A NNALES DE LA FACULTÉ DES SCIENCES DE T OULOUSE
F LORENT B ERTHELIN F RANÇOIS B OUCHUT
Solution with finite energy to a BGK system relaxing to isentropic gas dynamics
Annales de la faculté des sciences de Toulouse 6
esérie, tome 9, n
o4 (2000), p. 605-630
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- 605 -
Solution with finite energy to
aBGK system relaxing to isentropic gas dynamics(*)
FLORENT
BERTHELIN(1)
ANDFRANÇOIS BOUCHUT(2)
e-mail:Francois.Bouchut@ens.fr
Annales de la Faculté des Sciences de Toulouse Vol. IX, n° 4, 2000
pp. 605-630
RESUME. - On considere une equation BGK cinetique vectorielle don- nant la dynamique des gaz isentropique dans la limite de relaxation.
Nous montrons l’existence d’une solution faible satisfaisant une inégalité d’entropie cinétique, pour toute donnée initiale d’énergie finie.
ABSTRACT. - We consider a vector kinetic BGK equation leading to isentropic gas dynamics in the relaxation limit. We prove the existence of
a weak solution satisfying a kinetic entropy inequality for any initial data with finite energy.
TABLE OF CONTENTS
1. Introduction and main results 606
2. Properties of the kinetic entropy 609
3. Stability 614
4. Existence of a solution 617
5. Entropy equation 622
5.1. Approximation of H 622
5.2. Sketch of the proof 624
5.3. Linear terms 625
5.4. Nonlinear terms 626
5.5. Proof of Theorem 1.3 628
( * ) Reçu le 4 juillet 2000, accepté le 4 decembre 2000
~ Université d’Orléans et CNRS, UMR 6628, Departement de Mathématiques,
B.P. 6759, 45067 Orléans cedex 2, France.
e-mail: florent.berthelin@labomath.univ-orleans.fr
(2) Departement de Mathematiques et Applications,
École
Normale Superieure et CNRS,UMR 8553, 45, rue d’Ulm, 75230 Paris cedex 05, France.
1. Introduction and main results
Relaxation models such as
proposed
in[6]
haveproved
theirefhciency
inbuilding
numerical methods for conservation laws that are very easy to code and have niceproperties.
Generalstrategies
have beenproposed
in[9], [13], [1], [3]
to build BGKapproaches
forsystems
of conservation laws.However, analysis
of such models hasmainly
be achieved until nowonly
when therelaxed
equation
is scalar(see [14]).
Here we consider a BGK model for theone-dimensional
system
ofisentropic
gasdynamics
with
0, u(t, x)
E R and K >0,
1 ~y 3. The kinetic model has been introduced in[3]
and can be writtenwhere
f =
and
The kinetic
equilibrium x
in(1.8)
has been introduced in[7]
as agenerating
function for
entropies,
and has also been used in thestability analysis
of[10].
This function is also involved in
[12]
for the so called kineticformulation,
which is different from the BGK
equation
considered here. Previous resultsfor scalar
equations
can be found in[4], 11~ , ~ [17] (see
also[5]).
The firstexistence result for a BGK
equation
wasgiven
in[15] (see
also[16]).
The main result of this paper is the existence of a
global
solution to thesystein (1.2)
with initial datasatisfying
energy bounds. We recall that the energy for(1.1)
isgiven by
and is a mathematical
entropy
for(1.1).
Thecorresponding
kineticentropy
for(1.2)
isgiven,
forf = ( f o, f 1 )
ED, by
We have the
following
theorems.THEOREM 1.1. Assume that
f °
EL1(Rx
xRi) satisfies
and
Then there exists a solution
f
to(1.~)-(1.11) satisfying
THEOREM 1.2. -
If (1.17)
is notsatisfied,
we have the same resultexcept (1.,~4).
To obtain this
result,
we have to work with theTychonoff-Schauder
theorem instead of the usual Schauder theorem. The
only significant change
is for
compactness
and will beexplain
in thecorresponding
section.THEOREM 1.3. - The solution
f
obtained in Theorems 1.1 or 1.2 sat-isfies
with
as well as each
term from
thedecomposition ~.~7~. Besides,
z,~),~) ~
x
R) for
any T >0,
R >0,
and the
integrand
in theright-hand
sidesof (1 . 29)
and(1. 30)
isnonpositive.
Let us
finally
mention that we canstudy
kinetic invariant domains and establish the relaxation limit to( 1.1 ),
this is done in~2~ .
.2.
Properties
of the kineticentropy
We recall the value of the mornents of
M,
and
for every p > 0 and u E R. We have the
following
identities which link the energy and the kineticentropy. They
can be obtainedeasily.
PROPOSITION 2 .1. - The energy r~
of (1.12)
and the kineticentropy
Hof (1.13) satisfy
- - w i
for
every p >0,
u E R and03BE
E R such thatMo ( p,
u,03BE)
> 0.The function H has the
following properties.
PROPOSITION 2.2. -
i)
H is convex withrespect
tof
inD,
ii)
H is continuous withrespect
tof
inrA
={(f0, f l )
E D ;|f1| A fo)
for any A > o.
Proof. - i) In ]0,
it is easy tocompute
the hessian and to check itsnonnegativity. Then,
on astraight
line from theorigin,
islinear,
thus H is convex in D.
ii)
Theonly difficulty
is at 0. Let be a sequence inTAB~0~
whichconverges to 0. Then
thus H is continuous at 0 in
TA .
DLEMMA 2.3
(COERCIVENESS).2014
There exist > 0 such thatfor
any E
R,
we havewith
Proof.
- Letf E D,
0. Fromidentity (1.13),
we deduce thatpi pl
We
have | fl Ipl
-(|f1| f0 (f0) , and using Young’s inequality,
fo
Taking
0 6- 1 such that cand setting
~o =(~/c~ - ~~ / (2
+2/A)
and ~1 =~/pl,
weget
The
key
result of this section is thefollowing.
PROPOSITION 2.4
(KEY
CONVEXITYINEQUALITY).
- For anyfED,
p > 0 and u,
~
E we haveProof.
- Let usconsider $ :
D - R definedby
which is
possible
becauseM(/),
u,ç)
E D. We have to provethat ~ >
0.- At
infinity,
by
Lemma2.3, 03C8(f) ~0f0p0
+ +af o
+bfl
+ e with a,b,
e ER,
and since p0,p1 >
1, 03C8(f)
- oo whenfo + | f1|
tends toinfinity. Moreover, 03C8(f) a fo
+bf1
+ e, and we deducethat $
is lower bounded in D.- At the
frontier {f0
=0, f 1 ~ 0) , If / f o
- oo and~~ ( f )
also.- At
0,
If
Mo ( p,
u,~ )
>0,
thenby Proposition 2 . 2 ( i )
and( 2 . 5 ) , (2.8)
holds true forany
f E D,
thus lim~ ( f ) >
0. On thecontrary,
ifAlo(p,
u,ç)
=0,
thenf-o
Since
H( f, ~) > 0,
thisyields
lim0,
in any case.f-o
- Inside D
It
only
remains tostudy possible
minimaof $
inint(D). But $
is smooththere,
and iffo
>0,
and
If there is a minimum
of 1/J
inint(D),
at thispoint,
itspartial
derivatives mustvanish,
thus ’"and
We deduce that
Mo(p,
u,~ )
> 0 andf
=M(p,
u,~).
The valueof $
at thispoint
is 0.Putting
all thesteps together,
we concludethat ~ >
0 in D.D
An
important
consequence of this result is theentropy
minimizationprinciple.
PROPOSITION 2.5. - Consider
f
E such thatf E D
a.e. andThen
Then
M ~ f ~ (~)
=the
terms of theright-hand
side areintegrable
with
respect
toç,
and~ f ~ (~) d~
-f (~) d~.
Thus the result is ob- tainedby integration in £.
0We can also deduce that the
entropy dissipation
in(1.29)
has asign.
PROPOSITION 2.6. - For any
f
ED, p > 0, u, ~
ER;
Proof.
- Since H is convex inD,
continuous in the cones ofProposition
2.2 and smooth in
int(D),
we have iff ~
0Letting f -
0 on the axisf 1
==0,
we obtainusing (1.27)
that(2.10)
isindeed true for any
f E D
with the conventionThe case
f
= 0 can also be seendirectly by
the definition of H.Finally, by adding (2.10)
to(2.8),
weget (2.9).
DLet us end this
part by
estimates deduced from the boundedness of the kineticentropy.
PROPOSITION 2.7. - Consider
f
EL1(Rx
xRi)
such thatf E D
a.e.,and
Then
Proof.
We recall that po, pl are definedby (2.7). First, using (1.13),
we have
Then,
sincefl
vanishes wheref o
=0,
Thus,
from theCauchy-Schwarz inequality
we obtain(2.12). Next,
with(1.13) again,
and
(2.13)
follows.Then,
we writeand obtain
(2.14). Finally, (2.15)
followsobviously
from Lemma 2.3. 0 3.Stability
In this
section,
we extend theanalysis
of[15]
and prove thestability
of anapproximate
solution. We shall denoteby ~)
-~)
inL1
xR)
the convergence in x
R)
for any w C C and we shall use several similar conventions.Let us first recall the classical characteristics formula for
(1.2).
LEMMA 3.1.2014 Let h C
L1 (~0, T[, Ll (1~
x andf °
EL1 (R
xR)
. Thenthere exists a
unique
solutionto the
problem
Furthermore,
We now prove a
stability
result for thisproblem.
PROPOSITION 3 . 2. - Consider g, gn E x such that g, gn E D a.e.,
Set
and
If
pn - p and 03C1nun - pu in then there exists a sub-n-o n-cxJ
sequence such that
F(gn)
n-o-F(g)
in xR)),
whereF(g)
is the solution to
(3. 1 )-(3.2)
with h =A,I[g]
=A4(p, u, £)
andf°
e xR)
isfixed. Moreover, if
pn - p in thenF(gn) -F(g)
inC( [0, T] (R
xR) ) .
Proof.
- Atfirst,
let us check thatF(g)
is well defined.Using Proposi-
tion
2.5,
we haveBesides,
Estimate
(2.12) applied
toNf[g] gives
then thatTherefore,
we deduce thatM[g]
ET ~,
xII~)),
and we have thesame result for gn with uniform bounds.
We turn now to the
stability.
We can find asubsequence
such that pn ~ p and pnun - pu a.e.t, x.
Set E =~(t, x)
E~0, T~
xR; p(t, x)
-0~.
InE~,
pn - p
and un
- u a.e.t,
x, thus a.e.(t, x)
EE~, ~
E R. Butsince
we deduce with
(2.17)
andCauchy-Schwarz inequality
that - 0 inx
R) n {x
EB~ ~ ) . Therefore,
after extraction of asubsequence,
wefinally
obtainBesides,
the estimates ofProposition
2.7applied
toM~gn~ (t, ., .) give
that is
weakly compact
inL 1 (~ 0,
xR). Therefore,
we areable to
apply
the Vitalitheorem,
whichgives
thatNow
and
Since the latter norm is
bounded,
we deduceeasily
thatF(gn) - F(g)
in
C(~0, T~,
xII~)).
Finally,
if we assume moreover that in thenand since
M ~gn~ o > 0,
we deduce thatuniformly
in n. With(2.17)
andCauchy-Schwarz inequality,
weget
alsouniformly
in n, and we conclude that~
-M ~g~
in xR) ,
and therefore
F(gn) -~ F(g)
inC([O,T],Ll(
x?)).
. D4. Existence of a solution
This section is devoted to the
proof
of Theorem 1.1. Letf °
satisfy
theassumptions
of Theorem1.1, namely
and set
We take
CH
andCA
asDefine C to be the set of
all g
E xR)) satisfying (Cl ) - (C4)
for a.e. t E[0, T],
whereLet us also introduce
with
The initial data
f ° being fixed,
for any g EC,
we denoteby F(g)
thesolution to
(3.1)-(3.2)
with h =Proo f.
Let g E C. As in theproof
ofProposition 3.2, M ~g~
ET ~,
L1 (R
x and weget easily
thatM~g~
E C.Next, according
to Lemma3.1,
F(g) E
xIL~)),
and in order to prove thatF(g)
EC,
we needto prove
(Cl) - (C5).
Condition(C5)
is satisfied since E C.Then,
forz = 0; 1,
we haveObviously, F(g)o
> 0.Furthermore,
ifF(g)o(t,
x,03BE)
= 0 then( f °)°(x -
t03BE, 03BE)
- 0 andfo e-s/~M[g]0(t
- s, x -s03BE, 03BE)
ds =0,
thus - s, x -s03BE, 03BE)
= 0 a.e. st[.
Butf °
E D and ED,
thus( f ° ) 1 (x - t03BE, 03BE)
= 0and
(t -
s, x -s~, ~)
= 0 a.e. st~,
and thereforeF(g)1 (t,
x,~)
= 0.Hence
F ~g~
e D Vt E~0, T ~
, a. e.x, ~,
and(C1)
is satisfied.Next,
if t >0,
we can write
and
using
Jensen’sinequality
with the convex functionH,
weget
and thus
and
(C2)
is satisfied.Similarly, integrating (4.8)
with i = 0 withrespect
to(x, ~) gives (C3).
Itonly
remains now to prove(C4).
We haveby (2.13)
Then,
since EC,
relation(C4) gives
hence
Therefore,
with(4.5),
This ends the
proof
of the lemma. DSince
C
cC,
we are now able to define F :C -~ C
and we shall use the Schauder theorem to prove Theorem 1.1.LEMMA 4.2. - The sets C and
C
are convex and notempty;
C iscompact for
the weaktopology of
xR),
and C is closed inC([o,T],
xProo f.
Since H is convex, it is obvious that C andC
are convex.Then,
the constant
f ° belongs
toC,
andby
Lemma4.1, C.
Thus C andC
are not
empty. Next,
fromProposition 2.7, (C4), (2.17)
and Dunford-Pettis’theorem,
C isrelatively weakly compact
inT[ R
xR) .
Let us provenow that C is closed in weak
L1 (]0, T[ R R).
Since C is convex, it isenough
to prove that C is closed in
strong
xR).
Thus let(gn)n
be asequence in C which converges
to g
in xR) .
After extraction ofa
subsequence, gn (t, . )
-g(t, .)
in x and a.e. for a.e. tE J o, T[. First, (gn)O
0 thusgo >
0.Then,
sinceby (2.17) ~(gn)1)
weget
for a fixed time t and any Borel set Vby
Fatou’s lemma andCauchy-
Schwarz
inequality
Taking V
=~x, ~ ;
-0~,
we obtain that vanishes a.e.in
V,
thusg(t, x, ~)
E D a.e.Then,
weapply
Fatou’s lemmaagain,
andget
Similar
applications
of Fatou’s lemmafinally give that g
ET ~,
L1 (R
xlI~)),
and g E C. The closedness ofC
inC( ~0, T~, L1 (R
x istreated in a similar way, and
(C5)
follows from thecompactness
of C. D LEMMA 4.3.- F is continuous inC for
thetopology C((0,T),
x
Proof-
Let gn, g EC with gn - g in C([O,T],Ll(JR
xR)). Then,
withthe notations of
Proposition 3.2,
pn - p and pn un - pu inC ( ~0, T ~
Thus
Proposition
3.2gives
the existence of asubsequence
such thatF (gn ) -~ F (g )
in xII~) ) ,
which isenough
to prove the con-tinuity
of F. DLEMMA 4.4. - is
relatively compact
inC(~O, T~,
xProof. -
Letf n
=F(gn), gn
EC
be a sequence inF (C)
SinceC
CC,
by
Lemma 4.2 thereexist g
E C and asubsequence
such that gn - g inweak
L1 (~0, T[
xR) .
Then with the notations ofProposition 3.2,
pn - p, pnun - pu in weak Butby (C5), 8tgn
+ + -with
hn
E C.By
thecompactness averaging
lemma of[8]
andby (2.13)-(2.14),
we deduce thatf~ gn (t,
x,~) d~
iscompact
inWe conclude that pn - p and in
Proposition
3.2gives
thus the existence of asubsequence
such thatf n
=F(gn)
-F(g)
inC([o, T~,
xII~)).
. DProof of
Theorem l.1. . - Weapply
Schauder’s theorem inC( ~0, T~, R))
to theoperator
F : C -C. Using
all the results of thissection, C
is convex, closed and nonempty,
F is continuousC
-C
and is rel-atively compact.
Thus we conclude the existence of a fixedpoint f
EC verifying F ( f ) = f.
Thisgives
a solution in[0, T]
for any T >0,
andby ex-
traction of a
diagonal subsequence,
we obtain a solution in[0, oo[.
Relation(1.21)
comesclearly
from(1.2)
because~ f (t, x, ~)
E xby Proposition 2.7,
and(1.22)
is obtainedby integration
of(4.8).
. DProof of
Theorem 1.2. - If theassumption (1.17)
is notsatisfied,
wehave to use the
Tychonoff-Schauder
fixedpoint
theorem in thelocally
con-vex
topological
vector space x1~~)).
Let us mention thechanges
that need to beperformed
to the results of Section 4.First,
we haveto remove condition
(C4)
in the definitions of C andC. Then,
in Lemma4.2,
C iscompact
for the weaktopology
of xR) ,
andC
isclosed in x
R).
In Lemma4.3,
F is continuous inC
for thetopology
xII~)),
and in Lemma4.4, F(C)
isrelatively
compact
in xR))
. D5.
Entropy equation
In this section we prove that the
entropy H( f (t,
x,~), ~)
satisfies a renor-malized
equation,
as stated in Theorem 1.3. Thedifhculty
is that H is notsmooth at the
origin,
and we have to build a monotoneapproximation
of itthat is convex, smooth and that has slow
growth
atinfinity.
5.1. .
Approximation
of HThe most
singular
term in H in(1.13)
isobviously
We
begin by translating
thesingularity f o
= 0 tof o
=-~, by defining
for~>0
which is convex and smooth in
D,
henceIn order to obtain a linear
growth
atinfinity,
we setOne can check that with this choice of c~ ,
We have
obviously ~s ( f )
.LEMMA 5.1.2014
i)
The valueof
~s isii)
thefunction
cp~ is convex inD. nonnegative,
=0.
iii)
we havecps ( f ) ~ for f E D,
iv) if
0 b’ b then( f ) for fED,
andT
as~~o.
v)
thefunction
cps isC1
in D andcp~
is bounded in D.Preuve.
i)
Iff
EDd , obviously cps ( f )
_ IffED B Ds,
hence
If
0,
the supremum is reached at x = cs because csf 1 / ( f o
+~),
andif
0,
it is reached at -c~, and thisgives
the result.ii)
Theconvexity
is obvious from thedefinition,
thenonnegativity
alsosince 0 E
D5 ,
andcps (o)
iscomputed by (5.6).
iii) If f e D5
then~~ ( f =
and iff
ED B Ds,
then~Ps(.f) _ -ca(.fo + s) + 2c~I.fl~ 2c~~.fl~.
.Finally,
iff E D
isfixed,
for smallenough
b we havef
ED8, cps ( f )
-.
v)
Formula(5.6) gives obviously
two smooth functions. We have to check thecontinuity
of the functions and their derivatives at the frontier where( f 1 = ~(~-p~).
Thecontinuity
of 4’8 isstraightforward.
For thederivatives,
we have
and we see that the two formula match
when |f1|
- +03B4).
Wefinally
notice that
~ cps ~ c~
+2cj.
. D5.2. Sketch of the
proof
In order to prove the
equation
onH( f (t, x, ~), ~),
wedecompose
H asand we are
going
to consider each termsuccessively.
A crucialargument
is thefollowing
lemma.LEMMA 5.2. - Assume that g E
C(~0, T~,
xI~~)) verifies
Then
Proof-
Defineg(t, x, ~)
=g(t,x
+t~, ~).
Theng
EC(~0, T~,
xR)), and g
verifiesg(o) - g(0)
E xR),
=h(t,
x +t~, ~)
EL1 (]0, T R
xR) . Therefore,
and we deduce
(5.12)
and(5.10). Then, (5.11)
comes from thehigher
mo-ment lemma of
[15],
and(5.13)
followsby integration
of(5.9). Finally,
inte-grating (5.12)
withrespect
to(x, ~),
weget
for any t E[0, T~
which is the
integral
form of(5.14).
D5.3. Linear terms
We are now able to treat the first two terms in
(5.8).
From now on,f
denotes the solution obtained in Theorems 1.1 or 1.2. We recall that the estimates ofProposition
2.7apply
tof (t, . )
and toM ~ f ~ (t, . )
for any t > 0. Thus we canapply
Lemma 5.2 to03BE2 fo (t, x, 03BE)
and03BEf1 (t,
x,03BE),
and weconclude that
and all the conclusions of Lemma 5.2 are valid.
5.4. Nonlinear terms
Let us first consider the last term in
(5.8), corresponding to (f)
=We use the
approximation c~s ( f )
defined in Section 5.1. Since cpsis
Cl
andglobally Lipschitz continuous,
a vectoradaptation
of the classicalrenormalization
property
allows tomultiply (1.2) by ~p~ ( f ),
whichyields
Since
cpa ( f )
E xI~) ) ,
we canapply
Lemma 5.2 tocp~ ( f )
Wewish now to let ð - 0 in
(5.17).
We notice that ~ in(5.1)
is smooth outsidethe
origin,
and we define~’ (o)
= 0by
convention. ThusLEMMA 5.3.- The terms
ay(f)
lie in x
1~8).
. Theright-hand
sideof (5.17)
is bounded inx
R) uniformly
inb.
and tends to inx
R)
as b - 0.Then,
=-~(.~)
E x-
1f0>02f21/f0
-2V( f)
E xR)). Next,
since0 ~( f ), ~p~ ( f )
is bounded in xindependently
of ~.
Therefore, by (5.17)
andby applying
theidentity (5.15)
to cp~( f ),
weobtain that
Then,
since yJ5 is convex inD,
According
to(5.20),
this function is bounded inL1 (~0,
T xR) indepen- dently
of S.Observing
that with(5.7), c~~ ( f )
- ~’( f )
as b -0, by applying
Fatou’s
lemma,
we deduce thatand therefore
From the
inequality
we deduce
and thus
We conclude that
Finally,
we observe with(5.7)
thatand we conclude with
Lebesgue’s
theorem the convergence of each term of theright-hand
side of(5.17)
inL1 (]0, T [ R
xR)
as 03B4 - 0. DNow,
we are able to conclude. Forany t > 0, .))
-(f(t, .))
inx
R)
as 03B4 - 0by Lebesgue’s
theorem. But we can write(5.12)
forW6 (f) ,
By
Lemma5.3,
we can pass to the limit in theright-hand
side inC ( ~0, T ~
,Ll (JR
xR)). Therefore,
For the last term
1/J(fo)
=fo+l~~/(1-f-1/~) in (5.8),
we can use the approx- imationThen the
argument
is similar as above(even simpler, L 1
isobtained
directly
sincef1/03BB0
EL03BB(1+1/03BB), M0 [f]
EL1+1/03BB),
and we do notrepeat
theproof.
5.5. Proof of Theorem 1.3
According
to theprevious subsections,
we canapply
Lemma 5.2 to eachterm of the
decomposition (5.8). Noticing
that the convention on the value ofH’(o, ~) corresponds
to~’(o) - 0,
we obtain(1.25)-(1.28). Moreover,
~H( f (t, x, ~), ~)
E xR)
andBut
by Proposition 2.6,
and since
J’ ( f - M ~ f ~ ) d~ = 0,
thus P E
L 1 (~ 0,
xR) . Finally,
sincefrom
(5.31)
and(5.32)
we obtain(1.29)
and(1.30).
DRemark 5.1. - It is
possible
to provedirectly
thatIndeed
by (2.4)
andProposition 2.5,
thus
and
pU2, p’Y
EL 1 {I~) ) . Then,
theinequality
proves that
2Cfi . A
similar estimate holds for and the other terms in(5.36)
are easy to estimate with(5.38).
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