Documente Academic
Documente Profesional
Documente Cultură
for
Partial Differential Equations
by
Willi-Hans Steeb
International School for Scientific Computing
at
University of Johannesburg, South Africa
Yorick Hardy
Department of Mathematical Sciences
at
University of South Africa, South Africa
Contents
Bibliography 133
Index 134
vi
Chapter 1
Solution 1.
∂mf
Dxm (f · 1) = . (1)
∂xm
(ii) Show that
Dxm (f · g) = (−1)m Dxm (g · f ). (2)
(iii) Show that
Dxm (f · f ) = 0, for m odd (3)
Solution 2.
1
2 Problems and Solutions
Solution 3.
∆ψ + k 2 ψ = 0
where
2mE
k2 =
~2
with
ψG = 0.
Solution 4.
B=∇×A
Linear Partial Differential Equations 3
and
∂ ∂
p̂x = −i~ , p̂y = −i~ .
∂x ∂y
(i) Show that B can be obtained from
0
A = xB
0
or
−yB
A = 0 .
0
(ii) Use the second choice for A to find the Hamilton operator Ĥ.
(iii) Show that
[Ĥ, p̂x ] = 0.
(iv) Let k = px /~. Make the ansatz for the wave function
~2 d 2 mωc2
2
− + (y − y 0 ) φ(y) = Eφ(y)
2m dy 2 2
where
eB ~k
ωc := , y0 := .
m eB
(v) Show that the eigenvalues are given by
1
En = n + ~ωc , n = 0, 1, 2, . . . .
2
(iii) Since coordinate x does not appear in the Hamilton operator Ĥ and
(v) We have
1
ψ̂ = ((p̂x − eyB)2 + p̂y )eikx φ(y)
2m
1 ikx
= e ((~k − eyB)2 + p̂2y )φ(y)
2m
1 ikx 2 2
= e (e B (y − ~k/eB)2 + p̂2y )φ(y)
2m !
ikx mωc2 2
p̂2y
=e (y − y0 ) + φ(y).
2 2m
Now the right-hand side must be equal to Eψ(x, y) = Eeikx φ(y). Thus
since
∂2
p̂2y = −~2 2
∂y
the second order ordinary differential equation follows
~2 d 2 mωc2
2
− + (y − y0 ) φ(y) = Eφ(y).
2m dy 2 2
(vi) The eigenvalue problem of (v) is essentially the harmonic oscillator
except the term is (y − y0 )2 instead of y 2 . This means that the centre of
oscillation is at y = y0 instead of 0. This has no influence on the eigenvalues
which are the same as for the harmonic oscillator,namely
1
En = n + ~ωc , n = 0, 1, 2, . . . .
2
∂ψ ∗
1
−i~ = − ∆ + V (x) ψ ∗
∂t 2m
yields
∂ρ 1 1
=− ∆(ψψ ∗ ) + ψ∆ψ ∗ .
∂t 2im~ 2im~
We set ψ = eR(x)+iS(x , where R and S are real-valued. Next we separate
real and imaginary part after inserting this ansatz into the Schrödinger
equation. Then we set v = ∇S.
D(x) = D0 (1 + gx) g ≥ 0.
c(x, t = 0) = M0 δ(x)
For g → 0 we obtain
x2
M0
c(x, t) = √ exp − .
4πD0 t 4D0 t
where
∂2 ∂2 ∂2
∆= 2 + 2 + .
∂x1 ∂x2 ∂x23
Let 1 ∂ψ
ψ ∂x1
∇ψ 1 ∂ψ
ρ := |ψ|2 = ψψ ∗ , v := = = = .
ψ ∂x2
ψ 1 ∂ψ
ψ ∂x3
8 Problems and Solutions
∆(ρ1/2 )
∂v
+ (v · ∇)v = −∇ V (x) − . (3)
∂t 2ρ1/2
∂ψ ∗
1
−i~ = − ∆ + V (x) ψ ∗ . (4)
∂t 2m
Now from ρ = ψψ ∗ we obtain
∂ρ ∂ψ ∗ ∂ψ ∗
= ψ +ψ .
∂t ∂t ∂t
Inserting the time-dependent Schrödinger equations (1) and (4) we obtain
∂ρ 1 1 ∗ 1 1
= − ∆ + V (x) ψψ + ψ − ∆ + V (x) ψ ∗
∂t i~ 2m −i~ 2m
1 1 ∗ 1 1 ∗
= − ∆(ψψ − − ψ∆ψ
i~ 2m i~ 2m
3 ∗
1 1 X ∂ψ ∂ψ
= − (∆ψ)ψ ∗ + 2 .
i~ 2m j=1
∂xj ∂xj
∂ψ(x, t) ~2 2
i~ =− ∇ ψ(x, t) + V (x, t)ψ(x, t).
∂t 2m
Consider the ansatz
where the functions φ and S are real. Find the partial differential equations
are φ and S.
Solution 9. Since
∂ψ
=
∂t
and
∂2ψ
=
∂x2j
we obtain the coupled system of partial differential equations
∂ 2
φ + ∇ · (φ2 ∇S) = 0
∂t
−(~2 /2m)∇2 φ
∂ 1
∇S + (∇S · ∇)∇S = − ∇ + ∇V .
∂t m φ
This is the Madelung representation of the Schrödinger equation. The term
(~2 /2m)∇2 φ
−
φ
of the right-hand side of the last equation is known as the Bohm potential
in the theory of hidden variables.
where R and a are the outer and inner radius of the torus, respectively such
that the ratio a/R lies between zero and one.
(i) Find Ĥ.
(ii) Apply the separation ansatz
Ψ(θ, φ) = exp(imφ)ψ(θ)
where m is an integer.
1 ∂2 ∂2
1 sin(θ) ∂ 1
Ĥ = − 2 2
− + .
2 a ∂θ a(R + a cos(θ)) ∂θ (R + a cos(θ)) ∂φ2
2
10 Problems and Solutions
d2 ψ a sin(θ) dψ m2 α2
2
− − ψ(θ) + βψ = 0
dθ 1 + α cos(θ) dθ (1 + α cos(θ))2
where θ ∈ [0, 2π], α ∈ (0, 1), and β is a real number with β = 2Ea2 .
where
(x − x0 )2
1
G(x, t|x0 , t0 ) = p exp − .
4πD(t − t0 ) 4D(t − t0 )
Here G(x, t|x0 , t0 ) is called the fundamental solution of the diffusion equation
obtained for the initial data δ(x − x0 ) at t = t0 , where δ denotes the Dirac
delta function.
(i) Let u(x, 0) = f (x) = exp(−x2 /(2σ)). Find u(x, t).
(ii) Let u(x, 0) = f (x) = exp(−|x|/σ). Find u(x, t).
Solution 11.
∇ × f = kf
Solution 12.
with B = µ0 H.
(i) Assume that E2 = E3 = 0 and B1 = B3 = 0. Simplify Maxwell’s
equations.
(ii) Now assume that E1 and B2 only depends on x3 and t with
E1 (x3 , t) = f (t) sin(k3 x3 ), B2 (x3 , t) = g(t) cos(k3 x3 )
where k3 is the third component of the wave vector k. Find the system of
ordinary differential equations for f (t) and g(t) and solve it and thus find
the dispersion relation. Note that
∂E3 /∂x2 − ∂E2 /∂x3
∇ × E = ∂E1 /∂x3 − ∂E3 /∂x1 .
∂E2 /∂x1 − ∂E1 /∂x2
Inserting the ansatz for E1 and B2 yields the system of differential equations
for f and g
df dg
− c2 k3 g = 0, + k3 f = 0.
dt dt
These are the equations for the harmonic oscillator. Starting from the
ansatz for the solution
ω 2 = c2 k32 .
Problem 14. Let k be a constant. Show that the vector partial differen-
tial equation
∇ × u = ku
has the general solution
1
u(x1 , x2 , x3 ) = ∇ × (cv) + ∇ × ∇(cv)
k
where c is a constant vector and v satisfies the partial differential equation
∇2 v + k 2 v = 0.
Solution 14.
f (x1 − x2 , x2 − x3 , x3 − x1 ).
Analogously we have
∂f ∂ ∂ ∂f ∂ ∂
= − , = − .
∂x2 ∂ ∂ ∂x3 ∂ ∂
Thus f (x − x, x − x, x − x) satisfies the partial differential equation.
and
∂ T
x C = Cj
∂xj
we find the identity.
and then solve the linear equation. Consider the cases ∆x = ∆y = 1/3 and
∆x = ∆y = 1/4.
−4 1 0 1 0 0 0 0 0 u1,1 −2
1 −4 1 0 1 0 0 0 0 u1,2 −1
0 1 −4 0 0 1 0 0 0 u1,3 −3
1 0 0 −4 1 0 1 0 0 u2,1 −1
0 1 0 1 −4 1 0 1 0 u2,2 = 0 .
0 0 1 0 1 −4 0 0 1 u2,3 −2
0 0 0 1 0 0 −4 1 0 u3,1 −3
0 0 0 0 1 0 1 −4 1 u3,2 −2
0 0 0 0 0 1 0 1 −4 u3,3 −4
∂ψ ∂ ψe ∂u ∂ ψe ∂v ∂ ψe ∂ ψe
= + = 2x + 2y
∂x ∂u ∂x ∂v ∂x ∂u ∂v
and
∂2ψ ∂ ψe ∂2ψ ∂ 2 ψe ∂ 2 ψe
2
=2 + 4x2 2 + 8xy + 4y 2 2 .
∂x ∂u ∂u ∂u∂v ∂v
Analogously we have
∂ψ ∂ ψe ∂u ∂ ψe ∂v ∂ ψe ∂ ψe
= + = −2y + 2x
∂y ∂u ∂y ∂v ∂y ∂u ∂v
and
∂2ψ ∂ ψe 2e
2∂ ψ ∂ 2 ψe 2e
2∂ ψ
= −2 + 4y − 8xy + 4x .
∂y 2 ∂u ∂u2 ∂u∂v ∂v 2
Consequently we find the partial differential equation
!
2e 2e
p ∂ ψ ∂ ψ
4 u2 + v 2 + + k 2 ψe = 0.
∂u2 ∂v 2
ψ(r,
e φ) = f (r)g(φ)
which yields
1 d2 g k2
r d df
r + 2
+r = 0.
f (r) dr dr g(φ) dφ 4
Thus we find the two ordinary differential equations
d2 f k2
r df
+r 2 +r =C
f dr dr 4
2
1d g
− =C
g dφ2
where C is a constant.
Linear Partial Differential Equations 17
Solution 20.
Solution 21.
where d is the distance between two adjacent atoms. Apply the linear
transformation
ξ(q1 , q2 , q3 ) = (q2 − q1 ) − d
η(q1 , q2 , q3 ) = (q3 − q2 ) − d
1
X(q1 , q2 , q3 ) = (m1 q1 + m2 q2 + m3 q3 )
M
where M := m1 +m2 +m3 and show that the Hamilton operator decouples.
Solution 22. The Hamilton operator Ĥ takes the form Ĥ = ĤCM + Ĥh ,
where
1 2 ∂
ĤCM = p̂M , pM := −i~
2M ∂X
~2 ∂ 2 ~2 ∂ 2 ~2 ∂ 2 k
Ĥh = − − + + (ξ 2 + η 2 )
2µ1 ∂ξ 2 2µ2 ∂η 2 m2 ∂ξ∂η 2
where µ1 = (m1 m2 )/(m1 + m2 ), µ2 = (m2 m3 )/(m2 + m3 ). Thus the centre
of mass motion is decoupled.
where y3 is the centre-of mass position of the three particles and y1 , y2 give
their relative positions up to constant factors. Find the Hamilton operator
for the new coordinates.
where x = (x1 , x2 , x3 , x4 ).
where
1 ∂ 3 ∂
∇2r := r
r3 ∂r ∂r 2
∂2 ∂2
∂ ∂ 1 ∂
∇2Ω := sin θ sin θ + + − 2 cos θ .
∂θ ∂θ sin2 θ ∂φ2 ∂χ2 ∂φ∂χ
Solution 25. The wave equation is equivalent to a set of two real differ-
ential equations
(∇S)2 ∂S
+V +Q=−
2m ∂t
∂ρ ∇S
+∇ ρ =0
∂t m
where
~2 ∇ 2 R
Q := − .
2m R
The equation for the time evolution of ρ is a conservation equation that
provides the consistency of the interpretation of ρ as the probabilty density.
∂2
(ln(det(In + tDf (x))) = 0
∂x∂t
where Df (x) (f : Rn → Rn ) is the Jacobian matrix. Find the solution of
the initial value problem.
h(t)
det(In + tDf (x)) = .
h(0)
Thus
∂
det(In + tDf (x)) = 0.
∂x
has some link to the Bateman equation. Find the Lie symmetries. There are
Lie-Bäcklund symmetries? Is there a Legendre transformation to linearize
this partial differential equation?
Solution 28.
Solution 29.
=
implies
1 2
u(x) = √ e−x /(2) .
2π
Thus this time-independent solution is the normal distribution with mean
0 and variance .
(ii) We obtain
u(t, x) = Nσ(t) (x − µ(t))
with
µ(t) = µ0 e−t , σ(t) = + (σ0 − )e−2t .
∂ 2 P (t, λ) ∂
2
= −λ P (t, λ)
∂t ∂λ
with boundary conditions
∞
X ∂P (0, λ)
P (0, λ) = ρn λn = ρ(λ), = 0, P (t, 0) = ρ(0).
n=0
∂t
∂ e
z 2 Pe(z, λ) − zρ(λ) = −λ P (z, λ)
∂λ
with boundary condition
ρ(0)
Pe(z, 0) =
z
and
Z λ
ρ(x)
Pe(z, λ) = exp(−z 2 ln(λ/x)) dx.
0 x
Solution 32.
where M denotes the mass and ∆rj is the Laplace operator with respect
to the position vector rj . In the center-of-mass frame the position vector
24 Problems and Solutions
1
R = √ (r1 + r2 + r3 ) = 0
3
√
1 3
x = √ (2r1 − r2 − r3 ) = √ r1
6 2
1
y = √ (r2 − r3 )
2
Ψ(R(rj ), x(rj ), y(rj )) = Ψ(r1 , r2 , r3 ).
~2 3c
− (∆x + ∆y )Ψ + (x2 + y2 )Ψ = EΨ
2M 2
under this transformation.
Solution 33.
∂u ∂2u
=D 2
∂t ∂x
with the initial condition
u(x, 0) = δ(x − x0 ).
Solution 34.
=
with c(x, 0) = e−sx satisfies the integral equation. Show that taking the
derivative with respect to x we obtain the linear partial differential equation
∂2c ∂c
= −x − 3c.
∂t∂x ∂x
Solution 35.
∂u0 ∂ 2 u0
=D 2, u0 (x, t = 0) = u(x)
∂t ∂x
Show that
1
Z x √ 2
u0 (x, t) = √ u(x + 2 Dts)e−s ds, x>0
π −∞
is a solution.
Solution 36.
Chapter 2
Nonlinear Partial
Differential Equations
26
Nonlinear Partial Differential Equations 27
∂u ∂u ∂u ∂v ∂v ∂v ∂Ψ
= −v −λ + +u −λ
∂t ∂x ∂y ∂y ∂x ∂x ∂x
∂u ∂u ∂v ∂v ∂v ∂u ∂Ψ
= −v + +u −λ + .
∂t ∂x ∂y ∂x ∂x ∂y ∂x
∂2u ∂2u
− 2 = sin(u). (2)
∂x2 ∂t
Solution 2. Let
s(x, t) := x − ct. (3)
Then we find the ordinary differential equation for the function f
d2 f
(1 − c2 ) = sin(f ). (4)
ds2
Solutions to (4) can be written as elliptic integrals
Z f
dz s
p =√ (5)
2(E − cos z) 1 − c2
Solution 3. Since
∂u ∂u
= −α − βu − βt f0
∂t ∂t
∂u ∂u
= 1 − βt f0
∂x ∂x
∂u ∂u
= (−α − βu) (6)
∂t ∂x
which is (1).
∂u ∂u ∂2u ∂3u
+ a1 u + a2 2 + a3 3 = 0 (1)
∂t ∂x ∂x ∂x
where a1 , a2 and a3 are non-zero constants. It contains dispersive, dissipa-
tive and nonlinear terms.
(i) Find a solution of the form
b1
u(x, t) = (2)
(1 + exp(b2 (x + b3 t + b4 )))2
and
(2a1 b1 +3a2 b2 +9a3 b22 ) exp((a1 b1 b2 +a2 b22 +a3 b32 )t)+(a1 b1 +3a2 b2 −3a3 b22 ) = 0.
(4)
The quantity b4 is arbitrary. Thus
12a22 a2
b1 = − , b2 = . (6)
25a1 a3 5a3
Inserting (6) into (3) gives
6 a22
b3 = . (7)
25 a3
Thus the solution is
−2
12a22 6a22
a2
u(x, t) = − 1 + exp x+ t + b4 . (8)
25a1 a3 5a3 25a3
∂u ∂2u
= + au(1 − u) (1)
∂t ∂x2
where the positive constant a is a measure of intensity of selection. (i)
Consider the substitution
1
v(x, τ (t)) = u(x, t), τ (t) = 5t. (2)
6
(i) Show that (1) takes the form
∂v ∂2v
5 = + av(1 − 6v). (3)
∂τ ∂x2
(ii) Consider the following ansatz
∞
X
v(x, t) := vj (x, t)φj−p (x, t) (4)
j=0
Solution 5. (i) Using the chain rule we find that substituting (2) into (1)
provides (3).
(ii) By substituting (4) into (3), we have p = 2 and
∂ 2 vj−2 ∂2φ
∂vj−2 ∂φ ∂vj−1 ∂φ
5 + (j − 3)vj−1 = 2
+2(j −3) +(j −3)vj−1 2
∂τ ∂τ ∂x ∂x ∂x ∂x
2 j
∂φ X
+(j − 3)(j − 2)vj + avj−2 − 6a vj−k vk (6)
∂x
k=0
1 ∂φ ∂ 2 φ
v1 = − . (9)
a ∂τ ∂x2
where we set φx ≡ ∂φ/∂x. Equation (13) is the same as (3). Thus (10) is
an auto-Bäcklund transformation for the Fisher equation. We have from
(7), (9) and (10) that
∂2
1 ∂
v= + ln φ + v2 (14)
a ∂τ ∂x2
where φ satisfies (12), (13) with (11).
Remark. The technique described above is called the Painlevé test in liter-
ature.
Solution 6.
Solution 7.
m4
L= ((u2t − u2x ) + 2 cos u) − µ (3)
2λ
with the corresponding Hamiltonian density being given by
m2 2
H= (u + u2x − 2 cos u) + µ. (4)
2λ t
(ii) By choosing
m4
µ= (5)
λ
show that the minimum energy of the theory is made zero and (4) can be
written as
m4 2
H= (u + u2x + 2(1 − cos u)). (6)
2λ t
Solution 8.
x = x(α, β), t = t(α, β), z = u(x(α, β), t(α, β)) = z(α, β). (4)
r = r(α, β) (5)
where r(α, β) = (t(α, β), x(α, β), z(α, β)) is a vector with components t, x,
and z. If we denote the scalar product of the vectors r1 and r2 by r1 r2 ,
r1 r2 := t1 t2 − x1 x2 − z1 z2 (6)
where
∂r ∂r ∂2r
rα := , rβ := , rα,β := (8)
∂α ∂β ∂α∂β
and
tik xik zik
Dik := tα xα zα . (9)
tβ xβ zβ
Next we construct the hyperbolic solution of (7) which satisfies the initial
conditions. The hyperbolic nature of (7) implies that
These characteristic equations together with (7) are a system of three equa-
tions for the three functions t(α, β), x(α, β), and z(α, β). It follows from
(7), (8) and (9) that
Dα,β = 0. (12)
Equation (12) describes a linear dependence between rows of the determi-
nant Dα,β i.e.,
rα,β = A(α, β)rα + B(α, β)rβ . (13)
Taking the scalar product rα,β rα and take into account that (9) and (11)
are valid for all α, β we have
1 ∂ 2
rα,β rα = rα rβ B = r = 0. (14)
2 ∂β α
34 Problems and Solutions
or written in components
2 2 2
∂t ∂x ∂z
− − =0
∂α ∂α ∂α
2 2 2
∂t ∂x ∂z
− − =0
∂β ∂β ∂β
∂2t ∂2x ∂2z
= 0, = 0, = 0. (16)
∂α∂β ∂α∂β ∂α∂β
Thus the general solution of (15) (or (16)) is
∂u ∂u ∂ 3 u
− 6u + = 0. (1)
∂t ∂x ∂x3
From (1) we can derive the iteration scheme
(j) (j)
1 ut + uxxx
u(j+1) = (j)
, j = 0, 1, 2, . . . (2)
6 ux
where
∂u(j)
u(j)
x := . (3)
∂x
(i) Let
u(0) (x, t) = ln(x − ct). (4)
Show that (4) converges within two steps to an exact solution
c
u(x, t) = − + 2(x − ct)−2 (5)
6
of the Korteweg-de Vries equation (1).
(ii) Show that
u(0) (x, t) = (x − ct)3 (6)
also converges to the solution (5).
(iii) Let
u(0) (x, t) = cos(a(x − ct))−k . (7)
Nonlinear Partial Differential Equations 35
Problem 11. Solve the initial value problem of the partial differential
equation
2
∂u ∂u
= x2 + .
∂x ∂y
with u(0, y) = y 2 applying a Taylor series expansion.
Solution 11.
∂u ∂u ∂
+u + (∆u) = 0 (1)
∂t ∂x ∂x
∂2 ∂2 ∂2
∆ := 2
+ 2 + 2. (2)
∂x ∂y ∂z
Here u is the normalized deviation of the ion density from the average.
Exact solitonlike solutions exist in one, two and three space dimensions.
They depend on the independent variables through the combination
respectively, where u
∆u − c − u=0 (4)
2
and
∂2
1 ∂ ∂ 1 ∂ ∂
∆ := , ∆ := ρ , ∆ := r2 (5)
∂x2 ρ ∂ρ ∂ρ r2 ∂r ∂r
36 Problems and Solutions
for the three cases. (i) Show that for the one-dimensional case we obtain
the soliton solution
u(x, t) = 3c sech2 (c1/2 (x − ct − x0 )/2). (6)
(ii) Show that the flat soliton (6) is unstable with respect to nonaligned
perturbations.
Solution 12.
Solution 13.
Solution 14.
Solution 15.
where
x1 := (6t)1/3 (3)
Remark. The solution exhibits a wave-like behaviour although it is not a
wave of constant shape. The leading edge of this wave, that is where u = 0,
is at x = x1 and the speed of propagation is proportional to t−2/3 .
Solution 17.
Problem 18. Show that the nonlinear partial differential equation (Fisher’s
equation) 2
∂ ∂
− u + u = u2 (1)
∂x2 ∂t
admits the travelling wave solution
2
1 1 5
u(x, t) = 1 − tanh √ x − √ vt . (2)
4 2 6 6
Solution 18.
Problem 19. Show that the coupled system of partial differential equa-
tions
∂E ∂2E ∂2n ∂2n ∂2
i + = nE, − = (|E|2 ) (1)
∂t ∂x2 ∂t2 ∂x2 ∂x2
admits the solution
s2
is 2
E(x, t) = E0 (x − st) exp x+i λ − t (2a)
2 4
2λ2
n(x, t) = − 2 (2b)
cosh λ(x − st − x0 )
where p
λ 2(1 − s)2
E0 (x − st) = (2c)
cosh(λ(x − st − x0 ))
The soliton solution represents a moving one-dimensional plasma density
well which Langmuir oscillations are locked.
Solution 19.
u · ∇u := u1 ∂u ∂u2 ∂u2
∂x + u2 ∂y + u3 ∂z
2
u1 ∂u ∂u3 ∂u3
∂x + u2 ∂y + u3 ∂z
3
v · ∇u := v1 ∂u ∂u2 ∂u2
∂x + v2 ∂y + v3 ∂z
2
v1 ∂u ∂u3 ∂u3
∂x + v2 ∂y + v3 ∂z
3
{ v, u } := v · ∇u − u · ∇v
∂ ū ∂ ū ∂ x̄ ∂ ū ∂ t̄ ∂ ū ∂u ∂ ū
= + = + =0 (4)
∂t ∂ x̄ ∂t ∂ t̄ ∂t ∂ x̄ ∂t ∂ t̄
and
∂ ū ∂ ū ∂ x̄ ∂ ū ∂ t̄ ∂ ū ∂u
= + = = 1. (5)
∂x ∂ x̄ ∂x ∂ t̄ ∂x ∂ x̄ ∂x
Solving (4) and (5) with respect to ∂u/∂t and ∂u/∂x, respectively, and
inserting into (1) we obtain (2), where we used (3).
∂u ∂2u
= u2 2 . (1)
∂t ∂x
Show that (1) linearizes under the transformation
Z x
1
x̄(x, t) = ds, t̄(x, t) = t, ū(x̄(x, t), t̄(x, t)) = u(x, t).
−∞ u(s, t)
(2)
It is assumed that u and all its spatial derivatives vanish at −∞.
∂ t̄ ∂ x̄ 1 ∂ ū ∂ ū ∂ x̄ ∂ ū ∂ t̄ ∂u
= 1, = , = + = (3)
∂t ∂x u ∂t ∂ x̄ ∂t ∂ t̄ ∂t ∂t
and
x x
∂ 2 u(s, t)
Z Z
∂ x̄ 1 ∂u(s, t) ∂u
=− ds = − ds = − (4)
∂t −∞ u2 (s, t) ∂t −∞ ∂s2 ∂x
and
∂ ū ∂ ū ∂ x̄ ∂ ū ∂ t̄ ∂u
= + = . (5)
∂x ∂ x̄ ∂x ∂ t̄ ∂x ∂x
Therefore
∂ ū ∂u
=u (6)
∂ x̄ ∂x
Analogously
∂ ū ∂ ū ∂ x̄ ∂ ū ∂ t̄ ∂u
= + = (7)
∂t ∂ x̄ ∂t ∂ t̄ ∂t ∂t
and hence
∂ ū ∂u ∂ ū ∂ ū ∂u
− + + = . (8)
∂ x̄ ∂x ∂x ∂ t̄ ∂t
Nonlinear Partial Differential Equations 41
∂ ū ∂ 2 ū
= . (12)
∂ t̄ ∂ x̄2
Solution 23.
Solution 24.
∂φ ∂3φ
= 3 (2)
∂t ∂t
and the transformation
Z x
1
φ(x, t) = exp u(s, t)ds . (3)
2
Solution 25.
the equation
∂u ∂3u
= u3 3 (2)
∂t ∂x
can be recast into the differential equation
2 !
∂ ū ∂ 3 ū ∂ 2 ū
1 ∂ ū 1 ∂ ū
− −3 2 − ū 2 = 0. (3)
∂ t̄ ∂ x̄3 ū ∂ x̄ 2 ∂ x̄ ∂ x̄
1 ∂v(x̄, t̄)
ū(x̄, t̄) = (4)
v(x̄, t̄) ∂ x̄
Solution 26.
Nonlinear Partial Differential Equations 43
∂u ∂2u
= A(u) 2 (2)
∂t ∂x
into
∂ ū ∂ ∂ ū
= ū2 A(x̄) . (3)
∂ t̄ ∂ x̄ ∂ x̄
Solution 27.
∂v
∆v + a(x, t)∇v + b(x, t) = 0. (3)
∂t
Hint. From (2) we find
!
Z u(x,t)
∂v ∂u
= exp − f (z)dz (4a)
∂t u0 ∂t
Z u(x,t) !
∂v ∂u
= exp − f (z)dz (4b)
∂x1 u0 ∂x 1
Z u(x,t) ! Z u(x,t) ! 2
∂2v ∂2u
∂u
= exp − f (z)dz −exp − f (z)dz f (u) .
∂x21 u0 ∂x21 u0 ∂x1
(4c)
Solution 28.
44 Problems and Solutions
Ṗn
w = λ , wµ wµ = λ (9)
Pn
is also a solution of (8), and in this way we obtain a solution of (1) provided
Φ satisfies (7).
Solution 30.
Problem 31. Consider the nonlinear wave equation in one space dimen-
sion
∂2u ∂2u
− − u + u3 = 0. (1)
∂t2 ∂x2
(i) Show that (1) can be derived from the Lagrangian density
1 2
L(ut , ux , u) = (u − u2x ) − g(u) (2)
2 t
with g(u) the potential function
1 2 1
g(u) = (u − 1)2 ≡ (u4 − 2u2 + 1). (3)
4 4
(ii) Definition. A conservation law associated to (1) is an expression of
the form
∂T (u(x, t)) ∂X(u(x, t))
+ =0 (4)
∂t ∂x
where T is the conserved density and X the conserved flux. T and X are
functionals of u and its derivatives.
(ii) Show that the quantities
2 2 !
1 ∂u ∂u 1 ∂u ∂u
T1 := + + (u2 − 1)2 ≥ 0, T2 := − (5)
2 ∂t ∂x 4 ∂x ∂t
46 Problems and Solutions
are conserved densities of (1), provided that u2 − 1, ∂u/∂t, and ∂u/∂x tend
to zero sufficiently fast as |x| → +∞.
∂u ∂ 2 u ∂u ∂ 2 u 2 ∂u ∂ 2 u ∂u ∂u ∂ 2 u
+ + (u − 1)u − − =
∂t ∂t2 ∂x ∂x∂t ∂t ∂x2 ∂t ∂x ∂x∂t
∂u ∂ 2 u ∂ 2 u
3
− + u − u =0
∂t ∂t2 ∂x2
where we used (1).
where
γ 2 ≡ (1 − v 2 )−1 (3)
and x0 is a constant. These solutions are of kink (K) and antikink (K̄)
type traveling at constant velocity v. These solutions do not tend to zero at
infinity, but they do connect two minimum states of the potential 14 (u2 −1)2 .
(ii) The energy and momentum densities T1 and T2 for the kink and antikink
are obtained by substituting (2) into (5) of problem 1. Show that
γ2 √
T1 (x, t) = cosh−4 ((γ/ 2)(x − vt − x0 )) (4)
2
Nonlinear Partial Differential Equations 47
γ2v √
T2 (x, t) = cosh−4 ((γ/ 2)(x − vt − x0 )). (5)
2
(iii) Show that by integrating over x we find the energy and the momentum
Z +∞ Z +∞
4 γ 4 γv
E := T1 dx = √ , P := T2 dx = √ . (6)
−∞ 3 2 −∞ 3 2
(iv) Show that the densities T1 and T2 are localized in space, in contrast
with uK and uK̄ .
(v) We associate the mass
M 2 := E 2 − P 2 (7)
Show that the kink and antikink solutions of (6) take the values
8
M2 = , Xc = vt + x0 . (9)
9
Solution 32.
Show that the Monge-Ampere equation for the surface u(x, y) with a con-
stant total curvature K
2 2 2 2 !
∂2u ∂2u ∂ u ∂u ∂u
2 2
− =K 1+ + (2)
∂x ∂y ∂x∂y ∂x ∂y
is hodograph invariant.
Problem 34. Show that the nonlinear equation of the Born-Infeld type
for a scalar field u is obtained by varying the Lagrangian
Solution 35.
Problem 36. Show that the following theorem holds. The conservation
law
∂ ∂
(T (∂u/∂x, ∂u/∂t, u)) + (F (∂u/∂x, ∂u/∂t, u)) = 0 (1)
∂t ∂x
50 Problems and Solutions
∂ 1 ∂ ∂ F0 ∂ ∂
= 0 0, = 0 0 + 0. (5)
∂x T ∂x ∂t T ∂x ∂t
if and only if
and
1
w(x, y, t) = w(x̄(x, y, t), ȳ(x, y, t), t̄(x, y, t)). (2c)
t2
Show that ū and w̄ satisfy the same equation with the subscripts x, y, t
replaced by x̄, ȳ, t̄.
Solution 37.
over all points of the real line (−∞, ∞). It is further assumed that there
are only two types of interaction, viz., two + particles go over into two −
particles, and vice versa, the probalitity for both processes to occur within
one unit of time being the same number σ. Then the Boltzmann equation,
which in absence of external forces reads
Z
∂f (x, v, t)
+v∇f (x, v, t) = d3 v1 dΩ|v−v1 |σ(|v−v1 |, θ)[f 0 f10 −f f1 ] (1)
∂t
never decreases in time. (ii) Show that there exists the following generaliza-
tions of the H theorem. Let f be concave function, defined on the half-line
(0, ∞) which is once continuously differentiable. Let
Z
Sf := (f (u+ ) + f (u− ))dx (4)
Show that
d
Sf (u) ≥ 0. (5)
dt
Thus, not only does entropy never decrease, but the same is true for all
quasientropies.
(iii) Show that as a consequence, all Renyi entropies
Z
−1
Sα := (1 − α) ln (uα α
+ (x, t) + u− (x, t))dx (6)
Solution 39.
∂u ∂u ∂v ∂v
+ = v 2 − u2 , − = u2 − v 2 (1a)
∂t ∂x ∂t ∂x
u(0, x) = u0 (x), v(0, x) = v0 (x). (1b)
This is the Carleman model introduced above.
(i) Define
S := u + v, D := u − v (2)
Show that S and D satisfy the system of partial differential equations
∂S ∂D ∂D ∂S
+ = 0, + = −2DS (3)
∂t ∂x ∂t ∂x
and the conditions u ≥ 0, v ≥ 0 take the form
(ii) Find explict solutions assuming that S and D are conjugate harmonic
functions.
df i
= − (f 2 (z) + c), c∈R (6)
dz 2
since
df ∂S ∂D i ∂S
= +i = − (S 2 − D2 + 2iDS + c), = DS. (7)
dz ∂x ∂x 2 ∂x
Owing to ∂S/∂x = ∂D/∂t the second equation is also satsified. Let
then
dg(z) iα2 2 i
= α2 f 0 (αz) = − (f (αz) + c) = − (g 2 (z) + α2 c). (9)
dz 2 2
54 Problems and Solutions
f (s) = −s ln s
dSf
≤0
dt
if f is convex. Show that
dSf
≥0
dt
if f is concave.
∂f (u+ ) ∂f (u− ) 2
( − )(u− − u2+ ) = (f 0 (u+ ) − f 0 (u− ))(u− − u+ )(u+ + u− ) ≥ 0
∂u+ ∂u−
(9)
if f is concave and ≤ 0, if f is convex. And consequently,
dSf
≥ 0, if f is concave
dt
56 Problems and Solutions
dSf
≤ 0, if f is convex.
dt
In the Carleman model not entropy alone increases with time, but also
all functionals Sf (with f being concave) that could be designated “quasi-
entropies”.
ρ := f+ + 2f0 + f− , ρu := f+ − f− (2)
Solution 42.
(ii) Show that for m = 1, every convex function η(n) is an entropy for (1)
with entropy flux Z u
q(u) = η 0 (ω)df (ω). (4)
0
Solution 43.
The Cauchy principal value can be found by applying the residue theorem.
Let ∗
f (x, t)
u(x, t) := i ln (4)
f (x, t)
where
N
Y
f (x, t) := (x − xj (t)) (5a)
j=1
Solution 44.
into (1) and require that w(z) satisfies an ordinary differential equation.
This is the so-called direct method and z is the so-called reduced variable.
∂2f
2
2 ∂f ∂ g ∂g
2(a + 1)gf − 3f g − af + − w+ − − g(g − a)(g − 1) = 0.
∂x2 ∂t ∂x2 ∂t
(3)
Now we must require (3) to be an ordinary differential equation for w(z).
The procedure using the direct method is to impose that the different re-
lationships among the coefficients of (3) to be a second order ordinary
differential equation. However one can equally consider it acceptable to
reduce (3) to a first order ordinary differential equation. Setting in (3)
∂z
g= (4)
∂x
and demanding
∂2z ∂z ∂z
3 2
− = ±21/2 (a + 1 − 3g) , (5a)
∂x ∂t ∂x
Nonlinear Partial Differential Equations 59
∂z ∂z ∂z d3 z ∂2z
2(a + 1)g − 3 g2 − a + 3− = 0, (5b)
∂x ∂x ∂x dx ∂x∂t
∂2g ∂g
2
− + g(g − 1)(a − g) = 0, (5c)
∂x ∂t
(3) becomes
d2 w a + 1 − 3g dw
− w3 + (±21/2 + w2 ) = 0, (6)
dz 2 ∂z/∂x dz
±21/2
w(z) = . (8)
z + z0
By combining (2a), (4) and (8) we can write the solution as
±21/2 ∂z
u(x, t) = + g.
z + z0 ∂x
M is a positive constant,
where (·, ·) is the usual scalar product in C4 and the γ µ ’s are the 4 × 4
matrices of the Pauli-Dirac representation, given by
I 0 0 σk
γ 0 := , γ k := for k = 1, 2, 3 (4)
0 −I −σk 0
60 Problems and Solutions
(ii) Let
0
v(r)
1
u(x) := . (8)
cos θ
iw(r)
sin θeiφ
Here r = |x| and (θ, φ) are the angular parameters. Show that w and v
satisfy the nonautonomous planar dynamical system
dw 2w
+ = v(F (v 2 − w2 ) − (M − ω)) (9a)
dr r
dv
= w(F (v 2 − w2 ) − (M + ω)). (9b)
dr
(ii) Hint. Notice that
Solution 46.
∂E ∂E
+ (ue + V ) = 4πeni (ue + V ). (1c)
∂t ∂x
where ne is the density of the beam-electron fluids, me the beam-electron
mass, ue the bulk fluid velocity, p = Kb Te ne the particle fluid pressure, e the
charge on an electron and E = −∇φ. We study the simplest case of uniform
plasma in the absence of an external electromagnetic field, and assume
that the positive ions are taken to form a fixed, neutralizing background
of uniform density ni = N0 = const throughout the present analysis. The
electrons move with a beam drift velocity V corresponding to the ions.
Assume that electrostatic perturbation is sinusoidal
n(t) 1
ne (x, t) = N0 1 + (sin(kx) + cos(kx)) , n(t) ≤ N0 (2a)
N0 2
dX
= kV X − XY + 2N0 Y
dt
dY
= −qX + Y 2 − pZ
dt
dZ
= N0 Y − Y Z + kV Z.
dt
Solution 47.
(ii) Show that keeping only the first five modes we obtain the system
da1
+ (µ1 − iδk 3 )a1 + ik(ā1 a2 + ā2 a3 + ā3 a4 + ā4 a5 ) = 0 (5a)
dt
da2
+ (µ2 − 8iδk 3 )a2 + ik(a21 + 2ā1 a3 + 2ā2 a4 + 2ā3 a5 ) = 0 (5b)
dt
da3
+ (µ3 − 27iδk 3 )a3 + 3ik(a1 a2 + ā1 a4 + ā2 a5 ) = 0 (5c)
dt
da4
+ (µ4 − 64iδk 3 )a4 + 2ik(a22 + 2a1 a3 + 2ā1 a5 ) = 0 (5d)
dt
da5
+ (µ5 − 125iδk 3 )a5 + 5ik(a1 a4 + a2 a3 ) = 0 (5e)
dt
where
π
k := 2 , µn := kn4 − kn2 . (6)
L
we have
∞ ∞
∂u X X
u = ap (t)aq (t)ikq ei(kq +kp )x . (8)
∂x q=−∞ p=−∞
Furthermore
∞
∂u X ∂an ikn x
= e (9)
∂t n=−∞
∂t
and
∞
∂2u X
2 ikm x
= − am (t)km e (10)
∂x2 m=−∞
Nonlinear Partial Differential Equations 63
∞
∂3u X
3 ikm x
= −i am (t)km e (11)
∂x3 m=−∞
∞
∂4u X
4 ikm x
= am (t)km e . (12)
∂x4 m=−∞
Applying the Kronecker delta δm,n to (7), (9), (10), (11), (12) and δp+q,n
to (8) we obtain (4) where we used (3).
(αr + 1) Rc
T0 = Rc , T1 = . (4)
α α
The boundary conditions are
ψ = 4ψ = 0 at z = 0, H
θ = 0, at z = 0, H
∂ψ
=0 at x = kL, k∈Z (5)
∂z
64 Problems and Solutions
Solution 49. The lack of the usual boundary condition stating that
no heat flow occurs through the walls of the convection rolls, due to the
addition of the sink term in the internal energy equation. Thus in the dou-
ble Fourier expansion of the functions ψ(x, z, t) and θ(x, z, t) the unknown
Fourier coefficients are
so that, after a suitable rescaling of the variables and of the time, one
obtains (6), with b = 4n2 /(m2 l2 + n2 ).
one obtains two real equations which, after suitable linear combination and
division by c21 , can be written as
2 ! !
∂2
2 ∂R ∂Θ 2 ∂Θ 2 2 2
+R = (1 + ) − + + (β + )R R (3a)
∂t ∂t ∂x2 ∂x
1 ∂ ∂Θ ∂ 2 ∂Θ
− R 2 + 2 R 2 = (1 + 2 ) r − (1 + (1 − β)R2 )R2 . (3b)
2 ∂t ∂t ∂x ∂x
Here we have introduced c2 := −βc1 and := 1/c1 . (ii) Make an expansion
in of the form
|w|2 = R2 . (5)
= (7)
(ii) The expansion (4) becomes meaningful for sufficiently large values of
c1 [β = O(1)]. This first leads to the orders −2 , where we have
2
∂Θ−1 ∂ ∂Θ−1
R0 = 0, R02 =0 (8)
∂x ∂x ∂x
∂2
0= R0 − γR0 + βR03 (0 ), (10a)
∂x2
∂ 1 ∂ 2
− (R02 Θ01 ) = R − (1 + γ)(R02 − (1 − β)R04 (1 ). (10b)
∂x 2 ∂t 0
66 Problems and Solutions
The Poisson brackets are the standard ones. Thus when N = 2 the system
is integrable. This system has been used as a model for a nonlinear dimer.
(iv) Show that the Hamilton function of scheme (2b) is given by (h = 1)
N −1
X 4 1
H = −i (wj∗ (wj−1 + wj+1 ) − ln(1 + Qwj wj∗ ) (6)
j=0
Q 2
Nonlinear Partial Differential Equations 67
Solution 51.
χ = sin(χ) (1)
where
∂ ∂ ∂ ∂
:= 2
+ 2+ 2− 2 (2)
∂x ∂y ∂z ∂t
and χ(x, y, z, t) is a real valued scalar field. The sinh-Gordon equation is
given by
χ = sinh(χ) (3)
Let
1 0 0 1 0 −i 1 0
σ0 := , σ1 := , σ2 := , σ3 :=
0 1 1 0 i 0 0 −1
(4)
be the Pauli spin matrices and
∂ ∂ ∂ ∂
a := σ0 + iσ1 + iσ3 + σ2 . (5)
∂x ∂y ∂z ∂t
Let ā denote complex conjugates. Let 0 ≤ θ ≤ 2π, 0 ≤ φ ≤ 2π, −∞ < λ <
∞ and −∞ < τ < ∞ be arbitrary parameters. We set
Assume that α and β are solutions of (1) and (2), respectively. Let
u := α − iβ. (7)
α −→ iβ = B̂(φ, θ, τ )α (8)
Ū = U −1 (10)
all solutions of (9) must be of the form (i.e. plane travelling wave with
speed v less than one)
ω2
k 2 + l2 + m2 − ω 2 = 1, v= .
k 2 + l2 + m2
(ii) Thus show that we have a Bäcklund transformation between the ordi-
nary differential equations
d2 α d2 β
= sin α, = sinh β
dη 2 dη 2
defined by
du 1
= 2eiψ sin ū .
dη 2
Solution 52.
∂u ∂ 2 u ∂2u
∂ ∂u
4 + 6u + ± 3 = 0. (1)
∂x ∂t ∂x ∂x2 ∂y 2
∂
u(x, y, t) := 2 K(x, x; y, t) (2)
∂x
where
Z ∞
K(x, z; y, t) + F (x, z; y, t) + K(x, s; y, t)F (s, z; y, t)ds = 0 (3)
x
Nonlinear Partial Differential Equations 69
and
K(x, z; y, t) = L(x; y, t)β(z; y, t). (6)
α(x; y, t)
L(x; y, t) = − R∞ . (7)
1+ x
α(s; y, t)β(s; y, t)ds
∂α ∂ 3 α ∂β ∂3β
+ = 0, + 3 =0 (9)
∂t ∂x3 ∂t ∂z
∂α ∂ 2 α ∂β ∂2β
σ + = 0, σ − 2 = 0. (10)
∂y ∂x2 ∂y ∂z
Then α and β admit the solution
and similarly
where δ, ∆ are arbitrary shifts and l, L are constants. This form gives the
oblique solitary wave solution of the two-dimensional Korteweg de Vries
equation,
where
1 1
a= (l + L), m= (l − L). (14)
2 2
70 Problems and Solutions
Problem 54. Show that Hirota’s operators Dxn (f · g) and Dxm (f · g) given
in (1) and (2) can be written as
n
X (−1)(n−j) n! ∂ j f ∂ n−j g
Dxn (f · g) = , (3)
j=0
j!(n − j)! ∂xj ∂xn−j
m X
n
X (−1)(m+n−j−i) m! n! ∂ i+j f ∂ n+m−i−j g
Dxm Dtn (f · g) = .
j=0 i=0
j!(m − j)! i!(n − i)! ∂ti ∂xj ∂tn−i ∂xm−j
(4)
For n = 1,
∂g(x0 )
∂ ∂ ∂f (x)
− (f (x) · g(x0 )) = · g(x0 ) − f (x) ·
∂x ∂x0 ∂x ∂x0
1
X (−1)(1−j) 1! ∂ j f (x) ∂ 1−j g(x0 )
= , (6)
j=0
j!(1 − j)! ∂xj ∂x01−j
n−1
X (−1)(n−1−j) (n − 1)! ∂ j+1 f (x) ∂ n−1−j g(x0 )
=
j=0
j!(n − 1 − j)! ∂xj+1 ∂x0n−1−j
n−1
X (−1)(n−1−j) (n − 1)! ∂ j f (x) ∂ n−j g(x0 )
−
j=0
j!(n − 1 − j)! ∂xj ∂x0n−j
n
X (−1)(n−j) (n − 1)! ∂ j f (x) ∂ n−j g(x0 )
=
j=1
j − 1)!(n − j)! ∂xj ∂x0n−j
n−1
X (−1)(n−j) (n − 1)! ∂ j f (x) ∂ n−j g(x0 )
+
j=0
j!(n − 1 − j)! ∂xj ∂x0n−j
n−1
X (−1)(n−j) (n − 1)! (−1)n−j) (n − 1)! ∂ j f (x) ∂ n−j g(x0 )
= +
j=1
j − 1)!(n − j)! j!(n − 1 − j)! ∂xj ∂x0n−j
n
∂ f (x) ∂ n g(x0 )
+ + (−1)n f (x)
∂xn ∂x0n
n−1
X (−1)(n−j) n! ∂ j f (x) ∂ n−j g(x0 )
=
j=1
j!(n − j)! ∂xj ∂x0m−j
n
∂ f (x) ∂ n g(x0 )
+ + (−1)n f (x)
∂xn ∂x0n
n
X (−1)(n−j) n! ∂ j f (x) ∂ n−j g(x0 )
= .
j=0
j!(n − j)! ∂xj ∂x0n−j
∂u ∂u ∂ 3 u
+ 6u + = 0. (1)
∂t ∂x ∂x3
(i) Consider the dependent variable transformation
∂ 2 ln f (x, t)
u(x, t) = 2 . (2)
∂x2
Show that f satisfies the differential equation
2
∂2f ∂4f ∂f ∂ 3 f ∂2f
∂f ∂f
f − +f 4 −4 +3 = 0. (3)
∂x∂t ∂x ∂t ∂x ∂x ∂x3 ∂x2
72 Problems and Solutions
Solution 55.
Solution 56.
Solution 57.
where α, β, γ, c, δ are constants. Show that the system admits the converved
densities
H0 = u
1
H1 = v + (β − c)u2
2 3
1 α+β u
H2 = uv + w+ −c , γ 6= δ
γ−δ 2 3
H3 = w, γ = δ.
Solution 58. The conserved density H0 is obvious since the first partial
differential equation can be written as
∂u ∂ 1 2
= αu + v .
∂t ∂x 2
Problem 61. Consider the Korteweg-de Vries equation and its solution
given in the previous problem. Show that
Z ∞p
|u(x, t)|dx = π.
−∞
Hint. We have
Z Z
1
sech(s)ds ≡ ds = 2 arctan(es ).
cosh(s)
Solution 61.
Solution 62.
where u(x, t) is the velocity field, ρ(x, t) is the density field and p(x, t) is
the pressure field. Here t is the time, x is the space coordinate and γ is the
ratio of specific heats. Find the linearized equation around u e, pe, ρe.
Inserting this ansatz into the one-dimensional Euler equations and neglect-
ing higher order terms of O(2 ) yields the linearized system
∂S ∂2S
=S×
∂t ∂x2
where S = (S1 , S2 , S3 )T , S12 +S22 +S32 = 1 and × denotes the vector product
The natural boundary conditions are S(x, t) → (0, 0, 1) as |x| → ∞.
(i) Find partial differential equation under the stereographic projection
2u 2v −1 + u2 + v 2
S1 = , S2 = , S3 =
Q Q Q
where Q = 1 + u2 + v 2 .
(ii) Perform a Painlevé test.
(iii) The Heisenberg ferromagnetic equation in the form given for u, v is
gauge equivalent to the one-dimensional Schrödinger equation
∂u ∂ 2 v
+ + 2(u2 + v 2 )v = 0
∂t ∂x2
∂v ∂ 2 u
− − 2(u2 + v 2 )u = 0.
∂t ∂x2
Both systems of differential equations arise as consistency conditions of a
system of linear partial differential equations
∂ψ ∂ψ
= U ψ, =Vψ
∂x ∂t
76 Problems and Solutions
Thus
∂M (u) ∂M (u)
+ + [M (u), M (Jv)] = 0
∂t ∂x
∂M (v) ∂M (v)
− + [M (v, M (Ju)] = 0
∂t ∂x
with u2 = v2 = 1.
∂u ∂2u
=u× + u × (Kv)
∂t ∂x2
where u = (u1 , u2 , u3 )T , u2 = 1, K = diag(k1 , k2 , k3 ) is a 3 × 3 diagonal
matrix and × denotes the vector product. Consider the linear mapping
M : R3 → so(3)
0 u3 −u2
M (u) = −u3 0 u1
u2 −u1 0
where so(3) is the simple Lie algebra of the 3 × 3 skew-symmetric matrices.
Rewrite the system using M (u).
Thus we find
∂M (u)
+ [M (u, M (u)xx ] + [M (u), M (Ku)] = 0
∂t
with u2 = 1 and M (u)xx ≡ ∂ 2 M/∂x2 .
78 Problems and Solutions
∂u ∂u
=u .
∂t ∂x
Let
φt
u(x, t) = − .
φx
Find the partial differential equation for φ.
∂u ∂2u ∂u
= 2
+u
∂t ∂x ∂x
admits the Lax reprsentation
∂2ψ
∂ u ∂ψ ∂ψ
+ ψ = λψ, = +u
∂x 2 ∂t ∂x2 ∂x
∂2 ∂ ∂ ∂ u
T := +u − , K := −λ+ .
∂x2 ∂x ∂t ∂x 2
Solution 68.
∂u ∂2u ∂u
= +u .
∂t ∂x2 ∂x
Consider the operator (so-called recursion operator)
1 ∂u −1 u
R := D + D +
2 ∂x 2
Nonlinear Partial Differential Equations 79
where Z x
∂
D := , D−1 f (x) := f (s)ds.
∂x
(i) Show that applying the recursion operator R to the right-hand side of
the Burgers equation results in the partial differential equation
∂φ ∂3φ
=
∂t ∂x3
and the transformation
Z x
1
φ(x, t) = exp u(s, t)ds .
2
Note that
−1 ∂u
D = u.
∂x
Solution 69.
Problem 70. Find the solution of the system of partial differential equa-
tions
∂f ∂f
+ f 2 = 0, + fg = 0
∂x ∂t
∂g ∂g
+ f g = 0, + g 2 = 0.
∂x ∂t
∂u ∂u ∂ 3 u
− 6u + = 0.
∂t ∂x ∂x3
Show that
∂2
u(x, t) = −2 log ∆(x, t)
∂x2
80 Problems and Solutions
Solution 71.
=
=
Solution 73.
=
Solution 74.
=
Solution 75.
∂S ∂2S
=S× + S × JS
∂t ∂x2
where
S = (S1 , S2 , S3 )T , S12 + S22 + S32 = 1
and J = diag(J1 , J2 , J3 ) is a constant 3 × 3 diagonal matrix. Show that
∂w ∂w
= Lw, = Mw
∂x1 ∂x2
82 Problems and Solutions
provide a Lax pair. Here σ1 , σ2 , σ3 are the Pauli spin matrices and the spec-
tral parameters (z1 , z2 , z3 ) constitue an algebraic coordinate of an elliptic
curve defined by
1
zα2 − zβ2 = (Jα − Jβ ), α, β = 1, 2, 3.
4
Solution 76.
with
v(t, x)
u(t, x) = Rs .
w(t) + 0 dsv(s, t)
Find the differential equations for v and w.
Solution 78.
∂u ∂ 3 u ∂2u
∂ ∂u
+ 6u + 3
+ α 2 = 0.
∂x ∂t ∂x ∂x ∂y
Solution 79. Inserting the one-soliton solution into the Kadomtsev Petvi-
ashvilli equation yields
=
Thus the dispersion relation is (check)
k22
ω(k1 , k2 ) = 4k12 + α .
k1
Problem 80. Find the partial differential equation given by the condition
u ∂u/∂z1
det = 0.
∂u/∂z2 ∂ 2 u/∂z1 ∂z2
∂ψ ~2 ∂ 2 ψ
i~ =− − gρψ, ρ := ψ ∗ ψ
∂t 2m ∂x2
where g > 0.
84 Problems and Solutions
(i) Show that the partial differential equation admits the (soliton) solution
m2 v 2
mv
~ γ 2 2u
ψs (x, t) = ± exp i (x − ut) √ , γ = 1− .
~ gm cosh(γ(x − vt)) ~2 v
The soliton moves with group velocity v. The phase velocity u must be
u < v/2.
(ii) Show that the partial differential equation is Galileo-invariant. This
means that any solution of partial differential equation can be mapped into
another solution via the Galileo boost
i 1
x → x − V t, ψ(x, t) → exp mV x − V t ψ(t, x − V t).
~ 2
~γ 2
~ γ
ψs (t, x) → ± exp i t √ .
2m gm cosh(γx)
∂u ∂ 3 u 2
∂ ∂u 2∂ u
+ 6u + = −3α
∂x ∂t ∂x ∂x3 ∂y 2
Solution 82.
=
Solution 83.
Solution 84.
Consequently
∂v 1 ∂v ∂v
= s1 , = s2 v
∂x1 c ∂t ∂x2
where s1 = ±1 and s2 = ±1 and
v(x1 , x2 , t) = f (x1 , t)es2 x2 .
This leads to ∂f /∂x1 = (s1 /c)∂f /∂t with a smooth function f (x1 , t) =
f (x1 − s1 ct). As final solution we obtain
v(x1 , x2 , t) = 4 arctan(f (x1 − s1 ct)es2 x2 ).
Solution 88.
=
∂2v ∂v ∂ 2 v ∂4v
−6 + = 0.
∂x∂t ∂x ∂x2 ∂x4
(i) Show that this equation can be dervied from the Lagrangian density
1 1
L = − vx vt + (vx )3 + (vxx )2
2 2
where the Lagrange equation is given by
∂2
∂ ∂L ∂ ∂L ∂L ∂L
+ − − = 0.
∂t ∂vt ∂x ∂vx ∂x2 ∂vxx ∂v
(ii) Show the Hamiltonian density is given by
∂L 1
H = vt − L = −(vx )3 − (vxx )2 .
∂vt 2
Solution 91.
Solution 92.
Solution 93.
=
Problem 94. Let κ(s, t) be the curvature and τ (s, t) be the torsion with
s and t being the arclength and time, respectively. Consider the complex
valued function
Z s
w(s, t) = κ(s, t) exp(i ds0 τ (s0 , t)).
0
Solution 94.
=
90 Problems and Solutions
Problem 95. Consider the first order system of partial differential equa-
tion
∂u ∂u
+A =0
∂t ∂x
where u = (u1 , u2 , u3 )T and the 3 × 3 matrix is given by
Γu1 u2 u3
u2 u1 − ∆ 0
u3 0 u1 − ∆
where Γ and ∆ are constants. Along a characteristic curve C : x = x(s), t =
t(s) for the system of partial differential equation one has
x0 (s)
det(A − λI3 ) = 0, λ= .
t0 (s)
Find the Riemann invariants.
Solution 97.
Solution 98.
d2 v̂
+ (kn2 − 1)vn = 0
dt2
with kn = 2πn/L. Show that all modes with 0 < kn2 < 1 are unstable.
Solution 99.
Solution 100.
∂U1 ∂V1
− + [U1 , V1 ] = 0. (2)
∂t ∂x
Show that
∂U2 ∂V2
− + [U2 , V2 ] = 0. (3)
∂t ∂x
∂U1 ∂g ∂g ∂ 2 g −1 ∂g −1 ∂g −1
= U2 g −1 +gU2t g −1 −gU2 g −1 g −1 + g − g g (5)
∂t ∂t ∂t ∂x∂t ∂x ∂t
∂V1 ∂g ∂g ∂ 2 g −1 ∂g −1 ∂g −1
= V2 g −1 +gV2t g −1 −gV2 g −1 g −1 + g − g g (6)
∂x ∂x ∂x ∂x∂t ∂t ∂x
where we have used (3). From (4) and (5) we obtain
∂V2 −1
∂U1 ∂V1 ∂U2 −1 ∂U2 ∂V1
− =g g −g =g − g −1 (8)
∂t ∂x ∂t g ∂t ∂x
∂g −1 ∂g −1
[U1 , V1 ] = [gU2 g −1 + g , gV2 g −1 + g ]
∂x ∂t
= [gU2 g −1 , gV2 g −1 ] + [gU2 g −1 , gt g −1 ] + [, ] + [, ]
= gU2 V2 g −1 − gV2 U2 g −1 = g([U2 , V2 ])g −1
Both equations are integrable by the inverse scattering method. Both arise
as consistency condition of a system of linear differential equations
∂φ ∂φ
= U (x, t, λ)φ, = V (x, t, λ)φ
∂t ∂x
94 Problems and Solutions
∂S ∂2S
=S× , S2 = 1 (2)
∂t ∂x2
where S = (S1 , S2 , S3 )T . Both equations are integrable by the inverse
scattering method. Both arise as the consistency condition of a system of
linear differential equations
∂Φ ∂φ
= U (x, t, λ)Φ, = V (x, t, λ)Φ (3)
∂t ∂x
where λ is a complex parameter. The consistency conditions have the form
∂U ∂V
− + [U, V ] = 0 (4)
∂t ∂x
(i) Show that φ1 = gφ2 .
(ii) Show that (1) and (2) are gauge equivalent.
Solution 102.
∂ 2 v̄ ∂ 2 v̄
∂v̄ ∂u ∂v̄ ∂u
u + −2 + = 0, (1)
∂ ȳ∂y ∂ z̄∂z ∂ ȳ ∂y ∂ z̄ ∂z
where u is a real function and v and v̄ are complex unknown functions of
the real variables x1 , . . . , x4 . The quantities y and z are complex variables
expressed in terms of x1 , . . . , x4 by the formulas
√ √
2y := x1 + ix2 , 2z := x3 − ix4 (2)
and the bar over letters indicates the operation of complex conjugations.
(i) Show that a class of exact solutions of the system (1) can be constructed,
namely solutions for the linear system
∂v ∂u ∂v ∂u
− = 0, − =0 (3)
∂y ∂ z̄ ∂z ∂ ȳ
and x3 , i.e., for the stationary, axially symmetric case. (ii) Show that a
class of exact solutions of (1) can be given, where
∂2u ∂2u
+ = 0, (6)
∂y∂ ȳ ∂z∂ z̄
Solution 103.
∂ϕ2 ∂ϕ1
+ = −A1 ϕ2 + A0 ϕ1 (1b)
∂t ∂r
∂A1 ∂A0
r2 − = 1 − (ϕ21 + ϕ22 ) (1c)
∂t ∂r
where r is the spatial radius-vector and t is the time. To find partial
solutions of these equations, two methods can be used. The first method is
the inverse scattering theory technique, where the [L, A]-pair is found, and
the second method is based on Bäcklund transformations.
(ii) Show that system (1) can be reduced to the classical Liouville equation,
and its general solution can be obtained for any gauge condition.
∂2 ∂2
r2 L(ln R) = R2 − 1, L := 2
+ 2. (6)
∂r ∂t
Changing the variables
Lg = exp(2g) (8)
which has the general solution in terms of two harmonic functions a(r, t)
and b(r, t) related by the Cauchy-Riemann conditions
2 2 !
∂a ∂a
exp(2g) = 4 + (1 − a2 − b2 )−2 , (9a)
∂r ∂t
Nonlinear Partial Differential Equations 97
∂a ∂b ∂a ∂b
La = Lb = 0, = , =− . (9b)
∂r ∂t ∂t ∂r
Equation (8) was obtained with an arbitrary function θ(r, t). Thus (5) and
(9) give the general solutions of problem (1) with an arbitrary function
θ(r, t) and harmonic functions a(r, t) and b(r, t), with
2 2 !1/2
∂a ∂a
R = ±2r + (a2 + b2 − 1)−1 . (10)
∂r ∂t
(ii) Show that the vacuum expectation value of the scalar field and Higgs
boson mass are
m2
hφ2 i = F 2 = (6)
λ
and √
MH = 2λF,
respectively. Mass of the gauge boson is Mw = gF .
(iii) Using the time-dependent t’ Hooft-Polyakov ansatz
∂2 ∂2 λH 2
2 2 2 2
r − H = H 2K − m r + 2 . (8b)
∂r2 ∂t2 g
(iv) Show that with
2
λ MH
β := 2
=
g 2Mw2
and introducing the variables ξ := Mw r and τ := Mw t, system (8) becomes
2
∂2 K(K 2 + H 2 − 1)
∂
− K = (10a)
∂ξ 2 ∂τ 2 ξ2
2
∂2 H(2K 2 + β(H 2 − ξ 2 ))
∂
− H = . (10b)
∂ξ 2 ∂τ 2 ξ2
(v) The total energy of the system E is given by
g2 E
C(β) = =
4πMw
Z∞ 2 !
H2 K 2H 2
1 ∂H H 1 β
Kτ2 + τ + Kξ2 + − + 2 (K 2 − 1)2 + + 2 (H 2 − ξ 2 )2 dξ.
2 2 ∂ξ ξ 2ξ ξ2 4ξ
0
(10)
As time-independent version of the ansatz (3) gives the ’t Hooft-Polyakov
monopole solution with winding number 1. Show that for finiteness of
energy the field variables should satisfy the following conditions
and
H → ξ, K→0 as ξ → ∞. (12)
The ’t Hooft-Polyakov monopole is more realistic than the Wu-Yang monopole;
it is non-singular and has finite energy.
(vi) Show that in the limit β → 0, known as the Prasad-Somerfeld limit,
we have the static solutions,
ξ
K(ξ) = , H(ξ) = ξ coth ξ − 1. (13)
sinh ξ
Solution 105.
Problem 107. Let c > 0. Give solutions to the nonlinear partial differ-
emtial equations
2 2
∂u ∂u
+ = c.
∂x1 ∂x2
u(x1 , x2 ) = a1 x1 + a2 x2 + a3
∂U1 ∂V1
− + [U1 , V1 ] = 0. (2)
∂t ∂x
Show that
∂U2 ∂V2
− + [U2 , V2 ] = 0. (3)
∂t ∂x
∂V2 −1
∂U1 ∂V1 ∂U2 −1 ∂U2 ∂V1
− =g g −g =g − g −1 (8)
∂t ∂x ∂t g ∂t ∂x
The commutator yields
∂g −1 ∂g −1
[U1 , V1 ] = [gU2 g −1 + g , gV2 g −1 + g ]
∂x ∂t
= [gU2 g −1 , gV2 g −1 ] + [gU2 g −1 , gt g −1 ] + [, ] + [, ]
= gU2 V2 g −1 − gV2 U2 g −1 = g([U2 , V2 ])g −1
Adding (6) and (7) results in
∂U2 ∂V2
g − + [U2 , V2 ] g −1 = 0 .
∂t ∂x
Thus (3) follows.
Both equations are integrable by the inverse scattering method. Both arise
as consistency condition of a system of linear differential equations
∂φ ∂φ
= U (x, t, λ)φ, = V (x, t, λ)φ
∂t ∂x
where λ is a complex parameter. The consistency conditions have the form
∂U ∂V
− + [U, V ] = 0.
∂t ∂x
Let
∂g −1 ∂g −1
U1 := gU2 g −1 + g , V1 := gV2 g −1 + g
∂x ∂t
and
∂U1 ∂V1
− + [U1 , V1 ] = 0.
∂t ∂x
∂S ∂2S
=S× , S2 = 1 (2)
∂t ∂x2
where S = (S1 , S2 , S3 )T . Both equations are integrable by the inverse
scattering method. Both arise as the consistency condition of a system of
linear differential equations
∂Φ ∂φ
= U (x, t, λ)Φ, = V (x, t, λ)Φ (3)
∂t ∂x
where λ is a complex parameter. The consistency conditions have the form
∂U ∂V
− + [U, V ] = 0 (4)
∂t ∂x
(i) Show that φ1 = gφ2 .
(ii) Show that (1) and (2) are gauge equivalent.
Solution 109.
∂2v ∂2v
∂v ∂u ∂v ∂u
u + −2 + =0
∂y∂ ȳ ∂z∂ z̄ ∂y ∂ ȳ ∂z ∂ z̄
2
∂ 2 v̄
∂ v̄ ∂v̄ ∂u ∂v̄ ∂u
u + −2 + = 0, (1)
∂ ȳ∂y ∂ z̄∂z ∂ ȳ ∂y ∂ z̄ ∂z
where u is a real function and v and v̄ are complex unknown functions of
the real variables x1 , . . . , x4 . The quantities y and z are complex variables
expressed in terms of x1 , . . . , x4 by the formulas
√ √
2y := x1 + ix2 , 2z := x3 − ix4 (2)
and the bar over letters indicates the operation of complex conjugations.
(i) Show that a class of exact solutions of the system (1) can be constructed,
namely solutions for the linear system
∂v ∂u ∂v ∂u
− = 0, − =0 (3)
∂y ∂ z̄ ∂z ∂ ȳ
102 Problems and Solutions
and x3 , i.e., for the stationary, axially symmetric case. (ii) Show that a
class of exact solutions of (1) can be given, where
∂2u ∂2u
+ = 0, (6)
∂y∂ ȳ ∂z∂ z̄
and u, v and v̄ satisfy
2
d2 u d2 v
du dv dv̄ dv du
u 2− + = 0, u 2
−2 = 0. (7)
dw dw dw dw dw dw dw
Solution 110.
∂2 ∂2
r2 L(ln R) = R2 − 1, L := + . (6)
∂r2 ∂t2
Changing the variables
Lg = exp(2g) (8)
which has the general solution in terms of two harmonic functions a(r, t)
and b(r, t) related by the Cauchy-Riemann conditions
2 2 !
∂a ∂a
exp(2g) = 4 + (1 − a2 − b2 )−2 , (9a)
∂r ∂t
∂a ∂b ∂a ∂b
La = Lb = 0, = , =− . (9b)
∂r ∂t ∂t ∂r
Equation (8) was obtained with an arbitrary function θ(r, t). Thus (5) and
(9) give the general solutions of problem (1) with an arbitrary function
θ(r, t) and harmonic functions a(r, t) and b(r, t), with
2 2 !1/2
∂a ∂a
R = ±2r + (a2 + b2 − 1)−1 . (10)
∂r ∂t
where
a
Fµν := ∂µ Aaν − ∂ν Aaµ + gabc Abµ Acν (2)
(ii) Show that the vacuum expectation value of the scalar field and Higgs
boson mass are
m2
hφ2 i = F 2 = (6)
λ
and √
MH = 2λF,
respectively. Mass of the gauge boson is Mw = gF .
(iii) Using the time-dependent t’ Hooft-Polyakov ansatz
1 − K(r, t)
1 H(r, t)
Aa0 (r, t) = 0, Aai (r, t) = −ain rn ra , φa (r, t) =
g r2 r2
(7)
where rn = xn and r is the radial variable. Show that the equations of
motion (5) can be written as
∂2 ∂2
2
r − K = (K 2 + H 2 − 1) (8a)
∂r2 ∂t2
∂2 ∂2 λH 2
r2 2
− 2 H = H 2K 2 − m2 r2 + 2 . (8b)
∂r ∂t g
(iv) Show that with
2
λ MH
β := 2
=
g 2Mw2
and introducing the variables ξ := Mw r and τ := Mw t, system (8) becomes
∂2 ∂2 K(K 2 + H 2 − 1)
− K= (10a)
∂ξ 2 ∂τ 2 ξ2
∂2 ∂2 H(2K 2 + β(H 2 − ξ 2 ))
2
− 2 H= . (10b)
∂ξ ∂τ ξ2
Nonlinear Partial Differential Equations 105
g2 E
C(β) = =
4πMw
Z∞ 2 !
H2 K 2H 2
1 ∂H H 1 β
Kτ2 + τ + Kξ2 + − + 2 (K 2 − 1)2 + + 2 (H 2 − ξ 2 )2 dξ.
2 2 ∂ξ ξ 2ξ ξ2 4ξ
0
(10)
As time-independent version of the ansatz (3) gives the ’t Hooft-Polyakov
monopole solution with winding number 1. Show that for finiteness of
energy the field variables should satisfy the following conditions
and
H → ξ, K→0 as ξ → ∞. (12)
ξ
K(ξ) = , H(ξ) = ξ coth ξ − 1. (13)
sinh ξ
Solution 112.
Problem 114. Show that the Korteweg-de Vries and nonlinear Schrödinger
equations are reductions of the self-dual Yang-Mills equations. We work on
R4 with coordinates xa = (x, y, u, t) and metric tensor field
g = dx ⊗ dx − dy ⊗ dy + du ⊗ dt − dt ⊗ du
where h(xa ) ∈ SL(2, C). The connection is said to be self-dual when (sum-
mation convention)
1 cd
[Dc , Dd ] = [Da , Db ]. (3)
2 ab
[Dx + Dy , Du ] = 0
[Dx − Dy , Dx + Dy ] + [Du , Dt ] = 0
[Dx − Dy , Dt ] = 0.
These follow from the integrability condition on the following linear system
of equations
Dx := ∂x − A, Du := ∂u − B
Dt := ∂t − C, Dy := ∂y − D.
Now require that the bundle and its connection possess two commuting
symmetries which project to a pair of orthogonal spacetime translations
one timelike and one null. In our coordinates these are along ∂/∂y and
∂/∂u. We now restrict ourselves to gauges in which the components of the
connection, (A, B, C, D) are independent of u and y. We also impose the
gauge condition A + D = 0. The gauge transformations are now restricted
to SL(2, C) valued functions of t alone under which A and B transform by
conjugation, B → hBh−1 , etc. The equations now reduce to
∂x B = 0
Nonlinear Partial Differential Equations 107
[∂x − 2A, ∂t − C] = 0
2∂x A − [B, C] = ∂t B.
These equations follow from the integrability conditions on the reduction
of the linear system
L0 s = (∂x − 2A + λB)s = 0
L1 s = (∂t − C + λ∂x )s = 0.
When (2a) holds, B depends only on the variable t, so the gauge freedom
may be used to reduce B to a normal form. The reductions are partially
classified by the available normal forms. When B vanishes, the equations
are trivially solveable, with the result that the connection may be put in
the form Aa dxa = A(t)d(x + y). Equation (1) is then satisfied. Thus we
assume that B is everywhere non-vanishing. The matrix B then has just
two normal forms
0 0
(α)B =
1 0
1 0
(β)B = κ .
0 −1
We assume that the type of B is constant. In these case of type β, as t
varies, κ becomes a non-zero function of t. When B is in the Lie algebra
of SU (2), SU (1, 1) or SL(2, R), κ is non-zero and is either real or pure
imaginary. Case (α) leads to the Korteweg-de Vries equation, and case (β)
leads to the nonlinear Schrödinger equation.
where
4w = qxxx − 4qqxx − 2qx2 + rq 2 qx
a subscript x or t denotes differentiation with respect to that variable, and
provided that q satisfies
2
∂q ∂3q ∂q
4 = − 6 .
∂t ∂x3 ∂x
108 Problems and Solutions
2κψt = ψxx + 2ψ 2 ψ,
e 2κψet = −ψexx − 2ψe2 ψ
Solution 1. We have
∂ ū ∂ ū ∂ x̄1 ∂ ū ∂ x̄2 ∂ ū ∂ ū 1 ∂u ∂u
= + = + = (1 − u) + u ∂x1 .
∂x1 ∂ x̄1 ∂x1 ∂ x̄2 ∂x1 ∂ x̄1 ∂ x̄2 (1 − )2 ∂x1 ∂u
(3)
Analogously
∂ ū ∂ ū ∂ x̄1 ∂ ū ∂ x̄2 ∂ ū
= + = . (4)
∂x2 ∂ x̄1 ∂x2 ∂ x̄2 ∂x2 ∂ x̄1
Therefore
∂ ū 1 ∂u ∂u
= (1 − u) + u . (5)
∂ x̄2 (1 − )2 ∂x2 ∂x2
From (3) and (5) it follows that
∂ ū 1 ∂u ∂u ∂u 2 ∂u
= (1 − u) + u − (1 − u) − u (6)
∂ x̄1 (1 − )2 ∂x1 ∂x1 ∂x2 ∂x2
109
110 Problems and Solutions
∂u ∂u ∂ 3 u
+ 12u + = 0.
∂t ∂x ∂x3
Show that the scaling
Solution 2.
Φ(u, (∇u)2 , u) = 0
Solution 3.
Show that this equation admits the following seven Lie symmetry generators
∂ ∂ ∂
Z1 = , Z2 = , Z3 =
∂x ∂t ∂u
∂ ∂ ∂ ∂
Z4 = x +t , Z5 = u −x
∂t ∂x ∂x ∂u
∂ ∂ ∂ ∂ ∂
Z6 = u + t , Z7 = x +t +u . (2)
∂t ∂u ∂x ∂t ∂u
Solution 4.
∂u ∂3u
− u3 3 = 0. (1)
∂t ∂x
(i) Find the Lie symmetry vector fields.
(ii) Compute the flow for one of the Lie symmetry vector fields.
∂ ∂ ∂
V = ηx (x, t, u) + ηt (x, t, u) + φ(x, t, u) . (2)
∂x ∂t ∂u
There are eight determining equations,
Thus (1) is invariant under translations (G1 and G2 ) and scaling (G3 and
G4 ). The flow corresponding to each of the infinitesimal generators can be
obtained via simple integration.
(ii) Let us compute the flow corresponding to G5 . This requires integration
of the first order system
We therefore conclude that for any solution u = f (x, t) of (1), the trans-
formed solution
2 x̄
ū(x̄, t̄) = (1 + x̄) f , t̄ (9)
1 + x̄
will solve
∂ ū ∂ 3 ū
− ū3 3 = 0. (10)
∂ t̄ ∂ x̄
∂ρ
+ (v · ∇)ρ + ρ∇ · v = 0 (1a)
∂t
∂v 1
ρ + (v · ∇)v + ∇(p + H2 ) − (H · ∇)H = 0 (1b)
∂t 2
∂H
+ (v · ∇)H + H∇ · v − (H · ∇)v = 0 (1c)
∂t
∇·H=0 (1d)
∂ p p
+ (v · ∇) =0 (1e)
∂t ρκ ρκ
with pressure p, mass density ρ, coefficient of viscosity κ, fluid velocity v
and magnetic field H.
Lie Symmetry Methods 113
Solution 6. Using the first equation, we eliminate ρ from the last equa-
tion, and replace it by
∂p
+ κp(∇ · v) + (v · ∇)p = 0. (2)
∂t
If we split the vector equations in scalar equations for the vector compo-
nents, we have a system of m = 9 equations, with p = 4 independent
variables and q = 8 dependent variables. For convenience, we denote the
components of the vector ~v by vx , vy and vz , not to be confused with partial
derivatives of v. The variables to be eliminated are selected as follows: for
the first 7 variables and the ninth variable we pick the partial derivatives
with respect to t of ρ, vx , vy , vz , Hx , Hy , Hz and p. From the eighth
equation we select ∂Hx /∂x for elimination. We consider the case where
k 6= 0. We find 222 determining equations for the coefficients of the vector
field
∂ ∂ ∂ ∂ ∂ ∂
V = ηx + ηy + ηz + η t + φρ + φp
∂x ∂y ∂z ∂t ∂ρ ∂p
∂ ∂ ∂ ∂ ∂ ∂
+φvx + φ vy + φ vz + φHx + φHy + φHz . (3)
∂vx ∂vy ∂vz ∂Hx ∂Hy ∂Hz
The the components of the Lie symmetry vector fields are given by
η x = k2 + k5 t − k8 y − k9 z + k11 x
η y = k3 + k6 t + k8 x − k10 z + k11 y
η z = k4 + k7 t + k9 x + k10 y + k11 z
η t = k1 + k12 t
φρ = −2(k11 − k12 − k13 )ρ
φp = 2k13 p
φvx = k5 − k8 vy − k9 vz + (k11 − k12 )vx
φvy = k6 + k8 vx − k10 vz + (k11 − k12 )vy
φvz = k7 + k9 vx + k10 vy + (k11 − k12 )vz
φHx = k13 Hx − k8 Hy − k9 Hz
φHy = k13 Hy + k8 Hx − k10 Hz
φHz = k13 Hz + k9 Hx + k10 Hy .
∂ ∂ ∂ ∂
G1 = , G2 = , G3 = , G4 =
∂t ∂x ∂y ∂z
∂ ∂ ∂ ∂ ∂ ∂
G5 = t + , G6 = t + , G7 = t +
∂x ∂vx ∂y ∂vy ∂z ∂vz
114 Problems and Solutions
∂ ∂ ∂ ∂ ∂ ∂
G8 = x −y + vx − vy + Hx − Hy
∂y ∂x ∂vy ∂vx ∂Hy ∂Hx
∂ ∂ ∂ ∂ ∂ ∂
G9 = y −z + vy − vz + Hy − Hz
∂z ∂y ∂vz ∂vy ∂Hz ∂Hy
∂ ∂ ∂ ∂ ∂ ∂
G10 = z −x + vz − vx + Hz − Hx
∂x ∂z ∂vz ∂vz ∂Hx ∂Hz
∂ ∂ ∂ ∂ ∂ ∂ ∂
G11 = x +y +z − 2ρ + vx + vy + vz
∂x ∂y ∂z ∂ρ ∂vx ∂vy ∂vz
∂ ∂ ∂ ∂ ∂
G12 = t + 2ρ − (vx + vy + vz )
∂t ∂ρ ∂vx ∂vy ∂vz
∂ ∂ ∂ ∂ ∂
G13 = 2ρ + 2p + Hx + Hy + Hz . (5)
∂ρ ∂p ∂Hx ∂Hy ∂Hz
The Magneto-Hydro-Dynamic equations are invariant under translations
G1 through G4 , Galilean boosts G5 through G7 , rotations G8 through G10 ,
and dilations G11 through G13 .
and
1+ 1+
v1 (x, t) = t− 2 ρ1 (s) exp(iφ1 (s)), v2 (x, t) = t− 2 exp(−ialnt)ρ2 (s) exp(iφ2 (s))
1 ialnx
v3 (x, t) =
e ρ3 (s) exp(iφ3 (s)) (3)
x
where ρi ≥ 0, 0 ≤ φi < 2π and = ±1.
φ := φ1 + φ2 + φ3 + alns (4)
Lie Symmetry Methods 115
separate out the real and imaginary parts of the equations and obtain a
system of six real ordinary differential equations
dρ1 1 dφ1 1
= − ρ2 ρ3 sin φ, ρ1 = − ρ2 ρ3 cos φ
ds s dt s
dρ2 1 dφ2 1
= ρ3 ρ1 sin φ, ρ2 = ρ3 ρ1 cos φ
ds s dt s
dρ3 dφ3
= −ρ1 ρ2 sin φ, ρ3 = −ρ1 ρ2 cos φ. (5)
ds dt
System (5) allows two first integrals
a
I1 = ρ21 + ρ22 , I2 = ρ1 ρ2 ρ3 cos φ − ρ21 . (6)
2
These two first integrals can be used to decouple the equations. In terms
of ρ1 we have
dρ1
ρ2 = (I1 − ρ21 )1/2 , ρ3 sin φ = −s (I1 − ρ21 )−1/2
dt
1 a
ρ3 cos(φ) = − (I2 + ρ21 )(I1 − ρ21 )−1/2 . (7)
ρ1 2
The amplitude ρ1 then satisfies a second order nonlinear ordinary differen-
tial equation
2
d2 ρ1 dρ1 (I2 + a2 ρ21 )2 a2 I2
ρ1 dρ1
s 2 + = −s 2 − 2 + I 1 − ρ1 −ρ31 + 23 .
ds ds I1 − ρ1 ds sρ1 (I1 − ρ1 ) 4s sρ1
(8)
Under the transformation
p W (s) 1/2
ρ1 (s) = I1 (9)
W (s) − 1
Equation (11) is one of the six irreducible Painlevé equations, namely the
one defining the Painlevé transcendent PV (s; α, β, γ, δ). For γ = δ = 0
this transcendent can be expressed in terms of elementary functions. When
116 Problems and Solutions
∂u
+ u · ∆u = −∆p (1)
∂t
∆·u=0 (2)
first obtained by Euler. Here u = (u, v, w) are the components of the
three-dimensional velocity field and p the pressure of the fluid at a position
x = (x, y, z).
(i) Show that the Lie symmetry group of the Euler equations in three
dimensions is generated by the vector fields
∂ ∂ ∂ ∂ ∂ ∂
a =a + a0 − a00 x , vb = b + b0 − b00 y
∂x ∂u ∂p ∂y ∂v ∂p
∂ ∂ ∂ ∂
vc = c + c0 − c00 z , v0 =
∂z ∂w ∂p ∂t
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
s1 = x +y +z +t , s2 = t −u −v −w − 2p
∂x ∂y ∂z ∂t ∂t ∂u ∂v ∂w ∂p
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
r2 = y −x +v −u , ry = z −x +w −u
∂x ∂y ∂u ∂v ∂x ∂z ∂u ∂w
∂ ∂ ∂ ∂ ∂
rx = z −y +w −v , vq = q (4)
∂y ∂z ∂v ∂w ∂p
where a, b, c, q are arbitrary functions of t.
(ii) Show that these vector fields exponentiate to familiar one-parameter
symmetry groups of the Euler equations. For instance, a linear combination
of the first three fields va + vb + vc generates the group transformations
1
(x, t, up) → (x + a, t, u + a0 , p − x · a00 + 2 a · a00 )
2
where is the group parameter, and a := (a, b, c). These represent changes
to arbitrarily moving coordinate systems, and have the interesting con-
sequence that for a fluid with no free surfaces, the only essential effect
of changing to a moving coordinate frame is to add an extra component,
namely,
1
−x · a + 2 a · a00
2
to the resulting pressure.
Lie Symmetry Methods 117
Solution 8.
Within the jet bundle formalism we consider instead of (1) the submanifold
uxx u2
F (x, t, u, ux , uxx ) ≡ ut − 2
+ 2 x3 = 0 (2)
u u
and its differential consequences
The non-linear partial differential equation (1) admits the Lie point sym-
metries (infinitesimal generator)
∂ ∂
Xv = −ux , Tv = ut
∂u ∂u
∂ ∂
Sv = (−xux − 2tut ) , Vv = (xux + u) . (5)
∂u ∂u
The subscript v denotes the vertical vector fields. The non-linear partial
differential equation (1) also admits Lie-Bäcklund vector fields. The first in
the hierarchy is
12u3x ∂
uxxx 9ux uxx
U= − + . (6)
u3 u4 u5 ∂u
118 Problems and Solutions
Solution 10. The solution of the initial value problem of the autonomous
system of first order is given by
t0 (t, x) = e t
x0 (t, x) = x + ct(e − 1)
u (x (x, t), t0 (x, t)) = e u(x, t) .
0 0
Since ∂t0 /∂t = e , ∂t0 /∂x = 0, ∂x0 /∂t = c(e − 1), ∂x0 /∂x = 1 we have
∂u0 ∂u0 ∂x0 ∂u0 ∂t0 ∂u
= 0
+ 0
= e .
∂t ∂x ∂t ∂t ∂t ∂t
120 Problems and Solutions
Thus
∂u0 ∂u0 ∂u
0
c(e − 1) + 0 e = e .
∂x ∂t ∂t
For the first space derivative we have
∂ 3 u0 ∂u0 ∂u0
e− 03 + e− u0 e− c(e − 1) + 0 + e− cu0 e− 0 = 0
∂x ∂t ∂x
or
∂ 3 u0 ∂u0 ∂u0
0 −
03
+ u e c(e
− 1) + 0
+ cu0 e− 0 = 0
∂x ∂t ∂x
Thus
∂ 3 u0 ∂u0 ∂u0
+ u0 + cu0 0 =0
∂x03 ∂t0 ∂x
∂w
i + ∆w = F (w)
∂t
with a nonlinearity F : C → C and a complex valued w(t, x1 , . . . , xn ). We
assume that for the given nonlinearity the energy remains bounded. We
also assume that there exists a C 1 -function G : R+ → R with G(0) = 0
such that F (z) = G0 (|z|2 )z for all z ∈ C.
(i) Show that the nonlinear Schrödinger is translation invariant.
(ii) Show that it is phase invariant, i.e. w → eiα w.
(iii) Show that it is Galilean invariant
2
w(t, x) → eiv·x/2 e−i|v| t/4
w(t, x − vt)
Lie Symmetry Methods 121
is a conserved quantity.
(v) Show that the Hamilton density
Z
1 1
H(w) = |∇w(t, x)|2 + G(|w(t, x)|2 )dx
R n 2 2
is a conserved quantity.
Solution 11. For the given problem we can work with a Hilbert space
using the inner product
Z
hw, vi := w(x)v(x) + ∇w(x) · ∇v(x)dx .
Rn
d2 f
df 4 dg
2 2 + + s(1 − 2f ) + 2f (1 − f ) = 2g s + g . (5b)
ds ds s ds
(iii) Show that the continuity equation (1a) admits of a first integral, ex-
pressing the law of mass conservation, namely
s2 g(2f − 1) = C (6)
c2 c c3 x01 − c1
s = cx02 + ln (6)
c3 c3 − c1
and the similarity ansatz is
c1 − c3
u0 (x01 , x02 ) = v(s) . (7)
c1 − c3 x01
d2 v dv
c + (1 − c) − (1 − v)v = 0. (9)
ds2 ds
∂u ∂u ∂ 3 u
− 6u + = 0.
∂t ∂x ∂x3
Insert the similarity solution
w(s) x
u(x, t) = , s=
(3t)2/3 (3t)1/3
124 Problems and Solutions
where s the similarity variable and find the ordinary differential equation.
d3 w dw dw
− 6w − 2w − s = 0.
ds3 ds ds
Problem 15. Let u be the velocity field and p the pressure. Show that
the Navier-Stokes equations
∂u
+ (u · ∇)u − ∆u + ∇p = 0, divu = 0
∂t
admits the Lie symmetry vector fields
∂ ∂ ∂ ∂
, , ,
∂t ∂x1 ∂x2 ∂x3
∂ ∂ ∂ ∂ ∂ ∂
t + , t + , t +
∂x1 ∂u1 ∂x2 ∂u2 ∂x3 ∂u3
∂ ∂ ∂ ∂
x1 − x2 + u1 − u2 ,
∂x2 ∂x1 ∂u2 ∂u1
∂ ∂ ∂ ∂
x2 − x3 + u2 − u3 ,
∂x3 ∂x2 ∂u3 ∂u2
∂ ∂ ∂ ∂
x3 − x1 + u3 − u1
∂x1 ∂x3 ∂u1 ∂u3
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
2t + x1 + x2 + x3 − u1 − u2 − u3 − 2p .
∂t ∂x1 ∂x2 ∂x3 ∂u1 ∂u2 ∂u3 ∂p
Find the commutators of the vector pfields and thus show that we have a
basis of a Lie algebra. Show that (x21 + x22 )/x3 is a similarity variable.
Do which vector fields does it belong.
Solution 15.
=
Problem 16. The AB system in its canonical form is given by the coupled
system of partial differential equations
∂2Q ∂S 1 ∂|Q|2
= QS, =−
∂ξ∂η ∂ξ 2 ∂η
Lie Symmetry Methods 125
∂Q 2
2
∂η + S = 1 .
∂ 2 ψ1,2 ∂ 2 ψ1,2
=
∂ξ∂η ∂η∂ξ
∂ψ1 ∂ψ1
= F ψ1 + Gψ2 , = Aψ1 + Bψ2
∂ξ ∂η
∂ψ2 ∂ψ2
= Hψ1 − F ψ2 , = Cψ1 − Aψ2 .
∂ξ ∂η
∂F ∂A
− + CG − BH = 0
∂η ∂ξ
∂G ∂B
− + 2(BF − AG) = 0
∂η ∂ξ
∂H ∂C
− + 2(AH − CF ) = 0 .
∂η ∂ξ
If we set
1 1 ∂Q 1 ∂Q∗
A=− , B= , C=
4iµ 4iµ ∂η 4iµ ∂η
1 1
F = −iµ, G= Q, H = − Q∗
2 2
where µ is the spectral parameter.
∂u1 ∂u2
=
∂t ∂y
∂u2 1 ∂ 3 u1 8 ∂u1
= + u1
∂t 3 ∂y 3 3 ∂y
126 Problems and Solutions
∂ ∂ ∂ ∂
S = −2t −y + 2u1 + 3u2 .
∂t ∂y ∂u1 ∂u2
Solution 17.
∂ 1 ∂ ∂
V =− − xu +t .
∂t 2 ∂x ∂u
Solution 18.
∂u ∂u ∂2u ∂4u
+u + a 2 + b 4 = 0.
∂t ∂x ∂x ∂x
Show that the equation is invariant under the Galilean transformation
(u, x, t) 7→ (u + c, x − ct, t) .
Solution 19.
∂3u
∂u ∂u
+u +c =0
∂x3 ∂t ∂x
∂ ∂
V1 = , V2 = ,
∂t ∂x
∂ ∂ ∂ ∂ ∂
V3 = 3t + (x + 2ct) , V4 = t + ct +u .
∂t ∂x ∂t ∂x ∂u
Lie Symmetry Methods 127
t0 () = e t0 (0)
x0 () = (e − 1)ct0 (0) + x0 (0)
u0 () = e u0 (0).
t0 (x, t) = e t
x0 (x, t) = (e − 1)ct + x
u0 (x0 (x, t), t0 (x, t)) = e u(x, t)
∂ 3 u0 ∂ 3 u0 ∂x0 3
∂ u
= = e
∂x3 ∂x03 ∂x ∂x3
3 0 3
∂ u ∂ u
= = e 3 .
∂x03 ∂x
Inserting these expression into the partial differential equation yields
∂ 3 u0
0 0 0
∂u − ∂u − ∂u
e− 03 + e− u0 + e (e
− 1)c + ce = 0.
∂x ∂t0 ∂x0 ∂x0
128 Problems and Solutions
Thus
∂ 3 u0 ∂u0 ∂u0
e− + e− u0 +c 0 =0
∂x03 ∂t0 ∂x
with e− 6= 0.
Solution 22.
∂ ∂ ∂ ∂ ∂ ∂
Myx = y −x , Mxz = x −z , Mzy = z −y
∂x ∂y ∂z ∂x ∂y ∂z
1 ∂ ∂ ∂
D=− +x +y +z
2 ∂x ∂y ∂z
∂ ∂ ∂
Kx = −2xD − r2 , Ky = −2yD − r2 , Kz = −2xD − r2
∂x ∂y ∂z
where r2 := x2 + y 2 + z 2 .
Solution 23.
Problem 24. Find the Lie symmetry vector fields for the Monge-Ampére
equations
2 2
∂2u ∂2u ∂ u
− = −K
∂t2 ∂x2 ∂x∂t
where K = +1, K = 0, K = −1.
Solution 24.
Solution 25.
=
~2
− ∆ψ + U ψ = µψ
2m
∆U = 4πGm2 |ψ|2
where m is the mass, G the gravitational constant and µ the energy eigen-
values. The normalization consition is
Z
|ψ(x1 , x2 , x3 )|2 dx1 dx2 dx3 = 1 .
R3
130 Problems and Solutions
Solution 26.
1 ∂2u ∂2u
=
c2 ∂t2 ∂x2
is invariant under
x0 (x, t)
cosh(α) sinh(α) x
=
ct0 (x, t) sinh(α) cosh(α) ct
Solution 27.
Solution 28.
∂2u
= eu − e−2u
∂x∂y
is called the Tzitzeica equation. Applying v(x, y) = eu(x,t) show that the
equation takes the form
∂2v ∂v ∂v
v − = v 3 − 1.
∂x∂y ∂x ∂y
Find the Lie symmetries of both equations.
Solution 29.
Lie Symmetry Methods 131
Problem 30. Find the Lie symmetry vector fields for the one-dimensional
telegraph equation
∂2u ∂u ∂2u
2
+ (α + β) + αβu = c2 2
∂t ∂t ∂x
where c2 = 1/(LC), α = G/C, β = R/L and G is the conductance.
Problem 31. Find the Lie symmetry vector fields of the Thomas equation
∂2u ∂u ∂u ∂u ∂u
+α +β +γ = 0.
∂x∂t ∂t ∂x ∂x ∂t
∂u ∂3u
− u3 3 = 0.
∂t ∂x
Show that it admits the Lie symmetry vector fields
∂ ∂
V1 = , V2 =
∂x ∂t
∂ ∂ ∂ ∂ ∂ ∂
V3 = x + u , V4 = −3t + u , V5 = x2 + 2xu .
∂x ∂u ∂t ∂u ∂x ∂u
Is the Lie algebra spanned by these generators semi-simple?
132 Problems and Solutions
Bibliography 133
Bibliography
Books
DiBenedetto E.
Partial Differential Equations, second edition, Springer (2010)
John F.
Partial Differential Equations, Volume I, Springer 1982
Sneddon I.
Elements of Partial Differential Equations, McGraw-Hill (1957)
Steeb W.-H.
The Nonlinear Workbook, fourth edition, World Scientific Publishing, Sin-
gapore, 2008
Steeb W.-H.
Problems and Solutions in Theoretical and Mathematical Physics, Second
Edition, Volume I: Introductory Level
World Scientific Publishing, Singapore (2003)
Steeb W.-H.
Problems and Solutions in Theoretical and Mathematical Physics, Second
Edition, Volume II: Adanced Level
World Scientific Publishing, Singapore (2003)
Papers
Ouroushev D., Martinov N. and Grigorov A., “An approach for solving
the two-dimensional sine-Gordon equation”, J. Phys. A: Math. Gen. 24,
L527-528 (1991)
Index
134
Index 135
Magneto-Hydro-Dynamics equations,
112
Maxwell’s equation, 10
Monge-Ampere equation, 47
Sawada-Kotera equation, 72
Shock wave solutions, 27
Similarity ansatz, 123
Similarity variable, 123
Sine-Gordon equation, 27, 31, 49, 67
Sine-Hilbert equation, 57
Standing waves, 60
Stationary states, 60
torus, 9
Traveling wave solution, 27
Two-dimensional nonlinear Schrödinger
equation, 50
Zakharov-Kuznetsov equation, 35