An application of the Picard operator technique to functional integral equations

Abstract

In this paper we consider a functional integral equation of the form
\[
x(t)=g(t,x(t),x(h(t)))+\int_{a}^{t} f(s,x(h(s)))ds+\int_{a}^{b} K(s,x(h(s)))ds, \ \ t \in [a,b].
\]

Using the weakly Picard operator technique we establish existence, data dependence and comparison results for the solutions of the above equation.

Authors

V.A. Ilea
(Babes Bolyai Univ.)

D. Otrocol
(Tiberiu Popoviciu Institute of Numerical Analysis, Romanian Academy,
Technical University of Cluj-Napoca)
https://ictp.acad.ro/otrocol

Keywords

Functional-integral equation; weakly Picard operators; data dependence

Cite this paper as:

V.A. Ilea, D. Otrocol, An application of the Picard operator technique to functional integral equations, J. Nonlinear Convex Anal., Vol. 18 (2017) no. 3, pp. 405-413

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About this paper

Journal

Journal of Nonlinear and Convex Analysis

Publisher Name

Yokohama, Japan

DOI
Print ISSN

1345-4773

Online ISSN

1880-5221

MR

MR3649198

ZBL

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An application of the Picard operator technique to functional integral equations

Veronica Ana Ilea∗ and Diana Otrocol∗∗
Abstract.

In this paper we consider a functional integral equation of the form

x​(t)=g​(t,x​(t),x​(h​(t)))+∫atf​(s,x​(h​(s)))​𝑑s+∫abK​(s,x​(h​(s)))​𝑑s,t∈[a,b].x(t)\!\!=\!\!g(t,\!x(t),\!x(h(t)))\!+\!\int\nolimits_{a}^{t}\!\!f(s,\!x(h(s)))ds\!+\!\int\nolimits_{a}^{b}\!\!K(s,\!x(h(s)))ds,\!t\in[a,b].

Using the weakly Picard operator technique we establish existence, data dependence and comparison results for the solutions of the above equation.
MSC 2010: 47H10, 34K05.
Keywords: Functional-integral equation, weakly Picard operators, data dependence.

∗Babeş-Bolyai University, Kogălniceanu no. 1, RO 400084, Cluj-Napoca, Romania, e-mail: vdarzu@math.ubbcluj.ro.
∗∗“T. Popoviciu” Institute of Numerical Analysis, Romanian Academy, P.O.Box. 68-1, 400110, Cluj-Napoca, Romania, e-mail: dotrocol@ictp.acad.ro.

1. Introduction

Integro-differential equations have been discussed in many applied fields, such as biological, physical and engineering problems. Particulary, the Fredholm-Volterra equations are interesting because they put together two types of integrals that may have different approaches from the solution point of view.

The purpose of the paper is to study existence, data dependence and comparison results for the solutions of the functional integral equations of the form

(1.1) x​(t)=g​(t,x​(t),x​(h​(t)))+∫atf​(s,x​(h​(s)))​𝑑s+∫abK​(s,x​(h​(s)))​𝑑s,t∈[a,b].x(t)\!\!=\!\!g(t,x(t),\!x(h(t)))\!+\!\int\nolimits_{a}^{t}\!\!\!f(s,x(h(s)))ds\!+\!\int\nolimits_{a}^{b}\!\!\!K(s,x(h(s)))ds,\!\ t\in[a,b].

The new idea of this paper compared to [15] and [16] is the Fredholm term and the delay argument h​(t)h(t).

The paper is organized as follows. In section 2, we recall some definitions and facts concerning the weakly Picard operator theory. In section 3, we prove first the existence and uniqueness theorem and then we give some properties of the solution regarding the order preserving property and the continuity of the solution of the problem (1.1). In the last section some applications are given.

For the basic theory of functional integral equations see [1]-[3], [6] and [7]. Fredholm-Volterra integro-differential equations were studied in [15] and [16].

2. Basic notions and results from weakly Picard operators theory

In this paper we use the terminologies and notations from [11]-[12]. For the convenience of the reader we recall some of them.

Let (X,d)(X,d) be a metric space and A:X→XA:X\rightarrow X an operator.

We denote byA0=1X,A1=A,An+1:=A∘An,n∈ℕ\;A^{0}=1_{X},\;A^{1}=A,\;A^{n+1}:=A\circ A^{n},n\in\mathbb{N} the iterates of the operator AA;

We also use the following notations:

FA:={x∈X∣A​(x)=x}F_{A}:=\{x\in X\mid A(x)=x\} - the fixed points set of AA;

I​(A):={Y⊂X∣A​(Y)⊂Y,Y≠∅}I(A):=\{Y\subset X\mid A(Y)\subset Y,Y\neq\emptyset\} - the family of the nonempty invariant subsets of AA;

Definition 2.1.

[11]-[12] Let (X,d)(X,d) be a metric space. An operator A:X→XA:X\rightarrow X is a Picard operator (PO) if there exists x∗∈Xx^{\ast}\in X such that:

  1. (i)

    FA={x∗};F_{A}=\{x^{\ast}\};

  2. (ii)

    the sequence (An​(x0))n∈ℕ(A^{n}(x_{0}))_{n\in\mathbb{N}} converges to x∗x^{\ast} for all x0∈Xx_{0}\in X.

Definition 2.2.

[11]-[12] Let (X,d)(X,d) be a metric space. An operator A:X→XA:X\rightarrow X is a weakly Picard operator (WPO) if the sequence (An​(x))n∈ℕ(A^{n}(x))_{n\in\mathbb{N}} converges for all x∈Xx\in X, and its limit ( which may depend on xx ) is a fixed point of AA.

Definition 2.3.

[11]-[12] If AA is a weakly Picard operator then we consider the operator A∞A^{\infty} defined by A∞:X→X,A∞​(x):=limn→∞​An​(x)A^{\infty}:X\rightarrow X,\ A^{\infty}(x):=\underset{n\rightarrow\infty}{\lim}A^{n}(x).

Remark 2.4.

[11]-[12]It is clear that A∞​(X)=FA.A^{\infty}(X)=F_{A}.

The following results are very useful in the sequel.

Theorem 2.5.

[11]-[12](Characterization theorem) Let (X,d)(X,d) be a metric space and A:X→XA:X\rightarrow X an operator. Then AA is WPO if and only if there exists a partition of XX, X=X= ∪λ∈Λ​Xλ\underset{\lambda\in\Lambda}{\cup}X_{\lambda}, such that

  • (a)

    Xλ∈I​(A)X_{\lambda}\in I(A), for all λ∈Λ;\lambda\in\Lambda;

  • (b)

    A|Xλ:Xλ→XλA|_{X_{\lambda}}:X_{\lambda}\rightarrow X_{\lambda} is PO, for all λ∈Λ.\lambda\in\Lambda.

Lemma 2.6.

[11]-[12]Let (X,d,≤)(X,d,\leq) be an ordered metric space and A:X→XA:X\rightarrow X an operator. We suppose that:

  • (i)

    AA is WPO;

  • (ii)

    AA is increasing.

Then, the operator A∞A^{\infty} is increasing.

Lemma 2.7.

[11]-[12](Abstract Gronwall lemma) Let (X,d,≤)(X,d,\leq) be an ordered metric space and A:X→XA:X\rightarrow X an operator. We suppose that:

  • (i)

    AA is WPO;

  • (ii)

    AA is increasing.

If we denote by xA∗x_{A}^{\ast}, the unique fixed point of AA, then:

  • (a)

    x≤A​(x)⟹x≤xA∗;x\leq A(x)\Longrightarrow x\leq x_{A}^{\ast};

  • (b)

    x≥A​(x)⟹x≥xA∗.x\geq A(x)\Longrightarrow x\geq x_{A}^{\ast}.

Lemma 2.8.

[11]-[12](Abstract comparison lemma) Let (X,d,≤)(X,d,\leq) an ordered metric space and A,B,C:X→XA,B,C:X\rightarrow X be such that: (i)(i) the operators A,B,CA,B,C are WPOs; (i​i)(ii) A≤B≤CA\leq B\leq C; (i​i​i)(iii) the operator BB is increasing. Then x≤y≤zx\leq y\leq z implies that A∞​(x)≤B∞​(y)≤C∞​(z)A^{\infty}(x)\leq B^{\infty}(y)\leq C^{\infty}(z).

Another important notion is

Definition 2.9.

[11]-[12]Let (X,d)(X,d) be a metric space, A:X→XA:X\rightarrow X be a weakly Picard operator and c∈ℝ+∗.c\in\mathbb{R}_{+}^{\ast}. The operator AA\ is cc-weakly Picard operator iff

d​(x,A∞​(x))≤c​d​(x,A​(x)),∀x∈X.d(x,A^{\infty}(x))\leq cd(x,A(x)),\ \forall x\in X.

For the cc-POs and cc-WPOs we have

Lemma 2.10.

[11]-[12] Let (X,d)(X,d) be a metric space, A,B:X→XA,B:X\rightarrow X be two operators. We suppose that:

  • (i)

    the operators AA and BB are cc-WPOs;{}_{s};

  • (ii)

    there exists η∈ℝ+∗\eta\in\mathbb{R}_{+}^{\ast} such that d​(A​(x),B​(x))≤η,∀x∈X.d(A(x),B(x))\leq\eta,\ \forall x\in X.

Then Hd​(FA,FB)≤c​ηH_{d}(F_{A},F_{B})\leq c\eta, where HdH_{d} stands for the Pompeiu-Hausdorff functional with respect to dd.

We note that most (in the sense of Baire category) operators in the space of nonexpansive operators are (weakly) Picard operators. See, for example, the two papers by S. Reich and A. J. Zaslavski [13] and [14]. For some examples of WPOs see [4], [5] and [8]-[10].

3. The solution set of the equation (1.1)

We consider now

  • (C1)

    g∈C​([a,b]×ℝ2;ℝ),f∈C​([a,b]×ℝ,ℝ)g\in C([a,b]\times\mathbb{R}^{2};\mathbb{R}),\ f\in C([a,b]\times\mathbb{R},\mathbb{R)}, K∈C​([a,b]×ℝ,ℝ)K\in C([a,b]\times\mathbb{R},\mathbb{R)}, h​(t)≤th(t)\leq t, h∈C​([a,b],[a1,b]),a1≤ah\in C([a,b],\mathbb{[}a_{1},b\mathbb{])},a_{1}\leq a;

  • (C′1{}_{1}^{\prime})

    x​(t)=φ​(t),t∈[a1,a],φ∈C​([a1,a],[a,b])x(t)=\varphi(t),t\in[a_{1},a],\varphi\in C([a_{1},a],[a,b]);

  • (C2)

    there exists lg>0l_{g}>0 such that gg is Lipschitz with respect to the last two arguments, i.e.,

    |g​(t,u1,u2)−g​(t,v1,v2)|≤lg​(|u1−v1|+|u2−v2|),\left|g(t,u_{1},u_{2})-g(t,v_{1},v_{2})\right|\leq l_{g}\left(\left|u_{1}-v_{1}\right|+\left|u_{2}-v_{2}\right|\right),

    ∀t∈[a,b],ui,vi∈ℝ,i=1,2\forall t\in[a,b],u_{i},v_{i}\in\mathbb{R},i=1,2;

  • (C3)

    there exists lf>0l_{f}>0 such that ff is Lipschitz with respect to the second argument, i.e.,

    |f​(t,u)−f​(t,v)|≤lf​|u−v|,∀t∈[a,b],u,v∈ℝ;\left|f(t,u)-f(t,v)\right|\leq l_{f}\left|u-v\right|,\ \forall t\in[a,b],u,v\in\mathbb{R};
  • (C4)

    there exists lK>0l_{K}>0 such that KK is Lipschitz with respect to the second argument, i.e.,

    |K​(t,u)−K​(t,v)|≤lK​|u−v|,∀t∈[a,b],u,v∈ℝ;\left|K(t,u)-K(t,v)\right|\leq l_{K}\left|u-v\right|,\ \forall t\in[a,b],u,v\in\mathbb{R};
  • (C5)

    φ​(a)=g​(a,x​(a),x​(h​(a)))+∫abK​(s,x​(h​(s)))​𝑑s;\varphi(a)=g(a,x(a),x(h(a)))+\int\nolimits_{a}^{b}K(s,x(h(s)))ds;

  • (C6)

    2​lg+(b−a)​(lf+lK)<1.2l_{g}+(b-a)(l_{f}+l_{K})<1.

The numbers mg,Mg,Mf,Mk>0m_{g},M_{g},M_{f},M_{k}>0 are such that

mg\displaystyle m_{g} ≤g​(t,u,v)≤Mg;\displaystyle\leq g(t,u,v)\leq M_{g};
|f​(t,u)|\displaystyle\left|f(t,u)\right| ≤Mf,|K​(t,v)|≤Mk,∀t∈[a,b],u,v∈ℝ;\displaystyle\leq M_{f},\ \left|K(t,v)\right|\leq M_{k},\forall t\in[a,b],u,v\in\mathbb{R};
  • (C7)

    Mg+(Mf+MK)​(b−a)≤b;M_{g}+(M_{f}+M_{K})(b-a)\leq b;

  • (C8)

    a≤Mg−(Mf+MK)​(b−a).a\leq M_{g}-(M_{f}+M_{K})(b-a).

With respect to the equation (1.1) we consider the equation (in β∈ℝ\beta\in\mathbb{R})

(3.1) β=g​(a,β,γ)+∫abK​(s,x​(h​(s)))​𝑑s.\beta=g(a,\beta,\gamma)+\int\nolimits_{a}^{b}K(s,x(h(s)))ds.

Let Sg,KS_{g,K} be the solution set of the equation (3.1). By a solution of equation (1.1) we understand a function x∈C​([a1,b],ℝ)x\in C([a_{1},b],\mathbb{R}). So we consider the Banach space X:=(C([a1,b];ℝ),∥⋅∥C)X:=\left(C([a_{1},b];\mathbb{R}),\left\|\cdot\right\|_{C}\right) where ∥⋅∥C\left\|\cdot\right\|_{C} is the Chebyshev norm defined by ‖x‖C=supt∈[a,b]​(|x​(t)|).\left\|x\right\|_{C}=\underset{t\in[a,b]}{\sup}(\left|x(t)\right|).

Let the operator B:X→XB:X\rightarrow X be defined by

(3.2) B​(x)​(t)={φ​(t),t∈[a1,a],g​(t,x​(t),x​(h​(t)))+∫atf​(s,x​(h​(s)))​𝑑s+∫abK​(s,x​(h​(s)))​𝑑s,t∈[a,b],B(x)(t)=\begin{cases}\varphi(t),&\ t\in[a_{1},a],\\ g(t,x(t),x(h(t)))\!+\!\int\nolimits_{a}^{t}f(s,x(h(s)))ds\!&\\ \quad\quad\quad+\!\int\nolimits_{a}^{b}K(s,x(h(s)))ds,&\ t\in[a,b],\end{cases}

where φ​(a)=β,β∈Sg,K\varphi(a)=\beta,\ \beta\in S_{g,K}. It is obvious that the solution set of the equation (1.1) is FB.F_{B}.

Let L>0L>0 and

CL:={y∈X||x​(t1)−x​(t2)|≤L​|t1−t2|,t1,t2∈[a,b]}.C_{L}:=\{y\in X|\ \left|x(t_{1})-x(t_{2})\right|\leq L\left|t_{1}-t_{2}\right|,t_{1},t_{2}\in[a,b]\}.

It is easy to see that CLC_{L} is convex and compact in XX, thus it is a complete metric space with respect to d∥⋅∥C.d_{\left\|\cdot\right\|_{C}}.

Let Xφ:={x∈X|x​(t)=φ​(t),t∈[a1,a]}.X_{\varphi}:=\{x\in X|\ x(t)=\varphi(t),t\in[a_{1},a]\}. Notice that X=∪φ∈C​([a1,b],[a,b])​XφX=\underset{\varphi\in C(\mathbb{[}a_{1},b\mathbb{]},[a,b]\mathbb{)}}{\cup}X_{\varphi} is a partition of XX and we have the following lemma (see [15]).

Lemma 3.1.

We have

  • (i)

    If x∈FB,x\in F_{B}, then x​(a)∈Sg,K;x(a)\in S_{g,K};

  • (ii)

    FB∩Xβ≠∅⇒β∈Sg,K.F_{B}\cap X_{\beta}\neq\emptyset\Rightarrow\beta\in S_{g,K}.

We denote by Y:=∪φ∈C​[a1,a]​(Xφ∩CL).Y:=\underset{\varphi\in C\mathbb{[}a_{1},a\mathbb{]}}{\cup}(X_{\varphi}\cap C_{L}).

4. Main result

Our first main result is the following one:

Theorem 4.1.

We suppose that the conditions (C1)−(C8)(C_{1})-(C_{8}) are satisfied. Then

B|∪φ∈C​([a1,b],[a,b])​Xφ:Y→YB|_{\underset{\varphi\in C(\mathbb{[}a_{1},b\mathbb{]},[a,b]\mathbb{)}}{\cup}X_{\varphi}}:Y\rightarrow Y

is WPO and c​a​r​d​FB=c​a​r​d​Sg,KcardF_{B}=cardS_{g,K}.

Proof.

From the conditions (C1)−(C8)(C_{1})-(C_{8}) we have the following inequalities

a\displaystyle a ≤B​(x)​(t)=φ​(t)≤b,t∈[a1,a],\displaystyle\leq B(x)(t)=\varphi(t)\leq b,t\in[a_{1},a],
B​(x)​(t)\displaystyle B(x)(t) ≤Mg+(Mf+MK)​(b−a)≤b,\displaystyle\leq M_{g}+(M_{f}+M_{K})(b-a)\leq b,
B​(x)​(t)\displaystyle B(x)(t) ≥mg−|∫atf(s,x(h(s)))ds|−|∫abK(s,x(h(s))ds|≥a,\displaystyle\geq m_{g}-\left|\int\nolimits_{a}^{t}f(s,x(h(s)))ds\right|-\left|\int\nolimits_{a}^{b}K(s,x(h(s))ds\right|\geq a,

for all x∈Xx\in X and t∈[a,b].t\in[a,b]. Also we can estimate that

|B​(x)​(t1)−B​(x)​(t2)|≤\displaystyle\left|B(x)(t_{1})-B(x)(t_{2})\right|\leq
≤|g​(t1,x​(t1),x​(h​(t1)))−g​(t2,x​(t2),x​(h​(t2)))|\displaystyle\leq\left|g(t_{1},x(t_{1}),x(h(t_{1})))-g(t_{2},x(t_{2}),x(h(t_{2})))\right|
+|∫at2f​(s,x​(h​(s)))​𝑑s−∫at2f​(s,x​(h​(s)))​𝑑s|\displaystyle\quad+\left|\int\nolimits_{a}^{t_{2}}f(s,x(h(s)))ds-\int\nolimits_{a}^{t_{2}}f(s,x(h(s)))ds\right|
+|∫abK​(s,x​(h​(s)))​𝑑s−∫abK​(s,x​(h​(s)))​𝑑s|\displaystyle\quad+\left|\int\nolimits_{a}^{b}K(s,x(h(s)))ds-\int\nolimits_{a}^{b}K(s,x(h(s)))ds\right|
=lg​(|t1−t2|+|x​(t1)−x​(t2)|+|x​(h​(t1))−x​(h​(t2))|)\displaystyle=l_{g}(\left|t_{1}-t_{2}\right|+\left|x(t_{1})-x(t_{2})\right|+\left|x(h(t_{1}))-x(h(t_{2}))\right|)
+Mf​|t1−t2|\displaystyle\quad+M_{f}\left|t_{1}-t_{2}\right|
≤[lg​(1+2​L)+Mf]​|t1−t2|≤L​|t1−t2|,\displaystyle\leq\left[l_{g}(1+2L)+M_{f}\right]\left|t_{1}-t_{2}\right|\leq L\left|t_{1}-t_{2}\right|,

with L:=lg​(1+2​L)+MfL:=l_{g}(1+2L)+M_{f}, for all x∈CLx\in C_{L} and t1,t2∈[a,b].t_{1},t_{2}\in[a,b].

We consider now the function φ∈C​([a1,a],ℝ)\varphi\in C([a_{1},a],\mathbb{R}) with φ​(a)∈Sg,K.\varphi(a)\in S_{g,K}. We denote by Bφ:=B|Xφ∩CL:Xφ∩CL→Xφ∩CL.B_{\varphi}:=B|_{X_{\varphi}\cap C_{L}}:X_{\varphi}\cap C_{L}\rightarrow X_{\varphi}\cap C_{L}. It is obvious that for t∈[a1,a]t\in[a_{1},a] we have

|Bφ​(x1)​(t)−Bφ​(x2)​(t)|=0\left|B_{\varphi}(x_{1})(t)-B_{\varphi}(x_{2})(t)\right|=0

and for t∈[a,b]t\in[a,b]\ we obtain that

|Bφ​(x1)​(t)−Bφ​(x2)​(t)|≤\displaystyle\left|B_{\varphi}(x_{1})(t)-B_{\varphi}(x_{2})(t)\right|\leq
≤|g​(t,x1​(t),x1​(h​(t)))−g​(t,x2​(t),x2​(h​(t)))|\displaystyle\leq\left|g(t,x_{1}(t),x_{1}(h(t)))-g(t,x_{2}(t),x_{2}(h(t)))\right|
+∫at|f​(s,x1​(h​(s)))−f​(s,x2​(h​(s)))|​𝑑s\displaystyle\quad+\int\nolimits_{a}^{t}\left|f(s,x_{1}(h(s)))-f(s,x_{2}(h(s)))\right|ds
+∫ab|K(s,x1(h(s))−K(s,x2(h(s))|ds\displaystyle\quad+\int\nolimits_{a}^{b}\left|K(s,x_{1}(h(s))-K(s,x_{2}(h(s))\right|ds
≤lg​(|x1​(t)−x2​(t)|+|x1​(h​(t))−x2​(h​(t))|)\displaystyle\leq l_{g}\left(\left|x_{1}(t)-x_{2}(t)\right|+\left|x_{1}(h(t))-x_{2}(h(t))\right|\right)
+lf​|x1−x2|+lK​|x1−x2|\displaystyle\quad+l_{f}\left|x_{1}-x_{2}\right|+l_{K}\left|x_{1}-x_{2}\right|
≤2​lg​‖x1−x2‖C+(b−a)​(lf+lK)​‖x1−x2‖C\displaystyle\leq 2l_{g}\left\|x_{1}-x_{2}\right\|_{C}+(b-a)(l_{f}+l_{K})\left\|x_{1}-x_{2}\right\|_{C}
≤(2​lg+(b−a)​(lf+lK))​‖x1−x2‖C.\displaystyle\leq\left(2l_{g}+(b-a)(l_{f}+l_{K})\right)\left\|x_{1}-x_{2}\right\|_{C}.

Therefore the following inequality holds

‖Bφ​(x1)−Bφ​(x2)‖C≤(2​lg+(b−a)​(lf+lK))​‖x1−x2‖C,\left\|B_{\varphi}(x_{1})-B_{\varphi}(x_{2})\right\|_{C}\leq\left(2l_{g}+(b-a)(l_{f}+l_{K})\right)\left\|x_{1}-x_{2}\right\|_{C},

for any x1,x2∈Xφ∩CL.x_{1},x_{2}\in X_{\varphi}\cap C_{L}. So the operator Bφ:=B|Xφ∩CLB_{\varphi}:=B|_{X_{\varphi}\cap C_{L}} is a contraction with the constant LB=(2​lg+(b−a)​(lf+lK)).L_{B}=\left(2l_{g}+(b-a)(l_{f}+l_{K})\right). From the fact that BφB_{\varphi} with φ​(a)∈Sg,K\varphi(a)\in S_{g,K} is PO and from Lemma 3.1 we have that c​a​r​d​FB=c​a​r​d​Sg,KcardF_{B}=cardS_{g,K}. Moreover from Theorem 2.5 we get that BB is WPO. ∎

Next we shall study the relation between the solution of the problem (1.1) with the initial condition

(4.1) x​(t)=φ​(t),t∈[a1,a]x(t)=\varphi(t),t\in[a_{1},a]

and the subsolution of the same problem. We have

Theorem 4.2.

(Theorem of Čaplygin type) We suppose that:

  • (a)

    the conditions (C1),(C1′),(C2),(C3),(C4)(C_{1}),\ (C_{1}^{\prime}),\ (C_{2}),(C_{3}),(C_{4}) and (C​5)(C5) are satisfied;

  • (b)

    g​(t,⋅,⋅):ℝ2→ℝg(t,\cdot,\cdot):\mathbb{R}^{2}\rightarrow\mathbb{R} is increasing, ∀t∈[a,b]\forall t\in[a,b];

  • (c)

    f​(s,⋅),K​(s,⋅):ℝ→ℝf(s,\cdot),K(s,\cdot):\mathbb{R}\rightarrow\mathbb{R} are increasing, ∀s∈[a,b]\forall s\in[a,b].

Let xx be a solution of equation (1.1) and yy a solution of the inequality

y​(t)≤g​(t,y​(t),y​(h​(t)))+∫atf​(s,y​(h​(s)))​𝑑s+∫abK​(s,y​(h​(s)))​𝑑s,t∈[a,b].y(t)\leq g(t,y(t),y(h(t)))+\int\nolimits_{a}^{t}f(s,y(h(s)))ds+\int\nolimits_{a}^{b}K(s,y(h(s)))ds,\ t\in[a,b].

Then y​(t)≤x​(t)​ with ​t∈[a1,a]​ implies that ​y≤xy(t)\leq x(t)\text{ with }t\in[a_{1},a]\text{\ implies that }y\leq x on [a,b][a,b].

Proof.

We have that

x=Bφ​(x)​ and ​y≤Bφ​(y).x=B_{\varphi}(x)\text{ and }y\leq B_{\varphi}(y).

From the conditions (C1),(C1′),(C2),(C3),(C4)(C_{1}),(C_{1}^{\prime}),\ (C_{2}),(C_{3}),(C_{4}) and (C​5)(C5) we have that the operator BφB_{\varphi} is WPO. From (b) and (c) we have that BφB_{\varphi} is an increasing operator. Applying Lemma 2.6 we obtain that Bφ∞B_{\varphi}^{\infty} is increasing. If φ∈C​([a1,a],[a,b]),\varphi\in C([a_{1},a],[a,b]), then we denote by φ~​(t)\widetilde{\varphi}(t) the following function

φ~:[a,b]→ℝ,φ~​(t)=φ​(t),∀t∈[a,b].\widetilde{\varphi}:[a,b]\rightarrow\mathbb{R},\widetilde{\varphi}(t)=\varphi(t),\ \forall t\in[a,b].

From Theorem 4.1 we have that Bφ​(Y)⊂YB_{\varphi}(Y)\subset Y. Bφ|YB_{\varphi}|_{Y} is a contraction and since φ~∈Y\widetilde{\varphi}\in Y then

Bφ∞​(φ~)=Bφ∞​(φ),∀y∈Y.B_{\varphi}^{\infty}(\widetilde{\varphi})=B_{\varphi}^{\infty}(\varphi),\ \forall y\in Y.

Let y≤Bφ​(y)y\leq B_{\varphi}(y), since BφB_{\varphi} is increasing, from Gronwall lemma (Lemma 2.7) we get y≤Bφ∞​(y).y\leq B_{\varphi}^{\infty}(y). Also, y,y~​(a)∈Xy​(a)y,\widetilde{y}(a)\in X_{y(a)}, so Bφ∞​(y)=Bφ∞​(y~​(a)).B_{\varphi}^{\infty}(y)=B_{\varphi}^{\infty}(\widetilde{y}(a)). But y​(a)≤x​(a)y(a)\leq x(a), Bφ∞B_{\varphi}^{\infty} is increasing and Bφ∞​(x~​(a))=Bφ∞​(x)=x.B_{\varphi}^{\infty}(\widetilde{x}(a))=B_{\varphi}^{\infty}(x)=x. So,

y≤Bφ∞​(y)=Bφ∞​(y~​(a))≤Bφ∞​(x~​(a))=x.y\leq B_{\varphi}^{\infty}(y)=B_{\varphi}^{\infty}(\widetilde{y}(a))\leq B_{\varphi}^{\infty}(\widetilde{x}(a))=x.

So the proof is completed. ∎

In the following part of this section we study the order preserving property of the problem (1.1)–(4.1) with respect to K.K. For this we use Lemma 2.8.

Theorem 4.3.

(Comparison theorem) We suppose that fi,Ki∈C​([a,b]×ℝ,ℝ),i=1,2,3,gi∈C​([a,b]×ℝ×ℝ,ℝ),i=1,2,3f_{i},K_{i}\in C([a,b]\times\mathbb{R},\mathbb{R}),i=1,2,3,g_{i}\in C([a,b]\times\mathbb{R}\times\mathbb{R},\mathbb{R}),i=1,2,3 satisfy the conditions (C1),(C1′),(C2),(C3),(C4)(C_{1}),(C_{1}^{\prime}),(C_{2}),(C_{3}),(C_{4}) and (C5)(C_{5}). Furthermore, we suppose that:

  • (i)

    f1≤f2≤f3f_{1}\leq f_{2}\leq f_{3}, g1≤g2≤g3,K1≤K2≤K3;g_{1}\leq g_{2}\leq g_{3},K_{1}\leq K_{2}\leq K_{3};

  • (ii)

    f2​(s,⋅),g2​(t,⋅,⋅),K2​(s,⋅)f_{2}(s,\cdot),\ g_{2}(t,\cdot,\cdot),\ K_{2}(s,\cdot) are increasing;

  • (iii)

    S(g,K)1=S(g,K)2=S(g,K)3.S_{(g,K)_{1}}=S_{(g,K)_{2}}=S_{(g,K)_{3}}.

    Let xi∈C​([a1,b],ℝ)x_{i}\in C([a_{1},b],\mathbb{R)} be a solution of the equation

    xi​(t)\displaystyle x_{i}(t) =gi​(t,xi​(t),xi​(h​(t)))+∫atfi​(s,xi​(h​(s)))​𝑑s\displaystyle=g_{i}(t,x_{i}(t),x_{i}(h(t)))+\int\nolimits_{a}^{t}f_{i}(s,x_{i}(h(s)))ds
    +∫abKi​(s,xi​(h​(s)))​𝑑s,t∈[a,b]​ and ​i=1,2,3.\displaystyle\quad+\int\nolimits_{a}^{b}K_{i}(s,x_{i}(h(s)))ds,\ t\in[a,b]\text{ and }i=1,2,3.

    If x1​(t)≤x2​(t)≤x3​(t)x_{1}(t)\leq x_{2}(t)\leq x_{3}(t)\ with t∈[a1,a],t\in[a_{1},a], then x1≤x2≤x3x_{1}\leq x_{2}\leq x_{3}\ \ on [a,b][a,b].

Proof.

Applying Theorem 4.1 we have that the operators Bφi,i=1,2,3,B_{\varphi_{i}},i=1,2,3,\ are WPOs. From the condition (ii) of the theorem, follows that the operator Bφ2B_{\varphi_{2}} is monotone increasing. Recalling the condition (i) we have that Bφ1≤Bφ2≤Bφ3B_{\varphi_{1}}\leq B_{\varphi_{2}}\leq B_{\varphi_{3}}.

Let now x~i​(a)∈C​([a1,b],ℝ)\widetilde{x}_{i}(a)\in C([a_{1},b],\mathbb{R)} be defined by x~i​(a)​(t)=xi​(a),∀t∈[a1,b]\widetilde{x}_{i}(a)(t)=x_{i}(a),\ \forall t\in[a_{1},b]. It is clear that the following inequalities between the defined functions hold:

x~1​(a)​(t)≤x~2​(a)​(t)≤x~3​(a)​(t),∀t∈[a1,b].\widetilde{x}_{1}(a)(t)\leq\widetilde{x}_{2}(a)(t)\leq\widetilde{x}_{3}(a)(t),\ \forall t\in[a_{1},b].

Next, we apply Lemma 2.8 to the above inequalities and we have that

Bφ1∞​(x~1​(a))≤Bφ2∞​(x~2​(a))≤Bφ3∞​(x~3​(a)).B_{\varphi_{1}}^{\infty}(\widetilde{x}_{1}(a))\leq B_{\varphi_{2}}^{\infty}(\widetilde{x}_{2}(a))\leq B_{\varphi_{3}}^{\infty}(\widetilde{x}_{3}(a)).

But also xix_{i} is equal to Bφ​i∞​(x~i​(a)),i=1,2,3B_{\varphi i}^{\infty}(\widetilde{x}_{i}(a)),i=1,2,3 and therefore, from Lemma 2.8, we get that x1≤x2≤x3.x_{1}\leq x_{2}\leq x_{3}. The proof is completed. ∎

In the last part of this section we consider the Cauchy problem (1.1)–(4.1) and we suppose that the conditions of the Theorem 4.1 are satisfied. We denote by x∗​(⋅;g,f,K),x^{\ast}(\cdot;g,f,K),\ the solution of this problem. The last result is a data dependence result for the solutions of two similar problems with different parameters.

Theorem 4.4.

(Data dependence theorem) We suppose that φi,gi,fi,Ki\varphi_{i},g_{i},f_{i},K_{i},i=1,2i=1,2 satisfy the conditions (C1),(C1′),(C2),(C3),(C4)(C_{1}),(C_{1}^{\prime}),(C_{2}),(C_{3}),(C_{4}) and (C5)(C_{5}). Furthermore, we suppose that there exists ηi>0,i=1,2,3\eta_{i}>0,i=1,2,3 such that

  1. (i)

    |g1​(t,u1,u2)−g2​(t,u1,u2)|≤η1,∀t∈[a,b],ui∈ℝ,i=1,2;\left|g_{1}(t,u_{1},u_{2})-g_{2}(t,u_{1},u_{2})\right|\leq\eta_{1},\forall t\in[a,b],u_{i}\in\mathbb{R},i=1,2;

  2. (ii)

    |f1​(t,u)−f2​(t,u)|≤η2,∀t∈[a,b],u∈ℝ;\left|f_{1}(t,u)-f_{2}(t,u)\right|\leq\eta_{2},\forall t\in[a,b],u\in\mathbb{R};

  3. (iii)

    |K1​(t,v)−K2​(t,v)|≤η3,∀t∈[a,b],v∈ℝ;\left|K_{1}(t,v)-K_{2}(t,v)\right|\leq\eta_{3},\forall t\in[a,b],v\in\mathbb{R};

  4. (iv)

    S(g,K)1=S(g,K)2.S_{(g,K)_{1}}=S_{(g,K)_{2}}.

Then

H∥⋅∥C​(S(g,K)1,S(g,K)2)≤[1−Lτ]−1​[η1+(b−a)​(η2+η3)],H_{\left\|\cdot\right\|_{C}}(S_{(g,K)_{1}},S_{(g,K)_{2}})\leq\left[1-L_{\tau}\right]^{-1}\left[\eta_{1}+(b-a)(\eta_{2}+\eta_{3})\right],

where Lτ:=max⁡{(2​lg1+(b−a)​(lf1+lK1)),(2​lg2+(b−a)​(lf2+lK2))}L_{\tau}:=\max\{(2l_{g_{1}}+(b-a)\left(l_{f_{1}}+l_{K_{1}}\right)),(2l_{g_{2}}+(b-a)\left(l_{f_{2}}+l_{K_{2}}\right))\}, for τ\tau suitable selected and H∥⋅∥CH_{\left\|\cdot\right\|_{C}} denotes the Pompeiu-Housdorff functional with respect to ∥⋅∥τ.\left\|\cdot\right\|_{\tau}.

Proof.

For the proof of this result let us consider the two operators

Bgi,fi,Ki\displaystyle B_{g_{i},f_{i},K_{i}} =gi​(t,xi​(t),xi​(h​(t)))+∫atfi​(s,xi​(h​(s)))​𝑑s\displaystyle=g_{i}(t,x_{i}(t),x_{i}(h(t)))+\int\nolimits_{a}^{t}f_{i}(s,x_{i}(h(s)))ds
+∫abKi​(s,xi​(h​(s)))​𝑑s,t∈[a,b]​ and​i=1,2.\displaystyle\quad+\int\nolimits_{a}^{b}K_{i}(s,x_{i}(h(s)))ds,\ t\in[a,b]\ \text{ and}\ i=1,2.

From the Theorem 4.1 we have that these operators are cc-POs with c=[1−Lτ]−1c=\left[1-L_{\tau}\right]^{-1}. On the other hand we have that

‖Bg1,f1,K1​(x)−Bg2,f2,K2​(x)‖≤η1+(b−a)​(η2+η3),∀x∈C​[a,b].\left\|B_{g_{1},f_{1},K_{1}}(x)-B_{g_{2},f_{2},K_{2}}(x)\!\right\|\leq\eta_{1}+(b-a)(\eta_{2}+\eta_{3}),\ \forall x\in C[a,b].

The proof follows from Lemma 2.10. ∎

5. Applications

Let us now discuss some applications for the general result.

Example 5.1.

We consider the following integral equation

(5.1) x​(t)=φ​(0)+∫0tf​(s,x​(s−w))​𝑑s+∫0bK​(s,x​(s−w))​𝑑s,t∈[0,b],x(t)=\varphi(0)+\!\int\nolimits_{0}^{t}f(s,x(s-w))ds\!+\!\int\nolimits_{0}^{b}K(s,x(s-w))ds,\!\ t\in[0,b],

where w∈[0,c],b>0,f∈C​([0,b]×ℝ,ℝ)w\in[0,c],b>0,f\in C([0,b]\times\mathbb{R},\mathbb{R)}, K∈C​([0,b]×ℝ,ℝ)K\in C([0,b]\times\mathbb{R},\mathbb{R)} and φ∈C​([−c,0],ℝ).\varphi\in C\left([-c,0],\mathbb{R}\right).

In this case (C1)−(C8)(C_{1})-(C_{8}) become

  • (C1)

    f∈C​([0,b]×ℝ,ℝ)f\in C([0,b]\times\mathbb{R},\mathbb{R)}, K∈C​([0,b]×ℝ,ℝ)K\in C([0,b]\times\mathbb{R},\mathbb{R)}, w∈[0,c],b>0w\in[0,c],b>0;

  • (C′1{}_{1}^{\prime})

    x​(t)=φ​(t),t∈[−c,0],φ∈C​([−c,0],ℝ);x(t)=\varphi(t),\ t\in[-c,0],\varphi\in C\left([-c,0],\mathbb{R}\right);

  • (C3)

    there exists lf>0l_{f}>0 such that

    |f​(t,u)−f​(t,v)|≤lf​|u−v|,∀t∈[0,b],u,v∈ℝ;\left|f(t,u)-f(t,v)\right|\leq l_{f}\left|u-v\right|,\ \forall t\in[0,b],u,v\in\mathbb{R};
  • (C4)

    there exists lK>0l_{K}>0 such that

    |K​(t,u)−K​(t,v)|≤lK​|u−v|,∀t∈[0,b],u,v∈ℝ;\left|K(t,u)-K(t,v)\right|\leq l_{K}\left|u-v\right|,\ \forall t\in[0,b],u,v\in\mathbb{R};
  • (C5)

    φ​(0)=∫0bK​(s,x​(s−w))​𝑑s;\varphi(0)=\int\nolimits_{0}^{b}K(s,x(s-w))ds;

  • (C6)

    b​(lf+lK)<1.b(l_{f}+l_{K})<1.

The numbers mg,Mg,Mf,Mk>0m_{g},M_{g},M_{f},M_{k}>0 are such that

mg\displaystyle m_{g} ≤φ​(0)≤Mg;\displaystyle\leq\varphi(0)\leq M_{g};
|f​(t,u)|\displaystyle\left|f(t,u)\right| ≤Mf,|K​(t,v)|≤Mk,∀t∈[0,b],u,v∈ℝ;\displaystyle\leq M_{f},\ \left|K(t,v)\right|\leq M_{k},\forall t\in[0,b],u,v\in\mathbb{R};
  • (C7)

    Mg+b​(Mf+MK)≤b;M_{g}+b(M_{f}+M_{K})\leq b;

  • (C8)

    0≤Mg−b​(Mf+MK).0\leq M_{g}-b(M_{f}+M_{K}).

Since all the assumptions are verified we can apply Theorem 4.1.

Example 5.2.

We consider the following integral equation

(5.2) x​(t)=g​(t,x​(t),x​(λ​t))+∫0tf​(s,x​(λ​s))​𝑑s+∫0bK​(s,x​(λ​s))​𝑑s,t∈[0,b],x(t)=g(t,x(t),x(\lambda t))+\!\int\nolimits_{0}^{t}f(s,x(\lambda s))ds\!+\!\int\nolimits_{0}^{b}K(s,x(\lambda s))ds,\!\ t\in[0,b],

where 0<λ<1,b>0,g∈C​([0,b]×ℝ2;ℝ),f∈C​([0,b]×ℝ,ℝ)0<\lambda<1,b>0,g\in C([0,b]\times\mathbb{R}^{2};\mathbb{R}),f\in C([0,b]\times\mathbb{R},\mathbb{R)}, K∈C​([0,b]×ℝ,ℝ).K\in C([0,b]\times\mathbb{R},\mathbb{R)}.

In this case (C1)−(C8)(C_{1})-(C_{8}) become

  • (C1)

    g∈C​([0,b]×ℝ2;ℝ),f∈C​([0,b]×ℝ,ℝ)g\in C([0,b]\times\mathbb{R}^{2};\mathbb{R}),\ f\in C([0,b]\times\mathbb{R},\mathbb{R)}, K∈C​([0,b]×ℝ,ℝ)K\in C([0,b]\times\mathbb{R},\mathbb{R)}, 0<λ<1,b>00<\lambda<1,b>0;

  • (C′1{}_{1}^{\prime})

    x​(t)=φ​(t),t∈[−c,0],x(t)=\varphi(t),t\in[-c,0], φ∈C​([−c,0],ℝ);\varphi\in C\left([-c,0],\mathbb{R}\right);

  • (C2)

    there exists lg>0l_{g}>0 such that

    |g​(t,u1,u2)−g​(t,v1,v2)|≤lg​(|u1−v1|+|u2−v2|),\left|g(t,u_{1},u_{2})-g(t,v_{1},v_{2})\right|\leq l_{g}\left(\left|u_{1}-v_{1}\right|+\left|u_{2}-v_{2}\right|\right),

    ∀t∈[0,b],ui,vi∈ℝ,i=1,2\forall t\in[0,b],u_{i},v_{i}\in\mathbb{R},i=1,2.

  • (C3)

    there exists lf>0l_{f}>0 such that

    |f​(t,u)−f​(t,v)|≤lf​|u−v|,∀t∈[0,b],u,v∈ℝ;\left|f(t,u)-f(t,v)\right|\leq l_{f}\left|u-v\right|,\forall t\in[0,b],u,v\in\mathbb{R};
  • (C4)

    there exists lK>0l_{K}>0 such that

    |K​(t,u)−K​(t,v)|≤lK​|u−v|,∀t∈[0,b],u,v∈ℝ;\left|K(t,u)-K(t,v)\right|\leq l_{K}\left|u-v\right|,\forall t\in[0,b],u,v\in\mathbb{R};
  • (C5)

    φ​(0)=g​(0,x​(0),x​(λ​t))+∫abK​(s,x​(λ​s))​𝑑s;\varphi(0)=g(0,x(0),x(\lambda t))+\int\nolimits_{a}^{b}K(s,x(\lambda s))ds;

  • (C6)

    2​lg+b​(lf+lK)<1.2l_{g}+b(l_{f}+l_{K})<1.

The numbers mg,Mg,Mf,Mk>0m_{g},M_{g},M_{f},M_{k}>0 are such that

mg\displaystyle m_{g} ≤g​(t,u,v)≤Mg;\displaystyle\leq g(t,u,v)\leq M_{g};
|f​(t,u)|\displaystyle\left|f(t,u)\right| ≤Mf,|K​(t,v)|≤Mk,∀t∈[0,b],u,v∈ℝ;\displaystyle\leq M_{f},\ \left|K(t,v)\right|\leq M_{k},\forall t\in[0,b],u,v\in\mathbb{R};
  • (C7)

    Mg+(Mf+MK)​b≤b;M_{g}+(M_{f}+M_{K})b\leq b;

  • (C8)

    0≤Mg−(Mf+MK)​b.0\leq M_{g}-(M_{f}+M_{K})b.

Since all the assumptions are verified we can apply Theorem 4.1.

Acknowledgement 5.3.

The work of the first author was partially supported by a grant of the Romanian National Authority for Scientific Research, CNCS – UEFISCDI, project number PN-II-ID-PCE-2011-3-0094.

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