Solutions of differential equations using transforms Process: Take transform of equation and boundary/initial conditions in one variable. Derivatives are turned into multiplication operators. Solve (hopefully easier) problem in k variable. Inverse transform to recover solution, often as a convolution integral. Ordinary differential equations: example 1 − u 00 + u = f (x), lim u(x) = 0. |x|→∞ Ordinary differential equations: example 1 − u 00 + u = f (x), lim u(x) = 0. |x|→∞ Transform using the derivative rule, giving k 2 û(k ) + û(k ) = f̂ (k ). Just an algebraic equation, whose solution is û(k ) = f̂ (k ) . 1 + k2 Ordinary differential equations: example 1 − u 00 + u = f (x), lim u(x) = 0. |x|→∞ Transform using the derivative rule, giving k 2 û(k ) + û(k ) = f̂ (k ). Just an algebraic equation, whose solution is û(k ) = f̂ (k ) . 1 + k2 Inverse transform of product of f̂ (k ) and 1/(1 + k 2 ) is convolution: ∨ Z 1 1 ∞ −|x−y | u(x) = f (x) ∗ = e f (y )dy . 2 −∞ 1 + k2 But where was far field condition used? Ordinary differential equations: example 2 Example 2. The Airy equation is u 00 − xu = 0, lim u(x) = 0. |x|→∞ Ordinary differential equations: example 2 Example 2. The Airy equation is u 00 − xu = 0, lim u(x) = 0. |x|→∞ Transform leads to −k 2 û(k ) − i û 0 (k ) = 0. Ordinary differential equations: example 2 Example 2. The Airy equation is u 00 − xu = 0, lim u(x) = 0. |x|→∞ Transform leads to −k 2 û(k ) − i û 0 (k ) = 0. Solve by separation of variables: d û/û = ik 2 dk integrates to û(k ) = Ceik 3 /3 . Ordinary differential equations: example 2 Example 2. The Airy equation is u 00 − xu = 0, lim u(x) = 0. |x|→∞ Transform leads to −k 2 û(k ) − i û 0 (k ) = 0. Solve by separation of variables: d û/û = ik 2 dk integrates to û(k ) = Ceik 3 /3 . Inverse transform is u(x) = C 2π Z ∞ exp(i[kx + k 3 /3])dk . −∞ With the choice C = 1 get the Airy function. Partial differential equations, example 1 Laplace equation in upper half plane: uxx + uyy = 0, −∞ < x < ∞, u(x, 0) = g(x), y > 0, lim u(x, y ) = 0. y →∞ Partial differential equations, example 1 Laplace equation in upper half plane: uxx + uyy = 0, −∞ < x < ∞, u(x, 0) = g(x), y > 0, lim u(x, y ) = 0. y →∞ Transform in the x variable only: Z ∞ U(k , y ) = e−ikx u(x, y )dx. −∞ Note y -derivatives commute with the Fourier transform in x. −k 2 U + Uyy = 0, U(k , 0) = ĝ(k ), lim U(k , y ) = 0. y →∞ Partial differential equations, example 1, cont. Now solve ODEs −k 2 U + Uyy = 0, U(k , 0) = ĝ(k ), lim U(k , y ) = 0. y →∞ Partial differential equations, example 1, cont. Now solve ODEs −k 2 U + Uyy = 0, U(k , 0) = ĝ(k ), lim U(k , y ) = 0. y →∞ General solution is U = c1 (k )e+|k |y + c2 (k )e−|k |y . Using boundary conditions, U(k , y ) = ĝ(k )e−|k |y . Partial differential equations, example 1, cont. Now solve ODEs −k 2 U + Uyy = 0, U(k , 0) = ĝ(k ), lim U(k , y ) = 0. y →∞ General solution is U = c1 (k )e+|k |y + c2 (k )e−|k |y . Using boundary conditions, U(k , y ) = ĝ(k )e−|k |y . Inverse transform using convolution and exponential formulas ∨ y −|k |y u(x, y ) =g(x) ∗ e = g(x) ∗ π(x 2 + y 2 ) Z ∞ 1 yg(x0 ) = dx0 . π −∞ (x − x0 )2 + y 2 Same formula as obtained by Green’s function methods! Partial differential equations, example 2 “Transport equation" ut + cux = 0, −∞ < x < ∞, t > 0, u(x, 0) = f (x). Partial differential equations, example 2 “Transport equation" ut + cux = 0, −∞ < x < ∞, As before, Z ∞ U(k , t) = t > 0, u(x, 0) = f (x). e−ikx u(x, t)dx. −∞ therefore transform in x variables is Ut + ikcU = 0, U(k , 0) = f̂ (k ). Partial differential equations, example 2 “Transport equation" ut + cux = 0, −∞ < x < ∞, As before, Z ∞ U(k , t) = t > 0, u(x, 0) = f (x). e−ikx u(x, t)dx. −∞ therefore transform in x variables is Ut + ikcU = 0, U(k , 0) = f̂ (k ). Simple differential equation with solution U(k , t) = e−ickt f̂ (k ). Partial differential equations, example 2 “Transport equation" ut + cux = 0, −∞ < x < ∞, As before, Z ∞ U(k , t) = t > 0, u(x, 0) = f (x). e−ikx u(x, t)dx. −∞ therefore transform in x variables is Ut + ikcU = 0, U(k , 0) = f̂ (k ). Simple differential equation with solution U(k , t) = e−ickt f̂ (k ). Use translation formula f (x − a) = e−iat f̂ (k ) with a = ct, u(x, t) = f (x − ct). Partial differential equations, example 3 Consider the wave equation on the real line utt = uxx , −∞ < x < ∞, t > 0, u(x, 0) = f (x), ut (x, 0) = g(x). Partial differential equations, example 3 Consider the wave equation on the real line utt = uxx , −∞ < x < ∞, t > 0, u(x, 0) = f (x), ut (x, 0) = g(x). Transforming as before, Utt + k 2 U = 0, U(k , 0) = f̂ (k ), Ut (k , 0) = ĝ(k ). Partial differential equations, example 3 Consider the wave equation on the real line utt = uxx , −∞ < x < ∞, t > 0, u(x, 0) = f (x), ut (x, 0) = g(x). Transforming as before, Utt + k 2 U = 0, U(k , 0) = f̂ (k ), Ut (k , 0) = ĝ(k ). Solution of initial value problem U(k , t) = f̂ (k ) cos(kt) + ĝ(k ) sin(kt). k Need inverse transform formulas for cos,sin and f̂ /k . Partial differential equations, example 3, cont. For cos,sin, write in terms of complex exponentials: 1 iak 1 [e + e−iak ]∨ = [δ(x + a) + δ(x − a)], 2 2 i i iak −iak ∨ ∨ ] = − [δ(x + a) − δ(x − a)]. [sin(ak )] = − [e − e 2 2 [cos(ak )]∨ = Partial differential equations, example 3, cont. For cos,sin, write in terms of complex exponentials: 1 iak 1 [e + e−iak ]∨ = [δ(x + a) + δ(x − a)], 2 2 i i iak −iak ∨ ∨ ] = − [δ(x + a) − δ(x − a)]. [sin(ak )] = − [e − e 2 2 [cos(ak )]∨ = If f (x) is integrable, int. by parts gives Z x 0 f (x )dx −∞ 0 ∧ Z ∞ = −∞ e−ikx Z x −∞ f (x 0 )dx 0 dx = 1 ik Z ∞ −∞ e−ikx f (x)dx. Partial differential equations, example 3, cont. For cos,sin, write in terms of complex exponentials: 1 iak 1 [e + e−iak ]∨ = [δ(x + a) + δ(x − a)], 2 2 i i iak −iak ∨ ∨ ] = − [δ(x + a) − δ(x − a)]. [sin(ak )] = − [e − e 2 2 [cos(ak )]∨ = If f (x) is integrable, int. by parts gives Z x 0 f (x )dx −∞ 0 ∧ Z ∞ e−ikx = −∞ therefore " f̂ (k ) ik Z x f (x 0 )dx 0 dx = −∞ #∨ Z x = 1 ik Z ∞ e−ikx f (x)dx. −∞ f (x 0 )dx 0 . −∞ That is, integration in x gives a factor of 1/(ik ) in the transform. Partial differential equations, example 3, cont. Now for inverse transform of U(k , t) = f̂ (k ) cos(kt) + ĝ(k ) sin(kt). k Partial differential equations, example 3, cont. Now for inverse transform of U(k , t) = f̂ (k ) cos(kt) + ĝ(k ) sin(kt). k First term: h i∨ 1 f̂ (k ) cos(kt) = f (x) ∗ [δ(x + t) + δ(x − t)] 2 Z 1 ∞ 1 = f (x − y )[δ(y + t) + δ(y − t)]dy = [f (x − t) + f (x + t)]. 2 −∞ 2 Partial differential equations, example 3, cont. Now for inverse transform of U(k , t) = f̂ (k ) cos(kt) + ĝ(k ) sin(kt). k First term: h i∨ 1 f̂ (k ) cos(kt) = f (x) ∗ [δ(x + t) + δ(x − t)] 2 Z 1 ∞ 1 = f (x − y )[δ(y + t) + δ(y − t)]dy = [f (x − t) + f (x + t)]. 2 −∞ 2 Second term: Z ∨ x [ĝ(k ) sin(kt)/k ] = i = = = 1 2 1 2 1 2 ∨ [ĝ(k ) sin(kt)] (x 0 )dx 0 −∞ Z x −∞ Z x −∞ Z x −∞ g(x 0 ) ∗ [δ(x 0 + t) − δ(x 0 − t)]dx 0 Z ∞ g(x 0 − y )[δ(y + t) − δ(y − t)]dydx 0 −∞ g(x 0 + t) − g(x 0 − t)dx 0 . Partial differential equations, example 3, cont. Finally, can change variables ξ = x 0 + t or ξ = x 0 − t Z x g(x 0 + t) − g(x 0 − t)dx 0 = −∞ Z x+t Z x−t g(ξ)dξ − −∞ Z x+t g(ξ)dξ. = x−t g(ξ)dξ −∞ Partial differential equations, example 3, cont. Finally, can change variables ξ = x 0 + t or ξ = x 0 − t Z x g(x 0 + t) − g(x 0 − t)dx 0 = −∞ Z x+t Z x−t g(ξ)dξ − −∞ Z x+t g(ξ)dξ −∞ g(ξ)dξ. = x−t All together get d’Alembert’s formula 1 1 u(x, t) = [f (x − t) + f (x + t)] + 2 2 Z x+t g(ξ)dξ. x−t Fundamental solutions Consider generic, linear, time-dependent equation ut (x, t) = Lu(x, t), −∞ < x < ∞, u(x, 0) = f (x), lim u(x, t) = 0, |x|→∞ where L is some operator(e.g. L = ∂ 2 /∂x 2 ). Fundamental solutions Consider generic, linear, time-dependent equation ut (x, t) = Lu(x, t), −∞ < x < ∞, u(x, 0) = f (x), lim u(x, t) = 0, |x|→∞ where L is some operator(e.g. L = ∂ 2 /∂x 2 ). The fundamental solution S(x, x0 , t) is a type of Green’s function, solving St = Lx S, −∞ < x < ∞, S(x, x0 , 0) = δ(x−x0 ), lim S(x, x0 , t) = 0. |x|→∞ Fundamental solutions Consider generic, linear, time-dependent equation ut (x, t) = Lu(x, t), −∞ < x < ∞, u(x, 0) = f (x), lim u(x, t) = 0, |x|→∞ where L is some operator(e.g. L = ∂ 2 /∂x 2 ). The fundamental solution S(x, x0 , t) is a type of Green’s function, solving St = Lx S, −∞ < x < ∞, S(x, x0 , 0) = δ(x−x0 ), lim S(x, x0 , t) = 0. |x|→∞ Initial condition means S limits to a δ-function as t → 0: Z ∞ Z ∞ lim S(x, x0 , t)φ(x)dx = δ(x − x0 )φ(x)dx = φ(x0 ), t→0 −∞ −∞ Fundamental solutions, cont. Claim that the initial value problem has solution Z ∞ u(x, t) = S(x, x0 , t)f (x0 )dx0 , −∞ Fundamental solutions, cont. Claim that the initial value problem has solution Z ∞ u(x, t) = S(x, x0 , t)f (x0 )dx0 , −∞ Check: Z u(x, 0) = lim ∞ t→0 −∞ Z ∞ S(x, x0 , t)f (x0 )dx0 = δ(x−x0 )f (x0 )dx0 = f (x). −∞ Fundamental solutions, cont. Claim that the initial value problem has solution Z ∞ u(x, t) = S(x, x0 , t)f (x0 )dx0 , −∞ Check: Z u(x, 0) = lim ∞ t→0 −∞ Z ∞ S(x, x0 , t)f (x0 )dx0 = δ(x−x0 )f (x0 )dx0 = f (x). −∞ Plugging u into the equation and moving time derivative inside the integral Z ∞ Z ∞ ut = St (x, x0 , t)f (x0 )dx0 = Lx S(x, x0 , t)f (x0 )dx0 . −∞ −∞ Fundamental solutions, cont. Claim that the initial value problem has solution Z ∞ u(x, t) = S(x, x0 , t)f (x0 )dx0 , −∞ Check: Z u(x, 0) = lim ∞ t→0 −∞ Z ∞ S(x, x0 , t)f (x0 )dx0 = δ(x−x0 )f (x0 )dx0 = f (x). −∞ Plugging u into the equation and moving time derivative inside the integral Z ∞ Z ∞ ut = St (x, x0 , t)f (x0 )dx0 = Lx S(x, x0 , t)f (x0 )dx0 . −∞ −∞ Now move operator outside integral Z ∞ ut = Lx S(x, x0 , t)f (x0 )dx0 = Lx u. −∞ Fundamental solutions using the Fourier transform, example 1 For diffusion equation on the real line, S solves St = DSxx , −∞ < x < ∞, S(x, x0 , 0) = δ(x−x0 ), lim S(x, x0 , t) = 0. |x|→∞ Fundamental solutions using the Fourier transform, example 1 For diffusion equation on the real line, S solves St = DSxx , −∞ < x < ∞, S(x, x0 , 0) = δ(x−x0 ), lim S(x, x0 , t) = 0. |x|→∞ Take Fourier Rtransform in x by letting ∞ Ŝ(k , x0 , t) = −∞ S(x, x0 , t)e−ikx dx, giving Fundamental solutions using the Fourier transform, example 1 For diffusion equation on the real line, S solves St = DSxx , −∞ < x < ∞, S(x, x0 , 0) = δ(x−x0 ), lim S(x, x0 , t) = 0. |x|→∞ Take Fourier Rtransform in x by letting ∞ Ŝ(k , x0 , t) = −∞ S(x, x0 , t)e−ikx dx, giving Ŝt = −Dk 2 Ŝ, Ŝ(k , 0) = e−ix0 k . Fundamental solutions using the Fourier transform, example 1 For diffusion equation on the real line, S solves St = DSxx , −∞ < x < ∞, S(x, x0 , 0) = δ(x−x0 ), lim S(x, x0 , t) = 0. |x|→∞ Take Fourier Rtransform in x by letting ∞ Ŝ(k , x0 , t) = −∞ S(x, x0 , t)e−ikx dx, giving Ŝt = −Dk 2 Ŝ, Ŝ(k , 0) = e−ix0 k . Solution to this ODE 2 Ŝ = e−ix0 k −Dk t . Fundamental solutions using the Fourier transform, example 1 Inverse transform of 2 Ŝ = e−ix0 k −Dk t . uses translation, dilation, and Gaussian formulas: S(x, x0 , t) = √ 1 4πDt 2 /(4Dt) e−(x−x0 ) . Fundamental solutions using the Fourier transform, example 1 Inverse transform of 2 Ŝ = e−ix0 k −Dk t . uses translation, dilation, and Gaussian formulas: S(x, x0 , t) = √ 1 4πDt 2 /(4Dt) e−(x−x0 ) . It follows that the solution to ut = Duxx and u(x, 0) = f (x) is Z ∞ f (x ) 2 √ 0 e−(x−x0 ) /(4Dt) dx0 . u(x, t) = 4πDt −∞ Fundamental solutions using the Fourier transform, example 2 Linearized Korteweg - de Vries (KdV) equation: ut = −uxxx , u(x, 0) = f (x), lim u(x, t) = 0. |x|→∞ Fundamental solutions using the Fourier transform, example 2 Linearized Korteweg - de Vries (KdV) equation: ut = −uxxx , u(x, 0) = f (x), lim u(x, t) = 0. |x|→∞ Fundamental solution solves St = −Sxxx , S(x, x0 , 0) = δ(x − x0 ), lim S(x, x0 , t) = 0. |x|→∞ Fundamental solutions using the Fourier transform, example 2 Linearized Korteweg - de Vries (KdV) equation: ut = −uxxx , u(x, 0) = f (x), lim u(x, t) = 0. |x|→∞ Fundamental solution solves St = −Sxxx , S(x, x0 , 0) = δ(x − x0 ), lim S(x, x0 , t) = 0. |x|→∞ Transforming Ŝt = ik 3 Ŝ, Ŝ(k , 0) = e−ix0 k , 3 whose solution is Ŝ(k , x0 , t) = e−ix0 k eik t . Fundamental solutions using the Fourier transform, example 2 Linearized Korteweg - de Vries (KdV) equation: ut = −uxxx , u(x, 0) = f (x), lim u(x, t) = 0. |x|→∞ Fundamental solution solves St = −Sxxx , S(x, x0 , 0) = δ(x − x0 ), lim S(x, x0 , t) = 0. |x|→∞ Transforming Ŝt = ik 3 Ŝ, Ŝ(k , 0) = e−ix0 k , 3 whose solution is Ŝ(k , x0 , t) = e−ix0 k eik t . 3 Recall transform of Airy function Ai(x) is eik /3 , therefore h i∨ h i∨ 3 3 S(x, x0 , t) = e−ix0 k eik t = ei(k /a) /3 (x − x0 ) = aAi a(x − x0 ) , a ≡ (3t)−1/3 . Fundamental solutions using the Fourier transform, example 2 Linearized Korteweg - de Vries (KdV) equation: ut = −uxxx , u(x, 0) = f (x), lim u(x, t) = 0. |x|→∞ Fundamental solution solves St = −Sxxx , S(x, x0 , 0) = δ(x − x0 ), lim S(x, x0 , t) = 0. |x|→∞ Transforming Ŝ(k , 0) = e−ix0 k , Ŝt = ik 3 Ŝ, 3 whose solution is Ŝ(k , x0 , t) = e−ix0 k eik t . 3 Recall transform of Airy function Ai(x) is eik /3 , therefore h i∨ h i∨ 3 3 S(x, x0 , t) = e−ix0 k eik t = ei(k /a) /3 (x − x0 ) = aAi a(x − x0 ) , a ≡ (3t)−1/3 . Solution to original equation: 1 u(x, t) = (3t)1/3 Z ∞ Ai −∞ x − x0 (3t)1/3 f (x0 )dx0 . The method of images for fundamental solutions For solutions on half-line x > 0, can’t use Fourier transform directly. The method of images for fundamental solutions For solutions on half-line x > 0, can’t use Fourier transform directly. Fundamental solution must satisfy boundary condition at x =0 The method of images for fundamental solutions For solutions on half-line x > 0, can’t use Fourier transform directly. Fundamental solution must satisfy boundary condition at x =0 Inspiration: method of images. If S∞ (x; x0 , t) is the fundamental solution for the whole line, then: Odd reflection S = S∞ (x; x0 , t) − S∞ (x; −x0 , t) gives S(0, x0 , t) = 0. Even reflection S = S∞ (x; x0 , t) + S∞ (x; −x0 , t) gives Sx (0, x0 , t) = 0. The method of images for fundamental solutions, example Consider diffusion equation on half line: ut = Duxx , u(x, 0) = f (x), u(0, t) = 0, lim u(x, t) = 0. x→∞ The method of images for fundamental solutions, example Consider diffusion equation on half line: ut = Duxx , u(x, 0) = f (x), u(0, t) = 0, lim u(x, t) = 0. x→∞ Use odd reflection of fundamental solution for whole line √ 2 S∞ = e−(x−x0 ) /(4Dt) / 4πDt, S(x, x0 , t) = √ 1 4πDt h 2 /(4Dt) e−(x−x0 ) 2 /(4Dt) − e−(x+x0 ) i The method of images for fundamental solutions, example Consider diffusion equation on half line: ut = Duxx , u(x, 0) = f (x), u(0, t) = 0, lim u(x, t) = 0. x→∞ Use odd reflection of fundamental solution for whole line √ 2 S∞ = e−(x−x0 ) /(4Dt) / 4πDt, S(x, x0 , t) = √ 1 4πDt h 2 /(4Dt) e−(x−x0 ) 2 /(4Dt) − e−(x+x0 ) i Therefore the solution u is just Z ∞ i f (x ) h −(x−x0 )2 /(4Dt) 2 √ 0 u(x, t) = e − e−(x+x0 ) /(4Dt) dx0 . 4πDt 0 The age of the earth Lord Kelvin: simple model of temperature of earth u(x, t) at depth x and time t ut = Duxx , x > 0, u(x, 0) = U0 , u(0, t) = 0. Scale chosen so u = 0 on surface; assumes initially constant temperature (U0 ) throughout the molten earth. The age of the earth Lord Kelvin: simple model of temperature of earth u(x, t) at depth x and time t ut = Duxx , x > 0, u(x, 0) = U0 , u(0, t) = 0. Scale chosen so u = 0 on surface; assumes initially constant temperature (U0 ) throughout the molten earth. We found solution Z ∞ i 2 f (x ) h −(x−x0 )2 /(4Dt) √ 0 u(x, t) = e − e−(x+x0 ) /(4Dt) dx0 . 4πDt 0 The age of the earth Lord Kelvin: simple model of temperature of earth u(x, t) at depth x and time t ut = Duxx , x > 0, u(x, 0) = U0 , u(0, t) = 0. Scale chosen so u = 0 on surface; assumes initially constant temperature (U0 ) throughout the molten earth. We found solution Z ∞ i 2 f (x ) h −(x−x0 )2 /(4Dt) √ 0 u(x, t) = e − e−(x+x0 ) /(4Dt) dx0 . 4πDt 0 Temperature gradient µ at surface is therefore Z ∞ 2 U0 1 U0 x0 e−x0 /(4Dt) dx0 = √ . µ = ux (0, t) = √ 4πDt Dt 0 πDt The age of the earth Lord Kelvin: simple model of temperature of earth u(x, t) at depth x and time t ut = Duxx , x > 0, u(x, 0) = U0 , u(0, t) = 0. Scale chosen so u = 0 on surface; assumes initially constant temperature (U0 ) throughout the molten earth. We found solution Z ∞ i 2 f (x ) h −(x−x0 )2 /(4Dt) √ 0 u(x, t) = e − e−(x+x0 ) /(4Dt) dx0 . 4πDt 0 Temperature gradient µ at surface is therefore Z ∞ 2 U0 1 U0 x0 e−x0 /(4Dt) dx0 = √ . µ = ux (0, t) = √ 4πDt Dt 0 πDt This relates the age of earth t to quantities we can estimate U0 ≈ melting temp. of iron ≈ 104 C, D ≈ 10−3 m2 /s, µ ≈ 10−2 C/m, The age of the earth Lord Kelvin: simple model of temperature of earth u(x, t) at depth x and time t ut = Duxx , x > 0, u(x, 0) = U0 , u(0, t) = 0. Scale chosen so u = 0 on surface; assumes initially constant temperature (U0 ) throughout the molten earth. We found solution Z ∞ i 2 f (x ) h −(x−x0 )2 /(4Dt) √ 0 u(x, t) = e − e−(x+x0 ) /(4Dt) dx0 . 4πDt 0 Temperature gradient µ at surface is therefore Z ∞ 2 U0 1 U0 x0 e−x0 /(4Dt) dx0 = √ . µ = ux (0, t) = √ 4πDt Dt 0 πDt This relates the age of earth t to quantities we can estimate U0 ≈ melting temp. of iron ≈ 104 C, which gives t ≈ 3 × 107 years !!?? D ≈ 10−3 m2 /s, µ ≈ 10−2 C/m,