Gen. Math. Notes, Vol. 18, No. 2, October, 2013, pp. 104-119 ISSN 2219-7184; Copyright © ICSRS Publication, 2013 www.i-csrs.org Available free online at http://www.geman.in Compact Finite Difference Methods for the Solution of One Dimensional Anomalous SubDiffusion Equation Faoziya S. Al-Shibani1, Ahmed I. Md. Ismail2 and Farah A. Abdullah3 1, 2, 3 School of Mathematical Sciences Universiti Sains Malaysia, 11800 Penang, Malaysia 1 E-mail: fsmm11_mah020@student.usm.my 2 E-mail: izani@cs.usm.my 3 E-mail: farahaini@usm.my (Received: 9-8-13 / Accepted: 14-9-13) Abstract In this paper, two high order compact finite difference schemes are formulated for solving the one dimensional anomalous subdiffusion equation. The GrünwaldLetnikov formula is used to discretize the temporal fractional derivative. The truncation error and stability of the two methods are discussed. The feasibility of the compact schemes is investigated by application to a model problem. Keywords:Compact finite difference method, Time fractional diffusion, Grünwald-Letnikov method. 1 Introduction Diffusionis a phenomenathat has been rigorously and extensively studied. This phenomenon is modelled bythe diffusion equation which is a partial differential equation that describes the spread of a substance whose particles move, due to the random motion, from a region of higher concentration to a region of lower Compact Finite Difference Methods for the... 105 concentration. The dependent variable in the equation is concentration of the substance and the independent variables are spatial and temporal variables. The diffusion equation is derived using Fick’s law which assumes a homogenous environment. In the case of non-homogenous environments (for example, in a cell) then the fractional diffusion equation is used to model the diffusion process.Anomalous diffusion describes the spread of a particle plume at a rate incompatible with the classical Brownian motion mode.Furthermore, the plume may be asymmetric.When a cloud of particles spreads slower than classical diffusion, it leads to anomalous subdiffusion [2]. The study of fractional partial differential equations has increased in recent years. A comprehensive background on this topic can be found in books by Das[14] and Podlubny[6]. Compact finite difference schemes are sometimes preferred because their accuracy and high computational efficiency.Several papers have recently been published on compact finite difference methods for solving theanomalous diffusion equation. Gao and Sun [5] have presented a high order compact finite difference scheme for the fractional subdiffusion equations.They first transformed the problem usingthe Caputo definition and other analytical theories then thel1 discretization was applied to approximate the temporal fractional derivative. The stability and convergence of the method were analyzed by the energy method. A compact finite difference method was also discussed by Cui [8] for the anomaloussubdiffusion equation. The Grünwald-Letnikov formulawas used to approximate the time fractional derivative. The second order spatial derivative in the problem was approximated with fourth order accuracy. The stability and the convergence of the proposed method were investigated.Richardson extrapolation was appliedto increase the accuracy in time as the generating function used in the Grünwald-Letnikovformula givesfirst order accuracy in time.It was pointed out that the use of the "Short Memory" principlemakes the solution inefficient for the given example.Du et al.[11]developed a compact finite difference scheme for the time fractional diffusion equation when 1 < < 2 so that the fractional wave equation was also considered. The Caputo definition was applied to discretize the time fractional derivative. The stability and convergence of the scheme were analyzed in ∞ norm by using the energy method. It was found that the scheme is unconditionally stable and has O(τ α + h ) convergence. The purpose of this article is to develop two high order compact finite difference methods for solving the one-dimensional fractional anomalous sub-diffusion equation: ∂ α u ( x, t ) ∂ 2 u ( x, t ) = + f ( x, t ) , ( x, t ) ∈ (0,1) × (0, T ] ∂t α ∂x 2 (1) With the initial condition ( , 0) = 0, 0 < < 1 (2) 106 Faoziya S. Al-Shibani et al. And the boundary conditions (0, ) = ( ), (1, ) = ( ), 0 ≤ ≤ (3) and are known functions, and the function u is the unknown Where , function to be determined.We consider the case when 0 < α < 1 as we wish to study the anomalous subdiffusion equation.We shall take h =1/Min the x direction with xi = ih, i = 0,1 …M, tn= n τ and n = 0, 1…N.High order discretizations require an additional number of grid points which induces more computational effort. The two compact finite difference methods which will be described in this article overcome these difficulties by involving derivatives of the function values at the nodes of the corresponding independent variables. We eventually eliminate the derivatives to get formulas with three points. This then leads to block tridiagonal systems. 2 Fractional Derivatives and Integrals In this section we give some relevant background on fractional derivatives and related integral. Let fbe a function with respect to one independent variable t, the α fractional derivative 0 Dt of f(t)can be defined by Riemann-Liouville formula as (see [12] ). 0 Dt α f (t ) = t f (ι ) dι d 1 0< dt Γ(1 − α ) ∫0 (t − ι )α <1 Where Γ ( ) is the Gamma function and 0 ≤ ≤ (4) . The above derivative is related to the Riemann-Liouville fractional integral, which is defined as α 0 It f (t ) = 1 t f (ι )dι 0< Γ(α ) ∫0 (t − ι )1−α <1 (5) Where 0 D tα 0 I tα f ( t ) = f ( t ) (6) Fractional derivatives can also be represented by the Grünwald-Letnikovformula definedas ( see [10] ): α 0 Dt f (t ) = 1 τ α t τ ∑= ω α ( ) k f (t − kτ ) + O(τ p ) , t≥0 k 0 α + 1 (α ) Where τt is integer and k = 0, 1, 2… τt and ω0(α ) = 1 , ω k(α ) = (1 − )ω k −1 . k (7) Compact Finite Difference Methods for the... 107 The coefficients ωk(α ) are the coefficients of the power series of the generating function ω ( z , α ) = (1 − z )α and are also the coefficients of the two-point backward difference approximation of the first order derivative. k − α − 1 k ∞ (α ) k z = ∑ ωk z k k =0 k =0 ∞ where (1 − z )α = ∑ (8) It is possible for the function ω ( z , α ) to generate coefficients of the high order approximation, for instance if the generationg function is ω ( z,α ) = ( 25 12 − 4 z + 3z 2 − 4 3 z3 + 1 4 z 4 )α (9) then we get the Grünwald-Letnikovformula of a fourth order accuracy (i.e., P= 4)( see [6] ). The coefficients ωk(α ) can be expressed in term of the Fourier transform ( see [6] ). If z = e − iϕ in Eq.(2.5) then ωk(α ) = 1 2π i 2π fα (ϕ )e − ikϕ dϕ and fα (ϕ ) = (1 − e − iϕ )α . ∫ 0 3 Compact Finite Difference Grünwald-Letnikov Formula Method with the Let us define the central, forward and backward difference operators = " ! $ " #! , % We can represent ) ( = = & & ( , ' = + ℎ %& ' + & − ℎ %& ' + & " ,% %& + ' + %& + ' − ($)+ & + ! $ " &# about ( , ($)+ & + ! ! & ' = %) & ' %& ' & ( $ " #! %& - ' + ⋯ ($)- & ! %& - ' + ⋯ ($)- & ! (10) ) by Taylor seriesas (see [15] ) Analogously, the first and second derivatives of & " ( , 0 (11) are 5 = % & ' + ℎ % & + ' + ! % & - ' + ! % & 1 ' + ⋯3 4 & &+ ($)+ & ($)- & 1 = % & ' − ℎ % & + ' + ! % & - ' − ! % & 1 ' + ⋯3 2 & &+ ($)+ & - ($)- & 1 (12) 108 % ) &+ & % ' + ' & + &+ Faoziya S. Al-Shibani et al. =% ( &+ & =% ' +ℎ% + ' & + &+ && −ℎ% ' + - ' & - &- + % ($)+ & 1 ! & % ' & 1 ($)+ & 1 ! ' + 1 − % ' & 6 ($)- & 6 ! 4 % 6' + ⋯ 3 & 2 ($)- & 6 ! +⋯ 5 3 (13) We approximate the first and second spatial derivativesusing Eq.(11), (12) and (13)toget % ' = & & 78 " 9 ( :+ < < # = ; <8 <8 + >(ℎ? ) (14) And % ' & + &+ = < <# @ " % ' <8 <8 + : < <# 9 ( = !+ <8 <8 + >(ℎ? ) (15) To obtain the approximate solution of Eq.(1), we replace the second order derivative in space by the finite difference approximation in Eq.(15) and discretize the time fractional derivative by using Grünwald-Letnikovdefinition (7). When p = 1. We obtain n ∂ + ∂ −u 1 n α ∑ ωk(α )uin − k = ∂x 2 ∂x i + f i n , h ∂+ ∂− τ k = 0 1 + 12 ∂x ∂x i = 1, 2,..., M − 1, ....n = 1, 2, ..., N , 0 ui = 0, ....i = 1, 2,..., M − 1, n n u0 = f1 (tn ),....u M = f 2 (tn ), ....n = 1, 2,..., N . (16) Thecompact finite difference method with Grünwald-Letnikovformula for Eq. (1), (2) and (3) is in the form n (α ) n−k n−k n−k n n n α n n n ∑ωk (ui −1 +10ui + ui+1 ) = 12S (ui −1 − 2ui + ui +1 ) +τ ( fi −1 + 10 fi + fi +1 ) k =0 i = 1,2,..., M −1, ....n = 1,2,..., N , u0 = 0, ....i = 1,2,..., M −1, i u0n = f1 (tn ), ....uMn = f2 (tn ), ....n = 1,2,..., N. α Where S = τh 2 . (17) Compact Finite Difference Methods for the... 109 We can represent the equations defined in Eq. (17) in a linear system of equations of the form n AU n = BU n −1 + ∑ CU n − k + τ α F n , 1 ≤ i ≤ M − 1 , n = 2, 3,...N k =2 Where U n = [u1n , u2n ,....., uMn −1 ]T . The matrices in Eq. (18) are tridiagonal and are defined as follows −(24S +10) 12S −1 12S −1 −(24S +10) 12S −1 , A= ⋱ ⋱ ⋱ 12S −1 −(24S +10) 12S −1 12S −1 −(24S +10) (M−1)×(M−1) 10 1 10 1 1 10 1 1 10 1 , B = −α , C = ωk(α ) ⋱ ⋱ ⋱ ⋱ ⋱ ⋱ 1 10 1 1 10 1 1 10 (M −1)×( M −1) 1 10(M −1)×(M −1) , k = 2, 3,..., n , 0 < α < 1 and the vectors F n for 2 ≤ n ≤ N are in the form n −α n −1 n (α ) n − k n n n τ ( α u + (12 S − 1) u − ω u ) + f + 10 f + f ∑ k 0 0 0 0 1 2 k =2 f1n + 10 f 2n + f3n Fn = ⋮ f Mn −3 + 10 f Mn − 2 + f Mn −1 n τ −α (α u n −1 + (12S − 1)u n − ω (α )u n −k ) + f n + 10 f n + f n ∑ M M k M M −2 M −1 M k =2 (18) 110 Faoziya S. Al-Shibani et al. 4 Compact Finite Difference Method with RightShifted Grünwald-Letnikov Formula To estimate the left-handed time fractional derivative in Eq. (1), we use the rightshifted Grünwald-Letnikovformula which is defined as( see [9] ). ∂ α u ( xi , t n ) 1 = α α ∂t τ n +1 ∑= ω α u ( ) k k n − k +1 i + O (τ ) (19) 0 where p = 1. This formula is shifted by one grid point to the right to get the fractional forward difference formula. We use finite difference approximation in Eq. (15) to discretize the second order spatial derivative in Eq. (1) to obtain n ∂ + ∂ −u 1 n +1 α ∑ ωk(α )uin − k +1 = ∂x 2 ∂x i + f i n , h ∂+ ∂− τ k = 0 1 + 12 ∂x ∂x i = 1, 2,..., M − 1, ....n = 1, 2,..., N , 0 ui = 0, ....i = 1, 2,..., M − 1, n n u0 = f1 (tn ), ....u M = f 2 (tn ), ....n = 1, 2,..., N . (20) Hence the compact finite difference method with right-shifted GrünwaldLetnikovformulafor Eq. (1), (2) and (3) is given as: n+1 (α ) n−k +1 n−k +1 + uin+−1k +1 ) = 12S (uin−1 − 2uin + uin+1) +τ α ( fi−n1 +10 fi n + fi+n1) ∑ωk (ui−1 +10ui k =0 i = 1,2,..., M −1,....n = 1,2,..., N, u0 = 0, ....i = 1,2,..., M −1, i u0n = f1 (tn ),....uMn = f2 (tn ),....n = 1, 2,..., N. (21) The linear system of Eq. (4.3) is n +1 AU n +1 = BU n − ∑ CU n − k +1 + τ α F n , 1 ≤ i ≤ M − 1 , 1 ≤ n ≤ N k =2 (22) Compact Finite Difference Methods for the... 111 where U n = [u1n , u2n ,....., uMn −1 ]T and the vector F n isdefined as Fn =[(a + f0n +10 f1n + f2n ),( f1n +10 f2n + f3n ),.....,( fMn −3 +10 fMn −2 + fMn −1),(b + fMn −2 +10 fMn −1 + fMn )]T n +1 where a = τ −α ((α + 12 S )u0n − u0n +1 − ∑ ωk(α )u0n − k +1 ) and k =2 n +1 b = τ −α ((α + 12 S )uMn − uMn +1 − ∑ ωk(α )uMn − k +1 ) for 1 ≤ n ≤ N . k =2 The entries ai , j , bi , j , ci , j and d i , j for i = 1, 2,...M − 1 and j = 1, 2,...M − 1 can be defined as α +12S....when...i = j −1..and..i = j +1 bi , j = 10α − 24S...when...i = j 0....otherwise 1....when...i = j −1..and..i = j +1 ai, j = 10...when...i = j , 0....otherwise ωk(α ) ....when...i = j −1..and..i = j +1 ci, j = 10ωk(α ) ...when...i = j 0....otherwise 5 , k = 2, 3,...n + 1 , 0 < α < 1 The Truncation Error Let us consider the truncation error of Eq. (16). We have ∂+ ∂−u ∂x ∂x i n T ( xi , tn ) = = = 1 τ 1 τ α n ωα u ∑ = ( ) n −k k i − k 0 h ∂+ ∂− 1 + 12 ∂x ∂x 2 − fi n ∂ + ∂ −u n τα k =0 n ω ∑ = k 0 n ∂α u ∂2u ∂x ∂x i + − 2 2 α ∂t i ∂x i 1 + h ∂+ ∂− 12 ∂x ∂x n n ω(α )uin−k − α ∑ k 1 (23) (α ) n−k k i u n n ∂α u h4 ∂6u − α +− + ... 6 ∂t i 240 ∂x i 112 Faoziya S. Al-Shibani et al. = O(τ p ) + O(h 4 ) Since we use the generating function (1 − z )α then the Grünwald-Letnikovformula has an accuracy of order p = 1. Hence T ( xi , tn ) = O (τ ) + O ( h 4 ) (24) The same result will be obtained if the truncation error of Eq. (20) is investigated. Therefore both of the propsed fractional compact finite difference methodsfor the time fractional diffusion equation have accuracy of order O(τ + h 4 ) 6 The Stability Analysis of the Two Compact Finite Difference Methods In this section the von Neumann (or Fourier) method will be used to analyze the stability of CFD methodwith the Grünwald-Letnikovformula and CFDmethod with the right-shifted Grünwald-Letnikovformula. We start with Eq. (17) and for simplicity let us write this formula with no source. (α ) Cui [8] introduced the following lemma about properties of ωk (α ) Lemma: The coefficients ωk ( k = 0,1,..) satisfy (see [8] ) (1) ω0(α ) = 1; ω1(α ) = −α ; ωk(α ) < 0, k = 1, 2,... ∞ (2) ∑ω α k =0 ( k ) m = 0; ∀m ∈ N + , −∑ ωk(α ) < 1 k =1 Proposition 6.1: The compact finite difference scheme with the GrünwaldLetnikov formula defined in Eq. (17) is unconditionally stable. Proof: Suppose U in is the approximate solution of Eq. (17) and so the error we obtain from the difference between the theoretical and numerical solutions can be addressed as ε in = uin − U in , i = 0,1,..., M , n = 0,1,..., N . This error can be presented by the same compact finite differencemethod with the Grünwald-Letnikovformula. Compact Finite Difference Methods for the... 113 We obtain n ∑= ω α (ε ( ) k + 10ε in −k + ε in+−1k ) = 12 S (ε in−1 − 2ε in + ε in+1 ) , i = 1, 2,..., M − 1 , n−k i −1 k 0 n = 1, 2,..., N . (25) ε 0n = ε mn = 0 , n = 1, 2,..., N (26) According to the Fourier method, the errors ε n ( xi ) at the grid points in the range x ∈ [0,1] and a given time level can be expressed in terms of a finite Fourier series with the complex exponential form( see [4] ) M ε n ( xi ) = ∑ Am e m =0 −1qm xi , i = 0,1,..., M (27) where qm = mπ / l , l = Mh To study the propagation of errors as t increases, let us omit the summation and the constant Am, taking only a single term e −1qm xi . Suppose the solution of equations (25) and (26) in the form ε in = e β nτ e −1qih (28) where e β nτ is termed the temporal or amplification factor and β is complex temporal number which depends upon q We note that at n = 0, the solution of error reduces to e Neumann method, a scheme is said to be stable if and only if e −1qih βτ . For the von ≤ 1 for all γ . Substituting Eq.(28) into Eq.(25) we obtain n ∑ ωkα e − k βτ = k =0 −12 S sin 2 ( qh2 ) 3 − sin 2 ( qh2 ) (29) To study the stability of Eq.(29) let us consider the iteration when n → ∞; so we obtain 114 Faoziya S. Al-Shibani et al. n lim ∑ ω k e n →∞ α −12 S sin 2 ( qh2 ) = 3 − sin 2 ( qh2 ) − k βτ k =0 ∞ ∑ ωkα e − k βτ = Hence k =0 −12 S sin 2 ( qh2 ) 3 − sin 2 ( qh2 ) (30) (31) Then from Eq.(8) we can obtain (1 − e ) − βτ α −12 S sin 2 ( qh2 ) = 3 − sin 2 ( qh2 ) (32) Since the maximum value of sin( qh ) = 1 , then e βτ = 1 (33) 1 + ( 6 S )α 1 Therefore according to the von Neuman method the condition for stability e β τ ≤ 1 is satisfied by 1 1 + ( 6S ) α 1 ≤ 1 for all values ofS> 0 and 0 < α < 1 . Hence the compact finite difference method with the Grünwald-Letnikovformula (17) is τα unconditionally stable for S = 2 > 0 and 0 < α < 1 . Now we study the stability h of the compact finite difference method with the right-shifted GrünwaldLetnikovformula. Proposition 6.2: The compact finite difference scheme with the right2 α −1 shiftedGrünwald-Letnikovformula defined in Eq.(21) is stable if S ≤ for 3 0 <α <1 Proof: The error ε in satisfies the equations (21). This gives n +1 ∑ ω α (ε k =0 ( ) k n − k +1 i −1 + 10ε in − k +1 + ε in+−1k +1 ) = 12 S ( ε in−1 − 2ε in + ε in+1 ) , n = 0,1,..., N . (34) ε 0n = ε Mn = 0 , n = 0,1,..., N n β nτ We assume that the solution of the equation (34) takes the form ε i = e e (35) −1qih . Compact Finite Difference Methods for the... 115 Inserting the above solution into Eq.(34), we obtain e βτ −4 S sin 2 ( qh2 ) = 1 2 qh n +1 (α ) − k βτ 1 − sin ( 2 ) ∑ ω k e 3 k =0 (36) If e β τ > 1 for all β then the errors will propagate exponentially and the equation of the error will be unstable Suppose that e β τ ≤ 1 then − 1 ≤ e β τ ≤ 1 when e β τ ≤ 1 then from Eq.(36) we have − 4 S sin 2 ( q2h ) ≤1 n +1 1 qh 2 (α ) β τ 1 − sin ( 2 ) ∑ ω k e 3 k =0 (37) taking the maximume value of e β τ = 1 we get − 4 S sin 2 ( q2h ) ≤1 n +1 1 qh 2 (α ) 1 − sin ( 2 ) ∑ ω k 3 k =0 m From the Lemma we have ∑ω α k =0 ( ) k > −1 ∀ m ∈ N + then S sin 2 ( qh2 ) > 0 is always true if S > 0 when e β τ ≥ − 1 we have − 4 S sin 2 ( q2h ) ≥ −1 n +1 1 qh 2 (α ) − k β τ 1 − sin ( 2 ) ∑ ω k e 3 k −0 Taking the limits of the summation when n→∞ we obtain 4 S sin 2 ( q2h ) ≥1 ∞ 1 qh 2 (α ) − k β τ 1 − sin ( 2 ) ∑ ω k e 3 k −0 then from equation (8) we have 116 Faoziya S. Al-Shibani et al. α 1 4S sin 2 ( qh2 ) ≤ 1 − sin 2 ( qh2 ) (1 − e − βτ ) 3 Consider the extreme value e β τ = − 1 then 1 4 S sin 2 ( qh2 ) ≤ 2α 1 − sin 2 ( qh2 ) 3 Since the maximum value of sin ( qh2 ) = 1 , then we arrive at the condition that S ≤ 7 2 α −1 . 3 Numerical Experiments Let us consider the equation from Takaci et al. [3] ∂α u ( x, t ) ∂ 2u ( x, t ) 2e xt 2−α = + − t 2 e x for 2 α ∂t ∂x Γ(3 − α ) = 0.5 (38) With the initial condition ( , 0) = 0,0 < < 1 And the boundary conditions (0, ) = , ( , )= C (1, ) = C , 0 ≤ The exact solution of Eq. (38) is (39) ≤ (40) (41) We implement the two numerical methods discussed in this paper for solving the above example and compare their solutions with the exact solution.Figure 1 shows the comparison of u(x,t) values between the solutions of the two methodsand the exact solutionfor a certain set of parameter values which satisfy the stability condition of the CFD scheme with the right-shifted Grünwald-Letnikovformula. Compact Finite Difference Methods for the... 117 Fig.1: Comparison between the results of the CFD method with G-L formula and CFD method with right-shifted G-L formulaand the exact solution at τ = 5.55556 × 10-10 and h = 0.1 To test the order of convergence of our schemes firstwe estimate the error in ∞ norm where e l = max uiN − U iN at = 1, ℎ = D = 0.2 and then decrease the mesh size of ℎ to half and D to 0.125D. The results of the maximum errors and the order of convergence of the compactDu Fort Frankel method are listed in table 1. ∞ 1≤ i ≤ M −1 The order of convergence r (τ , h) is evaluated by the formula ( r (τ , h) = log 2 e(8τ , 2h) l∞ e(τ , h) l∞ ) Table 2 represents the maximum errors and the order of convergence obtained by the CFD method with the right-shifted Grünwald-Letnikovformula, here the step sizesD, ℎ are shosen to satisfy the stability condition of this method. Assuming that e l = C1τ + C2 h 4 where C1 and C2 are constant, the maximum error ∞ convergence tends to 4. Analogously, if D is large then e l ∞ ≈ C1τ and the order of the convergence tends to 1 (Hu and Zhang, 2012). 4 tends to C2 h as time step size becomes small enough and the order of the Table 1: Error in ∞ norm and order of convergence of CF with G-L method at = 0.5 ‖C‖F∞ order h = τ = 0.2. h = 0.1,τ = 0.025. h = 0.05,τ = 3.125 E − 3 h = τ = 0.1 2.1081 E − 2 1.8383 E − 3 1.0299 E − 4 1.0713 E − 2 3.5195 4.1578 - 118 Faoziya S. Al-Shibani et al. h = 0.05,τ = 0.0125 h = 0.025,τ = 1.5625 E − 3 Table 2: Error in ∞ 8.1616 E − 4 3.7556 E − 5 3.7143 4.4418 norm and order of convergence of CF with shifted GLmethod at = 0.5 ‖C‖F∞ order h = 0.2,τ = 1.3889 E − 3 h = 0.1,τ = 1.7361E − 11 h = 0.05,τ = 2.17014 E − 12 h = 0.1,τ = 5.4254 E − 13. h = 0.05,τ = 6.7817 E − 14 h = 0.025,τ = 8.4771E − 15 3.3687 E − 1 1.1923 E − 2 7.7921 E − 4 1.1656 E − 5 7.6203 E − 7 2.4355 E − 8 4.8204 3.9356 3.9351 4.9675 These results indicate the convergence of the proposedmethods. 8 Conclusion In this paper, two high order compact finite difference schemes have been developed. The stability of the proposod methods was investigated and it was shown that the compact finite difference scheme with the GrünwaldLetnikovformulais unconditionally stable while the compact finite difference scheme with the right-shifted Grünwald-Letnikovformula is conditionally stable. 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