R ENDICONTI
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L. F ORNARI
Regularity of the free boundary for non degenerate phase transition problems of parabolic type
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Phase Transition Problems of Parabolic Type.
L.
FORNARI (*)
ABSTRACT - In this work we
give
results on theregularity
ofviscosity
solutionsand of their free boundaries for a class of
parabolic phase
transition in which thedependence
on thepoint
( x , t ) of freeboundary
is introduced in thephase
transition relation.
1. Introduction.
Recently,
somegeometrical
ideas of the minimal surfacetheory (see [3], [4])
andgeneral
results on thepositive
solutions of the heatequation by
Harnackinequality (see [7], [8])
made asatisfactory improvement
inthe
understanding
of evolution freeboundary problem
with twophases.
In the papers
[3]
and[4]
Caffarelli considerselliptic
freeboundary prob- lems,
but the mainstrategy
used isadaptable
to theparabolic
case evenif the
duality
between theparabolicity
of heatequation
and thehyper- bolicity
of the freeboundary
conditionproduces
some difficulties instudying
this kind ofproblems. Therefore,
ingeneral,
theregularity
re-sults in the
parabolic
case are weaker than thecorresponding elliptic
ones. In the paper
[2]
the authors considerviscosity
solutions of a class ofevolutionary
freeboundary problems (including
the classical Stefanproblem).
One of the main results is that under suitablenon-degeneracy conditions, Lipschitz
freeboundary regularize instantaneously
and thatviscosity
solutions are indeed classical ones.The condition on the free
boundary
expresses the fact that itsspeed
(*) Indirizzo dell’A.: Corso E. Filiberto 89/A, 23900 Lecco (LC).
E-mail:
lorenzo.fornari@polimi.it
depends
on the heat fluxes and on the normal unit vector on the freeboundary
itself. We consider the situation in which thespeed depends
also on the
point (x, t)
of the freeboundary.
In this case extracare in the
scaling properties
of theproblem
is re-quired.
The notion ofviscosity solution,
considered in this paper, have been used also in otherimportant
situations. Inparticular,
in the works[9], [11],
where freeboundary problems arising
in combustiontheory
aretreated,
and in[6],
in which theregularity
for the freeboundary
in theporus media
equation
is dealt with. The existence ofviscosity
solutionsfor these free
boundary problems
is aninteresting
openproblem
sincethe presence of free boundaries makes it
impossible
to use the standardapproach
withrespect
to the usualviscosity theory
for second-order el-liptic
andparabolic equations.
2.
Definitions, preliminary
results.Let us now introduce the class of free
boundary problems
with whichwe are
going
to deal with and theconcept
ofviscosity
solution. LetQ,
== B1 ( o )
x( -1, 1 ),
whereB1 ( o )
is the unit ball in centered at 0 . First of all wegive
the definition of classical solution.DEFINITION 1. Let u be a continuous function in
Ql.
Then u iscalled a classical subsolution
(supersolution)
to a freeboundary problem
where
Vv
is thespeed
of the surfaceFt :
= 3Q In (t)
in the directionv : _
. Moreover,
there exist two real constants a e c * with 0I
a ~ 1 and c * > 0 such that:
1)
a function H61-der continuous of
esponent
a, with Holder constant H > 0respect
to(x, t )
andL
> 0respect
to the other threearguments;
If u is both classical subsolution and classical
supersolution,
then u iscalled a classical solution to a free
boundary problem.
The set F == 8Q + n
Q1
is called the freeboundary.
DEFINITION 2. A function u continuous in
Ql
is called aviscosity
subsolution
(supersolution)
to a freeboundary problem if,
for any sub-cylinder Q
ofQ1
and for every classicalsupersolution (subsolution) v
inQ , u , v ( u ~ v )
onap Q implies
that u S v( u , v ) in Q.
We say that u is a
viscosity
solution if it is both aviscosity
subsolution and aviscosity supersolution.
It is easy to show that classical solutions are
viscosity
solutions.A famous
example
of evolution freeboundary problem
with twophas-
es is the Stefan
problem
which is asimplified
model ofphase
transitionin
solid-liquid systems (see [14], [15], [16]).
In this case we have that thegeneral
interface condition(2.1 )
is of the kind:G( ( x , t),
v ,uv , uv ) _
u++ __
= =
uv -
uv , and so thehypotheses 1), 2)
and3)
are satisfied withuv v v
a=1.
In
[12],
it isproved
existence of the classical solutions in a small time intervall. Theglobal-in-time
existence of the classical solution may fail.This leads us to construct for all times weak solutions
[10]
which are con- tinuos[5].
Last result allow to show that weak solutions of thetwo-phase
Stefan
problem
areviscosity solutions, according
to the above defini- tion.We recall that a
point (xo, to )
E F isregular
from theright (or
fromthe
left)
if there exists a( u
+1 )-dimensional
ballB ~n + 1 ~ c S~ + ( S~ - )
suchthat B(n + 1) n F = {(x0, t0)}.
In this paper we consider
viscosity
solutions u of a freeboundary problem
in acylinder Q2 = B2 ( 0 ) X ( - 2 , 2 ),
whose freeboundary
F isgiven by
thegraph
of aLipschitz
function.Without essential
changes
in theproofs,
most results proven in[1]
may be extended to our case where G
depends
on thepoint (x, t)
E F.Now,
we list in the Theorem below suchregularity
results. Thesymbol
~ ~ , ~ )
will denote the innerproduct
in Rn orRn + 1 .
THEOREM A
([1],
Theorems2, 3,
4 and Corollaries4, 5). Suppose u
is a
viscosity
solution to afree boundary problem
inQ2,
whosefree
boundary F ,
contains theorigin
and isgiven by
thegraph
Xn= f ( x ’ , t),
(x’ , t)
E Xof
theLipschitz function f,
withLipschitz
constantL. Moreover M = sup u and u
en , - 3 - 1,
where en is the unit vectorQ2 2
in the xn direction.
Then,
inQ1
i)
there exists a(n
+1 )-dimensional
coneT( en , 8 ),
with axis en andopening
0 =0(n, L , 9 M,
aI,a2 ),
suchthat, along
every direction v EE T( en , 8 ),
u is monotoneincreasing;
ii)
there exists c =c(n , L , M,
aI,a2 )
such that:where
dx,
t denotes the distance between(x, t) and F,
while V =Dt);
iii)
u isLipschitz
continuous.iv) (Asymptotic development
nearregular points from
theright
or the
Let
(xo, to)
E F be aregular point from
theright,
v the inward spa- tial normal at(xo, to) of B ~n
+1) nf t
=to ~
andd(x, t)
be the distance be- tween(x, t)
and(xo, to).
Then there exist numbers a + , a - ,B
+ ,B _
such that near
( xo , to ),
with a + >
0 ,
a _ ; 0 andequality holding
on thehyperplane
t =to ;
If ((Xo, to )
is aregular point from
theleft)
theinequalities
in
(a)
and(b)
arereversed,
a + ;0 ,
a - > 0 and v is the outwardspatial
normal.
v) (Asymptotic development
at«good points,»).
Near almost all
points ( xo , to) of differentiability of
F(with respect
to
surface
or caloricmeasures)
u has theasymptotic
behavior in(a)
withequality sign
in both( a)
and(b).
In this case a + ~0 ,
a - a 0 andv is the normal to the
tangent plane
toFto
at(xo, to).
We note that in
general
the freeboundary
may notregularize
instan-taneously
as thecounterexample
in thetwo-phase
Stefanproblem
shows(see
section 10 of[2]).
Therefore we assume thefollowing non-degenera-
cy condition which
prevents
simultaneousvanishing
of the two fluxesfrom both sides of the free
boundary:
there exists m > 0 suchthat,
if(xo, to ) E
F is aregular point
from theright
or from theleft, then,
for anysmall r,
From
global
considerations(see [4])
itfollows,
in some cases, thisnon-degeneracy condition,
which allows us to conclude thatLipschitz
free
boundary
areactually e1 graphs
and thereforeviscosity
solutionsare indeed classical.
For the reader’s
convenience,
we state:THEOREM B
([2],
MainTheorem).
Let u be aviscosity
solutionof
afree boundary problems
inQ2 ,
whosefree boundary, F,
isgiven by
thegraph
Xn =f ( x ’ , t), ( x ’ , t )
XIE~. , of
theLipschitz function f,
withLipschitz
constant L . Assume thatE
F,
thenon-degeneracy
condition holdsand that ‘G
=G( v , d , e): 3B,
xx
R2 ~
IE~ is aLipschitz function
in all itsarguments,
withLipschitz
con-stant
LG and, for
some c * > 0:Dd
G ; c* , De
G ~ - c * .Then,
thefollow- ing
conclusions hold:i)
inQ1
thefree boundary
is ae1 graph
in space and time.Moreover, for
any ?7 >0 ,
there exists apositive
constantC1=
=
C1 ( n , LG , M , L ,
c* ,
aI,~, 1])
suchthat, for
every( x ’ ,
xn ,t),
with
C2
=C2 (u , LG , M, L , c * ,
m , a2 ,7y). Therefore u
is a classicalsolution.
The purpose of this article is to prove a
generalization
of the Theorem B in the case in which the function Gdepends
on thepoint (x, t),
and canbe stated in the
following
way:THEOREM 1. Let u be a
viscosity
solutionof
afree boundary prob-
lem in
~2 ,
whosefree boundary, F,
isgiven by
thegraph
Xn= f ( x ’ , t), (x’ , t)
xIE~., of
theLipschitz function (in
space andtime) f,
withLipschitz
constant L . Assume thatE F and that the
hypotheses 1), 2), 3) of pages
2and
3 aresatisfied by
thefunction
G . Moreover we suppose thatnon-degeneracy
condition holds.Then:
a)
inQ,
thefree boundary
isa e1
1graph
in space and time.Moreover, Vi7
>0,
there exists apositive
constantC1=
=
C1 ( n , L , M, H, L, c * ,
m , aI, a2 , q,a)
suchthat, for
every( x ’ ,
xn ,t), ( y ’ ,
yn ,s)
E F we have:with
C2
=C2(n, L, M, H, L, c *,
m, a1, a2, 77,a). Therefore
u is a clas-sical solution.
To prove the Theorem 1 we
adopt
thestrategy
of the Theorem B. We recall that u is monotoneincreasing along
any direction v in a coneT( e , B ) : := {~ : 1 v I
=1,
e ~ v ~ withe ~ I =1,
isequivalent
tosaying
that for any small E > 0
it u(x) > sup
u( y),
then the level surfaces of u arehyper-
planes.
Ee)Furthermore, v(x)
= supu( y)
for anyE, 6
smallenough,
is ay E b8(x - Ee)
subsolution of the same free
boundary problem
as u .Using
such re-marks,
theregularity
results will be achievedby improving
theopening
8 of the cone of
monotonicity,
that isby showing
that e converges to Jt/2on a sequence of
dyadically contracting cylinders
around a free bound- arypoint.
Thestarting point
is the existence of amonotonicity
coneT( e , 8 )
in space andtime,
such that in aneighborhood
foreach
íEr(e, 8) (Theorem
Ai)).
The nextstep
consists inincreasing
theopening
of cone ofmonotonicity
in space and in time away from the freeboundary.
Then we carry such interiorgain
to the freeboundary
in asmall
cylinder. Finally,
anappropriate rescaling
and iteration of the abovesteps gives
the results. In this final iteration theopening
in space and time behavedifferently
so that it is convenient to introduce the fol-lowing angles: 6 =
Jt/2 - e(defect angle
inspace) and p
= n/2 -8 (de-
fect
angle
intime),
where 0 is theopening
of thespatial
section of themonotonicity
cone8 ), while 01
is theopening
of the section of thecone of
monotonicity
in the( en , et )-plane.
Toget
anenlargement
of thecone in space away from the free
boundary,
we may use thetechniques
contained in the sections 2 and 4 of
[2]
thatexploit
Harnack’sinequality.
In fact some of the Lemmas in that paper hold also in our
situation,
inparticular
all the results obtained away from freeboundary
in which the freeboundary
condition does not enter. Therefore to prove the Theorem1,
we must showthat,
in this newsituation,
it isagain possible
to have aninterior
gain
process in time(section 3),
thepropagation
to the freeboundary by Propagation
Lemma(section 4),
theregularization
in space and inspace-time (section 5).
The various constant
c’s,
which will appear in thesequel,
may vary from formula to formulaand,
unlessexplicitly stated,
willdepend
onsome or all of the relevant constants n ,
L , M , H , L, c * ,
m , a2 , ~ , a .3. Interior
gain
process in time.We suppose
that en
was theprojection
in space of the axis of themonotonicity
cone, whose defectangle
in time isu = z/2 - Ot.
Thismeans
that,
there exist 7 A ~ B withB - A =!l
and A -for
(x , t ) everywhere
not on the freeboundary
F and almosteverywhere
on h’. Theenlargement
of the mono-tonicity
cone in time away from and in both sides the freeboundary,
thatis
equivalent
to increase A or lowerB , requires
thefollowing
re-sult :
LEMMA 2. Let u be a
viscosity
solution toa free boundary problem
in
Then there exists c1, C > 0 and C2 E
(0, 1 )
such thatif
3 issnzall, 3 S
3
C211 -; ,
we havePROOF. For almost every
(xo, to)
E F withrespect
to surface mea-sure, we have
By
Lemma 7 in[2],
with and+ t , t ),
it follows that for everythen
Now,
for eachwhere
we obtain
Since the rest of the
proof
is the same as that of Lemma 8 in[2],
theLemma is
proved.
4.
Propagation
to the freeboundary.
In this section we use the Lemmas
9, 10,
11 in[2],
that hold in oursituation,
to obtain thePropagation
Lemma. These Lemmasexploit
apowerful topological
method introducedby
Caffarelli in[3].
In the next Lemma we carry to the freeboundary
the interiorgain
in theaperture
ofthe
monotonicity
coneusing
afamily
of subsolutions able to «measure »this
opening.
This is one of the most delicatepoints
where we usehy- potheses 2)
and3)
satisfiedby
G . We observe thatfirst,
we must proveregularity
in space and then in time because in Lemma 2 werequire
thatdefect
angle
was much smaller in space than in time.LEMMA 3.
(Propagation Lemma).
LetU2 be
twoviscosity
sol-utions
of
thefree boundary problems
inQ2
=B2 X ( - 2 , 2),
withF(U2) Lipschitz
continuous and(0, 0)
E F. Assume that:and, for
some h small,:V(v, d,
are small
enough,
there exists c E( 0 , 1 )
such that inBl/2
x( - T/2 , T/2 )
it resultsPROOF. We construct a continuous
family
of function7D 77
=77
+ PUEWsuch U2 E
[ 0, 1 ],
with v~ + cha)E in x(
-T/2 , T/2),
where ul and w is a continuous function non
negative
in
such that
Now,
we show that S =[0, 1]: v~(x, t) ; u2(x, t), t!(x, t)
Xx
( - T/2, 772)}
is both open and closed in[ 0, 1 ]. Exploiting hypotheses,
maximum
principle
and thecontinuity
of the functionsconsidered,
wededuce that 0
E ,S ,
and is closed.We show that S is open. We assume that
v~ o ~
U2 for some E[ 0 , 1 ].
Supposing
that there exists(xo, to)
such thatto )
=to) =
0(ul ( yo, so ) = 0), by
Lemma 10 in[2]
weget
thatwhere
Now, by
TheoremA,
we deduce:By Corollary
1 in[1],
sinceF = F(u2 )
isLipschitz,
we obtainin ~ u2 ~ 0 ~ strictly
away from theparabolic boundary
of D.Near xo, for t =
to,
we have:where a + =
a *
+ (1- = a *_ - and C = PN is the con-stant that appears in the
hypothesis (iv).
Again by
Theorem A we obtain:Since consid-
ering
the initialhypotheses
satisfiedby G,
anda (2)
+a (2) _>
m >0,
weget
But
by hypothesis, thus, choosing
we have
Since u2 - v~ o ~ 0
and it is asupercaloric
function in0},
it followsthat
a ~2~ ~ a _ . By Hopf
maximumprinciple
we havea ~2> > a +
and soThis
inequality
and(4.1) give
us acontradiction,
and so the Theorem isproved.
Now,
we show theregularization
in space that is the defectangle
inspace is as small as we
prefer
and so the freeboundary
isa e1
domain inspace.
Operating
as in the Lemma 13 in[2],
andsupposing
thatHi S
~ C a aa m’ c * to may
apply
the Lemma3,
we have thefollowing:
LEMMA 4. Let u be a
viscosity
solution to afree boundary problem
in
Bl
x( -1, 1),
monotoneincreasing
in every direction r Er( en , 9 , (elliptic
cone with axis en andaperture
6 in space and B t intime)
where0 e 0 ~ 8
t ~
B n/2. Then there exist c , C > 0 and a unit vector v 1 such that inBl/2x(-I,I),
thefunction ul ( x , t ) : _
= u( x , c d 2 t )
is monotoneincreasing along
every direction i EEr(vl, el, 0 t)
withWe note that
Hl
is the Holder constant ofG1«x, t ), t ), t ), v(x, c~2t),
Applying
Lemma 4inductively
to the function(~
and 6 like in theprevious Lemma),
we obtain:THEOREM 5. Let u be a
viscosity
solution inBl
x( -1, 1 ).
Thenfor
each time level t E
( -1, 1 ),
thesurface Ft
= Fn ~ t ~
isa e1
1surface.
5.
Regularization
inspace-time.
The results of
previous section,
inparticular
the fact that the defectangle
in space can be made as small as wewant, permit
us toexploit
theLemma 2 and to obtain the
regularization
inspace-time.
LEMMA 6. Let u be a
viscosity
solution inBl
x( -1, 1 ) of
afree
boundary problem
such that:i)
u is monotoneincreasing
in any directionof
a space coneii)
There exist constantscl
> 0 andA,
B such that u is monotoneincreasing along
the directions et +Ben
and - et -Aen
with 0 B -- A c103BC.
Then, if
, existconstants cl, C2, C
positive
andAI, B1 1 depending only
on00
and n, anda
spatial
unit vector v 1, suchthat,
inBl/2
x(
-Cd/2,u ,
a)
u is monotoneincreasing
in any direction í ET x ( v
1, 81),
with1.=~/2-el~~-c1~2/,u.
b)
u is monotoneincreasing along
the directions et +Bl
v 1 and1 with
PROOF. We recall that to
apply
Lemma2,
it is necessary that H~S °~3
and 6«f.l3/a,
and toapply
Lemma 3 to the functionw(x, t )
== u x , a t , B
y / one needs to have H Then theproof
is thesame as that of the Lemma 14 in
[2].
PROOF OF THEOREM 1. If A is very
small,
thenisfies the
hypotheses
of the Lemma 6. Infact, by
Lemma 4 and Theorem 5 it ispossible
to where c « 1 is a constant suchthat
are the defect
angle
3-ain space and in timerespectively. By (5.1 )
we havethat 80 03BC3/a0, 803
1 andð 0«
1.Moreover,
decreas-ing £ with 80 and 03BC0 fixed,
if necessary, we obtainHo
where
Ho
is the Holder constant of thefunction
t ).
We want toapply
Lemma 6inductively
to the functionswith keN. We need that for every k E N
and
where
Hk
is the Holder constant of theG~
associates to theviscosity
sol-ution
uk ( x , t ), d k
and fl k are the defectangle
in space and in time re-spectively,
to thestep
k.We prove that
(5.2)
holds.KI - --
We consider the function where cl is the con-
stant in the Lemma
6,
such We have 0h(x)
1 for each x E( o , 1/Ci).
Since
d o « ,~ o~a , choosing c2 ( c2 , cl a/3 )
obtain
Then
proceeding
in this way, for each > 1 we haveNow we show
(5.3).
We know that
We suppose that 1 then to the
step
k -1, applying
Lemma6,
we have (Since , where we
get:
and so
To obtain it is sufficient that
Since, by (5.1 ),
we havethen
Finally,
we show that . We have:By (5.1)
lastinequalities hold,
in factTherefore
(5.3)
holds and so it ispossible
toapply
Lemma 6 to the uk.In such way we define the sequences
f (5 k 1, fU k I
and9 k ) (spatial
cones with axis v k andopening 0 k)
whichsatisfy
inj
thefollowing properties:
i)
u is monotoneincreasing along
thespatial
directions i Ee
ii)
u is monotoneincreasing along
the direction et +Bk v k
and- et - Ak v k
where 0Cl fl k ;
iii)
thesequences {8k}
and are such thatThen,
fromiii)
we deducefor every p > 0 small
enough.
Thisasymptotic
behaviorscorrespond
ex-actly
to the modulus ofcontinuity
of andDt f in
Theorem 1. Nowapplying
the results of K. Widman[17], since ut
is bounded and for eacht
E( -1, 1)
the setLiapunov-Dini
domain weobtain,
ateach level
time,
thatV xu:t
are continuous up to the freeboundary.
Therefore, exploiting
the freeboundary
condition theproof
iseasily
completed.
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