3 EXPONENTIAL STABILITY
1
2 1 First of all, we have
3
4 Z 1
1 1
5 |β h.a.u2n u2nx | ≤ Cβka 2 u2n kL2 (0,1) .ka 2 u2nx kL2 (0,1) , (53)
0
6
7 2 where C > 0.
8 3 Then, multiplying (44) by iβau2n , one gets
9
Z 1 Z 1 Z 1
10 1

11 −β 2 ka 2 u2n k2L2 (0,1) − iβ Tnx u2n dx + iβ vn2 .au2n dx = −iβ fn2 au2n dx. (54)
0 0 0
12
13 Next, multiplying (45) by au2n ,
using (46), (A3 ) and the fact that a(0) = 0 we get
14 Z 1 Z 1
15 1

16 iβ u2n avn2 dx + c 1
vnx (u2n a)x dx − ka 2 u2n k2L2 (0,1) = o(1).
0 0
17
18 4 This last result combined with (43) leads to
19 Z 1
20 1
iβ u2n avn2 dx = ka 2 u2n k2L2 (0,1) + o(1). (55)
21 0
22
23 5 Furthermore, thanks to (A1 ) and (44), it is easy to show that
24
25 Z 1
1 2 1 2 2 1 1
26 β| fn2 au2n | ≤
β ka 2 un kL2 (0,1) +kakL∞ (0,1) .kfn2 k2L2 (0,1) = β 2 ka 2 u2n k2L2 (0,1) +o(1).
0 4 4
27 (56)
28
6 Recalling that a(0) = 0, we get
29
30  Z 1   Z 1 
31 −Re iβ Tnx au2n = −Re iβ a0 u1nx u2n + aa0 u2nx u2n + au1nx u2nx dx . (57)
32 0 0
33 7 Now, using (46) and (47), we have
34
35 Z 1
1 1
36 β| au1nx u2nx dx| ≤ βka 2 u1nx kL2 (0,1) ka 2 u2nx kL2 (0,1) = o(1). (58)
37 0

38 8 And we also have

39 Z 1
40 1 1 1 1 1
β| a0 au2nx u2n | ≤ β 2 ka 2 u2x k2L2 (0,1) +ka0 kL∞ (0,1) .ka 2 u2nx k2L2 (0,1) = β 2 ka 2 u2n k2L2 (0,1) +o(1).
41 0 4 4
42 (59)
43 9 Furthermore, from (57), (58) and (59), we conclude that
44  Z 1  Z 1
β2 1 2 2
 
45
46 −Re iβ Tnx au2n dx ≤ ka 2 unx kL2 (0,1) − Re iβ a0 u1nx u2n dx + o(1).
0 4 0
47 (60)
48 10 And so, combining (54), (55), (56) and (60), it is clear that
49
 Z 1
50

1 2 0 1
51 β 2 ka 2 u2nx k2L2 (0,1) ≤ |Re i a u u
nx n
2 dx | + o(1). (61)
(−1 + β 2 ) 0
52
53 Moreover, using (42) we get
54  Z 1  Z 1 
55 0 1 1
56 Re iβ 2
a unx un dx = Re a (unx + fnx )un dx = − a0 (0+ )|u2n (0+ )|2
0 2 1 2
0 Z 0 2
57 1 1 00 2 2
Z 1
0 1
58 − a |un | dx + Re a fnx u2n dx.
2 0 0
59
60
61
62
63
64
65
 13
1
2 Next, thanks to (42), we conclude that
3
4  Z 1 
1h 00
i
5 Re iβ 0 1
a unx un dx ≤ − a0 (0+ )|u2n (0+ )|2 + ka kL∞ (0,1) ku2n k2L2 (0,1) + o(1).
2
0 2
6
7 1 Now, in the interval (−1, 0), we multiply (44) by (1 + x)u1nx 1(−1,0) and use (42)
8
9 Z 0 Z 0
10 (|u2n |2 + |u1nx |2 )dx − |u2n (0− )|2 − |u1nx (0− )|2 + vn2 (1 + x)u1nx dx = o(1). (62)
−1 −1
11
12 2 Besides, using (42) we have
13
Z 0
14 1 0 2 2
Z
15 | vn2 (1 + x)u1nx dx| ≤ |v u |dx + o(1) = o(1). (63)
−1 β −1 n x
16
17 3 Thus, recalling that u2n (0+ ) = u2n (0− ) and that kUn kH = 1, with the use of (62)
18 4 and (63), we can see that |u2n (0+ )| = O(1).
19 5
00
This last result, combined with the fact that a ∈ L∞ (0, 1) and that a0 (0+ ) = K,
20 6 we suggest
21  Z 1 
22 0 1 2
Re iβ a unx un dx = O(1). (64)
23 0
24 7 Therefore, using (46), (53), (61) and (64), we get (52), which leads to
25
Z 1
26
27 |β h.a.u2n .u2nx dx| = o(1). (65)
0
28
29 Step 3 Z
x
30
Let h = a(s)dx in (51), using (52) and (65) we have
31 0
32 Z 1 Z 1 
33 1
34 a|Tn |2 dx − a(s)ds |Tn (1)|2 = o(1).
2 0 0
35
36 8 This last result, combined with (A1 ), we obtain
37
38 |Tn (1)| = o(1). (66)
39
40 9 Moreover, for every h ∈ C 2 ([0, 1]), inserting (65) and (66) into (51), we show that
41 Z 1
42 h0 (|u2n |2 + |Tn |2 )dx + h(0)|u2n (0+ )|2 + h(0)|Tn (0+ )|2 = o(1). (67)
43 0
44
45 10 Furthermore, for h = x in (67), we conclude that
46
lim ku2n kL2 (0,1) = lim kTn kL2 (0,1) = 0. (68)
47 n→0 n→0
48
49 11 And so, using (46) and (68) we conclude that
50
ku2n kL2 (0,1) = ku1nx kL2 (0,1) = o(1). (69)
51
52 12 Next, taking h = 1 − x in (67) and using (68), we get
53
54 u2n (0+ ) = Tn (0+ ) = o(1). (70)
55
56 13 Recalling that u2n (0+ ) = u2n (0− ) and Tn (0) = u1nx (0+ ), then using (62), (63) and
57 14 (70) we get
58 ku2n kL2 (−1,0) + ku1nx kL2 (−1,0) = o(1). (71)
59
60
61
62
63
64
65
 14 3 EXPONENTIAL STABILITY
1
2 Step 4
3 Now with a similar approach as in the proof of the polynomial stability (B with
4 γ = 0), it is easy to prove that
5
6 kvn2 kL2 (−1,1) = o(1).
7
8 This last result combined with (43), (69) and (71), leads to
9 kUn kH = o(1),
10
11 1 which ends the proof.
12
13
14 2 Data availability statements
15
16 3 All data generated or analysed during this study are included in this published
17 4 article.
18
19
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59
60
61
62
63
64
65