Home Stability and ψ-algebraic decay of the solution to ψ-fractional differential system
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Stability and ψ-algebraic decay of the solution to ψ-fractional differential system

  • Changpin Li ORCID logo EMAIL logo and Zhiqiang Li
Published/Copyright: December 2, 2021

Abstract

In this article, we focus on stability and ψ-algebraic decay (algebraic decay in the sense of ψ-function) of the equilibrium to the nonlinear ψ-fractional ordinary differential system. Before studying the nonlinear case, we show the stability and decay for linear system in more detail. Then we establish the linearization theorem for the nonlinear system near the equilibrium and further determine the stability and decay rate of the equilibrium. Such discussions include two cases, one with ψ-Caputo fractional derivative, another with ψ-Riemann–Liouville derivative, where the latter is a bit more complex than the former. Besides, the integral transforms are also provided for future studies.


Corresponding author: Changpin Li, Department of Mathematics, Shanghai University, Shanghai 200444, China, E-mail:

Acknowledgments

The authors wish to thank EiC Prof Björn Birnir and the corresponding editor for their kind handling this paper. They especially thank two anonymous reviewers for their careful reading and giving invaluable correction suggestions. One of referees makes [14], [15], [16] (which cannot be got by us) and [23] available.

  1. Author contribution: All the authors have accepted responsibility for the entire content of this submitted manuscript and approved submission.

  2. Research funding: None declared.

  3. Conflict of interest statement: The authors declare no conflicts of interest regarding this article.

Appendix A

Although, there exist some integral transforms for ψ-fractional calculus, they are partial and scattered in different papers [14], [15], [16, 18, 23]. Here we summarize and/or generalize them and then present them here for the convenience of future research.

A.1 The generalized Laplace transform

In the appendix section, we introduce a generalized Laplace transform and a generalized Mellin transform, which can be applied to fractional integrals and derivatives for Definitions 2.12.3. Then we investigate their properties.

Definition A.1

Suppose that a function f(t) is defined on ( , b ] ( b R ) . The right generalized Laplace transform of f(t) is defined by

(A.1) F ( s ) = L r ψ { f ( t ) } = b e s ( ψ ( b ) ψ ( t ) ) f ( t ) ψ ( t ) d t , s C .

The inverse right generalized Laplace transform is given by

(A.2) f ( t ) = L r ψ 1 { F ( s ) } = 1 2 π i c i c + i e s ( ψ ( b ) ψ ( t ) ) F ( s ) d s , c > 0 , i 2 = 1 .

We next present the conditions for the existence of the right generalized Laplace transform.

Theorem A.1

Suppose that a function f(t) is defined on ( , b ] ( b R ) . If

  1. f(t) is continuous or piecewise continuous on every finite subinterval of (−∞, b],

  2. there exist positive constants M > 0 and σ > 0 such that for the given T′ < b,

    | f ( t ) | M e σ ( ψ ( b ) ψ ( t ) ) , for t < T ,

then the right generalized Laplace transform of f(t) exists when Re(s) > σ.

Proof

Using Definition A.8 and conditions (1) and (2) of theorem gives that

| F ( s ) | b e | s | ( ψ ( b ) ψ ( t ) ) | f ( t ) | ψ ( t ) d t b e | s | ( ψ ( b ) ψ ( t ) ) M e σ ( ψ ( b ) ψ ( t ) ) ψ ( t ) d t = M b e ( | s | σ ) ( ψ ( b ) ψ ( t ) ) ψ ( t ) d t = M | s | σ .

Thus the result is true. □

Definition A.2

Assume that functions f(t) and g(t) defined on ( , b ] ( b R ) . We say that the integral t b f ( ψ 1 ( ψ ( b ) + ψ ( t ) ψ ( τ ) ) ) g ( τ ) ψ ( τ ) d τ is the right generalized convolution of f(t) and g(t), that is,

f ( t ) * r ψ g ( t ) = ( f * r ψ g ) ( t ) = t b f ( ψ 1 ( ψ ( b ) + ψ ( t ) ψ ( τ ) ) ) g ( τ ) ψ ( τ ) d τ .

Theorem A.2

(Right convolution theorem). If L r ψ { f ( t ) } = F ( s ) and L r ψ { g ( t ) } = G ( s ) , then

L r ψ { f ( t ) * r ψ g ( t ) } = L r ψ { f ( t ) } L r ψ { g ( t ) } = F ( s ) G ( s ) ;

Or equivalently,

L r ψ 1 { F ( s ) G ( s ) } = f ( t ) * r ψ g ( t ) .

Proof

According to Definitions A.8 and A.2, and interchanging the order of integration and making the substitution ψ −1(ψ(b) + ψ(t) − ψ(τ)) = w, we obtain

L r ψ { f ( t ) * r ψ g ( t ) } = b e s ( ψ ( b ) ψ ( t ) ) t b f ( ψ 1 ( ψ ( b ) + ψ ( t ) ψ ( τ ) ) ) g ( τ ) ψ ( τ ) d τ ψ ( t ) d t = b b e s ( 2 ψ ( b ) ψ ( τ ) ψ ( w ) ) f ( w ) g ( τ ) ψ ( w ) d w ψ ( τ ) d τ = L r ψ { f ( t ) } L r ψ { g ( t ) } = F ( s ) G ( s ) .

Using repeatedly integration by parts yields the following differential property.□

Lemma A.1

If L r ψ { f ( t ) } = F ( s ) , then

(A.3) L r m { δ ψ n f ( t ) } = k = 0 n 1 s n k 1 δ ψ k f ( b ) s n F ( s ) , t < b , n Z + .

We are ready to present the right generalized Laplace transform for fractional integrals and derivatives.

Theorem A.3

Let n 1 < α < n Z + and b R . Then we have:

(A.4) L r ψ { D t , b α ψ f ( t ) } = s α L r ψ { f ( t ) } ,

(A.5) L r ψ { D t , b α ψ f ( t ) } = ( 1 ) n k = 0 n 1 s n k 1 D t , b α + k n ψ f ( t ) t = b s α L r ψ { f ( t ) } ,

(A.6) L r ψ { D t , b α C ψ f ( t ) } = ( 1 ) n k = 0 n 1 s α k 1 δ ψ k f ( b ) s α L r ψ { f ( t ) } .

Proof

By Definitions 2.1 and A.2, we can rewrite equality (2.2) as the following convolution form

D t , b α ψ f ( t ) = 1 Γ ( α ) t b ( ψ ( τ ) ψ ( t ) ) ( 1 α ) f ( τ ) ψ ( τ ) d τ = ( ψ ( b ) ψ ( t ) ) α 1 Γ ( α ) * r ψ f ( t ) .

From Theorem A.2, one concludes

L r ψ { D t , b α ψ f ( t ) } = L r ψ ( ψ ( b ) ψ ( t ) ) α 1 Γ ( α ) * r ψ f ( t ) = s α L r ψ { f ( t ) } .

This shows (A.4).

Next, we prove (A.5). Using equality (2.4) and differential property (A.3) implies that

L r ψ { D t , b α ψ f ( t ) } = ( 1 ) n L r ψ δ ψ n D t , b ( n α ) ψ f ( t ) = ( 1 ) n k = 0 n 1 s n k 1 δ ψ k D t , b ( n α ) ψ f ( t ) t = b s n L r ψ { D t , b ( n α ) ψ f ( t ) } = ( 1 ) n k = 0 n 1 s n k 1 D t , b α + k n ψ f ( t ) t = b s α L r ψ { f ( t ) } .

Finally, by means of equalities (2.6), (A.4), and differential property (A.3), one gets

L r ψ { D t , b α C ψ f ( t ) } = ( 1 ) n L r ψ D t , b ( n α ) ψ δ ψ n f ( t ) = ( 1 ) n s α n L r ψ δ ψ n f ( t ) = ( 1 ) n s α n k = 0 n 1 s n k 1 δ ψ k f ( b ) s n L r ψ { f ( t ) } = ( 1 ) n k = 0 n 1 s α k 1 δ ψ k f ( b ) s α L r ψ { f ( t ) } ,

which is (A.6). So the proof is complete. □

Finally, it is not difficult to obtain the right generalized Laplace transform of Mittag–Leffler function

(A.7) b e s ( ψ ( b ) ψ ( t ) ) ( ψ ( b ) ψ ( t ) ) α k + β 1 E α , β ( k ) ( ± λ ( ψ ( b ) ψ ( t ) ) α ) ψ ( t ) d t = k ! s α β ( s α λ ) k + 1 , R e ( s ) > | λ | 1 α .

A.2 The generalized Mellin transform

In this part, we define generalized Mellin transforms and discuss the corresponding properties.

Definition A.3

Suppose that a function f(t) is defined on [ a , ) ( a R ) . The left generalized Mellin transform of f(t) is defined by

(A.8) F ( ξ ) = M l ψ { f ( t ) } = a ( ψ ( t ) ψ ( a ) ) ξ 1 f ( t ) ψ ( t ) d t , γ 1 < R e ( ξ ) < γ 2 .

The inverse left generalized Mellin transform is given by

(A.9) f ( t ) = M l ψ 1 { F ( ξ ) } = 1 2 π i c i c + i ( ψ ( t ) ψ ( a ) ) ξ F ( ξ ) d ξ , t > a , c = R e ( ξ ) .

Definition A.4

Suppose that a function f(t) is defined on [ , b ) ( b R ) The right generalized Mellin transform f(t) is defined by

(A.10) F ( ξ ) = M r ψ { f ( t ) } = b ( ψ ( b ) ψ ( t ) ) ξ 1 f ( t ) ψ ( t ) d t , b R , γ 3 < R e ( ξ ) < γ 4 .

The inverse right generalized Mellin transform is given by

(A.11) f ( t ) = M r ψ 1 { F ( ξ ) } = 1 2 π i c i c + i ( ψ ( b ) ψ ( t ) ) ξ F ( ξ ) d ξ , t < b , c = R e ( ξ ) .

In the sense of generalized Mellin transform, we can define the generalized convolutions and present convolution theorems.

Definition A.5

Suppose that functions f(t) and g(t) are defined on [ a , + ) ( a R ) . We call the integral a f ψ 1 ψ ( a ) + ψ ( t ) ψ ( a ) ψ ( τ ) ψ ( a ) g ( τ ) ψ ( τ ) d τ ψ ( τ ) ψ ( a ) the left generalized convolution of f(t) and g(t), i.e.,

f ( t ) * l ψ g ( t ) = ( f * l ψ g ) ( t ) = a f ψ 1 ψ ( a ) + ψ ( t ) ψ ( a ) ψ ( τ ) ψ ( a ) g ( τ ) ψ ( τ ) d τ ψ ( τ ) ψ ( a ) .

Theorem A.4

(Left convolution theorem). If M l ψ { f ( t ) } = F ( ξ ) and M l ψ { g ( t ) } = G ( ξ ) , then

M l ψ { f ( t ) * l ψ g ( t ) } = M l ψ { f ( t ) } M l ψ { g ( t ) } = F ( ξ ) G ( ξ ) ;

Or equivalently,

M l ψ 1 { F ( ξ ) G ( ξ ) } = f ( t ) * l ψ g ( t ) .

Proof

According to Definitions A.3 and A.5, and changing the order of integration and making the substitution ψ 1 ψ ( a ) + ψ ( t ) ψ ( a ) ψ ( τ ) ψ ( a ) = w , one deduces that

M l ψ { f ( t ) * l ψ g ( t ) } = a ( ψ ( t ) ψ ( a ) ) ξ 1 a f ψ 1 ψ ( a ) + ψ ( t ) ψ ( a ) ψ ( τ ) ψ ( a ) g ( τ ) ψ ( τ ) d τ ψ ( τ ) ψ ( a ) ψ ( t ) d t = a a ( ψ ( t ) ψ ( a ) ) ξ 1 f ψ 1 ψ ( a ) + ψ ( t ) ψ ( a ) ψ ( τ ) ψ ( a ) g ( τ ) ψ ( t ) d t ψ ( τ ) d τ ψ ( τ ) ψ ( a ) = a a ( ψ ( w ) ψ ( a ) ) ξ 1 ( ψ ( τ ) ψ ( a ) ) ξ 1 f ( w ) g ( τ ) ψ ( w ) d w ψ ( τ ) d τ = M l ψ { f ( t ) } M l ψ { g ( t ) } = F ( ξ ) G ( ξ ) .

All this ends the proof. □

Definition A.6

Suppose that functions f(t) and g(t) are defined on ( , b ] ( b R ) . We call the integral b f ψ 1 ψ ( b ) ψ ( b ) ψ ( t ) ψ ( b ) ψ ( τ ) g ( τ ) ψ ( τ ) d τ ψ ( b ) ψ ( τ ) the right generalized convolution of f(t) and g(t), i.e.,

f ( t ) * r ψ g ( t ) = ( f * r ψ g ) ( t ) = b f ψ 1 ψ ( b ) ψ ( b ) ψ ( t ) ψ ( b ) ψ ( τ ) g ( τ ) ψ ( τ ) d τ ψ ( b ) ψ ( τ ) .

Theorem A.5

(Right convolution theorem). If M r ψ { f ( t ) } = F ( ξ ) and M r ψ { g ( t ) } = G ( ξ ) , then

M r ψ { f ( t ) * r ψ g ( t ) } = M r ψ { f ( t ) } M r ψ { g ( t ) } = F ( ξ ) G ( ξ ) ;

Or equivalently,

M r ψ 1 { F ( ξ ) G ( ξ ) } = f ( t ) * r ψ g ( t ) .

Proof

The proof can be done by similar argument of the proof of Theorem A.4. □

The following lemma is the differential property of generalized Mellin transforms.

Lemma A.2

If M l ψ { f ( t ) } = F ( ξ ) and the limits

lim t a + [ ( ψ ( t ) ψ ( a ) ) ξ k 1 δ ψ n k 1 f ( t ) ] , lim t [ ( ψ ( t ) ψ ( a ) ) ξ k 1 δ ψ n k 1 f ( t ) ] ( k = 0,1 , , n 1 )

exist, then

(A.12) M l ψ { δ ψ n f ( t ) } = k = 0 n 1 Γ ( 1 + k ξ ) Γ ( 1 ξ ) ( ψ ( t ) ψ ( a ) ) ξ k 1 δ ψ n k 1 f ( t ) a + Γ ( 1 + n ξ ) Γ ( 1 ξ ) F ( ξ n ) , t > a , n Z + .

If M r ψ { f ( t ) } = F ( ξ ) and the limits

lim t b [ ( ψ ( b ) ψ ( t ) ) ξ k 1 δ ψ n k 1 f ( t ) ] , lim t [ ( ψ ( b ) ψ ( t ) ) ξ k 1 δ ψ n k 1 f ( t ) ] ( k = 0,1 , , n 1 )

exist, then

(A.13) M r ψ { δ ψ n f ( t ) } = k = 0 n 1 ( 1 ) k Γ ( 1 + k ξ ) Γ ( 1 ξ ) ( ψ ( b ) ψ ( t ) ) ξ k 1 δ ψ n k 1 f ( t ) b + ( 1 ) n Γ ( 1 + n ξ ) Γ ( 1 ξ ) F ( ξ n ) , t < b , n Z + .

Proof

A simple application of integration by parts concludes the result so is omitted. □

Next, we present the generalized Mellin transforms corresponding to Definitions 2.12.3.

Theorem A.6

Let n 1 < α < n Z + and a R . If M l ψ { f ( t ) } = F ( ξ ) , α < Re(1 − ξ) and the limits, for k = 0, 1, …, n − 1,

lim t a + [ ( ψ ( t ) ψ ( a ) ) ξ k 1 D a , t α k 1 ψ f ( t ) ] , lim t [ ( ψ ( t ) ψ ( a ) ) ξ k 1 D a , t α k 1 ψ f ( t ) ] ,

lim t a + [ ( ψ ( t ) ψ ( a ) ) ξ α + k δ ψ k f ( t ) ] , lim t [ ( ψ ( t ) ψ ( a ) ) ξ α + k δ ψ k f ( t ) ]

exist, then:

(A.14) M l ψ { D a , t α ψ f ( t ) } = Γ ( 1 ξ α ) Γ ( 1 ξ ) F ( ξ + α ) ,

(A.15) M l ψ { D a , t α ψ f ( t ) } = Γ ( 1 ξ + α ) Γ ( 1 ξ ) F ( ξ α ) + k = 0 n 1 Γ ( 1 + k ξ ) Γ ( 1 ξ ) ( ψ ( t ) ψ ( a ) ) ξ k 1 D a , t α k 1 ψ f ( t ) a ,

(A.16) M l ψ { D a , t α C ψ f ( t ) } = Γ ( 1 ξ + α ) Γ ( 1 ξ ) F ( ξ α ) + k = 0 n 1 Γ ( α k ξ ) Γ ( 1 ξ ) ( ψ ( t ) ψ ( a ) ) ξ α + k δ ψ k f ( t ) a .

Proof

Let us begin with the proof of (A.14). Noting that Definitions 2.1 and A.3, interchanging order of integration and making the substitution ψ(t) − ψ(τ) = (ψ(τ) − ψ(a))w, it holds that

M l ψ { D a , t α ψ f ( t ) } = a ( ψ ( t ) ψ ( a ) ) ξ 1 1 Γ ( α ) a t ( ψ ( t ) ψ ( τ ) ) α 1 f ( τ ) ψ ( τ ) d τ ψ ( t ) d t = 1 Γ ( α ) a 0 ( 1 + w ) ξ 1 w α 1 d w ( ψ ( τ ) ψ ( a ) ) ξ + α 1 f ( τ ) ψ ( τ ) d τ = Γ ( 1 ξ α ) Γ ( 1 ξ ) F ( ξ + α ) ,

in which the integral equality 0 ( 1 + w ) ξ 1 w α 1 d w = B ( α , 1 ξ α ) for α < Re(1 − ξ) is used.

Now we show (A.15). Letting D a , t ( n α ) ψ f ( t ) = g ( t ) and using differential property (A.12), one gets

M l ψ { D a , t α ψ f ( t ) } = M l ψ 1 ψ ( t ) d d t n D a , t ( n α ) ψ f ( t ) = M l ψ { δ ψ n g ( t ) } = Γ ( 1 ξ + α ) Γ ( 1 ξ ) F ( ξ α ) + k = 0 n 1 Γ ( 1 + k ξ ) Γ ( 1 ξ ) ( ψ ( t ) ψ ( a ) ) ξ k 1 D a , t α k 1 ψ f ( t ) a .

Finally, we prove (A.16). Letting f ψ ( n ) ( t ) = h ( t ) , and exploiting (A.14) and differential property (A.12) yield

M l ψ { D a , t α C ψ f ( t ) } = M l ψ { D a , t ( n α ) ψ δ ψ n f ( t ) } = M l ψ { D a , t ( n α ) ψ h ( t ) } = Γ ( 1 ξ n + α ) Γ ( 1 ξ ) H ( ξ + n α ) = Γ ( 1 ξ + α ) Γ ( 1 ξ ) F ( ξ α ) + k = 0 n 1 Γ ( α k ξ ) Γ ( 1 ξ ) ( ψ ( t ) ψ ( a ) ) ξ α + k δ ψ k f ( t ) a .

The proof is thus completed. □

Theorem A.7

Let n 1 < α < n Z + and b R . If M r ψ { f ( t ) } = F ( ξ ) , α < Re(1 − ξ) and the limits, for k = 0, 1, …, n − 1,

lim t b [ ( ψ ( b ) ψ ( t ) ) ξ k 1 D t , b α k 1 ψ f ( t ) ] , lim t [ ( ψ ( b ) ψ ( t ) ) ξ k 1 D t , b α k 1 ψ f ( t ) ] ,

lim t b [ ( ψ ( b ) ψ ( t ) ) ξ α + k δ ψ k f ( t ) ] , lim t [ ( ψ ( b ) ψ ( t ) ) ξ α + k δ ψ k f ( t ) ]

exist, then:

(A.17) M r ψ { D t , b α ψ f ( t ) } = Γ ( 1 ξ α ) Γ ( 1 ξ ) F ( ξ + α ) ,

(A.18) M r ψ { D t , b α ψ f ( t ) } = Γ ( 1 ξ + α ) Γ ( 1 ξ ) F ( ξ α ) + k = 0 n 1 ( 1 ) k + n Γ ( 1 + k ξ ) Γ ( 1 ξ ) ( ψ ( b ) ψ ( t ) ) ξ k 1 D t , b α k 1 ψ f ( t ) b ,

(A.19) M r ψ { D t , b α C ψ f ( t ) } = Γ ( 1 ξ + α ) Γ ( 1 ξ ) F ( ξ α ) + k = 0 n 1 ( 1 ) k + n Γ ( α k ξ ) Γ ( 1 ξ ) ( ψ ( b ) ψ ( t ) ) ξ α + k δ ψ k f ( t ) b .

Proof

The proof of this theorem is similar to that of the above theorem and we omit the details. □

By the way, integral transforms have differential definitions. In our experience, the integral transforms defined above are necessary for solving linear ψ-fractional differential equations. But this does not mean that there is no other integral transforms for above equations. For example, we can define the following modified integral transforms.

Definition A.7

Suppose that the given function f(t) defined on [ a , + ) ( a R ) . The left modified generalized Laplace transform of f(t) is defined by

(A.20) F ( s ) = L l m ψ { f ( t ) } = a e ( ψ ( s ) ψ ( a ) ) ( ψ ( t ) ψ ( a ) ) f ( t ) ψ ( t ) d t , s C .

Definition A.8

Suppose that a function f(t) is defined on ( , b ] ( b R ) . The right modified generalized Laplace transform of f(t) is defined by

(A.21) F ( s ) = L r m ψ { f ( t ) } = b e ( ψ ( b ) ψ ( s ) ) ( ψ ( b ) ψ ( t ) ) f ( t ) ψ ( t ) d t , s C .

Remark A.1

Since s is a complex variable, then the function ψ(s) may be a multivalued function. We select the principle value branch of the function ψ(s) under this situation.

It is easy to verify that the following equalities

(A.22) M l ψ [ f ( t ) , ξ ] = 1 Γ ( 1 ξ ) M l ψ [ L l m ψ [ f ( t ) , s ] , 1 ξ ] ,

and

(A.23) M r ψ [ f ( t ) , ξ ] = 1 Γ ( 1 ξ ) M r ψ [ L r m ψ [ f ( t ) , s ] , 1 ξ ] ,

are valid, where M l ψ [ f ( t ) , ξ ] = M l ψ { f ( t ) } , M r ψ [ f ( t ) , ξ ] = M r ψ { f ( t ) } , L l m ψ [ f ( t ) , s ] = L l m ψ { f ( t ) } , and L r m ψ [ f ( t ) , s ] = L r m ψ { f ( t ) } .

All these integral transforms are powerful tools for studying ψ-type differential systems.

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Article note

The current job was partially supported by the National Natural Science Foundation of China under grant no. 11872234.


Received: 2021-04-27
Revised: 2021-09-19
Accepted: 2021-11-04
Published Online: 2021-12-02

© 2021 Walter de Gruyter GmbH, Berlin/Boston

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