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398 XII. ASYMPTOTIC SOLUTIONS IN A PARAMETER

Ao. Assume also that f(t, y, e) and the coefficients fm(t, y) are periodic in t of

dy

period 1. Show that the differential equation dt = 27riy + e[y + ef (t, y, e)] has a

periodic solution U = e) of period 1 such that

(a) the entries of (t, e) are holomorphic with respect to (t, e) in a domain D =

{ (t, e) : I `3'tJ < d, -oo < Rt < +oo, 0 < JeJ < r, I arg el < a} for some (d, r, a)

such that0<d<do,0<r<r0,and0<a<ao,

00

(b) j(t, e) ^ - - E em&m(t) as a -+ 0 in the sector S = If : 0 < Jej < r, J arg el <

M=0

a}, where coefficients pm(t) are holomorphic and periodic of period 1 in the domain D' = It : J:33tI < d, -oo < Rt < +oo}.

Hint.

Step 1. Construct the solution +li(t, c", e) to the initial-value problem

(IP)

dt = 27riy+ e[y+ ef (t, y, e)],

9(0) = c.

Substep 1. First, construct a formal solution

+00

+G(t, , e) _ E em'+Gm(t, l = e2x1cd + ete2attC + O(e2).

M=0

The coefficients 1& (t, a) are holomorphic in a domain

S2o = {(t, cl : 13'tI < do, -oo < Rt < +oo, Icl < ryo),

where -yo is a positive number. To prove this, set y = e2i't(c + CZ-) to change (IP)

to

(IP')

d = 6 + e[z + e-2i't f (t, e2"`t(c + ez_), e)J,

z(0) = 0.

The function f (t, e2x't (c" + ez-),e) admits an asymptotic expansion in powers of e (cf. Proof of Theorem XI-1-8) whose coefficients are polynomials in the entries of the vector z. Coefficients ci can be calculated successively.

Substep 2. Show that iP(t, c", e) V;(t, c, e) as e -. 0 in a sector S = {e : 0 < je1 < r, I argel < a} uniformly in a domain 1Y = {(t,c) : J)tj < d, IRtI < T, Icl < ry}, where T is an arbitrary positive number and -y > 0 depends on T. In this argument, the Gronwall's inequality (Lemma 1-1-5) is useful.

Step 2. Solve the equation 1 (1, cE, e) = E. This equation has the form

(E)

c" = eh(c, e),

where h(c", e) admits an asymptotic expansion as a -' 0 in the sector S uniformly for Icd < y. To solve this, we can use successive approximations as follows:

4W = 0, Ch(e) = e46y_1(e),e).

Then, the approximations 64(e) converge to a limit c(e). Using Theorem XI-1-12, we can conclude that ee) admits an asymptotic expansion in powers of e.

EXERCISES XII

399

Step 3. The particular solution ¢(t, e) = j(t, cue), e) is the periodic solution satisfying all of the requirements.

XII-12. Consider a system of differential equations

 

dy

(s)

= xka(x,e)y,

 

dx

where x is a complex independent variable, a is a complex parameter, k is a nonnegative integer, and y is an unknown element in a Banach algebra U over the field

C of complex numbers with a unit element I . Assume that

 

+00

(a)

a(x, e) _ E x-ma,.,(e),

 

m=o

where am(e) E U and these quantities are holomorphic and bounded with respect toe in a sector S = {e : 0 < je' < bo, I argel < bl}, and the series (a) is convergent in norm for lx[ > Ra uniformly for e in S. Also, assume that a(x, e) admits an asymptotic expansion in powers of a uniformly for x in jxl > Ro as e -. 0 in S.

Show that if a positive integer N is sufficiently large, there exist elements p(x, e), bo(e ), ... , bM (e) of U such that

(i) p(x, e) is holomorphic and bounded in S and large [x[,

(ii) p(x, e) admits an asymptotic expansion in powers of e uniformly for large [xi

a positive integer and the quantities bo(e), ..., bkf(e) are holomorphic in S and admit asymptotic expansions in powers of e as a -+ 0 in S,

(iv)

m>k+l,

 

 

(v) the transformation y = [I + x-(N+1)p(x, e)Ju changes (s) to

(S')

N

M

x-mb,,,(e)I U.

xk E x-mam(e) + x-(N+1)

 

 

du

E

 

 

dx

 

Comment and Hint. See [Sill; in particular Theorem 2 on p. 157]. The point x = 0 is not necessarily a regular singular point of (s') as in Theorem XII-6-1.

Step 1. The main idea is, assuming that N > k, to solve equations of the following forms:

(N + 1)x-(k+l)Q(x) - x-k d((x) + a(x)Q(x) - Q(x)a(x) - B(x)

(1)

+ x-(N+1) [a(x)Q(x) - Q(x)B(x)] = F(x)

and

(N + 1)x-(k+l)Q(x) - x-kdQ(x) + a(x)Q(x) - Q(x) a(x) - B(x)

(II)

+ x-(N+1) [a(x)Q(x) - Q(x)$(x) - 'Y(x)B(x)) = F(x),

400

XII. ASYMPTOTIC SOLUTIONS IN A PARAMETER

where

(1)Q(x) is an unknown quantity which should be a convergent power series in x-1,

(2)B(x) is an unknown quantity which should be a polynomial in x-1 of degree k,

(3)a(x) is a given polynomial in x-1 of degree N,

(4)a(x) is a given convergent power series in x-1,

(5)0 is a given polynomial in x-1 of degree k,

(6)-r(x) is a given convergent power series in x-1,

(7)F(x) is a given convergent power series in x-1.

To solve these equations, first express B in terms of Q. In fact, setting

 

too

 

k

N

 

Q(x) _ E x-'Q,,,.

B(x) _ F,

a(x) _ E X -0m,

 

m=0

 

m=0

m=0

we obtain

M

 

 

 

 

 

 

 

Bm = 1:fam-hQh - Qham-hl,

m = 0,1,..., k.

 

 

h=1

 

 

Then, we can write (I) and (II) in the form

 

(III)

QM

 

1

(m>0),

=

 

 

 

 

 

where 9,,, is either quadratic or linear in Q (n > 0).

Step 2. If N > 0 is sufficiently large, we can solve (III) by defining a norm for a

+oo +oo

convergent power series P(x) = E x-'P,,, by 11P11 = E p'11 P,,, 11, where p is a

m0

m=0

sufficiently small positive number.

 

Step 3. Using Steps 1 and 2, we can construct a formal power series q(x, e) _

+00

E e'ge(x) such that the coefficients qt(x) are holomorphic and bounded in a disk t=0

A = {x : Ix] > R > 0} and that the formal transformation y = [I+x-(N+1)4(x, e)Ju changes (s) to (s').

Step 4. Find a function q(x, e) such that q is holomorphic and bounded in 0 x S and that q(x, e) q(x, e) as e --+ 0 in S uniformly for x E A. Then, transformation

Y= [I + x-(N+1)q(x, e)Iv changes (s) to

(s")

dv

 

 

k

+oo

 

=

xk F x-mam(E) +

x- (N+1) E x-mbm(E) + E x-mbm(0)

 

dx

1 u,

 

 

M=

m=0

m=k+1

 

where

 

 

 

 

 

 

bm(E)

^_- b,1 (E) as E

0 in S

 

and

x-mam(E) ^- 0

m=k+1

as 0 in S uniformly for x E A.

are holomorphic in the disk D = It :

EXERCISES XII

401

Step 5. Using again Steps 1 and 2, find a function r(x, e) such that

(a)r(x, e) is holomorphic and bounded for jxj > R' > 0 and e E S,

(b)r(x, e) = 0 as a - 0 in S uniformly for jx[ > R',

(c)for a sufficiently large M' > 0, the transformation v = [I +x-(h1'+1)r(x,e)jw changes (s") to

N M

dw = xk ` x-mam(f) + x-(N+1) E ? bm(e) w,

Lm=o

M-

whereb,,,(e)-0ase-0 inSform>k+1.

XII-13. Let A(t) be a 2 x 2 matrix whose entries are holomorphic in a disk It : it[ < po} such that the matrix

(M) P ()' {kA(!)P(1) -P (-X1)1

is not triangular for any 2 x 2 matrix P(t) such that the entries of P(t) and P(t)-1 jtj < po}. Show that there exists such a 2 x 2

matrix P(x) for which matrix (M) has the form xk B Gl ) with a 2 x 2 matrix B(t)

wh ose entries are polynomials in t and whose degree in t is at most k + 1.

Hint. See [JLP]. This result can be generalized to the case when A(t) is a 3 x 3 matrix (cf. [Ball) and [Bal2J).

XII-14. Let P(t) be a 2 x 2 matrix such that the entries of P(t) and P(t)-1 are

holomorphic in a disk V = it : jtj < po} and that the transformation y" = P (!) u"

X

changes the system

dil

[ l +x-1

0 1

y = [ i12,

dx

x-3

 

 

I.

 

 

to

dil

 

 

 

u =

u1

 

ds

112

 

 

with a 2x 2 matrix B(t) whose entries are polynomials in t. Show that the degree of the polynomial B(t) is not less than 2. Also, show that there exists P(t) such that the degree of the polynomial B(t) is equal to 2.

Hint. To prove that there exists P(t) such that the degree of the polynomial B(t)

is equal to 2, apply Theorem V-5-1 to the system t d'r =

-17+ at

1 +tbt ] v with

t

.ii

L

suitable constants a, Q, y, and b. To show that the degree of the polynomial B(t) is not less than 2, assuming that the degree of the polynomial B(t) is less than 2, derive a contradiction from the following fact:

402

XII. ASYMPTOTIC SOLUTIONS IN A PARAMETER

The transformation y = 0

0

u changes the system

 

dy

rl+x'1

0 1

 

dx

l x-3

xtJ',

 

to

 

1-x-11

 

dil

 

u = IuaJ.

dx = [lx-I

u,

 

XII-15. Let A(t) be a 2 x 2 triangular matrix whose entries are holomorphic in a disk it : Its < po}. Show that there exists a 2 x 2 matrix Q(x) such that

(i)the entries of Q(x) and Q(x)-I are holomorphic for jxi > o and meromorphic at x = oo,

(ii) the transformation y" = Q(x)t changes the system dx = xkA \ x/ y to

_

xkB 1 f u" with a 2 x 2 matrix B(t) whose entries are polynomials in t and

whose degree in t is at most k + 1.

Hint. See IJLP]. This result can be generalized to the case when A(t) is a 3 x 3 matrix (cf. [Ball] and [Bal2j).

CHAPTER XIII

SINGULARITIES OF THE SECOND KIND

In this chapter, we explain the structure of asymptotic solutions of a system of differential equations at a singular point of the second kind. In §§XIII-1, XIII-2, and

XIII-3, a basic existence theorem of asymptotic solutions in the sense of Poincar6 is proved in detail. In §XII-4, this result is used to prove a block-diagonalization theorem of a linear system. The materials in §§XIII-I-XIII-4 are also found in

[Si7J. The main topic of §XIII-5 is the equivalence between a system of linear differential equations and an n-th-order linear differential equation. The equivalence is based on the existence of a cyclic vector for a linear differential operator. The existence of cyclic vectors was originally proved in [De1J. In §XIII-6, we explain a basic theorem concerning the structure of solutions of a linear system at a singular point of the second kind. This theorem was proved independently in [Huk4] and (Tull. In §XIII-7, the Newton polygon of a linear differential operator is defined. This polygon is useful when we calculate formal solutions of an n-tb-order linear differential equation (cf. [Stj). In §XIII-8, we explain asymptotic solutions in the

Gevrey asymptotics. To understand materials in §XIII-8, the expository paper

[Ram3J is very helpful. In §§XIII-I-XIII-4, the singularity is at x = oo, but from §XIII-5 through §XIII-8, the singularity is at x = 0. Any singularity at x = oo is

changed to a singularity of the same kind at = 0 by the transformation x = I

XIII-1. An existence theorem

In §§XIII-1, XUI-2, and XIII-3, we consider a system of differential equations

(XIII.1.1)

= x'f,(x,L'i,v2,... ,un) (.7 = 1,2,... n),

where r is a non-negative integer and ff (x, v1, t,2,... , vn) are holomorphic with respect to complex variables (x, v1, v2, .... vn) in a domain

(XIII.1.2)

JxJ>No,

JargxI<ao, Jv21<6o

(j=1,2,...,n),

No, oo, and 6a being positive constants. Set

 

 

 

n

 

(XIII.1.3)

f2 (x,

ffo(x) + E ain(x)va +

f, ,(x)v +

 

 

h=1

Ip1?2

where v" E C" with the entries (vl, V2.... , vn).

We look at (XIII.1.1) under the following three assumptions.

403

404

XIII. SINGULARITIES OF THE SECOND KIND

Assumption I. Each function f j (x, V-) (j = 1, 2,... , n) admits a uniform asymp- totic expansion

(XIII.1.4)

fi(x,v1 =00>fjk(la k

 

k=0

in the sense of Poincare as x - oo in the sector

(XIII.1.5)

Jx j > No, J argxj < cto,

where coefficients fjk(v-) are holomorphic in the domain

(XIII.1.6)

 

jvl < bo.

Furthermore. we assume that

 

(XIII.1.7)

fio(d) = 0

(j = 1, 2,... , n).

Observation XIII-1-1. Under Assumption I, fo(x), ajh(x), and fl,(x) admit asymptotic expansions

oe

 

00

f}0(x)

f70kx-k,

fjp(x) ti 1: fjpkx-k,

k=1

 

k=0

a,h(x) ti00E

ajhkx-

(j, h = 1, 2,... , n)

k=0

 

 

as x oo in sector (XIII.1.5) with coefficients in C. Let A(x) be then x it matrix whose (j, k)-entry is ajk(x), respectively (i.e., A(x) = (a,h(x)). Then, A(x) admits an asymptotic expansion

 

00

(XIII.1.10)

A(x) '=- E x-kAk

 

k=0

as x - oo in sector (XIII.1.5), where Ak = (ajhk). The following assumption is technical and we do not lose any generality with it.

Assumption II. The matrix A0 has the following S-N decomposition:

(XIII.1.11)

Ao = diag [µ1,µ2, ... 44n] + N,

where µ1,µ,2, ... , µ are eigenvalues of Aa and N is a lower-triangular nilpotent matrix.

Note that WI can be made as small as we wish (cf. Lemma VII-3-3).

The following assumption plays a key roll.

1. AN EXISTENCE THEOREM

405

Assumption III. The matrix A0 is invertible, i.e.,

 

(XIII.1.12)

 

p,54 0

(j=1,2,...,n).

 

Set

 

 

 

 

(XIII.1.13)

w = arg x,

w , = arg p3

1 ,2 , .n ) .

and denote by D, (N,'y,q) the domain defined by

 

 

D3 (N, y, q)

x : Ixi > N, jwj < ao,

 

 

 

l

 

 

(XIII.1.14) ,

(2q_)r+Y<wj+(r+1)w< (2q+)1r_v}

q is an integer, N is a sufficiently large positive constant, and -y is a sufficiently small positive constant. For each j, there exists at least one integer q, such that the real half-line defined by x > N is contained in the interior of V., (N, y, qj). Set

 

n

(XIIL1.15)

7)(N,7) = n V, (N,y,qj).

 

=1

In §§XIII-2 and XIII-3, we shall prove the following theorem.

Theorem XIII-1-2. If N-1 and y are sufficiently small positive numbers, then under Assumptions 1, II, and III, system (XIII. 1.1) has a solution

(XHI.1.16)

vj = pj (x)

U = 1,2,... , m),

such that

(i)p,(x) are holomorphic in D(N,-y),

(ii)p, (x) admit asymptotic expansions

 

00

(j = 1, 2, ... , m)

(XIII.1.17)

Pi (z) >2 P,kx-k

 

k=1

 

as x - oo in 7)(N,7), where p,k E C.

To illustrate Theorem XIII-1-2, we prove the following corollary.

Corollary XIII-1-3. Let A(x) be an n x n matrix whose entries are holomorphic and bounded in a domain Ao = {x : lxi > Ro} and let f (x) be a C'-valued function whose entries are holomorphic and bounded in the domain Do. Also, let A1,A2,

... An be eigenvalues of A(oo). Assume that A(oo) is invertible. Assume also that none of the quantities Aje1ka (j = 1, 2,... , n) are real and negative for a real number 9 and a positive integer k. Then, there exist a positive number e and a

solution y"= J(x) of the system d-.yi =

xk-1A(x)y+x-1 f(x) such that the entries of

406

XIII. SINGULARITIES OF THE SECOND KIND

O(x) are holomorphic and admit asymptotic expansions in powers of x-1 as x -+ 00

in the sector S = {x : IxI > Ro, I argx - 01 < Zk + e}.

Proof.

The main claim of this corollary is that the asymptotic expansion of the solution is valid in a sector I argx-8 < 2k +e whose opening is greater than k So, we look

at the sector D(N, y) of Theorem XIII-1-2. In the given case, ao = +oo, r = k -1, and µ, = Aj (j = 1,... , n). The assumptions given in the corollary imply that

w, + k6 -A (2p + 1)7r,

where wj = arg Aj (j = 1, ... , n),

for any integer p. Therefore, for each 3, there exists an integer q j such that

either - it < w, - 2qjr, + k8 < 0 or 0 < w, - 2gjir + k8 < rr.

Therefore, either

 

 

 

 

- 3r. < wj - 2q, 7r + k8 - 2 < w) - 2q,rr + kO +

2

< 2

 

 

 

 

or

 

 

 

 

<w) - 2 q , i r + k 8 -

2 < wj - 2gjrr + k8 + 2 < 32

2

 

 

 

T.

This proves that a sector S ={ x : x > &, I argx - 81 < 2nk

+ e

 

is in D(N, y)

for a sufficiently large Ro > 0 and a sufficiently small e > 0 if we use xe-i8 as the independent variable instead of x.

XIII-2. Basic estimates

In order to prove Theorem XIII-1-2, let us change system (XIII-1-1) to a system of integral equations.

Observation XIII-2-1. Expansion (XIII.I.17) of the solution pj (x)

(XIII.2.1)

uJ =

00

(j = 1,2,... n)

Epjkx_k

 

 

k=1

 

must be a formal solution of system (XIII.1.1). The existence of such a formal solution (XIII.2.1) of system (XIII.1.1) follows immediately from Assumptions I and III. The proof of this fact is left to the reader as an exercise.

2. BASIC ESTIMATES

407

Observation XIII-2-2. For each j = 1,2,... , n, using Theorem XI-1-14, let us construct a function z3(x) such that

(i) z j (x) is holomorphic in a sector

(XIII.2.2)

 

In l > No, I argxl < ao,

 

where No is a positive number not smaller than No,

 

(ii) zj (x) and

dz) admit asymptotic expansions

 

(XIII.2.3)

z,(x)

L.f,kx-k and dz)

E(-k)P,kx-k-1

 

 

k=1

k=1

as x - oo in sector (XIII.2.2), respectively.

Consider the change of variables

(XIII.2.4)

v, = u, +z,(x)

(j = 1,2,... ,n).

Denote (zl, z2, ... , z,a) and (u1, U2,. - - ,

 

by i and u, respectively. Then, u' sat-

isfies the system of differential equations

 

 

 

(XIII.2.5)

du,

 

(.7 = 1,2,... ,n),

= x'g,(x,U-)

 

where

 

 

 

 

 

 

 

dx

 

Set

 

 

 

 

 

m

 

 

 

(XIII.2.6)

g,(x, u") = go(x) + >2 b,k(x)uk +00E b,p(x)iI (j = 1, 2,... , n).

 

k=1

 

jp1>2

 

In particular,

 

 

 

(XIII.2.7)

92o(x) = f, (x, a) - x-' d dxx) 0

(j = 1, 2,... , n)

and

 

 

 

 

 

b3k(x)-ajk(x)=O(IxI-')

(j,k=1,2,...,n)

as x -+ oo in sector (XIII.2.2). Thus,

()III.2.8)

b,k(x) = a,k(oc) +o(IxI-1)

(j, k = 1,2,... , n)

as x -' oo in sector (XIII.2.2).