Abstract
In the qualitative theory of differential equations in Banach spaces, the resolving families of operators of such equations play an important role. We obtained necessary and sufficient conditions for the existence of strongly continuous resolving families of operators for a linear homogeneous equation resolved with respect to the Hilfer derivative. These conditions have the form of estimates on derivatives of the resolvent of a linear closed operator from the equation and generalize the Hille–Yosida conditions for infinitesimal generators of -semigroups of operators. Unique solvability theorems are proved for the corresponding inhomogeneous equations. Illustrative examples of the operators from the considered classes are constructed.
Keywords:
Cauchy-type problem; Hilfer derivative; Laplace transform; resolving family of operators; Hille–Yosida-type conditions; inhomogeneous equation MSC:
47D99; 34G10; 35R11; 47G20
1. Introduction
The uniform well-posedness of the Cauchy problem for first-order differential equations is traditionally studied in terms of semigroups of operators. Briefly, a resolving -continuous semigroup of operators of the equation exists if and only if the respective Cauchy problem is uniformly well posed [,,,]. In this case, every operator maps the initial data to a value of a solution of the problem at time . Such operators for a first-order equation form a semigroup, but for other equations, it is not so. But even in the absence of the semigroup property, the study of resolving families of operators of various differential equations allows us to obtain important qualitative results on their solutions. Therefore, the issue of the existence of a resolving family for a differential equation is very important. This issue is equivalent to the fulfillment of the criterion in the form of Hille–Yosida conditions for the operator A from a first-order equation or their generalizations for other equations. Strongly continuous resolving families and criteria of their existence have been studied for second-order equations [,,], for some integro-differential equations [], for evolution integral equations [], for equations with the Gerasimov–Caputo derivative [,,], with the Riemann–Liouville derivative [,], and with a distributed Gerasimov–Caputo derivative []. Various applications in physics of integro-differential equations and differential equations with fractional derivatives, including the Hilfer derivative, which is the focus of this work, can be found in [,,].
Here, we study strongly continuous resolving families for a linear equation in a Banach space :
where is the Hilfer derivative [] of an order , , of a kind , and A is a linear closed operator in . The Cauchy-type problem
is considered for Equation (1). Hereafter, is the Riemann–Liouville fractional derivative for , and the Riemann–Liouville fractional integral for (see below for details) is , .
In the second section, the main definitions are given, and some basic properties of operators from a resolving family for Equation (1) are proved. In the third section, it is shown that for , Equation (1) has a resolving family of operators in the case of a bounded operator A only. Hence, the only case of interest is . The main result is proved here. It is a theorem on necessary and sufficient conditions of the existence of a resolving family of operators for Equation (1). These conditions generalize the Hille–Yosida conditions for -continuous semigroups of operators. The most difficult issue is the sufficiency of these conditions; it was solved using Phillips-type approximations [,] and by applying the properties of operator A’s resolvents without assuming the presence of the Radon–Nikodym property in a considered Banach space. Due to the main theorem, problem (1) and (2) have a solution, and their uniqueness is proved. In the fourth section, we show the unique solution of existence for Cauchy-type problem (2) for the inhomogeneous equation under some assumptions on f. The fifth section contains the construction of a family of operators , such that for , where and , there exists a resolving family for Equation (1), and for , it is true only for or . The last section contains an application of this result for the investigation of an initial boundary value problem with a time fractional-order one-dimensional Schrödinger equation.
In the case of , the obtained abstract results coincide with the corresponding results of [,,]. Note the works [,] on equations with the Hilfer derivative and their resolving families of various classes.
2. Primary Results
Let be a Banach space. For and , let
be the Riemann–Liouville fractional integral, , , be the usual derivative of the m-th order, and be the Riemann–Liouville derivative of . For , we will also denote .
Denote , The Hilfer fractional derivative of an order , , and of a kind is defined as
For sufficiently smooth h, we have . For , due to our designations, we obtain
Remark 1.
For , the Hilfer fractional derivative coincides with the Riemann–Liouville derivative, and for , the Hilfer derivative is the Gerasimov–Caputo fractional derivative (see [,,]).
Denote the Laplace transform for as or . Denote also . Hereafter, the principal branch of the power function will be used.
Lemma 1.
[]. Let , , have the Laplace transform, and . Then,
It is known (see, e.g., [,]) that
Let be the Banach space of all linear continuous operators from to , and let denote the set of all linear closed operators, densely defined in , acting on space . We supply the domain of an operator through the norm of its graph, and thus, we obtain the Banach space .
We will use the notation for the set of all functions h that belong to and are absolutely continuous on every segment -th derivative.
Consider the Cauchy-type problem
for an equation
with , , . A solution for problem (4) and (5) is a function such that , , and condition (4) and equality (5) for are valid.
Definition 1.
Let , . A family of operators is called resolving for Equation (5) if the following conditions are satisfied:
- (i)
- ,
- (ii)
- For every ,
- (iii)
- , for all ,
- (iv)
- For every is a solution of the Cauchy-type problem , , , for Equation (5).
We write if a resolving family of operators for Equation (5) with a constant in condition (i) exists.
Remark 3.
In the case of , Equation (5) has a resolving family of operators that can be calculated (see, e.g., []):
where is the Mittag–Leffler function. Thus, with some ω depending on .
Definition 2.
Let , . An operator is called the operator of the class for a some constant if the following two conditions are fulfilled:
(i) If , then
(ii)
Remark 4.
Conditions (i) and (ii) generalize the Hille–Yosida conditions and agree with them if . Indeed, in this case, we can use the formula for the n-th-order derivative of the resolvent and obtain
Remark 5.
In Theorem 2.8 [], it was proved that the equation has a resolving family of operators, where
is the Gerasimov–Caputo derivative if and only if .
Lemma 2.
Let , . Then, .
Proof.
Denote for , . For , , we have
due to equality (10) [] with instead of . The proof is completed. □
Remark 6.
The assertion of Lemma 2 for , was proved in [].
Lemma 3.
Let , , , and let be a resolving family of operators. Then, and
Proof.
For , , it follows from Lemma 1 that
due to conditions (iii) and (iv) of Definition 1 and the closedness of A. This implies the invertibility of the operator and the fulfilment of (6). The boundedness of follows from the obtained inclusion of .
If we differentiate the equality
with respect to , we obtain, for ,
Consequently, □
Corollary 1.
Let , . Then, .
Lemma 4.
Let , , . Then, for every , ,
Proof.
Due to the condition , for , the inequalities
and are valid. For ,
The density in of the domain implies that for every .
Moreover, for ,
Hence,
Analogously, we can obtain the required statement for every . □
Corollary 2.
Let , , . Then, for arbitrary , the domain is dense in the space .
Proof.
Consider . Then, and □
Corollary 3.
Let , , . Then, for arbitrary , the domain is dense in the space with the graph norm of operator A.
Proof.
Due to Lemma 4, for , we obtain and
Thus,
□
Theorem 1.
Let , . There exist a resolving family of operators for Equation (5). Then, the family of operators is continuous in the norm of at the point if and only if .
Proof.
Consider . Then,
For , by Lemma 3, ; hence,
By the assumption of the theorem, the function is continuous on ; in addition, . For any , take a number such that for every ; therefore,
Here, we take into account that for all . Hence, for sufficiently large , we have , and there exists a continuous inverse operator for . Thus, .
Now, suppose that . Hence, the inverse Laplace transform of is defined for . Take for . Then, for , we have equalities
which imply that
as □
3. Existence Criterion of a Resolving Family of Operators
Theorem 2.
Let and with . Then, .
Proof.
If , then Corollary 1 implies that . Therefore, the complex plane without some bounded set belongs to the resolvent set . Hence, for sufficiently large , it is necessary that . Then, by Corollary 1,
Due to Lemma 5.2 [], operator A is bounded. □
Let , for . For and , define using the Phillips approximations [] (Theorem 6.3.3) for the inverse Laplace transform as follows:
This series is uniformly convergent on all segments , with any ; moreover, for ,
Due to the asymptotic expansion of the Euler gamma function [] (§1.18)
we have
The asymptotics of the Mittag–Leffler function [] (p. 12)
imply that and Consequently, for all ,
It is not difficult to prove the infinite differentiability of at every .
Lemma 5.
Let , , . Then, there exists the strong limit , which is uniform with respect to t on all segments of the form , .
Proof.
Take in further considerations , for which ; hence, If , then we have
Therefore,
and the integral
converges.
For , we have
Hence, , since is analytic on .
If , , , then for sufficiently large ,
If , , we pass limit in the equality
The domain is dense in the space due to Corollary 2. In addition, the family is uniformly bounded on segments , . Hence, the convergence of is strong and uniform with respect to t on segments . □
Denote , . Due to (7),
Lemma 5 implies that is a strongly continuous family of operators. Due to the proof of Lemma 5, we have for ,
Theorem 3.
Let , . Then, .
Proof.
The inclusion is proved in Corollary 1. Let . In this case, as it is proved above, there exists the strongly continuous family .
If , then the derivatives are sums of natural powers of , which are multiplied by scalar functions. Consequently,
Due to these relations, and for . If we pass the limit as , then and for due to the closedness of A.
If , then and , and for , we have
, since .
For any , choose , where and the denotation is used. Since the operator commutes with by the construction, we have
If , then we choose and have
After using on the left and right sides of equality (10) and on both sides of (11), we obtain , and for , , we have .
If , then
In this case, for , ,
Hence, . Due to Corollary 3, the domain is dense in ; therefore, equality (12) can be extended on . Indeed,
for , . Therefore, for , and , and for , .
Thus, is a resolving family of operators for Equation (5). □
Remark 7.
Due to Lemma 3, the resolving family of operators for Equation (5) is unique.
Denote
Remark 8.
We can affirm that for , . Indeed, due to Lemma 2 and Theorem 2, , and by means of Remark 3, .
Corollary 4.
Let , , , and . Then, the Cauchy-type problem for Equation (5) has a unique solution. It has a form .
Proof.
Due to Theorem 3, it remains to prove that the problem solution is unique.
Corollary 5.
Let , , , and . Then, the Cauchy-type problem
for Equation (5) has a unique solution. It has a form .
4. Unique Solvability of Inhomogeneous Equations
Consider the Cauchy-type problem
with , , , and . A solution to problem (15) and (16) is called a function such that
condition (15) is valid, and equality (16) is fulfilled for .
Lemma 6.
Let , , , and . Then, the Cauchy-type problem for Equation (16) has a unique solution. It has a form
Proof.
From the proof of Theorem 3, it follows that for ,
and
Hence, So, we obtain
Due to the closedness of the operator A and its commutation with operators , for ,
which implies for all .
Further, for ,
□
Theorem 4.
Now, consider the Cauchy-type problem
for a linear inhomogeneous equation
where , , , and . A solution to problem (17) and (18) is called a function such that , condition (17) is valid, and (18) is fulfilled for all .
Lemma 7.
Let , , , , and
Then, the Cauchy-type problem , for Equation (18) has a unique solution. It has a form
Proof.
Therefore,
Since , we have .
Further,
The closedness of the operator A and its commutation with operators and the condition for imply that
Therefore, for .
Finally,
since for every , as it is proved in Theorem 3. □
Corollary 5 and the linearity of Equation (18) imply the next statement.
5. Simple Examples of Operators from
Take the Banach space , which consists of sequences , where for , such that the series is convergent.
Consider the Cauchy-type problem
where , , , and . Set and for such that , which make up the domain . It is not difficult to prove that for all , and . Let Then, for every and , we have and . So, we will consider only.
Solving problem (20) and (21) for every individually, we obtain that the resolving family of equation has a form where (see Remark 3). Since , we have for a fixed , due to the asymptotic expansion of the Mittag–Leffler function ([], p. 13) for ,
Therefore, . Since for the equality holds, and for every , we have
Thus, for every .
Now, take . Then, , and for a fixed using the asymptotic expansion of the Mittag–Leffler function ([], p. 12), we obtain
as . So, for , . If or , (20) is the Cauchy problem for the equation , , or , , and or .
Analogously, we can consider the case .
6. Application to Initial Boundary Value Problem
For , consider in a bounded domain with a smooth boundary , the initial boundary value problem
for the linear-time fractional Schrödinger equation
where , , is the Riemann–Liouville fractional integral with respect to the time variable t, is the Hilfer fractional derivative with respect to t, i is the imaginary unit, is the Laplace operator, and . In setting , linear operator is defined as , , . Thus, problem (22)–(24) is a partial case of problem (4) and (5).
It is known that , where are real negative eigenvalues of the Laplace operator, which are numbered in non-decreasing order, taking into account their multiplicities. Let be the corresponding eigenfunctions of the operator A, which form an orthonormal basis in . Decomposing all the vectors in according to this basis, we present problem (22)–(24) as follows:
Here, and , . Thus, we obtained problem (20) and (21) in the space, since the Fourier coefficient sequences for every and belong to .
For simplicity, let and ; then, , , . Arguing in a similar manner as in the previous section, we obtain that this operator is analogous to operator () and that there exists a family of resolving operators for every and .
7. Conclusions
A Cauchy-type problem for a linear homogeneous differential equation in a Banach space with the Hilfer derivative and with a closed operator A at the unknown function is considered. A generalization of the Hille–Yosida theorem on generation using the operator A of a strongly continuous resolving family of operators for such equations is obtained. It allows for the investigation of the unique solvability of the Cauchy-type problem for the corresponding inhomogeneous equations. The obtained results are illustrated by examples of specially constructed operators A. We plan to continue studying the conditions for the existence of strongly continuous resolving families of operators for equations with other fractional derivatives and integro-differential operators.
Author Contributions
Conceptualization, M.V.P. and W.-S.D.; methodology, M.V.P. and M.K.; software, M.V.P.; validation, A.S.S.; formal analysis, A.S.S.; investigation, V.E.F. and A.S.S.; resources, M.K.; data curation, M.K.; writing—original draft preparation, V.E.F. and W.-S.D.; writing—review and editing, V.E.F. and W.-S.D.; visualization, A.S.S.; supervision, V.E.F. and W.-S.D.; project administration, V.E.F.; funding acquisition, W.-S.D. All authors have read and agreed to the published version of the manuscript.
Funding
Vladimir E. Fedorov, Marina V. Plekhanova, and Anton S. Skorynin were supported by a grant from the Russian Science Foundation and the Government of the Chelyabinsk region, project number 24-11-20002, https://rscf.ru/project/24-11-20002/ (accessed on 22 January 2025). Marko Kostić was partially supported by grant 174024 of the Ministry of Science and Technological Development, Republic of Serbia, and the bilateral project between MANU and SANU. Wei-Shih Du was partially supported by grant No. NSTC 113-2115-M-017-004 of the National Science and Technology Council of the Republic of China.
Data Availability Statement
No new data were created.
Conflicts of Interest
The authors declare no conflicts of interest. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results.
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