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EQUATIONS
An Introduction
1-:utiquio C. Young
The Florida Seate Unhersi~r
Preface 1x
Chapter 1 Introduction
vii
\iii Contents
References 311
Index 343
Preface
ix
x Preface
sented, but also to introduce other general ideas and procedures. Answers to
almost all exercises are given at the back of the book. A list of selected references
for further reading on the subject is also given.
As a prerequisite for a course based on this book, the student must have a
working knowledge of the topics usually covered in a standard calculus course
and must be familiar with the contents of a basic course in ordinary differential
equations. Many of the topics in the calculus which are extensively used in
later discussion are discussed briefly in the beginning chapter. For those
students who have an adequate background, this material can serve as a review.
Although the book is intended for use in a two-quarter course, it can be
adopted for a one-quarter or a one-semester course, depending on the back-
ground of students and the interest of the instructor. For example, topics
selected from Chapters 2, 3, 6, and 7 can be the bases of a one-quarter course
for students who are already familiar with the contents of Chapters 4 and 5.
A word about the numbering of equations and theorems: Unless a different
chapter is explicitly stated, the first number indicating an equation or a theorem
always refers to the section of the particular chapter under study. The exercises
are, however, numbered according to the chapters. Thus, the heading Exercises
5.1 refers to the first set of exercises in Chapter 5.
The author wishes to thank Professors Thomas G. Hallam and Howard E.
Taylor for testing some of the material in its early version and for making
helpful comments, and to Professor C. Y. Chan for reading the manuscript
and for making many invaluable suggestions. The author also acknowledges
with gratitude the secretarial help extended by the Department of Mathematics.
Last but not least, it is a pleasure to thank Mrs. Margaret Parramore for her
skillful typing of the manuscript.
An Introduction
Chapter 1
Introduction
In this chapter we shall review and discuss some topics from the calculus
concerning functions of a single variable and of several variables. These topics
will be needed in our later work. The consideration of functions of several
yariables will be limited mostly to functions of two independent variables, as
this will be adequate for our purpose.
If bothf(x 0 ) and /(xri) exist and are equal to the value off at x 0 , then obviously
we have
Jim /(x) = /(x 0 ) = /(xri) = f(x 0 )
x-+xo
lf(x)I :::: M
for all x, a :::::; x ::::; b. The converse of this statement is, of course, not true. For
example, the function considered in Example 1.1 is bounded on the interval
[ - I, I J with M = 1, but it is not continuous there because it has a jump
discontinuity at x = 0.
A functionfis said to be piecewise continuous on the interval a ::::; x :::::; b ifit
is continuous on that interval, except possibly at a finite number of points
where it has jump discontinuities. Thus the function in Example I. I is piecewise
continuous. It is clear that every piecewise continuous function on a closed
interval is also bounded.
Letfbe a continuous function on the interval a ::::; x ::::; b. We say that.f has
a left-hand derivative at the point x 0 of the interval if the limit
exists. We denote this one-sided derivative by f'- (x 0 ). In the same way, we say
that f has a right-hand derivative at x 0 , denoted by f~ (x 0 ), if
(1.2)
. f(xo
I1111 -
+ h) - f(xo)
h~O Ji
h> 0
exists. If both f'_(x 0 ) and f~(x 0 ) exist and are equal, then obviously f has a
derivative at x 0 , and we have
It should be noted that f'- (x 0 ) and f~ (x 0 ) are not the same as f'(x 0 ) and
f'(xci), which are the left-hand limit and the right-hand limit off' at x 0 , respec-
tively. The existence of the one-sided derivatives off at x 0 does not imply the
Sec. 1 Some Propenies of F1111ctio11s of One Variable 3
existence of the one-sided limits off' at x 0 . But, if both {'(x 0 ) and f' (x;) exist
and are equal to f'(x 0 ), then we have
lim f' (x) = f'(x 0 ) = f'(xci) = f'(x 0 )
x-+xo
(x = 0)
for which neither /'(0-) nor f'(O+) exist. In other words, f' is continuous at all
points x c;t 0, but is discontinuous at x = 0, although f'(O) = 0.
\\hose graph appears in Fig. I I, is piecewise smooth, since the function and its
derivative are piecewise continuous. The function has a jump discontinuity at
x = 1, \\hi le the derivati\ e /' has jump discontinuities at x = 0 and x = I.
for all x and some constant T. The smallest value of Tfor which equation (1.3)
holds is called the period off
lffis a function defined only on a finite interval a ::; x ::; b, we can extend it
so that it yields a periodic function. In fact, let T = b - a and consider the
function </>, which satisfies the relation
for all integers 11. Clearly, </> is defined for all x and is periodic with period T.
Moreover, it coincides withf on the interval a ::; x ::; b. We call the function <fJ
the periodic extension off with period T.
One important theorem of differential calculus, which we ~hall have occasion
to use later. is stated below.
Sec. 1 S'ome Properties o( F1111ctio11s of One Variable 5
THEORE\1 1.1. (Mean Value Theorem) If" f is continuous 011 the interrn!
a s x s
b andf' exists for each point x inside the interrn/, then thae is a point
x 0 het1ree11 a and b such that
where h = b - a and 0 < 0 < 1. If h is very small, then \Ve can approximate
f(a + h) by writing /(a + h) = f(a) + hf'(a).
We next recall some facts from integral calculus. Let f be a piecewise con-
tinuous function on the interval a s x s b. Then the integral of/ over [a, b J
exists and is the sum of the integrals over the subintervals whose end points are
the points of discontinuities off Moreover, from the geometrical interpretation
or definite integrals it is clear that the integral
( 1.5) f l/(x)I dx
exists. Jn this case we say that/ is absolutely integrable on the interval [a, b].
More generally, we say that a function/ is absolutely integrable on the interval
[a. b] (where a may be - oo or h may be oo) if/ is continuous on the interval,
except possibly at a finite number of points, and the integral (J .5) exists-
possibly as an improper integral. Over a finite interval we see that every piece-
wise continuous function is absolutely integrable. The converse of this statement
i~. however, not true. For instance, the function /(x) = !//-.; is absolutely
integrable on the interval 0 s x s 1, but it is not piecewise continuous there
because the right-hand limit/(0+) does not exist.
It is true, however, that every absolutely integrable function is integrable in
the ordinary sense. That 1s, the existence of the integral ( 1.5) implies the
existence of the integral
f /(x) dx
( 1.6)
(1.8) r
This theorem is also written frequently in the form
where Fis any function such that F'(x) = f(x). It is easy to see that (1.6) and
(1.7) together imply (1.8), and vice versa.
Finally, we state a theorem that is the counterpart of Theorem 1.1.
THEOREl\1 1.3. (Mean Value Theorem for Integrals) If f is continuous 011 the
interi:al a ::::; x ::::; b, then there is a point x 0 betireen a and b such that
Geometrically, this formula says that there is a rectangle of height f(x 0 ) and
width (b - a), whose area f(x 0 )(b - a) is equal to the area determined by the
integral (1.9).
Exercises 1.1
1. Sketch the graph of each of the following functions and determine whether the
function is piecewise continuous, continuous, piecewise smooth, and smooth:
(a) f(x) =
{- ,1_:-x: (-1 < x < 0)
\x3 (0 < x < I)
(b) f(x) =
r-,,
0 ,-
vx
(x < I)
(x = I)
(x > I)
Graph the function and show that f~ (0) = f'(O+) and !~ (0) = /'(0-). Does
f'(O) exist?
Sec. l P11rti11f Derfratives 7
6. Let
ex < 0)
= I\ -e - x
(x
/ (x)
(x > 0)
Show that f.'_(0) = f'(O-) = /~(0) = /'(O-). Does /'(0) exist? Graph the
function.
7. Show that the function
1
x 3 sin (x 1' 0)
/(x) x
(
.o (x = 0)
exists.
J o l + x2
1]. Give a geometrical interpretation of the mean value theorem (Theorem 1.1 ).
12. Let /(x) = Ax 2 + Bx + C, a ~ x ~ h, where A, B, Care any constants. Show
that x 0 = (a + h)/2 is the value that satisfies the mean value theorem.
13. Show that there is no continuous function f that satisfies
unless a = 0.
x" = r /(1) dt (11 > 0)
14. By using the mean value theorem for integrals, prove that the function defined by
( 1.6) is continuous on a ~ x ~ h. Hint: Consider F(x + /z) - F(x) =
J~+ h /(!) dt and show that this tends to zero ash _, 0.
15. Show that equations (l.6) and (1.7) imply (1.8), and vice versa.
2. Partial DerirntiYes
.
IIm
u(x 0 + ~x, y0) - u(x 0
.
, y0 )
6.,~o ~x
whenever the limit exists. This derivative is called the first-order partial deriva-
tive of u with respect to x at the point (x 0 , y 0 ), and is denoted by (i3u/i3x)(x 0 , y 0 )
8 Introduction Chap. 1
or u)x 0 , y 0 ). Frequently, we shall also use the simpler notation ux whenever the
point at which the derivative is being evaluated is clear from the context. In the
same way, we define the first-order partial derivative of u with respect to y at
(x 0 , Yo) as the limit
ou ( ) . u(x 0 , Yo + ~y) - t1(xo , Yo)
-- Xo,Yo = 11m
oy ~y-o ~y
prO\ ided the limit exists. It follows from the foregoing definitions that, given a
function u of two variables x, y, the partial derivative of t1 with respect to either
one of the variables, whenever it exists, can be calculated by simply differentiat-
ing the function with respect to the variable concerned while treating the other
variable as a constant.
Sol11tio11: The first-order partial derivatives of the given function exist. To find 11x,
we differentiate with respect to x, treating y as a constant, and obtain
11_y(x, y) = cos xy - xy sin xy
Similarly, we obtain 11/x, y) = - x 1 sin xy + 1.
0)'2
,<frc. 2 Partial Deriwttives 9
We notice in Example 2.2 that the mixed derivatives uxr and u,.x are equal.
This means that the order in which the differentiations are performed is im-
material. This is by no means true of all functions (see Problem 20, Exercise
1.2); however, whenever the mixed derivatives in question are continuous, it can
be shown that the order of differentiation does not matter. Thus, for the
function considered above, there also follow uxxy = u,.vx = llyx.n uxyy =
uyxy = urr.n etc .. as one easily verifies, since the function has continuous deriv-
atives of all order. Unless otherwise stated, we shall always assume in this work
that mixed derivatives are continuous whenever they exist.
Exercises 1.2
In Problems 1 through 5, find the first-order partial derivatives of the given function.
I. 11 = x 2 y + xy 2 .
2. 11 = e" cosy + xy.
3. 11 = ln(x 2 + y 2 ). (x. y) o;!c (0. 0).
x - y
4. 11 = - , (x, y) F (0, 0),
.\' + )'
x
5. 11 = tan , y > 0.
y
6. If 11 = x 3 + 2x 2 y + 3xy
2
+ y 3 , verify that :rnx + J'llr = 311.
In Problems 11 through 14, find the second-order partial derivatives of the given
function.
]], II= (xl + y1)1i2.
19. If u =
x- - -
( x+y
y) , (x, y) I= (0, 0), show that llxy = u,.x .
11(0, y) = u(x, 0) = 0
Show that for (x, y) I= (0, 0), llxy = llyx, but llx/O, 0) I= uyx<O, 0).
such that for each t in [a, b], (f(t ), g(f )) is in D. Then, in effect, u is a functi.on
of the single variable t:
(3.3) u = U(x, y) = U[f(t), g(t)] (a s t s b)
x and y. One important and useful tool in this connection is called the '"chain
rule."
Example 3.1. Let u(x, y) = e-' sin y, \\here x = Int and y = (1 - t 2 ), t > 0.
Find du/dt by substitution and direct differentiation and by the use of formula (3.4).
11 = tsin(l - t 2 ), (I > 0)
sin(! - 1 2 ) - 21 2 cos(! - 1 2 )
Formula (3.4) extends easily to the case where u is a function of three or more
independent variables. For example, if u is a function of the variables x, J', and z,
u = U(x, _r, z)
where
x = x(t), y = y(l), and z(t)
then
(3.5)
du au dx
+.au- dy
- + au
- - dz
-
dt ox dt ay dt cz dt
12 lntroduct ion Chap. I
pnnided U and its lirst-order partial deri\atives are continuous and x, y. z are
differentiable. In the special case where x = t. so thaty and z become functions
of the\ ariable x. formula (3 . .5) reduces to the form
(;u i' c_; dy i'U d:
(3.6) + (".\" +
i7x dx CZ dx
We shall h~l\e special need for this formula in the next section.
Next. suppose that 11 is a function of the\ ariablcs x. y where
x = x(s. t) and y = y(s, t)
that is. x and r are in turn functions of two independent variables s and t.
Then 11 may also be considered as a function of the variables s, t:
(3.7) 11 = U(x, y) = U[x(.1, t), )(S, t)]
and we may investigate the partial derivative of u with respect to sort when the
other variable is held constant. Under the condition that U and its first-order
partial derivatives are continuous and that the first-order partial derivatives of
x and .r exist, it can be shown that
cu au ux au rJ\"
(3.8) +
cs ex cs (r cs
and
(""}II cU ax au er
(3.9) + oy cit
(~( OX 1:1
These formulas are modification of the chain rule (3.4).
Finally, we consider a function iv of four variables x, y, u, and z:, defined by
w = ~V(x, J, 11, r)
These formulas can, of course, be established under the assumption that all
first-order partial derivatives of Ware continuous and that all first-order partial
derivatives of u and 1 exist. The student should carefully note the distinction
betv>een the terms cH/i'-x, 21r/i'y. and the terms iJ W/Dx, DW/ay.
Sec. 3 Differentiation of Composite Functions; the Chain Rule 13
(cx c'I 2
+ oy ex ct. cs ex ct OS
+ (. u2 u ex + u2 u a_r) cy + au a2 y
ex CJ ct oy 2 ct cs OJ ct OS
i/U ex 0 LI (ax cy
(;X
2
lX C_I")
<'x2 cs Dt
+ C_\' OX .cs cc t +
ct cs.
1
a u a_r ay cu c:x au a2y ~1
+ a_r2
cs ct + ex at e's + ay at as
\vhcre we have assumed that Uxr = Urx.
Example 3.2. Let 11(x, y) = x 2 + y 2 , where x = r cos 8 and y = r sin 8. Find the
partial derivatives of 11 with respect tor and 8 up to the second order.
Example 3.3. Show that the function 11 = f(x 2y) + g(x + 3y),where/andgare
twice differentiable. satisfies the equation
Using formulas (3.10) and (3. l I) and noting that W depends only on u and i-, we
find
\V x W. 11x +
1
11~1, = f'(u) + g'(io)
w;,u,. +
w;i-,. = ('(11)( - 2) + g'(v)(3)
- 2/'(u) + 3g'(i)
14 /11troduction Chap. I
Exercises 1.3
In Problems I through 4, find d11/dt by use of the chain rule and check your result by
substitution and direct differentiation.
1. 11=xlny,wherex=1 2 ,y = (l - t) 11 2 .
2. 11 = x cosy + ye", where x = In 1, y = sin I.
3. 11 = arctan y/x, where x = cos t, y = sin 1.
4. 11 = In(x 2 + y 2 ), where x = e' - e-', y = e' + e-'.
5. If 11 = xyz, where y = In x and z = (1 +
x 2 ), find du/dx by the chain rule and
check your result by substitution and direct differentiation.
6. As in Problem 5, if 11 = x 2 + y2 + z 2 , where y = x cos x and z = x sin x, find
d11/dx.
In Problems 7 through 10, find the first-order partial derivatives of the given function
with respect to r and s.
7. u = x2 - 3xy + y 2 , where x = r + s, y = r - s.
8. u = excos}', where x = (r 2 + s 2 ) 112 , y = arctan r/s.
9. 11 = x 2 - y 2 , where x = r cosh s, y = r sinh s.
10. 11 = x ln(x - y), where x = r2 + s 2 , y = 2rs.
11. If 11 is a function of x and y, where x = s + t and y = s - t, express uxx - u,J'
in terms of the new variables s and t.
12. Express uxx + 11n in polar coordinates r and e, where r 2 = (x 2 + y 2 ) and
e = arctan y/x.
13. Let u = f(x + ct) + g(x - ct), where/ and g are twice differentiable functions.
Show that 11,, - c 2 llxx = 0.
14. Let II be a function of x and y, where x = r cos e and y = r sin e. Show that
In our later work we shall have occasion to deal with finding the deriYative of
a function cf> defined by a definite integral of the form
where the integrand! and the limits of integration u, v depend on the parameter
x. If the integration in (4.1) can be effected analytically, then the function cf> is
defined explicitly, and hence its derivative, if it exists, can be obtained by
straightforward differentiation. However, it is not always practical, nor possible,
to express the integral (4.1) in explicit form. Therefore, in such cases, it is
desirable to have an expression for the derivative cf>' of the function (4.1).
We first state the result in the special case where the limits of integration are
constants.
here a and b are constants. /ff and f, are co11ti1111011s in the rectangular region
11
R: a s x s /3, a s t s b, then the fun ct ion (4.2) is continuous and possesses a
derirntice gicen by
(4.3) c/>'(x) = f JJx, t) dt
The fact that cf> is continuous on [:z, /3] implies that for each x 0 in [:z. /3]
We notice that this involves interchanging the order of the limit operation
x ....., x 0 and integration. Also, formula (4.3) indicates that the derivative of cf>
can be obtained by taking the derivative under the integral sign: that is,
1rhcrc 11 and r arc functions of' x. If" u and 1. are differentiable in the interrnl
a .:c:; x .:c:; b, and I and f~ are cont in11011s in the rectangle R: a .:c:; x .:c:; b,
11(x) .:c:; t .:c:; 1(x). then
def> I
1 ('rxl
dx dx
I.u(x)
f(x. 1) d1
t(x)
(4.6)
J 1(x)
. f~(x, I) dt
. dv du
+ .f(x, i) - - .f(x, 11)
dx dx
Since 11 and rare differentiable functions of x, and/ and/, are continuous, cf> is a
continuous and differentiable function of x alone. Then its derivative with
respect to x exists, and by formula (3.6) we obtain
By the fundamental theorem of calculus (Theorem 1.2) applied to (4. 7), we have
cr/J
, = -f(x, cr/J
(4.10) 11) and " = f(x, i:)
Cli ci
Thus, substituting the results (4.9) and (4.10) in (4.8). we obtain formula (4.6).
and therefore
,
cos :c
q/(x) 2 sin x 2
u'(x) = C
0
(x - l)f{t) dr + ~(x -
2
1) f(l)],=x
r(x - l)f(t)dt
More generally, when the integrand fin (4. l) involves the parameters x, y,
and the limits 11, rare functions of x. y. then the integral (4.1) defines </J as a
function of x, y; that is,
If 11 and r have first-order partial deri\atives andf.fx, andfy are continuous, then
(pis a function of x and J' whose partial derivatives x and ),exist. Regarding
as a composite function c/J = c/J(X, y, 11, r). we obtain by means of formulas
(3.10), (3.11), and Theorem 1.2
t-(X,)')
(4.12)
ex J l(X,)')
j~(x, y, l) dt
+f(x,y,v)
ov -f(x,y,u _
, ) cu
ox ex
18 /11trod11ction Cltap /.
and
1(x,y)
c</J fy(x, y, t) dt
(4.13)
Dy J u(x,y)
+ f(x, y, v) ~
av '(
- ./ x, y, u)
au
~
oy oy
These are extensions of Leibnitz' formula (4.6).
Exercises 1.4
I. Let <jJ(.Y) = .1 0 2 cos xi dt. Find dqJ/dx by formula (4.6) and check your result by
direct calculation.
2. Let cp(x) = J.~, arctan(t;x 2 ) dt. Find dcp/dx in two ways.
r.~" x
dt
3. Let </J(xJ = Find def!/ dx in two ways.
t +
4. Given that J: (x _ d~os 1J (x 2 ~ 1
J, x
2
> I. Evaluate
n dt
- .
o (x - cos t) 2
5. ,1,
Let ,,,(x) =
'
f t
x' sin xf dt. .
F111d d,1,/
'V dx.
"
6. Let </J(xl = l/k f~ f(I l sin k(x - t) dt, where/ is a continuous function and k a
constant. Show.that <V + k 2 </J = f
7. Let J 0 (x) = l ;r _( 0 cos<x cos 0) dO. Show that 10 satisfies the Bessel's equation of
zero order: y" + ( l /x)y' + y = 0. Hint: Find 16 and integrate by parts.
1
r' - I
8. Evaluate qJ(x) = -- dt. x > 0 .
0 In t
Hint: Find q/(.\) and note that qJ(x) -+ 0 as x -+ 0.
"
Sec. 5 L'nif'orm Co11veme11ce of Series 19
If the limit
"'
(5.3) [S(x) - S,,,(x)[ . L
,n=m+ 1
whenever 111 > N. In general, the integer N depends on the point x under
imestigation as well as on the given number i:. However, if corresponding to a
gi\en r,, there exists an integer N that is independent of x such that the inequality
( 'i.3) holds for all x in the interval a ~ x ~ b, then we say that the series ( 5.1)
converges uniformly to S(x) on that interval. It is clear that a uniformly
convergent series is convergent in the ordinary sense.
A convenient and practical method for determining uniform convergence of a
series is given by the following theorem.
consrants such that [11,,(x)[ ~ M,, for each 11 ~I and for all x in the interrnl
a ~ x ~ b, then the series L.';"= 1 u,,(x) conrerges 11niforml_1' 011 that interrnl.
Example 5.1. Show that the series I.,~ 0 x" converges uniformly to the function
1,1(1 - x) on the interval - a :o::; x :o::; a, where 0 < a < I.
Since the ,;cries 2,:,;. 0 a" is convergent \I hen .a < I. it follm1s by the \Veierotrass
\1-tcst that the -,eries2=,:~o x" converges uniformly for Ix! s a < I. To shm1 that
the series co/l\.crgcs to the function S(x) 1/(1 - x). we note that for 111 :> I.
\IC have
IJ/- I
,, I x111
S,,,(x) ~ .\ -
n::;:O I - x
Thus. under the conditions stated in the theorem. the order of taking the limits
with respect to x and 111 can be interchanged.
Ii 111 I =
.., (I)"
~
X-+ A -- x 11~0 ,2
or
2 =I+ 1 + l + ~ +
THEOIU:\I 5.3. (Integration of Series) /,rt t!w fi111c1io11s 11,,(x) (11 2': I) he co11-
ti1111011s 011 the intenal a ::;; x :::::; band let the .1cries L:= 1 11,,(x) conrerge 11111form/y
to S(x) on that interrnl. fl x 1 and x 2 are anr fll'O poi11ts such that a :::::; x 1 <
x 2 ::;; h. then
This theorem gi\es suftlcienl conditions under which a convergent series may
be integrated term by term to obtain the integral of the limit function. It
essentially invohes interchanging the order of the integration and summation.
Sec. 5 L'11ifon11 Convergence of Series 21
Solurion: Since the series I_,;=o .1 11 conYcrges uniformly to the limit function
!/(! x), we can integrate term by term from 0 to any point x, 1\here < I,
and obtain
f 1 di ~
11=0
(' t" dr
.J 0
er_ xn+l
~ (ixl < I)
n=O II + I
hare continuous dcrirntires 11,; 011 the interrnl a :S x :S b, and if the seril'.\
I,,;, 1 u:i(x) conrcrges un(j(Jrnzly on this interra/, then
'f.
C" '( ) =
,) ,\ d ( ~,
"--' !/" ( x )')' I u;,cx>
cfx 11= I 11= I
j(Jr a :::;; x :S b.
The theorem gi\es suft1cient conditions under which a comergent series may
he differentiated term by term to yield the derivative of the limit function. The
proce:-.s im olves interchanging the order of differentiation and summation.
= I + 2x + 3x 1 + ~ nx 11 - 1
(I X)2 n- I
So/111/011: Consider the series "'[.,;= 1 11x"- 1 obtained by formally differentiati11: tbe
series of Example 5. 1. For each x such that lxl ~ a < 1 \\e note that
L'iing the ratio test, \\e sec that the series "'[_,~= 1 110 11 - 1 is convergent \\hen
a' < I. Thus, by Weierstrass M-test, series"'[_,~ 1 nx"- 1 converges uniformly for
.1, :: a < I. By Theorem 5.4, 1t follows that
2
(ix; < 1)
(! - x)
22 /11troduction Chap. I
Exercises 1.5
In Pro blerns I through 6, show that the series converge uniformly on the given
interval.
Y: z
sin /lX cos /IX
1. (aJ I:1
II= 112
forallx; (b) I:
II=} 112
for all x.
oc x'1
2. I:
11=1 11!'
'xi ~ a < oc
x
(-1)1'
3. I:
n= I :c
?
T'
?
11- '
for all x.
4. for all x ~ 0.
In I + .r = 2 ( x + x3 + xs
+ .. ) ( x' < I)
I x 3 5
9. If S(x) ~
~
sin ?nx ,
I
S lOW
that
ri= I ,,-
Irr
Jo S(x) dx
10. If S(x) I;
oc
11= I
COS /IX
11
2
, find a series for l" O
2
S(x) dx.
oc:
11. If ~ (-l)"x"for:x ~a< I, show that
l+x 11=0
~ ( - I J'' - 1 nx" - 1
(I + x)2 11= 1
1.3. If S(.\) ~ x", :;'1011 that S'(.\) = S(x) and /"' S(I) dr = S( 1) - l.
11=0 11 ! Jo
'l
(a) Show that 11 1 , u,.. 11xx can be calculated by differentiating the series term by
term.
(b) Thus verify that u satisfies the equation 11 1 - un = 0 and the boundary
conditions u(O, I) = u(n, I J = 0, I 2" 10 > 0.
(6.2) rf(x, 1) dt
c\i'.h for each x in the intcnal a ~ x ~ b. then we say that the improper
integral (6.1) coll\crges to F(x) on thal interval. This means that. for any g11en
r, 0. there is a number T corresponding lo each x such that
' d 1
.C g(t) dt
exists. lf lf(x. Ill :S: g(t)fiJr all x in the interrn/ a :S: .\: :S: h, rhen the integral
f"' f(x,
c
t) dt
com ages 1111ijiJrm!.r (a11d absolutely) 011 the in term! a :S: x :S: h.
sin xr
2
s
I + 1 + 1
2
Since J~ [I/( I ~ r ='I J dr converges (to r:/21. iL follm1 s from Theorem 6.1 that the
gi1en imrroper integral con\erges uniformly for all values of x.
The following three theorems correspond 1n order to Theorem:-, 5.2. 5.J. and
5.4 of the preceding o,ection.
I;
c
f(x. I) dt
co111crge 1111i/rm11h to F 011 t/1c i11tcrrn/ a :S: x :S: h. Then Fis co111i1111011s 011 the
i11tcrrn/ [a. b].
(6.5) li'.11
.\ - .\Q ~
j'"'
(
f(x. t) dt = f" 1~11
., ( .\ .\Q
j(x. I) dt
This conclusion generalizes the first part of the result of Theorem 4.1 11hich
concerns a definite integral i111olving a parameter.
TI-IEORE\1 6.3. Lei the sw11c co11ditions as in Thcorrn1 6.2 hold. Jf _\ 1 and x 2
are a11y rirn points such rhat a :S: x 1 :S: x 2 :S: b, then
That is. we may interchange the order of the two integrations. one with respect
to x and the other with respect lot. Let us illustrate the use of this properly in
naluating certain integrals that otherwise cannot be effected by the usual
elementary method of integration.
., ('_,,, - e-1>1 dr b
In (0 < (/ < b)
fo I (/
(t 2: OJ
exists. it fol!O\\S from Theorem 6.1 that the integral gc e-xi dt is uniformly con-
\ergcnt for a ~ x ~ b. By direct integration \IC find
lllFORE:\t 6.4. Let the .fimctions f and(, he co11tin11011s in the region D: a ::;:
Y :::; h. c ::;: t < oc, and let the integral
r: f(x, t) cit
f" j~(x, I) dt
c
(6.7) F'(x) = d
dx c
f"' .
f(x, t) dt = f"'"c j~(x, l) dt
(6.8)
J oc
c
e
-xr sin t d
--- t = - arctan x
t
So/11tio11: \Ve denote the given integral by F(x) and shO\\ that the integral converges
+ 7I-
2
uniformly to F(x) for x :::: 0. Theorem 6.1 cannot be applied here, so 1ve shall
resort to the definition. Let c > 0 be given. We \\ant to show that there is a
number T independent of x such that
(6.9) - - -t dt
I Jz e -xr sin .i
< c
: d t I
for x :::::: 0 \\ henever d > T. When x > 0, we have, by integration by parts with
11= e-"/t and du = sin t dt.
"' sin t
df =
e-xd cos d
d
"'(l + xt)e-"''
cos t dt
Jd C-Xl .. -{ -
Jd I2
Since !O + xt)e-xt cos ti:::; 1ex' e-xr cos If :s; l, it follows that
[f"' e
I d
-xr --t d t I :S: I
sin
t I d
1.
+ l"' -
d
1 dt = 2
t2 d
But the foregoing discussion also holds when x = 0. Thus, taking T = 2/c, it
follows that (6.9) holds for x :::::: 0 whenever d > 2/c. Therefore, the given im-
proper integral converges uniformly to F(x) for x :::: 0. Now, by Theorem 6.1,
the integral
Lx e-xr sin t dt
converges uniformly in the interval 0 < c :S: x for arbitrary number c, taking
g(I) = e-cr_ Thus, when x > 0, we have by Theorem 6.4
+ x2
and hence
F(x) = - arctan x + C
where C is a constant. To determine the constant C, we observe that
since [sin t/tl :S: l for all t. This implies limx-oo+ F(x) = O; therefore, C = n/2.
This establishes (6.8). By Theorem 6.2, F(x) is continuous for x :::: 0 and so,
letting x - 0, we obtain the important result
(6.10)
Joc
0
sin_t dt = 7I
t 2
Sec. 6 improper lnte.qrals Depe11di11y 011 u Parameter 27
Exercises 1.6
,,
l. rJ 2
() < {/ s; x.
.o x2 + I
sin t
2. , dt, for 0 < {/ ::; x.
0
x- + 12
cos xt
3. , dt. for all x. a -r- 0. _J_
.C er + 1-
0
4.
c
0
e __,., cos t d1, for 0 < a ::; x .
5.
6.
rI" e-' sin xi d1,
e-'t"- J dt.
for all x.
7. (a) Show that the integral 1~ e-r cos xt dt converges uniformly for all x to
F(x) = 1/(1 + x 2 ) and l.hus prove that
" _, sin xi {
e ct = arctan x (x 2'. OJ
0 t
(cl Lelling x--> +er.;. deduce from the result of (b) that
"
" .
Sill I I Ti
<I =
o I 2
0
e- 1
1 - cos bt d
t
-- I
I
- In(!
2
+ b1 )
(x > 0)
x
28 l11trod11ctio11 Chap. I
\'crify that differentiation \\ ithin Lhe integral is permissible an) number of times.
and thus sho11 that
Hint: Make the change of variable z 2 t 2 y and use results of Problem 10.
7. Directional DeriYatiws
11 here .1 denotes arc length of C. 0 ::::; s ::::; L, L being the length of the curve.
\\'e assume that x(s) and _r(s) ha\e continuous derivatiws on the interval
() ::::; s ::::; L. which do not vanish simultaneously. The cune C is said to be
smooth. Let 11 be a continuous function with continuous first-order partial
deri\ atives on the curve C. The derivative
du cu dx (;u dr
(7.4) +
ds ax ds i1_1 ds
2 2
Example 7.1. Let 11(x. y) = x +
(a) Find the directional derivative of 11 at (I. 2)
y .
in the direction 0 = 45'; (b) find the direction in 11hich the directional derivative
of 11 at (I. 2) is maximum.
du
= 2_1-:ct.zJ cos 45'' I 2y:c1.l> sin 45
ds
du .
= 2 COS () + 4 Sill ()
ds
\lhich is a function of()_ To find the value of 0 for which d11/dl' is maximum (or
minimum), we differentiate d11/ds with respect to 0 and set the result to zero. We
ha1e
2( - sin {)) + 4 cos 0 = 0 or tan 0 = 2
If a0 is such that 0 s 00 <:- :rr/2 and tan 00 = 2, then() = 00 and 0 = 00 + :rr are
the two values of() less than 2n, which satisfy the above equation. Clearly, the
30 lntrotl11ctio11 Ch"P I
2\ 5. and the direction () = () 0 + T:: gives minimum value for du/ds, \\ hich is
--2\ 5.
d1'/
\':::: y l ')
\':::: l ( 1)
01
I
We note that
dx 0 - /[
cos 0, ,in 0,
ds 2
so that
dr dx
cos = sin 0 sin </> -cos 0
ds ds
Hence. according to (7.2),
I J 5)
cu cu .
- . cos q)
au . ,/,'I'
')J11
en OX oy
C!I dy au dx
ax ds C.1 ds
111 the case where C is a closed curve (not crossing itself), the derivative (7.5)
is called tl1e outward normal derivative, since the normal direction in such a case
Sec. 7 Directional Derivatives 31
is then pointing away from the domain enclosed by the curve. Of course. here
we observe the convention that as the parameters increases, the curve is traced
in the counterclockwise manner.
Example 7.2. Find the outward normal derivative of u(x, y) xy on the circle
x2 + y2 = 0 2_
Solution: An outward normal direction on the circle has direction cosines given by
x
cos and sin = Y
a a
cu
CII y (x) + (v)
a x ~
2xy
a
(; /l (;/I .
, = , = 2r sm </J cos </> = r sin 2</J
c11 er
Exercises I. 7
.. (a) x
(b) x 2
2
+
+
2xy + y 2 , at (1, 2), 0 = 45 .
yex, at (I, -2), 0 = 30'.
2. Compute the directional derivative of the function 11 x 1 y + y sin x at (2, 4)
in the direction of the tangent to the curve y = x 2 .
3. Find the directional derivative of /1 = x 3 + xy 2 - y 3 at ( - I, - 3) in the direc-
tion of the tangent to the curve x = I + t, y = 1 - t 2
4. Determine the direction and the maximum value of the directional derivative of
11 =xy 2 + x 2 y at (I, I).
5. Do as in Problem 4 for the function /1 = 9x 1 + 4y 2 at the point (I, I).
6. Compute the normal derivative of /1 = x2 + y 2 at (2, 0) on the curve 9x 2 +
4y 2 = 36.
7. (a) Find the normal derivative of /1 = ln(x 2 + y 2 ) on the circle x 2 + y2 a2 .
(b) Using polar coordinates, show that d11/dn = du/dr.
32 lntrod11ctio11 Chap. 1
We conclude this re\ iew chapter \\ith a discussion of one of the important
and useful formulas for performing double integration in the plane. knmrn as
Green~ theorem. This theorem and its related formulas will be needed in
Chapters 3. 6. and 7.
(8.1) .
fc (P dx + Q dr) =
J' r ((~o
D. D.; - (r
ap) dx dy
irhac !he i111egratio11 011 the lcfi is taken along the curcC' C i11 the co1111terc/ock1rise
dirC'ctio11.
- - - , - 0 + - - - - - - - - - - - - - - - - - - - - - - - .\
Let us e\plain the meaning ol' the integral on the left of equation (8.1 ).
Suppose that the cune C is gi\en parametrically by the equations
(8.3) Sc (P dx + Q dy)
Sec. 8 Green's Theorem and Related Formulas 33
Solution: We convert the line integral into an ordinary integral with x as the variable
of integration. We note that on C y = 2x 2 so that dy = 4x dx. Substituting
these for y and dy in the integral, we find
L 2
[x y dx + (x
2
-
2
y l dy J = L 1
[2x
4
+ (x
2
-
4
4x )4x J dx
L 1
(2x
4
+ 4x
3
- l 6x 5 ) dx
19
15
Example 8.2. Verify Green's theorem for the functions P(x, y) 2xy 2 and Q(x, y)
2x 2 y, where C: x 2 + y 2 = 4.
Sol111io11: Let us introduce polar coordinates, x = r cos t, y = r sin t, 0 -s r :<; 2,
0 r -S 2n. Then
P = 2xy 2 = 2r 3 cos r sin 2 r, Q 2x 2 y = 2r 3 cos 2 t sin t
Pr = 4xy = 4r 2 sin t cos t, Qx 4xy = 4r 2 sin t cos t
JJ<Qx - P,.) dx dy = 0
1J
On the other hand, evaluating the line integral on the circler = 2, we find
L (2xy 2
dx + 2x 2 y dy) = L17r [16(cos t sin 2
t)(-2 sin t)
Let the equations (8.2) describing the curve C be given with the arc length s as
the parameter; that is, x = x(s), y = y(s), 0 ::;; s ::;; L, L being the length of
the curve. Then the line integral in equation (8.4) can be expressed as
(8.5)
Jc
r u(vx dy - Vy dx) = r ll ('vx ~~
Jc . ds
- Vy dx) ds
ds
CV
=
J c
u -ds
on
where ct:/011 is the outward normal derivative of z: on C as defined in equation
(7.5). Thus, equation (8.4) can be written in the form
Jcr ~ + +
(8.6) U ds = JJ (u LlV llxVx !lyl\.) dx dy
on
D
Here we have introduced the symbol i1 which stands for the Laplace operator
(8/ex) 2 + (o/8y) 2 . The formula (8.6) is often called Green's first identity.
If we interchange the role of u and v in equation (8.6) and subtract the result
from (8 6), we further obtain the formula
Exercises 1.8
Using Green's theorem, evaluate the following integrals and check your answers by
evaluating the line integrals directly.
1. Jc (x 2 dx + y 2 dy) along the square with vertices (0, 0), (l, 0), (I, 1), (0, I).
2
2. Jc [-x y dx + (y 2 - 1) dy] along the triangle with vertices (0, 0), (I, 0), (I, I).
3. Jc [(x + y) dx + (y + x) dy] along the unit circle x 2 + y 2 = I.
2 2
Lun ds = JJ6v dx dy
D
from (8.6) or (8. 7).
Sec. 8 Green's Theorem and Related Formulas 35
Li U~) ds = JJ
D
[(vx)
2
+ (i:y}2] dx dy
from (8.6).
(b) Suppose further that v = 0 on C; show that v = 0 identically in D.
(c) If 21'/211 = 0 on C, instead of v = 0, show that v = constant in D.
Chapter 2
Linear Partial
Differential Equations
36
Sec. 1 Basic Concepts and Definitions 37
Example 1.2. Verify that the function u(x. y) e- 2 '" cos x is a solution of equation
(c) in (I. I).
Thus,
Exercises 2.1
1. Determine the order of each of the follov.ing equations and find which are linear.
(a) Uu + Xl/J' = 0. (b) lllly + llxx - llx = 0.
(c) 11.u - llyy + (ux) 2 = x 2 . (d) yu, + .my + II = 0.
(e) xu"' + yun' + 211
2
= I. (f) u"' + x11,.Y - /1 = xy.
2. Show that the given function satisfies the accompanying equation:
(a) 11(.\, y) ax + by; .rnx + y11,. = 11.
(bl u(x, y) ax 2 + by 2 ; xux + y11,. = 211.
(c) u(x. )') (x - a) 2 + (y - b) 2-; (11) 2 + (11)') 2 = 411.
2
(d) u(x. )') x2 + y ; Yllx - 11,.x = 0.
3. Show that the given function satisfies the accompanying partial differential
equation:
(a) 11(x, y) ex + sin y + xy; llxi = I.
(b) u(x. y) cos(3x + 2y); 6u,-x - 13uxr + 611,.r 0.
(c) 11(x, y) = x 2 + exy sinh x; 11,._,. - xu,. = 0.
(d) 11(x. y) = (cosh y) In x; 1111_". = (11J(u.. ).
4. Verify that the follov.ing functions are solutions of the \\ave equation 11 11 -
c2 u0 = 0 for some value of c.
(a) 11(x, f) = x 2 + t 2 . (b) u(x, t) = cos x sin 2t.
(c) 11(x, t) = ln(x + t) + (x - t) 2 (d) u(x. t) = sin 2 (x + bt) + ex-bt.
5. Verify that the following functions are solutions of the Laplace equation""' +
//}')' = 0.
(a) u(x, y) = ex cosy. (b) u(x, y) 3x 2y - y 3.
(cJ 11(x, y) = sin x cosh y. (d) 11(x, y) ln(x 2 + y 2).
Sec. 2 General Solutions and Auxiliary Conditions 39
6. Verify that the following functions are solutions of the heat equation 11, - c2 uxx
0 for some value of c.
(a) 11(x, t) = e- 41 cos x. (b) 11(x, t) = e-a 21 sin bx.
11
(c) u(x, t) = e4 s cosh sx. (d) u(x, t) = e' 21 sinhsx.
du
(2.1) - + u = f(x)
dx
(2.3)
cu
~ + u = f(x)
ox
where g is an arbitrary function of y. It is easy to see that for any choice of the
function g, u satisfies equation (2.3).
Uxy = sin x + y
40 Linear Partial Differential Equations Chap. 2
Sol111io11: The general solution can be obtained by partial integration. That is, we
integrate both sides of the equation \\ ith respect toy, treating x as a constant, to
obtain
yl
u,Jx, y) = y sin x + + h(x)
2
u(x. y) = - y cos x + xy
2
2
+ . r h(x) dx + g(y)
If \\e write
f(x) = J h(x) dx
Example 2.2. Sho\\ that 11(x. Jl ~c f(x - 2r) + g(x + J), where f and g are twice
differentiable functions. is the general solution of the differential equation
Solution: We first verify that the !!iven function satisfies the differential equation.
Differentiating by the chain rule, \\ e find
and so
To show that /1 is ti:e c-eneral solution. let us introduce the new Yariables
s = .r - 2.r, l=x+y
11,.,. = 411".,_,
9ws 1 = 0
Sec. 2 General Solutions and Auxiliary Conditious .ti
whose general solution is w(s, r J = f(.1J + g(I). Thus, the general solution of the
equation
2u'-' - u,._,. - 11,T = 0
is
u(x, I) = f(x - 2y) + g(x + y)
is
u(x, y) = f(x)e-xr + g(x)exr
where/ and g are arbitrary functions of x. To find.a particular solution uP of the
nonhomogeneous equation, we use the method of undetermined coefficients and
42 Linear Partial Differential Equations Chap. 2
assume //P(x, y) = A(x) sin y + B(x) cosy. Substituting this in the equation,
we have
-(1 + x 2 )A sin y - B(l + x 2 ) cosy = x sin y
so that
x
A(x) = - 0
B(x) = 0
+ x-
Hence the general solution is
x sin y
u(x, y) = f(x)e-xr + g(x)exr -
I + x2
Exercises 2.2
]. Find the general solution of each of the follo\\ing partial differential equations:
(a) u,. = 3x + y. (bl fix = l/x + e'"-
(c) llx = y sm x. (d) u, = xy + tan x.
(e) 11,. = f(x), where f is an arbitrary function of x.
{f) ux = g(x), where g is an arbitrary function of x.
2. Find the general solution of each of the fol Im\ ing equations:
(a) llx}' = ex-}. (b) llxr = x + 2y.
(c) Uu = yex. (d) /In. = 3y 2 sin x.
(e) u," = f(x)g(y), where f and g are arbitrary functions.
4. Obtain the general solution of each of the following by regarding the equation as
an ordinary differential equation.
(a) u,. + yu = 2xy. (b) 11 (2/y)11 = (3 cos x)'y 2 .
1. -
.\u,,. + ur = 2xe'
(3.1)
transforms each function 11 that has second-order partial derivatives with respect
to x and t into the new function
Lu = u,, - c"uu
(3.2)
It follows readily from the rules of partial differentiation that the \vave operator
(3.1) is a linear partial differential operator. Property (3.2) can be extended
immediately to any finite number of functions by induction. That is, if u 1 . . u"
are 11-functions and c 1 , . . . c,, are 11-constants. then
(3.3)
Let Land AI denote two linear operators. \Ve define their sum L + Mas the
operator defined by the equation
for all functions 11 for which both Lu and Mu are defined. Thus, if L 1s the
operator (3.1) and A! is the linear operator
M = 1
(i'xc'') + x (D)
c'y,
+ xy
which shows that the operator L + Mis also linear. Thus, we conclude that the
sum of any finite number of linear operators is a linear operator.
In similar manner we define the product LM of the linear operators Land M
by the equation
(3.5) (LH)u = L(Mu)
for all functions u for which both Mu and L(M11) are defined. From (3.2) it
follows that
v.hich establishes the fact that the product of linear operators is also linear.
Now let L denote a linear partial differential operator. An equation of the
form
(3.7) Lu =f
(3.8) Lu = 0
Then. by (3.2), it follows that any linear combination of these functions also
satisfies equation (3.8). This important fact is known as the principle of super-
po~ition. This principle is used extensi\'ely in the solution of linear differential
equations. Correspondingly, if the functions i: 1 , . . . , i,, are such that Lii = /i
(i = I ..... 11), then the function r = c 1 + + t,, satisfies the equation
fr=/1 ++f,,
In particular, if 11 is a solution of the homogeneous equation (3.8) and v is a
particular solution of the nonhomogeneous equation (3.7), then the function
w = 11 + 1' satisfies equation (3.7).
Under certain conditions on convergence, the principle of superposition can
also be applied in the case where there are infinitely many solutions of a linear
homogeneous equation. Suppose that 11 1 , . . . , u", . .. is a sequence of functions
46 Linear Partial Differential Equations Chap. 2
such that each 11; satisfies equation (3.8). Consider the "infinite linear combina-
tion
f.
(3.9) I
i= 1
C,11;
This is actually an infinite series. If the cor.stants c; and the functions 11; are
such that the series (3.9) comerges to a function 11. and such that the series can
be differentiated term by term so that the resulting series comerges to the
corresponding deri\ati\e of 11. for all derivati\es appearing in the operator L,
then it is true that
It is easily seen that the functions u,,(x, y) = (x - y)", 11 = I, 2, ... satisfy the
equation for each 11. Hence, by the principle of superposition,
.\
u\(x, y) = L c,,(x - y)"
11= I
is a solution of the 11ave equation for any integer N 2: I and for arbitrary con-
stants c,,, 1 .::; 11 .::; N. In particular, if the constants en are chosen such that
en = 0 and c 2 k- 1 = ( - l )k- l /(2k I)!, for k = I, 2, ... , then by the Weier-
strass M-test the series
)2k- l
L
Cf_ (
<- i ik- 1 .\ -
.i
k=1 (2k - I)!
and its derivatives of any order converge uniformly in any bounded domain of the
.\-;-plane containing the origin. Hence. by the extended principle of superposition,
the preceding series is also a solution of the wave equation. As a matter of fact,
we notice that the series converges to the function u(x, y) = sin(x - y), which is
easily seen to satisfy the wave equation.
It is clear that for any value oft, the function r(x, y; t) = e-r' sin xt satisfles the
heat equation. Let lz be an ab!>olutely integrable function on the interval 0 <
t < rx. \Ve shall show that the function 11 defined by the integral
is a solution of the heat equation in the upper half-plane - er., < x < co, y > O.
First, \\e note that by Weierstrass M-test the integral (i) converges absolutely
and uniformly \\ith respect to x and y. since
(y ;:>: 0)
and his absolutely integrable on the interval 0 < t < x. Thus, 11 is a continuous
functionofx,yintheupperhalf-plane. Next, let h(r), <Mandy::>: y 0 > Oand
consider the integral
. . f' -
Cll
.
CT
=
(
.
C\' 0
/z(l)e
_ .,2
.i
.
sin xi dt = -
loo t h(t)e
0
2 . _. 2 .
'' s111 xt dt
Jn the same 11ay, integral (i) can be differentiated twice with respect to x under the
integrJ! sign. Therefore, for - x < x < x, y > 0,
= 0
48 Linear Partial Differential Equations Chap. 2
Exercises 2.3
11 11 (x, t) = exp [- (k + 11
2
)1] cos 11x (n l, 2, . . )
11
11
(x, I J = cos 11 cl + -112 t sin nx (11 I, 2,
(c = const)
satisfies Laplace equation 11xx + 11rr = 0 and the auxiliary conditions 11(0, y) = O,
11(2, y) = 0, u(x, 1) = 0. Find a linear combination of these functions that
satisfies the condition u(x, 0) = sin nx -- 3 sin 2nx.
7. Let y 0 > 0. Show that the series ~~-~ 1 c 11 e-nr sin 11x, 11 here the coefficients c"
are all bounded, is twice differentiable \1ith respect to x and y and satisfies
Laplace's equation un + 11n. = 0 in the domain y > Yo
8. Show that the series
is twice differentiable with respect to x and 1, and satisfies the differential equation
11 11 - lixx + 2u, = 0 for all values of x and t.
Sec. 4 Linear Fint-Order Equations
where ~ and 17 are new independent variables. Equation (4.2) can now be
regarded as an ordinary differential equation with as the independent variable
anJ 11 as a parameter. Hence. its general solution can be found by the use of the
standard formula pertaining to such an equation. The integration constant in
the solution must, however, be replaced by an arbitrary function of 17. The
general solution of the original equation is then obtained by returning to the
variables x, r.
Indeed. if either one of the coefficients a, bis identically zero, then equation
(4.1) is readily reducible to the form (4.2). Let us assume that a =I= 0 and b =/=" 0.
50 Linear Partial Dijjerential Eq11atio11s Chap. 2
In order to transform equation (4.1) into the form (4.2) we introduce ne\\
\ariables sand 17 by the equations
(4.3) ~ = </!(.\. _r). 17 = 1/;(x. _1)
The functions</; and 1/;. \vhich will be subsequently delermined. are assumed to
be continuous and ha\e continuous first-order parlial deri\ati\es in D such that
the Jacobian
(4.4)
111 the neighborhood of some point in D. Writing 11(x. _1) 11k. 11 ), we then
ha,e by the chain rule.
llx +
ir::,r/; x h',,1/1_\,..
b
( 4.6) mflx + lJiflv = 0 or
a
then the term imolving 1r,1 in (4.5) drops out, and for any choice of r/; satisfying
the condition (4.4). equation (4.5) reduces to the form (4.2). Thus, it remains
for us to determine a function 1/1 that satisfies (4.6).
Suppose for the moment that such a function ijJ e\ists with 1/;r i= 0: set
ij;(x. r) = c. \\here c is any constant. Then. on taking the total differential of
i/J = c. \IC find
Hence. if 1/; satisfies equation (4.6). then 1/; = c must be an imegral of the first-
order ordinary differential equation
dy b
(4.7)
dx a
Comersely, if ijJ = c \\ith I/Jr i= 0 is an integral of equation (4.7), then by
re,ersing the foregoing argument it follows that 17 = 1/;(x. y) satisfies equation
(4.6).
Equation (4. 7) is often called the characteristic equation of the partial
differential equation (4. I). It defines a one-parameter family of curves called the
Sec. 4 Linear First-Order Equations 51
(4.8) 11~ + C) 11 C)
which is of the desired form (4.2).
To obtain the general solution of equation (4.8), \Ve multiply both sides of the
equation by the integrating factor
1r(, 17) = _
1
r((, 17)
rlJ{ ad 1'(, 17) d + /(17)1
.
1
(4.9) 11(x, r) {W [x. 1/;(x, .r)] + f[i/;(x, y)]}
v[x, 1/;(x, y)]
where we have set
We note that the first term, W(x, ij;)/r(x, if;), in formula (4.9) is actually a
particular solution of equation (4.1), and the second term,f(x, ij;)/c(x, if;), is the
grneral solution of the corresponding homogeneous equation
dy b
dx a
defines a one-parameter family of characteristic curves
bx - ay = const
which arc straight Jines. Introducing the new variables ~ X, I/ bx - G)',
)..."II_'( - Jlly + II = X
dy y
dx x
By separation of variables \\e find that the characteristic curves are given by
xy =c c. We therefore introduce c; = x and 11 = xy. The transformed equation is
ll'~ + ll' = l
-;
\\hose general solution is
"
ll'(s, I/) = c + l f(lJ)
2 ~
x: I
u(x. _1) = + f(xy)
2 .\'
where f is an arbitrary differentiable function.
Sec. 4 Linear First-Order Equations 53
In the study of the first-order ordinary differential equation di 1dx = /(x. r).
it is usually required to find a solution of the equation that assumes prescribed
\alue at a specified point on the .\"-a\is. Geornetricall:-. this means finding an
integral cune that passes through a specified point in the .\T-plane Under rather
general conditions on I such a problem possesses one and only one solution.
A similar problem for the lirst-order partial differential equation (4.1) consists
in determining a solution of the equation that takes on prescribed \alues at
points on a specified cur\"c in the xy-plane. This corresponds to finding an
integral surface that contains a specified cunc in .\T11-space. If the parametric
equations of the cune in the .\T-plane are
(4.11) C: x = x(s). r = r(s)
and if 11 <f;(s) on this cun e. then the problem of finding a solution 11 = 11(x. y)
of the equation (4.1). such that 11 = c/>(.1) on the cune C. amounts to the deter-
mination of the function/in the general solution (4.9). In general. the function
I can be uniquely determined in terms of the initial \aluc c/! and the other
specilic functions in (4 9) when the equations (411) of the cune Care substituted
for x. _1 in (4.9) and 11 is set equal to <f;.
It should be pointed out that the cune Con which the values of 11 are pre-
scribed cannot be taken arbitrarily. Specifically. it cannot be a characteristic
cune of the differential equation. The reason for this restriction is apparent
54 Linear Partial Differential Equations Chap. 2
when we look at the form of the general solution (4.9) of equation (4.1 ). On a
characteristic curve, say, ij;(x, y) = c 1 , the solution (4.9) assumes the form
ll =
(4.12)
where k is a constant, the problem has no solution. On the other hand, if has
the form (4.12), then there exists infinitely many solutions given by (4. 9), where
f is any differentiable function such that f(c 1 ) = k.
where k is a constant. lf has the indicated form, give a solution of the problem.
Solution: The general solution of the differential equation is
u(x, y) = (x - 1) + e-xf(3x + 2y)
Exercises 2.4
In Problems 7 through 13, find the general solution of the given equation.
2
7. Xllx + Jllr = l. 8. Xllx - )'lly - xu = 2e" + x y.
~ = a 1x + h1Y + CI;:
I/ = a1 x + h2Y + C2Z
where the deterlllinant of the coefficients a;. h;. c;. i = l, 2, 3 is not zero.
(a) Show that the coefficients a;. h;. c;. l :S i :S 3, can be chosen such that the
equation is reduced to the form
11~ + Du = 0
(b) Hence. obtain the general solution in the form
15. Apply the result of Problem 14 to find the general solution of the following
equations:
(i) u, + '211.r 3u: + II = 0.
(ii) '2u, - 11,. + '211= + 311 = x + y + ::.
111 Problems 16 through 22. find the solution of the differential equation satisfying the
rrcsnibed condition.
16. llx + u,. 1. /1 = e" ''hen y = 0.
17. 11, , 11,. u = 0. 11 = I + cos x. when .1 = 2x.
18. 2u, - 511,. + 411 = x 2
, 11 = sin y + e-" + ~-\\hen x = 0.
19. 11" + (cos x)11r = sin x. 11 = y - 1 + cosy. when x = 0.
20. xu, .r11r + 11 = x. 11 = x when y = x. 2
24. Obtain the general solution of the equation y11, + x11,, - y11 = xex in the form
u(x, y) = e'y + e'f( y 2 - x 2 ). l f /1 is prescribed as q; on the upper portion of the
hyperbola y 2 - x 2 = 1 ( y ::::: I). shm\ that no solution exists unless qi is of
special form. Find this form and show that in such a case there are infinitely
many solutions.
(5.1)
(5.2)
where a, h, c. d. e. and /"are constants such that a, b, and care not zero simul-
taneously. It is col1\enient to \Hite equation (5.2) in the form
(5.3) Lu= 0
where L denotes the second-order differential operator
(5.4)
(5.5)
(5.6) Lu L(u 1 + 11 2 )
Lu 1 + L11i
L 2 (L 1 u 1 ) + L 1(L 2 ui) = 0
a I y)
and
u 2 (x, y) = e cixa'j~(bix - a 2 y)
Hence, if a = a 1a 2 i= 0, the general solution of equation (5.3) is
(5.7) u(x, y) = e-c,xfa'f1(b 1 x - a 1 y) + e-cix" 1{ 2 (b 2 x - a 2 y)
\\here the functions / 1 and/~ are arbitrary and twice differentiable.
If either a 1 = 0 or a 2 = 0, the corresponding term in (5.7) must be replaced
by e-c,x b, f1(X) Or e-c2x'hf~(X).
The general solution of the nonhomogeneous equation Lu = G is obtained
bv adding to the solution (5.7) any particular solution of the nonhornogeneous
equation.
11 2 ix, y) = g(x + y)
Substituting this in the equation and collecting similar terms. \\e ha\e
Hence.
-(SA + Bi 2
A - 58 = 0
which gi\eS A = --/rand B = - -1\- _ Therefore. the general solution of the given
equation is
Next \Ve consider the case when L 1 = L 1 ; that is, when L has repeated
factors. We wish to determine the general solution of the equation
(5.8)
If we set L 1u t\ then in order that u be a solution of equation (5.8). i must
satisfy the equation
(5.9) 0
where ir((, 11) u(x, y). The general solution of this equation is
v~ = (17 - )
with a particular solution
3
(iii) v = - - - + 211
---
3 2
Introducing the same new variables in (ii) and using (iii), we obtain
3 211
w~ = +
3 2
whose particular solution is
4
w= + 311
--
12 6
w(x, y) = -
x4
- - +- y)
+ x3(x
12 6
Combining this with the function 11, we obtain the general solution of the given
equation.
Exercises 2.5
3. llxx + llyy = 0.
60 Linear Partial Dijj'erential Equations Chap. 2
6.
I c2 11
-- -
I (;2 '
( r - II) 0. (Let r
c 2
ct 2 ,.2(;r2
4
C II
7. = 0.
i:y4
04 U 04 11
8. 2 + = 0.
cx 4 2
ox oy 2
cy 4
9. Consider the homogeneous operator with constant coefficients
02 02 02
L=A-- 2 +2B- +C 2
ox ax oy cy
(a) Shov. that this operator is ah\ ays factorable with real coefficients if and only if
B 2 - AC 2: 0.
(b) Show that if f is an arbitrary twice-differentiable function, then 11 = f(mx + y)
is a solution of the equation L11 = 0 if and only if m satisfies the equation
Am 2 + 2Bm + C = 0.
(c) If 8 2 - AC = 0. verify that a second solution of L11 = 0 is given by
11 = xf(mx + y).
In Problems I 0 through 13, find a particular solution of each of the given non-
hornogeneous equations.
10. Uu 411)'}' = x + y.
11. Uu 61/X}' + 91/}" = A \'l
(6.1)
where all the coefficients, A, ... , Fare constants, with A, B, C not all zero. In
an attempt to simplify the form of the second-order terms of this equation, we
introduce new variables ~ and 11 by means of the linear transformation
The coefficients c;, {3, y, and <5 are constants, which will be determined subject
to the condition ab - /31 f= 0. This last condition, which is the Jacobian
C:((, ry)/i}(x, y) enables us to solve for x and y in terms of ( and 17. Writing
u(x, y) = w(~, 17), we have by the chain rule
ux O'\\'~ + ya,,
uY (fil'.:, + bw,1
Cz'. li'~~
2
Uxx + 2~qn1~,1 + t12 H,,,1
llxy + (c;b + {Jy)ir,,1 +
c;{Jir.:,.:, y15wry,1
2
urr (l2w.:,:, + 2f3<5ll'.:,ry + i5 w,,ry
(6.3)
\\here
a + 2Bc;f3 + Cf3 2
Ac; 2
(6.4) h Ar; + B(c;J + {J}) + C(N1
c = Ay2 + 2B115 + C3 2
The dots in (6.3) represent terms involving wand its first derivatives 11, and iv~.
It is easy to verify that
The determination of the functions ( and YJ, ~owever, involves solving first-
order differential equations, which we shall not pursii'e in this book.
It should be noticed that if equation (6.1) involves variable coefficients, it can
very well happen that the equation is of one type in one part of the domain and
of a different type in another part. For example, consider the equation
Exercises 2.6
Un + 2xuu + )'llyy - 11 = 0
is (i) hyperbolic, (ii) elliptic, (iii) parabolic.
We now consider the problem of choosing the constants ix, {3, }', and c5 in (6.2)
so that equation (6.3) will reduce to one of the canonical forms (6.6).
(i) H1perbolic Trpe, B 2 - AC > 0. In this case we shall show that (6.2)
can be chosen such that the coefficients a and c in (6.3) vanish, while b i= 0. We
therefore consider the equations
(7.1)
a = Aa 2
+ 2Baf3 + C/3 2 = 0
c Ay 2 + 2Byb + Cc5 2 = 0
64 Linear Partial Differential Equations Chap. 2
( = x, 1/ = y
with 'l. = b = l and f3 = ( = 0.
Suppose that A -:/- 0. If fJ = 0 or b = 0, then from (7.1) we would have
r.x = 0 or -/ = 0. In either case, the condition r.xb - fJy -:/- 0 is violated. There-
fore, fJ and 6 cannot be zero and hence equations (7.1) can be written as
+C=O
(7.2)
Thus, in order that the coefficients a and c will vanish, we shall choose rJ., fJ, y,
and c5 such that ry_//J and 1/b are roots of the quadratic equation
(7.3) Am 2 + 2Bm + C = 0
1
Since B AC > 0. equation (7.3) has two distinct real roots
and 6 = A. Then 'Y.6 - /Jy = 2(B 2 - AC) 112 > 0 and the coefficients a and c
in equation (6.3) drop out. From (6.4), we see that
[ -B + (B 2 - AC) 112 ]x + Ay
(7.4)
1/ [ -B - (B 2 - AC) 112 ].\'. + Ay
(7.5) ~' = ~ + 11
2 2
Sec. 7 The Canonical Forms 65
(7.6)
This is the alternative canonical form for equation (6.1) of the hyperbolic type.
This alternative form can. of course. be achie\ed directly from equation (6.1)
by means of the transformations
~I -Bx + Ay
(7.7)
17' (B 2 - AC) 112 x
and di\iding out the result by the coefficient -A(B 2 - AC). which is different
from zero.
Uu + 611.n - J611J"J" = 0
is hyperbolic and find its canonical form and its general solution.
-10011~,, = 0 or
II = /() + g(I/)
u(x, y) = /(2x + y) + g( - 8x + y)
This agrees with the result obtained when the method of Section 5 is used. In
fact, v,e notice that the differential operator corresponding to the given differential
equation has the factorization
(D~ + 6DxD,. - 16D~) = (D, - 2D,.)(Dx + SD,)
or
(7.9) A dy 2 - 2B dx dy + C dx 2 = 0
This equation is called the characteristic equation of (6.1 ). Thus, when equation
(6. l) is of the hyperbolic type, its characteristic equation (7.9) has two families of
characteristic lines. These characteristics play a fundamental role in the con-
sideration of initial value or boundary value problems for partial differential
equations of the hyperbolic type.
(ii) Parabolic Type, B 2 - AC = 0. In this case, it is clear that the coefficients
A and C cannot be both zero. Suppose that A i= O; the case C = 0 can be
treated in similar manner. Then the quadratic equation (7.3) has only one
distinct root, m = - Bf A. If we choose y = B, <5 = - A, and let 'Y. and f3 be
any numbers such that rJ.b - [Jy i= 0-say, 'Y. = 1 and f3 = 0-then from (6.4)
it follows that a = A, b = 0, and c = 0. Here we have used the fact that
B 2 - AC = 0. Thus, in the parabolic case, the transformation
(7.10) ~ = x, 11 =Bx - Ay
reduces equation (6.1) to the form
A --
a1 w + = 0
a~2
which results in the canonical form (6.6ii) when divided out by the coefficient
A i= 0.
[n terms of the characteristic equation (7.9), we conclude that in the parabolic
case, there is only one family of characteristics given by Bx - Ay = constant.
Sec. 7 The Canonical Forms 67
lly = -11,,
,,
II" = 0
The general solution of this equation is
iJ 2 H 1
(7.12) 2b - - + ... = 0
8 OYf
However, from (7.11) we see that~ and 1J are now complex variables such that
~ = 11. In order that we may have a canonical form in real \'ariables, we further
make the change of variables
(7.13) ~' = ~ + Y/
2
68 Linear Partial Differential Equations Chap. 2
(7.14)
.;: = -Bx + Ay
(7.15)
1( = (AC - B 2 ) 112 x
Writing ~ and 11 again in place of ~' and 1( the transformations (7.15) corre-
spond to the choice CJ. = -B. f3 = A,/' = (AC - B 2 ) 112 , and <5 = 0 in (6.2).
With this choice, it is easily verified from (6.4) that a = c = A(CA - B 2 ) and
b = 0. Therefore. under the change of variables
c; -Bx + Ay
(7.16)
I/
equation (61) can be reduced to the desired canonical form (6.6iii) in the
elliptic case.
We notice that since B 2 - AC < 0. equation (7.9) has no real integral
cunes. This means that an equation (6.1) of the elliptic type has no real
characteristic.
= x + y, I/= 2x
\\eseethat
u, //, + 2u, 1
11,. //,
Substituting these in the differential equation, \\e have the desired canonical form
Sec. 7 The Canonical Forms 69
II= JW + g((}
Exercises 2. 7
Reduce the follm1 ing parabolic partial differential equations to canonical forms.
6. 4uxx - + l/J'J llx. = 0.
4u".v
7. llxx - 61/X)' + 911)')' + II; = xy.
8. 9uu + 6u,.,. + ii~._\' II 0.
9. llxx + 2u,,. + lln: - 411 0.
Reduce the follov,ing elliptic partial differential equations to the canonical form
(7.14).
10. Uu + + II = 0.
411n
In Problems 16 through 19, find the general solution of the differential equation by
first reducing the equation to its canonical form.
16. 3uu Uxy - 2uH = 0.
17. 5u'-' + 2uxy + 2uJ'Y = 0.
18. Uxx + 4uxy + 411}'}' 0.
19. ll:cr: 4u,Y + 511)')' 0.
20. Consider the equation of the hyperbolic type
\\here a, b. and c are constants. Shm\ that by introducing the new variable 1.
defined by r(x. y) = ex-. P)u(x, y), the equation can be put in the form
where a. b. and c are constants. Show that by introducing the new variable 1,
defined by r(x, t) = e'x'P 111(x, t), the equation can be put in the canonical form
1' 1 - ktxx = 0.
Chapter 3
Jn this chapter v.e shall study certain types of problems that are generally
associated with linear hyperbolic partial differential equations. We shall
consider these problems in connection with the equation
-2 ,z
c u - c2 o u = F( x t)
ot 2 ox 2 ,
where x and t are the two independent variables and c is a constant. This
equation, called the wave equation. serves as the prototype for a class of hyper-
bolic differential equations involving two independent variables. It arises in the
<otudy of many important physical problems involving wave propagation
phenomena, such as the transverse vibrations of an elastic string, and the
longitudinal vibrations or the torsional oscillations of a rod. The wave equation
i' certainly one of the most important classical equations of mathematical
physics.
71
72 The JVave Equation Chap. 3
(vertical motion) takes place in the xu-plane. The problem, then, is to determine
u(x, t) for 0 < x < L and I > 0.
We flrst show that under certain simplifying assumptions the displacement 11
satisfies the \\a\e equation. \Ve shall assume that the tensile force in the string is
very large so that the weight of the string can be ignored. Further, we shall
assume that the string is perfectly elastic and offers no resistance to bending;
this implies that the tensile force at any point of the string acts in a direction
tangential lo the profile of the string. Finally, \Ve shall assume that the string
has only small trans\erse \ibrations so that the slope 11" at any point of the
displaced string is small; in particular, we shall take u;
to be negligible compared
with unity.
Now Jet us consider an arbitrary segment AB of the string with length ~s
(see Fig. 3.1 ). Let x and x + ~x be the coordinates of the points A and B. and
let T 1 and 7~ be the tensile forces acting at these points, respectively. These
forces are tangential to the shape of the string at the points A and B, as we have
assumed abo\e. Since we ha\e only vertical motion, the algebraic sum of the
horizontal components of the tensile force must be equal to zero. Thus, we ha\e
where et. 1 and et. 2 are the acute angles between the tangents at A and B and the
x-axis. By the assumption on 11;.
we have
cos Cl.1
tan 2 172 I
2 1/2 I =
I
(I + et.i) (I + uJ . "
cos Cl.2
lan2 I 2 1;2 I
(I + et.2) i ;2 (I + ux) x+.6.x
B
I
I
I
I
I
I
I
: ll(X + 6.c. I)
I
I
---=o:-1'----------~x-----_,~.-+_,6-_,-.-------~L'-----'
and therefore
T 1 = T2 = T = const
That is, the tension in the string is constant.
The \ertical forces acting on the segment AB consist of T sin 'Y. 2 , \\hi ch is
directed upward. and T sin 'Y. 1 directed do\\ 11\\ard. Hence. the resultant
force is
R = Tsin 'Y. 2 - Tsin 'Y. 1
Since the \ibrations of the string are assumed to be small. \\e ma} replace
sin 'Y.; by tan 'Y.,. i = 1. 2, so that \\e ha\e
~ t (,
11
(1.1) p(Lix) 1) = T f~u (x + Lix, t) - ~ 11 (x, 1)1
01- lex cx .J
\\here x < < x + Lix. Oi\iding both sides of equation (1.1) by Lix and
taking the limit as Lix tends to zero, we obtain
( 1.2) 0
o~z u ( ) '' (
, 0-11 f (x. I )
( 1.3) , x,t -c-~ x,t)= F(x. I)
a1- ox 1 p
of the string. Mathematically. this means that we must specify 11(x. t) and
cu/ct(x. t) at the initial time, say. I = 0: that is.
(1.4) 11(x. 0) = f(x), u,(x, 0) = g(x)
where/ and g are some given functions defined for 0::;, x :S L. Further. since
the ends of the string are fixed at x = 0 and x = L, the displacement function
at these points must ah\ ays be equal to zero: hence,
(1.5) 11(0. t) = 0, u( L. t) = 0 (I ~ 0)
It should be noted that physical considerations dictate that f(O) = g(O) and
f(L) = g(L) = 0.
\\'e call the conditions ( 1.4) the initial conditions, and the conditions ( 1.5),
the boundary conditions. In particular, the functions/and gin (1.4) are called
the initial data.
Therefore, to obtain the displacement of a vibrating string with fixed ends. we
must find a solution of the wave equation (1.2). or (1.3) if there is a forcing term
F. that satisfies the initial conditions ( 1.4) and the boundary conditions (I .5).
This type of problem is called an initial-boundary \'alue problem.
Of course, if the ends of the string are not fixed but are allowed to move
subject to some constraints. other boundary conditions arise. For example, if
the ends of the string are allowed to mo\'e vertically without a restraining force,
then the displacement function must always satisfy the conditions
which are called free boundary conditions. On the other hand, if the ends are
attached to a spring, the boundary conditions assume the forms
Exercises 3.1
Set 11 = 11 + 1 and shO\\ that u satisfies the \\ave equation Lii' = 0 together
\\ ith the initial conditions
Deterllline the differential equation and the initial and boundary conditions
satisfied by w. where w = 11 - u.
3. Suppose that the initial value problelll
2
Lu= llrr llxx + C 11 = 0 (x' < CXl)
11(x. 0) 0 (jxl < CXl)
11,(x, 0) = 0 (jxj < CXl)
is known to have only the trivial solution " = 0. Prove that the problem
'
76 The IVaYe Equation Chap. 3
\\here h and fare twice continuously differentiable for x > 0. Show that 11
satisfies
(x > 0. t > 0)
u(x, 0) = f(x). 11 1 (x, 0) = 0 (x > 0)
11(0, I)= h(t) (t > OJ
1I. Let
iJ2u
(2.1) - -
c2 0 (- 00 < x < CIJ, t > 0)
21 2 <;x2
Sec. 2 The Initial Value Problem 77
(2.3) ~ = x + cl. I/ = X - cl
and set u(x. r) 1r(, 17). Then equation (2.1) reduces to the canonical form
,J
c-11
(2.4) = 0
U, c17
which has the general solution
where Fand Gare arbitrary functions of one variable and are twice differentiable.
Now we determine the functions F and G so that (2.5) may satisfy (2.2).
Setting t = 0 in (2.5) and using the \'alue of u(x, 0) from (2.2). we have
Here the primes indicate differentiation with respect to the argument of the
frnction. If we set t = 0 and use the value of u,(x, 0) from (2.2), we find
(2.7) g(x) = cF'(x) - cG'(x)
1
F(x) = l f(x) + (' g(s) ds + C
2 2c Jo 2
G(x)
= -1 f(x) -
2
1-
2c
J"o g(s) ds c
2
78 The Wave Equation Chap. 3
(2.8) u(x, t) =
/(x - ct) + f(x
+- ct)
- +
l J,x+cr g(s) ds
2 2c x-cr
This is known as d'Alemberfs formula for the solution of the initial value
problem (2. I), (2.2).
It can be easily verined by direct differentiation (Exercises I .4, Problem 9)
that when f has a continuous second-order derivative and g has a continuous
first-order derivative, the function (2.8) is twice continuously differentiable and
satisfies (2.1) and (2.2). As a matter of fact, our derivation of d' Alem berfs
formula shows that any solution of (2.1 ), (2.2) that is twice continuously
differentiable must have the representation (2.8); hence, the solution is uniquely
determined by the initial data/andg. Thus, d'Alembert's formula represents the
unique solution of (2.1 ), (2.2). Formula (2.8) also shows that if small perturba-
tions are made in the initial data in an arbitrary fixed time interval 0 :S t :S
T < oo, then the resulting perturbation in the solution is also small; that is, 11
depends continuously on the initial data f and g. More precisely, suppose 11 1
is the solution of the problem (2.1 ), (2.2) corresponding to initial data / 1 , g 1 ,
and 11 2 is the solution corresponding to initial data f~, g 2 Then, for a given
c > 0, we can find a number b > 0 such that
whenever
l
+ - l/1 (x + ct) - f,(x + ct)!
2 -
] J,x+cr
+ c x-cr IB1(s) - 92(s)I ds
2
1 l
:S - (b + b) + 2ctb < (1 + T)b
2 2c
which can be made less than c if we take b = s/(l + T).
A problem that has a unique solution which depends continuously on the
initial data or boundary conditions is said to be well posed or correctly set. Th us,
the initial value problem (2.1 ), (2.2) is well posed. It is clear that well-posed
problems are meaningful in applications, since the initial or boundary data are
Sec. 2 The Initial Value Problem 79
cu,.(x, 0) ( )
- = g,, x
cI
where the sequence of functions(,, have continuous second-order derivative and
the sequence of functions g 11 have continuous first-order derivative such that
uniformly for - oo < x < oo. This concept will be further illuminated in
Section 9 of the present chapter.
Example 2.1. Find the solution of the wave equation (2.1) satisfying the initial
conditions u(x, 0) = sin x, 11,(x, 0) = 0, - x;; < x < x.
So/111io11: By the d'Alembert's formula (2.8) we have
It is easily seen that this function indeed satisfies the wave equation and the
given initial conditions.
Example 2.2. Find the solution of the problem (2.1 ), (2.2) when
u(x. t) =
l
~
lx+cr sm. 2s ds
-C x-ct
u,(x, 0) = g(x)
where
g(x)
Isin rcx (0 $ x $ l)
10 (otherwise)
u(x, t) =
I
)
lx+1 q(z) dz
,
- x-t
and this satisfies the differential equation at all points except at those for \vhich
x - t or x + r equals 0 or 1, where the second derivatives of 11 fail to exist. At
(-}. tl we have
1- q(z) dz = I Ji sin nz dz =
2 J--} ..,
- 0 7[
1
2
JJJ .
g(z) dz = I
2
J J
1
sin nz dz = 3
4n
' '
Exercises 3.2
Find the initial displacement and velocity. By substituting your initial conditions
in the d'Alembert's formula, verify that u(x, f) = sin(x - ct).
2. Do as in Problem I when the displacement is given by the backward wave
11(x, t) = (x + cf) 2
In Problems 5 to 8, find the solution of the initial value problem (2.1 ), (2.2) with the
giYcn initial conditions. Take c = 1.
5. f(x) = I /(I + x 2 ), g(x) = ex; ]x] < oo.
6. f(x) = e-x, g(x) = 1/(1 + x 2 ); !x' < oo.
7. f(x) = cos(n/2)x, g(x) = sinh ax; ]x] < oc.
8. f(x) = sin 3x, g(x) = sin 2x - sin x; ]x] < oo.
82 The Wave Eq11atio11 Chap. 3
Jn Problems 9 to 12 find the generalized solution of the initial value problem (2.1),
(2.2), (c = 1) \\ ith the given initial conditions, and evaluate the solution at the given
points.
9. At(~. Ji) and({. 1) with
11 ( x' -o; 1)
f(x) = l0 , (Xi > 1)
q(x) = 0 Cx! < cc)
10. At (-n/12, 7nil2) and (-n/2. 5;r/6) with
g(x)
f cos x ( x! -<:; n/2)
10 (xi > n/2)
13. Let 11(x. t) be thrice continuously differentiable solution of the initial value
problem
(,x, < x., t > 0)
Let us examine the solution (2.8) in more detail to get a clearer idea of the
behavior of the solution of the wave equation. Suppose that the string is
released with zero velocity after being given an initial displacement defined by
f(x). According to (2.8), the displacement of a point x at any time t is
(3.1)
f(x
u(x,t)='
ct) + f(x + ct)
2
Sec. 3 Interpretation of the So/11tio11 83
Consider the functionf(x - er). We observe that the graph off(x ct) is the
same as the graph of /(x) translated to the right by a distance equal to ct (Fig.
3.2). This means that as t increases,f(x - ct) represents a wa\ e of the formf(x)
traveling to the right with velocity c. We call the wave represented byf(x - ct)
a forward wave. Similarly, the functionf(x + ct) can be interpreted as repre-
senting a wave with shapef(x) traveling to the left with velocity c. This wave is
called a backward wave. With this interpretation. we see that the solution (3.1)
is a superposition of forward and backward waves traveling with the same
velocity c and having the shape of the initial profilef(x) with half the amplitude.
II
To illustrate this, suppose that the string has an initial displacement defined by
[Fig. 3.3(a)]
x +a ( - a ::;; x ::;; 0)
f(x) = -~ + a (0 ::;; x ::;; a)
(
(otherwise)
The forward and backward waves indicated by the dotted curve in Figure 3.3(a)
coincide at t = 0. At t = a/2c, both waves have moved in opposite direction
through a distance a/2, resulting in the shape of the string shown in Figure 3.3(b).
At t = a/c, the forward and backward waves are on the verge of separating
from each other. For t > a/c, the motion of the string consists of the forward
and backward waves traveling toward the ends of the string at the same velocity,
......
JI
II
tdJ r=3a~( I
\
I
I
I
I
I
\
I
I
fhl i a _(
la I I~ II a (J a
Figure 3.3(d) and (e). It is seen from the figure that each point of the string
returns to its original position of rest after the passage of each wave.
Jn the case when u(x, 0) = 0 and u,(x, 0) = g(x), the displacement is given by
(3.2) u(x, t) =
1
.
rx+cl g(s) ds
2L x-cr
Let us define
(3.3) <fl(x)
2
c f g(s) ds
g(x)
pc (lxl < l)
10 (lxl > I)
Then
and
l-1 (x + ct < - I)
fhe graphs of -qJ(X - ct) and q;(x + ct) together with the resulting shape of
the string for various values ol tare sho\\11 in Figure 3.4.
At t = 0, the forward wa\e -</J(x) and the backward \Va\e qJ(x) nullify each
other so that the string has zero displacement: that is, it is at rest. At t = -}c_
the forward and the backward \\a\es have mO\ed in opposite direction through a
di~tance} unit. The shape of the string at this instant is obtained hy adding
graphically the two wa\e forms. Alt = l/c. the point x = 0 allains its maxi-
mum displacement 11 = 2, and from this instant on, more and more points of the
string assume this maximum displacement and remain al rest in that position.
Thi.;; is evident from (3.2). since for a gi\en point x of the string.
j
2c dz = 2
2c f - I
lul I= ~ / 0 '"\ ~
/
',
- ___________ / /
/
' '------------
- 0( \" ]/: l
II
( 1..: I f:..::::
1
,/C // I 0 I',
/
',
- -- - - - - - - - __ /
/
' ' - - - - - - - - - ---
qi(.\ 11
(a I I= 0 /
',,
///0
',
------------;;~~----------' I '----------------------
Isl
We saw in the preceding section that the solution of the wave equation
consists of forward and backward waves. The forms of these waves can be
illustrated graphically for simple functions/ and gin the xu-plane. In order to
see how these wa\es are propagated, we shall now consider the xi-plane in which
each point can be taken to correspond to a definite position on the string at a
particular time.
Sec. 4 Domain of Dependence and Characteristic Lines 87
Let (x, t) be a point in the xi-plane. From formula (2.8) we see that the
solution at (x, t) depends only on the value off at the two points x - ct and
x + ct, and on the initial velocity g over the interval [x - ct, x + ct]. This
means that a change in the initial position and \e]ocity of the string at points
outside the interval [x - ct, x + ct] will have no effect on the displacement
at (x, t). Consequently, if/and g are known to vanish identically on an interval
a ::s; x ::s; b, then u(x, t) = 0 for all points (x, t) such that b < x - ct or
x + ct < a.
The interval [x - ct, x + ct] on which the value of u(x, t) depends is called
the domain of dependence of the point (x, t).
It is easy to see that the domain of dependence of a given point (, r) is
precisely the interval cut out of the x-axis by the two straight lines passing
through the point with slopes I/c (Fig. 3.5). These lines, with the equations
(4.1) X - Cf = ( - CT, x + ct = ( + er
are the characteristics (lines) of the wave equation (I .2). The triangle formed
by the characteristics and the interval of dependence of a given point (x, t)
will be called the characteristic triangle determined by (x, t).
( ~. r I
{ Cl = ~ - CT ,+c!=~+cr
---+----~-------------~----{
0 ((-cr.0) ((+n.OJ
Now let us see the significance of the characteristics. We note that d'Alem-
bert's formula, which gives the displacement of a point((, r), can be written in
the form
where
and
(4.4) 1 /(( + er) + 1 r~+cr g(z) dz
2 2c .lo
Thus, along the line x - ct = ( - er, cp(x - ct) has constant value, namely,
cf>(( - er). This means that points on the characteristic x - ct = ~ - er have
the same displacement caused by the forward wave cf>(x - ct). Likewise,
t/!(x + cl) is constant along the line x + ct = ( + cr so that points on this
line have the same displacement due to the backward wave 1f!(x + ct). It is in
this sense and for this reason that we say the disturbance on the string is
propagated with velocity c along the characteristics.
In Figure 3.6 we illustrate graphically the concept of propagation of waves
along the characteristics. We consider a string that is initially at rest, with
isolated initial disturbance at the points ~ - cr and ~ + cr. According to our
discussion in Section 3, the disturbances at these points will each split into two
identical waves, the forward wave and the backward wave, both having the
same form as the original disturbance but with half the amplitude. Each of the
forward waves will tra,el along the characteristic
x - ct = const
that passes through the point from which the wave originated. Thus, referring
to the figure, points on the characteristics
X - Ct = ( - CT, x - ct ~ + CT
I
Y+cr=~ -(r\
rl
Y- u=~+cr
experience the same displacement due to the fon\ard \\a\es originating from
the points - er and + cr, respectively. The same discussion can be made
for the back\rnrd \\a\es and the points on the characteristics
X + Cl = - CT. X + Cl = i Ct
2c I2 g(s) ds
X +(f = Y2 (I= Xi
2 a2u
(5.1) c --2 = F(x, t) (t > 0)
ox
By Green's theorem (Section 8, Chapter I), lhe right-hand side of (5.3) can be
written as an integral around the boundary C of the domain i\ so that we have
J (11, dx + c1 uxdt)
I
,,,~+( r
c-cr 11/x, 0) dx
r
L1
(11, dx + 2
C llx dt) c r
.., L1
(11, dt + u, dx)
c r
L1
du
(5.5)
c[u(( - CT, 0) - ll(s, T)]
lLi
(u, dx + c 2 u,. dt) -c L 2
(11 1 dt + llx dx)
-c J,, du
Therefore, on substituting this result in (5.4) and solving for 11, we find
15.6) u(x, t) =
f(x - ct)+ /(x
+ ct)
+ 1 Jx+ct g(c:). de:,.
2 2c x-ct
+ , rr F(. T) d dT
2c
~
in \\ hich we have interchanged the role of 1. T) and (x, t). This represents the
unique solution of our problem (5.1 ), (5.2).
In fact, we obsene that the sum of the first two terms on the right of (5.6) is
precisely d'Alembert's solution of the homogeneous wave equation with the
initial conditions (5.2). Further, by writing the integral
(5.7) t{x, t) =
2
1
c JJF(, T) d dT
~
(Exercises 3.3. Problem 10.) In' ie\1- of the linear nature of our problem. it
follo\\S from the principle of superposition that (5.6) satisfies (5.1) and (5.2).
Jn this connection we assume that f is twice continuously differentiable. g is
continuously differentiable. and F and F, are continuous for - x < x < L.
t ::0: 0.
4 .o I., [<x + I - T)
2
- (x -- I+ rJ 2 ] dr
1 ,., 4x(I - r) (h
4 . 0 2
It is easily seen that this function satislies the equation and the homogeneous
initial conditions.
u(x. 0) x. //,(\'. 0) = 0
Sol11tio11: The solution can be obtained by the use of(5.6). However. since flx. t) = t
is independent of x. 11e readily find a particular solution of the differential equa-
tion (by integrating 11" = t Jin the func1ion
1.3
u(x. I)=
6
(x-11+(x+1)
u(x, I ) =
2 6
.
'
. '' 6
The reader may check that
As illustrated by the preceding example. the problem (5.1), (5.2) can some-
times be reduced to one inrnlving a homogeneous differential equation if we can
Sec. 5 The .Vo11ho111o!Jeneo11s Wave Equation 93
x3
ll(X. I)= u(x, I)+
6
Then
o. 11(x, 0) H',(x, 0) 0
6
Hence. by (2.8).
(x - 1)3 + (x + t)3
1r(x. t)
12
x3 xt 2
+
6 2
and therefore
Exercises 3.3
lil Problem-, I through 6, find the solution of each of the initial value problems on
f .1 < Cf::. t > 0. by using (5.6).
2
1. 11 11 -- llu = 2Y. 11(.1', 0) = x . 11,(x. 0) = 0.
2. 11 11 - u0 = 2x - t, u(x, 0) = sin x, u,(x, 0) = x.
3. 11 11 - u,x = .YI. u(x. 0) = 0. 11 1 ( 1. 0) = e-'.
94 The Wave Equation Chap. 3
ln Problems 7 through 9 find the solution of each of the problems on - XJ < x < ctJ,
> 0 by finding a particular solution of the homogeneous differential equation and
reducing the problem to one involving a homogeneous equation.
7. l/ 11 - llxx = sin x. u(x, 0) = x, u,(x, 0) = 0.
8. 11 11 - llxx = x sin x - 2 cos x, 11(x, 0) = u,(x, 0) = 0. Hint: x sin x is a
particular solution.
2
9. 11 11 - llxx = x /(1 + t )2 + 2 In(! + t ), 11(x, 0) = 11,(x, 0) = 0. Hint: Take
i.:(x, t) = -x 2 In(! + t) as a particular solution.
10. Verify that formula (5.7) satisfies the nonhomogeneous wave equation (5.1) and
the homogeneous initial conditions (5.8).
1 l. (Duhamel's Principle) Let 11(x, t, r) be the solution of the initial value problem
i:(x, 0) = 0, r,(x, 0) = 0.
(b) Express u(x, t, r) by using d'Alembert"s formula and verify that 1(x, t)
agrees with (5.7).
12. Find the solution of the initial value problem
( X < X, t > 0)
Hint: Let u(x, t) = v(x, t)e"x+hr and choose the constants a and h in such a way
that the equation reduces to the wave equation.
6. Uniqueness of Solution
from the fact that the solution of the corresponding problem involving the
homogeneous \vave equation is uniquely represented by d'Alembert's formula.
It is important to note, however, that uniqueness can actually be established,
even without knowing that a solution of the problem exists. Jn this section we
shall present a method for proving uniqueness of the solution of an initial \alue
problem for the more general hyperbolic partial differential equation
(6.3) 11 11 -
2
c u'"' + h11 = F(x, t)
where c > 0 and h ~ 0 are constants. This equation is known as the damped
wave equation, which physically describes the motion of a vibrating string
under the action ofa restoring force -hu and an external force F. We shall show
that the initial value problem consisting of the differential equation (6.3) and
initial conditions (6.2) has at most one solution.
Suppose that u and u are two solutions of (6.3), (6.2), which are both twice
continuously differentiable. Set w = 11 - v; then, clearly, w is a solution of the
homogeneous problem
let(, r) be any point in the xt-plane, T > 0, and denote by~ the characteristic
triangle determined by(, r), Figure 3.8. We shall prove that w vanishes identic-
ally throughout the region ~. and in particular at the vertex ((, r). Since the
point((, r) is chosen arbitrarily, this will mean that u = i at all points; that is,
the two solutions u and v are identical.
(~ T)
Ii
+----'------------------"-----x
0 (~ CT.0) I=() (~+CT.())
W 1 \\'" =
I c ?
(w-)
2 Cf I
\\'x \V XI
1
') ~
a( \\' 2.)
x
- ct
Then
(6.5)
Let us draw the line t = t '. 0 :s; t' < T, intersecting the characteristics at the
points C and D (see Fig. 3.8). If we integrate equation (6.5) over the domain R
bounded by the line segments AB. BC. CD, and DA, and recall Green's theorem,
we obtain
(6.6)
= 0
where L denotes the boundary AB + BC + CD + DA of R. Now, on the line
segment AB, w(x, 0) = 0. ir,(x, 0) = 0, and hence also H\(X, 0) = 0. Thus,
the line integral along AB vanishes. On the characteristic segments BC and DA,
we have dx = - c dt and dx = c dr, respectively. Hence,
Lc+DA l~ (w; + c
2
\\':
2
+ lnv ) dx + c
2
ll'x\\' 1 dtJ
J BC l
l (w I2
2
+ c 2 w .<2 + lnv 2 ) dx - cw x w dxJ I
.
~ Le [(w, - c11\)
2
+ hw 2] dx + ~ fvA 2 2
[(w, + cwJ + /Jw ] dt
Sec. 6 Uniqueness of Solutio11 97
which is also nonnegative. Now, according to (6.6). the sum of these integrals
is zero. Since the sum of nonnegative terms can never be zero unless each of the
terms is zero, we conclude in particular that
(6.7)
Since \\'and its first- and second-order partial derivatives are continuous, the
integrand in (6.7) is continuous. It follows that
(6.8)
identically on CD. Indeed, if (6.8) were positive at a point on CD, it would be
positive in some intenal containing that point, and thus the integral over the
intenal would be positive. contradicting (6.7). Now equation (6.8) is true if and
only if 11 vanishes identically on CD, since each of the terms in (6.8) is non-
negative. Therefore, 11(x, t ') = 0 for s-
c( r - r ') ::o; x ::o; + c( r - r ').
O ::o; t' < r. Thecontinuityof11 impliesthat11(, r) = Oalso. Hence,u((, r) =
11 . r), and consequently 11 and i are identical. Th us, we have established the
following uniqueness theorem.
THEORE.\I 6.1. The solution u(x, t) of the initial rnlue problem (6.3), (6.2) is
uniquely determined by the rnlues off and g on the interrnl [x - ct, x + ct] and
hr the rnlues of Fin the characteristic triangle determined by (x, t ).
The integral
.'.+c(r-1)
, , ,
(6.9) E(t) =
J
2 J
~-c(r-r)
(u; + cu, + hu-) dx
from (6.7) is often called the energy integral of the function u at time t over the
interval[ - c(r - t), ( + c(r - t)] for the damped wa\e equation (6.3). It
can be interpreted physically as representing the total kinetic and potential
energy of the portion [ ( - c( r - t ), ( + c( r - t )] of the string and the work
done by the restoring force on that portion. If h = 0, then (6.9) represents the
energy integral of u for the wave equation.
As a consequence of the uniqueness of the solution of the problem (6. I), we
can deduce the solution of the initial-boundary value problem
Ult - C2ll xx 0 (x > 0, t > 0)
u(x, 0) f(x) (x 2 0)
(6.10)
u,(x, 0) g(x) (x 2 0)
u(O, I) 0 (t 2 0)
"i!t,,
98 The Wave Equation Chap. 3
where the initial data and l/J are the odd extensions off and g, respectively:
that is, cp(x) = f(x), l/J(x) = g(x) for x ;:::: 0, and (x) = -f(-x), l/J(x) =
- g( - x) for x < 0. Clearly, the solution u of the problem ( 6. I I) satisfies the
differential equation and the initial conditions of (6.10). It remains only to show
that 11 also satisfies the boundary condition 11(0, t) = 0. To this end, let v be
defined by r(x, t) = -u(-x, t). By direct differentiation, using the chain rule,
it is easily seen that i satisfies the wave equation. Moreover, from the definition
of and l/J it is seen that
Hence, i is also a solution of the problem (6.11). Since the solution of (6.11) is
unique, we conclude that r(x, t) = u(x, t): that is,
-11(-x, t) = 11(x, t)
11(-x, t) = u(x, t)
-11xC-x, t) u/x, t)
Sec. 6 Uniqueness of So/11tio11 99
from which we deduce u_,JO, t) = 0 for t ::=:: 0. This result provides a method
for solving the initial-boundary value problem
(x > 0, t > 0)
(6.12) u(x, 0) = f(x), u,(x, 0) = g(x) (x ::=:: 0)
u)O, t) = 0 (t :::::: 0)
Solution: We extend the function f(x) = sin 2 x as an odd function for x < 0. By
d'Alembert"s formula (2.8), we have
u(x, t)
/(x - t) + /(x + t)
2
sin 2 (x - t J + sin 2 (x + r)
2
- sin 2 (f - x) + sin 2 (x + t)
u(x, t)
2
1 . .
sm 2x sm 2t
2
2
2
= ~ ( - : + ~) 4
100 The WaYe Equation Chap. 3
Example 6.2. Sahe the problem in Example 6.1 when the boundary condition is
replaced b) the free boundary condition 11)0, t) = 0, and evaluate u(n/6, n/6).
Solution: Here \\e need to extend the initial data as even functions. Since /(x) =
sin 2 x is alread; an even function. \le immediately have for the solution of the
pro bl em
sin 2 (x - t) + sin 2 (x + t l
ll(X. I)
2
(x ?. 0, t ?. 0)
Exercises 3.4
111iich is twice continuously differentiable. and vanishes together with its first
derivatives as x' -> x for 0 <::;, 1 <::;, r 1 . By differentiating under the integral sign
and then integrating by parts, show that the "energy integral"
"hich is sufficiently smooth and vanishes together with its first derivatives as
-> ex;. Show. as in Problem I. that the energy integral
is constant for 0 s 1 s 11 .
4. From the result of Problem 3 deduce that the initial value problem (6.3). (6.2)
has at most one solution. assuming the same condition as in Problem 2.
5. Obtain the explicit solution of the problem (6.10) and verify that it satisfies the
differential equation and the initial and boundary conditions.
6. Prove the statement in the text that if f and g are two even functions, then the
solution 11 of the initial value problem (2.1 ), (2.2) is also even.
Sec. 7 lnitia/-Bo1111dary Value Problems IOI
ll11
-
('2 {IX.\ = 0 (x > 0, I > 0)
11(1. 0) - j(I). 11 1 (x, 0) g(x) ( .\ 2:: 0)
11,(0. I) = 0 (/ 2 0)
and evaluate the solution at the po111ts !}. 1) and(~.~). (U-,c the solution formula
of Problem 5.)
9. Sohe the initial-boundary 1alue problem
flu
-
11.Y.\" - 0 {x > 0. r ' 0)
11 ith the foll011 ing conditions:
{al u(x, 0) = cos(rrx!2J. 11 1 lx. OJ= .\ 2 .\ 2 O; 11_0. 1) = 0, I 2 O;
(b) 11(.1. OJ= e-1-'1. 11Jx. OJ= cos x, x 2 0; 11)0, I)= 0, I 2 0.
11. Show that if the function flx. I) is odd (or even l in x. then the same is true of the
solution 11 of the initial value problem
We have seen in the preceding section that the solution of an initial value
problem for the wave equation with odd (or even) initial data, when restricted to
x ~ 0, t ~ 0, provides a solution of the initial-boundary value problem on the
102 The JVave Equation Chap. 3
Thus, the solution of the initial value problem with initial data that are odd
about x = 0 and x = L, and which coincides with (7.2) on [O, L], gives a
solution of the initial-boundary value problem (7.1 ), (7.2), (7.3). Therefore, to
find a solution of the problem (7. I), (7.2), (7.3), we extend the initial data/ and g
given for 0 s x s L as odd functions about x = 0 and x = L, and then
substitute the extended functions in d' Alembert's formula (2.8). The restriction
of this d'Alembert's solution to the region 0 s x s L, r ;?: 0 is a solution of
our problem. In this connection, the solution obtained will be twice continuously
differentiable if we require that the following compatibility conditions
j(O) = f(L) = 0, j"(O) = f"(L) = 0, g(O) = g(L) = 0
hold, in addition to the assumption that I and g have continuous second-order
and first-order derivatives on 0 s x s L, respectively. That such a solution is
uniquely determined will be proved at the end of this section.
Solution: Since sin n( -x) = - sin nx and sin IT(2 - x) = -sin nx, the function
f(.1) = sin ITX is already odd about x = 0 and x = IT, and hence we immediately
have
Example 7.2. So]\e the problem in Example 7.1 when the initial displacement is
Solution: For points (x, t) such that 0 ::::; x - t < x + t ::::; 1, the solution is given
by
(x - t)(x - t - I) + (x + t)(x + t - I)
11(x, t)
2
= x2 - x + ,2
For points (x, t) such that x < tor 1 < x + t, the solution is given by
f(x - t) + f(x + t)
u(x, t) =
2
Solution: We extend the initial data here as odd functions about x = 0 and x = I.
Now, at (1/2, 5/4), we have
Further.
"
J
7 4
. .
- 3 4
q(.\) dx = f
J_
314
3;4
g(x) dx + f 5
3/4
14
g(x) dx + J
7 4
i
5/4
g(x) dx
-;4
= 0 + 0 +
J ."
5/4
.q(x) dx
J
7;4 f3;4
g(x) dx = - s(s - 1) ds
5/4 I /4
s"! s 2 ! 314 11
+ i
3 2 I /4 96
Thus.
-9 - 3 1 11
2(64)
+ 2 96
-7
192
In the same way, we can show that the problem (7.1 ), (7.2) with free boLrndary
conditions
at both ends can also be solved by using d'Alembert's formula (2.8), provided
the initial data/ and g are extended as e\en functions about x = 0 and x = L;
that is,f( - x) = f(x), g( -x) = g(x),f(2L - x) = /(x), and g(2L - x) = g(x).
Then d'Alembert's solution 11 is itself an even function about x = 0 and x = L,
and hence satisfies the relations
11(-x, t) = u(x, 1), u(2L - x, 1) u(x. I)
(7.5) F(x, t)
Sec. 7 luitial-Boundary Value Problems 105
with fixed or free boundary conditions at either end point. In such a case. we
extend the function F together with the initial data as odd or even function
about an end point, according as the boundary condition prescribed at that
point is fixed or free. Then the same will be true of the solution given by ( 5.6)
and hence will satisfy the prescribed boundary conditions.
. 7r
11 11 - lln =
.. Slll
2 X (0 < x < L I > OJ
11(x, OJ = 0, 11,(x, 0) = 0 (0 5 x 5 1)
u(O, I) = 0, (t 2: OJ
So/111io11: Here we observe that the function F<x, I) = sin(n/2)x is already odd about
' = 0 and is even about x = I. Hence, by ( 5. 7), our solution is
71
Llcos;(x - I+ r) - cos;(x + 1- r)J dr
:
2
l sin ; (x - I + r) + sin ; (x + I - r) J'
0
7!2
4
sin
71
2
x ( 1 - cos '.1
-
71
I)
for 0 5 x s I, t 2: 0.
where we assume that the functions F.f, g, h, and k are sufficiently differentiable
and compatible at the end points. An explicit solution of this problem when
hand k are not both zero will be given in the next section.
Suppose u 1 and u 2 are two solutions of the problem (7.6) which are both
106 The Wave Equation Chap. 3
for the function w on the interval [O, L]. Differentiating this with respect to t
and integrating the second term by parts, we have
(7.9) E'(t) = f0
L (w 1w11 + c 2 wxwx 1) dx
Since w is a solution of the problem (7. 7), we see that the integrand in the last
integral above vanishes, w,(O, t) = 0, and w,(L, t) = 0, so that (7.9) reduces
to E'(t) = 0 for t 2 0. This means that the energy integral (7.8) is a constant
fort 2 0. But at t = 0, we see from (7.7) that w_,,(x, 0) = 0 and w,(x, 0) = 0,
which imply that (0) = 0. Hence, the integral (7.8) is identically zero, and
since its integrand is nonnegative, it follows that
Exercises 3.5
1. Show that if f is odd (or even) about the points x = 0 and x = L, then f is
periodic with period 2L; that is,f(x + 2L) = f(x).
2. Show that if f is odd (or even) about x = 0 and even (or odd) about x = L, then
f is periodic with period 4L.
3. Show that if f is periodic with period 2L, then
a+ZL JL
i a f(x) dx = -L f(x) dx
(This means that the integral off is the same over any interval of length 2L.)
Sec. 7 J11itial-Bo1111dary Value Problems 107
4. Let f and g be two odd functions about x = 0 and x = L. Verify that the
solution of (2.1 ), (2.2) is also odd about .1 = 0 and x ~ L; thus, deduce that
11(0, 1) = 11(L, tJ = 0
5. Let /and g be t\\O e\en functions about x = 0 and x = L. Pro\e that the
solution of (2.1 ), (2.2) is even about the same points and deduce 11x(O, t) =
llx(L, I)= 0.
6. Let f and g be two functions that arc odd about x = 0 and even about x = L.
Prove that the solution of (2.1 ), (2.2) is odd about x = 0 and even about x = L,
and deduce that 11(0, I) = 0, 11_L. t) = 0.
In Problems 7 through 12, find the solution of (7.1) with the given initial and
boundary conditions. Take c = I and L = I.
7. 11(x, 0) ~ sin nx, 11,(x, OJ = x(l - x 2 ); 11(0, 1) = u(l, t) = 0. Evaluate
u(5/8, 9/8J.
8. u(x, 0) = x(I - x), 11 1(.Y, OJ= x 2 (1 - x); 11(0, I) = 11(1, I)= 0. Evaluate
11(3/4, 2).
9. 11(x, 0) = x 2(1 - x 2 ), 11,(x, OJ = cos nx/2; ux(O, t) = 0, 11(1, t) = 0.
10. 11(x, 0) = sin 2 nx, 11,(x, 0) = O; 11)0, I) = 11x(I, t) = 0.
11.
u(x, 0) = .I
x (0 s x s 1/4)
\( - x + I )/3 (1/4 s x s 1)
11,(x, 0) = 0 (0 s x s I)
11(0, I) = 11(1, t) = 0
12.
11(x, 0) = 0, u,(x, 0) =
y (0 s x s 1/2)
{
-x + (1/2 s x s I)
u(O, t) = uI, I) = O.
13. Evaluate 11(1/2, 3/2) if u satisfies
15. By using the energy integral (6.9) over [O, L], prove that the initial-boundary
value problem
l/ 11 - c 2uxx + h11 = F(x, t) (0 < x < L, t > 0)
u(x, 0) = f(x), 11.(x, 0) = g(x) (0 s x s L)
u(O, t) = a(t), u(L, t) = b(t) (t 2: 0)
Jn the preceding two sections \\e showed how the solution of the initial\ aluc
problem for the \\ave equation can be employed to obtain the solution of the
initial-boundary\ alue problem on a semi-infinite interval or on a finite in ten al
when the boundary conditions are either llxed or free. When the boundary
conditions are not homogeneous. the method does not apply, and we have to
use a different approach. In this section we shall present a method for solving
problems involving the \\"a\e equation with nonhomogencous boundary
conditions of the first kind.
First, let us consider the initial-boundary value problem
(x > 0, I > 0)
(8.1) u(x. 0) = f(x). 11,(x, 0) = g(x) (x ~ 0)
11(0, t) = lz(f) (I ~ 0)
cf;(x) =
2
1 /(x)
2c
I q(s) ds
r
(8.3)
This furnishes the value of r/; for negative values of ils argument. and so for
x < ct we have
h (t :)
+ f(x__+_ C2_~ f(ct - x) + I Jx-ct g(s) ds
2 2c ct-x
for x < ct. Thus, our complete solution of the problem (8. I) is given by (8.2),
(8.3) for x > ct and by (8.7) for x < ct. In either case, we notice that the solution
is the superposition of a forward wave cp(x - ct) and a backward wave
l/f(X + Ct).
By direct differentiation it is easy to verify that the function u defined by (8.2)
or (8.7) satisfies the wave equation and that (8.2) together with (8.3) satisfies the
initial conditions, while (8.7) satisfies the boundary condition of the problem.
In this connection, we assume that lz has continuous second-order derivative for
t > 0 and that f and g have continuous second- and first-order derivatives,
respectively, for x > 0 such that lz(O) = f(O) and /z'(O) = g(O).
Formula (8.7) has an interesting and important physical interpretation. Let
us consider (8.7) at the point (x 0 , t 0 ) in the domain x < ct of the xt-plane and
draw the characteristics through this point (Fig. 3.9). We see that the first term
in (8.7) is precisely the value of lz(t) at the t-intercept of the characteristic
x - ct = x 0 - ct 0 . It represents the displacement of the end point at time
t = t 0 - x 0 /c and travels along the characteristic x - ct = x 0 - ct 0 . The
forward wave - t/l(ct 0 - x 0 ) traveling along the same characteristic as
h(f 0 x 0 /c) represents the reflection of the backward wave that originated from
the point (ct 0 - x 0 0) on the initial line. This backward wave first traveled
along the characteristic x + ct = ct 0 - x 0 until it reached the end point and
was reflected. The min us sign in front of if1 indicates that there is a 180-degree
phase shift upon reflection. As a result of this phase shift, the contribution of
the initial velocity from the interval [O, ct 0 - x 0 ] canceled out. Thus, the
interval of dependence of a point (x 0 , t 0 ) in the domain x < ct is
[ct 0 - x0 , x0 + ct 0 J
which is the interval cut off from the positive x-axis by the characteristic
x + cf = x 0 + ct 0 and the reflection of the characteristic x - ct = x 0 - ct 0
at the end point x = 0.
The same method can be used to sohe the initial-boundary value problem
(0 < x < L, t > 0)
(8.8) u(x. 0) = f(x). 11,(x. 0) = g(x) (0 :.:;; x :.:;; L)
11(0. r) = h(t). u(L, t) = k(t) (t ~ 0)
To find the \alue of if1(s) for L < s < 2L. we note by the second boundary
condition 111 (8.8) that
11(L, t) = k(r) c/>(L - er) + 1/1(L + ct)
so that
This gives the \ alue of i/J(x) for L < x < 2L. 1n this way the functions cf> and if>
are then completely determined on the intervals ( - L, L) and (0, 2L), respec-
ti\ely. Thus, it is possible to write down the solution of problem (8.8) at any
point (x, t) such that - L < x - ct < x + ct < 2L (see Example 8. l ).
lfwereplacesbys + Lin(8.9)anduse(8.l0),wefind
and this further extends (x) onto the interval - 2L < x < - L. Similarly. by
replacing s bys + Lin (8.10) and using (8.9), we have
which defines 1p(x) on the interval 2L < x < 3L. Formulas (8. I I) and (8. 12)
are recurrence relations that together with (8.9) and (8. I 0), determine the value
of for any negative argument and the value of 1p for any positive argument.
If we know the values of and lf;, it is possible to write down the solution of
problem (8.8) at any point (x, t), for 0 < x < L, t > 0.
(()_I
/
/
,/
/
/
/
/
/
/
/
/
/
/
/
/
// 10.t +~-c
/ /
/
/
/
/
/ /
/ /
// //
/ // L
~ ------~-----~~--~-~------~-----~---.,;
~I L I 2L + \ u. 0 I I\ + 11 2 L 0 I 2L 3L
For example. if (x, t) is a point such that -2L < x - ct < -L and
2L < x +ct< 3L(seeFig.3.10),thenaccordingto(8.Il),
(x - ct) = h (t x)c k (t - x +
c L) + (2L + x - ct)
x - 2L) + h. ( 1 + x - L)
(' . c .
I JXTct-2L
+ g(s) ds
2c 2L+x-ct
where we ha\e used (8.3) for c/>(x) and t/J(x) for 0 < x < L.
It is interesting to note that the solution (8.13) can also be obtained geo-
metrically by using the idea of reflection of characteristics, which is analogous
to the reflection of \\a\es. We draw the characteristics through the point (x, t)
and their reflections at x = 0 and x = L, 1110\ing backward in time, until they
intersect the initial line on the interval 0 < x < L (Fig. 3.10). Then the
contribution of the boundary conditions to the displacement at (x, I) consists
of the \alues of hat the !-intercepts and the values of k at the intercepts with
x = L of the characteristics. counting a change of sign following each reflection.
Thus, from the end x = 0, we have h(f - x/c) and -h(t + (x - 2L)/c), in
which the second term has a negative sign because the wave it represents is
reflected once at x = L. Similarly, from the end x = L, we have
where the \\ave represented by the second term is reflected once at x = L. The
contribution from the initial displacement consists of the terms f(2L + x - ct)
and f(x + cf - 2L), which represent waves that originated from the points
(2L + x - ct, 0) and (x + ct - 2L. 0). respecti\ely: these waves were re-
flected twice, once at each end before arriving at the point (x, t ). The net
contribution from the initial velocity comes from the interval
Needless to say. the method described above applies in particular to the case
where the boundary conditions are homogeneous. In fact, in such case, formulas
(8.11) and (8.12) imply that and VJ must be extended as periodic functions of
period 2L. Using this fact and the formulas given in (8.3), it can be established
that the initial data f and g must then be extended as odd periodic functions of
period 2L. This is equivalent to extending/and gas odd functions about x = 0
and x = L (see Problem I, Exercises 3.5), which was the method we adopted in
Section 7.
Sec. 8 So11ho111oge11eo11s Prohfems and Rejfection of' Waves 113
Example 8.1. Find the solution of the problem 18.~J at points I 1. r) such that
- L < x - er < 0 and L < x + ct < 2L.
lj!(X-t-C/)=k
(I + ' - L) C dJ(2L - x - Cl)
11121_-_\ -er
+
2c
J er - x
g(s) ds
Exercises 3.6
I. Evaluate 11(5/8, 19/8) for Problem 8 of Exercises 3.5, using the method of wave
reflect ion.
2. Evaluate 11(1 /4, 3/2) for Problem 7 of Exercises 3.5, using the method of wave
reflection.
3. Find the solution of the wave equation 11 11 - "-u = 0, x > 0, t > 0, satisfying
the given conditions:
(a) u(x, 0) = e-x - I, 11/t, 0) = 0, .1 ~ O; 11(0. t) = re-'. I ~ 0.
(b) u(x, 0) = sin x, 11,(x, OJ = x, x ~ O; 11(0, t) = sin 2t, t ~ 0.
4. Find the solution at the indicated point of the wa1e equation
u(x, 1) = 2:
11:<:=0
h (_' _ x + 2nl) _
c
2:
11:2= l
h (r + x - c211L)
\\here h(t) = 0 fort < 0 and h has continuous second-order derivative.
6. Find the solution of the problem (8.8) when f = g = h = 0.
114 The Wave Equation Chap. 3
(x > 0, t > 0)
u(x, 0) = f(x), 11,(x, 0) = g(x) (x 2: 0)
u)O, t) = h(t) (t 2: 0)
(x > 0, t > 0)
11(x, 0) = f(x), 11,(x, 0) = 0 (x 2: 0)
llx(O, !) - ku(O, t) = 0 (k a constant, t ;:::: 0)
Hint: Set r(x, t) = u)x, t) - ku(x, t) and consider the initial-boundary problem
for i.
So far, we have been concerned with initial value and initial-boundary value
problems for the wave equation. We have seen that by an appropriate extension
of the initial data, it is possible to reduce an initial-boundary value problem to
an initial value problem for which d'Alembert's formula can be employed. For
a more general equation, however, we must use a different approach. Jn this
section we shall describe a rather convenient and powerful method for solving
initial value, initial-boundary value, or boundary value problems for a large class
of partial differential equations of hyperbolic, parabolic, or elliptic types.
Jn order to establish the basic steps involved in the method, we shall solve the
initial-boundary value problem
where Xis a function of x alone and Tis a function oft alone. Moreover, the
function (9.4) will be required to satisfy all homogeneous conditions of the
problem, namely, the initial condition u,(x, 0) = 0 and the boundary conditions
(9.3). Now, substituting (9.4) in the differential equation (9.l), we have
where the primes denote ordinary differentiation with respect to the argument
of the function being differentiated. Dividing the last equation by c 2 X(x)T(t)
and "separating" variables, we find
T"(t) h X"(x)
(9.5) -2 + 2
= -
c T(t) c X(x)
Since the term on the left of equation (9.5) depends only on the variable t and
the term on the right depends only on the\ ariable x, it follows that the derivative
with respect to t of the term on the left is zero; likewise, the derivative with
respect to x of the term on the right is zero. Hence, both terms must be equal
to a constant, which we denote by -i.. Thus,
X"(x) T"(t) h
- = -), -? + ?=-).
X(x) c-T(t) c
which lead to the two ordinary differential equations
X"(x) + i.X(x) = 0
(9.6)
T"(t) + (}.c +
2
h)T(r) = 0
and
11h ich can he regarded as a system of algebraic equations for c 1 and c 2 Si nee
the determi11a11t of cocfllcients
= 2 sinh kL
X(.\) c~ C 1 Sill"\/. X
Sill \ /_ L = ()
(9.11)
(9.13) u,,(x, t) = sm
. 11llX
cos.
rl12T:2C2
+ h
J i:2 t (11 = 1,2,. .. )
L L2 .
of equation (9.1) satisfying the homogeneous conditions of (9.2) and (9.3). By
the principle of superposition, any linear combination of these functions
remains a solution of equation (9.1) and satisfies the same homogeneous initial
rnd boundary conditions. Hence, if we can find a suitable linear combination
of the functions (9. !..\)which satisfies as well the initial condition 11(x, 0) = f(x),
then such a combination will be a solution of the problem (9.1 ), (9.2), (9.3).
However. it is clear that no (finite) linear combination of the functions (9.13)
Lan satisfy (9.2) unless the initial datum f itself is a linear combination of the
eigenfunctions (9.1 l) We therefore try an infinite linear combinaiton of the
form
(9.14) 1/(X, t) = Ix
bll
.
'Ill
llllX
cos
l/1271:2C2
+ h
Ji 2
I
n=1 L . L .
Ckarly, if the constants b11 are such that the series (9.14) and its derivatives
comerge respecti\ely to the function u(x, t) and its derivatives for 0 < x < L,
I > 0, then by the extended principle of superposition the function u represented
by the series (9.14) is a solution of equation (9.1) safofying the homogeneous
conditions in (9.2) and (9.3). There remains the problem of determining the
constants b" so that (9.14) also satisfies the nonhomogeneous initial condition
in (9.2). Setting t = 0 in (9.14), we have
(9.15) . O) =. (( x )
u(x, f; b,, sin
= L.. . 11 rrx-
n= I L
Thus, the constants b,, appear as the coefficients in the series expansion of/ in
terms of the eigenfunctions (9. I I). To determine these coefficients, we make use
118 The Wave Equation Chap. 3
Jn the first case (m =/= 11) we say that the functions Xm(x) = sin(nrnx/L) and
X,.(x) = sin(nnx/ L) are orthogonal on the interval 0 s x s L. This ortho-
gonality properly actually holds for every pair of eigenfunctions corresponding
to distinct eigenvalues of any Sturm-Liouville problem and is established in
Section 5 of the next chapter. In the present case, however. the validity of
(9.16) follows immediately from the trigonometric identity
. nrnx . nnx
= cos
(111 - 11 )nx
- cos
( 111 + 11 )nx
2 Sl11 . 5111 - .
L L L L
We therefore multiply both sides of equation (9.15) by sin(nrnx/L) and integrate
the result from x = 0 to x = L. Assuming that the series can be integrated
term by term, we obtain
0
Sll1
L L
According to (9.16), each term on the right-hand side of (9.17), except the term
corresponding ton = m, vanishes. Hence, equation (9.17) reduces to
L f( X) Sl11
. 111iIX - L bm
J o L
-
2
which gives the formula
(9.18) b,. =
2 JL f .(x) s111. lliIX
dx (11 L 2, ... )
L o. L
more stringent conditions on/ because otherwise the partial derivatives of u may
fail to exist. In such a case, it is comenient to regard 11 as represented by (9.14)
as a generalized solution of the problem in the sense described in Section 2. We
illustrate these remarks by the following example.
So!11tio11: We compute the Fourier coefficients b,, of I By (9. J 8), with L = 11, we
have
~ + ~~IX]rr/
2
[-=X"_COS /IX
71 II II- o
The series solution (9.19) of the preceding example can be shown to converge
uniformly for 0 :o:; x ~ 11, t ;::: 0 by the Weierstrass M-test, using the convergent
~eries L.:'= 1 I /(2k - I ) 2 . Hence, the limit function u is continuous for
0 ~ x ~ rr, t ;::: 0, and satisfies the initial and boundary conditions of the
problem. However, the second partial derivatives of u do not exist because the
second derivatives of the series fail to converge. For this reason, 11 cannot be a
solution of the differential equation. In this case, it is appropriate to regard
(9.19) as a generalized solution of the problem in the sense of Section 2.
Indeed, for each integer n ;::: I, let us define
4 n (-J)'+l
u11 (x, t) = -
rr
L (2k
k= 1 - 1) 2
sin(2k - l)x cos[(2k - 1) 2 + 1] 1 12 t
...
120 The JYave Equation Chap. 3
Then 11 is the limit of the uniformly convergent sequence u,,. Further, for each
n, is twice continuously differentiable for 0 ::::; x ::::; L, t ~ 0, and satisfies
11 11
the differential equation together with the initial conditions
. 4 n ( _ I )k + 1 .
u,lx, 0) = JnCx) =
7'[
L
k~1 (2k -
0
1)-
s111(2k 1)x
Exercises 3. 7
In Problems I through 5, find the solution of the given problem by the method of
separation of variables.
1. 11,, - ilxx = 0, 0 < x < t > O; u(x, 0) = sin 3 x, u,(x, 0) = 0, 0
iT, s x s ir;
11(0, 1) = 0, ll(iT, t) = 0, t 2: 0.
2. 11 11 - ilxx + 11 = 0, 0 < x < ir, t > O; u(x, 0) = 0, 11,(x, 0) = sin 3 x, 0 s x :S
ir; 11(0, I) = 0, il(iT. t) = o. t 2: 0.
3. ilrr - llxx + 11 = 0, 0 < x < ir, t > O; 11(x, 0) = 0, u,(x, 0) = I + cos 3 x,
0 :S X S ir; = 0, llx(iT, 1) = 0, f 2: 0.
llx(O, t)
4. llrr - u'-' - 2u, = 0, 0 < x < I, I > O; 11(x, 0) = e-x(2 sin 2rrx - 3 sin 5nx),
0 :S x :S 1 ; 11,(x, 0) = 0, 0 :S x s l ; u(O, t) = 0, 11(1, t) = 0, t 2: 0.
5. ilrr + 11, - llxx =0, 0 < x < n, I > 0: 11(x, 0) = 0, 11,(x, 0) = sin 3 (x/2),
0 s x s ir; 11(0, 1) = 0, uJn, t) = 0, t 2: 0.
In Problems 6 through 9, find all particular solutions of each of the following partial
differential equations satisfying the given initial and boundary conditions.
6. 11 11 - x 2u'-' - Xllx = 0, I < x < e. I> O; 11(x, OJ= 0, 11(1, !) = 0, uJe, 1) = 0.
7. llrr - 11.u + 211 1 - 211x + II = 0, 0 < X < ir, 1 > O; 11,(x, 0) = 0, u(O, t) = 0,
U(iT, 1) = 0.
8. ilrr - x 2 ilxx = 0, I < X < 2, I > 0; u(x, 0) = 0, fl( 1, I) = 0, 11(2, I) = 0.
2
9. ilrr -
2
[x /(I + I) ](ux.J 0, I < x < 2, I > O; u(x. 0) = 0, 11(!, t) = 0,
11(2, t) = 0.
Chapter 4
on the interval a < x :-:::; b, where we assume the functions A, A', B, C, and g
are continuous and A(x) > 0 for all x in the interval. If A' = B, then we can
write the equation in the form
121
122 Green's Function and Sturm-Liouville Problems Chap. 4
called the self-adjoint form. With our assumptions on the functions A, B, and C,
it is always possible to transform equation (I. I) into an equivalent differential
equation that is in self-adjoint form. Indeed, if we multiply both sides of
equation ( 1.1) by the function
1
A
exp(J B
A
ilx).
the equation becomes
(1.2) Lu
d
dx
lp(x) d111 +
dx
q(x)u = f(x)
where
~ dx) , ( , g(x)
p(x) exp(J q XJ = C(x) p ( X,) f(x) = - p(x)
A(x) . A(x)
Since 11 satisfies the boundary conditions (1.4) and because of the linearity of
these conditions, we see that
Hence, if this condition does not hold, then problem (1.3), (1.4) has only the
trivial solution.
On the other hand, if condition (I. 7) is satisfied, then the two equations in (1.6)
differ only by constant factor. Hence, we can use either one of the equations to
derive a relationship between the constants c 1 and c 2 , and in this way obtain a
nontrivial solution of the problem. For instance, from the first equation we may
take c 1 B 1 (u 2 ) and c 2 = -B 1 (u 1 ). Then
(l.8)
is a nontrivial solution of the problem (1.3), (1.4). From the linear homogeneous
nature of the problem it follows that r(x) = Cu(x) is also a solution for any
value of the constant C. Thus, we obtain an infinite family of nontrivial solu-
tions. Jn fact, it is true that ifthe problem (1.3), (1.4) has a nontrivial solution u,
then all other solutions of the problem are of the form v(x) = Cu(x), where C
is a constant.
To verify the last statement, suppose that v is any other solution of the
problem. Since both u and t' satisfy the first of boundary conditions (1.4), we
have
r111(a) + /Ju'(a) = 0
C1.u(a) + f3v'(a) = 0
which is a system of homogeneous equations for the constants Cf. and /3. By
assumption, Cf. and f3 are not both zero. Hence, the determinant of the system
must vanish; that is,
!u(a) u'(a)!
(1.9) w (u, v; a) = Ii (a) v'( a) ' = o
1
THEOREM 1.1. A necessary and sufficient condition for the problem (1.3), (1.4)
to hare a nontrii'ial solution is that for any two linearly independent solutions of
(1.3). the condition (1.7) holds. Jn such a case, all solutions of the problem are
giren by i(x) = Cu(x), where u is any nontrivial solution of the problem and C is
m1 arbitrary constant.
124 Green's F1111ctio11 and St11r111-Lio11ville Prohlem.1 Chap. 4
the problem has nomri\ ial solutions. In fact, applying the boundary conditions
to the general solution. we find that c 2 = 0 and c 1 is arbitrary. Hence, the
solutions are gi\en by
11(x) = C sin x
sin 0 cos 0
-I
cos
2 2
the problem has only the trivial solution 11 = 0. In fact, if we apply the boundary
conditions to the general solution, we find i;rnnediately that c 1 = c 2 = 0.
Exercises 4.1
In Problems 6 through 14, determine if the problem has a nontrivial solution and,
if so, find the solution.
6. 11" = 0, 0 s x s I; (a) 11(0) + u'(O) = 0, 11(1) = O; (b) u(O) + u'(O) = 0,
u'(I) = 0.
7. 1/' + u = 0, 0 S x S rr/2; 11(0) = 0. 1/(11/2) = 0.
Sec. 2 So11ho1110.qeneous Problems; Gree11's Functio11 125
D = !B1<111J B1C112J le O
B2<111 J B2(112)
(b) If D = 0. sho\\ that the problem has a solution only if the constants c 1 and
c 2 satisfy the equations
Ci B2ill2) C2B1(ll2) 0
Ci B2(ll1) C2B1ill1) 0
In Problems 16 through 2:1. use the result of Problem 15 to determine if the problem
ha-; solution and, if so. find the solution.
16. 11" + 11 = 0. 0 s .1 s_ ;:; (a) 11(0) = 1, 11lrr) = -1; (b) 11(0) + 1/(0) I,
11lr:) = 1: (c) 11(0) - 11'(0) = l, 11lr:J = 0.
17. 1/'-11=0, Os.1sl; la) 11(0)=1, 11(1)-1/(lJ=O; (bJ 1/(0) 0,
11(1) + 11'(1) ~I; (c) 11(0) = -J, 11(1) + 11'(1) = 0; (d) 11(0) - 1/(0) ")
~,
1dl) + 11'(1) = 0.
18. 11" - 411 = 0. 0 :S .\ l;la)1110) =- 1.11(!) = O;ibl11WJ = 1,211(1) + 1/il)
2c 2 .
19. 1/' 411 0.0 s x::; ;:;la)11(Q) = -l,11(;:) = l;(b)1110) = -l,11irr) = 1;
le') 11(0) 1/(0) -' I. 111;:) - 1/I;-:) = 0.
20. \II"+ 11' = 0.1 :c; x s 2;1a)11(J) == 0.1i'r2) = J:(b)1111) = 1.1112) - 1/12)
0, iC) 1/(I) = 1. 1112) = 0.
21. .\' 2 1/' + .rn' + 11 = 0, I::: x:::: e;(a)11(l) = l,11'(e) O; (b) 11( I) - ;/(I) 1.
11IC') ~cos l;(c)11llJ + 1i'(l) = l,11(e) =sin I.
has only trivial solution. As we shall see in the next section, when the problem
(2.3) has a nontrivial solution, (2.1), (2.2) either has no solution or has infinitely
many solutions_ Our procedure here is to find a particular solution of equation
(2.1) by the method of variation of parameters and then to determine the
constants of integration in such a way that the boundary conditions (2.2) are
also satisfied. With this purpose in mind, we shall choose two linearly inde-
pendent solutions of the homogeneous equation Lu = 0 in such a way that each
satisfies one of the boundary conditions (2.2)_ Thus, let 11 1 be a nontrivial
solution of Lu= 0 that satisfies the condition u 1 (a) = 0, and let 11 2 be a non-
trivial solution of the equation that satisfies the condition 11 2 (b) = 0. It is clear
that such solutions exist. In fact, if y 1 and y 2 are any two linearly independent
solutions of the equation Lu = 0. then we may take, for example, 11 1 (x) =
y 2 (a)y 1 (x) - yJa)Yl(x) and uh:-) = y 2 (b)y 1 (x) - y 1 (b)y 2 (x). Since the
corresponding homogeneous problem (2.3) has only trivial solution, we have
u 1 (b) # 0, u 2 (a) # 0 and the functions 11 1 and 11 2 are linearly independent.
Hence, the Wronskian W(u 1 , u 2 ; x) of u 1 and 11 2 does not vanish; that is,
(2.4)
(2.6)
we have
(2.7)
Differentiating (2.7) and substituting the result together with (2.7) and (2.5) in
the differential equation (2.1 ), we obtain
f(x)
(2.8) v;(x)11;(x) + v;(x)u;(x)
p(x)
Sec. 2 No11ho111oge11eo11s Problems; Gree11 's F1111ctio11 .127
for which we have used the fact that Lu 1 = 0 and Lu 2 = 0. In view of (2.4),
we can solve for i; and z:;
from equations (2.6) and (2.8). We find
i:',(x) = -u 2(x)f(x)
p(x)W(u 1 , u 2 ; x)
r;(x) = u 1(x)f(x)
p( X) W ( U I , U 2 ; X)
and therefore
V1(x) = -Ix c,
Uz(Of(() d( -
p(')W(11 1 , 11 2 ; ()
(2.9)
v2(x) = 'x 11,(()/(() d(
~ c p( () W ( 11 I , 11 2 ; ()
2
(2.13) 11(x) =
r
(J
G(x; ()/(() d(
The function G defined in (2.12) is called the Green's function for the differential
operator L, corresponding to the boundary conditions (2.2).
It is left as an exercise to verify that (2.13) with (2.12) indeed satisfies equation
(2.1) and the boundary conditions (2.2). The uniqueness of this solution follows
from the assumption that the corresponding homogeneous problem (2.3) has
only trivial solution.
128 Green's Function and Sturm-Liouville Problems Chap. 4
The definition of the Green's function given above holds for the general
second-order differential equation (I. I). However, the fact that the operator L
is self-adjoint leads to the important result that the quantity p(x)W(u 1 , u 2 ; x)
is a constant. To see this, we note that
= 0
since both u 1 and u 2 satisfy the equation Lu = 0. Hence, for the self-adjoint
operator L, the Green's function (2. I 2) becomes
(2.14)
G(x; 0 ~ 1u,(x~,m (a ~ x ~ ~)
u 2 (x)u 1 (c;)
(~ ~ x ~ b)
K
where K = p(x) W(u 1 , u2 ; x) is a constant.
As can be easily verified from (2. I 2) or (2. I 4), the Green's function possesses
the following properties:
(i) For each . the Green"s function satisfies the equation
:t(J ( + O; ~) _ dG ( _ O; ~) = _1 _
dx dx p(~)
Actually. properties (i) through (iv) determine the Green's function uniquely.
This means that if \\e construct a function that satisfies all the properties
(i)-(iv), the function will be of the form (2.12) or of the form (2.14) if the
differential equation is self-adjoint.
Let us summarize in the following theorem the result we have obtained above.
THEOREI\1 2.1. If the homogeneous problem (2.3) has 011ly the tricial solution,
then the Green's jimctio11 (2. I 2) exists and the 11011homoge11eo11s problem (2.1 ),
(2.2) has a unique solution gil'en by the formula (2.13).
Example 2.1. Find Green's function and the solution of the problem
d 2 11
f (x) (0 s x s ])
dx 2
11(0) = 0, 11(1) = 0
Solution: It is easily verified that the corresponding homogeneous problem has only
the trivial solution, and so the Green's function exists. The differential equation
1/' = 0 has the general solution
11(x) = Ax+ B
A solution that satisfies the condition 11(0) = 0 is easily found to be 11 1 (x) - '
and a solution that satisfies the condition 11( I) = 0 is given by u 2 (x) = x - 1.
These two functions are linearly independent, with the Wronksian being equal to
G(x; )
fx<.; - 1) (0 s x s )
\(x - I) ( s x s 1)
11(\') =
0
c
0
G<x; )/(.;) dC,
Example 2.2. Find Green's function and the solution of the problem
d 2 11
+ 11 = f(x) (0 S x S I)
dx 2
11(0) = 0, u(I) = 0
construct the Green"s function, \\e take 11 1 (x) = sin x and 11 2 (x) cos 1 sin x -
sin I cos x = sin(.\ - 1) so that u 1 (x) = 0 and 11 2 (1) = 0. The Wronskian of
these functions is
W(11 1 . 11 2 ; x) = 11 1(x)11;(x) - u;(x)u;(x)
sin sin(x - 1)
(, :<'. x :<'. I)
sin l
sin(x - I) - sin x
(X
/I )= - - - + 1
sin l
The solution of the boundary value problem consisting of equation (2.1) and
the more general boundary conditions (1.4) can also be given in the form (2.13),
where G is the corresponding Green's function for the problem, provided the
related homogeneous problem has only trivial solution. In such a case, the
Green's function can likewise be constructed from properties (i), (ii), and (iv)
of (2.15) with property (iii) replaced by the conditions
cxG(a; 0 + {3G'(a: () 0
yG(b; () + 15G'(b; () 0
Here we use prime to denote differentiation with respect to the variable x. Thus,
the Green's function in this case is also defined by (2.12), provided u 1 and u2
are linearly independent solutions of Lu = 0 such that 11 1 satisfies the boundary
condition at x = a and u 2 satisfies the boundary condition at x = b.
Solution: It is easy to verify that the related homogeneous problem has only the
trivial solution u = 0. Now, from the general solution u(x) = Ax + B of the
homogeneous equation 11" = 0, we determine two linearly independent solutions
Sec. 2 So11/wmoge11eo11s Problems; Green's F1111ctio11 131
(0 <:'. x <:'. )
G(x; )
( <:'. x <:'. 1)
It is easily seen that this function satisfies properties(!), (ii), and (iv) in (2.15) and
the boundary conditions of the problem. Moreover, G(x; c;) = G(; x), since
(d/dx) 2 is self-adjoint.
Thus, we need only to find the solution of problem (2.17). With the functions 11 1
and 11 2 used to construct the Green's function (2.12), let us assume a solution in
the form
u(x) = C1U1(X) + C2ll2(X)
d211
+II=
I
dx 2
uiO) =A, 11(1) = B
132 Green's F1111ctio11 a11d Sturm-Liouville Problems Chap. 4
Solution: Referring to Example 2.2, we rake u 1 (x) = sin x and u 2 (x) sin(x - I).
Then, according to (2.18), the solution of the problem is
Exercises 4.2
1. find the Green's function for the operator L = d 2 /dx 2 , 0 ::; x :S I, subject to
the given boundary conditions: (a) 11(0) = 0, u'(OJ = 0; (b) 11'(0) = 0, 11( I)
u'(l) = O; (c) u(O) + 1/(0) = 0, 1/(I) = 0. '
2. Find the Greens function for the operator L = (d 2 /dx 2 ) + 1, 0 s x s IT,
subject to the given boundary conditions: (a) 11(0) = 0, 1/(n) = O; (b) 11'(0) = 0,
u(rr) = 0.
Jn Problems 3 through 6, find the Green's function for the problem and give the
solution.
3. 11" - 2u' + s x :S n/2; u(O) = 0, u(n/2) = 0.
211 = f(x), 0
4. x 2 1/' - + 2u = f(x), 1 s x :S 2; u(l) - u'(l) = 0, 11(2) = 0.
2.11/
5 . .\ 2 11" - .rn' + u = /(x), 1 s x :S 2; 11(1) - 1/(l) = 0, 11(2) + 21/(2) 0.
6. (d/dx)[(x + l)u'] =/(x),O s x s l;u(O) = O,u'(l) = 0.
7. Verify that the function u defined by formula (2.13) satisfies the differential
equation (2. J) and the boundary conditions (2.2).
8. Determine the Green's function (2.12) from the properties (i)-(iv) in (2.15).
Hint: Let u 1 and u 2 be two linearly independent solutions of L11 = 0 such that
u 1 (a) = 0 and u 2 (b) = 0, and set
cG -I cG
- (a, a) = - - (b, a) = 0
c,; p(a), c,;
(b) (cG/c,;)(x, b) satisfies the equation (2.1) and the conditions
cG (b, b) = +I , oG
- - (a, b) = 0
a,; p(b) a,;
10. From the results of Problem 9 show that
11. \erif:;, that the solution gi\en in Proble111 10 agrees 11i1h (2.18).
12. Find the solution of the proble111
11here A and Bare not both zero. and determine the 1alucs of k for 11hich the
problem has no solution.
In Problem 14 through 16, find the Green's function for the gi1en operator subject
to the gi\en boundary conditions.
14. L x(d 2 /d1 2
) + (d d1l. 0 < .1 < I. 11(0) is finite. 11(1) == 0.
2
15. L x (d ,'d.r 2 )
2 2
, . .r(d,d.1) - 11 , 11 > 0. 0 < x < l; 11(0) is finite. 11(1) 0.
2 2 2
16. (I x )(d 1d1 ) - 2x(d/d1l. 0 < .r < l; 11(0) = 0. 11(1) is finite.
17. Show that the Green's function for the operator
d2
L = - s2 (- ~;: < .1 < x. (s real constant > 0))
In the preceding section 11e were able to obtain a unique solution of the
problem (2.1 ). (2.2) under the assumption that the related homogeneous
problem (2.3) has only trivial solution. Linder that assumption. the Green's
runction (2.12) for the problem is uniquely determined. We now consider the
case 11 hen the homogeneous problem (2.3) has a nontrivial solution. In such a
case. the Green's function (2.12) docs not exist. since the functions 11 1 and u 2
can no longer be linearly independent. In fact, we shall show that the problem
(2. l ). (2.2) in this case either has no solution or has infinitely many solutions.
We first establish the following lemma.
Proof: We ha\e
a
b
l
l
u -d _ (. p
dx .
dr) + qr J dx
dx
_
(3.2)
b 11 - d- (p cit:) dx + rb q11r dx
-a l dx , dx. a
r
Integrating by parts twice the first integral term on the right of (3.2). we find
rb I (- dr t111)Jb
.I a rLu dx + Ip 1/ dx - [' dx L
which yields (3.1 ).
Now let 11 0 be a nontri\ ial solution of the problem (2.3) and suppose that the
problem (2.1 ). (2.2) has a solution u. Let us multiply both sides of equation (2.1)
by 11 0 and consider the integral
(3.3)
(3.5)
a
r llof dx = 0
This shows that when (2.3) has a nontrivial solution 11 0 equation (3.5) must hold
in order that the problem (2.1 ). ( 2.2) may have a solution. Therefore. if condition
(3.5) is not satisfied. then the problem (2.1 ). (2.2) has no solution whatsoever.
In other words, (3.5) is a necessary condition for the existence of a solution of
the problem (2.1 ), (2.2) in the event that the related homogeneous problem (2.3)
has a nontrivial solution 11 0 .
The condition (3.5) turns out to be also sufficient to ensure the existence of a
solution of the problem (2.1), (2.2). As a matter of fact, if (3.5) holds, we can
Sec. 3 Jl,fodijied Gree11's Function 135
(3.6)
11(0) = 0, 11(1) = 0
I .
11(x) = - + c 1 sm nx + c 2 cos nx
n2
1 I
2 + Cz = 0, 2 - Cz = 0
n n
\\ hich yield contradictory results for c2 . This shows that the problem (3.6) has
no solution. As a matter of fact, we observe that the corresponding homogeneous
problem 11" + n 2 u = 0, 11(0) = 0, 11(!) = 0 has a nontrivial solution u 0 (x) =
sin nx for which J6 I sin nx dx # 0, violating condition (3.5).
On the other hand, if we take the non homogeneous term in (3.6) to be f(x) =
2x - I so that
L 1
(2x - I) sin nx dx = 0
I 2x - I .
11(x) = cos nx + - + C sm nx
112 n2
'
136 Green's Function and Sturm-Liouville Problems Chap. 4
conditions (2.2). Then u0 and u 2 are linearly independent (see Problem 7).
Hence, by (2.10),
(3.7)
(3.9)
.
u(x) =
Ix 11 0 ()uh:) -- 1lo(x)u2(~) /'("1..) d,c..
a K . . -
It is easy to verify that (3.9) is a solution of the problem (2.1). (2.2), subject to
the condition (3.5). This solution is not unique because \\e can add to (3.9) any
constant multiple of u 0 . In fact, if we add the term
( ) J'b 112((}((;)
u0 x -- - f" =- u (' x)
l '= 0
rx Li2(~)f(() d"c;
a K a K
~b
c
... /'(.
j -=-U-~l d~
ti, (
+ u 0 (x)
x K
to the solution (3.9). we obtain
u (x ) -- 1x 11o(()112(X)
- ~-- 1("') d"c,
a K
(3.10)
b
J G*(x;cJ/(()d(
a
where
(3.11)
(x :::; ~ :::; b)
Example 3.2. Find the solution of the problem 11" + n 2 11 = /(x), 11(0) = 0, 11(1) = 0,
assuming that
jI
0
/(x) sin nx dx = 0
Sol111io11: The function 11 0 (x) = sin nx is clearly a nontrivial solution of the corre-
sponding homogeneous problem 11" + n 2 u = 0, 11(0) = u(I) = 0. Let us seek a
solution of the homogeneous differential equation that does not vanish at x = 0
and x = 1. We find 11 2 (x) = cos nx, for which we have K = uau; - 11 011 2 = - n.
Hence, according to (3.1 J),
1 . -
- ; Sll1 l1X COS m:;
G*(x; ) f
1 . ..
1 l[
Sll1 n<;; COS l1X ( s: x s: I)
Exercises 4.3
In Problems 1 through 5, find a modified Green s function for the given operator L
subject to the gi\en boundary conditions.
1. L d 2 /d.\ 2 , 0 s: x s: I; 11'(0) = 0, 11'(1} = 0.
2. L 2
d /dx 2
, 0 s: x s: I; 11(0) + 1/(0) = 0, 11(1) = 0.
3. L d 2 /dx 2 + J, 0 S: x S: rr/2; 11(0) = 0, u'(n/2) = 0.
4. L 2
x(d /dx 2
) + (d/dx), 0 < x < I; 11(0) is finite, u'(l) = 0.
5. L = (I - x 2 )(d 2 /dx 2 ) - 2x(d/dx), - I < x < I; /1 is finite at x = 1 and
x = -1.
6. Suppose the problem Lu = 0, 11(0) = 0, 11(b) = 0 has a nontrivial solution.
Let 11 1 and u 2 be two nontrivial solutions of Lu = 0 such that 11 1(a) = 0 and
u 2 (h) = 0. Show that u 1 and 11 2 must be linearly dependent.
7. Let Ila be a nontrivial solution of the problem L(u) = 0, u(a) = 0, 11(b) = 0, and
let u be any solution of the equation U11) = 0. Prove that 11 and 11a are linearly
dependent if and only if u satisfies one of the conditions 11(a) = 0, 11(h) = 0.
8. Verify that for the modified Green's function given in (3.1 I), G* satisfies pro-
perties (i), (ii), and (iv) of (2.15) but not property (iii).
138 Green's F1111ction and St11r111-Lio11ville Problems Chap. 4
4. Sturm-Liomille Problems
(4.2) d
dx
rl p(x) ~dx ]
11
+ [q(x) + l.r(x)]u = Lu + l.r(x)u 0
cxu 1(a, ).) + f3u'1(a, ).) cxu 2 (a, ),) + /3u~(a, ).)! =
0
(4.5)
yu 1(b, /,)
1 + bu'1(b, ),) yu 2 (b, ).) + bu~(b, i)
Hence, the problem (4.2), (4.3) has nontrivial solutions if and only if;, satisfies
the determinantal equation (4.5). The values of). satisfying equation (4.5) are
called eigenvalues of the problem (4.2), (4.3) and the corresponding nontrivial
solutions are called eigenfunctions. It follows from Theorem 1.1 that an
eigenfunction corresponding to an eigenvalue is uniquely determined up to a
constant factor. This means that to each eigenvalue there corresponds only one
linearly independent eigenfunction. An eigenvalue having this property is said
to be simple.
It is possible to show that a regular Sturm-Liouville problem has infinitely
many real and simple eigenvalues/.,., n = l, 2, , which can be arranged in a
monotonic increasing sequence ). 1 < 1. 2 < < ).,, such that lim i.,, = co as
n tends to co. These properties are clearly exemplified in the particular problem
(4.1) for which we found infinitely many real and increasing eigenvalues
which are all simple. We consider two more examples as further exhibits of
these properties.
So/11tio11: As in problem (4.1 ), it is readily shown that the present problem has only
trivial solution when Jc :S 0. When )_ > 0, the differential equation has the
general solution
u(x) = c 1 sin v ). x + c 2 cos\ ). x
(11 I, 2, ... l
which are real and increasing, and the corresponding eigenfunctions are
un(x) = . (211 -
Sll1 .
2
I) X (11 = 1, 2, .. )
Example 4.2. Find the eigenvalues and eigenfunctions of the problem 11"(x) +
i.11(x) = 0, 11(0) = 0, 11(11) - 1/(11) = 0.
Solution: The reader can easily verify that the problem has only trivial solution when
2
i. :; 0. Let i. > 0 and write i.= k , where k is a real nonzero number. Then the
general solution of the differential equation is
Exercises 4.4
111 Problems 1 through 'i. find the eigenvalues and eigenfunctions of each of the
gi\en Sturm-Liou\ ille problems.
1. I/ " + I.I/ 0. 0 s x s: L; 1/(0J = 0. u(L) 0.
2. // " + I.Ii o. 0 < .\ s: n; 1/(Q) - 0. 1/(;:) 0.
3. 11 " + I.I/ 0. 0 s: x s: j( ; 11(0) + 1/(Q) o. 11( Ti) T 1/(n) 0.
4. II + /.// o. 0 x 5- ;:-; u(O) 1/(0) 0. //(Ti) 1/(7r) 0.
5~ 1/i\) - I.I/ - 0. () :S \' :S L; 11(0) = u"(OJ = 0, u(L) - 1/'(L) 0.
For each of Problems 6 through 10. find the equation (4.5) and estimate graphically
the eiger1\alues for sufficiently large /1 and give the form of the eigenfunctions.
,.
6. Ii + /.// -- 0,0 s: x s: 1; u(O) + u'(O) = 0, u(l) = 0.
7. [/ " + /.Ii 0, 0 x s: IT; 11(0) - 0, ll(li) T 11'(n) = 0.
8. II " T }u 0, 0 < x < 1; 1/(0) - 0, 11( I) - 1/(I) - 0.
9. ll " + /Ji 0, 0 s: x s: 7I; 11(0) + 11'(0) = 0, u'(n) 0.
10. // " + )_// 0. 0 s x s: "' 1/(0) + 11'(0) = 0, u(n) u'(n) = 0.
11. Find the eigenvalues and eigenfunctions of the Sturm-Liouville equation
d ).
(xu') + 11 = 0 ( l S: x s: e)
dr x
142 Green's Function and Sturm-Liouville Problems Chap. 4
ror each of the boundary conditions (a) 11(!) = 0, 11(e) = O; (b) 11(!) = 0,
1/(e) = O; (c) 1/(l) = 0, 1/(e) = 0.
12. Find the eigenvalues and eigenfunctions of the Sturm-Liouville problem
x 2 11" + 2x11' + ).11 = 0 (I :s: x :s: e)
II( I) = 0, u(e) = 0
d (x 3 11') + ).XII = 0
dx
11(!) = 0, u(e") = 0
d
dx
(1 ') +
- II
x
t. II
_\3
= 0 (I :s: x :s: e)
11(!) = 0, 11(e) = 0
k!l(k+p+1)
is known as Bessel's function of the fast kind, of order p, and satislies the
differential equation
0 ( p a real number)
(b) Thus. show that 11 11 (x) = Jr(\ i.,, x) is an eigenfunction of the Sturm-Lioll\ illc
problem
Afu = 0. 11(0) = o. 11(/) = 0 ( p > 0. 0 < .\ < I )
1/(0) = 0, 11(!) = 0
19. Let J 1 ; 2 (1) be the Bessel's function of order p = -i and let u(x) = xJ 112 (('' l./2)x" )-
Show that 11 satisfies the differential equation
Lu = dxd ( x1 1/) + J.
x
11 = 0 (x > 0)
and thus determine the eigell\alues and eigenfunctions of the singular Sturm-
Liouville problem Lu = 0, 11(0) = O. 11( I) = 0.
5. Orthogonality of Eigenfunctions
(5.1) rb a(x)11(x)1(x) dx = 0
Thus, the functions u(x) = sin x and c(x) = cos x arc orthogonal on the
interval [-IT, rr] with respect to the weight function O"(x) = I, since the integral
of their product O\er this integral vanishes. Whene\er (5.1) holds for the
runctions u and r with O"(x) = I. we shall simply say that 11 and care orthogonal
on [a, b].
When u c, the quantity
(5.2) I rill =
(I Jb a(x)u 2(x) dx)\ ,_
a
1n
is called the norm of the function u. Notice that Ii ul! = 0 if and only if u(x) = O
for a ::;: x::;: b. If 111111 = I, then the function u is said to be normalized. It is
easy to see that a given function that is not identically zero can always be
144 Green's F1111ctio11 a11d Sturm-Liouville Problems C!tap. 4
f r(x)u(x)v(x) dx = 0
If we multiply the first equation by 1 and the second equation by u, and then
subtract one result from the other, we obtain
(J1 - 1)rul' = uLz. - rlu
Let us integrate both sides of the last equation from x = a to x = b and use
Lemma 3.1. We find
p( b) iv (u, r : b) - p( a) W ( u, r: a)
f r(x)u(x)v(x) dx = 0
a ::::; x :::::. b with \\eight function r. Such a set of functions is called an ortho-
gonal system on the interval [a. b] with respect to the weight function r. If
r = I. then the system is simply said to be orthogonal on [a. b]. Thus. the set of
functions X,,(x) = sin(nnx)/L. n = I. 2... forms an ortl1ogonal system O\er
the interval 0 :::::. x :::::. L.
If each eigenfunction 11 11 of (4.2). (4.3) 1s normalized--that is. if we replace
each u,, by c/J,, = 11,,11 11,,:i-then the
1 alternate set of eigenfunctions c/J,'" 11 :2: J,
satisfies the relation
/11
11)
=I= n)
In such a case the set of functions c/> 11 n :2: J. is called an orthonormal system
over [a. bJ with respect to the weight function r. Equation (5.5) is oftentimes
written as
where the symbol 611111 , known as the Kronecker delta, is defined by the equation
(i c /11 11)
(5.7)
(ifm =I= 11)
'("nnx)
l
L
o
.
s11r -
L
I
1x
= 11. _!___=-._~)_'~2nn:\}_L dx = ~
0 - -
J (2) I 2 . 17 Tl.\"
u 11 (.\) = - Sill - (11 2 ])
L L
\Ve stated in the preceding section that the Sturm-Lioll\ille problem (4.2),
t4.3) has only real eigenvalues. This fact can be established by using the proof
of Theorem 5.1.
TIIEORE.\I 5.2. The eige11rn/11es of the St11r111-Lio11rille proble111 (4.2). (4.3) are
all real and the corresponding eiqenfunct ions are real except f(Jr a constant
( po1.1ibh complex) factor.
146 Green's F1111ctio11 and St11rm-Lio11ville Problems Chap. 4
(5.9)
Similarly, by taking the complex conjugate of each of the boundary conditions
since :J., fi, /',and c) are real constants. Now equation (5.9) and (5.1 I) imply that
17f is also an eigenfunction of (4.2). (4.3) and I. is the corresponding eigenvalue.
Hence, Jetting 11 tjJ and r = lji in the proof of Theorem 5.1, from (5.4) we have
Since 1/1(x)17f(x) U 2 (x) + V 2 (x) > 0 and r(x) > 0 for a ::;; x ::;; b, the
integralin(5.12)isalwayspositive. Therefore.wemustha\e i. - I.= 2it = O;
in other words, r = 0. Thus, i. = s, a real number.
If we consider the real and imaginary parts of equations (5.8) and (5. I 0), we
see that both U and V are eigenfunctions corresponding to the eigenvalue
i. = s. Hence, C = c V for some constant c so that
i/1= U+iV=(c+i)V
Exercises 4.5
e 1 . ( .
- sm mn In x) sm(mn In x) dx = 0
Jxl
d (x1/)
-- + ( }.x - p2) u = 0 (0 < x < 1, p > 0)
dx x
u(O) = 0, 11(1) = 0
when }. 1 and .Jc 2 are distinct roots of the equation Jp(Vl) = 0. (See Problem 17,
Exercises 4.4.)
7. Do as in Problem 6 for the singular Sturm-Liouville problem
d
- -
dx
(1x ') + x).
II ll =
0 (0 < x < 1)
11(0) 0, 11(1) = 0
when and v are distinct roots of Jl/2(J.. 112 /2) = 0. (See Problem 19, Exercises
4.4.) .
8. The singular Sturm-Liouville problem
called Legendres polynomials. Veriry that Theorem 5. 1 holds in this case, and
thus deduce that
j_
'j
1
P,,,(xJP,,(xJ dx 0
\\hen m fc 11.
I 1. Sill
' lliTX
. cos
lliTX I
111 2 IJ
\ L L I
12. Do as in Problem 10 for the eigenfunctions of Problem 16. Exercises 4.4, and
obtain an orthogonal system of eigenfunctions.
13. Show that Theorem 5.2 remains \alid \\hen the boundary conditions (4.3) are
replaced by (4.4), pro\ided p(a) = p(h)
14. Show that if q is nonpositi\e on the intcnai u <; x < h, then the eigemaiucs of
equation (4.2) are nonnegati\ c under each of the folio\\ ing bound;.iry conditions:
(i) Ilia) = 0, 11(/JJ = 0.
(ii) 1d11) = 0, 1dh) ~ 0.
(iii) 1/(a) - Ci 11(a) == 0, 11'(/JJ + C211(h) = 0. Ci 2 0, Cz 2 0.
Hint: /\1uitiply the d1fTerential equation (4 2) by 11 and integrate from x 11 to
.\' =c /J.
15. Show that if II and I' arc eigenfunction-; or the boundary \alue problem
n:::: 1 L
Sec. 6 Eigen.fimction Expansiom ,- .\fean CouverlJence 149
where the functions X (x) = sin(nnx/L). (11 2: 1). are eigenfunctions of the
11
(6.2)
2
h,, = -
rl. j(x)
. sm. _ 11nx
dx (11 = 1, 2, ... )
L. 0 L
This formula was deri\ed by making use of the orthogonal property of the
eigenfunctions X (x) = sin(11nx/ L), 11 2: I.
11
The series (6.1) is actually just a special case of the problem of expanding a
function fin an infinite series of eigenfunctions of the more general Sturm-
Liouville problem (4.2), (4.3). For if f satisfies appropriate conditions. it is
possible to expand the function in a series of the form
Cf.
where c/J," 11 2: l. are the eigenfunctions of the problem (4.2). (4.3). Here we
assume that the eigenfunctions <P have already been normalized. If the expan-
11
sion (6.3) is possible, the coefficients c,, can then be determined in the same way
we determined h,, for the series (6.1 ). We multiply both sides of equation (6 3)
by r(x)c/J'"(x) and integrate the result over the interval [a. h]. Assuming that the
series can be integrated term by term. we obtain
b x 1b
r
a r(x)f(x)</J,,,(x) dx = ~ c,,.
1 1 0
r(x)c/J 11 ,(x)</J 11 (x) dx
(6.4)
Cf:
== L
,1=1
c11<3"'"
where we have used equation (5.6). Since <5,,,,, 0 when m =I= 11 and ri,,, 11
The series in (6.3) with the coefficients c,, given by (6.5) is called the generalized
Fourier series of the function f with respect to the orthonormal system {c/J,,J.
The coefficients c,, are called the Fourier coefficients. We observe that the series
in (6.3) can always be formed for a given function f whenever the coefficients
(6.5) can be determined. However, there is no guarantee that the series obtained
\\ill converge at any point in the interval a :<::: x :S: b. In fact, e\en when the
series does converge, there is no assurance that it will converge to the function f
on that interval. Until the question of convergence has been established, we
shall simply regard the series in (6.3) as the formal eigenfunction expansion of
/with respect to the orthonormal system {</.i and write 11 }
00
f(x) ~ L c,,,,(x)
11= 1
150 Green's Functions and St11r111-Liouville Problems Chap. 4
For reference, we present a basic theorem that gives sufficient conditions for
the pointwise convergence of the series in (6.3) to.f The theorem will be proved
in the next chapter in the special case where L = (d/dx) 2 for which the ortho-
normal system {,,} consists of trigonometric functions.
Example 6.1. Determine the series (6.3) for the function f(x) x, 0 S x < 71 with
respect to the orthonormal system {(2/71) 112 sin nx].
Solution: By (6.5) we find
According to Theorem 6.1, the series converges to the function /(x) = x for
0 < x < 71. At x = 71, we notice that the series converges to zero while/(71) of- O.
At x = 0 both the series and the function converge to zero. Hence, the series
expansion above is valid for 0 S x < 71.
In the study of convergence of the series in (6.3) or, for that matter. of any
series involving orthogonal functions, there is a different kind of convergence
that is often more convenient and appropriate to use. especially when pointwise
convergence can nowhere be attained. We refer to the notion of convergence in
the mean square sense or, briefly, convergence in the mean. We say that the
sen es
00
with coefficients given by (6.5) converges to fin the mean if and only if
(6.7) Jim
m-oo f l b
a
r(x) f(x) - "'
L
n=l
c'n 11 (x) J
2 dx = 0
Sec. 6 Ei_qenfimction Expansion; /Hean Convergence 151
Here, we shall continue to regard the system {"} as the set of normalized
eigenfunctions of the Sturm-Liouville problem (4.2), (4.3). although it can be
any given set of orthonormal continuous functions on a :s; x :s; b relative to a
weight function r, r(x) > 0.
The integral
is a measure of the average error in approximating/ over the interval a :s; x ::::; b
by the mth partial sum
m
(6.9) S,,,(x) = L cn<f> (x)
11= 1
11
and is called the mean square deviation of S"' fromf The vanishing of (6.8) as
m tends to infinity implies that S,,, is close to f for all points in [a, bJ except
possibly for points in a set of intervals whose total length is small. Thus, it is
possible for the series (6.6) to converge in the mean to f without actually con-
verging at every point in the interval [a, b]. This indicates that convergence in
the mean does not imply pointwise convergence. It is also true that pointwise
convergence does not imply mean convergence.
It is significant that if we are to approximate the function f by any linear
combination I:~'= 1 a" 11 (x) of the normalized eigenfunctions 1 , . . . , ,,, in the
sense that the mean square deviation (6.8) is minimum, the coefficients a 11 must
be chosen precisely as the Fourier coefficients (6.5) off with respect to the
system { 11 } relative to the weight function r. Indeed, since the integral
rf(x) ,,
- "~ a 11 ,.(x) J2 dx
1
b
(6.10) = r(x)
E(a 1 , .. , a 111 )
J a
is a function of the coefficients a 1 , , a,,,, we see that in order for E(a,, ... , a,,,)
to be minimum, it must satisfy the equation
:s; i ::::; m. Now. in view of the orthonorrnality of the system {<fJ 11 }, this gives
a; f r(x)f(x)c/J;(x) dx
which are the Fourier coefficients of/ relative to the system {</J 11 } with weight
function r.
152 Gree11's F1111ctio11 and 5:i't11rm-Lio1nille Problems Chap. 4
To see that these coefficients render the integral (6.10) minimum, let us
expand the integrand in (6.10) and integrate the terms. We obtain
(6.11) + 11=1
m
L r
'a
r(x)cp,,(x)cf>,(x) dx
b
J,, r(x)f 2 (x) dx 2 L"'
n::: !
a,,c,,
"'
+ L
11= 1
a~
rb m
L"'
= I r(x)/2(x) dx + ~ (a,, c,,)2 ~ c~
.. a 11- 1 n::::: 1
where we ha\e again used the orthonormality of the system {</>,,]. It is now
apparent from the last expression abo\c that (a 1 , , a,,,) has minimum value
when a; = c; for i = I. , 117. Thus. the mthpartial sum (6.9) really provides
the best approximation to f with the eigenfunctions qJ 1 , cf>"' in the mean
sq uarc sense.
\Vhen a,, c,,. \\e see from (6.8) and (6.11) that
( 6.13)
"'
,,:s= c;,::::;
rb r(x)/ 2(x)dx
I
1 a
for any 111. This important result is knO\\n as Bessel's inequality. \Ve notice
that as m increases. the sum on the lef't is always bounded abO\e by the integral
of r/2 O\er [a. b]. Hence. if we assume that/is a function such that the integral
on the right of ( 6.12) exists (e.g .. I is piece\\ ise continuous). then on letting m
tend to infinity. Bessel's inequality becomes
(6.14) ~
"' c;, : : ; {/> r(x)(1(x) dx
II-] ., a
a
r(x)f(x)cp,,(x) dx = 0
No\\, suppose that for a given function/the series (6.6) comerges in the mean.
Sec. 6 Ei_qe1(/imctio11 Expa11sio11; .Hean Com'er_qe11ce 153
r
or
This is a partieular case of the inequality (6.14) and is called Parseval's equation.
It is readily seen that if Parseval's equation holds. then the series (6.6) converges
in the mean. Therefore, Parseval's equation is a necessary and sufficient condi-
tion for the mean convergence of the series (6.6).
We say that the system of orthonormal functions {c/> 11 ] with weight function r
is complete with respect to a class of functions (e.g., the class of piecewise
continuous functions) if for every function fin this class, the series (6.6) con-
verges in the mean, or equivalently. Parseval's equation (6.16) holds. In terms
of this notion of completeness, it is known that the set of eigenfunctions of the
Sturm-Liouville problem (4.2), (4.3) is complete with respect to the class of
functions that is square integrable on a ~ x ~ b. (A function f is said to be
square integrable on a ~ x ~ b if both f and / 2 are integrable on [a, b].)
J
Thus. if/is a square integrable function on [a. b (e.g . .fis piecewise continuous).
then its expansion in series of eigenfunctions of the problem (4.2), (4.3) with
coefficients given by (6.5) converges in the mean. In this connection, it is interest-
ing to note that a function satisfies significantly much weaker condition for
mean convergence than it ordinarily does for pointwise convergence.
Exercises 4.6
I. If a11 (11 2: I) are constants such that the series of eigenfunctions L,,~= 1 a 11 c/J 11 (x)
converges to/(x), where/(x) = 0 for each x on the interval a S x S b, show that
a 11 = 0, 11 2: 1.
2. Let 11 11 (11 2: 1) be a sequence of eigenfunctions not necessarily normalized and
suppose that
f(x) = ~ a 11 11 11 (x) (a S x S b)
11:...-:J
~ cf,,,(.1)
n=1 vn
'Y.u(a) + f3u'(a) 0
(7.2)
}'li(b) + bu'(b) 0
We suppose that the normalized eigenfunctions qJ,, corresponding to the eigen-
values i. 11 (11 ~ l) of the related homogeneous Sturm-Liouville problem (4.2).
(4.3) are known. Then, for ~ach 11 ~ I, we have
(7.3)
We assume that a solution u of the problem (7.1), (7.2) exists and can be
expressed as a series of the form
y;
If the series in (7.4) con\erges suitably for appropriate values of the coefficients
c,,, then the function u represented by the series automatically satisfies the
boundary conditions (7.2), since each of the eigenfunctions,, does. It remains.
then, for us to determine the constants c,, such that the series in (7.4) satisfies the
differential equation (7.1 ). Proceeding rather formally, we substitute (7.4) in the
differential equation (7.1) and use (7.3) to obtain
if. y_,
CfO
I c11 [ - ) . 11 r(x)</J,,(x)]
n= l
if;
=f(x)
This can be written as
00
where we have set F(x) = f(x)/r(x). Let us further assume that the function F
can also be expressed in a series of the eigenfunctions 11 Then
00
(7.6) F(x) = I
n:::; 1
b,,,,(x)
where, by (6.5),
Since this holds for all x in the interval [a, b], each coefficient of the series must
rnnish; hence, we have
(7.9) (11=I,2, ... )
(n=l,2, ... )
156 Green's F1111ctio11 and Sturm-Liouville Problems Chap. 4
cc b11
(7.10) u(x) =
..
L .
~ (!. -
1
/.II)
,,(x)
where the constants h,, are given by (7.7). This is our formal solution of the
boundary value problem (7.1), (7.2). The series in (7.10) is called the eigen-
function expansion of the solution of u. If the function f(x)/r(x) is continuous
and piecewise smooth on [a, b], it is possible to show that (7. l 0) is the one and
only solution of the problem (7.1), (7.2).
Now, if /. is equal to an eigenvalue of the corresponding homogeneous
problem (4.2), (4.3)-say, /. = !.k for some fixed integer k-then when n = k.
equation (7.9) becomes ck 0 = bk. If bk =/= 0, then the coefficient ck cannot be
determined. This means that the problem (7.1). (7.2) has no solution in this case.
On the other hand, if bk = 0, that is, if
(7.11) b, = rb f(x)cpk(x) dx 0
~a
then ck becomes arbitrary and a formal solution of the problem (7. l ), (7.2) is
given by
Cf b11
(7.12) u(x) ,i.,,(x) + cr1'k(x)
11~1 (A - A,J ~
"
'
nk
Example 7.1. Find the solution of the nonhomogeneous problem 11" + J,.11 = x,
0 < x < 11;11(0) = 0,11(11) = O;where). fc. 11 2 ,11 = 1,2, ....
Solution: We recall from Example 5. I that the related homogeneous boundary value
problem has the normalized eigenfunctions rp,,(x) = v 2/ir sin nx corresponding
Sec. 7 So11ho111oge11eous .S't11r111-Lio11ville Problems; Bilinear Expu11sio11 157
to the eigenvalues i.,, = 11 2 , 11 2: I. From L\amrle 6.1. the Fourier coetlicients of'
the function/(.1) x \\ith respect to the orthonormal system : rp,,: arc given by
\ !;r
b,, = _, (- I)''' I (11 = I, 2. .l
II
L"' =L+1.r=
. d (p d) +q *
dx dx
where q* = q + i.r. and note that [}' is also self-adjoint, thus possessing
properties similar to those oft he operator L Suppose that i. is not an eigemalue
oft he homogeneous problem (4.2 ). ( 4.3 ). Then. according to Theorem 2. I. the
Green's function corresponding to the operator L'' and boundary conditions
(7 2) exists. This function can be determined by using the formula (2.14) with
11 1 and u 2 now depending on both x and i .. being two linearly independent
solutions or the equation [}'11 = 0 such that they satisfy the boundary conditions
al x = a and x = b. respecti\ely. If C(x: .;: i.) denotes the Green's function so
determined. then by Theorem 2.1 the solution of the nonhomogeneous problem
(7.1), (7.2) is given by
h
(7.13) t1(x) = j G(x: .;: i.)f(;) d.;
u
Thus. in the case\\ here i. 1s not an eigcmaluc. the solution of the problem (7.1 )_
(7.2) has the representations (7.10) and (7.13). If we substitute the formul:.i
(7.7) for h,, in (7.10) and formally interchange the order of summation and
integration. (7.10) becomes
Jn\ iew of the Uniqueness Ol the solution II in the present Case. We conclude that
the representations (7.13) and (7.14) arc identical_ Hence_ we formally deduce
that
The series on the right-hand side of (7.15) gives the eigenfunction expansion of
the Green's function G and is called the bilinear expansion of C. In this form.
158 Green's Function and St11rm-Lio11vil/e Problems Chap. 4
we have a composite expression for the Greens function on the whole interval
a :::;; x :::;; b. and its symmetric property with respect to the variables x and ~
becomes apparent.
It is natural to expect that the bilinear expansion in (7.15) can be established
from Theorem 6.1, it being the generalized Fourier series of G with respect to the
orthonormal system {cp,,]. with coefficients depending on ( and i.. In fact, from
the properties of a Green's function, we know that G is continuous, has piecewise
continuous derivative. and satisfies the boundary conditions (7.2). Hence,
according to Theorem 6.1, G can be expressed in generalized Fourier series of
the form
oc
(7 .16) G(x;(;/.) L c,,cp,,(x)
n=J
where
Thus, the bilinear expansion (7.15) will be established if we can show that
If we multiply the first equation above by G and the second equation by </>,,,
and then subtract one result from the other, we obtain
Let us integrate both sides of equation (7.19) over the interval a :::;; x :::;; b.
making an intermediate stop at the point x = (because of the discontinuity of
dG/dx at that point. to obtain
Applying Lemma 3.1 to each of the integrals on the right side of (7.20), we find
(}. - l 11 ) r
a
r(x)G(x; (; 1.),,(x) dx
'
-dG("c + O; t;;
" /.') - dG(,
- ( - O; t;;
" ).') = - 1
dx dx - p(O
which yields (7 .18) in view of (7 .17). This completes the derivation of the
expansion (7.15) from Theorem 6.1.
It follows from (7.15) that if/. = 0 is not an eigenvalue of the homogeneous
problem (4.2), (4.3), then the Green's function G(x; () for the operator L
corresponding to the boundary conditions (4.3) has the bilinear expansion
(7.22)
In the case where i. is equal to an eigenvalue (say, i. = i.k for some integer
k > 0) for which condition (7.11) holds, it is possible to construct a modified
Green's function G ''(x; (; /) along the procedure described in Section 3 so that
a solution of the problem (7.1), (7.2) may also be given in the form (7.13).
However, we shall not discuss this possibility.
Example 7.2. Find the Green's function and its bilinear expansion for the operator
L* = (d/dx) 2 + i. with boundary conditions 11(0) = 0,11(11) = 0, where ..1. is not
an eigenvalue.
.....
160 Green's Function a111/ Sturm-Liouvi/le Problems Chap. 4
,/x) = \ 2/rr sin nx, 11 2: I. Hence, if ). -,t 11 2 and G is the Green's function
sought, then by (7.15) we ha\e the bilinear expansion
7I)
(''" '. i. " ' " ' i<(
(0 Sc x Sc ")
\ ;, sin \ 1. n
G(x; ~;}.)
sin \ ) " sm \ /.(x - 7I)
(~ Sc x Sc 7I)
\ i. s 111 \ /. 7I
For i. = 0, which is not an eigenvalue, the Green's function for the operator
L = (d 1dx) 2 can be obtained from C(x: (: i.) by letting i. tend to zero. In fact.
for 0 _::;; x _::;; (, we see that
r1111
i. - O
sin \,1 ). f2in ' /.(x
--- r-
,;,sin, i. rr
-
7[)
-
((x -
7[
n)
j
x((_~)
(0 _::;; x _::;; ~)
7[
G(x: c) =
((x - n)
-~-~--
7[
Exercises 4. 7
/TX 777x
3. II " I di - 3 cos i- 2 cos (0 < 1 , 11
2 2
11'(0) o. 11(1) - 0
4. II " /.// !:
" I
sin (2k
-
1) x
k=I k 2
LliOI = 0. II' ( 77) 0
7. d
dx
(I ')
x
II
.
i- 1.
x3
II= [3 sin(77 In x) - 4 sin(377 In x) ]/x
3
(I :Sx:Sel
11( Il = 0, u(e) = 0
(See Problem 14, Exercises 4.4.)
8. Obtain the bilinear expansion of the Green's function for the problem
LICO) 0. 11(L) = 0
when ). is not an eigenvalue.
9. Find the Green's function for the operator L = (d 2 /dx 2 ) + i. subject to the
boundary conditions L1(0) = 0, 11'( I) = O. and obtain its bilinear expansion. In
particular, show that
10. By using formula (7. I 5), show that the Green's function for the operator
(0 < x < 1)
subject to the conditions u(O) is finite and 11(1) = 0 has the bilinear expansion
E <h().nx) cf,(}.,/,)
n=l ).
2
- }.~
where
1 0 (}.,,x)
cf,().,,x) = and
10 ().,.x)
(See Problem 17, Exercises 4.4.)
162 Green's Function and Stur111-Lio11ville Problems Chap. 4
11. Find the Green's function G(x; s; }.) for the operator
L =
d
dx
.
(-i dx
d) + ).x 2
subject to the boundary conditions 11(1) = 0, 1/(e) = 0, and by (7.15) show that
it has the bilinear expansion
G(x; ; }.)
where
sin [( 11 -:\ );r In _\]
J,,(x) =
-sin(n 1J;rlnx,;
12. Find the bilinear expansion of the Green's function for the operator
L = d ("
dx dx.
d) - n2x + ;_2x ( 11 positive integer)
1
[(x/)" - (x)"] (0 s x s i;J
~ m(i.,i;Jmhxl
211
).I
[(~/x)"
!
k= 1 1
- (.r)"] ( s x s I)
211
where
, . ) J,,( ;_,x)
1v(1.,x = and
I J,,(i.kx)
13. Find the bilinear expansion of the Green s function for the operator
d 1d) ;_ 2
L= dxCdx + -~
subject to the boundary conditions 11(0) = 0, 11( I) 0, and show in particular
L2
(11 = I, 2, ... )
1111X
(1.3) lln(x) = COS --
L
163
164 Fourier Series and Fourier Inteqrnf Chap. 5
A.ccording to Theorem 5.1 of the preceding chapter, each of the sets of eigen-
functions giwn b\ ( 1.2) and by ( 1.3) forms an orthogonal system on the interval
0 :::;; x :::;; L. That is.
and
'L _ Ill T:X 11 i!.\ d
cos -- cos - - x 0 ( l1l =/= II )
l
0 L L
Now let us consider the set of functions
Ill:.\ 11 lT .\
( 1.4) cos----. Sin - - (11 = I, 2, ... )
L L
which is the collection of the eigenfunctions ( l .2) and (1.3). These functions are
all periodic and have the common period 2L: that is.
cos
))) JI x
L
-- cos
11 Tix
L 2
I cos (Ill
-
L
II )n:x
+ cos
( /)J
+L11)n:xJ
Sill
111 TLX
L
--~ Sill
11;:x
L 2
l (
cos /Jl
-
L
11 )n:x
cos
(m +L11)rrx J
we immediately obtain
(1.6) J L
cos
mnx
-~cos
nn:x
--
d
x 0
-L L L
Formulas (l.6) and ( 1.7) show respectively that orthogonality of the eigen-
functions (1.3) and (I .2) remain valid on the extended interval - L s x s L.
Finally, from the identities
. 17li1X
Sll1 -
L
cos
lli1X
L
=
1
2
.
l
Sll1
(111 - n)n
L
+ .
Sll1
(111 +Ln)i1x]
J
we see that for all integers m and /1
mnx nnx
I
L .
(1.8) s111-- cos dx=O
-L L L
This shows that each of the functions in (l.2) is orthogonal to each of the
fun ct ions in ( l.3) on the interval - L s x s L, and vice versa. Therefore, by
definition, it follows that the functions in (1.4) form an orthogonal system on the
interval - L s x s L.
Note that because of the periodicity of the functions ( 1.4), formulas ( 1. 5)-( 1.8)
also hold over any other interval of integration that is of length 2L. Thus, the
set (I .4) is also orthogonal on the interval a s x s a + 2L for arbitrary
constant a.
It is worthwhile to note that the functions in ( 1.4) actually constitute a set of
eigenfunctions for the eigenvalue problem
I IJITX . llITX
(l.10) - cos
~ . - SIJ1 ( 11 ::::: I)
'L L ~L L
2. Fourier Series
(2.1) f( .\) ~
c0___ _ -,-, ~
/... (
-c" -_COS mrx + c,;; _Sill
. mrx)
-
'\ 2L "= I '\ L L '\. L L
where the Fourier coefficients are given by
C0 = - j- -- J'L f(x) dx
-,,2L -L
L
. mrx
(2.2) .f (x) cos - dx
J-L L
I
L llTCX
c'
II
= f (x) sin dx
-,,! L -L L
for /1 = I, 2, .... lf we incorporate in the formulas (2.2) the common factor
1
1/-,, L appearing in the series (2.1). then we can write the series in the convenient
form
(2.3) f(x) ~ a
-0 + L
"' (
a" cos 11nx
+ b" sin ''- 11-x)
2 11=! L L
where the coefficients a11 and b11 are now given by
an ==
1
L
IL -L -
f(x) cos nnx dx
L
(ll 0, I, 2, ... )
(2.4)
b,, = I- IL f (x) /l7[X
- dx
sin (11 = I, 2, ... )
L -L L
The series in (2.3), with its coefficients given by (2.4). is called the Fourier series
off on the interval - L ~ x ~ L. We notice that this series is precisely the
eigenfunction expansion off with respect to the set ( 1.4) of eigenfunctions, with
the constant I replaced by -}: hence, the coefficients (2.4) are the Fourier
coefficients off with respect to that set.
If f is periodic, of period 2L. then the integraritl-s-in the integrals ( 2.4) are also
periodic, of period 2L. Hence. the interval of integration [ - L. L J can be
replaced by any other interval of length 2L: that is. (2.4) can also be written as
a,, =
J fa+ 2L .
f (x) cos
llTCX
- dx (n = 0, I. 2, ... )
L 0
- L
(2.5)
bII = I r~2L.1c).
x Sill ll7IX,( x
- (II 1, 2, ... )
L 0 L
for any choice of the constant a.
In Section 5 of the present chapter. we shall show that if f satisfies certain
restrictions, then its Fourier series converges pointwise to f on - L ~ x ~ L.
Sec. 2 Fourier Series 167
In such case, the function can then be represented by its Fourier series, and thus
the symbol ~ in (2.3) can be replaced by the equality sign.
We observe that whenever the series in (2.3) converges on the interval
- L :::; x :::; L, it converges for all x to a periodic function of period 2L. This is
so because each term of the series is periodic, of period 2L. Therefore, if the
series converges tofon -L:::; x:::; L, it will converge to the periodic extension
off for all x with period 2L. Consequently, iff is defined for all x and is not
periodic, it cannot have a Fourier series representation that is valid for all x.
/(x) = fO ( - 7[ s x s 0)
\x (0 < x s n)
an = ; L' x COS nx dx
J COS Im - (- 1)"
7[
II II
4 11= 1 mi- n
7[
4
oc
~
11= 1
l n(211 -
2
1) 2
cos(211 - l)x + ( - --
I)" sin
n
11x
]
In Section 5 it will be shown that this Fourier series does converge to the
function on the interval - n < x < n. Hence, outside this interval, the series
converges to the periodic extension off with period 2n. The graph of that
extension is shown in Figure 5.1, where it is seen that the extension is discon-
tinuous at the points x = (211 - I )n, 11 = I, 2, .... At these points, the series
will be seen to converge to the value n/2, which is the average of the left-hand
and right-hand limits of the extended function at the points of discontinuity.
168 Fourier Series and Fourier Integral Chap. 5
i( \]
Example 2.2. Find the Fourier series of the function /(x) = - 7[ ~ x ::;; 7r.
I ,-
IT
f 0
__ .. --rr
- x dx + ,-,. x dx
""'o
J n
2
+ n
2
n
a,, J rso
n __ "
-x cos//_\" dx + rrr x
o
cos nx dxj
2
(( - I)" -- I)
J \_
iI
lO
.. - rr
- x sin 11x dx + Jrr
0
x sin 11x dx l
0
11x cos nY - sin 11x /IX cos /IX - sin /IX
1127l I
0
= 0
for n 1, 2, , . . . Hence,
'le
2 (-I)" -
:x: n
+ l: n-?
cos llX
2 1I n '.:'.: 1
cos(211
l:"'
n 4 - J)x
(-n ~ x ~ n)
2 TC n= I (211 - I )2
lt will follow from Section 5 that this series converges to the function lxl on the
interval indicated and hence to the periodic extension of that function with
period 2n for all x outside that interval (Fig. 5.2). Notice that here the periodic
extension is continuous at all points.
Sec. 2 Fourier Series 169
;'( y l
-3rr
The Fourier series in (2.3), with coefficients given by (2.4), can be written in
the equivalent form
'fJ
.( ~ (. 111LX . . IJTIX)
} x) ~ Co + ~ c,, cos + I Sill
11=1 L L.
~ c0 + L
":, ,-
(c,, + c _ 11 ) COS
IJ IIX
+ Ic c,, - C -n
) 5111. IJITXJ
L
11=1 _ L
Now, by (2.7), we see that for 11 ::2:: 1,
c,, + c_n = I
2L
ft_ _
f(x)(e-inrrx!L + einrrx/L) dx
1
and
2L I L j(x)(e-inrrx/L _ einrrx,'L) dx
-L
L ein"x/L _ e-inrrx/L
L I -L
f(x)
2i
-- dx
and
c0 = J JL f(x) dx = a0
2L -L 2
So the series in (2.6), with its coefficients given by (2. 7), is precisely the Fourier
series off. This series is known as the complex form of Fourier series.
Exercises 5.1
In Problems I through 7, find the Fourier series of the given function on the interval
indicated and describe graphically the periodic function to which the series can
CO!l\'erge.
(-rr<x<O)
1. f(x)
(0 ,::; x < n)
(~
( - 7[ ,::; x ,::; 0)
2. /(x) = (0 ,::; x ,::; rr/2)
7[ - x (rr/2 ,::; x ,::; rr)
3. f(x)=
I \' + l
11-x (-1 ,::; x ,::; 0)
(0,::; x,::; I)
nx
6. f(x) = x cos (-L,::; x,::; L)
L
7. f(x) = x + x2 (-L<x<L)
8. Using the result of Problem 4, find the Fourier series of the function cosh ax =
(eax + e-ax)/2 on the interval [ - n. n ].
9. As in Problem 8, find the Fourier series of the function sinh ax = (ea" - e-x)/2
on the interval ( - n, n).
Sec. 3 Fourier Cosine and Sine Series 171
10. Let f be a periodic function with period 2L and set g(x) = f(x - L) for all x.
Show that
g(x) ~ ~
a 0 + .... ( - I) n (' a,, cos -nnx + lJn SID
. -nnx)
2 11=1 L L
I (x) = f (x + 2rr)
12. As in Problem 11, obtain from the result in Example 2.2 the Fourier series of the
function
f(x) =
.
{x-x+ +n: n: (-n: s x :::; 0)
(0 :::; x s rr)
f (x) = f (x + 2n:)
13. If f(x - L) = f(x), show that a 211 _ 1 = b 211 _ 1 = 0 for n ~ l and that
a 211 =
2- JL f(x)cos
. 2nn:x
- - dx (n = 0, I, ... )
L 0 L
b 211 =
2 JL f (x) sm. ---
2nn:x dx (11 = I, 2, ... )
L 0 L
14. Apply the result of Problem 13 to obtain the Fourier series of the function
f(x) = x, 0 :::; x < n:, f(x - rr) = f(x)
15. Using the complex form of Fourier series (2.6), show that the function in Problem
4 has the expansion
00
I I
I I
I I
I I
I I
I I
I I
I I
I _____ '
.._____LI _ _ -
~
-
_
_
_
L
~------
IJ L I .
/1
I
I
I
I
I
I
I
(d I IhI
This follows readily from the geometrical interpretation of the integral as the
area under the curve y = f(x) bounded by the lines x = L. Analytically. it is
easily proved by writing
Jro IL f(x) dx
IL
-I. f(x) dx = _L f(x) dx +
0
and setting x = - I in the first integral on the right. Using the definition (:U).
we thus obtain
Ir ((x)dx
(L 0
I j(x) dx = I
{
f(-t)(-dt)+
-L L 0
C
()
f(I) dt + C
0
f(x) dx
/
2 1 f(x) dx
0
(3.4) rL f(x) dx = Q
L
It is easily shown from the definition that the product of two even or two odd
functions is an even function and that the product of an even and an odd func-
tion is an odd function. For example, if both f and g arc even and if we set
h(x) = f (x)g(x), then
h(-x) = f(-x)g(-x) = f(x)g(x) = h(x)
Sec. 3 Fourier Cosine am/ Sine Series 173
which shows that h is even. On the other hand. if.f is even and g is odd. then
_ (lo
f(x) - + ~
L.
(
an COS
mrx
+ b . 11r:x)
n Sll1
2 Fl . L L
where
I
L nnx
an == f(x) cos - dx
L -L L
2 JL f(x) cos
nnx dx
(n=0,1,2, ... )
L 0 L
and
b,, = 1 IL .
f(x) sm ~ dx
/l1[X
= 0 (11 = 1, 2, ... )
L -L L
respectively. Th us, iff is an even function on [ - L, L J, its Fourier series reduces
to
ao oc 'lirX
(3.5) j (x) ~
+ L a,, cos , .
2 n= 1 L
where
This series is called the Fourier cosine series off on the interval 0 s x s L.
We note that formula (3.6) for the coefficients a. involves only the values off in
the interval 0 s x s L. Hence, even when f is defined only on the interval
[O, L ], one can formally form the Fourier cosine series off. If the series con-
verges to the function on [O, L ], then the series automatically extends the func-
tion into the interval '--- L s x s 0 as an even function, and extends it outside
the interval [ - L, L J as an even periodic function with period 2L.
~-.
174 Fourier Series and Fourier Integral Cliap. 5
b
n
= -J
L
f L
-L
j(x) sin -11nx dx
L
=
2- JL f(x) sm. nnx
--- dx (11 = I, 2, ... )
L 0 L
where
2 JL . --L-
nnx
(3.8) b,. = L J(x) sm dx (11 = I, 2, ... )
0
Example 3.1. Find the Fourier cosine and sine series of the function /<x) x.
0 :::: x s Tl.
an
2
7I
I'"
... 0
x cos 11x dx
2 (-1)"
Tl 11
2
Tl 2 "' ( - 1J" - 1
X ~ -1- ~ COS /IX (0 :::: x :::: Tl)
2
2 Tln=I 11
This series is the same as the series we obtained in Example 2.2, as should be
expected. (Why?) The series cornerges to the function x on (0, n] and represents
the even periodic extension of the function for all x \Vi th periodic 2n. The periodic
extension coincides with the extension of the function considered in Example 2.2.
The Fourier coeftlcients for the sine series are
") ,_
b11 = ~
Tl
J"x sin 11x dx
0
(-1)"+1
2
/[
so that we have
'f (-11"+1
x ~ 2 ~ sin nx
n=l II
It will be seen that this series converges to the function x for 0 :::: x < n. For
all x outside the interval [O, n ], the series extends the function as an odd periodic
function with period 2n (Fig. 5.4). The periodic function is discontinuous at the
points x = nn, 11 = 1. 3, 5, ... , at which the series has the value zero. We note
in passing that on the interval 0 S x :::: n, the function /(x) = x can also be
represented by the Fourier series obtained in Example 2.1.
i( ' l
I I
---1-,-
1
I
.'ii 10
I
I
cl
11 11
Irr. 2
2 2 2
ao = cos x dx -- Sll1 x
n 0
7[
'0
2
2
ll1
/[
r"
0
cos x dx
2
il 0 C' (cos 2x + 1 I dx
2
For > I. \le ha\e
r
11
2
2
a,, cos \"cos /IX rfx
7i
/[
cl
0
[co'>!n + llx + cos( n -- l)x] dx
~ .-r .' 2
j sin( n + lh sin( 11 - I Ix\
+
;r I I/ + I II -
I I 0
Since
7i
- 1) s111 nn cos n cos im sin n
2 2 2 2
l/li
:!: cos
2
and cos(nll/21 = 0 \1hen 11 is odd. and cos(mi:j2) (- I/ 1. hen 11 2k, A
I, 2,. _., 11e obtain
(-I )k f 1 l 2(-]Jk+I
n 2k + 2k t I n( 4k 2 - 1)
Thus, 11e have
2 "' (-I )k+ I
f(x) + cos x + ~ cos 2/...x
2 "k=1 (4k 2 - !)
Sec. 3 Fourier Cosi11e all(/ .";i11e .5eries 177
/(.\)
t
I
& oi
... \
Exercises 5.2
In Problems I through 5, find the Fourier cosine and sine series of the given function.
and graph the periodic function to which the series can converge outside the given
interval.
1. f (x) fx, 0 s x s -}
\I - x, -i s x s l
3. f (x) I -
x, 0 < x < 2.
0 s x s
4. f(x) = (x.
t I. s x < 2'
5. f(x) = eX, 0 < x < 7[.
In Problems 6 through I 0, find the Fourier cosine series of the function on the given
interval.
6. /(x) = cos 2x, 0 s x s 7[.
7. /(.\) =
f sin nx, 0 s x s 1
\I -1- s x s I
8. f(x) = sinh x, 0 s x s 7[.
9. /(x) = f x,
0 s .\' <
\0, < x < 2
10. f(x) = sin x, 0 s x s 7[.
In Problems 11 through 15, find the Fourier sine series of the function on the given
interval.
f sin x, 0 s x < n/2
II. /(x)
\0, n/2 < 0 S n
178 Fourier Series and Fourier Integral Chap. 5
f1 nnx . nnx \
12 , cos -I.- , s111 L I
(4.1)
, L fl IL f(x) dx]2 = L a6
c0
2 LL . -L 2
,2
c,. =
Lil IL/'(). 117TX I ]2
LL -L. x Sll1 L ( x =
Lb'
;,
c6 + L
11=
Ill
1
(c7, + c;, 2 ) L fa6
L2
+ I
11= I
(a;, + b~)l
or
(4.2)
a20
+ L"' (a;, + b7,) :$
I IL f 2 (x) dx
2 11= I L -L
for any m. This is the form of the Bessel's inequality we seek for the coefficients
an and bn.
Sec. 4 Bessel's /11eq11a/ity; Rie111a1111-Lebesg11e Theorem 179
(4.3) q6 +
2
I
11= t
(a;, + b;,) s 1
L
Jt
-t
/2(x) dx
a2 oc
(4.4)
2
0
+ .L ca;,
11= I
+ b7,)
Proof: We first prove the theorem in the case where g is continuous on the
interval a s t s b. Set
(4.7) I= r a
g(t) sin l.t dt
and make the change of variable t = r + (rr/).), assuming that}, is so large that
b - rr/} > a. Since sin /.t = sin /.(r + (rr//.)) = -sin h, the integral (4.7)
becomes
b-rr/). ( rr)
(4.8) I - g r + -~-
J a- rr/). I.
sin /.r dr
....
.180 Fourier Series and Fourier Integral Chap. 5
Using again t as the variable of integration in (4.8), and adding the equation to
(4.7), we obtain
(4.11)
respectively.
Now let i: > 0 be any given small number. Since g is continuous on the
closed interval a :::; t :::; b, it is uniformly continuous there; that is. correspond-
ing to the given c;, there exists a number() such that
''g(t) - g
(I t + "')- .: < f,
(whenever ~ < c5)
. J. b - a !. .
where I is any point in the interval [a, b]. Then the first term on the right of
(4.9) gives
1 r: (b - Ti") < 1:
< a - . ')
2 b - a J '
Therefore, if we choose i. sufficiently large so that Tt/i. < <> and M-:c/i. < 1:/2,
then on taking absolute values in (4.9) and using the bounds in (4.10), (4.11).
and ( 4.12), we get I/I < r,, which precisely implies (4.6).
Jn the general case, let a = t 0 < t 1 < < t" < tn+ 1 = b be the points
where g is discontinuous. Then
(4.13) I
IL>
{b
a
g(t) sin i.t dt = -~
"
1-0
ri+I
._ fj
g(t) Sin i.f dt
Sec. 4 Bessel's b1eq11aliry; Rie111a1111-Lebes_que Theorem 181
THEOREM 4.3. ~fg is a piece11 ise continuous function on the interrnl a s t < oo
s11ch that the integral
(4.14) f 00
a
Ig(I JI dt
(4.15) lirn
.I.----> oc
f'"
.. a
g(t) sin i.t dt = 0
Exercises 5.3
l. From the Fourier series of the function f!x) = x/2. - rr < x < n, show by
Bessel"s inequality that
II= 1
iI4
~ s;
n=l 114 90
3. From the Fourier series of.f(x) x' - iI s; x s; 7r' show that
if
~
n= I (211 1)4 96
<See Example 2.2.)
4. From the Fourier series of the function f(x) = e"', - ;-; < x < rr, show that
I + 2 ~ s; n coth rr
ri=l 112 +
(See Problem 4. Exercise 5. I.)
182 Fourier Series and Fourier lnte_qral Chap. 5
00
2
2
+ I:
"
11~ I
a,7 s: ;-
7r
J" f
O
2
(x) dx
6. Let f be piece\\ ise continuous on 0 :S x s n and let h,, be the coefficients in the
Fourier sine series off. Show that
I:'"
11= l
b~ S 2
7t
J" f
0
2
(x) dx
. Jb g(t) sm. (m +
l1m
m--+:r a 2
I). r dt = 0
9. Show that
IO. Prove Theorem 4.3. Hint: Absolute integrability of g on a -s t < ex: implies that
there is a constant B such that J;
_q( f) dt I < c/2, whenever b > B, corresponding
to a given r > 0. I.et h > B and write
.C 9(1) sin ).t dt = ib q(f) sin ).t dr + L"" g(t) sin l.t dt
Take absolute values on both sides of the equation and use Theorem 4.2 in the
first integral.
We ~hall now present conditions under which the Fourier series of a given
function can converge to the function. Without loss or generality, we shall
assume in our discussion that L = rr. We do this mainly for the sake of con-
venience as the theorems that we shall prove hold for arbitrary value of L.
Thus, let f be a function defined on the interval - ;r :<.::;; x :<.::;; rr and let the
J
function be extended outside [ - rr. rr as periodic function with period 2rr. Then
the Fourier series off is given by
f.
(5.1) f (x) ~
00
2
+ L
11= 1
(a" cos nx + b" sin nx)
Sec. 5 Convergence of Fourier Series 183
where
Our goal is to establish conditions on.funder which the symbol~ in (5.1) can be
replaced by equality.
Consider the mth partial sum of the series in (5.1); that is,
a0 m
(5.3) S 111 (x) = + L (a,, cos nx + b 11 sin nx)
2 11= I
+; ,,t l(f r 1
_/(()cos nf, df,) cos nx
J m
(5.5) S =- +
2
L
11= I
cos nu
2S sin
1
2
u = 2 (sin l
2
u) (l2 + I 11= I
cos nu)
. 1 "' . 1
= sm- u + 2 I sm - u cos 11!1
2 11= I 2
184 Fourier Series and Fourier Inte.qral Chap. 5
Since
2 Sl11
. 1
2
U COS llU sin(n + ~) u - sin(n - ~) u.
. l
2 S srn u
2
. l]
Sll1 U + r.Sl11
. 3
2
11
. 1
5111 2 111l + ...
I
sin ( 111 +
2) u
or
sin(111 + l/2)t1
s --------
2 sin(u/2)
Hence, we have
"' sin(m + l /2)11
(5.6) + L cos nu
2 n= I 2 sin( u /2)
(5.8) Sm(x) =
1 Jn-x ./.(x + sin(m + l /2)1 I
I ) - - - - - .- {f
7r -n-x 2 sin(t/2)
where the intenal [ -rr - x, rr - x] of integration remains of length 2rr. Now,
by assumption and from (5.6), the functionsf and [sin(m + l/2)1J'si11(1 12), and
hence their product, are periodic of period 2n. Since the integral of a periodic
function is the same over any interval whose length is equal to a period. we
finally have, from (5.8),
This is called Dirichlet's formula for the partial sum of a Fourier series. This
formula will enable us to prove pointwise convergence of a Fourier series to its
corresponding function.
Sec. 5 Conver_qe11ce of' Fourier ,S'eries 185
In the particular case where f(x) = I. so that the Fourier series of( consists
only of the single term I. (5.9) yields the special result
(5.10) 1 = l f"
n . __ rr
sin(111 + l/2)t cit
2 sin(l/2)
for all /11 (see also Problem 2 in the exercises). Clearly. the integrand in formula
(5. 10) is even: hence. it follows that
where the coefficients a,, and b,, arc gicen b_i ( 5.2). The Fourier series concerges to
f(x) at all points 1rhere f is continuous. and to the acerage [f(x - 0) + f(x + O)] 12
at all points ll'here f is disconti11uo11s.
(5.14) .
I1m -1 Jo 1.( x + t ) sin(m + . - d t -_ l f( x - O)
l/2)t
m-acn -n 2 sin(t/2) 2
and
(5.15) .
IJill -1 J" f( x + t ) sin(m
+
l /2)1 cl I 1
- f(x
2
+ 0)
,,,_ oo n 0 2 sin(t/2)
186 Fourier Series and Fourier Integral Chap. 5
In view of the identities in (5.11), equations (5.14) and (5.15) are equivalent to
(5.16) Jim }_
m~oo n
J
0
-rr
[f(x + t) - f(x - O)] sin(m __+
2 sm(t/2)
1i 2
)t di = 0
and
(5.17) .
I Im
m~oo
l
n 0
f" - - - + --l/2)t
[f( X_ + t ) - j'( X_ -r. O)] sin(m
2 sin(t/2)
- -- d t -_ 0
respectively.
Let us consider (5.17) and set
= f~(x)
Jim
m-oo
f" g(t) sin(m + 1/2)1 dt = O
0
which proves (5.17). In exactly the same manner, we can show that (5.16) is also
true. Thus, (5.13) is established and so the theorem is proved.
n-
4
00
n~1
l
- L --- -2-
(2n - 1) 2 n
cos(2n - 1)x + (-_-1)"-
n
. ] = (0x
sm nx
n/2
(-n < x ::.:; 0)
(0 ::.:; x < n)
(x = n)
Sec. 5 Convergence of Fourier Series 187
In Example 2.2, the function f(x) = lxl is continuous and piecewise smooth,
including its periodic extension outside [ - n, n] for all x. Hence,
tt11ere
(5.21) f (x) = L
n=l
bn sin nx
188 Fourier Series and Fourier Integral Cliap. 5
where
(5.22) b,, =
2
7[
f n
0
f(x) sin nx dx (11 = 1, 2, ... )
The cosine series and the sine series converge rm the intervals 0 ::::; x ::::; n and
0 < x < n, respecticefy, to f(x) at points where f is continuous and to
[f(x - 0) + f(x + O)J/2 at points where f is discontinuous. Moreover, outside
the interval 0 ::::; x ::::; n, the cosine series cotm:rges to the even periodic extension
off, and the s1i1e series to the odd periodic extension off.
Notice that the even periodic extension of the function f is necessarily con-
tinuous at the points x = nn, n = 0, 1, 2,. . .. Hence, the Fourier cosine
series in (5.19) converges at the points x = 0 and x = n to f(O+) and f(n-),
respectively. On the other hand, the odd periodic extension off is continuous
at x = nn, 11 = 0, 1, 2, ... if and only if f(O+) = f(n-) = 0. This is evident
from the sine series in (5.21), which converges to zero at the points x = nn.
Exercises 5.4
(c) By using the formula ei = cos u + i sin 11, take the real and imaginary
parts on both sides of the result found in (b) and obtain the results
sin(m + I /2)11 I
cos 11 + cos 211 + + cos mu = - -- - --- --- - -
2 sin(u/2) 2
. . . I u cos(m + l/2)u
sm 11 + sm 211 + + sm mu = - cot - - - ---- - - - -
2 2 2 sin(u/2)
l:1
ri= n 2
12
l: I
II= ll
2
6
5. Let f(x + 2n) = f(x) for all x, where
f(x) = fO ( - T[ s x s 0)
\sin x (0 s x s n)
Prove that for all x,
00
1 . 2 cos 211x
f (x) = + - sm x - - l:
Ti 2 Tin=I 411 2 - I
Deduce that
00
1 1
l: --=-
11=1 (411 2 - I) 2
6. Let f(x) = 0 for - I < x < 0, /(0) = 1, and f(x) = cos nx for 0 < x < I.
Prove that for -1 < x < 1,
1 4 <:.() /1
f (x) = cos nx + l: sin 2nnx
2 Ti n=1 411 2 -
7. Let
f(x) = {x
(0 s x s n/2)
T[ - x (n/2 s x s n)
(a) If /(x) = f(x + n) for all x, show that
(b) If f(x) = -f( -x) for - n s x s 0, and f(x + 2n) = f(x) for all x, show
that
f(x) = ~h
n
[! + 2
f (si!2_'
11=1 nh
!!!)
2
cos nx]
f (x = {cos(nx/L) (0 s x s L/2)
) - cos(nx/L) (L/2 s x s L)
Show that, for all x,
f(x) = -
2
+
4 f (- !)"+ 1 co~(2n7!x)jL
T[ T[ n=l 4n 2 - 1
(See Problem 13, Exercise 5.1.)
190 Fourier Series and Fourier Integral Chap. 5
10. Let f(x - n) = f(x) for all x, where f(x) = cos x when 0 < x < n. Show
that, for all x, x #- 11, (11 = 0, l, 2, ... )
8 ~ n_ s_in 21_1x
f(x) = - ..,,
n 11 = 1 4n 2 - I
11. Let the function
be extended as odd periodic function with period 2L. Show that, for all x,
Hence, deduce
oo I
2: - -
8 II= l (211 - 1) 2
lr
1[ - "'
(6.1)
b'n = - f'(x) sin nx dx (n 1, 2, ... )
1[ - "'
Sec. 6 Uniform Convergence of Fourier Series 191
(1a~I ~r a,,
,2 21a:.I + -I > 0
2 -
11 11
21b:.I
it follows that
(1b;,1
lf = b;,2
11
+ 11
1
2 -
> 0
Hence,
(6.3)
converges. Using this result, we now prove the following theorem on uniform
convergence.
192 Fourier Series and Fourier Integral Chap. 5
THEOREM 6.1. Let f be a continuous piece1rise smooth function 011 the interrn!
-n S: x S: n such that f( - n) = f( n). T/]('11 the Fourier series off
(6.5) ao
2
+ f
11= 1
(a 11 cos 11x + b 11
sin 11x)
It should be pointed out that the conditions stated in the theorem actually
ensure absolute and uniform convergence of the series (6.5) on any interval to
the periodic extension of the function. In this connection, the condition
f( - IT) = j(IT), which guarantees continuity of the periodic extension off; is
essential because the sum of a uniformly convergent series of continuous
functions must be continuous.
The next theorem on uniform convergence of Fourier cosine and sine series
can be treated as special case of Theorem 6.1.
2
+ L
11= l
a,. cos nx
L b,, sin nx
n= 1
Notice that here the condition.f(O) = f(IT) = 0 ensures continuity of the odd
periodic extension off, thus making it possible for the Fourier sine series to
converge uniformly to f (x) for all x.
Sec. 6 U11iform Conrergence of Fourier Series 193
Now suppose that f is a function that satisfies the conditions of Theorem 6.1.
Then we have
(6.6) j .(x) = Go
+ ~
L.
(
a 11 cos. nx + h . nx)
Sill (-rr:S::x:S::1r)
11
2 n~ I
where the convergence of the series tofis absolute and uniform. Let us multiply
both sides of(6.6) byfto obtain
The series on the right of(6.7) converges uniformly tof 2 (x) on -n :s:: x :s:: 1r.
To see this, let t: > 0 be an arbitrary small number, and let B denote the
maximum value or If I on - n :S:: x :S:: n. By the definition of uniform con-
vergence, there is an integer M such that
{;
JS,h) - f (x)I < (whenever - n :s:: x :s:: n)
B
for all m > M. Here, S,,, denotes the mth partial sum
ao m
S,,,(x) = + L (an cos nx + h 11 sin nx)
2 11= I
Then, clearly,
whenever - n :s:: x :s:: n and for all 111 > M. This shows that the sequence
S 111 (x)f(x), which is the mth partial sum or the series on the right of (6.7),
converges uniformly to .f2(x) on [ - n, n]. Therefore, term-by-term integration
of (6.7) is possible (Chapter I, Section 5) and we obtain
In .f2(x) dx = a; In f(x) dx
+ t rl
11 l
G 11 Jn
-rr
f(x) COS llX dx + bn Jn
-n
f(x) sin IJX dx]
+ I~ + b;,) J
or
n
l a2
2 11= 1
(a;,
(6.9)
al0
+ Ioc:
(a~ + b~) =
I In f 2
(x) dx
2 11=1 n -n
1
Jim f" [f(x) - S,,,(x)] 2 dx
m--+XJ n J _rr
(6.10) = lim j l
111-.-J_ lrr
J" -n:
f 1
(x) dx - la~+
l2
I
n=l
(a;,+ b;,)lJI
J
=0
which says that the Fourier series (6.6) converges to fin the mean. Thus, we see
that uniform convergence of a Fourier series implies convergence in the mean.
In terms of the idea of completeness that we introduced in Section 6 of Chapter 4,
we can therefore conclude that the orthogonal system (4. I) of eigenfunctions is
complete with respect to the class of functions that is continuous, piecewise
smooth, and periodic of period 2rr. Actually, the system (4.1) is complete with
respect to the class of functions which is square integrable (e.g., piecewise con-
tinuous) on the interval [ - rr, rr]. This means that the Fourier series of a func-
tion f converges in the mean whenever the integral f"..." .f2(x) dx exists. Then, for
such a function, Parseval's equation (6.9) is satisfied.
Let f and g be two square integrable functions on [ -rr, rr], with Fourier
coefficients denoted by a,1' b,, and a:, b:, respectively. From the obvious
inequality
(6.11) If"
rr -rr [f(x) + g(x)] dx
2
+ a6) 2
=
(a 0
2
- -- +
11=1
L:c; [(a,, + a,';) 2 + (b,, + b:)2J
(6.12) If"
rr -rr f(x)g(x) dx
2
00
I
n=l
f1 (-n<x<t)
g(x) = \0 (t < x < rr)
Sec. 6 Uniform Co11vergence of Fourier Series 195
This is precisely what we shall get if we formally integrate the series (6.6) term
by term from - rr to t, where - rr :s:; t :s:; n. Jn view of this result, we can there-
fore assert that if f is square integrable (say, piecewise continuous), then whether
or not the Fourier series of J converges, the integrated series converges to the
integral of .f. (See also Problem 8.)
Exercises 5.5
1. Let a,, and b,, be real numbers and consider the quadratic equation
m m m m
~ (a,, = ~ a~ + 2). ~ a,,b,, + ). 2 ~ b~
2
+ J.b,,) 2 0
n=l ri=l 11=1 n= I
( "~I
111
a,,b,,
)2 (n~I a;,
S
111 ) (
"~I
m
b;,
)
Deduce
00 (-1)"+1 7[3
n~I (211 - 1) 3
32
By Parseval's equation, show that
"' 7[6
~ 6
n=I n 945
196 Fourier Series and Fourier Integral Chap. 5
4. Sho\\ that the Fourier series of lhe function given in Problem 5, Exercises 5.4,
can be integrated term by term from 0 to x when 0 < x < n, and obtain the
result
8 oc 11 sin 211x
cos x = ~ (0 < x < n)
l[ rJ:::: 1 411 2 - I
{ ~ ;:,
2x)(n + 2x) (0 :S x ::S rr/2)
~ (_ )" + 1 cos(2n - I )x
1
11= i (2n 1) 2
- n)(2x - 3rr) (rr/2 ::S x :S rr)
32
6. Let /(x) = I - x, 0 ::; x ::; 2. Show that the Fourier series of/ converges
uniformly to the function for 0 :S x :S 2, and that
8 ~ 1 (211 - I )rrx
I - t = ~ . cos
. rr 2 n= I (211 - 1)2 2
Deduce
00
~
II= [ (211 96
7. Obtain from Problem 6 the series
8. Let I be a piecewise continuous function on the interval - rr ::; x ::; rr and con-
sider its Fourier series
if)
f(x)
00
+ ~ (a 11 cos nx + h 11 sin 11x)
2 11=!
Set
ao
F'(x) = f(x) - -2 and F(n) - F(- rr) = jrr
-"
(
f(t) -
a )
} dt
Sec. 6 Uniform Co11ver.qe11ce of Fourier Series 197
Thus F satisfies the conditions of Theorem 6.1 and therefore can be represen-
ted by an absolutely and uniformly convergent Fourier series \\ith Fourier
coefficients given by
A11
71
f:" F(x) cos 11x dx (11 O. I, 2, ... )
B11 =
I
n
J:. F(x) sin nx dx ( /1 I, 2, ... )
Hence,
F(x)
Ao
2
+ ~
11= 1
(- b 11 cos 11x
11
+ a,, sin
/1
11x)
and
II~) 11a)
Ao
0 = + b,, cos 11a + a 11 sin
2 (-
II II
r
(c) Thus, obtain the result
/(I) dt = a o (x - a)
+
2
~
C
ll= I
l Gii
sin nx - sin na _ b cos 11x - cos
II
II
/1
11aj
This proves that '-" hether or not the Fourier series of a piecewise continuous
function f converges to/, the series can be integrated term by term to yield a series
that converges to the integral off
9. Integrate the series
00
x ~ (-1)"+1
sin nx
( - n < x < n)
2 n=l n
00
(x2 (-I)" sin 11x
~
(b) _x_ - 712) (-n:S:x<n)
12 n=l n2
~>.
198 Fourier Series and Fourier Integral Chap. 5
7. Fourier Integral
As we Jet L --> co, the first term on the right of (7.3) will vanish, provided the
integral s~ 00 f (~) d~ exists; which it certainly does if we assume that f is abso-
lutely integrable on the interval - co < x < co. We assume that this is the case.
Then, on letting L--> co, from (7.3) we obtain
The sum in equation (7.5) reminds us of the sum defining the definite integral of
the function
F(x, s) =
1
f(~) cos s(~ - x) d JL
71: -L
over the interval 0 s s < oo. Thus, it seems natural to expect that as L--> oo,
(7.5) leads to
(7.6) f(x) = nJ -w x) d
0
(7.7) .f( ,x - 0) +
2
f(x + 0) = l
71:
f "'j
0
ds Joo f mcos s( -
-oo
x) d
J J d~
00
= Jim
).--4-C()
1
1[
J). ds J"' .rm cos s(( -
0 -!"fj
x) d~
The inner integral on the right side of equation (7.8) is uniformly convergent
with respect to s for 0 s s s /., since
Jim cos s Cs - x)J s 1.f()1
and .f is absolutely integrable on ( - oo, oo ). Hence, the order of integration with
respect to and scan be interchanged (Chapter I, Theorem 5.3), and we obtain
I
7!
f 00
O
ds J' "'
-~oo
Jm cos s(~ - x) d = ~im
A-too
I
JI
J""
-oo
Jm J;. cos s(~
0
- x) ds d~
(7.9)
71:
1
J 0
00
ds f"'
-oo
f(O cos s(~ - x) d~ = Jim
,l~oo 71:
1
Joc
-oo
.f(x + t) sin l.t dt
t
.....
200 Fourier Series and Fourier lnte_qral Chap. 5
In Chapter I, Example 6.3, we found that JO' (sin t)/1 d1 rr12. From this it is
easily shown that
(7.10)
o si11 ; I
. dt =
Joc sin ).I dt = 7l
(). > 0)
J
-"" I 0 I 2
Hence, the Fourier integral formula (7.7) will be established if we can show that
(7.11) hm 1
1.-+oc7IL-r_
j [/(x + t) - f(x - O)] sin It dt
f
= 0
and
(7.12) hm I
). --4 'X: rr L
f0
oo [ .f( x + t ) - .f( x + O)] sin )t dt
t
= 0
I = I j'" f (x +_ t) - f (x + 0) sin It dt
7l o I
where
I1
I l'h
f(x
+ t) - f(x
-
+ 0) . . I
sm 1.t ct
TI o 1
I2
1 ('
I f (x + t)
sm
. . d
1.t t
TI b I
IJ
_
-
f (x + 0) Joc sin z -- (
Iz
TI ib Z
Jim I = Jim (1 1 + 12 - I 3) = 0
A--+XJ ;.-oo
and so (7.12) is proved. By the same method we can also show that the limit in
(7.11) is zero. This completes the proof of the theorem.
Sec. 7 Fourier /11tegral 201
. JI (x s 1)
j(x) = \0 > 1)
Solution: It is clear that the function here satisfies the conditions of Theorem 7.1.
Thus, for - oo < x < oo, we have
f'(x - 0) + f (x + 0)
2 n
{" ds
Jo
f 1 cos .1( -
-1
x) d
r'l"~ins(-x)Jl ds
n Jo l .1 - l
.2
n
l"'
0
cos sx sin--s ds
s
= \.-~ -
( xj < I)
(xi 1)
(xi > I)
In particular, at x = 0, we have
00
1 0
sin s
--
S.
ds =
n
?
-
2
n
l"" cos s sins
s
- ds= 1
n
J.'l) sin 2s ds
s 2
0 0
by (7.10).
By expanding the function cos s(( - x) in (7.6). we see that Fourier integral
formula can be written as
where
(7.14)
A(s)
h. J oo
- cc
f(() cos s( d
B(s) = ~ ~ f 00
f(O sin s~ d
In this form, (7.13) is analogous to a Fourier series representation and (7.14)
to the formulas for the Fourier coefficients. It is significant in this connection
202 Fourier Series anti Fourier Integml Chap. 5
to note that the functions cos sx and sin sx are linearly independent eigenfunc-
tions, corresponding to the same eigenvalue i. = s 2 , of the singular eigenvalue
problem
u" + i.u = 0 (-oo < x < oo)
u bounded as Jxl ---> oo
The eigenvalues }, = s 2 in this case are no longer discrete but continuous, and
consist of all real nonnegative numbers. Thus, the representation (7.13) is a
generalization of eigenfunction expansion where summation with respect to the
eigenvalues is now achieved by integration.
Now suppose thatf is an even function that satisfies the conditions of Theorem
7. I. Since f (O cos s and f () sin s( are respectively even and odd functions
of, the formulas (7.14) yield
1
A(s) = -
n
J Im00
-co
cos s( d~ = ~ roc
n Jo
f(() cos s( d~
(7.15) f(x) = ~
00
This extends f for all x as an odd function when f is defined only for x :?: 0.
Let us state these results in the following theorem.
u + l.u
11
= 0 (0 ~ x < co)
11(0) = 0, 11 bounded as x ---+ co
2
with eigenvalues ). = s > 0.
Example 7.2. Find the Fourier cosine integral formula for the function
f(x) = f sin x (0 s: x s: n)
\0 (x > 0)
Solutions: Note that the function here is continuous for all x ~ 0. By (7.15) we have
f"
0
sin f. cos sf. df. = I
2
f" 0
[sin(! + s)f, + sin(l - s)f.) df.
f
_ I cos(l + s)f. + cos(! - s)f,l"
l+s2l 1-s 0
I + cos sn
I - s2
f(x) = -~ {"'
1 + C5>S s_ir cos SX dx
n Jo I - s2
(0 s: x S: n)
(x > n)
The integral converges for all x to the even extension of the function (Fig. 5.6).
204 Fourier Series and Fourier lnte_qral Chap. 5
! ( _\ J
Example 7.3. Find the Fourier sine integral formula for the function given in Example
7.2.
.
j (x) =
2 oo sin sx (foo
Jo sin(, sin sf,
d(,) ds
n: J 0
Since
I
2
I sin sn:
I - s
+
sin sn:
I - s2
Here, the integral converges to the function for all x ( - CfJ < x < oo ), since the
function is odd for all x (Fig. 5.7).
Sec. 7 Fourier Integral 205
!( \)
Exercises 5.6
1. Let
(0 < x < k)
I .(xl =
11
. \0 (othernise)
Show that the Fourier integral formula aprl ies to f and evaluate
for all x.
r
0 s-'
ds
when 0 S x S n.
sm x =
n i 0 1 - s
" ds
cos x =
2
n
f"'-
o
s cos sx sin sn d
I - s2
s
when - n < x < Tt. What is the value of the integral at the points x n?
5. Represent the function
f(x) = fO (x < 0)
\e-x (x > 0)
s sin sx + cos- sx
CS1
I + s2
for all x.
6. Show that the Fourier cosine integral formula applies to the function
f(x) = e-x (x 2 0)
to give the representation
for all x 2 0.
8. Express the function/(x) e-x cos x. x 2 0, by Fourier cosine integral formula
and sho\\ that
e-xcosx= 2
n
f 0
s
s4
1
+ 2 cossxds
+ 4
(x 2 0)
10. Sho11 that the Fourier sine integral formula applies to the function
{~
(0 < x < I)
f(x) =
(X > l)
and evaluate
- ~os ~ sin sx ds
s
for all x 2 0.
Sec. 8 Fourier Tramform 207
" s(coss sn + J) .
for all x.
J0
2 _ I- sm sx ds
14. Express the function f(x) = xe-x, x :0: 0, by Fourier sine integral forlllula and
show that
_ x 4 [~ s sin sx ds
xe = (x :0: 0)
n .o (I + s2)2
8. Fourier Transform
2
In fact, upon making this substitution for cos s( - x) in (7.6), we find
(8.1) I
2n:
J"' f"'
0 _ ""
f(s)eis(~-xl di;, ds
If in the first integral on the right we make the change of variable from s to -s
and then combine the result with the second integral, we obtain
(8.2) f(x) =
1
J"' f
2n _ oc _
00
'fj
f(()e-is(~-.x) d(, ds
Let us set
which is now analogous to the complex form (2.6) of the Fourier series. Using
these symmetric formulas, we can restate Theorem 7 .1 as follows:
(8.3)
Then
(8.4) f(x) =
"\i2n
J:~
- ,_
F(s)t!isx ds
The function F defined by (8.3) is called the Fourier transform of .f, and .f
defined by (8.4) is the inverse Fourier transform of F. Along with other integral
transforms (e.g., Laplace transform), the Fourier transform is an invaluable tool
in applied mathematics.
F(s) = . I r-e-i'']"
v' 2rr \/27! l is -a
ei.\a - e-istJ
2
is ?"
_/
112
= (;) sins a!.
][ J
CL
- 00
sins-e
.as isx ds =
l ~
-,
0
(ixi < a)
(!xi = a)
(ix! > a)
Sec. 8 Fourier Transform 209
Next, we define the Fourier transform of a function that is defined only for
x :2': 0. In the Fourier cosine integral formula (7.15). let us set
The function FJs) is called the Fourier cosine transform off. In view of the
symmetry between (8.5) and (8.6), we see that I is in turn the Fourier cosine
transform of F,(s); thus, f and Fe are cosine transforms of each other.
Similarly, from the Fourier sine integral formula (7.16), we define the Fourier
sine transform off as the function
(8.7) F,(s) = CJ
'2' 1/2 J"' f (() sin s( d(
0
When f is a given function, the formulas (8.5) and (8. 7) can be regarded as the
solutions of the integral equations (8.6) and (8.8), respectively. Applications of
these various transforms will be illustrated in the chapters to follow.
Example 8.2. Find the Fourier cosine and sine transforms of the function
f(x) = e-ax [x 2'.: O; (a > 0))
112
2
) [ e-a::, (ssinsC, - acossC,)] "'
(n a2 + s2 0
(n2)
2
1/ a
a2 + s2
and. by (8.7), its Fourier sine transform is
F,(s) = G) 112
.C' e-a~ sin sC, dC,
e-~ 2
112
2 00
(n
) [ , (s cos sC, + a sin sC,)]
a- + s 0
(2)
1 2
1 s
11 a2 + s2
210 Fourier Series and Fourier Integral Chap. 5
n:e-ax
J
oo COS SX
ds = (x :2: 0)
0 a 2
+ s 2
2a
and
("' s sin sx
(x > 0)
Jo a2 + s2 2
respectively.
Exercises 5.7
f(x) =
I Ix/ (!xi s I)
{Q (1x > I)
1
2. Find the Fourier transform of the function f(x) = e-aJxl, where a > 0.
3. Find the Fourier transform of the function f(x) = I /(I + x 2 ). (Use the result of
Problem 6, Exercises 5.6.)
4. Show that the Fourier transform of the function f(x) = e-x' 12 is F(s) = e-'' 12 ;
that is, e-x'J 2 is its own Fourier transform. (Use the result of Problem 10,
Exercises 1.6.)
5. Let F(s) be the Fourier transform off(x). Show that-
(a) the Fourier transform of f(x)ei> is F(s - a).
(b) the Fourier transform off(ax) is (l/a)F(s/a).
(c) the Fourier transform of g(x), where
6. If tl1e Fourier transform off and/' exist andf(x)--> oo as !xi --> oo, show that the
Fourier transform of f'(x) is F(s).
7. Find the Fourier cosine transform of each of the following functions:
8. Find the Fourier sine transform of each of the functions given in Problem 7.
9. Solve the following integral equations for the function f:
(a) Jg' f(s) sin sx ds = e-x cos x, x > 0.
(b) JO' f(s) cos sx ds = e-x sin x, x :2: 0.
Sec. 8 Fourier Transform 211
10. Let f and g satisfy the conditions of Theorem 8.1 and Jet F and G denote their
respective Fourier transforms. Define
= f(x) * g(x)
This is called the convolution off and g.
(a) Show thatf(x) * q(x) = _q(x) * f(x); that is,
(b) Show formally that H(s) = (2n) 112 F(s)G(s), where His the Fourier transform
of h. (Take the Fourier transform of h and interchange the order of integration.)
11. Solve the integral equation
(x < 0)
h(x) =
(x ~ 0)
for the function f, and then verify part (b) of the preceding problem.
Chapter 6
In this chapter we shall be concerned with some problems dealing with the
typical linear parabolic partial differential equation
cu F(x, t)
c:t
212
Sec. 1 Derivation of the Heat Equation 213
0 \" + /',_\"
at x + Ax. According to the theory of heat flow, the amount of heat in this
segment is
x+Ax
(1.1) cpAu(s, t) ds
Q(t) =
Jx
On the other hand, the rate at which heat flows into the segment across the
cross section at xis known to be proportional to the product of the cross section
and the gradient of the temperature of the cross section; that is, it is equal to
OU
(1.2) -KA ~ (x, t)
ox
where K denotes the thermal conductivity of the rod. The negative sign in
( 1.2) is used to indicate the fact that heat flows in the direction of decreasing
temperature. Similarly, the rate at which heat flows out of the segment through
the cross section at x + Ax is given by
(1.3) -KA -
au (x + Ax, t)
ax
The difference between the amount of heat that flows in through the cross
section at x and the amount of heat that flows out through the cross section at
x + Ax must be equal to the change in the heat content of the segment x :s;
s :s; x + fix. Hence, by subtracting (1.3) from (1.2) and equating the result to
the time derivative of (I. I), we obtain
00 rx+Ax CU
-:::-,- = cpA - (s, t) ds
ct x at
(1.4)
KA au
~ - (x + Ax, t) - ~ - (x, t) J
au
=
[ox ox
cp cu
_ (c;:, t L'i.x
v )
= K rau_ (x + ox,
A I) - _ (x, t )J
au
ct .ex ex
Dividing both sides of this equation by cp L'i.x and taking the limit as L'i.x -> 0,
we finally obtain
Du k
i?u
(x, t)
- (x, l)
ct iJx2
or
au (x, a2 u (x, I) K_)
(1.5)
ct
t) - k
<ix 2
= 0 (k =
cp,
by recalling the definition of partial derivative. Equation (1.5) is called the one-
dimensional heat equation. Jt is an important example of a partial differential
equation of the parabolic type. The constant k is usually called the diffusivity.
If heat is supplied to the rod from an external source at a rate, say, f(x, t)
per unit volume per unit time, then the term .f:~+tix f(s, t) ds must be added to
the right-hand side of (1.4). Thus, in passing to the limit as L'i.x -+ 0, we get
(1.6)
cu_ (x, t) - k ;:
a2 u (x, 1) = F(x, t)
ct cx 2
where F(x, t) = f(x, t)/cp is the source density. This equation is called the
nonhomogeneous heat equation.
On the other hand, if heat is being radiated from the rod into the surrounding
medium at a rate proportional to the temperature of the rod, then we shall have
the so-called radiation equation
(1.7)
OU
_ - (x, l) -
c1 u
k _ 2 (x, I) - hu(x, t) = 0
ct cx
where h is a positive constant. A combination of ( 1.6) and (1. 7) will, of course,
lead to the nonhomogeneous radiation equation
(1.8)
cu (x, t)
c2
u
/.,: (;x 2 (x, t) + hu(x, t) = F(x, 1)
2t
In each of the cases of heat conduction in a thin rod discussed above, we saw
that the temperature function u satisfies a partial differential equation of par-
abolic type. From physical considerations, we know that the differential equation
alone cannot determine the temperature distribution in the rod at any subsequent
time. We need to have additional information regarding the initial temperature
of the rod and the conditions imposed at its two ends. This means that we must
Sec. 2 lnitial and Boundary Co11ditio11s 215
specify u(x, t) at some initial time (say. at time t = 0) and describe how the
two ends of the rod exchange heat energy with the surrounding medium. Thus,
with reference to the case in which there is no heat source, if the temperature
of the rod at t = 0 is described by the function f(x), 0 ::;: x ::;: L, and the two
ends are maintained at zero temperature at all time, then the temperature
distribution u in the rod at any later time t > 0 is found by solving the differential
equation
(2.1) u1 - ku.u = 0 (0 < x < L, t > 0)
and
(2.3) u(O, t) = 0, u(L, t) = 0 (t ;:::: 0)
This problem is called an initial-boundary value problem for the heat equation.
The auxiliary conditions (2.2) and (2.3) are called initial condition and boundary
conditions, respectively.
We notice in the problem (2.1 ), (2.2), (2.3) that only the value of u is prescribed
initially and not both u and u,, as in the case of the wave equation. This is,
of course, dictated by the physical problem being considered. But even from a
mathematical standpoint, 11 1 cannot be prescribed arbitrarily, since it is related
to u.u initially through the differential equation. As a matter of fact, we shall
see in the next section that the set of auxiliary conditions (2.2) and (2.3) is
appropriate for the heat equation or for any of the other related differential
equations given in the preceding section, in the sense that the problem is well
posed.
The conditions (2.3) correspond to the fixed boundary conditions for a
vibrating string, which we considered in Chapter 3 for the wave equation.
Other forms of appropriate boundary conditions corresponding to the free and
the elastic boundary conditions for a vibrating string can also arise in our heat
conducting problem. Indeed, if both ends of the rod are insulated so that there
is no heat flow across the ends, then according to (1.2) the boundary conditions
assume the form
OU
;;-- (0, t) = 0, ~u (L, t) = 0 (t ;:::: 0)
(2.4)
OX ox
.. On the other hand, if there is radiation of heat at the ends of the rod into the
surrounding medium, which is kept, say, at zero temperature, then the boundary
conditions will be of the form
OU
- - (0, t) + hu(O, t) = 0
(2.5)
ox
OU
-- (L, t) + hu(L, t) = 0
OX
216 The Heat Equation Chap. 6
for t ~ 0, where h is a constant. Notice that all these boundary conditions arc
linear. As in Chapter 3, we shall refer to these conditions, (2.3), (2.4), and (2.5),
as boundary conditions of the first, second, and third kind, respectively.
It is also possible to consider the problem of finding a solution of the heat
equation or any of its related equations in the infinite domain - oo < x < oo,
t > 0, which satisfies only the initial condition (2.2) prescribed for - oo <
x < oo. Such a problem physically represents conduction of heat along an
infinite thin rod; accordingly, the problem is called an initial value problem.
It will be seen in later sections and exercises that an initial value problem for the
heat equation and its related differential equations is well posed.
Exercises 6.1
1. Verify that each of the given functions satisfies the heat equation ( 1.5) for O <
x < re and the accompanying initial and boundary conditions.
(a) u(x, t) = e-kt sin x; u(x, 0) = sin x, u(O, f) = u(rc, t) = 0.
(b) u(x, t) = e-kc cos x; u(x, 0) = cos x, ux(O, t) = ux(rc, t) = 0.
(c) u(x, t) = ++ 1e- 4 kt cos 2x; u(x, 0) = cos 2 x, uO, t) = ux<rr, t) = 0.
2. Verify that the function
] -x2/4t
u(x, f) = - e
Vt
(a) Determine a function of the form </J(x. f) = A(t) + xB(f) such that
</J(O, /) = a(t) and </J(L, t) = b(f ).
(b) By introducing a new function v, defined by v = u - , reduce problem
(a) to one in which the boundary conditions are homogeneous.
4. Consider the initial-boundary value problem in Problem 3, with the boundary
conditions uxCO, t) = a(t), ux(L, t) = b(t). Determine a function such that
</Jx(O, t) = a(t) and </Jx(L, t) = b(t) and thus reduce the problem to one with
homogeneous boundary conditions.
5. Reduce the problem
u, - kuxx = 0 (0 < x < 7T, f > 0)
u(x, 0) = sin x (0 :S x :S rr)
u(O, t) = t 2 , u(rr, t) = e' (t > 0)
I= T
"= 0 .1 ~I
0 ! = Q
Proof: We first prove that the maximum principle holds for a continuous
function 1" that satisfies the differential inequality
(3.1)
\Vhich is contrary to the fact that 1' satisfies (3.1) at (x 0 , t 0 ). Hence, i: cannot
assume a maximum at (x 0 , 10 ). Since i: is continuous in the closed region
0 s x s L, 0 s t s T, 1 has a maximum value. It must therefore occur
either at t = 0 or x = 0 or x = L.
Now consider a continuous solution 11 of the heat equation (1.5) in the region
0 s x s L, 0 s t s T. Let u s 1V/ at t = 0 for 0 s x s L, and at x = 0
and x = L for 0 s t s T. We shall show that 11 s M at all points in the
rectangular region. Define the function i: by the equation
r(x, I) = u(x, t) + BX
2
Sec. 3 The /\1ax:i11111111 Principle a11d Uniqueness Theorem 219
so that z; satisfies (3.1 ). Hence, by the previous result, 1' must assume its maximum
value at t = 0 or x = 0 or x = L. On all these, we see that
1: = 11 + ex
2
s M + c:L2
u = v - r:x 2 s v s M + cL2
for any c: > 0. Letting e --. 0, we find that 11 s M for 0 s x s L and 0 :::::;
t s T, as we wanted to show. This establishes our theorem.
We remark that the maximum principle stated in Theorem 3.1 is often referred
to as the weak maximum principle, since it permits the maximum of the solution
to occur both on the boundary and at interior points. A stronger version of
this principle, which contains Theorem 3.1 as a special case, asserts that if the
maximum occurs at an interior point, then the solution must be constant in a
certain region. The proof of this assertion is so involved that we shall not bother
ourselves with it.
By applying the maximum principle to the negative of the function 11, we
obtain a similar result for the, minimum value of 11. That is, the minimum value
of a continuous solution of the heat equation is also taken either at t = O or
x = 0 or x = L. Physically, the maximum-minimum principle says that the
temperature in the rod at any instant of time cannot get higher (or lower)
than the highest (or lowest) temperature that occurs initially or which is yet to
be observed at the ends of the rod.
As a consequence of the maximum principle, we can prove a uniqueness
theorem for the following initial-boundary value problem for the heat equation:
Proof: Suppose that i: and ware two solutions of the problem (3.2). Then
11 = v - w satisfies the homogeneous heat equation and vanishes at t = 0,
x = 0, and x = L; that is, u(x, 0) = 0, u(O, t) = 0, and u(L, t) = 0. Hence,
by the maximum principle, the value of u inside the region 0 s x s L, t :::0: 0,
cannot be greater than zero; likewise, the minimum value of u cannot be less
than zero. Therefore, u must be identically zero throughout the region and so
z: and w are identical solutions.
220 The Heat Equation Chap. 6
on the base and on the sides of the region 0 s x s L, t :::::: 0. By the maximum
principle, the inequality (3.3) holds throughout this region. Thus, the theorem
is proved.
In a later section we shall see how a solution of the problem (3.2) can be
constructed. Then, in view of Theorems 3.2 and 3.3, we can conclude that the
problem (3.2) is well posed; that is, the problem has a unique solution that
depends continuously on the initial and boundary data.
We conclude this section by establishing a corresponding uniqueness theorem
for the initial value problem
We shall require that our solution of this problem be bounded in the infinite
region - oo < x < oo, t :::::: 0. Then we have-
THEOREM 3.4 A solution of the initial value problem (3.4) which is continuous
and bounded for - oo < x < oo, t ;::::: 0, is uniquely determined.
Proof: Suppose v and w are two continuous solutions of the problem (3.4)
such that
Jvl s M, lwl s M
for - oo < x < oo, t ;::::: 0, where M is a constant. Set u = v - w; then,
clearly, u satisfies the homogeneous heat equation (1.5), the initial condition
u(x, 0) = 0, and the inequality
V(x, t) = 4M
L (I x-
2
7
+ kt ')
2
It is easily verified that, in this region, V satisfies equation (1.5) and that, at
t = 0,
2Mx 2
V(x, 0) = - ; - 2 u(x, 0) = 0
L
and, at x L,
4Mkt
V(L, t) = 2M + L 2 2 2M 2 u(L, t)
V(x, I) 2 u(x, I) (- L s x s L, 0 s I s T)
Similarly, by considering the function - V(x, 1), we obtain
u(x, t) 2 - V(x, 1) (- L s x s L, 0 s 1 s T)
Consequently, for each point (x, t) in the region - L s x s L, 0 s t s T,
we have
Exercises 6.2
1. Show that if u and v are two solutions of the heat equation (1.5) for 0 < x < L
such that u(x, 0) S v(x, 0), u(O, t) S v(O, t), and u(L, t) s v(L, t), then
u(x, t) S v(x, t) for 0 S x S L, t 2. 0
2. Let t1 be a solution of the heat equation ( l.5) which is sufficiently differentiable
for 0 S x s L, t 2. 0, and set v(x, t) = ux(x, t ). Show that v satisfies the
maximum principle.
3. Let 11 be a solution of the nonhomogeneous heat equation (1.6), with 0 < x < L,
t > 0, which is continuous for 0 s x s L, t 2. 0. Prove that if F(x, t) < 0,
then the maximum of u is attained at t = 0, or x = 0, or x = L.
4. Show that if t1 is a c9ntinuous solution of the heat equation (1.5) for 0 s x s L,
t 2. 0, such that ux<O, t) = 0, then the maximum of u is attained either at t = 0
or at x = L. Hint: Apply the maximum principle to the function v over - L s
x s L, 0 s t s T, where v(x, t) = u(x, t) for 0 s x s L and v(x, t) =
u(-x, t) for-Ls x s 0.
222 The Heat Equation Chap. 6
5. Let 11 be a solution of the heat equation for 0 < x < L, t > 0, such that 11(0, t) =
u(L, t) = 0. Consider the identity
0 = (OL
J
11(11, - kuu) dx = I_ ~-
2 ct
(L
Jo
11
2
dx - k r,
Jo
llUu dx
(a) By integrating by parts the second integral on the right, deduce that
, lL
~ 11
2
dx s 0 (t ? 0)
ct 0
h<Js at most one solution. Here, D is a domain in the xy-plane bounded by the
continuous closed curve C.
9. Let /1 be a solution of the two-dimensional heat equation of Problem 8 such that
u = 0 on C for 0 s t s T. By considering the identity
over the domain D for 0 s t s T and using Green's identity [(8.6), Chapter l ],
show that
which satisfy the boundary conditions (4.3). Substituting (4.4) in (4.1) and
separating the variables, we obtain
T' X"
-)
kT X
This leads to the two ordinary differential equations X'' + IX = 0 and
Now, for each }"n = 11 2 n 2 / L2, n z I, a solution of the equation (4.5) is given by
with An given by (4. 7), are all particular solutions of (4.1) satisfying the homo-
geneous boundary conditions (4.3).
To obtain a solution of our problem, we consider a series of the functions
( 4.10) in the form
(4.11) u(x, t) = f
n=I
b e-u."' sin nnx
n L
(4.13) b = 2-
n L
f
o
L
f (x) .
sm -117TX
L
-- dx (n = I, 2, ... )
The function u represented by the series (4.11 ), with b" given by (4.13), is the
solution of our problem. In order to verify this, we now assume that the func-
tion fin (4.2) is continuous and piecewise smooth on [O, L] and that f(O) =
f(L) = 0. Then, according to Theorem 6.2 of Chapter 5, the Fourier sine series
(4.12) off converges absolutely and uniformly to the function on [O, Now, LJ.
for t z 0,
00 00
I . . nnxl
L ! b11 e-ki.,,t Sll1 - - 1 S lbnl L
11= I [ L I n= I
where the series on the right converges. Therefore, the series (4.11) converges
absolutely and uniformly to u(x, t) for 0 s x s Land t z 0. Since each term
of the series is continuous and satisfies (4.3), it follows that u, too, is continuous
and satisfies (4.3). Moreover, on setting t = 0, we see from (4.12) that u satisfies
the initial condition (4.2) as well.
There remains to be verified only the fact that u satisfies the heat equation.
To this end, we need to show that the series (4.11) can be differentiated term by
term, once with respect to t and twice with respect to x. Let us consider the
sen es
which is the formal derivative of(4.l l) with respect tot. Sincefis continuous on
[O, L ], it is bounded there and so there is a constant M such that Jbnl :::; M for
all n ~ l. Then, clearly, for any t 0 > 0,
whenever t ~ t 0 . Since the series with the general term k/."M exp(-kJ.nto)
converges, it follows by the Weierstrass M-test that the series (4.14) converges
uniformly for 0 :::; x :::; L and 0 < 10' :::; t. This shows that (4.11) has con-
tinuous derivative with respect to t for 0 :::; x :::; L, t > 0, which can be ob-
tained by differentiating the series term by term.
In the same way we can establish that ( 4.11) has continuous second-order
derivative with respect to x for 0 :::; x :::; L, t > 0, which is obtainable by
term wise differentiation. Thus, substituting (4.11) in equation (4.1 ), we see that
-u nnx , ,
u, - kuxx = L00
11=1
b,,e
r .
" sm - -- [ -k1.
L
11 + kJ. 11 ] = 0
This completes the verification that (4.11) with (4.13) is a solution of the
problem ( 4.1 ), ( 4.2), ( 4.3) under the conditions thatf is continuous and piecewise
smooth on [O, L] and vanishes at the end points. That this solution is uniquely
determined follows by Theorem 3.2.
It is noteworthy that by applying repeatedly the procedure we have described
above, the series solution (4.11) can be shown to have continuous derivatives
of all orders with respect to x and t for 0 :::; x :::; L and t > 0. This result is
quite in contrast with the result we obtained in an example problem in Chapter
3, Section 9, involving the wave equation. Although there the function! satisfies
the same conditions as given above, yet the series solution cannot be differentiated
twice, term by term; we have had to resort to the concept of generalized solution.
This is a basic difference between solutions of hyperbolic and parabolic differen-
tial equations.
If we substitute (4.13) for b,, in (4.11) and interchange the order of summation
and integration, we can write ( 4.11) in the integral form
G(x, t; i:) represents the temperature distribution in the rod for 0 :<o: x :<o: L,
I > 0, due to a concentrated heat source at the point x = ( at time t = 0,
with the temperature at the end points maintained at zero degree.
Jt is easy to verify from (4.16) that: (i) G satisfies the heat equation with respect
to x and t for t > 0. provided x -=/= (; (ii) G is continuous at x = (; (iii) G
satisfies the boundary conditions (4.3) with respect to the variable x; and (iv)
G is symmetric with respect to x and (. These properties are analogous to the
properties possessed by a Green's function for an ordinary differential equation
[see (2.15), Chapter 4].
(11 = I)
(11 > 1)
u(x, I) = E bne-"
21
sin nx
fl=l
where, by (4. 13 ),
J - (-1)"
= 4 -- -
77:113
Hence, we have
8 ro -(211- 021
u(x, t) = E e_ _ _ . sin(2n - l)x
7r 11 ~ I (211 - J) 3
Sec. 4 Initial-Boundary Value Problems 227
In case both ends of the rod are insulated so that the initial-boundary value
problem consists of (4.1 ), ( 4.2) and the boundary conditions
(4.17) 11)0. 1) = 0, u,(l.. I) = 0 (t ~ 0)
the method of separation of variables leads to the Sturm-Liouville problem
(4.18) X" + i.X = 0, X'(O) = 0, X'(L) = 0
for the function X together with equation (4.5) for the function T. We recall
that the eigenvalues of the problem (4.18) are )"n = n 2 n 2 / L2, n = 0, 1, 2, ... ,
with the corresponding eigenfunctions X,,(x) = cos(nnx/ L), 11 = 0, 1, 2, ... .
Thus, the functions
_,-, nnx
( 4.19) II,, ( X, t) = e ,_,, COS (n = 0, I, 2, ... )
L
are all particular solutions of ( 4.1) satisfying the boundary conditions ( 4.17).
Now, to obtain a solution of the problem ( 4.1 ). ( 4.2), ( 4.17), we consider a
series consisting of the functions (4.19) in the form
a0 ~ _ u , n nx
(4.20) u ( x, t) = + L a,,l' .,, cos --
2 ,, i L
The initial condition (4.2) then requires that the coefilcicnts a,, satisfy the relation
a nnx
f (x) = ---0 +
2 n=1
L
oc,
a,, cos
L
which is the Fourier cosine series representation of the function f on the interval
0 :S x :S L. Hence, the coefficients are gi\'en by the formula
1 2 ~ -u nn( nnx
(4.23) G(x, t; () = -L + ~ e "1 cos ----- cos -
L n=I L L
228 The Heat Equation Chap. 6
ao =
2
71
2
rl"
0
xdx=n
x cos nx dx = l
2 x sin nx + cos nx J
a11 =
71 O 71 n II
2
1:
2 (-1) 11 - l
(11 2 I)
Thus, a" = 0 when 11 is even and a11 = -(4/nn 2 ) when 11 is odd; therefore
-4
(k 2 I)
n(2k - I )2
Exercises 6.3
u(x, 0) = {x71 - x
(0
(n/2
s x s rr/2)
s x s n)
6. u(x, 0) = x2 - n 2 ; ux(O, t) = 0, u(n, t) = 0, t 2 0.
7. Solve the initial-boundary value problem
!11 - kuxx - U = 0 (0 < x < 1, t > 0)
u(x, 0) = x(I - x) (0 s x s I)
u(O, t) = 0, (t 2 0)
Sec. 5 Nonl10111ogeneo11s Initial-Boundary Value Problems 229
where h is a positive constant, and show that i"(x, I) = u(x, t )e-h', with u given
by (4.20).
11. Find the solution of the initial-boundary value problem
/1 1 - Uu + LI = Q (0 < x < I, t > 0)
2
u(x, 0) = x (0 s x s 1)
u)O, 1) = 0, 11(1, t) = 0 (t ? 0)
together with the initial condition (4.2) and boundary conditions (4.3). We
assume a series solution or this problem in the form
. _ ,, . ll71X
(5.2) 11(x. I) - w 11,,(t) c,111-
" I L
where the coefficients 11., are functions or I. This is actually the eigenfunction
expansion of the yet unknown function 11. in terms of the eigenfunctions (4.8)
of the associated Sturm-Liouville problem (4.6). Thus, the coeftlcients 1111 must
be related to the function u by the formula
so that
Then, by differentiating (5.3) with respect tot and using (5.1), we obtain
(5.6) 11;,(1) = L2 JL
11, sin
.
L
lliTX
dx
0
= 2k
-L J'L Un
. lliTX
Sin - - dx + F,,(t)
.. L
0
where F 11 (t) is given in (5.5). By using the boundary conditions (4.3), the first
term on the right of equation (5.6) can be integrated by parts twice, to give
2/.: r.L Uu
. 1171X d
sm -- x = - k. ( )
1. 1., t
L O L
where }. 11 1s as given 111 (4.7). Thus, (5.6) leads to the ordinary differential
equation
for the functions 11", n = I, 2, .... The initial condition (4.2) implies that
(5.8) 11,,(0) =
2 JL f(x)sin
. . l/7L'(
dx = b,, (n = I, 2, .. )
L 0 L
(5.9)
~ . nnx
(5.11) i:(x, t) = ... u,,(t) sm -
11=1 L
with
verify that the series (5.11) can be differentiated term by term. Then, by (5. 7)
and (5.4), it follows that
00
nnx
vt - kv.n = L [v;,(t) + knv(t)] sin
11=1 L
00
nnx
= L F,,(t)
SJl1.
11=1 L
= F(x, t)
so that v satisfies (5.1 ).
If we substitute (5.5) for F,, in (5.11) and formally interchange the order of
summation and integration, we can write (5.11) in the integral form
Our assertion then follows by the Duhamel's principle (Problem 10, Exercises
6.4). The uniqueness of our solution follows by Theorem 3.2.
Fn(t) = -2r
n:
in . .
0
Sll1 x 5111 nx dx = {ot (11 = 1)
(11 > I)
= (e-' + t - 1) sin x
Sec. 5 Nonlto111oge11eo11s /11itiul-Bo11nd11ry Value Problems 233
F,,(t) = 2 Jn/2 x sm
_ nx dx + 2 J" (rr - x) sin nx dx
Tr 0 n rr/2
4 . /17[
2
sm (11 = J, 2, ... )
nn 2
or
4( - 1)11 - 1
F2n-1 (I) = - -- (n = I, 2, __ )
rr(211 - 1)2
(See Example 9.1, Chapter 3.) Hence, by (5.12),
V 2 n_ 1 (1) = -- -
4( - l)n-1
- -
J' exp[-(211 - I)2(r - T)] dT
rr(211 - 1)2 o
= 4(--_I)"_~_ [I _ e-<211-1)11]
n(2n - I )4
w, - kw xx = - [a'(t) + xb'(t)]
(5.16) w(x, 0) = -a(O) - xb(O)
w(O, t) = 0, wx(L, t) = 0
X (x
11
. (211
. ) = s111 - --
2
1) nL..~ (11 = 0, 1, 2, ... )
Using the boundary conditions in (5.15), this can be integrated by parts twice
to give
2k -
g,,(t) = -z_- [,/;,,, a(t) + (-1)'- 1 b(t)] (11 = 1, 2, ... )
From the initial condition in (5.15) we see that u,,(O) = 0. Hence, by solving
the differential equation (5.19) with the initial condition u,,(O) = 0, we find
u(x, I)=~ 1 ~
1 (-1)"-
1
(L exp(--~ 211
-
2
8 I:.,_ (- I)"- 1
I- e 211
< -
-
1
>'t1 4
- sm -
. (211~- - I) x
7f n= I (211 - l )2 . 2
To verify that this gives a solution of the problem, we observe that the function
f(x) = x has the Fourier series representation
x =
8 I: oo ( - 1--)"-I sm
. (211 - 1) x (0 < x < 7!)
7! 11=1 (211 - 1) 2 2
in terms of the eigenfunctions X 11 (x) = sin [(211 - 1l/2 ]x, n = I, 2, . . . . Hence,
we can write our solution above in the form
u(x, I) = x -
8
-
00
I: (-1)"-
-
1
? exp
(-(211
- - - 1)
2
1) sm. (211 - 1) x
7T 11= I (211 - 1)- 4 2
Exercises 6.4
3. 11, -ku'"' = 0. 0 < x < L, t > O; u(x, 0) = 0, 11(0, t) = sin UJt, u(L, t) = 0, (J) a
constant.
4. u, - kuxx = 0, 0 < x < L, t > O; u(x, 0) = 0, 11(0, t) = 0, uJL, t) = cos UJt.
5. u, - uu + hu = 0, lz a positive constant, 0 < x < rr, t > 0; u(x, 0) = 0, u(O, t) =
0, 11(71, t) = J.
6. Solve the problem
u, - ku'"' = e-x (0 < x < n, t > 0)
u(x, 0) = f(x) (0 ~ x ~ n)
11(0, t) = 0, un, t) = 0
10. (Duhamel's Principle) Let 11(x, t, T) be the solution of problem (5.14) and set
1 (x, I) == s~ u(x. I - T, T) dT. Show that v agrees with (5.13) and that it satisfies
(5.1), (4.3), and the initial condition r(x, 0) = 0.
We now consider the problem of heat flow in an infinite rod without heat
source, whose lateral surface is thermally insulated. This problem leads to the
initial value problem
(6.1) u, - kuu = 0 ( - Cl) < x < Cl), t > 0)
(6.2) u(x. 0) = f (x) (-oo<x<oo)
for the heat equation. We shall solve this problem by means of the Fourier
transform presented in Chapter 5.
We suppose that the problem (6.1), (6.2) has a solution 11, which has the
property that 11, 11,, ux, and uu are all piecewise smooth in x and t, and absolutely
Sec. 6 The Initial Value Problem 237
integrable in x for - oo < x < oo. Then, according to Theorem 8.1 of Chapter
5, the Fourier transforms of all these functions exist; in particular, we have
and
(6.4) u(x, t) = /
v 2n
- J00
-oc
U(s l)ei.sx ds
. '
Thus, if we can find the transform (6.3), then the solution of the problem will
be given by the formula (6.4).
To determine the function U, let us differentiate (6.3) with respect to t and
use the differential equation (6.1) to obtain
au J~
00 u,(x, t)e-isx dx
1
- (s, t) = - -,=
ot J2n
(6.5)
k
,/2;
J: 00
uxix, t)e-isx dx
Note that because 11, and 11.u are absolutely integrable on - oo < x < oo for
all s and t > 0, differentiation with respect to t under the integral sign is valid.
Integrating by parts twice the last integral above, we have
au k . . 1 oc
---;;- (s, t) = -r (uxe-sx + isue-sx):
ot --.J2n i-oo
- ---=
ks2 Joo u(x, . dx
t)e-sx
J2n -oo
If we further assume that u and u, vanish as lxl --> oo, then equation (6.5)
reduces to
au
-~ - (s, t) = -ks 2 U(s, t)
(6.6)
ct
where we have used (6.3).
We now require for this discussion that the function fin (6.2) be piecewise
smooth and absolutely integrable on ( - oo, oo) so that its Fourier transform
F(s) exists. Then, from (6.3) and (6.2), we have
U(s, 0) = ~l~n J: 00
u(x, O)e-isx dx
(6.7)
,-- J_"'oo J(x)e-isx
'\/ 2n
= F(s)
238 The Heat Equation Chap. 6
u(x, t) = 11.
, 2rr
I"'
"- oc
F(s) exp( - ks 2 t + isx) ds
(6.9)
where
G(x, t) I
2rr
J"'_"' e - ks'r cos sx ds
1 Joo e -ks't cos sx cs/
J[ 0
Sec. 6 The Initial Value Problem 239
,_;rr e-x'/4kt
so that
G(x, I) =
1
f"' e-k>'r cos sx ds
rr o
(6.13)
(6.15) G(x - (, t) = I
1
..
(-(x -
exp - - c)
2
)
(t > 0)
2,i rrkt 4/.:t
is called the fundamental solution or the Green's function for the heat equation
in the infinite domain - oo < x < oo, t > 0. Physically, the Green's function
(6.15) represents the temperature at a point x at time I due to a concentrated
heat source at a point at time zero.
It is easily verified from (6.15) that (i) G has continuous partial derivatives
of all orders with respect to x and t for - oo < x < oo, I > 0, and satisfies the
heat equation for all x and I > 0, provided x # ( (see Problem 2, Exercises
6.1); (ii) G is continuous at x = (; (iii) G vanishes as !xi -> oo for t > 0; (iv)
G has the property
f~0 G(x - (, t) d( = 1
and, finally, (v) G is symmetric with respect to x and (. These properties are
analogous to those of a Green's function for an ordinary differential equation.
Now, to verify that (6.14) actually gives a solution of the problem (6.1),
(6.2), it is enough to require that f be continuous and bounded on ( - oo, oo ).
Then, for arbitrary constants L > 0 and t 0 > 0, the integral (6.14) together
with its partial derivatives of any order obtained by differentiating under the
~: ..
240 The Heat Equation Chap. 6
u(x, t) = - l_
Jn
J"'
-oo
f(x + J4kt z)e-= 2
dz
Since f is bounded for all values of its argument, the preceding integral con-
verges uniformly with respect to x and t for - oo < x < oo, t ;:::: 0. Hence,
Jim u(x, t) = - :
t->O"
1
'Ii1n
J 00
-oo
f(x)e-= dz
2
= f(x)
which verifies (6.2). From the boundedness off it follows that u is also bounded.
If we define u(x, 0) = f (x), then u is bounded and continuous for - oo <
x < oo, t ;:::: 0, so that by Theorem 3.4, u is uniquely determined.
Example 6.1. Find the solution of the problem (6.1 ), (6.2) if the function f is given by
/(x) = {~ (x < 0)
(x > 0)
1
u(x, t) = 2vnkt
{"'
Jo
exp --
(-(x4ki-
- ~) )
2
d<;
which has the property that erf( ro) = 1, this solution can be written as
which involves the nonhomogeneous heat equation, the method described above
leads to the differential equation
(6.17) U, + ks 2 U = H(s, t)
for the Fourier transform (6.3) of the solution 11. Here.His the Fourier trans-
form of the function h; that is.
(6.18) H(s, I) = -
I
If z h(x, t)e- 1" ' dx
.
, 2n - x
From (6.3) and the initial condition in (6.16). we see that U(s, 0) = 0. By
solving the differential equation (6.17) with the initial condition U(s, 0) = 0,
we thus find
v 2n - oc o
By substituting (6.18) for Hand formally interchanging the order of integrations,
this solution can be written as
(6.21) u(x, t)
J' Jx
0 - ""
G(x - (, t - r)h(~, r) d( dr
where, by (6.13),
G(x - ~, t - r) = I
2n
J"'_ oc
exp(is(x - () - ks 2 (t - r)) ds
Exercises 6.5
lixx 0 (-oc<x<x,l>OJ
(' ixl
11(x. OJ (-X < X < X)
11(.r. 0)
{1 ix1 :s: L)
lo ( x > /_)
11(x, OJ
{A (x < 0)
\B (x > 0)
4. Show that if the function fin (6.2) is odd (or even), then the solution (6. 14) is
also odd (or even) with respect to the \ariable x. Thus, deduce that 11(0, I) = O
(or 11x(O. I) = 0).
5. \'erify the result in Problem 4 \1 ithout resorting to the formula (6. 14) and using
only the fact that a solution of the problem (6. 1), (6.2) is uniquely determined.
6. Find the solution of the problem
( - x < x < x. I > 0)
11(x. 0) 0 (-w<x<x)
8. (Duhamel':, Principle) Let 11(.1', I, T) be the solution or the initial value problem
// 1 - kun 0 ( - CIJ < x < x, I > 0)
r(x, t) = f~ 11(x, I - r, r) dr
(h = const; 1 > 0)
1(.\", OJ= /Ix) (-:x: < x < :X:)
and shO\\ that z(x. 1) = 11(.1. t)e- 111 , where 11 is given by (6.14).
1
IO. By the sub'.;titution 11(\. I) = r(x, I )e ", show that Problem 9 can be reduced
to the problem (6. I). (6.2).
11. By using the result of Problem 9 and the corresponding Duhamel's principle for
the differemial equation, obtain the solution of the initial value problem
(7.3) 11(0, t) = 0 (t ?: 0)
which corresponds to the problem of heat flow in a semi-infinite rod x > 0,
with initial temperature distribution described by the function f(x) for x ?: 0,
and whose end point x = 0 is maintained at zero temperature. To solve this
problem. \\e shall use the Fourier sine transform. This choice is based on the
fact that the singular eigenvalue problem that is related to the problem at hand is
exists and
(7.5) u(x, t)
2')1,2
-
Joc UJs, t) sin sx ds
( 7[, 0
244 The Hear Equation Chap. 6
Here, Us does not mean the partial derivative of U with respect to s. Following
the procedure described in the preceding section, we proceed to find the trans-
form Us or our solution. Once this function is found, then our solution is given
by (7.5).
By differentiating (7.4) with respect to t under the integral sign and using the
differential equation (7.1 ), we have
au s (s,
ct
t) = (2):" 1 2
1 J"' u,(x, t) sin sx dx
0
112
k (.;) {" u,.Jx, t) sin sx dx
cU
- -
ct
5
(S, t) k ; (2) 1/2
(llx sin sx su cos sx) '
io
(7.6)
ks 2 (n,2)
-
1/2 J"'
o
u(x, t) sin sx dx
ff we assume as before that u and ux vanish as x --+ oo, then because or the
boundary condition (7.3), the boundary terms on the right of (7.6) vanish,
and by (7.4) we are led to the differential equation
(7.7) cl/
- (s,5 .
t) + /.:.s 2 U,(s, t) = 0
.
ct
for the function Us. Let us assume that the function f in (7 .2) is piecewise
smooth and absolutely integrable on (0, oo ). Then, from the initial condition
(7.2) and (7.4), we find
U,(s, 0) = (;
2)1;2 oc
.t u(x, 0) sin sx dx
(7.10)
=
n o o
.3 c r"
f(~)e-ks't sins~ sin sx d~ ds
and formally interchange the order of integration. we can write (7. l 0) in the
form
(7.11) u(x, n= 1
. --
2, nf\1
J, Ir
o
exp(. -(x -
.
4k1
)2) - exp(-(x + ) I /{) d
4k1
2
)
.
in which we have used the resu It (6.13 ). In this form, it can be verifled that u
is the solution of our problem under the weaker condition that f is continuous
and bounded for x ~ 0 with f(O) = 0.
We remark that the solution (7.1 I) of our problem (7.1), (7.2), (7.3) can also
be obtained by extending the initial datum fin (7.2) as an odd function for
- oo < x < oo and then solving the resulting initial value problem by the
formula (6.14). [See Problem 4, Exercises 6.5.J Using the fact thatJ(-x) =
-f(x), the solution as given by (6.14) then reduces to (7.11). Observe that this
is precisely the method we employed in Section 6 of Chapter 3 for finding the
solution of an initial-boundary value problem for the wave equation. The
method works because both the wave and the heat equations remain unchanged
in form when the variable x is replaced by - x.
In the same manner, we can find the solution of the problem (7.1 ), (7.2)
with the boundary condition
(7.12) u)O, t) = 0 (t ~ 0)
by extending the function fas an even function for - w < x < oo. In this
case, the solution is given by
au,
- - (s. I )
ct (-re2)1/2 f"' u,(x, 1) cos sx d.x
0
k (.::
7)1;2 I.(" t) COS dx
Uu(X, SX
.n. . o
2) l !2 Ioc
k - ('IT.
(u, cos sx + su sin sx)'
'0
112
- ks
2
(~) {''' u(x, t) cos sx dx
Under the assumption that u and llx vanish as x --+ oo, and taking note of the
boundary condition in (7.14), this leads to the nonhomogeneous differential
equation
(7.16)
cu
~- c (s, t) + ks 2 uces, t) = -k (2)1/2
- h(t)
ct n
The solution of this equation that, by the initial condition in (7.14), satisfies
the condition U,(s, 0) = 0 is given by
u(x, t) =
2) 1/2 j'"' uces, 1) cos sx ds
(-
'IT 0
(7.18)
- 21
__'.: f"" f' e-ks'u-' 1h(T) cos sx dT ds
'IT 0 0
1f we formally interchange the order of integration and use the result in (6.13),
this formula simplifies to the form
This can be shown to provide the solution or the problem (7.14) under the
assumption that h is differentiable for t :2:: 0.
We remark that we cannot verify that (7. J 9) satisfies the boundary condition
of (7.14) by simply differentiating (7.19) under the integral sign and setting
x = 0. In fact, such a formal manipulation would lead to the false result
u)O, t) = 0. We illustrate the situation in this case by means of the following
example.
Sec. 7 /11itial-Bo11ndary Value Problems in Infinite Do111ai11 247
11(.1, I)~
,., C';fl( -- X 2 /4(t - T) I lfT
-
1 T: I
,O \f-r
11).\", /) = -
\ 7I
\ nl
4r
11,(x, I)
\ 7'.'{
for x > 0 and 1 > 0. Thus. 11, - u'-' 0. sho11 ing that 11 satisfies the heat
equation for x 0. I > 0. As I > 0 it is clear that u(x. t) ' 0. Now, to
1erify the boundar1 condition 11,!0. 11 = I. 11c perform an integration by parts
to put 11 in the form
I'"/
e
.. 41
'
2x Jy e :' d::
\ ,, X,'- 41
Then
2
u)x. I)
\ -
which immediately yields 11)0. r I l, since Jg e-=' d::
Exercises 6.6
I. (a) Obtain the solution formula (7. 11) from (6.14) by extending the function fin
(7.2) as an odd function for - T < x < T ..
(bl Obtain the solution formula (7.13) of the problem (7.1), (7.2). (7.12) by
extending the function fas an el'en function for - 'XJ < x < C1J.
248 The Heat Lq11ation Chap. 6
0 (x > 0, t > 0)
11(\", 01 :re-x (x 2: OJ
11(0, /) 0 (t 2: 0)
and express !he solution in terms of the error function. Verify that it gives the
solution of the problem.
6. Find the solution of the problem
9. Obtain the solution of Problem 8 from the resull of Problem 9, Exercises 6.5,
by extending the function fas an even function for - oo < x < oo.
10. Find the solution of the problem
11, - kuu + bu 0
(b const > O; x > O; t > 0)
11(x, 0) 0 (x 2: 0)
11(0, f) h(t) (t 2: 0)
Sec. 7 Initial-Boundary Value Problems in Infinite Domain 249
12. By using the Fourier cosine transform, obtain the solution of the problem
Hint: Let v(x, I)= u/x, I) - h11(x, t). See Problem JO, Exercises 6.1.
14. Solve the problem
11 1 - k11xx = 0 (x > 0, t > 0)
u(x, 0) = 0 (x ~ 0)
ux(O, t) - hu(O, t) = g(t) t ~ OJ
15. Solve the problem
111 - kuxx + bu = 0 (x > 0, t > 0)
11(x, 0) = f(x) (x ~ 0)
llx(O, f) - h11(0, t) = 0 (t ~ 0)
16. Solve the problem
2
11 1 - llxx - - llx = 0 (0 < a < x, t > 0)
x
u(x, 0) = 0 (x ~ a)
11(a, t) = A (A constant; t ~ 0)
".
Chapter 7
Laplace's Equation
This equation serves as the prototype for elliptic differential equations in much
the same way as the wave and the heat equations do for hyperbolic and parabolic
differential equations, respectively.
In order to sec how Laplace's equation may arise in a physical problem, let
us consider the temperature distribution u in a uniform thin plate occupying
a domain D in the xy-plane (Fig. 7.1 ). We assume that D has a continuous
boundary C. By making assumptions similar to those made in deriving the one-
dimensional heat flow equation, it can be shown that the temperature distribu-
tion u on the plate satisfies the homogeneous equation
250
Sec. I Boundary Value Problems 251
i
--ur ----- -------- \
(1.2)
(1.3) cu - k (c -- u + o u)
2 2
= f(x, \' t)
ot .iJx 2 ox 2 . ,
Consequently, vvhen the heat flow is steady so that f does not depend on I,
(1.3) reduces to the nonhomogeneous Laplace\ equation
.f (x' y)
(1.4) q(x, y)
k
Equation (1.4) is known as Poisson's equation. Both equations, ( 1.2) and (1.4),
are prominent examples of elliptic differential equations that are of great
importance in mathematical physics. We shall often write these equations in
the compact form '1.u = 0 and '1.u = q, where i1. denotes the Laplace's operator
From the preceding discussion, it appears that in a steady state, the temper-
ature distribution in a uniform heat-conducting body satisfies Laplace's equation.
Correspondingly, when there is a known heat source, the temperature function
satisfies Poisson's equation. From this physical consideration it seems natural
"l!J; ..
252 Laplace's Equation Chap, 7
to consider boundary value problems for the Laplace's operator rather than
initial value or initial-boundary value problems. As a matter of fact, boundary
value problems are typical for elliptic differential equations because initial
value or initial-boundary value problems are in general not well posed for this
type of equation. In this connection, let us examine an example devised by
Hadamard for the Laplace's equation. Consider the following initial value
problem:
Un + UYY = 0 (- 00 < X < 00, )' > 0)
(1.5) u(x, 0) = 0 (-oo < x < oo)
11/x, 0) = e - ,';, sin nx ( - oo < x < oo)
(1.7)
1!11 = 0 in D
ll =f on c
where f is a known function on C. This type of problem is called a Dirichlet
problem, and the boundary condition is often called Dirichlet condition or
boundary condition of the first kind. Physically, the problem can be interpreted
as finding the equilibrium temperature distribution in D when a fixed temperature
distribution is given on the boundary of D.
The second type of problem for equation (1.2) consists in finding a solution
of the equation in the domain D satisfying the boundary condition
OU
(1.8)
Oil
=f
Sec. 2 Green's Theorem and Uniqueness of Solutions 253
(1.9)
au
_ + hu = g
l'/1
(2.3) r
c
II ~I' ds
(II
=
rr
D
(11 !11 + 11,rx + uyi-.J dx dy
(2.4)
.c
r 11 (~1/n ds .ror(11 '111
<
= + 11: + 11~) dx dr
Jj'\\e substitute the function 11 = 11 1 11 2 for 11 in (2.4) and use (2.J) and (2.2).
\\e then obtain
(2.5) JJ
D
(w: + \\~.) dx dy 0
if' 11 1 and 11 2 are t\\O solutions. then their difference ll' = 11 1 - 11 2 will be a
solution of the homogeneous problem
(2.7) in D. 0 on C
Applying the identity (2.4) to the function l l and using (2.7), we are again
led to the conclu;,ion that 1r must be constant in D + C: that is. ll'(x. t) = K.
ln thi, case. ho\\ever. it Lannot be e:;tablishecl that K = 0. since w does not
ncce-;sarily \anish on C. Therefore. \\e can have only
which says that any t\\O solutions or the problem (2.6) differ by a constant.
We state this result as our second theorem.
Cl\'
+ /11\' = 0
211
or
(2.10) -L hll' ds =
2
JJ(w; + II';.) dx dy
D
Since h ~ 0 on C, the term on the left of (2.10) is not positive and the term on rhe
right is nonnegative. Therefore, both terms must be equal to zero, and so
JJ(\\'; + 11~) dx dy = 0
D
THEOREM 2.3 A solution of the mixf'd boundary ralz1C' problem (2.8) lrith
h ~ 0 and h not idf'nlical!y zero is uniquely dC'termined.
II j t.i1
(2.11)
I c
cu
~
l/1
ds =
D
dx dy
Thus, if the problem (2.6) has a solution u, then application of (2.11) yields
J'
(2.12)
f c en
?u
~ ds =
c
f ds = 0
This shows that if the problem (2.6) is to have a solution, then the integral off
over the boundary C must vanish. Jn terms of our physical interpretation of the
problem, condition (2.12) simply says that in a steady-state heat flow, the net
supply of heat at the boundary of D must be zero.
Jn the case where problem (2.6) involves Poisson's equation, !J.u = q in D,
application of (2.11) gives the necessary condition
(2.13) JJq(x, y) dx dy
D
= L f ds
256 Laplace's Equation Chap. 7
Exercises 7 .1
1. Reduce the Dirichlet, the Neumann, and the Robin problems for Poisson's
equation to a problem involving Laplace's equation and indicate the correspond-
ing boundary conditions.
2. Show that if 11 is a solution of the Robin problem
fi.u = q(x, y) in D
rn + hu = f (x, y) on C
011
then
L hu ds = L f ds - ff
/)
q dx dy
/!;u + ku = q(x, y) in D
(11
= f(x, y) on C
(;17
611 + /, ll = q(x. y) in D
(II
+ hu = f(x, y) on C
CII
L Li =
_ c ( .\. 2 cu)
ex ex,
+ .c
cy
(e' ~u)
oy
0 in D
Li = 0 on C
[(!
ex
+ 1
x )11,] +
(y
[(I + 2
y )uy] + ku = q(x, .J)
II = f(x, y) on C 1
C II
+ h11 = 0 on C 2
(;II
III
v
(11 C.,,i- + llxLx + 11,r,. + ll:l':) dV = If
s
II::; ds
so that
258 Laplace's l:q11atio11 Chap. 7
This contradicts the fact that 11 satisfies (3.1) in D. Therefore, a function con-
tinuous in D + C and satisfying (3.1) attains its maximum value on C.
Now suppose that 11 is a harmonic function in D and continuous in D + C.
Let .\f denote its maximum value on C and consider the function
2 2
1(x. y) = u(x, r) + 1:(x + y )
Hence, by the previous result, the maximum value of vis attained on C. Thus,
at any point in D, we have
for all (x, y) in D + C. and for any number > 0. Letting D --+ 0, \Ve then find
u(x, F) :::;: A1, which establishes the theorem.
THEORE\l 3.2 ff 11 and L' are f\t'o harmonic functions in a bounded domain D
with boundary C such that 111 - rl :::;: e on C, then
lu - rl :::;: in D
Exercises 7.2
x = r cos. 0, y = r sin()
v(x, y) = II
.x
(r2 ' r
y) 2
Beginning with this section we shall consider solutions or the Dirichlet and
Neumann problems for the Laplace's equation in simple domains such as a
rectangle and a disk. It will be seen that for this type of domain, the method of
separation of variables can be used to obtain a solution of the Dirichlet or the
Neumann problem. We first consider in this section the Dirichlet problem in a
rectangular domain R (Fig. 7.2): 0 < x < a, 0 < y < b. We seek a solution
of the Laplace's equation
(4.1) u'-' + uYY = 0 in R
which satisfies the boundary conditions
u(O, y) = 0, u(a, y) = 0 (0 ::;; y ::;; b)
(4.2)
u(x, 0) = 0, u(x, b) = f(x) (0 ::;; x ::;; a)
II = (I.\ I
Io. hi
"
R II= 0
II= 0
--~------------...__ ____ x
0
0 II=
"
FIG. 7-2 The Dirichlet prohlem in a rectangle.
Sec. 4 Dirichlet Problem in a Rectangle 261
X" Y" .
= - - = -).
x y
This leads to the two ordinary differential equations
. h 117[
5111 y (11 1, 2,. .. )
a
It folio\\ s that the functions
11
U 11 ( X, }' ) = Sln ~~ sinh 11_7:f}' (11 = 1, 2,. .. )
a a
where the coefficients c,. are constants yet to be determined. Formally setting
y= band using the boundary condition in (4.2), we obtain
J(x) = u(x, b)
(4.9)
= f (en sinh '!_'T[b)
11= 1 a ,
sin ~_7[X
a
ro
11
= L: b sin ~~
II
n= I a
where
, mrb
(4.10) b,. = c11 sinh - -- (11 = 1, 2, ... )
a
The last expression in (4.9) is the Fourier sine series expansion off over (0, a),
and therefore
~ b sinh(nrrJ/a) . nnx
(4.12) U(X y.) = 1.... - - Sll1
' 11= 1 "sinh(nnb/a) a
for the solution of the problem (4.1 ), (4.2). The coefficients b" are given by
(4.11).
If we assume that f is continuous, piecewise smooth on 0 :::;; x :::;; a, and
vanishes at x = 0 and x = a, we can verify that (4.12) indeed gives the solution
of our problem (4.1 ), (4.2) by the same method used in Section 4 of Chapter 6.
Notice that the inequality
sinh(mry/a) e""Yi - e-,,ny/a
e-1m(b-y)'a
:::;; -----
1 - e-2rrb:a
may be used to prove uniform convergence of the series (4.12) and the second-
order partial derivatives of that series with respect to x and y for 0 :::;; x :::;; a,
0 :::;; y :::;; J'o with any Jo < b.
The general Dirichlet problem
llxx + = 0
llyy in R
( 4.13) u(x, 0) = f 1(x), u(x, b) = f 2 (x) (0 < x < a)
u(O, y) = f3(y), u(a, y) = f4(y) (0 < y < b)
Sec. 4 Dirichlet Problem i11 a Rectangle 263
Example 4.1. Find the solution of the problem (4.1), (4.2) when R: 0 < x < n,
0 < y < n, and /(x) = sin 3 x.
so that from (4.9) we see that b 1 = 3/4, b 3 = - 1/4, and b" = 0 for all other
values of 11. Hence, by (4. 12), the solution is
3 sinh y . I sinh 3y .
u(x y) = - sm x - -- - sm 3x
' 4 sinh n 4 sinh 3n:
The general Neumann problem for the Laplace's equation in the rectangle R,
Uxx + u\')" = 0 in R
(4.14) uy(x, 0) f(x), u/x, b) = h(x) (0 ::::; x ::::; a)
ux(O, y) = k(y), ux(a, y) = g(y) (0 ::::; y ~ b)
can also be solved in the same manner, provided the boundary data satisfy
the necessary condition (2.12), which means in the present case that
u,.(x, 0) = x - (0 :S x :S re)
2
u,.(x, n:) = 0 (0 :S x :S re)
llx(O, y) = u,(n:, y) = 0 (0 :S y :S n:)
Solution: Here we note that condition (4.15) is fulfilled by the boundary datum
/(x) = x - re/2. The method of separation of variables u(x, y) = X(x) Y(y)
leads to the Sturm-Loiuville problem
for the function X. This has the eigenvalues A." = n 2 and the corresponding
eigenfunction X"(x) = cos nx, 11 = 0, 1, 2, . . . . For each eigenvalue )," = 11 2 ,
the initial value problem for the function Y,
2
Y" - 11 Y = 0, Y'(n:) = 0
264 Laplace's Equation Chap. 7
gives Y"(y) = cosh n(n - y). Therefore, to solve the problem, we assume a
series solution in the form
x-
71
- :E"' nAn sinh 1m cos nx
2 n=l
00
:E G 11 COS /IX
n=l
where an = -nA" sinh 1111, n = 1, 2,.... In view of the fact that .fO (x -
(11/2)) dx = 0, we see that the constant term a 0 in the Fourier cosine series
expansion of the function /(x) = x - (11/2) is zero. Therefore, the series given
above is precisely the Fourier cosine series of the function, and so
an = ; f( x - ~) cos nx dx
2 ( -1)" - 1
- - - -
(n = 1, 2, ... )
71
Hence,
2 (- l)n - 1
A,, 3
11 11 sinh 1111
or
4
Aik-1 = - -- -
(k 1, 2, ... )
11(2k I )3 sinh(2k - I )11
u(x, y) = A
0
+ ~ f ~sh( 2 k - l)(y -
3
71
) cos nx
11 k= 1 (2k - l ) sinh(2k - 1)11
Exercises 7 .3
2. By interchanging the role of x and y, deduce from (4.12) the solution of the
problem
!1.u = 0 (0 < x < a, 0 < y < b)
11(x, 0) = u(x, b) = 0 (0 :S x :S a)
11(0, y) = 0, u(a, y) = _q( y) (0 :S y :S b)
u(O, y) = u(n, y) = 0 (O :S y :S n)
9. Find the harmonic function for the right isosceles triangle of the preceding
problem which satisfies the boundary conditions u,.(x, 0) = 0, u(n, y) = /(y),
(cu/cn)(x, x) = 0.
266 Laplace's Equation Chap. 7
1'111 - hu = 0 (ha positive constant; 0 < x < rr, 0 < y < rr)
u(x, 0) = 0, u(x, rr) = f(x) (0 :S x <:: re)
u(O, y) = 11(n, y) = 0 (0 :S y :S re)
assuming that sg g( y) dy = 0.
12. Solve the problem
Let D and C denote respectively the interior and boundary of the disk x 2 +
2
y S: a2 (Fig. 7.3) with radius a and center at the origin. We seek a harmonic
function u in D, which assumes the prescribed values u = f on the boundary
C; that is,
(5.1) in D, u=f on C
I 1
(5.2) urr + - u, + 2 U99 = 0
r r
The boundary condition in (5.1) becomes
Thus, the problem (5.1) is reduced to the equivalent problem (5.2), (5.3), where
now the separation-of-variables method can be applied. Accordingly, we
assume particular solutions of (5.2) in the form
where i. is our separation constant. This leads to the two ordinary differential
equations
for the function 0. Equation (5.5) together with the conditions (5.6) constitute
an eigenvalue problem [Problem 15, Exercises 4.4] for which the eigenvalues
are J. = n 2 , n = 0, I, 2, ... , and the corresponding eigenfunctions are
u"(r, 0) = A 0 + B 0 In r
(5.7)
+ (A"r 11 + B,,r-")(C,, cos 118 + D" sin 118)
the logarithmic term and the terms involving negative powers of r. We there-
fore choose B" = 0, 11 = 0, I, 2, ... in (5.7) and consider the infinite series
where we have relabeled the constants. To determine the constants 1Xo, IX",
and {3 11 , 11 ~ 1, we set r = a and apply the boundary condition (5.3) to obtain
(5.9) f(O) = ~o +
2
f
11= I
a"(1X 11 cos:o + /3 11
sin nO)
This is the Fourier series expansion off on the interval [ -rr, rr ], for which the
coefficients are given by
a" = a cx 11 =
11 I
II" /(8) cos 110 de (11 = 0, 1, 2, . ' . )
rr - rr
(5.10)
b11 = a"/3 11 =
1
rr - rr
j" f(e) sin 11e de (n = 1, 2, ... )
11
(5.11) u(r, 8) =
a0 + L -. (a
"' ( ,.) 11 cos 110 + b" sin 118)
2 11= I Q
where a11 and b11 are the Fourier coefficients off on [ - rr, rr ], given by the
integrals in (5.10).
Formula (5.11) together with (5.10) gives the solution of our problem (5.2),
(5.3). To verify this, we now assume thatf is continuous, piecewise smooth, and
periodic of period 2rr on [ -rr, rr]. Let
M = ~ f" lf(O)I dO
(5.12)
a oo
u(a, 0) = - 0 + L (a,, cos 110 + b,, sin nO) = f(O)
2 11= I
00 1
n= I
L -_, u,,(r, O)[n(n
,.-
- I) + n - n2] 0
1
u,, + - u, + (r < a)
r
u(a, 0) = a cos 2 0 (0 ~ 0 ~ 2n)
Solution: Considering the problem in polar coordinates, we see that the boundary
condition becomes u(I, 0) = sin 2 0 = -W - cos 20). Thus, by (5.1), we have
Exercises 7.4
!111 = 0 (r < 1)
u(I, (J) = sin 0 + cos 2 8 (0 S (J s 2rr)
u(x, y) = .x2 , x2 + y2 = a2
4. Solve the problem
!lu = 0 (x2 + yl < 4)
u(x, y) = y 4 (x2 + y2 = 4)
5. Show that if the boundary data/ in (5.3) is an odd function of 0 (that is,/( - {}) =
- /({})),then so is the solution 11(r, (})of the problem (5.2), (5.3)-that is, 11(r, -8) =
-u(r, 0)-and thus u(r, 0) = 0 and u(r, rr) = 0. Hint: Set z;(r, (}) = u(r, 0) +
u(r, -8).
6. Use the result of Problem 5 to find the solution of the problem
7. Show that if the boundary data fin (5.3) is an odd function of() and is periodic
of period rr, then so is the solution u(r, 0) of the problem (5.2), (5.3 ). Thus,
deduce that 11 vanishes for (} = 0, rr, and rr/2.
8. Use the result of Problem 7 to find the solution of the problem
The solution (5.11) of the Dirichlet problem in a disk can be expressed in the
form of an integral from which we can deduce several important and useful
properties of harmonic functions. This is accomplished by substituting the
formulas (5.10) for the Fourier coefficients an and bn in (5.11). We obtain
+ 1 n~l -~r)" f" /()(cos n</J cos ne + sin n</J sin ne) d</J
00
(
7r -n
(6.1)
= 2In J"_,, f(</J) d</J + n1 J ~ f" f(</J) cos n(8 - ) d</J
00
( ,.) n
_"
1
00
= -1
7r
J" -,,
f(</J) [ -1
2
+ ~
n-1
( -")"
a
cos n(8 - ) ] d</J
(6.2) -1 +
2
L:
n= 1
-
( ")"
a
cos n( e- )
Let us calculate the sum of the series (6.2). We Jet z = pei = p(cos Cl. +
i sin rx), where jzj = p < 1, and consider the series
x
l
2
+ 11=
I. 1
z'1
+
"' -"
I. ,!,
+ -- l +-
2 11= 1 2 z 2(1 - .z)
+ p cos rx
- -
+ ip sin rx
-
Thus, by equating the real parts of the right-hand sides of (6.3) and (6.4), we
find
oc
l - p2
(6.5) + I. p" cos ll'.J.
2
2 11= l 2( I 2p cos '.J. + p )
- + I,
]
2
00
n= l
(r)"
a
cos n(O
2(a 2
a2 _
+
-
r 2)
This is known as Poisson's integral formula for the solution of the Dirichlet
problem in a disk.
We recall that in (5.11 ). f was assumed continuous and piecewise smooth in
addition to being periodic of period 2n. In the integral formula (6.6), it is
sufficient to require that f be continuous and periodic. For then the function
11 defined by (6.6) for r < a and by u(a, 0) = f(B) for r = a is continuous
throughout the disk r :s; a. Moreover, u has continuous derivatives of all
274 Laplace's Equation Chap. 7
orders with respect tor and 13 for r < a, which can all be obtained by differentia-
tion within the integral sign. By a straightforward calculation, it is easily seen
that the function
1 al _ ,.2
(6.7) K (a r 13 - </J) = -- -
satisfies (5.2) for r < a, 0 ~ 0 ~ 2rr. Thus, the integral formula (6.6) with
u(a. G) = f(G) represents the unique solution of the Dirichlet problem (5.2),
(5.3). Frequently, this formula is more convient to use than the series (5.11 ).
The function (6. 7) is often called Poisson's kernel. This function is positive
for 0 ~ r < a, -rr ~ 13 ~ rr. Indeed, since a 1 - r 2 > 0, we see that
(6.8)
I - I Jn (a2__- __,.2) dj_ --
2rr -n a2 - 2ar cos(O - ) + r2
This result follows from (6.6) when f(</J) = I and the fact that in such a case
u(r, 8) = I by the maximum principle.
If we set r. = 0 in (6.6), we then obtain the very important result
1
u(O, 0) = -- Jn f(</J) d</J
2rr -n
or
I {n
(6.9) u(O, 0) = - I u(a, ) ds
2rra.-n
since u(a, </J) = f(</J) and ds = a d</J. This formula expresses the well-known
mean-value property of harmonic functions. Let us state this property as a
theorem in a more general setting.
with pole at (x, y). Applying the identity (2.11) to the domain D,, we obtain
Let us set
lrr
(6.12) U(x,y;r)= u(x+rcos(},y+rsinO)dO
J 0
Since u and its derivatives are continuous in D,, so is U together with its first
derivatives. It follows that we can calculate cU /er by differentiating (6.12)
under the integral sign. In view of (6.11), we find
cU
~ - =
or
f
2" cu
~ (x + r cos 8, )' + r sin 8) d8 = 0
or
0
U(x, y, 0) = Jim
r-o
f 0
2" u(x + r cos (}, )' + r sin 8) d8
2rc
J 0
u(x, y) d(}
= 2nu(x, y)
D such that 611 > 0 throughout D,. Then. applying the formula (2.11) to D,.
we find
I' I
,; 0 0
2rr /J..up dp dO
CU
J er
2rr
r dO
0
2
r o f rr u(x + r cos e. y + r sin 8) dB
or Jo
which, by (6.14), yields
Exercises 7 .5
oc n . p sin t
~ p Sill II( = - - - - -
n~ I (I - 2p COS ( + p 2)
CIAi < l)
a - r
u(O, 0) :S u(r,
a
0) :S -
+ r
u(O, 0)
a + r a - r
where K(a, r, 8 - </J) is defined by (6.7). Show that this solves the Dirichlet
problem liu = 0, 0 < r < a, 0 < 8 < rr; u(r, 0) = u(r, rr) = 0, 0 :S r :S a;
and u(a, 8) = f(8), 0 :S 8 :S 7L
r
7. Show that if the function/ is even with respect to, then (6.6) can be written as
which solves the Dirichlet problem for the semicircular domain 0 < r < a,
0 < 8 < rr, satisfying the conditions: u8(r, 0) = 11 8 (r, rr) = 0, 0 :S r :S a;
u(a, 8) = /(8), 0 :S 8 :S rr.
8. Obtain from the result of Problem 6 an integral formula for the solution of the
problem
liu = 0 (0 < r < a, 0 < 8 < rr/2)
u(r, 0) = u(r, rr/2) = 0 (0 :S r :S a)
u(a, 8) = /(8) (0 :S 8 :S rr/2)
u(r, 8) -I
= --
2rr
f"
-n a2 - 2ar cos(O - ) + r2
10. By multiplying both sides of equation (6.14) by r dr and integrating from Oto a,
prove that the value of a harmonic function at the center of a disk is equal to
the average value of the function on the disk. That is,
u(x, y) = rr~ 2 ff D
u(.;, 11) d.; d17, D: (x - .;)
2 + (y - 11) 2 :S a 2
Sec. 7 Neumann Problem in a Disk 279
11. Let S(x, y, z; a) denote a sphere with center (x, y, z) and radius a. For each
point (, 17, (} within the sphere, introduce the spherical coordinates ~ = x +
r sin qJ COS 0, I/ = y + r Sill qy sin (}, ( = Z + r COS, Q :S qJ :S 'lr, Q :$ (} :$
2rr, r ::S a. Let 11 be a function defined on the sphere S(x, )', z; a). The integral
2
U(x, y, z; a) = I-, ( " {rr 11(,;, 17, ()a 2 sin q, dcp dO
4rra- Jo Jo
where D denotes the interior and C the boundary of the disk x 2 + y2 :::;; a2 .
In polar coordinates (r, 0) this problem is transformed into
I
u,, + u, + ,.--:; U99 = 0 (r < a)
r
(7.2)
~u (a, 8) = f(8) (0 :::;; 8 :::;; 2n)
er
(7.4) u(r, 0) =
0
+ L r"(ct. 11 cos 118 + /3,, sin 118)
2 ll= 1
f(O) L:
n;::: 1
11a"- 1(a,, cos 118 + /3,, sin 118)
(7.5) 00
where we have set na"- 1 ex,. = a,. and na"- 1 /3,. = b,. for 11 ;::;. I. This is precisely
the Fourier series expansion off on the interval -n ::::: () ::::: n, with its constant
term a0 being zero because of the condition (7.3). Therefore,
(7.6)
Cf.fl=
na"- 1 n
r -rc
f(8) cos 17{) d()
/311 =
11a 11 - 1 n
J_"." f(8) sin 118 d()
where n = 1, 2, .... Substituting these in (7.4), we obtain
u(r, 0) = .ex 0 + a ~ 1
2 nn-111
00
(r )" J"
a
-re
[cos 118 cos mp + sin n8 sin 11 JJ( ) d</J
(7.7) = ex () + a
2 n
00
L
11= 1 11
l (r) Jn
a
11
-re
f(</J) cos n(O - ) d</J
= r:1.~o
2
+ a Jn
n _"
l ~
00
,._ 1 n a
J ( -,.)" cos 11(8 - ) J .f(</J) d</J
where ex 0 remains an arbitrary constant. J'\ otice that the interchange in the
order of summation and integration in (7.7) is justified, since for r < a, the
sen es
(7.8)
11=
I
Cf)
I
l (.
/1
r)
G
11
cos n(8 - )
(1 - 2p cos a + p 2 )
and hence
00
L p"-1 cos na = c_os_a_-:-- _p___
"= 1 1 - 2p cos a + p 2
The last series converges uniformly for IPI < I so that, by termwise integration,
we find
(cos a - d( 0
- 2( cos a + ( 2
(7.9)
00
1 1
~ J a
/1
(r)" cos n(O - </J)
Jorh sin 0 d8 = 0
so that condition (7.3) holds. From (7.6) we see that a" = fl" = 0 for n ~ J,
except /3 1 = 1. Hence, by (7.4), the solution is
u(r, 8) = r sin 8 + C
where C is an arbitrary constant.
.
282 Laplace's Equation Chap. 7
du =
cu dx +
cu dr
c1 er
dx - -:. dy
ax cy CJ OX
(xo,Yo) ll)
CV )
cc;
along any path lying in D that joins an arbitrary point (x 0 y 0 ) to (x, y).
Now suppose that 11 is a solution of the Neumann problem
CV av dx CV dy -au dx cu dy cu
(7.14)
ox ds + cy ds (r ds
+ ex ds en
OS
That is. the tangential derivative of 1' on C is equal to the normal derivative of
11 on C. Hence, the harmonic conjugate i of the solution of the problem (7.13)
satisfies the equation
CT
(7.15) -.::- =f on C
cs
It follows that r is given on C by the formula
(X,J)
(7.16) r(x, y) =
J(xo.yo)
I ds = (x, y)
where </> is given by (7.16). Having found r from (7.17), we can then determine
its harmonic conjugate u by (7.12). Because of(7.14) and (7.15), it follows that
Sec. 7 Neumann Problem in a Disk 283
i-(a, ()) = J: 2
a 2 (cos - sin 2 ,)a d
9
a 3 sin 2fJ
a Jo
3 (
cos 2 d =
2
Therefore, the corresponding Dirichlet problem is
6v = 0 in x 2 + y 2 < a2
a(xz - y2)
a (x dx - y dy) - + c
J 2
where C is an arbitrary constant.
Exercises 7 .6
Oil
(x2 + y2 4)
en
5. Find the solution of the problem
cu = x
3
- 3xy 2 (x2 + y2 1)
(m
6. By differentiating (7.10) with respect to r within the integral sign, show that
OU
or
a Jn K(a, r, 0- dJ)f( </;) d@
r -n
where K is the Poisson's kernel given in (6.7), and thus deduce that
. (II
IIm = /tOJ (r < a)
r- a (: r
u(r O) = -a r
2
f" 2
F(d,) sin<8 ~ @) d@
' n .-rra -2arco<;((J-<f;)+r 2
"'1.11 = 0 (r > a)
(11
f(O)
er
(0 s es 2n; 11 bounded as r ~ o::;)
Sec. 8 Problems in Infinite Domains 285
9. Show that if the function fin (7.10) is odd with respect to y, then (7.lOJ can
be written as
u(r, 0) =
- a J" /(ef,) In
1
a--- - Zar--cos(O - )--+ r d<P
----
2
where JO /(8) d8 = 0.
In this section we shall consider boundary value problems for the Laplace's
equation in an infinite domain of the xy-plane. We shall again use the method
of Fourier transform, as we did in the case of the heat equation. We consider
first the Dirichlet problem in the upper half-plane y > 0, namely,
exists and
Differentiating (8.2) under the integral sign twice with respect toy and using
Laplace's equation, we obtain
f~
00 uyy(x, y)e-isx dx
-1
,/)_-~
f: 00
Uxx(x, y)e-isx dx
286 Laplace's Equation Chap. 7
As usual, we require that both 11 and ux tend to zero as lxl --+ oo. Then integra-
tion by parts twice yields the equation
(8.4) V_Js, y) = s 2 U(s, y)
for the transform (8.2). This has the general solution
(8.5) V(s, y) = C 1 (s)e-sy + Ci(s)e 5 Y
involving two arbitrary functions C 1 and C 2 From the boundary condition
in (8.1) we get one condition to be satisfied by (8.5). We therefore need another
condition in order to be able to determine the functions C 1 and C 2 uniquely.
A physically plausible condition is that our solution u be bounded as y becomes
infinite. This requires (8.5) to be bounded for large values of y. Consequently,
when s > 0, we must choose C 2 = 0 so that (8.5) becomes
(8.6) (s > 0)
Setting y = 0 in (8.2) and (8.6) and using the boundary condition given 111
(8.1 ), we see that
U(s, 0) = C 1 (s) = F(s)
where F denotes the Fourier transform off. Hence, whens > 0, (8.6) becomes
(8.7) U(s, y) = F(s)e-sy
u(x, y) = -1= J
, 2rr
00
- "'
F(s)eisx- lsly ds
(8.10)
= 1 Joo JW J" eis(x-~)- lsJy ds d(
2rr -'YJ -oo
where we have introduced the definition of F(s) and formally interchanged the
order of integrations. The inner integral with respect to s can be evaluated to
give
(8.11)
oo
= 2
J
2y
0
e-sr cos s(x - 0 ds
(x _ ()2 + y2
Sec. 8 Problems in Infinite Domains 287
Here we have observed that 2 cos Cl. = e;" + e-;._ Thus, (8.10) simplifies to
= f(x)
If we define u by (8.12) for y > 0 and u(x, 0) = .f (x) for y = 0, then u rep-
resents the unique bounded solution of the problem (8.1 ).
It should be pointed out that the requirement that u be bounded, which was
imposed in the determination of (8.9), is an essential condition if the problem
(8.1) is to have a unique solution. For we see that the function
Then, differentiating (8.13) twice with respect to x and using the differential
equation together with the boundary condition in (8.1), we obtain
e) + sf(x) - s2 U.(x, y)
288 Laplace's Eq11atio11 Chap. 7
Here we have assumed as usual that 11 and ur vanish as y -. oo. Thus, the
transform Us satisfies the equation
(8.14)
Further, we assume that u is bounded for lxl < oo, 0 < y < oo, and vanishes
as lxl -. oo. This requires that u.. satisfy the boundary condition
Equation (8. I 4) together with the condition (8.15) constitutes a singular Sturm-
Liouville problem. By the method of Section 2, Chapter 4, the Green's function
(Problem 17, Exercises 4.2) for this problem is given by
G(x; ~) = - ;s e-six-~I
Therefore,
U,(x, s) = - (rr2)-''s
- Jae-oc f(~)G(x; ~) d~
11 J" J(~)e-slx-~I d~
Y 2rr - CYJ
Substituting this in formula (8.8) of Chapter 5 for the inverse Fourier sine
transform, we find
= l
rr
J 00
-oo
JC() f" e-slx-~I sin sy ds d~
o
after an interchange in the order of integration. Since
J oo
0
e-st sin sy ds =
t2
_Y__
+ y2
(t > 0)
Thus, we set
(8.18) U.,(s, y) = ; (2) t Joc u(x, y) sin sx dx
0
(s > 0)
Then, differentiating (8.18) twice with respect to y and using the differential
equation, we obtain
a-::,2 u/ = - (2)-t
- Joc uxix, y) sin sx dx
oy n 0
under the usual assumption that u and ux vanish as x ~ oo. From the boundary
conditions in (8.17), we have
(8.21)
and
C(s) = F.(s)
sinh sb
and hence (8.22) becomes
(8.24) u ( x, y ) = -2
n
Ix - .s(b- - y) sm
sinh
smh sb
. sx f"' f( c;") sm. .,,s;: d;:.,, ds
0 0
(8.26) u(x, y) = I
11= l
B,,(x) sin
11
b
~y
where
(8.27) Bn(x) = b2 Jb u(x, . nn
y) sm b y dy
0
Then, differentiating (8.27) twice with respect to x and using the differential
equation together with the homogeneous boundary conditions in (8.25), we
obtain the equation
(8.28)
(8.29) B,lO) = b
2 Jb0 g(y) S111. -b-
llTi y dy = b,, ( 11 = 1, 2, ... )
which are the Fourier sine coefficients of g on (0, b). Now equation (8.28)
has the general solution
(8.30)
Jn order that (8.26) is bounded as x tends to oo. B,i(x) must be bounded; hence,
we choose C 2 = 0 in (8.30). By the condition (8.29) we thus see that C 1 = b11
Therefore, the solution of the problem (8.19) is
(8.31) u(x. y) = f
n= 1
blle-(nrrb)x sin /Jn
b
y
(8.33) i(x y) = Y
, n
J"'- oc (x - 02
.rm d(
+
-
y2
(y > 0)
r
and from the definition it follows that
)' IJ Joc rm d~
(8.34)
J n -w (x _--()2 + t/2 d17
I I"' f m J)' --
IJ" dr7 d~
nJ- oc (x - r;:)z + t/2
Exercises 7.7
1. Verify that
1 J'OC df,
n - ~ (x _--6:z + y2 = 1
( - 00 < x < oo, 0 < y < 00)
which solves the Dirichlet problem f..11 = 0 in the first quadrant x > 0, y > O
with the boundary conditions: 11(0, y) = 0, y > O; u(x, 0) = /(x), x ;::: 0. In
particular, when /(x) = I for x > 0 and /(x) = - 1 for x < 0, show that
u = (2/n) arclan(x/ y).
3. Deduce from formula (8.12) the solution of the problem
uJx, 0) = 11(x, n) = 0 (x 2 0)
11 bounded as x -> er:.
8. Solve the problem
6.u = 0 (x > 0,0 < y < 7t)
11x(O, y) = 0 (0 ::; y :5 n)
u(x, 0) = 0, 11,.(x, 1:) = /(x) (x > 0)
u,, + -I 11, +
l
1199 = 0 (r < I, 0 < e< b)
r r2
uo(r, 0) = 0, u(r, b) = /(r) (0 ::; r ::; I)
u(x, y) = -
I
2n
f cr_ (>.: -
In
(x
cJ2
-
+ c;J 2 +
+- y z
y2
f(c;) de;
0
11 bounded for x 2: 0, y 2: 0.
15. Solve the Neumann problem
Let ((, IJ) and (x, y) denote an arbitrary fixed point and a variable point,
respectively, in the xy-plane. We recall that in polar coordinates with pole at
(~, 17), Laplace's equation takes the form
iJ2u I cu I cu2
(9.1) flu=
a,.2 +--+---=0
r or r 2 c0 2
where
r = ''(x - 0 2 + ()' - 11) 2
and
(9.5) v cu) ds
~
CIJ
Applying (9.5) to the punctured domain D' bounded by C and C 0 , and noting
that !iU 0 throughout D', we find
where we have dropped the common factor 1/2n. This relation holds for all
values of c: no matter how small. We shall show that the integral along C 0
yields the value -2nu((, 17) when e is allowed to approach zero.
On C 0 we note that r = 8 = const and the outward normal vector is opposite
in direction to the radius vector. Thus,
a
~(In r)
I d
= - - In r I
1
=
1
Oil I r =' dr :r = f. 8
296 Laplace's Equation Chap. 7
(9.7)
-2nu(~, 17)
Since the first derivatives of u are continuous in D, there is a constant 1\1 such'
that (:u/cn ~ ,\1 on C 0 Therefore,
(9.8) 'J,
1 Co
CU
~ In r ds,
011 I
j
~ M J
2
o
" Jin cl e dO ~ 2nMe Jin 1:;J
which tends to zero with e. Thus, letting i; approach zero in (9.6) and usmg
(9.7) and (9.8), we obtain the integral formula
This expresses the value of u at any point in D in terms of the values of u and
ou/cn on the boundary C and of Liu in D. Jn particular, when 11 = I, we obtain
an important property of the fundamental solution, namely,
I ' c-
(9.10) ~ (In r) ds = I
2n Jc c11
Formula (9.9) does not immediately yield a representation for the solution
of the Dirichlet problem or the Neumann problem, since it involves the values
of both 11 and its normal derivative ('ujcn on C. We shall therefore convert
it into an integral formula from which it will be possible to eliminate u or
ou/cn.
Let g = g(x, y: ( '1) be a function of (x, y) that depends on the pole ( ~. 11)
such that g is harmonic throughout the domain D. Applying (9.5) for the
function u and g. we then have
(9.11) r (u ('g
Jc h1
- g lll) ds + Jr g Liu dx d_r
(n.
0
0
(9.14)
-I
g(x, y; , 11) In r on C
2n
for each point(~. 17) in D, then the function G defined by (9.13) vamshes when
(x. y) lies on C. Thus, we obtain from (9.12) the specific representation formula
in terms of the function (9.13) and its normal derivative on the boundary.
Let us state our result as a theorem.
THEOREM 9.1. If 11 denotes the solution of the problem (9.16). then u has the
representation
+ fJ
/)
q((, 11)G((, Y/: x. J) d( dYJ
frhere G is the .fi111ctio11 defined by (9.13) and (9.14) Hith the role of (x, y) and
(, 17) interchanged.
The function G defined by (9.13) and (9.14) is called the Green's function.
It is clear that the Green's function, whenever it exists for a given domain, is
uniquely determined. This follows from the uniqueness of the function gas a
solution of (9.14), which is a Dirichlet problem. It might also be seen from the
fact that if G 1 and G 2 are two distinct Green's functions for a given domain,
then their difference G 1 - G 2 is a harmonic function throughout that domain
which vanishes on the boundary, and so, by the maximum principle, must
vanish identically.
298 Laplace's Equation Chap. 7
Let us note the following important properties that characterize the Green's
function G:
(i) For each (~. 11) in D, G satisfies the Laplace's equation
(iv)
l ;- ds = 1
c en
G is symmetric with respect to the points (x, y) and(~, 17); that is,
G(.;, 17; x, y) = G(x, y; .;, 17)
The first two of these properties clearly follow from the definition of the Green's
function. The third property is a consequence of (9.10) and (2.11 ), g being
harmonic in D. The last of the properties can be proved by setting
u(x, y) = G(x, y: (, 17), v(x, y) = G(x, y; (, T)
in Green's second identity (9.5) over the domain D' bounded by C, C 1 , and C 2 ,
where C 1 and C 2 are small circles of radius e about the poles(~, 17) and ((, T),
Figure 7.6. We note that since !:lu = 0 and .i1v = 0 in D', and u and v vanish
on C, (9.5) yields
0 c I
l)'
0 )
c,
----------- y
0
By using the definition (9.13) together with (2.11 ), and by a calculation quite
like our derivation of (9.9), we see that
lim
,~o
J (u en~v ~)
c1
- v
011
ds = v(, 17)
(9.20)
lim
.~o
J (u ~~ - ;)
c2 on
v
on
ds = -u((, r)
Thus, from (9.19), we have u((, r) = v(, 17), or G((, r; , 17) G(, 17; (, r).
In this section we shall present examples of Green's functions for the Laplace's
equation for special domains in the xy-plane. We determine first the Green's
function for the interior D of the disk (Fig. 7.7),
(10.1) x2 + y 2 :::;; a2
Let P: (, 17) denote the pole of the Green's function G = G(x, y; ~. ~1) in D,
with Q: (x, y) being a variable point, and let
;- - ----- ---
r = v (x - )2 + (y - 17)2
denote the distance of the point Q from the pole P. We wish to determine a
function g = g(x, y; , ri), which is harmonic throughout D and which assumes
300 Laplace's Equation Chap. 7
the value -(l/2rr) In r when x 2 + y 2 = a 1 . Ir((, 17) = (0, 0), then clearly
g = ( - l/2rr) In a fulfills the requirement. Hence, by (9.13), the Green's
function for the disk ( 10.1) with pole at (0, 0) is given by
1 I
G(x,y:0,0)= Jnr- -Ina
2n 2rr
(10.2)
I r
In
2rr a
OP OQ
(OQ a)
OQ OR
--
in view of the relation OP OR = a 1 . Hence,
PQ OP a
QR a OR
from which we obtain
OP - a
(10.3) PQ -- . QR QR
a OR
Thus,
(10.4) -
a1 ..
zs
)2 +
(_r- a1
zl7
)zJ 1;2
p . p
whenever x 2 + y 2 = a 1
Now consider the function
It is easily verified by direct differentiation that this function satisfies the Lap-
lace's equation for all (x, y) in D. Moreover, in view of (10.4), the function
assumes the value -(l/2rr) In r whenever (x, y) lies on the boundary C of D.
Hence, (10.5) is the solution of the Dirichlet problem (9.14) for the disk ( 10.1 ).
Sec. JO Examples of Green's Functions 301
By (9.13) the Green's function for the disk (10.1) is therefore given by
I 1 p 1 ar
(10.6) G(x, y; ~' 11) = - In r - -- In r* = In -
2n 2n a 2n pr*
where we have written
(10.7) r*
a2
= [( x--~ )2 +(. a2 )21112
y--17
p2 p2
Since we have found the Green's function, the solution of the non homogeneous
Dirichlet problem (9.16) for any disk is now immediate, by Theorem 9.1. In
particular, when q = 0, we have
where we have interchanged the role of (x, y) and U:, 11) in (10.6). Let us show
that this agrees with the Poisson's integral formula (6.6), which was previously
obtained in Section 6. We have to calculate the normal derivative of the Green's
function (10.6) for ~ 2 + f/ 2 = a 2 For this purpose, it is convenient to introduce
polar coordinates to describe the points (x, y) and(~, IJ). Thus, let x = p cos 0,
y = p sin 0, and = v cos </>, 11 = v sin </>. Then
= v
2
2pv cos( - 0) + p2
r
-
(10.9) ,.*2
= (~ - ~: x + ( 1J - ~-: yr
a2v a4
= v2 - 2 - cos( - 0) +
p p2
Since the outward normal derivative of a function on a circle coincides with the
derivative in the radial direction, it follows from (10.6) and (10.9) that
ac
~ - (v, <P; p, 0)
en
=
2n ov
[a
1 ~-- (In r) - -~ (In r *)
ov
a l
= 1-
4n ov
[a~ (In ,.2) -
ov
a (In ,.*2)
~ l
(IO.IO)
= 1 [v - p cos(_~~) _ 2
v -_(a /p) cos</> - 0)1
2n ,.2 ,.*2
This yields
oG
- (a,; p, 0)
1
= -- a2
-~---
- p2
(I0.11)
an 2na a 2 - 2ap cos( - 0) + p2
302 Laplace's Equation Chap. 7
{) ~ y \ I
f': ii; O) I
I l
+--~----------------~-
!
:
I
I
I :
I :
I I
/:!, I~ i()
pole of the Green's function in the half-plane y > 0 and let Q: (x, y), y > 0,
be any point whose distance from the pole is denoted by r. Consider the re-
flected image R: ( (, -1)) of the point P with respect to the x-axis. It is clear
that when Q is located on the boundary y = 0 of the half-plane y ;;::: 0, Q is
equidistant from P and R. Thus. we take
(10.12) ~ I/ )
g ( X, .J": (, = - I I 11 1*
2:r
where
--
Clearly, this function is harmonic for all (x. y) in the half-plane y ;;::: 0 and
reduces to -(l/2n:) In r on y = 0. Therefore. the Green's function for the
half-plane y ;;::: 0 is given by
I l l r
G(x r: C. IJ) =
(10.14)
' - . _, 2n:
Jn r -
2n:
Jn r* = - In -
2n: ,.*
Thus, we can formally state the following theorem, which corresponds to
Theorem 9.1.
Sec. JO Examples of Green's Functions 303
+ J"' f"'
0 - cc
q(~, 17)G((, 17; x, y) d~ d17
(10.16)
y f"' f(() d~
rr _"'(~ _ x)2 + y2
Exercises 7 .8
~
G(l' 0 p r/J) =
1
ln
a 2 (1' 2 -
-
2l'p cos<O -
-
) +- p 2..)
' ' ' 4n (a 4 - 2a 2 vp cos(O - <h) + l' 2 p 2 )
and thus verify that G = 0 when i = a.
5. Determine the harmonic function ( 10.5) by actually solving the Dirichlet problem
22 q 1 c..q 1 22 g
. '2 + + 2
= 0 (i < a)
C1' l' l l' 1' (;8 2
1
g(a. e; p, f) = ln[a 2 - 2apcos(0 - di)+ p 2 ] (1 = a)
4n
for fixed p and . Hint: Assume a solution g analogous to (5.8) and use the
series (7 .9) for the boundary data.
304 Laplace's Equation Chap. 7
In Section 9 of the present chapter we obtained from the basic formula (9.12)
an explicit representation for the solution of the Dirichlet problem (9. I 6) in
terms of the normal derivative of the Green's function (9.13). In this section
we shall derive from (9.12) a similar representation formula for the solution of
the nonhomogeneous Neumann problem
where
I
(11.3) H(x, y; ~, ry) - - Jn r + h(x, y; ~' ry)
2n
Sec. 1 I Seumann's Function and Examples 305
!ih = 0 in D
ch I o (In r) on C
011 2n on
But this problem cannot have a solution because, by (9. JO),
oh
f
c on
~ ds = -l
which violates the necessary condition (2.12) for solvability of the Neumann
problem.
Let us determine h so that cH /en = const on C; say, cH /en = b # 0.
Then, from (11.3), we have
0
cH ds = J (In r) ds + J oh ds
Jc on 2n c en c 011
b Jc ds
(11.4) b =I
L
where L denotes the perimeter of the domain D. This means that we must
determine h as a solution of the Neumann problem
!ih = 0 in D
(11.5)
ch I <' (Jn r) on C
011 L 2n l 11
Notice that here the condition (2.12) is satisfied. So, if the function h in (11.3)
is a solution of (11.5), then substitution of (11.3) in (11.2) yields the specific
representation
" Du
u(~, 11)
Jc H(x, y; s, 17) ds ~
011
for a solution of the Neumann problem ( 11. I). The last term on the right of
(I 1.6) is simply an additive constant, representing the average value ii of the
solution. Thus, we have the following representation theorem for (11. I).
(11.7)
+ JJq(~, IJ)H((, I); x, y) d( di] + 11
\\'here H is defined by (11.3) and (11.5) iiith the role of (x, y) and((, IJ) inter-
changed, and where ii is an arbitrary constant equal to the araage rnlue of 11.
(11.8)
Jc H (x, y; (, 17) ds = 0
holds, then H becomes uniquely determined. In this discussion we shall assume
that our Neumann's function satisfies (11.8).
It is of interest to note the following characteristic properties of the Neumann's
function:
(i) H satisfies Laplace's equation for all (x, y) in D, except at (<!, 11).
(ii) oH/cn = 1/L on C, where Lis the perimeter of D.
(iii) H has a logarithmic singularity at (<!, 17) such that
(11.9)
l
oH
~ds = 1
C C/1
(iv) H is symmetric with respect to the points (x, y) and (<!, 17); that is,
H(x, y; .;, 11) = H(<!, 17; x, y).
The symmetric property (iv) can be established with the help of (I 1.8) in
exactly the same manner we established the symmetry of the Green's function,
and is therefore left as an exercise (Problem I).
Let us now consider the construction of the Neumann's function (11.3) for
the interior of the disk x 2 + y 2 ~ a 2 . Using the same notation as in (10.6)
we set
1 I
(11.10) H(x, y; ~, 17) = -- In r + - In r* + A(~, 17)
2n 2n
Sec. 11 Neumann's Function and Examples 307
8H
an (x, y; e, 11 ) = 2n~1 = i1
Thus, the first three properties listed for the Neumann's function are fulfilled.
To ensure symmetry of the Neumann's function, we have introduced the har-
monic function A(e, 17) in (11.10). The function A will be determined by
requiring (11.10) to satisfy the normalization condition (11.8). In this way, we
shall also have ensured uniqueness of our Neumann's function.
Thus, applying (11.8) to (11.10) and noting that on the circumference C of
the disk, r = pr*/a, we have
f c
H(x, y; e, 17) ds = 2n
_!__ f c
(In rr* + 2nA) ds
(11.11)
= _l_
2n
f c
(in I! r* 2 + 2nA) ds
a
=0
Now the integrand in the last integral of (11.11) is a harmonic function of
(x, y) throughout the disk. Hence, by the mean-value property of harmonic
function (Theorem 6.1 ), the integral in (I l.11) is equal to the value of the
integrand at the center (x, y) = (0, 0) of the disk. Thus, we find
p a4
In - 4 (e2 + 17 2 ) + 2nA = O
ap
or
1 p
(11.12) A(e, 11) = - In - 3
2n a
r* =
a2
[( x - --p2 e)2 + (y a2
- p2 11
)2] 112
308 Laplace's Equation Chap. 7
where His given by (11. I 3) with the role of (x, y) and ( (, 17) interchanged, agrees
with formula (7.10) previously obtained.
Neumann's function for the half-plane y > 0 is given by
(11.15) H(x, y; <:,, 17) = ~rr [In r +In r*J = 2.~ In rr*
where we have used the same notation as in (I 0.14). Clearly, this function is
harmonic throughout the upper half-plane except at the pole((, 17). Moreover,
oH/oy = 0, as to be expected, since the boundary here is of infinite length.
The ful)ction (11.15) is unique up to an additive constant. Thus, a solution
of the nonhomogeneous Neumann problem
1
u(x, y) =
2rr
Jco_ oo
f(() ln[(x - (,) 2 + y 2 ] d(
(11.17)
+ 1 f"' f"' ln(rr*)q((, 17) d( d17 + C
2rr 0 _ oc
Exercises 7.9
1. Show that the Neumann's function (11.3) satisfying the normalization condition
(11.8) is symmetric with respect to the points (x, y) and (~, 17).
2. Verify that the function (I I. I 0) satisfies the relation
2H (X, y; \;,I/
-
) = -
1
an 2na
when x 2 + y 2 = a2
3. Verify directly that the Neumann's function (I 1.13) for a disk is symmetric with
respect to (x, y) and (,;, IJ).
Sec. 11 .Ve11111ann 's Function and Examples
309
311
Solutions of the Exercises
Chapter 1
Exercises 1.1
1. (a) Continuous and piecewise smooth.
(b) Piecewise continuous and piecewise smooth.
2. The extension off is piecewise continuous if f is piecewise continuous on [ - L, L];
the extension is continuous if f is continuous on [ - L, L] and/( - L) = f (L).
The periodic extension off is piecewise smooth if f is piecewise smooth; the
extension is smooth if f is smooth on [ - L, L] and/(- L) = f(L).
5. No. 6. No.
Exercises 1.2
x1 + 2xy.
2x 2y
3. llx = , "r =
.\"2
+ y-J .\"2
+ y2
2y -2x
4. u, = , /{-'
-
(x + y)2 (x + )')2
I x x x
sec 2
?
5. Ux = - sec- lly ?
y y r y
313
314 Solutions of the Lxercisn
x r- )'
11. -
[{_\_\"
(x2 + r2 )312
12. ll,;x
x2 y2
21. For(\. y) cfc (0. OJ,
x2 + v2
Exercises 1.3
d11 1-'
1. t In(! - t) -
dt 2(1 - I)
10.
2(r
2
+ s
1
)
+ 4r ln(r - .1): 11, =
- 2(r 2
+ s 1
)
-r 4sln(r s).
11,
r - s r - .1
12. Uu + Uq
x y y x
14. = - 11 8 : -- lie.
fix
r
II,
,.- fl_\
r
11,
' ,.-
0
Exercises 1.4
Exercises t .5
( - J)"+ I
r !+1-
0 11=0 2n+l
JO. ~ -
,, = 1 (211 - I )3
14. The series for 11 1 11x, u'-' are all uniformly convergent for 0 ::; x ::; rr, 0 <
f0 s I.
Exercises 1.6
1.
jx2 + 121
i ::;
a2 + - [
?
for all t, and Lx di
a2 -1- (2
i[
2a
I sin t 1
2. I ? I ::;
1
x- + r- x2 + t2
4. ie--' 1 cos ti s e-ai for 0 < a s x, 0 s I < oc and J;;' e-t dt = 1/a.
6. ForO <a::; x::; b,e- 11"'- 1 ::; e-r,b-i::; A/t 2 for some constant A.
7. Integrate under the integral sign from 0 to oo.
10. Forall x, \e- 12 cos xtf ::; e- 12 and J;;' e- 1 ' dt = v'rr/2.
Exercises 1.7
I. (a) du/ds = 6\il; (b) du/ds = v3 - (I+ \ 3)e.
1
du 32 4
2. -1- ::__(sin 2 + cos 2J.
ds '\
1
17 17
3. du/ds - 72/\ 1 17. 4. () = 45; d11/ds
5. du/ds = 194/\ 97 (max). 6. cu/en = 4.
7. cu/en = 2/r.
Exercises 1.8
I
1. 0. 2. 4
3. 0. 4. 5/42.
5. (a) 2n; (b) 2n.
Chapter 2
Exercises 2.1
I. (a) and (f) are second order, linear; (bl, (c), and (e) are second order, nonlinear;
(d) first order, linear.
..... _
316 Solutions of the Exercises
Exercises 2.2
1. (a) u = 3xy + y 2 /2 + f(x). (b) u = ln x + xeY + f(y).
(c) u = - y cos x + f(y). (d) 11 = xy 2 /2 + y tan x + f(x).
(e) 11 = yf(x) + g(x). (f) u = s~ g(I) dt + f(y).
2. (a) u = -ex-y + f(x) + g(y). (b) u = x 2y/2 + xy 2 + f(x) + g(y).
(c) u = yex + xf(y) + g(y). (d) u = y 4 /4 sin x + yf(x) + g(x).
<el u = s~ t<~l d~ g(11) d11 + h(x) H + k(y).
3. (a) u = f(x + 2y) + g(x - 2y). (b) u = f(x + y) + g(Sx + y).
(c) u = f(2x - y) + xg(2x - y). (d) u = f(x + y) + xg(x + y).
(e) u = f(2x + iy) + g(2x - iy).
(f) u = ![(2 + 3i)x + y] + g[(2 - 3i)x + y].
4. (a) 11 = 2(x - (I/ y)) + e-xyf(y). (b) u = - (cos x/ y) + y 2f(x).
(c) u = f(y)e 2 xy + g(y)e- lxy - 3x/4y 2.
(d) u = f(y)exy + g(y)e- 3 xy. (e) u = f(x)exy + g(x)yexy.
5. u = xeY + (l/x)f(y) + g(x). 6. u = x(x - 1) + sin y.
7. u = sinh x + cosy - 1. 8. u = I - cos x + y 2 + x 2y 2 /4.
3
9. u = x - y + eY - I + x sin -y
3
Exercises 2.3
3. u = 2e- 9 ' 14 sin(3x/2) - 4e- 25 ' 14 sin(5x/2).
Exercises 2.4
1. u = exf(x - y). 2. 11 = f(3x + 2y) + x 2 /4.
sin x - cos x
3. u = + y + 2 + e-xf(2x + y).
2
Exercises 2.5
1. u = e-if(x) + e-xg(y). 1. II = f(x + y) + exg(x - y).
3. 11 = f(x - iy) + g(x + iy). 4. 11 = f(x - y) + xg(x - y).
5. 11 = /(x) + e- 3 xg(2x + y). 6. r 2 11 = f(r +cl)+ g(r - ct).
7. 11 = f(x + iy) + g(x - iy) + h(x + y) + k(x - y).
8. 11 = f(x + y) + xg(x + y) + h(x - y) + xk(x - y).
IO. 11 = x 3 /6 - y 3 /24. 11. 11 = xy 4 /I08 + y 5 /810.
Exercises 2.6
9. Hyperbolic for x 2 + y 2 > I, parabolic for x 2 + y 2 = 1, and elliptic for x 2 +
y2 < l.
JO. Hyperbolic for x 2 - 4y > 0, parabolic for x 2 - 4y = 0, and elliptic for
x 2 - 4y < 0.
Exercises 2. 7
1. 48(11~, - 11ryry) + u{ + 4ury = 0. 2. u,, - llryry - llry = -17(~ + r/).
3. 7511~ry + // = -(~ - 2
ri) /25. 5. 2u,ry + ury + l = 0.
6. 411~, - u, - 2u,1 = 0. 7. u,, + 11,, = ~(17 - 3~).
Chapter 3
Exercises 3.1
2. ll'1r -c 2 wxx = - v" + c 2 vxx; w(x, 0) = f(x) - v(x, 0); w,(x, 0) = g(x) - v,(x, 0);
w(O, t) = 0, w(L, t) = 0.
3. Suppose u 1 and 11 2 are two solutions and set u = 11 1 - u2 .
Exercises 3.2
1. u(x, 0) = sin x; u,(x, 0) = - c cos x.
2. u(x, 0) = x 2 ; u,(x, 0) = 2cx.
3. u = sin 2x cos 4t + 1- cos x sin 2t.
4. /1 = x sin x cos 3t + 31 cos x sin 3t + t cos 2x sin 6t.
2 2
5. /I= - - I -+- x + t
+ ex sinh t.
[I + (x + t) 2 )[1 + (x - 1) 2 ]
6. u = e-x cash t + 1-[arctan(x + t) - arctan(x - t)].
7. u = cos(rr/2)x cos(rr/2)t + (I /a) sinh ax sinh at.
8. u = sin 3x cos 31 + 1- sin 2x sin 2t - sin x sin t.
9. u(l/8, 11/8) = O; u(l/4, I) = 1/2.
10. u(-rr/12, 7rr/12) = 1/2 - v3/4; u(-rr/2, 5rr/6) = v3;4.
11. u(O, 3/4) = 45/64; u(-1/2, 3/4) = 211/384; 11(9/8, 7/8) = 117/384.
e-1 + e-213
12. u( - n/6, Srr/6) = - - - - - + I.
2
e-114+e-1 I v2
11(3rr/8, 5n/8) = - - - ---- + - + - - .
2 2 4
Exercises 3.3
1. u = x 2 + t 2 + xt 2 . 2. u = xt(t - 1) - t 3 /_ + sin x cost.
3
3. 11 = ex sinh I + xt /6. 4. 11 = cos(x - t) + (ex/4)(cosh t - 1).
5. u = (ex/4)(cosh t - 1) + t[arctan(x + t) - arctan(x - t)] + t - sin t.
6. 11 = - x 3 - 3xt 2 + x 2 + t 2 - ~ sin x sin t + tt sin x.
Solutions of tlze Exercises
319
Then
v, = -1
2
j''
0
[F(x + c(t - r), r) + F(x - c(t - r), rJ] dr
z;x = --I
2c
J' 0
[F(x + c(t - r), r) - F(x - c(t - r), r)] dr
ixx = -
2c
I J' 0
[F,(x + c(t - r), r) - Fp(x - c(t - r), r)] dr
+2
J e-<ax,2h(>lf2)
. Jx-r r'+r e"l [ g(s) - ; f(s) J ds.
Exercises 3.4
ee
1. E'(t) =
f -x
x CLO
2
c 2 u 0 J dx +
I - cc
u,(u,, - c ux11,:
- oc
= 0
by the differential equation and the assumption on llx and 111 as lxl --> oo. Thus
E(t) = const for t 2 0.
11(x, 0) = 0 and vanishes together with its first derivatives as lxl --> oo. Since
E(t) = cons! and (0) = 0, it follows that E(t) = 0 for t 2 0. Therefore,
uf + c 2 u; = 0, which implies u 0. =
r::
{
~ [f(x + ct) - f (ct -- x) l + ~~ g(s) ds (x < ct)
5. u(x, t) =
~ [j(x + ct) + f(x - ct)] +
2~ f_+c:' g(s) ds (x > ct)
320 So/11tio11s o( the Exercises
6. Let 11 be the solution of (2.1 ), (2.2) where f and g are even. and set r(x, I)
u( - x. I). Then z is also a solution of (2.1 l, (2.2). Since the solution is unique,
u(x, t) = r(x, I), or 11(1, I)= u(-x, r).
11(1/4, 1) = 47/128.
9. u(x, I) = xi + sin(nx/2) cos(nt /2).
10. (a) u(x, t) = cos(nx/2) cos(m/2) + x 2 1 + t 3 /3;
(b) u(x, t) = -~[e-lx-rl + e-lx+<I] +cos x sin t.
12. u(x, t) =sin x cost+ tx1 2 . 13. u(x, I)= cos x sin t + 1 3 /6.
Exercises 3.5
1. If f is odd about x = 0 and x = L, then f(x + 2L) = f[2L - (-x)]
-f( - x) = f(x).
2. If f is odd about x = 0 and even about x = L, then
3. Write ia+2L g(x) dx = 1-L g(x) dx + J:L g(x) + J:+ZL g(x) dx.
The first and the third integrals on the right cancel out. In fact, set s = x + 2L.
Then
and
-v2 11os
4 2048
Solutions of the Exercises
321
8. 11(3/4, 2) = 3/16.
9. 11(x, f) =(1/2)[/Lx - f) + f(x + t)] + (2/n) cos(n/2lx sin(n/2)1 where/ h
. o f 11(x. 0) = x~(l
extension 0 0
- x-) sue I1t1at
I / 1s
even about x = o and odd ISb t c
x = l. ' a out
10. 11(x, t) = j(l - cos 2nx cos 2nt).
13. 11(1/2, 3/2) = l[3e - 2e 1 12 - l].
14. 11(1/4, 2) = 87/128.
Exercises 3.6
1. 11(5/8, 19/8) = 273/32. 2. 11(1/4, 3/2) = -11/128.
x)e-<r-x) - e- 1 sinh x
3. (a) 11(x, t) = f (t - (x < I)
\ e-x cosh t - 1 (x > t)
(b) u(x, t) = {
si.n 2(t - x) + sin x cost (x S t)
sm x cost (x 2 t)
Exercises 3.7
1. 11(x, t) = i sin x cos t - sin 3x cos 3t.
2. 11(x, !) = (3V2./8) sin x sin YZ t - c/J0/40) sin 3x sin\! l-0 t.
3. u(x, t) = sin r + (3v'2./8) cos x sin \ 12 t + (\ 1 10/40) cos 3x sin YlO t.
4. u(x, f) = e-x[2 sin 2nx cos(4n 2
+ 1) 112
r - 3 sin 5nx cos(25n 2
+ 1) 112 t].
5. 11 (x, t) 34 te-'
= r'2 .
sm (x) -
2
gv2 e -r/2 sm. \ ;-2 t sm. (3x)
2
.
8. 11 11 (x, . (mrlnx)
t) = x 112 sm -
ln 2
. (n n -
sm
ln 2 2
2 2
+ - 1)
4
112
t.
Chapter 4
Exercises 4.1
1. + cebx, = 0.
(d /dx)(ebxz/) 2. (d/dx)(x 2 u') + x 2 u = 0.
3. (d/dx)(ex11') + (e-'/x)11 = 0. 4. (d /dx)(x11') + (I /x)u = 0.
5. (d /dx)(xe-x11') + e-"11 = 0.
6. (a) u(.Y) = C(x - 1).
(b) II= 0.
7. u(x) = C sin x. 8. = 11(x) 0.
9. u(x) = 0. 10. 11(x) = 0.
11. u(x) = C In x. 12. u(x) = c_,-2,
13. u(x) = Cx. 14. u(x) = 0.
16. (a) No solution. (b) u(x) = 2 sin x - cos x. (c) u(x) = - sin x.
17. (a) u(x) = e". (b) u(x) = e- 1 cosh x. (c) u(x) = e-x.
(d) u(x) = e-x.
18. (a) u(x) = eh/(! - e 4 ) + e- 2"/(I - e- 4 ). (b) u(x) = cosh 2x.
19. (a) No solution. (b) u(x) = ~ sin 2x - cos 2x.
(c) u(x) = { sin 2x + -J cos 2x.
2 In x
20. (a) 11(x) = 2 In x. (b) u(x) = I + (c) 11(x) = In x - In 2.
- 2 In 2
21. (a) u(x) = cos(ln x) + (tan I) sin(ln x). (b) u(x) = cos(ln x).
(c) u(x) = sin(ln x).
Exercises 4.2
f (0 :S .\- :S J
(bJ C(x, J =
Ix ( s x s I)
J -(\ ll (0 :S x :S )
(cJ C(x, l =
\-( - l) ( s x :S I)
/-sinxcos (0 :S x :S )
2. (a) G(x, ) =
\-sin cos x ( s x s 7!)
f (x - 2x)jl,
3
(1 s x s )
4. G(x, ) =
\ (\
2
- 2xi1e ( :S x s 2)
Solutions of the Exercises 323
1 B . ? A sin 2(x - 1)
12. u(x) =
1 o
C(x, )f(C,) dC, + - sm _x
sm 2 sin 2
where
sm 2x sin 2( - I)
l
(0::; x::; )
2 sin 2
C(x, C,J =
sin 2 sm 2(x - I)
( ::; x ::; 1)
2 sin 2
13. u(x) = Jo1 G(x, C,)f(C,) dC, + B sill kx + '5_cos_~'._ - A~/((~= !_)
sin kx + k cos k sin k
where
(sin_!'.\"__+! cos k:-J ~n k(~ -
l
I)
(0 ::; x ::; )
k(sin k + k cos k)
G(x, ) =
(sin kC, + k cos kC,) sin k(x -
-~- - -- .
1)
( ::; x ::; 1)
/dsin k + k cos k)
with sin k + k cos k #- 0.
Exercises 4.3
G*(x, J =
/ (0 ::; x ::; )
Ix ( ::; x ::; J)
(0 ::; x ::; )
3 _ C*(x, ) = /-sin x cos C,
\ - sin cos x ( ::; x ::; n/2)
324 Solutions of the Exercises
5. G*(x, c;) =
-!ln[(l + c;)/(1 - m (0 ~ x ~ c;)
{ -! ln[(l + x)/(1 - x)] cc; ~ x ~ 1)
Exercises 4.4
1. }.n = (211 - 1) 2 n 2 /(4L2 ), un(x) = cos \!"f,, x; II = 1,2, ....
2. An = n 2 , un(x) = cos nx; 11 = 0, I, 2, ....
3. Ao = -1, 11 0(x) = e-x; A,,= 11 2 , 11.(x) = sin nx - n cos nx; n = 1, 2, ... .
4. Ao = -1, 11 0 (x) = ex;).,, = 11 2 , u (x) = sin nx + 11 cos nx; n = 1, 2, ... .
11
9. }.n ~ 11 2
' 11.(x) = sin \ ).,, x - \ x~ cos vi,; x.
An ~ 11
1
10. 2
, 11,,(x) = sin\ /. 11 x - \ /. 11 cos \ J:: x.
11. (a) ).11 = n 2 n 2 , u11 (x) = sin(11;-r Jn x); n = 1, 2, ....
(b) },n = (2n - 1) 2 n 2 /4, u,,(x) = sin[(2n - l)n In x/2]; n = 1, 2, ....
(c) }.n = n 2 ;-:". u,,(x) = cos(nn In x); n = 0, 1, ....
12. An = (4n"n 2 + 1)/4, u,,(x) = x- 112
sin(mr Jn x).
13. }.0 = 11
2
+ 1, 11,,(x) = x- 1 sin(nn In x); n = 1, 2, ... .
14. An = 11 2 rr 2 + 1, u11 (.y) = x sin(mr Jn x); /1 = 1, 2, ... .
15. An = n n /L , 11,lx) = A,, cos(nnx/L) + B11 sin(mrx/L). A 0 and Bn are arbitrary
2 2 2
constants, 11 = 0, I, 2. ....
16. An = 4n 1 rr 2 /L2 , u,,(x) = A" cos(2nn:'(/L) + Bn sin(211nx/L). A 0 and Bn are ar-
bitrary constants, /1 = 0. 1, 2, ....
18. u.(x) = 10 (\' ).,, x), where 10 ( \ ).n) = 0.
Solutions of the Exercises 325
Exercises 4.5
1. </Jo(x) = (2/(1 - e- 2") ]112e-x; ,,(x) = v2 (sin nx - 11 cos 11x)/ [n(n 2 + 1) ]112;
11 = 1, 2, ....
Exercises 4.6
1. Multiply the series by r(x)cpk(x) and integrate from a to b.
2. 011 = {J~ r(x)f(x)1111 (x) dx/;u i
11 1
2
}.
4. x ~ -
SL
n2
00
"~1 (2~ -
I I)i cos
(211 -
2-
I) z n
x (0 :5 x :5 L).
n _ 4 ~ cos(2n -:--- I )x
5. x ~ '-' (0 :5 x :5 n).
2 7[ = l (211 - 1) 2
6
_
1
~ ~ ~ sin [(211 - IJn ln_.x-] (I < x < e).
7[ n=I (211 - J)
X'
where
2
- e-2rr
a. =
n(n 2
2
+ 1)
J f(x) (sin
0
" nx - 11 cos nx] dx
11. If f is orthogonal lo all the functions </>" + ef;"T 1 11 :0: 1, then c 11 + c,,+ 1 = 0
for112: 1. Thusc,,+ 1 = (-l) 11 c 1 \\l1ichviolatesBessel'sinequalityunlessc11 = O
for all 11. If all the c,, are zero. then by the preceding result f must be identically
zero.
x (-1)11+1
12. f(x) = r, cp 11 (.\).
11=1 (n - 1)!
Exercises 4.7
2 sin 2x 4 sin 3x
1. u(x) = u of. 4, 9).
}. - 4 I. - 9
4. u(x) = t
k=l
sin [(2k -:_ l)x/2]
k[}.-(2k-1) 2 /4]
l. 2, ... ' 11).
where a0 and a,, are the Fourier coeAlcients off given in Problem 7, Exercises 4.6.
w
6. u(x) = r, --~" sin( 11n Jn x),
n == 1 }. - 1127!2
2 ~ sin_(_nn__/LJ sin(nnx/L)
8. G(x; ) = '-' (11 = I, 2, . . ).
L n=l }. - (n 2 n 2 /L2) '
9
.
2
i': sin( 11 - I /2)n sin(n - I /2)nx
n= 1 ). - (11 - l/2) 2 n 2
Chapter 5
Exercises 5.1
1. f(x) ~
n
4
~ ~C_-:-IJ ?- -l
+ '-'
n=l
11
rm-
cos llX + I +2(-1) +
- - -- --
II
11 1
.
sm ILi:
l .
2. f(x) ~ n + - l: C l(-1) -
-
11
-
1
- cos 211x + 2(-1)"+ 1 .
- sm(2n - l)x
J.
(211 - l) 2
0
8 n 11= 1 2n-
cos 2nx
5. f (x) ~
I
-
2_ ~
'-' 2
- + -1 sm
.
x.
n n n= 1 411 I 2
w
nx L . nx 2L l: ( -
6. x cos -- S111 - + 1 )"
2
n sin nnx .
L 2n L n 11=2 11 - 1 L
l! 4L2 "'(-1)
11
1mx 2L "'(-1)"+ 1 nnx
7. x + x2 ~ + 2
l: - cos -L- + l: ~-- - sm -
3 n 11= 1 112 n n= 1 n L
. 2 sinh an ~ ( .,. 1 n .
9. sm 11 ax ~ ------- "-' - 1)11 --- sm nx.
1[ n= 1 a2 + n2
13. Consider
a"=
L J o
-L
. mrx
j(.c)cos-- dx+-
I
L L
JL
0
.
f(x)cos
11nx
dx
L
and set x = t - L in the first integral on the right and use f(t - L) = f(t).
14. f (x) ~ n/2 - Li~= 1 (sin 2nx)/ 11.
Exercises 5.2
1. f(x)
1 _ 3 ~ c~s_2(21! -::- I )nx
4 n2 n= 1 (2n - 1) 2
4 00 (-1)11+1 .
l: ---- ----2 sm(211 - 1)nx.
n2 n=l (2n - 1)
328 Solutions of the Exercises
2n 2 1
2. n2 - x2 ~ - + 4 :E"(-1)"+
2
-- cos 11x
3 11= 1 11
~ r-2n + 4 I (- l)"j .
- --- Sill nx.
11= 1 11 7[ 113
Cf)
8 cos [(211 1)nx/2]
3. 1 - .t ~
2 :E1
n 11= (211 - 1)2
oc-
2 sin mrx
n 11=1
:E II
~ ~
n n=I
(-ill__
n + 1
_ .) [e"(- J)"+ I] sin nx. I
7. f(x) ~
J ( 2) I
l + - - - cos nx - -- :E
2 cos nnx -x
2
2 n. 71 71 n= 2 11 - ]
00
2 4
8. sinh x (cosh 11 - 1 ) + co sh n :Ex -(2--I)"- cos nx -
4
:E cos /IX
n 11 11= 1 11 + 1 n ri= 1 n2 + 1
+
4"'
71 2
j11(-l)"+ 1
n~I [ 2 (-2~--=-i) (211
l
l) 2 j cos (211 ---
2
1) 11x.
10. sin x ~
2 4 :E
Cf
cos __7 11x .
2
1[11=1411 -1
I 4 "' n
11. f (x) ~ Sill x - :E (- l )11 --- sin nx.
2 n 11= 1 411 2 - I
~ 8 ~ sin(2_n__=_ l )nx .
12. x(l - -x) '-'
11 3 n= I (211 - I )3
13. f(x) ~ J 1
[ b 211 sin 1mx + b 2 ,,_ 1 sin(
2
n__=-J_)
2
11xl
where
16 2
------ -3 +
n3(2n - l) n(2n - l)
Solutions of the Exercises 329
14. cash x ~ 2
~ (. ;
1
~ -) [(-I ) 11 ~ 1
cash n + I] sin nx.
n 11= 1 n- + I
8 cc
cos nx ~ ~
11
JS. - sin 211nx.
2
7r II= I 411 - I
Exercises 5.7
5. (c) G(s) = - I= lx
,/211
'Y) e-is(a+l)f(t) dt
v2n Jo
e-iasF(.1).
6. J:., e-is'f'(x) dx
I e-i'''j(x) I oc + is
\ 271 : - 00 \ in
(112)
112
cos(5._n/2).
7. (a) F,(s) =
I - 52
2)1/2 1 - .1'2
(b) Fc(s) =
( n. (I + s2)2
(n2)
112
s - ,sin(sn/2).
8. (a) F,(s) = ,
s- - I
2 2 - s2
(bl f(s) =
4
7r 5 + 4
11. f(x) = 2xe-' (x 2: 0).
Chapter 6
Exercises 6.1
3. </>(x, t) = [(L - x)/L)]a(t) + (x/L)b(t).
4. <f>(x, I) = xa(I) + 2
(x /2L)[b(t) - a(t)].
330 Solutions of the Exercise!.
IJ A
(b) efJ(x) = - x +
ka 2
Exercises 6.2
1. Let 11(x, t) = i:(x, t) - u(x, t). Then w(O, t) 2: 0 and w(L, t) 2: 0 for t 2: 0,
and 1r(x. 0) 2: 0 for 0 ::; x ::; L. By the maximum principle, w(x, t) 2: 0 for
0 :o; x :o; L, I 2: 0.
3. If 11 assumed a maximum at a point (x 0 , 10 ), where 0 < x 0 < L, 0 < t 0 :o; T, T
an arbitrary number, then 11,(x 0 , t 0 ) 2: 0 and u~)x 0 , t 0 ) ::; 0 so that u,(x 0 , t 0 ) -
kux/x 0 , 10 ) 2: 0, contradicting the fact that F(x 0 , 10 ) < 0.
5. (a) Integration by parts yields
JJ
D
1111, dx dy - k JI
D
u t.u dx dy
-I ;;-
2 ct
, II u 2 dx dy k
II
au
u-ds+
on
11~) dx dy = 0.
D c
Solutio11s of the Exercises 331
Exercises 6.3
4A x e-kc211- 1 l'
l. 11(x, t) ~ - - sin(211 - l)x.
7[ II= J (2fl - 1)
lf e-kc211-1J2t
4
5. 11(x, I) -
~ - sin(211 - - l)x.
l[ n:: 1 (211 - 1)2
32 ~
Cf
II e --k(211-J)21.'4~;
, _// - 1)
6. 11(x, t)
8 11~1 ( - I J (2---;;--_ I )3 "", 2 - _ x.
8 x ,- ( - I J" 4 J
7. ll(X, I)
n-? ~
11=1 _(211 - ])-' + n(211 - I) 3
11. 11(x, t)
~ - (-
-32 '-" JJ"+l
e -[(211-lJ'n'A+l)t CO>
-('211 -
-~--
J) n.x..
n3 11=1 (211 - 1) 3 2 .
Exercises 6.4
4A x e-k(211-1 )2rr2r,'L2 2 I'
~
1
I. 11(x, t) = A - - - -- sin(-'- L=- ) nx.
7[ 11= I (211 - I) '
oc e-k(211- I ) 2 rr 2 tC(2L) 2
cos(2~ - -1)
2
SAL nx
2. 11(x, I) (x L)A + --
~ - --- --
w(x, I) = 81:JL
7
~
oc --
( - I)"+
1
, (
f'' e-ki,,(-ri sin en ch ')
Ii.- 11= l ( 211 1)- 0 !
x sin \ ;. 11 x
(211 - 1) 2 7i. 2
(11 l. 2, ... )
4L2
5. 11(x, r) H(x, 1) + x/7i., where
11
2/z ~ (-1)
1r(x. I) = ~ [1 - e-(li'+l)f] sin nx
7i. II= 1 //(11 2 + h)
(-1 )II
+ -J ~
if_
--- '
e- 111 +/l)r sin nx.
n n=I 11
1(x, I) =
16
7i.
.,
~
n= 1
2e-rr(-1)"+ 1
(211 -
-
1) 2 [(211
+ 211 -
1)2 + 4]
l
e -u_,,, sin
(''
-II;--_}I' x
i_ _
c/>(x)
b11 ~ C
- 0
f(.Y) sin(2
-
11
; - ) x dx
1
},11 (211; If
7. u(x. t) = (a 0 /2J + L,,";'~ 1 a,,e-k"'' cos nx + (A/w) sin oJt where a,, = (2/n) x
J~ f(x) cos nx dx. 11 = 0, I, 2,.
Exercises 6.5
1. u(x, t)
2. u(x, I) I
2 er
r(x2\Ffr,
+ L) 1 r(x - L)
- 2er -zVfi .
5. Let u(x, t) denote the solution of the problem (6.1 ), (6.2), where f is odd, and
define r(x, t) = -11( -x, t ). Then v is also a solution of (6.1 ), (6.2). Since the
solution is unique, u(x, t) = r(x. f); that is, u(x, t) = -11( -x, t ). Tf f is even,
set i(x, t) = 11( - x, t).
6. Set s = (x - c;)/ [21 k(t - r) ].
9. Let V(s, t) denote the Fourier transform of the solution L (x, 1). Then cV/ct 0 +
(ks 2 + h) V = 0, V(s, OJ = F(s), where F(s) is the Fourier transform of f
Thus, V(x, t) = F(s)e-(ks'+"l' so that
v(x, t) =
e-IH
= Joo F(s)e-ks't+i.1x ds
v 271 - -c
- e
---=-
-hr J'lo e
-(x-~)2,'(4kr)j"(") d"
c; c;
2vkrrr -w
11. 11(x, t) = s~ f".'oc e-h(t-r)G(x - c;, t - r)/(c;, T) d!; dr where (,'(x - <:. f - r)
is as it appears in (6.21) of the present chapter.
Exercises 6.6
e-x'/[4k(t-rllh(r) dr
7. u(x, t)
'\lf~-T
8.
15. 11(x. I) = e- 1"dx. 1). 1\here d.1. 11 is the solution of Problem 13 of these
exercises.
Chapter 7
Exercises 7. 1
2. Appl) formula (2.11) of this sect ion.
3. Let 11 1 and 11 2 be t110 solutions and set u = 11 1 - 11 2 . Then 11u + ku = 0 in
D and 11 = 0 on C By formula (2.4). Jv [-ku 2 + 11~ + u;J dx dy = 0. J
Since /; < 0 the integrand is nonnegative. The vanishing of the integral means
-/,11 2 + 11; + 11?: = 0, 1\hich implies 11 0. =
5. Let 11 1 and be t110 solutions and set 11 = 11 1 - 11 2 . Then !111 + /,11 = 0 in D
11 2
and cu/( II + h11 =
0 on c.
By formula (2.4 ). -- fc /111 2 ds = [ D [ ( - k 11 2 +
u; + u?:) dx dy. If k < 0 and h > 0. then the integr~l on the left is 1~onpositive
and the integral on the right is nonnegative. Thi<;. means that both integrals must
vanish, 11hich implies u 0. =
6. By Greens theorem
v'
rI11L11 dx dy JJ D
(1
2
11; + e''u~.) dx dy
+
Jc.r u(-e-"11, dx + x 2 11, d_l') = 0
L11 i: [ (I + '
.c)11, ] + < ,(r l + y z)11, ] k11 0
ex ey
and
Bv Green's theorem.
JJ
D
11Lu dx dy ,. ,. [(!, x 2 1u~ +
ri'
(1 + v 2 )u;J c1x di 0.
Hence.
I
c,
hu
2
d1 r r(11; + 11~) dx dy
D
Exercises 7.2
2
1. !111 = 11,, + (1/r)u, + (l/r )u 00 = 0.
2. Let = x r 11 = _r/r 2 and introduce polar coordinates.
2
Then i(r, 0) =
u(~, 17) and r,, + (l/r)1', + (1/r 2 )1' 00 = (1/r )(11~ 0 + 1111 ,1) = 0.
4
l(~. b) 0 (Q 0:: ~ s X)
Exercises 7 .3
~ sinh [m:(b -- y)/ b J . mrx
1. u(x, y) l.... 1111 . Sill -
11= 1 o,1nh 1m a
where
2 ,.,, . . wrx
b,, = j L1) s111 dx (11 =I, 2, ... ).
a 0 a
~ b sinh(mrx/bl . mry
2. ll(X, y) = l.... II Sill -
11= 1 sinh(mra/b) b
5. Set w(x, y) = Ll(x, y) - cos x and solve the problem Aw = 0, w(O, y) = -1,
w(n, y) = I, wy(x, 0) = 0, w(x, 1) = - cos x.
6. Set w(x, y) = LI - (x 3 - y 3 )/6 and solve the problem Aw = 0, wx(O, y) = 0,
w(I, y) = (y 3
- 1)/6, w(x, 0) = -x 3 /6, w,(x, I) = -!.
7. Define v(x, y) = - Ll(y, x). Then /':,.v = 0, v(O, y) = 0, v(a, y) = f(y), v(x, 0) =
0, and v(x, a) = -/(x). Thus, v is also a solution of the problemc Since the
solution LI is uniquely determined, u(x, y) = v(x, y); that is, Ll(x, y) = - u(y, x).
In particular, setting x = y, there follows u(x, x) = - u(x, x) = 0.
8. u(x, y) = i(sinh x sin y - sinh y sin x)/sinh n
-i(sinh 3x sin 3y - sinh 3y sin 3x)/sinh 3n.
9. ucx, Yl = J 1
cosh [c ::_ lln/
2 21
fcosh(~ ; I) x cos(2n; !) y
1
where
10. u(x, y) =
00
~
sinh(h
b - - - - - - - sm nx
+ n 2 ) 112y .
n= 1 n sinh(h + n 2 ) 112 n
v.here an= (2/b) s~ g(y) cos(nny/b) dy and b,, = (2/a) J~f(x) cos(nnx/a) dx
(n = 1, 2,. .. ).
x cos(2n - l)x.
b,, = Jo
2 {" g(y) sm
. (211
--- - -
2
1) y dy (n=l,2, ... )
71
Exercises 7.4
1. u(r, 8) = ~a 2 r sin 0 - lr 3 sin 30.
2. u(r, 8) = t + 2
tr cos 20 + r sin 8.
2 2
3. 11(x, y) = t(a + x - y ).
2
\\here
o. 0 + /3 0 In a = 0 rxna" + /3,,a- = 0 11
et 0 + /3 0 In b = a0 etnb" + f311b-n = an
}'
11
/J" + b11 b-n = b 11
with et,, = (1 /71) J~" /(8) cos 110 d8, /3,, = (I /71) g /(8) sin n() d8, n = 1,2, ....
12. Define /(8) = - f( - ()) for - 71 ~ 8 ~ 0 and use the solution formula of
Problem JO.
2 Jln(b/a) ~ . nnf; ..
b 11 = l;;-(b~) f(ae ) sm ln(b/~) de;
0
....
338 So/11tio11s of the Exercises
Exercises 7.5
3. Multipl) \he inequality 111 S 11(a, 0) S .\1 by the sum of (6.2) and integrate
over [O, 2i1 ].
4. For r < a,
a + -r 11<0. 0)
a r
and
11(r, @) 2: I a2 - r 2
2i1 (a -'- r) 2
f"
, -rr
u(a, c/JJ def;
a - r
2: 11(0. 0)
a+ r
1 ~'11 ds
J Cll
s'
JJJ D
/';.u d~ d11 d(
that
Define
U(x, y, z; r) =
r
4n o2;r , ""
o
u(~. 11. ()sin de/! dO
Then
~~~1 (~.
()U
11. () sin d</J dO 0
or er
4n o o
Solutions of the Exercises 339
c11
I (21[ {" ~11 sm d d(J
er 4:rr J J
0 0 cr
'j' ~ 11
dS = ] 6.11 df,, d17 d( > 0
Js
{ { {
Exercises 7.6
I. u(r, 8) = (r 2 /4J(l - cos 20) + C.
2. 11(r. ri) = (3/2)r sin(} - (r 3 /24) sin 3{i + C.
3. u(r, ri) = (r 2
/2) sin 20 + C.
4. u(x, y) = -!,-; 3 - -!x 2 y + 6y + C.
5. u(x, y) = 1x 3
- xy 2 + C.
8. u(r, ri) = (C1' 0 /2) + (a/2:rr) J~" /(</!) Jn [a 2 - 2ar cos(O - J + r 2] d</J.
10. u(r, ri) = (:1 0 /2) - (a/2n) J~f(</!) Jn[(a 2 - 2ar cos(8 + </!) + r 2 )
(a 2 - 2ar cos(8 - ) + r 2 )] ddJ.
Exercises 7.7
3. u(x, y) = y
:rr
J"' lf
o (x +
--I
f,,)2 + y2
+
(x -
_\
<;) + y2
J /(<',,) df,,.
4. u(x, y) = x
:rr
J"' f
o [x2 +
I
(y - 11)2
-
x2 + (y
l
+ 17)2_
l /(11) d17.
6. u(x, y) = -
,., Jx cosh sy .
-- Sill SX
J"' f(<;)_ . , d.;_ SIO .1.; ds.
:rr 0 cosh sb 0
7. u(x, y) - 2 ~
..._, bn - e -(2n-l)x/2 cos - - - (211-]) y
11~1 (217 - 1) 2
where
8. u(x, y) =
2 Joo sinh sy
- cos sx
Joo /(<;)cos
_ s;_d.;_ds.
n 0 s cosh s:rr 0
9. u(r, 8) =
2
:rr
Jexc c~h s_~ sin(s In
0 cosh sb
1
r
) J0
1
1
p
/(p) sin(s Jn
1
P,
) dp ds.
10. u(x, y) =
2-
n
J"'
0
sinh(s
- - -
2
+ h) y sm
sinh(s 2 + lz)n
.
sx
112
5 00
0
_
/(;) sm s; d<; ds.
" _
340 Solutions of the Exercises
00
13.
1
u(x, y) = - - J'" f(C,) ln{[(x + d + 2
y ][(x - ~) 2 + y
2
]} dC,.
2n 0
14. u(x, y) =
1
2n )o
f'"
2
g(17) Jnl:~___(Y_::-
lx2 + (y +
l/)
17)2
2
1 d17.
Exercises 7.8
3. In the expression for G(C,, 17; x, y); set <J = (x 2 + y 2 )1! 2 and note that
(x 1
+ y
1
) r(c, - :~ xf + (11- :~ )rl
= (x2 + y1)p2 - 2a2(x.; + )'I/) + a4
= p
2 r X
2
+ Y- - 2a2
-- 0
pl
(X<;
+ }"I/) + Q4
p4
eO
(<.,, + I/ )
2 j
- a2 I/ ).
p2
21
5. By the formula (7.9), write the boundary condition in the form
g(a, e; p, ) = -
I
In a + --l E
x l
( p)" [cos 11 cos 118 + sin 11 sin 118].
2n 2nn=lll a
Assume q(1, 8) = o: 0 /2 + L::'= 1 v"(a,, cos 118 + b 11 sin 118). Equating this to the
boundary condition when 1 = a yields a 0 = - ( l /n) Jn a, a,, = (I /2nn) x
(p/a)" cos 11 and b11 = (l/2m1)(p/a)" sin 11, 11 2: I. Hence.
-I In a - 1- ln [ a 4 - '
2apv cos({} - ,1.,
'+') + ' ']
pi-
2n 4n
I
6. q(r, 8; p, c/y) = ln[a 4 - 2a 2 pv cos(B - c/y) + v2 p 2 )
4n
1
In{[a 4 - 2a 2 pi cos(O - ) + v2p2 ]
4n
1 2 2
II. CLY, J; , 17) = ln:[(x - ) 2 + (1 - 17) j[(x + 02 -i- (y + 1n ]j
4n
Index
343
..
344 Index
Jump discontinuity, 1 0
L
p
Laplace's equation, 250
Legendre's equation and polynomials, Parabolic differential equation, 62
147-148 reduction to canonical form, 66-67
Leibnitz rule, 16 Partial differential equation, 36, 45
Limit, Jefl-hand and right-hand, first order equation, 49
Line integral, 32-33 linear equation, 37, 45
Linear combination, 44 second order equation, 37, 56, 62
Linear independence, 148 Parseval's equation, 153, 193
Linear operator, 44--45 generalized, 194
Period, 4
Periodic function, 4
extension, 167-168, 173-174
M Poisson's equation, 251, 253. 256
Poisson's integral formula, 273, 287
Maximum principle Poisson's kernel, 274
heat equation, 218-219 Principle of wperposition, 45-46
Laplace's equation, 257, 276 Propagation of waves, 88-89
Mean value property of harmonic functions
two variables, 274
three variables, 279
Mean value theorems, 5, 6 R
Radiation equation, 214
Reflection of waves, 109-110, 112
N Region of influence, 89-90
Riemann-Lesbegue theorem, 179-181
Neumann condition (See Boundary Robin problem, 253
condition of second kind)
Neumann's function, 306
in a disk, 307
in the half plane, 308 s
Neumann problem, 253
in a disk, 279 Self-adjoint equation, 122
exterior problem, 284 Separation of variables method, 114, 223,
half plane, 291 227, 230, 234, 260, 267
346 Index