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Theory of nth-order linear general quantum difference equations
Advances in Difference Equations volume 2018, Article number: 264 (2018)
Abstract
In this paper, we derive the solutions of homogeneous and non-homogeneous nth-order linear general quantum difference equations based on the general quantum difference operator \(D_{\beta }\) which is defined by \(D_{\beta }{f(t)}= (f(\beta (t))-f(t) )/ (\beta (t)-t )\), \(\beta (t)\neq t\), where β is a strictly increasing continuous function defined on an interval \(I\subseteq \mathbb{R}\) that has only one fixed point \(s_{0}\in {I}\). We also give the sufficient conditions for the existence and uniqueness of solutions of the β-Cauchy problem of these equations. Furthermore, we present the fundamental set of solutions when the coefficients are constants, the β-Wronskian associated with \(D_{\beta }\), and Liouville’s formula for the β-difference equations. Finally, we introduce the undetermined coefficients, the variation of parameters, and the annihilator methods for the non-homogeneous β-difference equations.
1 Introduction
Quantum difference operator allows us to deal with sets of non-differentiable functions. Its applications are used in many mathematical fields such as the calculus of variations, orthogonal polynomials, basic hypergeometric functions, quantum mechanics, and the theory of scale relativity; see, e.g., [3, 5, 7, 13, 14].
The general quantum difference operator \(D_{\beta }\) generalizes the Jackson q-difference operator \(D_{q}\) and the Hahn difference operator \(D_{q,\omega }\), see [1, 2, 4, 8, 12]. It is defined, in [10, p. 6], by
where \(f:I\rightarrow \mathbb{X}\) is a function defined on an interval \(I\subseteq {\mathbb{R}}\), \(\mathbb{X}\) is a Banach space, and \(\beta:I\rightarrow I\) is a strictly increasing continuous function defined on I that has only one fixed point \(s_{0}\in {I}\) and satisfies the inequality \((t-s_{0})(\beta (t)-t)\leq 0\) for all \(t\in I\). The function f is said to be β-differentiable on I if the ordinary derivative \({f'}\) exists at \(s_{0}\). The general quantum difference calculus was introduced in [10]. The exponential, trigonometric, and hyperbolic functions associated with \(D_{\beta }\) were presented in [9]. The existence and uniqueness of solutions of the first-order β-initial value problem were established in [11]. In [6], the existence and uniqueness of solutions of the β-Cauchy problem of the second-order β-difference equations were proved. Also, a fundamental set of solutions for the second-order linear homogeneous β-difference equations when the coefficients are constants was constructed, and the different cases of the roots of their characteristic equations were studied. Moreover, the Euler–Cauchy β-difference equation was derived.
The organization of this paper is briefly summarized in the following. In Sect. 2, we present the needed preliminaries of the β-calculus from [6, 9–11]. In Sect. 3, we give the sufficient conditions for the existence and uniqueness of solutions of the β-Cauchy problem of the nth-order β-difference equations. Also, we construct the fundamental set of solutions for the homogeneous linear β-difference equations when the coefficients \(a_{j}\) (\(0\leq j \leq n\)) are constants. Furthermore, we introduce the β-Wronskian which is an effective tool to determine whether the set of solutions is a fundamental set or not and prove its properties. Finally, we study the undetermined coefficients, the variation of parameters, and the annihilator methods for the non-homogeneous linear β-difference equations.
Throughout this paper, J is a neighborhood of the unique fixed point \(s_{0}\) of β, \(S(y_{0}, b)=\{y\in \mathbb{X}:\Vert y-y_{0}\Vert \leq b \}\), and \(R=\{(t,y)\in {{I}\times \mathbb{X}}:|t-s_{0}|\leq {a},\Vert y-y _{0}\Vert \leq {b}\}\) is a rectangle, where a, b are fixed positive real numbers, \(\mathbb{X}\) is a Banach space. Furthermore, \(D_{\beta }^{n}f=D _{\beta }(D_{\beta }^{n-1}f)\), \(n\in \mathbb{N}_{0}=\mathbb{N} \cup \{0\}\), where f is β-differentiable n times over I, \(\mathbb{N}\) is the set of natural numbers. We use the symbol T for the transpose of the vector or the matrix.
2 Preliminaries
Lemma 2.1
([10])
The following statements are true:
-
(i)
The sequence of functions \(\{\beta^{k}(t)\}_{k=0}^{\infty }\) converges uniformly to the constant function \(\hat{\beta }(t):=s _{0}\) on every compact interval \(V \subseteq I\) containing \(s_{0}\).
-
(ii)
The series \(\sum_{k=0}^{\infty }|\beta^{k}(t)-\beta^{k+1}(t)|\) is uniformly convergent to \(|t-s_{0}| \) on every compact interval \(V \subseteq I\) containing \(s_{0}\).
Lemma 2.2
([10])
If \(f:I\rightarrow \mathbb{X} \) is a continuous function at \(s_{0}\), then the sequence \(\{f(\beta^{k}(t))\}_{k=0}^{\infty }\) converges uniformly to \(f(s_{0})\) on every compact interval \(V\subseteq I\) containing \(s_{0}\).
Theorem 2.3
([10])
If \(f:I \rightarrow \mathbb{X} \) is continuous at \(s_{0}\), then the series \(\sum_{k=0}^{\infty }\| (\beta^{k}(t)- \beta^{k+1}(t) ) f(\beta^{k}(t))\|\) is uniformly convergent on every compact interval \(V \subseteq I\) containing \(s_{0}\).
Theorem 2.4
([10])
Assume that \(f:{I}\rightarrow \mathbb{X}\) and \(g:{I} \rightarrow \mathbb{R}\) are β-differentiable at \(t\in {I}\). Then:
-
(i)
The product \(fg:I\rightarrow \mathbb{X}\) is β-differentiable at t and
$$\begin{aligned} {D}_{\beta }(fg) (t) &=\bigl({D}_{\beta }f(t) \bigr)g(t)+f\bigl(\beta (t)\bigr){D}_{\beta }g(t) \\ & =\bigl({D}_{\beta }f(t)\bigr)g\bigl(\beta (t)\bigr)+f(t){D}_{\beta }g(t), \end{aligned} $$ -
(ii)
\(f/g\) is β-differentiable at t and
$$ {D}_{\beta } ({f}/{g} ) (t)=\frac{({D}_{\beta }f(t))g(t)-f(t) {D}_{\beta }g(t)}{g(t)g(\beta (t))}, $$provided that \(g(t)g(\beta (t))\neq {0}\).
Theorem 2.5
([10])
Assume that \(f:{I}\to \mathbb{X}\) is continuous at \(s_{0}\). Then the function F defined by
is a β-antiderivative of f with \(F(s_{0})=0\). Conversely, a β-antiderivative F of f vanishing at \(s_{0}\) is given by (2.1).
Definition 2.6
([10])
The β-integral of \(f:{I}\rightarrow {\mathbb{X}}\) from a to b, \(a,b\in {I}\), is defined by
where
provided that the series converges at \(x=a\) and \(x=b\). f is called β-integrable on I if the series converges at a and b for all \(a,b\in {I}\). Clearly, if f is continuous at \(s_{0}\in {I}\), then f is β-integrable on I.
Definition 2.7
([9])
The β-exponential functions \(e_{p,\beta }(t)\) and \(E_{p,\beta }(t)\) are defined by
and
where \(p:I \rightarrow \mathbb{C}\) is a continuous function at \(s_{0}\), \(e_{p,\beta }(t)=\frac{1}{E_{-p,\beta }(t)}\).
The both products in (2.2) and (2.3) are convergent to a non-zero number for every \(t\in I\) since \(\sum_{k=0}^{\infty } | p( \beta^{k}(t)) (\beta^{k}(t)-\beta^{k+1}(t) ) |\) is uniformly convergent.
Definition 2.8
([9])
The β-trigonometric functions are defined by
Theorem 2.9
([9])
The β-exponential functions \(e_{p,_{\beta }}(t)\) and \(E_{p,_{\beta }}(t)\) are the unique solutions of the first-order β-difference equations
respectively.
Theorem 2.10
([9])
Assume that \(f:I\rightarrow \mathbb{X}\) is continuous at \(s_{0}\). Then the solution of the following equation \(D_{\beta }y(t)= p(t)y(t)+f(t)\), \(y(s_{0})=y_{0}\in \mathbb{X}\), has the form
Theorem 2.11
([11])
Let \(z\in \mathbb{C}\) be a constant. Then the function \(\phi (t)\) defined by
is the unique solution of the β-IVP
where
with \((\beta,\beta)_{i}=\beta^{i}(t)-\beta^{i+1}(t)\).
Proposition 2.12
([11])
Let \(z\in \mathbb{C}\). The β-exponential function \(e_{z,\beta }(t)\) has the expansion
Theorem 2.13
([11])
Assume that \(f:R\rightarrow {\mathbb{X}}\) is continuous at \((s_{0},y_{0})\in {R}\) and satisfies the Lipschitz condition (with respect to y)
where L is a positive constant. Then the sequence defined by
converges uniformly on the interval \(|t-s_{0}|\leq {\delta }\) to a function ϕ, the unique solution of the β-IVP
where \(\delta =\min \{a,\frac{b}{Lb+M}, \frac{\rho }{L}\}\) with \(\rho \in (0,1)\) and \(M=\sup_{(t,y)\in {R}}\Vert f(t,y)\Vert <\infty \), \(\rho \in (0,1)\).
Theorem 2.14
([6])
Let \(f_{i}(t,y_{1},y_{2}):I \times \prod_{i=1}^{2} S_{i}(x _{i}, b_{i})\rightarrow {\mathbb{X}}\), \(s_{0}\in I\) such that the following conditions are satisfied:
-
(i)
For \(y_{i}\in S_{i}(x_{i},b_{i})\), \(i=1,2\), \(f_{i}(t,y_{1},y _{2})\) are continuous at \(t=s_{0}\).
-
(ii)
There is a positive constant A such that, for \(t\in I\), \(y_{i}, \tilde{y}_{i}\in S_{i}(x_{i},b_{i})\), \(i=1,2\), the following Lipschitz condition is satisfied:
Then there exists a unique solution of the β-initial value problem β-IVP
Corollary 2.15
([6])
Let \(f(t,y_{1},y_{2})\) be a function defined on \(I\times \prod_{i=1}^{2} S_{i}(x_{i},b_{i})\) such that the following conditions are satisfied:
-
(i)
For any values of \(y_{i}\in S_{i}(x_{i},b_{i})\), \(i=1,2\), f is continuous at \(t=s_{0}\).
-
(ii)
f satisfies the Lipschitz condition
$$ \bigl\Vert f(t,y_{1},y_{2})-f(t,\tilde{y}_{1}, \tilde{y}_{2}) \bigr\Vert \leq A\sum_{i=1}^{2} \Vert y_{i} -\tilde{y}_{i} \Vert , $$
where \(A>0\), \(y_{i},\tilde{y}_{i}\in S_{i}(x_{i},b_{i})\), \(i=1,2\), and \(t \in I\). Then
has a unique solution on \([s_{0},s_{0} +\delta ]\).
Corollary 2.16
([6])
Assume that the functions \(a_{j}(t):I\rightarrow \mathbb{C}\), \(j=0,1,2\), and \(b(t):I\rightarrow {\mathbb{X}}\) satisfy the following conditions:
-
(i)
\(a_{j}(t)\), \(j=0,1,2\), and \(b(t)\) are continuous at \(s_{0}\) with \(a_{0}(t)\neq 0\) for all \(t \in I\),
-
(ii)
\(a_{j}(t)/a_{0}(t)\) is bounded on I, \(j=1,2\). Then
has a unique solution on a subinterval \(J\subseteq I\), \(s_{0}\in J\).
3 Main results
In this section, we give the sufficient conditions for the existence and uniqueness of solutions of the β-Cauchy problem of the nth-order β-difference equations. We also present the fundamental set of solutions for the homogeneous linear β-difference equations when the coefficients \(a_{j}\) (\(0\leq j \leq n \)) are constants. Furthermore, we introduce the β-Wronskian. Finally, we study the undetermined coefficients, the variation of parameters, and the annihilator methods for the non-homogeneous linear β-difference equations.
3.1 Existence and uniqueness of solutions
Theorem 3.1
Let I be an interval containing \(s_{0}\), \(f_{i}(t,y_{1},\ldots,y _{n}):I \times \prod_{i=1}^{n}S_{i}(x_{i},b_{i})\rightarrow \mathbb{X}\), such that the following conditions are satisfied:
-
(i)
For \(y_{i}\in S_{i}(x_{i},b_{i})\), \(i=1,\ldots,n\), \(f_{i}(t,y_{1},\ldots,y_{n})\) are continuous at \(t=s_{0}\).
-
(ii)
There is a positive constant A such that, for \(t \in I\), \(y_{i},\tilde{y}_{i}\in S_{i}(x_{i},b_{i})\), \(i=1,\ldots,n\), the following Lipschitz condition is satisfied:
Then there exists a unique solution of the β-initial value problem β-IVP
Proof
See the proof of Theorem 2.14. □
The proof of the following two corollaries is the same as the proof of Corollaries 2.15, 2.16.
Corollary 3.2
Let \(f(t,y_{1},\ldots,y_{n})\) be a function defined on \(I\times \prod_{i=1}^{n} S_{i}(x_{i},b_{i})\) such that the following conditions are satisfied:
-
(i)
For any values of \(y_{r}\in S_{r}(x_{r},b_{r})\), f is continuous at \(t=s_{0}\).
-
(ii)
f satisfies the Lipschitz condition
$$ \bigl\Vert f (t,y_{1},\ldots,y_{n})-f(t, \tilde{y}_{1},\ldots,\tilde{y}_{n}) \bigr\Vert \leq A\sum _{i=1}^{n} \Vert y_{i}- \tilde{y}_{i} \Vert , $$
where \(A>0\), \(y_{i},\tilde{y}_{i}\in S_{i}(x_{i},b_{i})\), \(i=1, \ldots,n\), and \(t \in I\). Then
has a unique solution on \([s_{0},s_{0} +\delta ]\).
The following corollary gives us the sufficient conditions for the existence and uniqueness of solutions of the β-Cauchy problem (3.1).
Corollary 3.3
Assume that the functions \(a_{j}(t):I\rightarrow \mathbb{C}\), \(j=0,1, \ldots,n\), and \(b(t):I\rightarrow \mathbb{X}\) satisfy the following conditions:
-
(i)
\(a_{j}(t)\), \(j=0,1,\ldots,n\), and \(b(t)\) are continuous at \(s_{0}\) with \(a_{0}(t)\neq 0\) for all \(t \in I \),
-
(ii)
\(a_{j}(t)/a_{0}(t)\) is bounded on I, \(j=1,\ldots,n\). Then
has a unique solution on a subinterval \(J\subset I\) containing \(s_{0}\).
3.2 Homogeneous linear β-difference equations
Consider the nth-order homogeneous linear β-difference equation
where the coefficients \(a_{j}(t)\), \(0\leq j\leq n\), are assumed to satisfy the conditions of Corollary 3.3. Equation (3.2) may be written as \(L_{n}y=0\), where
The following lemma is an immediate consequence of Corollary 3.3.
Lemma 3.4
If y is a solution of equation (3.2) such that \(D_{\beta } ^{i-1}y(s_{0})=0\), \(1\leq i\leq n\), then \(y(t)=0\) for all \(t\in J\).
Theorem 3.5
The nth-order homogeneous linear scalar β-difference equation (3.2) is equivalent to the first-order homogeneous linear system of the form
where
Proof
Let
β-differentiating (3.3), we have
Then
Since \(a_{0}(t) \neq 0\) on J, (3.2) is equivalent to
Combining (3.5) and (3.6), we get
This is equivalent to the homogeneous linear vector β-difference equation
where
□
Theorem 3.6
Consider equation (3.2) and the corresponding system (3.8). If f is a solution of (3.2) on J, then \(\phi = (f,D_{\beta }f,\ldots,D_{\beta }^{n-1}f )^{T}\) is a solution of (3.8) on J. Conversely, if \(\phi = (\phi_{1}, \ldots,\phi_{n} )^{T}\) is a solution of (3.8) on J, then its first component \(\phi_{1}\) is a solution f of (3.2) on J and \(\phi = (f,D_{\beta }f,\ldots,D_{\beta }^{n-1}f )^{T}\).
Proof
Suppose that f satisfies equation (3.2). Then
Consider
From (3.9) and (3.10), we have
Comparing (3.11) with (3.7), ϕ defined by (3.10) satisfies system (3.7). Conversely, suppose that \(\phi (t)= (\phi_{1}(t),\ldots,\phi_{n}(t) )^{T}\) satisfies system (3.7) on J. Then (3.11) holds for all \(t \in J\). The first \(n - 1\) equations of (3.11) give
and so \(D_{\beta }\phi_{n}(t)=D_{\beta }^{n}\phi_{1}(t)\). The last equation of (3.11) becomes
Thus \(\phi_{1}\) is a solution f of equation (3.2); and moreover, (3.12) shows that \(\phi (t)= (f(t),D_{\beta }f(t), \ldots, D_{\beta }^{n-1}f(t) )^{T}\). □
The following corollary is an immediate consequence of Theorem 3.6.
Corollary 3.7
If f is the solution of equation (3.2) on J satisfying the initial condition \(D_{\beta }^{i-1}f(s_{0})=x_{i}\), \(1\leq i\leq n\), then \(\phi = (f,D_{\beta }f,\ldots,D_{\beta }^{n-1}f )^{T}\) is the solution of system (3.8) on J satisfying the initial condition \(\phi (s_{0})=(x_{1},\dots,x_{n})^{T}\). Conversely, if \(\phi =(\phi_{1},\dots,\phi_{n})^{T}\) is the solution of (3.8) on J satisfying the initial condition \(\phi (s_{0})=(x _{1},\dots,x_{n})^{T}\), then \(\phi_{1}\) is the solution f of (3.2) on J satisfying the initial condition \(D_{\beta }^{i-1}f(s _{0} ) =x_{i}\), \(1\leq i\leq n\).
Theorem 3.8
A linear combination \(y=\sum_{k=1}^{m}c_{k}y_{k}\) of m solutions \(y_{1},\ldots,y_{m}\) of the homogeneous linear β-difference equation (3.2) is also a solution of it, where \(c_{1},\ldots,c _{m}\) are arbitrary constants.
Proof
The proof is straightforward. □
Definition 3.9
(A fundamental set)
A set of n linearly independent solutions of the nth-order homogeneous linear β-difference equation (3.2) is called a fundamental set of equation (3.2).
By the theory of differential equations, we can easily prove the following theorems.
Theorem 3.10
If the solutions \(y_{1},\ldots,y_{n}\) of the homogeneous linear β-difference equation (3.2) are linearly independent on J, then the corresponding solutions
of system (3.8) are linearly independent on J; and conversely.
Theorem 3.11
Any arbitrary solution y of homogeneous linear β-difference equation (3.2) on J can be represented as a suitable linear combination of a fundamental set of solutions \(y_{1},\ldots,y_{n}\) of (3.2).
Now, we are concerned with constructing the fundamental set of solutions of equation (3.2) when the coefficients are constants. Equation (3.2) can be written as
where \(a_{j}\), \(0\leq j \leq n\), are constants. From Theorem 3.5, equation (3.13) is equivalent to the system
where
The characteristic polynomial of equation (3.13) is given by
where \(\mathcal{I}\) is the unit square matrix of order n, \(\lambda_{i}\), \(1\leq i \leq k\), are distinct roots of \(p(\lambda)=0\) of multiplicity \(m_{i}\), so that \(\sum_{i=1}^{k}m_{i}=n\).
Theorem 3.12
Let A be a constant \(n\times n\) matrix. Then the function \(\Phi (t)\) defined by
is the unique solution of the β-IVP
where \(\mathcal{I}\) is the unit square matrix of order n and
with \((\beta;\beta)_{i}=\beta_{i}(t)-\beta_{i+1}(t)\).
Proof
By using the successive approximations, with choosing \(\Phi_{0}(t)= \mathcal{I}\), we have the desired result. See the proof of Theorem 2.11. □
Corollary 3.13
Let A be a constant \(n\times n\) matrix with characteristic polynomial (3.15), then \(\Phi (t)=e_{A,\beta }(t)=\sum_{r=0}^{\infty }A^{r} \alpha_{r}(t)\) is the unique solution of (3.13) satisfying the initial conditions
Proof
The proof is straightforward. □
We have from the previous that
forms a fundamental set of solutions of equation (3.13).
Example 3.14
Consider the homogeneous linear system
Let \(Y(t)=\gamma e_{\lambda,\beta }(t)\), where \(\gamma=(\gamma_{1},\ldots,\gamma_{n})^{T}\) is a constant vector. The characteristic equation is
where \(\lambda_{1}=1\), \(\lambda_{2}=\lambda_{3}=2\). Then
are the solutions of (3.16). The general solution of system (3.16) is
where \(c_{1}\), \(c_{2}\), and \(c_{3}\) are arbitrary constants.
Example 3.15
Consider the homogeneous linear system
Assume that \(Y=\gamma e_{\lambda,\beta }(t)\). The characteristic equation is
where \(\lambda_{1}=\lambda_{2}=\lambda_{3}=2\). Then
Let \(y_{3}(t)=(\gamma t+\nu)e_{2,\beta }(t)\),
where \(k_{1}\) and \(k_{1}\) are constants, and also γ and ν satisfy
and
Therefore,
The general solution of system (3.17) is
where \(c_{1}\), \(c_{2}\), \(c_{3}\) are arbitrary constants.
3.3 β-Wronskian
Definition 3.16
Let \(y_{1},\dots,y_{n}\) be β-differentiable functions \((n-1)\) times defined on I, then we define the β-Wronskian of the functions \(y_{1},\ldots,y_{n}\) by
Throughout this paper, we write \(W_{\beta }\) instead of \(W_{\beta }(y _{1},\ldots,y_{n})\).
Lemma 3.17
Let \(y_{1}(t),\ldots,y_{n}(t)\) be n-times β-differentiable functions defined on I. Then, for any \(t\in I\), \(t \neq s_{0}\),
Proof
We prove by induction on n. The lemma is trivial when \(n =1\). Then suppose that it is true for \(n=k\). Our objective is to show that it holds for \(n=k+1\).
We expand \(W_{\beta }(y_{1},\ldots,y_{k+1})\) in terms of the first row to obtain
where
Consequently,
We have
and from the induction hypothesis we have
where at \(j=1\) the determinant of (3.19) starts with \(D_{\beta }y_{2}(\beta (t))\) and at \(j= k+1\) the determinant ends with \(D_{\beta }^{k+1}y_{k}(t)\). So,
Thus, we have
as required. □
Theorem 3.18
If \(y_{1}(t),\ldots,y_{n}(t)\) are solutions of equation (3.2) in J, then their β-Wronskian satisfies the first-order β-difference equation
where
Proof
First, we show by induction that the following relation
holds. Indeed, clearly (3.21) is true at \(n=1\). Assume that (3.21) is true for \(n=m\). From Lemma 3.17,
where
One can see that \(W_{\beta }^{\ast (j)}(t)=\sum_{k=1}^{m}(-1)^{k-1} (t-\beta (t) )^{k-1}R_{jk}\), where
It follows that
where
Using relations (3.23) and (3.24) and substituting in (3.22), we obtain relation (3.21) at \(n = m+1\). Since \(D_{\beta }^{n}y_{j}(t)=-\sum_{i=1}^{n} (a_{i}(t)/a_{0}(t) )D _{\beta }^{n-i}y_{j}(t)\), it follows that
which is the desired result. □
The following theorem gives us Liouville’s formula for β-difference equations.
Theorem 3.19
Assume that \((\beta (t)-t)P(t)\neq 1\), \(t\in J\). Then the β-Wronskian of any set of solutions \(\{y_{i}(t)\}_{i=1}^{n}\), valid in J, is given by
Proof
Relation (3.20) implies that
Hence,
Taking \(m\rightarrow \infty \), we get
□
Example 3.20
We calculate the β-Wronskian of the β-difference equation
The functions \(y_{1}(t)=\cos_{1,\beta }(t)\) and \(y_{2}(t)=\sin_{1, \beta }(t)\) are solutions of equation (3.26) subject to the initial conditions \(y_{1}(s_{0})=1\), \(D_{\beta }y_{1}(s_{0})=0\), \(y _{2}(s_{0})=0\), \(D_{\beta }y_{2}(s_{0})=1\), respectively. Here, \(P(t)=(t-\beta (t))\). So, \((\beta (t)- t)P(t)\neq 1\) for all \(t\neq s_{0} \). Since
Therefore, \(W_{\beta }(t)=\frac{1}{\prod_{k=0}^{\infty } [1+ (\beta^{k}(t)-\beta ^{k+1}(t) )^{2} ]}\).
The following corollary can be deduced directly from Theorem 3.19.
Corollary 3.21
Let \(\{y_{i}\}_{i=1}^{n}\) be a set of solutions of equation (3.2) in J. Then \(W_{\beta }(t)\) has two possibilities:
-
(i)
\(W_{\beta }(t)\neq 0\) in J if and only if \(\{y_{i} \} _{i=1}^{n}\) is a fundamental set of equation (3.2) valid in J.
-
(ii)
\(W_{\beta }(t)=0\) in J if and only if \(\{y_{i}\}_{i=1} ^{n}\) is not a fundamental set of equation (3.2) valid in J.
3.4 Non-homogeneous linear β-difference equations
The nth-order non-homogeneous linear β-difference equation has the form
where the coefficients \(a_{j}(t)\), \(0\leq j\leq n\), and \(b(t)\) are assumed to satisfy the conditions of Corollary 3.3. We may write this as
where, as before, \(L_{n}=a_{0}(t)D_{\beta }^{n}+a_{1}(t)D_{\beta } ^{n-1}+\cdots +a_{n-1}(t)D_{\beta }+a_{n}(t)\).
By the theory of differential equations, if \(y_{1}(t)\) and \(y_{2}(t)\) are two solutions of the non-homogeneous equation (3.28), then \(y_{1}\pm y_{2}\) is a solution of the corresponding homogeneous equation (3.2). Also, by Theorem 3.11, if \(y_{1}(t),\ldots,y _{n}(t)\) form a fundamental set for equation (3.2) and \(\varphi (t)\) is a particular solution of equation (3.27), then for any solution of equation (3.27), there are constants \(c_{1},\ldots,c_{n}\) such that
Therefore, if we can find any particular solution \(\varphi (t)\) of equation (3.27), then (3.29) gives a general formula for all solutions of equation (3.27).
Theorem 3.22
Let \(\varphi_{i}\) be a particular solution of \(L_{n}y=b_{i}(t)\), \(i=1, \ldots,m\). Then \(\sum_{i=1}^{m}\zeta_{i}\varphi_{i}\) is a particular solution of the equation \(L_{n}y=\sum_{i=1}^{m}\zeta_{i}b_{i}(t)\), where \(\zeta_{1},\ldots,\zeta_{m}\) are constants.
Proof
The proof is straightforward. □
3.4.1 Method of undetermined coefficients
We will illustrate the method of undetermined coefficients when the coefficients \(a_{j}\) (\(0\leq j \leq n \)) of the non-homogeneous linear β-difference equation (3.27) are constants by simple examples.
Example 3.23
Find a particular solution of
Assume that
where the coefficient ζ is a constant to be determined. To find ζ, we calculate
by substituting with equations (3.31), (3.32) in equation (3.30). Thus a particular solution is
In the following example, we refer the reader to see the different cases of the roots of the characteristic equation of second-order linear homogeneous β-difference equation when the coefficients are constants, see [6].
Example 3.24
Find the general solution of
The corresponding homogeneous equation of (3.33) is
Then the characteristic polynomial of (3.34) is
Therefore,
Now, assume that
where \(\zeta_{1}\) and \(\zeta_{2}\) are to be determined. Then
By substituting with equations (3.36), (3.37) in equation (3.33), we get a particular solution
Then the general solution of (3.33) is
In the following example, we show the solution in the case of \(b(t)\) being a linear combination of exponential and trigonometric functions.
Example 3.25
Find the general solution of
The corresponding homogeneous equation of (3.38) has the solution
The non-homogeneous term is the linear combination \(2e_{1,\beta }(t)-10 \sin_{1,\beta }(t)\) of the two functions given by \(e_{1,\beta }(t)\) and \(\sin_{1,\beta }(t)\).
Let
be a particular solution of (3.38). Then
where \(c_{1}\), \(c_{2}\), \(c_{3}\) are undetermined coefficients. By substituting with (3.39), (3.40) in (3.38), we have the particular solution \(\varphi (t)=-1/2e_{1,\beta }(t)+2\sin_{1,\beta }(t)- \cos_{1,\beta }(t)\). Thus the general solution of (3.38) is
Example 3.26
Find the general solution of
The corresponding homogeneous equation of (3.41) has the solution
Let
be a particular solution of (3.41), where A and B are constants. Then
By substituting with (3.42), (3.43) and (3.44) in (3.41), we get \(A=\frac{1}{2}\) and \(B=0\). Then the particular solution is \(\varphi (t)=1/2e_{3,\beta }(t) \sin_{4,\beta }(t)\). Thus the general solution of (3.41) is
3.4.2 Method of variation of parameters
We use the method of variation of parameters to obtain a particular solution \(\varphi (t)\) of the non-homogeneous linear β-difference equation (3.27), which can be applied in the case of the coefficients \(a_{j}\) (\(0\leq j \leq n \)) being functions or constants. It depends on replacing the constants \(c_{r}\) in relation (3.29) by the functions \(\zeta_{r}(t)\). Hence, we try to find a solution of the form
Our objective is to determine the functions \(\zeta_{r} (t)\). We have
provided that
Putting \(i = n\) in (3.46) and operating on it by \(D_{\beta }\), we obtain
Since \(\varphi (t)\) satisfies equation (3.27), it follows that
Substitute by (3.46) and (3.48) in (3.49) and in view of equation (3.2), we obtain
Thus, we get the following system:
Consequently,
where \(1\leq r\leq n\) and \(W_{r}(\beta (t))\) is the determinant obtained from \(W_{\beta }(\beta (t))\) by replacing the rth column by \((0,\ldots,0,1)\). It follows that
Example 3.27
Consider the equation
where \(z\in \mathbb{C}\setminus \{0\}\). It is known that \(\cos_{z, \beta } (t)\) and \(\sin_{z,\beta }(t)\) are the solutions of the corresponding homogeneous equation of (3.51). We can easily show that
It follows that every solution of equation (3.51) has the form
3.4.3 Annihilator method
In this section, we can use annihilator method to obtain the particular solution of non-homogeneous linear β-difference equation (3.27) when the coefficients \(a_{j}\) (\(0\leq j \leq n \)) are constants.
Definition 3.28
We say that \(f:I\rightarrow \mathbb{C}\) can be annihilated provided that we can find an operator of the form
such that \(L(D)f(t)=0\), \(t\in I\), where \(\rho_{i}\), \(0 \leq i\leq n\) are constants, not all zero.
Example 3.29
Since \((D_{\beta }-4\mathcal{I})e_{4,\beta }(t)=0\), \(D_{\beta }-4\mathcal{I}\) is an annihilator for \(e_{4,\beta }(t)\).
Table 1 indicates a list of some functions and their annihilators.
Example 3.30
Consider the equation
Equation (3.52) can be rewritten in the form
Multiplying both sides by the annihilator \((D_{\beta }-5\mathcal{I})\), we get that if \(y(t)\) is a solution of (3.52), then \(y(t)\) satisfies
Hence,
One can see that \(\varphi (t)=(1/8)e_{5,\beta }(t)\) is a solution of equation (3.52). Therefore, the general solution of equation (3.52) has the following form:
4 Conclusion
In this paper, the sufficient conditions for the existence and uniqueness of solutions of the β-Cauchy problem were given. Also, a fundamental set of solutions for the homogeneous linear β-difference equations when the coefficients \(a_{j}\) (\(0\leq j \leq n\)) are constants was constructed. Moreover, β-Wronskian and its properties were introduced. Finally, the undetermined coefficients, the variation of parameters, and the annihilator methods for the non-homogeneous case were presented.
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Faried, N., Shehata, E.M. & El Zafarani, R.M. Theory of nth-order linear general quantum difference equations. Adv Differ Equ 2018, 264 (2018). https://doi.org/10.1186/s13662-018-1715-7
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DOI: https://doi.org/10.1186/s13662-018-1715-7