COMMUNICATIONS ON PURE A N D APPLIED MATHEMATICS, VOL.

XXV, 1-3

1 (1972)

Decay and Scattering of Solutions of a Nonlinear Relativistic Wave Equation*

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS Brown University Courant Institute, N. Y. U.
1 Introduction .

Consider a classical solution of

(1)
utt

- Au + m%

+ g' u

= 0,

with m > 0, g > 0 in all space time, which has data of compact support a t t = 0. We shall show that this solution decays uniformly in 3-space for large time like a free solution, that is, like a solution of the corresponding linear equation, g = 0. I n fact, there exist two free solutions u+ and u- such that (2)
as t + fa.This

- u*

+0

in the energy norm,

leads naturally to the question of how u- and u+ are re-. lated and thus to the scattering properties of the equation. During the early nineteen fifties equation (1) was considered by quantum field theorists as the simplest model of a Lorentz invariant nonlinear interaction. The question of existence in the large for smooth solutions of the Cauchy problem was resolved by Jorgens [5] in 1961. In [I 11, Segal proved that to every free solution u- there is a solution u of (1) which is asymptotic to u- at t = -a. Thus an operator u- -+ u is defined. Similarly there is an operator u+ -+ u at t = +a. Segal conjectured that they can be inverted so as to obtain the Scattering operator S : u- + u + u+ He verified this in case the coupling constant g or the incoming wave u- is sufficiently small (cf. [12]): This result has been generalized to other equations by Chadarn [l], [2] and von Wahl [15]. Strauss [13] verified the conjecture in case m = 0 by making use of a special energy estimate. When m > 0, only the much weaker energy estimate of Morawetz [6] is available, but we show here that it is sufficient to imply Segal's conjecture. The case when g = g ( x ) is small at infinity was treated in [14].

The work of the first author was carried out at the Courant Institute of Mathematical Sciencca and supported by Contract No. DA-31-124-ARO-D-365and of the second author by NSF Contract No. GP-16919 at Brown University. Reproduction in whole or in part is permitted for any purpose of the United S t a t a Government. 1

0 1972 by John Wiley h Sons, Inc.

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

In order to describe our results precisely, we define the energy norm

which is constant only for free solutions, and the F-norm

For a solution u = u ( x , t ) of (l), we denote by uo = u o ( x , t) the free solution whose Cauchy data at t = 0 agree with that of u : uo(x, 0) = y ( x ) , F &,/at ( x , 0 ) = + ( x ) . Define . 1 as the space of the free solutions such that y has third derivatives in L1 and second derivatives in Le while has second derivatives in L1 and first in Le. Then all elements of Fl have finite F-norm (cf. Appendix B). Define 9 as the completion of S1in the F-norm.

THEOREM uo E 9, (a) u tends to zero uniformly as It1 -+ 1. then: u hasjnite F-norm, and (c) there exist free solutions u, and u- satisfiing ( 2 ) .
Whenever (2) is valid for the same u, we shall write Su- = u+
I

If

Q),

(b)

THEOREM S is akjned on all o 9 and is a homeomorphism o 9 onto 9. 2. f f THEOREM If uo E S1 then 3. ,

u i uniformly O(t-3/2). s

The ingredients of the proof are the following: the standard energy estimate (Lemma l ) , the key estimate from [6] that u4/1xI is integrable over all spacetime (Lemma 2), the uniform decay like t-312 of free solutions (Lemma 5), and the uniform boundedness of solutions of (1) (Lemma 6). These ingredients are used in conjunction with the integral equation obtained by inverting the linear part of (1) :

(5)

u(x, t )

= uo(x, t )

-jJR(.
0

- y, 1 - 7)gu3(y,7 ) d r d7

R(x, t ) is the Riemann function of the linear equation, i.e., the free solution with Cauchy data R(x, 0 ) = 0, R,(x, 0) = 6 ( x ) . In fact, for t > 0 (see [3]),

where J1 is the Bessel function and D = D(x, t ) = 1 for 1x1

< t,

D =0

SOLUTIONS OF A NONLINEAR RELATMSTIC W A V E EQUATION

for 1x1 > t. Thus the integral equation (5) expresses u as the sum of the free solution uo , a n integral over the surface of a backward characteristic cone, and a n integral over its interior. For Theorems 1 and 2, only the gross behavior of R is required (Lemmas 7 and 8). For Theorem 3 the oscillatory character of the Bessel function is needed. The proof of Theorem 1 consists of repeatedly jacking up decay estimates beginning with the integrability of u/lxl. This leads to lim inff
t-T

/u4 dx dt = 0

as It1 + 00 for any T, a rate which is uniform for sufficiently nice solutions at (Lemma 3). Next we prove that u is uniformly small in arbitrarily large time intervals (Lemma 4), after which we prove Theorem 1. If u- is given in 9, a variant of Segals iteration procedure (cf. [l 13) allows the construction of the perturbed solution u for -00 < t 5 T for some T (Lemma 11). Starting with the Cauchy data at time T, u+ is constructed according to Theorem 1 (c). Lemma 10 asserts that u+ E S. The continuity of S then follows from the preceding estimates. Furthermore, we prove that S is c in the Frechet sense. Finally, Theorem 3 follows from Lemma 12 which demonstrates the uniform boundedness of the spatial La norm of the second derivatives of u. The theorem of Goodman [4] and Morawetz [7] can now be extended to equation (1) : no nontrivial solution (with data in 9)can vanish in a forward cone. O n the one hand, for data in 9,, this follows from Lemma 12 and the proof of [7]. O n the other hand, if the solution u vanished in a forward cone, then u+ would also vanish there (by domain of dependence), which is impossible. A more general nonlinear term G(u) is discussed in Appendix A. If we assume that G(u) vanishes up to the third order as u + 0 and that
uG(u)

2 (2 + d)G(u) 2 0 ,

8>0,

Theorems 1 and 3 remain valid for any uniformly bounded, smooth solution. However, uniform boundedness of general solutions is known only if G(u) grows a t infinity slower than us. Roffman [lo] has given a n example of a complex-valued solution which does not tend to zero uniformly in case 4rnW G(u) is positive but G(u) is somewhere negative. For the spatially local decay of solutions of nonlinear equations, see [6] and ~41. The results in this paper were announced in [8].

2. Proof of Theorem 1 for Smooth Solutions

I n this section u is a solution of (1) with C initial data u = p, ut = 4 having support in 1x1 k. An integral sign with no domain attached is to be taken over all space. We take g = 1 and t 2 0 without loss of generality.

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

LEMMA Let 1.

(a) E = comtant (b)

,
E,

(m2 u4

+ 4u4) dss 2$

where K is any characteristic cone and & denotes sut$kce measure on K .

The proof of Lemma 1 is standard and found by multiplying equation (1) by ut and integrating over suitable domains. LEMMA 2.

r/

u4 dx dt

54E

This is the starting estimate of decay given in [6] but we repeat its proof. Proof of Lemma 2 : The identity

with r = 1x1, is integrated over any slab 0

5 T. We obtain

2 ~ 1 dt~ ' + l & r - ' ( u 4

0
0

lr-o

+ lVul' - )u :

dx dt =

[-I(..+

r-' u)ut dx

If

Using Schwarz' inequality on the right and the relation

(u,

+ r-'

u ) '

= u,"

+ 2r-'

u(x

V u)

+ r-'

d=: ' u

+ div (r-'

uox )

SOLUTIONS OF A NONLINEAR RELATMSTIC W A V E EQUATION

along with part (a) of Lemma 1, we find the bound 2E for the right-hand side. The left side is positive. Hence,
T

is bounded by 4 E . Let T + 00 and the result follows.

LEMMA Lct 3.

E,

T, S be positive numbers. Lct

Sl= S + 4T + (S+ k

+ 2T) exp { 8 T E & - I } .

T e there exists a subinterval Z of [S, S] of length 2 T such that hn ,

Proof: Let
S+OTn

SS
I

u4 dx dt

< E.

a, =

( I d dx) d t .

Then,
m m
m

n-1

2 S + k + 2Tn 0

a,

by Lemma 2 and the vanishing of u outside 1x1 Suppose a, 2 E for n = 1, 2 , , , N . Then,

..

s t + k.
5 ~ETE-',

2 (S+ k + 2Tn)-'
1

4E

or

2 (a + n)"
1

where a = (S k ) ( 2 T)-l. But the left-hand sum is greater than log N(a Consequently, N < ( a 1) exp {~ETE-1). From the definition of S, ,

1)-1.

2TN< (S+k+2T)exp{8ETE-'} = S l - S - 4 T .
Hence there is an interval of length 2 T in [S,S] for which a, ,

< E.

LEU 4. r f E , T, S are positive numbers, there exists a number S depending , only on E, T , S, E, k and the rate of decay o uo , with the following property: there f is a subinttrval Z o [S, , of length T such that f S]

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

Lemma 4 will be proved using the representation (5). For this purpose we require three more lemmas,

Lemma 5 is well known and is proved in Appendix B. LEMMA 6. u(x, t ) is uniformly boundcd in all space-tim. Proof: We use the integral representation (5). By Lemma 5, uo is bounded. The integral term is the sum of a solid integral 1, and a surface integral 1 s :

1 ,

=/ 1
t
0

k(p)u(y,

.IS

dY

1z--ul<t-r

where pa = ( t - Ix -yla and k(p) 5 c(1 P ) - ~ / Z . Here and below, c denotes various constants. Introduce the coordinates 6 = t - T Ix -yl, Then p 2 q so that k(p) c(1 q)4/a. q =t -r Ix -91, p = Ix --yI. Thus

+ +

u4 over the surface of a characterI n the bracket we have the integral of ua istic cone q = constant. By Lemma I(b), it is bounded by cE. Therefore, IIcl is bounded by a fixed multiple of E. The surface integral may be broken into two parts. The first part is
t-1

0 Iml-t-r

which is less than a multiple of E, by Lemma l(b). The second part, which corresponds to the tip of the characteristic cone, with l/q l/q' = 1, is

t-1

1wI-t-r

by Holder's inequality. The last factor is a finite constant if q' if q Q. We obtain a bound

>

< 3;

that is,

SOLUTIONS OF A NONLINEAR RELATNISTIC WAVE EQUATION

If we choose

+ < q < 2, and combine all terms, we obtain the bound from ( 5 ) :
- 4/q < 1.

with y = 3

This implies the boundedness of u.

LEMMA Denote, f o r 0 7.

< t, < 1,

t,

Thcn

t-t.

where 0 2 a theenergyof 11.

4,u(tl) + b(t,) .-* 0

4s

t , +0, und b(t,) and d(tp,a) &fiend on

The proof of Lemma 7 is contained in Section 3. Proof of Lemma 4 : We break up the integral representation as
u

= UO

+ I(0, t - T ) + I(t - T, t ) ,
3

where

I ( a , 6) = / / R ( x
a

-y, t -

T)U(

y,

dy d 7 .

Choose S so large that, by Lemma 5, luol < +E for t with a = 0, together with Lemma 6, we have

2 S.

By Lemma 7(c)

I(0, t

- T)'

cT-'~'.

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

Hence we may choose T so that II(0, t Lemma 7(b) we have

- T)I <

+E.

O n the other hand, by

t-T

Choose an interval [ t * - 2 T, t *] as in Lemma 3 such that t * 2 2 T S, where is replaced by e4 ( 3 4 T ) ) 4 . If t * - T < t < t * , then the interval of integration is contained in [t * - 2 T, t *I. Therefore,

Combining terms, we conclude that lul pletes the proof.

<E

for t * - T < t
E

< t*.

Ti comhs

Proof of Theorem 1(a) for smooth solutions: Let

CE'

> 0 satisfjr

the inequality

CE'I'

< )E

and let T > 0 satisfy

cT-114

+ cT-=J2 ) E . <

The constants t depend on the energy of u and the behavior of uo but we shall not make this dependence explicit at this point. By Lemma 4, determine t* such that
IuI

<E

in

[t*

- T,t * ] .
[t*-T,s]}.

Define t**=sup{sI l u l < s in If t * * = 00, there is nothing to prove. Suppose t * * < 00. Let 0 < 6 < 1 and let t * * 5 t t * * 6. Then by (5) we have, using the notation I(a, b) of the preceding proof,

u = u0

+ I(0, t - T ) + I(t - T, t - 1) + Z(t - 1, t * * ) + I(t**, t ) .

cT-"'
since
IZ(0, t
t

By Lemma 5, luol a = 0, we have

2 t** 2 T.

By Lemmas 6 and 7(c) with

- T)I

CT-'",

and, by Lemma 7(c) with a = +,

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

But t - 1

5 t*+

+ 8 - 1 < t * * , so that by definition of IZ(t - T, t - 1)1 s

CE@.

t**

Lemma 7(a) implies

Finally for the extreme tip of the cone we use Lemma 7(a) to obtain
IZ(t**, t)l

5 a ( t - t**)(sup lul)

where a(t t * ) 6 a(8) + 0 as 8 + 0. By Lemma 6, sup lul is bounded. We may choose 8 so small that IZ(t**, t)l < +E. Collecting all these estimates, we have

for t* * 2 t 5 t * * 8. This is less than E by the choices made at the beginning of the proof, contradicting the definition of t * * and completing the proof for smooth data of compact support. Proof of Theorem 1(b) : By Lemmas 1 and 6, the c-norm (3) and the supremum norm are finite. For the rest of the F-norm (see (4)) we use
u = UO

+ Z(0,t - T ) + I(t - T, t ) ,

where 0

< T < t.

T o the base we appIy Lemma 7(c) with a = 0:

Integrating with respect to t and interchanging the order of integration, we get

if we choose T so that cT-111 To the tip of the cone we apply Lemma 7(a) :

A.

10

CATHLEEN S. MORAWETZ AND WALTER A . STRAWS

Integrating and interchanging the order we find

By Lemma 4 there exists a ,

to

<T

such that for

7 1 1 0*

llu(7)Ilrn < E

We choose E > 0 so that d Tui(T) < ?T. Squaring the representation of u, taking the supremum in x and integrating in t, we find

Hence, since to < T,

The right side remains finite as T'+ F-norm of u is finite.

03.

Therefore, so does the left side and the

Proof of Theorem 1(c): Let uT be the free solution whose Cauchy data
at time t = T coincide with the data of u. We have

whence, as in Lemma l(a),

11%' - UTlllr =

<ITT1

IIU(r)'l1ad7

But ~ I U ( T ) ~ I I S S I~u(T) Ilrllu(7) ;1 is integrable by Theorem l(b). Therefore, u+l16 -+ 0 as T - t 03. Conthere exists a free solution u+ such that IIuT sequently, as T+ CO,

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

11

This completes the proof of Theorem 1 for the case of smooth solutions with compact Cauchy data.

3 Riemann Function Estimates .

Proof of Lemma 7: I consists of an integral Is over the surface of a characteristic cone and an integral Ic over the interior of the cone:
t-t.

t-7
t-t.

where k(p) = cp-l/*Jl(mp) and p = (t T ) * - Ix -yl*. Here and elseS where c denotes some constant. To prove part (a), we pull us out of each space integral, use the boundedness of k ( , ~ and apply Schwarz's inequality in time. )~ To prove part (b), consider Ic first. By Holder's inequality applied to the three factors 1, u and u in space-time,

As for Is ,we integrate the spherical integral by parts:

12
where

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

and

Ti proves part (b), making use of Lemmas 1 and 6. hs

For the proof of part ( c ) , we shall be more general by replacing u3 by u%. This will be used later. To the surface integral we apply Schwan' inequality:

where the integrals are taken over the range

1X-Y) = t - T ,

t - t l ~ T ~ ~ - t f % ,

and dS = paddw, 101 = 1. The first factor on the right siLI: is bounLdd, by Lemma l(b). As for the second factor, we first note that

pUl-t-7

I 5 U l <t-7

Applying this identity to

5:

va and using p

7,

we obtain

The notation \I 112 means the LP-norm over the sphere Ix Now consider the interior. We use the notation
p=Ix-yl,
pa=(t-T)a-p,

- yl < t -

T.

y--x=po,

SOLUTIONS OF A NONLINEAR RELATIVISTIC W A V E EQUATION

13

and introduce the characteristic variables 5 = t Thus p2 = 7. We also introduce a weight factor:

- T + p,

q =i

- T - p.

where 6 = ita. By Schwarz' inequality, 1;

5 AB,

where

A
and

u dy dT '

B =/)(q)kO.)p
Changing variables, we have

u2 va dy d T

T h e integral in square brackets is precisely the integral of u2 over a part of a cone q = constant. This is bounded, according to Lemma 1. So, since l(q)-l is integrable,
*

c(tg) supJ u2 d s , K K

where K runs over all characteristic cones and d$ denotes the usual surface element on K. I n the second factor B , we use the gross asymptotic behavior of k:

Thus

where
D(T)=h(q)q4'"
u2 vz dy

.
The part of D ( T ) over

We estimate D ( T ) in two parts: q q < b is less than const.

>6

and q

< 6.
*

II 4 I', 14 ' :1 . ) 1) .

14
For 9

CATHLEEN S . MORAWETZ AND WALTER A. STRAUSS

< 6, we have

l ( q ) ~ - ~ =2l;l-9Jp. At each point we have the identity J

Integration of this identity over the range 0 cal shell t - 7 - 6 < p < t - T ) gives

<q <6

(that is, over the spheri-

77-314 u2 vZ d y = 4 1 _ 8 J 4 v2 dS u2

- 8jV<$l4uv[u,

+ uup + uvlp] d y .

This surface integral is estimated in the same way as Is. In the volume integral we use 7 2 6 and p 2 t , - rj 2 it,. Therefore,

where all functions are evaluated a t time Finally, we use the trivial estimate

7.

which is raised to an arbitrary power u. This is used both in the bound for D(7) and in the one for I : . We obtain part (c) by putting v = u and using Lemmas 1 and 6. However we can state the estimate more precisely as follows.

COROLLARY. arbitrary functions u and v (not necessarily solutions) we have For

where

(7)

( u ) ~ s u p s u2 d$ =
K
A '

K running over all bakward characteristic cones in @ace-time, and where

t-t,

I =sfR(x
t-tl

- 9 , t - T ) U( y , T)'

V(

y , T ) dy d r

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

15

DEFINITION. addition to llu(7)IJs and llullp defined in the introduction, In and ( u ) defined just above, i t is convenient to define

over all space-time. However we shall also use the same notation when the range of t is restricted to a certain time interval. (This is usually clear from the context). The remaining estimates are involved in the scattering properties and from here on u, u are any functions.

LEMMA Let - 03 5 a 8. o arbitrary smooth functions. Let f

< b 2 + 03.

b t u ( x , t ) and u ( x , t ) be a pair

(a) For any 0

5 a < +,we have

These estimates are also valid f o r functions approximable in the F-norm and ( b smooth functions. y

)-norm

Remark. O n the right-hand sides of these estimates, the norms are taken only over the range a 5 t 5 b ; on the left-hand sides they are taken over -03 < t < 03. This will be clear from the proof.
Proof Denote by w(x, t ) the same integral as W u ( x , t ) except that u8 is to be replaced by u 2 v . Then we shall obtain .%?u by setting u = u, and Wu - W by replacing u2 by (u2 uu v2) and u by (u - u ) . According v to the definition of the F-norm, llwllp consists of three terms. T o estimate the energy norm, we apply the energy estimate IIR(t - T ) * f \Ic = llfllP , as in Lemma 1, to the function f = u2u. We obtain

+ +

16

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

which implies the desired estimates for this term. To estimate the rest of (see (4))we write w = w1 wp , where

llwllF

w1 =

JJ Ru'udyd-7,
it i , ] > 1

w2 =

11
I t-7-1

Ru2udyd~.

c1

To w1 we apply the Corollary of Lemma 7 with t, = 1 (the slight difference in the time interval of integration does not matter) :

with the same integrand as in the Corollary. Since a integrable. Therefore,

< f, (t - r)-3/2+3uis

Recall that [ [ u ] ] 5 ~ ( U I ) ~ . This implies Lemma 8(a) for w1 when we set u = u, and Lemma 8(b) for w1 when we replace u2 by uz + uu uz, u by u - u and set a = 0. Finally, let us estimate wz(x, t ) . We write it as 19 Z . As in the proof of , Lemma 7, we have

Zs=

/ /
It-rICl pC1-r

Applying Holder's inequality with exponents 6, 2, 3 or 6, 6, tegral, we get

to the inner in-

As for the interior, we have

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

17

The integrations are taken over It - 7 < 1 only; the asterisks indicate norm 1 over p < It -TI only. But we have the trivial bounds Ilullt 11ullz cJIuII,. If we put u = u, we thus have

whence

by definition (8). This completes the proof of part (a). O n the other hand, using Sobolev's inequality, \lull: is bounded by llulle so that we get

whence

This implies part (b).

4. The Scattering Operator

Proof of Theorem 1 for weak solutions: Beginning with a smooth free solution u o ( x , t ) with compact initial data and with the corresponding perturbed solution u ( x , t ) , let us make a note of the uniformities in the earlier proof. I n Lemmas 1 and 2, the bounds depend only on the energy E; in Lcmma 6 the bound also depends on a bound for uo(x, t ) . As for Lemma 3, let us denote by E,[u(t)] the energy of u a t time t in the region D of space. Suppose k = k(&, T) is chosen so that

By the standard energy inequality over a cone (cf. Lemma l ) , the left side of (9)is at least Elzl,t+k[u(t)] for any non-negative t ; whence

u(x,

t)4

dx dt

<&.

Z IzI > t+k

18

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

Thus Lemma 3 remains valid if E is replaced by 212 in the conclusion, provided we assume (9). Denote by t ( ~ )the rate of decay of u, that is, the smallest function satisfying sup I u ( x , t ) i < E for t 2t(e)
Z

(cf. Theorem l(a)). Similarly t o ( & ) is the rate of decay of u o . It is clear from the proofs of Lemma 4 and Theorem l(a) for smooth solutions that, for a given positive E , the lower bound of t ( ~ ) depends only on, say, to(&/lOO), E, and the interval [S, S ] of Lemma 3. Furthermore, the quantities which , determine S are ultimately chosen to depend only on E , E and t,,(&/100). , Keeping these observations in mind, let ~ ~ 5 . be a sequence Let (un0} of free solutions with C Cauchy data of compact support which converges to 2 uo in 9. (This sequence exists because such smooth free solutions are dense in S,while 9, dense in 9, p. 2). By Jorgens theorem, there are is see globally defined perturbed solutions u, ,n = 1, 2, . . . , of class C2 whose Cauchy data coincide with the data of un0 at time t = 0. Furthermore, the u, are uniformly bounded in the energy and maximum norms. In particular, u,,, -+uo in the energy norm. So, for any E and T, we may find N = N ( E , T ) such that sup E[u,(O) nLN
UN(O)]
& 5 -.

16T

Then k = k(e, T ) may be chosen so that

Therefore, (9) is valid for all u, with n )= N. From the preceding paragraphs it follows that, for any E > 0, there exists t ( ~ ) such that

where N = N ( E ) . However, since the energies of the u, are bounded and

rt

in energy norm for each t, just as was concluded by Jorgens. Therefore, almost everywhere for a subsequence. Thus we may pass to the limit to

SOLUTIONS OF A NONLINEAR RELATIVISTIC W A V E EQUATION

19

The proofs of parts (b) and (c) of Theorem 1 go through without any change. Remark. I n Lemma 10 we shall need the fact that the upper bound for -only on

~ ~ u , , (dt ) ~ ~ ~ t depends

I~U,~(~)IIL dt, E

and t(E). This may

be seen from the proof of Theorem l(b). Therefore, there is an upper bound that is independent of n. Furthermore, ~ u p ~ ~ [ ( u , ( r d t -I , )~ 0
n T

as

T-t

00.

f then LEMMA I in the notation o the proof just concluded, un0 --* uo in 9, 9. $

IIun - - l l ~ - - * o .
Proof: We have already shown that llunll F is uniformly bounded. Consider the difference u, - u, written in its integral representation (5). Denote

N ( t ) = IIun(t)
Then (10) implies

- um(tl IIa

and

No =

ll~ndt)

~rno(f)Ila

where

+(T)

= c( I~U,(T)

(1

+ I~U,(T)

[Im)2

is bounded and integrable. Hence, d7)

N ( t ) =( N o exp

(I+(.)
cNo.

Therefore, u, tends to u in energy norm uniformly for all time. Now, by Lemma 8(b), we have the estimate, using [ [ u ] ] (u) CIIU~): ~

Both terms on the right tend to zero. Hence, u , F-norm.

is a Cauchy sequence in the

LEMMA10. Given

uo E F, the corresponding u, we have u+ E and

s, and

20
Proof

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

u+ has been defined as the unique free solution such that

We ~ ~ ~ u t ) as t - + +CO. know that Ilu3(t)I(, ~ ~ ~ ( t ) ~is ~an integrable( func- ~ ~ ~ tion of t . We claim that u,. is given by formula (1 1). Indeed, the right side has finite energy and is asymptotic to u ( t ) in the energy norm as t - +OO. Direct differentation, in the weak sense, shows that it is a free solution, so that it must coincide with u + ( t ) . T o prove the rest of the lemma, we approximate uo by smooth un0 as before. We denote by u, the corresponding solution of (1) and by unn the free solution whose Cauchy data at time t = + n agree with that of u , . Of course the Cauchy data of u, a t any time are smooth and of compact support. We have the integral representation
=

Unn(t)

U,o(t)

Jo R(t -

Pn

T)

* U i ( T ) dT ;

whence, if rn

<n

say,

Consider the F-norm, (4), of the three terms on the right as m, n + 00. The first term goes to zero by assumption, the second by Lemmas 8(b) and 9, while the third is bounded by t(IurnII; [ [ u r n ] ] by Lemma 8(a). The latter norms are taken only over the interval [m, CO) :

[[u,Il2

= sup sup I u,(x, t ) I'

t>m
2

By the remark preceding Lemma 9, this expression tends to zero as m- 00. Therefore, {unn} is a Cauchy sequence in 9. Call the limit w . Passing to the limit in its integral representation, we see that
w ( t) = uo(t) -J
0

R(t - T )
m

* ~'(7) dT

= u(t)

-l

R(t - T )

* us(.)

dr = u+(t)

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

21

LEMMA1 (Cauchy problem at t = - 0 0 ) . Let u- E F.Then there exists 1 f T a finite time T and a unique solution u o (1) of Jinite F-norm on - co < t which is asymptotic to u- as t + -a. The free solution uT , whose Cauchy data at Furthermore, uT depends continuously on f t = T equal that o u, also belongs to 9. u- in 9 .
Remark. If u3 is replaced by F ( u ) in equation ( I ) , this lemma depends only on the property IF(u)I= O(lu1) as u 0.
--f

Proof:

In analogy to (1 1), there is the representation

u-(t)

= u(t)

+[

R(t

- T ) * u(T)

d7

c -53

If u and v are two solutions as in the statement of the lemma, then

~ ( l ) v(t)

= -/-mR(t

- T ) * [us(.) - z?(T)]

dr.

Taking the energy norm, we get

Choose S so near -CO that the last integral is less than m. Then u ( t ) = v ( t ) for t S and heqce for t , T as well. This proves the uniqueness. To construct u, we shall solve the integral equation. Since we shall require uT E 9 the construction must exhibit u as the limit of smooth functions. For , this reason, we first solve the ordinary Cauchy problem with data a t a time S in the distant past, where -CO < S < T. Let us be a free solution with C data of compact support. T will be determined later, will depend only on the 2 size of certain norms of us , and will be independent of S itself. Define

Wu(t) =
We solve u = us

R(t
JS

- T ) * U(T)

d7.

+9 u

by successive approximations:

Each d) is of class Ce because us is. We shall consider the F-norm, the [[ ]] norm, ( 8 ) , and the ( ) norm, (7), modified so that the range of t is -m < t 6 T only. I n the following

22

CATHLEEN S. MORAWETZ AND WALTER A. STRAWS

argument this will be understood. Now define

We shall assume that 8 is small enough to satisfy the conditions specified below. This can be done by choosing T sufficiently near -a. We now claim that

II Jn)I/F5 k , (ii) [[u'~)]] s 8 ,

(i)

When n = 0, (i) and (ii) are true by definition while (us) -5 k / m by Lemma 1. \Z7e prove the claim by induction on n. From Lemma 8(a) we have

11 u ( n ) -

UAg(IF

5 c[[u(n-l)]]l+a 5 crel+a k2-6

11 u(n-1)
1

{ 11 dn-l)IIF

(u(n-1)))

by the induction hypothesis, Choose 8 so small that

c.iei+a 5 min (48, 4k) . k2"

With this choice of 8 we then have (i) and (ii). To prove (iii), note that is a solution of (n) - Au(d + m2 U(n) + (U(n-1))3 = 0
Ut t
u(")

and therefore enjoys the energy inequality (obtained as in Lemma 1 by multiplying the equation by u:") and integrating) :

where the range of t is taken to be than

- < t 5 T. The right side is not greater

00

2 SUP

(I1U P ) 112 II u("-l) 113s II U("-')(t) :1 dt tS T --m

which, by the induction assumption and what we have already proved, is not larger than 2m-I k202. If 8 5 (+m)ua, this is a t most 3k2, so that m2(u(n))2 4kZ. ?'his proves (iii). Next, we apply Lemma 8(b) to the difference
u(n)

u(n-l)

&(n-l)

- gu(n-a)

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

23

Using (i)-(iii), we obtain

Choosing the coefficient on the right to be less than one, through choice of 8,

( I - W)-lu,. Furthermore, this solution is a Cz function (if ug is) as a consequence of the estimate

{dn)} becomes a Cauchy sequence in the F-norm. Its limit is the solution

where D is a first or second derivative. If ug has compact support in space, so does the solution. Of course, these statements are valid only for -CO < t 5 T Next, let {v,} be a sequence of Cz free solutions of compact support which tends to u- in 9. Let , be the just-constructed solution of (1) whose data u at time t = - m equals that of u,. The limit of u, as m -+ OC, will be the required solution. With m > n, consider

first term tends to zero. The second is less than ce11zksi211um- unll

of each term on the right. The by Lemma 8(b), the coefficient being less than 1. This term can thus be balanced on the left side. The final term on the right is estimated as follows. Let E > 0. Since {urn} converges in 9, there exists an N = N ( E ) such that, in an obvious modification of the notation of (8),
-CO

We shall take the F-norm in

<t 5 T

for all m. But by Lemma 8(a),

A before, the constant on the right is less than 4 for 8 small. So s

for m than

> n h N(E).Therefore, the F-norm of the last term of (12) is not greater
CP[[U,]]!.-.-

< 2e

CP(z&)+o.

24

CATHLEEN 5. MORAWETZ AND WALTER A. STRAUSS

(-00,

It follows from (12) that {urn} is a Cauchy sequence in the F-norm on Call the limit u. By passage to the limit we obtain
t

r].

u(t)

= u-(t) -S__R(t

- T) * u'(T)

d~ ;

whence ( J u ( t )- u-(t)llO + 0 as t + -a,as required. Let uT be as stated in the lemma. Let vmT be the free solution equal to urn a t t = T. Then umT is a smooth solution given by

Just as in the above argument, the right side converges in 9-in this case for all time -00 < t < 03. If the limit of vmT in 9 is called w, then w 9 and
T

w ( t ) = u-(t)

-J-aR(t

- 7)* #'(T)

d T

Since the Cauchy data of w at t = T agree with those of u, w = u T . The continuous dependence in the F-norm is a consequence of the construction: u depends continuously on u- in ( - CO, TI, and uT on u- in ( - 00, CO).
Proof of Theorem 2: Given u- E 9, perturbed solution u has been the constructed in ( - 0 0 , T] in such a way that uT 9(Lemma 11). Thinking of t = T as the initial time and uT as providing the initial data, Theorem 1 asserts that u exists and has finite F-norm for all time. In addition, u+ 9 (Lemma 10). Thus S maps 9 into itself. Each stage of the construction is unique. Since time is reversible, S is one-to-one onto. To prove the continuity of S (and hence of its inverse), take an arbitrary sequence up' + u- in 9. Denote u$" = Sup' , u+ = Su- , and let u'"), u be the corresponding solutions of ( l ) , likewise ug' , uT . From Lemma 11, u" + u in F-norm on ( - 0 0 , T] '' and ug' --+ uT in S.By the reasoning of Lemma 9, u'"' + u in F-norm for all time. We have shown that
@(t)

Ul_"'(t)

-1,
+a

R(t - T) *

[U'"'(T)]'

dT

By Lemma 8(b), the right side converges in 9 to u+ (see (11)) which proves the continuity of S. Since

dx

sup u2 .$,a
2

dx

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

25

tends to zero as t --t fco,we have i l ( u ( t )1: --f E (cf. Lemma 1). O n the other hand, we have (2). Therefore, IIu+II: = 2E = Ilu-lls. That is, JlSu-II, = IIu-ll.. 2

COROLLARY. is a S

Cm-oberator on

F in the Frechet sense.

Proof: To show that S is differentiable, we must show that

E-I[S(u-

E L )

- S(U-)] .

converges in F and that the limit depends continuously and linearly on vLet u- and v- belong to F. Recall that

J-m

J-m

with slightly abbreviated notation, where u+ = Su- and u denotes the corresponding perturbed solution. First, we assert that there exists a unique solution w of finite F-norm of the integral equation
w = V-

$_ R + ( 3 ~ '
m

W)

I n fact, since l)ullF < 03, a slight modification of Lemma 8(b) shows that the integral term defines a continuous linear operator in the F-norm. If attention is restricted to -m < t 5 T with T sufficiently negative, this operator is a contraction. The assertion follows in a well-known manner. I t should be noted that 11 w 11 depends boundedly on (1 v- (1 . Second, let us denote by u") the perturbed solution corresponding to data u- + EV- at t = -a, Then the difference
w(') = E-l(u(e)

- u)

satisfies
t
w(d

= v- -j-,R

rc

(&)'

+ d ' ) u + ua)w(0).

Subtracting the integral equation for w , we have

- w = -]-,R*[(u(~)' + u(')u + ua)(w(') - w ) + (I((')'

+ d ' ) u - 2ue)w] .
- uIJg+ 0. By a I(w") - w 11 F + 0.

I n the proof of Theorem 2, it is shown that as E + 0, I) u ( ' ) similar reasoning as in the proof of Lemma 9, it follows that Indeed, we have

26

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

where o(1) represents c (1 u ( ' ) - ullF 11 u(') 2ullF llwllg which tends to zero. Therefore, w(" tends to w in the energy norm. A slight modification of Lemma 8(b) implies its convergence in the F-norm. Third, let us denote u+ = Su- and u y ) = S(uEL). Then we have

The right side tends in 9 to the limit

w+ = v-

- ["R * 3 u e w .

This formula shows that w+ depends boundedly and linearly on v- and w, and hence on v- alone. The higher differentiability of S may be proved in a similar way.
5. Proof of Theorem 3

LEMMA 12. Let uo E 9 have the Proper0 that initially V u , has finite energy norm. Then the first den'vatives of u are bounded in the energy norm f o r all time. Proof We must show that the second derivatives of u have uniformly bounded La-norms in space. Multiply the differential equation by -Aut and integrate by parts:

0 = (utt - Au
where

+ me u + u3, - b u t )

=dt

dP

+Q ,

and

Q = 3!u'Vu.Vutdx.
This calculation is justified by a limiting process. Since u has finite F-norm, we can estimate

SOLUTIONS OF A NONLINEAR RELATMSTIC WAVE EQUATION

27

We conclude that P ( t ) = P ( 0 ) - Q d7 is uniformly bounded. So Vu, and Au have bounded spatial L2-norms. The same follows for utt = Vu - mzu u3.

Proof of Theorem 3 : We must show that

M ( t ) = sup (1
O<a<t

IIu(s)II,

is bounded. The fundamental integral equation ( 5 ) ,

~ ( l = u0(t) )

+I
t
0

R(t - T )

* u ( T ) dT, ~

is again broken u p as

t)-3/2. where T < at. According to Appendix B, the first term is less than G( 1 Essentially, the same estimate on R regarded as a free solution is also used in the next two terms :

where Vz represents all second derivatives. Using Lemma 12, we have

Therefore, on pulling ( t

T)-~/S

outside the integral, we obtain

and, on pulling

I\u(T) llco5 M ( T ) ~ -outside the integral, ~/~

To the fourth term we apply Lemma 7(a) :

where kT is a constant depending on T. O n one of the three factors we use l l u ( ~ ) l l ~ M(7) whence
IZ(t

- T,t)l

kb

SUP

(b-T.tb

1 ~ M ( t~) . 1

28

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

< ). Choose Now fix T so large that cT-'I2 < t. Fix E so small that k& lu(x, t ) l < E for all x and for t 2 t o . Then the sum of the to so large that last two terms is less than #t-3/eM(t) provided t 2 to T. Thus,

M(t)
Since ( 1

+ &M(t)+

t/4

C!
0

M(T)(~

T ) ~ ' d~ *

+ .)-*la integrable, a bound for is

M ( t ) follows.

Appendix A
Consider the equation
utt

- Au + ma, + C'(u) = 0 ,

where G is a smooth positive function. This equation has a positive definite conserved energy.

Let f THEOREM. u(x,t) be a solution with smooth initial data o compact support which is ungonnb bounded, lu(x,t)J 5 U. Suppose that G satisfies

Then (1

+ Itl)31eu(x, t )

is unifonnb bounded and there exist q m p t o t i c free solutions

u*(x, t ) which satigy ( 2 ) .

EXAMPLE. G(u) = glulp-lu, where g

> 0, p 2 3.

Proof The proof is the same as in the cubic case if us is replaced by G"u) and &P by G(u). Assumption (A.l) is used in Lemmas 1 and 2. Lemma 6 has been assumed. Lemmas 7(a) and 7(c) use assumption (A.2). Lemma 7(b) should now read

and the proof of Lemma 4 correspondingly modified.

SOLUTIONS OF A NONLINEAR RELATIVISTIC WAVE EQUATION

29

T o prove Lemma 7(b), we first note that we may assume u 6 4 in (A.3) for otherwise the extra factors of C(u) can be replaced by C ( U ) . Thus,

by Holder's inequality. The rest of the proof of Theorems 1 and 3 uses assumption (A.2) repeatedly but is otherwise straightforward. Remark 1. The uniform decay of solutions is also valid for certain p < 3 (where C = g1uI"-lr). This follows by adapting the proof of Lemma 7(c) to this case. Remark 2 . The uniform boundedness of solutions is an open problem if

p 2 5 . However, the proof of Lemma 6 carries over to the following case: Al smooth solutions of finite energy are uniformly bounded (in space-time) l
provided
G(u) 2 0 for all
IC'(u)l
u,

5 c(ua + C(u))

for d l

u,

IG'(u)l = O(G(U)-'+~'~ IuI-'+l)

as

lul

--+

co,

for some

> 0.

Appendix B Decay of Solutions of the Linear Klein-Gordon Equation

THEOREM. uo E 2F9, t If

where c dcpndronlyon m. Here the norm ~ ~ u o ~ is F , ~ defined through the Cauchy data y, t$ of u, as the sum of the L1-norms of up to the third derivatives of y and up to the second derivatives of t$.

30

CATHLEEN S. MORAWETZ AND WALTER A. STRAUSS

Remarks on the proof. It suffices to prove the estimate for smooth solutions, which can be done directly from the solution formula, with * denoting spatial convolution, aR u0 = R * r$ * p,

+-at

and the explicit formula for R, where p, r$ are the Cauchy data at time t = 0. See also Segal [ l l ] , Nelson [9] and von Wahl [15] for other methods. Let us denote by &r) the integral of r$ over the sphere of center x and radius T. It is easily seen that

I +It (181 + 1871 + I + A dr 2 m

t/2

Ilr$llF,

Writing p2 = t 2 - r2, we have

4nR

* r$ = t-'

$(t)

+Jo.mJ1(mC1)p-l

B(r) dr

Since Jl(p) = O(p-lIa), the part of the integral over r < i t may be estimated directly as O(t-3/2). The rest may be integrated by parts, using J1 = Ji which cancels the term t-l&t). The remainder is

The integral may be integrated by parts a second time, by recalling that

Each of the resulting terms may be estimated directly. The term in p is handled similarly.

Bibliography
[ 11 Chadam, J. M., Asymptotics for IJu = ma u C(x, t, u, u ,ut), to appear in Ann. Scuola , Norm. Sup., Pisa. [2] Chadam, J. M., Asymptotic behavior of equations arising in quantum Jield theory, to appear i n J. Applicable Analysis. [3] Courant, R., and Hilbcrt, D., Methods o Mathematical Physics, Vol. 11, Interscience Publishen, f 1962, p. 695. [4] Goodman, R., One-sad invariant subspaces and domains of uniqueness for hyperbolic squatwnr, Proc. A.M.S. 15, 1964, pp. 653-660. [5] Jorgens, K., Das A@agswertproblrm im Crossm fur cine Klassc nichtlinearcr Wcllmglichungcn, Math. Z., 77, 1961, 1 1 , pp. 295-308. [6] Morawetz, C. S., Tim decay for the nonlinear Klcin-cwdon equation, Roc. Roy. Soc. A 306, 1968, pp. 291-296.

SOLUTIONS OF A NONLINEAR RELATIVISTIC W A V E EQUATION

31

[7] Morawetz, C. S., A uniqueness theoremf o r the relatiuisitic wave equation, Comm. Pure AppI. Math., Vol. 16, 1963, pp. 353-362. [8] Morawetz, C. S. and Strauss, W. A., Aspptotics o a nonlinear relativistic waue equation, Bull. f A.M.S. to appear. [9] Nelson, S., On some solufwns to the Klein-Gordon equation related to an integral o Sonine, Trans. A. f M.S., 154, 1971, pp.227-237. [lo] Roffman, E. H., Localizcdsolutwns o nonlinear waue equations, Bull. A.M.S. 76, 1970, pp. 70-71. f [1 I ] Segal, I. E., Quantization and dLspcrsion f o r nonlinear relativistic equations, Proc. Conf. Mathematical Theory of Elementary Particles (Dedham, Mass. 1965), M.I.T. Press, pp. 79-108. [I21 Segal, I.E., Dispersion for nonlinear relatiuistic equations, IZ, Ann. Sci. &ole Norm. Sup. (4), 1, 1968, pp. 459-497. [I31 Strauss, W. A., Decay and asyn@toticsf o r nu = F(u),J. Functional Analysis, 2, 1968, pp. 409457. [I41 Strauss, W. A., Decay o solutions of hyperbolic equations with localized nonlinear terms, Atti del f Convegno sui Problemi di Evoluzione (1st. Di Alta Mat., Rome 1970). [IS] von Wahl, W., ober die klassischc Liirbarkcit &s Cauch~roblems nichtlinearc Wellmglcichungm fur bci klcinen Anfangmrtm und das asymptotische Verhalkn dcr Msungen, Math. Zeit., 114, 1970, pp. 281-299.

Received June, 1971.