Startseite On a method of solution of systems of fractional pseudo-differential equations
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On a method of solution of systems of fractional pseudo-differential equations

  • Sabir Umarov EMAIL logo , Ravshan Ashurov und YangQuan Chen
Veröffentlicht/Copyright: 29. Januar 2021
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Abstract

This paper is devoted to the general theory of linear systems of fractional order pseudo-differential equations. Single fractional order differential and pseudo-differential equations are studied by many authors and several monographs and handbooks have been published devoted to its theory and applications. However, the state of systems of fractional order ordinary and partial or pseudo-differential equations is still far from completeness, even in the linear case. In this paper we develop a new method of solution of general systems of fractional order linear pseudo-differential equations and prove existence and uniqueness theorems in the special classes of distributions, as well as in the Sobolev spaces.

1 Introduction

In the last few decades, fractional order differential equations have proved to be an essential tool in the modeling of dynamics of various complex stochastic processes arising in anomalous diffusion in physics [17, 33, 35, 52], finance [31, 45], hydrology [6], cell biology [32], and other fields of modern science and engineering. The complexity of stochastic processes includes phenomena such as the presence of weak or strong correlations, different sub- or super-diffusive modes and jump effects.

Various versions of fractional order differential and pseudo-differential equations are studied by many authors and several books have been published (see e.g. [21, 25, 40, 44, 47, 48]). However, the state of systems of fractional order ordinary and partial differential equations is still far from completeness, even in the linear case. At the same time systems of fractional order ordinary and partial differential equations have rich applications. For example, they are used in modeling of processes in biosystems [8, 15, 43], ecology [20, 42], epidemiology [19, 53], etc.

For some nonlinear systems of fractional order ordinary differential equations numerical and analytic approximate solution methods are developed; see e.g. [1, 2, 11, 36, 49, 51]. Many applied processes can be modeled by by-linear systems of fractional differential equations, including COVID-19 pandemic [3, 14, 28, 38, 41]. The advance of fractional order modeling is it adds parameters controlling effects like memory and correlations, leading to a better analysis and prediction.

In the linear case obtaining a representation for the solution is also possible. For example, in the paper [7], the authors prove existence and uniqueness of the system

Dα[x(t)x(0)]=Ax(t),x(0)=x0,

of time-fractional ordinary differential equations, where x(t) is a vector-function, A is a nonsingular matrix, and α ∈ (0, 1) is scalar, with the solution representation x(t) = Eα(tαA)x0. Here Eα(𝓩) is the matrix-valued Mittag-Leffler function of a matrix 𝓩. The paper [37] studies stability conditions for the system Dαu(t) = Au(t) of fractional order ordinary differential equations with a vector-order α, with components αj ∈ (0, 1), j = 1, …, m.

More general cases of linear systems of the form DαLu(t) = Mu(t), where L and M are linear operators from a Banach space to another Banach space, were also considered. Gordievskikh and Fedorov [13] studied the Cauchy problem for degenerate operator L, that is Ker L ≠ 0. Regular case of the invertible operator L was studied in [4, 29]. Mamchuev [34] studied the boundary value problem for the fractional order system of the form

i=1mAiDxiαiu(x)=Bu(x)+f(x),

with boundary conditions

Dxiαi1u(x)|xi=0=ϕ(x1,xi1,xi+1,xn),i=1,,m.

Here Ai, i = 1, … m, and B are n × n-matrices and Dα is the Riemann-Liouville derivative. The existence and uniqueness theorem is obtained as well as a representation formula for the solution through the Green function.

An important aspect of systems with integer order derivatives is that one can reduce such a system to a first order system increasing the number of equations/unknowns. In general, this approach loses its meaning in the case of fractional order systems, though as shown in [10] in some cases the systems with distinct fractional orders can be reduced to a system with the same fractional order in each equation. However, in this case, on the one hand the orders of the original system assumed to be rational, and on the other hand the number of equations in the reduced system may increase significantly. For example, if the orders in the original system of 4 equations are 12,13,15,and17, then the reduced system will contain 247 equations of order 1210. Therefore, developing the direct general techniques for solution and qualitative analysis of systems of fractional order differential equations with any positive real orders is important.

In what concerns systems of fractional order partial differential equations, many of them can be treated within the theory of fractional order operator-differential equations in Banach or topological-vector spaces [5, 27, 46, 47]. However, such systems are of single scalar order or distributed scalar order equations. They can not be of vector-order. Moreover, some important specific features of fractional order systems of partial differential equations , such as parabolicity or hyperbolicity properties, can not be captured by operator-differential equations. Kochubei [22, 23, 24] studied fractional (scalar) order generalizations of parabolic and hyperbolic systems and found the corresponding fundamental solutions. Vazquez and Mendes [50] and Pierantozzi [39] studied fractional (scalar) order systems of Dirac-like equations. Some other issues related to fractional order systems, such as stability problems, numerical solution, along with others, are considered in works [9, 12, 16, 30]. The orders of systems in these works are also scalar.

In this paper we will deal with the following general system of linear fractional vector-order pseudo-differential equations

Dβ1u1(t,x)=A1,1(D)u1(t,x)+A1,m(D)um(t,x)+h1(t,x),Dβ2u2(t,x)=A2,1(D)u1(t,x)+A2,m(D)um(t,x)+h2(t,x),Dβmum(t,x)=Am,1(D)u1(t,x)+Am,m(D)um(t,x)+hm(t,x),(1.1)

where Dβj, j = 1, …, m, is the fractional order derivative of order 0 < βj ≤ 1 in the sense of Riemann-Liouville or Caputo, and Aj,k(D) are pseudo-differential operators with (possibly singular) symbols depending only on dual variables (for simplicity) and described later. The obtained results can be extended for wider classes of pseudo-differential operators with symbols depending on time and spatial variables and non-symmetric as well, but this level of extension is not a goal of this paper. The initial conditions depend on the form of fractional derivatives. The results also can be extended to the case when the orders (some or all) βj ∈ (1, 2] adjusting properly the initial conditions.

The paper is organized as follows. Section 2 provides some preliminary facts on pseudo-differential operators with constant singular symbols, on the functional spaces where these pseudo-differential operators act continuously, and on fractional calculus used in this paper. In Section 3 we present main results. Here we prove the existence and uniqueness theorems in the general form for systems of time-fractional pseudo-differential equations. The representation formulas for solutions are also obtained in this section.

2 Preliminaries and auxiliaries

In this section we introduce some auxiliary notations and facts. We briefly recall definitions and related basic facts on general pseudo-differential operators without smoothness and growth restrictions to symbols as well as elliptic pseudo-differential operators and the spaces of distributions where these operators act. For details we refer the reader to the book [47].

2.1 Generalized function spaces ΨG,p(ℝn), ΨG,q(ℝn)

Let p > 1, q > 1, p−1 + q−1 = 1 be two conjugate numbers. The generalized functions space ΨG,q(ℝn), which we are going to introduce is distinct from the classical spaces of generalized functions.

Let G ⊂ ℝn be an open domain and a system 𝓖 ≡ {gk}k=0 of open sets be a locally finite covering of G, i.e., G=k=0gk,gkG. This means that any compact set KGhas a nonempty intersection with a finite number of sets gk. Denote by {ϕk}k=0 a smooth partition of unity for G. We set GN=k=1NgkandκN(ξ)=k=1Nϕk(ξ). It is clear that GNGN+1, N = 1, 2, …, and GNG for N → ∞. The support of a given f we denote by supp f. Further, by F[f](ξ) (or (ξ) for a given function f(x) we denote its Fourier transform, and by F−1f the inverse Fourier transform:

F[f](ξ)=f^(ξ)=Rnf(x)eixξdx,ξRn,

and

F1[f^](ξ)=f(x)=1(2π)nRnf^(ξ)eixξdξ,xRn.

Let N ∈ ℕ. Denote by ΨN,p the set of functions fLp(ℝn) satisfying the conditions:

  1. supp F[f] ⊂ GN;

  2. supp F[f] ∩ supp ϕj = ∅ for j > N;

  3. pN(f) = ∥F−1κNFfp < ∞.

Lemma 2.1

ForN = 1, 2, …, the relations

  1. ΨN,p ↪ ΨN+1,p,

  2. ΨN,pLp(ℝn)

are valid, where ↪ denote the operation of continuous embedding.

It follows from Lemma 2.1 that ΨN,p form an increasing sequence of Banach spaces. Its limit with the inductive topology we denote by ΨG,p. Thus,

ΨG,p(Rn)=indlimNΨN,p.(2.1)

The inductive limit topology of ΨG,p(ℝn) is equivalent to the following convergence. A sequence of functions fm ∈ ΨG,p(ℝn) is said to converge to an element f0 ∈ ΨG,p(ℝn) iff:

  1. there exists a compact set KG such that supp mK for all m ∈ ℕ;

  2. fmf0p=(Rn|fmf0|pdx)1p0 for m → ∞.

Remark 2.1

According to the Paley-Wiener-Schwartz theorem, elements of ΨG,p(ℝn) are entire functions of exponential type which, restricted to ℝn, are in the space Lp(ℝn).

The space topologically dual to ΨG,p(ℝn), which is the projective limit of the sequence of spaces conjugate to ΨN,p, is denoted by ΨG,q (ℝn), that is

ΨG,q(Rn)=prlimNΨN,p.(2.2)

In other words, ΨG,q(ℝn) is the space of all linear bounded functionals defined on the space ΨG,p(ℝn) endowed with the weak topology. Namely, a sequence of generalized functions fNΨG,q(ℝn) converges to an element f0ΨG,q(ℝn) in the weak sense, if for all φ ∈ ΨG,p(ℝn) the sequence of numbers 〈fN, φ〉 converges to 〈f0, φ〉 as N → ∞. We recall that the notation 〈f, φ〉 means the value of fΨG,q(ℝn) on an element φ ∈ ΨG,p(ℝn). For relations of the spaces ΨG,p(ℝn) and its dual ΨG,q(ℝn) to other spaces including Sobolev and Schwartz distributions see [47].

Further, we denote by ΨG,p(ℝn) the m-times topological direct product

ΨG,p(Rn)=ΨG,p(Rn)ΨG,p(Rn),

of spaces ΨG,p(ℝn). Elements of ΨG,p(ℝn) are vector-functions Φ (x) = (φ1(x), …, φm(x)), where φj(x) ∈ ΨG,p(ℝn), j = 1, …, m. The space, topologically dual to ΨG,p(ℝn), is the direct sum ΨG,p (ℝn) ⊕ … ⊕ ΨG,p(ℝn), which we denote by ΨG,p (ℝn). Elements of ΨG,p (ℝn) are m-tuples of generalized functions F(x) = (f1(x), …, fm(x)), and the value of FΨG,p (ℝn) on Φ ∈ ΨG,p (ℝn) is defined by

F(Φ)=F(x),Φ(x)=(f1(x),φ1(x),,fm(x),φm(x)).

Finally for a topological vector space X we denote by C(k)[[a, b]; X] the space of vector-functions g(t), t ∈ [a, b], with values in X and k times differentiable in the sense of the topology of X. Similarly, one can define the space C[[a, b]; X].

2.2 Pseudo-differential operators with constant symbols

Now we introduce and consider some properties of pseudo-differential operators with constant (that is not depending on the variable x) symbols defined and continuous in a domain G ⊂ ℝn. Outside of G or on its boundary the symbol a(ξ) may have singularities of arbitrary type. It is clear that the corresponding class of pseudo-differential operators are not in the frame of classic pseudo-differential operators with infinitely differentiable symbols, studied first in works by Kon-Nirenberg [26] and Hörmander [18]. For the systematic presentation of the theory of pseudo-differential operators being considered in this paper we refer the reader to [47].

For a function φ ∈ ΨG,p(ℝn) the operator A(D) corresponding to the symbol A(ξ) is defined by the formula

A(D)φ(x)=1(2π)nGA(ξ)F[φ](ξ)eixξdξxRn.(2.3)

We note that the assumption φ ∈ ΨG,p(ℝn) is crucial in the definition of A(D) in (2.3). Generally speaking, A(D) has no sense even for functions in the space C0(ℝn). In fact, let ξ0 be a non-integrable singular point of A(ξ) and denote by O(ξ0) some neighborhood of ξ0. Let us take a function φC0(ℝn) with F[φ] (ξ) > 0 for ξO(ξ0) and F [φ] (ξ0) = 1. Then it is easy to verify that A(D) φ(x) = ∞. On the other hand, for φ ∈ ΨG,p(ℝn) the integral in Eq. (2.3) is convergent due to the compactness of supp F[φ] ⊂ G. We define the operator A(-D) acting in the space ΨG,q(ℝn) by the duality formula

A(D)f,φ=f,A(D)φ,fΨG,q(Rn),φΨG,p(Rn).(2.4)

Theorem 2.1

The space ΨG,p(ℝn) (ΨG,q(ℝn)) is invariant with respect to the action of an arbitrary pseudo-differential operatorA(D) (A(−D)), whose symbol is continuous inG. Moreover, ifA(ξ) kN(ξ) is a multiplier inLpfor everyN ∈ ℕ, then the operators

A(D):ΨG,p(Rn)ΨG,p(Rn),

and

A(D):ΨG,q(Rn)ΨG,q(Rn),

act continuously.

Remark 2.2

In the case p = 2 an arbitrary pseudo-differential operator whose symbol is continuous in G acts continuously without the additional condition for A(ξ) kN(ξ) to be a multiplier in L2 for every N ∈ ℕ.

Finally, the following theorem establishes conditions for continuous closability of the pseudo-differential operator A(D) acting in the space ΨG,p(ℝn) to Sobolev spaces Wps(ℝn) for s ∈ ℝ and p > 1.

Theorem 2.2

([47]) Let 1 < p < ∞, − ∞ < s, < +∞ andμ(ℝnG) = 0. For a pseudo-differential operator

A(D):ΨG,p(Rn)ΨG,p(Rn),

there exists a closed extension

A^(D):Wps(Rn)Wp(Rn),

if and only if the symbolA(ξ) satisfies the estimate

|A(ξ)|C(1+|ξ|)s,C>0,ξRn.(2.5)

Theorems 2.1 and 2.2 can be extended to matrix pseudo-differential operators, elements of which satisfy theses theorems. Let

A(D)=a1,1(D)a1,m(D)am,1(D)am,m(D)

be the matrix pseudo-differential operator with the matrix-symbol

A(ξ)=a1,1(ξ)a1,m(ξ)am,1(ξ)am,m(ξ),ξGRn.(2.6)

Namely, the following theorems are valid.

Theorem 2.3

The spaceΨG,p(ℝn) (ΨG,q(ℝn)) is invariant with respect to the action of an arbitrary pseudo-differential operator 𝔸(D) (𝔸(−D)), whose symbol 𝓐(ξ) is continuous inG. Moreover, ifaj,k(ξ) kN(ξ), j, k = 1, …, m, are multipliers inLpfor everyN ∈ ℕ, then the operators

A(D):ΨG,p(Rn)ΨG,p(Rn),

and

A(D):ΨG,q(Rn)ΨG,q(Rn),

act continuously.

Theorem 2.4

Let 1 < p < ∞, − ∞ < s, < +∞ andμ(ℝnG) = 0. For a pseudo-differential operator

A(D):ΨG,p(Rn)ΨG,p(Rn),

there exists a closed extension

A^(D):Wps(Rn)Wp(Rn),

if and only if each entryajk(ξ) of the symbol 𝓐(ξ) satisfies the estimate

|ajk(ξ)|C(1+|ξ|)s,C>0,j,k=1,,m,ξRn.(2.7)

Proofs of these statements directly follow from Theorems 2.1 and 2.2.

2.3 Fractional integrals and derivatives

Let a function f(t) be defined and measurable on an interval (a, b), a < b ≤ ∞. The fractional integral of order β > 0 of the function f is defined by

aJtβf(t)=1Γ(β)at(tτ)β1f(τ)dτ,t(a,b),

where Γ(β) is Euler’s gamma function, that is

Γ(β)=0tβ1etdt.

If β = 0, then we agree that aJt0 = I, the identity operator. For arbitrary β ≥ 0 and α ≥ 0 the following semigroup property holds:

aJtβaJtα=aJtαaJtβ=aJtβ+α.(2.8)

Let m be a natural number and m − 1 ≤ β < m. Then the fractional derivative of order β of a function f in the sense of Riemann–Liouville is defined as

aD+βf(t)=1Γ(mβ)dmdtmatf(τ)dτ(tτ)β+1m,(2.9)

provided the expression on the right exists. One can write aD+β in the operator form

aD+β=dmdtmaJtmβ.(2.10)

This operator is the left-inverse to the fractional integration operator aJtβ. Indeed, due to relation (2.8), one has

aD+βaJtβ=dmdtmaJtmβaJtβ=dmdtmaJtm=I.

To explore a domain of aD+β for any order β, consider first the case 0 < β < 1. It follows from definition (2.9) that if 0 < β < 1, then

aD+βf(t)=1Γ(1β)ddtatf(τ)dτ(tτ)β.(2.11)

The operator form of aD+β in this case is aD+β=ddtaJt1β. Let Cλ[a, b] denote the class of Hölder continuous functions of order λ > 0 on an interval [a, b]. The following statement says that if f is Hölder continuous of order λ ∈ (0, 1), then its fractional derivative of order β < λ exists.

Proposition 2.1

([44])) LetfCλ[a, b], 0 < λ ≤ 1. Then for anyβ < λ the fractional derivativeaD+βf(t) exists and can be represented in the form

aD+βf(t)=f(a)Γ(1β)(ta)β+ψ(t),(2.12)

whereψCλ−β[a, b].

Let m be a natural number and m − 1 ≤ β < m. Then the fractional derivative of order β of a function f in the sense of Caputo is defined as

aDβf(t)=1Γ(mβ)atf(m)(τ)dτ(tτ)β+1m,t>a,(2.13)

provided the integral on the right exists.

The operator form of the fractional derivative aDβ of order β, ~ m-1 ≤ β < m, in the Caputo sense is

aDβ=aJtmβdmdtm,(2.14)

which is well defined, for instance, in the class of m-times differentiable functions defined on an interval [a, b), b > a. It follows from definition (2.13) that if 0 < β < 1, then

aDβf(t)=1Γ(1β)atf(τ)dτ(tτ)β.(2.15)

The operator form of aD+β in this case is aD+β=aJt1βddt.

Let a = 0. In this case we write simply Jβ,D+βandDβ respectively instead of 0Jtβ,0D+βand0Dβ. Suppose f is a function defined on the semi-axis [0, ∞) and for which D+βf(t) and Dβ(t) exist.

Proposition 2.2

Letβ > 0. Then the Laplace transform ofJβf(t) is

L[Jβf](s)=sβL[f](s),s>0.(2.16)

Proposition 2.3

Let m − 1 ≤ β < m, m = 1, 2, …. Then the Laplace transform ofD+βf(x) is

L[D+βf](s)=sβL[f](s)k=0m1(DkJmβf)(0)sm1k.(2.17)

Proposition 2.4

Let m − 1 < βm. The Laplace transform of the Caputo derivative of a functionfCm−1[0, ∞) is

L[Dβf](s)=sβL[f](s)k=0m1f(k)(0)sβ1k,s>0.(2.18)

For β ∈ (0, 1] formulas (2.17) and (2.18) respectively take the forms:

L[D+βf](s)=sβL[f](s)(J1βf)(0),(2.19)
L[Dβf](s)=sβL[f](s)f(0)sβ1.(2.20)

We will use these formulas in the vector form:

L[D+B<f1,,fm>](s)=<sβ1L[f1](s)(J1β1f1)(0),,sβmL[fm](s)(J1βmfm)(0)>(2.21)
L[DB<f1,,fm>](s)=<sβ1L[f1](s)f1(0)sβ11,,sβmL[fm](s)fm(0)sβm1>.(2.22)

In these formulas 𝓑 = 〈β1, …, βm〉 is a vector-order with 0 < βj ≤ 1, j = 1, …, m, and

L[DB<f1,,fm>](s)=<L[Dβ1f1](s),,L[Dβmfm](s)

for both operators 𝓓 = D+ and 𝓓 = D.

3 Main results

Consider the following system of fractional order differential equations

Dβ1u1(t,x)=A1,1(D)u1(t,x)+A1,m(D)um(t,x)+h1(t,x),Dβ2u2(t,x)=A2,1(D)u1(t,x)+A2,m(D)um(t,x)+h2(t,x),Dβmum(t,x)=Am,1(D)u1(t,x)+Am,m(D)um(t,x)+hm(t,x),(3.1)

where 0 < βj ≤ 1, j = 1, …, m, and the operator 𝓓 on the left expresses either the Riemann-Liouville derivative D+ or the Caputo derivative D. We will specify the initial conditions later depending on whether 𝓓 is the Riemann-Liouville or the Caputo derivative.

With the vector-order 𝓑 = 〈β1, …, βm〉, introducing vector-functions U(t, x) = 〈u1(t, x), …, um(t, x)〉, H(t, x) = 〈h1(t, x), …, hm(t, x)〉, we can represent system (3.1) in the vector form:

DBU(t,x)=A(D)U(t,x)+H(t,x),(3.2)

where 𝔸(D) is the matrix pseudo-differential operator with the matrix-symbol 𝓐(ξ), ξG, defined in (2.6), and

DBU(t,x)=Dβ1u1(t,x),,Dβmum(t,x).

For simplicity we assume that the matrix-symbol is symmetric, ak,j(ξ) = aj,k(ξ) for all k, j = 1, …, m, and ξG, and diagonalizable. Namely, there exists an invertible (m × m)-matrix-function M(ξ), such that

A(ξ)=M1(ξ)Λ(ξ)M(ξ),ξG,(3.3)

with a diagonal matrix

Λ(ξ)=λ1(ξ)00λm(ξ).(3.4)

We denote entries of matrices M(ξ) and M−1(ξ) by μj,k(ξ), j, k = 1, …, m, and νj,k(ξ), j, k = 1, …, m, respectively.

First we derive a representation formula for the solution of the initial value problem for system (3.2) in the homogeneous case. Since initial conditions depend on the form of the fractional derivative on the left hand side of equation (3.2), the corresponding representations of solutions differ. We demonstrate the derivation in the case of Caputo fractional derivative. The case of Rieman-Liouville fractional derivative can be treated similarly.

Consider the following Cauchy problem:

DBU(t,x)=A(D)U(t,x),t>0,xRn,(3.5)
U(0,x)=Φ(x),xRn,(3.6)

where the fractional derivatives on the left are in the sense of Caputo. Applying Fourier transform we obtain a system of fractional order ordinary differential equations with a parameter ξ:

DBF[U](t,ξ)=AF[U](t,ξ),t>0,ξG,

with the initial conditions

F[U](0,ξ)=F[Φ](ξ),ξG.

Now applying the Laplace transform in the vector form (2.22), one has

sβ1LF[u1](s,ξ),,sβmLF[um](s,ξ)=sβ11φ1(ξ),,sβm1φm(ξ)+A(ξ)LF[U](s,ξ),s>0,ξG.

Taking into account (3.3) the letter can be rewritten in the form

M1(IsBΛ(ξ))M(ξ)LF[U](s,ξ)=IsB1F[Φ](ξ),

where Is𝓑, Is𝓑−1 are diagonal matrices with diagonal entries sβj, sβj−1j = 1, …, m, respectively. The solution to the obtained system is

LF[U](s,ξ)=M(ξ)N(s,ξ)M1(ξ)F[Φ](ξ),(3.7)

where

N(s,ξ)=sβ11sβλ1(ξ)00sβm1sβmλm(ξ).(3.8)

It follows from (3.7) and (3.8) that

F[U](t,ξ)=M(ξ)EB(Λ(ξ)tB)M1(ξ)F[Φ](ξ),t>0,ξG.(3.9)

Here 𝓔𝓑(Λ(ξ) t𝓑) is the diagonal matrix of the form

EB(Λ(ξ)tB)=Eβ1(λ1(ξ)tβ1)00Eβm(λm(ξ)tβm),(3.10)

where Eβj(z), j = 1, …, m, are the Mittag-Leffler functions of indices β1, …, βm. Thus, the solution of problem (3.5)-(3.6) has the representation

U(t,x)=S(t,D)Φ(x),t>0,xRn,(3.11)

where S(t, D) is the solution matrix pseudo-differential operator with the matrix-symbol

S(t,ξ)=M(ξ)EB(Λ(ξ)tB)M1(ξ),t>0,ξG,(3.12)

whose entries are

sj,k(t,ξ)==1mμj,(ξ)ν,k(ξ)Eβ(λ(ξ)tβ),j,k=1,,m,

The explicit component-wise form of the solution is

uj(t,x)=k=1msj,k(t,D)φk(x)=1(2π)nk=1m=1mRneiξxμj,(ξ)Eβλ(ξ)tβν,k(ξ)F[φk](ξ)dξ.

Theorem 3.1

Let 𝔸 be a pseudo-differential operator with the symbol 𝓐(ξ) continuous onGand satisfying the condition(3.3). Assume thatΦ (x) ∈ ΨG,p(ℝn), H(t, x) ∈ AC[ℝ+; ΨG,p(ℝn)], andD+1BH(τ, x) ∈ C[ℝ+; ΨG,p(ℝn)]. Then for anyT > 0 Cauchy problem

DBU(t,x)=A(D)U(t,x)+H(t,x),t>0,xRn,(3.13)
U(0,x)=Φ(x),xRn,(3.14)

has a unique solutionU(t, x) ∈ C[(0, T]; ΨG,p(ℝn)] ∩ C[[0, T]; ΨG,p(ℝn)], having the representation

U(t,x)=S(t,D)Φ(x)+0tS(tτ,D)D+1BH(τ,x)dτ,t>0,xRn,(3.15)

whereS(t, D) is the pseudo-differential operator with the matrix-symbol 𝓢(t, ξ) defined in(3.12).

Proof

The representation (3.15) follows directly from (3.11) and from fractional Duhamel’s principle [46, 47]. Denote the first and second terms on the right of (3.15) by V(t, x) and W(t, x), respectively:

V(t,x)=S(t,D)Φ(x),xRn,(3.16)
W(t,x)=0tS(tτ,D)D+1BH(τ,x)dτ,t0,xRn.(3.17)

Then, in accordance with Theorem (2.3)V(t, x) ∈ ΨG,p(ℝn) for every fixed t ≥ 0, continuous on [0, T], and infinitely differentiable on (0, T) in the topology of ΨG,p(ℝn) due to the construction of the solution operator S(t, D). Further, there exists a sequence (see (2.1))

HN(t,x)ΨN,p(Rn)ΨG,p(Rn)ΨG,p(Rn),

such that HN(t, x) → H(t, x) as N → ∞ in the topology of ΨG,p(ℝn). Moreover, pN(HN) = ∥HNp. Let

WN(t,x)=0tS(tτ,D)D+1BHN(τ,x)dτ,N=1,2,.

Then we have pN(WN) = ∥F−1κNF[WN]∥pTWNp < ∞ for all N ≥ 1. It follows that WNΨN,p(ℝn) and WN(t, x) → W (t, x), as N → ∞, in the topology of ΨN,p(ℝn) for each fixed t ∈ [0, T]. The continuity of W(t, x) on [0, T] in the variable t and its infinite differentiability on (0, T) follows from the construction of the solution operator S(t, D) in standard way. □

Theorem 3.2

Letpandq, 1 < p, q < ∞, be a conjugate pair and 𝔸 be a pseudo-differential operator with the symbol 𝓐(ξ) continuous onGand satisfying the condition(3.3). Assume thatΦ (x) ∈ ΨG,q(ℝn), H(t, x) ∈ AC[ℝ+; ΨG,q(ℝn)], andD+1BH(τ, x) ∈ C[ℝ+; ΨG,q(ℝn) ]. Then for anyT > 0 Cauchy problem

DBV(t,x)=A(D)V(t,x)+H(t,x),t>0,xRn,(3.18)
V(0,x)=Φ(x),xRn,(3.19)

has a unique solution V(t, x) ∈ C[(0, T]; ΨG,q(ℝn)] ∩ C[[0, T]; ΨG,q(ℝn)], having the representation

V(t,x)=S(t,D)Φ(x)+0tS(tτ,D)D+1BH(τ,x)dτ,t>0,xRn,(3.20)

whereS(t, −D) is the pseudo-differential operator with the matrix-symbol 𝓢(t, −ξ) defined in(3.12)[*].

Proof

We note that elements DBV(t, x) and 𝔸(−D) V (t, x) belong to the space ΨG,q (ℝn) if V(t, x) ∈ ΨG,q(ℝn) for each fixed t ≥ 0. This fact follows from the definition of the fractional derivative DB and Theorem 2.3.

The solution V(t, x) of the Cauchy problem (3.18)(3.19), by definition, must satisfy the following conditions:

DBV(t,x),F(x)=V(t,x),A(D)F(x)+H(t,x),F(x),t>0,(3.21)
V(0,x),F(x)=Φ(x),F(x),(3.22)

for an arbitrary element F(x) in the space ΨG,p(ℝn). We show that U(t, x) defined in (3.20) satisfies both conditions in (3.21) and (3.22). Indeed, to show this fact let us first assume that H(t, x) = 0 [**] for all t ≥ 0. Then (3.21) takes the form

[DBS(t,D)A(D)]Φ(x),F(x)=Φ(x),[DBS(t,D)A(D)]F(x)=0,t>0.

The operator S(t, D) is constructed so that DBS(t, D) − 𝔸(D) = 0. Indeed, if U(t, x) is a solution to equation (3.5), then it follows from representation (3.11) that DBU(t, x) = DBS(t, D) Φ (x) = 𝔸(D) Φ(x) for any fixed ΦΨG,p(ℝn). This implies the equality DBS(t, D) = 𝔸(D). Thus, condition (3.21) is verified.

Further, it follows from (3.12) that the symbol 𝓢(t, ξ) at t = 0 reduces to the identity matrix, since the matrix 𝓔𝓑(0) is the identity matrix. Therefore, the operator corresponding to the matrix-symbol 𝓢(0, ξ) is the identity pseudo-differential operator. Hence, V(0, x) = S(0, −D) Φ(x) = Φ(x). Thus, condition (3.22) is also verified.

In the general case, for non-zero H(t, x), the representation (3.20) is an implication of the fractional Duhamel principle [46, 47]. □

Now consider the following initial-value problem

D+BU(t,x)=A(D)U(t,x),t>0,xRn,(3.23)
J1BU(0,x)=Φ(x),xRn,(3.24)

where the fractional derivatives on the left hand side of equation (3.23) are in the sense of Riemann-Liouville. Performing similar calculations, in this case for the solution we obtain the representation

U(t,x)=S+(t,D)Φ(x),t>0,xRn,(3.25)

where S+(t, D) is the solution matrix pseudo-differential operator with the matrix-symbol

S+(t,ξ)=M(ξ)J1BEB(Λ(ξ)tB)M1(ξ),t>0,ξG,(3.26)

whose the entries are

sj,k+(t,ξ)==1mμj,(ξ)ν,kJ1βEβ(λ(ξ)tβ),j,k=1,,m,

The explicit component-wise form of the solution is

uj(t,x)=k=1msj,k+(t,D)φk(x)=1(2π)nk=1m=1mRneiξxμj,(ξ)J1βEβλ(ξ)tβν,k(ξ)F[φk](ξ)dξ.

Theorem 3.3

Let 𝔸 be a pseudo-differential operator with the symbol 𝓐(ξ) continuous onGand satisfying the condition(3.3)andΦΨG,p(ℝn). Then for anyT > 0 Cauchy problem

D+BU(t,x)=A(D)U(t,x)+H(t,x),t>0,xRn,(3.27)
J1BU(0,x)=Φ(x),xRn,(3.28)

has a unique solutionU(t, x) ∈ C[(0, T]; ΨG(ℝn)], having the representation

U(t,x)=S+(t,D)Φ(x)+0tS+(tτ,D)H(τ,x)dτ,t>0,xRn,(3.29)

whereS+(t, D) is the pseudo-differential operator with the matrix-symbol 𝓢+(t, ξ) defined in(3.26).

Theorem 3.4

Let 𝔸 be a pseudo-differential operator with the symbol 𝓐(ξ) continuous onGand satisfying the condition(3.3)andΦΨG,p(ℝn). Then for anyT > 0 Cauchy problem

D+BU(t,x)=A(D)U(t,x)+H(t,x),t>0,xRn,(3.30)
J1BU(0,x)=Φ(x),xRn,(3.31)

has a unique solutionU(t, x) ∈ C[(0, T]; ΨG(ℝn)], having the representation

U(t,x)=S+(t,D)Φ(x)+0tS+(tτ,D)H(τ,x)dτ,t>0,xRn,(3.32)

where S+(t, −D) is the pseudo-differential operator with the matrix-symbol 𝓢+(t, -ξ) defined in (3.26).

The proofs of Theorems 3.3 and 3.4 are omitted, since they are similar to the proofs of Theorems 3.1 and 3.2, respectively.

The properties of the solutions of problems (3.13)-(3.14) and (3.27) essentially depend on the asymptotic behavior of the functions

Eβλ(ξ)tβ,=1,,m,

which form the symbols of solution operators; see (3.12) and (3.26). It is known that for 0 < β < 2 the Mittag-Leffler function Eβ (z) has asymptotic behavior ∼ exp(z1/β), |z| → ∞, if |arg(z)| ≤ βπ/2; and Eβ (z) ∼ 1/|z|, |z| → ∞, if βπ/2 ≤ | arg(z) ≤ π. Therefore, if a symbol A (ξ) is complex-valued, then Eβ(A(ξ) tβ) may have an exponential growth as | ξ | → ∞, even though A(ξ ) has a polynomial growth at infinity.

Now suppose that the pseudo-differential operator 𝔸(D) satisfies the following ellipticity condition: the symbol 𝓐(ξ), ξ ∈ ℝn, is symmetric, satisfies the condition (3.3) with a diagonal matrix Λ(ξ), and there exists a number R0 > 0 such that for the entries λ(ξ), = 1, …, m, of Λ(ξ) the inequalities

(λ(ξ))η|ξ|r,=1,,m,(3.33)

where (z) is the real part of z, hold for all ξ : |ξ| ≥ R0; η > 0, r ∈ ℝ, = 1, …, m, are constants. In this case we have

Eβ(λ(ξ)tβ)C1(1+|λ(ξ)|)1C2(1+|ξ|)r,ξRn,(3.34)

with some C1, C2 positive constants. In the theorem below we use the notation r = (r1, …, rm).

Theorem 3.5

Let the following conditions be verified:

  1. the operator 𝔸 is an \elliptic pseudo-differential operator satisfying the condition(3.34);

  2. the symbol 𝓐(ξ) of the operator 𝔸 is symmetric, continuous onn, and satisfies the condition(3.3);

  3. ΦWps (ℝn), where 1 < p < ∞ ands = (s1, …, sm), sj ∈ ℝ, j = 1, …, m;

  4. H(t, x) ∈ AC[ℝ+; Wps (ℝn) ] and D+1BH(τ, x) ∈ C[ℝ+; Wps (ℝn)].

Then for anyT > 0 Cauchy problem(3.13)-(3.14)has a unique solutionU(t, x) ∈ C[(0, T]; Wps+r (ℝn) ] ∩ C[[0, T]; Wps+r (ℝn)], having the representation

U(t,x)=S^(t,D)Φ(x)+0tS^(tτ,D)D+1BH(τ,x)dτ,t>0,xRn,(3.35)

whereŜ(t, D) is the closure of the pseudo-differential operator with the matrix-symbol 𝓢(t, ξ) defined in(3.12)in the spaceWps (ℝn).

Proof

Let components of Φ(x) are φkWpsk (ℝn), k = 1, …, m, and components hk(t, x), k = 1, …, m of H(t, x) for each fixed t, belong to Wpsk, respectively. We can choose any domain G whose complement ℝnG has zero measure. In particular, one can take G = ℝn. Then the denseness ΨG,p (ℝn) = Wpsk (ℝn) (see [47]) holds for each k = 0, …, m − 1. Hence, for each φk and hk(t, ⋅) we have an approximating sequences of functions ΦN = (φ1,N, …, φm,N) HN(t, ⋅) = (h1,N(t, ⋅), …, hm,N(t, ⋅)) with φk,N, hk,N(t, ⋅) ∈ ΨG,p (ℝn), N = 0, 1, 2, …, such that φk,Nφk and hk,N(t, ⋅) → hk(t, ⋅) in the topology of ΨG,p(ℝn). For fixed N, due to Theorem 3.1, there exists a unique solution of the Cauchy problem (3.13)-(3.14), where the initial data Φ (x) and H(t, x) are replaced by ΦN(x) and HN(t, x) respectively, and this solution is represented by the formula

UN(t,x)=S(t,D)ΦN(x)+0tS(tτ,D)D+1BHN(τ,x)dτ,t>0,xRn.(3.36)

Since the components of the symbol 𝓢(t, ξ) of the solution operator S(t, D) satisfy the estimate (3.34), it follows from Theorem 2.4 that there exists a unique continuous closure Ŝ(t, D) of the operator S(t D), such that

S^(t,D):Wps(Rn)Wps+r(Rn)

is continuous. Thus for the solution U(t, x) we have representation (3.6). The fact that U(t, x) ∈ C[(0, T]; Wps+r (ℝn)] ∩ C[[0, T]; Wps+r (ℝn)] follows from the construction of the solution through the sequence (3.36), due to the density of ΨG,p (ℝn) in Wpsk+rk (ℝn), k = 1, …, m. □

Similarly one can prove the existence of a unique solution in the Sobolev spaces of the Cauchy problem (3.27)-(3.28). Below is the formulation of the corresponding theorem.

Theorem 3.6

Let the following conditions be verified:

  1. the operator 𝔸 is an \elliptic pseudo-differential operator satisfying the condition(3.34);

  2. the symbol 𝓐(ξ) of the operator 𝔸 is symmetric, continuous onn, and satisfies the condition(3.3);

  3. ΦWps(ℝn), where 1 < p < ∞ ands = (s1, …, sm), sj ∈ ℝ, j = 1, …, m;

  4. H(t, x) ∈ AC[ℝ+; Wps (ℝn)] andD+1BH(τ, x) ∈ C[ℝ+; Wps (ℝn)].

Then for anyT > 0 Cauchy problem(3.27)has a unique solutionU(t, x) ∈ C[(0, T]; Wps+r (ℝn) ] ∩ C[[0, T]; Wps+r (ℝn)], having the representation

U(t,x)=S^+(t,D)Φ(x)+0tS^+(tτ,D)D+1BH(τ,x)dτ,t>0,xRn,

whereŜ+(t, D) is the closure of the pseudo-differential operator with the matrix-symbol 𝓢+(t, ξ) defined in(3.26)in the spaceWps (ℝn).

Remark 3.1

  1. The results of Theorems 3.1 - 3.6 coincide with the known results in 1-D case, see, e.g. [47].

  2. The results obtained in Theorems 3.1 - 3.6 can be extended to the case, when 0 < βj ≤ 1, j = 1, …, m0 and 1 < βj ≤ 2, j = m0 + 1, …, m, where 0 ≤ m0m, with properly adjusted initial conditions.

  3. The results also can be extended to the case of fractional distributed order differential operators (DODE) on the left hand side of the considered systems.

Example

To illustrate the theorems proved above consider the following Cauchy problem

Dβ1u1(t,x)=D2u1(t,x)Du2(t,x),t>0,<x<,(3.37)
Dβ2u2(t,x)=Du1(t,x)D2u2(t,x),t>0,<x<,(3.38)
u1(0,x)=φ1(x),u2(0,x)=φ2(x),<x<.(3.39)

It is not hard to see that the symbol of the operator on the right hand side of (3.37)-(3.38) is symmetric and has the representation

A(ξ)=ξ2ξξξ2=1/21/21/21/2ξ2+ξ00ξ2ξ1111.(3.40)

As is seen from (3.40) that λ1(ξ) = −ξ2 + ξ and λ2(ξ) = −ξ2ξ. The symbol of the solution operator S(t, D) is the matrx 𝓢(t, ξ) = {sj,k(t, ξ)}, j, k = 1, 2, with entries

s1,1(t,ξ)=s2,2(t,ξ)=12Eβ1((ξ2+ξ)tβ1)+12Eβ2((ξ2ξ)tβ2),(3.41)
s1,2(t,ξ)=s2,1(t,ξ)=12Eβ1((ξ2+ξ)tβ1)12Eβ2((ξ2ξ)tβ2).(3.42)

Therefore, the solution U(t, x) = 〈u1(t, x), u2(t, x)〉 to Cauchy problem (3.37)-(3.39) has the representation:

u1(t,x)=12Eβ1((D2+D)tβ1)+12Eβ2((D2D)tβ2)φ1(x)+12Eβ1((D2+D)tβ1)12Eβ2((D2D)tβ2)φ2(x);u2(t,x)=12Eβ1((D2+D)tβ1)12Eβ2((D2D)tβ2)φ1(x)+12Eβ1((D2+D)tβ1)+12Eβ2((D2D)tβ2)φ2(x).

In the explicit form this solution has the form

u1(t,x)=12π12Eβ1((ξ2+ξ)tβ1)+12Eβ2((ξ2ξ)tβ2)F[φ1](ξ)dξ+12π12Eβ1((ξ2+ξ)tβ1)12Eβ2((ξ2ξ)tβ2)F[φ2](ξ)dξ;u2(t,x)=12π12Eβ1((ξ2+ξ)tβ1)12Eβ2((ξ2ξ)tβ2)F[φ1](ξ)dξ+12π12Eβ1((ξ2+ξ)tβ1)+12Eβ2((ξ2ξ)tβ2)F[φ2](ξ)dξ.

Moreover, obviously, λk(ξ) ≤ 0, k = 1, 2, for all ξ satisfying the inequality |ξ| ≥ 1. Applying Theorem 3.5 we have U(t, x) ∈ C[(0, T]; Wps (ℝn)] ∩ C[[0, T]; Wps (ℝn)], where s = (s1, s2), if φkWpsk (ℝn), k = 1, 2.

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Received: 2020-11-20
Revised: 2020-12-16
Published Online: 2021-01-29
Published in Print: 2021-02-23

© 2021 Diogenes Co., Sofia

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