A NNALI DELLA
S CUOLA N ORMALE S UPERIORE DI P ISA Classe di Scienze
T ATSUO N ISHITANI
S ERGIO S PAGNOLO
On pseudosymmetric systems with one space variable
Annali della Scuola Normale Superiore di Pisa, Classe di Scienze 4
esérie, tome 30, n
o3-4 (2001), p. 661-679
<http://www.numdam.org/item?id=ASNSP_2001_4_30_3-4_661_0>
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On Pseudosymmetric Systems with One Space Variable
TATSUO NISHITANI - SERGIO SPAGNOLO (2001 ),
Abstract. We investigate the Cauchy problem for a system of the form atu = A(x)axu + f (t, x), where A(x) is a pseudosymmetric matrix with analytic entries
= 1,..., N. We prove the well-posedness at each point xo where aij (xo) ~ (xo) = 0 for all i, j. In the case N = 3, it is sufficient to assume such
a condition for i = j.
Mathematics Subject Classification (2000): 35L40
(primary),
35L80 (sec- ondary).Introduction
The class of
pseudo symmetric
systems was introducedby
D’Ancona andSpagnolo [3]
as the natural extension to the vector case ofweakly hyperbolic equations
The N x N
system
inRi
xRi
where
A (t, x , ~ )
= is a matrixsymbol, homogeneous
ofdegree 1,
is calledpseudosymmetric
when thefollowing
conditions are fulfilled for all choices of the indicesh, k, h 1, ... , h"
Ef 1, ... , N } :
This research has been partially
supported
by the MURST Programme "Problemi e Metodi nella Teoria delle Equazioni Iperboliche."Pervenuto alla Redazione il 2 aprile 2001.
These conditions are
trivially
satisfiedby
the Hermitianmatrices,
as wellas
by
thetriangular
matrices with real entries in thediagonal.
The 2 x 2matrix
is
pseudosymmetric, i.e.,
satisfies(3)-(4),
if andonly
ifIn
particular,
eachequation
oftype (1)
isequivalent
to apseudosymmetric
system of
type (2),
whereA(t, x, ~)
is as in(5)
withFor N =
3,
the matrixis
pseudosymmetric
if andonly
ifThe nature of the
pseudosymmetry
is made clearby
thefollowing
result(see [3]):
. A
(constant)
matrix A ispseudosymmetric if
andonly if, for
all c >0,
it ispossible to find
adiagonal
matrixA,
with entries >0 for
whichIn the
special
case when all thenon-diagonal
entriesof A
aredi, fferent from
zero, we can
find a diagonal
matrix A whichsymmetrizes A,
i. e., such thatis
Hermitian.Therefore,
in theterminology
used in[2],
thepseudosymmetric
matrices aresimply
the matrices which admit aquasi-symmetrizer
ofdiagonal type.
As a consequence of the above
characterization,
one caneasily
prove that eachpseudosymmetric
matrix ishyperbolic, i.e.,
has realeigenvalues. Moreover,
one
expects
that some of thewellposedness properties
of the second orderequations,
extend to thepseudosymmetric systems.
This is a case of systems with coefficientsdepending only
ontime;
indeed we have(see [3]):
. The
Cauchy Problem for
any N x Npseudosymmetric
systemof the form
is well
posed
inCoo, provided
the matrices A1 (t),
... ,An (t)
areanalytic
in t. (1) >The aim of this paper is to
investigate
theCauchy
Problem forpseudosymmetric
systems with coefficients
depending
on one spacevariable,
thatis,
of the formwhere
A (x )
is a N x N matrix withanalytic
entries. The situation is rather different from the case of timedependent
coefficients: in the scalar case, for anyequation
oftype (1)
with(smooth)
coefficients one has the C°°wellposedness,
but such a conclusion is nolonger
valid in the vector case, even foranalytic
coefficients. Forinstance,
theCauchy
Problem for thesystem
is not well
posed
in C°°.The class of 2 x 2 systems with
analytic
coefficients inRi
x of the formwas
extensively
studiedby Nishitani,
whoproved
inparticular (see [4]):
o A
sufficient
conditionfor
the Coowellposedness of (7)
ismedskip
. Let
C :0
0 be a constant.Therefore,
theCauchy
Problemfor
the systemwhere
is not Coo well
posed,
unless a = b - d - 0.~ 1 ~ For the scalar equations of type ( 1 ), with coefficients aij -_- aij (t)
depending
on time, the resultwas proved in [ 1 ].
We note that the conditions
(8)
and(9)
arestronger
than thehyperbolicity
condition
which expresses that the matrix
(5)
has realeigenvalues.
On the other hand thepseudosymmetry
conditionab >
0 isstronger
than(8),
but is inconsistent with(9)
unlessa(x), b(x), c(x)
are allidentically
zero.Passing
to the case ofsystems
oftype (6)
with sizeN > 3,
it is natural toask whether the
pseudosymmetry’s assumptions (3)-(4), together
with the ana-lytic regularity
of thecoefficients,
are sufficient to ensure the C°°wellposedness.
We are not able to
give
ageneral
answer to such aquestion,
however we canprove the
wellposedness
under some additionalassumptions.
Before
stating
ourresult,
let us remark that there is C°°wellposedness
neareach
point
Xo E R where thenon-diagonal
entries of the matrixA (x )
are alldifferent from zero; indeed in such a case, thanks to the
pseudosymmetry, A(x)
results in
being smoothly symmetrizable (see Proposition
1.1below). Therefore,
we can put ourselves near a
point
xo where some of theaij’s
with i# j
isvanishing.
We prove thefollowing
result(see
Theorems 2.1 and 3.1below):
THEOREM. Let
A(x) be a pseudosymmetric analytic
matrix.Therefore,
theCauchy Problem for (6)
is Coo wellposed
near xoprovided
thatIn the case N =
3,
it issufficient
to assume thatEXAMPLE. Consider the system
where the exponents are
non-negative integers
such thatare even,
Therefore,
theCauchy
Problem is C~ wellposed
near x = 0.NOTATIONS. All the functions considered in the rest of this paper will have real values. Given an open interval
I c R,
we denoteby A(I)
-A(I ; R)
theclass of
analytic
functions on I. For afunction ~(x)
on 0 means thatis not
identically
zero.1. -
Preparatory
lemmasLet
A (x)
be apseudosymmetric
matrix with entriesail (x)
EA(I), i, j
=1,
... ,N,
where I c R is an open interval.PROPOSITION l. l. It is
possible
tofind
E.~1.(I ) ~2~
in such a way thatfor
alli, j
=1,..., N,
andIf the
have at most one isolated zero Xo E I, moreprecisely if
either or
then we
can find
theXjs,
as above, such thateach.Xj (x)
may vanishonly
at x = xo(unless Àj
=-0),
andÀjo
=- 1.If, for
all(i, j)
with i:0 j,
we haveaij (x) =,4
0 Vx E I, then we canfind
theXj ’s
such that~,~ (x) ~
0 ‘dx E I. HenceA(x)
is asmoothly symmetrizable
matrixin a
neighborhood of
xo.REMARK 1.1 As a consequence of
( 1.1 )-( 1.2),
we haveSetting
we can rewrite
( 1.1 ), (1.2),
and(1.4),
in the formsIn order to prove
Proposition 1.1,
we shall use thefollowing elementary
result(a proof
of which will begiven
in theAppendix).
(2)These
h j ’s
correspond to the square roots of those defined in [3].LEMMA I. I
(square root).
Let I C-: R be an openinterval,
andf
EA(I)
besuch that
f (x) > 0 for
all x E I. Then there existssome 0
EA(I) for
whichSuch a q5
isunique
up to thefactor - l.
PROOF OF PROPOSITION 1.1 If
A (x )
is adiagonal matrix,
wesimply
takeK = A and A =
IN,
theidentity
matrix.Thus,
we’ll assume that 0 forsome and we define the
analytic
functionWe first deal with a
special
case:Case I: aij
# 0 for
all i0 j.
Let us fix an
arbitrary point
i E I where9(x)
is notvanishing, i.e.,
suchthat
and let us define the functions
kij
EA(I)
as:Note that we have also >
0,
since > 0by
the pseu-dosymmetry
ofA (x ),
and that( 1.11 )
defines theanalytic
functionkij
in aunique
wayby
Lemma 1.1.Hence kij
=kji.
We now define the functions
hj’s
asClearly,
we havehj
EA(I).
It remains to prove theequality (1.2).
Suchequality becomes, squaring
each term andusing (1.12),
and this turns to be = view of
( 1.11 ).
Now, by
thepseudosymmetry
ofA (x )
we know thathence we have
proved
This
implies, by analyticity,
thatBut
by (1.11),
henceE = 1,
and we find(1.9).
We remark that the functions
~,1, ... ,
areuniquely
defined up to the factor9 (x ),
indeed we have -On the other
hand,
due to the arbitrariness in the choice ofpoint
x in(1.9),
the functions for i
; j
are determined up to a factorSimilarly,
each of the
Àj’S
is free from thefactor ±1;
forinstance,
ifA (x )
andK (x )
~ N
satisfy (1.6),
another choice isgiven by A (x)
andK (x),
whereCase II:
for
all i we have i- j
in the senseof [3],
thatis,
Note that in the last case,
i.e.,
when0,
we havenecessarily 0;
indeed thepseudosymmetry gives
and hence we obtain the
result,
because ...0, (aihl
...ah" j ) ~
0.To define the functions we choose some I where
9(I) # 0,
that is for which
and we define
kij
as in( 1.10)-( 1.11 ). Then,
we choose some index po E{ 1, ... , N },
and we define{h 1, ... , being
any chainconnecting j
and po for whichBy
virtue of thepseudosymmetry,
such a definition isindependent
of the choice ofI h 1, ... , h"}. Indeed, introducing
themeromorphic
functionswe
derive,
from( 1.15)
and( 1.16),
thatNow
fiji
= and moregenerally fJhvhl
1 n I for allcycles;
thus,
if ... ,h’,)
is another chainconnecting j
with po in the sense of( 1.13 ), setting
we have
But,
for x =x,
we havewith C > 0
by ( 1.11 ),
andsimilarly
we have =C9 (x)
with C > 0. Thuswe conclude that == 1. In a similar way we see that the definition
(1.15) of Xj
isindependent
of the choice of the index po E{ 1, ... , N } .
It remains to prove
(1.2).
We first prove(1.4).
Let{h 1, ... , hv)
be achain
connecting j
with po in the sense of(1.13),
andfh’,
...,h£,)
be a chainconnecting
i with po :by (1.16)
wehave,
in the sense of themeromorphic
functions
(note
that all the functions here involved are notidentically zero),
To derive
(1.2)
we haveonly
to observe thatand > 0
by
thepseudosymmetry,
while > 0by
thedefinition
(1.11).
Thiscompletes
theproof
ofProposition
1.1 in the Case II.Note that in this case, no one of the
Xj’s
results inbeing identically
zero.Case Ill: the
general
case.As in Case
II, having
fixed apoint
x E I where(1.14) holds,
we define the functionskij (x) by (1. 10)-(1. I I).
Next we introduce on the set{ 1, ... , N }
an
equivalence
relation:Case II is the case in which all indices are
equivalent.
If a andfl
are twoclasses of
equivalence,
we say(cf. [3])
thatif,
for some p E a, q we haveWe note
that,
in such a case, we have alsoindeed if
{h 1, ... , hv)
connects q withq’,
then we can writeand this proves 0 because
(aqhl ... ahvq~) ~
0. We also observe that(1.17)
does not define an(even partial)
order relation on thequotient
set{ 1, ... , N } / ^·,
since the transitiveproperty
fails. However " > " is endowedwith an
important property
which followseasily
from thepseudosymmetry:
forany
cycle {a 1, ... ,
off, of classes one cannot haveAs a consequence, there exists
always
a "minimal"class,
thatis,
a class a for which there is nofl
with a >~8.
Now,
let us define the functionshj’s.
Inside eachequivalence
class a wecan
proceed
as in the case(II),
but we have todistinguish
the twotypes
of a :(i)
there exists6
such that a >fl
(ii)
there is nofl
such that a >p.
In the first case, for every p E a there is some q for which
(1.17) holds; thus,
in order to get( 1.1 ),
and hence also we must definehj
- 0 forevery j
E a. In the second case, we choose an index pa E a, and we define thehj’s for j
E ajust
as in CaseII,
that isby (1.15)
with pain
place
of po. The relationsare
always
fulfilled. This is clear if i -j, by
the same arguments used in Case II. If we have twopossibilities:
either =0,
in which case(1.18)
is
trivial,
or aij#
0 and aji n0,
which means[i ]
>[ j ].
Since we have definedÀi
-0,
then( 1.18)
isagain
true. The fact that there isalways
some class aof
type (ii),
ensures that we can find a matrixA(x)
=diag[Àl (x),
which is not
identically
zero.Let us now prove the last
part
ofProposition
1.1. Assume that(1.3)
holdsat some
point
xo EI,
thatis, 9 (x) -
0only
for x = xo.Therefore, going
back to the definitions of the functions
kij’s
andXj’s,
we see that each of these functions may vanishonly
at xo(unless
it isidentically zero). Hence,
we canwrite
with vi integers > 0,
where eitheruj (x)
w0,
or 0 for all x E ITaking Vjo
= min(vj 0},
we can defineand 1 on I.
Finally,
if thenon-diagonal
entries ofA (x )
do not vanishat any
point
ofI,
we can resort to the arithmetic square root and takeThis concludes the
proof
ofProposition
1.1.2. -
Cauchy
ProblemGiven an open interval I c
R,
and apseudosymmetric
matrixA (x)
=with
analytic
entries inI,
let us consider theCauchy
ProblemTHEOREM 2.1. Assume that
therefore (2.1 )
is Coo wellposed
in aneighborhood of
xo.If aij
0for
all i~ j,
the same conclusion holds without theassumption (2.2).
REMARK 2.2. Since
aijaji > 0,
the condition(2.2)
isequivalent
torequire
that the
non-negative
functionvanishes at the
point
xo. Note thatz (x)
is the trace of the matrixPROOF OF THEOREM 1.1. To say that
(2.1 )
is C°° wellposed
near xo,means that there are two
neighborhoods W,
W’ of(xo, 0)
suchthat,
for eachuo =
0})
andf
EC’ (W),
there is aunique
solution u EC°° (W’).
We shall prove a more
precise
result:Let us restrict ourselves to an interval
Io
=[xo -
ro, xo +ro]
C I where the function defined in(1.8)
has xo as itsunique
zero, thatis,
where(1.3) holds,
and let us define the conewith
Then,
for each uo EC’ (10)
andf
EK)), (2.1 )
has a solution u EK)).
In order to prove such a
result,
we shall derive anapriori
estimate for any smooth solution ofBy Proposition
1.1 we choose twoanalytic matrices, K (x )
=(kij (x)), l1 (x )
=in such a way that
and
Effecting
the transformationwe obtain
hence
(2.5)
becomesNow we have defined = aijaji, thus the
assumption (2.2)
means thatHence, recalling (1.19)
and theanalyticity
of one can writefor some matrix indeed
(2.6)
ensures thatis
analytic unless Xj =-
0. Thus we findLet us now
define,
for 0 tro/K,
the energy functionWe
get
anapriori
estimate for such a function: to this end westudy Eb(t),
which
becomes, by (2.7),
Indeed, K
issymmetric
andBut
r’(t)
= -K, andby (2.4)
and( 1.1 )
wehave v ) ~ Klvl2,
thus weget
and, integrating
in t,To get a better
estimate,
we differentiate(2.7)
to obtain theequation
or,
setting
w =Let us define
and
Proceeding
asabove,
we derive from(2.9):
and, by (2.8),
we get the estimateWe can go on,
by putting
This verifies the
equation
with
T2
= K’ +Ti, Sl
=Tl
+S, So
=S’,
allanalytic
functions of x.Setting
we get from
(2.10)
whence
In
conclusion, defining
we prove that
We note that the constants
Ck depend
on the matrixA (x )
and ro.Now recall =
1,
so thatwhere u =
(u 1, ... ,
and alsoThus
(2.12) gives
an estimate for the firstcomponent namely
Next we consider the other
components
uj, and we defineWe obtain the
(N - 1)
x(N - 1)
systemwhere
Ã(x) = (~/M)~/=2,...,~
1)But
A (x)
is apseudosymmetric
matrixfulfilling
the sameassumptions
asA(x),
hence we can findK (x), A(x),
with :51, satisfying (1.1), (1.2)
and
(2.6). By
the first part of thisproof
we havewhere the constants
Ck’s
maydepend only
onA(x),
ro. On the otherhand, recalling
the definition off (t, x),
we seethat, for j
=l, ... ,
N -1,
Hence it
follows, by (2.13),
and
putting together (2.13), (2.14),
and(2.15),
we obtainFinally, going
on with theremaining components,
we get the apriori
estimateIf we differentiate in time each term of our
equation (2.5),
we obtain similar estimates for8/u.
These estimates lead to the existence of a C°° solution onthe cone
(2.3),
via a standardapproximation method,
e.g.,by applying
theCauchy-Kowalevsky
theorem.The last
part
of Theorem 2.1 is a direct consequence of the lastpart
ofProposition
1.1: if all thenon-diagonal
entries ofA (x )
are different from zeroin a
neighborhood Io
of xo, we can find ananalytic
matrixA(x),
invertible for all x EIo,
for which issymmetric.
Hence(2.5)
results to bea
smoothly symmetrizable system.
REMARK 2.3. We have
proved
the localwellposedness
for(2.1).
In orderto get the
wellposedness
on the whole space]R2,
we have to assume that(2.2)
holds at each
point
xo where0,
and moreover that the coefficientsaij(x) keep
bounded whenlxl I
- oo.Therefore,
the conclusion follows from Theorem 1by partition
of theunity.
3. - 3 x 3
systems
For low order
systems,
Theorem 2.1 can beimproved.
As recalled in theIntroduction,
we knowthat,
for every 2 x 2pseudosymmetric
system withanalytic coefficients,
there is thewellposedness
even without theassumption (2.2).
This is notsurprising,
indeed for any 2 x 2pseudosymmetric
matrix thehyperboliciy
condition(al l - a22)2 ’~ 4a12a21 ?
0 becomes strict whenever(2.2)
is violated. One can ask if the same conclusion holds true for
non-analytic
coefficients
(depending only
onx ):
some results in this direction have beenproved,
and will appear in aforthcoming
paper.In the case N =
3,
we are not able todrop
theassumption (2.2) completely,
but we can
considerably
weaken it:THEOREM 3.1. Let
A(x)
be a 3 x 3analytic, pseudosymmetric
matrix withThen the
Cauchy
Problem(2.1)
is wellposed
in C°° near xo.PROOF. We look
We
study
the characteristicpolynomial
with
Recalling
the definition of(kij) (see ( 1.1 ))
wehave,
from thepseudosymmetry,
so that with E=:l::1. But
0 at a
given point x,
henceE = 1,
that isOn the other hand we have a 12 a21-E- Ci 13 a31 +a23a32 =
+ k23 +k 2 ,
hencethe coefficients of the
polynomial (3.2)
can beexpressed
asWe
distinguish
three cases:In the first one, we have = 0 for all i
:A j,
hence also for all(i, j) by
ourassumption (3.1 ). Thus,
we canapply
Theorem 2.1.In the second case, we have = 0 for some
(i, j) with i :0 j,
andki,j, (xo) :0
0 for some other(i’, j’)
with i’=j:. j’.
Therefore we haveso that the all
eigenvalues
ofA(xo), i.e., {0, 2013~/po,
aresimple
sincepo > 0. That
is,
oursystem
isstrictly hyperbolic
for x = xo, and hence in aneighborhood
of xo.In the third case, we have
kij (xo) :0 0,
that is aij(xo) ~
0 for all(i, j)
withi
~ j .
As observed at the end ofProposition 1.1,
this means that thesystem
issmoothly symmetrizable
in aneighborhood
of xo, and hence the result.4. -
Appendix
A PROOF OF LEMMA l.1. We first show the
uniqueness.
If~, ~ satisfy (1.7),
we have
(Ø - Ø) (Ø
+~) = ~2 - ~2
=0,
so thatby analyticity
we conclude thator 0 = -~.
Next we show the existence. Iff
= 0 wetake q5
=0;
hence we may assume that
f (x )
has at most a countable set of isolated zeros, each of finite and even order(since f ? 0).
We consider
only
the zeros of orders 4v +2,
v E N. In the case whenf (x)
has no zero of thistype,
but hasonly
zeros of order4v,
wesimply
takei.e.,
the arithmetic square root off (x). Indeed,
this is ananalytic
function ateach
point
x E I: this is obvious if/(Jc) 7~ 0,
otherwise we writewith
g(x)
> 0 in aneighborhood
I ofz,
hence,¡g
EA(I)
and alsoIn the
general
case, let us rename the zeros N = off, where xh
is a zero oforder
4vh -~-2,
so that xh Xh+ I -Writing
I= ]a, fJ[,
with -oo afi
:5 +oo,we have five cases:
In each case the intervals
Ih
=[Xh, (with 10
= I in the first case,Io = ]ot, x I [
andIk
=[Xk,,B[
in the second case,etc.)
form apartition
of Iwith the
property
thatf (x)
hasonly
zeros of orders 4v in the interior ofIh.
Then, denoting by .Jl
thepositive
square root, we defineClearly,
such a function is well defined on the whole interval I and isanalytic
in the interior of each
Ih.
In order to provethat 0
isanalytic
at Xh, let uswrite
with
gh (x)
which isanalytic
and > 0 in someneighborhood Jh
of xh .Hence, by (4.1 )
we have:that
is, ~ (x) _
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Sup. Pisa Cl. Sci. 25 (1997), 397-417.
[4] T. NISHITANI, Hyperbolicity of two by two systems with two independent variables, Comm.
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Department of Mathematics Osaka University
Machikaneyama 1-16 Toyonaka Osaka, Japan
Dipartimento
di Matematica Universita di PisaVia F. Buonarroti 2 56127 Pisa, Italy