AMath 569, Spring 2013 Sample Solutions for Assignment 5. Reading: Chapter 4 in the Notes or Secs. 4.1-4.2 in the text. 1. Exercise 1 on p. 77 in the Notes. utt = uxx + uyy , 0 < x < a, 0 < y < b, u(x, y, 0) = φ(x, y), ut (x, y, 0) = ϕ(x, y), 0 ≤ x ≤ a, 0 ≤ y ≤ b, u(0, y, t) = u(a, y, t) = 0, 0 ≤ y ≤ b, u(x, 0, t) = u(x, b, t) = 0, 0 ≤ x ≤ a. Assume that u(x, y, t) = X(x)Y (y)T (t). Substituting into the differential equation, we find XY T 00 = X 00 Y T + XY 00 T, or X 00 Y 00 T 00 = + = K, T X Y where K is some constant independent of x, y, and t. The equation for T is then T 00 = KT , while that for X and Y is Y 00 X 00 =− + K = L, X Y where L is another constant independent of x, y, and t since one side of the equation depends only on x and the other side depends only on y. Thus X 00 = LX and Y 00 = (K − L)Y . The first boundary condition is u(0, y, t) = X(0)Y (y)T (t) = 0, 0 ≤ y ≤ b, t ≥ 0. Since we assume that Y and T are not identically 0, we must have X(0) = 0. Applying the other boundary conditions, we find X(a) = 0, Y (0) = Y (b) = 0. Solutions for X and Y have already been derived in the Notes. The equation X 00 = LX, X(0) = X(a) = 0 has nontrivial solutions only if L = −(nπ/a)2 , n = 1, 2, . . ., and then Xn (x) = sin((nπx)/a). Similarly, Y 00 = (K − L)Y , Y (0) = Y (b) = 0, has nontrivial solutions only if (K − L) = −(mπ/b)2 , m = 1, 2, . . ., and then Ym (y) = sin((mπy)/b). Finally, we have the equation T 00 = KT , where K = −(nπ/a)2 − (mπ/b)2 < 0, so the general solution for T is p T (t) = αmn cos(λmn t) + βmn sin(λmn t), λmn = (nπ/a)2 + (mπ/b)2 . 1 Assembling our results, solutions to the differential equation that satisfy the given boundary conditions are of the form u(x, y, t) = ∞ X ∞ X sin(nπx/a) sin(mπy/b)(αmn cos(λmn t) + βmn sin(λmn t)), m=1 n=1 for some coefficients αmn , βmn , m, n = 1, 2, . . .. Finally, we must apply the initial conditions to determine the coefficients αmn and βmn . Suppose φ(x, y) can be expanded in a two dimensional Fourier sine series as ∞ X ∞ X φ(x, y) = Amn sin(nπx/a) sin(mπy/b). m=1 n=1 Then since u(x, y, 0) = φ(x, y), it follows that αmn = Amn . If ϕ(x, y) is expanded as ϕ(x, y) = ∞ X ∞ X Bmn sin(nπx/a) sin(mπy/b), m=1 n=1 then since ut (x, y, 0) = ϕ(x, y), it follows that βmn = Bmn /λmn . It can be shown that if φ and ϕ are C 2 functions on the rectangle [0, a] × [0, b] then these expansions are valid and they converge uniformly. The solution u(x, y, t) is then given by u(x, y, t) = ∞ X ∞ X sin(nπx/a) sin(mπy/b)(Amn cos(λmn t)+(Bmn /λmn ) sin(λmn t)). m=1 n=1 2. Exercises 1 and 9 on pp. 99-100 in the text. utt = c2 uxx , 0 < x < L, t > 0, u(0, t) = ux (L, t) = 0, u(x, 0) = f (x), ut (x, 0) = g(x), t ≥ 0, 0 ≤ x ≤ L. Assume that u(x, t) = X(x)T (t). Substitute into the PDE to find T 00 X = c2 X 00 T ⇒ T 00 X 00 = c2 . T X Since the left-hand side is a function of t alone and the right-hand side is a function of x alone, they both must be equal to a constant K. This leads to two ODE’s: T 00 − c2 KT = 0 and X 00 − KX = 0. Look first at the equation for X, together with the boundary conditions: X 00 − KX = 0, X(0) = 0, X 0 (L) = 0. 2 Will show that K must be negative in order for this to have nontrivial solutions. √ Suppose K > 0. Then the general solution of X 00 − KX = √0 is c1 e√ Kx + √ c2 e−√Kx . X(0) = 0 ⇒ c1 + c2 = 0 and X 0 (L) = 0 ⇒ K(c1 e KL − c2 e− KL ) = 0. Since these two equations are independent, together they imply that c1 = c2 = 0. Suppose K = 0. Then the general solution of X 00 = 0 is c0 + c1 x. X(0) = 0 ⇒ c0 = 0 and X 0 (L) = 0 ⇒ c1 = 0. Now suppose K < 0. pThen the general solution of X 00 + |K|X = 0 is p 0 c1 p cos( |K|x) p + c2 sin( |K|x). p X(0) = 0 ⇒ c1 = 0. X (L) = 0 ⇒ c2 |K| cos( |K|L) = 0 ⇒ |K|L = (2n − 1)π/2, n = 1, 2, . . .. Thus the eigenvalues are 2 (2n − 1)π K=− , n = 1, 2, . . . , 2L and the corresponding eigenvectors are (2n − 1)πx , n = 1, 2, . . . . Xn (x) = sin 2L Now look at the equation for T after substituting −((2n − 1)π/(2L))2 for K: Tn00 + c2 (2n − 1)2 π 2 Tn = 0. 4L2 The general solution of this is c(2n − 1)πt c(2n − 1)πt Tn (t) = αn cos + βn sin . 2L 2L It follows that the solution u(x, t) has the form ∞ X (2n − 1)πx c(2n − 1)πt c(2n − 1)πt u(x, t) = sin αn cos + βn sin . 2L 2L 2L n=1 (1) Now apply the initial conditions: ∞ X (2n − 1)πx u(x, 0) = αn = f (x), sin 2L n=1 ut (x, 0) = ∞ X n=1 sin (2n − 1)πx 2L βn c(2n − 1)π = g(x). 2L These will be Fourier series for f and g provided Z 2 L (2n − 1)πx αn = sin f (x) dx, L 0 2L 3 Z L 4 (2n − 1)πx βn = g(x) dx, sin c(2n − 1)π 0 2L and f and g satisfy the boundary conditions: f (0) = g(0) = 0, f 0 (L) = g 0 (L) = 0, since in this case an odd extension of f and g will have a sine series expansion in which the coefficients of even terms are zero. Finally, we must find conditions on f and g that will ensure that term-byterm differentiation of the Fourier series for u in (1) really is justified and therefore u is a C 2 solution of the differential equation. By the Weierstrass M-test, it suffices to show that there is a constant C such that 2 2 C C (2n − 1)π (2n − 1)π 2 |αn | ≤ 2 , and |βn |2 ≤ 2 , 2L n 2L n P∞ since n=1 (C/n2 ) is finite. Following the approach in the Notes, we will look at the expressions for αn and βn and use integration by parts: Z (2n − 1)πx 2 L sin αn = f (x) dx L 0 2L L (2n − 1)πx 4 = −f (x) cos + (2n − 1)π 2L 0 Z L 4 (2n − 1)πx cos f 0 (x) dx (2n − 1)π 0 2L The boundary term will be 0 if f (0) = 0. In that case, using integration by parts for the remaining integral, we find " # L Z L (2n − 1)πx 4L (2n − 1)πx − f 0 (x) sin αn = sin f 00 (x) dx . (2n − 1)2 π 2 2L 2L 0 0 The boundary term here will be 0 provided f 0 (L) = 0. Using integration by parts again, the next boundary term will be 0 and hence |αn | will be O(1/n3 ) if f 00 (0) = 0. Using integration by parts one more time, the next boundary term will be 0 and |αn | will be O(1/n4 ) provided also f 000 (L) = 0. Thus, conditions on f in order for u in (1) to be a solution are f ∈ C 4 , f (0) = 0, f 0 (L) = 0, f 00 (0) = 0, f 000 (L) = 0. A similar procedure with the formula for βn shows that since βn = O(1/n), it will be O(1/n2 ) if g(0) = 0, O(1/n3 ) if also g 0 (L) = 0, and O(1/n4 ) if also g 00 (0) = 0. Thus, conditions on g in order for u in (1) to be a solution are g ∈ C 3 , g(0) = 0, g 0 (L) = 0, g 00 (0) = 0. 3. Consider the Dirichlet problem for the Laplacian on the unit disk D; i.e., given f on ∂D (the boundary of D), find u satisfying 4u = 0 in D, u = f on ∂D. Note that in polar coordinates (r, θ), Laplace’s equation becomes: 1 1 urr + ur + 2 uθθ = 0. r r 4 (2) (a) Assume that equation (2) has a solution of the form u(r, θ) = v(r)w(θ), and find v and w. (Note: u should be bounded near the origin, and w must be 2π-periodic. To solve the equation for v, you may need to look up Euler equations in an ODE book.) Substituting u(r, θ) = v(r)w(θ) into the PDE, we find 1 1 v 00 (r)w(θ) + v 0 (r)w(θ) + 2 v(r)w00 (θ) = 0. r r Moving r variables to the left and θ variables to the right, this becomes r2 v 00 (r) + rv 0 (r) w00 (θ) =− = λ, v(r) w(θ) where λ is a constant independent of r and θ. First consider the equation for w. The function w is 2π-periodic and satisfies w00 = −λw. √ If √ λ < 0, then w00 = |λ|w so w is a linear combination of e |λ|θ and e− |λ|θ , but these functions are not 2π-periodic (and no nontrivial linear combination of them is 2π-periodic), so in this case there are no nontrivial solutions for w. If λ = 0, then w = c0 + c1 θ, so the only nontrivial 2π-periodic solutions are constant functions. If λ > 0, then √ solution of the differential equation is of the √ the general form a cos( λθ) + b sin( λθ), and this will be 2π-periodic if and only if λ = n2 , n = 1, 2, . . .. Thus the 2π-periodic solutions of w00 = −n2 w are linear combinations of {1, cos(nθ), sin(nθ) : n = 1, 2, . . .}. Since λ = n2 , the equation for v becomes r2 v 00 (r) + rv 0 (r) − n2 v(r) = 0. Solving this (Euler’s) equation, we find v(r) = c1 rn + c2 r−n , n ≥ 1. In order for this to be bounded at r = 0, we must have c2 = 0; hence v(r) = c1 rn . For n = 0, solutions of v 00 = −(1/r)v 0 , or, of ϕ = v 0 and ϕ0 = −(1/r)ϕ, are ϕ = c1 /r so v = c1 ln r + c2 . In order for this to be bounded at r = 0, we need c1 = 0 hence v = c2 . Thus v is some linear combination of the functions {rn : n = 0, 1, . . .}. 5 A solution u(r, θ) therefore has an expansion of the form ∞ a0 X n + r (an cos(nθ) + bn sin(nθ)). 2 n=1 (3) R 2π (b) Suppose f ∈ L2 (∂D) is a 2π-periodic square integrable function ( 0 |f (θ)|2 dθ < ∞) defined on the boundary of D. Write f in a Fourier series and derive a series for u. Show that this series converges for r < 1 to a C 2 solution of 4u = 0, which satisfies the boundary condition in the sense that ku(r, ·) − f (·)kL2 → 0 as r → 1. If the Fourier series of f is ∞ a0 X + (an cos(nθ) + bn sin(nθ)), 2 n=1 then the series for u is that in (3). Assuming that we can do term-byterm differentiation, it satisfies Laplace’s equation in polar coordinates since ur = ∞ X nr n−1 (an cos(nθ)+bn sin(nθ)), urr = ∞ X n(n−1)rn−2 (an cos(nθ)+bn sin(nθ)), n=1 n=1 uθθ = − ∞ X rn n2 (an cos(nθ) + bn sin(nθ)), n=1 and hence ∞ X 1 1 urr + ur + 2 uθθ = [n(n−1)+n−n2 ]rn−2 (an cos(nθ)+bn sin(nθ)) = 0. r r n=1 We will show that, for each fixed r < 1, all of these series converge uniformly on [0, 2π]; in fact, for any δ > 0 they converge uniformly on [0, 1 − δ] × [0, 2π]. Hence term-by-term differentiation is justified and the function u defined in (3) is therefore C 2 inside D. Since f ∈ L2 , its Fourier coefficents an and bn approach 0 as n → ∞; hence there is a constant M such that |an cos(nθ) + bn sin(nθ)| ≤ M for all n. It follows that each term in the series (3) is bounded in absolute value by M rn , so for any fixed r < 1 the series in (3) converges absolutely (and uniformly 1 (M times of P the geometric in θ), P with sum bounded by M 1−r P∞the sum n n n 2 n series 0 r ). By the same argument, since n=1 nr P and ∞ n=1 n r are ∞ 2 n 2 2 finite (since, for n sufficiently large, n r < 1/n and n=1 (1/n ) < ∞), the series for the derivatives of u converge uniformly in θ and uniformly in r provided r ∈ [0, 1 − δ] for some δ > 0. Thus u is C 2 inside D. Now look at ku(r, ·) − f (·)kL2 . For r < 1, the Fourier series for u(r, θ) − f (θ) is ∞ X (rn − 1)(an cos(nθ) + bn sin(nθ)), n=1 6 so that, by Parseval’s identity, ku(r, θ) − f (θ)k2L2 = π ∞ X (rn − 1)2 (|an |2 + |bn |2 ). n=1 We wish to show that this approaches 0 as r % 1. To see this, break the infinite series into two pieces: ku(r, θ)−f (θ)k2L2 = π N X (rn −1)2 (|an |2 +|bn |2 )+π n=1 ∞ X (rn −1)2 (|an |2 +|bn |2 ). n=N +1 (4) P∞ 2 2 n 2 (|a | + |b | ) is finite, and (r − 1) ≤ 1 for all Since kf k2L2 = n n n=1 n, given any > 0 we can choose N large enough so that the second sum in (4) is less than /2. Since the first we can pull the Psum isn finite, 2 2 2 (r − 1) (|a limit inside the sum to see that limr→1 N n | + |bn | ) = n=1 PN n 2 2 2 n=1 limr→1 (r − 1) (|an | + |bn | ) = 0. Thus by choosing r sufficiently close to 1 we can make this piece less than /2 as well. Therefore ku(r, ·)− f (·)kL2 → 0 as r % 1. 7
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