Sturm Liouville Problem in Advanced Calculus
Sturm Liouville Problem in Advanced Calculus
Examples of Regular Sturm-Liouville Eigenvalue Problems We will now look at examples of regular Sturm-Liouville differential equations with various combinations of the three types of boundary conditions Dirichlet, Neumann and Robin. All of the examples are special cases of the Sturm-Liouville differential equation L( y ) + w( x ) y = 0 where L is the Sturm-Liouville operator L( y ) = p( x ) + q( x ) y y x x We focus on three types of differential equations: Euler, Cauchy-Euler, and Bessel. Each one of these differential equations is characterized by a different set of Sturm-Liouville coefficients p( x ), q( x ), and w( x ). Subject to a particular set of boundary conditions, we will: 1. generate the eigenvalues, the corresponding eigenfunctions, and the statement of orthonormality. 2. then provide an example of a generalized Fourier series expansion of a given function in terms of the particular eigenfunctions. In solving for the allowed eigenvalues and corresponding eigenfunctions, we would ordinarily consider three possiblities for values of : < 0 , = 0 , and > 0. However, to make our task a little simpler, we will not consider the case for < 0 because it can be shown, by way of the Rayleigh quotient, that, for the particular Sturm-Liouville problems we will be considering, must be greater than or equal to zero.
2 In this worksheet we will look at the Euler operator Lu = u on the interval (0,b) and the BC x x are 1/ Dirichlet condition at both ends. 2/ Mixed BC: Dirichlet at 0 and Neumann at b.
EXAMPLE 2.5.1: Consider the Euler operator with Dirichlet conditions. We seek the eigenvalues and corresponding orthonormal eigenfunctions for the Euler differential equation [Sturm-Liouville type for p( x ) = 1 , q( x ) = 0, w( x ) = 1] over the interval I = { x | 0 < x < b }. The boundary conditions are type 1 at the left and type 1 at the right end points.
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Boundary conditions y( 0 ) = 0 and y( b ) = 0 SOLUTION: We consider two possibilities for values of . We first consider = 0. The system basis vectors (or fundamental solutions) are > restart:y1:= x->1;y2:=x->x; y1 := 1 y2 := x x General solution is then > y:=x->C1*y1(x)+C2*y2(x); y := x C1 y1( x ) + C2 y2( x ) Substitution into the boundary conditions yields the system to determine C1,C2 > {y(0)=0, y(b)=0}; solve(%,{C1,C2}); { C1 = 0, C1 + C2 b = 0 } { C2 = 0, C1 = 0 } We obtain the trivial solution y( x ) = 0, thus = 0 is not an eigenvalue. We next consider > 0. We set = . The system basis vectors are
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> y1:=x->sin(mu*x);y2:=x->cos(mu*x); y1 := x sin( x ) y2 := x cos( x ) General solution > y:=x->C1*y1(x)+C2*y2(x); y := x C1 y1( x ) + C2 y2( x ) Substituting into the boundary conditions, we get > {y(0)=0, y(b)=0};
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{ C2 = 0, C1 sin( b ) + C2 cos( b ) = 0 } From the first equation, C2 = 0. We must look for such that y( x ) is not identically zero. The only nontrivial solutions to the above occur when C2 = 0, C1 is arbitrary and satisfies the following eigenvalue equation Let's ask Maple to find > sin(mu*b)=0; solve(%,mu); sin( b ) = 0 0 Maple did not give us all of possible solutions. In fact, sin( x ) = 0 if x = n for integers n . Thus, takes on the values > mu:=n->n*Pi/b; := n for n = 1, 2, 3, ... . Allowed eigenvalues are n = n
2
n b
> lambda[n]:=(n*Pi/b)^2; n := Non-normalized eigenfunctions are > Phi:=(n,x)->sin(mu(n)*x); := ( n, x ) sin( ( n ) x ) Normalization Evaluating the norm from the inner product of the eigenfunctions with respect to the weight function w( x ) = 1 over the interval yields > w(x):=1:sqrt(int(Phi(n,x)^2*w(x),x=0..b)); 1 2 b ( cos( n ) sin( n ) + n ) n n2 b2
2
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2 b 2 Orthonormal eigenfunctions is then obtained by dividing the non-normalized eigenfunctions by their norm > phi:=(n,x)->Phi(n,x)/e_norm[n]; ( n, x ) e_normn
e_normn :=
:= ( n, x ) Statement of orthonormality
f_series := x
n=1
Fn ( n, x )
This is the generalized series expansion of f( x ) in terms of the "complete" set of eigenfunctions for the particular Sturm-Liouville operator and given boundary conditions over the interval. DEMONSTRATION: Develop the generalized series expansion for f( x ) = x over the interval I = { x |
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0 < x < 1 } in terms of the above eigenfunctions. We assign the system values > a:=0;b:=1;f:=x->x; a := 0 b := 1 f := x x SOLUTION: We evaluate the Fourier coefficients > eval(int(f(x)*phi(n,x)*w(x),x=a..b)); 2 ( sin( n ) + n cos( n ) ) n2
2
> F[n]:=subs({sin(n*Pi)=0,cos(n*Pi)=(-1)^n},%); 2 ( -1 )n n
Fn :=
> Series:=x->sum(F[n]*phi(n,x),n=1..infinity);
n=1
Fn ( n, x )
n=1
Fn ( n, x )
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Figure 2.4 The curves of Figure 2.4 depict the function f( x ) and its Fourier series approximation in terms of the orthonormal eigenfunctions for the particular operator and boundary conditions given earlier. Note that f( x ) satisfies the given boundary conditions at the left but fails to do so at the right end point. The convergence is pointwise. EXAMPLE 2.5.2: Consider the Euler operator with Dirichlet and Neumann conditions. We seek the eigenvalues and corresponding orthonormal eigenfunctions for the Euler differential equation [Sturm-Liouville type for p( x ) = 1 , q( x ) = 0, w( x ) = 1] over the interval I = { x | 0 < x < b }. The boundary conditions are type 1 at the left and type 2 at the right. Euler differential equation
2 y( x ) + y( x ) = 0 x x
Boundary conditions
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y( 0 ) = 0 and yx( b ) = 0 SOLUTION: We consider two possibilities for values of . We first consider = 0. The system basis vectors are > restart:y1:=x->1;y2:=x->x; y1 := 1 y2 := x x General solution > y:=x->C1*y1(x)+C2*y2(x); y := x C1 y1( x ) + C2 y2( x ) Substituting the boundary conditions yields > subs(x=0,y(x))=0; C1 = 0 > subs(x=b,diff(y(x),x))=0; C2 = 0 The only solution to the above is the trivial solution. We next consider > 0. We set = .
2
The system basis vectors are > y1:=x->sin(mu*x);y2:=x->cos(mu*x); y1 := x sin( x ) y2 := x cos( x ) General solution > y:=x->C1*y1(x)+C2*y2(x); y := x C1 y1( x ) + C2 y2( x ) Substituting the boundary conditions yields > eval(subs(x=0,y(x)))=0; C2 = 0 > eval(subs(x=b,diff(y(x),x)))=0;
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C1 cos( b ) C2 sin( b ) = 0 The only nontrivial solutions occur when C2 = 0, C1 is arbitrary, and satisfies the following eigenvalue equation > cos(mu*b)=0; cos( b ) = 0 Thus, takes on values > mu[n]:=(2*n-1)*Pi/(2*b); n := for n = 1, 2, 3, ... Allowed eigenvalues are n = n > lambda[n]:=mu[n]^2; n := Non-normalized eigenfunctions are > Phi:=(n,x)->sin(mu[n]*x); := ( n, x ) sin( n x ) Normalization Evaluating the norm from the inner product of the eigenfunctions with respect to the weight function w( x ) = 1 over the interval yields > w(x):=1:e_norm[n]:=sqrt(int(Phi(n,x)^2*w(x),x=0..b)); 1 2 b ( 2 sin( n ) cos( n ) + 2 n ) (2 n 1) 1 ( 2 n 1 )2 4 b2
2 2
1 (2 n 1) 2 b
e_normn :=
e_normn :=
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:= ( n, x ) Statement of orthonormality
Generalized Fourier series expansion > f_Series:=x->Sum(F[n]*phi(n,x),n=1..infinity); This is the generalized series expansion of f( x ) in terms of the "complete" set of eigenfunctions for the particular Sturm-Liouville operator and boundary conditions over the interval. f_Series := x
n=1
Fn ( n, x )
DEMONSTRATION : Develop the generalized series expansion for f( x ) = x over the interval I = { x | 0 < x < 1 } in terms of the preceding eigenfunctions. We assign the system values
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> a:=0;b:=1;f:=x->x; a := 0 b := 1 f := x x SOLUTION: We evaluate the Fourier coefficients > F[n]:=int(f(x)*phi(n,x)*w(x),x=a..b); 2 ( 2 cos( n ) + 2 sin( n ) n sin( n ) ) ( 2 n 1 )2
2
Fn := 2
Fn := 4
n=1
Fn ( n, x )
> plot({Part_Series(3,x),f(x)},x=0..b,thickness=3);
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Figure 2.5 The two curves of Figure 2.5 depict the function f( x ) and its Fourier series approximation in terms of the orthonormal eigenfunctions for the particular operator and boundary conditions given earlier. Note that f( x )satisfies the given boundary conditions at the left but fails to do so at the right end point. The convergence is pointwise. >
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