On the iterates of uni- and multidimensional operators

Abstract

The problem of the convergence of the iterates of operators or of a sequence of operators is discussed in a general framework related to the fixed point theory, but with a permanent look towards the theory of linear approximation operators. The results are obtained for operators not necessarily linear. Some examples including the class of approximation operators defined by H. Brass are given.

Authors

Radu Precup
Department of Mathematics Babes-Bolyai University, Cluj-Napoca, Romania
Tiberiu Popoviciu Institute of Numerical Analysis, Romanian Academy

Keywords

Bernstein type operator; contraction principle; Perov theorem.

Paper coordinates

R. Precup, On the iterates of uni-and multidimensional operators, Bulletin of the Transilvania University of Brasov Series III: Mathematics and Computer Science, 3(65) (2023) no. 2, pp. 143-152, https://doi.org/10.31926/but.mif.2023.3.65.2.12

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Bulletin of the Transilvania University of Brasov

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Transilvania University Press

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2810-2029

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1 Iterates of unidimensional operators

Bulletin of the Transilvania University of Braşov

Series III: Mathematics and Computer Science, Vol. 3(65), No. 1 - 2023, xx-xx

https://doi.org/10.31926/but.mif.2023.3.65.1.x


ON THE ITERATES OF UNI- AND MULTIDIMENSIONAL OPERATORS

Radu PRECUP∗,111 Babeş-Bolyai University, Faculty of Mathematics and Computer Science and Institute of Advanced Studies in Science and Technology, 400084 Cluj-Napoca, Romania & Tiberiu Popoviciu Institute of Numerical Analysis, Romanian Academy, P.O. Box 68-1, 400110 Cluj-Napoca, e-mail: r.precup@math.ubbcluj.ro


Abstract

The problem of the convergence of the iterates of operators or of a sequence of operators is discussed in a general framework related to the fixed point theory, but with a permanent look towards the theory of linear approximation operators. The results are obtained for operators not necessarily linear. Some examples including the class of approximation operators defined by H. Brass are given.

2000 Mathematics Subject Classification: 41A36, 47H10.

Key words: Bernstein type operator, contraction principle, Perov theorem.

Dedicated to Professor Radu Păltănea on his 70th anniversary

1 Iterates of unidimensional operators

1.1 Iterates of a single operator

Any discussion about the iterates of an operator should start with the notion of a contraction operator and Banach’s contraction principle.

Let (X,d) be a metric space and let L:XX an operator. One says that L is Lipschitz continuous with Lipschitz constant λ if

d(L(x),L(y))λd(x,y)for all x,yX.

If λ<1, then L is a contraction operator. Observe that if L is Lipschitz continuous with Lipschitz constant λ, then any iterate Lk of L, where Lk=L(Lk1)(k1,L0 being the identity operator I), is also Lipschitz continuous with Lipschitz constant λk. With this remark, we have the following proposition.

Theorem 1.

Let L:XX be such that:

(i)

L is a contraction operator with Lipschitz constant λ<1;

(ii)

L has the (unique) fixed point x.

Then for every xX, the sequence (Lk(x)) of the iterates of L calculated at x is convergent to x.

Proof.

Clearly Lk(x)=x for all k. Then

d(Lk(x),x)=d(Lk(x),Lk(x))λkd(x,x).

Since λ<1, one has λk0 and then d(Lk(x),x)0 as k. Thus Lk(x) converges to x as claimed. ∎

This proposition is useful in case that the fixed point x is known for a contraction operator L. This happens for all many linear approximation operators L:C[0,1]C[0,1] leaving invariant the functions 1 and x, that is with L(1)=1 and L(x)=x. Then, restricted to a set

Xα,β:={fC[0,1]:f(0)=α,f(1)=β},

the operator L maps Xα,β into itself and the function

f(x)=α+(βα)x

belongs to Xα,β and is a fixed point of L as can easily be seen. It remains to be clarified the contraction property of L. This aspect in the context of the theory of linear approximation operators was first highlighted by Rus [15] for Bernstein’s operators. The contraction property was later highlighted for other well-known classes of operators (see, e.g., [1], [2], [3], [6], [7]).

The proposition above is given in the idea of a priori knowledge of the fixed point. For a contraction operator on a complete metric space, the existence and uniqueness of the fixed point is guaranteed by Banach’s contraction principle which in addition gives an estimate of the approximation error, namely

d(Lk(x),x)λk1λd(L(x),x). (1)

In case of linear approximation operators, when metric d is given by the uniform norm . of the space C[0,1], this estimate reads as

Lk(f)fλk1λL(f)f (2)

for all k1 and fXα,β. Thus the error Lk(f)f of the approximation of f by the k-th iterate is expressed by the error L(f)f with which the arbitrary start function f is approximated by the operator L. This error is known for many operators beginning with Bernstein’s ones, in terms of some smoothness modules (see [13]).

1.2 Iterates of a sequence of operators

Assume now that (Ln)n1 is an approximation process in X, in the sense that

Ln(x)xas nfor every xX.

For such a sequence of operators, one has

Theorem 2.

Assume that every Ln is a contraction operator with a Lipschitz constant λn<1 and x is the unique fixed point of all operators Ln. Then

(a)

λn1 as n;

(b)

For each xX, a sequence of iterates (Lnkn(x))n1 converges to x if (kn)n1 is such

λnkn1λnC,for all n1 (3)

and some constant C.

Proof.

(a) Let λ be any limit point of the sequence (λn)n1. Obviously λ1. Passing eventually to a subsequence, we may assume that λnλ. Choose two different element x,yX. From

d(Ln(x),Ln(y))λnd(x,y),

letting n and using Ln(x)x and Ln(y)y, we deduce that d(x,y)λd(x,y). Since d(x,y)>0, we find 1λ. Then λ=1 and the proof of statement (a) is finished.

(b) Using (1) one has

d(Lnkn(x),x)λnkn1λnd(Ln(x),x).

Here d(Ln(x),x)0 as n, while from (3), the front coefficients are uniformly bounded. As a result d(Lnkn(x),x)0 as n, which is our statement. ∎

Remark 1.

(10) By virtue of (a), if kn, then the limit of coefficient λnkn1λn is 1+0=+1. Hence a necessary condition for (3) to hold is that 1=0, i.e., λnkn0.

(20) Condition (3) is only a sufficient condition for the convergence of the iterates Lnkn, not necessarily the best for particular sequences of operators. For example, in case of Bernstein’s operators, when λn=121n, condition (3) returns to kn/2n as n. However, by the classical result of Kelinsky-Rivlin [11], the convergence is guaranteed if kn/n .

1.3 Example: Iterates of Brass’s operators

Let n{0} and let μ1,μ2,,μn such that

μ1+2μ2++nμn=n.

Consider the polynomials

pnν(x)=(μ1η1)(μ2η2)(μnηn)xη(1x)μη,ν=0,1,,n,

where μ=i=1nμi,η=i=1nηi, and the summation is done in relation to all systems of nonnegative integer numbers (η1,η2,,ηn) for which

η1+2η2++nηn=ν.

Define the operator

Pn(μ1,μ2,,μn)(f)(x)=ν=0nf(νn)pnν(x)(fC[0,1],x[0,1]). (4)

and consider the class of all operators Ln which are convex combinations of operators of the form (4) which leave invariant the functions 1 and x. Hence

Ln=γ(μ1,μ2,,μn)Pn(μ1,μ2,,μn),

where the coefficients γ(μ1,μ2,,μn), in finite number, are nonnegative and with the sum equal to one, and Ln(1)=1,Ln(x)=x.

We note that Bernstein’s operators are of type (4), more exactly

Bn=Pn(n,0,,0),B1=Pn(0,,0,1).

The class also contains other classical operators such as the operators of Cheney-Sharma [8], Mühlbach [12] and Stancu [16].

Lemma 1.

Any operator L:=Pn(μ1,μ2,,μn) from is a contraction operator on Xα,β with the Lipschitz constant 121μ and has the fixed point f(x)=α+(βα)x.

Proof.

Indeed, for any f,gXα,β, since L(1)=1, one has

L(f)L(g) fg(L(1)(x)pn0(x)pnn(x))
= fg(1pn0(x)pnn(x))
(1minx[0,1](pn0(x)+pnn(x)))fg.

Also, for ν=0, one has η=0 and so pn0(x)=(1x)μ, while if ν=n, then η=ν and so pnn(x)=xμ. Hence

minx[0,1](pn0(x)+pnn(x))=minx[0,1]((1x)μ+xμ)=12μ1.

Then

L(f)L(g)(112μ1)fg.

The fact that f is the fixed point of L in Xα,β is a simple consequence of the two properties L(1)=1,L(x)=x.

The above lemma guarantees that any operator from the class is a contraction operator and in Xα,β has the unique fixed point f. Thus Theorem 1 applies for any operator from the class , and we have

Theorem 3.

If L, then Lk(f)f as k for every fXα,β.

Additionally, formula (2) is true and

Lk(f)f2μ1(112μ1)L(f)f(k1,fXα,β).

For a subclass of , namely that of the so called operators of Bernstein type, the result given by Theorem 3 was proved by using completely different techniques, by Albu [4] and myself [14].

Obviously, Theorem 2 also applies to sequences (Ln)n1 of operators in , which are assumed to be approximation processes. A better result was obtained in [14] for the subclass of Bernstein type operators by using the extremality property of the classical Bernstein operators in that subclass, namely the relations

Bn(f)Ln(f)B1(f),

for every nonnegative and convex function fC[0,1].

2 Iterates of multidimensional operators

We begin this section with the matrix version of Theorem 1.

Theorem 4.

Let (Xi,di),i=1,2,,p be metric spaces and let 𝐋:X=X1×X2××XpX, 𝐋=(𝐋1,𝐋2,,𝐋p), where 𝐋i:XXi, be such that

(i)

For each i,

di(𝐋i(x),𝐋i(y))j=1pγijdj(xj,yj) (5)

for all x=(x1,x2,,xp),y=(y1,y2,,yp)X and some nonnegative numbers γij for which the matrix Γ=[γij]1i,jp is convergent to zero in the sense that its power Γk tends to the zero matrix as k.

(ii)

𝐋 has the (unique) fixed point x.

Then for each xX, the sequence (𝐋k(x)) of the iterates of 𝐋 calculated at x is convergent in X to x.

Proof.

Denoting

𝐝(x,y)=[d1(x1,y1)dp(xp,yp)](x,yX),

we may rewrite (5) in the matrix way as

𝐝(𝐋(x),𝐋(y))Γ𝐝(x,y). (6)

Then

𝐝(𝐋k(x),x)=𝐝(𝐋k(x),𝐋k(x))Γk𝐝(x,x)

and the result follows since Γk0 as k.

If Xi,i=1,2,,p, are complete metric spaces, then inequality (6) showing that 𝐋 is a Perov contraction on X implies the existence and uniqueness of the fixed point x of 𝐋 and moreover that the following estimate holds for all k1 and xX:

𝐝(𝐋k(x),x)(IΓ)1Γk𝐝(𝐋(x),x). (7)

Example 1. Let Xi=D,i=1,2,,p, where D is a closed convex subset of a Banach space, and Lij:DD (1i,jp) be λij-Lipschitz continuous, i.e.,

Lij(xj)Lij(yj)λijxjyj(xj,yjD).

Let σij0(1i,jp) be such that j=1pσij=1 for i=1,2,,p. Define the operator 𝐋:DpDp, 𝐋=(𝐋1,𝐋2,,𝐋p) by

𝐋i(x)=j=1pσijLij(xj),x=(x1,x2,,xp),i=1,2,,p.

If the matrix Γ:=[σijλij]1i,jp is convergent to zero, then the operator 𝐋 is a Perov contraction on Dp. Consequently, it has a unique fixed point x, its iterates 𝐋k(x) converge to x and estimate (7) holds. In particular, if  λij<1 for all i and j, matrix Γ is convergent to zero as shown in [1]. Indeed, letting λ:=max{λij: 1i,jp}, one has λ<1 and ΓλM, where M:=[σij]1i,jp and the powers of M are dominated by the matrix U having all entries equal to 1 (this is proved by induction). Then

Γk=λkMkλkU0ask,

as claimed. In this case, each operator Lij has a unique fixed point xij. In case that for each i, one has that xij=:xi for all j, then x=(x1,x2,,xp). Such a case occurs if the operators Lij are classical Bernstein operators (of different degrees), or other operators of Bernstein type, and D={fC[0,1]:f(0)=α,f(1)=β}, when the fixed point of 𝐋 is 𝐟:=(f,f,,f).

Theorem 2 extends to multidimensional operators as follows.

Theorem 5.

Let (𝐋n)n1 be a sequence of Perov contraction operators with Lipschitz matrices Γn convergent to zero, and let x is the unique fixed point of all operators 𝐋n. Assume that

𝐋n(x)x as n for every xX. (8)

Then

(a)

The element from the diagonal of Γn tend to 1 as n;

(b)

For each xX, a sequence of iterates (𝐋nkn(x))n1 converges to x if (kn)n1 is such that the matrices

(IΓn)1Γnkn,n1

are bounded (componentwise).

Proof.

(a) It is known that the elements from the diagonal of a matrix which is convergent to zero are strictly less than one. Letting Γn=[(λn)ij]1i,jp one has (λn)ii<1 for i=1,2,,p. For any i, let λii be a limit point of the sequence ((λn)ii). Then λii1. Passing eventually to a subsequence, we may assume that (λn)iiλii. Now we take two element x,yX having the components equal to zero except xi and yi which are chosen different. From

𝐝(𝐋n(x),𝐋n(y))Γn𝐝(x,y),

looking at the i-th component, one has

di((𝐋n)i(x),(𝐋n)i(y))(λn)iidi(xi,yi).

Here we let n and use (𝐋n)i(x)xi and (𝐋n)i(y)yi, to deduce that di(xi,yi)λiidi(xi,yi). Since di(xi,yi)>0, we find 1λii. Then λii=1 and the proof of statement (a) is finished.

(b) Using (7) one has

𝐝(𝐋nkn(x),x)(IΓn)1Γnkn𝐝(𝐋n(x),x),

whence the conclusion of (b) is immediate. ∎

The next example gives a scheme of construction of sequences of multidimensional operators which are approximation processes in the sense of (8).

Example 2. Let (𝐋n)n1 be a sequence of operators of the type of those from the previous example, that is

(𝐋n)i(x)=j=1p(σn)ij(Ln)ij(xj),i=1,2,,p,n1.

It is easily seen that the sequence (𝐋n)n1 is an approximation process on Dp, i.e., 𝐋n(x)xas nfor every xDp, if the following conditions are satisfied:

(i)

for every i, the sequence ((Ln)ii)n1is an approximation process on D;

(ii)

for every (i,j) with ij, and for each xjD, the sequence ((Ln)ij(xj))n1 is bounded;

(ii)

for every (i,j) with ij, (σn)ij0 as n.

References

  • [1] Agratini, O., and Precup, R., Iterates of multidimensional operators via Perov theorem, Carpathian J. Math. 38 (2022), 539-546.
  • [2] Agratini, O., and Precup, R., Estimates related to the iterates of positive linear operators and their multidimensional analogues, submitted.
  • [3] Agratini, O., and Rus, I.A., Iterates of a class of discrete operators via contraction principle, Comment. Math. Univ. Carolinae 44 (2003), 555-563.
  • [4] Albu, M., Asupra convergenţei iteratelor unor operatori liniari şi mărginiţi, In ”Sem. Itin. Ec. Func. Aprox. Convex., Cluj-Napoca, 1979, pp 6-16.
  • [5] Brass, H., Eine verallgemeinerung der Bernsteinschen operatoren, Abh. Math. Sem. Univ. Hamburg 36 (1971), 111-122.
  • [6] Cătinaş, T., Iterates of a modified Bernstein type operator, J. Numer. Anal. Approx. Theory 48 (2019), no. 2, 144-147.
  • [7] Cătinaş, T., and Otrocol, D., Iterates of Bernstein type operators on a square with one curved side via contraction principle, Fixed Point Theory 14 (2013), 97-106.
  • [8] Cheney, E.W., and Sharma, A., On a generalization of Bernstein polynomials, Riv. Mat. Univ. Parma (2) 5 (1964), 77-84.
  • [9] Gavrea, I., and Ivan, M., On the iterates of positive linear operators preserving the affine functions, J. Math. Anal. Appl. 372 (2010), 366-368.
  • [10] Karlin, S., and Ziegler, Z., Iteration of positive approximation operators, J. Approx. Th. 3 (1970), 310-339.
  • [11] Kelisky, R.P., and Rivlin, T.J., Iterates of Bernstein polynomials, Pacific J. Math. 21 (1967), 511-520.
  • [12] Mühlbach, G., Über das approximationsverhalten gewisser positiver linearer operatoren, Dissertation Technische Universität Hannover, 1969.
  • [13] Păltănea, R., Optimal constant in approximation by Bernstein operators, J. Comput. Analysis Appl. 5 (2003), 195-235.
  • [14] Precup, R., Proprietăţi de alură şi unele aplicaţii ale lor, Ph.D. Thesis, Babeş-Bolyai University, Cluj-Napoca, 1985.
  • [15] Rus, I.A., Iterates of Bernstein operators, via contraction principle, J. Math. Anal. Appl. 292 (2004), 259-261.
  • [16] Stancu, D.D., Asupra unei generalizări a polinoamelor lui Bernstein, Studia Univ. Babeş-Bolyai Math. 14 (1969), no. 2, 31-46.

[1] Agratini, O., and Precup, R., Iterates of multidimensional operators via Perov theorem, Carpathian J. Math. 38 (2022), 539-546.
[2] Agratini, O., and Precup, R., Estimates related to the iterates of positive linear operators and their multidimensional analogues, submitted.
[3] Agratini, O., and Rus, I.A., Iterates of a class of discrete operators via contraction principle, Comment. Math. Univ. Carolinae 44 (2003), 555-563.
[4] Albu, M., Asupra convergentei iteratelor unor operatori liniari si marginiti, In ”Sem. Itin. Ec. Func. Aprox. Convex., Cluj-Napoca, 1979, pp 6-16.
[5] Brass, H., Eine verallgemeinerung der Bernsteinschen operatoren, Abh. Math. Sem. Univ. Hamburg 36 (1971), 111-122.
[6] Catinas, T., Iterates of a modified Bernstein type operator, J. Numer. Anal. Approx. Theory 48 (2019), no. 2, 144-147.
[7] Catinas, T., and Otrocol, D., Iterates of Bernstein type operators on a square with one curved side via contraction principle, Fixed Point Theory 14 (2013), 97-106.
[8] Cheney, E.W., and Sharma, A., On a generalization of Bernstein polynomials, Riv. Mat. Univ. Parma (2) 5 (1964), 77-84.
[9] Gavrea, I., and Ivan, M., On the iterates of positive linear operators preserving the affine functions, J. Math. Anal. Appl. 372 (2010), 366-368.
[10] Karlin, S., and Ziegler, Z., Iteration of positive approximation operators, J. Approx. Th. 3 (1970), 310-339.
[11] Kelisky, R.P., and Rivlin, T.J., Iterates of Bernstein polynomials, Pacific J. Math. 21 (1967), 511-520.
[12] Muhlbach, G., Uber das approximationsverhalten gewisser positiver linearer operatoren, Dissertation Technische Universitat Hannover, 1969.
[13] Paltanea, R., Optimal constant in approximation by Bernstein operators, J. Comput. Analysis Appl. 5 (2003), 195-235.
[14] Precup, R., Proprietati de alura si unele aplicatii ale lor, Ph.D. Thesis, Babes-Bolyai University, Cluj-Napoca, 1985.
[15] Rus, I.A., Iterates of Bernstein operators, via contraction principle, J. Math. Anal. Appl. 292 (2004), 259-261.
[16] Stancu, D.D., Asupra unei generalizari a polinoamelor lui Bernstein, Studia Univ. Babes-Bolyai Math. 14 (1969), no. 2, 31-46.

2023

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