Abstract
The theory of Ulam stability was initiated by a problem raised in 1940 by S. Ulam and concerning approximate solutions to the equation of homomorphism in groups. It is somehow connected to various other areas of investigation such as, e.g., optimization and approximation theory. Its main issue is the error that we make when replacing functions satisfying the equation approximately with exact solutions of the equation. This article is a survey of the published so far results on Ulam stability for functional equations in 2-normed spaces. We present and discuss them, pointing to the various pitfalls they contain and showing possible simple generalizations. In this way, in particular, we demonstrate that the easily noticeable symmetry between them and the analogous results obtained for the classical metric or normed spaces is in fact only apparent.
MSC:
39B62; 39B82
1. Introduction
The theory of Ulam stability has drawn the attention of many researchers because of various possible applications. It is also somehow related, e.g., to some issues in optimization and to the notion of shadowing (see, e.g., in [1]). It addresses the errors we encounter when replacing functions that satisfy equations approximately by the exact solutions to them.
Every year numerous papers are published in this field, and many of them contain various gaps and mistakes. In this paper, we are reviewing the results on Ulam stability proved for function taking values in n-normed spaces. We present and discuss them, pointing to the various pitfalls they may contain and showing possible simple generalizations.
As the number of such results is very big, in this paper we focus only on the case of n-normed spaces with , that is, on the case of 2-normed spaces. Moreover, also in this area, we discuss in some detail only some part of such outcomes. The remaining results for n-normed spaces and 2-normed spaces will be considered in future publications. However, even from the limited number of examples that we consider in this paper, it follows that the easily noticeable and commonly expected symmetry between stability outcomes for 2-normed spaces and the analogous results obtained for classical normed spaces is in fact only apparent.
Roughly speaking, the Ulam stability concerns the following issue: how much an approximate solution to an equation differs from the exact solutions. For the first time, such a problem was formulated by Ulam in 1940 for the equation of group homomorphism, and now it is commonly known in the following form (see in [2]):
Let be a group and a metric group. Given , does there exist such that if a mapping satisfies the inequality
then a homomorphism exists with
D.H. Hyers [2] published the subsequent partial affirmative answer to the question:
Let be Banach spaces and . Then, for every with
the limit
exists for each and the function φ is the unique additive function such that
The method that was used by D.H. Hyers is called now a direct method. Nowadays, we often describe Hyers’ result by saying simply that the Cauchy functional equation
is Hyers–Ulam (or Ulam–Hyers)-stable in the class of functions mapping a Banach space into a Banach space.
At present, much more sophisticated results are known in this area and we refer to the work in [3] for more details.
We should mention here that a result somewhat similar to that of Hyers was proved much earlier (in 1924) by G. Pólya and G. Szegö [4], and it reads as follows:
For every real sequence with
there is a real number c such that
Moreover,
The result of Hyers inspired several other papers in the next years, and we refer to the work in [5] for more information on this subject. However, a new direction in this field was opened by a result, which was first proved by T. Aoki [6] and passed unnoticed by a wider audience. It became widely known only due to a paper of Th.M. Rassias [7], who independently rediscovered it to a large extent. The result reads as follows.
Theorem 1.
Assume that X is a normed space, Y is a Banach space, , and . Let be a mapping such that
Then, there exists a unique additive function such that
Z. Gajda [8] extended the result contained in Theorem 1 for and provided an example showing that for it is not valid. Moreover, estimate (2) is the best possible. For , the analogous result is also valid, which was noticed in [9], but by now we know that actually for each function satisfying (1) (of course only for and ) must be additive and completeness of Y is not necessary in such situation (see [3] for more details). Very recently, much more precise results, but only for functions taking real values, have been obtained in [10] by applying the Banach limit technique (see also in [11] for the application of that technique in the stability of functional equations in a single variable). For instance, the following has been proved in ([10], Theorem 8) (see also ([10], Remark 7)).
Theorem 2.
Let X be a normed space, , , (the set of real numbers), , and . Assume that satisfies the inequality
Then, there exists a unique additive such that, in the case ,
and, in the case ,
Moreover, if f is continuous at a point, then T is continuous.
The situation of the inequality
with , was considered in [12,13] (see also in [14]). Later, more general approaches have appeared with the stability inequalities (1) and (6) replaced by a more general condition:
Furthermore, stability for various other functional equations have also been considered with many possible kinds of the stability inequalities (see in [3,5,15,16] for more information and further references). Roughly speaking (see, e.g., in [17]), we can say that a functional equation is stable in the sense of Ulam, in some class of functions, if any function from that class, satisfying the equation approximately (in some sense), is near (in some way) to an exact solution of the equation.
The direct method used by Hyers in [2] has been successfully applied for study of the stability of large variety of equations, but unfortunately (see [18]) it does not work in numerous significant cases. The second most popular technique of proving the stability of functional equations is the fixed point method (see in [19,20] for more details). The other methods are shortly presented in [3].
The concepts of an approximate solution and nearness of two functions can be understood in various (also nonstandard) ways. This depends on the needs of a particular situation and tools that are available for us. One of such non-classical ways of measuring a distance can be provided by the notions of 2-norms and n-norms (we provide necessary details on this subject in the next section). In this paper, we discuss the Ulam stability results that are somehow related to those notions.
For more information on functional equations and their applications we refer to the works in [21,22,23,24,25].
Through the article, we use to denote the set of reals, the set of nonnegative reals, , to denote the set of rational numbers, to denote the set of positive integers, to denote , and denotes the family of all functions mapping a set B into a set A.
The article is organized as follows. In the next section, we provide auxiliary information on n-normed spaces (which includes also the 2-normed spaces), and in Section 3 we proof some simple, but general results on stability of some functional equations, which are very useful in further parts of the paper. The main survey of different stability results of functional equations in 2-Banach spaces is included in Section 4. In Section 5, we give some final remarks.
2. Auxiliary Information on n-Normed Spaces
The notion of n-normed spaces was introduced by A. Misiak (see [26]). In this way, he generalized an earlier concept of 2-normed spaces (i.e., n-normed spaces with ) defined by S. Gähler [27,28].
Below we recall some basic definitions and facts concerning such spaces (for more details we refer to the works in [26,29,30,31,32]).
Let and be a real linear space, which is at least dimensional. If is a function mapping into such that, for every and , the following four conditions are valid:
- (N1)
- if and only if vectors are linearly dependent;
- (N2)
- is invariant under permutation of ;
- (N3)
- ;
- (N4)
- ,
then is called an n-norm on , and the pair is said to be an n-normed space.
If , , and is a real inner product space (and, as before, is at least n-dimensional), then an n-norm on can be defined by the formula
for . Here, for every real number a, denotes the module (absolute value) of a.
In the case (with the usual inner product), this n-norm also can be expressed by
where
Then it is called the Euclidean n-norm on and often denoted by .
Remark 1.
H. Gunawan and M. Mashadi [30] demonstrated that from every n-norm we can obtain an -norm and finally also a norm. For a somewhat analogous observation, we refer to ([33], Remark 2).
In what follows, to simplify some formulas, we write
We also have the following definitions and properties.
Definition 1.
Let be a sequence of elements of an n-normed space . Then we say that is a Cauchy sequence if
The sequence is convergent if there is (called the limit of ) with
Such a limit is unique; we denote it by and so we write .
An n-normed space is an n-Banach space if every Cauchy sequence in it is convergent. Moreover, we have the following property stated in [32] (see also in [29]).
Lemma 1.
Let be an n-normed space. Then, the following four conditions hold:
- if is a convergent sequence of elements of , then
- if and , then
- if andthen
The notion of Ulam stability in n-normed spaces can be understood as in the subsequent definition ( stands for the family of all mappings from a set into a set ).
Definition 2.
Let be an n-normed space, D be a nonempty set, and be nonempty, and . The equation
is -stable in provided, for any and with
there is a solution of the equation with
For further information on n-normed spaces refer to the works in [29,31,32,34,35,36,37,38].
3. Preliminary Stability Results
In this section, we show two very simple stability results. We assume that n is a positive integer and is an n-normed space.
Proposition 1.
Let , T, and be nonempty sets. If , , and , for , are such that
with some function , then
Proof.
Fix and . Then,
and consequently
Therefore, letting , we get for every and , which means that (9) holds (see Lemma 1 (iii)). □
The proposition yields at once the following corollary.
Corollary 1.
Let E be a linear space over a field , , for and , , , and let be mappings satisfying
Then,
Proof.
It is enough to apply Proposition 1 with , , ,
and for . □
Note that Equation (11) is a generalized (the so-called pexiderized) version of the functional equation
the stability of which was studied, e.g., in [39,40,41,42]. Particular cases of (12) are the Cauchy functional equation
the Jensen functional equation
and the quadratic functional equation
For more information on those (and many other) functional equations, we refer to the works in [21,22,24]. In the next sections, we will discuss stability of them as well as of some other particular cases of (11).
Finally, note that in a way similar as in Proposition 1, we also can easily extend (to the case of n-normed spaces) the stability results presented, e.g., in [43,44,45,46,47].
4. Ulam Stability in 2-Normed Spaces
In this section, we survey results on stability in 2-normed spaces. To shorten the statements of some theorems, we always assume that is a groupoid (i.e., G is a nonempty set endowed with a binary operation , which is not necessarily commutative), and are 2-normed spaces, is a 2-Banach space, , , and is an n-normed space.
To the best of our knowledge, the first stability results involving the notion of 2-normed spaces have been given in [48]. We present them in the form of the subsequent two theorems. The first one (Theorem 2.1 in [48]) reads as follows.
Theorem 3.
Let the dimensions of X and B be greater than 2. If is such that
with some , then there is a unique additive mapping such that
Moreover, if the mapping is continuous for each , then h is linear.
In this theorem (and in the rest of this section) a mapping is said to be additive if fulfills the Cauchy functional equation
(Analogously for mappings .) A mapping is linear if (as usual) it is additive and for every and .
Note that our Corollary 1 yields the following generalization of Theorem 3.
Proposition 2.
If is such that
with some , then f is additive.
Note that at first glance, Theorem 3 seems to show that the situation in 2-normed spaces is analogous as in the result of Hyers [2], but from Proposition 2 we see that it is not, because for functions that take values in the 2-normed space, we actually get that functions satisfying (16) must be additive, i.e., we obtain hyperstability (see in [49] for more information on this notion). Later in this article, we show that a similar lack of symmetry between the results on Ulam stability in 2-normed spaces and classical normed spaces occurs for several other equations.
If G is a real linear space, then we can add in Proposition 2 the following statement: Moreover, if the mapping is continuous for each , then f is linear. The next remark shows how we can derive it from the properties of additive mappings, if we understand the notion of continuity as usual in n-normed spaces (in [48] it has not been explained).
Remark 2.
Let E be a real linear space and be additive. Assume that the mapping is continuous for each , i.e.,
for every , every , and every sequence in with (with regard to the usual topology in ).
We show that then for every and . Therefore, fix , , and . Let be a sequence of rational numbers with (in ). Then,
which means that (in ). Further, in view of the additivity of f, we have for every . Consequently, by (17) (with and ) and Lemma 1 (i),
whence
The second main result in [48] (Theorem 2.2) can be formulated as follows.
Theorem 4.
Let be a surjective mapping and the dimensions of X and B be greater than 2. If there exist and , , such that
then there exists a unique additive mapping such that
Unfortunately, the author does not explain how to understand when and (which happens for linearly-dependent x and z). Therefore, it is natural to presume that actually (18) should be in the case formally rewritten as
For the same reason, for , (19) should be
The proof of Theorem 2.2 in [48] should be modified accordingly.
The main results in [50] can be stated as in the following theorem.
Theorem 5.
Let U be a normed space, , and . The following three statements are valid.
If and
then there is a unique additive mapping such that
If and
then there is a unique mapping such that
If and
then there is a unique mapping such that
However, from Corollary 1 we can obtain the following generalizations of those results.
Proposition 3.
Let U be a normed space, , and . The following three statements are valid.
In [51], the inequalities (22), (24), and (27) have also been considered, but with the function replaced by Clearly, from Corollary 1 we can deduce analogous (as in Proposition 3) generalizations of those results. Here, we also see the lack of symmetry between the results on Ulam stability in 2-normed spaces and classical normed spaces (cf., e.g., Theorem 1 and comments after it), contrary to what Theorem 5 suggests.
In [52], the stability of the quartic functional equation
has been investigated in 2-Banach spaces. The main result provided there can be written as follows.
Theorem 6.
Let U be a normed space and be such that
Suppose that is such that
Then, there exists a unique solution of (30) such that
Note that actually (32) results from (31), so (32) is superfluous, but this does not matter, as again, with Corollary 1 we get the following generalization of Theorem 6.
The stability of the functional equation
with a fixed , , has been studied in [53]. We guess (because of many confusing misprints in the paper) that the main result can be rewritten as follows.
Theorem 7.
Let and be such that
Suppose that a function satisfies
Then, there exists a unique additive function such that
The mapping is defined by
The author also considers the equation
but this is not necessary, as (36) with replaced by actually becomes (34).
Note that Theorem 3.1 in [53] (the proof of the theorem has some drawbacks, but it is true) and our Corollary 1 imply the following result.
Proposition 5.
Let and satisfy
Then, f is a solution of Equation (34), whence (in view of ([53], Theorem 3.1)) it is additive.
From Proposition 5, it follows that Examples 5.1 and 5.2 in [53] are not correct (the main problem is probably that they are constructed for , which has dimension 1 and therefore does not admit any nontrivial 2-norm).
A very similar situation, as in [53], is with all stability results and examples in [54], where the authors have investigated the stability of the functional equation
From Corollary 1, we obtain the subsequent corollary, which generalizes the main stability outcomes contained in Theorems 3.1.1–3.1.5 in [54] in the following way.
Proposition 6.
Let be a group, , , and
A description of solutions to Equation (38) is given in Theorem 3.1 in [54].
In [55], a fixed point method has been used to investigate in 2-Banach spaces the stability of the functional equation
Corollary 1 yields the following generalization of the main result in [55].
Theorem 8.
Let be a group and . If satisfies
In [56], the author studied in 2-Banach spaces the stability of the functional equation
The main stability result in [56] can be written as follows.
Theorem 9.
Let be a commutative semigroup with an identity element. Assume also that is a function such that for any we have
If is a mapping satisfying
for and . The mapping F is given by
for .
In view of Proposition 1, the theorem can be easily generalized in the following way.
Proposition 7.
Let be a semigroup, , and be a mapping satisfying the inequality
In the analogous way, we can generalized the theorems from [57], where the stability of equations somewhat similar to (41) has been investigated in 2-Banach spaces.
In [58], the author studied (in 2-Banach spaces) the stability of Cauchy, Jensen, and quadratic functional equations, with the control function for , where is a normed space, , and . Unfortunately, there is a confusion there, because the function should rather have the form for and , where is a norm in Y (see Remark 1). These results with such modified form of can be collected in the form of the subsequent theorem.
Theorem 10.
Let U be a normed space, be a norm in Y, , and . Then, the following three statements are valid.
- (i)
- If andthen there is a unique additive mapping such that
- (ii)
- (iii)
- If andthen there is a unique solution to the quadratic equation such that
In the case , generalizations of the above results can be easily derived from the following modification of Corollary 1.
Proposition 8.
Let , T and be nonempty sets, , , , be a norm in Y, and and for be such that
Then, satisfy the equation
Proof.
Fix and , and put
Then,
and consequently
Therefore, letting , for every and , we get
which means that (11) holds. □
Clearly, Proposition 8 implies the following generalization of Theorem 10.
Proposition 9.
Let be a group, be a norm in Y, , , and . Then, the following three statements are valid.
In [59], the stability of the following functional equation:
has been investigated in 2-Banach spaces and the main result can be stated as follows.
Theorem 11.
Let be a norm in X, , and . If is a function such that
where
Clearly, in the case , from Proposition 8 we can easily derive the following generalization of Theorem 11.
Proposition 10.
Let be a group, be a norm in Y, , and . If is such that
The stability of the functional equation
in 2-normed spaces has been studied in [60] and one of the two main results can be written as follows.
Theorem 12.
Let be a normed space and . Assume that or . If is such that
The authors have not specified the meaning of for , but if we assume that also means a classic norm in B, then the whole reasoning is still correct. Moreover, if in Theorem 12, then by Proposition 8, f must be a solution of (49). Solutions to (49) have been characterized in Theorem 2.1 in [60].
The other main result presented in [60] can be formulated as follows.
Theorem 13.
Let . Assume that or . If is such that
Unfortunately, it appears that the authors confused the 2-norms in X and B and the only reasonable possibility to keep the theorem valid is to assume that . In such a case, if , then from (50) (replacing z by or by , with ) we easily obtain that .
In [61], the authors have investigated the stability of the equation
in 2-Banach spaces. The main results in [61] can be written as follows.
Theorem 14.
Let be a normed space, , , and . Let be such that and
Unfortunately, already at the very beginning of the proofs (in Formula (2.3)) the authors commit simple but meaningful mistakes, which makes the remaining reasoning doubtful. Moreover, to avoid evident confusion between the norm and 2-norm in Theorem 14, it should be assumed that (and B is endowed with a norm). However, from Proposition 8 we can easily derive the following.
Proposition 11.
Let be a group, be a norm in Y, , , and . If is such that
then f is a solution of (51).
In [62] (Theorems 4.5 and 4.8), the authors claim that have used the direct and fixed point methods to investigate the stability of a functional equation (called the decic functional equation), being a particular case of (11), in the 2-normed spaces. However, because the results are stated in very unclear (for us) manner and without proofs, we are not recalling them here.
A very similar situation is in [63] (Theorems 4.1 and 5.1), where the stability of a functional equation of type (11) (called the n-dimensional quartic functional equation) has been studied in the 2-normed spaces.
In [64] (Theorems 3.1 and 4.1), the authors apply two different methods to prove the stability results for a functional equation of type (11) (called the dimensional quartic functional equation, with ) in 2-normed spaces. The main results are presented with proofs, but unfortunately (analogously as in [62,63]) in a manner that is unclear for us. So we have decided not to present them here.
5. Some Other Results
Several other stability results in 2-normed spaces (also non-Archimedean and random) have been presented in [65] (for the Pexiderized Cauchy functional equation), in [17,66] (for the Cauchy equation), in [67] (for a generalized radical cubic functional equation related to quadratic functional equation), in [68] (for the radical quartic functional equation), in [69] (for the quadratic functional equation), in [70] (for the generalized Cauchy functional equation), in [71] (for a functional equation called the Cauchy–Jensen functional equation), in [72] (for a general p-radical functional equation) [73] (for radical sextic functional equation), in [74] (for several functional equations of quadratic-type), in [75,76] (for the functional equation of p-Wright affine functions), in [77] (for a system of additive-cubic-quartic functional equations with constant coefficients in non-Archimedean 2-normed spaces), in [78] (for a functional inequality in non-Archimedean 2-normed spaces), in [79] (for a cubic functional equation in random 2-normed spaces), in [80] (for the Pexiderized quadratic functional equation in the random 2-normed spaces) and in [81] (for radical functional equations in 2-normed spaces and p-2-normed spaces). However, as these results are more involved and of a different character than those presented so far, we will discuss them in more details in another publication.
Furthermore, the stability results in n-normed spaces, which can be found in [29,31,32,33,35,36,37,53,82,83,84,85,86], will be discussed in a future publication.
Author Contributions
Conceptualization, A.B., J.B., E.-s.E.-h., and Z.L.; methodology, A.B., J.B., E.-s.E.-h., and Z.L.; software, A.B., J.B., and E.-s.E.-h.; validation, A.B., J.B., E.-s.E.-h., and Z.L.; formal analysis, A.B., J.B., E.-s.E.-h., and Z.L.; investigation, A.B., J.B., and E.-s.E.-h.; resources, A.B., J.B. and E.-s.E.-h.; data curation, A.B., J.B., and E.-s.E.-h.; writing—original draft preparation, E.-s.E.-h.; writing—review and editing, A.B. and J.B.; visualization, A.B., J.B., and E.-s.E.-h.; supervision, J.B.; project administration, A.B., J.B., and E.-s.E.-h.; funding acquisition, J.B. and Z.L. All authors have read and agreed to the published version of the manuscript.
Funding
This research received no external funding.
Conflicts of Interest
The authors declare no conflict of interest.
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