Partial Differential Equations II Spring 2008 Prof. D. Slepcev∗
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Partial Differential Equations II Spring 2008 Prof. D. Slepˇcev∗ Chris Almost† Disclaimer: These notes are not the official course notes for this class. These notes have been transcribed under classroom conditions and as a result accuracy (of the transcription) and correctness (of the mathematics) cannot be guaranteed. ∗[email protected] †[email protected] 1 Contents Contents2 1 Sobolev Spaces3 1.1 Introduction.................................. 3 1.2 Weak derivatives ............................... 3 1.3 Sobolev spaces ................................ 5 1.4 Approximation by smooth functions ................... 6 1.5 Extension.................................... 10 1.6 Traces...................................... 11 1.7 Sobolev inequalities ............................. 13 1.8 Compactness.................................. 17 1.9 Poincaré inequalities............................. 19 1.10 Difference quotients ............................. 20 1 1.11 The dual space H− ............................. 22 2 Elliptic PDE 23 2.1 Introduction.................................. 23 2.2 Existence of solutions and the Fredholm alternative.......... 24 2.3 Regularity of solutions............................ 32 2.4 Maximum principles............................. 36 2.5 Eigenvalues and eigenfunctions...................... 39 2.6 Non-symmetric elliptic operators ..................... 41 3 Parabolic PDE 42 3.1 Bochner Integral ............................... 42 3.2 Spaces involving time ............................ 43 3.3 Parabolic equations.............................. 46 3.4 Existence via Galerkin Approximation .................. 47 3.5 Maximum principles............................. 48 Index 51 2 Sobolev Spaces 3 1 Sobolev Spaces 1.1 Introduction This course is concerned with modern methods in the theory of PDE, in particular with linear parabolic and elliptic equations. It will be a technical course more than an applied course, and we will be learning the language required to understand research in PDE. For the purposes of illustration, consider the boundary value problem ¨ ∆u = f in U − u = 0 on @ U where U is connected and U is compact. Multiply by a test function ' Cc1(U) and integrate both sides 2 Z Z ∆u'd x = f 'd x. U − U Integrate by parts to get, Z Z u 'd x = f 'd x, U r · r U since ' @ U = 0. Define a bilinear form on some space H, with the property that u = 0 onj @ U for u H, by 2 Z u1, u2 = u1 u2d x. h i U r · r R For u H, the norm is u u 2d x, and we hope that H is a Hilbert space = U 2 R k k jr j and ' f 'd x is a bounded linear functional. If these hopes hold true then U by the Riesz7! representation theorem there is a unique u H such that 2 Z Z u 'd x = u, ' = f 'd x. U r · r h i U Sounds nice, but does it all work? 1.2 Weak derivatives 1 1 1.2.1 Definition. Let u Lloc(U). The function v Lloc(U) is a weak partial derivative of u in the ith coordinate2 if 2 Z Z u' d x 1 v'd x xi = ( ) U − U 4 PDE II for all ' C U . We write v u . c1( ) = xi Analogously,2 v is the αth weak partial derivative for a multiindex α if Z Z α α uD 'd x = ( 1)j j v'd x U − U α for all ' Cc1(U), and we write v = D u. 2 Of course, to define such notation we need the following. 1.2.2 Proposition. Weak derivatives are unique if they exist. th ROOF P : Suppose that w1 and w2 are α derivatives of u. Then, for all ' Cc1(U), 2 Z Z α α ( 1)j j w1'd x = ( 1)j j w2'd x. − U − U R So w w 'd x 0 for all ' C U , and it follows that w w a.e. U ( 1 2) = c1( ) 1 = 2 (Indeed,− let η be the standard2 mollifier, and η be the rescaled mollifier with R " support B 0, " . Then w y : w x η y x d x 0 for all " and all y, and ( ) "( ) = U ( ) "( ) = − this completes the argument since w" w a.e.) ! 1.2.3 Examples. (i) Let u(x) = x for x R. Then ux (x) = 1 if x > 0 and = 1 if x < 0. j j 2 − Indeed, for ' Cc1(R), 2 Z Z 0 Z 1 ux 'd x = ux 'd x ux 'd x − R − − 0 Z 0 −∞ Z 1 = u'x d x u(0)'(0) + u'x d x + u(0)'(0) − 0 Z−∞ = x 'x d x R j j We will see later that the weak derivative corresponds to the usual general- ization of derivative for absolutely continuous functions. (ii) Let u(x) = 1(0, ). Then ux (x) = 0 is the only candidate for the derivative (why?), but 1 Z Z 1 u'x d x = 'x d x = '(0) R 0 − which is not necessarily zero. There is a more general notion (that of a “dis- tribution”) that would give this function a derivative, but for our purposes this function does not have a weak derivative. Sobolev spaces 5 1.3 Sobolev spaces k,p 1.3.1 Definition. For 1 p < , let W (U) be the collection of functions u 1 ≤ 1 α p 2 Lloc(U) such that for all α with α k, D u exists and is in L (U). For u k,p j j ≤ 2 W (U), 1 1 Z p p X α p X α p k,p u W (U) := D u d x = D u p k k α k U j j α k k k j |≤ j |≤ For p = , take instead the essential supremum. 1 k k,2 When p = 2 we may write H (U) := W (U). W k,p U W k,p U C U ( ) 1.3.2 Definition. 0 ( ) := c1( ) . 1.3.3 Example. Let U B 0, 1 n, α > 0, and u x 1 . Note that = ( ) R ( ) = x α ⊆ j j " Z 1 Z 1 " n 1 ˜ n α d x = C r − dr = C r − , α α 0 B 0," x 0 r ( ) j j 1 so u is in Lloc(U) if and only if α < n. 1,p For which p and n is u in W (U)? u is a.e. differentiable, so 1 xi αxi u α , xi = α 1 = α 2 − x + · x − x + j j j j j j and Du α . As above, u L1 U if and only if α < n 1. To check that = x α+1 xi loc( ) j j j j 2 − this is truly the weak derivative, let A" := B(0, 1) B(0, "). By integration by parts, n Z Z Z u' d x u 'd x u'ν dS. xi = xi + i A" − A" @ B(0,") As " 0, A" B(0, 1) and ! ! Z 1 n 1 α 'νi dS C" ' L 0. "α − − 1 @ B(0,") ≤ k k ! R Finally, Du p d x < only if U j j 1 1 Z 1 Z 1 n 1 (α+1)p n (α+1)p > d x = C r − − d x = C r − , (α+1)p 0 1 U x 0 j j which happens when α 1 p < n, or α < n 1. ( + ) p − k,p 1.3.4 Proposition. Let u, v W (U) and let α k. 2 j j ≤ 6 PDE II α k α ,p (i) D u W −| j (U) 2 β α α β α β (ii) D (D u) = D (D u) = D + u, for each β such that α + β k. j j j j ≤ (iii) Dα is a linear operator. k,p (iv) If V U is open then u V W (V ). ⊆ j 2 k,p (v) If ξ Cc1(U) then ξu W (U) and 2 2 X α Dα ξu Dβ ξDα β u ( ) = β − β α ≤ where α : α! . β = β!(α β)! − k,p 1.3.5 Theorem. W (U) is a Banach space. PROOF: If u = 0 then u p u = 0, so u = 0 a.e. Clearly the norm is homogeneous,k k so we are leftk k to≤ check k k the triangle inequality. For p < , 1 1 p X α α p u + v = D u + D v p k k α k k k ≤ 1 p X α α p D u p + D v p ≤ α k k k k k ≤ 1 1 p p X α p X α p D u p + D v p ≤ α k k k α k k k ≤ ≤ = u + v k k k k by Minkovski’s inequality in both cases. The case p = is clear. k,p 1 Let um be a Cauchy sequence in W (U). Since the Sobolev norm dominates p α p the L norm,f g all of the sequences um and D um are Cauchy in L , and hence p p convergent in L . Let u and uα bef theg limitsf of theseg sequences in L . Now Z Z α α uD 'd x lim um D 'd x = m U !1 U Z Z α α α lim 1 'D umd x 1 uα'd x = m ( )j j = ( )j j !1 − U − U α k,p Therefore uα = D u, and the sequence converges in W (U). 1.4 Approximation by smooth functions Mollifiers n A mollifier is a function η Cc1(R ) such that 2 Approximation by smooth functions 7 R (i) n η 1; R = (ii) η 0; ≥ (iii) η is radially symmetric; and (iv) supp(η) B(0, 1). ⊆ For any " > 0 define η x 1 η x . Then η is also a mollifier for " < 1. For "( ) = "n ( " ) " 1 n f Lloc(R ), define 2 Z Z " f (x) := η" f (x) = η"(x y)f (y)d y = η"(y)f (x y)d y.