 Research
 Open Access
 Published:
Iterative roots of upper semicontinuous multifunctions
Advances in Difference Equations volume 2017, Article number: 367 (2017)
Abstract
The square iterative roots for strictly monotonic and upper semicontinuous functions with one setvalued point were fully described in (Li et al. in Publ. Math. (Debr.) 75:203220, 2009). As a continuation, we study both strictly monotonic and nonmonotonic multifunctions. We present sufficient and necessary conditions under which those multifunctions have nth iterative roots. This equivalent condition and the construction method of nth iterative roots extend the previous results.
Introduction
Given a mapping \(F: X\rightarrow X\) and an integer \(n\geq2\), the iterative root problem is to find all selfmappings \(f: X\rightarrow X\) such that their nth iterates satisfy the functional equation
Babbage [2] investigated (1.1) for an identity mapping F as far back as the 1810s. After that, (1.1) has been studied in various aspects and settings since it is an important subject in the theory of functional equations; we refer to the survey papers [3–7], the monographs [8, 9], and the book [10]. For all we know, strictly increasing roots of strictly increasing and continuous functions were discussed by Bödewadt [11], and their strictly decreasing roots were presented by Haı̌dukov [12]. In 1961, Kuczma [13] gave a complete description of strictly monotonic and continuous functions having roots. However, even simple nonmonotonic functions can have no iterative roots, for example, the hat functions \(f(x)=\min\{\frac{x}{a}, \frac{1x}{1a}\}\) on the compact interval \([0,1]\) for arbitrary \(a\in(0,1)\). In 1983, Zhang and Yang [14] investigated the roots of piecewise monotonic functions (abbreviated as PM functions). The main difficulties to find roots of PM functions lie in the continuously increasing number of nonmonotonic points under iteration (see [15]). Their method is based on the ‘characteristic interval’, which was developed in [7, 16]. In recent years, many important results on iterative roots of PM functions were presented in [17–19]. It is worth mentioning that those results are related to singlevalued functions. In [20, 21] and [22], it is illustrated that the set of continuous functions having a root is a nonBorel subset of \(C([0,1],\mathbb{R})\) and is small in \(C([0,1],[0,1])\). That is to say, in the general case, no such roots exist, and the theory becomes extremely complicated if F is not bijective [23]. Therefore, it is a natural idea to extend the notion of iterative root.
In his survey paper [5], Targonski illustrated three ways to generalize iterative roots, extending or restricting the domain of the function or embedding the semigroup of selfmappings in a larger semigroup, and discussed the socalled phantom iterative root of continuous functions in [23]. Powierża and Jarczyk [24–26] gave setvalued functions as roots of singlevalued functions. Maybe the best method to generalize iterative roots is replacing singlevalued functions by setvalued functions for both F and f in (1.1) (see [4]). It seems that, up to now, there are only several results on setvalued iterative roots of multifunctions, even with a unique setvalued point. In 2007, Jarczyk and Zhang [27] considered the nonexistence of square iterative roots of multifunctions with exactly one setvalue point and presented two sufficient conditions for the purely settheoretical situation. Later, Li, Jarczyk, Jarczyk, and Zhang [1] gave new nonexistence results for purely settheoretical case and fully described the square roots of strictly monotonic, upper semicontinuous (abbreviated as usc) multifunctions.
As a continuation of [1], in this paper, we study all strictly monotonic usc multifunctions having one setvalued point and partly nonmonotonic ones. We give sufficient and necessary conditions for the existence of nth iterative roots and their construction method, which extend the results on strictly monotonic usc multifunctions in [1]. In Section 2, we recall the basic definitions and present Lemmas 13. In Section 3, we give equivalent conditions for the existence of nth iterative roots and their expressions. Finally, in Section 4, we apply examples to illustrate our results.
Preliminaries
Given topological spaces X and Y, a multifunction \(f: X\to2^{Y}\) is called upper semicontinuous at a point \(x_{0} \in X\) if for every open set \(V\subset Y\) with \(f(x_{0})\subset V\), there exists a neighborhood \(U\subset X\) of \(x_{0}\) such that \(f(U)\subset V\). If f is upper semicontinuous at every point of \(B\subset X\), then it is called upper semicontinuous on a set \(B\subset X\). Let \(F: X\to X\) and \(G: Y\to Y\) be continuous functions. We say that F is topologically conjugate to G if there exists a homeomorphism \(\varphi: X\to Y\) satisfying the equation \(\varphi\circ F=G\circ\varphi\).
Let X be an interval \(I:=[a,b]\subset\mathbb{R}\). For a multifunction \(f:I\to2^{I}\), the image \(f(A)\) for a set \(A\subset I\) is defined by \(f(A):=\bigcup_{x\in A} f(x)\). For a given positive integer n, we define the nth iterate of \(f:I\to2^{I}\) as the composition of n copies of f:
where \(f^{0}(x):=\{x\}\) for every \(x\in I\). Let #A denote the cardinality of the set A. Then a point \(x_{0}\in(a,b)\) is said to be a setvalued point of f if the cardinality \(\#f(x_{0}) \geq2\). Denote by \(\mathcal{S}_{x_{0}} (I,I)\) the set of all multifunctions \(f: I\to2^{I}\) that are continuous on I except for the single setvalued point \(x_{0}\). We say that f is onetoone on I if \(f(x_{1})\neq f(x_{2})\) for all different \(x_{1}, x_{2} \in I\backslash\{x_{0}\}\).
Definition 1
([1])
Let \(\gamma: I\to I\) be a strictly increasing continuous function. Given a fixed point \(\xi\in I\) of γ, we put
Then ξ is called a regular fixed point of γ if

(a)
\(\min A_{\xi}=\inf I\) if and only if \(\max B_{\xi}=\sup I\);

(b)
there exists a strictly decreasing function a mapping \(A_{\xi}\) onto \(B_{\xi}\);

(c)
for every component \((a,b)\) of the set \(\{x\in \operatorname{cl}I: \gamma(x) \neq x\}\), where \(a\in A_{\xi} \cup\{\inf I\}\), \(b\in A_{\xi}\), and \(a< b\), the graphs of \(\gamma_{(a,b)}\) and \(\gamma_{(\alpha(a), \alpha(b))}\) lie on the opposite sides of the diagonal.
Definition 2
([1])
A multifunction \(f: I\to2^{I}\) is called strictly increasing (strictly decreasing) if \(\sup f(x_{1})<\inf f(x _{2})\) (\(\inf f(x_{1})<\sup f(x_{2})\)) whenever \(x_{1} ,x_{2} \in I\) and \(x_{1} < x_{2}\). Multifunctions that are either strictly increasing or strictly decreasing are called strictly monotonic.
It is clear that every strictly monotonic multifunction is onetoone. Conversely, a onetoone multifunction is not necessarily strictly monotonic. In this paper, we investigate the nth iterative roots of usc multifunctions \(F\in{\mathcal{S}}_{x_{0}} (I,I)\) of the form
where \([c,d]\ ([d,c])\subset I\), and \(F_{I_{}}\) and \(F_{I_{+}}\) are strictly monotonic and satisfy
The next lemmas describe the fundamental properties of the nth iterative roots of (2.1).
Lemma 1
If \(F\in{\mathcal{S}}_{x_{0}} (I,I)\) is onetoone, then every nth iterative root f of F belongs to \(\mathcal{S}_{x_{0}} (I,I)\) and is also onetoone.
Proof
We first prove that f is onetoone. Suppose on the contrary that there exist two different points \(u,v\in I\) such that \(f(u)=f(v)\). Then \(f^{n} (u)=f^{n} (v)\), and thus \(F(u)=F(v)\). Since F is onetoone, only the case \(u=v\) is possible, contrary to the assumption.
Now we show that \(f\in{\mathcal{S}}_{x_{0}} (I,I)\). For any \(y\in I\backslash \{x_{0}\}\), suppose on the contrary that \({\#f(y)\geq2}\). Then we have
which contradicts \(F\in{\mathcal{S}}_{x_{0}} (I,I)\). Thus, \(f(y)\) is a singleton for all \(y\in I\backslash\{x_{0}\}\). We claim that \(x_{0}\) is a unique setvalued point of f. Otherwise, let \(f(x_{0})=\{p_{0}\}\). Then two cases are possible: either \(p_{0} =x _{0}\) or \(p_{0} \neq x_{0}\). From the former we have
which contradicts \(\#F(x_{0})\geq2\). For the case \(p_{0} \neq x_{0}\), \(f\in{\mathcal{S}}_{x_{0}} (I,I)\) implies that \(\#f(p_{0})=1\) since f is singlevalued at \(I\backslash\{x_{0}\}\). Without loss of generality, assume that \(f(p_{0})=\{p_{1}\}\). Then there again exist two cases: either \(p_{1} =x_{0}\) or \(p_{1} \neq x_{0}\). If \(p_{1} =x_{0}\), a contradiction comes from
If \(p_{1} \neq x_{0}\), we have \(\#f(p_{1})=1\) since f is singlevalued except for \(x_{0}\). Repeating this progress, we inductively obtain
and, consequently, we have
which contradicts \(F\in{\mathcal{S}}_{x_{0}} (I,I)\). Thus, we prove \(f\in{\mathcal{S}}_{x_{0}} (I,I)\). This completes the proof. □
Lemma 2
If \(F\in{\mathcal{S}}_{x_{0}} (I,I)\) is onetoone, then F has no nth iterative root \(f\in{\mathcal{S}}_{x_{0}} (I,I)\) taking the value \(\{x_{0}\}\).
Proof
Assume that f is an nth iterative root of F. We claim that \(f\in{\mathcal{S}}_{x_{0}} (I,I)\) by Lemma 1. Suppose on the contrary that \(f(y_{0})=\{x_{0}\}\) for a point \(y_{0} \in I\backslash \{x_{0}\}\). Then
whence
implying \(y_{0} =x_{0}\), a contradiction. This completes the proof. □
Lemma 3
Suppose that \(F\in{\mathcal{S}}_{x_{0}} (I,I)\) is onetoone.

(i)
If F is strictly increasing, then F has no strictly decreasing nth iterative root for odd n.

(ii)
If F is strictly decreasing, then F has no strictly increasing nth iterative root for even n.
This proof is trivial and omitted.
Main results
In this section, we give several sufficient and necessary conditions and expressions of nth iterative roots of (2.1). Theorem 1 and Theorem 3 characterize the strictly monotonic usc multifunctions, and nonmonotonic cases are investigated in Theorem 2 and Theorem 4. For convenience, let \(f_{1}:=f_{I_{}}\), \(f_{2}:=f_{I_{+}}\).
Theorem 1
Suppose that the usc multifunction (2.1) has \(F(x_{0})=[c,d]\). If \(F_{I_{}}\) and \(F_{I_{+}}\) are strictly increasing, then F has nth iterative roots if and only if F satisfies \(F(b)< x_{0} \) or \(F(a)> x_{0}\) or \(c\leq x_{0} \leq d\).
(i) If \(F(b)< x_{0} \), then F has a strictly increasing nth iterative root
where \(f_{1} :I_{}\to I_{}\) is a strictly increasing function satisfying \({f_{1}}^{n} =F_{I_{}}\). Moreover, if n is even and \(F_{I_{}}\) has a regular fixed point, then F also has a strictly decreasing nth iterative root of the form (3.1), in which \(f_{1}\) is a strictly decreasing function satisfying \({f_{1}}^{n} =F_{I _{}}\).
(ii) If \(F(a)> x_{0} \), then F has a strictly increasing nth iterative root
where \(f_{2} :I_{+} \to I_{+}\) is a strictly increasing function satisfying \({f_{2}}^{n} =F_{I_{+}}\). Moreover, if n is even and \(F_{I_{+}}\) has a regular fixed point, then F also has a strictly decreasing nth iterative root of the form (3.2), in which \(f_{2}\) is a strictly decreasing function satisfying \({f_{2}}^{n} =F_{I _{+}}\).
(iii) If \(c\leq x_{0} \leq d\), then F has a strictly increasing nth iterative root
where \(f_{1}\) and \(f_{2}\) are defined as in (3.1) and (3.2), respectively. Moreover, if n is even and \(F_{I_{+}}\) is topologically conjugate to \(F_{I_{}}\) by a strictly decreasing function \(f_{1} :I_{} \to I_{+}\), that is, \(F_{I_{+}}=f_{1} \circ F_{I _{}}\circ{f_{1}}^{1}\), then F also has a strictly decreasing nth iterative root
in which g is a strictly increasing \(\frac{n}{2}\) th iterative root of F.
Proof
Necessity. If F has nth iterative roots, then F does not take the value \(\{x_{0}\}\) by Lemma 2. Therefore, only the following cases are possible:
 Case 1. :

\(F(I)\subset I_{}\), i.e., \(F(b)< x_{0}\), or
 Case 2. :

\(F(I)\subset I_{+}\), i.e., \(F(a)>x_{0}\), or
 Case 3. :

\(F(I_{})\subset I_{}\) and \(F(I_{+})\subset I_{+}\), i.e., \(c\leq x_{0} \leq d\).
Sufficiency. Consider case (i). Observing that \(F_{I_{}}: I_{} \rightarrow I_{}\) is strictly increasing, it follows from Theorem 11.2.2 in [9] that there exists a strictly increasing function \(f_{1} : I_{} \to I_{}\) such that
For every \(x\in I_{+} \cup\{x_{0}\}\), using that \(F(x)\subset I_{}\) and \(f_{1}\) is strictly increasing, from
we get
Furthermore, by the upper semicontinuity property at the setvalue point \(x_{0}\) we have
Since \({f_{1}}^{n1}\) is strictly increasing, it follows from (3.8) that
Hence, formulas (3.5), (3.7), and (3.9) give a strictly increasing nth iterative root (3.1) of F.
Assuming that n is even, the left endpoint a is not a fixed point of F_{−} since it has a regular fixed point, and there exists a strictly decreasing nth iterative root \(f_{1}: I_{}\to I_{}\) of F_{−} (see [9, p.427]). Moreover, since \(f_{1}\) is strictly decreasing, using (3.8), we have
Thus, \(f_{1}\) and (3.7) and (3.10) give a strictly decreasing nth iterative root (3.1) of F.
The proof of case (ii) is immediately obtained by the transformation
Case (iii). The condition \(c\leq x_{0} \leq d\) implies that \(F(I_{})\subset I_{} \) and \(F(I_{+})\subset I_{+}\). Since \(F_{I_{}}\) and \(F_{I_{+}}\) are strictly increasing, their strictly increasing nth iterative roots \(f_{1}\) and \(f_{2}\) exist and are defined as in (3.1) and (3.2), respectively. Observing that f is onetoone by Lemma 1 and \(f_{1}\) and \(f_{2}\) are strictly increasing, we have
which yields (3.9). Consequently, \(f_{1} \) and \(f_{2}\) together with (3.12) and (3.9) give a strictly increasing nth iterative root (3.3) of F.
If n is even and \(F_{I_{+}}\) is topologically conjugate to \(F_{I_{}}\) by a strictly decreasing function \(f_{1} : I_{} \to I _{+}\), then we will prove that F also has a strictly decreasing nth iterative root f of F. In fact, this problem reduces itself to a solution of the system
As in the previous argument, F possesses a strictly increasing \(\frac{n}{2}\)th iterative root g, and we confine ourselves to the first equation \(f^{2} =g\) to find a strictly decreasing solution f of F. The given condition \(F_{I_{+}}=f_{1} \circ F_{I_{}}\circ {f_{1}}^{1}\) implies that the strictly increasing functions \(g_{I_{+}}\) and \(g_{I_{}}\) satisfy the conjugacy equation
and the equality \(g^{\frac{n}{2}}=F\) shows that
The second equality in (3.15) yields that
implying that \(f_{2} :I_{+} \to I_{}\) also is strictly decreasing. Moreover,
Since F and g are strictly increasing, \(f_{1}: I_{} \to I_{+}\) and \(f_{2}: I_{+} \to I_{}\) are strictly decreasing, and f is onetoone, it follows from (3.17) that (3.10) holds. Thus, the given \(f_{1}\), together with (3.10), (3.16), and (3.17), leads to (3.4). Refer to Figure 1. This completes the proof.
□
Theorem 2
Suppose that the usc multifunction (2.1) with \(F(x_{0})=[d,c]\) is onetoone. If \(F_{I_{}}\) and \(F_{I_{+}}\) are strictly increasing, then F has nth iterative roots if and only if F satisfies \(F(b)< F(a)<c\leq x_{0}\) or \(F(a)>F(b)>d\geq x_{0}\) or \(F(b)< x_{0} <F(a)\).
(i) If \(F(b)< F(a)<c\leq x_{0}\), then F has a nonmonotonic nth iterative root defined by (3.1). Moreover, if n is even and \(F_{I_{}}\) has a regular fixed point, then F also has a nonmonotonic nth iterative root of the form (3.1), in which \(f_{1}\) is a strictly decreasing function satisfying \({f_{1}}^{n} =F_{I _{}}\).
(ii) If \(F(a)>F(b)>d\geq x_{0}\), then F has a nonmonotonic nth iterative root defined by (3.2). Moreover, if n is even and \(F_{I_{+}}\) has a regular fixed point, then F has also a nonmonotonic nth iterative root of the form (3.2), in which \(f_{2}\) is a strictly decreasing function satisfying \({f_{2}}^{n} =F_{I _{+}}\).
(iii) If \(F(b)< x_{0} <F(a)\) and n is odd, then F has a nonmonotonic nth iterative root
where g is a strictly increasing nth iterative root of \(F^{2}\). If n is even, then F has no iterative roots.
Proof
The necessity directly comes from Lemma 2. In what follows, our attention is paid to the sufficiency.
Sufficiency. For case (i), we first construct a strictly increasing function (3.5) and a multifunction (3.7) as in case (i) of Theorem 1. Since \(f_{1}\) is strictly increasing, from (3.8) and \(c>d\) we have (3.10). Thus, (3.5), (3.7), and (3.10) yield a nonmonotonic nth iterative root (3.1) of F.
Assuming that n is even and \(F_{I_{}}\) has a regular fixed point, we can construct a strictly decreasing function \(f_{1}\) and a multifunction (3.7) as in case (i) of Theorem 1. Since \(f_{1}\) is strictly decreasing, (3.8) and \(c>d\) lead to (3.9). Therefore, \(f_{1}\) together with (3.7) and (3.9) gives a nonmonotonic nth iterative root (3.1) of F.
The proof of case (ii) is obtained from case (i) by the translation (3.11).
Case (iii). The assumption \(F(b)< x_{0} <F(a)\) shows that
If F has an nth iterative root f, then, whether n is odd or even, we assert that
In fact, suppose on the contrary that \(f(I_{})\subset I_{}\), whether \(f(I_{+})\subset I_{}\) or \(f(I_{+})\subset I_{+}\). Then we always have \(F(I_{})=f^{n} (I_{})\subset I_{}\), contrary to the first formula in (3.19). This implies that \(f(I_{})\subset I_{+}\). The proof for \(f(I_{+})\subset I_{}\) is similar, and thus we have proved (3.20). It follows from (3.19) and (3.20) that
whence
By Theorem 1(iii), (3.22) shows that there exists a strictly increasing nth iterative root g of \(F^{2}\) satisfying
Substituting (3.23) into (3.21), we obtain
which implies that \(f_{1}\) and \(f_{2}\) are strictly increasing. Moreover, from (3.24) we have
implying \(f_{1} ({x_{0}}^{} )>f_{2} ({x_{0}}^{+} )\), that is, (3.10) holds. Thus, (3.24), (3.25), and (3.10) show that F has a nonmonotonic nth iterative root (3.18).
If n is even, then suppose on the contrary that F has an nth iterative root f. Since g is a strictly increasing nth iterative root of \(F^{2}\), we have
contrary to the fact that \(F(I_{})\subset I_{+}\) and \(F(I_{+})\subset I_{}\). Refer to Figure 2. This completes the proof.
□
Theorem 3
Suppose that the usc multifunction (2.1) has \(F(x_{0})=[d,c]\). If \(F_{I_{}}\) and \(F_{I_{+}}\) are strictly decreasing, then F has nth iterative roots if and only if n is odd and F satisfies \(F(a)< x_{0}\) or \(F(b)>x_{0}\) or \(d\leq x_{0} \leq c\).
(i) If \(F(a)< x_{0}\) and n is odd, then F has a strictly decreasing nth iterative root of the form (3.1), where \(f_{1}\) is defined by
in which \(x_{1}\) is the unique fixed point of \(F_{I_{}}\), and χ is a strictly increasing nth iterative root of \((F_{I_{}})^{2}\).
(ii) If \(F(b)>x_{0}\) and n is odd, then F has a strictly decreasing nth iterative root of the form (3.2), where \(f_{2} \) is defined by
in which \(x_{2}\) is the unique fixed point of \(F_{I_{+}}\), and ψ is a strictly increasing nth iterative root of \((F_{I_{+}})^{2}\).
(iii) If \(d\leq x_{0} \leq c\) and n is odd, then F has a strictly decreasing nth iterative root
where ϕ is a strictly increasing nth iterative root of \(F^{2}\).
Proof
Necessity. Suppose on the contrary that n is even and F has an nth iterative root f. Then only the following cases are possible:
 Case 1. :

\(f(I)\subset I_{}\), or
 Case 2. :

\(f(I)\subset I_{+}\), or
 Case 3. :

\(f(I_{})\subset I_{}\), \(f(I_{+})\subset I_{+}\), or
 Case 4. :

\(f(I_{})\subset I_{+}\), \(f(I_{+})\subset I_{}\).
If either \(f(I)\subset I_{}\) or \(f(I)\subset I_{+}\), then it is clear that
contrary to the assumption on F. If \(f(I_{})\subset I_{}\) and \(f(I_{+})\subset I_{+}\), then
which also contradicts the assumption on F. If \(f(I_{})\subset I _{+}\) and \(f(I_{+})\subset I_{}\), then as n is even, we again get (3.29) and a contradiction. Thus, we have proved that n is odd. The remainder directly comes from Lemma 2.
Sufficiency. Case (i). Note that
By Theorem 11.2.3 in [9] the strictly decreasing function \(F_{I_{}}\) has a strictly decreasing nth iterative root \(f_{1}\) of the form (3.26). From (3.6) we still have (3.7), and, moreover, (3.8) and \(d< c\) yield (3.10). Hence, (3.26), (3.7), and (3.10) show that F has a strictly decreasing nth iterative root f of the form (3.1).
The proof of case (ii) is directly obtained from case (i) by the translation (3.11).
Case (iii). By the same argument as that of case (iii) in Theorem 2 we see that (3.21) still holds and there exists a strictly increasing nth iterative root ϕ of the strictly increasing multifunction \(F^{2}\) satisfying
Substituting (3.30) into (3.21), we obtain
which implies both \(f_{1}\) and \(f_{2}\) are strictly decreasing. Moreover, since ϕ is strictly increasing, from (3.31) we have
implying (3.10). Thus, formulas (3.31), (3.32), and (3.10) show that F has a strictly decreasing nth iterative root (3.28). Refer to Figure 3. This completes the proof.
□
Theorem 4
Suppose that the usc multifunction (2.1) with \(F(x_{0})=[c,d]\) is onetoone, where \(F_{I_{}}\) and \(F_{I_{+}}\) are strictly decreasing. Then F has nth iterative roots if and only if n is odd and F satisfies \(F(a)< F(b)< d\leq x_{0}\) or \(F(b)>F(a)>c\geq x_{0}\) or \(F(a)< x_{0}< F(b)\).

(i)
If \(F(a)< F(b)< d\leq x_{0}\) and n is odd, then F has a nonmonotonic nth iterative root of the form (3.1), where \(f_{1}\) is defined by (3.26).

(ii)
If \(F(b)>F(a)>c\geq x_{0}\) and n is odd, then F has a nonmonotonic nth iterative root of the form (3.2), where \(f_{2}\) is defined by (3.27).

(iii)
If \(F(a)< x_{0}< F(b)\) and n is odd, then F has a nonmonotonic nth iterative root of the form (3.3), where \(f_{1}\) is defined by (3.26), and \(f_{2}\) is defined by (3.27).
Proof
The proof of necessity is similar to that of Theorem 3.
Sufficiency. Case (i). Using similar arguments as in the proof of case (i) of Theorem 3, we say that \(F_{I_{}}\) has a strictly decreasing nth iterative root \(f_{1}\) of the form (3.26). Moreover, (3.7) comes from (3.6), and (3.9) comes from (3.8) and \(c< d\). Thus, (3.26), (3.7), and (3.9) prove that F has a nonmonotonic nth iterative root f of the form (3.1).
The proof of case (ii) is directly obtained from case (i) by the translation (3.11).
Case (iii). The assumption on F implies that \(F(I_{})\subset I_{}\) and \(F(I_{+})\subset I_{+}\). Since \(F_{I_{}}\) and \(F_{I_{+}}\) are strictly decreasing, we can obtain their strictly decreasing nth iterative roots \(f_{1}\) and \(f_{2}\) defined by (3.26) and (3.27), respectively. Moreover, from (3.12) and \(c< d\) we obtain (3.9). Therefore, (3.26), (3.27), and (3.9) show that F has a nonmonotonic nth iterative root of the form (3.3). Refer to Figure 4. This completes the proof.
□
Examples
In this section, we give examples. For convenience, to demonstrate our main results and avoid complicated computations, we only present a third iterative root of the given usc multifunctions.
Example 1
Consider the usc multifunction \(\phi_{1} :[0,1]\rightarrow2^{[0,1]}\) defined by
Clearly, both \(\phi_{1}_{[0,1]_{}}\) and \(\phi_{1}_{[0,1]_{+}}\) are strictly increasing. Since \(\phi_{1} ({\frac{1}{3}}^{} )<\frac{1}{3}< \phi_{1} ({\frac{1}{3}}^{+} )\), in view of case (iii) of Theorem 1, we say that \(\phi_{1}\) has a strictly increasing nth iterative root (3.3). In fact, \(\phi_{1}\) has a third iterative root as follows:
Example 2
Consider the usc multifunction \(\phi_{2} :[0,1]\rightarrow2^{[0,1]}\) defined by
We see that \(\phi_{2}_{[0,1]_{}}\) and \(\phi_{2}_{[0,1]_{+}}\) are strictly increasing. As \(\phi_{2} (1)< \frac{1}{2}<\phi_{2} (0)\), using case (iii) of Theorem 2, \(\phi_{2}\) has a nonmonotonic nth iterative root (3.18). Here, we give a third iterative root as follows:
Example 3
Consider the usc multifunction \(\phi_{3} :[0,1]\rightarrow2^{[0,1]}\) defined by
Note that \(\phi_{3}_{[0,1]_{}}\) and \(\phi_{3}_{[0,1]_{+}}\) are strictly decreasing and \(\phi_{3} (1)>\frac{1}{3}\). From case (ii) of Theorem 3 we see that \(\phi_{3}\) has a strictly decreasing nth iterative root of the form (3.2). We present a third iterative root by simple calculation:
Example 4
Consider the usc multifunction \(\phi_{4} :[0,1]\rightarrow2^{[0,1]}\) defined by
Note that \(\phi_{4}_{[0,1]_{}}\) and \(\phi_{4}_{[0,1]_{+}}\) are strictly decreasing and \(\phi_{4} (0)<\phi_{4} (1)<\phi_{4} ({\frac{2}{3}} ^{+})<\frac{2}{3}\). In view of case (i) of Theorem 4, \(\phi_{4}\) has a nonmonotonic nth iterative root of the form (3.1). Here, a nonmonotone third iterative root of \(\phi_{4}\) is given as
References
 1.
Li, L, Jarczyk, J, Jarczyk, W, Zhang, W: Iterative roots of mappings with a unique setvalue point. Publ. Math. (Debr.) 75, 203220 (2009)
 2.
Babbage, C: Essay towards the calculus of functions. Philos. Trans. R. Soc. Lond. 105, 389423 (1815)
 3.
Baron, K, Jarczyk, W: Recent results on functional equations in a single variable, perspectives and open problems. Aequ. Math. 61, 148 (2001)
 4.
Jarczyk, W: Recent results on iterative roots. ESAIM Proc. Surv. 46, 4762 (2014)
 5.
Targonski, G: New directions and open problems in iteration theory. Grazer Math. Ber. 229 (1984)
 6.
Targonski, G: Progress of iteration theory. Aequ. Math. 50, 5072 (1995)
 7.
Zhang, W: PM functions, their characteristic intervals and iterative roots. Ann. Pol. Math. 65, 119128 (1997)
 8.
Kuczma, M: Functional Equations in a Single Variable. Monografie Mat., vol. 46. Polish Sci., Warszawa (1968)
 9.
Kuczma, M, Choczewski, B, Ger, R: Iterative Functional Equations. Cambridge University Press, Cambridge (1990)
 10.
Targonski, G: Topics in Iteration Theory. Vandenhoeck & Ruprecht, Gottingen (1981)
 11.
Bödewadt, UT: Zur Iteration reeller Funktionen. Math. Z. 49, 497516 (1944)
 12.
Haĭdukov, PI: On searching a function from a given iterate. Uč. Zap. Buriatsk. Ped. Inst. 15, 328 (1958) (in Russian)
 13.
Kuczma, M: On the functional equations \(\varphi^{n} (x)=g(x)\). Ann. Pol. Math. 11, 161175 (1961)
 14.
Zhang, J, Yang, L: Discussion on iterative roots of piecewise monotone functions. Acta Math. Sin. 26, 398412 (1983) (in Chinese)
 15.
Zhang, J, Yang, L, Zhang, W: Some advances on functional equations. Adv. Math. 26, 385405 (1995)
 16.
Li, L, Yang, D, Zhang, W: A note on iterative roots of PM functions. J. Math. Anal. Appl. 341, 14821486 (2008)
 17.
Liu, L, Jarczyk, W, Li, L, Zhang, W: Iterative roots of piecewise monotonic functions of nonmonotonicity height not less than 2. Nonlinear Anal. 75, 286303 (2012)
 18.
Liu, L, Zhang, W: Nonmonotonic iterative roots extended from characteristic intervals. J. Math. Anal. Appl. 378, 359373 (2011)
 19.
Li, L, Chen, J: Iterative roots of piecewise monotonic functions with finite nonmonotonicity height. J. Math. Anal. Appl. 411(1), 395404 (2014)
 20.
Humke, PD, Laczkovich, M: The Borel structure of iterates of continuous functions. Proc. Edinb. Math. Soc. 32(2), 483493 (1989)
 21.
Simon, K: Some dual statements concerning Wiener measure and Baire category. Proc. Am. Math. Soc. 106, 455463 (1989)
 22.
Blokh, AM: The set of all iterates is nowhere dense in \(C([0,1],[0,1])\). Trans. Am. Math. Soc. 333, 787798 (1992)
 23.
Targonski, G: Phantom iterates of continuous functions. In: Iteration Theory and Its Functional Equations, Lochau, 1984. Lecture Notes in Math., vol. 1163, pp. 196202. Springer, Berlin (1985)
 24.
Powierża, T: Strong setvalued iterative roots. Grazer Math. Ber. 344, 5156 (2001)
 25.
Powierża, T: Higher order setvalued iterative roots of bijections. Publ. Math. (Debr.) 61, 315324 (2002)
 26.
Jarczyk, W, Powierża, T: On the smallest setvalued iterative roots of bijections. Int. J. Bifurc. Chaos Appl. Sci. Eng. 13, 18891893 (2003)
 27.
Jarczyk, W, Zhang, W: Also multifunctions do not like iterative roots. Elem. Math. 62(2), 7380 (2007)
Acknowledgements
The authors would like to thank the referees for their valuable comments and suggestions. This work is supported by Shandong Provincial Natural Science Foundation (ZR2017MA019, ZR2014AL003) and Scientific Research Fund of Binzhou University (BZXYL1703).
Author information
Affiliations
Contributions
The authors completed the paper together. They also read and approved the final manuscript.
Corresponding author
Ethics declarations
Competing interests
The authors declare that they have no competing interests.
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
About this article
Cite this article
Zhang, P., Huang, L. Iterative roots of upper semicontinuous multifunctions. Adv Differ Equ 2017, 367 (2017). https://doi.org/10.1186/s1366201714087
Received:
Accepted:
Published:
MSC
 39B12
 37E05
Keywords
 iterative root
 onetoone
 upper semicontinuous multifunction
 setvalued point