Appendices
The Proof of Theorem 3.5 Using Direct Lyapunov Function Theory
Proof
Here, we adopt previous technique to prove Theorem 3.5 (see, for instance, Roop-O et al. 2015; Sun et al. 2017; Yang et al. 2017).
Firstly, we define a Lyapunov function given below:
$$\begin{aligned} \begin{aligned} V(t)&=n_1\bigg (S_1-S_1^{*}-S_1^{*}\ln \frac{S_1}{S_1^{*}}\bigg )+ n_2\bigg (S_2-S_2^{*}-S_2^{*}\ln \frac{S_2}{S_2^{*}}\bigg )\\&\quad + n_3\bigg (E-E^{*}-E^{*}\ln \frac{E}{E^{*}}\bigg )\\&\quad + n_4\bigg (I-I^{*}-I^{*}\ln \frac{I}{I^{*}}\bigg )+ n_5\bigg (D-D^{*}-D^{*}\ln \frac{D}{D^{*}}\bigg ). \end{aligned} \end{aligned}$$
(A-1)
Therefore, the derivative of the Lyapunov function (A-1) calculated along solutions of model (1) is given by
$$\begin{aligned} \begin{aligned} {\dot{V}}(t)&=n_1\bigg (1-\frac{S_1^{*}}{S_1}\bigg ) \dot{S_1}+n_2\bigg (1-\frac{S_2^{*}}{S_2}\bigg )\dot{S_2}+ n_3\bigg (1-\frac{E^{*}}{E}\bigg ){\dot{E}} \\&\quad +n_4\bigg (1-\frac{I^{*}}{I}\bigg ) {\dot{I}}+n_5\bigg (1-\frac{D^{*}}{D}\bigg ){\dot{D}}. \end{aligned} \end{aligned}$$
(A-2)
By direct computation from Eq. (A-2), we have
$$\begin{aligned} \begin{aligned} n_1\bigg (1-\frac{S_1^{*}}{S_1}\bigg )\dot{S_1}&=\bigg (1-\frac{S_1^{*}}{S_1}\bigg )\bigg (\rho \pi -\lambda S_1-\mu S_1\bigg )\\&=n_1\bigg (1-\frac{S_1^{*}}{S_1}\bigg )\bigg (\lambda ^{*}S_1^*+\mu S_1^*-\lambda S_1-\mu S_1\bigg )\\&=n_1\lambda ^* S_1^*\bigg (1-\frac{S_1^*}{S_1}\bigg )\bigg (1-\frac{\lambda S_1}{\lambda ^* S_1^*}\bigg )-\mu \frac{(S_1-S_1^*)^2}{S_1}\\&\le n_1\lambda ^* S_1^* \bigg (1-\frac{\lambda S_1}{\lambda ^* S_1^*}-\frac{S_1^*}{S_1}+\frac{\lambda }{\lambda ^*}\bigg ), \end{aligned} \end{aligned}$$
(A-3)
and
$$\begin{aligned} \begin{aligned} n_2\bigg (1-\frac{S_2^{*}}{S_2}\bigg )\dot{S_2}&=\bigg (1-\frac{S_2^{*}}{S_2}\bigg )\bigg ((1-\rho )\pi -v\lambda S_2-\mu S_2\bigg )\\&=n_2\bigg (1-\frac{S_2^{*}}{S_2}\bigg )\bigg (v\lambda ^{*}S_2^*+\mu S_2^*-v\lambda S_2-\mu S_2\bigg )\\&=n_2v\lambda ^* S_2^*\bigg (1-\frac{S_2^*}{S_2}\bigg )\bigg (1-\frac{\lambda S_2}{\lambda ^* S_2^*}\bigg )-\mu \frac{(S_2-S_2^*)^2}{S_2}\\&\le n_2v\lambda ^* S_2^* \bigg (1-\frac{\lambda S_2}{\lambda ^* S_1^*}-\frac{S_2^*}{S_2}+\frac{\lambda }{\lambda ^*}\bigg ), \end{aligned} \end{aligned}$$
(A-4)
and
$$\begin{aligned} \begin{aligned} n_3\bigg (1-\frac{E^{*}}{E}\bigg ){\dot{E}}&=\bigg (1-\frac{E^{*}}{E}\bigg )\bigg (\lambda S_1+v\lambda S_2-g_1 E\bigg )\\&=n_3\bigg (1-\frac{E^{*}}{E}\bigg )\bigg (\lambda S_1+v\lambda S_2-(\lambda ^* S_1^*+v\lambda ^* S_2^*) \frac{E}{E^*}\bigg )\\&=n_3\lambda ^* S_1^* \bigg (1-\frac{E^*}{E}\bigg )\bigg (\frac{\lambda S_1}{\lambda ^* S_1^*}-\frac{E}{E^*}\bigg ) \\&\quad +v\lambda ^* S_2^* \bigg (1-\frac{E^*}{E}\bigg )\bigg (\frac{\lambda S_2}{\lambda ^* S_2^*}-\frac{E}{E^*}\bigg )\\&=n_3\lambda ^* S_1^* \bigg (\frac{\lambda S_1}{\lambda ^* S_1^*}-\frac{E}{E^*}-\frac{\lambda S_1 E^*}{\lambda ^* S_1^* E}+1\bigg ) \\&\quad +v\lambda ^* S_2^* \bigg (\frac{\lambda S_2}{\lambda ^* S_2^*}-\frac{E}{E^*}-\frac{\lambda S_2 E^*}{\lambda ^* S_2^* E}+1\bigg ), \end{aligned} \end{aligned}$$
(A-5)
and
$$\begin{aligned} \begin{aligned} n_4\bigg (1-\frac{I^{*}}{I}\bigg ){\dot{I}}&=\bigg (1-\frac{I^{*}}{I}\bigg )\bigg (\sigma E-g_2 I\bigg )\\&=n_4\bigg (1-\frac{I^{*}}{I}\bigg )\bigg (\sigma E-\sigma E^*\frac{I}{I^*}\bigg )\\&=n_4\sigma E^*\bigg (1-\frac{I^{*}}{I}\bigg )\bigg (\frac{E}{E^*}-\frac{I}{I^*}\bigg )\\&=n_4\sigma E^* \bigg (\frac{E}{E^*}-\frac{I}{I^*}-\frac{I^* E}{I E^*}+1\bigg ), \end{aligned} \end{aligned}$$
(A-6)
and
$$\begin{aligned} \begin{aligned} n_5\bigg (1-\frac{D^{*}}{D}\bigg ){\dot{D}}&=\bigg (1-\frac{D^{*}}{D}\bigg )\bigg (f\gamma I -\theta D\bigg )\\&=n_5\bigg (1-\frac{D^{*}}{D}\bigg )\bigg (f\gamma I -f\gamma I^*\frac{D}{D^*}\bigg )\\&=n_5f\gamma I^*\bigg (1-\frac{D^{*}}{D}\bigg )\bigg (\frac{I}{I^*}-\frac{D}{D^*}\bigg )\\&=n_5f\gamma I^* \bigg (\frac{I}{I^*}-\frac{D}{D^*}-\frac{D^* I}{D I^*}+1\bigg ). \end{aligned} \end{aligned}$$
(A-7)
Substituting \(n_1=n_2=n_3=1\), \(n_4=\frac{\lambda ^*}{\sigma E^*}(S_1^*+vS_2^*)\), and \(n_5=\frac{\lambda ^*S_2^*}{f\gamma I^*}\), and Eqs. (A-3)–(A-7) into Eq. (A-2), we have
$$\begin{aligned} \begin{aligned} {\dot{V}}(t) \le&\, \lambda ^* S_1^*\bigg (2-\frac{S_1^*}{S_1}-\frac{E}{E^*}-\frac{\lambda S_1 E^*}{\lambda ^* S_1^* E}+\frac{\lambda }{\lambda ^*}\bigg )\\&\quad +v\lambda ^* S_2^*\bigg (2-\frac{S_2^*}{S_2}-\frac{E}{E^*}-\frac{\lambda S_2 E^*}{\lambda ^* S_2^* E}+\frac{\lambda }{\lambda ^*}\bigg )\\&\quad +\lambda ^* S_1^*\bigg (\frac{E}{E^*}-\frac{I}{I^*}-\frac{I^* E}{I E^*}+1\bigg )\\&\quad +v\lambda ^* S_2^*\bigg (\frac{E}{E^*}-\frac{I}{I^*}-\frac{I^* E}{I E^*}+1\bigg )\\&\quad +v\lambda ^*S_2^*\bigg (\frac{I}{I^*}-\frac{D}{D^*}-\frac{D^* I}{D I^*}+1\bigg ). \end{aligned} \end{aligned}$$
(A-8)
Suppose a function is define as \(u(x)=1-x+\ln x\), then, if \(x>0\) it leads to \(u(x) \le 0\). Also, if \(x=1\), then \(u(x)=0\). This implies that \(x-1\ge \ln (x)\) for any \(x>0\) (Musa et al. 2019; Roop-O et al. 2015; Yang et al. 2017; Musa et al. 2020; Sun et al. 2017).
By using the above definition, direct calculation from Eq. (A-8), and conditions (i) and (ii), we have
$$\begin{aligned} \begin{aligned}&\bigg (2-\frac{S_1^*}{S_1}-\frac{E}{E^*}-\frac{\lambda S_1 E^*}{\lambda ^* S_1^* E}+\frac{\lambda }{\lambda ^*}\bigg )\\&\quad =\bigg (-\left( 1-\frac{\lambda }{\lambda ^*}\right) \left( 1-\frac{I \lambda ^*}{I^*\lambda }\right) +3-\frac{S_1^*}{S_1}-\frac{\lambda S_1 E^*}{\lambda ^* S_1^*E}-\frac{I\lambda ^*}{I^* \lambda }-\frac{E}{E^*}+\frac{I}{I^*}\bigg )\\&\quad \le \bigg (-\left( \frac{S_1^*}{S_1}-1\right) -\left( \frac{\lambda S_1 E^*}{\lambda ^* S_1^*E}-1\right) -\left( \frac{I\lambda ^*}{I^*\lambda }-1\right) -\frac{E}{E^*}+\frac{I}{I^*}\bigg )\\&\quad \le \bigg (-\ln \left( \frac{S_1^*}{S_1}\frac{\lambda S_1 E^*}{\lambda ^* S_1^* E}\frac{I\lambda ^*}{I^* \lambda }\right) -\frac{E}{E^*}+\frac{I}{I^*}\bigg )\\&\quad =\bigg (\frac{I}{I^*}-\ln \left( \frac{I}{I^*}\right) +\ln \left( \frac{E}{E^*}\right) -\frac{E}{E^*}\bigg ). \end{aligned} \end{aligned}$$
(A-9)
By using the above definition, direct calculation from Eq. (A-8), and conditions (i) and (ii), we have
$$\begin{aligned} \begin{aligned}&\bigg (2-\frac{S_2^*}{S_2}-\frac{E}{E^*}-\frac{\lambda S_2 E^*}{\lambda ^* S_2^* E}+\frac{\lambda }{\lambda ^*}\bigg )\\&\quad =\bigg (-\left( 1-\frac{\lambda }{\lambda ^*}\right) \left( 1-\frac{D \lambda ^*}{D^*\lambda }\right) +3-\frac{S_2^*}{S_2}-\frac{\lambda S_2 E^*}{\lambda ^* S_2^*E}-\frac{D\lambda ^*}{D^* \lambda }-\frac{E}{E^*}+\frac{D}{D^*}\bigg )\\&\quad \le \bigg (-\left( \frac{S_2^*}{S_2}-1\right) -\left( \frac{\lambda S_2 E^*}{\lambda ^* S_2^*E}-1\right) -\left( \frac{D\lambda ^*}{D^*\lambda }-1\right) -\frac{E}{E^*}+\frac{D}{D^*}\bigg )\\&\quad \le \bigg (-\ln \left( \frac{S_2^*}{S_2}\frac{\lambda S_2 E^*}{\lambda ^* S_2^* E}\frac{D\lambda ^*}{D^* \lambda }\right) -\frac{E}{E^*}+\frac{D}{D^*}\bigg )\\&\quad =\bigg (\frac{D}{D^*}-\ln \left( \frac{D}{D^*}\right) +\ln \left( \frac{E}{E^*}\right) -\frac{E}{E^*}\bigg ). \end{aligned} \end{aligned}$$
(A-10)
Also from Eq. (A-8), we have
$$\begin{aligned} \begin{aligned} \frac{E}{E^*}-\frac{I}{I^*}-\frac{I^* E}{I E^*}+1&=\bigg (u\bigg (\frac{I^*E}{IE^*}\bigg )+\frac{E}{E^*}-\ln \bigg (\frac{E}{E^*}\bigg )-\frac{I}{I^*}+\ln \bigg (\frac{I}{I^*}\bigg )\bigg ) \\&\quad \le \frac{E}{E^*}-\ln \bigg (\frac{E}{E^*}\bigg )+\ln \bigg (\frac{I}{I^*}\bigg )-\frac{I}{I^*}. \end{aligned} \end{aligned}$$
(A-11)
Similarly,
$$\begin{aligned} \begin{aligned} \frac{I}{I^*}-\frac{D}{D^*}-\frac{D^* I}{D I^*}+1&=\bigg (u\bigg (\frac{D^*I}{DI^*}\bigg )+\frac{I}{I^*}-\ln \bigg (\frac{I}{I^*}\bigg )-\frac{D}{D^*}+\ln \bigg (\frac{D}{D^*}\bigg )\bigg ) \\&\quad \le \frac{I}{I^*}-\ln \bigg (\frac{I}{I^*}\bigg )+\ln \bigg (\frac{D}{D^*}\bigg )-\frac{D}{D^*}. \end{aligned} \end{aligned}$$
(A-12)
Hence,
$$\begin{aligned} \begin{aligned} {\dot{V}}(t) \,=\,&\lambda ^* S_1^*\bigg (\frac{I}{I^*}-\ln \bigg (\frac{I}{I^*}\bigg )+\ln \bigg (\frac{E}{E^*}\bigg )-\frac{E}{E^*}\bigg )\\&+ v\lambda ^* S_2^*\bigg (\frac{D}{D^*}-\ln \bigg (\frac{D}{D^*}\bigg )+\ln \bigg (\frac{E}{E^*}\bigg )-\frac{E}{E^*}\bigg )\\&+ \lambda ^* S_1^*\bigg (\frac{E}{E^*}-\ln \bigg (\frac{E}{E^*}\bigg )+\ln \bigg (\frac{I}{I^*}\bigg )-\frac{I}{I^*}\bigg )\\&+ v\lambda ^* S_2^*\bigg (\frac{E}{E^*}-\ln \bigg (\frac{E}{E^*}\bigg )+\ln \bigg (\frac{I}{I^*}\bigg )-\frac{I}{I^*}\bigg )\\&+ v\lambda ^* S_2^*\bigg (\frac{I}{I^*}-\ln \bigg (\frac{I}{I^*}\bigg )+\ln \bigg (\frac{D}{D^*}\bigg )-\frac{D}{D^*}\bigg ). \end{aligned} \end{aligned}$$
(A-13)
Equations (A-3)–(A-13) ensure that \(\dot{V(t)}\le 0\). Further, the equality \(\frac{\mathrm{d}V}{\mathrm{d}t}=0\) holds only if \(S_1=S_1^{*}\), \(S_2=S_2^{*}\)\(E=E^{*}\), \(I=I^{*}\), and \(D=D^{*}\). Thus, the endemic equilibrium state (5) is the only positive invariant set to the system (1) contained entirely in \(\biggl \{(S_1, S_2, E, I, D) \in \Omega : S_1=S_1^{*}, S_2=S_2^{*}, E=E^{*}, I=I^{*}, D=D^{*} \biggr \}\). Hence, it follows from the LaSalle’s invariance principle (LaSalle 1976) that every solutions to the Eq. (1) with initial conditions in \(\Omega \) converge to endemic equilibrium point, \(\Gamma ^{*}\), as \(t\rightarrow \infty \). Thus, the positive endemic equilibrium is globally asymptotically stable. \(\square \)