R ENDICONTI
del
S EMINARIO M ATEMATICO
della
U NIVERSITÀ DI P ADOVA
J AN M ALCZAK
An application of Markov operators in differential and integral equations
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and Integral Equations.
JAN MALCZAK
(*)
1. Introduction.
One of the
important techniques
used in thetheory
of Markov oper- ators isstudying
theproperties
of asemigroup
from the prop- erties of asingle operator P ~
with someThe main result of the paper is Theorem 2.1 which concerns the
asymptotic stability
of a Markovoperator.
The mainadvantage
of hav-ing
Theorem 2.1 is that it allows to obtain many corollariesconcerning
the
asymptotic
behavior forsemigroup
fromalready proved
results for iterates of asingle operator.
Stochastic
semigroup generated by
Fokker-Planckequations
areparticularly
convenient tostudy by
Theorem 2.1. This is due to the fact thatthey
arerepresented by
theintegral
formula(3.6).
In this case theasymptotic
behavior of the solutiondepend
on the existence of a sta-tionary
solution and itssummability.
The
organization
of the paper is thefollowing.
In Section 2 wegive
a formulation of the main theorem
concerning expanding
Markov oper- ators. Section 3gives
asimple
criterion(Theorem 3.1)
for the asymp- toticalstability
of solutions ofparabolic partial
differentialequation.
InSection 4 we
study
the one dimensionalexample
of the Fokker-Planckequation.
In Section 5 weanalyze
a rule which a stochasticintegral
op- eratorplays
in theasymptotic
behavior of asemigroup, generated by integro-differential equation.
The last one contains anapplication
ofTheorem 2.1 to Markov
integral operators
with advanced argu- ment.(*) Indirizzo dell’A.:
Universytet Jagiellonski, Instytut Informatyki,
31-501Krak6w,
ul.Kopernika
27, Poland.2. Existence of an invariant
density
for Markovoperators.
Let
(X,2:,m)
be a a-finite measure space.A linear
operator
P: is called a Markovoperator
ifP(D) c D,
where D =f ~ 0, lif 11
=1 }
is the set of densitiesI
stands for the norm inL (m). By
a standardprocedure using
monotone seuqences of
integrable functions,
any linearpositive
opera- tor on extends(uniquely) beyond L 1 (m)
to act onarbitrary
non-negative (possible infinite)
measurable functions.Let a Markov
operator
begiven.
Adensity f
is calledstationary
ifPf = f.
If a Markovoperator
P has apositive
invariant functionf *
thenwe can define the Markov
operator
P:L 1 (X, E, ~) H L’ (X, ~, ~) by letting
’
where
dfJ: = f * dm. Clearly
P1 =1,
soby
the Riesz-Thorinconvexity
theorem P acts as a
positive
contraction on any 1 ~p :::; 00.
We denoteby !7
theL 2 (a)-adjoined
ofP
as well as its monotone extension to all the spaces L p(iu).
Nowapplying
the well-knowncomplex
Hilbertspace
technique
to P(see [Fog69], Chapter III]),
we defineThen K is a closed sublattice of
L2 (p.)
and theoperator
P isunitary
onK. For every and
-Ulf- 0 weakly
inL2 (p.).
Nowlet
Then
~1 (P)
is asubring
of 2: on which P and U act asautomorphisms.
Moreover,
K is the closed span inL 2 (u) of {1A : A E E1}
and ifX1 E E
isminimal in E such that A c
Xl (mod
for every A EZ,
thenX,
is P-in-variant. The set
X,
will be referred to as the deterministicpart
of P. Fi-nally
A Markov
operator
P:L 1 (m) H L 1 (m)
is calledasymptotically
stable if there is a
unique stationary f *
E D and asfor
every f E D.
For we define thesupport of f by setting
This set is not defined in a
completely unique
manner, sincef
may berepresented by
functions that differ on a set of measure zero. This inac- curacy never leads to any difficulties incalculating
measures and inte-grals.
Of coursesupp f is
defined up to a set of measure zero.Inequali-
ties
(equalities)
between functions or sets are in the a.e. sense.Now,
we examine a limit behavior of Markovoperators admitting
astationary density.
We have thefollowing
THEOREM 2.1. Let P:
L 1 (m) H L 1 (~n)
be a Markovoperator. Sup-
pose that P has a
positive
invariantdensity f * .
Assume also that for everyA,
B E E withpositive
finite measure thefollowing
condition is satisfied:If in
addition, .~l (P)
definedby (2.3)
isatomic,
then P isasymptotically
stable.
REMARK. If a Markov
operator
isgiven by
theintegral
formulawhere k is stochastic
kernel,
i.e. k: isjointly
measurableand
then P has the form
d> = f * dm, y)
=k(x, y)/f * (x)
andf *
ispositive
and invariant for P. It is known[FeI65] that.El (P)
defined for theintegral operator (2.6)
is atomic.PROOF.
Uniqueness of
invariacntdensity.
Assume there are twostationary
densities forP, namely, f, and f2 .
so we havePf = f.
Let furtherf = f + - f -,
wheref + (x)
= max(0, f(x))
andf - (x)
=max (0, -f(x)).
Sothat,
then neitherf +
norf -
arezero. Note that
Pf + = f +
andPf - = f - . Further,
there exist setsA,
Bwith
positive
measure such that andThus,
we havewhich contradicts the condition
(2.4).
Asymptotical stability. Define,
asabove,
anoperator P: L 1 (,u) H L 1 (~u,) by letting
Ph =where dg = f * dm.
Notethat P1
= = 1 and = 1_.Using (2.4)
it is easy to prove that2JI (P_) _ 10, XI.
Thus theoperator
P is a Harrisoperator
with trivial2JI (P). Then, by [Fog69, Chapter VIII,
TheoremE,
p.89],
we haveNow, pick f E D,
then the function h= f/f * belongs
to and from(2.7)
we ~0 asREMARK. The condition
(2.4)
isimmediately
satisfied if a kernelin
(2.5)
ispositive.
3. Stochastic
semigroups; asymptotic
behavior of solutions ofparabolic equations.
Let
(X, 2;, m)
be a o-finite measure space. Afamily
of Markov oper- ators is called a stochasticsemigroup
andP °
= 1 for alltl , t2 >-
0. A stochasticsemigroup
o is called asymp-totically
stable if there exists aunique f *
E D such that Pt f *
=f *
for allt ~ 0 and lim = 0 for all
f E D.
t - oo
The
following proposition
3.1 shows therelationship
between theasymptotical stability
of discretesemigroup
and the semi- groupPROPOSITION 3.1. Let be a
semigroup
of Markov opera- tors. Assume there existto > 0
and aunique f * E D
such thatpntof* = f *
andfor f E
Then= f *
for all andt - oo
PROOF. First we show that
= f *
for all t a 0. Fix t’ > 0 and setf1:
= ThereforeSince
f* ||
=0,
we must havef*11
=0,
and henceP
f*
=.f*
At theend,
to showasymptotical stability pick
a functionf E D,
so thatis a
nonincreasing
function. Since for thesequence tn
=nto
we havewe have a
nonincreasing
function that converges to zero on a subse- quenceand,
hence limIIPF -f. II
= 0. Et t-+ 00
As the first
applications
of Theorem 2.1 we consider apartial
differ-ential
equation
ofparabolic type
with the initial condition
This
equation
appears whilestudying
the stochastic differentialequation
with initial condition
where
b(x): R d H R d, dr)
is a(d
xd)
matrix.In
(3.3),
the «white noise» vectorshould be
considered,
from a mathematicalpoint
ofview,
as a puresymbol
much like the letters «dt» in the notation for derivative. How- ever, from anapplication standpoint, ~
denotes a veryspecific
processconsisting
of«infinitely»
manyindependent,
or randomimpulses.
Weassume that the initial vector
XO
and the Wiener process are in-dependent.
To examine the solution ofequation (3.3), (3.4)
we are re-quired
to introduce all the abstractconcepts
which are necessary to de- fine the It6integral,
and togive
the solution ofequation (3.3)
and(3.4)
in terms of ageneral formula, generated by
the method of successiveapproximations,
which containsinfinitely
many It6integrals.
One canpass to a consideration of the
density
function of random processx(t)
which is a solution(3.3)
and(3.4).
This
density
is define as the functionu(t, x)
that satisfiesThe
uniqueness
ofu(t, x)
up to set of measure zero is an immediate consequence ofRandon-Nikodym theorem,
but the existencerequires
some
regularity
conditions on coefficientsb(x)
and7(x).
One can show thatu(t, x)
can be found without anyknowledge concerning
the sol-ution
x(t).
It turns out thatu(t, x)
isgiven by
the solution of apartial
differential
equation (3.1),
known as Fokker-Planckequation,
that iscompletely specified by
the coefficientsb(x)
and ofequation (3.3).
We must
only
insert to(3.1)
and
bi (x)
be the same as in(3.3).
It is clear that
a~~
= andMoreover,
if the initial condition(3.4), x(0)
=xo,
which is a randomvariable,
has adensity f then u(O, x)
=f(x).
Thus to understand the be- havior of thedensity u(t, x),
we muststudy
the initial-value(Cauchy) problem (3.1)
and(3.2).
Since our unknown functionu(t, x)
is adensity,
so we are interested in
nonnegative
solutions of(3.1)
and(3.2).
The
uniqueness
ofnon-negative
solutions ofparabolic equations
hasbeen considered in several papers,
beginning
with the workof [Wid44]
on the
equation
of heat conduction. Various extensions of Widder’s re-sult to more
general parabolic equations
can be foundin [Aro65], [Krz64]
and[Ser54].
In all of these papers,however,
the coefficients of theequation
are Assumed to be bounded. Here we shall also deal withequations
whose coefficients grow atinfinity
in various ways. The most convenientresults,
from ourpoint
ofview, concerning
theuniqueness
of solution may be found
in [Fri64], [Aro65], [ArB66], [Arb67a], [Cha70a].
It is well know that a linear second order
parabolic equation
withbounded H61der continuous coefficients possesses a fundamental sol- ution.
One
important
consequence of the existence of a fundamental sol-ution is that it
gives
anexplicit
formula for solutions of theCauchy problem.
Detaileddescriptions
of thistheory,
as well as further refer-ences can be found
in [IK062)
and in the booksof [Eid69]
and[Fri64].
The fundamental solution for
equations
with unbounded coefficientswas
treated,
amongother, in [Eid69), [Bod66), [ArB67b], [Cha70b], [Bes75].
In order to state a
relatively simple
existence anduniqueness
theo-rem we admit here the
following
classical conditions(for
auniqueness
theorem see
[Fri64], Chapter II,
Theorem10,
for a theorem of the exis- tence of the fundamental solutionsee [Eid69],
p.136-137):
(i)
The coefficientsbi (x)
areC3
functions for x ER d
andtheir derivatives of the third order are
locally
Hölderian.(ii)
Theequation (3.1)
isuniformly parabolic
that isaii
(x)
andwhere C is a
positive
constant andI
denotes the Euclidean norm of the vector z =(z 1, ..., zd ).
(iii)
The coefficientssatisfy
thegrowth
conditionsand
for some constant M > 0.
For less restrictive conditions the reader is referred
to [Cha70]
and
[Bes75].
A function m =
w(t, x)
defined on R xR d will
be said tobelong
todass EBK
if there exist constant{3,
K > 0 such thatUnder the
assumptions (i)-(iii)
for every continuous functionu(0, x) = f(x)
from a class8K
there exists aunique
classical solutionu(t, x)
of(3.1)
and(3.2).
The term classical means that for every T > 0 the solutionu(t, x)
alsobelongs
for t E(0, T],
x ER d. Moreover, u(t, x)
has continuous derivatives ut , uxz , and satisfiesequation (3.1)
forevery t
>0, x
ER d ;
and limu(t, x) = f (x).
The solutionu(t, x)
isgiven by
the formulawhere 1’ is the fundamental solution of
(3.1).
The functionr(t,
x,y),
de-fined for t >
0,
x, y ER d,
iscontinuous, positive
and differentiable withrespect
tot,
is twice differentiable withrespect
to x, and satisfies(3.1)
as a function of
(t, x)
for every fixed y.Moreover is satisfies the
inequality
for x,
y ER d, t
>0, s ~ I ~ 2,
with somepositive
constant A and a.If
f
is notnecessarily
continuous butintegrable,
the formula(3.6)
defines ageneralized
solution of(3.1)
for t > 0. In this case it satisfies the initial condition of the formUsing (3.7)
it is easy toverify
thatu(t,
t a 0. Thussetting
we define a
family
ofoperators P~: L 1 - L 1
which describes the evolu- tion in time of solutionu(t, x). Using
thespecific «divergent»
form ofequation (3.1)
it is easy toverify
that is a stochasticsemigroup.
By
virtue of the considerationsof § 2,
the behavior of the solutions of theCauchy problem (3.1), (3.2)
can be stated as follows.THEOREM 3.1. Assume that the conditions
(i)-(’lii)
are fulfilled.Assume moreover that
equation (3.1)
has apositive stationary
solutionu *
(x)
whichbelongs
to a class8§ and j
u *(x)
dx = 1. Then u * isunique
Rd
and for stochastic
semigroup ~P t ~t , o
definedby (3.6)
isasymptotically
stable with thelimiting function u * .
PROOF. First we are
going
to show that the kernely)
in for-mula
(3.9)
is stochastic for each t > 0. Wealready
know that r ispositi-
ve and is stochastic
semigroup.
Further for wehave
and
consequently
arbitrary
thisimplies
Further, according
to the definition ofsemigroup ~P t ~ t , o
the func-tion
-
is a solution of
(3.1), (3.2) with f = u * .
Sinceu * (x)
isstationary
sol-ution and the
Cauchy problem
isuniquely
solvable we haveThus, by (3.6)
we haveSince
1’(1,
x,y)
isstrictly positive,
then theassumptions
of Theorem2.1 are satisfied. Hence
by
Theorem 2.1is
asymptotically
stable for anyintegrable function f. By Proposition
3.1,
we obtain the conclusion of Theorem 3.1.4. The one dimensional case.
We are
going
to show anapplication
of Theorem 3.1 to the one di- mensional case. Thus we consider a stochastic differentialequation:
when a, b are scalar functions
and ~
is one dimensional white noise. Thecorresponding
Fokker-Planckequation
has form:We assume that
a(x) _ ~ (x)
andb(x) satisfy
the conditions(i)-(iii).
Moreover
for
sufficiently large
x. In order to find astationary
solution of(4.2)
we should solve theordinary
differentialequation
or
where y = a2u
and CI is a constant. Thereforewhere
The solution
y(x)
ispositive
iffFrom condition
(4.3)
it follows that theintegral
converges and This shows that
inequality (4.4)
is satiafied iff cl = 0. Thus theunique
up tomultiplica-
tive constant
positive stationary
solution ofequation (4.2)
isgiven by
with c > 0.
Applying
Theorem 3.1 toequation (4.2)
weget
thefollowing.
COROLLARY. Assume that the coefficients a and b of
equation (4.2) satisfy
the conditions(i)-(iii).
If u *(x) belongs
to a class8~
for> 0
and ~-2 (x) eG(x)
dx isfinite,
then thesemigroup
oR
generated by equation (4.2)
isasymptotically
stable.5.
Integro-differential equations.
In this section we consider a
special
case of the linear Boltzmannequation
with the initial condition
where P is
given
Markovoperator
on L1 (X, ~, m).
We consider the solution
x)
as a function from thepositive
realnumbers, R +
intom).
By
the Hille-Yosidatheorem,
the linear Boltzmanequation (5.1) generates
a continuoussemigroup
of Markovoperators
Forthe initial condition
f E L 1 (m)
theunique
solution toequation (5.1)
isgiven by
formulaWhere I is the
identity operator
onL 1 (m).
For t ~ 0 the sum of the co-efficients on the
right-hand
side of(5.3)
issequal
to one. This is the rea- son that theoperators
preserveintegral.
In order to examine the behavior of solutions of
equation (5.1)
wemay use Theorem 2.1.
PROPOSITION 5.1. Assume that the Markov
operator
P satisfies as-sumptions
of Theorem 2.1. Then the is asymp-totically
stable.PROOF. Assume that there exists a
positive stationary density f *
for P. Then
by
Theorem 2.1f *
isunique. By [LaM85, Corollary 8.7.2,
p.
239]
thesemigroup ~e t~P - n ~t , o
isasymptotically
stable. *We consider now the
special
case of the linear Boltzmanequation
which is called the Linear
Tjon-Wu equation
A Markov
operator
P: L1 ((o, (0»
HL 1 «000»
is definedby
where
Since
f *
= e -x is thestationary density
for(5.5)
and the kernel(5.6)
ispositive
then theassumptions
of Theorem 2.1 are satisfied. Therefore for anarbitrary
initial conditionu(0, x) = f (x)
ED((0, oo))
the solution of(5.4)
isasymptotically
stable with thelimiting density
e -x.By
Theo-rem 2.1 the Markov
operator (5.5)
isasymptotically
stable as well.REMARK. A different situation occurs when we consider the Chan- drasekhar-Mfnch
equation (see Examples
7.9.2 and 11.10.2in
[LaM85]) describing
the fluctuations in thebrightness
of theMilky Way
where P:
L’[0, -) - L 1 [0, c*)
is theintegral
Markovoperator
of theform
and
~:[0,1]~~
is anintegragle
function such thatHere we will discuss the
properties
of(5.8) independently
of thisequation.
We show that there is no invariantdensity
for(5.8).
Let V:R +
be anonnegative,
measurable and bounded function. We haveor
substituting x / y
= zAssuming
that for somedensity f * : Pf * = f *
weget
or
Now choose V:
[0, - )
- R to bepositive,
bounded andstrictly
in-creasing (e.g. V(z)
=z/(1
+z))
thenV(y) - V(zy)
> 0 for y >0,
0 ~ z1 and the
integral
is
strictly positive
for every y > 0. Inparticular
theproduct f * (y) I(y)
is a
nonnegative
andnonvenishing
function. This shows that theequal- ity (5.10)
isimpossible.
Even more, one can showc > 0 for
every f E L1 [0, oo).
This seems to bequite interesting
since itwas
proved
in[LaM85]
that thesemigroup
of Markovoperators
gener- atedby (5.7)-(5.8)
isasymptotically
stable. Thus is a factor in(5.7)
which determines theasymptotic stability
of thesemigroup
gen- eratedby
thisequation.
6. Markov
operator
definedby
Volterratype integral
with ad-vanced
argument.
A more
sophisticated example
of a Markovoperator satisfying
thecondition
(2.4)
isgiven by
formulawhere
k(x, y)
is a measurable kernelsatisfying
and 1~:
[a, oo)
H[(7, oo)
is acontinuous, strictly increasing
function such thatIt is easy to show that P is a Markov
operator
onL 1 [~,
whenWe have the
following
PROPOSITION 6.1. If k
and y satisfy
conditions(6.2)
and(6.3)
then the Markovoperator
P:~ ) H L 1 [o~,
definedby (6.1),
satisfiesthe condition
(2.4).
PROOF.
Let g
E D begiven
and letThis means that xo is the
largest possible
real numbersatisfying
where m is the
Lebesque
measure. Further let xl= y-1 (xo ).
From(6.1)
we have
Pg(x)
> 0 fory(x)
> xo or x >Define rn = y-n (xo ).
It iseasy to prove
by
induction that > 0 for x > Xn. Thus for arbit- rary measurable set a c[~,
we haveThe sequence is bounded from below
a)
and it isdecreasing
since
xn = y-1 (xn _ 1 ) ~ xn -1.
Thus isconvergent
to a numberx* i Q.
Since
y(xn )
= Xn - 1 we havey(x * )
= x *. Frominequality (6.3)
thisis
only possible
if x * = a whichaccording
to(6.4)
shows that P satisfies(2.4).
To illustrate the
utility
of Theorem 2.1 for a the Markovoperator
of the form(6.1)
let us consider the Markovoperator
P:L1 [o,
oo )
with
where a > 0 and 1 > a > 0 are constants. This
operator
was introducedby
J. J.Tyson
and K. B.Hannsgen [TyH86]
in the mathematical mod-elling
of the cellcycle.
Following Tyson
andHannsgen
we arelooking
for the invariant den-sity
of the formf * (x)
=cx -1- a.
From theequation f *
=Pf *
we obtainor
It is clear that the above condition is satisfied
when f3
is a solution of the transcendedequation
The left hand side of this
equation
isequal
to 1 for/3
= 0 and tends to + 00 as{3
tends to + 00. Thus in order to have apositive
solution of(6.7)
it is sufficient to assume thatwhich is
equivalent
toThus
satisfying (6.8)
there exists{3
>0,
for which the func-tion f * (X)
=CX -1 - (3
is invariant withrespect
to P. It can be normalizedon the interval
[a, OJ ), namely
for c =Now we can
apply
Theorem 2.1. The functionf *
is apositive
invariantdensity,
furtheraccording
toProposition
6.1 theoperator (6.5)
satisfies the condition(2.4).
Therefore the sequence isasymptotically
stable.
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Manoscritto pervenuto in redazione il 27 ottobre 1990 e, in forma re-
visionata, il 24