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Beginning Partial Differential Equations
PURE AND APPLIED MATHEMATICS
A Wiley Series of Texts, Monographs, and Tracts
Founded by RICHARD COURANT
Editors Emeriti: MYRON B. ALLEN III, PETER HILTON, HARRY
HOCHSTADT, ERWIN KREYSZIG, PETER LAX, JOHN TOLAND
A complete list of the titles in this series appears at the end of this volume.
Beginning Partial Differential Equations
Third Edition
Peter V. O'Neil
The University of Alabama
at Birmingham
WILEY
Copyright© 2014 by John Wiley & Sons, Inc. All rights reserved.
Published by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved.
Published simultaneously in Canada.
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O'Neil, Peter V.
Beginning partial differential equations I Peter V. O'Neil.- Third edition.
pages em
Includes bibliographical references and index.
ISBN 978-1-118-62994-9 (hardback)
I. Differential equations, Partial. I. Title.
QA377.054 2014
515'.353-dc23 2013034307
10 9 8 7 6 5 4 3 2 I
Contents
1 First Ideas 1
1.1 Two Partial Differential Equations 1
1.1.1 The Heat, or Diffusion, Equation 1
1.1.2 The Wave Equation 4
1.2 Fourier Series 10
1.2.1 The Fourier Series of a Function 10
1.2.2 Fourier Sine and Cosine Series 20
1.3 Two Eigenvalue Problems 28
1.4 A Proof of the Fourier Convergence Theorem 30
1.4.1 The Role of Periodicity 30
1.4.2 Dirichlet's Formula 33
1.4.3 The Riemann-Lebesgue Lemma 35 1.4.4 Proof of
37
2 Solutions of the Heat Equation 39
2.1 Solutions on an Interval [0, L] 39
2.1.1 Ends Kept at Temperature Zero 39
2.1.2 Insulated Ends 44
2.1.3 Ends at Different Temperatures 46
2.1.4 A Diffusion Equation with Additional Terms 50
2.1.5 One Radiating End 54
2.2 A Nonhomogeneous Problem 64
2.3 The Heat Equation in Two Space Variables 71
2.4 The Weak Maximum Principle 75
3 Solutions of the Wave Equation 81
3.1 Solutions on Bounded Intervals 81
3.1.1 Fixed Ends 81
3.1.2 Fixed Ends with a Forcing Term 89
3.1.3 Damped Wave Motion 100
3.2 The Cauchy Problem 109
3.2.1 d'Alembert's Solution 110
3.2.1.1 Forward and Backward Waves 113
3.2.2 The Cauchy Problem on a Half Line 120
3.2.3 Characteristic Triangles and Quadrilaterals 123
3.2.4 A Cauchy Problem with a Forcing Term 127
3.2.5 String with Moving Ends 131
3.3 The Wave Equation in Higher Dimensions 137
3.3.1 Vibrations in a Membrane with Fixed Frame 137
3.3.2 The Poisson Integral Solution 140
3.3.3 Hadamard's Method of Descent 144
v
vi CONTENTS
ix
Chapter 1
First Ideas
1
2 CHAPTER 1. FIRST IDEAS
F(x,t)
~
its temperature one degree. The segment of bar between x and x + 6.x has
mass pA6.x, and it will take approximately pcAu(x, t)6.x units of heat energy
to change the temperature of this segment from zero to u(x, t), its temperature
at timet.
The total heat energy in this segment at any time t > 0 is
rx+b.x
E(x, 6.x, t) = lx pcAu(~, t) d~.
This amount of heat energy within the segment at time t can increase in
two ways: heat energy may flow into the segment across its ends (this change
is the flux of the energy), and/or there may be a source or loss of heat energy
within the segment. This can occur if there is, say, a chemical reaction or if the
material is radioactive.
The rate of change of the temperature within the segment, with respect to
time, is therefore
8E
flux plus source or sink
8t
Assume for now that there is no source or loss of energy within the bar. Then
r+b.x 8
flux = Jx peA 8~ (~, t) d~. (1.1)
Now let F(x, t) be the amount of heat energy per unit area flowing across
the cross section at x at time t, in the direction of increasing x. Then the flux
of the energy into the segment between x and x + 6.x at time t is the rate of
flow into the segment across the section at x, minus the rate of flow out of the
segment across the section at x + 6.x (Figure 1.1):
Write this as
flux = -A(F(x + 6.x, t)- F(x, t)). (1.2)
1.1. TWO PARTIAL DIFFERENTIAL EQUATIONS 3
Now recall Newton's law of cooling, which states that heat energy flows from
the warmer to the cooler region, and the amount of heat energy is proportional
to the temperature difference (gradient). This means that
au
F(x, t) = -K ax (x, t).
This equation must be valid for any choices of x and x + ~x, as long as
If we allow for a source term Q(x, t), then the heat equation is
We say that equation 1.4 is homogeneous. Because of the Q (x, t) term, equation
1.5 is nonhomogeneous. Both equations are second-order partial differential
equations because they contain at least one second derivative term, but no
higher derivative. Both equations are also linear, which means they are linear
in the unknown function and its derivatives. By contrast, the second-order
partial differential equation
Ut = kuxx + UUx
is nonlinear because of the uux term, which allows for an interaction between
the density function, u, and its rate of change with respect to x.
The linear, homogeneous heat equation Ut = kuxx has the important features
that a finite sum of solutions and a product of a solution by a constant are again
solutions. That is, if u 1 (x, y) and u 2 (x, y) are solutions, then au 1 (x, y)+bu 2 (x, y)
is also a solution for any numbers a and b. This can be verified by substituting
au 1 + bu 2 into equation 1.4. This is not the case with the nonhomogeneous
equation 1.5, as can also be seen by substitution.
Everyday experience suggests that to know the temperature in a bar of
material at any time we have to have some information, such as the temperature
throughout the bar at some particular time (this is an initial condition), together
with information about the temperatures at the ends of the bar (these are
boundary conditions). A typical initial condition has the form
where a(t) and {3(t) are given functions. These specify conditions at the left
and right ends of the material at all times.
Boundary conditions may also reflect other physical conditions at the bound-
ary. We will see some of these when we solve specific problems in different
settings.
A problem consisting of the heat equation, together with initial and bound-
ary conditions, is called a initial-boundary value problem for the heat equation.
Imagine a string (guitar string, wire, telephone line, power line, or the like)
suspended between two points. We want to describe the motion of the string
1.1. TWO PARTIAL DIFFERENTIAL EQUATIONS 5
X X+~
if it is fixed at its ends, displaced in a specified way and released with a given
velocity.
Place an x-axis along the straightened string from 0 to L, and assume that
each particle of string moves only vertically in a plane. We seek a function
u(x, t) so that, at any timet;::: 0, the graph of the function u = u(x, t) gives the
position or shape of the string at that time. This enables us to view snapshots
of the string in motion.
Begin with a simple case by neglecting damping effects, such as air resistance
and the weight of the string. Let T(x, t) be the tension in the string at point x
and time t, and assume that this acts tangentially to the string. The magnitude
of this vector is T(x, t) =II T(x, t) II· Also assume that the mass, p, per unit
length is constant.
Apply Newton's second law of motion to the segment of string between x and
x+~x. This states that the net force on the segment due to the tension is equal
to the acceleration of the center of mass of the segment times the mass of the
segment. This is a vector equation, meaning that we can match the horizontal
components and the vertical components of both sides. Looking at the vertical
components in Figure 1.2 gives us approximately
Then
v(x + ~x, t) - v(x, t) _ (- )
~X - PUtt x, t .
Let ~x--+ 0. Then x--+ x, and this equation yields
But
v(x, t) = h(x, t) tan( B)= h(x, t)ux,
so
Vx = (hux)x =PUtt·
By assumption, the horizontal component of the tension on the entire segment
of string is zero:
h(x + ~x, t) - h(x, t) = 0.
Therefore, h(x, t) is independent of x, and
Then
(1.6)
As with the heat equation, we attempt to solve the wave equation subject
to initial and boundary conditions specifying the position of the string at time
t = 0, and the forces that set the string in motion.
The boundary conditions if the ends of the string are fixed are
We will also see variations on these boundary conditions. For example, if the
ends are in motion, with their positions at time t given as functions oft, then
specifying the initial position and velocity of the string. Equation 1.6, together
with boundary and initial conditions, is called an initial-boundary value problem
for the wave equation.
As we develop methods of solving these and other partial differential equa-
tions, under a variety of initial and boundary conditions, we will also explore
properties of solutions and questions such as the sensitivity of solutions to small
perturbations of initial and boundary conditions.
1. Show that
2 2
u(x,t) = cos(mrx)e-"' 11" t
2. Show that
u(x, t) = r3f2e-x 2 /4kt
is a solution of Ut = kuxx for x > 0, t > 0. Show also that this solution is
unbounded.
3. Show that
u(x,t) . (n1rx)
= asm L L
cos (n1rct)
satisfies wave equation 1.6, with a any constant, c and L positive constants,
and n any positive integer.
1 1x+ct
u(x, t) = - 'lj;(s) ds.
2c x-ct
1 1 1x+ct
u(x, t) = -(r.p(x- ct) + r.p(x + ct)) + -2 '1/J(s) ds.
2 C x-ct
Show that u(x, t) satisfies the wave equation and also the initial conditions
u(x,O) = r.p(x) and Ut(x,O) = 'lj;(x).
A, B, and Care constants; A and Bare not both zero; and H(x, t, u, Ux, ut) is
any function of x, t, u, Ux, and Ut. Thus the equation may not be linear in the
first derivative terms or terms involving u. It is always possible to transform
equation 1. 7 to one of three standard, or canonical, forms. These problems
explore how to do this.
8. Let u(x(~, ry), t(~, ry)) = V(~, ry), obtained by substituting for x and y in
terms of~ and 'TJ in equation 1. 7. Show that the resulting partial differential
equation for V is
Hint: Use the chain rule to compute Uxx, Uxt, and Utt in terms of partial
derivatives of V(C ry).
9. Suppose B 2 - 4AC > 0. Try to choose a and b to make the coefficients of
V~~ and V'7'7 vanish. This requires that we solve for a and b so that
Ca 2 + Ba +A = 0 and Cb 2 + Bb +A = 0.
Notice that a and b both satisfy the same quadratic equation, having
coefficients A, B, and C. Show that, if C -=1- 0, then equation 1. 7 transforms
to
1.1. TWO PARTIAL DIFFERENTIAL EQUATIONS 9
by choosing
11. Finally, suppose B 2 - 4AC < 0. Now the roots of Ca 2 + Ba +A= 0 are
complex, say p ± iq. Define the transformation
~ = X + pt, T/ = qt.
and show that this transforms equation 1. 7 to
12. Classify the diffusion equation and the wave equation as being elliptic,
parabolic, or hyperbolic.
In each of problems 13-17, classify the partial differential equation and deter-
mine its canonical form.
f(x) 1
= 2ao+ L 00
[
ancos (n1rx)
L . (n1rx)]
+bnsm L (1.9)
n=l
on this interval. This is not always possible, but we will explore the idea to see
when it might work.
Fourier was not the first to imagine such a thing. The great Swiss mathe-
matician Leonhard Euler (1707-1783) devised a way of calculating the a~s and
b~s in the series 1.9. While lacking in rigor, Euler's approach is interesting
and actually leads to the correct choice of the coefficients. We follow Euler's
reasoning here, with a proof given in section 1.4.
Euler's approach was based on some easily derived trigonometric integrals.
I:
If n and k are positive integers, then
In addition,
1L
-L
cos 2 (n'Lll"X) dx = 1L -L
sin 2 (n'Lll"X) dx = L for n = 1, 2, · · · .
Now assume equation 1.9, and suppose that we can interchange the summa-
tion and an integration. In this case,
/_: f(x)dx
=La0 ,
because the integrals of cos(n7rx/L) and sin(n7rx/L) over [-L,L] are all zero.
The integrated equation therefore reduces to
{L f(x) dx =Lao,
1-L
from which we conclude that
ao =L 11L -L
f(x) dx. (1.10)
This is a formula for ao. Next we want to obtain formulas for ak with k =
1,2,···. Let k be any positive integer. Multiply equation 1.9 by cos(k7rxjL)
and integrate to obtain
{L (k'll"X)
1_L f(x)cos L dx
Now,
/_:cos (n~x) dx = 0.
{L (k'll"X) (k'll"X)
1_L cos L cos L dx,
12 CHAPTER 1. FIRST IDEAS
1 L
-L f(x) cos
(brx)
L dx = akL,
from which
ak = 11L
L -L f(x)cos (brx)
L fork= 1,2,3,···. (1.11)
£:
term, all terms vanish except the n = k term in the integrals of the sine terms,
and we obtain
Equations 1.10-1.12 are the Fourier coefficients of f(x) on [-L, L]. When
these Fourier coefficients are used, the series on the right side of equation 1.9 is
called the Fourier series of f(x) on [-L, L].
Now we must be careful not to overreach. Although we have a plausible
rationale for the selection of the Fourier coefficients of a function, we have no
reason to believe that this Fourier series actually converges to the function at
all (or any!) points of the interval. The following two examples are revealing in
this regard.
We will write the Fourier series of f(x) on [-3, 3]. Compute the coefficients:
ao =- 113
3 -3
f(x) dx
1 [3 7
= 3 Jo (2 + x) dx = 2'
an= 11
3 _3 f(x) cos (n1rx)
3
L dx
=
1 [3
3 Jo (2 + x) cos L (n1rx) dx
3((-l)n -1)
n27r2
1.2. FOURIER SERIES 13
-3 -2 -I 0 2
X
and
bn ! 3 . (n'll"x)
= 31 _3 f(x)sm L dx
3
. (n'll"x)
= 31 Jo[ (2 + x) sm L dx
2-5(-1)n
n'll"
The Fourier series of f(x) on [-3, 3] is
Figure 1.3 is a graph of the function, and Figures 1.4 and 1.5 compare the
function with the lOth and 50th partial sums, respectively, of its Fourier series.
These graphs suggest that the series converges to f(x) for -3 < x < 0 and for
0 < x < 3. However, at x = 0, the series does not appear to converge to f(O),
which is 2. And at both 3 and -3, the Fourier series is the same:
Leaving Paris with the Empress on the 9th of May, 1812, on his
way to join the Grand Army then forming on the Polish frontier, the
imperial pair were accompanied by a continual triumph. Not merely
in France but throughout Germany the ringing of bells, music and
the most enthusiastic greetings awaited them wherever they
appeared. On May 16th, the Emperor arrived at Dresden where the
Emperor of Austria, the Kings of Prussia, Naples, Wirtemberg, and
Westphalia and almost every German sovereign of inferior rank had
been invited to meet him. He had sent to request the Czar also to
appear in this brilliant assemblage, as a last chance of an amicable
arrangement, but the messenger could not obtain admission to
Alexander's presence.
Marie Louise was now sent back to France and the Russian
campaign began. Marshal Ney, with one great division of the army,
had already passed the Vistula; Junot, with another, occupied both
sides of the Oder. The Czar was known to be at Wilna, collecting the
forces of his immense Empire and entrusting the general
arrangements of the approaching campaign to Marshal Barclay de
Tolly, an officer who had been born and educated in Germany. The
season was advancing and it was time that the question of peace or
war should be forced to a decision.
The Czar was resolved from the beginning to act entirely on the
defensive and to draw Napoleon, if possible, into the heart of his
own country ere he gave him battle. The various divisions of the
Russian force had orders to fall back leisurely as the enemy
advanced, destroying whatever they could not take with them, and
halting only at certain points where intrenched camps had already
been formed for their reception.
The difficulty of feeding half a million men in a country
deliberately wasted beforehand, and separated by so great a space
from Germany, to say nothing of France, was sure to increase at
every hour and every step. Alexander's great object was, therefore,
to husband his own strength until the Polar winter should set in
around the strangers, and bring the miseries which he thus foresaw
to a crisis.
The Cossack struck spurs into his horse and three French
soldiers discharged their pieces into the gloomy depths of the
woods, where they had lost sight of him, in token of hostility. There
came on at the same moment a tremendous thunder storm. Thus
began the fatal invasion.
The passage of the troops was impeded for a time; as the bridge
over the Vilia, a stream running into the Niemen, had been broken
by the Russians. The Emperor, however, despising this obstacle,
ordered a Polish squadron of horse to swim the river. They instantly
obeyed; but on reaching the middle the current proved too strong
for them, broke their ranks, and swept away and engulfed many of
them. Even during their last struggles the brave fellows turned their
faces towards the shore, where Napoleon was watching their
unavailing efforts with the deepest emotion, and shouted with their
dying breath, "Vive l'Empereur!"
The centre of the army was now thrown forward under Davoust
with the view of turning Barclay's position and cutting off his
communication with Bagration. This brought about an engagement
with the latter on the 23rd of July near Mohilow, the French
remaining in possession of the town. The Russian commander in
retreating informed Barclay that he was now marching, not on
Vitepsk, but on Smolensk.
During the three days of the 25th, 26th and 27th of July the
French were again victorious. Napoleon halted at Vitepsk for several
days in order to allow his troops to recuperate. On the 8th of August
the Emperor quitted Vitepsk and after a partial engagement at
Krasnoi on the 14th, came in sight of Smolensk on the 16th. On the
10th of August Napoleon was observed to write eight letters to
Davoust, and nearly as many to each of his commanders. "If the
enemy defends Smolensk" he said in one of his letters to Davoust,
"as I am tempted to believe he will, we shall have a decisive
engagement there, and we cannot have too large a force. Orcha will
become the central point of the army. Everything induces me to
believe that there will be a great battle at Smolensk."
The first and second armies of the Czar, under Bagration and
Barclay, having at length effected a junction, retired with 120,000
men behind the river which flows at the back of this town.
During the night the Russian garrison had withdrawn and joined
the army across the river. Before they departed they committed the
city to flames, and, the buildings being chiefly of wood, the
conflagration, according to the French bulletin, "resembling in its
fury an eruption of Vesuvius." "Never," said Napoleon, "was war
conducted with such inhumanity; the Russians treat their own
country as if it were that of an enemy." It now, however, began to
be difficult in the extreme to extinguish the flames created by the
retreating Russians. The Emperor in person used every effort to stop
the progress of the devouring element and render succor to the
wounded. "Napoleon," says Gourgaud, "is of all generals, whether
ancient or modern, the one who has paid the greatest attention to
the wounded. The intoxication of victory never could make him
forget them, and his first thought, after every battle, was always of
them."
The next day the two armies lay in presence of each other
preparing for a great contest. On the eve of, and before daybreak on
the 6th, the Emperor was on horseback, wrapped in his gray coat,
and exhibited all the alacrity of his younger days. On his return to
headquarters he found a courier had arrived with dispatches
announcing Marmont's defeat and the deliverance of Salamanca into
the hands of Wellington. M. de Beausset also arrived bringing from
Paris a portrait of Napoleon's son which deeply moved the Emperor.
He caused the picture to be placed outside his tent where it was
viewed by his officers. He then said to his secretary, "Take it away,
and guard it carefully; he sees a field of battle too early."
The Russians were posted on an elevated plain; having a wood
on their right flank, their left on one of the villages, and a deep
ravine, the bed of a small stream, in front. Extensive field-works
covered every prominent point of this naturally very strong ground;
and in the centre of the whole line, a gentle eminence was crowned
by an enormous battery, serving as a species of citadel. The Russian
army numbered about 120,000 men against which were opposed
almost an equal number of French troops. In artillery, also, the
armies were equal. The Emperor fixed his headquarters in the
redoubt whence he had issued the order for battle in the morning;
the elevation of the ground permitted him to observe the greatest
part of the Russian line, and the various movements of the enemy.
The young guard and the cavalry were before him, and the old
guard in his rear.
The result of this terrible day, in which the French fired sixty-six
thousand cannon balls, was that while the Russians were defeated
they were far from routed. "However great may have been the
success of this day," says Ségur, "it might have been still more so if
Napoleon, instead of finishing the battle at 4 o'clock in the afternoon
had profited by the remainder of the day to bring his Guard into the
field, and thus changed the defeat of the enemy into a complete
rout."
General Gourgaud has added: "If the Guard had been destroyed
at the battle of Moskowa, the French army, of which their guard
constantly formed the core, and whose courage it supported during
the retreat, could scarcely have ever repassed the Niemen."
For four days the fire continued with more or less fury and four-
fifths of the city was wholly consumed. "Palaces and temples," says
Karamsin the Russian author, "monuments of arts and miracles of
luxury, the remains of ages long since past, and the creation of
yesterday, the tombs of ancestors, and the cradles of children were
indiscriminately destroyed. Nothing was left of Moscow save the
memory of her people, and their deep resolution to avenge her fall."
On the third night the equinoctial gale arose, the Kremlin itself,
from which point Napoleon had witnessed the spread of this fearful
devastation, took fire and it became doubtful whether it would be
possible for the Emperor to withdraw in safety.
"Not even the fictions of the burning of Troy" said the Emperor,
"though heightened by all the powers of poetry, could have equalled
the destruction of Moscow."
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