Advanced Topics in Fractional Differential Equations

Synthesis Lectures on
Mathematics & Statistics
Mouffak Benchohra · Erdal Karapınar ·

Jamal Eddine Lazreg · Abdelkrim Salim
Advanced Topics
in Fractional
Differential
Equations
A Fixed Point Approach
Synthesis Lectures on Mathematics &
Statistics
Series Editor
Steven G. Krantz, Department of Mathematics, Washington University, Saint Louis, MO, USA
This series includes titles in applied mathematics and statistics for cross-disciplinary
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Mouffak Benchohra · Erdal Karapınar ·
Jamal Eddine Lazreg · Abdelkrim Salim
Advanced Topics
in Fractional Differential
Equations
A Fixed Point Approach
Mouffak Benchohra Erdal Karapınar
Laboratory of Mathematics Department of Mathematics
Djillali Liabes University Çankaya University
Sidi Bel-Abbes, Algeria Ankara, Turkey
Jamal Eddine Lazreg Abdelkrim Salim

Laboratory of Mathematics Faculty of Technology
Djillali Liabes University Hassiba Benbouali University
Sidi Bel-Abbes, Algeria Chlef, Algeria
ISSN 1938-1743 ISSN 1938-1751 (electronic)

Synthesis Lectures on Mathematics & Statistics
ISBN 978-3-031-26927-1 ISBN 978-3-031-26928-8 (eBook)
https://doi.org/10.1007/978-3-031-26928-8
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature
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We dedicate this book to our family members. In
particular, Mouffak Benchohra makes his
dedication to the memory of his father Yahia
Benchohra and his wife Kheira Bencherif; Erdal
Karapınar dedicates it to the memory of his father
Hüseyin Karapınar and his mother Elife
Karapınar; Jamal E. Lazreg dedicates it to the
memory of his father Mohammed Lazreg; and
Abdelkrim Salim makes his dedication to his
mother, his brother, and his sisters.
Preface
Fractional Calculus is a branch of Mathematics which deals with the derivatives and
integrals of arbitrary (non-integer) order. Though the subject is as old as conventional Cal-
culus, the applications are rather recent. The researchers Grunwald, Letnikov, L’Hospital,
Leibnitz, Hardy, Caputo, Mainardi, and others did pioneering work in this field. The key
feature of the models involving fractional derivative is the flexibility in the choice of
fractional order. Such models are proved appropriate in modeling the processes show-
ing an intermediate behavior. The fractional order operators are nonlocal in contrast with
the classical integer-order operator. This nonlocality plays a vital role in modeling the
memory and hereditary properties in the natural systems.
This book is devoted to the existence, uniqueness, and stability results for various
classes of problems with different conditions. All of the problems in this book deal with
fractional differential equations and some form of extension of the well-known Hilfer frac-
tional derivative which unifies the Riemann-Liouville and Caputo fractional derivatives.
We made certain that each chapter contains results that may be regarded as a generaliza-
tion or a partial continuation of the prior chapter’s results. Classical and new fixed point
theorems associated with the concept of measure of noncompactness in Banach spaces, as
well as several generalizations of Gronwall’s lemma, are employed as tools. Each chapter
ends with a section devoted to remarks and bibliographical suggestions, and all abstract
results are substantiated with illustrations.
This monograph adds to the current literature on fractional calculus by providing orig-
inal content. All of the chapters include some of the authors’ most current research work
on the topic. This book is appropriate for use in advanced graduate courses, seminars,
and research projects in numerous applied sciences.
vii
viii Preface
We are grateful to J. R. Graef, J. Henderson, G. N’Guérékata, J. J. Nieto, and Y. Zhou

for their contributions to research on the problems covered in this book.
Sidi Bel-Abbès, Algeria Mouffak Benchohra

Ankara, Turkey Erdal Karapınar
Sidi Bel-Abbès, Algeria Jamal Eddine Lazreg
Sidi Bel-Abbès, Algeria Abdelkrim Salim
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2 Preliminary Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Notations and Functional Spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.1 Space of Continuous Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.2 Spaces of Integrable Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1.3 Spaces of Continuous Functions with Weight . . . . . . . . . . . . . . . . . . 10
2.2 Special Functions of the Fractional Calculus . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.1 Gamma Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.2 k-Gamma and k-Beta Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.3 Mittag-Leffler Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Elements from Fractional Calculus Theory . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3.1 Fractional Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3.2 Fractional Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.3 Necessary Lemmas, Theorems, and Properties . . . . . . . . . . . . . . . . . 17
2.4 Grönwall’s Lemma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.5 Kuratowski Measure of Noncompactness . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.6 Fixed Point Theorems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3 Implicit Fractional Differential Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.1 Introduction and Motivations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.2 Existence and Ulam Stability Results for Generalized Hilfer-Type
Boundary Value Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2.1 Existence Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.2.2 Ulam-Hyers-Rassias Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.2.3 An Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.3 Existence and Ulam Stability Results for k-Generalized ψ-Hilfer
Initial Value Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.3.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
ix
x Contents

Initial Value Problem in Banach Spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.4.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.5 Existence and k-Mittag-Leffler-Ulam-Hyers Stability Results
of k-Generalized ψ-Hilfer Boundary Valued Problem . . . . . . . . . . . . . . . . . 66
3.5.2 k-Mittag-Leffler-Ulam-Hyers Stability . . . . . . . . . . . . . . . . . . . . . . . . 70
3.5.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.6 Notes and Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4 Fractional Differential Equations with Instantaneous Impulses . . . . . . . . . . . 77
4.2.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.3.2 Ulam-Type Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.3.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
5 Fractional Differential Equations with Non-Instantaneous Impulses . . . . . . . 117
5.2 Initial Value Problem for Nonlinear Implicit Generalized Hilfer-Type
Fractional Differential Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
5.2.2 Nonlocal Impulsive Differential Equations . . . . . . . . . . . . . . . . . . . . 129
5.2.4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
5.3 Initial Value Problem for Nonlinear Implicit Generalized Hilfer-Type
Fractional Differential Equations in Banach Spaces . . . . . . . . . . . . . . . . . . . 137
5.3.3 An Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5.4 Boundary Value Problem for Fractional Order Generalized
Hilfer-Type Fractional Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Contents xi

5.4.3 An Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Introduction
1
Fractional calculus is a field in mathematical analysis which is a generalization of integer

differential calculus that involves real or complex order derivatives and integrals [10–14, 25,
28, 43, 50–52]. There is a long history of this concept of fractional differential calculus. One
might wonder what meaning could be attributed to the derivative of a fractional order, that
n
is dd x ny , where n is a fraction. Indeed, in correspondence with Leibniz, L’Hopital considered
this very possibility. L’Hopital wrote to Leibniz in 1695 asking, “What if n be 21 ?” The study
of the fractional calculus√was born from this question. Leibniz responded to the question,
1
“d 2 x will be equal to x d x : x . This is an apparent paradox from which, one day, useful
consequences will be drawn.”
Over the years, many well-known mathematicians have assisted in this theory. Thus, 30
September 1695 is the precise date of birth of the “fractional calculus”! Consequently, the
fractional calculus has its roots in the work of Leibnitz, L’Hopital (1695), Bernoulli (1697),
Euler (1730), and Lagrange (1772). Some years later, Laplace (1812), Fourier (1822), Abel
(1823), Liouville (1832), Riemann (1847), Grünwald (1867), Letnikov (1868), Nekrasov
(1888), Hadamard (1892), Heaviside (1892), Hardy (1915), Weyl (1917), Riesz (1922), P.
Levy(1923), Davis (1924), Kober (1940), Zygmund (1945), Kuttner (1953), J. L. Lions
(1959), Liverman (1964), and several more have developed the fundamental principle of
fractional calculus.
Ross held the first fractional calculus conference at the University of New Haven in June
of 1974 and edited its proceedings [118]. Thereafter, Spanier published the first monograph
devoted to “Fractional Calculus” in 1974 [107]. In recent research in theoretical physics,
mechanics, and applied mathematics; the integrals and derivatives of non-integer order;
and the fractional integrodifferential equations have seen numerous applications. Samko,
Kilbas, and Marichev’s exceptionally detailed encyclopedic-type monograph was published
in Russian in 1987 and in English in 1993 [138], (for more details, see [95]). The works
devoted substantially to fractional differential equations are the book of Miller and Ross
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2023 1

M. Benchohra et al., Advanced Topics in Fractional Differential Equations,
Synthesis Lectures on Mathematics & Statistics,
https:// doi.org/ 10.1007/ 978-3-031-26928-8_1
2 1 Introduction
[99], of Podlubny [111], by Kilbas et al. [85], by Diethelm [67], by Ortigueira [108], by
Abbas et al. [14], and by Baleanu et al. [42].
The origins of fixed point theory, as it is very well-known, go to the system of successive
approximations (or the iterative method of Picard) used to solve certain differential equa-
tions. Roughly speaking, from the process of successive approximations, Banach obtained
the fixed point theorem. The fixed point theory has been immense and independent of the
differential equations in the last few decades. But, lately, the outcomes of fixed points have
turned out to be the instruments for the differential equation’s solutions. Recently, differen-
tial fractional order equations have been shown to be an effective instrument for researching
multiple phenomena in diverse fields of science and engineering, such as electrochemistry,
electromagnetics, viscoelasticity, and economics. It is very popular in the literature to suggest
a solution to fractional differential equations by adding various forms of fractional deriva-
tives; see, e.g., [7–9, 13, 14, 17, 19–21, 25, 28, 34, 43, 46, 58, 83, 84, 162]. In the other
hand, there are more findings concerned with the issues of boundary value for fractional
differential equations [25, 40, 48, 49, 59, 162].
In 1940, Ulam [152, 153] raised the following problem of the stability of the functional
equation (of group homomorphisms): “Under what conditions does it exist an additive
mapping near an approximately additive mapping ?”
Let G 1 be a group and let G 2 be a metric group with a metric d(·, ·). Given any ∈ >
0, does there exist a δ > 0 such that if a function h : G 1 → G 2 satisfies the inequality
d(h (x y ), h (x)h ( y )) < δ for all x, y ∈ G 1 , then there exists a homomorphism H : G 1 → G 2
with d(h (x), H (x)) < ∈ for all x ∈ G 1 ?
A partial answer was given by Hyers [80] in 1941, and between 1982 and 1998 Rassias
[116, 117] established the Hyers-Ulam stability of linear and nonlinear mappings. Subse-
quently, many works have been published in order to generalize Hyers results in various
directions; see, for example, [10, 13, 51, 52, 80, 89, 96, 114, 115, 119, 141, 153].
Many physical phenomena have short-term perturbations at some points caused by exter-
nal interventions during their evolution. Adequate models for this kind of phenomenon
are impulsive differential equations. Two types of impulses are popular in the literature:
instantaneous impulses (whose duration is negligible) and non-instantaneous impulses (these
changes start impulsively and remain active on finite initially given time intervals). There
are mainly two approaches for the interpretation of the solutions of impulsive fractional
differential equations: one by keeping the lower bound of the fractional derivative at the
fixed initial time and the other by switching the lower limit of the fractional derivative at the
impulsive points. The statement of the problem depends significantly on the type of frac-
tional derivative. Fractional derivatives have some properties similar to ordinary derivatives
(such as the derivative of a constant) which lead to similar initial value problems as well as
similar impulsive conditions (instantaneous and non-instantaneous). The class of problems
for fractional differential equations with abrupt and instantaneous impulses is vastly studied,
and different topics on the existence and qualitative properties of solutions are considered,
[50, 69, 154]. In pharmacotherapy, instantaneous impulses cannot describe the dynamics of
1 Introduction 3
certain evolution processes. For example, when one considers the hemodynamic equilibrium
of a person, the introduction of the drugs in the bloodstream and the consequent absorption
by the body are a gradual and continuous process. In the literature, many types of initial
value problems and boundary value problems for different fractional differential equations
with instantaneous and non-instantaneous impulses are studied (see, for example, [1, 3–8,
15, 24, 39, 50, 78, 87, 150, 155, 157]).
The measure of noncompactness, which is one of the fundamental tools in the theory of
nonlinear analysis, was initiated by the pioneering articles of Alvàrez [35] and Mönch [101]
and was developed by Banas and Goebel [45] and many researchers in the literature. The
applications of the measure of noncompactness can be seen in the wide range of applied
mathematics: theory of differential equations (see [22, 109] and references therein). Recently,
in [13, 35, 38, 45], the authors applied the measure of noncompactness to some classes of
differential equations in Banach spaces.
Nonlocal conditions were initiated by Byszewski [60] when he proved the existence
and uniqueness of mild and classical solutions of nonlocal Cauchy problems. The nonlocal
condition can be more useful than the standard initial condition to describe some physical
phenomena. Fractional differential equations with nonlocal conditions have been discussed
in [18, 26, 105] and references therein.
Many articles and monographs have been written recently in which the authors investi-
gated numerous results for systems with different types of differential and integral equations
and inclusions and various conditions. One may see the papers [16, 30, 36, 47, 74, 77, 92,
120, 121, 135, 136, 140] and the references therein.
One of the primary topics of this monograph is a new generalization of the well-known
Hilfer fractional derivative, as well as a generalization of Grönwall’s lemma and the many
types of Ulam stability. In fact, this form of fractional derivative appears in the majority of the
problems covered in this book. In order to define this new derivative, we took the publications
of Diaz et al. [66] into account, where they presented the k-gamma and k-beta functions
and demonstrated a number of their properties, many of which can also be found in [63,
102–104]. In addition, we were inspired by Sousa’s numerous publications [143–149], in
which they established another sort of fractional operator known as the ψ-Hilfer fractional
derivative with respect to a particular function and provided several essential properties
about this type of fractional operator. Our work on this monograph may be viewed as a
continuation and generalization of the preceding studies, i.e., several results in the fractional
calculus literature.
In the following, we give an outline of this monograph organization, which consists of
five chapters defining the contributed work.
Chapter 2 provides the notation and preliminary results, descriptions, theorems, and other
auxiliary results that will be needed for this study. In the first section, we give some nota-
tions and definitions of the functional spaces used in this book. In the second section, we
give the definitions of the elements from fractional calculus theory, then we present some
necessary lemmas, theorems, and properties. In the third section, we give some properties
4 1 Introduction
to the measure of noncompactness. We finish the chapter in the last section by giving all the
fixed point theorems that are used throughout the book.
Chapter 3 deals with some existence and Ulam stability results for a class of initial and
boundary value problems for differential equations with generalized Hilfer-type fractional
derivative in Banach spaces. The chapter is divided into six sections. We start with Sect. 3.1,
which provides an introduction and some motivations, then finish the chapter with Sect. 3.6,
which contains some remarks and suggestions. The main results of the chapter begin with
Sect. 3.2; in it, we provide some existence results for the boundary value problem of the
following generalized Hilfer-type fractional differential equation:
⎧( ) ( ( ) )
⎨ ρ Dα,β
+ u (t) = f t, u (t), ρ D α,β u (t) , t ∈ (a , b],
+
( a ) ( a)
⎩ l ρ J 1−γ + ρ 1−γ
u (a ) + m Ja + u (b) = φ,
a+
α,β
where ρ Da + ,ρ Ja + are the generalized Hilfer-type fractional derivative of order α ∈ (0, 1)
1−γ
and type β ∈ [0, 1] and generalized fractional integral of order 1 − γ , (γ = α + β − αβ),

respectively, φ ∈ E, 0 < a < b < +∞, f : (a , b] × E × E → E is a given function where
(E, || · ||) is a Banach space and l, m are reals with l + m / = 0. The results are based on
the fixed point theorems of Darbo and Mönch associated with the technique of measure of
noncompactness. Next, we prove that our problem is generalized Ulam-Hyers-Rassias stable.
An example is included to show the applicability of our results. In Sect. 3.3, we prove some
existence, uniqueness, and Ulam-Hyers-Rassias stability results for the following initial
value problem for implicit nonlinear fractional differential equations and k-generalized ψ-
Hilfer fractional derivative:
⎧( ) ( ( ) )
⎨ H Dα,β;ψ x (t) = f t, x(t), H Dα,β;ψ x (t) , t ∈ (a , b],
(k a + ) k a+
⎩ J k(1−ξ ),k ;ψ x (a + ) = x0 ,
a+
α,β ;ψ k (1−ξ ),k ;ψ

where kH Da + , Ja + are the k-generalized ψ-Hilfer fractional derivative of order
α ∈ (0, 1) and type β ∈ [0, 1], and k-generalized ψ-fractional integral of order k(1 − ξ ),
where ξ = k1 (β(k − α) + α), x0 ∈ R, k > 0, and f ∈ C([a , b] × R2 , R). The result is based
on the Banach contraction principle. In addition, two examples are given for justifying our
results. Section 3.4 deals with some existence and Ulam-Hyers-Rassias stability results for
the following initial value problem for implicit nonlinear fractional differential equations
and generalized ψ-Hilfer fractional derivative in Banach spaces:
⎧( ) ( ( ) )
(k a + ) k a+
⎩ J k(1−ξ ),k ;ψ x (a + ) = x0 ,
a+
1 Introduction 5
where f ∈ C([a , b] × E × E, E). The results are based on fixed point theorems of Darbo
and Mönch associated with the technique of measure of noncompactness. Illustrative exam-
ples are the subject of the last part. In Sect. 3.5, we prove some existence, uniqueness, and
k-Mittag-Leffler-Ulam-Hyers stability results for the following boundary value problem for
implicit nonlinear fractional differential equations and k-generalized ψ-Hilfer fractional
derivative:
⎧( ) ( ( ) )
k ( a+ ) ( k a+
)
⎩c1 J k (1−ξ ),k ;ψ x (a + ) + c2 J k (1−ξ ),k ;ψ x (b) = c3 ,
a+ a+
where f ∈ C([a , b] × R2 , R) and c1 , c2 , c3 ∈ R such that c1 + c2 / = 0. Finally, several

examples are given for justifying our results and addressing the different specific cases
of our problem.
The aim of Chap. 4 is to prove some existence, uniqueness, and Ulam-Hyers-Rassias
stability results for a class of boundary value problem for nonlinear implicit fractional
differential equations with impulses and generalized Hilfer-type fractional derivative. We
base our arguments on some relevant fixed point theorems combined with the technique
of measure of noncompactness. Examples are included to show the applicability of our
results for each section. The first result is provided in Sect. 4.2; in it, we establish existence,
uniqueness, and Ulam-Hyers-Rassias results to the boundary value problem with nonlinear
implicit generalized Hilfer-type fractional differential equation with impulses:
⎧( ) ( ( ) )
⎪
⎪ ρ D α,β u (t) = f t, u (t), ρ D α,β u (t) ; t ∈ J , k = 0, . . . , m,
⎪
⎪ +
t+ k
⎪
⎨ ( tk ) ( ) k
ρ 1−γ + ρ 1−γ − −
⎪ Jtk+ u (tk ) = Jtk+−1 u (tk ) + L k (u (tk )); k = 1, . . . , m,
⎪
⎪
⎪ ( ) ( )
⎪
⎩ c1 ρ J 1−γ u (a + ) + c2 ρ Jt + u (b) = c3 ,
1−γ
a+ m
α,β
where ρ Dt + ,ρ Jt +
1−γ
are the generalized Hilfer fractional derivative of order α ∈ (0, 1)
k k
respectively, c1 , c2 , c3 are reals with c1 + c2 / = 0, Jk := (tk , tk +1 ]; k = 0, . . . , m , a = t0 <
t1 < · · · < tm < tm +1 = b < ∞, u (tk+ ) = lim u (tk + ∈ ) and u (tk− ) = lim u (tk + ∈ ) rep-
∈ →0+ ∈ →0−
resent the right- and left-hand limits of u (t) at t = tk , f : (a , b] × R × R → R is a given
function, and L k : R → R; k = 1, . . . , m are given continuous functions. The results are
based on the Banach contraction principle and Krasnoselskii’s and Schaefer’s fixed point
theorems. In Sect. 4.3, we examine the existence and the Ulam stability of the solutions
to the boundary value problem with nonlinear implicit generalized Hilfer-type fractional
differential equation with instantaneous impulses:
6 1 Introduction
⎧( ) ( ( ) )
⎪
⎪ ρ D α,β u (t) = f t, u (t), ρ D α,β u (t) ; t ∈ J , k = 0, · · · , m,
⎪
⎪ +
t+ k
⎪
⎨ ( tk ) ( ) k
ρ 1−γ + ρ 1−γ − −
⎪ Jtk+ u (tk ) = Jtk+−1 u (tk ) + φk (u (tk )); k = 1, · · · , m,
⎪
⎪
⎪ ( ) ( )
⎪
⎩ c1 ρ Ja + u (a + ) + c2 ρ Jt + u (b) = c3 ,
1−γ 1−γ
m
α,β
where ρ Dt + , ρ Jt +
1−γ
are the generalized Hilfer fractional derivative of order α ∈ (0, 1) and
k k
type β ∈ [0, 1] and generalized Hilfer fractional integral of order 1 − γ , (γ = α + β − αβ),
respectively, c1 , c2 are reals with c1 + c2 / = 0, Jk := (tk , tk +1 ]; k = 0, . . . , m , a = t0 <
t1 < · · · < tm < tm +1 = b < ∞, u (tk+ ) = lim u (tk + ∈ ) and u (tk− ) = lim u (tk + ∈ ) rep-
∈ →0+ ∈ →0−
resent the right- and left-hand limits of u (t) at t = tk , c3 ∈ E, f : (a , b] × E × E → E is
a given function, and φk : E → E; k = 1, . . . , m are given continuous functions, where
(E, || · ||) is a Banach space. The results are based on fixed point theorems of Darbo and
Mönch associated with the technique of measure of noncompactness. Examples are included
to show the applicability of our results for each case.
Chapter 5 deals with some existence, uniqueness, and Ulam stability results for a class of
initial and boundary value problems for nonlinear implicit fractional differential equations
with non-instantaneous impulses and generalized Hilfer-type fractional derivative. The tools
employed are some suitable fixed point theorems combined with the technique of measure
of noncompactness. We provide illustrations to demonstrate the applicability of our results
for each section. After the introduction section, in Sect. 5.2, we present some existence
results to the initial value problem with nonlinear implicit generalized Hilfer-type fractional
differential equation with non-instantaneous impulses:
⎧( ) ( ( ) )
⎪
⎪ ρ Dα,β (t) = (t), ρ D α,β u (t) ; t ∈ I , k = 0, . . . , m,
⎪
⎨ s + u f t, u s + k
k k
u (t) = gk (t, ˜
⎪
⎪
⎪ ( ) u (t)); t ∈ Ik , k = 1, . . . , m,
⎩ ρ J + u (a + ) = φ0 ,
1−γ
a
α,β
where ρ Ds + , ρ J 1−γ
a+
k
and type β ∈ [0, 1] and generalized fractional integral of order 1 − γ , (γ = α + β −
αβ), respectively, φ0 ∈ R , Ik := (sk , tk +1 ]; k = 0, . . . , m , I˜k := (tk , sk ]; k = 1, . . . , m , a =
t0 = s0 < t1 ≤ s1 < t2 ≤ s2 < · · · ≤ sm −1 < tm ≤ sm < tm +1 = b < ∞, u (tk+ ) = lim
∈ →0+
u (tk + ∈ ) and u (tk− ) = lim u (tk + ∈ ) represent the right- and left-hand limits of u (t) at
∈ →0−
t = tk , f : (a , b] × R × R → R is a given ˜
( function,)and gk : Ik × R → R; k = 1, . . . , m,
|
are given continuous functions such that ρ Js + gk (t, u (t)) |t =sk = φk ∈ R . The results
1−γ
k
are based on the Banach contraction principle and Schaefer’s fixed point theorem. In
Sect. 5.2.2, we give a generalization of the previous result to nonlocal impulsive fractional
1 Introduction 7
differential equations. More precisely, we present some existence results for the following
nonlocal problem:
⎧( ) ( ( ) )
⎪
⎪ ρ D α,β u (t) = f t, u (t), ρ D α,β u (t) ; t ∈ I , k = 0, . . . , m,
⎪
⎨ s+ s+ k
k k
u((t) = gk (t, ˜
⎪
⎪
⎪ ) u (t)); t ∈ Ik , k = 1, . . . , m,
⎩ J + u (a ) + ξ(u ) = φ0 ,
ρ 1−γ +
a
where ξ is a continuous function. In Sect. 5.3, we establish some existence results to the
initial value problem of nonlinear implicit generalized Hilfer-type fractional differential
equation with non-instantaneous impulses:
⎧( ) ( ( ) )
⎪ ρ α,β ρ α,β
⎪ D + u (t) = f t, u (t), D + u (t) ; t ∈ Ik , k = 0, . . . , m,
⎪
⎪
⎪
⎨
sk sk
u (t) = gk (t, u (t)); t ∈ I˜k , k = 1, . . . , m,
⎪
⎪
⎪
⎪ ( )
⎪
⎩ ρ J 1−γ u (a + ) = φ ,
a+ 0
α,β
where ρ Ds + , ρ Ja + are the generalized Hilfer-type fractional derivative of order α ∈ (0, 1)
1−γ
k
respectively, ρ > 0, φ0 ∈ E , Ik := (sk , tk +1 ]; k = 0, . . . , m , I˜k := (tk , sk ]; k = 1, . . . , m ,
a = s0 < t1 ≤ s1 < t2 ≤ s2 < · · · ≤ sm −1 < tm ≤ sm < tm +1 = b < ∞, u (tk+ ) = lim
∈ →0+
u (tk + ∈ ) and u (tk− ) = lim u (tk + ∈ ) represent the right- and left-hand limits of u (t) at
∈ →0−
t = tk , f : Ik × E × E → E is a given ˜
) and gk : Ik × E → E; k = 1, . . . , m are
( function,
|
given continuous functions such that ρ J + gk (t, u (t)) |t =s = φk ∈ E , where (E, || · ||)
1−γ
sk k
is a real Banach space. The results are based on fixed point theorems of Darbo and Mönch
associated with the technique of measure of noncompactness. Examples are included to show
the applicability of our results. Section 5.4 presents some existence and stability results to
the boundary value problem with nonlinear implicit generalized Hilfer-type fractional dif-
ferential equation with non-instantaneous impulses:
⎧( ) ( ( ) )
⎪
⎪ α D α,β x (t) = f t, x(t), α D α,β x (t) ; t ∈ J , i = 0, . . . , m,
⎪
⎨ τi+ τi+ i
⎪ x(t) = ψi (t, x(t)); t ∈ J˜i , i = 1, . . . , m,

⎪
⎪ ( ) ( )
⎩φ α J 1−γ x (a + ) + φ α J 1−γ x (b) = φ ,
1 a+ 2 m+ 3
α,β
where α Dτ + ,α Ja +
1−γ
i
αβ), respectively, φ1 , φ2 , φ3 ∈ R ,φ1 / = 0, Ji := (τi , ti +1 ]; i = 0, . . . , m , J˜i := (ti , si ]; i =
1, . . . , m , a = t0 = τ0 < t1 ≤ τ1 < t2 ≤ τ2 < · · · ≤ τm −1 < tm ≤ τm < tm +1 = b < ∞,
8 1 Introduction
x(ti+ ) = lim x(ti + ∈ ) and x(ti− ) = lim x(ti + ∈ ) represent the right- and left-hand limits
∈ →0+ ∈ →0−
of x(t) at t = ti , f : (a , b] × R × R → R is a given(function, and ˜
) ψi : Ji × R → R; i =
|
1, . . . , m are given continuous functions such that α Jτ + ψi (t, x(t)) |t =τi = ci ∈ R .
1−γ
i
The results are based on the Banach contraction principle and Krasnoselskii’s fixed point
theorem. Further, for the justification of our results, we provide two examples.
Preliminary Background
2
In this chapter, we discuss the necessary mathematical tools, notations, and concepts we need
in the succeeding chapters. We look at some essential properties of fractional differential
operators. We also review some of the basic properties of measures of noncompactness
and fixed point theorems which are crucial in our results regarding fractional differential
equations.
2.1 Notations and Functional Spaces
In this section, we will provide all the notations and definitions of the functional spaces that
are considered as fundamental and fixed throughout all the preceding chapters. Indeed, these
are mentioned only one time in this section.
Let 0 < a < b, J = (a, b] where J̄ = [a, b]. Consider the following parameters α, β, γ
satisfying γ = α + β − αβ and 0 < α, β, γ < 1. Let ξ = k1 (β(k − α) + α) where k > 0.
Let ρ > 0.
Let ψ be an increasing and positive function on J̄ such that ψ ' is continuous on J̄ .
2.1.1 Space of Continuous Functions
By C( J̄ , R) we denote the Banach space of all continuous functions from J̄ into R with the
norm
||u||∞ = sup{|u(t)| : t ∈ J̄ }.
Let (E, || · ||) be a Banach space. By C( J̄ , E) we denote the Banach space of all contin-
uous functions from J̄ into E with the norm

https://doi.org/10.1007/978-3-031-26928-8_2
10 2 Preliminary Background
||u|| E = sup{||u(t)|| : t ∈ J̄ }.
AC n (J , R), C n (J , R) are the spaces of n-times absolutely continuous and n-times contin-
uously differentiable functions on J , respectively.
2.1.2 Spaces of Integrable Functions

p
Consider the space X c (a, b), (c ∈ R, 1 ≤ p ≤ ∞) of those complex-valued Lebesgue
measurable functions f on J̄ for which || f || X cp < ∞, where the norm is defined by
(} b ) 1p
p dt
|| f || X cp = |t f (t)|
c
, (1 ≤ p < ∞, c ∈ R).
a t
p p
In particular, when c = p , the space X c (a, b) coincides with the L (a, b) space: X 1 (a, b)
1 p =
p
L p (a, b).
By L 1 (J ), we denote the space of Bochner-integrable functions f : J −→ E with the
norm } b
|| f ||1 = || f (t)||dt.
a
p
Consider the space X ψ (a, b), (1 ≤ p ≤ ∞) of those real-valued Lebesgue measurable
functions g on J̄ for which ||g|| X p < ∞, where the norm is defined by
ψ
(} b ) 1p
'
||g|| X p = ψ (t)|g(t)| dt p
,
ψ
a
where ψ is an increasing and positive function on [a, b] such that ψ ' is continuous on J̄ . In
p
particular, when ψ(x) = x, the space X ψ (a, b) coincides with the L p (a, b) space.
2.1.3 Spaces of Continuous Functions with Weight
We consider the weighted spaces of continuous functions

{ ( ρ ) }
t − a ρ 1−γ ) (
Cγ ,ρ (J ) = u : J → E : u(t) ∈ C J̄ , E ,
ρ
and
{ }
Cγn,ρ (J ) = u ∈ C n−1 : u (n) ∈ Cγ ,ρ (J ) , n ∈ N,
Cγ0,ρ (J ) = Cγ ,ρ (J ),
2.1 Notations and Functional Spaces 11
with the norms ||( ||

|| t ρ − a ρ )1−γ ||
|| ||
||u||Cγ ,ρ = sup || u(t)|| ,
t∈ J̄
|| ρ ||
and
e
n−1
||u||Cγn,ρ = ||u (k) ||∞ + ||u (n) ||Cγ ,ρ .
k=0
We define the spaces
{ }
ρ α,β
Cγα,β
,ρ (J ) = u ∈ C γ ,ρ (J ), Da + u ∈ C γ ,ρ (J ) ,
and
{ γ }
Cγγ,ρ (J ) = u ∈ Cγ ,ρ (J ), ρ Da + u ∈ Cγ ,ρ (J ) ,
α,β γ
where ρ Da + and ρ Da + are fractional derivatives defined in the following sections.
Consider the weighted Banach space
{ }
Cγ ;ψ (J ) = u : J → R : t → (ψ(t) − ψ(a))1−γ u(t) ∈ C( J̄ , R) ,
with the norm | |

||u||Cγ ;ψ = sup |(ψ(t) − ψ(a))1−γ u(t)| ,
t∈ J̄
and
{ }
Cγn ;ψ (J ) = u ∈ C n−1 (J ) : u (n) ∈ Cγ ;ψ (J ) , n ∈ N,
Cγ0 ;ψ (J ) = Cγ ;ψ (J ),
with the norm

e
n−1
||u||Cγn ;ψ = ||u (i) ||∞ + ||u (n) ||Cγ ;ψ .
i=0
α,β
The weighted space Cγ ;ψ (J ) is defined by
{ }
α,β α,β;ψ
Cγ ;ψ (J ) = u ∈ Cγ ;ψ (J ), H
Da + u ∈ Cγ ;ψ (J )
α,β;ψ
where H Da + is a fractional derivative defined in the following sections.
{ }
Cξ ;ψ (J ) = x : J → E : t → (ψ(t) − ψ(a))1−ξ x(t) ∈ C( J̄ , E) ,
with the norm || ||

||x||Cξ ;ψ = sup ||(ψ(t) − ψ(a))1−ξ x(t)|| ,
t∈ J̄
and
{ }
Cξn;ψ (J ) = x ∈ C n−1 (J ) : x (n) ∈ Cξ ;ψ (J ) , n ∈ N,
Cξ0;ψ (J ) = Cξ ;ψ (J ),
with the norm

e
n−1
||x||
Cξn;ψ = ||x (i ) ||∞ + ||x (n) ||Cξ ;ψ .
i=0
α,β
The weighted space Cξ,k;ψ (J ) is defined by
{ }
α,β H α,β;ψ
Cξ ;ψ (J ) = x ∈ Cξ ;ψ (J ), k Da+ x ∈ Cξ ;ψ (J ) ,
α,β;ψ
where kH Da+ is defined in the sequel.
2.2 Special Functions of the Fractional Calculus

2.2.1 Gamma Function
Undoubtedly, one of the basic functions of the fractional calculus is Euler’s gamma func-
tion Γ(z), which generalizes the factorial n! and allows n to take also non-integer and even
complex values. Leonhard Euler was a Swiss mathematician, physicist, astronomer, geog-
rapher, logician, and engineer who pioneered and inspired discoveries in a wide range of
mathematical fields, including analytic number theory, complex analysis, and infinitesimal
calculus. He pioneered much of today’s mathematical terminology and notation, including
the notion of a mathematical function. In addition, he is well-known for his contributions to
mechanics, fluid dynamics, optics, astronomy, and music theory.
Daniel Bernoulli then developed the gamma function for complex numbers with a positive
real part. Daniel Bernoulli was a Swiss mathematician and physicist who was a member of
the famous Bernoulli family from Basel. He is most known for his mathematical applications
to mechanics, notably fluid mechanics, as well as his groundbreaking work in probability
and statistics.
Definition 2.1 ([111]) The gamma function is defined via a convergent improper integral:
} +∞
Γ(z) = t z−1 e−t dt,
0
where z > 0.
2.2 Special Functions of the Fractional Calculus 13
One of the basic properties of the gamma function is that it satisfies the following functional
equation:
Γ(z + 1) = zΓ(z),
so, for positive integer values n, the gamma function becomes Γ(n) = (n − 1)! and thus
can be seen as an extension of the factorial function to real values. A useful particular value
√
of the function: Γ( 21 ) = π is used throughout many examples in this monograph.
2.2.2 k-Gamma and k-Beta Functions
In 2005, Diaz and Petruel [66] have defined new functions called k-gamma and k-beta
functions given by } ∞
tk
Γk (α) = t α−1 e− k dt, α > 0, k > 0
0
and }
1 1 α β
Bk (α, β) = t k −1 (1 − t) k −1 dt.
k 0
It is noteworthy that if k → 1 then Γk (α) → Γ(α) and Bk (α, β) → B(α, β). We have also
the following useful relations:
α
(α )
Γk (α) = k k −1 Γ , Γk (α + k) = αΓk (α), Γk (k) = Γ(1) = 1,
k
( )
1 α β Γk (α)Γk (β)
Bk (α, β) = B , , Bk (α, β) = .
k k k Γk (α + β)
2.2.3 Mittag-Leffler Function
The exponential function e z plays a very important role in the theory of integer-order dif-
ferential equations.
Definition 2.2 ([111]) The one-parameter generalization of the exponential function is now
denoted by
∞
e zk
Eα (z) = , α > 0.
Γ(αk + 1)
k=0
Definition 2.3 ([111]) A two-parameter function of the Mittag-Leffler type is defined by

the series expansion
∞
e zk
Eα,β (z) = , α > 0, β > 0.
Γ(αk + β)
k=0
It follows from the definition that

∞
e e zk ∞
zk
E1,1 (z) = = = ez .
Γ(k + 1) k!
k=0 k=0
Definition 2.4 ([102]) The Mittag-Leffler function can also be refined into the k-Mittag-
Leffler function defined as follows:
∞
e
α,β zi
Ek (z) = , α, β > 0.
Γk (αi + β)
i=0
In this monograph, we will employ the following notation:

∞
e zi
Eαk (z) = Eα,k
k (z) = , α > 0.
Γk (αi + k)
i=0
2.3 Elements from Fractional Calculus Theory
In this section, we recall some definitions of fractional integral and fractional differential
operators that include all we use throughout this monograph. We conclude it with some
necessary lemmas, theorems, and properties.
2.3.1 Fractional Integrals
Definition 2.5 (Generalized fractional integral [85]) Let α ∈ R+ and g ∈ L 1 (J ). The gen-
eralized fractional integral of order α is defined by
} ( )α−1
)ρ ( t t ρ − sρ g(s)
Jaα+ g (t) = s ρ−1 ds, t > a, ρ > 0.
a ρ Γ(α)
Definition 2.6 (ψ-Riemann-Liouville fractional integral [85]) Let (a, b) (−∞ ≤ a 0, c ∈ R, and h ∈ X c (a, b). Also, let
ψ(t) be an increasing and positive monotone function on J , having a continuous derivative
ψ ' (t) on (a, b). The left- and right-sided fractional integrals of a function h of order α with
respect to another function ψ on J are defined by
( ) } t
α;ψ h(τ )
Ja + h (t) = ψ ' (τ ) (ψ(t) − ψ(τ ))α−1 dτ,
a Γ(α)
and
2.3 Elements from Fractional Calculus Theory 15
( ) }
α;ψ
b h(τ )
Jb− h (t) = ψ ' (τ ) (ψ(τ ) − ψ(t))α−1 dτ.
t Γ(α)
p
Definition 2.7 (k-Generalized ψ-fractional integral [113]) Let g ∈ X ψ (a, b), ψ(t) > 0
be an increasing function on J and ψ ' (t) > 0 be continuous on (a, b) and α > 0. The
generalized k-fractional integral operators of a function g (left-sided and right-sided) of
order α are defined by
} t
α,k;ψ 1 ψ ' (s)g(s)ds
Ja+ g(t) = α ,
kΓk (α) a (ψ(t) − ψ(s))1− k
} b
Jb− g(t) = α ,
kΓk (α) t (ψ(s) − ψ(t))1− k
with k > 0. Also, in [103], Nápoles Valdés gave more generalized fractional integral oper-
ators defined by } t
JG,a+ g(t) = ,
kΓk (α) a G(ψ(t) − ψ(s), αk )
} b '
α,k;ψ 1 ψ (s)g(s)ds
JG,b− g(t) = ,
kΓk (α) t G(ψ(s) − ψ(t), αk )
where G(·, α) ∈ AC(J ).
2.3.2 Fractional Derivatives
Definition 2.8 (Generalized fractional derivative [85]) Let α ∈ R+ \ N and ρ > 0. The
generalized fractional derivative ρ Daα+ of order α is defined by
)ρ (
Daα+ g (t) = δρn (ρ Jan−α
+ g)(t)
( )n } t ( ρ ρ )n−α−1
1−ρ d ρ−1 t − s g(s)
= t s ds, t > a, ρ > 0,
dt a ρ Γ(n − α)
( )
d n
where n = [α] + 1 and δρn = t 1−ρ .
dt
Definition 2.9 (Generalized Hilfer-type fractional derivative [106]) Let order α and type β
satisfy n − 1 < α < n and 0 ≤ β ≤ 1, with n ∈ N. The generalized Hilfer-type fractional
derivative to t, with ρ > 0 of a function g, is defined by
( ) ( ( )n )
ρ α,β ρ β(n−α) ρ−1 d ρ (1−β)(n−α)
Da + g (t) = Ja + t Ja + g (t)
dt
( )
β(n−α) n ρ (1−β)(n−α)
= ρ Ja + δρ Ja + g (t).
Definition 2.10 (ψ-Riemann-Liouville fractional derivative [85]) Let ψ ' (t) / = 0 (−∞ ≤
a < t 0, and n ∈ N. The Riemann-Liouville derivatives of a function h of
order α with respect to another function ψ on J̄ are defined by
( )
α;ψ n−α;ψ
Da + h (t) = δ n (Ja + h)(t)
} t
h(τ )
= δn ψ ' (τ ) (ψ(t) − ψ(τ ))n−α−1 dτ,
a Γ(n − α)
and
( )
α;ψ n−α;ψ
Db− h (t) = (−1)n δ n (Ja + h)(t)
} b
h(τ )
= (−1)n δ n ψ ' (τ ) (ψ(τ ) − ψ(t))n−α−1 dτ,
t Γ(n − α)
( )n
1 d
where n = [α] + 1 and δ n = '
.
ψ (t) dt
Definition 2.11 (ψ-Hilfer fractional derivative [148]) Let order α and type β satisfy
n − 1 < α < n and 0 ≤ β ≤ 1, with n ∈ N, let h, ψ ∈ C n ( J̄ , R) be two functions such
that ψ is increasing and ψ ' (t) / = 0. The ψ-Hilfer fractional derivatives to t of a function h
are defined by
( ) ( ( ) )
H α,β;ψ β(n−α);ψ 1 d n (1−β)(n−α);ψ
Da + h (t) = Ja + J a+
h (t)
ψ ' (t) dt
and ( ) ( ( ) )
α,β;ψ β(n−α);ψ 1 d n (1−β)(n−α);ψ
H
Db − h (t) = Jb− − ' Jb− h (t).
ψ (t) dt
In this monograph, we consider the case n = 1 only, because 0 < α < 1.
We are now able to define the k-generalized ψ-Hilfer derivative as follows.
α
Definition 2.12 (k-Generalized ψ-Hilfer derivative) Let n−1<
≤ n with
k
n ∈ N, −∞ ≤ a < b ≤ ∞ and g, ψ ∈ C ( J̄ , R) be two functions such that ψ is increasing
n
and ψ ' (t) / = 0, for all t ∈ J . The k-generalized ψ-Hilfer fractional derivatives
α,β;ψ α,β;ψ
(left-sided and right-sided) kH Da+ (·) and kH Db− (·) of a function g of order α and type
0 ≤ β ≤ 1, with k > 0, are defined by
( ( ) )
H α,β;ψ β(kn−α),k;ψ 1 d n ( n (1−β)(kn−α),k;ψ )
D g (t) = J k J g (t)
k a+ a+
ψ ' (t) dt a+
( ( ))
β(kn−α),k;ψ n (1−β)(kn−α),k;ψ
= Ja+ δψ k n Ja+ g (t) ,
and
( ( ) )
H α,β;ψ β(kn−α),k;ψ 1 d n ( n (1−β)(kn−α),k;ψ )
k Db− g (t) = Jb− − ' k Jb− g (t)
ψ (t) dt
( ( ))
β(kn−α),k;ψ (1−β)(kn−α),k;ψ
= Jb− (−1)n δψn k n Jb− g (t) ,
( )n
1 d
where δψn = .
ψ ' (t) dt
Property 2.13 It is worth noting that the k-generalized ψ-Hilfer fractional derivative is
thought to be an expansion to many fractional operators defined over the years; indeed, in the
following part, we will give a list of some of the most commonly used fractional derivatives
α,β;ψ
that are considered to be a particular case of our operator. The fractional derivative kH Da+
interpolates the following fractional derivatives:
• The ψ-Hilfer fractional derivative (k = 1);

• The ψ-Riemann-Liouville fractional derivative (k = 1, β = 0);
• The ψ-Caputo fractional derivative (k = 1, β = 1);
• The Hilfer fractional derivative (k = 1, ψ(t) = t);
• The Riemann-Liouville fractional derivative (k = 1, ψ(t) = t, β = 0);
• The Caputo fractional derivative (k = 1, ψ(t) = t, β = 1);
• The Hilfer-Hadamard fractional derivative (k = 1, ψ(t) = ln(t));
• The Caputo-Hadamard fractional derivative (k = 1, ψ(t) = ln(t), β = 1);
• The Hadamard fractional derivative (k = 1, ψ(t) = ln(t), β = 0);
• The Hilfer-generalized fractional derivative (k = 1, ψ(t) = t ρ );
• The Caputo-generalized fractional derivative (k = 1, ψ(t) = t ρ , β = 1);
• The generalized fractional derivative (k = 1, ψ(t) = t ρ , β = 0);
• The Weyl fractional derivative (k = 1, ψ(t) = t ρ , β = 0, a = −∞).
2.3.3 Necessary Lemmas, Theorems, and Properties
Theorem 2.14 ([85]) Let α > 0, β > 0, 0 ≤ ρ ≤ ∞, 0 < a 0, 0 ≤ γ < 1. Then, Ja + is bounded from Cγ ;ψ (J ) into
α;ψ
Cγ ;ψ (J ). In addition, if γ ≤ α, then Ja + is bounded from Cγ ;ψ (J ) into C( J̄ , R).
Theorem 2.16 ([103]) Let g : J̄ → R be an integrable function, and take α > 0 and k > 0.
α,k;ψ
Then JG,a+ g exists for all t ∈ J̄ .
p α,k;ψ
Theorem 2.17 ([103]) Let g ∈ X ψ (a, b) and take α > 0 and k > 0. Then JG,a+ g ∈
C( J̄ , R).
Lemma 2.18 Let α > 0, β > 0, and k > 0. Then, we have the following semigroup property
given by
α,k;ψ β,k;ψ α+β,k;ψ β,k;ψ α,k;ψ
Ja+ Ja+ f (t) = Ja+ f (t) = Ja+ Ja+ f (t),
and
α,k;ψ β,k;ψ α+β,k;ψ β,k;ψ α,k;ψ
Jb− Jb− f (t) = Jb− f (t) = Jb− Jb− f (t).
Proof By Lemma 1 in [148] and the property of k-gamma function, for α > 0, β > 0, and
k > 0, we get
α,k;ψ β,k;ψ Γ( αk )Γ( βk ) α

k ;ψ
β
k ;ψ
Ja+ Ja+ f (t) = Ja+ Ja+ f (t)
k 2 Γk (α)Γk (β)
Γ( αk )Γ( βk ) α
;ψ β
;ψ
= α β
Ja+
k
Ja+
k
f (t)
k2k k −1 Γ( αk )k k −1 Γ( βk )
α+β
1 ;ψ
= α+β
Ja+k
f (t)
k k
α+β,k;ψ
= Ja+ f (t),
α;ψ
where Ja+ is ψ-Riemann-Liouville fractional integral. We also have
α,k;ψ β,k;ψ Γ( αk )Γ( βk ) α

k ;ψ
β
k ;ψ
Ja+ Ja+ f (t) = Ja+ Ja+ f (t)
k 2 Γk (α)Γk (β)
Γ( αk )Γ( βk ) β
k ;ψ
α
k ;ψ
= Ja+ Ja+ f (t)
k Γk (α)Γk (β)
2
β,k;ψ α,k;ψ
= Ja+ Ja+ f (t).
|
Lemma 2.19 ([33]) Let t > a. Then, for α ≥ 0 and β > 0ρ > 0, we have
| ( ρ ) | ( ρ )
ρ α s − a ρ β−1 Γ(β) t − a ρ α+β−1
Ja + (t) = ,
ρ Γ(α + β) ρ
| ( ρ ) |
ρ α s − a ρ α−1
Da + (t) = 0, 0 < α < 1.
ρ
Lemma 2.20 ([85, 148]) Let t > a. Then, for α ≥ 0 and β > 0, we have
| \ Γ(β)
α;ψ
Ja + (ψ(τ ) − ψ(a))β−1 (t) = (ψ(t) − ψ(a))α+β−1 .
Γ(α + β)
Lemma 2.21 Let α, β > 0 and k > 0. Then, we have
α,k;ψ β Γk (β) α+β

Ja+ [ψ(t) − ψ(a)] k −1 = (ψ(t) − ψ(a)) k −1
Γk (α + β)
and
Jb− [ψ(b) − ψ(t)] k −1 = (ψ(b) − ψ(t)) k −1 .
Γk (α + β)
ψ(s) − ψ(a)
Proof By Definition 2.7 and using the change of variable μ = , where t > a,
ψ(t) − ψ(a)
we get
α,k;ψ β
Ja+ [ψ(t) − ψ(a)] k −1
} t
1 α β
= (ψ(t) − ψ(s)) k −1 ψ ' (s) (ψ(s) − ψ(a)) k −1 ds
kΓk (α) a
} t α | |α
(ψ(t) − ψ(a)) k −1 ψ(s) − ψ(a) k −1 ' β
= 1− ψ (s) (ψ(s) − ψ(a)) k −1 ds
a kΓk (α) ψ(t) − ψ(a)
α+β
−1 } 1
[ψ (t) − ψ (a)] k α α
= [1 − μ] k −1 μ k −1 dμ.
kΓk (α) 0
Using the definition of k-beta function and the relation with gamma function, we have

Ja+ [ψ(t) − ψ(a)] k −1 = (ψ(t) − ψ(a)) k −1 .
Γk (α + β)
|
α,β
Property 2.22 ([106]) The operator ρ Da + can be written as
ρ α,β ρ β(1−α) β(1−α) ρ γ

δρ ρ Ja + ρ
1−γ
Da + = Ja + = Ja + Da + , γ = α + β − αβ.
Lemma 2.23 ([85, 106]) Let α > 0, and 0 ≤ γ < 1. Then, ρ Jaα+ is bounded from Cγ ,ρ (J )
into Cγ ,ρ (J ). Since ρ Da + u =
α,β ρ J β(1−α) ρ D γ u, it follows that
a+ a+
γ α,β
C1−γ ,ρ (J ) ⊂ C1−γ ,ρ (J ) ⊂ C1−γ ,ρ (J ).
Lemma 2.24 ([106]) Let 0 < a 0, 0 ≤ γ < 1, and u ∈ Cγ ,ρ (J ). If α >
1 − γ , then ρ Jaα+ u is continuous on J and
)ρ ( ) (
Jaα+ u (a) = lim ρ Jaα+ u (t) = 0.
t→a +
Lemma 2.25 ([148]) Let 0 < a 0, 0 ≤ γ < 1, u ∈ Cγ ;ψ (J ). If α > 1 − γ ,
α;ψ
then Ja + u ∈ C( J̄ , R) and
( ) ( )
α;ψ α;ψ
Ja + u (a) = lim Ja + u (t) = 0.
t→a +
α
Theorem 2.26 Let 0 < a 0, 0 ≤ ξ < 1, k > 0, and u ∈ Cξ ;ψ (J ). If >
k
1 − ξ, then ( ) ( )
α,k;ψ α,k;ψ
Ja+ u (a) = lim Ja+ u (t) = 0.
t→a +
Proof u ∈ Cξ ;ψ (J ) means that (ψ(t) − ψ(a))1−ξ u(t) ∈ C(J , R), then there exists a pos-
itive constant R such that
| (ψ(t) − ψ(a))1−ξ u(t)| < R,
thus,
|u(t)| < R| (ψ(t) − ψ(a))ξ −1 |. (2.1)
α,k;ψ
Now, we apply the operator Ja+ (·) on both sides of Equation (2.1) and using Lemma
2.21, so that we have
|( ) | | |
| α,k;ψ | | α,k;ψ |
| Ja+ u (t)| < R |Ja+ (ψ(t) − ψ(a))ξ −1 |
RΓk (kξ ) α
= (ψ(t) − ψ(a)) k +ξ −1 .
Γk (α + ξ )
Then, we have the right-hand side → 0 as u → a, and
( ) ( )
α,k;ψ α,k;ψ
lim Ja+ u (t) = Ja+ u (a) = 0.
t→a +
Lemma 2.27 ([106]) Let α > 0, 0 ≤ γ < 1, and g ∈ Cγ ,ρ (J ). Then,

)ρ (
Daα+ ρ Jaα+ g (t) = g(t), for all t ∈ J .
Lemma 2.28 ([148]) Let α > 0, 0 ≤ β ≤ 1, and h ∈ Cγ1 ;ψ (J ). Then,

( )
α,β;ψ α;ψ
H
Da + Ja + h (t) = h(t), for all t ∈ J .
Lemma 2.29 Let α > 0, 0 ≤ β ≤ 1, and u ∈ Cξ1;ψ (J ), where k > 0, then for t ∈ J , we
have ( )
H α,β;ψ α,k;ψ
k Da+ Ja+ u (t) = u(t).
Proof We have from Definition 2.12, Lemma 2.18, and ξ = k1 (β(k − α) + α) that
( ) ( ( ))
H α,β;ψ α,k;ψ β(k−α),k;ψ 1 (1−β)(k−α),k;ψ α,k;ψ
k Da+ Ja+ u (t) = Ja+ δψ k Ja+ Ja+ u (t)
( ( ))
kξ −α,k;ψ 1 (1−β)(k−α)+α,k;ψ
= Ja+ δψ k Ja+ u (t)
( ( ))
kξ −α,k;ψ 1 k−kξ +α,k;ψ
= Ja+ δψ k Ja+ u (t) ,
then, we obtain
} |} |
t ψ ' (s) s ψ ' (τ )u(τ )dτ
( ) α δψ1 α ds
H α,β;ψ α,k;ψ a (ψ(t) − ψ(s))1−ξ + k a (ψ(s) − ψ(τ ))
ξ− k
k Da+ Ja+ u (t) = .
kΓk (kξ − α)Γk (k(1 − ξ ) + α)
(2.2)
On other hand, by integrating by parts, we have

} |
s ψ ' (τ )u(τ )dτ 1 α
= u(a) (ψ(s) − ψ(a))1−ξ + k
1 − ξ + αk
α
a (ψ(s) − ψ(τ ))ξ − k
} s |
u ' (τ )dτ
+ α ,
ξ −1− k
a (ψ(s) − ψ(τ ))
then, by applying δψ1 , we get

} }
s ψ ' (τ )u(τ )dτ α
s u ' (τ )dτ
δψ1 ξ − αk
= u(a) (ψ(s) − ψ(a))−ξ + k + α .
a (ψ(s) − ψ(τ )) a (ψ(s) − ψ(τ ))ξ − k
(2.3)
Now, replacing (2.3) into Equation (2.2), and by Dirichlet’s formula and the properties of
k-gamma function, we get
( )
H α,β;ψ α,k;ψ
k D a+ Ja+ u (t)
|}
1 t u(a)ψ ' (s) (ψ(s) − ψ(a))−ξ + αk ds
= α
kΓk (kξ − α)Γk (k(1 − ξ ) + α) a (ψ(t) − ψ(s))1−ξ + k
} t } t |
' ψ ' (s)dτ
+ u (t)dt 1−ξ + αk α .
a s (ψ(t) − ψ(s)) (ψ(s) − ψ(τ ))ξ − k
ψ(s) − ψ(a)
Making the following change of variables μ = in the integral from a to t and
ψ(t) − ψ(a)
similarly changing the variable in the integral from s to t, then we have
( )
H α,β;ψ α,k;ψ
k D a+ J a+ u (t)
} t
α α
u(a)ψ ' (s) (ψ(s) − ψ(a))−ξ + k (ψ(t) − ψ(s))ξ − k −1 ds
= a
kΓk (kξ − α)Γk (k(1 − ξ ) + α)
} t } t
α α
u ' (t)dt ψ ' (s) (ψ(t) − ψ(s))ξ − k −1 (ψ(s) − ψ(τ ))−ξ + k dτ
+ a s
kΓk (kξ − α)Γk (k(1 − ξ ) + α)
( } t )
' | } 1 |
u(a) + u (t)dt
a 1 −ξ + αk ξ − αk −1
= μ (1 − μ) dμ
Γk (kξ − α)Γk (k(1 − ξ ) + α) k 0
( } t )
u(a) + u ' (t)dt | } 1 |
1 α α
= a
μ(1−(ξ − k ))−1 (1 − μ)ξ − k −1 dμ ,
Γk (kξ − α)Γk (k(1 − ξ ) + α) k 0
then by the definition of k-beta function, we obtain

( ) ( } t )
H α,β;ψ α,k;ψ [Γk (kξ − α)Γk (k(1 − ξ ) + α)]
k Da+ Ja+ u (t) = u(a) + u ' (t)dt
Γk (kξ − α)Γk (k(1 − ξ ) + α) a
} t
= u(a) + u ' (t)dt
a
= u(t).
|
Lemma 2.30 ([142, 148]) Let t > a, α > 0, 0 ≤ β ≤ 1. Then for 0 < γ < 1; γ = α +
β − αβ, we have | \
γ ;ψ
Da + (ψ(τ ) − ψ(a))γ −1 (t) = 0,
and | \
α,β;ψ
H
Da + (ψ(τ ) − ψ(a))γ −1 (t) = 0.
Lemma 2.31 Let t > a, α > 0, 0 ≤ β ≤ 1, k > 0. Then for 0 < ξ < 1; ξ = k1 (β(k −
α) + α), we have
| \
H α,β;ψ
k Da+ (ψ(s) − ψ(a))ξ −1 (t) = 0.
Proof From Definitions 2.7 and 2.12, we have

}
(1−β)(k−α),k;ψ k t ψ ' (s) (ψ(s) − ψ(a))ξ −1 ds
k Ja+ (ψ(t) − ψ(a))ξ −1 = ,
kΓk (k X ) a (ψ(t) − ψ(s))1−X
1
where X = (1 − β) (k − α). Now, we make the change of the variable by
k
ψ(s) − ψ(a)
μ= to obtain
ψ(t) − ψ(a)
(1−β)(k−α),k;ψ k [ψ(t) − ψ(a)]ξ −1+X

k Ja+ (ψ(t) − ψ(a))ξ −1 =
Γk (k X )
| } 1 |
1
× (1 − μ) X −1 μξ −1 dμ ,
k 0
then, by the following definition of k-beta function

}
1 1 α β Γk (α)Γk (β)
Bk (α, β) = t k −1 (1 − t) k −1 dt = ,
k 0 Γk (α + β)
we have
(1−β)(k−α),k;ψ kΓk (kξ )
k Ja+ (ψ(t) − ψ(a))ξ −1 = = kΓk (kξ ),
Γk (k(X + ξ ))
(1−β)(k−α),k;ψ kΓk (kξ )

k Ja+ (ψ(t) − ψ(a))ξ −1 = = kΓk (kξ ),
Γk (k(X + ξ ))
then, we have
( )
(1−β)(k−α),k;ψ
δψ1 k Ja+ (ψ(t) − ψ(a))ξ −1 = 0.
Lemma 2.32 ([106]) Let 0 < α < 1, 0 ≤ γ < 1. If g ∈ Cγ ,ρ (J ) and ρ Ja1−α

+ g ∈ C γ ,ρ (J ),
1
then
( )
ρ J 1−α g (a) ( ρ )
)ρ α ρ α ( a + t − a ρ α−1
Ja + Da + g (t) = g(t) − , for all t ∈ J .
Γ(α) ρ
γ
Lemma 2.33 ([106]) Let 0 < α < 1, 0 ≤ β ≤ 1 and γ = α + β − αβ. If u ∈ Cγ ,ρ (J ),
then
ρ γ ρ γ α,β
Ja + Da + u = ρ Jaα+ ρ Da + u,
and
ρ γ β(1−α)
Da + ρ Jaα+ u = ρ
Da + u.
Lemma 2.34 ([142, 148]) Let α > 0, 0 ≤ β ≤ 1, and h ∈ Cγ1 ;ψ (J ). Then,

( )
1−γ ;ψ
( ) Ja + h (a)
α;ψ α,β;ψ
Ja + H
Da + h (t) = h(t) − (ψ(t) − ψ(a))γ −1 , for all t ∈ J .
Γ(γ )
Theorem 2.35 If f ∈ Cξn;ψ [a, b], n − 1 < α < n, 0 ≤ β ≤ 1, where n ∈ N and k > 0,
then
( ) e
n
− (ψ(t) − ψ(a))ξ −i { n−i ( k(n−ξ ),k;ψ )}
α,k;ψ H α,β;ψ
Ja+ k Da+ f (t) = δ J f (a)
k i−n Γk (k(ξ − i + 1)) ψ a+
i=1
+ f (t),
where
1
ξ= (β(kn − α) + α) .
k
In particular, if n = 1, we have
( ) (ψ(t) − ψ(a))ξ −1 (1−β)(k−α),k;ψ
α,k;ψ H α,β;ψ
Ja+ k Da+ f (t) = f (t) − J f (a).
Γk (β(k − α) + α) a+
Proof From Definition 2.12 and Lemma 2.18, we have

( ) ( ( ))
α,k;ψ α,β;ψ α,k;ψ β(kn−α),k;ψ n (1−β)(kn−α),k;ψ
Ja+ kH Da+ f (t) = Ja+ Ja+ δψ k n Ja+ f (t)
( ( ))
β(kn−α)+α,k;ψ n (1−β)(kn−α),k;ψ
= Ja+ δψ k n Ja+ f (t)
{ ( )}
} t ψ ' (s) δ n k n J (1−β)(kn−α),k;ψ f (s)
1 ψ a+
= ds.
kΓk (kξ ) a (ψ(t) − ψ(s))1−ξ
Integrating by parts, we obtain
( ) − (ψ(t) − ψ(a))ξ −1 { n−1 ( n (1−β)(kn−α),k;ψ )}
α,k;ψ H α,β;ψ
Ja+ k Da+ f (t) = δψ k Ja+ f (a)
kΓk (kξ )
{ ( )}
} t (ξ − 1)ψ ' (s) δ n−1 k n J (1−β)(kn−α),k;ψ f (s)
ψ a+
+ ds.
a kΓ k (kξ ) (ψ(t) − ψ(s))2−ξ
Using the property of the functions gamma and k-gamma, we get
( ) − (ψ(t) − ψ(a))ξ −1 { n−1 ( n (1−β)(kn−α),k;ψ )}

α,k;ψ H α,β;ψ
Ja+ k Da+ f (t) = ξ
δψ k Ja+ f (a)
k Γ(ξ )
{ ( )}
} t ψ ' (s) δ n−1 k n J (1−β)(kn−α),k;ψ f (s)
ψ a+
+ ds.
a k ξ Γ(ξ − 1) (ψ(t) − ψ(s))2−ξ
So, by integrating by parts n times, we obtain
( )
α,k;ψ α,β;ψ
Ja+ kH Da+ f (t)
e (ψ(t) − ψ(a))ξ −i { ( )}
n
(1−β)(kn−α),k;ψ
=− δψn−i k n Ja+ f (a)
k ξ Γ(ξ − i + 1)
i=1
} t ( )
1 ψ ' (s) (1−β)(kn−α),k;ψ
+ ξ −n J a+ f (s) ds,
k Γ(ξ − n) a (ψ(t) − ψ(s))n+1−ξ
e (ψ(t) − ψ(a))ξ −i { n−i ( n (1−β)(kn−α),k;ψ )}
n
=− δψ k Ja+ f (a)
k i Γk (k(ξ − i + 1))
i=1
} t ( )
1 ψ ' (s) (1−β)(kn−α),k;ψ
+ Ja+ f (s) ds,
kΓk (k(ξ − n)) a (ψ(t) − ψ(s))n+1−ξ
e (ψ(t) − ψ(a))ξ −i { n−i ( (1−β)(kn−α),k;ψ )}
n
=− δ J f (a)
k i−n Γk (k(ξ − i + 1)) ψ a+
i=1
k(ξ −n),k;ψ (1−β)(kn−α),k;ψ
+ Ja+ Ja+ f (t),
then by using Lemma 2.18, we get

( )
ξ −i n−i (1−β)(kn−α),k;ψ
( ) n − (ψ(t) − ψ(a))
e δψ Ja+ f (a)
α,k;ψ H α,β;ψ
Ja+ k Da+ f (t) =
k i−n Γk (k(ξ − i + 1))
i=1
+ f (t).
|
α,β;ψ
Property 2.36 ([148]) The operator H Da + can be written as
α,β;ψ β(1−α);ψ γ ;ψ
H
Da + = Ja + Da + , γ = α + β − αβ.
p
Lemma 2.37 ([85, 148]) Let α > 0, β > 0, 0 < a < b < ∞. Then, for h ∈ X c (a, b) the
semigroup property is valid, i.e.,
( ) ( )
α;ψ β;ψ α+β;ψ
Ja + Ja + h (t) = Ja + h (t).
γ
Lemma 2.38 ([106]) Let f be a function such that f ∈ Cγ ,ρ (J ). Then u ∈ Cγ ,ρ (J ) is a
solution of the differential equation:
( )
ρ α,β
Da + u (t) = f (t), for each , t ∈ J , 0 < α < 1, 0 ≤ β ≤ 1, ρ > 0
if and only if u satisfies the following Volterra integral equation:

( )
ρ J 1−γ u (a + ) ( ρ ) } t( ρ )
a+ t − a ρ γ −1 1 t − s ρ α−1 ρ−1
u(t) = + s f (s)ds,
Γ(γ ) ρ Γ(α) a ρ
where γ = α + β − αβ.
Lemma 2.39 Let α, β > 0 and k > 0. Then, we have

( α
) ( α
)
α,k;ψ
Ja+ Eαk (ψ(t) − ψ(a)) k = Eαk (ψ(t) − ψ(a)) k − 1.
Proof We have
( α
)
α,k;ψ
Ja+ Eαk (ψ(t) − ψ(a)) k
( )
} t ψ ' (s)Eα (ψ(s) − ψ(a)) αk ds
1 k
= α
kΓk (α) a (ψ(t) − ψ(s))1− k
} ∞
e αi
1 t ψ ' (s) (ψ(s) − ψ(a)) k
= α ds.
kΓk (α) a (ψ(t) − ψ(s))1− k Γk (αi + k)
i=0
With a change of variables μ = ψ(s) − ψ(a), we get

( α
)
α,k;ψ
e ∞ } ψ(t)−ψ(a) αi
1 1 μk
= α dμ
kΓk (α) Γk (αi + k) 0 (ψ(t) − ψ(a) − μ)1− k
i=0
∞
e (ψ(t) − ψ(a)) k −1 α } ψ(t)−ψ(a) ( ) α −1
1 αi μ k
= μk 1− dμ.
kΓk (α) Γk (αi + k) 0 ψ(t) − ψ(a)
i=0
μ
Making the change of variables ς = and using the definition of k-beta func-
ψ(t) − ψ(a)
tion, we have
2.4 Grönwall’s Lemma 27
( α
)
α,k;ψ
∞
e (ψ(t) − ψ(a)) k (i+1) α } 1
1 αi α
= ς k (1 − ς ) k −1 dς
kΓk (α) Γk (αi + k) 0
i=0
∞
e α
1 (ψ(t) − ψ(a)) k (i+1)
Γk (αi + k)Γk (α)
=
Γk (α) Γk (αi + k)Γk (α(i + 1) + k)
i=0
∞
e α
(ψ(t) − ψ(a)) k (i+1)
=
Γk (α(i + 1) + k)
i=0
e∞
(ψ(t) − ψ(a))
αj
k ( α
)
= − 1 = Eαk (ψ(t) − ψ(a)) k − 1.
Γk (α j + k)
j=0
|
2.4 Grönwall’s Lemma
The Grönwall’s inequality is fundamental in the study of qualitative theory of integral and
differential equations, as well as in the solution of Cauchy-type problems of nonlinear
differential equations.
Lemma 2.40 (Grönwall’s lemma [32]) Let u and w be two integrable functions and v be
a continuous function, with domain J̄ . Assume that
• u and w are nonnegative;

• v is nonnegative and nondecreasing.
If
} ( )α−1
t
ρ−1 t ρ − sρ
u(t) ≤ w(t) + v(t) s u(s)ds, t ∈ J̄ ,
a ρ
then } te ( )τ α−1
∞
(v(t)Γ(α))τ t ρ − sρ
u(t) ≤ w(t) + s ρ−1 w(s)ds, t ∈ J̄ .
a τ =1 Γ(τ α) ρ
In addition, if w is nondecreasing, then

| ( ρ ) |
t − aρ α
u(t) ≤ w(t)Eα v(t)Γ(α) , t ∈ J̄ .
ρ
In 2019, Sousa et al. managed to give a Grönwall’s inequality using the ψ-Hilfer fractional
integral.
Lemma 2.41 ([145]) Let u, v be two integrable functions and g continuous, with domain
[a, b]. Let ψ ∈ C 1 [a, b] be an increasing function such that ψ ' (t) / = 0, for all t ∈ [a, b].
Assume that
• u and v are nonnegative;

• g in nonnegative and nondecreasing.
If } t
u(t) ≤ v(t) + g(t) ψ ' (τ )(ψ(t) − ψ(τ ))α−1 u(τ )dτ,
a
then } te
∞
[g(t)Γ(α)]k
u(t) ≤ v(t) + ψ ' (τ )[ψ(t) − ψ(τ )]αk−1 v(τ )dτ,
a k=1 Γ(αk)
for all t ∈ [a, b].
Now, we give generalized Grönwall’s inequality taking into account the properties of the
functions k-gamma, k-beta, and k-Mittag-Leffler.
Theorem 2.42 Let u, v be two integrable functions and g continuous, with domain J̄ . Let
ψ ∈ C 1 (J ) be an increasing function such that ψ ' (t) / = 0, t ∈ J̄ , and α > 0 with k > 0.
Assume that
1. u and v are nonnegative;

2. w is nonnegative and nondecreasing.
If }
w (t) t α
u (t) ≤ v (t) + ψ ' (s) [ψ(t) − ψ(s)] k −1 u (s) ds,
k a
then
} te
∞
[w (t) Γk (α)]i ' iα
u (t) ≤ v (t) + ψ (s) [ψ(t) − ψ(s)] k −1 v (s) ds, (2.4)
a kΓk (αi )
i=1
for all t ∈ J̄ . And if v is a nondecreasing function on J̄ , then we have

( α
)
u (t) ≤ v (t) Eα,k
k w (t) Γk (α) (ψ (t) − ψ (a)) k .
Proof Let }
w (t) t α
ϒv(t) (t) = ψ ' (τ ) [ψ(t) − ψ(τ )] k −1 v (τ ) dτ, (2.5)
k a
2.4 Grönwall’s Lemma 29
for all t ∈ J̄ , for locally integral function v, we have
u (t) ≤ v (t) + ϒu (t) .
Iterating, for n ∈ N, we can write
e
n−1
u (t) ≤ ϒ i v (t) + ϒ n u (t) .
i=0
Then, by mathematical induction, and if v is a nonnegative function, then

} t
[w (t) Γk (α)]n ' nα
ϒ u (t) ≤
n
ψ (τ ) [ψ(t) − ψ(τ )] k −1 u (τ ) dτ. (2.6)
a kΓk (nα)
We know that relation Eq. (2.6) is true for n = 1. Suppose that the formula is true for some
n = i ∈ N, then the induction hypothesis implies
( )
ϒ i+1 u (t) = ϒ ϒ i u (t)
(} )
t [w (t) Γ (α)]i iα
k ' −1
≤ϒ ψ (τ ) [ψ(t) − ψ(τ )] k v (τ ) dτ
a kΓk (i α)
} (} )
w (t) t ψ ' (τ ) τ [w (τ ) Γ (α)]i ψ ' (s) v (s) ds
k
= 1− α iα
dτ.
k a [ψ(t) − ψ(τ )] k a kΓk (i α) [ψ(τ ) − ψ(s)]1− k
Since w is a nondecreasing function, that is w (τ ) ≤ w (t) , for all τ ≤ t, then we obtain
Γk (α)i
ϒ i+1 u (t) ≤ [w (t)]i+1
k 2 Γk (αi )
} t} τ
α iα
× ψ ' (τ ) [ψ(t) − ψ(τ )] k −1 ψ ' (s) [ψ(τ ) − ψ(s)] k −1 u (s) dsdτ.
a a
(2.7)
From Eq. (2.7) and by Dirichlet’s formula, we can have
Γk (α)i
ϒ i+1 u (t) ≤ [w (t)]i+1
k 2 Γk (αi )
} t } t
α iα
× ψ ' (τ ) u (τ ) ψ ' (s) [ψ(t) − ψ(s)] k −1 [ψ(s) − ψ(τ )] k −1 dsdτ.
a τ
(2.8)
On other hand, we have

} t
α iα
ψ ' (s) [ψ (t) − ψ (s)] k −1 [ψ (s) − ψ (τ )] k −1 ds
τ
} | | α −1
t
' α ψ (s) − ψ (τ ) k iα
= ψ (s) [ψ (t) − ψ (τ )] k −1 1− [ψ (s) − ψ (τ )] k −1 ds.
τ ψ (t) − ψ (τ )
ψ (s) − ψ (τ )
With a change of variables μ = and using the definition of k-beta function
ψ (t) − ψ (τ )
Γk (α) Γk (β)
and the relation with gamma function Bk (α, β) = , we have
Γk (α + β)
} t
α iα
ψ ' (s) [ψ (t) − ψ (s)] k −1 [ψ (s) − ψ (τ )] k −1 ds
τ
} 1
i α+α α iα
= [ψ (t) − ψ (τ )] k −1 [1 − μ] k −1 μ k −1 dμ
0
i α+α Γk (α) Γk (iα)
= k [ψ (t) − ψ (τ )] k −1 . (2.9)
Γk (α + i α)
By replacing Eq. (2.9) in Eq. (2.8), we get
} t [w (t) Γk (α)]i+1 ' α(i+1)
ϒ i+1
u (t) ≤ ψ (τ ) u (τ ) [ψ (t) − ψ (τ )] k −1 dτ.
a kΓk (α (i + 1))
Let us now prove that ϒ n u (t) → 0 as n → ∞. Since w is a continuous function on J̄ , there

exists a constant M > 0 such that w (t) ≤ M for all t ∈ J̄ . Then, we obtain
} t
[MΓk (α)]n ' αn
ϒ n u (t) ≤ ψ (τ ) u (τ ) [ψ (t) − ψ (τ )] k −1 dτ.
a kΓk (αn)
Consider the series
∞
e [MΓk (α)]n
.
Γk (αn)
n=1
Using the property of the generalized k-gamma, we have
| ) (\n
∞ | ) (|n
α
∞ ∞ Mk k −1 Γ α
e [MΓk (α)] n e k e k Mk −1 Γ αk
= αn ) ( = ) ( .
Γk (αn)
n=1 k k −1 Γ αn n=1
Γ αn k k n=1
By using the Stirling approximation and the root test, we can show that the series converges.
Therefore, we conclude that
2.5 Kuratowski Measure of Noncompactness 31
∞
e
u (t) ≤ ϒ i v (t)
i=0
} te
∞
[w (t) Γk (α)]i αi
≤ v (t) + ψ ' (τ ) [ψ (t) − ψ (τ )] k −1
v (τ ) dτ.
a i=1 kΓk (αi )
Now, since v is nondecreasing, so, for all τ ∈ [a, t], we have v (τ ) ≤ v (t) and we can write
} te∞
[w (t) Γk (α)]i ' αi
u (t) ≤ v (t) + ψ (τ ) [ψ (t) − ψ (τ )] k −1 v (τ ) dτ
a i=1 kΓ k (αi )
| } te ∞
|
[w (t) Γk (α)]i ' αi
−1
≤ v (t) 1 + ψ (τ ) [ψ (t) − ψ (τ )] k dτ
a i=1 kΓk (αi )
| ∞
|
e [w (t) Γk (α)]i αi
= v (t) 1 + [ψ (t) − ψ (a)] k ,
αiΓk (αi )
i=1
and by using the properties of k-gamma function and the definition of k-Mittag-Leffler
function, we have
| | \ ⎤
α i
∞
e w (t) Γ (α) (ψ (t) − ψ (a)) k
⎢ k ⎥
u (t) ≤ v (t) ⎣1 + ⎦
Γk (αi + k)
i=1
( α
)
= v (t) Eα,k
k w (t) Γk (α) (ψ (t) − ψ (a)) k .
2.5 Kuratowski Measure of Noncompactness
As mentioned in the introduction part, the measure of noncompactness is one of the funda-
mental tools in the theory of nonlinear analysis. In this section, we recall some fundamental
facts of the notion of measure of noncompactness. Particularly, we employ the Kuratowski
measure of noncompactness in our studies throughout this book.
Let Ω X be the class of all bounded subsets of a metric space X .
Definition 2.43 ([45]) A function μ : Ω X → [0, ∞) is said to be a measure of noncom-

pactness on X if the following conditions are verified for all B, B1 , B2 ∈ Ω X .
(a) Regularity, i.e., μ(B) = 0 if and only if B is precompact,

(b) invariance under closure, i.e., μ(B) = μ(B),
(c) semi-additivity, i.e., μ(B1 ∪ B2 ) = max{μ(B1 ), μ(B2 )}.
Definition 2.44 ([45]) Let X be a Banach space. The Kuratowski measure of noncompact-
ness is the map μ : Ω X −→ [0, ∞) defined by
||
m
μ(M) = in f {ε > 0 : M ⊂ M j , diam(M j ) ≤ ε},
j=1
where M ∈ Ω X .
The map μ satisfies the following properties :
• μ(M) = 0 ⇔ M is compact (M is relatively compact).

• μ(M) = μ(M).
• M1 ⊂ M2 ⇒ μ(M1 ) ≤ μ(M2 ).
• μ(M1 + M2 ) ≤ μ(B1 ) + μ(B2 ).
• μ(cM) = |c|μ(M), c ∈ R.
• μ(conv M) = μ(M).
2.6 Fixed Point Theorems
In this section, we will be going through all the fixed point theorems used in the different
studies throughout the monograph. Fixed point theory is one of the most intensively studied
research topics of the last decades. The roots of the fixed point concept date back to the
middle of the eighteenth century. Although fixed point theory appears to be an independent
research topic today, the notion of the fixed point appeared in the papers that dealt with
the solution of certain differential equations; see, e.g., Liouville [93], Picard [110], and
Poincaré [112]. One of the first independent fixed point results was obtained by Banach [44]
by abstracting the successive approximation method of Picard.
Theorem 2.45 (Banach’s fixed point theorem [72]) Let D be a nonempty closed subset of
a Banach space E, then any contraction mapping N of D into itself has a unique fixed point.
The most important feature that distinguishes Banach’s fixed point theorem from other
fixed point theorems is that it guarantees not only the existence but also the uniqueness of
the fixed point. More importantly, it not only tells the existence and uniqueness of a fixed
point but also tells you how to get the fixed point.
In what follows, we list some other fixed point theorems that have turned out to be the
instruments for the differential equations solutions.
2.6 Fixed Point Theorems 33
Theorem 2.46 (Schauder’s fixed point theorem [72]) Let X be a Banach space, D be a
bounded closed convex subset of X , and T : D → D be a compact and continuous map.
Then T has at least one fixed point in D.
Theorem 2.47 (Schaefer’s fixed point theorem [72]) Let X be a Banach space and N :
X → X be a completely continuous operator. If the set
D = {u ∈ X : u = λN u, for some λ ∈ (0, 1)}
is bounded, then N has a fixed point.
Theorem 2.48 (Darbo’s fixed point Theorem [71]) Let D be a nonempty, closed, bounded,
and convex subset of a Banach space X , and let T be a continuous mapping of D into itself
such that for any nonempty subset C of D,
μ(T (C)) ≤ kμ(C), (2.10)
where 0 ≤ k < 1, and μ is the Kuratowski measure of noncompactness. Then T has a fixed
point in D.
Theorem 2.49 (Mönch’s fixed point Theorem [101]) Let D be closed, bounded, and convex
subset of a Banach space X such that 0 ∈ D, and let T be a continuous mapping of D into
itself. If the implication
V = convT (V ), or V = T (V ) ∪ {0} ⇒ μ(V ) = 0, (2.11)
holds for every subset V of D, then T has a fixed point.
Theorem 2.50 (Krasnoselskii’s fixed point theorem [72]) Let D be a closed, convex, and
nonempty subset of a Banach space X , and A, B the operators such that
(1) Au + Bv ∈ D for all u, v ∈ D;

(2) A is compact and continuous;
(3) B is a contraction mapping.
Then there exists w ∈ D such that w = Aw + Bw.
Theorem 2.51 Let Ω be a closed, convex, bounded, and nonempty subset of a Banach
algebra (X , || · ||), and let T1 : X → X and T2 : Ω → X be two operators such that
(1) T1 is Lipschitzian with Lipschitz constant λ,

(2) T2 is completely continuous,
(3) v = T1 y T2 w ⇒ v ∈ Ω for all w ∈ Ω,
(4) λM < 1, where M = ||B(Ω)|| = sup{||B(w)|| : w ∈ Ω}.
Then the operator equation T1 y T2 y = v has a solution in Ω.
Theorem 2.52 Let B be a closed, convex, bounded and nonempty subset of a Banach
algebra (X , || · ||), and let P , R : X → X and Q : B → X be three operators such that
(1) P and R are Lipschitzian with Lipschitz constants η1 and η2 , respectively,

(2) Q is compact and continuous,
(3) u = P u Qv + Ru ⇒ u ∈ B for all v ∈ B
(4) η1 β + η2 < 1, where β = ||Q(B)|| = sup{||Q(v)|| : v ∈ B}.
Then the operator equation P u Qu + Ru = u has a solution in B.

Implicit Fractional Differential Equations
3
3.1 Introduction and Motivations
This chapter deals with some existence and Ulam stability results for a class of initial and
boundary value problems for differential equations with generalized Hilfer-type fractional
derivative in Banach spaces. The results are based on suitable fixed point theorems associated
with the technique of measure of noncompactness. At the end of each section, examples
are included to show the applicability of our results. The results obtained in this chapter are
studied and presented as a consequence of the following:
• The monographs of Abbas et al. [7, 14] and Benchohra et al. [50] and the papers of
Ahmad et al. [25], Benchohra et al. [48, 49], and Zhou et al. [162], which are focused
on linear and nonlinear initial and boundary value problems for fractional differential
equations involving different kinds of fractional derivatives.
• The monographs of Abbas et al. [7, 13], Kilbas et al. [85], and Zhou et al. [162], and the
papers of Abbas et al. [10] and Benchohra et al. [51, 52]; in it, considerable attention has
been given to the study of the Ulam-Hyers and Ulam-Hyers-Rassias stability of various
classes of functional equations.
• The paper of Diaz et al. [66], where the authors presented the k-gamma and k-beta
functions and demonstrated a number of their properties. As well as the papers [63, 102–
104], where many researchers managed to generalize various fractional integrals and
derivatives.
• The papers of Sousa et al. [143–149], where the authors introduced another so-called ψ-
Hilfer fractional derivative with respect to a given function and presented some important
properties concerning this type of fractional operator.
• The paper of Almalahi et al. [31], which deals with the boundary value problem of
ψ-Hilfer fractional derivative of the form:

https://doi.org/10.1007/978-3-031-26928-8_3
36 3 Implicit Fractional Differential Equations
⎧ ( {t )
⎨ H Dα,β;ψ x(t) = f t, x(t), k(t, s)x(s)ds , t ∈ J := (a, b]
a+ a
⎩ 1−γ ,ψ [ ( ) ( )]
Ja + px a + + q x b− = c, (γ = α + β − αβ)
α,β;ψ
where H Da + (·) is the generalized Hilfer fractional derivative of order α ∈ (0, 1) and
1−γ ,ψ
type β ∈ [0, 1] and Ja + (·) is the generalized fractional integral in the sense of Rie-
mann-Liouville of order 1 − γ , and f : J × E × E → E is a continuous function in an
{t
abstract Banach space E, c1 , c2 ∈ R, c3 ∈ E, c1 + c2 / = 0, and a k(t, s)x(s)ds is a lin-
ear integral operator with k : J × J → R. They discussed the E α -Ulam-Hyers stability
and the continuous dependence of the problem.
• The paper of Liu et al. [94], where they considered the ψ-Hilfer fractional differential
equation: ⎧
⎪ H D α,β;ψ x(τ ) = f (τ, x(τ ), x(g(τ ))), τ ∈ J = (0, d],
⎪
⎨ 0+
1−γ ;ψ ( + )
J0+ x 0 = c0 ∈ R,
⎪
⎪
⎩
x(τ ) = ϕ(τ ), τ ∈ [−h, 0],
α,β;ψ
where H D0+ (·) is the ψ-Hilfer fractional derivative of order 0 < α ≤ 1 and type 0 ≤
1−γ ;ψ
β≤ 1, J0+ (·) is the Riemann-Liouville fractional integral of order 1 − γ , γ = α +
β(1 − α) with respect to the function ψ, and f : J × R × R → R is a given function.
They established the existence and uniqueness of solutions to the problem and introduced
the Ulam-Hyers-Mittag-Leffler stability of the solutions.
3.2 Existence and Ulam Stability Results for Generalized

Hilfer-Type Boundary Value Problem
In this section, we establish the existence and Ulam stability results for the boundary value
problem of the following generalized Hilfer-type fractional differential equation:
( ) ( ( ) )
ρ α,β α,β
Da + u (t) = f t, u(t), ρ Da + u (t) , for each , t ∈ J , (3.1)
( ) ( )
ρ
Ja + u (a + ) + m ρ Ja + u (b) = φ,
1−γ 1−γ
l (3.2)
α,β
where ρ Da + ,ρ Ja + are the generalized Hilfer-type fractional derivative of order α ∈ (0, 1)
1−γ

respectively, φ ∈ E, f : J × E × E → E is a given function, and l, m are reals with l +
m / = 0.
3.2 Existence and Ulam Stability Results for Generalized … 37
3.2.1 Existence Results
We consider the following linear fractional differential equation:

( )
ρ α,β
Da + u (t) = ψ(t), t ∈ J , (3.3)
where 0 < α < 1, 0 ≤ β ≤ 1, ρ > 0, with the boundary condition

( ) ( )
l ρ Ja + u (a + ) + m ρ Ja + u (b) = φ,
1−γ 1−γ
(3.4)
where γ = α + β − αβ, φ ∈ E, and l, m ∈ R with l + m / = 0. The following theorem

shows that the problem (3.3)–(3.4) has a unique solution given by
[ ∫ b( ρ ) ]
m b − s ρ α−γ ρ−1
u(t) = φ − s ψ(s)ds
⎡(1 − γ + α) a ρ
( ρ ) ∫ t( ρ )
1 t − a ρ γ −1 1 t − s ρ α−1 ρ−1
× + s ψ(s)ds. (3.5)
(l + m)⎡(γ ) ρ ⎡(α) a ρ
Theorem 3.1 Let γ = α + β − αβ, where 0 < α < 1 and 0 ≤ β ≤ 1ρ > 0. If ψ : J → E

γ
is a function such that ψ(·) ∈ Cγ ,ρ (J ), then u ∈ Cγ ,ρ (J ) satisfies the problem (3.3)–(3.4)
if and only if it satisfies (3.5).
Proof By Lemma 2.38, the solution of (3.3) can be written as

( )
ρ J 1−γ u (a + ) ( ρ ) ∫ t( ρ )
a + t − a ρ γ −1 1 t − s ρ α−1 ρ−1
u(t) = + s ψ(s)ds. (3.6)
⎡(γ ) ρ ⎡(α) a ρ
Applying ρ Ja +
1−γ
on both sides of (3.6), using Lemma 2.19, and taking t = b, we obtain
( ) ( ) ∫ ( )α−γ
ρ ρ + 1 b bρ − s ρ
s ρ−1 ψ(s)ds,
1−γ 1−γ
Ja + u (b) = Ja + u (a ) +
⎡(1 − γ + α) a ρ
(3.7)
multiplying both sides of (3.7) by m, we get

( ) ( )
m ρ Ja + u (b) = m ρ Ja + u (a + )
1−γ 1−γ
∫ b( ρ )
+ s ψ(s)ds.
⎡(1 − γ + α) a ρ
Using condition (3.4), we obtain

( ) ( )
m ρ Ja + u (b) = φ − l ρ Ja + u (a + ).
1−γ 1−γ
Thus
( ) ( )
ρ
Ja + u (a + ) = m ρ Ja + u (a + )
1−γ 1−γ
φ −l
∫ b( ρ )
+ s ψ(s)ds,
⎡(1 − γ + α) a ρ
which implies that

∫ ( )
b bρ − s ρ α−γ ρ−1
( ) m s ψ(s)ds
ρ φ ρ
Ja + u (a + ) =
1−γ a
− . (3.8)
l +m (l + m)⎡(1 − γ + α)
Substituting (3.8) into (3.6), we obtain (3.5).
Reciprocally, applying ρ Ja + on both sides of (3.5), using Lemma 2.19 and Theorem
1−γ
2.14, we get
( ) φ m (ρ 1−γ +α ) ( )
ρ 1−γ +α
ψ (b) + ρ Ja +
1−γ
Ja + u (t) = − Ja + ψ (t). (3.9)
l +m (l + m)
Next, taking the limit t → a + of (3.9) and using Lemma 2.24, with 1 − γ < 1 − γ + α,
we obtain
( ) φ m (ρ 1−γ +α )
ρ 1−γ
Ja + u (a + ) = − Ja + ψ (b). (3.10)
l +m (l + m)
Now, taking t = b in (3.9), we get
( ) φ m (ρ 1−γ +α ) ( )
ρ 1−γ +α
ψ (b) + ρ Ja +
1−γ
Ja + u (b) = − Ja + ψ (b). (3.11)
l +m (l + m)
From (3.10) and (3.11), we find that
( ) ( ) l.φ lm (ρ 1−γ +α )
ρ
Ja + u (a + ) + m ρ Ja + u (b) =
1−γ 1−γ
l − Ja + ψ (b)
l +m l +m
m.φ m 2 (ρ 1−γ +α )
+ − Ja + ψ (b)
l +m l +m
( )
1−γ +α
+ m ρ Ja + ψ (b)
( )
lm − m 2 (ρ 1−γ +α )
=φ+ m− Ja + ψ (b)
l +m
= φ,
( ) ( )
which shows that the boundary condition l ρ J 1−γ u (a + ) + m ρ J 1−γ u (b) = φ is sat-
a+ a+
γ
isfied. Next, apply operator ρ Da + on both sides of (3.5). Then, from Lemmas 2.19 and 2.33,
we obtain
( )
γ β(1−α)
(ρ Da + u)(t) = ρ
Da + ψ (t). (3.12)
γ γ γ
Since u ∈ Cγ ,ρ (J ) and by definition of Cγ ,ρ (J ), we have ρ Da + u ∈ Cγ ,ρ (J ), then (3.12)
implies that
( ) ( )
γ β(1−α)
(ρ Da + u)(t) = δρ ρ Ja + ψ (t) = ρ Da +
1−β(1−α)
ψ (t) ∈ Cγ ,ρ (J ). (3.13)
As ψ(·) ∈ Cγ ,ρ (J ) and from Lemma 2.23, it follows that

( )
ρ 1−β(1−α)
Ja + ψ ∈ Cγ ,ρ (J ). (3.14)
From (3.13), (3.14), and by the Definition of the space Cγn,ρ (J ), we obtain
( )
ρ 1−β(1−α)
Ja + ψ ∈ Cγ1,ρ (J ).
β(1−α)
Applying operator ρ Ja + to both sides of (3.12) and using Lemmas 2.32 and 2.24 and
Property 2.22, we have
( ) (ρ
ρ α,β ρ β(1−α) γ )
Da + u (t) = Ja + Da + u (t)
( )
ρ J 1−β(1−α) ψ(t)
a+
(a) ( t ρ − a ρ )β(1−α)−1
= ψ(t) +
⎡(β(1 − α)) ρ
= ψ(t),
that is, (3.3) holds. This completes the proof. ⛛
As a consequence of Theorem 3.1, we have the following result.
Lemma 3.2 Let γ = α + β − αβ where 0 < α < 1 and 0 ≤ β ≤ 1, let f : J × E × E →

γ
E be a function such that f (·, u(·), v(·)) ∈ Cγ ,ρ (J ) for any u, v ∈ Cγ ,ρ (J ). If u ∈ Cγ ,ρ (J ),
then u satisfies the problem (3.1)–(3.2) if and only if u is the fixed point of the operator
ψ : Cγ ,ρ (J ) → Cγ ,ρ (J ) defined by
[ ∫ b( ρ ) ]
ψu(t) = φ − s h(s)ds
⎡(1 − γ + α) a ρ
( )γ −1 ∫ t( )α−1
1 t ρ − aρ 1 t ρ − sρ
× + s ρ−1 h(s)ds,
(l + m)⎡(γ ) ρ ⎡(α) a ρ
(3.15)
where h : J → E be a function satisfying the functional equation
h(t) = f (t, u(t), h(t)).
Clearly, h ∈ Cγ ,ρ (J ). Also, by Lemma 2.23, ψu ∈ Cγ ,ρ (J ).
Lemma 3.3 ([75]) Let( D ⊂ Cγ ,ρ (J ) be a bounded

) and equicontinuous set, then
( ρ ρ )1−γ
t −a
(i) the function t → μ D(t) is continuous on J¯ , and
ρ
(( )1−γ )
t ρ − aρ
μCγ ,ρ (D) = sup μ D(t) .
t∈J¯ ρ
({{ }) ∫ b
b
(ii) μ a u(s)ds : u ∈ D ≤ μ(D(s))ds, where
a
D(t) = {u(t) : u ∈ D}, t ∈ J .
We are now in a position to state and prove our existence result for the problem (3.1)–(3.2)
based on Theorem 2.49.
Theorem 3.4 Assume that the following hypotheses hold:
(3.4.1) The function t | → f (t, u, v) is measurable and continuous on J for each u, v ∈ E,

and the functions u | → f (t, u, v) and v | → f (t, u, v) are continuous on E for a.e.
t ∈ J.
(3.4.2) There exists a continuous function p : J¯ −→ [0, ∞) such that
|| f (t, u, v)|| ≤ p(t), for a.e. t ∈ J and for each u, v ∈ E.
(3.4.3) For each bounded set B ⊂ E and for each t ∈ J , we have

( )1−γ
ρ α,β t ρ − aρ
μ( f (t, B, ( Da + B))) ≤ p(t)μ(B),
ρ
α,β α,β
where ρ Da + B = {ρ Da + w : w ∈ B} and p ∗ = sup p(t).
t∈ J̄
If
( )1−γ +α
p∗ bρ − a ρ
l := < 1, (3.16)
⎡(α + 1) ρ
then the problem (3.1)–(3.2) has at least one solution defined on J .
Proof Consider the operator ψ : Cγ ,ρ (J ) → Cγ ,ρ (J ) defined in (3.15).

For any u ∈ Cγ ,ρ (J ), and each t ∈ J we have
∫ ( )
||( ||
bbρ − s ρ α−γ ρ−1
|| t ρ − a ρ )1−γ || ||φ||
|m|
ρ
s ||h(s)||ds
|| || a
|| (ψu)(t)|| ≤ +
|| ρ || |l + m|⎡(γ ) |l + m|⎡(γ )⎡(1 − γ + α)
( )1−γ ∫ t ( )α−1
t ρ − aρ t ρ − sρ ||h(s)||
+ s ρ−1 ds
ρ a ρ ⎡(α)
||φ|| |m| p ∗ ( )
ρ 1−γ +α
≤ + Ja + (1) (b)
|l + m|⎡(γ ) |l + m|⎡(γ )
( ρ )
t − a ρ 1−γ (ρ α )
+ p∗ Ja + (1) (t).
ρ
By Lemma 2.19, we have

||( ||
|| t ρ − a ρ )1−γ ||
|| ||
|| (ψu)(t)||
|| ρ ||
( )1−γ +α
||φ|| |m| p∗ bρ − a ρ
≤ +
|l + m|⎡(γ ) |l + m|⎡(γ )⎡(α − γ ) ρ
( ρ )
p∗ t − a ρ 1−γ +α
+ .
⎡(α + 1) ρ
Hence, for any u ∈ Cγ ,ρ (J ), and each t ∈ J , we get
||(ψu)||Cγ ,ρ
||φ||
≤
|l + m|⎡(γ )
( )1−γ +α ( )1−γ +α
|m| p∗ bρ − a ρ p∗ t ρ − aρ
+ +
|l + m|⎡(γ )⎡(α − γ ) ρ ⎡(α + 1) ρ
:= R.
This proves that ψ transforms the ball B R := B(0, R) = {w ∈ Cγ ,ρ : ||w||Cγ ,ρ ≤ R} into

itself. We shall show that the operator ψ : B R → B R satisfies all the assumptions of Theorem
2.49. The proof will be given in several steps.
Step 1: ψ : B R → B R is continuous.
Let {u n }n∈N be a sequence such that u n −→ u in B R . Then, for each t ∈ J , we have
||( ||
|| t ρ − a ρ )1−γ ( ρ )
t − a ρ 1−γ ||
|| ||
|| (ψu n )(t) − (ψu)(t)||
|| ρ ρ ||
∫ b( ρ )
|m| b − s ρ α−γ ρ−1 (3.17)
≤ s ||h n (s) − h(s)||ds
|l + m|⎡(γ )⎡(1 − γ + α) a ρ
( ρ ) ∫ ( )
1 t − a ρ 1−γ t t ρ − s ρ α−1 ρ−1
+ s ||h n (s) − h(s)||ds,
⎡(α) ρ a ρ
where h n , h ∈ Cγ ,ρ (J ) be such that
h n (t) = f (t, u n (t), h n (t)) , h(t) = f (t, u(t), h(t)).
Since u n −→ u as n −→ ∞ and f is continuous, then by the Lebesgue dominated

convergence theorem, Eq. (3.17) implies
||ψu n − ψu||Cγ ,ρ −→ 0asn −→ ∞.
Step 2: ψ(B R ) is bounded and equicontinuous.

Since ψ(B R ) ⊂ B R and B R is bounded, then ψ(B R ) is bounded.
Next, let t1 , t2 ∈ J such that a < t1 < t2 ≤ b and let u ∈ B R . Thus, we have
||( ||
|| ρ ρ )1−γ ( ρ
t1 − a ρ
)1−γ ||
|| t2 − a ||
|| (ψu)(t2 ) − (ψu)(t1 )||
|| ρ ρ ||
||
|| 1 ( t ρ − a ρ )1−γ ∫ t2 ( t ρ − s ρ )α−1
||
≤ || 2 2
s ρ−1 h(s)ds
|| ⎡(α) ρ a ρ
( ρ )1−γ ∫ t1 ( ρ )α−1 ||
t1 − a ρ t1 − s ρ ||
1 ρ−1 ||
− s h(s)ds || ,
⎡(α) ρ a ρ ||
then,
||( ||
|| t ρ − a ρ )1−γ ( ρ
t1 − a ρ
)1−γ ||
|| 2 ||
|| (ψu)(t2 ) − (ψu)(t1 )||
|| ρ ρ ||
( ρ ) ∫ ( ρ ) α−1
t2 − a ρ
1−γ t2 t − s ρ
1
≤ 2
s ρ−1 ||h(s)||ds + ρ α−γ
⎡(α) ρ t1 ρ
∫ t1 |
|( ρ )1−γ ( ρ )α−1 ( ρ )1−γ ( ρ )α−1 || s ρ−1 ||h(s)||
× | t2 − a ρ t2 − s ρ − t1 − a ρ t1 − s ρ | ds
a ⎡(α)
( ρ )
b − a ρ 1−γ (ρ α )
≤ p∗ Jt + (1) (t2 ) + ρ α−γ
ρ 1
∫ t1 |
(
| ρ ) (
1−γ ρ )α−1 ( ρ )1−γ ( ρ )α−1 || p ∗ s ρ−1 ds
× | t2 − a ρ t2 − s ρ − t1 − a ρ t1 − s ρ | .
a ⎡(α)

||( ||
|| t ρ − a ρ )1−γ ( ρ
t1 − a ρ
)1−γ ||
|| 2 ||
|| (ψu)(t2 ) − (ψu)(t1 )||
|| ρ ρ ||
( ) ( ρ ρ α)
p∗ bρ − a ρ 1−γ t2 − t1
≤ + ρ α−γ
⎡(α + 1) ρ ρ
∫ t1 |
|( ρ )1−γ ( ρ )α−1 ( ρ )1−γ ( ρ )α−1 || p ∗ s ρ−1 ds
+ | t2 − a ρ t2 − s ρ − t1 − a ρ t1 − s ρ | .
a ⎡(α)
As t1 −→ t2 , the right side of the above inequality tends to zero. Hence, ψ(B R ) is
bounded and equicontinuous.
Step 3: The implication (2.11) of Theorem 2.49 holds.
Now let D be an equicontinuous subset of B R such that D ⊂ ψ(D) ∪ {0}; therefore, the
function t −→ d(t) = μ(D(t)) is continuous on J . By hypothesis (3.4.3) and the properties
of the measure μ, for each t ∈ J , we have
( ρ ) (( ) )
t − a ρ 1−γ t ρ − a ρ 1−γ
d(t) ≤ μ (ψ D)(t) ∪ {0}
ρ ρ
(( ) )
t ρ − a ρ 1−γ
≤μ (ψ D)(t)
ρ
( ρ )
b − a ρ 1−γ
≤
ρ
∫ t( ρ ) ( )
t − s ρ α−1 ρ−1 p(s)μ(D(s)) s ρ − a ρ 1−γ
× s ds
a ( ρ ) ⎡(α) ρ
bρ − a ρ 1−γ ( )
≤ p∗ ||d||Cγ ,ρ ρ Jaα+ (1) (t)
ρ( )
p∗ bρ − a ρ 1−γ +α
≤ ||d||Cγ ,ρ .
⎡(α + 1) ρ
Thus
||d||Cγ ,ρ ≤ l||d||Cγ ,ρ .
From (3.16), we get ||d||Cγ ,ρ = 0, that is d(t) = μ(D(t)) = 0, for each t ∈ J , and then
D(t) is relatively compact in E. In view of the Ascoli-Arzela Theorem, D is relatively
compact in B R . Applying now Theorem 2.49, we conclude that ψ has a fixed point, which
is solution of the problem (3.1)–(3.2). ⛛
Our next existence result for the problem (3.1)–(3.2) is based on Theorem 2.48 (Darbo’s
fixed point theorem).
Theorem 3.5 Assume that the hypotheses (3.4.1)–(3.4.3) and the condition (3.16) hold.
Then the problem (3.1)–(3.2) has a solution defined on J .
Proof Consider the operator ψ defined in (3.15). We know that ψ : B R −→ B R is bounded

and continuous and that ψ(B R ) is equicontinuous, we need to prove that the operator ψ is
a l-contraction.
Let D ⊂ B R and t ∈ J . Then we have
(( )1−γ ) (( ) )
t ρ − aρ t ρ − a ρ 1−γ
μ (ψ D)(t) = μ (ψu)(t) : u ∈ D
ρ ρ
⎧∫ t ( ρ ) ( ) ⎫
t − s ρ α−1 s ρ−1 p(s)μ(D(s)) s ρ − a ρ 1−γ
≤ ds : u ∈ D
a ρ ⎡(α) ρ
( ρ ρ )1−γ
b −a
×
ρ
( ρ )
b − a ρ 1−γ ( )
≤ p∗ μCγ ,ρ (D) ρ Jaα+ (1) (t)
ρ
( ρ )
p∗ b − a ρ 1−γ +α
≤ μCγ ,ρ (D).
⎡(α + 1) ρ
Therefore,
( )1−γ +α
p∗ bρ − a ρ
μCγ ,ρ (ψ D) ≤ μCγ ,ρ (D).
⎡(α + 1) ρ
So, by (3.16), the operator ψ is a l-contraction, where
( )1−γ +α
p∗ bρ − a ρ
l := < 1.
⎡(α + 1) ρ
Consequently, from Theorem 2.48, we conclude that ψ has a fixed point u ∈ B R , which
is a solution to problem (3.1)–(3.2). ⛛
3.2.2 Ulam-Hyers-Rassias Stability
Now we are concerned with the generalized Ulam-Hyers-Rassias stability of our Eq. (3.1).
Let ∈ > 0 and θ : J −→ [0, ∞) be a continuous function. We consider the following
inequalities :
||( ) ( ( ) )||
|| ρ α,β α,β ||
|| Da + u (t) − f t, u(t), ρ Da + u (t) || ≤ ∈; t ∈ J, (3.18)
||( ) ( ( ) )||
|| α,β α,β ||
|| ρ Da + u (t) − f t, u(t), ρ Da + u (t) || ≤ θ (t); t ∈ J, (3.19)
||( ) ( ( ) )||
|| ρ α,β α,β ||
|| Da + u (t) − f t, u(t), ρ Da + u (t) || ≤ ∈θ (t); t ∈ J. (3.20)
Definition 3.6 ([51, 52]) Problem (3.1)–(3.2) is Ulam-Hyers (U-H) stable if there exists a
real number a f > 0 such that for each ∈ > 0 and for each solution u ∈ Cγ ,ρ (J ) of inequality
(3.18) there exists a solution v ∈ Cγ ,ρ (J ) of (3.1)–(3.2) with
||u(t) − v(t)|| ≤ ∈a f ; t ∈ J.
Definition 3.7 ([51, 52]) Problem (3.1)–(3.2) is generalized Ulam-Hyers (G.U-H) stable
if there exists a f : C([0, ∞), [0, ∞)) with a f (0) = 0 such that for each ∈ > 0 and for each
solution u ∈ Cγ ,ρ (J ) of inequality (3.18) there exists a solution v ∈ Cγ ,ρ (J ) of (3.1)–(3.2)
with
||u(t) − v(t)|| ≤ a f (∈); t ∈ J.
Definition 3.8 ([51, 52]) Problem (3.1)–(3.2) is Ulam-Hyers-Rassias (U-H-R) stable with
respect to θ if there exists a real number a f ,θ > 0 such that for each ∈ > 0 and for each
solution u ∈ Cγ ,ρ (J ) of inequality (3.20) there exists a solution v ∈ Cγ ,ρ (J ) of (3.1)–(3.2)
with
||u(t) − v(t)|| ≤ ∈a f ,θ θ (t); t ∈ J.
Definition 3.9 ([51, 52]) Problem (3.1)–(3.2) is generalized Ulam-Hyers-Rassias (G.U-H-

R) stable with respect to θ if there exists a real number a f ,θ > 0 such that for each solution
u ∈ Cγ ,ρ (J ) of inequality (3.19) there exists a solution v ∈ Cγ ,ρ (J ) of (3.1)–(3.2) with
||u(t) − v(t)|| ≤ a f ,θ θ (t); t ∈ J.
Remark 3.10 It is clear that
1. Definition 3.6 =⇒ Definition 3.7.

3. Definition 3.8 for θ (.) = 1 =⇒ Definition 3.6.
Theorem 3.11 Assume that the hypotheses (3.4.1), (3.4.2), and the following hypotheses
hold:
(3.11.1) There exists λθ > 0 such that for each t ∈ J , we have
(ρ Jaα+ θ )(t) ≤ λθ θ (t).
(3.11.2) There exists a continuous function q : J̄ −→ [0, ∞) such that for each t ∈ J , we
have
p(t) ≤ q(t)θ (t).
Then equation Problem (3.1)–(3.2) is G.U-H-R stable.

Proof Consider the operator ψ defined in (3.15). Let u be a solution of inequality (3.19),
and let us assume that v is a solution of the problem (3.1)–(3.2). Thus, we have
[ ∫ b( ρ ) ]
ψv(t) = φ − s g(s)ds
⎡(1 − γ + α) a ρ
( ρ )
1 t − a ρ γ −1
×
(l + m)⎡(γ ) ρ
∫ t( ρ )
1 t − s α−1 ρ−1
ρ
+ s g(s)ds, t ∈ J ,
⎡(α) a ρ
where g : J → E be a function satisfying
g(t) = f (t, v(t), g(t)).
From inequality (3.19), for each t ∈ J , we have

|| [ ∫ b( ρ ) ]
||
||u(t) − φ − m b − s ρ α−γ ρ−1
|| s h(s)ds
⎡(1 − γ + α) a ρ
( ρ ) ∫ t( ρ ) ||
1 t − a ρ γ −1 1 t − s ρ α−1 ρ−1 ||
× − s h(s)ds ||
||
(l + m)⎡(γ ) ρ ⎡(α) a ρ
≤ (ρ Jaα+ θ )(t).
Set q ∗ = supq(t).
t∈J¯
From hypotheses (3.11.1) and (3.11.2), for each t ∈ J , we get
|| [ ∫ b( ρ ) ]
||
|| m b − s ρ α−γ ρ−1
||u(t) − v(t)|| ≤ ||u(t) − φ − s h(s)ds
⎡(1 − γ + α) a ρ
( ρ )
t − a ρ γ −1
∫ t( ρ ) ||
ρ 1 t − s ρ α−1 ρ−1 ||
× − s h(s)ds ||
||
(l + m)⎡(γ ) ⎡(α) a ρ
(
∫ t ρ )
1 t − s ρ α−1 ρ−1
+ s ||h(s) − g(s)||ds
⎡(α) a ρ
∫ t( ρ )
1 t − s ρ α−1 ρ−1 ∗
≤ (ρ Jaα+ θ )(t) + s 2q θ (s)ds
⎡(α) a ρ
≤ λθ θ (t) + 2q ∗ (ρ Jaα+ θ )(t)
≤ [1 + 2q ∗ ]λθ θ (t)
:= a f ,θ θ (t).
Hence, Eq. (3.1) is G.U-H-R stable. ⛛

3.2.3 An Example
Let ⎫ ∞
⎫
Σ
E = l = u = (u 1 , u 2 , . . . , u n , . . .),
1
|u n | < ∞
n=1
be the Banach space with the norm
∞
Σ
||u|| = |u n |.
n=1
Consider the following boundary value problem of fractional differential equation:

1
( ( 1 ) )
1 2 ,0 1 2 ,0
D1+ u n (t) = f n t, u n (t), D1+ u n (t) , t ∈ (1, e] (3.21)
( 1
) ( 1 )
1
J12+ u n (1+ ) + 1 J12+ u n (e) = 0, (3.22)
where ( ( 1 ) )
,0 ct 2
f n t, u n (t), 1 D12+ u n (t) = 2 (sin(t − 1) + u n (t)) , t ∈ (1, e].
e
Let ( )
1 1
f = ( f 1 , f 2 , . . . , f n , . . .), u = (u 1 , u 2 , . . . , u n , . . .) c = ⎡ ,
4 2
γ = α = 21 , ρ = 1, and β = 0. Clearly, the function f is continuous.
The hypothesis (3.4.2) is satisfied with
ct 2 | sin(t − 1)|
p(t) = , t ∈ (1, e].
e2
A simple computation shows that the conditions of Theorem 3.4 are satisfied. Hence the
problem (3.21)–(3.22) has at least one solution defined on [1, e].
p(t)
Also, hypotheses (3.11.1) and (3.11.2) are satisfied with θ (t) = e2 , q(t) = 2 , and
e
4
λθ = √ . Indeed, for each t ∈ (1, e], we get
π
4e2
(ρ Jaα+ θ )(t) ≤ √
π
= λθ θ (t).
Consequently, Theorem 3.11 implies that Eq. (3.21) is G.U-H-R stable.


Initial Value Problem
In this section, we consider the initial value problem with nonlinear implicit k-generalized
ψ-Hilfer-type fractional differential equation:
( ) ( ( ) )
H α,β;ψ α,β;ψ
k Da+ x (t) = f t, x(t), kH Da+ x (t) , t ∈ J , (3.23)
( )
k(1−ξ ),k;ψ
Ja+ x (a + ) = x0 , (3.24)
α,β;ψ k(1−ξ ),k;ψ
where kH Da+ , Ja+ are the k-generalized ψ-Hilfer fractional derivative of order
respectively, where ξ = k1 (β(k − α) + α), x0 ∈ R, k > 0, and f ∈ C( J̄ × R2 , R).
We consider the following fractional differential equation:

( )
H α,β;ψ
k Da+ x (t) = w(t), t ∈ J , (3.25)
where 0 < α < 1, 0 ≤ β ≤ 1, with the condition

( )
k(1−ξ ),k;ψ
Ja+ x (a + ) = x0 , (3.26)
β(k − α) + α
where ξ = , x0 ∈ R, k > 0, and where w ∈ C(J¯ , R) satisfies the functional
k
equation:
w(t) = f (t, x(t), w(t)) .
The following theorem shows that the problem (3.25)–(3.26) has a unique solution.
Theorem 3.12 If w(·) ∈ Cξ1;ψ (J ), then x satisfies (3.25)–(3.26) if and only if it satisfies
(ψ(t) − ψ(a))ξ −1 ( )
α,k;ψ
x(t) = x0 + Ja+ w (t). (3.27)
⎡k (kξ )
Proof Assume x ∈ Cξ1;ψ (J ) satisfies Eqs. (3.25) and (3.26), and applying the fractional
α,k;ψ
integral operator Ja+ (·) on both sides of the fractional equation (3.25), so
( ) ( )
α,k;ψ α,β;ψ α,k;ψ
Ja+ kH Da+ x (t) = Ja+ w (t),
3.3 Existence and Ulam Stability Results for k-Generalized … 49
and using Theorem 2.35 and Eq. (3.26), we get
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
x(t) = Ja+ x(a) + Ja+ w (t)
⎡k (kξ )
(ψ(t) − ψ(a))ξ −1 ( )
α,k;ψ
= x0 + Ja+ w (t).
⎡k (kξ )
Let us now prove that if x satisfies Eq. (3.27), then it satisfies Eqs. (3.25) and (3.26). Applying
α,β;ψ
the fractional derivative operator kH Da+ (·) on both sides of the fractional equation (3.27),
then we get
( ) ( ξ −1 ) ( )
H α,β;ψ H α,β;ψ (ψ(t) − ψ(a)) α,β;ψ α,k;ψ
k D a+ x (t) = k D a+ x0 + kH Da+ Ja+ w (t).
⎡k (kξ )
k(1−ξ ),k;ψ
Using Lemmas 2.31 and 2.29, we obtain Eq. (3.25). Now we apply the operator Ja+ (·)
on Eq. (3.27) to have
( ) x0
k(1−ξ ),k;ψ k(1−ξ ),k;ψ
Ja+ x (t) = J (ψ(t) − ψ(a))ξ −1
⎡k (kξ ) a+
( )
k(1−ξ ),k;ψ α,k;ψ
+ Ja+ Ja+ w (t).
Now, using Lemmas 2.18 and 2.21, we get

( ) x0
k(1−ξ ),k;ψ k(1−ξ ),k;ψ
Ja+ x (t) = J (ψ(t) − ψ(a))ξ −1
⎡k (kξ ) a+
( )
+ Ja+ Ja+ w (t)
( )
k(1−ξ )+α,k;ψ
= x0 + Ja+ w (t).
Using Theorem 2.26 with t → a, we obtain Eq. (3.26). This completes the proof. ⛛
β(k − α) + α
Lemma 3.13 Let ξ = where 0 < α < 1, 0 ≤ β ≤ 1, and k > 0, let f : J¯ ×
k
R × R → R be a continuous function such that f (·, x(·), y(·)) ∈ Cξ1;ψ (J ), for any x, y ∈
Cξ ;ψ (J ). If x ∈ Cξ1;ψ (J ), then x satisfies the problem (3.23)–(3.24) if and only if x is the
fixed point of the operator T : Cξ ;ψ (J ) → Cξ ;ψ (J ) defined by
∫
(ψ(t) − ψ(a))ξ −1 1 t ψ ' (s)ϕ(s)ds
(T x) (t) = x0 + α , (3.28)
⎡k (kξ ) k⎡k (α) a (ψ(t) − ψ(s))1− k
where ϕ be a function satisfying the functional equation
ϕ(t) = f (t, x(t), ϕ(t)).
We are now in a position to state and prove our existence result for the problem (3.23)–
(3.24) based on Banach’s fixed point theorem.
Theorem 3.14 Assume that the following hypotheses are met.
(3.14.1) The function f : J¯ × R × R → R is continuous and
f (·, x(·), y(·)) ∈ Cξ1;ψ (J ), for any x, y ∈ Cξ ;ψ (J ).
(3.14.2) There exist constants η1 > 0 and 0 < η2 < 1 such that
| f (t, x, y) − f (t, x̄, ȳ)| ≤ η1 |x − x̄| + η2 |y − ȳ|
for any x, y, x̄, y¯ ∈ R and t ∈ J¯ .
If
α
η1 ⎡k (kξ ) (ψ(b) − ψ(a)) k
L= < 1, (3.29)
⎡k (α + kξ )(1 − η2 )
then the problem (3.23)–(3.24) has a unique solution in Cξ ;ψ (J ).
Proof We show that the operator T defined in (3.28) has a unique fixed point in Cξ ;ψ (J ).
Let x, y ∈ Cξ ;ψ (J ). Then, for t ∈ J we have
∫
1 t ψ ' (s)|ϕ1 (s) − ϕ2 (s)|dt
|T x(t) − T y(t)| ≤ α ,
k⎡k (α) a (ψ(t) − ψ(s))1− k
where ϕ1 and ϕ1 be functions satisfying the functional equations
ϕ1 (t) = f (t, x(t), ϕ1 (t)),

ϕ2 (t) = f (t, y(t), ϕ2 (t)).
By hypothesis (3.14.2), we have
|ϕ1 (t) − ϕ2 (t)| = | f (t, x(t), ϕ1 (t)) − f (t, y(t), ϕ2 (t))|

≤ η1 |x(t) − y(t)| + η2 |ϕ1 (t) − ϕ2 (t)|.
Then,
η1
|ϕ1 (t) − ϕ2 (t)| ≤ |x(t) − y(t)|.
1 − η2
Therefore, for each t ∈ J

∫ t '
η1 ψ (s)|x(s) − y(s)|dt
|T x(t) − T y(t)| ≤ α
(1 − η2 )k⎡k (α) a (ψ(t) − ψ(s))1− k
η1 ||x − y||Cξ ;ψ α,k;ψ
≤ Ja+ (ψ(t) − ψ(a))ξ −1 .
1 − η2
[ ]
η1 ⎡k (kξ ) α+kξ
|T x(t) − T y(t)| ≤ (ψ(t) − ψ(a)) k −1 ||x − y||Cξ ;ψ ,
⎡k (α + kξ )(1 − η2 )
hence
[ α
]
| | η1 ⎡k (kξ ) (ψ(t) − ψ(a)) k
|(ψ(t) − ψ(a))1−ξ (T x(t) − T y(t))| ≤ ||x − y||Cξ ;ψ
⎡k (α + kξ )(1 − η2 )
[ α
]
η1 ⎡k (kξ ) (ψ(b) − ψ(a)) k
≤ ||x − y||Cξ ;ψ ,
⎡k (α + kξ )(1 − η2 )
which implies that

[ α
]
η1 ⎡k (kξ ) (ψ(b) − ψ(a)) k
||T x − T y||Cξ ;ψ ≤ ||x − y||Cξ ;ψ .
⎡k (α + kξ )(1 − η2 )
By (3.29), the operator T is a contraction. Hence, by Banach’s contraction principle, T

has a unique fixed point x ∈ Cξ ;ψ (J ), which is a solution to our problem (3.23)–(3.24). ⛛
Now, we consider the Ulam stability for problem (3.23)–(3.24). Let x ∈ Cξ1;ψ (J ), ∈ > 0,
and v : J −→ [0, ∞) be a continuous function. We consider the following inequality :
|( ) ( ( ) )|
| H α,β;ψ α,β;ψ |
| k Da+ x (t) − f t, x(t), kH Da+ x (t) | ≤ ∈v(t), t ∈ J . (3.30)
Definition 3.15 Problem (3.23)–(3.24) is Ulam-Hyers-Rassias (U-H-R) stable with respect

to v if there exists a real number a f ,v > 0 such that for each ∈ > 0 and for each solution
x ∈ Cξ1;ψ (J ) of inequality (3.30) there exists a solution y ∈ Cξ1;ψ (J ) of (3.23)–(3.24) with
|x(t) − y(t)| ≤ ∈a f ,v v(t), t ∈ J.

Remark 3.16 A function x ∈ Cξ1;ψ (J ) is a solution of inequality (3.30) if and only if there
exist σ ∈ Cξ ;ψ (J ) such that
1. |σ
( (t)| ≤ ∈v(t),
) t ∈ J ,( ( ) )
α,β;ψ α,β;ψ
2. kH Da+ x (t) = f t, x(t), kH Da+ x (t) + σ (t), t ∈ J .
Theorem 3.17 Assume that in addition to assumptions (3.14.1), (3.14.2), and (3.29), the
following hypothesis holds.
(3.17.1) There exist a nondecreasing function v ∈ Cξ1;ψ (J ) and κv > 0 such that for each
t ∈ J , we have ( )
α,k;ψ
Ja+ v (t) ≤ κv v(t).
Then the problem (3.23)–(3.24) is U-H-R stable with respect to v.
Proof Let x ∈ Cξ1;ψ (J ) be a solution of inequality (3.30), and let us assume that y is the
unique solution of the problem
⎧( ) ( ( ) )
⎨ H Dα,β;ψ y (t) = f t, y(t), H Dα,β;ψ y (t) ; t ∈ J ,
a+ a+
( k ) ( k )
⎩ J k(1−ξ ),k;ψ y (a + ) = J k(1−ξ ),k;ψ x (a + ).
a+ a+
By Lemma 3.13, we obtain for each t ∈ J
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
y(t) = Ja+ y(a) + Ja+ w (t),
⎡k (kξ )
where w ∈ Cξ1;ψ (J ) be a function satisfying the functional equation
w(t) = f (t, y(t), w(t)).
Since x is a solution of the inequality (3.30), by Remark 3.16, we have

( ) ( ( ) )
H α,β;ψ H α,β;ψ
k D a+ x (t) = f t, x(t), k Da+ x (t) + σ (t), t ∈ J . (3.31)
Clearly, the solution of (3.31) is given by
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
x(t) = Ja+ x(a) + Ja+ (w̃ + σ ) (t),
⎡k (kξ )
where w̃ ∈ Cξ1;ψ (J ) be a function satisfying the functional equation
w̃(t) = f (t, x(t), w̃(t)).
Hence, for each t ∈ J , we have

( ) ( )
α,k;ψ α,k;ψ
|x(t) − y(t)| ≤ Ja+ |w̃(s) − w(s)| (t) + Ja+ σ (t)
∫ t '
η1 ψ (s)|x(s) − y(s)|dt
≤ ∈κv v(t) + α .
(1 − η2 )k⎡k (α) a (ψ(t) − ψ(s))1− k
By applying Theorem 2.42, we obtain

( )i
∫ tΣ
∞ η1
1−η2 iα
|x(t) − y(t)| ≤ ∈κv v(t) + ψ ' (s) [ψ(t) − ψ(s)] k −1
∈κv v (s) ds,
a i=1 k⎡k (αi )
[ ]
η1 α
≤ ∈κv v(t)Eα,k (ψ (t) − ψ (a)) k
k
1 − η2
[ ]
α,k η1 α
≤ ∈κv v(t)Ek (ψ (b) − ψ (a)) .k
1 − η2
Then for each t ∈ J , we have
|x(t) − y(t)| ≤ a f ,v ∈v(t),
where [ ]
η1 α
a f ,v = κv Eα,k (ψ (b) − ψ (a)) .
k
k
1 − η2
Hence, the problem (3.23)–(3.24) is U-H-R stable with respect to v. ⛛
3.3.3 Examples
With the following examples, we look at particular cases of the problem (3.23)–(3.24).
Example 3.18 Taking β → 0, α = 21 , k = 1, ψ(t) = t, a = 1, b = 2, and x0 = 1, we

obtain a particular case of problem (3.23)–(3.24) with the Riemann-Liouville fractional
derivative, given by
( 1
) ( 1
) ( ( 1
) )
H 2 ,0;ψ
1 D1+ x (t) = D1+ x (t) = f t, x(t), D1+ x (t) , t ∈ (1, 2], (3.32)
RL 2 RL 2
( 1 )
2 ,1;ψ
J1+ x (1+ ) = 1, (3.33)
where J¯ = [1, 2], ξ = k1 (β(k − α) + α) = 21 , and

√
t − 1|sin(t)|(1 + x + y)
f (t, x, y) = , t ∈ J¯ , x, y ∈ R.
66e−t+3
We have
{ √ }
Cξ ;ψ (J ) = C 1 ;ψ (J ) = u : (1, 2] → R : ( t − 1)u ∈ C(J¯ , R) ,
2
and { }
Cξ1;ψ (J ) = C 11 ;ψ (J ) = u ∈ C 1 ;ψ (J ) : u ' ∈ C 1 ;ψ (J ) .
2 2 2
Since the continuous function f ∈ C1 1 (J ), then the condition (3.14.1) is satisfied.

2 ;ψ
For each x, x̄, y, y¯ ∈ R and t ∈ J¯ , we have
√
t − 1|sin(t)|
| f (t, x, x̄) − f (t, y, ȳ)| ≤ (|x − x̄| + |y − ȳ|) ,
66e−t+3
1
and so the condition (3.14.2) is satisfied with η1 = η2 = . Also, the condition (3.29) of
66e
Theorem 3.14 is satisfied. Indeed, we have
√
π
L= ≈ 0.01 < 1.
66e − 1
Then the problem (3.32)–(3.33) has a unique solution in C 11 ([1, 2]).

√ 2 ;ψ
2⎡(2)
Now, if we take v(t) = t − 1 and κv = , then for each t ∈ J , we get
⎡( 25 )
( 1 ) √
2 ,1;ψ
2⎡(2)
J1+ v (t) ≤ (t − 1)
⎡( 25 )
= κv v(t),
which shows that the hypothesis (3.17.1) is satisfied. Consequently, Theorem 3.17 implies
that the problem (3.32)–(3.33) is U-H-R stable.
Example 3.19 Taking β → 0, α = 21 , k = 1, ψ(t) = ln t, a = 1, b = e, and x0 = π , we

get a particular case of problem (3.23)–(3.24) using the Hadamard fractional derivative,
given by
( 1
) ( 1
) ( ( 1
) )
H 2 ,0;ψ
D
1 1+ x (t) = D
HD 2
1+
x (t) = f t, x(t), D
HD 2
1+
x (t) , t ∈ (1, e], (3.34)
( 1
)
2 ,1;ψ
J1+ x (1+ ) = π, (3.35)
where J¯ = [1, e], and

e+x+y
f (t, x, y) = , t ∈ J¯ , x, y ∈ R.
111et
We have
{ √ }
Cξ ;ψ (J ) = C 1 ;ψ (J ) = u : (1, e] → R : ( ln t)u ∈ C(J¯ , R) ,
2
and { }
2 2 2
Clearly, the function f ∈ C 11 (J ). Hence, condition (3.14.1) is satisfied.

2 ;ψ
1 1
| f (t, x, x̄) − f (t, y, ȳ)| ≤ |x − x̄| + |y − ȳ|,
111et 111et
1
and so the condition (3.14.2) is satisfied with η1 = η2 = .
111e
Also, we have √
π
L= ≈ 0.0058 < 1,
111e − 1
then the condition (3.29) of Theorem 3.14 is satisfied. Then the problem (3.34)–(3.35) has
a unique solution in C 1 ;ψ ([1, e]). The problem is also U-H-R stable if we take v(t) = e2
2
1
and κv = . Indeed, for each t ∈ J , we get
⎡( 23 )
( 1 )
2 ,1;ψ
e2
J1+ v (t) ≤
⎡( 23 )
= κv v(t).

Initial Value Problem in Banach Spaces
This section deals with the initial value problem with nonlinear implicit k-generalized ψ-
Hilfer-type fractional differential equation :
( ) ( ( ) )
H α,β;ψ α,β;ψ
( )
k(1−ξ ),k;ψ
Ja+ x (a + ) = x0 , (3.37)

where ξ = k1 (β(k − α) + α), x0 ∈ E, k > 0, and f ∈ C(J¯ × E × E, E).

( )
H α,β;ψ
k Da+ x (t) = w(t), t ∈ J , (3.38)
where 0 < α < 1, 0 ≤ β ≤ 1, with the condition

( )
k(1−ξ ),k;ψ
Ja+ x (a + ) = x0 , (3.39)
β(k − α) + α
where ξ = , x0 ∈ E, k > 0, and where w ∈ C(J¯ , E) satisfies the functional
k
equation:
w(t) = f (t, x(t), w(t)) .
Following the same approach of Theorem 3.12, we have the results that follow.
(ψ(t) − ψ(a))ξ −1 ( )
α,k;ψ
x(t) = x0 + Ja+ w (t). (3.40)
⎡k (kξ )
β(k − α) + α
Lemma 3.21 Let ξ = where 0 < α < 1, 0 ≤ β ≤ 1 and k > 0, let f : J¯ ×
k
E × E → E be a continuous function such that f (·, x(·), y(·)) ∈ Cξ1;ψ (J ), for any x, y ∈
Cξ ;ψ (J ). Then, x satisfies the problem (3.36)–(3.37) if and only if x is the fixed point of the
operator T : Cξ ;ψ (J ) → Cξ ;ψ (J ) defined by
∫
(ψ(t) − ψ(a))ξ −1 1 t ψ ' (s)ϕ(s)ds
(T x) (t) = x0 + α , (3.41)
⎡k (kξ ) k⎡k (α) a (ψ(t) − ψ(s))1− k
ϕ(t) = f (t, x(t), ϕ(t)).

Lemma 3.22 ([75]) Let D ⊂ Cξ ;ψ (J ) be a bounded and equicontinuous set , then

(i) the function t → μ(D(t)) is continuous on J , and
( )
μCξ ;ψ (D) = sup μ (ψ(t) − ψ(a))1−ξ D(t) .
t∈J¯
(∫ b ) ∫ b
(ii) μ u(s)ds : u ∈ D ≤ μ(D(s))ds, where
a a
D(t) = {u(t) : t ∈ D}, t ∈ J .
Now we can state and demonstrate our existence result for the problem (3.36)–(3.37) by
using Mönch’s fixed point Theorem.
Theorem 3.23 Suppose that the assumptions that follow hold.
(3.23.1) The function t | → f (t, x, y) is measurable and continuous on J for each x, y ∈ E,

the functions x | → f (t, x, y) and y | → f (t, x, y) are continuous on E for t ∈ J
and
(3.23.2) There exists a continuous function p : J¯ −→ [0, ∞) such that
|| f (t, x, y)|| ≤ p(t), for t ∈ J and for each x, y ∈ E.
(3.23.3) For each bounded and measurable set B ⊂ E and for each t ∈ J , we have
( ( ( )))
α,β;ψ
μ f t, B, kH Da+ B ≤ (ψ(t) − ψ(a))1−ξ p(t)μ(B)
{ }
α,β;ψ H α,β;ψ
where kH Da+ B= k Da+ w : w ∈ B and p ∗ = sup p(t).
t∈J¯
If
α
p ∗ (ψ(b) − ψ(a))1−ξ + k
L= < 1, (3.42)
⎡k (α + k)
then the problem (3.36)–(3.37) has at least one solution in Cξ ;ψ (J ).
Proof The proof will be given in several steps.

Step 1: We show that the operator T defined in (3.41) transforms the ball B R := B(0, R) =
{w ∈ Cξ ;ψ (J ) : ||w||Cξ ;ψ ≤ R} into itself.
For any x ∈ Cξ ;ψ (J ), and each t ∈ J we have
∫
|| || ψ ' (s)||ϕ(s)||ds
||(ψ(t) − ψ(a))1−ξ (T x)(t)|| ≤ ||x0 || + (ψ(t) − ψ(a))
1−ξ t
α
⎡k (kξ ) k⎡k (α) a (ψ(t) − ψ(s))1− k
||x0 || ( )
α,k;ψ
≤ + p∗ (ψ(t) − ψ(a))1−ξ Ja+ (1) (t).
⎡k (kξ )
α
|| || ∗ 1−ξ + k
||(ψ(t) − ψ(a))1−ξ (T x)(t)|| ≤ ||x0 || + p (ψ(t) − ψ(a)) .
⎡k (kξ ) ⎡k (α + k)
Hence , for any x ∈ Cξ ;ψ (J ), and each t ∈ J we get
α
||x0 || p ∗ (ψ(b) − ψ(a))1−ξ + k
||T x||Cξ ;ψ ≤ + := R.
⎡k (kξ ) ⎡k (α + k)
Step 2: T : B R → B R is continuous.
Let {xn }n∈N be a sequence such that xn −→ x in B R . Then, for each t ∈ J , we have
|| ||
||(ψ(t) − ψ(a))1−ξ [(T xn )(t) − (T x)(t)]|| ≤ (ψ(t) − ψ(a))
1−ξ
k⎡k (α)
∫ t '
ψ (s)||ϕn (s) − ϕ(s)||ds
× α ,
a (ψ(t) − ψ(s))1− k
where ϕn , ϕ ∈ Cξ ;ψ (J ) such that
ϕn (t) = f (t, xn (t), ϕn (t)),

ϕ(t) = f (t, x(t), ϕ(t)).
Since xn −→ x as n −→ ∞ and f is continuous , then by the Lebesgue dominated conver-

gence theorem, we have
||T xn − T x||Cξ ;ψ −→ 0 as n −→ ∞.
Step 3: T (B R ) is bounded and equicontinuous. Since T (B R ) ⊂ B R and B R is bounded ,

then T (B R ) is bounded.
Next , let t1 , t2 ∈ J such that a < t1 < t2 ≤ b and let u ∈ B R . Thus, we have
|| ||
||(ψ(t2 ) − ψ(a))1−ξ (T x)(t2 ) − (ψ(t1 ) − ψ(a))1−ξ (T x)(t1 )||
||
|| (ψ(t ) − ψ(a))1−ξ ∫ t2 ψ ' (s)ϕ(s)ds
|| 2
≤ || 1− α
|| k⎡k (α) a (ψ(t2 ) − ψ(s)) k
∫ ||
(ψ(t1 ) − ψ(a))1−ξ t1 ψ ' (s)ϕ(s)ds ||
||
− α ||
k⎡k (α) a (ψ(t1 ) − ψ(s)) k ||
1−
∫
(ψ(t2 ) − ψ(a))1−ξ t2 ψ ' (s)||ϕ(s)||ds
≤ 1− α
k⎡k (α) t1 (ψ(t2 ) − ψ(s)) k
∫ t1 || |
1 | (ψ(t2 ) − ψ(a))
1−ξ
(ψ(t1 ) − ψ(a))1−ξ || '
+ | α − α | ψ (s)||ϕ(s)||ds
k⎡k (α) a | (ψ(t2 ) − ψ(s))1− k (ψ(t1 ) − ψ(s))1− k |
( )
α,k;ψ
≤ p∗ (ψ(b) − ψ(a))1−ξ Jt1 + (1) (t2 )
∫ t1 || |
p∗ | (ψ(t2 ) − ψ(a))
1−ξ
(ψ(t1 ) − ψ(a))1−ξ || '
+ | α − α | ψ (s)ds.
k⎡k (α) a | (ψ(t2 ) − ψ(s))1− k (ψ(t1 ) − ψ(s))1− k |

|| ||
||(ψ(t2 ) − ψ(a))1−ξ (T x)(t2 ) − (ψ(t1 ) − ψ(a))1−ξ (T x)(t1 )||
α
p ∗ (ψ(b) − ψ(a))1−ξ (ψ(t2 ) − ψ(t1 )) k
≤
⎡k (α + k)
∗ ∫ t1 || |
|
| (ψ(t2 ) − ψ(a)) (ψ(t1 ) − ψ(a))1−ξ
1−ξ
p | '
+ | α − α | ψ (s)ds.
k⎡k (α) a | (ψ(t2 ) − ψ(s))1− k (ψ(t1 ) − ψ(s))1− k |
As t1 −→ t2 , the right side of the above inequality tends to zero. Hence, T (B R ) is bounded
and equicontinuous.
Now let D be an equicontinuous subset of B R such that D ⊂ T (D) ∪ {0}; therefore, the
function t −→ d(t) = μ(D(t)) is continuous on J . By (3.23.3) and the properties of the
measure μ , for each t ∈ J , we have
( )
(ψ(t) − ψ(a))1−ξ d(t) ≤ μ (ψ(t) − ψ(a))1−ξ (T D)(t) ∪ {0}
( )
≤ μ (ψ(t) − ψ(a))1−ξ (T D)(t)
(ψ(b) − ψ(a))1−ξ
≤
k⎡k (α)
∫ t
(ψ(s) − ψ(a))1−ξ
× α ψ ' (s) p(s)μ(D(s))ds
a (ψ(t) − ψ(s))1− k
( )
α,k;ψ
≤ p ∗ (ψ(b) − ψ(a))1−ξ ||d||Cξ ;ψ Ja+ (1) (t)
α
p ∗ (ψ(b) − ψ(a))1−ξ + k
≤ ||d||Cξ ;ψ .
⎡k (α + k)
Thus
||d||Cξ ;ψ ≤ L||d||Cξ ;ψ .
From (3.42), we get ||d||Cξ ;ψ = 0, that is d(t) = μ(D(t)) = 0, for each t ∈ J , and then
D(t) is relatively compact in E. In view of the Ascoli-Arzela Theorem, D is relatively
compact in B R . Applying now Theorem 2.49, we conclude that T has a fixed point, which
is solution of the problem (3.36)–(3.37). ⛛
Our next existence result for the problem (3.36)–(3.37) is based on Darbo’s fixed point
theorem.
Theorem 3.24 Assume that the hypothesis (3.23.1)-(3.23.3) and the condition (3.42) hold.
Then the problem (3.36)–(3.37) has a solution defined on J .
Proof Consider the operator T is defined as in (3.41). We shall show that T satisfies the
assumption of Darbo’s fixed point theorem.
We know that T : B R −→ B R is bounded and continuous and that T (B R ) is equicon-
tinuous, we need to prove that the operator T is a L-set contraction.
( ) ( )
μ (ψ(t) − ψ(a))1−ξ (T D)(t) = μ (ψ(t) − ψ(a))1−ξ (T x)(t) : x ∈ D
⎫ ∫ t ⎫
1 (ψ(s) − ψ(a))1−ξ '
≤ α ψ (s) p(s)μ(D(s))ds : x ∈ D
k⎡k (α) a (ψ(t) − ψ(s))1− k
× (ψ(b) − ψ(a))1−ξ
( )
α,k;ψ
≤ p ∗ (ψ(b) − ψ(a))1−ξ μCξ ;ψ (D) Ja+ (1) (t)
α
p ∗ (ψ(b) − ψ(a))1−ξ + k
≤ μCξ ;ψ (D).
⎡k (α + k)
Therefore,
α
p∗ (ψ(b) − ψ(a))1−ξ + k
μCξ ;ψ (T D) ≤ μCξ ;ψ (D).
⎡k (α + k)
So, by (3.42),the operator T is a L-set contraction. Consequently, from Theorem 2.48,
we conclude that T has a fixed point x ∈ B R which is a solution to our problem (3.36)–
(3.37). ⛛
Now, we consider the Ulam stability for problem (3.36)–(3.37). Let x ∈ Cξ1;ψ (J ), ∈ > 0,
and v : J −→ [0, ∞) be a continuous function. We consider the following inequality:
||( ) ( ( ) )||
|| H α,β;ψ α,β;ψ ||
|| k Da+ x (t) − f t, x(t), kH Da+ x (t) || ≤ ∈v(t), t ∈ J . (3.43)
Definition 3.25 Problem (3.36)–(3.37) is Ulam-Hyers-Rassias (U-H-R) stable with respect

to v if there exists a real number a f ,v > 0 such that for each ∈ > 0 and for each solution
x ∈ Cξ1;ψ (J ) of inequality (3.43) there exists a solution y ∈ Cξ1;ψ (J ) of (3.36), (3.37) with
||x(t) − y(t)|| ≤ ∈a f ,v v(t), t ∈ J.
1. ||σ
( (t)|| ≤ ∈v(t),
) t ∈ J(, ( ) )
α,β;ψ α,β;ψ
Theorem 3.27 Assume that in addition to (3.23.1)–(3.23.3) and (3.42), the following
hypothesis hold.
(3.27.1) There exist a nondecreasing function v ∈ Cξ1;ψ (J ) and κv > 0 such that for each
t ∈ J , we have ( )
α,k;ψ
Ja+ v (t) ≤ κv v(t).
(3.27.2) There exists a continuous function q : J¯ −→ [0, ∞) such that for each t ∈ J , we
have
p(t) ≤ q(t)v(t).
Then the problem (3.36)–(3.37) is U-H-R stable.

Set q ∗ = supq(t).
t∈J¯
⎧( α,β;ψ
) ( (
α,β;ψ
) )
⎨ kH Da+ y (t) = f t, y(t), kH Da+ y (t) ; t ∈ J ,
( ) ( )
⎩ J k(1−ξ ),k;ψ y (a + ) = J k(1−ξ ),k;ψ x (a + ).
a+ a+
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
y(t) = Ja+ y(a) + Ja+ w (t),
⎡k (kξ )
w(t) = f (t, y(t), w(t)).

( ) ( ( ) )
H α,β;ψ H α,β;ψ
k D a+ x (t) = f t, x(t), k Da+ x (t) + σ (t), t ∈ J . (3.44)
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
x(t) = Ja+ x(a) + Ja+ (w̃ + σ ) (t),
⎡k (kξ )
where w̃ ∈ Cξ1;ψ (J ) be a function satisfing the functional equation
w̃(t) = f (t, x(t), w̃(t)).

( ) ( )
α,k;ψ α,k;ψ
||x(t) − y(t)|| ≤ Ja+ ||w̃(s) − w(s)|| (t) + Ja+ ||σ (s)|| (t)
∫ t '
1 ψ (s)2q(s)v(s)ds
≤ ∈κv v(t) + 1− α
(α) a (ψ(t)
k⎡k ( ) − ψ(s)) k
α,k;ψ
≤ ∈κv v(t) + 2q ∗ Ja+ v (t)
≤ (∈ + 2q ∗ )κv v(t).
||x(t) − y(t)|| ≤ a f ,v ∈v(t),
where ( )
2q ∗
a f ,v = κv 1+ .
∈
Hence, the problem (3.36)–(3.37) is U-H-R stable. ⛛
3.4.3 Examples
Let ⎫ ∞
⎫
Σ
E = l = u = (u 1 , u 2 , . . . , u n , . . .),
1
|u n | < ∞
n=1
∞
Σ
||u|| = |u n |.
n=1
√
Example 3.28 Taking β → 0, α = 21 , k = 1, ψ(t) = 2 t, a = 1, b = 3, and x0 ∈ E, we
get a problem of generalized Hilfer fractional differential equation of the form
( 1
) ( 1
) ( ( 1
) )
H 2 ,0;ψ 1 ,0 1 ,0
1 D1+ xn (t) = 2 D1+ xn (t) = f n t, xn (t), 2 D1+ xn (t) , t ∈ (1, 3]
2 2
( ) (3.45)
1
2 ,1;ψ +
J1+ x (1 ) = x0 , (3.46)
where
( ( ) )
1 1
2 ,0
(2t 2 + e−2 )|xn (t)|
f n t, xn (t), 2 D1+ xn (t) = ( ||( ) ||) ,
|| 1 21 ,0 ||
177e−t+3 1 + ||x(t)|| + ||
|| 2 D + xn
1
(t)||
||
for t ∈ (1, 3] with
f = ( f 1 , f 2 , . . . , f n , . . .) and x = (x1 , x2 , . . . , xn , . . .).
Set
(2t 2 + e−2 )||x||
f (t, x, y) = , t ∈ (1, 3], x, y ∈ E.
177e−t+3 (1 + ||x|| + ||y||)
We have
⎧ ⎫
√ (√ )1
Cξ ;ψ (J ) = C 1 ;ψ (J ) = x : (1, 3] → E : 2
2
¯
t − 1 x ∈ C(J , E) ,
2
and { }
1
Cξ,1,ψ (J ) = C 11 ;ψ (J ) = x ∈ C 1 ;ψ (J ) : x ' ∈ C 1 ;ψ (J ) .
2 2 2
It is clear that the function f satisfies the hypothesis (3.23.1). Also, the hypothesis (3.23.2)
is satisfied with
2t 2 + e−2
p(t) = , t ∈ (1, 3],
177e−t+3
and
18 + e−2
p∗ = .
177
The conditions of Theorem 3.23 are satisfied. Indeed, we have
α
p ∗ (ψ(b) − ψ(a))1−ξ + k
L=
⎡k (α + k)
( √ )
2(18 + e−2 ) 2 3 − 2
= √
177 π
≈ 0.169269 < 1.
Hence, the problem (3.45)–(3.46) has at least one solution defined on (1, 3].
Let
4
v(t) = e, and κv = √ . Then, for each t ∈ (1, 3], we get
π
( 1 )
2 ,1;ψ
4e
J1+ v (t) ≤ √
π
= κv v(t).
Let the function q : [1, 3] → [0, ∞) be defined by
2t 2 + e−2
q(t) = ,
177e−t+4
then, for each t ∈ (1, 3], we have
p(t) = q(t)v(t).
Then, hypothesis (3.27.1) and (3.27.2) are satisfied; consequently, Theorem 3.27 implies
that problem (3.45)–(3.46) is Ulam-Hyers-Rassias stable.
Example 3.29 Taking β → 1, α = 21 , k = 1, ψ(t) = t, a = 1, b = 2, and x0 ∈ E, we get a

particular case of problem (3.36)–(3.37), which is a problem of Caputo Fractional differential
equation of the form
( 1
) ( 1
) ( ( 1
) )
H 2 ,1;ψ
1 D1+ xn (t) = D1+ xn (t) = f n t, xn (t), D1+ xn (t) , t ∈ (1, 2] (3.47)
C 2 C 2
( )
J1+ x (1+ ) = x0 ,
0,1;ψ
(3.48)
where
( ( ) )
1 et−2 |xn (t)|
f n t, xn (t), C D12+ xn (t) = ( ||( ) ||) , t ∈ (1, 2].
|| 1 ||
33 1 + ||x(t)|| + || D1+ xn (t)||
|| C 2
||
With
f = ( f 1 , f 2 , . . . , f n , . . .) and x = (x1 , x2 , . . . , xn , . . .).

Set
et−2 ||x||
f (t, x, y) = , t ∈ (1, 2], x, y ∈ E.
33(1 + ||x|| + ||y||)
We have
{ }
Cξ ;ψ (J ) = C1;ψ (J ) = x : (1, 2] → E : x ∈ C(J¯ , E) ,
and
{ }
1
Cξ,1,ψ (J ) = C1;ψ
1
(J ) = x ∈ C1;ψ (J ) : x ' ∈ C1;ψ (J ) .
Hence, the function f satisfies the hypothesis (3.23.1). Also, the hypothesis (3.23.2) is
satisfied with
et−2
p(t) = , t ∈ (1, 2],
33
and
1
p∗ = .
33
Since
α
p ∗ (ψ(b) − ψ(a))1−ξ + k
L=
⎡k (α + k)
2
= √
33 π
≈ 0.03419 < 1,
then the condition of Theorem 3.24 is satisfied. Hence, the problem (3.47)–(3.48) has at least
one solution defined on (1, 2]. Also, same as the last example, we can easily choose a function
v that satisfies the hypothesis (3.27.1) and (3.27.2), which gives us the Ulam-Hyers-Rassias
stability of our problem (3.47)–(3.48).
3.5 Existence and k-Mittag-Leffler-Ulam-Hyers Stability Results

of k-Generalized ψ-Hilfer Boundary Valued Problem
In this section, we consider the boundary valued problem with nonlinear implicit k-
generalized ψ-Hilfer-type fractional differential equation:
( ) ( ( ) )
H α,β;ψ α,β;ψ
( ) ( )
k(1−ξ ),k;ψ k(1−ξ ),k;ψ
c1 Ja+ x (a + ) + c2 Ja+ x (b) = c3 , (3.50)
α ∈ (0, k) and type β ∈ [0, 1] defined in Section 2, and k-generalized ψ-fractional integral
of order k(1 − ξ ) defined in [113], respectively, where ξ = k1 (β(k − α) + α), k > 0, f ∈
C(J¯ × R2 , R), and c1 , c2 , c3 ∈ R such that c1 + c2 / = 0.

( )
H α,β;ψ
k Da+ x (t) = w (t), t ∈ J , (3.51)
where 0 < α < k, 0 ≤ β ≤ 1, with the condition

( ) ( )
k(1−ξ ),k;ψ k(1−ξ ),k;ψ
c1 Ja+ x (a + ) + c2 Ja+ x (b) = c3 , (3.52)
β(k − α) + α
where ξ = , k > 0, c1 , c2 , c3 ∈ R such that c1 + c2 / = 0 and where w ∈
k
C(J¯ , R) satisfies the functional equation:
w (t) = f (t, x(t), w (t)) .
The following theorem shows that the problem (3.51)–(3.52) has a unique solution.
(ψ(t) − ψ(a))ξ −1 [ (
k(1−ξ )+α,k;ψ
) ] (
α,k;ψ
)
x(t) = c3 − c2 Ja+ w (b) + Ja+ w (t). (3.53)
(c1 + c2 )⎡k (kξ )
Proof Assume x ∈ Cξ1;ψ (J ) satisfies Eqs. (3.51) and (3.52), by applying the fractional inte-
α,k;ψ
gral operator Ja+ (·) on both sides of the fractional equation (3.51), we have
3.5 Existence and k-Mittag-Leffler-Ulam-Hyers Stability Results of k-Generalized 67
( ) ( )
α,k;ψ H α,β;ψ α,k;ψ
Ja+ k Da+ x (t) = Ja+ w (t),
using Theorem 2.35, we get
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
x(t) = Ja+ x(a) + Ja+ w (t). (3.54)
⎡k (kξ )
k(1−ξ ),k;ψ
Applying Ja+ (·) on both sides of (3.54), using Lemmas 2.18, 2.21, and taking t = b,
we have
( ) ( )
k(1−ξ ),k;ψ k(1−ξ ),k;ψ k(1−ξ )+α,k;ψ
Ja+ x (b) = Ja+ x(a) + Ja+ w (b). (3.55)
Multiplying both sides of (3.55) by c2 , we get

( ) ( )
k(1−ξ ),k;ψ k(1−ξ ),k;ψ k(1−ξ )+α,k;ψ
c2 Ja+ x (b) = c2 Ja+ x(a) + c2 Ja+ w (b).
Using condition (3.52), we obtain

( ) ( )
k(1−ξ ),k;ψ k(1−ξ ),k;ψ
c2 Ja+ x (b) = c3 − c1 Ja+ x (a + ).
Thus
( ) ( )
k(1−ξ ),k;ψ k(1−ξ ),k;ψ k(1−ξ )+α,k;ψ
c3 − c1 Ja+ x (a + ) = c2 Ja+ x(a) + c2 Ja+ w (b).
Then
( ) c3 c2 ( k(1−ξ )+α,k;ψ )
k(1−ξ ),k;ψ
Ja+ x (a + ) = − Ja+ w (b). (3.56)
c 1 + c2 c1 + c2
Substituting (3.56) into (3.54), we obtain (3.53).
Let us now prove that if x satisfies Eq. (3.53), then it satisfies Eqs. (3.51) and (3.52).
α,β;ψ
Applying the fractional derivative operator kH Da+ (·) on both sides of the fractional equa-
tion (3.53), then we get
( ) ( ξ −1 [ ( ) ])
H α,β;ψ H α,β;ψ (ψ(t) − ψ(a)) k(1−ξ )+α,k;ψ
k D a+ x (t) = k D a+ c 3 − c 2 Ja+ w (b)
(c1 + c2 )⎡k (kξ )
( )
α,β;ψ α,k;ψ
+ kH Da+ Ja+ w (t).
Using the Lemmas 2.31 and 2.29, we obtain Eq. (3.51). Now we apply the operator
k(1−ξ ),k;ψ
Ja+ (·) on Eq. (3.53), to have
⎡ ( ) ⎤
k(1−ξ )+α,k;ψ
( ) c3 − c2 Ja+ w (b)
k(1−ξ ),k;ψ k(1−ξ ),k;ψ
Ja+ x (t) = ⎣ ⎦ Ja+ (ψ(t) − ψ(a))ξ −1
(c1 + c2 )⎡k (kξ )
( )
+ Ja+ Ja+ w (t).
Now, using Lemmas 2.18 and 2.21, we get

( ) c3 c2 ( k(1−ξ )+α,k;ψ )
k(1−ξ ),k;ψ
Ja+ x (t) = − Ja+ w (b)
c 1 + c2 c1 + c2
( )
k(1−ξ )+α,k;ψ
+ Ja+ w (t). (3.57)
Using Theorem 2.26 with t → a, we obtain

( ) c3 c2 ( k(1−ξ )+α,k;ψ )
k(1−ξ ),k;ψ
Ja+ x (a + ) = − Ja+ w (b). (3.58)
c 1 + c2 c1 + c2
Now, taking t = b in (3.57), to get
( ) c3 c2 ( k(1−ξ )+α,k;ψ )
k(1−ξ ),k;ψ
Ja+ x (b) = − Ja+ w (b)
c1 + c2 c1 + c2
( )
k(1−ξ )+α,k;ψ
+ Ja+ w (b). (3.59)
From (3.58) and (3.59), we obtain (3.52). This completes the proof. ⛛
β(k − α) + α
Lemma 3.31 Let ξ = where 0 < α < k and 0 ≤ β ≤ 1, let f : J¯ × R ×
k
R → R be a continuous function such that f (·, x(·), y(·)) ∈ Cξ1;ψ (J ), for any x, y ∈
Cξ ;ψ (J ). If x ∈ Cξ1;ψ (J ), then x satisfies the problem (3.49)–(3.50) if and only if x is
the fixed point of the operator T : Cξ ;ψ (J ) → Cξ ;ψ (J ) defined by
(ψ(t) − ψ(a))ξ −1 [ (
k(1−ξ )+α,k;ψ
) ] (
α,k;ψ
)
(T x) (t) = c3 − c2 Ja+ ϕ (b) + Ja+ ϕ (t),
(c1 + c2 )⎡k (kξ )
(3.60)
ϕ(t) = f (t, x(t), ϕ(t)).
(3.50) based on Banach’s fixed point theorem [72].
Theorem 3.32 Assume that the requirements that follow are met.
(3.32.1) The function f : J¯ × R × R → R is continuous and
| f (t, x, y) − f (t, x̄, ȳ)| ≤ η1 |x − x̄| + η2 |y − ȳ|
for any x, y, x̄, y¯ ∈ R and t ∈ J¯ .
If
α [ ]
η1 (ψ(b) − ψ(a)) k |c2 | ⎡k (kξ )
L= + < 1, (3.61)
1 − η2 |c1 + c2 |⎡k (k + α) ⎡k (α + kξ )
then the problem (3.49)–(3.50) has a unique solution in Cξ ;ψ (J ).
Proof We show that the operator T defined in (3.60) has a unique fixed point in Cξ ;ψ (J ).
Let x, y ∈ Cξ ;ψ (J ). Then, for t ∈ J we have
|c2 |(ψ(t) − ψ(a))ξ −1 ( k(1−ξ )+α,k;ψ )

|T x(t) − T y(t)| ≤ Ja+ |ϕ1 (s) − ϕ2 (s)| (b)
|c1 + c2 |⎡k (kξ )
( )
α,k;ψ
+ Ja+ |ϕ1 (s) − ϕ2 (s)| (t),
where ϕ1 and ϕ1 be functions satisfying the functional equations
ϕ1 (t) = f (t, x(t), ϕ1 (t)),

ϕ2 (t) = f (t, y(t), ϕ2 (t)).
By (3.32.2), we have
|ϕ1 (t) − ϕ2 (t)| = | f (t, x(t), ϕ1 (t)) − f (t, y(t), ϕ2 (t))|

≤ η1 |x(t) − y(t)| + η2 |ϕ1 (t) − ϕ2 (t)|.
Then,
η1
|ϕ1 (t) − ϕ2 (t)| ≤ |x(t) − y(t)|.
1 − η2
( )
k(1−ξ )+α,k;ψ
η1 |c2 |(ψ(t) − ψ(a))ξ −1 Ja+ |x(s) − y(s)| (b)
|T x(t) − T y(t)| ≤
(1 − η2 )|c1 + c2 |⎡k (kξ )
η1 ( )
α,k;ψ
+ Ja+ |x(s) − y(s)| (t)
(1 − η2 )
⎡ ( )
k(1−ξ )+α,k;ψ
|c2 |(ψ(t) − ψ(a))ξ −1 Ja+ (ψ(s) − ψ(a))ξ −1 (b)
≤⎣
|c1 + c2 |⎡k (kξ )
( ) ] η1 ||x − y||C
α,k;ψ
+ Ja+ (ψ(s) − ψ(a))ξ −1 (t)
ξ ;ψ
.
1 − η2
[ α
η1 |c2 |(ψ(t) − ψ(a))ξ −1 (ψ(b) − ψ(a)) k
|T x(t) − T y(t)| ≤
(1 − η2 )|c1 + c2 |⎡k (k + α)
]
η1 ⎡k (kξ ) α+kξ
−1
+ (ψ(t) − ψ(a)) k ||x − y||Cξ ;ψ .
⎡k (α + kξ )(1 − η2 )
Hence
[ α
| | η1 |c2 | (ψ(b) − ψ(a)) k
|(ψ(t) − ψ(a))1−ξ (T x(t) − T y(t))| ≤
(1 − η2 )|c1 + c2 |⎡k (k + α)
α
]
η1 ⎡k (kξ ) (ψ(t) − ψ(a)) k
+ ||x − y||Cξ ;ψ ,
⎡k (α + kξ )(1 − η2 )
which implies that

[ ]
|c2 | ⎡k (kξ )
||T x − T y||Cξ ;ψ ≤ +
|c1 + c2 |⎡k (k + α) ⎡k (α + kξ )
α
η1 (ψ(b) − ψ(a)) k ||x − y||Cξ ;ψ
× .
1 − η2
By (3.61), the operator T is a contraction. Hence, by Banach’s contraction principle, T has
a unique fixed point x ∈ Cξ ;ψ (J ), which is a solution to our problem (3.49)–(3.50). ⛛
3.5.2 k-Mittag-Leffler-Ulam-Hyers Stability
In this section, we consider the k-Mittag-Leffler-Ulam-Hyers stability for our problem

(3.49)–(3.50). Let x ∈ Cξ1;ψ (J ), t ∈ J , and ∈ > 0. We consider the following inequality:
|( ) ( ( ) )| ( )
| H α,β;ψ α,β;ψ | α
| k Da+ x (t) − f t, x(t), kH Da+ x (t) | ≤ ∈Eαk (ψ(t) − ψ(a)) k . (3.62)
In [94], Liu et al. introduced the concept of Ulam-Hyers-Mittag-Leffler; by substituting the

Mittag-Leffler function of their definitions with the more refined k-Mittag-Leffler function,
we give the following definitions.
Definition
( 3.33 Problems
) (3.49)–(3.50) is k-Mittag-Leffler-Ulam-Hyers stable with respect
α
α
to Ek (ψ(t) − ψ(a)) k if there exists a real number aEαk > 0 such that for each ∈ > 0 and
for each solution x ∈ Cξ1;ψ (J ) of inequality (3.62) there exists a solution y ∈ Cξ1;ψ (J ) of
(3.49)–(3.50) with
( α
)
|x(t) − y(t)| ≤ aEαk ∈Eαk (ψ(t) − ψ(a)) k , t ∈ J.
Definition 3.34 Problem

( (3.49)–(3.50)
) is generalized k-Mittag-Leffler-Ulam-Hyers stable
α
with respect to Eαk (ψ(t) − ψ(a)) k if there exists v : C(R+ , R+ ) with v(0) = 0 such that
for each ∈ > 0 and for each solution x ∈ Cξ1;ψ (J ) of inequality (3.62) there exists a solution
y ∈ Cξ1;ψ (J ) of (3.49)–(3.50) with
( α
)
|x(t) − y(t)| ≤ v(∈)Eαk (ψ(t) − ψ(a)) k , t ∈ J.
Remark 3.35 It is clear that Definition 3.33 =⇒ Definition 3.34.
( α
)
1. |σ (t)| ≤ ∈Eαk (ψ(t) − ψ(a)) k , t ∈ J ,
( ) ( ( ) )
α,β;ψ α,β;ψ
Theorem 3.37 Assume that the hypothesis (3.32.1), (3.32.2), and the condition (3.61)
hold.
( Then the problem) (3.49)–(3.50) is k-Mittag-Leffler-Ulam-Hyers stable with respect to
α
α
Ek (ψ(t) − ψ(a)) and consequently generalized k-Mittag-Leffler-Ulam-Hyers stable.
k
⎧( ) ( ( ) )
⎨ H Dα,β;ψ y (t) = f t, y(t), H Dα,β;ψ y (t) ; t ∈ J ,
(k a+ ) ( k a+
)
⎩ J k(1−ξ ),k;ψ y (a + ) = J k(1−ξ ),k;ψ x (a + ).
a+ a+
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
y(t) = Ja+ y(a) + Ja+ w (t),
⎡k (kξ )
w(t) = f (t, y(t), w(t)).

( ) ( ( ) )
H α,β;ψ α,β;ψ
k Da+ x (t) = f t, x(t), kH Da+ x (t) + σ (t), t ∈ J . (3.63)
(ψ(t) − ψ(a))ξ −1 k(1−ξ ),k;ψ ( )

α,k;ψ
x(t) = Ja+ x(a) + Ja+ (w̃ + σ ) (t),
⎡k (kξ )
where w̃ ∈ Cξ1;ψ (J ) be a function satisfying the functional equation
w̃(t) = f (t, x(t), w̃(t)).
|x(t) − y(t)|
( ) ( )
α,k;ψ α,k;ψ
≤ Ja+ |w̃(s) − w(s)| (t) + Ja+ σ (t)
( ) ∫
α,k;ψ α η1 t ψ ' (s)|x(s) − y(s)|dt
≤ ∈ Ja+ Eαk (ψ(t) − ψ(a)) k + α .
(1 − η2 )k⎡k (α) a (ψ(t) − ψ(s))1− k
Using Lemma 2.39, we get
( α
)
|x(t) − y(t)| ≤ ∈Eαk (ψ(t) − ψ(a)) k
∫ t '
η1 ψ (s)|x(s) − y(s)|dt
+ α .
(1 − η2 )k⎡k (α) a (ψ(t) − ψ(s))1− k
By applying Theorem 2.42, we obtain

|x(t) − y(t)|
( )i ( α
)
( α
) ∫ tΣ
∞ η1
1−η2 ψ ' (s) ∈Eαk (ψ(s) − ψ(a)) k ds
α
≤ ∈Ek (ψ(t) − ψ(a)) +
k
iα
k⎡k (αi ) [ψ(t) − ψ(s)]1− k
a i=1
( ) [ ]
α α
α η1 α
≤ ∈Ek (ψ(t) − ψ(a)) Ek
k (ψ (t) − ψ (a)) k
1 − η2
( ) [ ]
α α
α η1 α
≤ ∈Ek (ψ(t) − ψ(a)) Ek
k (ψ (b) − ψ (a)) . k
1 − η2

( α
)
|x(t) − y(t)| ≤ aEαk ∈Eαk (ψ(t) − ψ(a)) k ,
where [ ]
η1 α
aEαk = Eαk (ψ (b) − ψ (a)) k .
1 − η2
Hence,
( the problemα (3.49)–(3.50)
) is k-Mittag-Leffler-Ulam-Hyers stable with respect to
α
Ek (ψ(t) − ψ(a)) . If we set v(∈) = aEαk ∈, then the problem (3.49)–(3.50) is also gen-
k
eralized k-Mittag-Leffler-Ulam-Hyers stable. ⛛
3.5.3 Examples
In this section, we look at particular cases of our problem (3.49)–(3.50), with J¯ = [1, 2] and
1+x +y
f (t, x, y) = , t ∈ J¯ , x, y ∈ R.
107e−t+2
{ }
Cξ ;ψ (J ) = x : J → R : t → (ψ(t) − ψ(a))1−ξ x(t) ∈ C(J¯ , R) ,
ξ = k1 (β(k − α) + α)
α [ ]
η1 (ψ(b) − ψ(a)) k |c2 | ⎡k (kξ )
L= + < 1,
1 − η2 |c1 + c2 |⎡k (k + α) ⎡k (α + kξ )
( ) ( )
k(1−ξ ),k;ψ k(1−ξ ),k;ψ
c1 Ja+ x (a + ) + c2 Ja+ x (b) = c3 .
Example 3.38 Taking β → 0, α = 21 , k = 1, ψ(t) = t, c1 = 1, c2 = 0, c3 = 0, and ξ = 21 ,

we obtain an initial valued problem which is a particular case of problem (3.49)–(3.50) with
the Riemann-Liouville fractional derivative, given by

( 1
) ( 1
) ( ( 1
) )
H 2 ,0;ψ
1 D1+ x (t) = D1+ x (t) = f t, x(t), D1+ x (t) , t ∈ (1, 2], (3.64)
RL 2 RL 2
( 1
)
,1;ψ
J1+
2
x (1+ ) = 0. (3.65)
We have
{ √ }
Cξ ;ψ (J ) = C 1 ;ψ (J ) = u : (1, 2] → R : ( t − 1)u ∈ C(J¯ , R) ,
2
and { }
2 2 2
Since the continuous function f ∈ C1 1 ( J ), then the condition (3.32.1) is satisfied.

2 ;ψ
1
| f (t, x, x̄) − f (t, y, ȳ)| ≤ (|x − x̄| + |y − ȳ|) ,
107e−t+2
1
and so the condition (3.32.2) is satisfied with η1 = η2 = . Also, the condition (3.61) of
107
Theorem 3.32 is satisfied. Indeed, we have
√
π
L= ≈ 0.01672126 < 1.
106
Then the problem (3.64)–(3.65) has a unique solution in C 11 ([1, 2]) and is Mittag-Leffler-
2 ;ψ
1 (√ )
Ulam-Hyers stable with respect to E12
t −1 .
Example 3.39 Taking β → 1, α = 21 , k = 1, ψ(t) = t, c1 = 0, c2 = 1, c3 = 0, and ξ = 1,

we obtain a terminal value problem which is a particular case of problem (3.49)–(3.50) with
Caputo fractional derivative, given by
( 1
) ( 1
) ( ( 1
) )
H 2 ,1;ψ
1 D1+ x (t) = D1+ x (t) = f t, x(t), D1+ x (t) , t ∈ (1, 2], (3.66)
C 2 C 2
( )
0,1;ψ
J1+ x (2) = x(2) = 0. (3.67)
We have Cξ ;ψ (J ) = C1;ψ (J ) = C(J¯ , R) and Cξ1;ψ (J ) = C1;ψ

1 (J ) = C 1 (J¯ , R).
Also,
4
L= √ ≈ 0.02129017 < 1.
106 π
As all the assumptions of Theorems 3.32 and 3.37 are satisfied, then the problem (3.66)–
(3.67) has a unique solution in C 1 (J¯ , R) and is Mittag-Leffler-Ulam-Hyers stable with
1 (√ )
respect to E12 t −1 .
Example 3.40 Taking β → 21 , α = 21 , k = 1, ψ(t) = t, c1 = 1, c2 = 1, c3 = 0, and ξ = 43 ,

we obtain an anti-periodic problem which is a particular case of problem (3.49)–(3.50) with
Hilfer fractional derivative, given by
( 1 1
) ( 1 1
) ( ( 1 1
) )
H 2 , 2 ;ψ H 2,2 H 2,2
1 D1+ x (t) = D1+ x (t) = f t, x(t), D1+ x (t) , t ∈ (1, 2], (3.68)
( 1
) ( 1 )
,1;ψ 4 ,1;ψ
J1+
4
x (1) = − J1+ x (2). (3.69)
We have
{ }
Cξ ;ψ (J ) = C 3 ;ψ (J ) = u : (1, 2] → R : (t − 1) 4 u ∈ C(J¯ , R) ,
1
and { }
4 4 4
Also, [ ]
1 1 ⎡( 43 )
L= √ + ≈ 0.01154306579 < 1.
166 π ⎡( 45 )
As all the assumptions of Theorem 3.32 and Theorem 3.37 are satisfied, then the problem
(3.68)–(3.69) has a unique solution in C 13 (J ) and is Mittag-Leffler-Ulam-Hyers stable with
4 ;ψ
1 (√ )
respect to E12
t −1 .
Example 3.41 Taking β → 0, α = 21 , k = 1, ψ(t) = ln(t), c1 = 1, c2 = 1, c3 = 1 and

ξ = 21 , we obtain a boundary valued problem which is a particular case of problem (3.49)–
(3.50) with Hadamard fractional derivative, given by
( 1
) ( 1
) ( ( 1
) )
H 2 ,0;ψ
D
1 1+ x (t) = D
H 2
1+
x (t) = f t, x(t), D
H 2
1+
x (t) , t ∈ (1, 2], (3.70)
( 1
) ( 1 )
2 ,1;ψ 2 ,1;ψ
J1+ x (1) + J1+ x (2) = 1. (3.71)
We have { √ }
Cξ ;ψ (J ) = C 1 ;ψ (J ) = u : (1, 2] → R : ln(t)u ∈ C(J¯ , R) ,
2
and { }
2 2 2
Also √ [ ]
ln(2) 1 √
L= √ + π ≈ 0.011719176301 < 1.
166 π
As all the assumptions of Theorems 3.32 and 3.37 are satisfied, then the problem 3.70)–(3.71)
has a unique solution in C 11 (J ) and is Mittag-Leffler-Ulam-Hyers stable with respect to
2 ;ψ
1 (√ )
E12
ln(t) .
Remark 3.42 By varying β and the function ψ, we can obtain several cases of our problem
(3.49)–(3.50). And if we take the same steps as the last examples with appropriate conditions,
we can prove the existence, uniqueness, and Mittag-Leffler-Ulam-Hyers stability results for
each case.
We may have additional problems with the following fractional derivative :
• Caputo-Hadmard derivative: By taking β → 1, k = 1, ψ(t) = ln(t).

• Hilfer-Hadmard derivative: By taking β ∈ (0, 1), k = 1, ψ(t) = ln(t).
• Katugampola derivative: By taking β → 0, k = 1, ψ(t) = t ρ .
• Caputo-Katugampola derivative: By taking β → 1, k = 1, ψ(t) = t ρ .
• Hilfer-Katugampola derivative: By taking β ∈ (0, 1), k = 1, ψ(t) = t ρ .
3.6 Notes and Remarks
The results of this chapter are taken from Salim et al. [126, 127, 134, 137]. For more relevant
results and studies, one can see the monographs [7, 14, 23, 27, 37, 50, 62, 68, 85, 100] and
the papers [57, 63, 65, 90, 91, 102–104, 122, 124, 129, 131, 143–149].
Fractional Differential Equations with
Instantaneous Impulses
4
The aim of this chapter is to prove some existence, uniqueness, and Ulam-Hyers-Rassias
stability results for a class of boundary value problem for nonlinear implicit fractional
differential equations with impulses and generalized Hilfer-type fractional derivative. We
base our arguments on some relevant fixed point theorems combined with the technique of
measure of noncompactness. Examples are included to show the applicability of our results
for each section.
The outcome of our study in this chapter can be considered as a partial continuation of
the problems raised recently in the following:
• The monographs of Abbas et al. [7, 8, 14], Baleanu et al. [43], and Rassias et al. [115],
and the papers of Afshari et al. [20, 21], Benchohra et al. [48, 49], Karapınar et al. [17, 19,
34, 83, 84], and Zhou et al. [162], which deal with various linear and nonlinear initial and
boundary value problems for fractional differential equations involving different kinds
of fractional derivatives.
• The monographs of Benchohra et al. [50], Graef et al. [73], and Samoilenko et al. [139],
and the papers of Abbas et al. [9] and Benchohra et al. [49] where the authors investigated
various problems with fractional differential equations and impulsive conditions.
• The monographs of Abbas et al. [7, 13], and the papers of Abbas et al. [10, 12], Benchohra
et al. [51–53], and Kucche et al. [89, 96, 141]; in it, considerable attention has been given
to the study of the Ulam-Hyers and Ulam-Hyers-Rassias stability of various classes of
functional equations.
• The paper of Harikrishnan et al. [76]; in it, the authors investigated existence theory and
different kinds of stability in the sense of Ulam, for the following boundary value problem
with nonlinear generalized Hilfer-type fractional differential equation with impulses:

https://doi.org/10.1007/978-3-031-26928-8_4
78 4 Fractional Differential Equations with Instantaneous Impulses
⎧ (ρ α,β )
⎨ D u (t) = | f (t, u(t)); t ∈ I := I \{t1 , . . . , tm }, I := [0, b],
Δρ J 1−γ u(t) |t=tk = L k (u(tk− )); k = 1, . . . , m,
⎩ ρ 1−γ
J u(0) = u 0 ,
where ρ Dα,β ,ρ J 1−γ are the generalized Hilfer fractional derivative of order α ∈ (0, 1)
αβ), respectively, 0 = t0 < t1 < . . . < tm < tm+1 = b < ∞, u(tk+ ) = lim u(tk + ∈)
∈→0+
and u(tk− ) = lim u(tk + ∈) represent the right- and left-hand limits of u(t) at t = tk ,
| −
∈→0
Δρ J 1−γ u(t) |t=t = ρ J 1−γ u(t + ) − ρ J 1−γ u(t − ) , f : I × R → R is a given function,
k k k
and L k : R → R; k = 1, . . . , m are given continuous functions.

In this section, we establish the existence and uniqueness results to the boundary value
problem with nonlinear implicit generalized Hilfer-type fractional differential equation with
impulses:
( ) ( ( ) )
ρ α,β ρ α,β
Dt + u (t) = f t, u(t), Dt + u (t) ; t ∈ Jk , k = 0, . . . , m, (4.1)
k k
( ) ( )
ρ
Jt + u (tk+ ) = ρ
Jt + u (tk− ) + L k (u(tk− )); k = 1, . . . , m,
1−γ 1−γ
(4.2)
k k−1
( ) ( )
ρ
Ja + u (a + ) + c2 ρ Jt + u (b) = c3 ,
1−γ 1−γ
c1 (4.3)
m
α,β
where ρ Dt + ,ρ Jt +
1−γ
k k
type β ∈ [0, 1] and generalized fractional integral of order 1 − γ , (γ = α + β − αβ), ρ > 0
respectively, c1 , c2 , c3 are reals with c1 + c2 / = 0, Jk := (tk , tk+1 ]; k = 0, . . . , m, a = t0 <
t1 < . . . < tm < tm+1 = b < ∞, u(tk+ ) = lim u(tk + ∈) and u(tk− ) = lim u(tk + ∈) rep-
∈→0+ ∈→0−
resent the right- and left-hand limits of u(t) at t = tk , f : J × R × R → R is a given func-
tion, and L k : R → R; k = 1, . . . , m are given continuous functions.
4.2 Existence and Ulam Stability Results for Generalized Hilfer … 79
Before establishing our existence results, we need to define the following weighted Banach
space:
(
PCγ ,ρ (J ) = u : J → R : u(t) ∈ Cγ ,ρ (Jk ); k = 0, . . . , m, and there exist
( ) )
u(tk− ) and ρ
Jt + u (tk+ ); k = 0, . . . , m, with u(tk− ) = u(tk ) ,
1−γ
k
and
{ }
PCγn,ρ (J ) = u ∈ PC n−1 : u (n) ∈ PCγ ,ρ (J ) , n ∈ N,
PCγ0,ρ (J ) = PCγ ,ρ (J ),
with the norm

⎧ |( )1−γ |⎫
⎨ | ρ |⎬
| t − tkρ |
||u|| PCγ ,ρ = max sup || u(t)|| .
k=0,...,m ⎩t∈[tk ,tk+1 ] | ρ |⎭
We also define the space

( )
γ
PCγγ,ρ (J ) = u ∈ PCγ ,ρ (J ), ρ Dt + u ∈ PCγ ,ρ (J ) , k = 0, . . . , m.
k
Let us now consider the following linear fractional differential equation:

( )
ρ α,β
Dt + u (t) = ψ(t), t ∈ Jk , k = 0, . . . , m, (4.4)
k
where 0 < α < 1, 0 ≤ β ≤ 1, ρ > 0, with the conditions

( ) ( )
Jt + u (tk ) = Jt + u (tk− ) + L k (u(tk− )); k = 1, . . . , m,
ρ 1−γ + ρ 1−γ
(4.5)
k k−1
and ( ) ( )
ρ
Ja + u (a + ) + c2 ρ Jt + u (b) = c3 ,
1−γ 1−γ
c1 (4.6)
m
where γ = α + β − αβ, c1 , c2 , c3 ∈ R with

c2 c3
c1 + c2 / = 0, ϑ1 = , ϑ2 =
c1 + c2 c1 + c2
and
⎧( )γ −1 ⎫
⎨ tρ − tρ ⎬
p ∗ = sup k k−1
: k = 1, . . . , m ,
⎩ ρ ⎭
such that ψ : J → R be a function satisfying the functional equation
ψ(t) = f (t, u(t), ψ(t)).
The following theorem shows that the problem (4.4)–(4.6) has a unique solution given
by
⎧( ρ )
⎪
⎪ t − a ρ γ −1
⎪
⎪ [ Σm Σm ( )
⎪
⎪ ρ − ρ 1−γ +α
⎪
⎪ ϑ − ϑ L (u(t )) − ϑ J ψ (ti )
⎪
⎪ Γ(γ )
2 1 i i 1 (ti−1 ) +
⎪
⎪
) ] ( t ( t ρ − s ρ )α−1 s ρ−1 ψ(s)ds
i=1 i=1
⎪
⎪ (
⎪
⎪ 1−γ +α
⎪
⎪
ρ
−ϑ1 Jt + ψ (b) + , t ∈ J0 ,
⎪
⎪ ρ Γ(α)
⎪
⎪
m a
⎪
⎪
⎪
⎨( )
ρ γ −1
u(t) = t ρ − tk (4.7)
⎪
⎪ [ m (
⎪
⎪ ρ Σm Σ )
⎪
⎪ ϑ2 − ϑ 1 L i (u(ti− )) − ϑ1 ρ 1−γ +α
J(t )+ ψ (ti )
⎪
⎪
⎪
⎪ Γ(γ ) i−1
⎪
⎪ i=1 i=1
]
⎪
⎪ ( ) Σk Σk ( )
⎪
⎪ ρ J 1−γ +α ψ (b) + − ρ 1−γ +α
⎪
⎪ −ϑ L (u(t )) + J ψ (t )
⎪
⎪
1 tm+ i i (ti−1 )+ i
⎪
⎪ ( ) i=1 i=1
⎪
⎪
⎪
⎩ + ρ J α+ ψ (t), t ∈ Jk , k = 1, . . . , m.
t k
Theorem 4.1 Let γ = α + β − αβ, where 0 < α < 1 and 0 ≤ β ≤ 1. If ψ : J → R is a

γ
function such that ψ(·) ∈ PCγ ,ρ (J ), then u ∈ PCγ ,ρ (J ) satisfies the problem (4.4)–(4.6)
if and only if it satisfies (4.7).
Proof Assume u satisfies (4.4)–(4.6). If t ∈ J0 , then

( )
ρ α,β
Da + u (t) = ψ(t).
Lemma 2.38 implies we have a solution that can be written as
( )
ρ J 1−γ u (a + ) ( ρ ) ( t( ρ )
a+ t − a ρ γ −1 1 t − s ρ α−1 ρ−1
u(t) = + s ψ(s)ds. (4.8)
If t ∈ J1 , then Lemma 2.38 implies

( )
ρ J 1−γ u (t1+ ) ( ρ )γ −1 ( t( )α−1
t1+ t ρ − t1 1 t ρ − sρ
u(t) = + s ρ−1 ψ(s)ds
Γ(γ ) ρ t1 Γ(α) ρ
( )
ρ J 1−γ u (t − ) + L (u(t − )) ( ρ ρ )γ −1 ( )
a + 1 1 1 t − t1
= + ρ Jtα+ ψ (t)
Γ(γ ) ρ 1
ρ ρ γ −1 [ ( ) ( ) ]
(t − t1 ) ρ 1−γ + − ρ 1−γ +α
= Ja + u (a ) + L 1 (u(t1 )) + Ja + ψ (t1 )
Γ(γ )ρ γ −1
( )
+ ρ Jtα+ ψ (t).
1

( )
ρ J 1−γ u (t + ) (
ρ )γ −1 ( t( ρ )
t2+ 2 t ρ − t2 1 t − s ρ α−1 ρ−1
u(t) = + s ψ(s)ds
Γ(γ ) ρ Γ(α) t2 ρ
( )
ρ J 1−γ u (t − ) + L (u(t − )) (
ρ )γ −1 ( )
t1+ 2 2 2 t ρ − t2
= + ρ Jtα+ ψ (t)
Γ(γ ) ρ 2
( ρ ρ )γ −1 [ ( )
1 t − t2
= Ja + u (a + ) + L 1 (u(t1− )) + L 2 (u(t2− ))
ρ 1−γ
Γ(γ ) ρ
( ) ( ) ] ( )
1−γ +α 1−γ +α
+ ρ Ja + ψ (t1 ) + ρ Jt + ψ (t2 ) + ρ Jtα+ ψ (t).
1 2
Repeating the process in this way, the solution u(t) for t ∈ Jk , k = 1, . . . , m, can be written
as
[( ) ]
ρ 1−γ +
Σk − Σk (ρ 1−γ +α )
u(t) = Ja + u (a ) + i=1 L i (u(ti )) + i=1 J(t )+ ψ (ti )
i−1
( )
ρ γ −1 (4.9)
1 ρ
t − tk ( )
× + ρ Jtα+ ψ (t).
Γ(γ ) ρ k
Applying ρ Jt +
1−γ
on both sides of (4.9), using Lemma 2.19 and taking t = b, we obtain
m
( ) ( ) Σ
m m (
Σ )
ρ 1−γ +α
ρ
Jt + u (b) = ρ Ja + u (a + ) + L i (u(ti− )) +
1−γ 1−γ
J(t )+ ψ (ti )
m i−1
i=1 i=1
( )
ρ 1−γ +α
+ J(tm )+ ψ (b). (4.10)
Multiplying both sides of (4.10) by c2 and using condition (4.6), we obtain

( ) ( ) Σ
m
ρ + ρ +
L i (u(ti− ))
1−γ 1−γ
c3 − c1 Ja + u (a ) = c2 Ja + u (a ) + c2
i=1
m (
Σ ) ( )
ρ 1−γ +α ρ 1−γ +α
+ c2 J(t + ψ (ti ) + c2 J(tm )+ ψ (b),
i−1 )
i=1
which implies that

( ) Σ
m Σm ( )
ρ 1−γ +α
ρ J 1−γ u
a+
(a + ) = ϑ2 − ϑ1 L i (u(ti− )) − ϑ1 J(t )+ ψ (ti )
i−1
( i=1 ) i=1 (4.11)
+α
−ϑ1 ρ J(tm )+ ψ (b).
1−γ
Substituting (4.11) into (4.9) and (4.8), we obtain (4.7).

Reciprocally, applying ρ Jt + on both sides of (4.7) and using Lemma 2.19 and Theorem
1−γ
k
2.14, we get
⎧ m (
⎪ Σ m Σ )
⎪
⎪ ϑ2 − ϑ1 (u(t −
)) − ϑ ρ 1−γ +α
J ψ (ti )
⎪
⎪ L i i 1 (ti−1 ) +
⎪
⎪
⎪
⎪ ( i=1 ) ( i=1 )
⎪
⎪ 1−γ +α 1−γ +α
⎪
⎪ −ϑ1 ρ J(tm )+ ψ (b) + ρ Ja + ψ (t), t ∈ J0 ,
⎪
⎪
⎪
⎪
⎪
⎪
( ) ⎪
⎨ Σ m Σm ( )
− ρ 1−γ +α
ρ 1−γ
Jt + u (t) = ϑ 2 − ϑ 1 L i (u(ti )) − ϑ 1 J(t )+ ψ (ti ) (4.12)
⎪
⎪
i−1
k
⎪
⎪
i=1 i=1
⎪
⎪ ( ) Σ ( 1−γ +α )
k
⎪
⎪ 1−γ +α ρ
⎪
⎪ −ϑ1 ρ Jt + ψ (b) + J(t )+ ψ (ti )
⎪
⎪ m i−1
⎪
⎪ i=1
⎪
⎪ Σ k ( )
⎪
⎪ 1−γ +α
⎪
⎪+ L i (u(ti− )) + ρ Jt + ψ (t), t ∈ Jk , k / = 0.
⎩ k
i=1
we obtain
( ) Σ
m m (
Σ )
1−γ +α
ρ J 1−γ u
a+
(a + ) = ϑ2 − ϑ1 L i (u(ti− )) − ϑ1 ρ
J(t + ψ (ti )
i−1 )
( i=1 ) i=1 (4.13)
1−γ +α
−ϑ1 ρ Jt + ψ (b).
m
Now, taking t = b in (4.12), we get

( ) (Σ
m Σm ( )
ρ 1−γ +α
ρ J 1−γ u
tm+
(b) = ϑ2 + (1 − ϑ1 ) L i (u(ti− )) + J(t )+ ψ (ti )
i−1
) ) (4.14)
i=1 i=1
(
1−γ +α
+ ρ Jt + ψ (b) .
m
From (4.13) and (4.14), we find that

( ) ( )
c1 ρ Ja + u (a + ) + c2 ρ Jt + u (b) = c3 ,
1−γ 1−γ
m
) ( ( )
which shows that the boundary condition c1 ρ Ja + u (a + ) + c2 ρ Jt + u (b) = c3 is
1−γ 1−γ
m
satisfied.
γ
Next, apply operator ρ Dt + on both sides of (4.7), where k = 0, . . . , m. Then, from Lemma
k
2.19 and Lemma 2.33, we obtain
( )
ρ γ ρ β(1−α)
( Dt + u)(t) = Dt + ψ (t). (4.15)
k k
γ γ γ
Since u ∈ Cγ ,ρ (Jk ) and by definition of Cγ ,ρ (Jk ), we have ρ Dt + u ∈ Cγ ,ρ (Jk ), then (4.15)
k
implies that
( ) ( )
ρ γ ρ 1−β(1−α) ρ β(1−α)
( Dt + u)(t) = δρ Jt + ψ (t) = Dt + ψ (t) ∈ Cγ ,ρ (Jk ). (4.16)
k k k
As ψ(·) ∈ Cγ ,ρ (Jk ) and from Lemma 2.23, follows

( )
ρ 1−β(1−α)
Jt + ψ ∈ Cγ ,ρ (Jk ). (4.17)
k
From (4.16), (4.17), and by the definition of the space Cγn,ρ (Jk ), we obtain
( )
ρ 1−β(1−α)
Jt + ψ ∈ Cγ1,ρ (Jk ).
k
β(1−α)
Applying operator ρ Jt + on both sides of (4.15) and using Lemma 2.32, Lemma 2.24,
k
and Property 2.22, we have
( ) ( )
ρ α,β ρ β(1−α) ργ
Dt + u (t) = Jt + Dt + u (t)
k k k
( )
ρ J 1−β(1−α) ψ (t ) ( )β(1−α)−1
ρ
t +
k
k
t ρ − tk
= ψ(t) −
Γ(β(1 − α)) ρ
= ψ(t),
that is, (4.4) holds.

Also, we can easily show that
( ) ( )
Jt + u (tk ) = Jt + u (tk− ) + L k (u(tk− )); k = 1, . . . , m.
ρ 1−γ + ρ 1−γ
k k−1
This completes the proof. ▢
Lemma 4.2 Let γ = α + β − αβ where 0 < α < 1 and 0 ≤ β ≤ 1, let f : J × R × R →

R be a function such that f (·, u(·), w(·)) ∈ PCγ ,ρ (J ) for any u, w ∈ PCγ ,ρ (J ).
γ
If u ∈ PCγ ,ρ (J ), then u satisfies the problem (4.1)–(4.3) if and only if u is the fixed point
of the operator Ψ : PCγ ,ρ (J ) → PCγ ,ρ (J ) defined by
( )
ρ γ −1 [ m (
1 t ρ − tk Σm Σ )
ρ 1−γ +α
Ψu(t) = ϑ2 − ϑ 1 L i (u(ti− )) − ϑ1 J(t )+ h (ti )
Γ(γ ) ρ i−1
i=1 i=1
( ) Σ Σ ( 1−γ +α ) ]
1−γ +α
− ϑ1 ρ Jt + h (b) + L k (u(tk− )) + ρ
J(t )+ h (tk )
m k−1
a<tk <t a<tk <t
( )
ρ
+ Jtα+ h (t), t ∈ Jk , k = 0, . . . , m, (4.18)
k
where h : J → R be a function satisfying the functional equation
h(t) = f (t, u(t), h(t)).
We are now in a position to state and prove our existence result for problem (4.1)–(4.3)
based on Banach’s fixed point.
Theorem 4.3 Assume that the following hypotheses hold.
(4.3.1) The continuous function f : J × R × R → R be such that
f (·, u(·), w(·)) ∈ PCγβ(1−α)

,ρ (J ) for any u, w ∈ PCγ ,ρ (J ).
(4.3.2) There exist constants K > 0 and 0 < M < 1 such that
| f (t, u, w) − f (t, ū, w̄)| ≤ K |u − ū| + M|w − w̄|
for any u, w, ū, w̄ ∈ R and t ∈ J .

(4.3.3) There exists a constant l ∗ > 0 such that
|L k (u) − L k (ū)| ≤ l ∗ |u − ū|
for any u, ū ∈ R and k = 1, . . . , m.

If ( )( ∗ ∗ ( ρ ) )
ml p mK b − aρ α
L := |ϑ1 | + 1 +
( Γ(γ ) (1 − M)Γ(1)+(α) ρ)
(4.19)
K |ϑ1 | Γ(γ ) bρ − a ρ α
+ + < 1,
(1 − M) Γ(1 + α) Γ(γ + α) ρ
γ
then the problem (4.1)–(4.3) has a unique solution in PCγ ,ρ (J ).
Proof The proof will be given in two steps.

Step 1: We show that the operator Ψ defined in (4.18) has a unique fixed point u ∗ in
PCγ ,ρ (J ). Let u, w ∈ PCγ ,ρ (J ) and t ∈ J , then we have
|Ψu(t) − Ψw(t)|
[ Σ
m ( )
1−γ +α
≤ |ϑ1 | |L i (u(ti− )) − L i (w(ti− ))| + |ϑ1 | ρ Jt + |h(s) − g(s)| (b)
m
i=1
Σm ( ) Σ
1−γ +α
+ |ϑ1 | ρ
J(t + |h(s) − g(s)| (ti ) + |L k (u(tk− )) − L k (w(tk− ))|
i−1 )
i=1 a<tk <t
Σ ( ]( ρ) ρ )γ −1
ρ 1−γ +α t − tk
+ J(t )+ |h(s) − g(s)| (tk )
a<tk <t
k−1 Γ(γ )ρ γ −1
( )
+ ρ Jtα+ |h(s) − g(s)| (t),
k
where h, g ∈ PCγ ,ρ (J ) such that
h(t) = f (t, u(t), h(t)),

g(t) = f (t, w(t), g(t)).
By (4.3.2), we have
|h(t) − g(t)| = | f (t, u(t), h(t)) − f (t, w(t), g(t))|

≤ K |u(t) − w(t)| + M|h(t) − g(t)|.
Then,
K
|h(t) − g(t)| ≤ |u(t) − w(t)|.
1− M
|Ψu(t) − Ψw(t)|
[ Σ |ϑ1 |K (ρ 1−γ +α )
m
≤ |ϑ1 | l ∗ |u(ti ) − w(ti )| + Jt + |u(s) − w(s)| (b)
1− M m
i=1
|ϑ1 |K Σ (ρ 1−γ +α ) Σ
m m
+ J(t )+ |u(s) − w(s)| (ti ) + l ∗ |u(ti ) − w(ti )|
1−M i−1
i=1 i=1
( ) ] (ρ ρ )γ −1
K Σ ρ 1−γ +α
m
t − tk
+ J(t )+ |u(s) − w(s)| (ti )
1−M i−1 Γ(γ )ρ γ −1
i=1
K (ρ α )
+ Jt + |u(s) − w(s)| (t).
1−M k
Thus
|Ψu(t) − Ψw(t)|
(ρ ρ )γ −1 [
( ( ρ ρ )γ −1
)
t − tk |ϑ |K +α s − t
|ϑ1 |ml ∗ p ∗ + ρ
1 1−γ m
≤ Jt + (b)
Γ(γ )ρ γ −1 1−M m ρ
⎛ ( )γ −1 ⎞
ρ
m K |ϑ1 | ⎝ρ 1−γ +α s ρ − tk−1 ⎠ (tk )
+ J(t )+
1−M k−1 ρ
⎛ ( )γ −1 ⎞
ρ − tρ ]
m K +α s
∗
+ml p +∗ ⎝ρ 1−γ
J(t )+ k−1 ⎠ (tk ) ||u − w|| PCγ ,ρ
1− M k−1 ρ
⎛ ( ) ⎞
s ρ − t ρ γ −1
K
+ ||u − w|| PCγ ,ρ ⎝ρ Jtα+ k ⎠ (t).
1−M k ρ
|Ψu(t) − Ψw(t)|
( )
ρ γ −1 [
1 t ρ − tk
≤ ||u − w|| PCγ ,ρ |ϑ1 |ml ∗ p ∗
Γ(γ ) ρ
( ρ ρ )α
( ρ ρ
)α
|ϑ1 |K Γ(γ ) b − tm m K |ϑ1 |Γ(γ ) tk − tk−1
+ +
(1 − M)Γ(1 + α) ρ (1 − M)Γ(1 + α) ρ
( ρ ρ
)α ]
m K Γ(γ ) tk − tk−1
+ml ∗ p ∗ +
(1 − M)Γ(1 + α) ρ
( )
ρ α+γ −1
K Γ(γ ) t ρ − tk
+ ||u − w|| PCγ ,ρ ,
(1 − M)Γ(γ + α) ρ
hence
|( ρ )1−γ |
| t − tkρ |
| (Ψu(t) − Ψw(t)) |
| ρ |
[ ( ∗ ∗ ( ρ ) )
≤ (|ϑ1 | + 1) +
( Γ(γ ) (1 − M)Γ(1)+(α) ρ) ]
K |ϑ1 | Γ(γ ) bρ − a ρ α
+ + ||u − w|| PCγ ,ρ ,
(1 − M) Γ(1 + α) Γ(γ + α) ρ
which implies that
||Ψu − Ψw|| PCγ ,ρ

[ ( ∗ ∗ ( ρ ) )
≤ (|ϑ1 | + 1) +
( Γ(γ ) (1 − M)Γ(1)+(α) ρ) ]
K |ϑ1 | Γ(γ ) bρ − a ρ α
+ + ||u − w|| PCγ ,ρ .
(1 − M) Γ(1 + α) Γ(γ + α) ρ
By (4.19), the operator Ψ is a contraction. Hence, by Theorem 2.45, Ψ has a unique fixed
point u ∗ ∈ PCγ ,ρ (J ).
γ
Step 2: We show that such a fixed point u ∗ ∈ PCγ ,ρ (J ) is actually in PCγ ,ρ (J ).
Since u ∗ is the unique fixed point of operator Ψ in PCγ ,ρ (J ), then for each t ∈ Jk , with
k = 0, . . . , m, we have
( )
t ρ − t ρ γ −1 [ Σm Σm ( )
1 ρ 1−γ +α
u ∗ (t) = k
ϑ2 − ϑ 1 L i (u(ti− )) − ϑ1 J(t )+ h (ti )
Γ(γ ) ρ i−1
i=1 i=1
( ) Σ Σ ( 1−γ +α ) ]
ρ 1−γ +α − ρ
− ϑ1 Jt + h (b) + L k (u(tk )) + J(t )+ h (tk )
m k−1
a<tk <t a<tk <t
( )
ρ
+ Jtα+ h (t),
k
where h ∈ PCγ ,ρ (J ) such that
h(t) = f (t, u ∗ (t), h(t)).

γ
Applying ρ Dt + to both sides and by Lemmas 2.19 and 2.33, we have
k
( )
ρ D γ u ∗ (t) = ρ Dγ ρ J α f (s, u ∗ (s), h(s))
(t)
tk+ tk+ tk+
( )
β(1−α)
= ρ Dt + f (s, u ∗ (s), h(s)) (t).
k
γ
Since γ ≥ α, by (4.3.1), the right-hand side is in PCγ ,ρ (J ) and thus ρ Dt + u ∗ ∈ PCγ ,ρ (J )
k
γ
which implies that u ∗ ∈ PCγ ,ρ (J ). As a consequence of Steps 1 and 2 together with Theorem
γ
4.3, we can conclude that the problem (4.1)–(4.3) has a unique solution in PCγ ,ρ (J ). ▢
Our second result is based on Schaefer’s fixed point theorem.
Theorem 4.4 Assume that in addition of the hypothesis (4.3.1)–(4.3.3), the following hold.
(4.4.1) There exist functions p1 , p2 , p3 ∈ C([a, b], R+ ) with
p1∗ = sup p1 (t), p2∗ = sup p2 (t), p3∗ = sup p3 (t) < 1
t∈[a,b] t∈[a,b] t∈[a,b]
such that
| f (t, u, w)| ≤ p1 (t) + p2 (t)|u| + p3 (t)|w| for t ∈ J and u, w ∈ R.
(4.4.2) The functions L k : R −→ R are continuous and there exist constants Φ1 , Φ2 > 0
such that
|L k (u)| ≤ Φ1 |u| + Φ2 for each u ∈ R, k = 1, . . . , m.
If
( ) ( )( )
mΦ1 p∗ mp2∗ (bρ −a ρ )α |ϑ1 | Γ(γ ) p2∗ (bρ −a ρ )α
(|ϑ1 | + 1) Γ(γ ) + (1− p3∗ )Γ(1+α)ρ α + Γ(1+α) + Γ(γ +α) (1− p3∗ )ρ α < 1, (4.20)
γ
then the problem (4.1)–(4.3) has at least one solution in PCγ ,ρ (J ).
Proof We shall use Schaefer’s fixed point theorem to prove in several steps that the operator
Ψ defined in (4.18) has a fixed point.
Step 1: Ψ is continuous.
Let {u n } be a sequence such that u n → u in PCγ ,ρ (J ).
| ( )
| t ρ − t ρ 1−γ ||
| ((Ψu n )(t) − (Ψu)(t)) k |
| ρ |
[ Σ
m ( )
1 1−γ +α
≤ |ϑ1 | |L i (u n (ti− )) − L i (u(ti− ))| + |ϑ1 | ρ Jt + |h n (s) − h(s)| (b)
Γ(γ ) m
i=1
m (
Σ ) Σ
1−γ +α
+ |ϑ1 | ρ
J(t + |h n (s) − h(s)| (ti ) + |L k (u n (tk− )) − L k (u(tk− ))|
i−1 )
i=1 a<tk <t
Σ ( ) ]
ρ 1−γ +α
+ J(t )+ |h n (s) − h(s)| (tk )
k−1
a<tk <t
( )1−γ
t ρ − tk
ρ ( )
ρ
+ Jtα+ |h n (s) − h(s)| (t),
ρ k
where h n , h ∈ PCγ ,ρ (J ) such that
h n (t) = f (t, u n (t), h n (t)),

h(t) = f (t, u(t), h(t)).
Since u n → u, then we get h n (t) → h(t) as n → ∞ for each t ∈ J , and since f and L k are
continuous, then we have
||Ψu n − Ψu|| PCγ ,ρ → 0 as n → ∞.
Step 2: We show that Ψ is the mapping of two bounded sets in PCγ ,ρ (J ).

For η > 0, there exists a positive constant β such that Bη = {u ∈ PCγ ,ρ (J ) : ||u|| PCγ ,ρ ≤
η}, we have ||Ψ(u)|| PCγ ,ρ ≤ β.
By (4.4.1) and from (4.18), we have for each t ∈ Jk , k = 0, . . . , m,
|( )1−γ | |( )1−γ |
| ρ | | ρ |
| t − tkρ | | t − tkρ |
| |
h(t)| = | | f (t, u(t), h(t))||
| ρ ρ
| | | |
( )
ρ 1−γ
t ρ − tk
≤ ( p1 (t) + p2 (t)|u(t)| + p3 (t)|h(t)|) ,
ρ
which implies that

( )1−γ
bρ − a ρ
||h|| PCγ ,ρ ≤ p1∗ + p2∗ η + p3∗ ||h|| PCγ ,ρ .
ρ
Then ( )
bρ − a ρ 1−γ
p1∗ + p2∗ η
ρ
||h|| PCγ ,ρ ≤ := Λ.
1 − p3∗
Thus (4.18) implies
|( )1−γ |
| ρ |
| t − tkρ |
| (Ψu)(t) |
| ρ |
| |
[ Σm Σ m ( )
1 ρ 1−γ +α
≤ |ϑ2 | + |ϑ1 | |L i (u(ti− ))| + |ϑ1 | J(t )+ |h(s)| (ti )
Γ(γ ) i−1
i=1 i=1
( ) Σ
1−γ +α
+ |ϑ1 | ρ Jt + |h(s)| (b) + |L k (u(tk− ))|
m
a<tk <t
] ( )1−γ
Σ ( 1−γ +α
) ρ
t ρ − tk ( )
ρ ρ
+ J(t )+ |h(s)| (tk ) + Jtα+ |h(s)| (t).
a<tk <t
k−1 ρ k
Then
|( )1−γ |
| ρ |
| t − tkρ |
| (Ψu)(t) |
| ρ |
| |
⎛ ( )γ −1 ⎞
[ ρ
1−γ +α s ρ − tk−1
≤ |ϑ2 | + |ϑ1 |m(Φ1 p ∗ η + Φ2 ) + |ϑ1 |mΛ ⎝ρ J(t +
⎠ (tk )
k−1 ) ρ
( ( ρ )γ −1 )
ρ 1−γ +α s ρ − tm
+ |ϑ1 |Λ Jt + (b) + m(Φ1 p ∗ η + Φ2 )
m ρ
⎛ ( )γ −1 ⎞
ρ ]
s ρ − tk−1
1−γ +α
+ mΛ ⎝ρ J(t )+ ⎠ (tk ) 1
k−1 ρ Γ(γ )
( )1−γ ⎛ ( ) ⎞
ρ ρ γ −1
t ρ − tk s ρ − tk
+Λ ⎝ J+
ρ α ⎠ (t).
ρ tk ρ

( ( ρ )α )
m(Φ1 p ∗ η + Φ2 ) mΛ b − aρ
||Ψu|| PCγ ,ρ ≤ (|ϑ1 | + 1) +
( Γ(γ ) ) (Γ(1 + α)) ρ
|ϑ1 | Γ(γ ) bρ − a ρ α |ϑ2 |
+Λ + +
Γ(1 + α) Γ(γ + α) ρ Γ(γ )
:= β.
Step 3: Ψ maps bounded sets into equicontinuous sets of PCγ ,ρ .

Let ∈1 , ∈2 ∈ J , ∈1 < ∈2 , Bη be a bounded set of PCγ ,ρ as in Step 2, and let u ∈ Bη . Then
|( )1−γ ( ρ ) |
| ρ ρ 1−γ |
| ∈1 − tkρ ∈2 − tk |
| (Ψu)(∈ ) − (Ψu)(∈ ) |
| ρ
1
ρ
2 |
| |
[ Σ Σ ( 1−γ +α ) ]
1
≤ |L k (u(tk− ))| + ρ
J(t )+ |h(s)| (tk )
Γ(γ ) ∈ <t <∈ ∈1 <tk <∈2 ) |
k−1
1 k |( 2 ) (
α α
ΛΓ(γ ) || ∈1 − tk |
ρ ρ ρ ρ
∈ − tk |
+ | − 2 |.
Γ(γ + α) | ρ ρ |
As ∈1 → ∈2 , the right-hand side of the above inequality tends to zero. From steps 1 to 3
with the Arzela-Ascoli theorem, we conclude that Ψ : PCγ ,ρ → PCγ ,ρ is continuous and
completely continuous.
Step 4: A priori bound. Now it remains to show that the set
G = {u ∈ PCγ ,ρ : u = λ∗ Ψ(u) for some 0 < λ∗ < 1}
is bounded. Let u ∈ G, then u = λ∗ Ψ(u) for some 0 < λ∗ < 1.

By (4.4.1), we have for each t ∈ J ,
|( )1−γ | |( )1−γ |
| ρ | | ρ |
| t − tkρ | | t − tkρ |
| |
h(t)| = || f (t, u(t), h(t))||
| ρ ρ
| | | |
( )
ρ 1−γ
t ρ − tk
≤ ( p1 (t) + p2 (t)|u(t)| + p3 (t)|h(t)|) ,
ρ
which implies that

( )1−γ
bρ − a ρ
||h|| PCγ ,ρ ≤ p1∗ + p2∗ ||u|| PCγ ,ρ + p3∗ ||h|| PCγ ,ρ ,
ρ
then ( )1−γ
bρ − a ρ
p1∗ + p2∗ ||u|| PCγ ,ρ
ρ
||h|| PCγ ,ρ ≤ .
1 − p3∗
This implies, by (4.18), (4.4.2) and by letting the estimation of Step 2, that for each t ∈ J
we have
(
m(Φ1 p ∗ ||u|| PCγ ,ρ + Φ2 ) 1
||u|| PCγ ,ρ ≤ (|ϑ1 | + 1) + ∗
Γ(γ ) (1 − p3 )Γ(1 + α)
[ ( ρ )1+α−γ ( ρ ) ])
∗ b −a
ρ
∗ b − aρ α
× mp1 + mp2 ||u|| PCγ ,ρ
ρ ρ
( ρ ) ( )
b − aρ 1+α−γ
bρ − a ρ α
p1∗ + p2∗ ||u|| PCγ ,ρ
ρ ρ
+
(1 − p3∗ )
( )
|ϑ1 | Γ(γ ) |ϑ2 |
× + + ,
Γ(1 + α) Γ(γ + α) Γ(γ )
[ ( )
mΦ1 p ∗ mp2∗ (bρ − a ρ )α
≤ (|ϑ1 | + 1) +
Γ(γ ) (1 − p3∗ )Γ(1 + α)ρ α
( )( ∗ ρ )]
|ϑ1 | Γ(γ ) p2 (b − a ρ )α
+ + ||u|| PCγ ,ρ
Γ(1 + α) Γ(γ + α) (1 − p3∗ )ρ α
( )
|ϑ2 | mΦ2 mp1∗ (bρ − a ρ )1+α−γ
+ + (|ϑ1 | + 1) +
Γ(γ ) Γ(γ ) (1 − p3∗ )Γ(1 + α)ρ 1+α−γ
( )( ∗ ρ )
|ϑ1 | Γ(γ ) p1 (b − a ρ )1+α−γ
+ + .
Γ(1 + α) Γ(γ + α) (1 − p3∗ )ρ 1+α−γ
By (4.20), we have
||u|| PCγ ,ρ
[ ( ) ( )( ∗ ρ ρ 1+α−γ )]
|ϑ2 | mΦ2 mp1∗ (bρ −a ρ )1+α−γ |ϑ1 | Γ(γ ) p1 (b −a )
Γ(γ ) + (|ϑ1 |+1) Γ(γ ) + (1− p3∗ )Γ(1+α)ρ 1+α−γ + Γ(1+α) + Γ(γ +α) (1− p3∗ )ρ 1+α−γ
≤ [ ( ) ( )( )]
mΦ1 p∗ mp2∗ (bρ −a ρ )α |ϑ1 | Γ(γ ) p2∗ (bρ −a ρ )α
1− (|ϑ1 |+1) Γ(γ ) + ∗
(1− p )Γ(1+α)ρ α + +
Γ(1+α) Γ(γ +α) ∗
(1− p )ρ α
3 3
:= R.
As a consequence of Theorem 2.47, and using Step 2 of the last result, we deduce that Ψ
has a fixed point which is a solution of the problem (4.1)–(4.3). ▢
Our third result is based on Krasnoselskii’s fixed point theorem.
Theorem 4.5 Assume that (4.3.1), (4.4.1), and (4.4.2) hold. If

( )
mΦ1 p ∗ mp2∗ (bρ − a ρ )α p2∗ |ϑ1 | (bρ − a ρ )α
(|ϑ1 | + 1) + + < 1, (4.21)
Γ(γ ) (1 − p3∗ )Γ(1 + α)ρ α (1 − p3∗ )Γ(1 + α)ρ α
γ
Proof Consider the set
Bη = {u ∈ PCγ ,ρ (J ) : ||u|| PCγ ,ρ ≤ η},
where
( ( ρ ρ )α ) ( )( )
mΦ mΛ b −a |ϑ1 | Γ(γ ) bρ −a ρ α |ϑ2 |
(|ϑ1 |+1) Γ(γ 2) + Γ(1+α) ρ +Λ +
Γ(1+α) Γ(γ +α) ρ + Γ(γ )
η≥ mΦ1 p∗ .
1−(|ϑ1 |+1) Γ(γ )
We define the operators Q 1 and Q 2 on Bη by

( )
ρ γ −1 [ m (
ρ 1−γ +α
Q 1 u(t) = ϑ2 − ϑ 1 L i (u(ti− )) − ϑ1 J(t )+ h (ti )
Γ(γ ) ρ i−1
i=1 i=1
( ) Σ Σ ( 1−γ +α ) ]
ρ 1−γ +α − ρ
− ϑ1 Jt + h (b) + L k (u(tk )) + J(t )+ h (tk ) ,
m k−1
a<tk <t a<tk <t
(4.22)
( )
ρ
Q 2 u(t) = Jtα+ h (t), (4.23)
k
where k = 0, . . . , m and h : J → R be a function satisfying the functional equation
h(t) = f (t, u(t), h(t)).
Then the fractional integral equation (4.18) can be written as operator equation
Ψu(t) = Q 1 u(t) + Q 2 u(t), u ∈ PCγ ,ρ (J ).
The proof will be given in several steps.
Step 1: We prove that Q 1 u + Q 2 w ∈ Bη for any u, z ∈ Bη .

Same as Step 2 of the last result, by (4.4.1), (4.4.2), and Lemma 2.19, for each t ∈ J , we
have
||Q 1 u + Q 2 w|| PCγ ,ρ ≤ ||Q 1 u|| PCγ ,ρ + ||Q 2 w|| PCγ ,ρ

( ( ρ ) )
m(Φ1 p ∗ η + Φ2 ) mΛ b − aρ α
≤ (|ϑ1 | + 1) +
Γ(γ ) Γ(1 + α) ρ
( )( ρ ρ )α
|ϑ1 | Γ(γ ) b −a |ϑ2 |
+Λ + + .
Γ(1 + α) Γ(γ + α) ρ Γ(γ )
Since
( ( ρ ρ )α ) ( )( )
mΦ mΛ b −a |ϑ1 | Γ(γ ) bρ −a ρ α |ϑ2 |
(|ϑ1 |+1) Γ(γ 2) + Γ(1+α) ρ +Λ +
Γ(1+α) Γ(γ +α) ρ + Γ(γ )
η≥ mΦ1 p ∗ ,
1−(|ϑ1 |+1) Γ(γ )
we have
||Q 1 y + Q 2 z|| PCγ ,ρ ≤ η,
which infers that Q 1 u + Q 2 w ∈ Bη .
Step 2: Q 1 is a contraction.
Let u, w ∈ PCγ ,ρ (J ) and t ∈ J .
By (4.4.1), we have

≤ p2 (t)|u(t) − w(t)| + p3 (t)|h(t) − g(t)|.
Then,
p2 (t) p2∗
|h(t) − g(t)| ≤ |u(t) − w(t)| ≤ |u(t) − w(t)|,
1 − p3 (t) 1 − p3∗
where p1∗ = sup p1 (t), p2∗ = sup p2 (t) and h, g ∈ C([a, b], R) such that
t∈[a,b] t∈[a,b]
h(t) = f (t, u(t), h(t)),

g(t) = f (t, w(t), g(t)).
Then by (4.4.2) and using the estimation in Step 1 of the first result, we have
|Q 1 y(t) − Q 1 z(t)|
( )
ρ γ −1 [
1 t ρ − tk
≤ ||u − w|| PCγ ,ρ |ϑ1 |mΦ1 p ∗
Γ(γ ) ρ
( ρ ρ )α
( ρ ρ
)α
∗
p2 |ϑ1 |Γ(γ ) mp2∗ |ϑ1 |Γ(γ ) tk − tk−1
b − tm
+ +
(1 − p3∗ )Γ(1 + α) ρ (1 − p3∗ )Γ(1 + α) ρ
( ρ ρ
)α ]
∗
mp2 Γ(γ ) tk − tk−1
+mΦ1 p ∗ + ,
(1 − p3∗ )Γ(1 + α) ρ
hence
[ ( ( ρ ) )
mΦ1 p ∗ mp2∗ b − aρ α
||Q 1 u − Q 1 w|| PCγ ,ρ ≤ (|ϑ1 | + 1) +
Γ(γ ) (1 − p3∗ )Γ(1 + α) ρ
∗ ( ρ ρ )α ]
p2 |ϑ1 | b −a
+ ∗ ||u − w|| PCγ ,ρ .
(1 − p3 )Γ(1 + α) ρ
By (4.21), the operator Q 1 is a contraction.

Step 3: Q 2 is continuous and compact.

The continuity of Q 2 follows from the continuity of f . Next we prove that Q 2 is uniformly
bounded on Bη . Let any w ∈ Bη . By using the estimation in Step 2 of the last result, (4.23)
implies
|( | ( ( )
| t ρ −t ρ )1−γ | ρ)
t ρ −tk 1−γ ρ α
| k
(Q z)(t) | ≤ J |g(s)| (t),
| ρ 2 | ρ tk+
( ρ ρ )1−γ ( ( ρ ρ )γ −1 )
t −tk ρ J α s −tk
≤Λ ρ t+ ρ (t),
k
where k = 0, . . . , m and g : J → R be a function satisfying the functional equation
g(t) = f (t, w(t), g(t)).

( )α
ΛΓ(γ ) bρ − a ρ
||Q 2 z|| PCγ ,ρ ≤ .
Γ(γ + α) ρ
This means that Q 2 is uniformly bounded on Bη . Next, we show that Q 2 Bη is equicontinuous.

Let any w ∈ Bη and a < ∈1 < ∈2 ≤ b. Then
|( ρ ρ )1−γ ( ρ ρ )1−γ |
| ∈ −t ∈2 −tk |
| 1 k (Q 2 z)(∈1 ) − (Q 2 z)(∈2 )||
| ρ ρ
|( ρ ρ )α ( ρ ρ )α |
ΛΓ(γ ) || ∈1 −tk ∈ −t |
≤ Γ(γ +α) | ρ − 2 ρ k || .
Note that
|( )1−γ ( ρ ) |
| ρ ρ 1−γ |
| ∈1 − tkρ ∈ − t |
| (Q 2 z)(∈1 ) − 2 k
(Q 2 z)(∈2 )|| → 0 as ∈1 → ∈2 .
| ρ ρ
| |
This shows that Q 2 Bη is equicontinuous on J . Therefore, Q 2 Bη is relatively compact. By

PCγ -type Arzela-Ascoli Theorem, Q 2 is compact.
As a consequence of Theorem 2.50, we deduce that Ψ has at least a fixed point u ∗ ∈
PCγ ,ρ (J ), and by the same way of the proof of Theorem 4.3, we can easily show that
γ
u ∗ ∈ PCγ ,ρ (J ). Using Lemma 4.2, we conclude that the problem (4.1)–(4.3) has at least
γ
one solution in the space PCγ ,ρ (J ). ▢
Now we are concerned with the Ulam-Hyers-Rassias Stability of our problem (4.1)–(4.3). Let
u ∈ PCγ ,ρ (J ), ∈ > 0, τ > 0, and θ : J −→ [0, ∞) be a continuous function. We consider
the following inequality:
⎧ |( ) ( ( ) )|
⎪ | ρ α,β |
ρ D α,β u (t) | ≤ ∈θ (t), t ∈ J , k = 0, . . . , m,
⎪
⎪|| D u (t) − f t, u(t),
⎪
⎨
+
tk tk+ | k
|( ) ( ) | (4.24)
⎪
⎪ | |
⎪
⎪
⎩ || ρ J + u (tk+ ) − ρ J + u (tk− ) − L k (u(tk− ))|| ≤ ∈τ, k = 1, . . . , m.
1−γ 1−γ
tk t k−1
Definition 1 ([156]) Problem (4.1)–(4.3) is Ulam-Hyers-Rassias (U-H-R) stable with

respect to (θ, τ ) if there exists a real number a f ,m,θ > 0 such that for each ∈ > 0 and
for each solution u ∈ PCγ ,ρ (J ) of inequality (4.24) there exists a solution w ∈ PCγ ,ρ (J )
of (4.1)–(4.3) with
|u(t) − w(t)| ≤ ∈a f ,m,θ (θ (t) + τ ), t ∈ (a, b].
Remark 4.6 ([156]) A function u ∈ PCγ ,ρ (J ) is a solution of inequality (4.24) if and only
if there exist σ ∈ PCγ ,ρ (J ) and a sequence σk , k = 0, . . . , m such that
1. |σ
( (t)| ≤ ∈θ
) (t) and |σ
(k | ≤ ∈τ (
, t ∈ Jk , k)= 1,). . . , m;
ρ α,β α,β
2. Dt + u (t) = f t, u(t), ρ Dt + u (t) + σ (t), t ∈ Jk , k = 0, . . . , m;
( k
) ( ) k
ρ Jt + u (tk ) = Jt + u (tk− ) + L k (u(tk− )) + σk , k = 1, . . . , m.
+ ρ
1−γ 1−γ
3.
k k−1
Theorem 4.7 Assume that in addition to (4.3.1)–(4.3.3) and (4.19), the following hypoth-
esis holds:
(4.8.1) There exist a nondecreasing function θ ∈ PCγ ,ρ (J ) and λθ , λ̃θ > 0 such that for
each t ∈ (a, b], we have
(ρ Jaα+ θ )(t) ≤ λθ θ (t),
and
(ρ Ja + θ )(t) ≤ λ̃θ θ (t).
1−γ
Then Eq. (4.1) is U-H-R stable with respect to (θ, τ ).
Proof Consider the operator Ψ defined in (4.18). Let u ∈ PCγ ,ρ (J ) be a solution of inequal-
ity (4.24), and let us assume that w is the unique solution of the problem
⎧( ) ( ( ) )
⎪ D + w (t) = f t, w(t), D + w (t) ; t ∈ Jk , k = 0, . . . , m,
⎪
⎪
⎪
⎪ (
tk
) (
t
) k
⎪
⎪
⎨ ρ J 1−γ w (t + ) = ρ J 1−γ w (t − ) + L (w(t − )); k = 1, . . . , m,
t+ k +
tk−1 k k k
⎪ ( k ) ( )
⎪
⎪ ρ 1−γ + ρ 1−γ
c1 Ja + w (a ) + c2 Jt + w (b) = c3 ,
⎪
⎪
⎪
⎪ ( ) ( )
m
⎪
⎩ ρ J 1−γ w (a + ) = ρ J 1−γ u (a + ).
a+ a+

[( ) Σ Σ ( 1−γ +α ) ]
w(t) = ρ Ja + w (a + ) + L k (w(tk− )) + ρ
1−γ
J(t )+ h (tk )
k−1
a<tk <t a<tk <t
( )
ρ γ −1
1 t ρ − tk ( )
ρ
× + Jtα+ h (t), t ∈ Jk , k = 0, . . . , m,
Γ(γ ) ρ k
where h : J → R be a function satisfying the functional equation
h(t) = f (t, w(t), h(t)).
Since u is a solution of the inequality (4.24), by Remark 4.6, we have

⎧( ) ( ( ) )
⎪
⎪ ρ D α,β u (t) = f t, u(t), ρ D α,β u (t) + σ (t), t ∈ J , k = 0, . . . , m;
⎨ tk+ t+ k
( ) ( ) k (4.25)
⎪
⎪ ρ J 1−γ u (t + ) = ρ J 1−γ u (t − ) + L (u(t − )) + σ , k = 1, . . . , m.
⎩ t+ k t+ k k k k
k k−1

( ρ ρ )γ −1 [( ) Σ Σ
t −tk
u(t) = Γ(γ1
) ρ
ρ J 1−γ u (a + ) +
a+
L k (u(tk− )) + σk
a<tk <t ] a<tk <t
Σ ( ) Σ ( )
ρ 1−γ +α ρ 1−γ +α
+ J(t )+ g
(tk ) + (tk ) J(t )+ σ
k−1 k−1
( k <t
a<t ) ) a<tk <t
(
+ ρ Jtα+ g (t) + ρ Jtα+ σ (t) t ∈ Jk , k = 0, . . . , m,
k k
where g : J → R be a function satisfying the functional equation
g(t) = f (t, u(t), g(t)).

[Σ
m m (
Σ )
1−γ +α
|u(t) − w(t)| ≤ |L k (u(tk− )) − L k (w(tk− ))| + ρ
J(t + |σ (s)| (tk )
k−1 )
k=1 k=1
( ρ )γ −1
] t ρ −tk
m (
Σ ) Σ
m
ρ 1−γ +α ρ
+ J(t + |g(s) − h(s)| (tk ) + |σk |
k−1 ) Γ(γ )
k=1 k=1
( ) ( )
ρ
+ Jtα+ |g(s) − h(s)| (t) + ρ
Jtα+ |σ (s)| (t).
k k
Thus,
[ Σm
1
||u − w|| PCγ ,ρ ≤ m∈τ + (m λ̃θ + 1)∈λθ θ (t) + l ∗ |u(tk− ) − w(tk− )|
Γ(γ )
k=1
Σm ( ) ]
ρ 1−γ +α
+ J(t )+ |g(s) − h(s)| (tk )
k−1
k=1
( )1−γ
t ρ − tk
ρ ( )
ρ
+ Jtα+ |g(s) − h(s)| (t).
ρ k
By condition (4.3.2) and Lemma 2.19, for t ∈ J , we have

[ ]
1
||u − w|| PCγ ,ρ ≤ m∈τ + (m λ̃θ + 1)∈λθ θ (t) + ml ∗ p ∗ ||u − w|| PCγ ,ρ
Γ(γ )
[ ( ρ ρ
)α
mK tk − tk−1
+
(1 − M)Γ(1 + α) ρ
( )
ρ α]
K Γ(γ ) t ρ − tk
+ ||u − w|| PCγ ,ρ .
(1 − M)Γ(γ + α) ρ
Thus,
1 ( )
||u − w|| PCγ ,ρ ≤ m∈τ + (m λ̃θ + 1)∈λθ θ (t)
Γ(γ )
[ ∗ ∗ ( )( ρ ) ]
ml p K m Γ(γ ) b − aρ α
+ + +
Γ(γ ) 1 − M Γ(1 + α) Γ(γ + α) ρ
× ||u − w|| PCγ ,ρ .
Then by (4.19), we have

||u − w|| PCγ ,ρ ≤ aθ ∈(τ + θ (t)),
where
[
1 ml ∗ p ∗
aθ = (m + (m λ̃θ + 1)λθ ) 1 −
Γ(γ ) Γ(γ )
( )( ρ ) ]−1
K m Γ(γ ) b − aρ α
+ + .
1 − M Γ(1 + α) Γ(γ + α) ρ
Hence, Eq. (4.1) is U-H-R stable with respect to (θ, τ ). ▢
4.2.3 Examples
Example 4.8 Consider the following impulsive boundary value problem of generalized
Hilfer fractional differential equation
( ) √
1 1
,0 1 ln(e + t)
2 D 2 u (t) = ( | |) + √ , t ∈ J0 ∪ J1 ,
tk+ | 1 1 ,0 | e2 t − 1
97et+2 1 + |u(t)| + || 2 Dt2+ u(t)||
k
(4.26)
( ) ( )
1 1 1 1 |u(e− )|
2 Je2+ u (e+ ) − 2 J12+ u (e− ) = , (4.27)
3 + |u(e− )|
( 1
) ( 1
)
1 1
+
3 2 J u (1 ) − 2
2
1+
2 J u (3) = 0,
2
e+
(4.28)
where J0 = (1, e], J1 = (e, 3], t0 = 1, and t1 = e.

Set √
1 ln(e + t)
f (t, u, w) = + √ , t ∈ (1, 3], u, w ∈ R.
97et+2 (1 + |u| + |w|) e2 t − 1
We have
PCγβ(1−α)
,ρ ([1, 3]) = PC 01 , 1 ([1, 3])
2 2
( )
√ (√ √ ) 21
= g : (1, 3] → R : 2 t − tk g ∈ PC([1, 3]) ,
with γ = α = 21 , ρ = 21 , β = 0,, and k ∈ {0, 1}. Clearly, the continuous function f ∈

PC 01 1 ([1, 3]). Hence, the condition (4.3.1) is satisfied.
2,2
For each u, ū, w, w̄ ∈ R and t ∈ (1, 3] :
1
| f (t, u, w) − f (t, ū, w̄)| ≤ (|u − ū| + |w − w̄|)
97et+2
1
≤ (|u − ū| + |w − w̄|) .
97e3
Hence, condition (4.3.2) is satisfied with K = M = 97e1

3.
And let
u
L 1 (u) = , u ∈ [0, ∞).
3+u
Let u, w ∈ [0, ∞). Then we have
u w 3|u − w| 1
|L 1 (u) − L 1 (w)| = | − |= ≤ |u − w|,
3+u 3+w (3 + u)(3 + w) 3
and so the condition (4.3.3) is satisfied and l ∗ = 13 .

A simple computation shows that the condition (4.19) of Theorem 4.3 is satisfied for
√ √ 1 √ √ 1 ( )
3 2( 3−1) 2 2( 3−1) 2 √
L= √ 1
√ + 3 + (97e3 −1)
2
3 + π
2π( e−1) (97e3 −1)Γ( 2 ) Γ( 2 )
≈ 0.52720987569 < 1.
1
Then the problem (4.26)–(4.28) has a unique solution in PC 12 1 ([1, 3]).
2,2
Also, hypothesis (4.8.1) is satisfied with
2
θ (t) = e5 , τ = 1 and λθ = λ̃θ = .
Γ( 23 )
Indeed, for each t ∈ J0 ∪ J1 , we get

1 2e5
(ρ J12+ θ )(t) ≤
Γ( 23 )
= λθ θ (t) = λ̃θ θ (t).
Consequently, Theorem 4.7 implies that Eq. (4.26) is U-H-R stable.
Example 4.9 Consider the following impulsive initial value problem of generalized Hilfer
fractional differential equation
1
,0
( 1
) 3 + |u(t)| + |1 Dt2+ u(t)|
2 ,0
1
D tk+
u (t) = k
1
, for each t ∈ J0 ∪ J1 , (4.29)
,0
53e−t+4 (1 + |u(t)| + |1 Dt2+ u(t)|)
k
( ) ( 1 )
1 |u(e− )|
1
Je2+ u (e+ ) − 1 J12+ u (e− ) = , (4.30)
2 + |u(e− )|
( 1
)
1
J u (1+ ) = 0,
2
1+
(4.31)
where J0 = (1, e], J1 = (e, 3], t0 = 1 and t1 = e.

Set
3 + |u| + |w|
f (t, u, w) = , t ∈ (1, 3], u, w ∈ R.
53e−t+4 (1 + |u| + |w|)
We have
{ √ }
PCγβ(1−α)
,ρ ([1, 3]) = PC 01 ,1 ([1, 3]) = g : (1, 3] → R : ( t − tk )g ∈ PC([1, 3]) ,
2
with γ = α = 21 , ρ = 1, β = 0 and k ∈ {0, 1}.

Clearly, the continuous function f ∈ PC 01 ([1, 3]). Hence the condition (4.3.1) is satisfied.
2 ,1
For each u, w ∈ R and t ∈ (1, 3] :
1
| f (t, u, w)| ≤ (3 + |u| + |w|).
53e−t+4
Hence, condition (4.4.1) is satisfied with
p1 (t) = 3
53e−t+4
, p2 (t) = p3 (t) = 1
53e−t+4
,
and
p1∗ = 53e ,
3
p2∗ = p3∗ = 53e .
1
And let
u
L 1 (u) = , u ∈ [0, ∞).
2+u
Then we have
1
|L 1 (u)| ≤ |u| + 2,
2
and so the condition (4.4.2) is satisfied with Φ1 = 21 and Φ2 = 2.
The condition (4.20) of Theorem 4.4 is satisfied for
( ) ( )( ∗ ρ ρ α)
∗ mp2∗ (bρ −a ρ )α |ϑ1 | Γ(γ ) p2 (b −a )
(|ϑ1 | + 1) mΦ 1p
Γ(γ ) + ∗
(1− p3 )Γ(1+α)ρ α + Γ(1+α) + Γ(γ +α) (1− p3∗ )ρ α
( √ ) √
1 2 2π
= √ + +
2 2π (53e − 1)Γ( 2 )
3 53e −1
≈ 0.22814541069 ≤ 1.
1
Then the problem (4.29)–(4.31) has at least one solution in PC 12 ([1, 3]). Also, hypothesis
2 ,1
(4.8.1) is satisfied with
√
2Γ(2)
θ (t) = t − 1, τ = 1 and λθ = λ̃θ = .
Γ( 25 )
Indeed, for each t ∈ J0 ∪ J1 , we get

√
1 2Γ(2)
(ρ J12+ θ )(t) ≤ (t − 1)
Γ( 25 )
= λθ θ (t) = λ̃θ θ (t).
Consequently, by a simple change of the constants l ∗ , K , and M from hypothesis (4.3.1)

and (4.3.2) to Φ1 , p2∗ , and p3∗ from (4.4.1) and (4.4.2), Theorem 4.7 implies that Eq. (4.29)
is G.U-H-R stable.
Example 4.10 Consider the following impulsive anti-periodic boundary value problem of
generalized Hilfer fractional differential equation:
1
,0
( 1
) e2 + |u(t)| + |1 Dt2+ u(t)|
2 ,0
1
D tk+
u (t) = k
1
, t ∈ Jk ; k = 0, . . . , 4, (4.32)
,0
77e−t+2 (1 + |u(t)| + |1 Dt2+ u(t)|)
k
( ) ( )
1 1 |u(tk− )|
1
Jt +2 u (tk+ ) − 1
Jt 2 + u (tk− ) = ; k = 1, . . . , 4, (4.33)
k (k−1) 10k + |u(tk− )|
( 1 ) ( 1 )
J1+ u (1+ ) = − 1 J 92+ u (2),
1 2
(4.34)
5
where Jk = (tk , tk+1 ], tk = 1 + k

5 for k = 0, . . . , 4, m = 4, a = t0 = 1, and b = t5 = 2.
Set
e2 + |u| + |w|
f (t, u, w) = , t ∈ (1, 2], u, w ∈ R.
77e−t+2 (1 + |u| + |w|)
We have
{ √ }
PCγβ(1−α)
,ρ ([1, 2]) = PC 01 ,1 ([1, 2]) = g : (1, 2] → R : ( t − tk )g ∈ PC([1, 2]) ,
2
with γ = α = 21 , ρ = 1, β = 0, and k = 0, . . . , 4.
Clearly, the continuous function f ∈ PC 01 ([1, 2]). So, the condition (4.3.1) is satisfied.
2 ,1
For each u, w ∈ R and t ∈ (1, 2] :
1
| f (t, u, w)| ≤ (e2 + |u| + |w|).
77e−t+2
Hence, the condition (4.4.1) is satisfied with
e2
p1 (t) = 77e−t+2
, p2 (t) = p3 (t) = 1
77e−t+2
,
and
4.3 Existence and Ulam Stability Results … 103
e2
p1∗ = 77 , p2∗ = p3∗ = 77 .
1
And let
u
L k (u) = , k = 1, . . . , 4, u ∈ [0, ∞).
10k + u
Then we have
1
|L k (u)| ≤ |u| + 1, k = 1, . . . , 4,
10
and so the condition (4.4.2) is satisfied with Φ1 = 10 1
and Φ2 = 1.
( ) √
mΦ1 p∗ mp2∗ (bρ −a ρ )α p2∗ |ϑ1 |(bρ −a ρ )α 3 5 125
(|ϑ1 | + 1) Γ(γ ) + (1− p∗ )Γ(1+α)ρ α + (1− p∗ )Γ(1+α)ρ α = √ + < 1.
3 3 5 π 1463Γ( 23 )
1
Then the problem (4.32)–(4.34) has at least one solution in PC 12 ([1, 2]). Also, hypothesis
2 ,1
(4.8.1) is satisfied with
Γ(3)
θ (t) = (1 − t)2 , τ = 1 and λθ = λ̃θ = .
Γ( 27 )
Indeed, for each t ∈ Jk , k = 0, . . . , 4, we get

1 Γ(3)
(ρ J12+ θ )(t) ≤ (t − 1)2
Γ( 27 )
= λθ θ (t) = λ̃θ θ (t).
Same as Example 4.9, Theorem 4.7 implies that Eq. (4.32) is U-H-R stable.

Motivated by the works mentioned in the introduction of the current chapter, in this section,
we discuss the existence results to the boundary value problem with nonlinear implicit
generalized Hilfer-type fractional differential equation with instantaneous impulses:
( ) ( ( ) )
ρ α,β ρ α,β
Dt + u (t) = f t, u(t), Dt + u (t) ; t ∈ Jk , k = 0, · · · , m, (4.35)
k k
( ) ( )
ρ
Jt + u (tk+ ) = ρ Jt + u (tk− ) + ok (u(tk− )); k = 1, · · · , m,
1−γ 1−γ
(4.36)
k k−1
( ) ( )
ρ
Ja + u (a + ) + c2 ρ Jt + u (b) = c3 ,
1−γ 1−γ
c1 (4.37)
m
α,β
where ρ Dt + , ρ Jt +
1−γ
k k
respectively, c1 , c2 are reals with c1 + c2 / = 0, Jk := (tk , tk+1 ]; k = 0, · · · , m, a = t0 <
t1 < · · · < tm < tm+1 = b < ∞, u(tk+ ) = lim u(tk + ∈) and u(tk− ) = lim u(tk + ∈) rep-
∈→0+ ∈→0−
resent the right- and left-hand limits of u(t) at t = tk , c3 ∈ E, f : J × E × E → E is a given
function, and ok : E → E; k = 1, · · · , m are given continuous functions.

(
PCγ ,ρ (J ) = u : J → E : u(t) ∈ C(Jk , E); k = 0, · · · , m, and there exist
( ) )
− ρ 1−γ + −
u(tk ) and Jt + u (tk ); k = 0, · · · , m, with u(tk ) = u(tk ) ,
k
and
{ }
PCγn,ρ (J ) = u ∈ PC n−1 : u (n) ∈ PCγ ,ρ (J ) , n ∈ N,
PCγ0,ρ (J ) = PCγ ,ρ (J ),
with the norm

⎧ ||( )1−γ ||⎫
⎨ || ρ ||⎬
|| t − tkρ ||
||u|| PCγ ,ρ = max sup || || u(t) || .
||⎭
k=0,...,m ⎩t∈[tk ,tk+1 ] || ρ ||
We define the space

( )
γ
PCγγ,ρ (J ) = u ∈ PCγ ,ρ (J ), ρ Dt + u ∈ PCγ ,ρ (J ) , k = 0, . . . , m.
k
Lemma 4.11 ([75]) Let D ⊂ PCγ ,ρ (J ) be a bounded and equicontinuous set, then
⎛( ) ⎞
ρ 1−γ
t ρ − tk
μ PCγ ,ρ (D) = sup μ ⎝ D(t)⎠ ,
t∈[a,b] ρ
(( b ) ( b
a a
D(t) = {u(t) : t ∈ D}, t ∈ J .
By following the same results from the previous section, we have the following result.
Lemma 4.12 Let γ = α + β − αβ where 0 < α < 1 and 0 ≤ β ≤ 1, let f : J × E ×

E → E be a function such that f (·, u(·), w(·)) ∈ PCγ ,ρ (J ) for any u, w ∈ PCγ ,ρ (J ).
γ
If u ∈ PCγ ,ρ (J ), then u satisfies the problem (4.35)–(4.37) if and only if u is the fixed point
of the operator Ψ : PCγ ,ρ (J ) → PCγ ,ρ (J ) defined by
( )
ρ γ −1 [ m (
ρ 1−γ +α
Ψu(t) = ϑ2 − ϑ 1 oi (u(ti− )) − ϑ1 J(t )+ h (ti )
Γ(γ ) ρ i−1
i=1 i=1
( ) Σ Σ ( 1−γ +α ) ]
1−γ +α
− ϑ1 ρ Jt + h (b) + ok (u(tk− )) + ρ
J(t )+ h (tk )
m k−1
a<tk <t a<tk <t
( )
ρ
+ Jtα+ h (t) t ∈ Jk , k = 0, · · · , m, (4.38)
k
where h : J → R be a function satisfying the functional equation:
h(t) = f (t, u(t), h(t)).
(4.37) based on Mönch’s fixed point theorem.
Theorem 4.13 Assume that the hypotheses that follow are met.
(4.14.1) The function t | → f (t, u, w) is measurable and continuous on J for each u, w ∈ E,

and the functions u | → f (t, u, w) and w | → f (t, u, w) are continuous on E for a.e.
t ∈ J , and
f (·, u(·), w(·)) ∈ PC γβ(1−α)

,ρ for any u, w ∈ PCγ ,ρ (J ).
(4.14.2) There exists a continuous function p : [a, b] −→ [0, ∞) such that
|| f (t, u, w)|| ≤ p(t), for a.e. t ∈ J and for each u, w ∈ E.
(4.14.3) For each bounded set B ⊂ E and for each t ∈ (a, b], we have
( ρ
)1−γ
ρ α,β t ρ − tk
μ( f (t, B, ( Da + B))) ≤ p(t)μ(B),
ρ
α,β α,β
where ρ Da + B = {ρ Da + w : w ∈ B} and k = 1, · · · , m.
(4.14.4) The functions ok : E −→ E are continuous and there exists η∗ > 0 such that
||ok (u)|| ≤ η∗ ||u|| for each u ∈ E, k = 1, · · · , m.
(4.14.5) For each bounded set B ⊂ E and for each t ∈ J , we have

( ρ
)1−γ
∗ t ρ − tk
μ(ok (B)) ≤ η μ(B), k = 1, · · · , m.
ρ
If
( )( )1−γ +α
mη∗ bρ −a ρ
L := Γ(γ ) + p∗ 1
Γ(α+1) + m
Γ(γ )Γ(2−γ +α) ρ < 1, (4.39)
γ
where p ∗ = sup p(t), then the problem (4.35)–(4.37) has at least one solution in PCγ ,ρ (J ).
t∈[a,b]
Proof Consider the operator Ψ : PCγ ,ρ (J ) → PCγ ,ρ (J ) defined in (4.38) and the ball
B R := B(0, R) = {w ∈ PCγ ,ρ (J ) : ||w|| PCγ ,ρ ≤ R}.
For any u ∈ B R , and each t ∈ J we have
||( ||
|| t ρ −t ρ )1−γ ||
|| k
(Ψu)(t)||
|| ρ ||
[ Σ m Σm ( )
− ρ 1−γ +α
≤ Γ(γ ) ||ϑ2 || + |ϑ1 |
1
||oi (u(ti ))|| + |ϑ1 | J(t )+ ||h(s)|| (ti )
i−1
( i=1) Σ i=1
+α
+|ϑ1 | ρ Jt + ||ok (u(tk− ))||
1−γ
||h|| (b) +
m
a<tk <t
) ] (
Σ ( 1−γ +α
)
t ρ − tk
ρ 1−γ ( )
ρ ρ α
+ J(t )+ ||h(s)||
(tk ) + Jt + ||h(s)|| (t)
a<tk <t
k−1 ρ k
( ( ) )
||ϑ2 || |ϑ1 |+1 ∗ ∗ ρ 1−γ +α
≤ Γ(γ ) + Γ(γ ) ml R + mp J(t )+ (1) (ti )
( ) (i−1ρ ρ )1−γ ( )
|ϑ1 | p∗ ρ 1−γ +α t −tk ρ J α (1) (t).
+ Γ(γ ) Jt + (1) (b) + p ∗ ρ t+
m k

||( ||
|| t ρ −t ρ )1−γ ||
|| k
(Ψu)(t)||
|| ρ ||
( ( )1−γ +α )
ρ ρ
||ϑ2 || |ϑ1 |+1 mp∗ ti −ti−1
≤ Γ(γ ) + Γ(γ ) ml ∗ R + Γ(2−γ +α) ρ
( )1−γ +α ( ρ )1−γ +α
|ϑ1 | p ∗ ρ
bρ −tm p∗ t ρ −tk
+ Γ(γ )Γ(2−γ +α) ρ + Γ(α+1) ρ .
Hence, for any u ∈ PCγ ,ρ (J ), and each t ∈ (a, b] we get

[ ( ρ ρ )1−γ +α ]
||ϑ2 || |ϑ1 |+1 mp∗
||(Ψu)|| PCγ ,ρ ≤ Γ(γ ) + Γ(γ ) ml R + Γ(2−γ +α) b −a
∗
ρ
( ) ( ρ ρ )1−γ +α
|ϑ1 | p∗ p∗
+ Γ(γ )Γ(2−γ +α) + Γ(α+1) b −a ρ
≤ R.
This proves that Ψ transforms the ball B R into itself. We shall show that the operator
Ψ : B R → B R satisfies all the assumptions of Theorem 2.49. The proof will be given in
several steps.
Step 1: Ψ : B R → B R is continuous.
Let {u n } be a sequence such that u n → u in PCγ ,ρ (J ).
Then for each t ∈ (a, b], we have
|| ( ) ||
|| ρ ρ 1−γ ||
|| ||
||((Ψu n )(t) − (Ψu)(t)) t − tk ||
|| ρ ||
|| ||
[ Σ
m ( )
1−γ +α
≤ |ϑ1 | ||oi (u n (ti− )) − oi (u(ti− ))|| + |ϑ1 | ρ
Jt + ||h n (s) − h(s)|| (b)
m
i=1
Σm ( ) Σ
1−γ +α
+ |ϑ1 | ρ
J(t + ||h n (s) − h(s)|| (ti ) + ||ok (u n (tk− )) − ok (u(tk− ))||
i−1 )
i=1 a<tk <t
Σ ( ) ]
ρ 1−γ +α 1
+ J(t + ||h n (s) − h(s)|| (tk )
k−1 ) Γ(γ )
a<tk <t
( )1−γ
t ρ − tk
ρ ( )
ρ
+ Jtα+ ||h n (s) − h(s)|| (t),
ρ k
where h n , h ∈ PCγ ,ρ such that
h n (t) = f (t, u n (t), h n (t)),

h(t) = f (t, u(t), h(t)).
Since u n → u, then we get h n (t) → h(t) as n → ∞ for each t ∈ J , and by the Lebesgue
dominated convergence theorem, we have
||Ψu n − Ψu|| PCγ ,ρ → 0 as n → ∞.
Step 2: Ψ(B R ) is bounded and equicontinuous.

Since Ψ(B R ) ⊂ B R and B R is bounded, then Ψ(B R ) is bounded.
Next, let ∈1 , ∈2 ∈ J , ∈1 < ∈2 , and let u ∈ B R . Then
||( ρ ρ )1−γ ( ρ ρ )1−γ ||

|| ∈ −t ∈2 −tk ||
|| 1 k (Ψu)(∈1 ) − (Ψu)(∈2 )||
|| ρ ρ ||
[ Σ Σ ( 1−γ +α ) ]
− ρ
≤ Γ(γ
1
) ||o k (u(t k ))|| + J(tk−1 ) + ||h(s)|| (t k )
∈1 <t|k <∈2 ∈1 <tk <∈2 |
( )
| ∈ ρ −t ρ 1−γ +α ( )
∈2 −tk 1−γ +α ||
ρ ρ
p∗ | 1 k
+ Γ(α+1) | ρ − ρ |.
As ∈1 → ∈2 , the right-hand side of the above inequality tends to zero. Hence, Ψ(B R ) is

Now let D be an equicontinuous subset of B R such that D ⊂ Ψ(D) ∪ {0}; therefore, the
function t −→ d(t) = μ(D(t)) is continuous on J . By (4.14.3), (4.14.5), and the properties
of the measure μ, for each t ∈ J , we have
( ) ⎛( ) ⎞
ρ 1−γ ρ 1−γ
t ρ − tk t ρ − tk
d(t) ≤ μ ⎝ (Ψ D)(t) ∪ {0}⎠
ρ ρ
⎛( ) ⎞
ρ ρ 1−γ
t − tk
≤ μ⎝ (Ψ D)(t)⎠
ρ
[ Σ ( )
ρ 1−γ
ρ
1 ∗ t − tk
≤ η μ(D(t))
Γ(γ ) a<t <t ρ
k
⎛ ( ) ⎞
Σ ρ − t ρ 1−γ ]
+α s
+ ⎝ ρ 1−γ
J(t )+ k ⎠
p(s)μ(D(s)) (tk )
a<tk <t
k−1 ρ
( ) ⎛ ( ) ⎞
ρ ρ 1−γ ρ ρ 1−γ
t − tk s − tk
+ ⎝ρ J α+ p(s)μ(D(s))⎠ (t)
ρ tk ρ
⎛ ( ) ⎞
( ρ ρ )1−γ ρ − t ρ 1−γ
b −a ⎝ρ J α+
s
≤ p∗ k
d(s)⎠ (t)
ρ a ρ
⎡ ( ) ⎤
ρ 1−γ
mη∗ ||d|| PCγ ,ρ mp ∗ ⎣ρ 1−γ +α s ρ − tk
+ + Ja + d(s)⎦ (t)
Γ(γ ) Γ(γ ) ρ
[ )(
mη∗ p∗ bρ − a ρ 1−γ +α
≤ +
Γ(γ ) Γ(α + 1) ρ
( ρ ) ]
mp ∗ b − a ρ 1−γ +α
+ ||d|| PCγ ,ρ .
Γ(γ )Γ(2 − γ + α) ρ
Thus
||d|| PCγ ,ρ ≤ L||d|| PCγ ,ρ .
From (4.39), we get ||d|| PCγ ,ρ = 0, that is d(t) = μ(D(t)) = 0, for each t ∈ Jk , k =
0, · · · , m, and then D(t) is relatively compact in E. In view of the Ascoli-Arzela theo-
rem, D is relatively compact in B R . Applying now Theorem 2.49, we conclude that Ψ has
a fixed point u ∗ ∈ PCγ ,ρ (J ), which is solution of the problem (4.35)–(4.37).
γ
Since u ∗ is the unique fixed point of operator Ψ in PCγ ,ρ (J ), then for each t ∈ Jk , with
k = 0, · · · , m, we have
( )
ρ γ −1 [ m (
ρ 1−γ +α
∗
u (t) = ϑ2 − ϑ 1 oi (u(ti− )) − ϑ1 J(t )+ h (ti )
Γ(γ ) ρ i−1
i=1 i=1
( ) Σ Σ ( 1−γ +α ) ]
1−γ +α
− ϑ1 ρ Jt + h (b) + ok (u(tk− )) + ρ
J(t )+ h (tk )
m k−1
a<tk <t a<tk <t
( )
ρ
+ Jtα+ h (t),
k
where h ∈ PCγ ,ρ (J ) such that
h(t) = f (t, u ∗ (t), h(t)).

γ
Applying ρ Dt + to both sides and by Lemmas 2.19 and 2.33, we have
k
( )
ρ D γ u ∗ (t) = ρ Dγ ρ J αf (s, u ∗ (s), h(s)) (t)
tk+ tk+ tk+
( )
β(1−α)
= ρ Dt + f (s, u ∗ (s), h(s)) (t).
k
γ
Since γ ≥ α, by (4.14.1), the right-hand side is in PCγ ,ρ (J ) and thus ρ Dt + u ∗ ∈ PCγ ,ρ (J )
k
γ
which implies that u ∗ ∈ PCγ ,ρ (J ). As a consequence of Steps 1 to 4 together with The-
orem 4.13, we can conclude that the problem (4.35)–(4.37) has at least one solution in
γ
PCγ ,ρ (J ). ▢
Our second existence result for the problem (4.35)–(4.37) is based on Darbo’s fixed point
theorem.
Theorem 4.14 Assume (4.14.1)–(4.14.5) and (4.39) hold. Then the problem (4.35)–(4.37)
γ
has at least one solution in PCγ ,ρ (J ).
Proof Consider the operator Ψ defined in (4.38). We know that Ψ : B R −→ B R is bounded

and continuous and that Ψ(B R ) is equicontinuous, we need to prove that the operator Ψ is
a L-contraction.
(( ρ)
) (( ρ)
)
t ρ −tk 1−γ t ρ −tk 1−γ
μ ρ (Ψ D)(t) = μ ρ (Ψu)(t) : u ∈ D
⎛ ( ) ⎞
[ Σ ( ρ ρ 1−γ )
t − t
≤ Γ(γ1
) η∗ μ ⎝ k
u(t), u ∈ D ⎠
a<tk <t
ρ
⎧⎛ ⎛( ) ⎞⎞ ⎫
Σ ⎨ ρ ρ 1−γ ⎬]
⎝ ρ 1−γ +α ∗ ⎝ s − tk ⎠ ⎠
+ J(t )+ p μ u(s) (tk ), u ∈ D
⎩ k−1 ρ ⎭
a<tk <t
⎧⎛ ⎛( ) ⎞⎞ ⎫
( ρ ρ )1−γ ⎨ ρ ρ 1−γ ⎬
b −a s − tk
+ ⎝ρ J α+ p ∗ μ ⎝ u(s) ⎠⎠ (t), u ∈ D .
ρ ⎩ tk ρ ⎭

[ ( )
mη∗ p∗ mp ∗
μ PCγ ,ρ (Ψ D) ≤ + +
Γ(γ ) Γ(α + 1) Γ(γ )Γ(2 − γ + α)
( ρ ) ]
b − a ρ 1−γ +α
× μ PCγ ,ρ (D).
ρ
Therefore,
μ PCγ ,ρ (Ψ D) ≤ Lμ PCγ ,ρ (D).
So, by (4.39), the operator Ψ is a L-contraction.
As a consequence of Theorem 2.48 and using Step 4 of the last result, we deduce that Ψ has
a fixed point which is a solution of the problem (4.35)–(4.37). ▢
4.3.2 Ulam-Type Stability
Now, we consider the Ulam stability for problem (4.35)–(4.37). Let u ∈ PCγ ,ρ (J ), ∈ > 0,
τ > 0, and θ : J −→ [0, ∞) be a continuous function. We consider the following inequality:
⎧ ||( ) ( ( ) )||
⎪ || ||
⎪ || ρ Dα,β
⎪ u (t) − f t, u(t), ρ D α,β u (t) || ≤ ∈θ (t), t ∈ J , k = 0, . . . , m,
⎪
⎨ || t +
k t +
k
|| k
⎪ ||( ) ( ) ||
⎪
⎪ || ρ 1−γ ||
⎪
⎩ || J u (t +
) − ρ J 1−γ u (t − ) − o (u(t − ))|| ≤ ∈τ, k = 1, . . . , m.
|| t+k
k t+k−1
k k k ||
(4.40)
Definition 2 ([156]) Problem (4.35)–(4.37) is Ulam-Hyers-Rassias (U-H-R) stable with

respect to (θ, τ ) if there exists a real number a f ,m,θ > 0 such that for each ∈ > 0 and for
each solution u ∈ PCγ ,ρ (J ) of inequality (4.40) there exists a solution w ∈ PCγ ,ρ (J ) of
(4.35)–(4.37) with
||u(t) − w(t)|| ≤ ∈a f ,m,θ (θ (t) + τ ), t ∈ J.
Remark 4.15 ([156]) A function u ∈ PCγ ,ρ (J ) is a solution of inequality (4.40) if and

only if there exist σ ∈ PCγ ,ρ (J ) and a sequence σk , k = 0, . . . , m such that
1. ||σ
( (t)|| ≤)∈θ (t) and(||σk || ≤ ∈τ
( , t ∈ Jk)
, k =)1, . . . , m;
α,β α,β
2. ρ Dt + u (t) = f t, u(t), ρ Dt + u (t) + σ (t), t ∈ Jk , k = 0, . . . , m;
( k
) ( ) k
3. ρ Jt + u (tk+ ) = ρ Jt + u (tk− ) + ok (u(tk− )) + σk , k = 1, . . . , m.
1−γ 1−γ
k k−1
hypothesis hold.
(4.18.1) There exist a nondecreasing function θ ∈ PCγ ,ρ (J ) and λθ > 0 such that for each
t ∈ J , we have
(ρ Jaα+ θ )(t) ≤ λθ θ (t).
(4.18.1) There exists a continuous function χ : [a, b] −→ [0, ∞) such that for each t ∈
Jk ; k = 0, . . . , m, we have
p(t) ≤ χ(t)θ (t).
Then Eq. (4.35) is U-H-R stable with respect to (θ, τ ).
Set χ ∗ = sup χ (t).

t∈[a,b]
⎧( ) ( ( ) )
⎪ D + w (t) = f t, w(t), D + w (t) ; t ∈ Jk , k = 0, . . . , m,
⎪
⎪
⎪
⎪ (
tk
) ( ) k
t
⎪
⎪
⎪
⎨ ρ J 1−γ w (tk+ ) = ρ Jt + w (tk− ) + ok (w(tk− )); k = 1, . . . , m,
1−γ
t+
( k ) (k−1 )
⎪
⎪ ρ J 1−γ w (a + ) + c ρ J 1−γ w (b) = c ,
⎪
⎪ c 1 a+ 2 tm+ 3
⎪
⎪ ( ) ( )
⎪
⎪
⎪
⎩ ρ J 1−γ w (tk+ ) = ρ Jt + u (tk+ ); k = 0, . . . , m.
1−γ
t+k k
By Lemma 2.38, we obtain for each t ∈ (a, b]

( )
ρ J 1−γ w (t + ) ( )
ρ γ −1 ( )
tk+ k t ρ − tk
w(t) = + ρ Jtα+ h (t) t ∈ Jk , k = 0, . . . , m,
Γ(γ ) ρ k
where h : (a, b] → E be a function satisfying the functional equation
h(t) = f (t, w(t), h(t)).

⎧( ) ( ( ) )
⎪
⎪ ρ D α,β u (t) = f t, u(t), ρ D α,β u (t) + σ (t), t ∈ J , k = 0, . . . , m;
⎨ tk+ t+ k
( ) ( ) k (4.41)
⎪
⎪
⎩ ρ Jt + u (tk+ ) = ρ Jt + u (tk− ) + ok (u(tk− )) + σk , k = 1, . . . , m.
1−γ 1−γ
k k−1

( )
ρ γ −1 [(
1 t ρ − tk ) Σ Σ
u(t) = ρ 1−γ
Ja + u (a + ) + ok (u(tk− )) + σk
Γ(γ ) ρ a<tk <t a<tk <t
Σ ( 1−γ +α ) Σ ( 1−γ +α ) ]
ρ ρ
+ J(t )+ g (tk ) + J(t )+ σ (tk )
k−1 k−1
( k <t )
a<t ( ) a<tk <t
+ ρ Jtα+ g (t) + ρ Jtα+ σ (t) t ∈ Jk , k = 0, . . . , m,
k k
where g : (a, b] → E be a function satisfying the functional equation
g(t) = f (t, u(t), g(t)).
We have for each t ∈ Jk , k = 0, . . . , m,

( ) ( ) Σ Σ
ρ J 1−γ u (t + ) = ρ J 1−γ u (a + ) + o (u(t −
)) + σk
+ k a + k k
tk
( )
a<t k <t ( a<tk <t )
Σ Σ
ρ 1−γ +α ρ 1−γ +α
+ J(t )+ g (tk ) + J(t )+ σ (tk ).
k−1 k−1
a<tk <t a<tk <t

( ) ( )
||u(t) − w(t)|| ≤ ρ Jtα+ |g(s) − h(s)| (t) + ρ Jtα+ |σ (s)| (t).
k k
Thus, (ρ ) ( )
||u(t) − w(t)|| ≤ Jaα+ ||g(s) − h(s)|| (t) + ρ Jaα+ ||σ (s)||
( t ( ρ )
t − s ρ α−1 2χ(t)θ (t)
≤ ∈λθ θ (t) + s ρ−1 ds
a ( ) ρ Γ(γ )
≤ ∈λθ θ (t) + 2χ ∗ ρ Jaα+ θ (t)
≤ (∈ + 2χ ∗ )λθ θ (t)
2χ ∗
≤ (1 + )λθ ∈(τ + θ (t))
∈
≤ aθ ∈(τ + θ (t)),
2χ ∗
where aθ = (1 + ∈ )λθ . Hence, Eq. (4.35) is U-H-R stable with respect to (θ, τ ). ▢
4.3.3 Examples
Let ( ∞
)
Σ
E = l = u = (u 1 , u 2 , · · · , u n , · · · ),
1
|u n | < ∞
n=1
∞
Σ
||u|| = |u n |.
n=1
Example 4.17 Consider the following impulsive boundary value problem of generalized
Hilfer fractional differential equation
( 1 )
1 2 ,0 3t 2 − 20
Dt + u n (t) = 1
, t ∈ Jk , k = 0, · · · , 9,
,0
k
213e−t+3 (1 + |u n (t)| + |1 Dt2+ u n (t)|)
k
(4.42)
( ) ( 1 )
1 |u n (tk− )|
1
Jt +2 u n (tk+ ) − 1 Jt 2 u
+ n (tk− ) = , k = 1, · · · , 9, (4.43)
k (k−1) 10(k + 3) + |u n (tk− )|
( 1
) ( 1 )
1
J12+ u n (1+ ) + 2 1 J 92+ u n (3) = 0, (4.44)
5
k
where Jk = (tk , tk+1 ], tk = 1 + for k = 0, · · · , 9, m = 9, a = t0 = 1, and b = t10 = 3.
5
Set
3t 2 − 20
f (t, u, w) = −t+3
, t ∈ (1, 3], u, w ∈ E.
213e (1 + ||u|| + ||w||)
We have
{ √ }
PCγβ(1−α)
,ρ ([1, 3]) = PC 01 ,1 ([1, 3]) = g : (1, 3] → R : ( t − tk )g ∈ PC([1, 3]) ,
2
with γ = α = 21 , ρ = 1, β = 0, and k = 0, · · · , 9. Clearly, the continuous function f ∈

PC 01 ([1, 2]).
2 ,1
Hence, the condition (4.14.1) is satisfied.
For each u, w ∈ E and t ∈ (1, 3] :
3t 2 − 20
|| f (t, u, w)|| ≤ .
213e−t+3
7
Hence, condition (4.14.2) is satisfied with p ∗ = .
213
And let
||u||
ok (u) = , k = 1, · · · , 9, u ∈ E.
10(k + 3) + ||u||
Let u ∈ E. Then we have
1
||ok (u)|| ≤ ||u||, k = 1, · · · , 9,
40
1
and so the condition (4.14.4) is satisfied with η∗ = .
40
( )( ρ )
mη∗ p∗ mp ∗ b − a ρ 1−γ +α
L := + +
Γ(γ ) Γ(α
( + 1) Γ(γ )Γ(2 − γ )+ α) ρ
9 17 63
= √ +2 √ + √
40 π 213 π 213Γ(2) π
≈ 0.55074703829 < 1.
1
Then the problem (4.42)–(4.44) has at least one solution in PC 12 ([1, 3]).
2 ,1
Example 4.18 Let the following impulsive anti-periodic boundary value problem
( )
1 1
,0 (3t 3 + 5e−3 )|u n (t)|
2 D 2 un (t) = , for each t ∈ J0 ∪ J1 , (4.45)
+ 1
tk 1 ,0
144e−t+e (1 + ||u(t)|| + || 2 Dt2+ u(t)||)
k
( ) ( )
1 1 1 1 |u n (2− )|
2 J22+ u n (2+ ) − 2 J12+ u n (2− ) = , (4.46)
77e−t+4 + 2
( 1
) ( 1
)
1 1
2 J 2 u (1+ ) = − 2 J 2 u (e), (4.47)
1+ 2+
where J0 = (1, 2], J1 = (2, e], t1 = 2, m = 1, a = t0 = 1, and b = t2 = e.

Set
(3t 3 + 5e−3 )||u||
f (t, u, w) = , t ∈ (1, e], u, w ∈ E.
144e−t+e (1 + ||u|| + ||w||)
We have
PCγβ(1−α)
,ρ ([1, 2]) = PC 01 , 1 ([1, e])
( 2 2 )
√ √ √ 1
= g : (1, e] → E : 2( t − tk ) 2 g ∈ C([1, e]) ,
with γ = α = 21 , ρ = 21 , β = 0, and k ∈ {0, 1}. Clearly, the continuous function f ∈

PC 01 1 ([1, e]) .
2,2
For each u, w ∈ E and t ∈ (1, e] :
(3t 3 + 5e−3 )
|| f (t, u, w)|| ≤ .
144e−t+e
(3t 3 + 5e−3 )
p(t) = ,
144e−t+e
and
(3e3 + 5e−3 )
p∗ = .
144
And let
||u||
o1 (u) = , u ∈ E.
77e−t+4 + 2
Let u ∈ E. Then we have
1
||ok (u)|| ≤ ||u||,
77e−t+4 + 2
1
and so the condition (4.14.4) is satisfied with η∗ = .
77e4−e + 2

( )( ρ )
mη∗ p∗ mp ∗ b − a ρ 1−γ +α
L := + +
Γ(γ ) Γ(α + 1) Γ(γ )Γ(2(− γ + α) ρ )
1 √ 6e3 + 10e−3 3e3 + 5e−3
= √ + (2 e − 2) √ + √
(77e4−e + 2) π 144 π 144 π Γ(2)
≈ 0.92473323802 < 1.
1
Then the problem (4.45)–(4.47) has at least one solution in PC 12 1 ([1, e]). Also, hypothesis
2,2
(4.18.1) is satisfied with τ = 1, θ (t) = e3 , and λθ = 3. Indeed, for each t ∈ (1, e], we get
1 1 2e3
( 2 J12+ θ )(t) ≤ ≤ λθ θ (t).
Γ( 23 )
Let the function χ : [1, e] −→ [0, ∞) be defined by
(3e−3 t 3 + 5e−6 )
χ (t) = ,
144e−t+e
then, for each t ∈ (1, e], we have
p(t) = χ (t)θ (t),
with χ ∗ = p∗ e−3 . Hence, the condition (4.18.2) is satisfied. Consequently, Theorem 4.16
implies that Eq. (4.45) is U-H-R stable.
The results of this chapter are taken from the papers of Salim et al. [125, 133]. The mono-
graphs [7, 8, 14, 27, 43, 81, 98, 115, 151, 159, 160], and the papers [17, 19, 34, 48, 49, 83,
84, 88, 132] provide more important conclusions and analyses about the subject.
Fractional Differential Equations
with Non-Instantaneous Impulses
5
The present chapter deals with some existence, uniqueness, and Ulam stability results for
a class of initial and boundary value problems for nonlinear implicit fractional differential
equations with non-instantaneous impulses and generalized Hilfer-type fractional derivative.
The tools employed are some suitable fixed point theorems combined with the technique
of measure of noncompactness. We provide illustrations to demonstrate the applicability of
our results for each section.
The outcome of our study in this chapter can be considered as a partial continuation of
the problems raised recently in the following:
• The monographs of Abbas et al. [7, 8, 14], Ahmad et al. [25], and Baleanu et al. [43], and
the papers of Ahmed et al. [28], which deal with various linear and nonlinear initial and
boundary value problems for fractional differential equations involving different kinds
of fractional derivatives.
• The monographs of Abbas et al. [7], Agarwal et al. [24], Benchohra et al. [50], and
Stamova et al. [150], and the papers of Abbas et al. [1–6, 8, 15], Bai et al. [39], Hernández
et al. [78], Kong et al. [87], and Wang et al. [155, 157], where the authors investigated
the class of problems for fractional differential equations with impulsive conditions, and
the books [69, 154], where different topics on the qualitative properties of solutions are
considered.
• The monographs of Abbas et al. [7, 13], and the papers of Abbas et al. [10, 12] and
Benchohra et al. [51, 52]; in it, considerable attention has been given to the study of the
Ulam-Hyers and Ulam-Hyers-Rassias stability of various classes of functional equations.
https://doi.org/10.1007/978-3-031-26928-8_5
118 5 Fractional Differential Equations with Non-Instantaneous Impulses
5.2 Initial Value Problem for Nonlinear Implicit Generalized

Hilfer-Type Fractional Differential Equations
In this section, we establish existence results to the initial value problem with nonlin-
ear implicit generalized Hilfer-type fractional differential equation with non-instantaneous
impulses:
( ) ( ( ) )
ρ α,β α,β
Ds + u (t) = f t, u(t), ρ Ds + u (t) ; t ∈ Ik , k = 0, . . . , m, (5.1)
k k
u(t) = gk (t, u(t)); t ∈ I˜k , k = 1, . . . , m, (5.2)
( )
ρ
Ja + u (a + ) = φ0 ,
1−γ
(5.3)
α,β
where ρ Ds + , ρ J 1−γ
a+
k
αβ), respectively, φ0 ∈ R , Ik := (sk , tk+1 ]; k = 0, . . . , m, I˜k := (tk , sk ]; k = 1, . . . , m, a =
t0 = s0 < t1 ≤ s1 < t2 ≤ s2 < · · · ≤ sm−1 < tm ≤ sm < tm+1 = b < ∞, u(tk+ ) =
lim u(tk + ∈) and u(tk− ) = lim u(tk + ∈) represent the right- and left-hand limits of u(t)
∈→0+ ∈→0−
at t = tk , f : J × R × R → R is a given ˜
) and gk : Ik × R → R; k = 1, . . . , m are
( function,
|
given continuous functions such that ρ Js + gk (t, u(t)) |t=sk = φk ∈ R .
1−γ
k
Consider the Banach space

(
PCγ ,ρ (J ) = u : J → R : u ∈ Cγ ,ρ (Ik , R); k = 0, . . . , m, and
u ∈ C( I˜k , R); k = 1, . . . , m, and there exist u(tk− ), u(tk+ ),

)
− + −
u(sk ), and u(sk ) with u(tk ) = u(tk ) ,
and
{ }
PCγn,ρ (J ) = u ∈ PC n−1 (J ) : u (n) ∈ PCγ ,ρ (J ) , n ∈ N,
PCγ0,ρ (J ) = PCγ ,ρ (J ),
5.2 Initial Value Problem for Nonlinear Implicit Generalized … 119
with the norm
||u|| PCγ ,ρ
⎧ ⎧ |( )1−γ |⎫ ( )⎫
⎨ ⎨ | ρ |⎬ ⎬
| t − skρ |
= max max sup || u(t)|| , max sup |u(t)| .
⎩k=0,...,m ⎩t∈[sk ,tk+1 ] | ρ |⎭ k=1,...,m t∈[tk ,sk ] ⎭
We define the space

(
PCγγ,ρ (J ) = u : J → R : u ∈ Cγγ,ρ (Ik , R); k = 0, . . . , m, and
u ∈ C( I˜k , R); k = 1, . . . , m, and there exist u(tk− ), u(tk+ ),

)
u(sk− ), and u(sk+ ) with u(tk− ) = u(tk ) .

( )
ρ α,β
Ds + u (t) = ψ(t), t ∈ Ik , k = 0, . . . , m, (5.4)
k
u(t) = gk (t, u(t)); t ∈ I˜k , k = 1, . . . , m, (5.5)
and ( )
ρ
Ja + u (a + ) = φ0 ,
1−γ
(5.6)
where γ = α + β − αβ, φ0 ∈ R, and φ ∗ = max{|φk | : k = 0, . . . , m}. The following the-

orem shows that the problem (5.4)–(5.6) has a unique solution given by
⎧ ( )
ρ γ −1
⎪ φ t ρ − sk ( )
⎪
⎪ + ρ Jsα+ ψ (t)
k
⎨ i f t ∈ Ik , k = 0, . . . , m,
Γ(γ ) ρ
u(t) = k
(5.7)
⎪
⎪
⎪
⎩
u(t) = gk (t, u(t)) i f t ∈ I˜k , k = 1, . . . , m.
Theorem 5.1 Let γ = α + β − αβ, where 0 < α < 1 and 0 ≤ β ≤ 1. If ψ : Ik → R; k =

γ
0, . . . , m, is a function such that ψ(·) ∈ Cγ ,ρ (Ik ), then u ∈ PCγ ,ρ (J ) satisfies the problem
(5.4)–(5.6) if and only if it satisfies (5.7).
Proof Assume u satisfies (5.4)–(5.6). If t ∈ I0 , then

( )
ρ α,β
Da + u (t) = ψ(t).

( )
ρ J 1−γ u
a+
(a) ( t ρ − a ρ )γ −1 1
( t( ρ )
t − s ρ α−1 ρ−1
u(t) = + s ψ(s)ds.
If t ∈ I˜1 , then we have u(t) = g1 (t, u(t)).

If t ∈ I1 , then Lemma 2.38 implies
( )
ρ J 1−γ u (s ) (
ρ )γ −1 ( t( ρ )
s1+ t ρ − s1 t − s ρ α−1 ρ−1
1
1
u(t) = + s ψ(s)ds
Γ(γ ) ρ Γ(α) s1 ρ
( ρ ρ )γ −1 ( )
φ1 t − s1
= + ρ Jsα+ ψ (t).
Γ(γ ) ρ 1
If t ∈ I˜2 , then we have u(t) = g2 (t, u(t)).

If t ∈ I2 , then Lemma 2.38 implies
( )
ρ J 1−γ u (s ) (
ρ )γ −1 ( t( ρ )
+
t ρ − s2 t − s ρ α−1 ρ−1
2
s2 1
u(t) = + s ψ(s)ds
Γ(γ ) ρ Γ(α) s2 ρ
( ρ ρ )γ −1 ( )
φ2 t − s2
= + ρ Jsα+ ψ (t).
Γ(γ ) ρ 2
Repeating the process in this way, the solution u(t) for t ∈ J can be written as
⎧ ( )
ρ γ −1
⎪ φ t ρ − sk ( )
⎪
⎪ + ρ Jsα+ ψ (t)
k
⎨ i f t ∈ Ik , k = 0, . . . , m,
Γ(γ ) ρ
u(t) = k
⎪
⎪
⎪
⎩
u(t) = gk (t, u(t)) i f t ∈ I˜k , k = 1, . . . , m.
Reciprocally, for t ∈ I0 , applying ρ Ja + on both sides of (5.7) and using Lemma 2.19
1−γ
and Theorem 2.14, we get

( ) ( )
ρ 1−γ 1−γ +α
Ja + u (t) = φ0 + ρ Ja + ψ (t). (5.8)
we obtain
( )
ρ J 1−γ u (a + ) = φ , (5.9)
a + 0
( )
which shows that the initial condition ρ J 1−γ u (a + ) = φ0 is satisfied. Next, for t ∈
a+
Ik ; k = 0, . . . , m, apply operator ρ Dγ on both sides of (5.7). Then, from Lemmas 2.19
sk+
and 2.33, we obtain
( )
ρ γ ρ β(1−α)
( Ds + u)(t) = Ds + ψ (t). (5.10)
k k
γ γ γ
Since u ∈ Cγ ,ρ (Ik ) and by definition of Cγ ,ρ (Ik ), we have ρ Ds + u ∈ Cγ ,ρ (Ik ), then (5.10)
k
implies that
( ) ( )
ρ γ ρ 1−β(1−α) ρ β(1−α)
( Ds + u)(t) = δρ Js + ψ (t) = Ds + ψ (t) ∈ Cγ ,ρ (Ik ). (5.11)
k k k
As ψ(·) ∈ Cγ ,ρ (Ik ) and from Lemma 2.23, follows

( )
ρ 1−β(1−α)
Js + ψ ∈ Cγ ,ρ (Ik ), k = 0, . . . , m. (5.12)
k
From (5.11), (5.12), and by the definition of the space Cγn,ρ (Ik ), we obtain
( )
ρ 1−β(1−α)
Js + ψ ∈ Cγ1,ρ (Ik ), k = 0, . . . , m.
k
β(1−α)
Applying operator ρ Js + on both sides of (5.10) and using Lemmas 2.32 and 2.24 and
k
( ) ( )
ρ α,β ρ β(1−α) γ
ρ
Ds + u (t) = Js + Ds + u (t)
k k k
( )
ρ J 1−β(1−α) ψ (s ) ( )β(1−α)−1
ρ
s+ k
k
t ρ − sk
= ψ(t) −
Γ(β(1 − α)) ρ
= ψ(t),
that is, (5.4) holds.

Also, we can easily show that
u(t) = gk (t, u(tk− )); t ∈ I˜k , k = 1, . . . , m.
This completes the proof. ⎕
Lemma 5.2 Let γ = α + β − αβ where 0 < α < 1 and 0 ≤ β ≤ 1, and k = 0, . . . , m, let

f : J × R × R → R be a function such that f (·, u(·), w(·)) ∈ Cγ ,ρ (Ik ), for any u, w ∈
γ
PCγ ,ρ (J ). If u ∈ PCγ ,ρ (J ), then u satisfies the problem (5.1)–(5.3) if and only if u is the
fixed point of the operator Ψ : PCγ ,ρ (J ) → PCγ ,ρ (J ) defined by
⎧ ( )
ρ γ −1
⎪ φ t ρ − sk ( )
⎪
⎪ + ρ Jsα+ h (t) i f t ∈ Ik , k = 0, . . . , m,
k
⎨
Γ(γ ) ρ
Ψu(t) = k
(5.13)
⎪
⎪
⎪
⎩
gk (t, u(t)) i f t ∈ I˜k , k = 1, . . . , m.
where h ∈ Cγ ,ρ (Ik ), k = 0, . . . , m be a function satisfying the functional equation
h(t) = f (t, u(t), h(t)).
Also, by Lemma 2.23, Ψu ∈ PCγ ,ρ (J ).
based on Banach’s fixed point theorem. Set ϒ = 1−M K
.
Theorem 5.3 Suppose that the following assumptions hold.
(5.3.1) The function f : Ik × R × R → R is continuous on Ik ; k = 0, . . . , m, and
f (·, u(·), w(·)) ∈ Cγβ(1−α)

,ρ (Ik ), k = 0, . . . , m, for any u, w ∈ PCγ ,ρ (J ).
(5.3.2) There exist constants M1 > 0 and 0 < M2 < 1 such that
| f (t, u, w) − f (t, ū, w̄)| ≤ M1 |u − ū| + M2 |w − w̄|
for any u, w, ū, w̄ ∈ R and t ∈ Ik , k = 0, . . . , m.
(5.3.3) The functions gk are continuous and there exists a constant l ∗ > 0 such that
|gk (u) − gk (ū)| ≤ l ∗ |u − ū| for any u, ū ∈ R and k = 1, . . . , m.
If ( )α
ϒΓ(γ ) bρ − a ρ
L := l∗ + < 1, (5.14)
Γ(γ + α) ρ

Step 1: We show that the operator Ψ defined in (5.13) has a unique fixed point u ∗ in
PCγ ,ρ (J ). Let u, w ∈ PCγ ,ρ (J ) and t ∈ J .
For t ∈ Ik , k = 0, . . . , m, we have
( )
|Ψu(t) − Ψw(t)| ≤ ρ Jsα+ |h(s) − g(s)| (t),
k
where h, g ∈ Cγ ,ρ (Ik ); k = 0, . . . , m, such that

h(t) = f (t, u(t), h(t)),

g(t) = f (t, w(t), g(t)).
By (5.3.2), we have

≤ M1 |u(t) − w(t)| + M2 |h(t) − g(t)|.
Then,
|h(t) − g(t)| ≤ ϒ|u(t) − w(t)|.
Therefore, for each t ∈ Ik , k = 0, . . . , m,
( )
ρ
|Ψu(t) − Ψw(t)| ≤ ϒ Jsα+ |u(s) − w(s)| (t).
k
Thus ⎡ ⎛ ( )γ −1 ⎞ ⎤
ρ
s ρ − sk
|Ψu(t) − Ψw(t)| ≤ ⎣ϒ ⎝ρ Jsα+ ⎠ (t)⎦ ||u − w|| PCγ ,ρ .
k ρ

⎡ ( )α+γ −1 ⎤
ρ
ϒΓ(γ ) tρ − sk
|Ψu(t) − Ψw(t)| ≤ ⎣ ⎦ ||u − w|| PCγ ,ρ .
Γ(γ + α) ρ
Hence
| ( ) | [ ( ) ]
| ρ ρ 1−γ | ρ − sρ α
| t − s | ϒΓ(γ ) t
|(Ψu(t) − Ψw(t)) k |≤ k
||u − w|| PCγ ,ρ
| ρ | Γ(γ + α) ρ
| |
[ ( ρ ) ]
∗ ϒΓ(γ ) b − aρ α
≤ l + ||u − w|| PCγ ,ρ .
Γ(γ + α) ρ
For t ∈ I˜k , k = 1, . . . , m, we have
|Ψu(t) − Ψw(t)| ≤ |(gk (t, u(t)) − gk (t, w(t)))|

≤ l ∗ ||u − w|| PCγ ,ρ
[ ( ρ ) ]
∗ ϒΓ(γ ) b − aρ α
≤ l + ||u − w|| PCγ ,ρ .
Γ(γ + α) ρ
Then, for each t ∈ J , we have

[ ( ρ ) ]
ϒΓ(γ ) b − aρ α
||Ψu − Ψw|| PCγ ,ρ ≤ l ∗ + ||u − w|| PCγ ,ρ .
Γ(γ + α) ρ
By (5.14), the operator Ψ is a contraction. Hence, by Theorem 2.45, Ψ has a unique fixed
point u ∗ ∈ PCγ ,ρ (J ).
γ
Since u ∗ is the unique fixed point of operator Ψ in PCγ ,ρ (J ), then for each t ∈ J , we have
⎧ ( )
⎪ ρ γ −1 ( )
⎨ φk t ρ − sk
∗ + ρ Jsα+ h (t) i f t ∈ Ik , k = 0, . . . , m,
Ψu (t) = Γ(γ ) ρ
⎪
⎩
k
gk (t, u ∗ (t)) i f t ∈ I˜k , k = 1, . . . , m,
where h ∈ Cγ ,ρ (Ik ); k = 0, . . . , m, such that
h(t) = f (t, u ∗ (t), h(t)).

γ
Applying ρ Ds + to both sides and by Lemmas 2.19 and 2.33, we have
k
( )
(t)
sk+ sk+ sk+
( )
β(1−α)
= ρ Ds + f (s, u ∗ (s), h(s)) (t).
k
γ
Since γ ≥ α, by (5.3.1), the right-hand side is in Cγ ,ρ (Ik ) and thus ρ Ds + u ∗ ∈ Cγ ,ρ (Ik ).
k
γ
And since gk ∈ C( I˜k , R); k = 1, . . . , m, then u ∗ ∈ PCγ ,ρ (J ). As a consequence of Steps 1
and 2 together with Theorem 5.3, we can conclude that the problem (5.1)–(5.3) has a unique
solution in PCγ ,ρ ( J ). ⎕
Our second result is based on Schaefer’s fixed point theorem. Set
p1∗ = sup p1 (t), p2∗ = sup p2 (t), p3∗ = sup p3 (t) < 1.
t∈[a,b] t∈[a,b] t∈[a,b]
Theorem 5.4 Assume that in addition to the hypothesis (5.3.1), the following assumptions
are met.
(5.4.1) There exist functions p1 , p2 , p3 ∈ C([a, b], R+ ) such that
| f (t, u, w)| ≤ p1 (t) + p2 (t)|u| + p3 (t)|w|,
for t ∈ Ik ; k = 0, . . . , m, and u, w ∈ R.
(5.4.2) The functions gk are continuous and there exist constants φ1 , φ2 > 0 such that
|gk (t, u)| ≤ φ1 |u| + φ2 for each u ∈ R, t ∈ Jk' , k = 1, . . . , m.

If ( ( )( )α )
p2∗ Γ(γ ) bρ − a ρ
max φ1 , < 1, (5.15)
(1 − p3∗ )Γ(γ + α) ρ
Proof We shall use Schaefer’s fixed point theorem to prove in several steps that the operator
Ψ defined in (5.13) has a fixed point.
Step 1: Ψ is continuous. Let {u n } be a sequence such that u n → u in PCγ ,ρ (J ).
Then for each t ∈ Ik , k = 0, . . . , m, we have
| ( ρ ρ )1−γ || ( ρ ρ )1−γ ( )
|
| ((Ψu n )(t) − (Ψu)(t)) t −sk | ≤ t −sk ρ α
J |h (s) − h(s)| (t),
| ρ | ρ s + n
k
where h n , h ∈ Cγ ,ρ (Ik ), such that
h n (t) = f (t, u n (t), h n (t)),

h(t) = f (t, u(t), h(t)).
For each t ∈ I˜k , k = 1, . . . , m, we have
|Ψu n (t) − Ψu(t)| ≤ |(gk (t, u n (t)) − gk (t, u(t)))| .
Since u n → u, then we get h n (t) → h(t) as n → ∞ for each t ∈ J , and since f and gk are
||Ψu n − Ψu|| PCγ ,ρ → 0 as n → ∞.
Step 2: We show that Ψ is the mapping of two bounded sets in PCγ ,ρ (J ).

For η > 0, there exists a positive constant ∈ such that Bη = {u ∈ PCγ ,ρ (J ) : ||u|| PCγ ,ρ ≤ η},
we have ||Ψ(u)|| PCγ ,ρ ≤ ∈.
By (5.4.1) and from (5.13), we have for each t ∈ Ik , k = 0, . . . , m,
|( )1−γ | |( )1−γ |
| ρ | | ρ |
| t − skρ | | t − skρ |
| h(t) |=| f (t, u(t), h(t))|
| ρ | | ρ |
| | | |
( )
ρ 1−γ
t ρ − sk
≤ ( p1 (t) + p2 (t)|u(t)| + p3 (t)|h(t)|) ,
ρ
which implies that

|( )1−γ | |( ) |
| ρ | ( ρ ρ )1−γ
| ρ ρ 1−γ |
| t − skρ | b − a | t − s |
| | ∗
h(t)| ≤ p1 ∗ ∗|
+ p2 η + p3 | k
h(t)|| .
| ρ ρ ρ
| | | |
Then ( )
|( )1−γ | bρ − a ρ 1−γ
| ρ | p1∗ + p2∗ η
| t − skρ | ρ
| h(t)|| ≤ := ⋀.
| ρ 1 − p3∗
| |
Thus, for t ∈ Ik , k = 0, . . . , m, (5.13) implies
|( )1−γ | ( )
| ρ | ρ 1−γ ( )
| t − skρ | |φk | t ρ − sk
| (Ψu)(t) | ≤ + ρ α
J |h(s)| (t).
| ρ | Γ(γ ) ρ
+
sk
| |
By Lemma 2.19, for t ∈ Ik , k = 0, . . . , m, we have

|( )1−γ |
| ρ | ( )( ρ )
| t − skρ | φ∗ Γ(γ ) b − aρ α
| |
(Ψu)(t)| ≤ +⋀
| ρ
| | Γ(γ ) Γ(γ + α) ρ
:= r1 .
And for each t ∈ I˜k , k = 1, . . . , m, we have
|Ψu(t)| PCγ ,ρ ≤ |gk (t, u(t))| ≤ φ1 η + φ2 := r2 .
Thus, for each t ∈ J , we have
||Ψu|| PCγ ,ρ ≤ max{r1 , r2 } := ∈.
Step 3: Ψ maps bounded sets into equicontinuous sets of PCγ ,ρ (J ).

Let ∈1 , ∈2 ∈ J , ∈1 < ∈2 , Bη be a bounded set of PCγ ,ρ (J ) as in Step 2, and let u ∈ Bη .
Then for each t ∈ Ik , k = 0, . . . , m, and by Lemma 2.19, we have
|( )1−γ ( ρ ) |
| ρ ρ 1−γ |
| ∈1 − skρ ∈2 − sk |
| (Ψu)(∈ ) − (Ψu)(∈ ) |
| ρ
1
ρ
2 |
| |
|( ) ( ) |
| ρ 1−γ ( ) ρ 1−γ ( ) |
| ∈1 − skρ ∈
ρ
− s |
≤ || ρ α
Js + h(τ ) (∈1 ) − 2 k
Js + h(τ ) (∈2 )||
ρ α
| ρ k ρ k |
( ρ ) ( ∈1
∈2 − sk
ρ 1−γ ( ) 1 | ρ−1 |
≤ ρ α
J∈ + |h(τ )| (∈2 ) + |τ H (τ )h(τ )| dτ,
ρ 1 Γ(α) sk
where
⎡( )1−γ ( ( )1−γ ( ⎤
ρ ρ ρ )α−1 ρ ρ ρ )α−1
∈ − sk ∈1 − τ ρ ∈2 − sk ∈2 − τ ρ
H (τ ) = ⎣ 1 − ⎦.
ρ ρ ρ ρ
Then by Lemma 2.19, we have

|( )1−γ ( ρ ) |
| ρ ρ 1−γ |
| ∈1 − skρ ∈ − s |
| (Ψu)(∈ ) − 2 k
(Ψu)(∈ ) |
| ρ
1
ρ
2 |
| |
( ρ )
ρ 1−γ ( ρ ρ )α+γ −1
⋀Γ(γ ) ∈2 − sk ∈ 2 − ∈1
≤
Γ(α + γ ) ρ ρ
( ∈1 | | ( )
ρ γ −1
|
| τ ρ−1 || τ ρ − sk
+⋀ | H (τ ) Γ(α) | dτ.
sk ρ
|(Ψu)(∈1 ) − (Ψu)(∈2 )| ≤ |gk (∈1 , u(∈1 )) − gk (∈2 , u(∈2 ))| .
As ∈1 → ∈2 , the right-hand side of the above inequality tends to zero. From steps 1 to 3
with the Arzela-Ascoli theorem, we conclude that Ψ : PCγ ,ρ → PCγ ,ρ is continuous and
completely continuous.
Step 4: A priori bound. Now it remains to show that the set
G = {u ∈ PCγ ,ρ : u = λ∗ Ψ(u) for some 0 < λ∗ < 1}
is bounded. Let u ∈ G, then u = λ∗ Ψ(u) for some 0 < λ∗ < 1.

By (5.4.1), we have for each t ∈ Ik , k = 0, . . . , m,
|( )1−γ | |( )1−γ |
| ρ | | ρ |
| t − skρ | | t − skρ |
| | |
h(t)| = | f (t, u(t), h(t))||
| ρ ρ
| | | |
( )
ρ 1−γ
t ρ − sk
≤ ( p1 (t) + p2 (t)|u(t)| + p3 (t)|h(t)|) ,
ρ
which implies that

|( )1−γ |
| ρ | ( ρ ρ )1−γ
| t − skρ | ∗ b −a
| |
h(t)| ≤ p1 + p2∗ ||u|| PCγ ,ρ
| ρ ρ
| |
|( ) |
| ρ ρ 1−γ |
∗|
| t − s |
+ p3 | k
h(t)|| ,
| ρ |
then ( )1−γ
|( )1−γ | bρ − a ρ
| ρ | p1∗ + p2∗ ||u|| PCγ ,ρ
| t − skρ | ρ
| h(t)|| ≤ .
| ρ 1 − p3∗
| |
This implies, by (5.13), (5.4.2), and by letting the estimation of Step 2, that for each t ∈
Ik , k = 0, . . . , m, we have
|( )1−γ | ( ρ ρ )1−γ
| ρ | p1∗ b −a + p2∗ ||u|| PCγ ,ρ ( Γ(γ ) )
| t − skρ | |φ | ρ
| u(t) |≤ k
+
| ρ | Γ(γ ) 1 − p3∗ Γ(γ + α)
| |
( ρ )
b − aρ α
× ,
ρ
thus
|( )1−γ |
| ρ | ( )( ρ )
| t − skρ | ∗ p1∗ Γ(γ ) b − a ρ 1−γ +α
| u(t) |≤ φ +
| ρ | Γ(γ ) (1 − p3∗ )Γ(γ + α) ρ
| |
( ∗ )( ρ ρ )α
p2 Γ(γ ) b −a
+ ||u|| PCγ ,ρ .
(1 − p3∗ )Γ(γ + α) ρ
|u(t)| ≤ |gk (t, u(t))| ≤ φ1 ||u|| PCγ ,ρ + φ2 .
||u|| PCγ ,ρ ≤ χ1 + χ2 ||u|| PCγ ,ρ ,
where ( ( )( )1−γ +α )
φ∗ p1∗ Γ(γ ) bρ − a ρ
χ1 = max φ2 , + ,
Γ(γ ) (1 − p3∗ )Γ(γ + α) ρ
and ( ( )( )α )
p2∗ Γ(γ ) bρ − a ρ
χ2 = max φ1 , .
(1 − p3∗ )Γ(γ + α) ρ
Then by (5.15), we have
χ1
||u|| PCγ ,ρ ≤ := R.
1 − χ2
As a consequence of Theorem 2.47, and using Step 2 of the last result, we deduce that Ψ
has a fixed point which is a solution of the problem (5.1)–(5.3). ⎕
5.2.2 Nonlocal Impulsive Differential Equations
This part is concerned with a generalization of the results presented previously to nonlocal
impulsive fractional differential equations. More precisely, we shall present some existence
results for the following nonlocal problem:
( ) ( ( ) )
ρ α,β ρ α,β
Ds + u (t) = f t, u(t), Ds + u (t) ; t ∈ Ik , k = 0, . . . , m, (5.16)
k k
u(t) = gk (t, u(t)); t ∈ I˜k , k = 1, . . . , m, (5.17)
( )
ρ
Ja + u (a + ) + ϑ(u) = φ0 ,
1−γ
(5.18)
α,β
where ρ Ds + ,ρ Ja +
1−γ
k
respectively, φ0 ∈ R ρ > 0 and Ik , I˜k , f , gk are as in the last section, and ϑ : PCγ ,ρ (J ) | → R
is a continuous function. Nonlocal conditions were initiated by Byszewski [60] when he
proved the existence and uniqueness of mild and classical solutions of nonlocal Cauchy
problems. The nonlocal condition can be more useful than the standard initial condition to
describe some physical phenomena.
Theorem 5.5 Assume that (5.3.1)–(5.3.3), (5.4.2), and the hypothesis that follows hold.
(5.5.1) There exist constants K ∗ > 0 such that
|ϑ(u) − ϑ(ū)| ≤ K ∗ |u(t) − ū(t)|
for any u, ū ∈ PCγ ,ρ (J ).
If ( )α
ϒΓ(γ ) bρ − a ρ
l∗ + K ∗ + < 1, (5.19)
Γ(γ + α) ρ
then the nonlocal problem (5.16)–(5.18) has a unique solution in PCγ ,ρ (J ).
Proof We transform the problem (5.16)–(5.18) into a fixed point problem. Consider the
operator Ψ̃ : PCγ ,ρ (J ) −→ PCγ ,ρ (J ) defined by
⎧ ( ρ ρ )γ −1 ( )
⎪ φ0 − ϑ(u) t − a
⎪
⎪ + ρ Jaα+ h (t) i f t ∈ I0 ,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
⎪
⎪
⎪
⎨ ( )
ρ γ −1 ( )
Ψ̃u(t) = φk t ρ − sk , (5.20)
⎪
⎪ + ρ Jsα+ h (t) i f t ∈ Ik , k = 1, . . . , m,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
k
⎪
⎪
⎪
⎪
⎩
gk (t, u(t)) i f t ∈ I˜k , k = 1, . . . , m.
where h ∈ Cγ ,ρ (Ik ), k = 0, . . . , m be a function satisfying the functional equation
h(t) = f (t, u(t), h(t)).
Clearly, the fixed points of the operator Ψ̃ are solutions of the problem (5.16)–(5.18). We
γ
can easily show that Ψ̃ is a contraction and its fixed points are in PCγ ,ρ (J ). ⎕
Theorem 5.6 Assume (5.3.1), (5.4.1)–(5.4.2), and (5.5.1) hold. If

( ( )( ρ ) )
p2∗ Γ(γ ) b − aρ α
max φ1 , < 1, (5.21)
(1 − p3∗ )Γ(γ + α) ρ
then the nonlocal problem (5.16)–(5.18) has at least one solution in PCγ ,ρ (J ).
First, we consider the Ulam Stability for problem (5.1)–(5.3). Let u ∈ PCγ ,ρ (J ), ∈ > 0, τ >
0, and θ : J −→ [0, ∞) be a continuous function. We consider the following inequalities:
⎧ ||( ) ( ( ) )|
|
⎪ | α,β α,β
⎨ | Ds + u (t) − f t, u(t), Ds + u (t) || ≤ ∈θ (t), t ∈ Ik , k = 0, . . . , m,
⎪ ρ ρ
k k
⎪
⎪
⎩
|u(t) − gk (t, u(t))| ≤ ∈τ, t ∈ I˜k , k = 1, . . . , m.
(5.22)
Definition 5.7 ([156, 158]) Problem (5.1)–(5.3) is Ulam-Hyers-Rassias (U-H-R) stable

with respect to (θ, τ ) if there exists a real number a f ,θ > 0 such that for each ∈ > 0 and for
(5.1)–(5.3) with
|u(t) − w(t)| ≤ ∈a f ,θ (θ (t) + τ ), t ∈ J.
Remark 5.8 ([156, 158]) A function u ∈ PCγ ,ρ (J ) is a solution of inequality (5.22) if and
only if there exist σ ∈ PCγ ,ρ (J ) and a sequence σk , k = 0, . . . , m such that
|σ (t)| ≤ ∈θ ˜
1. ( ) (t), t ∈ (
Ik , k = 0,(. . . , m; and
) |σ)k | ≤ ∈τ , t ∈ Ik , k = 1, . . . , m,
α,β α,β
2. ρ Ds + u (t) = f t, u(t), ρ Ds + u (t) + σ (t), t ∈ Ik , k = 0, . . . , m,
k k
3. u(t) = gk (t, u(t)) + σk , t ∈ I˜k , k = 1, . . . , m.
Theorem 5.9 Assume that in addition to (5.3.1)–(5.3.3) and (5.14), the following hypoth-
esis holds.
(5.9.1) There exist a nondecreasing function θ : J −→ [0, ∞) and λθ > 0 such that for
each t ∈ Ik ; k = 0, . . . , m, we have
(ρ Jsα+ θ )(t) ≤ λθ θ (t).

k
Then problem (5.1)–(5.3) is U-H-R stable with respect to (θ, τ ).
Proof Consider the operator Ψ is defined as in (5.13). Let u ∈ PCγ ,ρ (J ) be a solution of

inequality (5.22), and let us assume that w is the unique solution of the problem
⎧( ) ( ( ) )
⎪
⎪ ρ D α,β w (t) = f t, w(t), ρ D α,β w (t) ; t ∈ I , k = 0, . . . , m,
⎪
⎪ sk+ sk+ k
⎪
⎨
u(t) = gk (y, w(tk− )); t ∈ I˜k , k = 1, . . . , m,
⎪
⎪ ( ) ( )
⎪
⎪ ρ 1−γ
⎪
⎩ J + w (sk+ ) = ρ J 1−γ u (sk+ ) = φk , k = 0, . . . , m.
sk s+ k

⎧ ( )
ρ γ −1
⎪ φ t ρ − sk ( )
⎪
⎪ + ρ Jsα+ h (t)
k
⎨ i f t ∈ Ik , k = 0, . . . , m,
Γ(γ ) ρ
w(t) = k
⎪
⎪
⎪
⎩
gk (t, w(t)) i f t ∈ I˜k , k = 1, . . . , m,
where h ∈ Cγ ,ρ (Ik ); k = 0, . . . , m, be a function satisfying the functional equation
h(t) = f (t, w(t), h(t)).

⎧( ) ( ( ) )
⎪
⎨ ρ Dα,β ρ α,β
+ u (t) = f
sk
t, u(t), D + u (t) + σ (t), t ∈ Ik , k = 0, . . . , m;
sk (5.23)
⎪
⎩ u(t) = g (t, u(t)) + σ , t ∈ I˜ , k = 1, . . . , m.
k k k

⎧ ( )
ρ γ −1
⎪ φk t ρ − sk ( ) ( )
⎪
⎪
⎨ + ρ Jsα+ g (t) + ρ Jsα+ σ (t), t ∈ Ik , k / = 0,
Γ(γ ) ρ
u(t) = k k
⎪
⎪
⎪
⎩
gk (t, u(t)) + σk , t ∈ I˜k , k = 1, . . . , m,
where g : Ik → R, k = 0, . . . , m, be a function satisfying the functional equation
g(t) = f (t, u(t), g(t)).
Hence, for each t ∈ Ik ,k = 0, . . . , m, we have

( ) ( )
|u(t) − w(t)| ≤ ρ Jsα+ |g(s) − h(s)| (t) + ρ Jsα+ |σ (s)|
k k
( ( )
t tρ − s ρ α−1 |u(s) − w(s)|
≤ ∈λθ θ (t) + ϒ s ρ−1 ds.
sk ρ Γ(α)
We apply Lemma 2.40 to obtain

( tΣ ∞ ( )
(ϒ)τ ρ−1 t ρ − s ρ τ α−1
|u(t) − w(t)| ≤ ∈λθ θ (t) + s (∈λθ θ (s))ds
sk τ =1 Γ(τ α) ρ
[ ( ) ]
ρ α
t ρ − sk
≤ ∈λθ θ (t)E α ϒ
ρ
[ ( ρ ) ]
b − aρ α
≤ ∈λθ θ (t)E α ϒ .
ρ
And for each t ∈ I˜k ,k = 1, . . . , m, we have
|u(t) − w(t)| ≤ |gk (t, u(t)) − gk (t, w(t))| + |σk |

≤ l ∗ |u(t) − w(t)| + ∈τ,
then by 5.14, we have

∈τ
|u(t) − w(t)| ≤ .
1 − l∗
|u(t) − w(t)| ≤ aθ ∈(τ + θ (t)),
where [ ( ρ ) ]
1 b − aρ α
aθ = + λ E
θ α ϒ .
1 − l∗ ρ
Hence, problem (5.1)–(5.3) is U-H-R stable with respect to (θ, τ ). Now we are concerned
with the Ulam-Hyers-Rassias stability of our problem (5.16)–(5.18). ⎕
Theorem 5.10 Assume that (5.3.1), (5.4.1), (5.4.2), (5.5.1), (5.9.1), and (5.21) hold. Then
the problem (5.16)–(5.18) is U-H-R stable with respect to (θ, τ ).
5.2.4 Examples
Example 5.11 Consider the following impulsive Cauchy problem:

( )
1 1
,0 e−t
2 D 2 u (t) = , for each t ∈ I0 ∪ I1 , (5.24)
+ 1
sk 1 ,0
79et+3 (1 + |u(t)| + | 2 Ds2+ u(t)|
k
|u(t)|
u(t) = , for each t ∈ I˜1 , (5.25)
et + 2|u(t)|
( 1
)
1
2 J 2 u (1+ ) = 0, (5.26)
1+
where
I0 = (1, 2], I1 = (e, 3], I˜1 = (2, e], s0 = 1, t1 = 2, and s1 = e.
Set
e−t
f (t, u, w) = , t ∈ I0 ∪ I1 , u, w ∈ R.
79et+3 (1 + |u| + |w|)
We have
Cγβ(1−α)
,ρ ((1, 2]) = C 01 , 1 ((1, 2])
2 2
( )
√ (√ )1
2
= v : (1, 2] → R : 2 t − 1 v ∈ C([1, 2], R) ,
and
Cγβ(1−α)
,ρ ((e, 3]) = C 01 , 1 ((e, 3])
2 2
( )
√ (√ √ ) 21
= v : (e, 3] → R : 2 t − 2 v ∈ C([e, 3], R) ,
with
1 1
γ =α= ρ = , β = 0, and k ∈ {0, 1}.
2 2
Clearly, the continuous function f ∈ C 01 1 ((1, 2]) ∩ C 01 1 ((e, 3]) .
2,2 2,2
For each u, ū, w, w̄ ∈ R and t ∈ I0 ∪ I1 , we have
e−t
| f (t, u, w) − f (t, ū, w̄)| ≤ (|u − ū| + |w − w̄|)
79et+3
1
≤ (|u − ū| + |w − w̄|) .
79e5
1
Hence condition (5.3.2) is satisfied with M1 = M2 = .
79e5
And let
u
g1 (u) = t , u ∈ [0, ∞).
e + 2u
Let u, w ∈ [0, ∞). Then we have
u w et |u − w| 1
|g1 (u) − g1 (w)| = | − | = ≤ |u − w|,
e + 2u
t e + 2w
t (e + 2u)(e + 2w)
t t e
1
and so the condition (5.3.3) is satisfied with l ∗ =
.
e
A simple computation shows that the condition (5.14) of Theorem 5.3 is satisfied, for
√ √ 1
1 2π ( 3 − 1) 2
L= + ≈ 0.368062377 < 1.
e (79e5 − 1)
Then the problem (5.24)–(5.26) has a unique solution in PC 1 , 1 ([1, 3]). Also, hypothesis
2 2
(5.9.1) is satisfied with τ = 1 and
⎧ √ √
⎨ 2( t − sk ), i f t ∈ I0 ∪ I1 ,
θ (t) =
⎩
e, i f t ∈ I˜1 ,
√ √ 1
2Γ(2)( 2 − 1) 2
and λθ = . Indeed, for each t ∈ I0 ∪ I1 , we get
Γ( 25 )
√ √ 1
1 1 2Γ(2)( 2 − 1) 2 √
( J θ )(t) ≤
2 2
1+
(2 t − 2),
Γ( 25 )
and
√ √ √ 1
1 1 2Γ(2)( 3 − e) 2 √ √
( J θ )(t) ≤
2 2
e+
(2 t − 2 e).
Γ( 25 )
Consequently, Theorem 5.9 implies that the problem (5.24)–(5.26) is U-H-R stable.
Example 5.12 Consider the following impulsive nonlocal initial value problem:
1
,0
( 1
) 1 + |u(t)| + |1 Ds2+ u(t)|
2 ,0
1
D sk+
u (t) = k
1
, t ∈ Ik , k = 0, . . . , 4, (5.27)
,0
107e−t+3 (1 + |u(t)| + |1 Ds2+ u(t)|)
k
|u(t)|
u(t) = , for each t ∈ I˜k , k = 1, . . . , 4, (5.28)
10ek + |u(t)|
( 1 )
1 u(t)
J1+ u (1+ ) +
1 2
= 1, (5.29)
5 |u(t)| + 1
where
2k
Ik = (sk , tk+1 ], sk = 1 + for k = 0, . . . , 4
9
and
2k − 1
I˜k = (tk , sk ], tk = 1 + for k = 1, . . . , 4, (m = 4),
9
and
a = s0 = 1, b = t5 = 2.
Set
1 + |u| + |w|
f (t, u, w) = , t ∈ Ik , k = 0, . . . , 4, u, w ∈ R.
107e−t+3 (1 + |u| + |w|)
We have
Cγβ(1−α)
,ρ ((sk , tk+1 ]) = C 01 ,1 ((sk , tk+1 ])
{ }
2
√
= v : (sk , tk+1 ] → R : ( t − sk )v ∈ C([sk , tk+1 ], R) ,
with γ = α = 21 , ρ = 1, β = 0, and k = 0, . . . , 4. Clearly, the continuous function f ∈

C 01 ([sk , tk+1 ]); k = 0, . . . , 4. Hence, the condition (5.3.1) is satisfied.
2 ,1
For each u, w ∈ R and t ∈ Ik ; k = 0, . . . , 4, we have
1
| f (t, u, w)| ≤ (1 + |u| + |w|).
107e−t+3
1
p1 (t) = p2 (t) = p3 (t) = ,
107e−t+3
and
1
p1∗ = p2∗ = p3∗ = .
107e
Let
u
gk (u) = , k = 1, . . . , 4, u ∈ [0, ∞),
10ek +u
then we have
1
|gk (u)| ≤ |u| + 1, k = 1, . . . , 4,
10e
1
and so the condition (5.4.2) is satisfied with φ1 = and φ2 = 1.
10e
And let
1 u
ϑ(u) = ,u ∈ R
5 |u| + 1
then we have
|g(u)| ≤ 42 sup{u(tk ), k = 1, . . . , 4},

and so the condition (5.5.1) is satisfied with M̃ = 42 sup{u(tk ), k = 1, . . . , 4}.
The condition (5.21) of Theorem 5.6 is satisfied, for
1
φ1 = < 1,
10e
and ( )( )α √
p2∗ Γ(γ ) bρ − a ρ π
= < 1.
(1 − p3∗ )Γ(γ + α) ρ (107e − 1)
Then the problem (5.27)–(5.29) has at least one solution in PC 1 ,1 ([1, 2]). Also, hypothesis
2
(5.9.1) is satisfied with τ = 1 and
⎧
⎨ (t − sk ) , i f t ∈ Ik , k = 0, . . . , 4,
2
θ (t) =
⎩
2, i f t ∈ I˜k , k = 1, . . . , 4,
Γ(3)
and λθ = . Indeed, for each t ∈ Ik , k = 0, . . . , 4, we get
Γ( 27 )
1 Γ(3) 5
(1 Js2+ θ )(t) ≤ (t − sk ) 2
k Γ( 27 )
Γ(3)
≤ (t − sk )2
Γ( 27 )
= λθ θ (t).
5.3 Initial Value Problem for Nonlinear Implicit Generalized

Hilfer-Type Fractional Differential Equations in Banach Spaces
Motivated by the works mentioned in the introduction, in this section, we establish existence
results to the initial value problem of nonlinear implicit generalized Hilfer-type fractional
differential equation with non-instantaneous impulses:
( ) ( ( ) )
ρ α,β α,β
Ds + u (t) = f t, u(t), ρ Ds + u (t) ; t ∈ Ik , k = 0, . . . , m, (5.30)
k k
u(t) = gk (t, u(t)); t ∈ I˜k , k = 1, . . . , m, (5.31)

( )
ρ 1−γ
Ja + u (a + ) = φ0 , (5.32)
α,β
where ρ Ds + , ρ Ja + are the generalized Hilfer-type fractional derivative of order α ∈ (0, 1)
1−γ
k
respectively, ρ > 0, φ0 ∈ E , Ik := (sk , tk+1 ]; k = 0, . . . , m, I˜k := (tk , sk ]; k = 1, . . . , m,
a = s0 < t1 ≤ s1 < t2 ≤ s2 < · · · ≤ sm−1 < tm ≤ sm < tm+1 = b < ∞, u(tk+ ) = lim
∈→0+
u(tk + ∈) and u(tk− ) = lim u(tk + ∈) represent the right- and left-hand limits of u(t) at
∈→0−
t = tk , f : Ik × E × E → E is a given ˜
) and gk : Ik × E → E; k = 1, . . . , m are
( function,
|
given continuous functions such that ρ J + gk (t, u(t)) |t=s = φk ∈ E , where (E, || · ||)
1−γ
sk k
is a real Banach space.
Consider the Banach space

(
PCγ ,ρ (J ) = u : J → E : u ∈ Cγ ,ρ (Ik ); k = 0, . . . , m, and
u ∈ C( I˜k , E); k = 1, . . . , m, and there exist u(tk− ), u(tk+ ),

)
− + −
u(sk ), and u(sk ) with u(tk ) = u(tk ) ,
and
{ }
PCγn,ρ (J ) = u ∈ PC n−1 (J ) : u (n) ∈ PCγ ,ρ (J ) , n ∈ N,
PCγ0,ρ (J ) = PCγ ,ρ (J ),
with the norm
||u|| PCγ ,ρ
⎧ ⎧ ||( )1−γ ||⎫ ( )⎫
⎨ ⎨ || ρ ||⎬ ⎬
|| t − skρ ||
= max max sup || || u(t)||
|| , max sup ||u(t)|| .
⎩k=0,...,m ⎩t∈[sk ,tk+1 ] || ρ ||⎭ k=1,...,m t∈[tk ,sk ] ⎭
Also, we define the following Banach space:

(
PCγ ,ρ (J ) = u : J → E : u ∈ Cγγ,ρ (Ik ); k = 0, . . . , m, and
γ
u ∈ C( I˜k , E); k = 1, . . . , m, and there exist u(tk− ), u(tk+ ),

)
u(sk− ), and u(sk+ ) with u(tk− ) = u(tk ) .
Lemma 5.13 ([75]) Let D ⊂ PCγ ,ρ (J ) be a bounded and equicontinuous set, then
μ PCγ ,ρ
( ( (( )) ( ))
ρ )1−γ
t ρ −sk
= max max sup μ ρ u(t) , max sup μ (u(t)) ,
k=0,...,m t∈[sk ,tk+1 ] k=1,...,m t∈[tk ,sk ]
(( b ) ( b
a a
D(t) = {u(t) : t ∈ D}, t ∈ J .
Same as the last section, by following the same steps, we can have the following result:
Lemma 5.14 Let γ = α + β − αβ where 0 < α < 1, 0 ≤ β ≤ 1, and k = 0, . . . , m, let

f : Ik × E × E → E, be a function such that f (·, u(·), w(·)) ∈ Cγ ,ρ (Ik ), for any u, w ∈
γ
PCγ ,ρ (J ). If u ∈ PCγ ,ρ (J ), then u satisfies the problem (5.30)–(5.32) if and only if u is
the fixed point of the operator Ψ : PCγ ,ρ (J ) → PCγ ,ρ (J ) defined by
⎧ ( )
ρ γ −1
⎪ φk t ρ − sk ( )
⎪
⎪
⎨ + ρ Jsα+ h (t), t ∈ Ik , k = 0, . . . , m,
Γ(γ ) ρ
Ψu(t) = k
(5.33)
⎪
⎪
⎪
⎩
gk (t, u(t)), t ∈ I˜k , k = 1, . . . , m,
where φ ∗ = max{||φk || : k = 0, . . . , m} and h ∈ Cγ ,ρ (Ik ), k = 0, . . . , m be a function sat-

isfying the functional equation
h(t) = f (t, u(t), h(t)).
Also, by Lemma 2.23, Ψu ∈ PCγ ,ρ (J ).
based on Mönch’s fixed point theorem.
Theorem 5.15 Assume that the following hypotheses are met.
(5.15.1) The function t | → f (t, u, w) is measurable on Ik ; k = 0, . . . , m, for each u, w ∈

E, and the functions u | → f (t, u, w) and w | → f (t, u, w) are continuous on E
for a.e. t ∈ Ik ; k = 0, . . . , m, and
f (·, u(·), w(·)) ∈ Cγβ(1−α)

,ρ (Ik ) for any u, w ∈ PCγ ,ρ (J ).
(5.15.2) There exists a continuous function p : [a, b] −→ [0, ∞) such that
|| f (t, u, w)|| ≤ p(t), for a.e. t ∈ Ik ; k = 0, . . . , m , and for each u, w ∈ E.
(5.15.3) For each bounded set B ⊂ E and for each t ∈ Ik ; k = 0, . . . , m, we have

α,β
μ( f (t, B, (ρ Ds + B))) ≤ p(t)μ(B),
k
α,β α,β
where ρ Ds + B = {ρ Ds + w : w ∈ B} and p∗ = sup p(t).
k k t∈[a,b]
(5.15.4) The functions gk ∈ C( I˜k , E); k = 1, . . . , m, and there exists l ∗ > 0 such that
||gk (t, u)|| ≤ l ∗ ||u|| for each u ∈ E, k = 1, . . . , m.
(5.15.5) For each bounded set B ⊂ E and for each t ∈ I˜k ; k = 1, . . . , m, we have
μ(gk (t, B)) ≤ l ∗ μ(B), k = 1, . . . , m.
If ( ( ) )
∗ p ∗ Γ(γ ) bρ − a ρ α
L := max l , < 1, (5.34)
Γ(α + γ ) ρ
Proof Consider the operator Ψ : PCγ ,ρ (J ) → PCγ ,ρ (J ) defined in (5.33) and the ball
B R := B(0, R) = {w ∈ PCγ ,ρ (J ) : ||w|| PCγ ,ρ ≤ R}, such that
( )1−γ +α
φ∗ p∗ bρ − a ρ
R≥ ∗
+ ∗
.
(1 − l )Γ(γ ) (1 − l )Γ(α + 1) ρ
For any u ∈ B R , and each t ∈ Ik , k = 0, . . . , m, we have
( )γ −1
||φk ||
ρ
t ρ − sk ( )
ρ
||Ψu(t)|| ≤ + Jsα+ ||h(s)|| (t)
Γ(γ ) ρ k
( )
ρ γ −1
φ∗ t ρ − sk ( )
≤ + p∗ ρ
Jsα+ (1) (t).
Γ(γ ) ρ k

||( )1−γ || ( )
|| ρ || ρ − s ρ 1−γ +α
|| t − skρ || φ ∗ p ∗ t
|| Ψu(t)|| k
|| ρ || ≤ Γ(γ ) + Γ(α + 1) ρ
|| ||
( ρ )
φ∗ p∗ b − a ρ 1−γ +α
≤ + .
Γ(γ ) Γ(α + 1) ρ
And for t ∈ I˜k , k = 1, . . . , m, we have
||(Ψu)(t)|| ≤ l ∗ ||u(t)|| ≤ l ∗ R.
Hence, ( )1−γ +α
φ∗ p∗ bρ − a ρ
||Ψu|| PCγ ,ρ ≤ l ∗ R + + ≤ R.
Γ(γ ) Γ(α + 1) ρ
This proves that Ψ transforms the ball B R into itself. We shall show that the operator
Ψ : B R → B R satisfies all the assumptions of Theorem 2.49. The proof will be given in
several steps.
Step 1: Ψ : B R → B R is continuous. Let {u n } be a sequence such that u n → u in PCγ ,ρ (J ).
Then for each t ∈ Ik , k = 0, . . . , m, we have
|| ( ρ ρ )1−γ || ( )
|| || ( t ρ −s ρ )1−γ ρ α
|| ((Ψu n )(t) − (Ψu)(t)) t −sk || ≤ k
J ||h (s) − h(s)|| (t),
|| ρ || ρ s + n
k
where h n , h ∈ Cγ ,ρ (Ik ); k = 0, . . . , m, such that
h n (t) = f (t, u n (t), h n (t)),

h(t) = f (t, u(t), h(t)).
For each t ∈ I˜k , k = 1, . . . , m, we have
||((Ψu n )(t) − (Ψu)(t))|| ≤ ||(gk (t, u n (t)) − gk (t, u(t)))|| .

Since u n → u, then we get h n (t) → h(t) as n → ∞ for each t ∈ J , and since f and gk are
||Ψu n − Ψu|| PCγ ,ρ → 0 as n → ∞.
Step 2: Ψ(B R ) is bounded and equicontinuous.

Since Ψ(B R ) ⊂ B R and B R is bounded, then Ψ(B R ) is bounded.
Next, let ∈1 , ∈2 ∈ Ik , k = 0, . . . , m, ∈1 < ∈2 , and let u ∈ B R . Then
||( )1−γ ( ρ ) ||
|| ρ ρ 1−γ ||
|| ∈1 − skρ ∈ − s ||
|| (Ψu)(∈1 ) − 2 k
(Ψu)(∈2 )||
|| ρ ρ ||
|| ||
||( ) ( ) ||
|| ρ ρ 1−γ ( ) ρ ρ 1−γ ( ) ||
|| ∈1 − sk ∈ − s ||
||
≤ || ρ α
Js + h(τ ) (∈1 ) − 2 k ρ Js + h(τ ) (∈2 )||
α
ρ ρ ||
|| k k ||
( ρ )
ρ 1−γ ( ) ( ∈1
∈2 − sk ρ J α ||h(τ )|| (∈ ) + 1
|| ρ−1 ||
≤ + 2
||τ H (τ )h(τ )|| dτ,
ρ ∈ 1 Γ(α) sk
where
⎡( )1−γ ( ( )1−γ ( ⎤
ρ ρ ρ )α−1 ρ ρ ρ )α−1
∈ − sk ∈1 − τ ρ ∈2 − sk ∈2 − τ ρ
H (τ ) = ⎣ 1 − ⎦.
ρ ρ ρ ρ

||( )1−γ ( ρ ) ||
|| ρ ρ 1−γ ||
|| ∈1 − skρ ∈ − s ||
|| (Ψu)(∈1 ) − 2 k
(Ψu)(∈2 )||
|| ρ ρ ||
|| ||
( ρ )
ρ 1−γ ( ρ ρ )α
p∗ ∈2 − sk ∈2 − ∈1
≤
Γ(1 + α) ρ ρ
( ∈1 || || ( )γ −1
|| τ ρ−1 || τ ρ − s ρ
+ p∗ || H (τ ) || k
dτ,
|| Γ(α) || ρ
sk
and for each t ∈ I˜k , k = 1, . . . , m, we have
||(Ψu)(∈1 ) − (Ψu)(∈2 )|| ≤ ||(gk (∈1 , u(∈1 ))) − (gk (∈2 , u(∈2 )))|| .
As ∈1 → ∈2 , the right-hand side of the above inequality tends to zero. Hence, Ψ(B R ) is
Now let D be an equicontinuous subset of B R such that D ⊂ Ψ(D) ∪ {0}; therefore, the
function t −→ d(t) = μ(D(t)) is continuous on J . By (5.15.3), (5.15.5), and the properties

of the measure μ, for each t ∈ Ik , k = 0, . . . , m, we have
( ) ⎛( ) ⎞
ρ 1−γ ρ 1−γ
t ρ − sk t ρ − sk
d(t) ≤ μ ⎝ (Ψ D)(t) ∪ {0}⎠
ρ ρ
⎛( ) ⎞
ρ 1−γ
t ρ − sk
≤ μ⎝ (Ψ D)(t)⎠ ,
ρ
then ( )1−γ ( )
ρ ρ 1−γ ( )
t ρ − sk t ρ − sk ρ J α p(s)μ(D(s)) (t)
d(t) ≤ sk+
ρ ρ
( ρ ) ( )
∗ b − a ρ 1−γ ρ α
≤ p Js + d(s) (t)
[ ∗ ρ ( ρ ) k]
p Γ(γ ) b − a α ρ
≤ ||d|| PCγ ,ρ .
Γ(α + γ ) ρ
d(t) ≤ μ (gk (t, D(t))) ≤ l ∗ d(t).
Thus, for each t ∈ J , we have
||d|| PCγ ,ρ ≤ L||d|| PCγ ,ρ .
From (5.34), we get ||d|| PCγ ,ρ = 0, that is d(t) = μ(D(t)) = 0, for each t ∈ J , and then D(t)
is relatively compact in E. In view of the Ascoli-Arzela Theorem, D is relatively compact
in B R . Applying now Theorem 2.49, we conclude that Ψ has a fixed point u ∗ ∈ PCγ ,ρ (J ),
which is solution of the problem (5.30)–(5.32).
γ
Since u ∗ is the unique fixed point of operator Ψ in PCγ ,ρ (J ), then for each t ∈ J , we have
⎧ ( )
⎪ ρ γ −1 ( )
⎨ φk t ρ − sk
∗ + ρ Jsα+ h (t), t ∈ Ik , k = 0, . . . , m,
Ψu (t) = Γ(γ ) ρ
⎪
⎩
k
gk (t, u ∗ (t)), t ∈ I˜k , k = 1, . . . , m.
where h ∈ Cγ ,ρ (Ik ); k = 0, . . . , m, such that
h(t) = f (t, u ∗ (t), h(t)).

γ
For t ∈ Ik ; k = 0, . . . , m, applying ρ Ds + to both sides and by Lemmas 2.19 and 2.33, we
k
have
( )
(t)
sk+ sk+ sk+
( )
β(1−α)
= ρ Ds + f (s, u ∗ (s), h(s)) (t).
k
γ
Since γ ≥ α, by condition (5.15.1), the right-hand side is in Cγ ,ρ (Ik ) and thus ρ Ds + u ∗ ∈
k
γ
Cγ ,ρ (Ik ) which implies that u ∗ ∈ Cγ ,ρ (Ik ). And since gk ∈ C( I˜k , E); k = 1, . . . , m, then
γ
u ∗ ∈ PCγ ,ρ (J ). As a consequence of Steps 1 to 4 together with Theorem 5.15, we can
conclude that the problem (5.30)–(5.32) has at least one solution in PCγ ,ρ (J ). ⎕
Our second existence result for the problem (5.30)–(5.32) is based on Darbo’s fixed point
Theorem.
Theorem 5.16 Assume that conditions (5.15.1)–(5.15.5) hold. If

( ( ) )
p ∗ Γ(γ ) bρ − a ρ α
L := max l ∗ , < 1,
Γ(α + γ ) ρ
Proof Consider the operator Ψ defined in (5.33). We know that Ψ : B R −→ B R is bounded

and continuous and that Ψ(B R ) is equicontinuous, we need to prove that the operator Ψ is
a L-contraction.
Let D ⊂ B R and t ∈ Ik , k = 0, . . . , m. Then we have
⎛( ) ⎞ ⎛( ) ⎞
ρ 1−γ ρ 1−γ
t ρ − sk t ρ − sk
μ⎝ (Ψ D)(t)⎠ = μ ⎝ (Ψu)(t) : u ∈ D ⎠
ρ ρ
( ρ ) (( ) )
b − a ρ 1−γ ρ α ∗
≤ Js + p μ(u(s)) (t), u ∈ D .
ρ k
By Lemma 2.19, we have for t ∈ Ik , k = 0, . . . , m,

⎛( ) ⎞
ρ 1−γ [ ∗ ( ) ]
⎝
t ρ − sk
⎠ p Γ(γ ) bρ − a ρ α
μ (Ψ D)(t) ≤ μ PCγ ,ρ (D).
ρ Γ(α + γ ) ρ
μ ((Ψ D)(t)) ≤ μ (gk (t, D(t))) ≤ l ∗ μ (D(t)) .
μ PCγ ,ρ (Ψ D) ≤ Lμ PCγ ,ρ (D).

So, by (5.34), the operator Ψ is a L-contraction. As a consequence of Theorem 2.48 and

using Step 4 of the last result, we deduce that Ψ has a fixed point which is a solution of the
problem (5.30)–(5.32). ⎕
We are concerned with the Ulam-Hyers-Rassias stability of our problem (5.30)–(5.32). Let
u ∈ PCγ ,ρ (J ), ∈ > 0, τ > 0, and θ : J −→ [0, ∞) be a continuous function. We consider
the following inequality:
⎧ ||( ) ( ( ) )||
⎨ ||
|| ρ Dα,β α,β
u (t) − f t, u(t), Ds + u (t) ||
ρ
||
|| sk+ k
|| ≤ ∈θ (t), t ∈ Ik , k = 0, . . . , m,
⎩
||u(t) − gk (t, u(t))|| ≤ ∈τ, t ∈ I˜k , k = 1, . . . , m.
(5.35)

with respect to (θ, τ ) if there exists a real number a f ,θ > 0 such that for each ∈ > 0 and for
(5.30)–(5.32) with
||u(t) − w(t)|| ≤ ∈a f ,θ (θ (t) + τ ), t ∈ J .
Remark 5.18 ([156, 158]) A function u ∈ PCγ ,ρ (J ) is a solution of inequality (5.35) if

and only if there exist σ ∈ PCγ ,ρ (J ) and a sequence σk , k = 0, . . . , m such that
1. ||σ 0, . . . , m;)and)||σk || ≤ ∈τ , t ∈ I˜k , k = 1, . . . , m,

( (t)|| ≤)∈θ (t), t ∈(Ik , k = (
α,β α,β
2. ρ Ds + u (t) = f t, u(t), ρ Ds + u (t) + σ (t), t ∈ Ik , k = 0, . . . , m,
k k
3. u(t) = gk (t, u(t)) + σk , t ∈ I˜k , k = 1, . . . , m.
hypothesis holds.
(5.19.1) There exist a nondecreasing function θ : J −→ [0, ∞) and λθ > 0 such that for
each t ∈ Ik ; k = 0, . . . , m, we have
(ρ Jsα+ θ )(t) ≤ λθ θ (t).

k
|
m
(5.19.2) There exists a continuous function χ : [sk , tk+1 ] −→ [0, ∞) such that for each
k=1
t ∈ Ik ; k = 0, . . . , m, we have
p(t) ≤ χ(t)θ (t).
Then problem (5.30)–(5.32) is U-H-R stable with respect to (θ, τ ).
⎧( ) ( ( ) )
⎪
⎪ ρ D α,β w (t) = f t, w(t), ρ D α,β w (t) ; t ∈ I , k = 0, . . . , m,
⎪
⎪ sk+ sk+ k
⎨
w(t) − ˜
⎪
⎪ ( = gk (t, ) w(tk ));( t ∈ Ik , k)= 1, . . . , m,
⎪
⎪
⎩ ρ J + w (sk+ ) = ρ J + u (sk+ ) = φk , k = 0, . . . , m.
1−γ 1−γ
s k s k

⎧ ( )
ρ γ −1
⎪ φ t ρ − sk ( )
⎪
⎪ + ρ Jsα+ h (t)
k
⎨ i f t ∈ Ik , k = 0, . . . , m,
Γ(γ ) ρ
w(t) = k
⎪
⎪
⎪
⎩
gk (t, w(t)) i f t ∈ I˜k , k = 1, . . . , m,
where h ∈ Cγ ,ρ (Ik ); k = 0, . . . , m, be a function satisfying the functional equation
h(t) = f (t, w(t), h(t)).

⎧( ) ( ( ) )
⎨ ρ Dα,β u (t) = f t, u(t), ρ Dα,β u (t) + σ (t), t ∈ I , k = 0, . . . , m;
sk+ sk+ k
(5.36)
⎩
u(t) = gk (t, u(t)) + σk , t ∈ I˜k , k = 1, . . . , m.

⎧ ( )
ρ γ −1
⎪ φk t ρ − sk ( )
⎪
⎪ ρ α
⎪
⎪ + J + g (t)
⎪
⎪ Γ(γ ) ρ sk
⎨ ( )
u(t) = + ρ J α+ σ (t), t ∈ Ik , k = 0, . . . , m,
⎪
⎪ sk
⎪
⎪
⎪
⎪
⎪
⎩
gk (t, u(t)) + σk , t ∈ I˜k , k = 1, . . . , m,
where g : Ik → E, k = 0, . . . , m, be a function satisfying the functional equation
g(t) = f (t, u(t), g(t)).
Hence, for each t ∈ Ik ,k = 0, . . . , m, we have

(ρ ) ( )
||u(t) − w(t)|| ≤ Jaα+ ||g(s) − h(s)|| (t) + ρ Jaα+ ||σ (s)||
( t ( ρ )
t − s ρ α−1 2χ(t)θ (t)
≤ ∈λθ θ (t) + s ρ−1 ds
a (
∗ ρ α
)ρ Γ(γ )
≤ ∈λθ θ (t) + 2χ Ja + θ (t)
∗
≤ (∈ + 2χ )λθ θ (t)
2χ ∗
≤ (1 + )λθ ∈(τ + θ (t)),
∈
where ( )
∗
χ = max sup χ(t) .
k=0,...,m t∈[sk ,tk+1 ]
For each t ∈ I˜k ,k = 1, . . . , m, we have
||u(t) − w(t)|| ≤ ||gk (t, u(t)) − gk (t, w(t))|| + ||σk ||

≤ l ∗ ||u(t) − w(t)|| + ∈τ,
then by (5.34),
∈τ ∈
||u(t) − w(t)|| ≤ ≤ (τ + θ (t)).
1 − l∗ 1 − l∗
Then for each t ∈ (a, b], we have
||u(t) − w(t)|| ≤ aθ ∈(τ + θ (t)),
where ( )
2χ ∗ 1
aθ = max (1 + )λθ , .
∈ 1 − l∗
Hence, problem (5.30)–(5.32) is U-H-R stable with respect to (θ, τ ). ⎕
5.3.3 An Example
Example 5.20 Let

( ∞
)
Σ
E = l 1 = v = (v1 , v2 , . . . , vn , . . .), |vn | < ∞
n=1

∞
Σ
||v|| = |vn |.
n=1
Consider the following initial value problem with non-instantaneous impulses:

( 1
) ( ( 1
) )
2 ,0 2 ,0
1
D sk+
u (t) = f t, u(t), 1
D sk+
u (t) , t ∈ (1, 2] ∪ (e, 3], k ∈ {0, 1} (5.37)
u(t) = g(t, u(t)), t ∈ (2, e], (5.38)
( 1
)
1
J12+ u (1+ ) = 0, (5.39)
where
a = t0 = s0 = 1 < t1 = 2 < s1 = e < t2 = 3 = b,
u = (u 1 , u 2 , . . . , u n , . . .),
f = ( f 1 , f 2 , . . . , f n , . . .),
1 1 1 1
2 ,0 ,0 ,0 ,0
1
D sk+
u = (1 Ds2+ u 1 , . . . , 1 Ds2+ u 2 , . . . , 1 Ds2+ u n , . . .),
k k k
g = (g1 , g2 , . . . , gn , . . .),
( )
1
,0 (2t 3 + 5e−2 )|u n (t)|
f n (t, u n (t), 1
Ds2+ u n (t)) = ( 1 ) ,
k ,0
183e−t+3 (1 + ||u(t)|| + || 1 Ds2+ u (t)||)
k
for t ∈ (1, 2] ∪ (e, 3], with k ∈ {0, 1}, n ∈ N, and

|u n (t)|
gn (t, u n (t)) = , t ∈ (2, e], n ∈ N.
105e−t+5 + 1
We have
{ √ }
Cγβ(1−α)
,ρ ((1, 2]) = C 01 ,1 ((1, 2]) = h : (1, 2] → E : ( t − 1)h ∈ C([1, 2], E) ,
2
and
{ √ }
Cγβ(1−α)
,ρ ((e, 3]) = C 01 ,1 ((e, 3]) = h : (e, 3] → E : ( t − e)h ∈ C([e, 3], E) ,
2
with γ = α = 21 , ρ = 1, β = 0, and k ∈ {0, 1}. Clearly, the continuous function f ∈

C 01 ((1, 2]) ∩ C 01 ((e, 3]). Hence, the condition (5.15.1) is satisfied.
2 ,1 2 ,1
For each u, w ∈ E and t ∈ (1, 2] ∪ (e, 3] :
2t 3 + 5e−2
|| f (t, u, w)|| ≤ .
183e−t+3
2t 3 + 5e−2
p(t) = ,
183e−t+3
and
54 + 5e−2
p∗ = .
183
And for each u ∈ E and t ∈ (2, e], we have
||u||
||g(t, u)|| ≤ ,
105e5−e + 1
1
and so the condition (5.15.4) is satisfied with l ∗ = .
105e5−e +1
The condition (5.34) of Theorem 5.15 is satisfied, for
( ( ) )
∗ p ∗ Γ(γ ) bρ − a ρ α
L := max l , ≈ 0.7489295248 < 1.
Γ(α + γ ) ρ
1
( 1 )
,0 ,0
Let Ω be a bounded set in E where 1 Ds2+ Ω = 1 Ds2+ v : v ∈ Ω ; k ∈ {0, 1}, then by the
k k
properties of the Kuratowski measure of noncompactness, for each u ∈ Ω and t ∈ (1, 2] ∪
(e, 3], we have ( ) 1
,0
μ f (t, Ω, 1 Ds2+ Ω) ≤ p(t)μ(Ω),
k
and for each t ∈ (2, e],

μ (g(t, Ω)) ≤ l ∗ μ(Ω).
Hence, conditions (5.15.3) and (5.15.5) are satisfied. Then the problem (5.37)–(5.39) has
at least one solution in PC 1 ,1 ([1, 3]).
2
Also, hypothesis (5.19.1) is satisfied with τ = 1 and
⎧
⎪ 1
⎪
⎨√ , i f t ∈ (1, 2] ∪ (e, 3],
t − sk
θ (t) =
⎪
⎪
⎩
1, i f t ∈ (2, e],
√
and λθ = π. Indeed, for each t ∈ (1, 2], we get
√
1 √ π
(1 J12+ θ )(t) = π≤√ ,
t −1
and for each t ∈ (e, 3], we get
√
1 √ π
(1 Je2+ θ )(t) = π≤√ .
t −e
Let the function χ :[1, 2] ∪ [e, 3] −→ [0, ∞) be defined by:
√
(2t 3 + 5e−2 ) t − sk
χ(t) = ; k ∈ {0, 1},
183e−t+3
5.4 Boundary Value Problem for Fractional Order Generalized … 149
then, for each t ∈ (1, 2] ∪ (e, 3], we have
p(t) = χ(t)θ (t),
with χ ∗ = p∗ . Hence, the condition (5.19.2) is satisfied. Consequently, Theorem 5.19

implies that the problem (5.37)–(5.39) is U-H-R stable.
5.4 Boundary Value Problem for Fractional Order Generalized

Hilfer-Type Fractional Derivative
Following the work of the previous section, in this section, we establish existence and
stability results of the boundary value problem with nonlinear implicit generalized Hilfer-
type fractional differential equation with non-instantaneous impulses:
( ) ( ( ) )
ρ α,β α,β
Dτ + x (t) = f t, x(t), ρ Dτ + x (t) ; t ∈ Ji , i = 0, . . . , m, (5.40)
i i
x(t) = ψi (t, x(t)); t ∈ J˜i , i = 1, . . . , m, (5.41)
( ) ( )
ρ
Ja + x (a + ) + φ2 ρ Jm + x (b) = φ3 ,
1−γ 1−γ
φ1 (5.42)
α,β
where ρ Dτ + , ρ Ja + are the generalized Hilfer-type fractional derivative of order α ∈ (0, 1)
1−γ
i
αβ), respectively, φ1 , φ2 , φ3 ∈ R , φ1 / = 0, Ji := (τi , ti+1 ]; i = 0, . . . , m, J˜i := (ti , τi ]; i =
1, . . . , m, a = t0 = τ0 < t1 ≤ τ1 < t2 ≤ τ2 < · · · ≤ τm−1 < tm ≤ τm < tm+1 = b < ∞,
x(ti+ ) = lim x(ti + ∈) and x(ti− ) = lim x(ti + ∈) represent the right- and left-hand lim-
∈→0+ ∈→0−
its of x(t) at t = ti , f : Ji × R × R → R is a given ˜
( function,)and ψi : Ji × R → R; i =
|
1, . . . , m are given continuous functions such that ρ Jτ + ψi (t, x(t)) |t=τi = ci ∈ R .
1−γ
i
We can use the preliminary details, essential notations, definitions, and lemmas introduced
in the two previous sections.
( )
ρ α,β
Dτ + x (t) = v(t), t ∈ Ji , i = 0, . . . , m, (5.43)
i

x(t) = ψi (t, x(τi− )); t ∈ J˜i , i = 1, . . . , m, (5.44)

( ) ( )
φ1 ρ Ja + x (a + ) + φ2 ρ Jτ + x (b) = φ3 ,
1−γ 1−γ
(5.45)
m
where γ = α + β − αβ, φ1 , φ2 , φ3 ∈ R, φ1 / = 0, and c∗ = max{|ci | : i = 1, . . . , m}.
The following theorem shows that the problem (5.43)–(5.45) has a unique solution given
by
⎧ ( ρ ) [ ]
⎪
⎪ 1 t − a ρ γ −1 φ3 cm φ2 φ2 (ρ 1−γ +α )
⎪
⎪ − − J v (b)
⎪ Γ(γ τm+
⎪
⎪
⎪ (ρ ) α ) ρ φ1 φ1 φ1
⎪
⎪ + Ja + v (t) i f t ∈ J0 ,
⎪
⎪
⎨
x(t) = ( )
ρ γ −1 (5.46)
⎪ t ρ − τi ( )
⎪
⎪
ci
+ ρ α
J
⎪ + v (t), t ∈ Ji , i = 1, . . . , m,
⎪ τi
⎪ Γ(γ )
⎪
⎪
ρ
⎪
⎪
⎪
⎪
⎩
ψi (t, x(t)), t ∈ J˜i , i = 1, . . . , m.
Theorem 5.21 Let γ = α + β − αβ, where 0 < α < 1 and 0 ≤ β ≤ 1. If v : Ji → R; i =

γ
0, . . . , m, is a function such that v(·) ∈ Cγ ,ρ (Ji ), then x ∈ PCγ ,ρ (J ) satisfies the problem
(5.43)–(5.45) if and only if it satisfies (5.46).
Proof Assume x satisfies (5.43)–(5.45). If t ∈ J0 , then

( )
ρ α,β
Da + x (t) = v(t).

( )
ρ J 1−γ x (a) ( ρ ) ( t( ρ )
a + t − a ρ γ −1 1 t − τ ρ α−1 ρ−1
x(t) = + τ v(τ )dτ.
If t ∈ J˜1 , then we have x(t) = ψ1 (t, x(t)).

( )
ρ J 1−γ x (τ ) (
ρ )γ −1 ( t( ρ )
+
t ρ − τ1 t − τ ρ α−1 ρ−1
τ1 1
1
x(t) = + τ v(τ )dτ
Γ(γ ) ρ Γ(α) τ1 ρ
( ρ ρ )γ −1 ( )
c1 t − τ1
= + ρ Jτα+ v (t).
Γ(γ ) ρ 1
If t ∈ J˜2 , then we have x(t) = ψ2 (t, x(t)).


( )
ρ J 1−γ x (τ ) (
ρ )γ −1 ( t( ρ )
τ2+ t ρ − τ2 t − τ ρ α−1 ρ−1
2
1
x(t) = + τ v(τ )dτ
Γ(γ ) ρ Γ(α) τ2 ρ
( ρ ρ )γ −1 ( )
c2 t − τ2
= + ρ Jτα+ v (t).
Γ(γ ) ρ 2
Repeating the process in this way, the solution x(t) for t ∈ J can be written as
⎧( )
⎪ ρ J 1−γ x (a) ( ρ )
⎪
⎪ + t − a ρ γ −1 (ρ α )
⎪
⎪
a
+ Ja + v (t) i f t ∈ J0 ,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
⎪
⎪
⎨ ( )
x(t) = ρ γ −1 ( )
⎪ ci t ρ − τi (5.47)
⎪
⎪ + ρ Jτα+ v (t) i f t ∈ Ji , i = 1, . . . , m,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
i
⎪
⎪
⎪
⎪
⎩
ψi (t, x(t)) i f t ∈ J˜i , i = 1, . . . , m.
Applying ρ Jτ +
1−γ
on both sides of (5.47), using Lemma 2.19, and taking t = b, we obtain
m
( ) ( )
ρ 1−γ +α
Jτ + x (b) = cm + ρ Jτ +
1−γ
v (b).
m m
Using the condition (5.45), we get

( ) φ3 cm φ2 φ2 (ρ 1−γ +α )
ρ 1−γ
Ja + x (a) = − − Jτ + v (b). (5.48)
φ1 φ1 φ1 m
Substituting (5.48) in (5.47), we get (5.46).
Reciprocally, for t ∈ Ji ; i = 0, . . . , m, applying ρ Jτ + on both sides of (5.46) and using

1−γ
i
Lemma 2.19 and Theorem 2.14, we get
⎧
⎪ φ3 cm φ2 φ2 (ρ 1−γ +α ) (
ρ 1−γ +α
)
⎪
⎪ − − J v (b) + J v (t), t ∈ J0 ,
( ) ⎪
⎨ φ1 φ1 φ1 τm+ a +
ρ 1−γ
Jτ + x (t) = ( )
⎪
⎪
i
⎪
⎪ 1−γ +α
⎩ ci + ρ Jτ + v (t), t ∈ Ji , i = 1, . . . , m.
i
(5.49)
we obtain
( ) φ3 cm φ2 φ2 (ρ 1−γ +α )
ρ J 1−γ u (a + ) = − − Jτ + v (b).
a+ (5.50)
φ1 φ1 φ1 m
Now taking t = b in (5.49), we get

( ) ( )
ρ J 1−γ u (b) = c + ρ J 1−γ +α v (b). (5.51)
+ m +
τ m τ m
From (5.50) and (5.51), we obtain

( ) ( )
φ1 ρ Ja + x (a + ) + φ2 ρ Jτ + x (b) = φ3 ,
1−γ 1−γ
m
which shows that the boundary condition (5.45) is satisfied.

γ
Next, for t ∈ Ji ; i = 0, . . . , m, apply operator ρ Dτ + on both sides of (5.46). Then, from
i
Lemmas 2.19 and 2.33, we obtain
( )
γ β(1−α)
(ρ Dτ + x)(t) = ρ
Dτ + v (t). (5.52)
i i
γ γ γ
Since x ∈ Cγ ,ρ (Ji ) and by definition of Cγ ,ρ (Ji ), we have ρ Dτ + x ∈ Cγ ,ρ (Ji ), then (5.52)
i
implies that
( ) ( )
γ β(1−α)
(ρ Dτ + x)(t) = δρ ρ Jτ + v (t) = ρ Dτ +
1−β(1−α)
v (t) ∈ Cγ ,ρ (Ji ). (5.53)
i i i
As v(·) ∈ Cγ ,ρ (Ji ) and from Lemma 2.23, follows

( )
ρ 1−β(1−α)
Jτ + v ∈ Cγ ,ρ (Ji ), i = 0, . . . , m. (5.54)
i
From (5.53), (5.54), and by the definition of the space Cγn,ρ (Ji ), we obtain
( )
ρ 1−β(1−α)
Jτ + v ∈ Cγ1,ρ (Ji ), i = 0, . . . , m.
i
β(1−α)
Applying operator ρ Jτ + on both sides of (5.52) and using Lemmas 2.32 and 2.24 and
i
( ) ( )
ρ α,β ρ β(1−α) ργ
Dτ + x (t) = Jτ + Dτ + x (t)
i i i
( )
ρ J 1−β(1−α) v (τ ) ( )β(1−α)−1
ρ
τ+
i
i
t ρ − τi
= v(t) −
Γ(β(1 − α)) ρ
= v(t),
that is, (5.43) holds. Also, we can easily have
x(t) = ψi (t, x(t)); t ∈ J˜i , i = 1, . . . , m.
This completes the proof. ⎕
Lemma 5.22 Let γ = α + β − αβ where 0 < α < 1 and 0 ≤ β ≤ 1, and i = 0, . . . , m,

let f : J × R × R → R be a function such that f (·, x(·), y(·)) ∈ Cγ ,ρ (Ji ), for any x, y ∈
γ
PCγ ,ρ (J ). If x ∈ PCγ ,ρ (J ), then x satisfies the problem (5.40)–(5.42) if and only if x is
the fixed point of the operator ξ : PCγ ,ρ (J ) → PCγ ,ρ (J ) defined by
⎧ ( ρ )
⎪
⎪ c t − a ρ γ −1 (ρ α )
⎪
⎪ + Ja + ϕ (t), t ∈ J0 ,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
⎪
⎪
⎨ ( )
ρ γ −1 ( )
ξx(t) = ci t ρ − τi (5.55)
⎪
⎪ + ρ Jτα+ ϕ (t), t ∈ Ji , i = 1, . . . , m,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
i
⎪
⎪
⎪
⎪
⎩
ψi (t, x(t)), t ∈ J˜i , i = 1, . . . , m,
ϕ(t) = f (t, x(t), ϕ(t)),

φ3 cm φ2 φ2 (ρ 1−γ +α )
and c = − − Jτ + ϕ (b). Also, by Lemma 2.23, ξu ∈ PCγ ,ρ (J ).
φ1 φ1 φ1 m
(5.42) based on Banach’s fixed point theorem.
Theorem 5.23 Assume that the following hypotheses hold.
(5.23.1) The function f : Ji × R × R → R is continuous on Ji ; i = 0, . . . , m, and
f (·, x(·), y(·)) ∈ Cγβ(1−α)

,ρ (Ji ), i = 0, . . . , m, for any x, y ∈ PCγ ,ρ (J ).
| f (t, x, y) − f (t, x̄, ȳ)| ≤ η1 |x − x̄| + η2 |y − ȳ|
for any x, y, x̄, ȳ ∈ R and t ∈ Ji , i = 0, . . . , m.

(5.23.3) The functions ψi are continuous and there exists a constant K ∗ > 0 such that
|ψi (x) − ψi (x̄)| ≤ K ∗ |x − x̄|, x, x̄ ∈ R, i = 1, . . . , m.
If
( ( )α [ ])
∗η1 bρ − a ρ |φ2 | Γ(γ )
ẽ = max K , + < 1, (5.56)
1 − η2 ρ |φ1 |Γ(α + 1) Γ(γ + α)
Before starting the proof of Theorem 5.23, we are obliged to provide the following remark.
Remark 5.24 By hypothesis (5.23.2), we may have the following:
| f (t, x, y)| ≤ | f (t, x, y) − f (t, 0, 0)| + | f (t, 0, 0)|

≤ η1 |x| + η2 |y| + f 0 ,
where f 0 = sup | f (t, 0, 0)|.

t∈[a,b]

Step 1: We show that the operator ξ defined in (5.55) has a unique fixed point x ∗ in
PCγ ,ρ (J ). Let x, y ∈ PCγ ,ρ (J ) and t ∈ J .
For t ∈ J0 we have
( ρ )
|φ2 | t − a ρ γ −1 (ρ 1−γ +α )
|ξx(t) − ξy(t)| ≤ Jτ + |ϕ(τ ) − ϕ̃(τ )| (b)
(|φ1 |Γ(γ ) ρ ) m
+ ρ Jaα+ |ϕ(τ ) − ϕ̃(τ )| (t),
and for t ∈ Ji , i = 1, . . . , m, we have

( )
ρ
|ξx(t) − ξy(t)| ≤ Jτα+ |ϕ(τ ) − ϕ̃(τ )| (t),
i
where ϕ, ϕ̃ ∈ Cγ ,ρ (Ji ); i = 0, . . . , m, such that
ϕ(t) = f (t, x(t), ϕ(t)),

ϕ̃(t) = f (t, y(t), ϕ̃(t)).
|ϕ(t) − ϕ̃(t)| = | f (t, x(t), ϕ(t)) − f (t, y(t), ϕ̃(t))|

≤ η1 |x(t) − y(t)| + η2 |ϕ(t) − ϕ̃(t)|.
Then,
η1
|ϕ(t) − ϕ(t)| ≤ |x(t) − y(t)|.
1 − η2
Therefore, for each t ∈ Ji , i = 1, . . . , m,
η1 (ρ α )
|ξx(t) − ξy(t)| ≤ Jτ + |x(τ ) − y(τ )| (t).
1 − η2 i
Thus
⎡ ⎛ ( ) ⎞ ⎤
τ ρ − τ ρ γ −1
η
|ξx(t) − ξy(t)| ≤ ⎣ ⎝ρ J α+ ⎠ (t)⎦ ||x − y|| PCγ ,ρ .
1 i
1 − η2 τi ρ

⎡ ( )α+γ −1 ⎤
ρ
η1 Γ(γ ) t ρ − τi
|ξx(t) − ξy(t)| ≤ ⎣ ⎦ ||x − y|| PCγ ,ρ ,
(1 − η2 )Γ(γ + α) ρ
hence
⎡ ) ⎤(
t ρ − τρ α
| ( ) | i
| ρ − τ ρ 1−γ || ⎢ η1 Γ(γ ) ρ ⎥
| t ⎢ ⎥
|(ξx(t) − ξy(t)) i |≤⎢ ⎥ ||x − y|| PC
| ρ | ⎢ ⎥ γ ,ρ
| | ⎣ (1 − η2 )Γ(γ + α) ⎦
⎡ ( ) ⎤
bρ − a ρ α
η1 Γ(γ )
⎢ ρ ⎥
≤⎢ ⎥
⎣ (1 − η2 )Γ(γ + α) ⎦ ||x − y|| PCγ ,ρ
≤ ẽ||x − y|| PCγ ,ρ .
And for t ∈ J0 we have

( ρ )
|φ2 | t − a ρ γ −1 (ρ 1−γ +α )
|ξx(t) − ξy(t)| ≤ Jτ + |ϕ(τ ) − ϕ̃(τ )| (b)
|φ1 |Γ(γ ) ρ m
(ρ α )
+ Ja + |ϕ(τ ) − ϕ̃(τ )| (t)
[ ( ρ ρ )α+γ −1
|φ2 | b − τm
≤
|φ1 |Γ(α + 1) ρ
( ρ ) ]
Γ(γ ) t − a ρ α+γ −1 η1
+ × ||x − y|| PCγ ,ρ ,
Γ(γ + α) ρ 1 − η2
hence
| ( ρ ) | [ ]
| t − a ρ 1−γ || η1 (bρ − a ρ )α |φ2 | Γ(γ )
|
|(ξx(t) − ξy(t)) |≤ +
| ρ | (1 − η2 )ρ α |φ1 |Γ(α + 1) Γ(γ + α)
× ||x − y|| PCγ ,ρ
≤ ẽ||x − y|| PCγ ,ρ .
For t ∈ J˜i , i = 1, . . . , m, we have
|ξx(t) − ξy(t)| ≤ |(ψi (t, x(t)) − ψi (t, y(t)))|

≤ K ∗ ||x − y|| PCγ ,ρ
≤ ẽ||x − y|| PCγ ,ρ .
||ξx − ξy|| PCγ ,ρ ≤ ẽ||u − w|| PCγ ,ρ .
By (5.56), the operator ξ is a contraction. Hence, by Theorem 2.45, ξ has a unique fixed
point x ∗ ∈ PCγ ,ρ (J ).
γ
Step 2: We prove that the fixed point x ∗ ∈ PCγ ,ρ (J ) is actually in PCγ ,ρ (J ).
Since x ∗ is the unique fixed point of operator ξ in PCγ ,ρ (J ), then for each t ∈ J , we have
⎧ ( ρ )
⎪
⎪ c t − a ρ γ −1 (ρ α )
⎪
⎪ + Ja + ϕ (t) i f t ∈ J0 ,
⎪
⎨ Γ(γ ) ( ρ )γ −1
⎪
ξx ∗ (t) = ci t ρ − τi
ρ ( )
⎪
⎪ + ρ Jτα+ ϕ (t) i f t ∈ Ji , i = 1, . . . , m,
⎪ Γ(γ )
⎪ ρ
⎪
⎪
i
⎩ ψ (t, x ∗ (t)) i f t ∈ J˜i , i = 1, . . . , m,
i
where ϕ ∈ Cγ ,ρ (Ji ); i = 0, . . . , m, such that
ϕ(t) = f (t, x ∗ (t), ϕ(t)).

γ
For t ∈ Ji ; i = 0, . . . , m, applying ρ Dτ + to both sides and by Lemmas 2.19 and 2.33, we
i
have ( )
ρ D γ x ∗ (t) = ρ Dγ ρ J α f (τ, x ∗ (τ ), ϕ(τ )) (t)
τi+ τi+ τi+
( )
β(1−α)
= ρ Dτ + f (τ, x ∗ (τ ), ϕ(τ )) (t).
i
γ
Since γ ≥ α, by (5.23.1), the right-hand side is in Cγ ,ρ (Ji ) and thus ρ Dτ + x ∗ ∈ Cγ ,ρ (Ji ).
i
γ
And since ψi ∈ C( J˜i , R); i = 1, . . . , m, then x ∗ ∈ PCγ ,ρ (J ). As a consequence of Steps
1 and 2 together with Theorem 5.23, we can conclude that the problem (5.40)–(5.42) has a
unique solution in PCγ ,ρ (J ). ⎕
Our second result is based on Krasnoselskii’s fixed point theorem.
Theorem 5.25 Assume that (5.23.1), (5.23.2), and the following condition hold:
(5.25.1) The functions ψi are continuous and there exist constants 0 < φ1 < 1, φ2 > 0
such that
|ψi (x)| ≤ φ1 |x| + φ2 for each x ∈ R, i = 1, . . . , m.
If ( )α
|φ2 |η1 bρ − a ρ
< 1, (5.57)
|φ1 |Γ(α + 1)(1 − η2 ) ρ
Proof Consider the set
Bω = {x ∈ PCγ ,ρ (J ) : ||x|| PCγ ,ρ ≤ ω},
where ω ≥ r1 + r2 , with
( ∗ ( ρ ) )
c |φ3 − cm φ2 | A|φ2 | b − aρ α
r1 := max , + ,
Γ(γ ) Γ(γ )|φ1 | Γ(α + 1)|φ1 | ρ
( ( )( ρ ) )
Γ(γ ) b − aρ α
r2 := max φ1r + φ2 , A .
Γ(γ + α) ρ
We define the operators N1 and N2 on Bω by

⎧ ( ρ ) [ ]
⎪
⎪ 1 t − a ρ γ −1 φ3 cm φ2 φ2 (ρ 1−γ +α )
⎪
⎪ − − J ϕ (b) , t ∈ J0 ,
⎪
⎪ Γ(γ ) ρ φ1 φ1 φ1 τm+
⎪
⎪
⎪
⎪
⎨ ( )
ρ γ −1
N1 x(t) = ci t ρ − τi
⎪
⎪ , t ∈ Ji , i = 1, . . . , m,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
⎪
⎪
⎪
⎪
⎩
0, t ∈ J˜i , i = 1, . . . , m
(5.58)
and
⎧( )
⎪
⎪ ρ J α ϕ (t) i f t ∈ Ji , 0 = 1, . . . , m,
⎨ τ+ i
N2 x(t) = (5.59)
⎪
⎪
⎩
ψi (t, x(t)) i f t ∈ J˜i , i = 1, . . . , m
where i = 0, . . . , m and ϕ : Ji → R be a function satisfying the functional equation
ϕ(t) = f (t, x(t), ϕ(t)).
Then the fractional integral equation (5.55) can be written as operator equation
ξx(t) = N1 x(t) + N2 x(t), x ∈ PCγ ,ρ (J ).
We shall use Krasnoselskii’s fixed point theorem to prove in several steps that the operator
ξ defined in (5.55) has a fixed point.
Step 1: We prove that N1 x + N2 y ∈ Bω for any x, y ∈ Bω .
By Remark (5.24) and from (5.55), we have for each t ∈ Ji , i = 0, . . . , m,
|( )1−γ | |( )1−γ |
| ρ | | ρ |
| t − τiρ | | t − τiρ |
| | |
ϕ(t)| = | f (t, x(t), ϕ(t))||
| ρ ρ
| | | |
( )
ρ 1−γ
t ρ − τi
≤ (η1 |x(t)| + η2 |ϕ(t)| + f 0 ) ,
ρ
which implies that

|( )1−γ | |( ) |
| ρ | ( ρ )1−γ | ρ ρ 1−γ |
| t − τiρ | ρ | − τ |
| ϕ(t)| ≤ η1 b − a ω + η | t i
ϕ(t)|
| ρ | ρ
2|
ρ |
| | | |
( ρ )
b − aρ 1−γ
+ f0 .
ρ
Then
( ρ )
⎧ |( ) |⎫ b − a ρ 1−γ
⎨ | ρ 1−γ |⎬ (η1 ω + f 0 )
| t − τiρ | ρ
max sup || ϕ(t)|| ≤ := A.
i=0,...,m ⎩t∈Ji | ρ |⎭ 1 − η2
Thus, for t ∈ J0 , by (5.58) and Lemma 2.19,

|( |
| t ρ − a ρ )1−γ | |φ − c φ | |φ2 | (ρ 1−γ +α )
| | 3 m 2
| (N1 x)(t)| ≤ + Jτ + |ϕ(τ )| (b)
| ρ | Γ(γ )|φ1 | Γ(γ )|φ1 | m
( ρ )
|φ3 − cm φ2 | A|φ2 | b − aρ α
≤ + ,
Γ(γ )|φ1 | Γ(α + 1)|φ1 | ρ
and for t ∈ Ji , i = 1, . . . , m, we have

|( )1−γ |
| ρ |
| t − τiρ | ∗
| (N x)(t) | ≤ |ci | ≤ c ,
| ρ
1 |
| | Γ(γ ) Γ(γ )
then for each t ∈ J we get

( ∗ ( ρ ) )
c |φ3 − cm φ2 | A|φ2 | b − aρ α
||N1 x|| PCγ ,ρ ≤ max , + . (5.60)
Γ(γ ) Γ(γ )|φ1 | Γ(α + 1)|φ1 | ρ
For t ∈ Ji , i = 0, . . . , m, by (5.59) and Lemma 2.19, we have

|( )1−γ | ( )
| ρ | ρ − τ ρ 1−γ ( )
| t − τiρ | t
| |
(N2 y)(t)| ≤ i ρ α
Jτ + |ϕ(τ )| (t)
| ρ ρ
| | i
( )( ρ )
≤ A ,
Γ(γ + α) ρ
and for each t ∈ J˜i , i = 1, . . . , m, we have
|(N2 y)(t)| ≤ |ψi (t, y(t))|

≤ φ1r + φ2 ,
then for each t ∈ J , we get

( ( )( )α )
Γ(γ ) bρ − a ρ
||N2 y|| PCγ ,ρ ≤ max φ1r + φ2 , A . (5.61)
Γ(γ + α) ρ
From (5.60) and (5.61), for each t ∈ J , we have
||N1 x + N2 y|| PCγ ,ρ ≤ ||N1 x|| PCγ ,ρ + ||N2 y|| PCγ ,ρ

≤ r1 + r2
≤ ω,
which infers that N1 x + N2 y ∈ Bω .

Step 2: N1 is a contraction.
Let x, y ∈ PCγ ,ρ (J ) and t ∈ J .
|ϕ(t) − ϕ̃(t)| = | f (t, x(t), ϕ(t)) − f (t, y(t), ϕ̃(t))|

≤ η1 |x(t) − y(t)| + η2 |ϕ(t) − ϕ̃(t)|.
where ϕ, ϕ̃ ∈ Cγ ,ρ (Ji ); i = 0, . . . , m, such that
ϕ(t) = f (t, x(t), ϕ(t)),

ϕ̃(t) = f (t, y(t), ϕ̃(t)).
Then,
η1
|ϕ(t) − ϕ(t)| ≤ |x(t) − y(t)|.
1 − η2
Therefore, for t ∈ J0 , we have
( ρ )
|φ2 | t − a ρ γ −1 (ρ 1−γ +α )
|N1 x(t) − N1 y(t)| ≤ Jτ + |ϕ(τ ) − ϕ̃(τ )| (b)
|φ1 |Γ(γ ) ρ m
[ ( ρ ρ )α+γ −1
]
η1 |φ2 | b − τm
≤ ||x − y|| PCγ ,ρ .
1 − η2 |φ1 |Γ(α + 1) ρ
Hence,
( ρ )
| | b − aρ α
| ( ρ ) |φ2 |η1
| t − a ρ 1−γ || ρ
|(N1 x(t) − N1 y(t)) |≤ ||x − y|| PCγ ,ρ .
| ρ | |φ1 |Γ(α + 1)(1 − η2 )

( )α
|φ2 |η1 bρ − a ρ
||N1 x − N1 y|| PCγ ,ρ ≤ ||x − y|| PCγ ,ρ .
|φ1 |Γ(α + 1)(1 − η2 ) ρ
Then by (5.57), the operator N1 is a contraction.

Step 3: N2 is continuous and compact. Let {xn } be a sequence such that xn → x in PCγ ,ρ (J ).
Then for each t ∈ Ji , i = 0, . . . , m, we have
| ( ρ ρ )1−γ || ( ρ ρ )1−γ ( )
|
|(N2 xn )(t) − (N2 x)(t)) t −τi | ≤ t −τi ρ α
J |ϕ (τ ) − ϕ(τ )| (t),
| ρ | ρ τ + n
i
where h n , h ∈ C(Ji , R), such that
ϕn (t) = f (t, xn (t), ϕn (t)),

ϕ(t) = f (t, x(t), ϕ(t)).
For each t ∈ J˜i , i = 1, . . . , m, we have
|(N2 xn )(t) − (N2 x)(t)| ≤ |(ψi (t, xn (t)) − ψi (t, x(t)))| .

Since xn → x, then we get ϕn (t) → ϕ(t) as n → ∞ for each t ∈ Ji ; i = 0, . . . , m. By

Lebesgue’s dominated convergence Theorem and since ψi are continuous, we have
||N2 xn − N2 x|| PCγ ,ρ → 0 as n → ∞.
Then N2 is continuous. Next, we prove that N2 is uniformly bounded on Bω . Let any y ∈ Bω .

We have from step 1 that for each t ∈ J
( ( )( ρ ) )
||N2 y|| PCγ ,ρ ≤ max φ1r + φ2 , A .
Γ(γ + α) ρ
This proves that the operator N2 is uniformly bounded on Bω . To prove the compactness of
N2 , we take y ∈ Bω and a < ε1 < ε2 ≤ b. Then for ε1 , ε2 ∈ Ji ; i = 0, . . . , m,
|( )1−γ ( ρ ) |
| ρ ρ 1−γ |
| ε1 − τiρ ε − τ |
| (N2 y)(ε1 ) − 2 i
(N2 y)(ε2 )||
| ρ ρ
| |
|( )1−γ ( ρ ) |
| ρ ( ) ρ 1−γ ( ) |
| ε1 − τiρ ε − τ |
≤| | ρ α
Jτ + ϕ(τ ) (ε1 ) − 2 i
Jτ + ϕ(τ ) (ε2 )||
ρ α
| ρ i ρ i |
( ρ )
ρ 1−γ ( ( ε1
ε2 − τi ) 1 | ρ−1 |
≤ ρ α
Jε+ |ϕ(τ )| (ε2 ) + |τ H (τ )ϕ(τ )| dτ,
ρ 1 Γ(α) τi
where
⎡( )1−γ ( ( )1−γ ( ⎤
ρ ρ ρ )α−1 ρ ρ ρ )α−1
ε − τi ε1 − τ ρ ε2 − τi ε2 − τ ρ
H (τ ) = ⎣ 1 − ⎦.
ρ ρ ρ ρ

|( )1−γ ( ρ ) |
| ρ ρ 1−γ |
| ε1 − τiρ ε − τ |
| (N y)(ε ) − 2 i
(N y)(ε ) |
| ρ
2 1
ρ
2 2 |
| |
( ρ )
ρ 1−γ ( ρ ρ )α+γ −1
AΓ(γ ) ε2 − τi ε2 − ε1
≤
Γ(α + γ ) ρ ρ
( ε1 | |( ρ )
ρ γ −1
| τ ρ−1 | τ − τi
+A | |
| H (τ ) Γ(α) | ρ
dτ,
τi
note that
|( )1−γ ( ρ ) |
| ρ ρ 1−γ |
| ε1 − τiρ ε − τ |
| (N y)(ε ) − 2 i
(N y)(ε ) | → 0 as ε1 → ε2 .
| ρ
2 1
ρ
2 2 |
| |
And for ε1 , ε2 ∈ J˜i ; i = 1, . . . , m,
|(N2 y)(ε1 ) − (N2 y)(ε2 )| ≤ |ψi (ε1 , y(ε1 )) − ψi (ε2 , y(ε2 ))| ,
note since ψi are continuous that
|(N2 y)(ε1 ) − (N2 y)(ε2 )| → 0 as ε1 → ε2 .
This proves that N2 Bω is equicontinuous on J . Therefore, N2 Bω is relatively compact. By

PCγ ,ρ -type Arzela-Ascoli Theorem, N2 is compact. As a consequence of Theorem 2.50,
we deduce that ξ has at least a fixed point x ∗ ∈ PCγ ,ρ (J ), and by the same way of the
γ
proof of Theorem 5.23, we can easily show that x ∗ ∈ PCγ ,ρ (J ). Using Lemma 5.22, we
conclude that the problem (5.40)–(5.42) has at least one solution in the space PCγ ,ρ (J ). ⎕
Now, we consider the Ulam stability for problem (5.40)–(5.42). Let x ∈ PCγ ,ρ (J ), θ > 0,
μ > 0, and χ : J −→ [0, ∞) be a continuous function. We consider the following inequal-
ity:
⎧ ||( ) ( ( ) )|
|
⎪
⎪ | ρ D α,β x (t) − f t, x(t), ρ D α,β x (t) | ≤ θ, t ∈ J , i = 0, . . . , m,
⎨| τi+ τi+ | i
(5.62)
⎪
⎪
⎩
|x(t) − ψi (t, x(t))| ≤ θ, t ∈ J˜i , i = 1, . . . , m,
⎧ ||( ) ( ( ) )|
|
⎪
⎪ | ρ D α,β x (t) − f t, x(t), ρ D α,β x (t) | ≤ χ(t), t ∈ J , i = 0, . . . , m,
⎨| τ+ τ+ | i
i i
(5.63)
⎪
⎪
⎩
|x(t) − ψi (t, x(t))| ≤ μ, t ∈ J˜i , i = 1, . . . , m,
and
⎧ ||( ) ( ( ) )|
|
⎪
⎪ | ρ D α,β x (t) − f t, x(t), ρ D α,β x (t) | ≤ θ χ (t), t ∈ J , i = 0, . . . , m,
⎨| τ +
τ + | i
i i
(5.64)
⎪
⎪
⎩
|x(t) − ψi (t, x(t))| ≤ θ μ, t ∈ J˜i , i = 1, . . . , m.
Definition 5.26 ([156, 158]) Problem (5.40)–(5.42) is Ulam-Hyers (U-H) stable if there
exists a real number a f > 0 such that for each θ > 0 and for each solution x ∈ PCγ ,ρ (J )
of inequality (5.62) there exists a solution y ∈ PCγ ,ρ (J ) of (5.40)–(5.42) with
|x(t) − y(t)| ≤ θa f , t ∈ J.
Definition 5.27 ([156, 158]) Problem (5.40)–(5.42) is generalized Ulam-Hyers (G.U-H)

stable if there exists K f : C([0, ∞), [0, ∞)) with K f (0) = 0 such that for each θ > 0 and
for each solution x ∈ PCγ ,ρ (J ) of inequality (5.62) there exists a solution y ∈ PCγ ,ρ (J )
of (5.40)–(5.42) with
|x(t) − y(t)| ≤ K f (θ ), t ∈ J.

with respect to (χ , μ) if there exists a real number a f ,χ > 0 such that for each θ > 0 and
for each solution x ∈ PCγ ,ρ (J ) of inequality (5.64) there exists a solution y ∈ PCγ ,ρ (J )
of (5.40)–(5.42) with
|x(t) − y(t)| ≤ θa f ,χ (χ (t) + μ), t ∈ J.
Definition 5.29 ([156, 158]) Problem (5.40)–(5.42) is generalized Ulam-Hyers-Rassias

(G.U-H-R) stable with respect to (χ , μ) if there exists a real number a f ,χ > 0 such that for
each solution x ∈ PCγ ,ρ (J ) of inequality (5.63) there exists a solution y ∈ PCγ ,ρ (J ) of
(5.40)–(5.42) with
|x(t) − y(t)| ≤ a f ,χ (χ (t) + μ), t ∈ J.
Remark 5.30 It is clear that

3. Definition 5.28 for χ(.) = μ = 1 =⇒ Definition 5.26.
Remark 5.31 ([156, 158]) A function x ∈ PCγ ,ρ (J ) is a solution of inequality (5.64) if

and only if there exist υ ∈ PCγ ,ρ (J ) and a sequence υi , i = 0, . . . , m such that
1. |υ(t)| ≤ θ)χ (t), t ∈ (

Ji , i = 0,(. . . , m; and ˜
( ) |υ)i | ≤ θ μ, t ∈ Ji , i = 1, . . . , m,
α,β α,β
2. ρ Dτ + x (t) = f t, x(t), ρ Dτ + x (t) + υ(t), t ∈ Ji , i = 0, . . . , m,
i i
3. x(t) = ψi (t, x(t)) + υi , t ∈ J˜i , i = 1, . . . , m.
hypothesis holds:
(5.32.1) There exist a nondecreasing function χ : J −→ [0, ∞) and κχ > 0 such that for
each t ∈ Ji ; i = 0, . . . , m, we have
(ρ Jτα+ χ)(t) ≤ κχ χ(t).

i
Then the problem (5.40)–(5.42) is U-H-R stable with respect to (χ , μ).
Proof Let x ∈ PCγ ,ρ (J ) be a solution of inequality (5.64), and let us assume that y is the
⎧( ) ( ( ) )
⎪
⎪ ρ D α,β y (t) = f t, y(t), ρ D α,β y (t) ; t ∈ J , i = 0, . . . , m,
⎪
⎪ τi+ τi+ i
⎪
⎪
⎪
⎨ y(t) = ψi (t, y(t)); t ∈ J˜i , i = 1, . . . , m,
( ) ( )
⎪ φ ρ J 1−γ y (a + ) + φ ρ J 1−γ y (b) = φ ,
⎪
⎪( 1 +
a ) (
2
)
m + 3
⎪
⎪
⎪
⎪
⎩ ρ J + y (τi ) = ρ J + x (τi ), i = 0, . . . , m.
1−γ 1−γ
τi τi

⎧ ( ρ )
⎪
⎪ c t − a ρ γ −1 (ρ α )
⎪
⎪ + Ja + ϕ (t), t ∈ J0 ,
⎪
⎪ Γ(γ ) ρ
⎪
⎪
⎪
⎪
⎨ ( 1−γ )
⎪
y(t) =
ρJ
τi+
y (τi ) ( ρ )
ρ γ −1 ( )
⎪ t − τi
⎪
⎪ + ρ α
J ϕ (t), t ∈ Ji , i = 1, . . . , m,
⎪
⎪ Γ(γ ) ρ τi+
⎪
⎪
⎪
⎪
⎪
⎪
⎩
ψi (t, y(t)), t ∈ J˜i , i = 1, . . . , m,
where ϕ ∈ Cγ ,ρ (Ji ); i = 0, . . . , m, be a function satisfying the functional equation
ϕ(t) = f (t, y(t), ϕ(t))

φ3 φ2 (ρ 1−γ ) φ2 (ρ 1−γ +α )
and c = − Jτ + y (τm ) − Jτ + ϕ (b).
φ1 φ1 m φ1 m
⎧( ) ( ( ) )
⎨ ρ Dα,β x (t) = f t, x(t), ρ Dα,β x (t) + υ(t), t ∈ J , i = 0, . . . , m;
τi+ τi+ i
(5.65)
⎩ ˜
x(t) = ψi (t, x(t)) + υi , t ∈ Ji , i = 1, . . . , m.

⎧( )
⎪
⎪ ρ J 1−γ (τi ) ( ρ )
⎪
⎪ τi+
x ρ γ −1
⎪
⎪ t − τ
⎪
⎪
i
⎪
⎨ ( Γ(γ ) ρ
)
x(t) = ρ α
⎪
⎪ + Jτ + (ϕ̃ + υ) (t) i f t ∈ Ji , i = 1, . . . , m,
⎪
⎪
⎪
⎪
i
⎪
⎪
⎪
⎩
ψi (t, x(t)) + υi i f t ∈ J˜i , i = 1, . . . , m,
where ϕ̃ : Ji → R, i = 0, . . . , m, be a function satisfying the functional equation
ϕ̃(t) = f (t, x(t), ϕ̃(t)).
Hence, for each t ∈ Ji ,i = 0, . . . , m, we have

( ) ( )
|x(t) − y(t)| ≤ ρ Jτα+ |ϕ̃(τ ) − ϕ(τ )| (t) + ρ Jτα+ |υ(τ )|
i
( t ( ρi ρ )α−1 |x(τ ) − y(τ )|
η1 ρ−1 t − τ
≤ θ κχ χ(t) + τ dτ.
(1 − η2 ) τi ρ Γ(α)
We apply Lemma 2.40 to obtain

( )k
( tΣ
∞ η1 ( )kα−1
1−η2 tρ − τ ρ
ρ−1
|x(t) − y(t)| ≤ θ κχ χ(t) + τ (θ κχ χ(τ ))dτ
τ Γ(kα) ρ
[ i k=1 ( ρ
)α ]
η1 t ρ − τi
≤ θ κχ χ(t)E α
1 − η2 ρ
[ ( ρ ) ]
η1 b − aρ α
≤ θ κχ χ(t)E α .
1 − η2 ρ
And for each t ∈ J˜i ,i = 1, . . . , m, we have
|x(t) − y(t)| ≤ |ψi (t, x(t)) − ψi (t, y(t))| + |υi |

≤ K ∗ |x(t) − y(t)| + θ μ,
then by 5.56, we have

θμ
|x(t) − y(t)| ≤ .
1 − K∗
|x(t) − y(t)| ≤ aχ θ (μ + χ(t)),
where [ ( ρ ) ]
1 η1 b − aρ α
aχ = + κ E
χ α .
1 − K∗ 1 − η2 ρ
Hence, the problem (5.40)–(5.42) is U-H-R stable with respect to (χ , τ ). ⎕
Remark 5.33 If the conditions (5.23.1)–(5.23.3), (5.32.1), and (5.56) are satisfied, then
by Theorem 5.32 and Remark 5.30, it is clear that problem (5.40)–(5.42) is U-H-R stable
and G.U-H-R stable. And if χ(.) = μ = 1, then problem (5.40)–(5.42) is also G.U-H stable
and U-H stable.
Remark 5.34 Our results for the boundary value problem (5.40)–(5.42) apply in the fol-
lowing cases:
• Initial value problems: φ1 = 1, φ2 = 0.

• Anti-periodic problems: φ1 = 1, φ2 = 1, φ3 = 0.
• Periodic problems: φ1 = 1, φ2 = −1, φ3 = 0.
5.4.3 An Example
Example 5.35 Consider the following impulsive periodic problem of generalized Hilfer
fractional differential equation:
( )
1 1
,0 |cos(t)|e−2t + |sin(t)|
2D2 x (t) = , for each t ∈ J0 ∪ J1 , (5.66)
+
τi 1 1
,0
122et+2 (1 + |x(t)| + | 2 Dτ2+ x(t)|)
i
|x(t)|
x(t) = , for each t ∈ J˜1 , (5.67)
5et+ 3|x(t)|
( 1
) ( 1
)
1 1
2J 2 x +
1+
(1 ) = 2 J3+ x (π ),
2
(5.68)
where J0 = (1, e], J1 = (3, π ], J˜1 = (e, 3], s0 = 1, t1 = e, and s1 = 3.

Set
|cos(t)|e−2t + |sin(t)|
f (t, u, w) = , t ∈ J0 ∪ J1 , x, y ∈ R.
122et+2 (1 + |x| + |y|)
We have
Cγβ(1−α)
,ρ ((1, e]) = C 01 , 1 ((1, e])
2 2
( )
√ (√ )1
2
= u : (1, e] → R : 2 t − 1 u ∈ C([1, e], R) ,
and
Cγβ(1−α)
,ρ ((3, π ]) = C 01 , 1 ((3, π ])
2 2
( )
√ (√ √ ) 21
= u : (3, π ] → R : 2 t − 3 u ∈ C([3, π ], R) ,
with
1 1
γ =α= , ρ = , β = 0, and i ∈ {0, 1}.
2 2
Clearly, the continuous function f ∈ C 01 1 ((1, e]) ∩ C 01 1 ((3, π ]) . Hence, the condition
2,2 2,2
(5.23.1) is satisfied.
For each x, x̄, y, ȳ ∈ R and t ∈ J0 ∪ J1 , we have
|cos(t)|e−2t + |sin(t)|
| f (t, x, y) − f (t, x̄, ȳ)| ≤ (|x − x̄| + |y − ȳ|)
122et+2
1 + e2
≤ (|x − x̄| + |y − ȳ|) .
122e5
1 + e2
Hence condition (5.23.2) is satisfied with η1 = η2 = .
122e5
And let
x
ψ(x) = t , u ∈ [0, ∞).
5e + 3x
Let x, y ∈ [0, ∞). Then we have
x y 5et |x − y| 1
|ψ(x) − ψ(y)| = | − t |= ≤ |x − y|,
5et + 3x 5e + 3y (5e + 3x)(5et + 3y)
t 5e
1
and so the condition (5.23.3) is satisfied with K ∗ = .
5e
Also, the condition (5.56) of Theorem 5.23 is satisfied for
( ( ρ ) [ ])
η1 b − aρ α |φ2 | Γ(γ )
ẽ = max K ∗ , +
1 − η2 ρ |φ1 |Γ(α + 1) Γ(γ + α)
( √ [ ])
1 2(1 + e ) (√
2 )1 1 √
= max , π −1 2
+ π
5e 122e5 − e2 − 1 Γ( 23 )
≈ max {0.0735758882, 0.00167130655}
= 0.00167130655 < 1.
Then the problem (5.66)–(5.68) has a unique solution in PC 1 , 1 ([1, π ]).

2 2
Hypothesis (5.32.1) is satisfied with μ = 1 and
⎧ 1
⎪
⎪/ √
⎪
⎨ √
, i f t ∈ J0 ∪ J1 ,
2( t − τi )
χ(t) =
⎪
⎪
⎪
⎩
π, i f t ∈ J˜1 ,
√ √ 1
and κχ = 2π ( e − 1) 2 . Indeed, for each t ∈ J0 ∪ J1 , we get
√ √ √ 1
1 1 2π ( π − 3) 2
( J χ )(t) ≤
2 2
1+
√ √ ,
2( t − 1)
and
√ √ 1
1 1 2π ( e − 1) 2
( J χ )(t) ≤ / √
2 2
3+ √ .
2( t − 3)
The results of Chapter 5 are taken from the papers of Salim et al. [123, 128, 130]. We refer
the reader to the monographs [7, 24, 27, 43, 61, 68, 70, 82, 97, 151], and the papers [1–6, 8,
15, 51, 52, 54–56], for more information on the concepts studied in this chapter.
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Index
B H
Banach space, 3, 4, 6, 7, 9–11, 32, 33, 35, 36, Hilfer, 3–7, 15, 16, 35, 36, 48, 55, 56, 63, 66,
47, 63, 79, 104, 113, 118, 137, 138, 146 75–78, 99, 100, 102–104, 113, 117, 118,
Boundary Value Problem, 2–7, 35–37, 39, 66, 129, 137, 149, 166
75, 77, 78, 83, 99, 102, 103, 113, 114, 117,
149, 152, 166
I
Implicit fractional differential equations, 4–7,
48, 55, 66, 77, 78, 103, 117, 118, 137, 149
C Impulses, 2, 3, 5–7, 77, 78, 103, 117, 118, 137,
Caputo, 64, 74, 76 146, 149
Contraction, 4–6, 8, 32, 33, 44, 51, 60, 70, 87, Initial Value Problem, 2–4, 6, 7, 48, 55, 73, 74,
94, 110, 124, 130, 143, 144, 156, 159, 160 100, 118, 135, 137, 146
M
F Measure of noncompactness, 3–7, 9, 31–33, 35,
Fixed point, 2, 4–9, 32, 33, 35, 39, 43, 44, 77, 117, 148
49–51, 56, 57, 60, 68–70, 77, 84, 85, 87,
88, 92, 95, 105, 109, 110, 117, 121, 122, N
124, 125, 128–130, 138, 139, 142–144, Nonlocal, 3, 6, 7, 129, 130, 135
153, 154, 156–158, 162
Fractional integral, 4–7, 14, 15, 35, 36, 48, 56,
66, 78, 93, 104, 118, 129, 137, 149, 158 R
Riemann–Liouville, 16, 18, 36, 53, 74
G T
Grönwall’s lemma, 3, 27 Terminal Value Problem, 74
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer
Nature Switzerland AG 2023 179
https://doi.org/10.1007/978-3-031-26928-8
180 References
U Uniqueness, 3–6, 36, 76–78, 117, 129

Ulam stability, 2–6, 35, 36, 44, 45, 48, 51, 55,
61, 64–66, 70, 71, 73–78, 95, 96, 103, 110,
111, 117, 130, 133, 144, 162, 163

Advanced Topics in Fractional Differential Equations

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Synthesis Lectures on

Mathematics & Statistics

Mouffak Benchohra · Erdal Karapınar ·

Jamal Eddine Lazreg Abdelkrim Salim

ISSN 1938-1743 ISSN 1938-1751 (electronic)

We are grateful to J. R. Graef, J. Henderson, G. N’Guérékata, J. J. Nieto, and Y. Zhou

Sidi Bel-Abbès, Algeria Mouffak Benchohra

3.4 Existence and Ulam Stability Results for k-Generalized ψ-Hilfer

5.4.2 Ulam-Hyers-Rassias Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Fractional calculus is a field in mathematical analysis which is a generalization of integer

© The Author(s), under exclusive license to Springer Nature Switzerland AG 2023 1

and type β ∈ [0, 1] and generalized fractional integral of order 1 − γ , (γ = α + β − αβ),

α,β ;ψ k (1−ξ ),k ;ψ

where f ∈ C([a , b] × R2 , R) and c1 , c2 , c3 ∈ R such that c1 + c2 / = 0. Finally, several

⎪ x(t) = ψi (t, x(t)); t ∈ J˜i , i = 1, . . . , m,

2.1 Notations and Functional Spaces

2.1.1 Space of Continuous Functions

© The Author(s), under exclusive license to Springer Nature Switzerland AG 2023 9

2.1.2 Spaces of Integrable Functions

2.1.3 Spaces of Continuous Functions with Weight

We consider the weighted spaces of continuous functions

with the norms ||( ||

with the norm | |

with the norm

with the norm || ||

with the norm

2.2 Special Functions of the Fractional Calculus

2.2.2 k-Gamma and k-Beta Functions

2.2.3 Mittag-Leffler Function

Definition 2.3 ([111]) A two-parameter function of the Mittag-Leffler type is defined by

It follows from the definition that

In this monograph, we will employ the following notation:

2.3 Elements from Fractional Calculus Theory

2.3.1 Fractional Integrals

2.3.2 Fractional Derivatives

We are now able to define the k-generalized ψ-Hilfer derivative as follows.

• The ψ-Hilfer fractional derivative (k = 1);

2.3.3 Necessary Lemmas, Theorems, and Properties

α,k;ψ β,k;ψ Γ( αk )Γ( βk ) α

α,k;ψ β,k;ψ Γ( αk )Γ( βk ) α

Lemma 2.21 Let α, β > 0 and k > 0. Then, we have

α,k;ψ β Γk (β) α+β

α,k;ψ β Γk (β) α+β

ρ α,β ρ β(1−α) β(1−α) ρ γ

| (ψ(t) − ψ(a))1−ξ u(t)| < R,

|u(t)| < R| (ψ(t) − ψ(a))ξ −1 |. (2.1)

Lemma 2.27 ([106]) Let α > 0, 0 ≤ γ < 1, and g ∈ Cγ ,ρ (J ). Then,

Lemma 2.28 ([148]) Let α > 0, 0 ≤ β ≤ 1, and h ∈ Cγ1 ;ψ (J ). Then,

On other hand, by integrating by parts, we have

then, by applying δψ1 , we get

then by the definition of k-beta function, we obtain

Proof From Definitions 2.7 and 2.12, we have

(1−β)(k−α),k;ψ k [ψ(t) − ψ(a)]ξ −1+X

then, by the following definition of k-beta function

(1−β)(k−α),k;ψ kΓk (kξ )

Lemma 2.32 ([106]) Let 0 < α < 1, 0 ≤ γ < 1. If g ∈ Cγ ,ρ (J ) and ρ Ja1−α

Lemma 2.34 ([142, 148]) Let α > 0, 0 ≤ β ≤ 1, and h ∈ Cγ1 ;ψ (J ). Then,

Proof From Definition 2.12 and Lemma 2.18, we have

( ) − (ψ(t) − ψ(a))ξ −1 { n−1 ( n (1−β)(kn−α),k;ψ )}

then by using Lemma 2.18, we get

if and only if u satisfies the following Volterra integral equation:

Lemma 2.39 Let α, β > 0 and k > 0. Then, we have

With a change of variables μ = ψ(s) − ψ(a), we get