Practical Exrapolation Methods: Theory and Applications
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This page intentionally left blank Practical Extrapolation Methods An important problem that arises in many scientific and engineering applications is that of approximating limits of infinite sequences {Am }. In most cases, these sequences converge very slowly. Thus, to approximate their limits with reasonable accuracy, one must compute a large number of the terms of {Am }, and this is generally costly. These limits can be approximated economically and with high accuracy by applying suitable extrapolation (or convergence acceleration) methods to a small number of terms of {Am }. This bookis concerned with the coherent treatment, including derivation, analysis, and applications, of the most useful scalar extrapolation methods. The methods it discusses are geared toward problems that commonly arise in scientific and engineering disci- plines. It differs from existing books on the subject in that it concentrates on the most powerful nonlinear methods, presents in-depth treatments of them, and shows which methods are most effective for different classes of practical nontrivial problems; it also shows how to fine-tune these methods to obtain best numerical results. This bookis intended to serve as a state-of-the-art reference on the theory and practice of extrapolation methods. It should be of interest to mathematicians interested in the theory of the relevant methods and serve applied scientists and engineers as a practical guide for applying speed-up methods in the solution of difficult computational problems. Avram Sidi is Professor of Numerical Analysis in the Computer Science Department at the Technion–Israel Institute of Technology and holds the Technion Administration Chair in Computer Science. He has published extensively in various areas of numerical analysis and approximation theory and in journals such as Mathematics of Computation, SIAM Review, SIAM Journal on Numerical Analysis, Journal of Approximation The- ory, Journal of Computational and Applied Mathematics, Numerische Mathematik, and Journal of Scientific Computing. Professor Sidi’s workhas involved the development of novel methods, their detailed mathematical analysis, design of efficient algorithms for their implementation, and their application to difficult practical problems. His methods and algorithms are successfully used in various scientific and engineering disciplines. CAMBRIDGE MONOGRAPHS ON APPLIED AND COMPUTATIONAL MATHEMATICS Series Editors P. G. CIARLET, A. ISERLES, R. V. KOHN, M. H. WRIGHT 10 Practical Extrapolation Methods The Cambridge Monographs on Applied and Computational Mathematics reflect the crucial role of mathematical and computational techniques in contemporary science. The series presents expositions on all aspects of applicable and numerical mathematics, with an emphasis on new developments in this fast-moving area of research. State-of-the-art methods and algorithms as well as modern mathematical descriptions of physical and mechanical ideas are presented in a manner suited to graduate research students and professionals alike. Sound pedagogical presentation is a prerequisite. It is intended that books in the series will serve to inform a new generation of researchers. Also in this series: A Practical Guide to Pseudospectral Methods, Bengt Fornberg Dynamical Systems and Numerical Analysis, A. M. Stuart and A. R. Humphries Level Set Methods and Fast Marching Methods, J. A. Sethian The Numerical Solution of Integral Equations of the Second Kind, Kendall E. Atkinson Orthogonal Rational Functions, Adhemar Bultheel, Pablo Gonzalez-Vera,´ ErikHendriksen,and Olav Nj astad˚ Theory of Composites, Graeme W. Milton Geometry and Topology for Mesh Generation, Herbert Edelsbrunner Schwarz–Christoffel Mapping, Tobin A. Driscoll and Lloyd N. Trefethen Practical Extrapolation Methods Theory and Applications AVRAM SIDI Technion–Israel Institute of Technology Cambridge, New York, Melbourne, Madrid, Cape Town, Singapore, São Paulo Cambridge University Press The Edinburgh Building, Cambridge , United Kingdom Published in the United States by Cambridge University Press, New York www.cambridge.org Information on this title: www.cambridge.org/9780521661591 © Cambridge University Press 2003 This book is in copyright. Subject to statutory exception and to the provision of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University Press. First published in print format 2003 ISBN-13 978-0-511-06862-1 eBook (EBL) ISBN-10 0-511-06862-X eBook (EBL) ISBN-13 978-0-521-66159-1 hardback ISBN-10 0-521-66159-5 hardback Cambridge University Press has no responsibility for the persistence or accuracy of s for external or third-party internet websites referred to in this book, and does not guarantee that any content on such websites is, or will remain, accurate or appropriate. Contents Preface page xix Introduction 1 0.1 Why Extrapolation–Convergence Acceleration? 1 0.2 Antilimits Versus Limits 4 0.3 General Algebraic Properties of Extrapolation Methods 5 0.3.1 Linear Summability Methods and the Silverman–Toeplitz Theorem 7 0.4 Remarks on Algorithms for Extrapolation Methods 8 0.5 Remarks on Convergence and Stability of Extrapolation Methods 10 0.5.1 Remarks on Study of Convergence 10 0.5.2 Remarks on Study of Stability 10 0.5.3 Further Remarks 13 0.6 Remarkon Iterated Forms of Extrapolation Methods 14 0.7 Relevant Issues in Extrapolation 15 I The Richardson Extrapolation Process and Its Generalizations 19 1The Richardson Extrapolation Process 21 1.1 Introduction and Background 21 1.2 The Idea of Richardson Extrapolation 27 1.3 A Recursive Algorithm for the Richardson Extrapolation Process 28 1.4 Algebraic Properties of the Richardson Extrapolation Process 29 1.4.1 A Related Set of Polynomials 29 1.4.2 An Equivalent Alternative Definition of Richardson Extrapolation 31 1.5 Convergence Analysis of the Richardson Extrapolation Process 33 1.5.1 Convergence of Columns 33 1.5.2 Convergence of Diagonals 34 1.6 Stability Analysis of the Richardson Extrapolation Process 37 1.7 A Numerical Example: Richardson Extrapolation on the Zeta Function Series 38 1.8 The Richardson Extrapolation as a Summability Method 39 1.8.1 Regularity of Column Sequences 39 vii viii Contents 1.8.2 Regularity of Diagonal Sequences 40 1.9 The Richardson Extrapolation Process for Infinite Sequences 41 2 Additional Topics in Richardson Extrapolation 42 2.1 Richardson Extrapolation with Near Geometric and Harmonic {yl } 42 2.2 Polynomial Richardson Extrapolation 43 2.3 Application to Numerical Differentiation 48 2.4 Application to Numerical Quadrature: Romberg Integration 52 2.5 Rational Extrapolation 55 3 First Generalization of the Richardson Extrapolation Process 57 3.1 Introduction 57 3.2 Algebraic Properties 59 ( j) 3.3 Recursive Algorithms for An 61 3.3.1 The FS-Algorithm 62 3.3.2 The E-Algorithm 64 3.4 Numerical Assessment of Stability 66 3.5 Analysis of Column Sequences 67 γ ( j) 3.5.1 Convergence of the ni 68 ( j) 3.5.2 Convergence and Stability of the An 69 3.5.3 Convergence of theα ¯ k 72 3.5.4 Conditioning of the System (3.1.4) 73 3.5.5 Conditioning of (3.1.4) for the Richardson Extrapolation Process on Diagonal Sequences 74 3.6 Further Results for Column Sequences 76 3.7 Further Remarks on (3.1.4): “Related” Convergence Acceleration Methods 77 3.8 Epilogue: What Is the E-Algorithm? What Is It Not? 79 4 GREP: Further Generalization of the Richardson Extrapolation Process 81 4.1 The Set F(m) 81 4.2 Definition of the Extrapolation Method GREP 85 4.3 General Remarks on F(m) and GREP 87 4.4 A Convergence Theory for GREP 88 4.4.1 Study of Process I 89 4.4.2 Study of Process II 90 4.4.3 Further Remarks on Convergence Theory 91 4.4.4 Remarks on Convergence of the β¯ki 92 4.4.5 Knowing the Minimal m Pays 92 4.5 Remarks on Stability of GREP 92 4.6 Extensions of GREP 93 5 The D-Transformation: A GREP for Infinite-Range Integrals 95 5.1 The Class B(m) and Related Asymptotic Expansions 95 5.1.1 Description of the Class A(γ ) 96 Contents ix 5.1.2 Description of the Class B(m) 98 5.1.3 Asymptotic Expansion of F(x) When f (x) ∈ B(m) 100 5.1.4 Remarks on the Asymptotic Expansion of F(x) and a Simplification 103 5.2 Definition of the D(m)-Transformation 103 5.2.1 Kernel of the D(m)-Transformation 105 5.3 A Simplification of the D(m)-Transformation: The sD(m)-Transformation 105 5.4 How to Determine m 106 5.4.1 By Trial and Error 106 5.4.2 Upper Bounds on m 107 5.5 Numerical Examples 111 5.6 Proof of Theorem 5.1.12 112 5.7 Characterization and Integral Properties of Functions in B(1) 117 5.7.1 Integral Properties of Functions in A(γ ) 117 5.7.2 A Characterization Theorem for Functions in B(1) 118 5.7.3 Asymptotic Expansion of F(x) When f (x) ∈ B(1) 118 6 The d-Transformation: A GREP for Infinite Series and Sequences 121 6.1 The Class b(m) and Related Asymptotic Expansions 121 (γ ) 6.1.1 Description of the Class A0 122 6.1.2 Description of the Class b(m) 123 (m) 6.1.3 Asymptotic Expansion of An When {an}∈b 126 6.1.4 Remarks on the Asymptotic Expansion of An and a Simplification 129 6.2 Definition of the d(m)-Transformation 130 6.2.1 Kernel of the d(m)-Transformation 131 6.2.2 The d(m)-Transformation for Infinite Sequences 131 6.2.3 The Factorial d(m)-Transformation 132 6.3 Special Cases with m = 1 132 6.3.1 The d(1)-Transformation 132 6.3.2 The Levin L-Transformation 133 6.3.3 The Sidi S-Transformation 133 6.4 How to Determine m 133 6.4.1 By Trial and Error 134 6.4.2 Upper Bounds on m 134 6.5 Numerical Examples 137 6.6 A Further Class of Sequences