Previously, boundary control problems for parabolic type equations were considered. A portion of the thin rod boundary has a temperature-controlled heater. Its mode of operation should be found so that the average temperature in some region reaches a certain value. In this article, we consider the boundary control problem for the pseudo-parabolic equation. The value of the solution with the control parameter is given in the boundary of the interval. Control constraints are given such that the average value of the solution in considered domain takes a given value. The auxiliary problem is solved by the method of separation of variables, and the problem under consideration is reduced to the Volterra integral equation. The existence theorem of admissible control is proved by the Laplace transform method.
Citation: Farrukh Dekhkonov. On a boundary control problem for a pseudo-parabolic equation[J]. Communications in Analysis and Mechanics, 2023, 15(2): 289-299. doi: 10.3934/cam.2023015
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Previously, boundary control problems for parabolic type equations were considered. A portion of the thin rod boundary has a temperature-controlled heater. Its mode of operation should be found so that the average temperature in some region reaches a certain value. In this article, we consider the boundary control problem for the pseudo-parabolic equation. The value of the solution with the control parameter is given in the boundary of the interval. Control constraints are given such that the average value of the solution in considered domain takes a given value. The auxiliary problem is solved by the method of separation of variables, and the problem under consideration is reduced to the Volterra integral equation. The existence theorem of admissible control is proved by the Laplace transform method.
Consider the pseudo-parabolic equation in the domain Ω={(x,t):0<x<l, t>0}:
∂u∂t=∂2∂t∂x(k(x)∂u∂x)+∂∂x(k(x)∂u∂x),(x,t)∈Ω, | (1.1) |
with boundary conditions
u(0,t)= μ(t),u(l,t)=0,t>0, | (1.2) |
and initial condition
u(x,0)=0,0≤x≤l. | (1.3) |
Assume that the function k(x)∈C2([0,l]) satisfies the conditions
k(x)>0,k′(x)≤0,0≤x≤l. |
The condition (1.2) means that there is a magnitude of output given by a measurable real-valued function μ(t) (See [1,2,3] for more information).
Definition 1. If function μ(t)∈W12(R+) satisfies the conditions μ(0)=0 and |μ(t)|≤1, we say that this function is an admissible control.
Problem B. For the given function θ(t) Problem B consists looking for the admissible control μ(t) such that the solution u(x,t) of the initial-boundary problem (1.1)-(1.3) exists and for all t≥0 satisfies the equation
l∫0u(x,t)dx=θ(t). | (1.4) |
One of the models is the theory of incompressible simple fluids with decaying memory, which can be described by equation (1) (see [1]). In [2], stability, uniqueness, and availability of solutions of some classical problems for the considered equation were studied (see also [4,5]). Point control problems for parabolic and pseudo-parabolic equations were considered. Some problems with distributed parameters impulse control problems for systems were studied in [3,6]. More recent results concerned with this problem were established in [7,8,9,10,11,12,13,14,15]. Detailed information on the problems of optimal control for distributed parameter systems is given in [16] and in the monographs [17,18,19,20]. General numerical optimization and optimal boundary control have been studied in a great number of publications such as [21]. The practical approaches to optimal control of the heat conduction equation are described in publications like [22].
Control problems for parabolic type equations are considered in works [13,14] and [15]. In this work, such control problems are considered for the pseudo-parabolic equation.
Consider the following eigenvalue problem
ddx(k(x)dvk(x)dx)=−λkvk(x),0<x<l, | (1.5) |
with boundary condition
vk(0)=vk(l)=0,0≤x≤l. | (1.6) |
It is well-know that this problem is self-adjoint in L2(Ω) and there exists a sequence of eigenvalues {λk} so that 0<λ1≤λ2≤...≤λk→∞, k→∞. The corresponding eigenfuction vk form a complete orthonormal system {vk}kϵN in L2(Ω) and these function belong to C(ˉΩ), where ˉΩ=Ω∪∂Ω (see, [23,24]).
Definition 2. By the solution of the problem (1.1)–(1.3) we understand the function u(x,t) represented in the form
u(x,t)=l−xlμ(t)−v(x,t), | (2.1) |
where the function v(x,t)∈C2,1x,t(Ω)∩C(ˉΩ), vx∈C(ˉΩ) is the solution to the problem:
vt=∂2∂t∂x(k(x)∂v∂x)+∂∂x(k(x)∂v∂x)+ |
+k′(x)lμ(t)+k′(x)lμ′(t)+l−xlμ′(t), |
with boundary conditions
v(0,t)=0,v(l,t)=0, |
and initial condition
v(x,0)=0. |
Set
βk=(λkak−bk)γk, | (2.2) |
where
ak=l∫0l−xlvk(x)dx,bk=l∫0k′(x)lvk(x)dx, | (2.3) |
and
γk=l∫0vk(x)dx. | (2.4) |
Consequently, we have
v(x,t)=∞∑k=1vk(x)1+λkt∫0e−μk(t−s)(μ′(s)ak+μ′(s)bk+μ(s)bk)ds, | (2.5) |
where ak, bk defined by (2.3) and μk=λk1+λk.
From (2.1) and (2.5) we get the solution of the problem (1.1)–(1.3) (see, [23,25]):
u(x,t)=l−xlμ(t)−∞∑k=1vk(x)1+λkt∫0e−μk(t−s)(μ′(s)ak+μ′(s)bk+μ(s)bk)ds. |
According to condition (1.4) and the solution of the problem (1.1)-(1.3), we may write
θ=l∫0u(x,t)dx=μ(t)l∫0l−xldx−∞∑k=111+λk(t∫0e−μk(t−s)(μ′(s)ak+μ′(s)bk+μ(s)bk)ds)l∫0vk(x)dx=μ(t)l∫0l−xldx−∞∑k=1bkγk1+λkt∫0e−μk(t−s)μ(s)ds−∞∑k=1(ak+bk)γk1+λkt∫0e−μk(t−s)μ′(s)ds=μ(t)l∫0l−xldx−∞∑k=1bkγk1+λkt∫0e−μk(t−s)μ(s)ds−μ(t)∞∑k=1(ak+bk)γk1+λk+∞∑k=1(ak+bk)λkγk(1+λk)2t∫0e−μk(t−s)μ(s)ds. | (2.6) |
where γk defined by (2.4).
Note that
l∫0l−xldx=l∫0(∞∑k=1akvk(x))dx=∞∑k=1akγk. | (2.7) |
Thus, from (2.6) and (2.7) we get
θ(t)=μ(t)∞∑k=1βk1+λk+∞∑k=1βk(1+λk)2t∫0e−μk(t−s)μ(s)ds,t>0, | (2.8) |
where βk defined by (2.2).
Set
B(t)=∞∑k=1βk(1+λk)2e−μkt,t>0, | (2.9) |
and
δ=∞∑k=1βk1+λk. |
According to (2.8) and (2.9), we have the following integral equation
δμ(t)+t∫0B(t−s)μ(s)ds=θ(t),t>0. | (2.10) |
Proposition 1. For the cofficients {βk}∞k=1 the estimate
0≤βk≤C,k=1,2,... |
is valid.
Proof. Step 1. Now we use (1.5) and (2.3). Then consider the following equality
λkak=l∫0l−xlλkvk(x)dx=−l∫0l−xlddx(k(x)dvk(x)dx)dx |
=−(l−xlk(x)v′k(x)|x=lx=0+1ll∫0k(x)v′k(x)dx)=k(0)v′k(0)−1ll∫0k(x)v′k(x)dx |
=k(0)v′k(0)−1l(k(l)vk(l)−k(0)vk(0))+l∫0k′(x)lvk(x)dx |
=k(0)v′k(0)+bk. |
Then we have
λkak−bk=k(0)v′k(0). | (2.11) |
Step 2. Now we integrate the Eq. (1.5) from 0 to x
k(x)v′k(x)−k(0)v′k(0)=−λkx∫0vk(τ)dτ, |
and according to k(x)>0, x∈[0,l], we can write
v′k(x)−1k(x)k(0)v′k(0)=−λkk(x)x∫0vk(τ)dτ. | (2.12) |
Thus, we integrate the Eq. (2.12) from 0 to l. Then we have
vk(l)−vk(0)−k(0)v′k(0)l∫0dxk(x)=−λkl∫01k(x)(x∫0vk(τ)dτ)dx. | (2.13) |
From (1.6) and (2.13) we get
k(0)v′k(0)l∫0dxk(x)=λkl∫01k(x)(x∫0vk(τ)dτ)dx. |
Then
k(0)v′k(0)=λkl∫0G(τ)vk(τ)dτ, | (2.14) |
where
G(τ)=l∫τdxk(x)(l∫0dxk(x))−1. |
According to G(τ)>0 and from (2.14) we have (see, [24])
v′k(0)l∫0vk(τ)dτ≥0. | (2.15) |
Consequently, from (2.11) and (2.15) we get the following estimate
βk=(λkbk−ak)γk=k(0)v′k(0)⋅l∫0vk(x)dx≥0. |
Step 3. It is clear that if k(x)∈C1([0,l]), we may write the estimate (see, [24,26])
max0≤x≤l|v′k(x)|≤Cλ1/2k. |
Therefore,
|v′k(0)|≤Cλ1/2k,|v′k(l)|≤Cλ1/2k, | (2.16) |
Then from Eq. (1.5), we can write
k(l)v′k(l)−k(0)v′k(0)=−λkl∫0vk(x)dx=−λkγk. | (2.17) |
According to (2.16) and (2.17) we have the estimate
|γk|≤|1λk(k(l)v′k(l)−k(0)v′k(0))|≤Cλ−1/2k. |
Then
βk≤k(0)|v′k(0)γk|≤C. |
Proposition 2. A function B(t) is continuous on the half-line t≥0.
Proof. Indeed, according to Proposition 1 and (2.9), we can write
0<B(t)≤const∞∑k=11(1+λk)2. |
Denote by W(M) the set of function θ∈W22(−∞,+∞), θ(t)=0 for t≤0 which satisfies the condition
‖ |
Theorem 1. There exists such that for any function the solution of the equation (2.10) exists, and satisfies condition
We write integral equation (2.10)
By definition of the Laplace transform we have
Applying the Laplace transform to the second kind Volterra integral equation (2.10) and taking into account the properties of the transform convolution we get
Consequently, we obtain
and
(3.1) |
Then we can write
where and
It is clear that
and we have the inequality
(3.2) |
Consequently, according to (3.2) we can obtain the estimates
(3.3) |
and
(3.4) |
where , as follows
From (3.3) and (3.4), we have the estimate
and
(3.5) |
Then, by passing to the limit at from (3.1), we can obtain the equality
(3.6) |
Lemma 1. Let . Then for the image of the function the following inequality
is valid.
Proof. We use integration by parts in the integral representing the image of the given function
Then using the obtained inequality and multiplying by the corresponding coefficient we get
and for we have
Also, we can write the following equality
Then we have
(3.7) |
Consequently, according to (3.7) we get the following estimate
Proof of the Theorem 1. We prove that . Indeed, according to (3.5) and (3.6), we obtain
Further,
Hence, , where . Then from (3.5), (3.6) and (3.7), we have
as we took
An auxiliary boundary value problem for the pseudo-parabolic equation was considered. The restriction for the admissible control is given in the integral form. By the separation variables method, the desired problem was reduced to Volterra's integral equation. The last equation was solved by the Laplace transform method. Theorem on the existence of an admissible control is proved. Later, it is also interesting to consider this problem in the dimensional domain. We assume that the methods used in the present problem can also be used in the dimensional domain.
The authors declare they have not used Artificial Intelligence (AI) tools in the creation of this article.
The author declare there is no conflict of interest.
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