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UDC 517.946
ON A BOUNDARY VALUE PROBLEM
FOR AN EQUATION OF MIXED TYPE
WITH TWO LINES OF PARABOLIC DEGENERATION*)
A. M. NAKHUSHEV
In this paper, as a model equation of mixed elliptic-hyperbolic type with two nonintersecting lines of parabolic degeneration, the equation
\[ y(y-1)u_{xx}+u_{yy}=0 \tag{L} \]
is considered in a domain containing within it intervals of both straight lines \(y=0\), \(y=1\).
§ 1. Introduce the following notation:
\[ \omega(y)=1/4\,k'\sqrt{-k}+1/8\arcsin k', \]
\[ \tilde y(y)=-(3/2a)^{2/3}(\omega\mp\pi/16)^{2/3}, \tag{1.1} \]
\[ 0\leq y\leq 1, \]
\[ \omega(y)=1/4\,k'\sqrt{k}-1/8\ln\left|k'+2\sqrt{k}\right|, \qquad \tilde y(y)=(3\omega/2a)^{2/3}, \tag{1.2} \]
\[ y\leq 0,\quad y\geq 1;\qquad k(y)\equiv y(y-1); \]
\[ a=\mathrm{const},\qquad \tilde x=x/a,\qquad \pi<8a<2\pi; \tag{1.3} \]
\[ a\,\xi_1(x,y)=x+\omega-\pi/16,\qquad a\,\eta_1(x,y)=x-\omega+\pi/16; \tag{1.4} \]
\[ b(\tilde y)=[\tilde y'(y)]^{-2}\tilde y''(y), \qquad \tilde\omega(y)=\exp\left(\frac12\int_0^{\tilde y} b(s)\,ds\right). \tag{1.5} \]
In the plane of the variables \(x,y\), consider the points
\[ A_1(0,0),\quad A_0(\pi/8,0),\quad A_2(a,0),\quad B(a-\pi/16,1/2),\quad A_3(a,1), \]
\[ A_4(0,1),\quad A(a-\pi/8,1),\quad B_1(\pi/16,1/2),\quad A_5(a-\pi/8,0). \]
Let \(D^*\) be a finite simply connected domain bounded by: 1) the arc \(\sigma_1\):
\((x-a/2)^2+\omega^2=a^2/4,\ y\geq 1\); 2) the arc \(\sigma_0\):
\((x-a/2)^2+\omega^2=a^2/4,\ y\leq 0\); by the characteristics \(A_1B_1\), \(\eta_1=\pi/8a\), \(B_1A_4\): \(\xi_1=0\), \(A_2B\): \(\xi_1=1-\pi/8a\), \(BA_3\): \(\eta_1=1\) of equation \((L)\). Further, let \(B_0\) \((D_0)\) be the point of intersection of the characteristics \(A_0B_0\): \(\eta_1=\pi/4a\), and \(AB_0\): \(\xi_1=1-\pi/8a\) \((AD_0: \eta_1=\pi/8a\) and \(B_1A_4)\); \(D^{-}\) be the part of the domain \(D^*\) lying above the curve \(D_0AB\); \(D^{+}\) the elliptic part of the domain \(D\); \(\Delta\) \((\Delta^*)\) the hyperbolic part \(D\), lying above the curve \(A_4D_0A\) \((ABA_3)\).
*) The work is essentially a detailed exposition of the article [1].
Problem 1. Find a function \(u(x,y)\) with the following properties:
1) \(u\in C(D^*-A_0-A_2)\); at the point \(A_0\) \((A_2)\) \(u\) tends (may tend) to \(\infty\) of order \(\alpha<1/6\) (of logarithmic order); 2) \(u_y\,(u_x)\) is continuous everywhere in the closed domain \(\overline{D^*}\), except for \(A_0\); \(u\), possibly, \(A, A_i\ (i=1,2,\ldots,5)\) and the characteristics issuing from them, where it tends to \(\infty\) of order \(<5/6\) \((<7/6)\) and \(<1\) \((<1)\), respectively; 3) \(u\) is a regular solution of equation \((L)\) everywhere in \(D^*\), except, possibly, for the characteristics issuing from the points \(A_0, A, A_5\); 4) \(u\) satisfies the boundary conditions:
\[ (\widetilde{\omega}u)_{\widetilde{\sigma}_1}=\varphi_1(\widetilde{x}),\qquad 0\leq \widetilde{x}\leq 1; \tag{1.6} \]
\[ (\widetilde{\omega}u)_{A_4D_0}=\psi_1(\eta_1),\qquad 0\leq \eta_1\leq x_0; \tag{1.7} \]
\[ (\widetilde{\omega}u)_{A_3B}=\psi_2(\xi_1),\qquad x_0\leq \xi_1\leq 1; \tag{1.8} \]
\[ (\widetilde{\omega}u)_{BB_0}=\psi_3(\eta_1),\qquad 1\leq \eta_1\leq \pi/4a; \tag{1.9} \]
\[ (\widetilde{\omega}u)_{\sigma_0}=\varphi_0(\widetilde{x}),\qquad 0\leq \widetilde{x}<1, \tag{1.10} \]
where \(\widetilde{\omega}\) is defined by formula (1.5), and in (1.1) before \(\pi/16\) the minus sign is taken, and \(x_0=1-\pi/8a\).
The following assumptions are made concerning the functions \(\varphi_i,\psi_i\):
\[ \varphi_1(\widetilde{x})\in C^2(0<\widetilde{x}<1),\qquad \varphi_1(\widetilde{x})=O(1)(\widetilde{x}-\widetilde{x}^{\,2})^{\chi_1}; \tag{1.11} \]
\[ \psi_1(\eta_1)\in C^7(0<\eta_1\leq x_0),\qquad \psi_1^{(i)}(\eta_1)=O(1)\eta_1^{\chi_2-i},\quad i=0,1; \tag{1.12} \]
\[ \psi_2(\xi_1)\in C^7(x_0\leq \xi_1<1),\qquad \psi_2^{(i)}(\xi_1)=O(1)(1-\xi_1)^{\chi_2-i}; \tag{1.13} \]
\[ \psi_3(\eta_1)\in C(1\leq \eta_1\leq \pi/4a),\qquad \psi_3(\eta_1)\in C^4(1<\eta_1<\pi/4a); \tag{1.14} \]
\[ 1<\chi_i=\mathrm{const},\qquad \psi_3'(\eta_1)=O(1)(\pi/4a-\eta_1)^{-\alpha-5/6}; \tag{1.15} \]
\(\psi_3'(\eta_1)\) at \(\eta_1=1\) may tend to \(\infty\) of order \(\leq 2/3\); \(\varphi_0(\widetilde{x})\in C(0\leq \widetilde{x}<1)\), \(\varphi_0(\widetilde{x})\in C^2(0<\widetilde{x}<1)\), and \(\varphi_0\) at the point \(\widetilde{x}=1\) tends, generally speaking, to \(\infty\) of logarithmic order.
The uniqueness of the solution of Problem 1 is proved in exactly the same way as in the case of Problem \(A\), considered in [2].
§ 2. 1. In equation \((L)\) we pass to the variables \(\widetilde{x}=x/a\), \(\widetilde{y}=(3\omega/2a)^{2/3}\) for \(y>1\), \(\widetilde{y}=-(3/2a)^{2/3}(\pi/16-\omega)^{2/3}\) for \(0<y<1\), and to the function \(z=\widetilde{\omega}u\). Then \(z\) will satisfy the equation
\[ \widetilde{y}z_{\widetilde{x}\widetilde{x}}+z_{\widetilde{y}\widetilde{y}}+c(\widetilde{y})z=0, \tag{\(\widetilde{L}\)} \]
where \(-4c(\widetilde{y})=2b_y+b^2\) admits derivatives of any order, and \(c(0)>0\) (see [2, 3]).
If \(M\) is a certain set in the plane of the variables \(x,y\), then its image in the plane of the variables \(\widetilde{x},\widetilde{y}\) will henceforth be denoted by \(\widetilde{M}\). Obviously, \(\widetilde{D}^{+}\) is a finite simply connected domain bounded by the normal contour
\[ \widetilde{\sigma}_1:\quad (\widetilde{x}-1/2)^2+\frac{4}{9}\widetilde{y}^{\,3}=1/4,\quad \widetilde{y}\geq 0 \tag{2.1} \]
of equation \((\widetilde{L})\) and by the segment \(\widetilde{A}_4\widetilde{A}\) of the straight line \(\widetilde{y}=0\).
Problem 2 (Holmgren). Find a solution of equation \((\tilde L)\), regular in the domain \(\tilde D^+\), satisfying the boundary conditions (1.6)
\[ z=\varphi_1(\tilde x),\quad (\tilde x,\tilde y)\in\tilde\sigma_1,\quad 0\leqslant \tilde x\leqslant 1; \]
and
\[ z_{\tilde y}=\nu(\tilde x),\quad \tilde y=0,\quad 0<\tilde x<1,\quad \tilde x\ne x_0, \tag{2.2} \]
where \(\nu(\tilde x)\in C^1(0<\tilde x<1,\ \tilde x\ne x_0)\) and, for \(\tilde x=0,x_0,1\), may tend to \(\infty\) of order \(<2/3\).
For convenience, in equation \((\tilde L)\) we pass to new variables:
\[ x=2\tilde x-1,\quad y=2^{2/3}\tilde y. \tag{2.3} \]
Then \((\tilde L)\), (1.6), and (2.2) take the following form:
\[ Tz=yz_{xx}+z_{yy}=-4^{-2/3}c(4^{-1/3}y)z=c_0(y)z; \tag{2.4} \]
\[ z=\varphi_1((x+1)/2)=\tilde\varphi(x),\quad (x,y)\in\sigma,\quad |x|\leqslant 1; \tag{2.5} \]
\[ z_y=4^{-1/3}\nu((x+1)/2)=\tilde\nu(x),\quad y=0,\quad |x|<1,\quad x\ne 2x_0-1. \tag{2.6} \]
The transformation (2.3) carries \(\tilde D^+\) into the domain \(\Omega\), bounded by the curve \(\sigma\):
\[ x^2+\frac{4}{9}y^3=1 \]
and the segment \(|x|\leqslant 1,\ y=0\).
The Green’s function of Problem 2 in the domain \(\Omega\) is given by formula [4]
\[ G(x,y;\xi,\eta)=u(x,y;\xi,\eta)+v(x,y;\xi,\eta), \tag{2.7} \]
where
\[ u=\gamma_1(r_1^2)^{-1/6}\mathfrak F\left(\frac16,\frac16,\frac13;\ 1-r^2/r_1^2\right), \]
\[ v=-(R^2)^{-1/6}u(x,y;\bar\xi,\bar\eta), \tag{2.8} \]
\[ \left. \begin{array}{c} r^2\\ r_1^2 \end{array} \right\} =(x-\xi)^2+\frac49\left(y^{3/2}\mp\eta^{3/2}\right)^2,\quad R^2=\xi^2+\frac49\eta^3, \tag{2.9} \]
\[ \bar\xi=\xi/R^2,\quad \bar\eta^{3/2}=\eta^{3/2}/R^2,\quad 4\pi\Gamma(1/3)\gamma_1=(4/3)^{1/3}\Gamma^2(1/6). \tag{2.10} \]
In [2] it is proved that there exists a unique solution \(z\) of Problem 2, and it can be represented in the form
\[ z=z_0(x,y)+Z(x,y)+\int_{-1}^{1}\tilde\nu(t)N(t,x,y)\,dt, \tag{2.11} \]
where
\[ z_0=N_0+F=-\int_{-1}^{1}\tilde\nu(\xi)G(\xi,0;x,y)\,d\xi+ \]
\[ +\int_{-1}^{1}\tilde\varphi(\xi)A_\xi\left[\overline{G(\xi,\eta;x,y)}\right]\,d\xi, \tag{2.12} \]
\[ A_\xi\equiv \eta(d\eta/d\xi)\partial/\partial\xi-\partial/\partial\eta, \]
and the bar over \((\xi,\eta)\) means that \((\xi,\eta)\in\sigma\); \(Z\) and \(N\), respectively, are solutions of the following unconditionally solvable Fredholm equations:
\[ Z(x,y)+\int_{\Omega} c_0(\eta)G(\xi,\eta;x,y)Z(\xi,\eta)\,d\xi\,d\eta=Z_0(x,y), \tag{2.13} \]
\[ N(t,x,y)+\int_{\Omega} c_0(\eta)G(\xi,\eta;x,y)\times \]
\[ \times N(t,\xi,\eta)\,d\xi\,d\eta=N_0(t,x,y), \tag{2.14} \]
\[ Z_0=-\int_{\Omega} c_0(\eta)G(\xi,\eta;x,y)F\,d\xi\,d\eta, \]
\[ N_0=\int_{\Omega} c_0(\eta)GG(t,0;\xi,\eta)\,d\xi\,d\eta. \tag{2.15} \]
- From (2.15) we have
\[ N_0(y,x,0)=\mathfrak{N}(x,y)=\int_{\Omega} c_0(\eta)\times \]
\[ \times G(\xi,\eta;x,0)G(y,0;\xi,\eta)\,d\xi\,d\eta. \tag{2.16} \]
Below it will be shown that the function \(\mathfrak{N}(x,y)\in C^\infty(-1<x,\ y<1,\ x\ne y)\), while for \(x=y\) the first derivatives have a logarithmic singularity, which can be isolated explicitly.
Consider the function
\[ \mathfrak{N}_i(x,y)=\int_{\Omega}\eta^i G(\xi,\eta;x,0)G(y,0;\xi,\eta)\,d\xi\,d\eta,\quad i\ge 0. \tag{2.17} \]
From (2.7)—(2.10) it is easy to see that
\[ G(\xi,\eta;x,0)=\gamma_1(R_x^2)^{-1/6}-\gamma_1(\bar R_x^2)^{-1/6}, \tag{2.18} \]
where
\[ R_x^2=(x-\xi)^2+4/9\,\eta^3,\quad \bar R_x^2=(1-x\xi)^2+4/9\,x^2\eta^3. \]
Consequently,
\[ \mathfrak{N}_i(x,y)=\gamma_1^2\int_{\Omega}\eta^i(R_xR_y)^{-1/3}\,d\xi\,d\eta-\gamma_1^2\int_{\Omega}\eta^i\left[(R_x\bar R_y)^{-1/3}+\right. \]
\[ \left.+(\bar R_xR_y)^{-1/3}-(\bar R_x\bar R_y)^{-1/3}\right]\,d\xi\,d\eta= \]
\[ =\gamma_1^2\mathfrak{N}_i^1(x,y)+\mathfrak{N}_i^2(x,y). \tag{2.19} \]
Obviously, \(\mathfrak{N}_i^2(x,y)\in C^\infty(-1<x,y<1)\) for any \(i\ge 0\). The integral \(\mathfrak{N}_i^1\), after passing to the repeated integral and transforming by means of the substitution \(\eta=(9/4)^{1/3}[(1-\xi^2)(1-t)]^{1/3}\), takes the form
\[ \mathfrak{N}_i^1(x,y)=a_i\int_{-1}^{1}(1-\xi^2)^{i/3}(\zeta\zeta_0)^{1/6}\times \]
\[ \times F_1\left(1,\frac16,\frac16,\frac{i+4}{3},\zeta,\zeta_0\right)\,d\xi, \tag{2.20} \]
where \(0<a_i=\mathrm{const};\quad \zeta=\zeta(x)=\dfrac{1-\xi^2}{1+x^2-2x\xi};\quad \zeta_0=\zeta(y);\quad F_1\) is the hypergeometric function of the variables \(\zeta,\zeta_0;\quad 0\le \zeta,\zeta_0\le 1.\)
The following identity holds (see [4] § 17):
\[ \begin{aligned} &\mathrm{B}(1,\gamma-1)F_1(1,\beta,\beta,\gamma,u,v)+\\ &\quad+\mathrm{B}(1,1+2\beta-\gamma)F_1(1,\beta,\beta,2+2\beta-\gamma,1-u,1-v)+\\ &\quad+\exp(\gamma\pi i)\mathrm{B}(1+2\beta-\gamma,\gamma-1)(-u)^{-\beta}\times\\ &\quad\times(-v)^{-\beta}F_1(1+2\beta-\gamma,\beta,\beta,2\beta,1/u,1/v), \end{aligned} \]
where \(\mathrm{B}\) is the beta-function, \(-\pi<\arg(-u),\arg(-v)<\pi\), \(\operatorname{Im}u,\operatorname{Im}v\leqslant0\). Hence, using the known relation
\((1-v)^{-\alpha}\mathfrak{F}(\alpha,\beta,\beta+\beta',(u-v)/(1-v))=F_1(\alpha,\beta,\beta',\beta+\beta',u,v)\) and the fact that
\(F_1(\alpha,\beta,\beta,\gamma,u,v)=F_1(\alpha,\beta,\beta,\gamma,v,u)\), we obtain
\[ F_1\left(1,\frac{1}{6},\frac{1}{6},\frac{i+4}{3},\xi,\xi_0\right)= \]
\[ \begin{aligned} &=a(i)F_1\left(1,\frac{1}{6},\frac{1}{6},\frac{3-i}{3},1-\xi,1-\xi_0\right)+\\ &\quad+b(i)(\xi\xi_0)^{-1/6}\xi^{-i/3}(1-\xi)^{i/3}\times\\ &\quad\times\mathfrak{F}\left(-\frac{i}{3},\frac{1}{6},\frac{1}{3};\frac{\xi_0-\xi}{\xi_0(1-\xi)}\right), \end{aligned} \tag{2.21} \]
\[ \xi_0\geqslant \xi; \]
\[ F_1\left(1,\frac{1}{6},\frac{1}{6},\frac{i+4}{3},\xi,\xi_0\right)= \]
\[ \begin{aligned} &=a(i)F_1\left(1,\frac{1}{6},\frac{1}{6},\frac{3-i}{3},1-\xi,1-\xi_0\right)+\\ &\quad+b(i)(\xi\xi_0)^{-1/6}\xi_0^{-i/3}(1-\xi_0)^{i/3}\times\\ &\quad\times\mathfrak{F}\left(-\frac{i}{3},\frac{1}{6},\frac{1}{3};\frac{\xi-\xi_0}{\xi(1-\xi_0)}\right), \end{aligned} \tag{2.22} \]
\[ \xi\geqslant \xi_0; \]
where \(a(i)=(1+i)/i,\ b(i)=\Gamma(-i/3)\Gamma(i/3+4/3)/\Gamma(1/3),\ i/3\ne0,1,\ldots\)
Let \(x\leqslant y\). Then from (2.20), (2.21), and (2.22) we have
\[ \begin{aligned} \mathfrak{N}_i(x,y)=\mathscr{L}_i^{*}(x,y) &+m_i\int_{-1}^{(x+y)/2}(y-\xi)^{2i/3}\times\\ &\quad\times\mathfrak{F}\left(-\frac{i}{3},\frac{1}{6},\frac{1}{3}; \frac{(y-x)(y+x-2\xi)}{(y-\xi)^2}\right)d\xi+\\ &+m_i\int_{(x+y)/2}^{1}(\xi-x)^{2i/3}\mathfrak{F}\left(-\frac{i}{3},\frac{1}{6},\frac{1}{3};\right.\\ &\quad\left.\frac{(y-x)(2\xi-x-y)}{(\xi-x)^2}\right)d\xi =\mathscr{L}_i^{*}+I_1+I_2. \end{aligned} \]
Here and in what follows \(\mathscr L_i^{*}\) denotes some function of class \(C^\infty\) \((-1<x,\ y<1)\), and \(m_i\) denotes some nonzero constant. In the integrals \(I_1\) and \(I_2\) we make the substitutions \(\xi=(x-yt)/(1-t)\) and \(\xi=(y-xt)/(1-t)\), respectively. Then their sum \(I\) takes the form
\[ I=m_i(y-x)^{\frac{2i}{3}+1} \left\{ \int_{-1}^{(1+x)/(1+y)} + \int_{-1}^{(1-y)/(1-x)} \right\} \times \]
\[ \times (1-t)^{-\frac{2i}{3}-2} \mathscr F\left(-\frac{i}{3},\frac{1}{6},\frac{1}{3};1-t^2\right)\,dt . \]
It is now not hard to see that
\[ I=m_i(y-x)^{\frac{2i}{3}+1} \left\{ \int_{(1+x)/(1+y)}^{1} + \int_{(1-y)/(1-x)}^{1} \right\} \times \]
\[ \times (1-t)^{-\frac{2i}{3}-2}\mathscr F_p(t)\,dt + \]
\[ +\,m_i(y-x)^{2i/3+1}=-J+m_i(y-x)^{2i/3+1}, \]
where \(p>2i/3\),
\[ \mathscr F_p(t)= \mathscr F\left(-\frac{i}{3},\frac{1}{6},\frac{1}{3};1-t^2\right) - \]
\[ -\sum_{k=0}^{p} \frac{(-i/3)_k(1/6)_k}{(1/3)_k\,k!}\,(1-t^2)^k \]
and the symbol \((\lambda)_k\) denotes the quantity \(\Gamma(\lambda+k)/\Gamma(\lambda)\).
After a simple change of the variable of integration in the integrals entering into \(J\), we obtain
\[ J=m_i(1+y)^{1+2i/3} \int_0^1 t^{-2-2i/3}\mathscr F_p(x^*t(2-x^*t))\,dt+ \]
\[ +\,m_i(1-x)^{1+2i/3} \int_0^1 t^{-2-2i/3}\mathscr F_p(y^*t(2-y^*t))\,dt, \]
where \(x^*=(y-x)/(1+y)\), \(y^*=(y-x)/(1-x)\). Therefore \(J\) is a function of type \(\mathscr L_i^{*}\).
Thus it has been proved that, by virtue of (2.19), (2.20), the function \(\mathfrak R_i\) from (2.17) is representable in the form
\[ \mathfrak R_i(x,y)=m_i|y-x|^{1+2i/3}+\mathscr L_i^{*}, \quad i/3\ne 0,1,2,\ldots \tag{2.23} \]
There is no doubt that (2.23) is also valid for \(x>y\). Let now \(i/3=0,1,2,\ldots\). Then
\[ \mathfrak R_i(x,y)=m_i|y-x|^{1+2i/3}\ln|y-x|+\mathscr L_i^{*}. \tag{2.24} \]
For the proof it suffices to extend identities (2.21) and (2.22) to the values of \(i\) under consideration. This is done in the same way as for the hypergeomet-
of functions of one variable [5]. Namely: we write (2.21), (2.22) for \(i=3m+\varepsilon\), where \(m=0,1,2,\ldots\), \(\varepsilon\) is an arbitrarily small positive number, and then pass to the limit as \(\varepsilon\to0\).
Since \(c_0(y)\in C^\infty\left(y>-(3\pi/8a)^{2/3}\right)\), by Taylor’s formula one may write:
\[
c_0(y)=\sum_{i=0}^{q} d_i y^i+O(y^q),\qquad d_0=c_0(0)<0,\quad q\geqslant1.
\]
Consequently (see (2.16), (2.17), (2.23), (2.24)),
\[
N_0(t,x,0)=\sum_{i=0}^{q} d_i\mathfrak N_i(x,t)+\mathfrak M_{\bar q}(x,t),
\tag{2.25}
\]
where \(\mathfrak M_{\bar q}\in C^\infty(-1<x,\ t<1,\ x\ne t)\), \(\mathfrak M_{\bar q}\in \bar C^q(-1<x,\ t<1)\), if \(\bar q=1+2[q/3]\) and \(q/3\ne1,2,3,\ldots\); whereas if \(q/3=1,2,3,\ldots\), then \(\mathfrak M_{\bar q}\in \bar C^{q-1}(-1<x,\ t<1)\), and the \(\bar q\)-th derivative at \(x=t\) may become infinite of order not higher than logarithmic.
- Obviously, the function \(N_0(t,x,y)\) is a solution of the homogeneous Holmgren problem for the equation
\[ TN_0+c_0(y)G(t,0;\ x,y)=0,\qquad (x,y)\in\Omega . \]
From the analytic character of solutions of an elliptic equation with analytic coefficients (see, for example, [6]) it follows unconditionally that \(N_0\in C^\infty(\Omega,\ |t|<1)\). Moreover, it turns out that \(N_0\) has derivatives of arbitrary order with respect to \(x\) and \(t\) when
\[ (x,y)\in\Omega\cup\{y=0,\ |x|<1,\ x\ne t,\ |t|<1\}. \]
Indeed, let \(t<t+\varepsilon<x\), and let \(\Omega_1(\Omega_2)\) be a subdomain of the domain \(\Omega\), where \(\xi<t+\varepsilon\) (\(\xi>t+\varepsilon\)). In view of (2.7) and (2.15), it suffices to establish that the function
\[ U_1(t,x,y)+U_2(t,x,y)= \]
\[ =\left(\int_{\Omega_1}+\int_{\Omega_2}\right)c_0(\eta)u(\xi,\eta;\ x,y)\,u(t,0;\ \xi,\eta)\,d\xi\,d\eta \]
has the property indicated above.
It is easy to see that \(U_1\) (\(U_2\)) has derivatives of all orders with respect to \(x\) (\(t\)) for
\[
(x,y)\in\Omega\cup\{y=0,\ |x|<1,\ |t|<1\},
\]
and they may be obtained by direct differentiation under the integral sign. The fact that \(U_1\) (\(U_2\)) admits derivatives with respect to \(t\) (\(x\)) is established by means of the known identity
\[
u_x(\xi,\eta;\ x,y)=-u_\xi(\xi,\eta;\ x,y)
\]
and by successive application of the operations of differentiation and integration by parts.
Starting from the integral equation (2.14) and the properties of the function \(N_0\) given here, one can prove (see [4], Ch. 1, § 17, where the case \(0<c_0(y)\equiv\mathrm{const}\) is considered) that the function
\[
N(t,x,0)\in C^\infty(-1<x,\ t<1,\ x\ne t)
\]
and is representable in the form (2.25).
- In (2.11) let us return to the variables \(\tilde x,\tilde y\) by formula (2.3) and, as a result, set \(\tilde y=0,\ \tilde x=x\). Then, according to (2.12), we shall have
\[ \tau(x)=\gamma_1\int_0^1 \nu(t)\left[L(x,t)-|t-x|^{-1/3}+\right. \]
\[ \left.+(t+x-2tx)^{-1/3}\right]dt+\Phi(x), \tag{2.26} \]
where
\[ \gamma_1L(x,t)=N(2t-1,\ 2x-1,\ 0), \]
\[ \Phi(x)=F(2x-1,0)+Z(2x-1,0). \]
From (2.12), taking into account that
\[ A_{\xi}[G(\xi,\eta;x,y)] =\gamma_{1}/(2\eta)(1-x^{2}-4/9\,y^{3})(r_{1}^{2})^{-7/6}\times \]
\[ \times \mathcal{F}\left(1/6,\ 7/6,\ 1/3;\ 1-(r/r_{1})^{2}\right), \tag{2.12′} \]
we obtain (see [4, 9])
\[ F(x,0)=(4/9)^{1/3}\gamma_{1}/2(1-x^{2})\times \]
\[ \times \int_{-1}^{1}\tilde{\varphi}(\xi)(1-\xi^{2})^{-1/3} (1+x^{2}-2x\xi)^{-7/6}\,d\xi . \]
Hence, according to (1.11), we have \(F(x,0)\in C^{\infty}(|x|<1)\), and \(F''(x,0)\) as \(x\to \pm1\) may tend to \(\infty\) of order \(\leq 2-2\chi_{1}\), if \(\chi_{1}<1\). Further, by virtue of (2.12′), it is clear that \(F(x,y)\) admits, in \(\Omega\cup\{y=0,\ |x|<1\}\), derivatives of arbitrary order with respect to \(x\). Relying on these properties of the function \(F\), one can readily verify that the function \(Z(x,0)\) from (2.13) has the following properties: 1) \(Z(x,0)\in C^{1}(|x|\leq 1)\) and at the points \(x=\pm1\) has a zero of order \(>1\); 2) \(Z(x,0)\in C^{\infty}(|x|<1)\); 3) \(Z''(x,0)\) as \(x\to\pm1\) may tend to \(\infty\) of order not higher than logarithmic.
- Let there exist a solution of Problem 1. Then (2.26) holds, and the following two fundamental relations between \(\tau(x)\) and \(\nu(x)\), brought from the hyperbolic part \(\tilde{\Delta}\cup\tilde{\Delta}^{*}\) of the mixed domain \(\tilde{D}\) to the line of type change \(y=0\), hold:
\[ \tau(x)=\gamma\int_{0}^{x}\nu(t)(x-t)^{-1/3}P\bigl((x-t)^{4/3}\bigr)\,dt+\Psi_{1}(x), \qquad 0<x<x_{0}, \tag{2.27} \]
\[ \tau(x)=\gamma\int_{x}^{1}\nu(t)(t-x)^{-1/3}P\bigl((x-t)^{4/3}\bigr)\,dt+\Psi_{2}(x), \qquad x_{0}<x<1, \tag{2.28} \]
where 1) \(P\bigl((x-t)^{4/3}\bigr)\) admits derivatives of arbitrary order for \(x\ne t\), with \(P(0)=1\), and the first derivatives for \(x=t\) tend to zero of order not lower than \(1/3\); 2) \(\Psi_i\) is a function depending only on \(\psi_i,\ i=1,2;\ \Psi_1\in C^{6}(0<x\leq x_{0})\), \(\Psi_2\in C^{6}(x_{0}\leq x<1)\); 3) \(\Psi_1'\) (\(\Psi_2'\)) in the worst case behaves like \(x^{\chi_{2}-1}\) \(\bigl((1-x)^{\chi_{2}-1}\bigr)\), when \(x\to0\) \((x\to1)\); 4) \(2\Gamma(5/6)\Gamma(1/3)\gamma=(4/3)^{1/3}\Gamma(1/6)\).
The formulated result is contained in [2, 3].
§ 3. 1. Let us prove the existence of a solution of the system (2.26), (2.27), (2.28). For this purpose we eliminate \(\tau(x)\) from (2.26), (2.27). Then
\[ \int_{0}^{x}\nu(t)(x-t)^{-1/3}P\bigl((x-t)^{4/3}\bigr)\,dt =H_{1}(x)+ \]
\[ +\int_{0}^{1}\nu(t)[L(x,t)+l(x,t)]\,dt, \tag{3.1} \]
where
\[ \gamma H_{1}(x)=\Phi(x)-\Psi_{1}(x),\qquad l(x,t)=(t+x-2tx)^{-1/3}-|t-x|^{-1/3}. \]
Equation (3.1) (we regard the right-hand side as known for the time being) is a generalized Abel equation. By a known method (see [7]) it is reduced to a Volterra integral equation of the second kind
\[ \frac{2\pi}{\sqrt{3}}\,\nu(x)+\int_{0}^{x}\nu(t)(x-t)^{1/3}P_1\bigl((x-t)^{2/3}\bigr)\,dt = \]
\[ = \overline{H}_1(x)+\overline{L}(x)+\overline{l}(x), \tag{3.2} \]
where
\[ \overline{L}(x)=\int_{0}^{1}\nu(t)L_0(x,t)\,dt,\qquad L_0(x,t)= \]
\[ = \frac{d}{dx}\int_{0}^{x}\frac{L(\xi,t)\,d\xi}{(x-\xi)^{2/3}}, \tag{3.3} \]
\[ \overline{H}_1(x)=\frac{d}{dx}\int_{0}^{x}\frac{H_1(t)\,dt}{(x-t)^{2/3}}, \]
\[ \overline{l}(x)=\frac{d}{dx}\int_{0}^{x}\int_{0}^{1}\frac{\nu(t)l(\xi,t)}{(x-\xi)^{2/3}}\,dt\,d\xi, \]
and \(P_1\in C(0\le x,t\le 1)\), and has the same smoothness (in the sense of differentiability) as its argument \((x-t)^{2/3}\), with \(P_1(0)\ne 0\). It is known [8] that
\[ \overline{l}(x)=-\frac{\pi}{\sqrt{3}}\,\nu(x)-\int_{0}^{1}\nu(t)K^{-}(x,t)\,dt, \]
where
\[ K^{-}=(t/x)^{2/3}[1/(t-x)-1/(x+t-2tx)], \]
and the integral is understood in the sense of the Cauchy principal value. Consequently, (2.3) can be rewritten in the form
\[ \nu(x)-\lambda\int_{0}^{x}\nu(t)(x-t)^{1/3}P_1\bigl((x-t)^{2/3}\bigr)\,dt=\rho(x),\qquad \lambda\pi\sqrt{3}=-1, \tag{3.4} \]
\[ \rho(x)/\lambda=-\overline{H}_1(x)+\int_{0}^{1}\nu(t)K^{-}(x,t)\,dt-\int_{0}^{1}\nu(t)L_0(x,t)\,dt. \]
After inverting equation (3.4) and making simple transformations, it is easy to see that
\[ \nu(x)=-\lambda\int_{0}^{1}\nu(t)K^{-}(x,t)\,dt=h_1^*(x)+ \]
\[ +\int_{0}^{1}\nu(t)L_1^*(x,t)\,dt,\qquad 0<x<x_0, \]
where
\[ h_1^*(x)=-\lambda\overline{H}_1(x)-\lambda^2\int_{0}^{x}\overline{H}_1(\xi)(x-\xi)^{1/3}Q_1\bigl((x-\xi)^{2/3}\bigr)\,d\xi, \]
\[ L_1^*(x,t)=-\lambda L_0(x,t)-\lambda^2\int_{0}^{x}L_0(\xi,t)(x-\xi)^{1/3}\times \]
\[ \times Q_1\bigl((x-\xi)^{2/3}\bigr)\,d\xi+\lambda^2\int_{0}^{x}K^{-}(\xi,t)\times \]
\[ \times (x-\xi)^{1/3}Q_1\bigl((x-\xi)^{2/3}\bigr)\,d\xi; \]
\((x-t)^{1/3}Q_1\) is the resolvent of the kernel \((x-t)^{1/3}P_1\).
Similarly, from (2.26)—(2.28) we find
\[ \nu(x)+\lambda\int_0^1 \nu(t)K^+(x,t)\,dt = h_2^*(x)+\int_0^1 \nu(t)L_2^*(x,t)\,dt, \tag{3.5} \]
where
\[ K^+(x,t)=[(1-t)/(1-x)]^{2/3}\,[1/(t-x)+1/(t+x-2tx)],\qquad x_0<x<1, \]
and \(h_2^*, L_2^*\) are known functions depending on \(\Psi_2\) and \(L\), respectively.
Exclusively for convenience, we rewrite (3.4), (3.5) in the form
\[ S_\nu^i \equiv \nu_i(x)+(-1)^i\lambda\int_{-1}^1 \nu_i(t)K_i(x,t)\,dt = \]
\[ = h_i(x)+\int_{-1}^1 \nu_i(t)L_i(x,t)\,dt, \tag{3.6} \]
where
\[ \nu_1(x)=\nu_2(x)=\nu\bigl((x+1)/2\bigr),\quad x\ne x^0=2x_0-1,\quad h_i(x)= \]
\[ = h_i^*\bigl((x+1)/2\bigr),\qquad K_i(x,t)=[(1-(-1)^i t)/(1-(-1)^i x)]^{2/3}\times \]
\[ \times [\,1/(t-x)+(-1)^i/(1-tx)\,], \]
\[ L_i^*(x/2+1/2,\ t/2+1/2)=2L_i(x,t),\qquad i=1,2. \]
As is known [9], the singular integral equation (3.6) in the case when \(L_i\equiv 0\) can be reduced to an equivalent Fredholm integral equation of the second kind. The method used for this purpose will below be employed to regularize equation (3.6).
- Let
\[ A_i(x)=h_i(x)+\int_{-1}^1 \nu_i(t)L_i(x,t)\,dt. \]
Define the function \(A^i(x)\) as follows: \(A^1=A_1,\ A^2=p_1\), if \(-1<x<x^0\); \(A^1=p_2,\ A^2=A_2\), if \(x^0<x<1\). Here \(p_i(x)\) is a certain function, Hölder-continuous in the domain of definition.
Equation (3.6) can be rewritten in the form \(S_\nu^i=A^i\). Invert the operator \(S^i\) in the class of the sought \(\nu\). Then
\[ 4\nu_i(x)=3A^i(x)-(-1)^i3\lambda\int_{-1}^1 A^i(t)K^i(x,t)\,dt, \tag{3.7} \]
where
\[ K^i=[(1-t^2)/(1-x^2)]^{1/3}\,[1/(t-x)+(-1)^i/(1-tx)]. \]
Since \(\nu_1(x)=\nu_2(x)\) for \(|x|<1,\ x\ne x^0\), from (3.7) we have
\[ p_2^1(x)=R_2^1(x)\pm\lambda\int_{-1}^1 p_2^1(t)K_1^2(x,t)\,dt, \tag{3.8} \]
where
\[ R_2^1(x)=A_2^1(x)\pm\lambda\int_{-1}^1 A_2^1(t)K_2^1(x,t)\,dt \]
and the upper sign is taken for \(-1\le x\le x^0\), the lower for \(x^0\le x\le 1\). Here and below \(M_j^i(x)=M_i(x)\), if \(-1<x<x^0\); \(M_j^i(x)=M_j(x)\), if \(x^0<\)
\(< x < 1;\quad K_j^i(x,t)=K_i,\) if \(-1<t<x^0;\quad K_j^i(x,t)=K_j,\) if \(x^0<t<1\). As Gellerstedt showed, the singular integral equation (3.8) is equivalent to the Fredholm equation
\[ p_2^1(x)+\lambda\int_{-1}^{1} p_2^1(s)\,\overline{K}_1^2(x,s)\,ds=\chi_2^1(x), \tag{3.9} \]
where
\[ \frac{4}{3}\chi_2^1=R_2^1 \pm \lambda\int_{-1}^{1}R_2^1(s)\bigl[(1-s^2)/(1-x^2)\bigr]^{1/3}\times \]
\[ \times \overline{\Gamma}_2^1(x,s)\,ds \equiv E(R_2^1), \tag{3.10} \]
\[ \overline{\Gamma}^{1}(x,s)=\bigl[(x^0-s)(1+x)/|x^0-x|(1+s)\bigr]^{1/3}\times \]
\[ \times [1/(s-x)+1/(1-sx)], \]
\[ -\overline{\Gamma}^{2}(x,s)=\bigl[(x^0-s)(1-x)/|x^0-x|(1-s)\bigr]^{1/3}\times \]
\[ \times [1/(s-x)-1/(1-sx)]; \]
\(\overline{K}_1^2\) is a regular kernel and admits a majorant of the form \(M|x^0-x|^{-1/3}\). This kernel can be written explicitly, and therefore it is not difficult to see that, for \(-1<x,s<1,\ x,s\ne x^0\), it has derivatives of all orders.
From the uniqueness of the solution of the Gellerstedt problem for the equation \(Tz=0\) in the domain \(\widetilde{D}\) with data on \(\widetilde{\sigma}_1\) and on the characteristics \(\widetilde{A}_4\widetilde{D}_0,\widetilde{A}_3\widetilde{B}\), there follows the unconditional solvability of equation (3.9). Let \(\Gamma_2^1\) be its resolvent. Then
\[ p_2^1(x)=\chi_2^1(x)-\lambda\int_{-1}^{1}\chi_2^1(s)\Gamma_2^1(x,s)\,ds\equiv \overline{E}(\chi_2^1). \tag{3.11} \]
Next one can write
\[ R_2^1(x)=H_2^1(x)+\int_{-1}^{1}v_1(s)l_2^1(x,s)\,ds, \]
where
\[ H_i(x)=h_i(x)-(-1)^i\lambda\int_{-1}^{1}h_2^1(t)K_2^1(x,t)\,dt= \]
\[ =\widetilde{E}(h_i),\qquad l_i(x,s)=\widetilde{E}(L_i). \]
Consequently, in view of (3.10),
\[ \frac{4}{3}\chi_2^1(x)=\overline{H}_2^1(x)+\int_{-1}^{1}v_1(t)\overline{l}_2^1(x,t)\,dt, \]
where \(\overline{H}_2^1(x)=E(H_2^1)\), \(\overline{l}_2^1(x,t)=E(l_2^1)\). Taking the latter into account in (3.11), as a result we obtain
\[ p_2^1(x)=\overline{h}_2^1(x)+\int_{-1}^{1}v_2(t)\overline{L}_2^1(x,t)\,dt, \tag{3.12} \]
where
\[ 4\overline{h}_2^1(x)=3\overline{E}(\overline{H}_2^1),\qquad 4\overline{L}_2^1(x,t)=3\overline{E}(\overline{l}_2^1). \]
Thus,
\[ A^1(x)=\widetilde{h}^1(x)+\int_{-1}^{1}v_1(t)L^1(x,t)\,dt, \tag{3.13} \]
where \(h^1(x)=h_1(x)\), \(L^1(x,t)=L_1(x,t)\), if \(-1<x<x^0\); \(h^1(x)=\overline{h}_2(x)\), \(L^1(x,t)=\overline{L}_2(x,t)\), if \(x^0<x<1\).
Substitute expression (3.13) into (3.7) \((i=1)\). As a result, after interchanging the order of integration in the repeated improper integral, where one integral is ordinary, we obtain
\[ \nu_1(x)-\int_{-1}^{1}\nu_1(t)\,\widetilde{L}(x,t)\,dt=\widetilde{h}(x), \tag{3.14} \]
where
\[ \frac{4}{3}\,\widetilde{L}(x,t)=L^1(x,t)+ \]
\[ +\lambda\int_{-1}^{1} L^1(s,t)K^1(x,s)\,ds \equiv U(L^1),\qquad \widetilde{h}=U(h^1). \]
The integral equation (3.14) (as to the properties of the kernel and of the free term, see below) is a Fredholm equation, and in the class of sought solutions it is equivalent to (3.6). Since the solution of problem 1 is unique, (3.14) is certainly solvable.
- It is not difficult to verify that \(h_1(x)\in C^5(-1<x\le x^0)\), \(h_1(x)=O(1)(1+x)^{1/3}\), \(h_2(x)\in C^5(x^0\le x<1)\), \(h_2(x)=O(1)(1-x)^{1/3}\).
Let \(-1<x<x^0\). Then
\[ H_2^1(x)=h_1(x)+\lambda\int_{-1}^{x^0} h_1(t)\left[(1-t^2)/(1-x^2)\right]^{1/3}\times \]
\[ \times\left[1/(t-x)-1/(1-tx)\right]\,dt+ \]
\[ +\lambda\int_{x^0}^{1} h_2(t)\left[(1-t^2)/(1-x^2)\right]^{1/3}\left[1/(t-x)+1/(1-tx)\right]\,dt. \]
Hence, on the basis of the known properties of the Cauchy-type integral (see [10], §§ 21, 22), we conclude: 1) \(H_2^1(x)\in C^{(4,\delta)}(-1<x<x^0)\), i.e. it admits a 4th-order derivative satisfying the Hölder condition with exponent \(\delta\), \(0<\delta<1\); 2) \(H_2^1\), as \(x\to -1\) \((x\to x^0)\), tends to \(\infty\) of order \(\le 1/3\) (of logarithmic order).
It is clear that \(H_2^1(x)\in C^{(4,\delta)}(x^0<x<1)\) and, at the point \(x=1\), behaves in the same way as at \(x=-1\).
If \(-1<x<x^0\), then obviously
\[ \overline{H}_2^1(x)=H_2^1(x)+\lambda\left(|x^0-x|(1-x)\right)^{-1/3}\times \]
\[ \times\int_{-1}^{x^0} H_2^1(s)\left[(x^0-s)(1-s)\right]^{1/3} \left(\frac{1}{s-x}+\frac{1}{1-sx}\right)\,ds+ \]
\[ +\lambda\left(|x^0-x|(1+x)\right)^{-1/3}\int_{x^0}^{1}\overline{H}_2^1(s)\left[(s-x^0)(1+s)\right]^{1/3}\times \]
\[ \times\left(\frac{1}{s-x}-\frac{1}{1-sx}\right)\,ds. \]
Consequently, \(\overline{H}_2^{\,1}(x)\in C^{(4,\delta)}(-1<x<x^0)\), and as \(x\to -1\), \(x^0\) may tend to \(\infty\) of order \(\leq 1/3\). It has these properties also for \(x^0<x<1\).
Using the properties of the functions \(F_2^1\), \(\overline{h}_2^{\,1}\), \(h^1\), we finally see that \(\widetilde h(x)\in C^{(4,\delta)}(|x|<1,\ x\ne x^0)\), and as \(x\to \pm1\), \(x^0\) may tend to \(\infty\) of order \(\leq 1/3\).
4) From (3.3), after differentiation under the integral sign, we have
\[ L_0(x,t)=\int_0^x L_\xi(\xi,t)(x-\xi)^{-2/3}\,d\xi . \]
The result proved in § 2, item 2, permits us to conclude that \(L_x\) is representable in the form \(L_x=\mu\ln|x-t|+\mathcal L^*(x,t)\), where 1) \(\mu=\mu_1=\mathrm{const}\) for \(x\leq t\), \(\mu=\mu_2=\mathrm{const}\) for \(x\geq t\); 2) \(\mathcal L^*\) is a certain function admitting derivatives of arbitrary order when \(0<x,t<1\), and on the line \(x=t\) the first derivatives may have only integrable singularities (see (2.24), (2.25)). Moreover, \(\mathcal L^*\) has the property that the singularities of its derivatives, if any, can be separated out in explicit form.
Relying on these properties of the function \(\mathcal L^*\) and on the properties of the function \(P\), from (2.27) it is not difficult to verify that 1) \(L_i(x,t)\in C(-1\leq x,t\leq 1)\), \(L_i(x,t)\in C^\infty(-1<x,t<1,\ x\ne t)\), and at \(x=t\) the first derivatives tend, generally speaking, to \(\infty\) as \(|x-t|^{-2/3}\ln|x-t|\); 2) the singularities in the derivatives of \(L_i\) can be separated out in explicit form; 3) the kernel \(\widetilde L\) of the integral equation (3.14) belongs to \(C^\infty(-1<x,t<1,\ x\ne t,\ x\ne x_0)\), and at the points \(x=\pm1\), \(x_0\) it may have fixed singularities of order \(\leq 1/3\), while its first derivatives at \(x=t\) may tend to \(\infty\) as \(|x-t|^{-2/3}\ln|x-t|\).
5) Let \(\mu(x)\in C^{(0,\delta)}(a\leq x\leq b)\). Then (see [8], p. 90)
\[ \frac{d}{dx}\int_a^b \mu(t)\ln|t-x|\,dt = -\int_a^b \mu(t)/(t-x)\,dt . \tag{3.15} \]
If, however, \(\mu(x)\in C^1(a<x<b)\), and \(\mu'(x)\) at the points \(x=a\), \(x=b\) has only a singularity of order \(<1\), then
\[ \int_a^b \mu(t)/(t-x)\,dt = \mu(b)\ln(b-x)- \]
\[ -\mu(a)\ln(x-a)-\int_a^b \mu'(t)\ln|t-x|\,dt . \tag{3.16} \]
It follows directly from (3.15), (3.16) that if \(\mu(x)\in C^{(m,\delta)}(a\leq x\leq b)\), and \(\mu^{(m)}(x)\) as \(x\to a,b\) does not tend to \(\infty\) of order \(\geq1\), then the Cauchy-type integral with density \(\mu\) also belongs to this class.
Relying on these facts, one can show that the solution \(\nu_i(x)\) of equation (3.6) belongs to \(C^4(|x|<1,\ x\ne x^0)\), and at the points \(x=\pm1\), \(x^0\) may tend to \(\infty\) of order \(\leq 1/3\). Consequently, \(\nu(x)\in C^4(0<x<1,\ x\ne x_0)\), and at \(x=0,x_0,1\) it may have a singularity of order \(\leq 1/3\).
After \(\nu(x)\) has been found by solving the Holmgren problem in the domain \(\widetilde D^{+}\) and the singular Tricomi problem in the domains \(\widetilde\Delta\), \(\widetilde\Delta^*\), we construct a solution \(u(x,y)\) of problem 1 in the domain \(D\). It should be noted that \(u(x,y)\), as a function of the corresponding characteristic coordinates inside the characteristic arcs \(A_1D_0\) and \(AB\), has at least the same degree of smoothness as \(\nu(x)\) [1, 2].
The possibility of constructing a solution \(u(x,y)\) of problem 1 in the remaining part \(D^*\setminus D\) of the domain \(D^*\) was proved in [2].
References
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- Gellerstedt S. Sur un problème aux limites pour une équation linéaire aux dérivées partielles du second ordre de type mixte. Thèse, Uppsala, 1935.
- Frankl F. I. Izv. AN SSSR, Mathematical Series, 8, No. 5, 195–224, 1945.
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Received by the editors
May 20, 1966
Institute of Mathematics, Siberian Branch of the Academy of Sciences of the USSR