Abstract
This paper deals with the asymptotic stability and boundedness of the solution of a time-varying impulsive Volterra integro-dynamic system on time scales in which the coefficient matrix is not necessarily stable. We generalize to a time scale some known properties concerning the asymptotic behavior and boundedness from the continuous case.
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1 Introduction
Impulsive differential systems represent a natural framework for mathematical modelling of several processes in the applied sciences [1–4]. Basic qualitative and quantitative results about impulsive Volterra integro differential equations were studied in the literature (see [5–8]). Volterra-type equations (integral and integro-dynamic) on time scales were studied in [9–15]. In [16] the authors presented a theory for linear impulsive dynamic systems on time scales and recently in [17] various results concerning the asymptotic stability and boundedness of Volterra integro-dynamic equations on time scales were developed. Motivated by these papers, we generalize these results to impulsive integro-dynamic systems on time scales.
2 Preliminaries
In this paper we assume that the reader is familiar with the basic calculus of time scales. Let be the space of n-dimensional column vectors with a norm . Also, with the same symbol we denote the corresponding matrix norm in the space of matrices. If , then we denote by its conjugate transpose. We recall that and the following inequality holds for all and . A time scale is a nonempty closed subset of ℝ. The set of all rd-continuous functions will be denoted by .
The notations , , and so on, denote time scale intervals such as , where . Also, for any , let and .
We denote by ℛ (respectively ) the set of all regressive (respectively positively regressive) functions from to ℝ. The space of all rd-continuous and regressive functions from to ℝ is denoted by . Also,
We denote by the set of all functions that are differentiable on with its delta-derivative . The set of rd-continuous (respectively rd-continuous and regressive) functions is denoted by (respectively by ). We recall that a matrix-valued function A is said to be regressive if is invertible for all , where I is the identity matrix. For a comprehensive review on time scales, we refer the reader to [18] and [19].
Lemma 2.1 ([[18], Theorem 2.38])
Let . Then .
Lemma 2.2 ([[18], Theorem 6.2])
Let with . Then
Theorem 2.3 ([[13], Theorem 7])
Let with and assume that is integrable on . Then
It is easy to verify that the above result holds for .
Lemma 2.4 ([[16], Lemma 2.1])
Let , , and , . Then
implies
Consider the Volterra time-varying impulsive integro-dynamic system
where A (not necessarily stable) is an matrix function and F is an n-vector function, which is piecewise continuous on , K is an matrix function, which is piecewise continuous on , , , with and the impulsive points are right dense. Note that represents the left limit of at and represents the right limit of at .
The rest of the paper is organized as follows. In Section 3, we investigate the asymptotic behavior of solutions of system (1), which generalizes the continuous version () of [[8], Theorem 2.5]. In Section 4 we discuss the uniform boundedness of solutions of (1) by constructing a Lyapunov functional. Further results for boundedness, uniform boundedness and stability of solutions will also be developed.
3 Asymptotic stability
Our first result in this section is to present a system equivalent to (1) which involves an arbitrary function.
Theorem 3.1 Let be an continuously differentiable matrix function with respect to s on with for each . Then (1) is equivalent to the system
where
and
Proof Let be any solution of (1) on . If we take , then for , we have
and by (1) it follows that
Integration from to t yields
Using Theorem 2.3, we obtain
By a change of variables in the double integral term, we have
Using (3) and (4), we obtain
From (1), we have
For , we obtain
Hence, is a solution of (2).
Conversely, let be any solution of (2) on . We shall show that it satisfies (1). Consider
Then by (2) and (3) we have
Using (4), we obtain
Again by Theorem 2.3, we have
Now, by setting , then for , we get
Integrating (6) from to t yields
and therefore, we have
Since , substituting (7) in (5), we obtain
which implies , by the unique solution of Volterra integral equations [12] and the fact that . Hence is a solution of (1). □
For our next result we assume that matrix B commutes with its integral, so B commutes with its matrix exponential, that is, , [20].
Theorem 3.2 Let and . Assume that matrix B commutes with its integral. If
then every solution of (1) satisfies
where .
Proof Let be the solution of (2) and define . Then
Substituting for from (2) and integrating from to t, we obtain
Using Theorem 2.3 and applying the semigroup property of exponential functions [[18], Theorem 2.36], we obtain
For , we have
Hence, using (8) and applying the norm on (10), we obtain (9), which completes the proof. □
In the next theorem we present sufficient conditions for asymptotic stability.
Theorem 3.3 Let be an continuously differentiable matrix function with respect to s on Ω such that
-
(a)
the assumptions of Theorem 3.2 hold,
-
(b)
,
-
(c)
,
-
(d)
and
-
(e)
, where : as ,
where , , λ are positive real constants.
If , then every solution of (1) tends to zero exponentially as .
Proof In view of Theorem 3.1 and the fact that satisfies (a), it is enough to show that every solution of (2) tends to zero as . From (a) and using (9), we obtain
Since
then by Lemma 2.1 and the fact that , we obtain
Using (11), (b), (c) and (d), we have
From Theorem 3.2, we have
which implies
Lemma 2.4 yields that
Using [[18], Theorem 2.36], (e) and the fact that , we obtain
where [[18], Exercise 2.28]. By Lemma 2.2, we have , so we obtain
Hence, in view of (e) and the fact , we obtain the required result. □
Example 3.4 Let us consider the Volterra integro-dynamic equation
where , , and the impulsive points . Now consider so then . The matrix function given in (4) becomes
In the following, we check the assumptions of Theorem 3.3 when .
Let . Then we have
and
Here the constants are and . From (15) it follows that
Then from (16) we obtain that is a positive function, and
from which it follows that
and
Since and , then we have that . Therefore, since all the assumptions of Theorem 3.3 hold for system (14), it follows that the solution of (14) tends to zero exponentially as .
If , then all points are right scattered and there is no impulse condition. So, from [[17], Example 3.7] it follows that the solution of (14) tends to zero exponentially as .
Theorem 3.5 Let such that for and
-
(i)
assumptions (a), (b), (d) and (e) of Theorem 3.3 hold,
-
(ii)
and ,
-
(iii)
for ,
-
(iv)
for some ,
where , , , δ and θ are positive real numbers such that , .
If , then every solution of (1) tends to zero exponentially as .
Proof From (4), we obtain
which implies
Since , , then from (i), (ii) and (iii), (17) becomes
and
Integrating the above inequality and using (iv), we obtain
Substituting (19) in (11), we obtain
Lemma 2.4 yields that
Using [[18], Theorem 2.36], (e) and the fact that , we obtain
Then by Lemma 2.2, we have
Hence, in view of (i) and , we obtain the required result. □
Corollary 3.6 Let be an continuously differentiable matrix function with respect to s on with for each . Then (1) is equivalent to the impulsive dynamic system
where
and
Proof The proof follows an argument similar to that in Theorem 3.1 with . □
4 Boundedness
In the first result of this section, we give sufficient conditions to insure that (1) has bounded solutions. Our results apply to (1) whether is stable, identically zero, or completely unstable, and do not require to be constant nor to be a convolution kernel. Let and be continuous matrices, . Let and assume that is an regressive matrix. The unique matrix solution of the initial valued problem
is called the impulsive transition matrix (at s) and it is denoted by (see [[16], Corollary 3.1]). Also, if is an regressive matrix satisfying
then
Theorem 4.1 Let be the solution of (23), and suppose that there are positive constants N, J and M such that
-
(i)
,
-
(ii)
,
-
(iii)
.
Then all the solutions of (1) are uniformly bounded, and the zero solution of the corresponding homogenous equation of (1) is uniformly stable with the initial condition .
Proof Consider the following functional
The derivative of along a solution of (1) satisfies
From [[18], Theorem 1.117], we obtain
or
By using (25), [[18], Theorems 1.75] and [[16], Theorem 3.4], we have the following expression:
which implies that
where . Substituting (28) in (27) yields
From (24) and (26), we have
and it is easy to see that
Thus
where
Let . Then by (25), (ii) is precisely . By (29) and (i)-(iii),
If for some constant, and if , then by (26) we obtain
Now, either there exists such that for all , and thus is uniformly bounded, or there exists a monotone sequence tending to infinity such that and as , and by (ii) and (30) we have
a contradiction. This completes the proof. □
In the second part of this section, we consider system (1) with bounded and suppose that
is defined and continuous on Ω. The matrix on is defined by
Then (1) is equivalent to the system
Theorem 4.2 Let and . Assume that commutes with its integral. If
then every solution of (1) with satisfies
where .
Proof Let be the solution of (1) and define . Then
Substituting for from (33) and integrating from to t, yields
Applying the integration by parts on the second term of the right-hand side [[18], Theorem 1.77] and the semigroup property of exponential functions [[18], Theorem 2.36], we obtain
For , we have
Hence, using (34) and applying the norm on (36), we obtain (35), which completes the proof. □
Assume that the hypotheses of Theorem 4.2 hold for next results.
Theorem 4.3 Let be a solution of (1). If on for some , is bounded and , with β sufficiently small, then is bounded.
Proof For the given and bounded , there is with
Substituting (37) in (35), we obtain
Let β be chosen so that . Then
Let and . If is not bounded, then there exists a first with , and then
a contradiction. This completes the proof. □
Theorem 4.4 If in (1), on for some , and for β sufficiently small, then the zero solution of (1) with the initial condition is uniformly stable.
Proof Let be given. We wish to find such that , , and implies . Let with δ yet to be determined. If , then . From (35) with ,
First take β so that and δ so that . If and if there exists with , we have
a contradiction. Thus the zero solution is uniformly stable. The proof is complete. □
Example 4.5 Let us consider the following system:
where and . It is easy to check that
By using (31) and (39), we obtain
This implies that and
Finally, by taking the supremum over t in (40), over , we obtain
Since , so we can choose such that for β sufficiently small. It follows that all the assumptions of Theorem 4.3 are satisfied, hence all the solutions of (38) are bounded. Moreover, Theorem 4.4 yields that the zero solution of (38) is uniformly stable on an arbitrary time scale.
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Agarwal, R.P., Awan, A.S., O’Regan, D. et al. Linear impulsive Volterra integro-dynamic system on time scales. Adv Differ Equ 2014, 6 (2014). https://doi.org/10.1186/1687-1847-2014-6
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DOI: https://doi.org/10.1186/1687-1847-2014-6