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Contents
I. Linear Partial Differential Equations. Elements of the Modern Theory Yu. V. Egorov and M. A. Shubin
1
11. Linear Partial Differential Equations with Constant Coefficients A. I. Komech 121 Author Index 257 Subject Index 26 1
Contents
Preface Notation
.........................................................
......................................................
4
5 6 6
(j 1. PseudodifferentialOperators ................................. 1.1. Definition and Simplest Properties ........................ 1.2. The Expression for an Operator in Terms of Amplitude.
1.3. 1.4.
The Connection Between the Amplitude and the Symbol. Symbols of Transpose and Adjoint Operators . . . . . . . . . . . . . . . The Composition Theorem. The Parametrix of an Elliptic Operator .................................. Action of Pseudodifferential Operators in Sobolev Spaces and Precise Regularity Theorems for Solutions of Elliptic Equations .................................... Change of Variables and Pseudodifferential Operators on a Manifold .......................................... Formulation of the Index Problem. The Simplest Index Formulae ............................ Ellipticity with a Parameter. Resolvent and Complex Powers of Elliptic Operators ................. Pseudodifferential Operators in IR" ........................
9 14
17 19
24
26 32
Theorem. Reduction of Boundaryvalue Problems for Elliptic Equations to Problems on the Boundary ............. 2.1. Definition and Boundedness Theorems .....................
36 36
2.2. Smoothness of Solutions of Secondorder Elliptic Equations ............................ 2.3. Connection with PseudodifferentialOperators . . . . . . . . . . . . . . . . . . 2.4. Diagonalization of Hyperbolic System of Equations . . . . . . . . . . . . . 2.5. Calderons Theorem ........................................ 2.6. Reduction of the Oblique Derivative Problem to a Problem on the Boundary ............................... 2.7. Reduction of the Boundaryvalue Problem for the Secondorder Equation to a Problem on the Boundary .... 2.8. Reduction of the Boundaryvalue Problem for an Elliptic System to a Problem on the Boundary . . . . . . . . . . . .
Q 3 . Wave Front of a Distribution and Simplest Theorems on Propagation of Singularities ............................... 3.1. Definition and Examples ................................. 3.2. Properties of the Wave Front Set ......................... 3.3. Applications to Differential Equations ..................... 3.4. Some Generalizations ...................................
Q 4. Fourier Integral Operators ................................... 4.1. Definition and Examples ................................. 4.2. Some Properties of Fourier Integral Operators .............. 4.3. Composition of Fourier Integral Operators with Pseudodifferential Operators ......................... 4.4. Canonical Transformations .............................. 4.5. Connection Between Canonical Transformations and Fourier Integral Operators ........................... 4.6. Lagrangian Manifolds and Phase Functions ................ 4.7. Lagrangian Manifolds and Fourier Distributions . . . . . . . . . . . . 4.8. Global Definition of a Fourier Integral Operator ............ Q 5 . Pseudodifferential Operators of Principal Type ................. 5.1. Definition and Examples ................................. 5.2. Operators with Real Principal Symbol ..................... 5.3. Solvability of Equations of Principle Type with Real Principal Symbol .............................. 5.4. Solvability of Operators of Principal Type with Complexvalued Principal Symbol .................... Q 6. Mixed Problems for Hyperbolic Equations ..................... 6.1. Formulation of the Problem .............................. 6.2. The HershKreiss Condition ...... ....................... 6.3. The Sakamoto Conditions ............................... 6.4. Reflection of Singularities on the Boundary . . . . . . . . . . . . . . . . . 6.5. Friedlanders Example ...................................
37 37 38 39
Application of Canonical Transformations ..................... Classification of Boundary Points ............................ Taylors Example .......................................... Oblique Derivative Problem .................................
40
41 43
44
Q 7. Method of Stationary Phase and Shortwave Asymptotics . . . . . . . . 7.1. Method of Stationary Phase ............................. 7.2. Local Asymptotic Solutions of Hyperbolic Equations . . . . . . . . 7.3. Cauchy Problem with Rapidly Oscillating Initial Data ....... 7.4. Local Parametrix of the Cauchy Problem and Propagation of Singularities of Solutions .............. 7.5. The Maslov Canonical Operator and Global Asymptotic Solutions of the Cauchy Problem ....
44
45 47 48 48 48 50 52 53 55 57 59 59 60 60 61 63 64 65 65 66 68 69
71
Q8. Asymptotics of Eigenvalues of Selfadjoint Differential and Pseudodifferential Operators ............................. 8.1. Variational Principles and Estimates for.Eigenvalues ........ 8.2. Asymptotics of the Eigenvalues of the Laplace Operator in a Euclidean Domain .................................. 8.3. General Formula of Weyl Asymptotics and the Method of Approximate Spectral Projection ....................... 8.4. Tauberian Methods ...................................... 8.5. The Hyperbolic Equation Method ........................
.
Bibliographical Comments
......................................
References ....................................................
Preface
In this paper we have made an attempt to present a sketch of certain ideas and methods of the modern theory of linear partial differential equations It can be regarded as a natural continuation of our paper (Egorov and Shubin [19881, EMS vol. 30) where we dealt with the classical questions, and therefore we quote this paper for necessary definitions and results whenever possible. The present paper is basically devoted to those aspects of the theory that are connected with the direction which originated in the sixties and was later called "microlocal analysis". It contains the theory and applications of pseudodifferential operators and Fourier integral operators and also uses the language of wave front sets of distributions. But where necessary we also touch upon important topics connected both with the theory preceding the development of microlocal analysis, and sometimes even totally classical theories. We do not claim that the discussion is complete. This paper should be considered simply as an introduction to a series of more detailed papers by various other authors which are being published in this and subsequent volumes in the present series and which will contain a detailed account of most of the questions raised here. The bibliographical references given in this paper are in no way complete. We have tried to quote mostly books or review papers whenever possible and have not made any attempt to trace original sources of described ideas or theorems. This will be rectified at least partially in subsequent papers of this series. We express our sincere gratitude to M.S. Agranovich who went through the manuscript and made a number of useful comments. Yu.V. Egorov M.A. Shubin
Notation
We shall use the following standard symbols. I R is the set of all real numbers. (c is the set of all complex numbers. Z is the set of all integers. Z , is the set of all nonnegative integers. IR"is the standard ndimensional real vector space. (c" is the standard ndimensional complex vector space. a/ax = (a/axl, . . .,a/ax,), where x = (xl,. .., x,) E IR". D = i'a/ax, where i = E (c; Dj = i'a/axj. D" = D;*. ..D?, where a is a multiindex,that is, a = (al, . ..,a,) with aj E Z,. t" = tf... 52, where 5 = (tl,..., [,) E IR" or (c" and a = (a,,. . ., a,) is a multiindex. x  t = x , t , +  . . + x , < , i f x = ( x , ,..., x , ) ~ I R " a n d { = ( t ,,..., {,,)EIR". C;(52) is the space of C"functions having compact, support in a domain 52 c IR". d = A , = a2/ax: + ... + a2/ax,2is the standard Laplacian in IR". 1x1 = ( ~ : + * * * + x , 2 ) ~ / ~ f o r x ..., =( X,,)EIR". x~, la1 = a1 + ... + a,, where a is a multiindex. a! = a,!. .. a,! for a multiindex a. 9'(52) is the space of all distributions in 52. &(a) is the space of all distributions with compact support in 52. L&2) is the Hilbert space of all square integrable functions in 52. S(IR")is the Schwartz space of C"functions on IR" whose derivatives decay faster than any power of 1x1 as 1x1 ,00. S'(IR")is the space of all distributions with temperate growth on IR". , supp u denotes the support of a function (or distribution) u. sing supp u is the singular support of a distribution u. H'(IR") denotes the Sobolev space consisting of those distributions u E S(lR") for which (1 + 1{12)"/2ii(t) E L,(IR"); here ii is the Fourier transform of u. H'(52), where s E Z , , is the Hilbert space containing those functions u E L2(52)for which D"u E L2(52)with l a 1 < s. H~o,,,p(52) = &(a) n Hs(IR"). H:oc(52)is the space of those u E 9 ' ( 5 2 such ) that rpu E H'(IR") for any function
'
rpEgw).
H'(52) is the completion of the space C;(52) in the topology of H'(52). Ca(52), where a E (0, lh is the space of functions continuous in 51 such that sup lu(x)  u(y)l Ix  yl" < co for each K c c 52.
x.yeK
0 1. Pseudodifferential Operators
1.1. Definition and Simplest Properties (Agranovich [19653, Egorov [1984, 19851, Eskin [1973], Friedrichs [1968], Hormander [1971, 1983, 19851, Kohn and Nirenberg [1965], Kumanogo [19823, Nirenberg [19701, Palais [1965], Reed and Simon [197219783, Rempel and Schulze [1982], Shubin [1978], Taylor [1981], and Trkves [19801). The theory of pseudodifferential operators, in its present form, appeared in the midsixties (Kohn and Nirenberg [1965]). Its principal aim was to extend to operators with variable coefficients the standard application of the Fourier transformation to operators having constant coefficients, in which case this transformation reduces the differentiation D" to multiplication by 5". We consider the diflerential operator
In the theory of pseudodifferential operators we study operators of the form (1.4) (or (1.6)) with more general symbols a(x, 5 ) than (1.5). For example, a convenient class of symbols is obtained if the estimates
la;@a(x,
EK,
<
IR"
(1.7)
in a domain 52 c IR", where a, E Cm(52), D = i'a/ax and a = (al, ..., a,) is a multiindex with (a1 = al + ... + a,,. We express the function u E C;(Q) by means of the formula for the inverse Fourier transform
u(x) = (27r)"
I are multiindices, K is a compact set in 52 and m is a real hold, where a and / number. The class of symbols a E Cm(52 x IR") satisfying these estimates is denoted by S"(52 x IR"), or simply S" if it is either clear or irrelevant what domain 52 is involved. Clearly, the symbols (1.5) of differential operators satisfy (1.7) if m is taken to be the order of the operator A or any larger number. To give an example of a symbol in S" for any m E IR, we can mention the symbol (1 + l<1')"/'. The corresponding operator in IR" is denoted by (1  A)""', which is consistent with the definition of the powers of the differential operator 1  A when m/2 is an integer. Let a E S"(52 x IR").We define A by (1.4), or by (1.6) with the integral taken as a repeated integral. It follows easily from (1.7) that the integral in (1.4) converges absolutely if u E Cg(52) and that it can be infinitely differentiated with respect to x under the integral sign for x E 52. Thus we obtain .a continuous linear operator
where
A : C2(52)+ Crn(52),
eix'%(<)d5,
(1.8)
(1.2)
and we assume that u has been extended to be zero in IR"\52. Applying the operator A to both sides of (1.2), we have
Au(x) = (21~)" eix'{a(x, ()ii(5) d5,
which is denoted by a(x, D) or a(x, Dx), as in the case of a differential operator. Operators of the form a(x, D), with symbols a E S", are the simplest examples of pseudodifferential operators. Let us examine the properties of a pseudodifferential operator of the form a(x, D) with symbol a E S". We first note that the integral in (1.6) converges absolutely if m c  n and, by changing the'order of integration, we can write A = a(x, D) in the form
where
(1.4) where
A W =
KA(X,
Y ) U ( Y ) dy,
(1.9)
KA(x,y) ='(27r)" s e i ( x  y ) ' ( o ( x5, ) dr. The function a(x, 5 ) is known as the symbol or the total symbol of A and the operator itself is often denoted by a(x, D) or a(x, 0 , ) . We see that U E Cm(Q x IR") and that a(x, <) is a polynomial in with coefficients in Cm(52).If we substitute the expression for ii(<) from (1.3) into (1.4), we can also write A in the form
(1.10)
<
In the present case where rn c n, the kernel K Ais continuous on 52 x 52. Using the identity
ei(xy).C
lx
 yl2N(dt)Nei(xy).t
(1.11)
Au(x) = (271)"
11
e'(XY)'t4x3 M Y ) dY d5,
( 1.6)
where N is a nonnegative integer, and then integrating (1.10) by parts, we can write, in place of (l.lO),
KA(x,y) = (27r)" Ix  yl2N
ei(xy)'t( dt)Na(x, t) d l ,
(1.12)
where x # y. Since ( At)Na(x, 5 ) E Sm2N, this integral can be differentiated k times with respect to x and y provided that m  2N + k < n. Because N is arbitrary, it follows that K A E C" for x # y, that is, off the diagonal in 52 x 52. In the general case, the kernel K A of the operator A is a distribution on SZ x 52. This result follows from the Schwartz theorem on the kernel (see Egorov and Shubin [1988; 0 1.11, Chap. 21 and Hormander [1983, 1985; Chap. 51) or can be established directly as follows. For u, u E C,"(52), we write (Au, u ) as a repeated integral:
( ~ u0) , = (2x)"
(1.18)
111
which, by duality, yields the continuous map (1.15)that extends the map (1.8)in view of (1.16). The formula (1.16) can be regarded as the definition of Au for u E sl(52)by taking any u E C,"(52). In addition to the transpose 'A, we can also study a formal adjoint operator A*. This operator is defined by the formula
(Au, v ) = (u, A*u), u, u E C,"(Q),
0 )
(1.19)
where (., denotes the scalar product in L2(52).Such an operator is given by the formula (1.13) A*v(x) = (2n)"
= (1
+ 1<12)N(1  dy)Nei(xY).t
to obtain
(AU, u ) = (2n)"
sss
ei(xY).t(l 1512)Na(x, 5)
and also maps C,"(Q) into Cm(52). The pseudolocality of the operator A is equivalent to the following property of the extended map (1.15): (1.14) sing supp(Au) c sing supp u. (1.21)
ss
ei(xy)'ta(y,)u(y)dy dc,
(1.20)
x (1  Ay)"u(y)v(x)l dy d5 dx.
This integral already converges absolutely for sufficiently large N and remains absolutely convergent if u(y)u(x)is replaced by cp = cp(x, y) E C,"(52 x 52). This enables us to write
(40)
= ( K A , u 8 u),
where K A E g ( 5 2x SZ). We now integrate (1.14) by parts, using (l.ll), and find that in the general case too K A E C"(52 x 52\A), where A is the diagonal in 52 x 52. This property is referred to as the pseudolocality of a pseudodifferential ' ( 5 2 n ) C"(Q') if u E operator A. It is equivalent to the condition that Au E 9 &'(a) n C"(Q'), where Q 'is an open subset of 52. The operator A = a(x, 0,) with symbol a E S" can be extended uniquely to a continuous map
A: sl(52)+ 9 ( 5 2 ) .
1.2. The Expression for an Operator in Terms of Amplitude. The Connection Between the Amplitude and the Symbol. Symbols of Transpose and Adjoint Operators (Egorov [1984, 19851, Hormander [1971, 1983, 19853, Kumanogo [1982], Shubin [1978], Taylor [1981], and Trkves [1980]). The formulae (1.17) and (1.20)defining 'A and A* have a slightly different form from the formula (1.6) , ) . They give us reason to examine more general for the operator A = a(x, 0 operators A that are defined by expressions of the form
ei(xy)ta(x, y, 5)u(y) dy d<,
(1.22)
(1.15)
where the function a = a(x, y, 5 ) E C"(52 x 52 x R") lies in S" = Sm(Q x 52 x IR"), that is, it satisfies the estimates
l ~ ; ~ x s 1 ~ y sy, 2~ 511 (x G , COIpIp2K(1 + lel>m'a', (x, Y ) E K ,
'
To see this, we introduce the transpose operator 'A by means of the identity
(Au, 0) = (u, 'Au),
u, u E C,"(Q).
(1.16)
It can be seen easily that such an operator can be defined by the formula
where K is a compact set in 52 x 52. The function a(x, y, 5 ) in (1.22) is known as the amplitude of A. The class of operators of the form (1.22) with amplitudes a E S" is denoted by L" or L"(52) and constitutes the simplest class of pseudodifferential operators. It can be seen easily that any pseudodifferential operator A E L" defines the continuous maps (1.8) and (1.15). Every A E L" has a transpose 'A and a formal adjoint operator A* which also belong to L". Their amplitudes 'a and a* are expressed in terms of the amplitude of A by the formulae
'4x9 y, <) = a(y, x,  0 ,a*(x, Y , 5 ) = 4 y , x, 5).
(1.17)
(1.23)
10
11
Every operator A E L" is pseudolocal, this result being proved in the same , ) . way as for the operators A = a(x, 0 The expression for A E L" in the form (1.22) is not unique. For example, on integrating by parts, we can replace the amplitude a(x, y , 5 ) by the amplitude a,(x, y , 5 ) = (1 + Ix  y12)"(1  AJNa(x,y , 5 ) without changing the operator itself. But the expression for A in the form a(x, 0 , ) reduces this nonuniqueness significantly. For example, such an expression is, in general, unique if 8 = IR", that is, the symbol a(x, 5 ) is uniquely determined by A. Therefore it is desirable to simplify (1.22)by moving over, for example, to (1.6) with a suitably. chosen symbol. It turns out that this can be done to within operators with smooth kernels, as the following theorem shows.
More generally, if we have a system of functions aj = aj(x,5 ) E SmJ, j = 0, 1, 2, . . ., where mi + co a s j + CQ, and a function a = a(x, 0, we shall write
a :aj
j=O
(1.25)
if
N1
j=O
aj E S""
(1.26)
for any integer N 2 0, where EN= max mi. Instead of this last definition of EN,
j>N
Theorem 1. Any operator A E L"(B),with amplitude a E S", can be expressed , E S" and R is an operator with kernel in the form A = oA(x,0,) + R, where a K , E C"(8 x 8). This expression can be so chosen that
it is clearly sufficient to assume that ENare arbitrary numbers for which EN+ co as N + co.The function a is obviously defined uniquely up to addition of any function from S". Clearly a E S", where m = max mj. It can easily be seen
j>O
that for any sequence aj E S'"Jthere exists a function a such that (1.25)holds. For this it is sufficient to take
(1.27)
where x E C"(IRn) and ~ ( 5= ) 1 for' 151 2 2 while ~ ( 5 = ) 0 for 151 6 1 and the numbers tj tend to +co sufficiently rapidly a s j + co. The asymptotic sums for the amplitudes a(x, y , 5 ) are defined in an analogous manner. With the aid of asymptotic summation, it is useful to identify in S" the class S,";of classical or polyhomogeneous symbols. This class consists of symbols a E S" that have a decomposition of the form (1.25) in which mj = m  j and the function aj is positive homogeneous in 5, with 15 I 2 1, and of degree mi = m  j , that is,
Uj(X,
'
We shall indicate the main points of the proof later, and for the present we note that all the terms in the summation (1.24) depend only on the values of a(x, y , 5 ) and its derivatives for y = x (in particular, the principal term in the summation is simply a(x, y , 5)). This means that to within symbols of order m  N (for any N) the symbol a , is determined by the values of the amplitude a(x, y , 5 ) near A x IR", where A is the diagonal in 52 x 8. In fact, K A E Cm(Q x 8)if a(x, y , 5 ) = 0 in a neighbourhood of A x IR", because in this case integration by parts, with the aid of (l.ll), enables us to replace the amnlitude a(x, y , 5 ) by the amplitude ( x  yl2N( Ag)Na(x, y , 5 ) E S"N without changing the operator. Let us mention, by the way, that any operator R with a smooth kernel KR can be written in the form (1.22) with amplitude aR(x,y , 5 ) = ( 2 n ) " e  i ( ~ R(x, ~ ) Ty)$(<), ~ where the function II/ E C,"(IR") is such that $(5) d5 = 1. Clearly, a , E S", where
S" =
me R
n s".
The classical amplitudes can be defined in a similar fashion. x),be a positive homogeneous function in 5 (now for all 5 # 0) on Let ~ :  ~ ( 5 52 x (IR"\O) which coincides with aj(x, 5 ) for 151 2 1. Such a function is uniquely defined, and for a E S,";we shall write
a
me R
n L",
S" =
me R
u s",
L"=
me R
L".
2
rn
a:j
(1.28)
j=O
Clearly, L" is precisely the class of all operators with smooth kernels. The set of relations (1.24),with N = 1,2, . . .,will be written below in short in the form of an asymptotic series
(1.24')
We recall that a!
= a , ! . . .a,!
in place of (1.25).This expression is welldefined because the functions a:j also : = a:(x, t),which is homogeneous of degree define a(mod S"). The function a m in 5, is called the principal symbol of the operator A. It is clear that the transition from the amplitude a to the symbol 0, by means of (1.24) does not take us out of S,";, that is, 0, E S,";if a E S,";.The symbols of differential operators are also classical. The results of a number of other operations also remain within the class of classical symbols and amplitudes.
12
13
We now present the main points in the proof of Theorem 1.1. First, as we noted earlier, by multiplying the amplitude a(x, y , 5 ) by a cutoff function x = ~(x y) , E C"(52 x 52) which is unity in a neighbourhood of the diagonal, we only change the operator A by adding an operator with a smooth kernel, and we can arrange that a(x, y , 5 ) = 0 for (x, y ) 4 U , where U is an arbitrary preassigned neighbourhood of the diagonal in 52 x 52. We now expand a(x, y , 5 ) in y by the Taylor formula for y = x :
where a E Cm(IR),L E Cm(Rx IR) and v.p. denotes the "valeur principale" or the principal value of the integral, that is, v.p.7
711
sm
" x  y
L(x7' ) u ( y ) d y =
lim
e+O
711
lyxl,e
=u(y)dy. x y
By Hadamard's lemma, we write L(x, y ) = b(x) L(x, x ) and L , E Cm(IR x IR), and obtain
+ lul=N C M y  x)I'r,(x, Y , 0 ,
where r,
E S".
(1.29)
we obtain, on integrating by parts the terms of the first sum in (1.29),operators with symbols which are equal to terms of the sum in (1.24).The remainder (that is, the second sum in (1.29)) can be transformed in the same manner into an , is expressed as operator with amplitude in S"N. This implies that if a symbol a the asymptotic series (1.24), then the operator A  aA(x,0,)will belong to L'"N for any N and will therefore be an operator with a smooth kernel, as required. and a , . of the Theorem 1.1 easily yields formulae that express the symbols or, transpose and formally adjoint operators in terms of a , (mod S"). Indeed, to within operators with smooth kernels, f l and A* can be taken to be defined by the amplitudes
'a = '4x7 y , 5 ) = a,(y,
This transformation leads to the multiplication of a(5) by sgn 5, and therefore, to within an operator with a smooth kernel, A has the form a(x, &), where Q ( X , 5 ) = a(x)  b(x)x(<) sgn 5, with x E C"(IR) such that ~ ( 5= ) 1 for 151 2 1 and ~ ( 5 = ) 0 for 151 < 1/2. Thus A is a classical pseudodiffirential operator of order zero with principal symbol a ( x , 5 ) = a(x)  b(x) sgn 5.
Example 1.2 (Multidimensional singular integral operator). We consider in IR" an operator A of the form
r L(x, m xy)
0, a*(& Y , 5 ) = C A Y , 5 )
(1.30) where a E C"(IR") and L = L ( x , o) E Cm(IRn x Sn') is such that
(1.31)
In particular, . , a 5 , EY ' . This implies that Im a , E S"' if the operator A E L" is formally selfadjoint (that is, if it is symmetric on C,"(52)). Further, if the operator is also classical, then the principal homogeneous part a j ( x , 5 ) (of order m) of its symbol is real valued. We cite two important examples of pseudodifferential operators which are not differential operators.
L1
L(x,o) d o = 0, x
IR".
jrn "
~
xy
Here S"' denotes the unit sphere in IR". Then the expression IzJ" L ( x , z) defines R ; which depends smoothly on a homogeneous distribution of order  n on I x (see Egorov and Shubin [l988, 91, Chap. 23 and Hormander [1983, 1985, 0 3.23).The Fourier transform of this function with respect to z is a distribution g(x, 5 ) on I R : that is homogeneous in 5 of degree zero and smooth for 5 # 0, and also depends smoothly on x E IR". Then it follows easily that, to within an operator with a smooth kernel, A can be written in the form a(x, Dx), where a(x, 5) = a(x) + x(r)g(x, 5), with x E C"(IR") such that ~ ( 5 = ) 1 if 151 2 1 and ~ ( 5= ) 0 if 151 < 1/2. In particular, A is a classical pseudodifferential operator of order zero with principal symbol a(x, 5 ) = a(x) + g(x, 5).
14
15
1.3. The Composition Theorem. The Parametrix of an Elliptic Operator (Egorov [1984, 19851, Hormander [1983, 19853, Kumanogo [1982], Shubin [1978], Taylor [1981], Tr6ves [1980]). Let us take two pseudodifferential operators A and B: Cg(52) + C"(Q). For the composition A o B to be defined, it is necessary either that B maps Cg(52) into C,"(Q) or that A can be extended to a continuous operator acting from C"(52) into C"(l.2). In fact, it is convenient to impose a slightly stronger condition that operators be properly supported. Namely, we say that an operator A E L"(52) is properly supported if both the natural projections a,, a,: supp K , + 52 are proper maps. We recall that a map f:X + Y of two locally compact spaces is said to be proper if the inverse image f  ' ( K ) of any compact set K c Y is compact in X. The property of A being properly supported is equivalent to the following two simultaneous conditions: 1) for any compact set K c Q there exists a compact set K , c 52 such that A maps Cg(K) into C;(K,); 2) the same is true for the transpose 'A. By truncating the kernel K A near the diagonal, we can obtain the decomposition A = A, + R for any pseudodifferential operator A E L"(Q), where R E L"(Q) and A , is a properly supported operator. This remark enables us, without loss of generality, to confine our attention to properly supported operators in a majority of cases. A properly supported operator A E L"(Q) defines the following continuous maps: A : C,m(Q)+ C,m(Q),
A : C"(Q)
+ C"(Q),
Theorem 1.2 (the composition theorem). Let A E Lml and B E Lm2 be two pseudodifferential operators in 52 one of which is properly supported. Then C = A 0 B E L"1+"2 and C = c(x, 0 , ) R, where R E L" and c(x, 5 ) has the asymptotic expansion
(1.32) This result can be proved by arguing in the same way as for differential operators but by confining Taylor expansion to a finite sum and estimating the remainder. An alternative way is as follows. Using the formula B = Y'B), we represent B by means of the amplitude b(y, 5 ) = aJy, <), which implies that
Thus C is an operator with amplitude c(x, y , 5 ) = a(x, r ) b ( y , 5). Theorem 1.1 Now an application of (1.30), which gives b(y, t), then shows that C E Lm1+'"2. together with (1.24) leads to (1.32) after simple algebraic simplifications. We note that the principal part on the righthand side of (1.32) is simply the product a(x, ( ) b ( x ,5 ) and therefore c(x, 5 )  a(x, 5)b(x, 5 ) E S m l + " 2  l . (1.33)
ss
A : &(Q)
+ #(Q),
A: 9 ' ( 5 2 + )9 ' ( 5 2 ) .
Thus if one of the L"(52) operators A and B is properly supported, the composition A 0 B is defined. To describe the symbol of the composition, we first examine the case of , )and B = b(x, 0 , ) . Set C = A o B. By the differential operators A = a(x, 0 Leibniz formula, we have CU(X) = 4x3 0,
a u:
If A and B are classical pseudodifferential operators of orders rn, and rn, respectively, then C = A o B is a classical pseudodifferential operator of order rn, + m, whose principal symbol is
(1.34) We now present an important definition.
Definition 1.1. An operator A = a(x, 0 , ) E L"(Q) is said to be an elliptic pseudodifferential operator of order m if for every compact K c 52 there exist such that positive constants R = R ( K ) and E = E ( K )
where we have used the Taylor formula to expand a(x, 0, series in 0 , . This implies that C = c(x, 0 , ) with
+ 0,) as a power
lab, 0 1
Eltl",
x E K , 151 2 R,
(1.35)
for any compact set K c Q. A more general operator A = a(x, 0,) + R E L"(Q), where R E L" and a E L", is elliptic if the operator a(x, 0 , ) is elliptic. If (1.35) holds, then a(x, 5 ) is referred to as an elliptic symbol.
The sum here is finite because a is a polynomial in 5. This sum makes sense as an asymptotic sum if a E S"1 and b E Sm2.
If A E L,"l(Q) and a;(x, 5 ) is the principal symbol (homogeneous of degree m) of A, then the ellipticity of A is equivalent to the fact that
a%, 5 ) z 0 for 5
z 0,
(1.36)
16
17
and this is consistent with the definition of ellipticity of a differential operator (see Egorov and Shubin C1988, $2, Chap. 11).
Theorem 1.3. I f A is an elliptic pseudodifferential operator of order m in 8, then there exists a properly supported pseudodifferential operator B E L"(Q) such that (1.37) B O A = I  R , , A 0 B = I  R,,
where Rj E L"(8), j = 1,2. Such a pseudodifferential operator B is unique up to addition o f operators with smooth kernels and is an elliptic pseudodifferential operator o f order m. If A is a classical pseudodifferential operator o f order m, f order  m. then B is a classical pseudodifferential operator o
We shall describe in some detail the structure of the parametrix B for a classical elliptic pseudodifferential operator A of order m. Suppose that the symbol a(x, 5 ) of A has the asymptotic expansion (1.28). Let the symbol b(x, 5 ) of the parametrix B have a similar expansion
a !
(1.38)
If we use the composition formula for finding B o A  I , then all the homogeneous components must vanish. We now group the members of the series defining the symbol of B 0 A  I according to the degree of homogeneity and obtain the equations
bOma: = 1,
4
The operator B satisfying the hypotheses of this theorem is called a parametrix of A. The fact that the parametrix of an elliptic pseudodifferential operator is also a pseudodifferential operator shows that the choice of the class of pseudodifferential operators is reasonable. In particular, the parametrix of an elliptic differential operator is a classical pseudodifferential operator. In order to construct the parametrix B of the operator A , it is necessary to take for the first approximation the operator B, E L" whose symbol is a'(x, 5 ) for large 1 <I (that is, for x E K and 151 > R ( K )for any compact set K c 8). Now B, can be made a properly supported operator by addition of an operator with a smooth kernel. The composition theorem then implies that
BOA= I  T,, AB, = I  T,;
E L'(8),
(1.39)
to determine the functions brl)r+ The first of these equations implies that b!, = (a:)'. The other equations enable us to determine by induction all the members of the sum in (1.38), so defining the parametrix to within operators belonging to L"(Q).
j = 1,2.
+ Tl + T: +
**.,
B;I
+ T, + T: +
1.4. Action of Pseudodifferential Operators in Sobolev Spaces and Precise Regularity Theorems for Solutions of Elliptic Equations (Egorov [1984, 19851, Hormander C1983, 19851, Kumanogo [1982], Shubin [1978], Taylor [198l], Trkves [1980]). A key to the discussion of pseudodifferential operators in Sobolev spaces is the following theorem. Theorem 1.4. Suppose that the operator A = a(x, 0,) E Lo(IR")has a symbol a(x, 5 ) that satisfies the estimates
la;a!a(X,
* a * ,
by which we mean that the symbols of Bb and B: are defined by the corresponding asymptotic sums of symbols of the operators on the righthand sides. We then set B, = BbB, and B, = BOB:. This yields
B,A=IR,, AB2=IR;;
x , 5 E IR".
(1.40)
R~EL,,j=l,2.
On multiplying the first equation by B, on the right and using the second equation, we find that B,  B, E L"(8). Thus for B we can take either Bj. We have also established at the same time that B is unique up to operators belonging to L"(Q). The existence of a parametrix implies that the solutions of elliptic equations and Au = with smooth righthand sides are regular. To see this, let u E g(8) f E g(8) n C"(8,), where 8, c Q. Here we have assumed that Au is meaningor that A is properly ful, and for this it is sufficient, for example, that f E #(a) supported. Then u E Cm(8,) because, by applying B to both sides of the equation Au = f, we obtain u = Bf + R,u. Then, since B is pseudolocal, it follows that Bf E Cm(Q,) and R , u E Cm(Q)as R , is an operator with a smooth kernel. More precise regularity theorems can be formulated in terms of the Sobolev norms, and this will be done below.
The distinction between the estimates (1.40) and the usual estimates (1.7), which define the class So(lR"x IR") of symbols, consists in the following. The constants Capin (1.40) do not depend on x whereas the estimates (1.7) are which depend on K for any compact set satisfied for x E K with constants CaaK K c IR".In particular, the estimates (1.40) hold for any symbol a E S ' " ( I R " x R") such that a(x, 5 ) = 0 for 1x1 > R or, more generally, a(x, 5 ) = a,(t) for 1x1 > R ; that is, for a symbol that either vanishes or does not depend on x for large x . In particular, the singular integral operators of Examples 1.1 and 1.2 can be extended to bounded operators in L,(IR") provided that the defining functions a(x) and L(x, y ) are such that the operator in question reduces to a convolution operator in a neighbourhood of infinity. This means that a(x) = a, for 1x1 > R
18
19
and L(x, y ) = Lo for 1x1 > R or lyl > K in Example 1.1 while, in Example 1.2, L(x, z ) = Lm(z). One of the possible proofs of Theorem 1.4 is based on the algebraic formalism already developed. To see this, we use the composition theorem, modified for the case where the estimates of symbols are uniform in x, and choose a constant M > 0 such that M > lim sup la(x, <)I. We can then construct an whose symbol b(x, 5 ) also satisfies the estimates operator B = b(x, 0,)E Lo(IR"), of the form (1.40), such that M 2 = A*A + B*B + R, where R = r(x, 0,)E L" and the symbol r(x, 5) also satisfies the estimates of the class Sm(lR" x IR") uniformly in x . It then follows that llA~11~ = M211~112  )(Bull2  (Ru, U) < M211~l12 ~ ( R u u)l , for u E C;(IR"). This means that everything reduces to the boundedness of the operator R, and this follows from the Young inequality because the kernel K , of R is majorised by the kernel of a convolution operator with a rapidly decreasing function. The same argument shows that if (1.41) under the hypotheses of Theorem 1.4, then the operator A is compact in L,(IR"). Indeed, in this case, by performing truncation in a neighbourhood of infinity, we can replace A by a similar operator, with symbol a(x, 5 ) which is equal to zero for large 1x1, that differs from A by an operator with an arbitrarily small norm. Assuming now that a(x, 5 ) = 0 for large 1x1, we repeat the above construction. We can then assume that M > 0 is as small as we please and that the symbol r(x, 5 ) vanishes for large 1x1. The operator R will then be a HilbertSchmidt operator and hence a compact operator. Thus we finally find that
lIAul12 < & 2 1 1 ~ 1 1 2
151m
In fact, if we use the operator (1  A)"/' which is an isomorphism of H"(IR") onto L2(IR"), then the proof of Theorem 1.4' reduces to the boundedness in L2(IR")of the operator (1  A)(sm'/2A(1  A)"/2 which satisfies the hypotheses of Theorem 1.4. Theorem 1.4' evidently implies that if A E L"(SZ) then A defines a continuous linear operator
Hs,,"(Q). This enables us to derive from the existence of a parametrix of an elliptic operator A of order m a precise regularity theorem for solutions of the corresponding elliptic equation Au = f. Thus, we have u E HS,+,"(SZ)if Au = f E HS,,(SZ). This follows because u = Bf  Ru, where B is a parametrix of A and R E J!,~(SZ). Then, by Theorem 1.4, Ru E C"(l2) and Bf E HfL"(SZ) since B E L"(SZ) and B is properly supported. This also implies the local a priori estimates
+
A : H,",,,(SZ)
where al is a subdomain of SZ such that is a compact set contained in SZ and 11 IIs, denotes the norm in HS(SZ). We also note that the operator A satisfying the conditions of Theorem 1.4 is for any bounded in L,(lR") for any p E (1, co)as well as in a Holder space Cy(IRn) noninteger y > 0 (see Egorov and Shubin [1988, 62.13, Chap. 21). This fact enables us to establish precise theorems on boundedness and regularity as well as a priori estimates, like those above, in the scales W; and Cy.
+ I(REu,u)l
1.5. Change of Variables and Pseudodifferential Operators on a Manifold (Hormander [1983, 19853, Kumanogo [1982], Shubin [1978], Taylor [1981], Trbves [1980]). Let us consider an operator A: C;(SZ) + Cm(SZ)in a domain SZ. Let a diffeomorphism x: SZ + SZ, be given. We introduce the induced map x*: Cm(SZ1) + Cm(SZ) of change of variables by the formula
for every E > 0, where Re is a compact operator. This evidently implies that if A = the operator A is itself compact. In particular, A is compact in L2(IR") a(x, 0,)E Lm(IR"), where m < 0 and a(x, 5 ) = 0 for large 1x1. From Theorem 1.4 we easily have
x* also maps C;(SZ,) into C$(B).On SZ, we define an operator A, by the commutative diagram
CZ(S2)
Theorem 1.4'. Let the operator A = a(x, 0 , ) E L"(IR") have a symbol a(x, 5) which satisfies the estimates
(1.42)
Then A can be extended to a continuous linear operator
A : H"(IR") + H""(IR")
x*l
Crn(SZ)
1.
c;(SZ,)A
Crn(SZ,)
for any s E IR. (Here H"(IR") denotes the standard Sobolev space in IR"; see Egorov and Shubin [1988,g 3, Chap. 21.)
Theorem 15. If A E L"(Q),then A , E L"(0,). Moreover, i f A = a(x, 0,) + R, where R E L"'(SZ), then A , = a , ( y , 0,) R , , where R , E L"'(Q,), and the symbol a, is defined by the formula
20
21
Here x ; ( y ) denotes the Jacobian matrix of the map x , at the point y and 'x;(y) denotes the transpose of x;(y). If A is a classical pseudodifferential operator of order m, then A , is also a classical pseudodzflerential operator of order m. Further,, : o f A , is given by the formula more, the principal symbol a (1.44) , a:m(Y, q) = a : ( x l ( ~ )('~\(Y))'V), where a : is the principal symbol of A.
be a point of T*Q1 % 52, x IR". Thus we can say that the principal symbol of a classical pseudodifferential operator A is a welldefined function on the cotangent bundle space. Similarly, we can interpret the formula (1.43) by saying that the symbol a = a(x, t) E S" of the operator A E Lmis well defined on the cotangent bundle space modulo symbols belonging to S"'. Theorem 1.5 enables us to define a pseudodiflerential operator o f class S" as well as classical pseudodiflerential operators on an arbitrary paracompact C"manifold M . To do this, let us consider an operator
A : C 2 ( M )+ C"(M).
To establish this result, we express A in terms of the amplitude a(x, y , 5) E S" by the formula (1.22). This immediately yields A , ~ (= ~( 2 ) qn Setting y = x,(z), we obtain
A , ~ (=~(271)n )
ss
ei(xl(x)~).<
a(x,(x),Y , t ) U ( X ( Y ) ) dY d t 
For any coordinate neighbourhood 52 c M (not necessarily connected) we define the restriction of A to 52 by the formula
A , = p,Ai,: C2(52)+ Cm(52),
ss
e i ( x l ( x )  x l ( z ) ) . L :a(x,(x), x,(z),
5)
(1.45)
We now note that, to within an operator with a smooth kernel, we can assume ! U , where U is an arbitrarily small neighbourhood that a(x, y , 5 ) = 0 for (x, y ) q of the diagonal in 52 x 52. When x and z are close, we can transform the phase function in the exponent of the exponential function in (1.45) as follows: where $ = $(x, z ) is a matrix function which is defined and smooth for x and z close, and is such that $(x, x ) = x;(x). We now substitute '$(x, z)< = q in (1.45) and obtain
This shows that A , E L"(52,). The formulae (1.43) and (1.44) now follow easily from Theorem 1.1. We can interpret the formula (1.44) in the following way. We identify 52 and 52, by means of the diffeomorphism x. Then the operator A goes over to A . We also identify in a natural manner the tangent bundles T52 and TQ,, the fibre Tx52being identified with the fibre Tx,,,52, by means of the linear isomorphism x'(x). The contangent bundles T*52 and T*Q, are similarly identified, the fibre T.52 being identified with the fibre T&,52, by means of the map ' ~ ' ( x ) T:(,,Q, : + T.52 which is the dual of the map x'(x): T.52 + Tx,,,Q,.But then (1.44) implies that the principal symbols of the operators A and A , are identified if they are assumed to be defined on the cotangent bundles T*52 and T*52,, that is, if the argument (x, 5 ) in the principal symbol a:(x, 5 ) is considered to be a point of T*SZ r SZ x R"and, similarly, the argument (y, q ) in a~,,,(y, q) is considered to
where i,: Cz(52)+ C;(M) is the natural embedding (that is, extension by zero + C"(52) is the restriction operator which transforms beyond 52) and p,: Cm(M) f into f , . We write A E L"(M) or A E L z ( M ) if for any coordinate neighbourhood on 52 the restriction A, belongs, respectively, to L"(52) or Lz(52)in the local coordinates on 52. By Theorem 1.5, the membership of A , to L" or Lz does not depend on the coordinates chosen in 52. By the same Theorem 1.5, the principal symbol of A is a welldefined function on T*M. We note that since any two points x and y in M can be included in the same coordinate neighbourhood 52 (we did not require 52 to be connected), the kernel K A = KA(x,y ) of A is of class C" off the diagonal in M x M. In other words, K A ( x ,y ) is smooth for x # y . Thus the operator A E L"(M) is pseudolocal. The pseudodifferential operators of the classes L" are defined in a similar fashion in the sections of vector bundles. To do this we have first to introduce matrix pseudodifferential operators of these classes on a domain 52 E IR". These operators are defined in exactly the same way as the usual scalar pseudodifferential operators, the only difference being that the symbol a of the operator A, and the principal symbol a, of the operator A E Lz, must both be matrix functions, in general rectangular. Now (a(x,5)1 and l$a,8a(x, ()I denote the norms of the corresponding matrices. Suppose next that there are two smooth vector bundles E and F on the manifold M. Then the classes L"(M, E, F) and L z ( M , E, F) consist of the maps
A : C2(M, E ) + C"(M, F )
.
(1.46)
such that the restriction A , of A to any coordinate neighbourhood 52 turns into a matrix pseudodifferential operator of the corresponding class for any choice of trivializations of E and F above 52. We note that Theorem 1.5 and the composition theorem imply that this result is independent of the choice of the local coordinates and trivializations of the bundles E and F ; here Cm(M,F) is
*The kernel K A can be defined, for example, by choosing a fixed positive smooth density d p on M and writing A formally in the form Au(x) = JKA(x, y)u(y) dp(y).
22
23
the space of smooth sections of F and C;(M, E ) is the space of smooth sections of E having compact support. Now let x be the projection of the vector (x, 5 ) onto M . For any nonzero (x, 4 ) E T*M, the principal symbol a: = &(x, 4 ) of the operator A E L,"1(M, E, F ) defines a linear map of fibres
a:(x,
Using a partition of unity, a pseudodifferential operator on a manifold M can be constructed by gluing. Namely, suppose that there is covering of M by the coordinate neighbourhoods; that is, M = Qj. Let Aj E Lm(Qj)for any j . We construct a partition of unity 1 = qj that is i subordinate to the given covering,
5): E x + Fx.
(1.47)
( 1.48)
by which we mean that qj E Cm(M), i the sum is locally finite and supp qi c Qj. We choose functions $jE Cm(M) such that supp $j c Qj and i,hjqj= qj,and such t,hj is also locally finite '. We denote by and the operators that the sum 1 i by qj and $jrespectively. Then we can examine the operator of multiplication
A=
where no: T*M\O + M is the canonical projection of the cotangent bundle space without the zero section onto the base M ; n;E and n,*F are the induced bundles, with fibres E x and F, above each point (x, 5 ) E T*M\O. An operator A of the form (1.46) is said to be elliptic if all its local representatives (obtained by all choices of the coordinate neighbourhood s2, the coordinates on it and the trivializations E l , and FI are elliptic. These representatives are matrix pseudodifferential operators and their ellipticity means that . la'(x, 411 < C151", 151 2 R, x E K , (1.49) where C = C ( K ) ,R = R ( K ) and K is an arbitrary compact set in Q. We note 1 . 3 5 ) .For a classical that, in the scalar case, these estimates are equivalent to ( pseudodifferential operator A E L;(M; E , F ) the ellipticity means that all the are invertible, that is, the map (1.48) is a bundle isomorphism. maps (1.47)
E L"(M)
and that A
E L,"1(M) if
Aj E L,"l(Qj) i for any j . Similarly, by using matrix pseudodifferential operators, we can glue a pseudodifferential operator in the bundles. By this procedure we can construct, for example, the parametrix B E L" of any elliptic operator of order m on M . This gives
B=
(1 SO)
where Bj denotes the parametrix of the operator A,,. Moreover, we have B o A = I  R , , A 0 B = I  R2, R ~ E L  " . (1.51) More precisely, if A is an elliptic operator on C;(M; E ) into C"(M; F), then B is a properly supported pseudodifferential operator that maps C;(M; F ) and Cm(M;F ) into C,"(M;E ) and Cm(M; E ) respectively, and R , E L"(M; E , E), R , E L"(M; F, F). In the case of a compact manifold M , it is also convenient to introduce the Sobolev section spaces Hs(M;E ) that are defined as the spaces of sections belonging to HS,, in local coordinates on any coordinate neighbourhood Q t M and for any choice of trivialization of E above Q. If R E L'(M; E, E ) and 1 > 0, it follows from the discussion of 9 1 . 4 that R defines a compact linear operator in H"(M;E ) for any s E lR. By the wellknown Riesz theorem, the operators I  R , and I  R , are Fredholm in the spaces Hs(M;E ) and HS"(M; F ) respectively. This result, together with (lSl),implies that the elliptic operator A E L"(M; E, F ) of order m defines a Fredholm operator A : H"M; E ) + H""(M; F ) (1.52) for any s E IR. The kernel Ker A of this operator belongs to C"(M; E ) and is therefore independent of s. By using a formally adjoint operator A*, constructed by means of any smooth density on M and smooth scalar products in fibres of the bundles E and F, we can easily show that the image of A in the space
'The sums (pj and +j will automatically be locally finite if the covering M = U sZj is itself locally finite,ia property i that can always be assumed to hold without loss of generality. j
Example 1.3 ( A singular integral operator on a smooth closed curoe). Let r be a smooth closed curve in the complex plane. Suppose that r is oriented, that is, a direction for going along the curve has been fixed. On r we consider an operator A : Cm(r)+ Cm(r)defined by the formula
Au(z) = a(z)u(z) v.p.4 g u ( w ) dw, ni r z  w where a E Cm(r),L E Cm(r x r)and dw denotes the complex differential of the function w: r + CC defined by the embedding of Tin CC; the principal value of the integral is understood in the same sense as in Example 1 . 1 .By introducing local coordinates on r whose orientation is consistent with that of r,we easily find that in any local coordinates the operator A becomes the operator of Example 1 . 1 .Therefore A is a classical pseudodifferential operator of order zero on f.We can assume that u(z)is a vector function with N components, and that a(z) and L(z, w ) and N x N matrix functions. Then A becomes a matrix classical pseudodifferential operator of order zero. Its principal symbol is a matrix function Q = Q ( Z , 5 ) on PT\O = r x (lR\O) that is homogeneous in 5 of degree zero, and is given by a(z, 5 ) = a(z)  b(z) sgn 5, b(z) = L(z, z). The ellipticity condition for A in the scalar case means that a2(z) bZ(z) # 0 for z E r,while in the matrix case it means that the matrices a(z)  b(z) and a(z) + b(z) are invertible at all points z E r.
24
25
H""(M; F) can be described by means of orthogonality relations to a finite number of smooth sections. In this way we find that dim Coker A is also independent of s . Thus we have
Theorem 1.6. If A E L"(M; E, F) is an elliptic operator o f order m on a compact manfold M, then A defines a Fredholm operator (1.52) for any s E IR such f s. that both dim Ker A and dim Coker A are independent o
In particular, the index defined by ind A = dim Ker A  dim Coker A (1.53)
is also independent of s. We note that the index can be understood simply as the F). index of the operator A: C"(M; F) + Cm(M; We note further that if A is invertible under the hypotheses of Theorem 1.6 (either as an operator from C"(M; E) into C"(M; F) or as an operator (1.52) for any s E IR), this being equivalent to the conditions that Ker A = 0 and Ker A* = 0, then A' is again a pseudodifferential operator belonging to L'"(M; F, E), and it will be classical if the operator A is itself classical. Indeed, multiplying both sides of the second equation in (1.51) from the left by A', we obtain (1.54) A' = B + A'R,. Now A' is a continuous map from Cm(M) into Cm(M),and therefore A'R, is an operator whose kernel KALR2(x,y) = [A'KR,(*, y)](x) lies in Cm(Mx M). Thus (1.55) A'  B E L"(M), which shows that A' coincides with B to within operators with smooth kernels. We see that the calculus of pseudodifferential operators enables us to describe the structure of the operator A' and even find it explicitly modulo L"(M). In particular, if A is a classical operator, then the homogeneous components born+ of the symbol of A' are given by (1.39).
This result and Theorem 1.6 imply that the index of an elliptic operator on a compact manifold depends only on the principal symbol of this operator and remains unchanged under continuous deformations of this principal symbol. Thus the index is a homotopy invariant of the principal symbol, and therefore we can expect that the index can be expressed in terms of the homotopy invariants of the principal symbol. The problem of computing the index of an elliptic operator was formulated in 1960 by Gel'fand and it was solved in the general case in 1963 by Atiyah and Singer (see Palais [1965]). The AtiyahSinger formula prescribes the construction of a certain differential form based on the symbol of the elliptic operator A, and integration of this form yields the index of A. Without writing down the general formula, we mention two of its special cases which were known before the publication of the AtiyahSinger work. A. The NoetherMuskhelishuili formula. This formula gives the index of the matrix elliptic singular integral operator of Example 1.3 on a closed oriented * curve r which, for simplicity, we assume to be connected. The formula is of the form ind A = 1 arg det[a(z, l)'u(z,  1)]1, 2n
=  arg det [(a(z)  b(z))'(a(z)
1 2n
+ b(z))] I r,
(1.56)
where the notation of Example 1.3 has been used and arg f(z)lr denotes the increment in the argument off (z) on going round r in the chosen direction. B. The DyninFedosou formula. This formula concerns a matrix elliptic , ) of order m in IR" that coincides in the neighbourhood operator A = a(x, 0 of infinity with an operator a,(D,) having a constant symbol a,(<) which is invertible for all E lR".Such an operator defines a linear Fredholm operator
<
A : HS(IR")+ HS"(JRn)
1.6. Formulation of the Index Problem. The Simplest Index Formulae (Fedosov [1974a1, Palais [1965]). According to wellknown theorems of functional analysis, for any Fredholm operator A: H1 + H,,where H, and H, are Hilbert spaces, there exists an E > 0 such that the operator A + B is Fredholm and ind(A + B) = ind A
provided that the operator B: H,+ H, has the norm 1 1 B ( 1< E. In particular, ind A remains unchanged under any deformation of A which is continuous in the operator norm and does not take us out of the class of Fredholm operators. Furthermore, if A: H,+ H, is Fredholm and T: H1 + H, is a compact operator, then A T is also Fredholm and ind(A + T) = ind A.
whose index is independent of s E IR. The general problem of the index of matrix elliptic pseudodifferential operators on a sphere S" can be easily reduced to the computation of the index of such operators A. The formula for the index is
where R > 0 is sufficientlylarge. Here al da is understood as the matrix of differential 1forms on I R : xI R ! , and (a' da)'"' denotes the power of this matrix in the computation of which the elements of a' da are multiplied by the wedge product. Thus (a' da)'"' is the matrix of (2n  1)forms and its trace is the usual (2n  1)form which is further integrated over a (2n  1)dimensional manifold SR= {(x, 5): 151 = R}. This manifold is oriented as the boundary of the domain {(x, <): 151 < R} which is itself oriented with the aid of the A (dx, A dt,,). We note that for n 2 2 the matrix 2nform (dx, A d<,) A
26
9 0 1 9.541
27
[ a  ' ( x , () da(x, ()]2"' vanishes for large x. This is because the form a1 da is expressed only in terms of d ( , , ... , d ( , if a = a,((), and any exterior (2n  1)form of n variables vanishes. Therefore, for n 2 2, the integration in (1.57) is actually performed over a compact set and consequently makes sense. The integral also makes sense when n = 1, because if the 1form contains only d( and not dx, then its restriction to S, is zero, that is, the integration is again performed over a compact set. For n = 1, the formula (1.57) is easily reduced to (1.56) in the preceding example (for the case of a classical pseudodifferential R ' which coincides with an invertible pseudodifferential operaoperator A on I tor a,(D) in a neighbourhood of infinity). Let us mention two more simple particular cases of the AtiyahSinger formula. C. Suppose that A is a scalar elliptic pseudodifferential operator on a compact manifold M of dimension n 2 2 where, by the term scalar, we mean that A acts on scalar functions rather than vector functions. Then ind A = 0. When M is a sphere, this result is a consequence of (1.57) because the wedge product of a scalar 1form with itself is always equal to zero. D. Let A be a differential (and not pseudodifferential !) operator which acts in the sections of vector bundles above an orientable compact manifold M whose dimension is an odd integer. Then ind A = 0. When M = S" (n is odd) and the bundles are trivial, this result can be easily derived from (1.57). We do this by reducing the problem to the case where the principal symbol of the operator (a polynomial matrix that is homogeneous in () occurs in place of a; this is achieved by homotopy. Then we follow the action of the map ( H  ( on the index and the integral.
to the resolvent ( A  1 I ) ' , which also exists for sufficiently large 1 1 1 when 1E A and the ellipticity condition (Ell,,) is satisfied. If we know the structure of the ' of A and describe their strucresolvent, we can construct the complex powers A ture. Seeley [19671proposed a scheme for using pseudodifferential operators for describing the resolvent and the complex powers, and it plays an important role in the spectral theory which is discussed below. Let us describe Seeley's procedure for constructing the parametrix for the operator A  1I for large values of 1,1E A. This is done locally in every coordinate neighbourhood and these local parametrices are then glued to obtain the global parametrix by means of the partition of unity as described in 0 1.5. We now proceed to construct the parametrix B(1) of the operator A  1I in a coordinate neighbourhood 52 c M by fixing local coordinates in it. In doing so, we shall identify T*Q and 52 x IR". We first note that the facts that M is 5 , 1 ' / ' " )imply that the compact and the function a:(x, 5 )  1 is homogeneous in ( condition (Ell,,) is equivalent to the condition that
la:(x,
()  1 1 2 E > 0 for 1E A
and
[(I"'
+1 1 1 = 1.
(1.58)
This condition (perhaps with a smaller 8) continues to be satisfied if the angle A is slightly enlarged. Therefore we can assume that the angle A does not degenerate into a ray. Suppose that the asymptotic expansion of the symbol a ( x , 5 ) of the operator A in Q in terms of homogeneous functions is of the form (1.28). It follows from (1.58) that it is possible to extend the function a:(x, 5 ) from ' = ((x, 5): x E Q, 151 > l} to a smooth function a,(x, 5 ) on Q x IR" the set 2 that satisfies
la,(x,
1.7. Ellipticity with a Parameter. Resolvent and Complex Powers of Elliptic Operators (Agranovich and Vishik [1964], Seeley [1967, 1969a, 1969b1, Shubin [1978]). We have already discussed (Egorov and Shubin [1988, $2, Chap. 23) for boundaryvalue problems the ellipticity condition with a parameter that guarantees the unique solvability of the boundaryvalue problem for large values of the parameter. Here we deal with the similar condition for pseudodifferential operators on a manifold M . Let A be a closed angle with vertex at the origin of the complex plane (c, and we allow the possibility that A may degenerate into a ray. Let A be a classical pseudodifferential operator of order rn > 0 on M . Here and in what follows we take A to be a scalar operator for simplicity, although all the results obtained here can be easily extended to the case of operators acting in the sections of the : = a:(x, <) is the principal symbol of A. given vector bundle E . Suppose that a We formulate the following basic condition. (Ell,,) (The ellipticity condition with a parameter 1 E A )
ai(x, ()  1 # 0
5)  1 12
(1.59)
Also, in particular, a, E Sm(Q x IR"). Let amPj = u,~(x, (), j = 1,2, .. . , similarly ' to the functions E denote any extension of the functions U :  ~ ( X , () from 2 Cm(Qx IR"). Then automatically E S"j(Q x IR"). The construction of the required parametrix proceeds on the same lines as if the function a,  1is the principal symbol of A  1I. We may then expect, on account of the composition theorem, that a good approximation to the resolvent in Q will be the operator B(1) whose symbol is the sum (1.60) where K > 0 is sufficientlylarge and the components bmk are found from the following equations: (1.61)
T*M\O
If this condition is satisfied for a compact manifold M , we can construct a parametrix of the operator A  11, with a parameter 1,that is an approximation
28
29
j=1
u
N
Qj
of the manifold M by
where 6(.  y) is a function of y of the class C' with values in the space H'"'2E with E > 0. Thus it follows from (1.65) and (1.66) that
( A  Az)1 = B(A)
coordinate neighbourhoods Qj. Let Bj(A) be the parametrix of A  AZ on Qj, constructed as above. We glue the operators Bj = Bj(A)in accordance with (1.50) to obtain B = B(A).This is the required parametrix of A  AZ. Let us describe its properties. The fundamental fact that follows by analysing the composition B(A)(A AZ) in the spirit of the proof of the composition theorem consists in the following. , +00 There exists an integer N > 0, depending on K in (1.60), such that (i) N as K , +00; (ii) if K , = K,(x, y, A) is the kernel of the operator R(A)= B(A)(A  AZ)  I , then K , E C N ( M x M ) for each fixed A; (iii) if L is a differential operator on M x M of order < N with smooth coefficients, then
JLK,(x, y ) ( < CLlAl',
+ T(A),
(1.68)
where the operator T(A)has a sufficiently smooth kernel that decays as O(lAl*) for A E A , 1 1 1, 00, together with any large number of derivatives (depending on K ) . In this way we have established the desired result regarding the existence of the resolvent ( A  AZ)' and its approximate representation to within O(lAl2). From (1.66), (1.67) and (1.68), we have the following estimate for the norm of the resolvent:
ll(A'
AZ)llls,s
< CNIAl', A E A,
1 1 1 2 Ro; s E [  N , N].
(1.69)
A E A , IAI B
1.
(1.62)
Let us now examine the obvious relation B(A)(A AZ) = z It follows from (1.62) that
~ ~ R ( A ) ~ ~ s CNIAl', ,t
+ R(1).
(1.63)
<
A En,
1 1 12 1; s, t E [  N , N ] ,
(1.64)
where \lR\ls,,denotes the norm of R as an operator from H s ( M ) into H'(M). In particular, this result implies that the operator Z + R(A) is invertible in H s ( M ) for s E [  N , N ] , A E A and IAI 2 R,, provided that R , > 0 is sufficiently large. Moreover, ( I + R(A))' = Z + R,(A), where R,(A) has the same norm estimates (1.64) as R(A) does. The formula (1.63) now shows that B,(A)(A  AZ) = Z if Bl(A) = ( I + R,(A))B(A), that is, Bl(A) is the left inverse of A  AZ for A E A and 1J1 B Ro. We note that the index of A  AZ is zero. This is because the ellipticity condition with a parameter implies that the operator A  AZ is homotopic (in the class of elliptic operators) to a selfadjoint operator. Therefore its left invertibility implies its invertibility, and
( A  A z )  1 = (I
This is true for any N > 0 because we can take the parametrix B(A) to contain as many terms as we like. It also follows from (1.68) that ( A  AZ)' is a classical pseudodifferential operator of order m. This operator is compact in L2(M).This fact, together with wellknown theorems of functional analysis (see Gokhberg and Krejn [1965]), implies that the spectrum a(A) of A in L 2 ( M )is a discrete set of points with finite multiplicities. Here A should be regarded as an unbounded operator in L 2 ( M )with domain of definition H"(M). Further, only a finite number of points of the spectrum can lie in A . Therefore by narrowing A we can arrange that o ( A )n A contains no more than the single point 0. What is more, for the , Z , with any fixed 6, E (C\o(A), we find that 0 4 a(A  d,Z). On operator A  6 replacing A by A  S o l if necessary, we can assume in the sequel that 0 4 a(A), that is, A is an invertible operator. Now, by narrowing A if necessary, we can and this will also be assumed to hold in the sequel. arrange that a(A) n A = 0, Under these assumptions, we can construct the complex powers A" of the operator A. To do this, we choose a ray L = (reicp0: r B 0 } lying in A in the complex Aplane, and construct a contour f in the following manner: f = r, u f 2 v r', where
A = reivo A= pe"
< CNIAl', A E A ,
Thus
IIR1(L)B(A)IIs,t < chIAI2,
A E A , 1A1 2 1;
S, t E
[N, N].
(1.67)
This result implies that the operator T(A)= R,(A)B(A)has a kernel that is as smooth as desired (as K f 00). The derivatives of the kernel are estimated by CIAI2, 1 E A and 1 1 1 >, R , because the kernel K , = K , ( x , y) is given, just as in the case of the kernel of any operator with as mooth kernel, by the formula
K T b , Y ) = TCd(.  Y)l(X),
30
31
out to be smooth functions of x and ( and holomorphic functions of z. Furthermore, the fact that the functions bmk(x,() are homogeneous of degree  m  k in (5, A'""), for 151 2 1, implies that
Re A

(1.73)
I I
I
Fig. 1
is homogeneous in ( of degree mz  k, for I (1 2 1, and depends holomorphically on z. Therefore B, is a classical pseudodifferential operator of order mz whose symbol depends holomorphically on z, and hence so is the operator A,. We note that earlier we examined classical pseudodifferential operators of real order only, but classical pseudodifferential operators of any complex order are defined in an analogous way. We note that with the aid of the Cauchy formula, we can easily deduce, first, the group property of the operators A,, namely, that
9
1 '
= ,zlnA = ezlnlA)+izargA =
1 42
izarg1
f?
A,A,
= A,+,,
Re z < 0, Re w < 0,
(1.74)
where arg 1 is so chosen that cpo  212< arg 1< cpo and, naturally, we take arg 1= cpo on r, and arg 1 = cpo  2x on r,. In view of (1.69), when Re z < 0, the integral in (1.70) converges in the operator norm in the space Hs((M) for any s E W.We substitute the expression (1.68) for ( A  1Z)' into (1.70) and use the estimates (1.67) for the norms of T(1)to obtain A,
= B,
and, secondly, that A _ , = A'. Hence also Ak = Ak for any integer k > 0. Using these facts, we can correctly define the operators A ' for any z E C by
A ' =A '
0
k E Z, k > Re z, k 2 0.
(1.75)
+ R,,
B, =
& jf
AzB(l)dA,
(1.71)
It follows easily from the above properties of A , that A ' is a classical pseudodifferential operator of order mz whose principal symbol is [a:(x, ()I2. All the ' (in local coordinates) depend homogeneous components of the symbol of A holomorphically on z and, moreover,
where the operator R, has a kernel that is as smooth as desired (depending on K ) and depends holomorphically on z. In local coordinates the operator B, is represented, to within an operator with a smooth kernel that depends analytically on z, in the form B, = b(')(x,Dx), where
(1.72)
We note that each of the integrals in (1.72) is an integral of rational functions, and this integral can be expanded if we use the expressions for bmk obtained from (1.61). For instance, by the Cauchy formula, the principal term of (1.72) has the form
where the operator T f ) has a kernel of class CN for Re z < do and N = N ( K , do) ,+co as K , +co for any fixed do. The derivatives of this kernel up to order N are holomorphic in z in the halfplane { z : Re z < d o } . Thus the ' depend, in a natural sense, holomorphically on z. operators A It is natural to refer to the operators A" as the complex powers o f a pseudodifferential operator A . In fact, (1.75) easily implies that for any integer z the ' coincides with the usual integral power of A and, in particular, operator A A ' = Z and A' = A . Further, A ' = A , for Re z c 0 and the group property is satisfied for all z :
A '
0
A" = A ' + W ,
z, w
c.
(1.76)
where, in computing the powers a;, we use the same values of the argument a, as we used in computing 1 ' in the integral (1.70). Likewise, the remaining integrals contain rational functions with the only pole 1= a,(x, and they turn
r),
Finally, suppose that A has an eigenfunction $: A$ = A$, this implying that $ E C"(M) since A is elliptic. Then, by the Cauchy formula, we immediately see ' corresponding to the eigenthat A& = A'$, that is, $ is an eigenfunction of A value A'. In particular, if the operator A is selfadjoint and positive (under our assumptions, positivity of A implies that we can take the ray (a, 01 for the ray L), then, by examining the values of A' on a complete orthogonal system of
32
33
eigenfunctions of A, we find that our definition of A" coincides with the usual definition in spectral theory. Thus the calculus of pseudodifferential operators enables us to describe the structure of such important objects of operator calculus as the resolvent and complex powers of elliptic operators on compact manifolds. We shall see later that it plays an equally important role in the theory of boundaryvalue problems for elliptic equations.
1.8. Pseudodifferential Operators in IR"(Hormander [1983, 19851,Kumanogo [1982], Shubin [1978]). Although the Euclidean space IR"can be regarded as a particular case of a manifold, and thus one can speak about classes Lm of pseudodifferential operators on IR", there often arise other useful classes of pseudodifferential operators on IR" which are connected with the additional algebraic structures present on IR". As mentioned above, we can, for example, consider operators on IR"with uniform estimates (with respect to x ) for symbols (see Theorem 1.4,the remark following the statement of this theorem and also Theorem 1.4).To make this remark precise, we introduce a class of symbols S;(IR") consisting of functions a = a(x, 5) E C"(IR" x IR") which satisfy the uniform estimates (1.42).The corresponding operators a(x, 0 , ) acting according to the map the space S(IR")and the space usual formula (1.6)
)c?(IR"{
u: u E C"(IR"), sup la"u(x)l <
XE
~(<)ES(IR") which, on applying the Fourier transformation, go over to the operators of multiplication by a function. A uniformly elliptic operator A in IR" can have an infinitedimensionalkernel. One such operator, for example, is the operator a(D) with the elliptic symbol a = a(5) that vanishes for 151 < 1. A vital fact which simplifies working with pseudodifferential operators in IR" is that there is a oneone correspondence between the operators and the symbols: the symbol a, is given in terms of A by the formula a,(x, 5) = e  i X ' ~ A ( e i x ' ~ ) , (1.79) where the operator A is applied with respect to x and 5 plays the role of a parameter. There are also other ways of establishing the oneone correspondence between the operators and the symbols in IR". One of these possibilities, already mentioned in 0 1.3, involves using amplitudes of the form a(y, 5). This correspondence is dual to the one just mentioned, and has totally analogous properties that are established most easily by going over to the transpose or adjoint operators. It is more interesting to use the Weyl symbols, that is, ampli
that is,
00
for all a
R"
into themselves. In particular, we can form the composition of operators of this class without the requirement that one of the multiplying operators is properly supported. Furthermore, the composition theorem, Theorem 1 . 2 ,remains valid and (1.31) which define the symbols of the in this class as do the formulae (1.30) transpose and adjoint operators, the asymptotic expansions being understood up to symbols belonging to the classes S,N(IRn), where N + 00. We can also use the amplitudes a(x, y, 5) which satisfy the estimates
iapxslayswx, y,
(1.77)
The operators with such amplitudes can also be defined by the symbol a , E S:(IR"), and Theorem 1.1 remains valid. If the operator A = a(x, 0 , ) with symbol a E Sr(IR")is uni$oformly elliptic, that is, if there exist E > 0 and R > 0 such that
, ) . The function a = a(x, 5) is known as the Weyl symbol of the operator aw(x,0 An important property of the Weyl symbol which distinguishes it from the usual symbol is that the transition to the adjoint operator is simple. Thus, if A has the Weyl symbol a(x, t),then the formal adjoint operator A* in L2(IR"), is defined by the Weyl symbol a(x, t),the complex conjugate of a. In particular, if , ) is the symbol a is real valued, then the corresponding operator A = aw(x,0 formally selfadjoint. The composition formula for the Weyl symbols assumes the following form. , ) and B = bW(x, D,.), where a E Stl(lR")and b E S,"z(lR"), then If A = aw(x,0 A 0 B = C = cw(x,D , . ) ,where the function c(x, 5) has the asymptotic expansion
(1.81)
(a, j?)j with la
la(x, 5)l
> &15Irn,
(1.78)
We note that the principal terms in this formula corresponding to the pairs PI < 1, are of the form
then we can find the parametrix of A, this being an operator B = b(x, 0 , ) with such that B A  I and AB  I have symbols belonging to symbol b E Slm(IR") S;"(IR") = S;(IR"). We note in passing that this statement does not imply in
a * b{a, 2 b},
where
n
m
any way that the operator A is Fredholm. This is because the operators with symbols in S,"(lR") are not necessarily compact in L2(lR"). For example, this set contains, among others, all those operators a(D) with constant symbols a =
t
(a,b}(x,t)=
1
j=1

.,
34
35
The connection between the Weyl symbol and the usual symbol of a given , is operator is easily established by Theorem 1.1. Thus, the usual symbol a expressed in terms of the Weyl symbol ; a by the formula (1.82) while the inverse correspondence following from this result is
(1.83)
uniformly in h, where 0 < h < 1. The classes of symbols Sr(IR") are described in such a way that the variables x and 5 do not enjoy equal status, and this situation is unnatural from the point of view of quantum mechanics. This deficiency can be overcome in a number of , " ways. The simplest of these is to consider for any p with 0 < p < 1 the class G of symbols consisting of the functions a = a(y) = a(x, 5 ) E Cm(IRzn) which satisfy the estimates (13 6 ) i a w y ) i G c,ci + iYi)mplyl, where C, = C,(a). This class (even with p = 1) contains all the polynomials in y = (x, 5). We can consider operators with the usual symbols or with Weyl symbols (or hsymbols) belonging to G , " . In particular, every differential operator with polynomial coefficients can be written as an operator with the usual , " . In the classes of operasymbol or Weyl symbol (or hsymbol) belonging to G tors just described the basic theorems of the calculus of pseudodifferential operators hold. For example, the composition theorem holds for the usual symbols or Weyl symbols (or hsymbols). However, we note that for m < 0 the operators , "are compact in L2(lR"),and this fact enables us to with symbols belonging to G develop the theory in these classes in the same way as for a compact manifold. Further, as an analogue of Cm(M) (with M a compact manifold) we have here the Schwartz space S(lR"). For instance, if a E G , "and la(y)I 2 ~ l y l " for IyI 2 R (an analogue of the ellipticity!), then the inclusion a(x, D,)u = f E S(IR") (or aw(x,D,)u = f E S(IR"))and the a priori assumption u E S'(IR") imply that u E S(lR").Further, under the same condition, the operators a(x, 0 , ) and aw(x,0 , ) are Fredholm in S(IR")and S'(IR"). The simplest example of an operator that satisfies the above ellipticity condition is the quantum mechanical energy operator of the harmonic oscillator H = + [  A
The Weyl symbol is also often referred to as a symmetric symbol. The meaning of this terminology can be easily understood the operator with the Weyl symbol a = x j t j is 3(xjDj + Djxj) while the operator with the usual symbol x j t j is xjDj and the operator with the amplitude yjcj is Djxj. The problem of establishing a correspondence between functions on the phase space l R : xl R ; and operators arises in a natural way in quantum mechanics, where such a correspondence is known as quantization. The presence of different kinds of symbols reflects the fact that quantization is, in principle, not unique. In particular, the correspondence a aw(x, 0 , ) between the operators and their Weyl symbols is often referred to as the Weyl quantization. In examining the transition to classical mechanics from quantum mechanics in the problem of quantization, the presence of a small parameter h, known as the Planck constant, has to be taken into account. This parameter usually h a also appears in the quantization under which the momentum operator  i axj corresponds to the functions tj.In view of this situation, one can associate with the function a(x, <) the operator a(x, hD,) or the operator aw(x,hD,) depending on the quantization chosen. It can easily be seen, for example, that
f)
(1.84)
The function a(x, 5 ) is known as the Weyl hsymbol of the operator aw(x,hD,). The various formulae of operator calculus for hsymbols usually have the form of asymptotic expansions in powers of h. For instance, the composition theorem assumes the following form. If the operators A and B have Weyl hsymbols a(x, 5 ) and b(x, t), then the operator C = A o B has a Wevl hsvmbol c = c(h, x, 5 ) (in general, depending explicitly on h) such that
(1.85)
c"
I
Thus the classes G , "enable us to take into account, apart from the smoothness, the behaviour of functions at infinity also. They prove to be useful in considering problems where the basic effects are localized. But in those problems where translation invariance is vital (for example, in studying operators with almostperiodic coefficients), the classes S:(IR") prove to be more convenient. A detailed account of the above pseudodifferential operators in IR"and their wider classes can be found in the monographs by Hormander [1983, 19851, Kumanogo [1982], and Shubin [1978].
5
P
36
37
$2. Singular Integral Operators and their Applications. Calderon's Theorem. Reduction of Boundaryvalue Problems for Elliptic Equations to Problems on the Boundary
2.1. Definition and Boundedness Theorems (Agranovich [1965], Bers, John, Schechter [1964], Calderon and Zygmund [1952], Mikhlin [1962], Mizohata [1965]). By a singular integral operator we mean an operator
A:U(X)H
2.2. Smoothness of Solutions of Secondorder Elliptic Equations (Bers, John and Schechter [1964]). We first assume that 52 is a bounded domain in IR" with smooth boundary. Let d u = f in 52. A wellknown formula (see (2.9)in Egorov and Shubin [1988]; $2, Chap. 2) enables us to express u in the f o m u = u1 + u2, where
Ul(X)
J*
E(x  Y M Y ) dy,
In this case, the integral (2.1)can be defined in the sense of the principal value (v.P.),that is,
Au(x) = lim
E++O
s s
K ( x , x  Y)U(Y) dy, x
IR",
IR",
(2.1)
and u2 is expressed in terms of an integral over the boundary 852.For x E 52, the function u2 is always infinitely differentiable, and so u has the same smoothness inside 52 as ul. If a = (al, ..., a,,) and IaJ= 2, then D"ul is given by the singular integral
D"ul(X) =
= 0, z E IR"\O,
E IR".
(2.2) (2.3)
K ( x , Z ) dS = 0, x
Applying Theorems 2.1 and 2.2, we find that the following statements hold. 1". If du E L,(52) and p E (1, co),then D"u E L,(sz'), where la1 = 2 and sz' C
I*
Irl=l
52.
2". If du E CY(52) and y E (0, l), then D"u E CY(Qr), where la1 = 2 and sz' C 52. These results remain valid, and are also proved by Theorems 2.1 and 2.2, for general elliptic operators with smooth coefficients. Thus, if P ( x , D) is an elliptic differential operator of order m with smooth coefficients, then the following assertions hold. 1". If P(x, D)u E L,(O) and p E (1, GO), then D"u E L,(52'), where la( = m and 52' C 52. 2". If P(x, D)u E Cy(Q) and y E (0, l), then D"u E CY(sz'),where la1 = m and
K ( x , x  Y ) U ( Y ) dy.
R+m
e<IxyI<R
The existence of the integral can be established easily if, for example, K ( x , z ) is o ( l R " ) . bounded for x E IR", IzI = 1 u E C
Example 2.1. The Hilbert transformation
sz' C 52.
2.3. Connection with Pseudodifferential Operators (Agranovich [19653, Hormander [1983, 19853, Taylor [1981]). A pseudodifferential operator P ( x , D), with symbol p(x, c), in a domain 52 c IR" can be expressed as an integral operator by the formula
P ( x , D)u(x) = K ( x , x  Y ) U ( Y )dy,
The boundedness of this operator in L2(IR)is a consequenze of the Parseval identity, because the transition to Fourier transforms yields Hu(<) = sgn * ii(<), and so IIHuIIL, = IIuIIL,. Thus H is even an isometry. It can be shown that this for all p > 1. operator is bounded in Lp(lR")
<
Theorem 2.1 (Calderon and Zygmund [1952]; see also Bers, John and Schechter [1964]). The operator A defined by (2.1) is bounded in L,(IR") for p>lif
IR",
Irl=l
<
+ q'
= 1.
Theorem 2.2 (Holder, Korn, Lichtenshtein and Giraud; see Bers, John and f K E C'(IR" x S"' ), then the operator A defined by (2.1) is Schechter [1964]). I bounded in Cy(IR") for y E (0, 1).
38
C) SlSl=,
39
K ( x , Z ) dS, = 0, x E 0. It can be shown easily that these conditions lead to the relation K ( x , 2)
=K,(x)W
+ K , ( x , 4,
where SIzI=l K,(x, z) dS, = 0. Thus P(x, D)u(x)= K,(x)u(x) + K,u(x), where K , is a singular integral operator. Thus Theorems 2.1 and 2.2 imply that pseudodifferential operators of order Y (0 < y < 1). An easy zero are bounded in the spaces L, (1 c p < co) and C consequence of this result is the following theorem.
where Dl(t) is the diagonal matrix with A,, . ..,A, along the diagonal. We denote by N ( t ) and D ( t ) the pseudodifferential operators with symbols N,(t) and Dl(t) respectively. Changing the variables by formula u = N(t)u, we find that the system Lu = f goes into a system of the form
_at
av
iD(t)Au
+ Bv = Nf,
Theorem 2.3. Let P(x, D ) be a classical pseudodigerential operator o f order m whose symbol satisfies the estimates (1.7) in which the constants Ca,sare indepenf x E IR".Then it is a bounded operator from the Sobolev space W;(IR") into dent o W,k'"(R") for p E (1, co), k E Z,k 2 m, as well as an operator from the space Ck+Y(IRn) into Ck'"+y (IR")for y E (0, l), k E Z, m E Z and k b m b 0.
We note that in the general case, the kernel K ( x , z) of a pseudodifferential operator is a C"function for z # 0, and for z = 0 it has a singularity which is not greater than that of the function IzI'""', where m is the order of the operator in question. This is because the function z a K ( x ,z) is continuous in x and z for 1x1 2 m + n + 1.
where B is a bounded operator in &(a) for each bounded domain SZ c IR". The principal part of this system is in diagonal form, and this part decouples into separate equations. Such a diagonalization enables us, for example, to obtain energy estimates for the solution of the Cauchy problem, and to establish and uniqueness and existence of the solution of this problem. Further, the above diagonalization simplifies to a great extent the investigation of the wellposedness of boundaryvalue problems for the system Lu = f.
2.5. Calderon's Theorem (Calderon [19581, Hormander [1983, 19851, Taylor [198l], Trkves [1980]). One of the most remarkable results of the general theory of partial differential equations is the proof of the uniqueness of solutions to the noncharacteristic Cauchy problem for a general system of equations with smooth but not necessarily analytic coefficients. This result was obtained by Calderon with the aid of singular integral operators. Let P = p(t, x, D,, D,) be a differential operator of order m with principal symbol po(t, x , z, 5). Assume that po(O, 0, 1,O) # 0 so that the plane t = 0 is noncharacteristic at the origin. Theorem 2.4. Suppose that the equation po(t,x , z,
x)
o ( H ( t )= )
1 Ak(t, k=l
x)?
<k
The same theorem also holds for system of equations satisfying analogous conditions. The main point of the proof lies in reducing the equation Pv = 0 to an equivalent system of firstorder pseudodifferential equations and further diagonalization (more precisely, reduction to the Jordan normal form) of this system. Let us demonstrate how this reduction can be performed. Let Pu = f.We set
u. J = A ~  ~ D /  ~j U = , 1,. . ., m,
151
and A is an operator with symbol 151. The matrix o(H) has distinct real eigenvalues. Therefore the corresponding eigenvectors are real and linearly independent. Let N , ( t ) be an N x N square matrix whose rows are these eigenvectors normalized to have unit length. Then
Nl (OdH) = 4 (t)Nl(t),
where A is a pseudodifferential operator in the variables x with symbol (1 1512)i/2, that is, A = (I  A,)'/'. The Holmgren transformation t + t 6lxl2, where 6 ( > O ) is a constant, maps the plane t = 0 onto the surface t = 61x1'. We can therefore assume that u(t, x) = 0 when t < 61x1', and thus u(t, x) = 0 outside some ball for each small t > 0. Then
40
41
Au = f ( x ) , x
IR",
n
+ 1 Qj(t, X , Dx)A1ju,j+l
j=1
where
= f,
A ( x , D)u(x) = (2n)"
where Qj is a differential operator of order j. It is important that the characteristic equation of this system coincides with the equation po(t, x, T , < ) = 0. The resulting system of firstorder equations is reduced to the Jordan normal form in the principal part by the same method as the one used in 0 2.4. After this reduction, it is a question of obtaining a priori estimates for the solution of the problem
D,u  [ A ( t )
S[
ao(x)ltl
+ i 1 aj(x)tj v"({)eix'cdt.
j=1
2 aj(x)tj
0E
+ iB(t)]u= f,
u = 0 for t
< 0,
of the operator A does not vaish for 151 = 1 , and therefore the equation (2.6)is elliptic. For example, in this case the estimate
llulls
or of
COm(IR"),
holds, and this immediately gives an estimate for the solution of the problem (2.4)(2.5).Namely,
Il~lls+l/2
E H"K+').
where A ( t ) and B(t) are firstorder pseudodifferential operators with real symbols. The desired estimates are obtained quite simply by integration by parts (see Calderon [1958], Egorov [1984], Nirenberg [1973]).
Here the norms of u denote the norms in the Sobolev spaces in IR;+' and for f the norm in HS'(IRn).
2.6. Reduction of the Oblique Derivative Problem to a Problem on the Boundary (Egorov [1984], Hormander [1983, 19851, Trkves [1980]). Using the technique of pseudodifferential operators, we can reduce the boundaryvalue problem for an elliptic system of differential equations to an equivalent system of pseudodifferential equations on a boundary manifold. We start with a simple example. Let us consider the Laplace equation
2.7. Reduction of the Boundaryvalue Problem for the Secondorder Equation to a Problem on the Boundary (Egorov [1984], Hormander [1983,1985], Trkves [1980]). Let us show how to reduce a boundaryvalue problem for the general secondorder elliptic equation
Lu= f
in a domain 8 c IR"to a problem on the boundary, where
n n
($+
au
a,j=l
d,)u = 0
L=
j,k=l
UjkDjDk
+ 1 bjDj + c
j=l
fort
= 0.
(2.4) belonging to the class C(IR+,L2(IR"))can be expressed as the Poisson integral u(t, x ) = (2n)" where u(y) = u(0, y). This leads to
is an elliptic operator with real smooth coefficients. We fix a point Po on the boundary r of 8,assuming that this boundary is infinitely differentiable. Using a smooth mapping, we transform the part of the boundary in the neighbourhood of Po into a part of the plane x, = 0 in such a way that the image of 8 falls in the halfspace x , > 0. Suppose that u E COm(lR1) and that the intersection of supp u with the image of r lies in the plane x , = 0. Let uo denote the function which coincides with u if x , 2 0 and is zero if x , < 0. Then 1 DnUo = (0,~)' T ~ ( x , 0 ) u~(x'), '
JJ
+1
= 0, and
42
43
k,
where u1 is the trace of D,u when x , = 0. Suppose that after the above transformation the operator L takes the form
n
Then Thus after restriction to the plane x, = 0, the equation (2.7) assumes the form
AuO = Bui
+ 9,
(2.8)
Let us construct a left parametrix Q for L in IR such that QL = I is a smoothing operator. Then
+ T, where T
where g = Q(LU)O~,,=~, and A and B are pseudodifferential operators with principal symbols
:.
In reducing the problem to one on the boundary an important role is played by the following result of Hormander [1966]. Theorem 2.6. Let Q be a pseudodiferential operator in a domain 52 c IR. Let its symbol q(x, 5 ) be expanded as an asymptotic sum qj(x, 5 ) each term o f which is a rational function o f (. Let w denote the intersection o f 52 and the plane x , = 0. Then for each function u in CF(w)the function Q(8()(xn) 0 u) and all its derivatives can be extended from 52 = { x :x E 52, x, > 0 } to 5 2 v w. The limiting values
respectively. It is easy to see that A and B are elliptic operators. Thus (2.8) can be written, for example, in the form
u1 = couo
+ clg,
(2.9)
where Co and C, are firstorder operators and the principal symbol of Co is n1 A . tj  j?, and thus its imaginary part is positive if # 0. j=1 A,, If we consider the boundaryvalue problem with the condition
j=l
2 aj(x)Dju+ ao(x)u
= h(x) on
r,
where for 4. we can take, for example, a disc in the halfplane Im 5, > 0 that contains in its interior the poles o f qj lying in this halfplane.
The principal symbol of the parametrix Q equals
then, by excluding the derivative of u along the normal by means of (2.9), we obtain a pseudodifferential equation for uo on r. On solving this equation, we can find the solution u of the boundaryvalue problem as the solution of the Dirichlet problem with the condition u = uo on r.We can also use (2.9)and (2.7) to express u in an explicit form.
j$l
Ajktjtk)l*
For each
5 # 0, the equation
Ajk<jtk
j,k=l
=O
in 5, has two roots a and j?, with Im a > 0 and Im j? < 0. Therefore the contour 4.must contain the point = a in its interior. It can be seen easily that
r,,
2.8. Reduction of the Boundaryvalue Problem for an Elliptic System to a Problem on the Boundary. We can reduce the elliptic boundaryvalue problem for equations or systems of higher orders to a problem on the boundary in the same way. The following construction is due to Calderon [1963]. Let 52 be a domain, with smooth boundary r,in lR. Let P(x, 0,) be a system of r differential equations of order m in a neighbourhood of SZ. To make the discussion simple, we assume that the coefficients of these operators are infinitely smooth.
44
45
Sometimes it is convenient to use another equivalent definition, provided by the next theorem.
Theorem 2.7. The space K coincides with the range o f an rm x rm matrix C consisting o f singular integral operators in 8 the rank o f whose symbol is rm/2 and for which Cz = C.
The symbol a(C) of C can be written explicitly in terms of the symbol of P. In this way, the above construction enables us to reduce the question of solving a boundaryvalue problem for a system of equations P u = 0 in 8 to that of solving a system of pseudodifferential equations on the boundary manifold r.
Theorem 3.1. A point (xo,to) E T*Q\O does not lie in WF(u) if and only there exist a function cp E C c ( 8 )and a cone r c IR" such that for every N > 0
cp(xO)
if
cN(l + It/)" for 5 r. A subset K of T*8\0 is called conical if it contains all the points (x, tt)(t > 0) whenever it contains the point (x, 5).
# O,
to
r, lG(t)I
Theorem 3.2. The wave front set o f each distribution u E 9'(8) is a closed conical set in T*8\0 whose projection onto 8 coincides with sing sup u. Zf cp E Cc(SZ), then WF(cpu) c WF(u). Examples. 1". u = d(x);WF(u) = ((0,l),5 E lR"\O}. 2". u = d(x,); WF(u) = ((0,x', tl, 0)E T*IR"\O, X' E IR"l, C1 E IR\O}. 1 3". u = 2; WF(u) = {(O,O, x", tl, 0,O); X" E lRn2,tl E IR\O}. x2 ix, 4".Let r be any closed conical subset of T*O\O. Then the function
~
U(X) =
C k2cp(k(x  xk))eik3,'k
k=l
is continuous in IR" and WF(u) = r if cp E C;(IR"), @(O) = 1, l e k l = 1, and the sequence of points (xk, 6,) is dense in the intersection of r with the set 151 = 1 (see Hormander [1983,1985]).
3.2. Properties of the Wave Front Set. Let X c I R " and Y c IR" be open sets and let f : X * Y be a smooth map. If cp E C;(Y) then the function f *cp(x) = cp( f (x)) is smooth in X . An important question arises: when can the map f * be extended by continuity to distributions? The following result answers this question.
Theorem 3.3. (Hormander [1983, 19851). The distribution f*u fined for each u E 9 ' ( Y )for which Nf n WF(u) = 0, where
Nf
Eg
( X ) is de(34
Definition 3.1. Let u E 9'(SZ), where SZ is a domain in IR". A point (xo, lo) from T*Q\O does not lie in WF(u) if there exist functions cp E COm(8) and $ E Cm(IR"\O)such that
cp(X0)
Furthermore,
# 0, $ G o ) # 0,
46
41
Clearly, Nf = $3if m = n and det f '(x) # 0, and then Theorem 3.3 is applicable for any u. In particular, this theorem enables us to define WF(u) for u E 9 ' ( X ) , where X is a smooth manifold. Moreover, WF(u) c T*X\O, and is independent of the local coordinates used. Let X be a smooth manifold and Y c X a smooth submanifold of smaller dimension. Let i: Y 4 X be the embedding of Y into X . The set Ni, introduced in Theorem 3.3, coincides with the set N ( Y ) = { ( y , q): y E Y and q is normal to Y}. Thus we have
E WF(K)}.
Theorem 3.6. Let u E sl( Y )and let WF(u) n WF(K), = 0. Then the distribution
A W = K(x, Y ) U ( Y ) dy E 9 ' ( X )
is defined, and
Theorem 3.4. I f u E g ( X ) and WF(u) n N ( Y ) = 0, then the restriction uly E g ( Y ) is defined. Furthermore,
WF(ul,) c { ( y , q) E T*Y\O: 35 E N ( Y ) ,( y , q
+ 5 ) E WF(u)}.
5, q) E W'(K)}.
An important question from the point of view of applications is that of defining the product uu of two distributions. It is known that this product is always defined if u E Cm(X).In the general case, it is important that the wave fronts WF(u) and WF(u) are compatible in the sense that, at those points which are singular for u the function u must be smooth and viceversa (see, for example, Hormander [1971,1983,1985], Shubin [1978]). Let u, u E 9 ' ( X ) , where X is a smooth manifold, and A: X + X x X be the diagonal map such that A(x) = (x, x). The set N,, given by (3.1) assumes the form
Nd = { (x, X,5, q) E T*(X x X)\O
In the important particular case where A is a pseudodifferential operator, we have WF(K) c {(x, x, 5, 5 ) E T*(X x X)\O), and hence WF(K),
=
0and WF'(K),
0, giving
WF(Au) c WF(u). Thus we find that a pseudodifferential operator is pseudolocal in terms of wave front sets also (see 0 1.1).
I
5 + q = O}.
3.3. Applications to Differential Equations. Let P = P(x, D)be a differential or a pseudodifferential operator of order m with principal symbol po(x, 5). We set
Char P = {(x, 5 ) E T*X\O: p o ( x , 5 ) = O}.
WF(uu) c {(x, 5
(x, 5 ) E WF(u) or 5 = 0,
I
(x, q ) E WF(u) or q = O}. This result is obtained from Theorem 3.3 by applying A* to the distribution u(x) 0 u(y) E 9 ' ( X x X ) . Theorems 3.3 and 3.5 enable us to examine the question of applying to the distribution u E Q'(Y) the integral operator of the form
=
Corollary 3.1. I f P is an elliptic operator (that is, Char P = a), then WF(u) = WF(Pu) for all u E 9 ' ( X ) .
The proof of the theorem is based on the construction of the microlocal parametrix. If the point (xo, to)lies outside Char P, then we can construct an operator Q(x, D)such that the symbol of QP  I will be zero in a conical neighbourhood of the point (x,,, to). This symbol can be constructed in the same $ WF(Pu), then (xo, to) # WF(QPu), and way as in Theorem 1.3. Now if (xo, to) # WF(u). consequently (xo, to)
with kernel K lying in 9 ' ( X x Y). In the particular case where u E C;( Y), we have Au E g ( X ) and WF(Au) c { (x, 5 ) E T*X\O: (x, y, 5, 0) E WF(K) for some y E supp u } . This result follows immediately from Theorem 3.5. To tackle the general case where u lies in &'( Y ) ,we introduce the following sets:
K(x, Y)U(Y) dY
Example 3.1. Let u E 9 ' ( X ) , X c lR"and D,u E Cm(X).If (xo, to) E T*(X)\O and (xo, to) # WF(u), then each point (x('), to)of T*(X)\O lies outside WF(u) provided that the point x(') can be connected with xo by a line segment parallel to the x,axis and lying in X .
48
49
This simple example describes the actual situation that is typical for operators with simple characteristics.
@: u H ( ( a ( x , y , O)u(y)eis(x,Y.e) dy do.
(4.1)
Theorem 3.8 (Hormander [1983, 19853). Let X c IR". Let P be a pseudodiflerential operator in X with real principal symbol p o . Let y be a segment, lying f the integral curve o f the Hamiltonian system of equations in T*X\O, o
Here the function a is called the amplitude and a E Cm(X x Y x W"), where X c IR"'and Y c IR"I, and the estimates hold for any multiindices a, B and y. The function S is called the phase function and S E C m ( X x Y x (IRN\O)); S is real valued, positive and homogeneous in 0 of degree 1. Usually the phase function S is subjected to some nondegeneracy conditions too; these will be mentioned below.
W )= aPo(x(t),t ( t ) W t ,
Zf y n WF(Pu) = $3,then either y c WF(u) or y n WF(u) = 0. 3.4. Some Generalizations. In the theory of differential equations some generalizations of the concept of the wave front set prove to be useful, such as the analytic wave front, the Gevrey wave front, the oscillation front, etc. (See Hormander [1983,1985].) We mention one such generalization connected with the Sobolev spaces Hs (s E IR). Definition 3.2. Let u E 9 ' ( X ) and (xo, to) E T*(X)\O. We shall write u E HS(xO, to) if u = u, + u2, where u1 E k ( X ) and (xo,to) $ WF(u2). Definition 3.3. By the wave front set WF,(u) of a distribution u E 9 ( X ) we mean the complement in T*(X)\O of the set of points (x, t) for which u E HS(x,5). Theorem 3.9 (Hormander [1983,1985]). For each u E 9 ' ( X )
WF,(u) c Char P u WF,,(Pu).
I
Example 4.1. If n, = n2 = N , S(x, y , 0) = ( x  y ) . 0 , then (4.1) becomes a pseudodifferential operator (see 9 1).
a2u at2
> 0, u = 0,
 = cp
au
at
for t = 0,
I
I
I 1
1
Theorem 3.10 (Hormander [1983, 19851). Suppose that the hypotheses o f Theorem 3.8 hold. Z f y n WF,,(Pu) = 0, then either y c WF,(u) or y n WF,(u) = 0.
This formula contains two operators which have the form of Fourier integral operators with phase functions ( x  y ) t + t 151, but with amplitudes of the form (2i I {I)' which have a singularity at 5 = 0. By cutting off this singularity, that is, by replacing (2il<[)' with the amplitude (1  x(t))(2iltl)', where x E C;(IR") and ~ ( 5= ) 1 in a neighbourhood of the origin, we add an operator with a smooth kernel to the righthand side. Thus u(t, x ) is expressed in terms of cp(x) by means of two Fourier integral operators and an operator with a smooth kernel.
au at
for t
= 0, u(0, x ) = cp(x),
where p(t, x, 0,) is a pseudodifferential operator of order 1 in x that depends smoothly on t and whose symbol p(t, x , 5 ) is positive and is a realvalued homogeneous function o f t E R"of degree 1. The parametrix of this problem has the form
a(t, x, S)q(y)ei(xY)r+is(t,x.e) dY d t ,
50
t,x,r+z
"1
If k is chosen so large that k > n2 + m, then the resulting integral converges absolutely and uniformly in E for E E [O, 13 when u E C;( Y), and it enables us to take the limit as E + 0 under the integral sign. Since the same construction can be carried out for the integrals obtained from (4.1) by differentiation with respect to x , we have
The techniques for finding the amplitude a(t, x , 5 ) are discussed below in 0 4.3.
4.2. Some Properties of Fourier Integral Operators. Let us first examine the question of convergence of the integral (4.1). It is clear that the integral cannot converge when m > n2 even if u E C;(Y). We try to define this integral as the limit
E + O ![x(eO)a(x, y, 8)u(y)eiS(x*Y.e) d y do, lim
Theorem 4.1. Zf (4.3) holds, then @ is a bounded operator from C;(Y) into Crn(X).
Since the transpose of @ is of the form (4.3)
t@u(y)
where x E C;(lR") and ~ ( 0 = ) 1 in a neighbourhood of 0 E IR". Assume that d,,eS(x, y, 8) # 0 for 8 E IRN\O, x Setting
EX
,y
Y.
do,
i n Z a s a L = : 1 +y
&=I
ayk ayk
we have
d,,,J(x, y, 8) # 0 for 8 # 0, x E X , y E Y
= . $(x, y , @iS(x,y,e),
where $(x, y, 8) # 0 and $(x, y, to) = t2$(x,y , 8) for t > 8. We choose h E C;(lR") such that h(8) = 1 if 1 8 1 c 1/2 and h(8) , = 0 if 1 8 1 > 1, and set
Ll= [l
Then LleiS = eiS,and

Theorem 3.6 and arguments analogous to those used earlier enable us to establish the following result.
Theorem 4.3. Let u E &'(a) and let @ be an operator of the form (4.1).Assume that the following conditions hold.
The functions ak,bj and c satisfy estimates of the form (4.2) for m =  1,0 and  1 respectively. Hence
1". Zf dxS(x,y, 8) = 0 and d,S(x, y, 8) = 0, then y , 
( "a,")
$ WF(u).
52
53
2". Zf d,S(x, y, 0) = 0 and 8 # 0, then d,S(x, y , 0) # 0. Then the distribution @u E 9 ' ( X ) is defined, and
A similar result also holds for the composition @ 0 A, and this follows easily from Theorem 4.5 by expressing @ 0 A as the transpose of the operator 'A o W.
Theorem 4.6. The operator @ 0 A can be represented in the form (4.1) with the same phase function S and with an amplitude that is asymptotically equal to
4.3. Composition of Fourier Integral Operators with Pseudodifferential Operators. Let A be a pseudodifferential operator of order m in a domain X c IR"' and let a(x, 5 ) be its symbol. We first examine the behaviour of the function A( fei'$(x))as A + +a, assuming A to be properly supported, f E Cm(X)and $(x) E Cm(X)with $'(x) # 0 for x E X.
Theorem 4.4. For any integer N 2 0 and A 2 1, we have
Y , 0) aY * We now return to Example 4.3, examined in $4.1. Let us apply Theorem 4.5 to compute the symbol of the operator P 0 T. In view of this theorem, the symbol a(t, x , 5 ) must satisfy the asymptotic equation
where v,,(x,
Z,
0) = S(X, Z, 0)  S ( X ,y, 0)  ( Z  y )
+~mN/2 RNV, $ 9
(4.5)
x E K,
a(0, x ,
< Cp,N,K,
j=O
aj(t,x, g),
in which K is a compact subset of X and the constants Cp,N,K are independent of A. We note that the summand corresponding to a in (4.5) is estimated by CAmlUl/', because cp,(y)= 0 when y = x, and hence
aYj
we find that
...
J J b(x, y , ~ ) u ( y ) e i S ( x *d Y y~ do. ~)
Theorem 4.5. The composition A o 0 is an operator of the form (4.1) with the same phase function S and amplitude c(x, y, 0) = eis(x.yle)a(x, D,)[b(x, y , d)eis(x,Y.e)]. The amplitude can be expanded in an asymptotic series
Here the functions 4 can be computed if the functions a,, a,, ..., aj, are I > 0. These equations are known. Moreover, 4 ( t , x , At) = A  j q ( t , x, 5 ) for , referred to as the transport equations. The parametrix T thus constructed enables us to establish the existence of a unique solution to the Cauchy problem.
4.4. Canonical Transformations. Let us consider a Fourier integral operator of the special form
@u(x)= (27t)" a(x, ~)u'(<)eis("*') dc.
as 101
(a2:::55))
(4.6)
54
55
S are independent of y and N = n, = n, = n. The Schwartz kernel of this operator has the form r
2". A realvalued smooth function H(x, 5 ) defines a canonical transformation (x, tl)H(X(t),5 " for each t E IR, where x(t), <(t)is the solution of the Hamiltonian system of equations
The method of stationary phase (see, for example, Fedoryuk [1971]) enables us to show that
4 0 ) = x , t(0) = 5, where we assume that a solution exists for each t E W. A transformation T : T*Q + T*Q is canonical if and only if, under the transformation induced on the functions, the Poisson bracket
5=
a s k ?) ax
is preserved for any two functions f, g E Cm(T*Q). Each smooth function S ( x l ,..., x,, ql, ..., qk, Y k + l , ..., y,,) (0 < k isfying the condition
define a transformation T : (x, 5 ) H( Y , ll) which, in classical mechanics, is known as the canonical transformation (see Arnol'd [1979]). Let us recall some of the notions connected with this transformation. Let M be a smooth manifold whose dimension is even, 2n say. A symplectic structure on M is a symplectic form on M , i.e. an exterior smooth differential 2form 1 w= wijdxi A dxj, wij =  w. Ji, 2
~
< n) sat
as j 5. = J
axj'
1, ..., n;
which is closed, that is, dw = 0, and is nondegenerate, that is, det llwijll # 0. A manifold on which a symplectic form w is given, is called symplectic. For example, if Q is a domain of IR", then the manifold T*Q has the symplectic structure, given by the form o = dx
A
d< =
C dxj A d t j , j=1
where x l , . .. , x , are local coordinates in Q and . .., 5, are corresponding coordinates in fibres of the cotangent bundle. This form is independent of the coordinates x , ,. . .,x , chosen in Q. The transformation T : T*Q + T*Q is called canonical if it is smooth and preserves the symplectic structure.
rl,
4.5. Connection Between Canonical Transformations and Fourier Integral Operators. As we noted above, the wave front set of a distribution is transformed under the action of a Fourier integral operator of the form (4.6) in accordance with the canonical transformation whose generating function is the phase function of the Fourier integral operator. It turns out that the principal symbol of each pseudodifferential operator changes in the same manner.
Theorem 4.7 (Egorov [1984]). Let P be a properly supported pseudodirerential operator in Q c IR" with the symbol p E Sm(Q x IR") and let @ be the Fourier integral operator (4.6) with phase function S. Then there exists a properly supported pseudodifeerential operator Q with symbol q E Sm(al x IR"), where al
Examples. 1". The change of coordinates y = F(x) generates a canonical transformation T given by
y
= F(x),
r] =
'F'(x)'(.
56
51
is the image of SZ under the map defined by S, such that the operator T P @  @Q is smoothing and q  go E Sm"'(sz' x IR"), where go q),q )
~
yt
= =
p(x,
y).
In the investigation of various a priori estimates the following related result proves to be useful. Theorem 4.8 (Egorov [1984]). Let P be a properly supported pseudodifferential operator with symbol p E Sm(SZ x IR") and let @ be the Fourier integral operator of the form (4.6) with amplitude a E So@ x IR") and phase function S. Then the operator Q = @*P@ is pseudodifferential with symbol q E S'"(S2' x IR"), and 4(Y, q )  P ( X , 5)la(x, 5)121det SXJ' E sml, where ( y , q ) is the image of ( x , 5 ) under the canonical transformation defined by the generating function S. Corollary 4.1. Let @ be a Fourier integral operator of the form (4.6) with ' C 52 amplitude a E S0(Q x IR") and phase function S. Then for any subdomain 8 there exists a constant C such that
II@ulloG CIlUllO,
E
4.6. Lagrangian Manifolds and Phase Functions. Let M be a symplectic manifold of dimension 2n and let o be its symplectic form. A submanifold A c M is q) = 0 for any x E A and any vectors called a Lagrangian maniJold if, first ox(t, 5 and q in T,A and, secondly, dim A = n. In the investigation of Fourier integral operators of the form (4.1) an important role is played by the set
c, = {(x,y, e) E x x
We assume that the differentials of the functions aS/aej ( j = 1, ...,N)with respect to ( x ,y, 0) are linearly independent at each point of C,. Then Cs is a smooth submanifold in X x Y x (IRN\O) of codimension N. We further assume that n, = n2 = n, X = Y = 52 and
C a2s azs 7
(4.7)
If these requirements are fulfilled, the phase function S is called nondegenerate. Consider the set As = {(x,
5, y, q) E SZ
x (lR"\O) x 52 x (IR"\O):
C,m(8'),
I4 E
C,"(B').
Y , w a y , (x, Y , 0) E C S } . The condition (4.7) implies that for the local coordinates on Cswe can use either ( x , 5 ) or (Y, q), where
w5 = a w , Y , @/ax,q =  a w ,
5 =w
x , Y , w a x , q = as(x, Y , w a y .
II@~l= l i (@*@u,
u)O
+ (Bu, u)o,
so that the maps (x, y, O)w
and (x, y, 0)y, , define lo( ; ; ) ; Thus ifwe consider the

where A is a pseudodifferential operator with symbol Ia(x, 5)12 ldet Sxc(x,<)I' and B is a pseudodifferential operator of order  1. Corollary 4.2. If the amplitude a of the operator (4.6) lies in Sm(Q x IR"), then, for any SZ' C 52 and any s E IR, there exists a constant C = C(s, 8')such that cal coordinates in a neighbourhood of the surface C,. projections
I I @ ~ l l sG C I I U l l s + m ,
C;(Q')*
Definition 4.2. A Fourier integral operator of the form (4.6) is called elliptic if its phase function S is nondegenerate, that is, detIla2S/axia<jll# 0 and its amplitude a satisfies the inequality b(x,0 12 C151"  c,,
c > 0,
( x , 5 ) E T*Q\O.
p : c, i 52, x (IR"\O), q: cs + 52, x (IR"\O), we find that these projections are local diffeomorphisms under the condition (4.7). The map r = p 0 4l is also a local diffeomorphism and can be defined by the equations x = X ( Y , 49, t = 5(Y, q), where x and 5 are positive and homogeneous in q of degree 0 and 1 respectively. The set A, is conical and coincides with the graph of r. It is important to note that
Theorem 4.9 (Egorov [1984]). Let @ be an elliptic Fourier integral operator of the form (4.6). Then there exists a Fourier integral operator Y of the form (4.6) with the same phase function S(x, 5) and with amplitude b(x, 5 ) E S" such that 'Y*@ I is a pseudodifferential operator of order a.
58
59
on Cs because S
= 8.
as = 0 on C,.
to the form q dy, that is, the form 5 dx  q d y is identically equal to zero on vectors which are tangent to A s . Accordingly, the symplectic form d(
A
ae
1) N , = E 2 ; 2) S and S are associated with the same Lagrangian manifold L; 3) The matrices __ a2s and I a2S have the same rank and the same number of 802 positive and negative eigenvalues.
dx  dq
dy,
defined on 52 x (IR"\O) x 52 x (IRn\O), vanishes identically on A,, that is, As is a Lagrangian manifold. We now assume that X is a smooth manifold of dimension n. Let L be a conical Lagrangian manifold in T*X\O. Let us see how to associate with L local phase functions, these being realvalued smooth functions S(x, 0) which are positive and homogeneous in 8 of degree 1, and defined in an open subset T c IR" x (IRN\O) with d,,,S # 0 on r. Let S be such a function, and let the set
In the investigation of Fourier integral operators of the form (4.1) an important role is played by a conical Lagrangian manifold As in (T*X\O) x (T*Y\O). In this case, Proposition 4.1 asserts that As can be defined locally by means of the phase function
s = xr  Y?  wr, ?I.
It is easy to see that this phase function is nondegenerate.
eiS(x,@
4x3 0) do,
(4.9)
e)H
x,
")
where S is a nondegenerate phase function and a E S"(X x RN). Repeating the arguments of 9 4.2, we can give a meaning to the integral
T*X\O
Oo).
rr
uE
c$(x).
(4.10)
Definition 4.3. A phase function S is said to be associated with a Lagrangian manifold L in a neighbourhood of the point (xo,0,) E L if there exist conical and r' of the points ( x o ,0,) and (xo,to) respectively, such neighbourhoods ro under the map (4.8). that L n r' is the image of Cs n ro The existence of such local phase functions is guaranteed by the following Proposition 4.1. Let L be a conical Lagrangian manifold in T*X\O, and let E L. The coordinates ( x l , . . .,x,) may be chosen in a neighbourhood of (xo,to) xo E X so that in the neighbourhood of (xo,to)the manifold L is defined by the equations xi = aH(r)/atj( j = 1, . . ., n) where H E C" in a conical neighbourhood of toand H(t<)= tH(5)for t > 0. Thus the phase function S associated with L in can be chosen in the form a neighbourhood of (xo,to)
S = X (  H(<).
This integral depends continuously on u, and thus I, E 9 ' ( X ) . By the stationary phase method we can easily check that WF(I,) c { ( x ,
T)
6)
T*X\O
ae
Definition 4.5. A Fourier distribution belonging to the class Z"(X, L ) is an x RN) and S is the phase integral of the form (4.9), where a E Sm+(n2N)/4(X function associated with the Lagrangian manifold L. It can be shown that the class I"(X, L ) actually depends only on L and not on the phase function S associated with L. If L can be defined only locally by the phase functions, then I"(X, L ) is defined as the class consisting of finite sums of distributions (4.9) with phase functions S associated with L in neighbourhoods of points of L. As an example of a Fourier distribution we mention the Schwartz kernel of a Fourier integral operator.
Definition 4.4. The phase functions S and are said to be locally eqivalent if S(x, 6) = s"(x, 8(x, 0)) and the map ( x , 0) H( x , &x, 0)) is a local diffeomorphism, and 8(x, to) = t&x, 6) for t > 0. Theorem 4.10 (Hormander C1971, 1983, 19851). The nondegenerate phase functions s"(x, 0) and s"(x, 8 E RN1,6 E RN2,are locally equivalent if and only i f
e),
4.8. Global Definition of a Fourier Integral Operator. Let X and Y be two smooth manifolds of the same dimension n. A distribution A E 9 ' ( X x Y ) defines a continuous bilinear form on C c ( X ) x Corn(Y ) ,and hence a continuous map C$( Y ) + 9 ' ( X ) .
60
61
If A is a closed, conical Lagrangian manifold in T*(X x Y)\O, then the space of Fourier distributions Zm(X x A) can be regarded as a space of continuous linear maps from Cg(Y) into 9 ' ( X ) .
Theorem 5.1 (see Hormander [1963]). Zf P(D) is an operator o f principal type, then for each operator Q(D)o f order m  1 with constant coeficients, there exists a constant C > 0 such that
where
Definition 4.6. A closed conical submanifold C in T*(X x Y)\O is called a homogeneous canonical relation from T*Y into T*X if C is contained in (T*X\O) x (T*Y\O) and is Lagrangian with respect to the form a ,  a,, where a , and a , , are the canonical symplectic forms on T*X and T* Y respectively. As in $4.6, we can show that a canonical homogeneous relation C can be defined locally by means of a nondegenerate phase function S(x, y, 8). Thus, with
11.11
E c,"(R"),
This theorem shows that many properties of P are determined by the principal symbol and they do not depend on the lower terms.
Example 5.1. The operators A and 0are operators of principal type but the
operators  A and  id are not. at at Definition 5.1 can be extended to general pseudodifferential operators in the following way.
a+
a+
the map
Definition 5.2. A pseudodifferential operator P(x, D), with principal symbol po(x, t),is called an operator o f principal type in a domain SZ c IR" if, for all (x, 5) E T*SZ\O, the form d,,,p,(x, 5 ) is not proportional to the form 5 dx.
is a local homogeneous diffeomorphism of Cs onto C. Since C is closed, there is a local finite covering of T*(X x Y)\O by open conical sets 4 ( j= 1,2, ...) which are coordinate neighbourhoods in T*(X x Y)\O and have the following property: for each j the set C n G is defined by a nondegenerate phase function Si(x, y, O), 8 E RNr.Let ( g j } ( j = 1 , 2 , . . .) be a smooth partition of unity in P ( X x Y)\O subordinated to this covering, where the functions gi are positively homogeneous in 8 of degree 0. The operator
P P
We observe that if the form dx,tpo(x,<) of an operator P(x, D) is proportional to the form 5 dx at some point ( x , 5 ) E T*SZ\O, then dspo(x,<) = 0, and the Euler identity implies that po(x, 5 ) = 0. Among nonelliptic operators the simplest operator of principal type is D,. As we shall see below, every operator of principal type with realvalued principal symbol po is microlocally equivalent to this simplest operator.
Example 4.4. If X = Y and C = A: is the diagonal in (T*X\O) x (T*Y\O), then we can take (x  y)8 as the phase function, where 8 E lR"\O. In this case the operator @ is a pseudodifferential operator.
5.2. Operators with Real Principal Symbol. Let P(x, D) be an operator of principal type of order m, with real principal symbol po(x, 5), and let po(xo,l o ) = 0, where xo E SZ and toE IR"\O. Since elliptic operators are microlocally invertible in the algebra of pseudodifferential operators, the equation P ( x , D)u = f can be microlocally replaced by the equivalent equation QPu = Qf, where Q is an elliptic operator of order 1  m. Thus, without loss of generality, we can assume that m = 1 . Theorem 5.2 (Egorov [19843). Let P(x, D ) be a firstorder pseudodiferential operator o f principal type with real principal symbol po(x, 5). Let (xo, 5') E Pa\O and po(xo,5') = 0. Then there exists an elliptic Fourier integral operator Q, o f the form (4.6) such that one o f the operators PQ,  @D, or @ P  D,Q, has f the point (xo, 5'). amplitude equal to zero in a conical neighbourhood o
We first examine the case when dtpo(xo,to) # 0. To be definite, assume that atlpo(xo,5') # 0. Consider the following auxiliary Cauchy problem
This problem has a solution in a conical neighbourhood of the point (xo, to), since the plane x , = x? is noncharacteristic in a neighbourhood of this point.
62
63
r)
This last inequality is a consequence of the fact that det lla2S(xo,5)/axiarjll = azS(xo, t 0 ) / a x ,at,, and
On extending S to T*0, we find that the operator QiP  D1Qi has order zero if @ is the operator defined by (5.2). Thus in this case too the equation Pu = f leads to the equation D,v = g + Rv in a conical neighbourhood of the point (xo, to), where the symbol of R is zero in this neighbourhood.
by (5.1). But in view of the initial conditions, dZS/axjd<,= 0 ( j = 2, ...,n) when x1 = xy. Hence i3'S(x0, ~ O ) / d x , ~ #~ 0. , Consequently, S is a generating function for some canonical transformation. We set
Qiu(x) = (274" fi(<)eis'"~r) dr,
where S is defined arbitrarily outside w but in such a way that S(x, t t ) = tS(x, 5 ) for t > 0 and det llazS/dxidrjll # 0. Then, by Theorem 4.7, we find that the operator PQi  @D1 is of order zero in o.Thus P is equivalent to an operator of the form D, + A in w,where A is a pseudodifferential operator of order zero. A further transformation can be carried out with the aid of the following
I
(5.2)
5.3. Solvability of Equations of Principle Type with Real Principal Symbol. Theorems 3.73.10 on singularitiesof solutions of the equation Pu = f,together with Theorem 5.2, enable us to tackle the question of local solvability of this equation.
Definition 5.4. A pseudodifferential operator P(x, D) is said to be solvable at a point xo E 0 if there exist neighbourhoods U and V of this point in 0 such that U C V and if for every function f E Cm(V)there exists a distribution u E &(V) such that Pu = f i n U . Definition 5.5. A pseudodifferential operator P(x, D) is said to be semiglobally solvable in a domain 0 c IR" if for each compact set K in 0 and for each function f in the subspace S with a finite codimension in Cm(0)there exists such that Pu = f in K. a distribution u E &(a) The solvability conditions for P are determined by the behaviour of its bicharacteristics. Example 5.2. The operator x2D,  x 1D2 is insolvable at the origin although it is of principal type. The following condition on P in 0 depends on the choice of the compact set K C 0. Condition A. Let K C 0.For each point (xo, go) T*0\0 such that po(xo,5') = 0, the bicharacteristic, that is, the integral curve of the Hamiltonian
Lemma 5.1 (Egorov [1984]). Let P(x, D) = D, + A(x, D), where A is a f order zero. Then there exists an elliptic pseudopseudodifferential operator o differential operator T o f order zero such that
SPT = D,
+ R,
Thus the problem of solving the equation Pu = f,where P is a pseudodifferential operator of principal type with real principal symbol, leads to that of solving the equation D,v = g + Rv, where R is of order co in o. If dypo(xO, 5') = 0 but the form d,po(xo, to)is not proportional to the form todx, then the same construction is applicable but the equation (5.1) has to be replaced by another equation. With the aid of rotation in the xspace we can always arrange that grad, po(xo, 5') has the form (a, 0, .. .,0), where a # 0 and the vector to# 0 is such that { y = 0. Let us seek the generating function S in the form S = S(y, 5 ) such that S is a solution of the Cauchy problem
S
=
contains the points ( x , 5 ) E T*B\O whose passing through the point (xo, to), projections onto 0 lie outside K.
C yjC+
j=2
r:
21tl
fory,
= 0.
Theorem 5.3 (Duistermaat and Hormander [1972]). The operator P(x, D) is solvable at a point xo if there exists a neighbourhood K o f this point where <) # 0 for all condition A holds. In particular, P is solvable at xo if dcpo(xO, 5 E IR"\O. Theorem 5.4 (Duistermaat and Hormander [1972]). The operator P ( x , D ) is semiglobally solvable in a domain 0 c IR"if condition A holds for each compact
Clearly, this problem has a solution in a conical neighbourhood o of the point (yo, 5'). Also, yy = 0, S ( y , t t ) = tS(y, 5) (t > 0) and
64
65
set K C 51. Moreover, iff E HS(Q)n S, then there exists a function u E @'"'(51) satisfying the equation Pu = f in K and
IIulls+ml
cllf
11s)
Theorem 5.5 (Hormander [1963]). If po(xo,t o ) = 0 for some (xo,to) E T*Q\O, and cy(xo, to) > 0, where cy(x, t) = Im C aPo(x, t)aPO(x9 t), then in j=1 atj axi every neighbourhood o o f xo there exists a function f ;C,"(o) sich that the equation Pu = f has no solution belonging to 9'(w). Theorem 5.6 (Beals and Fefferman [1973]). Let P be an operator of principal type satisfying
f the function Re po along which Condition (9').On each bicharacteristic o Re po = 0, the function Im po does not change sign. Then for each point xo E 51 there exists a neighbourhood o such that for any function f in H S ( o )there exists a function u E Hs+m1(51) satisfying the equation Pu = f i n 8.Moreover, IIuIIS+ml < C(If [Is, where C is independent off.
Example 53. From the historical point of view, H. Lewy gave the first example au au au  i2i(x1 ixz) = f ( x , , x,, x3) ax, ax, 8x3
Theorem 5.7 (Egorov [1975]). Let P be an operator o f principal type that satisfies the following two conditions.
f the function Re po along which Condition (Y). On each bicharacteristic o Re po = 0, the function Im po does not change sign from  to in moving in the positive direction. Condition (B). For each point (xo, to) EP Q \ O where po(xo,to) = 0, there f forming the exists a function obtained from po and Po by means of the operation o Poisson brackets, that is, {. .. { { po, Po}, p , } . ..pi} in which each o f the functions pl, . . . ,pi is either p o or Po and j < k  1, and whose value at (xo, to) is not zero. Then for each point xo E 51 a neighbourhood o can be found such that for any function f E H"(w)there exists a function in Hs+mnd(Q), where 6 = k(k l)', which satisfies the equation Pu = f i n o. Moreover,
with f E C'O(IR3), which has no solution in any open set o c IR3 (see Hormander [19633).
There exists a second category set of functions f in C'O(IR")for which this equation is insolvable in any open set on the plane which contains points of the Oxzaxis(see Hormander [19633).
Example 5.5. The oblique derivative problem for a secondorder elliptic equation leads, after reduction to a problem on the boundary, to an insolvable pseudodifferential equation if there are "repelling" submanifolds of dimension n  2. For example, in the case of the Laplace equation in the halfspace x , > 0, the problem with the condition
IIUlls+md
cllf
11s)
+ ax:
au ax 1
au = f for x, = 0 ax,
_  ax:Av
av ax,
= f,
where v is the trace of the function u on the boundary and A is an operator with symbol 151. If k is odd and a > 0, then the boundaryvalue problem has no solution u in any neighbourhood of the point lying on the manifold x , = 0, XI =0 . At present, the solvability theory for equations of principal type has advanced considerably. Let us list some of the results.
6.1. Formulation of the Problem. In investigating vibrations of bounded bodies, it is necessary to take into account the interaction between the bodies and the external medium. This interaction is usually expressed by the boundary conditions which are imposed on the boundary of the body. We have (Egorov
66
67
and Shubin [1988, @4.13,4.14, Chap. 21) dealt with the results of the classical theory for a secondorder hyperbolic equation with boundary conditions of one of the three kinds mentioned there. However, even for an outwardly similar mixed problem with the boundary condition  = g, where a is a smooth vector aa field which does not coincide identically with the field of conormals, the classical theory does not furnish any methods to solve this problem. The main results in the general theory of boundaryvalue problems for hyperbolic equations were obtained in the 1970s. These results make significant use of such achievements of the general theory as the techniques of Fourier integral operators and the propagation of singularities.
wj(t, x)
au
6.2. The HershKreiss Condition. Let us consider a firstorder system of equations of hyperbolic type with constant coefficients in a quadrant. Thus we consider the system
+A+ at ax
au
au
j=1
au c B jayj 0,
n
t>O, x>O,
I
I
fort=O,x>O, for x = 0, t 2 0,
Mu
=g
where u = (ul, . . .,uN),A and Bj are N x N matrices and M is a constant k x N matrix. We assume that the eigenvalues of A are real and distinct and the plane x = 0 is noncharacteristic, that is, the eigenvalues of A are not zero. On applying a Fourier transformation with respect to y, we obtain a boundaryvalue problem in the quadrant of the (t, x)plane:

of integral equations, where 1, is the segment of the line x' = Ajt' + c which ends at the point (t, x), and starts at the point pi which lies on either the plane x' = 0 or the plane t' = 0, and wjo is the value of wj at this point pi (see Egorov and Shubin [1988, $4.7, Chap. 21). When the wjo are known, this system can be solved easily (by the method of successive approximations, for example). Since x > 0, only those lines for which j = 1, ..., p can intersect the plane x = 0. Therefore the boundaryvalue problem in question is wellposed if the following two conditions hold: 1". p = k; 2". The first k columns of the matrix M T are linearly independent. These conditions can also be expressed in the following equivalent form. Let E be the space spanned by the eigenvectors of A corresponding to the positive eigenvalues. Let K be the space spanned by the rows of M. Then the orthogonal projection of K onto E is of dimension k and L n E = (01, where L is the orthogonal complement of K in IRN. The conditions just mentioned were obtained by Hersh [1963]. Balaban [19691 had earlier used these conditions under additional assumptions. Kreiss [1970] had formulated an analogous result for systems of equations with variable coefficients and remarked that the proof can be extended to this case. The complete proofs were published by Agranovich [1971] and Rauch [1972]. Let us cite the appropriate result. Consider the system of equations at j = l where SZ is a domain of IR" with smooth boundary tions be of the form
Lu
s"
1, k = l
1 ajkwkds = wjo,
j = 1, ..., N,
> 0, x > 0
= +
au
=f
in [0, T] x Q,
(6.1)
au + A a u + Cu = 0,
at ax
u=O
M ( t , x)u
u =h
=g
in [0, T] x
fort=O,x>O, for x = 0, t 2 0.
Mu =
(6.3) Here M(t, x) is a smooth k x N matrix with rank k, where k is the number of positive eigenvalues of the matrix ma1 to
i n Q fort =O.
The substitution u = Tw,where T is a matrix whose columns consist of eigenvectors of A, transforms the differential part of the system in question to the diagonal form, and the whole system thus assumes the form
r. We assume that
n n
j=1
= (vl,
is norWe
j=1
also assume that the boundary where the Aj are eigenvalues of A. Let us renumber the coordinates (wl, . . ., wN)so that the first p eigenvalues A1, ...,A, are positive and the remaining ones negative. The resulting system is equivalent to the system
j=1
Let us fix a point xo E f.A smooth transformation in the neighbourhood of this point transforms r into a part of the plane x, = 0 so that the image of SZ lies in x, > 0. Having performed this transformation, we fix the values of the
68
69
arguments of L and the matrix M by setting t = to > 0 and x = xo, and set B = 0. This results in a boundaryvalue problem in the segment t > 0, x, > 0 of the space.
Theorem 6.1. The problem (6.1)(6.3) has a solution u E C'([O, T] x 0) for any f E C'([O, T] x g E C'([O, T] x r)and h E C1@) if and only if the above boundaryvalue problem with constant coefficients in the segment o f the space satisfies conditions 1" and 2" for any point (to,xo). Moreover,
a),
be the remainder when Bj, as a polynomial in 5, is divided by A+(<) forj = 1, ..., k. The k x k matrix IIBjI(r, q)II is known as the Lopatinskij matrix. Its determinant R(z, q) is referred to as the Lopatinskij determinant corresponding to the system ( A + ,Bj,j = 1,. . ., k). Sakamoto has shown that the conditions 1" and 2", also known as the uniform Lopatinskij condition, are necessary and sufficient for the wellposedness (in the sense made precise in Theorem 6.2 below) of the boundaryvalue problem
P(t, x, y , D,, D,,D,)u = f
u=O
>
fort<O,x>O,
6.3. The Sakamoto Conditions. Let P(D,, D,, 0,) be a homogeneous hyperbolic operator of order m with constant coefficients. Consider the boundaryvalue problem Pu = 0 for t > 0, x > 0, y
u=O
E
W",
We assume that conditions 1" and 2" are satisfied for each boundaryvalue problem that is obtained from the given one by dropping the lower members of the operators P and Bj and by fixing the values of the coefficients at each point (t, 0, y ) for t 2 0. In the investigation of the given boundaryvalue problem it proves to be more convenient to use the function spaces Hp,y(lR:+2)in which the norm is defined by the formula
IIull;,, =
fort<O,x>O;
i+j+I+lal=p
We also introduce the space H,,,(IR~+')with the norm defined by the formula
B
where Bj = Bj(D,, D,,0,) are homogeneous differential operators of order mj. As in the case of systems, the Fourier transformation with respect to y reduces this problem to a boundaryvalue problem on the plane (t, x). In view of hyperbolicity, the roots 11, ..., I mof the characteristic equation
(u);,,
i+j+ial=p
Jm 0
dt
IRn
P(1,
r,
Theorem 6.2 (Sakamoto [19701). If the unvorm Lopatinskij condition holds, then there exist positive numbers c and yo such that the inequality
47)
=0
are real for real (5, q) # 0. We assume that the plane x = 0 is noncharacteristic with respect to P and consider the characteristic equation as an equation in with Im I < 0. By hypothesis, this equation cannot have real roots. Let . .., 5, be the roots of this equation for which Im ti > 0 and Im tr< 0 for
rl,
1 =p
holds for u E H,,,,(IR",'2) with y 2 yo. When y 2 yo, the boundaryvalue problem for any functions f E Ho,y(IR:+2) has a unique solution in the class Hml,,(IR~+2) and g j E Hmlmj,y(IR~+z).
j=1
Applying again the techniques described in Egorov and Shubin [1988, 1.7, Chap. 21, we find that for the mixed problem in question to be well posed it is necessary and sufficient that the following two conditions are satisfied: 1". p = k; 2". The polynomials 5 H Bj(z, 5, q ) ( j = 1, . ..,k) are linearly independent mod(A+([)) for (z, q) # 0 and Im z < 0. Let
k1
We observe that in this case too an assertion similar to Remark 6.1 is valid. Agranovich [1971] has shown that the above boundaryvalue problem for a higherorder equation can be reduced to an equivalent problem of the form (6.1)(6.3), and thus the Sakamoto conditions are indeed equivalent to the Kreiss conditions.
4
Bj+(r,5, V ) =
I=O
C Bj,(z, v)<'
6.4. Reflection of Singularities on the Boundary. A new stage in the development of the theory of mixed problems for hyperbolic equations is concerned with the application of the technique of Fourier integral operators and the investigation of singularities of the solution. For interior points the singularities
70
71
of the solution are propagated along the bicharacteristics(see Theorems 3.8 and 3.10). When the bicharacteristic meets the boundary of the domain, reflection occurs in accordance with the law of geometrical optics, and if the bicharacteristic is transverse to the boundary, then on reflection the singularity of the solution is propagated inside the domain along the reflected bicharacteristic. This fact was first noted by Povzner and Sukharevskij [1960]. They studied the equation
aZu azu _ at2
with initial conditions x(0) = xo, t(0) = to+ zj grad cp(xo).These curves are not tangent to the surface S because
azu
+
ax2
a y ~
The embedding i: S + IR" induces the map i*: T*(lR")+ T*S under which all the points of the form (xo, 5 + 1 grad cp(xo)), with xo E S, are mapped into i*(xo, 5). The curves rl, ...,& constructed above are known as the reflected family of semibicharacteristics corresponding to the point i*(xo, 5') E T*S.
au with the conditions that u = 0 on 852, and u = 0 and  = 6(x  x,, y  yo) for dt t = 0 and (x,, yo) E 52. It was assumed that l2 is a convex domain. In this case the rays, that is, the projections of the zero bicharacteristics onto the (t, x, y)space, are straight lines making an angle of 45" with the taxis. The rays passing through the point (0, x,, yo) constitute a cone. In intersecting [0, T] x 852, every generator of this cone goes over to a ray that is symmetrical to the initial ray with respect to the normal to [0, T] x a52 and lying in the plane generated by this normal and the initial ray. If T = co,then the process of reflection of each ray is repeated infinitely many times, because the convexity condition gurantees that each such ray is always transverse to the boundary. Beyond the set of points (t, x, y) lying on these rays, the solution u is an infinitely differentiable function. This result was generalized by Lax and Nirenberg (see Nirenberg [1973]). Let P be a differential operator of order m with real principal symbol p that has simple characteristic roots. Let 52 be a domain of lR" with smooth boundary S which is defined locally by the equation cp(x) = 0, and cp > 0 in IR. It is assumed that the normal to S is not in the characteristic direction, that is, Ax, grad c p ( 4 ) # 0. Let xo E S and p(xo, 5') = 0, 5' # 0. Consider the equation
p(xo, 5'
rl,...,
m+k
L
4 WF
(Elq=)

for a n y j 2 0.
Examples 1. If k = m and k, = 0, we obtain a theorem on the propagation of singularities for the solution of the Cauchy for a hyperbolic equation. 2. If k = 0, we have a theorem on the smoothness of the solution of the Dirichlet problem for an elliptic equation. 3. When k = m > k, > 0, we obtain a theorem on the smoothness of the solution of the boundaryvalue problem for a hyperbolic equation. 6.5. Friedlander's Example. The investigation of boundaryvalue problems in which the rays are allowed to be tangent to the boundary started with Friedlander's example [1976]. Consider the boundaryvalue problem
+ z grad cp(x,))
= 0.
Suppose that this equation has k real roots z l , . . ., z k (one of which, by assumption, is zero) and that these roots are simple, that is,
;
u =f(y)
for x = 0; u = 0 for y,
< 0,
p(xo,
a az
5'
k=l
$
e*
Let 4 ( j = 1, . .., k) be the part of the bicharacteristic p that lies in 52 and passes zj grad cp(xo)).Thus 4 is part of the integral curve through the point (xo, 5' of the system of equations
1
I' !
I
with f E d'(IR") and supp f c { y, y , > 0). It can be seen easily that y , increases with x along the bicharacteristics that are either tangent to the boundary x = 0 or have hyperbolic direction (5, q l , ...,q,) at points of the boundary, that is, q; > 1q1I2. It turns out that the singularities of the solution in this case are concentrated on those bicharacteristics that pass through the points belonging to WF(f). Clearly, the bicharacteristics are defined by the equations
3 = 25,
j j = 2qj,
i(s) =
aP(x(s),a s ) )
at
&s)
= 
Wx(s), t(sN
j = 1, ..., n  1; j , = 2(1
+ x)q,,
ax
(=q'
tj.=o, I
j=1,
..., n.
12
13
+ b,, y j = 2ajt + bj, j = 1, ..., n  1, + 2aoa,t2 + 2aJl + bo)t + b,,; aj, bj = const.
Here Bu = u or Bu =
j=1
au 1 a.+ 'axj
n
bu.
Melrose [19781 has constructed the calculus of FourierAiry integral operators of the kind just mentioned.
The Fourier transform v(x, q) of the function u with respect to y reduces the equation to the form
d2v __ + [ ( l dx2
+ x)q,z  q: (1
* * *
 q,21]v = 0.
Setting z = q;W3[q:
+ ..+ q,2l
6.6. Application of Canonical Transformations. Melrose later succeeded in simplifying the above class of "exterior" problems by means of the following result which was stated by Sato as a conjecture. Let X be a symplectic manifold, and let F and G be two hypersurfaces in X given by the equations f = 0 and g = 0 respectively. Let p E F n G. Then F and G are called glancing surfaces at the point p if ( 1 ) dfp and dg, are linearly independent; (2) {f,g m = 0; (3) {{f,s > , f I@) z 0,{{f,s>,gHp) f 0.
The Sato Conjecture. If F and G are glancing surfaces at a point p E X and F' and G' are glancing surfaces at a point p' E X , where dim X = dim X , then there exists a germ of a symplectic diffeomorphism
@:
which is known as the Airy equation. Its solutions are functions of the form
/3) ~ i (=~ e ) i ( ~ ~  @ 3 do,
as well as A i ( ~ e * ~ ~ The ~/~ function ). Ai(z) is bounded for positive real z and Ai(0) = 1. Thus the investigation of the boundaryvalue problem leads to the solution of the Airy equation with the boundary condition
u = f(q)
for z = qi4I3(q;
under which the pair (F, G) is mapped into the pair (F', G). Oshima [1978] showed that the conjecture is false for real analytic surfaces if an analytic map @ is sought. Melrose established that the conjecture is true in the case of infinitely smooth surfaces.
and to the inverse Fourier transform. It can be shown that the solution u of the boundaryvalue problem in question can be expressed as
Theorem 6.4 (Melrose [1976]). Every pair o f glancing surfaces can be put in the form
cc
f=
XI,
where S is a nondegenerate phase function that is homogeneous in ( of degree 1, C is a nondegenerate phase function that is homogeneous in ( of degree 2/3 and where a is a smooth function such that a(s) = 0 for s 2 so > 0, and a and b are the standard symbols. It can be shown that the following more general problem also leads to the computation of integrals of the same type. Let B be a bounded convex domain in IR" with smooth boundary r a t each point of which the curvature is positive. Consider the following boundaryvalue problem:
Let B be a strictly convex domain in IR", and let g(x, D) be a hyperbolic operator of the second order in IR" with symbol g(x, t). Assume that the is glancing, that is, bicharacteristic passing through the point (x, t),where x E 0,
a2u at2
< 0, x E lR"\B.
r. If r is ax; described by the equation f ( x ) = 0, then acthis poi& {f,g } (x, t) = 0. By an application of Melrose's theorem, we can "straighten" the boundary locally, that is, reduce it to the form x 1 = 0 so that the principal part of the operator is of the :  X,D,'~ D,,D,,, in a conical neighbourhood of the point form g(x, D)= 0 (x, 5). The resulting boundaryvalue problem can be solved by means of the FourierAiry integral operators.
ag there is a point on it where the field " (x,
i=l
at;
5) a is tangent to
74
75
6.7. Classification of Boundary Points (Hormander [1983, 19851). Let us' take up the classification of boundary points from the point of view of boundaryvalue problems for secondorder hyperbolic equations. Let P be a secondorder differential operator, with principal symbol p, in a domain 52 having smooth boundary 852.The function p is a constant along the integral curves of the Hamiltonian vector field H, in T*Q. By null bicharacteristics we mean those integral curves of H p along which p = 0. Let i: 852 + fi be the embedding and i*: T*52IaR + T*(aQ) the induced surjective map. The points of T*(dQ)\O are classified in terms of the behaviour of the bicharacteristics passing through the points of T*52Ianwhich are projected onto them under i*. Suppose that z E T*(aQ)\O. If p # 0 on i*l(z), then z is known as an elliptic boundary point for P. If the field H p is transverse to aT*Q = T*OI J R and the set i*l(z) n p'(O) consists of two distinct points, then z is known as a hyperbolic f the refection. It can be seen easily that in this case the field H p is point o directed into 52 at one of these characteristic points and outwards at the other point. For elliptic points the microlocal parametrix can be constructed by the theory of elliptic boundaryvalue problems, whereas the local theory of Fourier integral operators is adequate for dealing with the hyperbolic points. The sets of elliptic and hyperbolic points are open. Let G denote the complement of the union of these two sets. Then G is a set of glancing points and is a closed conical set. 0) of one point, and if u E T*Q(Jn\O and If z E G, then i*'(z) n ~ ~ ' ( consists p(u) = 0, then i*u E G if and only if v(H,) = 0 at the point u; here v E K*(T*52)is the conormal to the boundary aT*SZ. Let v be a smooth section in T*(T*Q)such that vlaT*Ris a conormal covector to aT*Q directed into 52 in a neighbourhood of u. Clearly, v(H,) = 0 at u, and hence H,(v(H,)) is independent of the choice of v at the point u. If H,(v(H,)) > 0, then u is called a diffractiue point. If H,(v(H,)) < 0, then u is called a gliding point and, if H,(v(H,)) = 0, then u is called a point o f contact o f higher order. A point z E G is called nondegenerate if the derivative of the restriction of p to the fibre T*Q, which contains i*'(z), does not vanish at u. In a neighbourhood of a nondegenerate point in T*(a52)\0 there is a conical hypersurface which consists of diffractive points or gliding points. We note that if U E aT*Q\O, p(u) = 0 and v(Hp)(u) = 0, then the point i*u is a diffractive point if and only if the bicharacteristic in T*SL is tangent to aT*Q at u and this contact is of the first order. This point is nondegenerate if the projection of the above bicharacteristic onto 52 does not have a singularity at the point nu (where n: T*52+52 is the canonical projection) and is tangent to the boundary 852 there. 6.8. Taylor's Example. The following example of Taylor's [1981] shows that the singulaqties of the solution of a mixed problem can be propagated along the boundary without going inside the domain.
Let 52 be a strictly convex bounded domain in IR" with smooth boundary r. Let u be a solution of the wave equation
= AU
azu
at2
in IR x 52 such that u = 0 on IR x r.We show that there exists a solution which is smooth in IR x 52 but fails to be smooth in IR x Let po E r, p j E 52, and let pi + po as j + 00. Let yj be the rays that pass through pj, when t = 0, in the direction of a tangent to r at po and continue in ' .Let Qj be accordance with the rules of geometric optics after intersecting IR x I a sequence of domains such that Qj C 52j+l C 52 for allj, with Oj = 52, and
a.
u
i
such that the ray yj(t) lies in Q\Oj for It1 < 1. Now let qj E L2,comp(52), and let WF(qj) consist of a single bicharacteristic which lies above the ray yj such that 'pj E Cm(52\{yj})and qj E H'(52). Let uj be a solution of the problem
J=
at2
azu.
onIR x
r,
u.=q.
J
O = '
aU .
1'
at
fort=O,xESZ.
This solution has a singularity only on the ray yj inside 52 in view of the LaxNirenberg theorem quoted earlier. Let supp qj c 6, where C 52 and 5 is a small neighbourhood of the point pi. We set uj = cjjpj(z)uj(t  z, x ) dz, where pi E Cz(IR) is a function with small support and cj are constants such that ri r
Finally, let u =
'
equation with Cm(R x a). Thus the solution obtained has singularities only at points of
C uj. Then u E C"(R x SZ), and u is a solution of the wave u = 0 on IR x r. But u(0, x ) 4 H'(52) and so u cannot lie in
j=l
r.
6.9. Oblique Derivative Problem. Since a separate paper will be devoted to hyperbolic equations, we do not give an exhaustive account of the results obtained during the past few years but confine our attention to the following typical example which required the powerful modern tools of the theory of differential equations for its investigation.
,
16
Yu.V. Egorov, M.A. Shubin
I1
Let A ( x , D ) be a secondorder hyperbolic operator in IR"" and let x = (xo,x , , . . .,x,) E I R " ' , where xo plays the role of time. Let G be a domain in IR" with smooth compact boundary aG. Let 52 = I R x G and r =IR x aQ. We examine the problem A(x, D)u = 0 in 52,
u = 0 for xo < 0, x E Q,
Theorem 6.5. Zf the conditions (I)(IV) hold, then for each function h in HsVt(T) which vanishes for xo < 0 there exists a unique solution u E HS.'(Q) provided that t > 0 is sufliciently large.
Here H",'(Q) denotes the space with the norm IIUII~,~ = IlexoruIIs.
Example 6.1. The hypotheses of the theorem are satisfied for the wave equation
I
B(x, D)u = h(x) for x E r, where B is a firstorder differential operator. When the domain G is unbounded, we assume that the coefficients of A are independent of x for large 1x1. We also assume that the coefficients of A and B are smooth functions and that the boundary r does not contain characteristic points of A. In a neighbourhood of r we introduce the coordinates (x', x,) such that x' is the coordinate on r while x , denotes the distance from r. Let (t',5,) be the dual coordinates in T*Q so that 5' E T*T and 5, E IR. In this coordinate system, the principal symbol of A(x, D ) has the form Ao(x, 5 ) = (5,  2(x, 5'))'  p(x, 5') up to a factor k(x)which does not vanish anywhere on r.In accordance with 0 6.7, we set
I
I
where G is the exterior of a strictly convex compact domain, which the boundary conditions
I
I
I
n
u = 0 for xo < 0, the vector (ao,. ..,a,) is not tangent to the boundary r a t any point; ao(x')<
k=l
5') E T*(T)\O, A x ' , 0,5') = O } , N+ = 5') E T*(T)\O, A x ' , 095') > 01, N = { ( X I , 5') E T*(r)\o, p(x', 0 , ~ '< ) 01.
No = { ( X I ,
{(XI,
We put Wx', r') = B O W ,0, r', 4 x ' , 0, r')  d m j ) , where B o b ' , x,, 5', 5,) is the principal symbol of B(x, D), (? = (to+ it, t,, ..., <,,), z > 0, and the values of are chosen so that I m J m > 0 when (x', 5') E T*(T)\O and z > 0. It has been established that for the boundaryvalue problem to be well posed it is necessary that (I) b(x', 5') # 0 for all (x', 5') E T*(T)\O, t > 0, (see Kajitani [1974]). It can be shown further that the solution of the boundaryvalue problem on N+ u N can be microlocally reduced to the solution of the pseudodifferential equation
&
directed into G: The boundaryvalue problem under condition (IVa), instead of (IV), has been found to be more difficult to handle. It follows from condition (111) that, in a neighbourhood of each point (X, ?) belonging to No and such that b(X, f ) = 0, the following relation holds:
Jrn)(Jrn + 21(x', r'h where bl(X', r', ,/rn) # 0. Assume that, for each point (X, 4) (T*(r)\O) n No such that b(X, f )
b(x', r') = bl(X', r',
E
= 0,
I
I
for (x',
5') E U,.
b(x', D')uo = h, where uo = u l p Note that the function b(x', 5') is continuous on T*T\O and is smooth outside No. We assume that the following conditions are satisfied: (11)
# 0, if b(K, 4) = 0, (X,4) E N+ u N  ,
Theorem 6.6. Let the conditions (1)(111), (IVa) and (V)be satisfied. Then the boundaryvalue problem has a unique solution u E H".'(Q) for each function h E Hs*r(r) which vanishes for xo < 0.
When the function 2, is real valued, the condition (V) means that 2,(x',
5') 2
0 on No.
Theorem 6.7. Let the function 2, be real valued and let there be a point (X,4) E No such that A1(K, f ) = 0 and condition (V) holds at this point. Assume that there is a sequence of points (x(&)* 5"') E No which converges to (X,4) and is such that A,(x('), 5"') < 0. Finally, let
{21(x',el, A x ' ,
I
Finally, we also assume that (IV) {g,  2(x', x,, t'),p(x', x,, (Iva) (5.  A(x', x,, t'),p(x', x,,
( I ) }
o,e>> =0
78
79
Then the boundaryvalue problem is ill posed. More precisely, there is a function that h E C g ( f )such that h = 0 when xo < 0 but there is no distribution u E 9'(Q) would satisfy the equation Au = 0 and the boundary conditions for a < xo < xo E, no matter how small E > 0. Here Eo denotes the first coordinate of the point E.
7.1. Method of Stationary Phase (Fedoryuk [1971, 19771, Guillemin and Sternberg [1977], Hormander [1983, 19853, Vajnberg [1982]). The method o f stationary phase is a method for finding asymptotics of integrals of the form
I(a, A) =
eizf(x9a)g(x, a, A) dx,
(74
V'
where a is a realvalued function and v denotes the direction of the normal. In the exterior of a convex domain the only condition that is necessary and sufficient for the well posedness is of the form
If, however, the domain is convex and the problem is to be solved inside it, then, for example, for a = (xo  X0)3 the problem is ill posed. This statement remains valid, in general, in each case when there is a sequence of points x t ) which converges to Eo and is such that a($)) < 0, with a(Zo) = 0 and a'(Zo) = 0.
where 1, + +a, x E IR",the parameter a E IRp, and where f and g are smooth functions. The main idea of this method consists of the observation that if the phase function f is real valued, then the exponential function eizf(x,a) oscillates rapidly at those points x where f i ( x , a) = af(x, a)/ax # 0. Due to interference, the effect of neighbourhoods of such points on the integral is small. Therefore the main contribution comes from the points of stationary phase; that is, from the critical points off with respect to x, being the points x where f i ( x , a) = 0. Let us formulate the precise results. We assume that the parameter a runs through a compact set A c IRp and the amplitude g has, as a function of x , a compact support uniformly with respect to a E A. Thus, there is a compact set K c IR" such that g(x, a, A) = 0 when x # K, a E A and A 2 1. To simplify the discussion, we assume further that f E Cm(lR" x IRp) and g ( * , A) E Cm(IR" x V) for each fixed A, where V is a fixed neighbourhood of the compact set A in IRp. Suppose that
a ,
ia:g(x, a,
where as
A)I 6 C
, ~ m + y
EK,
a E A,
A2
1,
(74
denotes the derivative along the boundary. In the exterior of a convex domain the boundaryvalue problem is always well posed. The interior boundaryvalue problem is well posed, however, if and only if all the zeros of b are simple.
Cf= {x: x Cf
EK,
0 7.
The set is the one that must play the main role in the asymptotics of the integral (7.1). It can be seen easily that, for example, if there exists a neighboursuch that g(x, a, A) = 0 for x E U , a E A and A 2 1 or, more hood U of (A + +a) uniformly in ( x , a) E U x A for any generally, if g(x, a, A) = o(AN) also uniformly in a E A for any fixed N. fixed N, then I(a, A) = O ( P )(A + +a) To establish this assertion, we perform the integration by parts after using a partition of unity and an identity of the form L N ( e i a f= ) ANeiaf for x E U , where
If
L=
j=l
1 cj(x, a)Dj,cj = I
(,I1
g(x, a, A) = 0 for x
U,a E
:Lk
The method of stationary phase is one of the simplest methods for finding asymptotics of integrals, and yet it leads already to important results in the theory of hyperbolic equations and in various asymptotic problems for elliptic equations. With this method is closely associated the classical WKB method, so called in honour of the physicists Wentzel, Kramers and Brillouin who were the first to apply this method to the problems of quantum mechanics. The development of the WKB method leads to significant analytic and geometrical constructions, and one of the most important among these is the Maslov canonical operator which enables us to solve a large class of asymptotic problems.
I(a, A) = AN
where the transpose 'L of L is a differential operator with respect to x (also of the first order). This immediately implies that I(a, A) = O(A(la)N)uniformly in a E A, and this is enough to prove our assertion since N can be chosen as large as we please. Let us now describe the contribution of all those points of stationary phase that are nondegenerate critical points, that is, points x for which fJx, a) = 0 and
eizf(x*a)(rL)Ng(x, a, A) dx,
80
81
the matrix f l x ( x ,a) consisting of the secondorder derivatives is nondegenerate. Let us fix one such point x , and the corresponding value a, of the parameter. By the implicit function theorem, xo is an isolated point in the set of all points of stationary phase (for the given a,), and if the parameter a is varied, then for a close to a, there is a smooth vector function x = x(a) such that x(a,) = x , and f:(x(a), a) = 0. That is, x(a) is a critical point which depends smoothly on the parameter, and such a vector function x(a) is locally unique with respect to a. For the given a,, we confine our attention to a small neighbourhood of a,. By using a partition of unity with respect to x, we can reduce the problem to the case when the amplitude g , as a function of x, is concentrated in a small neighbourhood of the point x,. By the Morse Lemma, we can choose the local coordinates y = y(x, a) in this neighbourhood, depending smoothly on a, such that y(x, a) = x  x(a) + O(Ix  x(a)l') as x  x(a) + 0 and, in the new coordinates, f takes the form f ( x , a) = f ( x ( a ) ,a) + +(Q(a)y,y), where Q(a) = fA(x(a),a). This implies that in the new coordinates the critical point is the origin, and up to an additive term, which is independent of y, f (x, a) becomes a nondegenerate quadratic form with matrix Q(a) = flx(x(a),a) which is equal to the matrix of the second differential off in the original coordinates. Thus in the new coordinates we have
The meaning of the asymptotic series (7.4) lies in the property that by cutting off the expansion (7.4) after taking a sufficient number of terms we obtain a remainder of the form O(AN)(uniformly in those a which are close to ao), where N is an arbitrary number. We can obtain (7.4) by expanding, for example, the amplitude g l ( y , a, A) by Taylor's formula in y at the point y = 0 and then computing the model integrals that appear in each term and, finally, estimating the remainder. Let us indicate an alternative way of obtaining the asymptotics of integrals of the form (7.1) that does not require a knowledge of the Morse coordinates y. We assume, as before, that there is a unique critical point x(a) which is nondegenerate. We consider the quadratic part of the function f ( x , a) at the point x(a):
f ( x , 4 = f ( x ( a ) ,4
where Q(a) = flx(x(a), a) and the remainder r(x, a) is determined by this formula as x + x(a). and r(x, a) = O ( J x x(a)I3)
1 ,
(7.5)
I ( ~2) , = eiU(x(o),o)
ei"Q(0)Y.Y)gl(y,
a, A) dy,
(7.3)
holds.
We now assume that 6 < 1/2, and we note that 6 = 0 in the most important particular case when g(x, a, A) = g(x, a) is independent of A. Then the following result is true.
Theorem 7.1. The asymptotics o f the integral (7.3) have the form
x
k=O
Ak[Rkg,(O,a, A)]/k!.
(7.4)
'
Here sgn Q(a) denotes the signature o f a nondegenerate symmetric matrix Q(a) f the corresponding quadratic form. Thus sgn Q(a) and is equal to the signature o f positive eigenvalues o f the matrix is equal to the direrence between the number o Q(a) and the number o f negative eigenvalues, with all multiplicities counted
Here R is the same operator as in (7.4) and the expansion has analogous meaning. The expansion can be established by reducing it to (7.4) if geiAris taken as the new amplitude and if it is verified beforehand that the discussion can be confined to a small neighbourhood of the point x(a) by means of a cutoff function of the form cp(Ax(x x(a))),where 0 < x < 1/2, cp E C;(lR") and cp = 1 in a neighbourhood of 0. Let us cite an example to show how integrals of the form (7.1) arise. In lR3, let there be a 2dimensional surface S all the points of which are sources of radiation of a fixed frequency k with density a ( y ) d y , where d y denotes the elementary surface area on S. If the propagation speed of the wave is taken to be unity, then the simplest sinusoidal outgoing wave is of the form rleik(rt), where r denotes the distance from the source. Thus, under pointwise source at each point of the space, sinusoidal vibration with complex amplitude r'eikr takes place, and all the sources situated on the surface give vibrations with complex amplitude
I(x, k) =
Is
eik IxYI dy
(7.6)
at the point x E lR3. To the passage to limit k + +a, there corresponds transition from the wave optics to the geometric optics of the rays, and thus it is
82
83
But this integral has the. natural to try to obtain asymptotics of (7.6)as k + +a. form (7.1) to within notation (here k is the parameter of the asymptotics which was earlier denoted by A, and the point x in (7.6) plays the role of the parameter which was earlier played by a). The phase function cp(y, x ) = Iy  x ( has critical points precisely at those points y where the vector x  y is proportional to the unit vector n,, which is normal to S at the point y. What is more, to a given x there may correspond several points y (or even infinitely many such points that may constitute a curve, for example). It is easy, however, to mention necessary and sufficient conditions on x under which all the corresponding critical points y are nondegenerate. Namely, x must not be a focal point of S. This means that x must not be a critical value of the map S x IR' + IR3 which maps the point ( y , s) into the point y + sn,,. In this case, the asymptotics of the integral (7.6) can be found according to the above scheme. The problem of finding the asymptotics of integrals of the form (7.1) with degenerate critical points is a complicated one, and up to the present time it has not been investigated completely (see, for example, the book by Arnol'd, Varchenko, and GusejnZade [1984] and the literature cited there).
1 au(x)DU, x E 52 c IR",
1121 4,
with smooth coefficients and try to obtain, in analogy with the plane wave (7.8), the solution of the equation Au = 0 in the form (7.9) where A is a large parameter (which plays the role of frequency), A + +a, and S is a realvalued smooth function. Substitution into the equation gives ~ u ( x= ) eiw(x)[Ama,(x,s,(x)) u(x) = u(x, A) = eiAs(x),
+ o(Am')],
7.2. Local Asymptotic Solutions of Hyperbolic Equations. Let us try to understand how wave optics goes over to geometric optics if the waves are very short, or equivalently the frequencies are very high. We first consider a plane wave with frequency w and wave vector k:
u(t, x ) = ei(wtkx) = e i w ( t  x . k / o )
where a, = a,(x, 5 ) is the principal symbol of A and Sx = aS/ax = grad S. For the time being we are not concerned with the terms denoted by O(Am'), which have the form of a polynomial in A of degree not exceeding m  1, with coefficients belonging to Cm(Q).We assume here, and below, that the principal symbol a, is real valued. Then it is clear that if the equation Au = 0 is satisfied up to O(Am') for large A, the phase function S = S(x) must satisfy the HamiltonJacobi equation am(x, Sx(x)) 0, (7.10) which is also referred to as the eikonal equation. (The terminology eikonal has been taken from geometric optics where this term refers to the optical length of the path of the ray of light between two arbitrary points one of which lies in the space of objects and the other in the space of images.) This equation guarantees that the original equation Au = 0 is satisfied ''to the first approximation". To find a more precise solution of the equation, we seek the solution in the form of the formal series u(x, A) = eiis(x) m bj(x)Aj. (7.11)
O U u,, a2Au = 0,
(7.7)
and see that the equation is satisfied if and only if the vector k / o has length l/a, where a is the speed of the wave propagation. In the case of the usual wave equation the quantity a is a constant, independent of w. Thus for any vector ko of length l/a and for any o there is a plane wave of the form
u(t, x ) = e i 4  k ~ . x )
j=O
(7.8)
We now regard k, as fixed and let the frequency o tend to +a. This is what is meant in the present case by the transition to geometric optics for the plane wave (7.8). Let us consider the phase function cp = o ( t  k, x ) of this wave and let us follow the surfaces cp = const of the constant phase which are referred to as the wave fronts. We note that this concept of the wave front differs from that of wave front sets introduced in 0 3, although there is a connection between them that will be mentioned below. For each t the wave front is the plane { x :k , . x
=t
Applying the operator A to each term of this series, that is, to each function of we obtain a sum of terms of the same form, but possibly the form eiis(x)bj(x),lj, with positive powers of A. Hence by rearranging the terms, we see that the series Au can be written in the form
Au = eiW(x)
uj(x)~mj.
(7.12)
j=O
We call the series for u the asymptotic solution or rapidly oscillating asymptotic solution if Au = 0, that is, if all the terms in (7.12) vanish. If we consider a finite sum
+ c } c IR"
of this series, we obtain a function on 52 which depends on A as a parameter and is such that
that moves with changing t, with speed a in the direction of the vector k,. Hence it is natural to refer to the straight lines going in the direction of ko as rays.
I
84
85
AuN = O(INl+m)
as I + +a. Thus, the truncations uN of the series which is an asymptotic solution are ''almost solutions", and the larger the integer N the more accurate they are. Since the equation is linear, it is clear that the asymptotic solution u can be multiplied by a numerical factor. For example, if we multiply the solution by I  k , we again obtain an asymptotic solution, and so the series may start from j =  k instead of j = 0. Further, we can assume that bo f 0 in any of the subdomains of 0 because otherwise in such a subdomain we can start the series at the first nonzero term by taking a suitable power of A outside the summation sign. Since the first term of the series for Au has the form
Imarn(x, Sx(x))bo(x)eiass'x),
(7.13)
The equation Au = 0 implies that uj = 0 ( j = 0, 1, 2, .. .). Note that u0 = 0 in view of the eikonal equation, and that each of the equations uj+, = 0 ( j = 0, 1,2, . . .) implies that
where fj depends only on b,, b,, ...,bjl. The equations (7.14) are known as the transport equations. Taking into account the meaning of V , we can write each of these equations in the form
d i'bj(x(t)) dt
we see that the phase function S must satisfy the eikonal equation. The computation of the next terms of Au gives
uj=
f+k=j
c (Afbk), j = O , 1 , 2 ,...,
+ c(x(t))bj(x(t)) = fi(x(t)).
(7.15)
O<l<m,
O<k<j,
where the A , are linear differential operators of order 1 which depend on S and are defined by the formula
Furthermore, A , formula
=0
These equations are linear firstorder ordinary differential equations along rays for the functions bj if b,, b,, . . ., bjPl are already known. In particular, the function bj(x(t))is determined completely along the entire ray if bj(x(0))is known. We see that an asymptotic solution of the equation Au = 0 can be conwhich is a solution of the eikonal structed for a given phase function s(~), equation, if a smooth hypersurface r is given which is transversal to all the rays passing through its points. Moreover, the solution is constructed for any given initial data
bjlr=b:,
j = O , 1 , 2 ,..., (7.16)
= i'L1
+ c(x),
The vector field V ( x )has a transparent geometric interpretation. The operator L , represents differentiation along rays which are projections onto the xspace of those bicharacteristics of the function a , (that is, of solutions of the Hamiltonian system with the Hamiltonian a,) that lie on the graph of the gradient of S. This implies that the trajectories of V are the vector functions x ( t ) such that ( x ( t ) , t(t)), where t ( t ) = Sx(x(t)), is a solution of the Hamiltonian system
in a small neighbourhood of r. Furthermore, the solution exists and is unique in any neighbourhood U where the phase function S is defined. Also the rays constitute a good family in the sense that through every point x E U there passes exactly one ray x(t), this ray intersecting r in exactly one point xo = x(O), and this point xo as well as the value oft defined by x ( t ) = x depend smoothly on x . Thus the description of the asymptotic solutions leads, in essence, to the solution of the HamiltonJacobi equation (7.10), which can also be solved by means of bicharacteristics and rays in accordance with the procedure laid out, for example, in Arnol'd [1979], Egorov and Shubin [1988], Hormander [1983, 19851, Maslov and Fedoryuk [1976], Shubin [1978]. The eikonal equation (7.10) has a sufficient number of solutions when, for example, A is a strictly hyperbolic operator with respect to a certain direction which can be chosen, without loss of generality, to be the x,axis. Namely, let Aj = Aj(x, 5') ( j = 1,2, .. . ,m) be all the roots of a,(x, c, A) = 0, regarded as an equation in I (here 5' E I R "  l ) , which are chosen to be continuous in ( x , 5'). These roots are real and distinct for all r' # 0 in view of the definition of hyperbolicity. Then the phase function S, a solution of (7.10), actually satisfies one of the equations
86
87
~as(x)
ax,
Aj(X, S J X ) )
= 0,
(7.17)
(7.22)
where j = 1, . . ., m. Moreover, in a sufficiently small neighbourhood of the intersection of the hyperplane x , = 0 with the domain 52 in question, the equation (7.17) has a unique solution Sj, such that Sjlx,=0 = s;, (7.18) where S;
= S;(x')
so that the problem (7.19) does make sense, and is to be understood in the sense of equality of coefficients for the various powers of A. For the Sr we shall take m distinct phase functions which satisfy distinct equations (7.17), where S, corresponds to the root A, of the characteristic equation. Theorem 7.2 (Lax [1957]). Under the above hypotheses, the Cauchy problem (7.19) is uniquely solvable in a small neighbourhood o f the initial hyperplane a'.
To prove this result, we note that each of the series u', being a solution of Au = 0, is uniquely determined by the initial data u ' ( ~ , = which ~, can be arbitrary. Therefore we need only choose these initial data so that the initial data of (7.19) are satisfied. This leads to the equations
7.3. Cauchy Problem with Rapidly Oscillating Initial Data (Lax [1957], Maslov [1965], Maslov and Fedoryuk [1967]). Let us pose the following Cauchy problem for the hyperbolic equation of the form discussed above:
[AU = 0,
(7.19)
r=l
(iErb f ) ( x ) ] x,=o
where of equations depends only on bg), ..., b!') = 1,. . . , m). But (7.23) is a linear system in bf)(x', 0) (r = 1, J1 . . .(r ,m) whose determinant is the nonzero Vandermonde determinant because all the quantities
= fj(')(x');
= 0, 1 , . . ., m  1; j = 0, 1,.
. .,
(7.23)
are distinct, in view of hyperbolicity. A theorem analogous to Theorem 7.2 holds for hyperbolic systems too.
7.4. Local Parametrix of the Cauchy Problem and Propagation of Singularities of Solutions (Maslov and Fedoryuk [1976]). Let us describe the connection between Theorem 7.2 and the behaviour of singularities of the solutions to the Cauchy problem. The singularities can be conveniently described by means of the Fourier transformation. Let us therefore consider a solution u = u(x) of the Cauchy problem
c
rn
U,(X,
A),
(7.20)
(7.21) and the series for u' is an asymptotic solution of the equation Au = 0. All the phase functions S, are assumed to satisfy the eikonal equation (7.10) with the same initial condition
Au = 0,
uIx,=o = 0,
(7.24)
..............
88
89
We note that, in the general case when none of the initial data is zero, the solution u is the sum of rn solutions corresponding to those cases where only one of the initial data is not zero; each of these cases can be considered in the same way as the problem (7.24). Let f E &(Q). Since the propagation speed of perturbations is finite, we can assume that the problem (7.24)is considered throughout lR. We represent f by means of the Fourier transformation (in the generalized sense):
where
f ( x ) = (27c)+ f(r)eixCdt;.
Iff(t;) = O(lt;rlN) as 151 + +m, then f E CN(lR). Likewise, if we have to find the singularities of the solution u, it is sufficient to solve (7.24) up to functions whose Fourier transform with respect to x decays rapidly enough as
(7.25)
151 + +a.
The formula (7.25) can be considered as the representation off as a linear Since the original problem is linear, combination of the exponentials x HeixC. it is sufficient to consider the solution of (7.24) in which f ( x ) is replaced by ix t . To be more precise, let cp E C;(Q), with cp = 1 in a neighbourhood of supp f. Then (7.25) can be written as
f
so that it is sufficient to solve (7.24) with f ( x ) replaced by cp(x)eiX.<. We now set 1 = It;], q = t;/l(l to obtain
cp(xi)eix.C
= e i l S ( x , i ) cp(x),
where S(x, q) = q . x. Let u(x, q, A) denote a sufficiently long truncation of the asymptotic series which gives an asymptotic solution of the Cauchy problem (7.24) with f ( x )replaced by eis(x.q)cp(x). Here q is regarded as a parameter and 1as a large parameter having the same meaning as above. We introduce a cutoff function $ = $(t)such that $ E C;(lRl) and $ = 1 in a neighbourhood of zero. Then the function
Ul(X)
Here the phase function Sj satisfies the eikonal equation (7.17) with initial condition Sjlx,=o = x . t;, and a = a(x, 5) is a classical symbol of order rn + 1, being the sum of several smooth functions which are positive and homogeneous for It;/ 2 1. Further, the procedure for constructing the asymptotic solutions enables us to describe the singularities of the solution u l . For simplicity, let f ( x ) = 6(x)so that f(t;) = 1. Then the corresponding solution u(x) = Q(x)is called the fundamental solution of the Cauchy problem for the equation Au = 0. We consider the corresponding solution u1 = Ql of the form (7.26) which differs from 8 by a sufficiently smooth function. The solution u(x, q, A), which occurs in this formula, can be determined as a solution with initial data f ( x ) = eiqcp(x), where v, E C;(lRl) and supp cp is contained in a sufficiently small ball with centre 0. But then u is given by a finite sum of the terms of the form eisj(x.q)$(x), where Sj is the phase function described above and $ is obtained by solving the transport equations along the rays corresponding to the phase function 4. Thus the support of u lies in the union of rn cones of rays (with curvilinear generators) emanating from the origin. It can be seen easily that all these rays can be described as projections onto the xspace of all possible nonzero bicharacteristics of the principal symbol amwhich start above the point x = 0, that is, at the points of the form (0, S(0, t)). A more detailed description of the singularities can be given easily in the language of wave fronts by analysing the integral (7.28) by the method of stationary phase with 1= ltl.Thus, on multiplying O j f ( x )by a cutoff function cp = cp(x) with a sufficiently small support, we obtain a distribution whose Fourier transform is given by the integral
r,
= (271)+ 1
 $(t))f(t)u(x,
t;/Itl, Itll d f
(7.26)
r\l
cp
ojf(?) =(24
n
+1
is a solution of a problem that differs from (7.24) by the addition of sufficiently smooth functions on the righthand sides. But then, in view of the wellknown existence and uniqueness theorems of the Cauchy problem for hyperbolic equations, u  u1 is also a sufficiently smooth function. This implies that (7.26) defines a parametrix for the Cauchy problem (7.24). Noting the form of the asymptotic solutions described above, we find that (7.26) can be written in the form
i[S,(x, C) Y
.c x. i 1
4x9
S ) c p ( X l f ( Y ) dY d5 dx.
(7.27)
where 1= 1q1 and = q/lql. The last integral decays rapidly with respect to 1 outside the stationary phase points, that is, at those points where
I "
w
90
91
lTl+l ax +o.
as'(x, 5') asj(x, 5')
We see that WF(ajf ) must be situated at those points (x, q) such that q =
"), where
ax a5 the points (x, q ) that lie on the bicharacteristics starting from the points of the form (0,qo) (that is, above the point x = 0), because aSj/a(' = 0 remains unchanged under motion along the bicharacteristic (5' is a parameter!) and
Sjlx,=o = x' . 5'. In exactly the same way, the relation q = I as.(x, ") also remains
globally, then under certain topological conditions the asymptotic solution having the abovementioned structure can be constructed and then these solutions can be glued to give the global asymptotic solution. In particular, in this manner we can obtain a global asymptotic solution of the Cauchy problem (7.19) for a strictly hyperbolic equation with rapidly oscillating initial data. This leads to the construction of the global parametrix of the Cauchy problem for such an equation, in accordance with the scheme outlined in $ 7.4. We first introduce a geometrical object that replaces the solution of the HamiltonJacobi equation H (x,
ax
F)
= 0,
(7.29)
unchanged along the bicharacteristic, since the graph of the gradient of the function Sj, which is a solution of the HamiltonJacobi equation, is invariant with respect to the Hamiltonian flow; see the procedure for solving the HamiltonJacobi equation described in Egorov and Shubin [1988, $3, Chap. 11. Also, we can confine our attention only to null bicharacteristics because of the general result W F ( 4 c {(x, 5): a&, 4 ) = 0 ) which is true for any solution of the equation Au = 0. This enables us to obtain a global assertion stating that the singularities of any solution are propagated along bicharacteristics (it is enough to establish this result for arbitrarily small segments of the bicharacteristics!) because any forward movement with respect to t can be regarded as a solution of the Cauchy problem with suitable initial data.
where His a realvalued smooth function in R2". To do this, we observe that the graph of the gradient of S, that is, the set of points (x, Sx(x)),is a Lagrangian manifold in R2".In other words, this graph is an ndimensional submanifold such that the restriction of the symplectic 2form o=
j=1
dxj A dtj
7.5. The Maslov Canonical Operator and Global Asymptotic Solutions of the Cauchy Problem (Maslov [1965,1973], Maslov and Fedoryuk [1976], Vajnberg [1982]). In a majority of cases the asymptotic solution of the Cauchy problem (7.19) can be found only in a small neighbourhood of the initial surface. This is due to the fact that the Cauchy problem (7.17)(7.18) for the eikonal equation can be solved only in a small neighbourhood of the initial surface even though the equation and the initial data are defined globally, an example being the case R .The reason for this situation where x' varies on a compact manifold and x, E I is the presence of caustics, that is, envelopes of families of rays which arise in the general situation from the solution of equations determining the rays. In order f the Maslov canonical to overcome this difficulty, we can employ the method o operator, which we now describe briefly. From the analytical point of view, the essence of this method is that near the caustic we use, instead of asymptotic solutions of the form (7.1l), the integrals of these solutions. More precisely, we use Fourier transforms of the asymptotic solution of the form (7.11) with respect to some or all of the variables, but given either in terms of variables 5 which are x ( ' ) , <(2)), where x = (x('),x ( ~ is ) )a decomposidual to x or in terms of variables ( tion of the variables x into two groups and the variables 1(2) are dual to x ( ~ ) It. turns out that if the bicharacteristics of the equation in question are defined
to this submanifold is equal to 0, where (xl, . . .,x,, tl, . .., 5,) denotes the coorR : xI R ; .Conversely, let A c R2"be a Lagrangian manifold dinates in R2"= I and let p E A be a point such that A is diffeomorphically projected onto I R : in a neighbourhood of this point. For this, it is necessary and sufficient that the differential of the projection n: A + I R : is injective at p, by the Implicit Function Theorem. Then in a neighbourhood U of this point, A can be represented as the graph of the gradient of a function S which is defined uniquely up to an additive constant. Thus, S is determined by the formula (7.30) where (x, <(x))is a point of the neighbourhood U c A in question which lies above the point x, and the integral of the 1form 5 dx = dx, 5, dx, is taken along any path in n(U) that joins xo and x. We note that the integral is independent of the path because the form 5dx is closed on A since A is a Lagrangian manifold. Thus every Lagrangian manifold A contained in the hypersurface r = ((x, 5): H(x, 5 ) = 0} is in essence a manyvalued solution of the HamiltonJacobi equation (7.29). Let there be prescribed an initial function So = So(x')considered as a function on the hyperplane x, = 0, and assume that the following condition holds.
rl
+ +
=0
92
93
Note that this condition is fulfilled automatically for equations of the form (7.17), and in this case the solution (,,(x') is unique. If Condition A holds, we can take all the bicharacteristics of H passing through the points x', 0, I,
part lying above the hyperplane x, = 0 has the form x',O, ,I <,,(x')), where the function (,,(x') is given by condition A. For the coordinates of any
I
teristics will constitute the Lagrangian manifold A. In a number of important R : , that is, the projection K: cases this manifold lies above the whole space I A +I R : is surjective. This is the case, for example, with the HamiltonJacobi equations which are solved with respect to aS/ax, under certain conditions imposed on the growth of the Hamiltonian and, in particular, for equations of the form (7.17) which arise from uniformly strictly hyperbolic equations with coefficients having bounded derivatives. We can generalise formula (7.30) by introducing the function
( ) ' : :a
point r on A we can choose the variables (t, y), where t is a parameter along the bicharacteristic which passes through r at time t and emanates (when t = 0) above the point (0, y), where y E IR"'. The usual coordinates x of the projection R : will be functions of (t, y), that is, x = x(t, y), and we can of the point r onto I
I . It does not vanish when t = 0 but consider the Jacobian J ( t , y) = det ax(t' '
~
S(r) = S(ro) i  5 dx
1;
(7.31)
vanishes at exactly those points where the differential of the canonical projection K: A + I R : degenerates, that is, above the caustics. Let the manifold A now be covered by the coordinate neighbourhoods Uj such that a set (x('),5")) can be chosen in each 5 as the local coordinates. For a function cp E CF(q), we set
w, Y )
in a small neighbourhood U of any point ro on the Lagrangian manifold A. Here the integral is taken over any path that joins ro and r and lies in U . Again the integral is independent of the path because A is a Lagrangian manifold. The function S = S(x), constructed above, was the image of the function (7.31) under R : . By a wellknown lemma of Arnol'd [1979], in a the projection K: A + I neighbourhood of each of its points po the Lagrangian manifold is diffeomorthat is, phically projected onto one of the Lagrangian coordinate planes in R2", onto one of the planes (x(l),<(2)), where (x('), 5")) are as described above. The image of S in (7.31) under this projection is a function S(x('), <(')), which we use to construct a new function
(7.33) where SUj is the generating function of the Lagrangian manifold A in (x(l),5")) coordinates, S denotes the function (7.31) on A and k denotes the number of variables 5(2). The operator K ( q ) :C?(Uj) + C"(IR: x I R , ) is known as a precanonical operator on L$associated with the coordinates (x('), 5")). If k = 0, that is, if <(2) are absent and q ia diffeomorphically projected into I R : , we find that K(q)rp coincides with the function (7.34) up to an insignificant numerical factor. The Jacobian appears here because the first transport equation (namely, the equation (7.14) withj = 0 and a, = H) can be written in the form (7.35) by the wellknown Liouville formula. Here the values of all the functions are taken along the given bicharacteristic. This gives the leading term uo of the asymptotic solution (7.11) in the form
uo(x, A) = b,0(y)/Qexp[iAS(r(x)) J(t, Y )
eiWr(x))j(X)1/2
cp(r(x))
as,(x('),
a52
'
5(') = as,(X(l),
5'2))
ax(1)
We now assume for simplicity that the function H = H(x, 5 ) is homogeneous in 5 of degree m. We seek an asymptotic solution of the problem with rapidly oscillating initial data (7.32) where c E C;(IR"l). As above, we assume that condition A holds. This enables us to construct a Lagrangian manifold A from the bicharacteristics such that the
1'f
j=l
axjej
(7.36)
94
95
where t = t(x), y = y(x), C; = C;(x) and r(x) are the coordinates on the Lagrangian manifold A in vj, when expressed in terms of x. If we now assume that in a neighbourhood vj the set (x('),C;")) giving local is another coordinates on A can be chosen in various ways, that is, if (Z('), t")) such set and E(vj)is the corresponding precanonical operator, then the method of stationary phase yields the following connection between K ( v j ) and vj): (7.37) I?(vj)cp = eYi"'zK(vj)cp+ O(A'),
index of the path joining a fixed point ro E A to any point r E vj. We then find that
c,K(U,)cp = C j K ( v j ) c p
+ o(A'),
z(
if cp E Corn(& n vj), and this ensures that our canonical operator K,, is well defined. Let us return to the Cauchy problem (7.32). It turns out that this problem has an asymptotic solution of the form (7.42) with bj E Cm(A), wherever the Lagrangian manifold A , constructed just now, is defined (under the assumption that it is quantized). The functions bj here are found by solving the transport equations on A . These equations, which are obtained by substituting the series for u(x, A) into the equation H(x, D,)u = 0 and then equating to zero the coefficients of various powers of A, have the form
Rlbj=fi.
where
Here we use the notation that, for a symmetric matrix A, inerdex A denotes the negative inertia index, which is the number of negative eigenvalues of the matrix of the corresponding quadratic form; in the present case mody 4 does not depend on the choice of the point in question. Let us now try to glue the precanonical operators K ( v j )to obtain the canonical operator (7.39) KA: C r ( A )+ Cm(IR" x I R , ) mod O(A'). To do this, we set
(KAcp)(x,1 )=
(7.43)
Here (7.44)
1cjK(vj)(ej(r)cp(r))(x),
j
(7.40) is a firstorder differential operator on A in which d/dt denotes differentiation along bicharacteristics and the point ( x , C;) is taken on A, and the functions are expressed in terms of bo, . . ., bjl. By assigning suitable initial conditions for bj on the hyperplane x , = 0 which guarantee that the initial condition of the problem (7.32) is fulfilled, we can successively solve the transport equations (7.43) (explicitly, once we know A ! )and find the desired asymptotic solution. We now examine the Cauchy problem (7.19) with a uniformly strictly hyperbolic equation of order m in IR" whose coefficients possess derivatives of all orders. Then we have m HamiltonJacobi equations (7.17) that define m Lagrangian manifolds A , , . . ., A,. The presence of a distinguished variable x , and the simple structure of the initial data ensure that the manifolds are simply connected and, hence, that they are quantized. Thus m Maslov canonical operators KA,, . . .,KAmare defined.
where {ej};, is a partition of unity on A which is subordinated to the covering vj, and the cj are constants chosen so that this definition depends on neither the choice of the covering L$ nor the choice of the coordinates in each neighbourhood vj. It turns out that this can always be achieved in the case of the socalled quantized Lagrangian manifolds, that is, for those manifolds A for which, first, f,C; dx = 0 for any closed path 1 on A and, secondly, ind 1 = 0, where ind 1 denotes the Maslov index of this path. The Maslov index of any path (not necessarily closed) on A can be defined, for example, by covering this path by a set Ui,, Ui,, . . ., Uis of coordinate neighbourhoods described above, such that Uikn Uik+, # 0 ( k = 0, 1, ...,s  1). Then for each pair U,,, Uik+, we introduce the number y(Uik,Uik+,) given by the formula (7.38), in which on Uikn Uik+, (x('), C;")) denotes the coordinates on Uikand (%(I), f")) denotes the coordinates Finally we set on Uik+,.
s1
fi
ind 1 =
k=O
1 y(Uik,Uik+,) mod 4,
(7.41)
Theorem 7 . 3 (Maslov; see Maslov and Fedoryuk [1976], Vajnberg [1982]). Under the above hypotheses, the Cauchy problem (7.19) has a global asymptotic f the form solution o
(7.45)
where the functions bk, E Cm(Aj) are found by solving the transport equations on Aj with suitable initial conditions.
this definition being independent of the choice of the arbitrary elements. We remark that, in particular, every simply connected Lagrangian manifold is quantized. In the case of a quantized manifold A , the quantities cj in the definition (7.40) of KA can be taken as cj = exp(  i7cyj/2), for example, where yj is the Maslov
96
91
In view of the procedure described in 57.4, this theorem gives a way of constructing the global parametrix of the Cauchy problem for the equation in question. There is a direct connection between the Maslov canonical operator and the Fourier integral operators, which appeared later (see a description of this connection in Mishchenko, Sternin and Shatalov [1978], and Nazajkinskij, Oshmyan, Sternin and Shatalov [1981]). The method described above and its improved variants give us a way of constructing asymptotic solutions of a wide variety of problems of mathematical physics and, in particular, semiclassical approximations in a number of important quantummechanical problems concerning asymptotic problems in spectral theory. A detailed account of these questions can be found in the monographs by Babich and Buldyrev [1972], Fedoryuk [1977], Guillemin and Sternberg [1977], Hormander [1983,1985], Ivrii [1984], Leray [1978], Maslov [1965, 1973, 1977, 19871, Maslov and Fedoryuk [1976], Mishchenko, Sternin and Shatalov [1978], Shubin [1978], Taylor [1981], Trkves [1980]. These monographs and the literature cited there also contain the details of the constructions described here together with the necessary proofs.
over the functions u E f i ' ( D ) .This means that a function rl/ is said to be an .. . _ _ eigenfunction of the problem (8.1), corresponding to the eigenvalue 1 , if $ E f i ' ( D ) , $ # 0 and
~
for any u E f i ' ( D ) , where the sesquilinear forms [., .] and (., .) define Hilbert i ' ( D )and L2(D)respectively: scalar products in f
V u V dx, (u,U) =
Incidentally, it is enough that the identity (8.3) holds for functions u E C;(D). When the domain D has smooth boundary (of class Cm),the generalized formulation is equivalent to the classical formulation (8.1). It also follows automatically that E Cm(B). We assume that the eigenvalues of (8.1) are arranged in increasing order:
5 8.
where each eigenvalue is repeated according to its multiplicity. It can be shown that 1 , is nonrepeated so that actually 1, < A,, but this observation will not play any role in our discussion below. There is a variational principle, known as Courant's Minimax Principle, which expresses the eigenvalues Aj in terms of the quadratic form (8.2):
Lj = max
In the present section we discuss simple problems concerning the asymptotics of eigenvalues of selfadjoint operators which arise in analysis, geometry and mathematical physics.
8.1. Variational Principles and Estimates for Eigenvalues (Berezin and Shubin [19833, Courant and Hilbert [19371, Glazman [1963], Shubin [1978]). We have already dealt with eigenvalue problems associated with elliptic boundaryvalue problems (see Egorov and Shubin [1988, 3, Chap. 21). The simplest of these is the problem of finding eigenvalues and eigenfunctions for the Laplace R "with the Dirichlet boundary condition: operator in a bounded domain D c I
(8.1) In its generalized formulation, this problem consists in investigating the eigenvalues of the operator generated by the quadratic form
[u, u] =
where H , = f i ' ( D ) , L is a linear subspace of H , , and the maximum is taken over ' is the orthogonal complement of all such subspaces of dimensionj  1. Also, L L in L , ( D ) ,and it is understood that the minimum is only taken over those u that lie in L1 n H , . When j = 1, this formula has to be understood without the first maximum, that is,
Noting that C$(D) is dense in f i ' ( D ) , we can easily transform (8.4) to the form
s.
where Do = C:(sZ), A =  A and the minimum is taken over all u E L1 n Do. As before, the orthogonal complement is taken in L,(D). We now introduce the distribution function of eigenvalues:
(VulZdx
98
99
(In this first of two alternative ways of expressing N(1) it is immaterial whether the eigenvalues have been arranged in increasing order or not.) This function is rightcontinuous, that is, N(A + 0) = N(1). Then we also have a variational principle for N(1),known as Glazman's Lemma: N(1) = An analogue of (8.5) has the form max
lu,ul <A(u,u), u E L
LcHl
We now examine the eigenvalue problem with the Neumann boundary condition: A+=A$ in52,
dim L.
N(1  0) =
max
LcDo (Au,u)< A(u,u).ueL\{OI
dim L.
(8.7)
The variational principles (8.4)(8.7) lie at the foundation of the standard numerical methods for finding the eigenvalues Aj. They can also be used effectively for investigating the qualitative behaviour of the eigenvalues and, in particular, for finding their asymptotics. Suppose that, for example, there are two domains 52 and 9' in IR" such that 52 c 9'. We denote by Aj(52) and Aj(52') respectively the eigenvalues of the Dirichlet problems in 52 and 9', and by N&) and N&) the corresponding distribution functions. Since C;(Q) c C;(9'), it evidently follows from (8.7) that
The generalized formulation is obtained by arguments similar to those described in Egorov and Shubin C1988, 6 , Chap. 21. Thus $ is said to be an eigenfunction corresponding to the eigenvalue 1 if $ E H I @ ) , t,b # 0 and the identity (8.3) holds for any function u E H'(52). The variational principles (8.4) and (8.6) remain valid but now we take H , = H'(52) (and not fi'(52) as we did in the case of the Dirichlet boundary conditions). By defining Do =
= 0 we can again use the formulations (8.5) and (8.7). an a R We denote the eigenvalues of (8.12) by 'Aj = 'Aj@) ( j = 1,2, . . .). Just as in the case of the Dirichlet problem, it is assumed that
(8.12)
z1,,=0.
u: u E Cm(52), 
aul
A E IR,
j = 1,2, ... .
(8.8)
We note that 'Al = 0 and this eigenvalue is simple. Hence ' 1 , > 0. Finally, let " ( 1 ) = 'N&) be the distribution function of the eigenvalues ',Ij.In the case of the cube K,, the eigenvalues of (8.12) are
~~...,c,,
Lj(52) 2 Aj(9'),
( ; )
(k:
+ ... + k i ) ,
kjEZ+,
Thus the eigenvalues of the Dirichlet problem decrease when the domain is enlarged. As an example, we use this fact to compare the eigenvalues for 52 with the eigenvalues for a cube
K , = {x:O < xj
n k , x , *. * cosZknxn 1 1 ' Thus the formula (8.10) remains valid for the problem (8.12).' Furthermore, since fi'(52) c H'(52), a comparison of (8.5) for the Dirichlet and Neumann problems yields the inequality
and the corresponding eigenfunctions are
,,.&.(x) = cos
NQ(4< "n(4
Aj(52) 2 'Aj(52), j
=
8.2. Asymptotics of the Eigenvalues of the Laplace Operator in a Euclidean Domain. Under minimal additional conditions on the domain 52, we can obtain the asymptotic formula
N&) = (2n)" mes 8.0;1"/*(1 o(1)) (8.15) instead of the estimate (8.1 l), where mes 52 denotes the ndimensional Lebesgue measure of 52. H. Weyl, in 1912, was the first to establish such asymptotics. One of the proofs of this result consists of approximating 52 by a union of cubes whose vertices are the points of a lattice of integers that has been suitably contracted.
'The monotonicity properties (8.8), (8.9) are not true for the Neumann conditions, and (8.11) is true only if the boundary is sufficiently regular.
are found by the method of separation of variables. It can be seen easily that N&) = (2n)"l"OnP + 0(1(",)/2), (8.10) where on is the volume of the unit sphere in IR". By including a given bounded domain 52 within a sufficiently large cube, and again by taking a sufficiently small cube lying in 52, we find, in view of (8.8), that there is a constant C > 0 such that (8.11) c'A"/2 6 NQ(A)< cAn'z.
100
101
A lower estimate is obtained if these cubes are open, disjoint and lie inside 52. To obtain an upper estimate, we take a similar union of cubes which contains 52, but now we consider the Neumann condition on the boundary of each cube. Thus (8.15)is at least obtained for those bounded domains 52 with mes(852) = 0. By carrying out the above variational arguments more precisely, Courant (see Courant and Hilbert [1931, 19371) obtained the formula
N Q ( l )= (2n)" mes 52*q,1"~2(1 0 ( 1 ' / ' In A)),
as 2 + co, where mes,,,(852) denotes the volume o f the boundary with respect to the Riemannian metric that is induced by the standard Euclidean metric in IR". Under the same assumptions,
+ (2n)"+' 1 4
mes,l(852)1("')/2 (8.19)
(8.16)
with a more precise estimate for the remainder term. This formula is true if, for example, the boundary 852 has the property that mes(852), = O(E)as E + +0, where (852), is an Eneighbourhood of 852 in IR". Finally, the following theorem gives an estimate for the remainder that cannot be improved.
Theorem 8.1 (Seeley [1978]). Let 52 be a bounded domain with smooth boundary in IR".Then, as 2 + co,
N&) = (2n)" mes 8.0,,2"'~(1
+ O(A'/')).
(8.17)
This theorem cannot be obtained from the variational methods, and to prove this result we require the method of hyperbolic equations which is the most precise of the known Tauberian methods; this method will be dealt with later. Theorem 8.1 remains valid without change for the eigenvalues of the Neumann problem. As far back as 1912, H. Weyl conjectured that the second term of the asymptotic formula for N ( 2 ) contains an (n  1)dimensional measure ("area") of the boundary 852. An answer to the problem of the second term of the asymptotic formula was first obtained by Ivrii in 1980 for domains having smooth boundary under the following condition regarding the billiard trajectories of 52, where the billiard trajectory in 52 is taken with the usual reflections at the boundary.2 Condition (A). The set of periodic points of the billiard in 52 has measure zero. This condition implies that the set of vectors tangent to 52 that are initial conditions for periodic billiard trajectories has measure zero in 52 x IR" (that is, the 2ndimensional Lebesgue measure is zero). Alternatively, we can state that the set of periodic points of the geodesic flow on 52 has measure zero, the geodesic flow being prescribed on unit vectors tangent to 52.
Theorem 8.2 (Ivrii [1980, 19841). Suppose that the domain 52, with smooth boundary, satisfies condition (A). Then for the eigenvalues o f the Dirichlet problem,
(8.20) (8.21) where the constants c1 and c2 are expressed in terms of the coefficients of the operator and the boundary conditions. The second of the two formulae is valid when an analogue of condition (A) holds for the Hamiltonian flow which is defined by the principal symbol of the operator in question with suitable reflection on the boundary; in particular, it is true when a convexity condition, which Vasil'ev calls the Hamiltonian convexity, is satisfied. We also note the results of Ivrii and Fedorova [1986]. By combining the method of hyperbolic equations with a perturbation technique, they extended Theorems 8.1 and 8.2 to a number of irregular cases where the irregularity is due either to the domain being unbounded, or to nonsmoothness of the boundary, or to some degeneracy. Finally, in some cases Gureev and Safarov [1988] dispensed with condition (A) and its analogues by modifying the second term of where Q is an almost(8.21) and obtaining a term of the form Q(A)2(n1)/"', periodic f ~ n c t i o n . ~ We also note that the asymptotic formulae for N(1), as 1 + co,can always be written as asymptotic formulae for Aj as j + co. Thus, the formula
N ( 2 ) CA", 1 + co, where c > 0 and a > 0, is equivalent to 2, c  l / a J , j  + a 3 S e e also forthcoming books by V. Ivrii [in preparation] and by Yu.G. Safarov and D.G. Vassiliev [in preparation] 4See also Safarov [1988a, b], Safarov and Vasil'ev [1992]
Melrose [1980] independently obtained the second term for manifolds with concave boundary.
102
103
Ij
(2n)'(rnes B)2/"co;2/"j2/", j , co
(8.22)
for the eigenvalues of the Dirichlet problem in a bounded domain B with mes(8B) = 0. The formula N ( I ) = d " ( 1 + o(I')) as I + co, where c > 0, a > 0, and 6 > 0, is equivalent to
1 for a(v) < A 0 for a(v) > I. We assume, finally, that if the operator P has a trace, then
(8.28)
1 , = C  1 / a p ( 1 + o(j"")).
This enables us to formulate Theorem 8.1 in the form
2,
= (2~)~(rn ~ e)s 2~"co;2/"j2~"(1
sign must be understood as an asymptotic equivalence when a where the large or a small parameter is present. For a selfadjoint operator A with symbol a(A) = a, the formulae (8.26)(8.29) lead to the relation (8.23)
Tr P
sM
a(P)(v)dv,
(8.29)
+ o(j'/")), j + co.
N(I)
Similarly, under the conditions imposed on the domain, Theorem 8.2 gives two terms of the asymptotics for I, as j + 00.
8.3. General Formula of Weyl Asymptotics and the Method of Approximate Spectral Projection. Let us describe informally the idea which is essentially borrowed from quantum mechanics and which in many cases enables us to write correctly the principal term of the asymptotics for eigenvalues. ! I Let a correspondence be prescribed between the operators A from a class ! and the functions a = a(v) on a fixed space M with measure dv. These functions will be referred to as the symbols. The symbol of A will be denoted by a(A). The correspondence A + a(A) must be linear and such that o ( A , A , ) coincides with a(A,)o(A,) up to some lower terms. We express this by writing (8.24) 44 1 A' ) 4 41)o(Az)
This formula is the preimage of all the asymptotic formulae for N ( I ) (with respect to I as I + co or some other parameter such as a small parameter h in the semiclassical problems). We now cite examples illustrating different situations.
SU
~ , ( a ( v ) dv. )
(8.30)
Example 8.1. Let X = IR". In W",we consider pseudodifferential operators A = aw(x, 0 , ) defined by the Weyl symbols (see 5 1). The precise meaning of the condition (8.24) is contained in the composition theorem. The trace of the operator P with the usual symbol, or with the Weyl symbol, p ( x , 5 ) = p ( y ) is given by the formula
Tr P = (2x)"
Heuristically, we expect that if A is a selfadjoint operator, then for a sufficiently wellbehaved function f : IR + IR 4f(A))
 f(a(4)
(8.25)
in the case of a sufficientlysmooth and sufficiently rapidly decaying symbol p. Therefore if we prescribe the measure dv = dv(y) by the formula dv(y) = (2n)" dy, we obtain the necessary correspondence in accordance with the above scheme, and the expected asymptotic formula for the function N ( I ) in the case of a selfadjoint operator A with Weyl symbol a(x, 5 ) has the form
p ( y ) d y = (2n)"
p ( x , 5 ) d x d5
(8.31)
We note that, i f f is a polynomial, then this result is indicated by (8.24). In particular, let us take for f the function x, defined by
d x d5,
(8.32)
x~(~
Then x,(A) = E, is the spectral projection of A (if A is semibounded from below with discrete spectrum, E, is the projection operator onto the subspace spanned by the eigenfunctions corresponding to the eigenvalues Aj < A). Clearly, N(A) = Tr E,. (8.26) From what has been said above, we may expect that
R ' " . We can also consider the where mes denotes the Lebesgue measure on I usual symbol in place of the Weyl symbol, but then we replace a(x, 5 ) by Re a(x, 5 ) in (8.32).This case can also be included within the framework of the above scheme if a(A) is regarded as the principal part of the symbol a(x, 5 ) in some natural sense (for example, as the homogeneous leading part); a(A) will automatically be real valued. In particular, for the Schrodinger operator A = A q(x), where a(x, 5 ) = 5' q(x), the formula (8.32), on integration with respect to 5, yields
dE,)
x,(o(A)).
(8.33)
104
105
Example 8.2. Let X be an ndimensional compact manifold without boundary. We consider the algebra of all classical pseudodifferential operators on X, and by o(A) we understand the principal symbol of A. Then we must take M = T*X and dv = (2n)" dx d5,where dx d5 is the canonical measure on T*X defined in each coordinate neighbourhood by the local coordinates x and the corresponding dual coordinates 5. The relation (8.24) becomes an equality, and the formula (8.31) shows that something akin to (8.29) is valid, because we can decompose the pseudodifferential operator on X into a sum of operators whose kernels are concentrated in the direct product of a pair of coordinate neighbourhoods. This leads to the expected result (8.30) in which a is the principal symbol of A. Example 8.3. If X is a manifold with boundary (for example, a domain in IR"), we may expect that the boundary does not affect the principal term of the asymptotics for N(1). In this context the significance of formula (8.15) becomes clear, because the principal symbol of the Laplace operator is  I5 1' and
Although the above a priori discussions leading to the formulae (8.30) and (8.30) are only heuristic, they can be caried out rigourously in many cases. This was first done by Tulovskij and Shubin (Shubin [1978, Chap. 41) in the context , " of Example 8.1 for operators in IR" with Weyl symbols belonging to classes G (see 9 1). Then main idea is as follows. If we take a suitably smoothed function f,, instead of the characteristic function x,, then the operator 8 , with symbol f,(a(x, 5 ) ) possesses properties that are close to those of the spectral projection E,. For example, we may assume that 8 : =8 , and, as 1 + co, the operator 8 ; 8 ,is small in the traceclass norm in comparison to the function
V(A)= (2n)" mes { (x,5): a(x, 5 ) < A}
which gives the asymptotics assumed. This implies that, as Iz + 00, the eigen,are concentrated asymptotically near the points 0 and values of the operator 8 ,corresponding to the eigen1. The subspace spanned by the eigenvectors of 8 values close to 1 should be used as a test subspace L in the variational principle (8.6) or (8.7) by first establishing an estimate of the form (8.34) with some E > 0 and C > 0 that are independent of 1.This gives a lower esti, V(1). Simimate for N(1) in terms of a quantity approximately equal to Tr 8 larly, by considering the orthogonal complement of the same L and using an estimate of the form
&,(A  1 Z ) & ,
< CA'&
tr a(P)(v) dv
(8.29')
 IM
tr E,(a(v)) dv =
1mes{v: Aj(a(v))< A}
i
(8.30)
holds in place of (8.30). Here E,(a(v)) is the spectral projection of the operator a(v),where a(v) is assumed to be selfadjoint, and Aj(a(v))are the eigenvalues of a(v). When all the spaces where the operators a(v) act are onedimensional, the formula (8.30) becomes (8.30). The simplest examples where (8.30) is applicable are provided by the matrix operators in Examples 8.1 and 8.3 or by the operators in sections of vector bundles in Example 8.2. We now present a more complicated case. In considering operators on a manifold X which degenerate on the boundary it proves useful to take a different operator symbol for a(v) instead of the usual symbol. This operator symbol is defined for v E T*Y\O (the cotangent bundle space of Y without the zero section) acting in the space L,(IR+) as a pseudodifferential operator whose symbol is obtained from the symbol of the original operator by fixing the point x' E Y and the dual variable g' = v.
(8.35) we can obtain an upper estimate for N(1).These two estimates together yield the asymptotics for N(1).The operator 8 ,that imitates the properties of the spectral projection E , can naturally be called the approximate spectral projection. The method of finding asymptotics by means of the approximate spectral projection has been developed by several authors, but the most significant contribution has been made by Levendorskij (see Levendorskij [1985,1990] and the works cited there). He applied this method to a large class of problems and, in particular, to nonelliptic and degenerate operators and systems and to various other problems with a small parameter, such as semiclassical problems and problems in the theory of shells. This method also enables us to obtain an estimate for the remainder term in the asymptotics although the result is not as precise as the one obtained by the method of hyperbolic equations. We also note that in the asymptotic problem for the eigenvalues of the operator with Weyl hsymbol a(x, 5 ) (that is, for the operator with Weyl symbol a(x, h r ) ) the asymptotics for the distribution function &,(A), as h + + O with 1 fixed, must be of the form
(I  &,)(A  1Z)(Z
 8,)
>
Nh(2) (2nh)" mes{(x, 5): a(x, 5 ) < A}, (8.36) in accordance with the formulae of 91 and the idea developed above. This formula can also be justified under suitable assumptions by the method of the approximate spectral projection which was first done by V. Roitburd (see Shubin [1978, Supplement 2]), and by other methods.
106
107
8.4. Tauberian Methods. Tauberian methods are based on the study of certain functions of eigenvalues from which the application of socalled Tauberian theorems enable us to draw conclusions regarding the asymptotic behaviour of the eigenvalues themselves. Let us cite one example explaining the situation. We consider the (function CA(z)of a positive selfadjoint operator A with eigenvalues A, < A, < A3 < ... which satisfy the condition that Aj 2 cjE with some c > 0 and E > 0 or equivalently, N(A) < clAa for some c , > 0 and a > 0. The (function is defined by
rA(z) =
j=1
The residues at these poles and the value at the point zero (or the values at the points 0, 1,2, ...,if A is a differential operator) can be expressed in the form of certain integrals over S*X (over the fibres of the cotangent spheres) of expressions that are obtained from recurrence formulae in terms of the homogeneous components of the symbol. For example, the residue ro at the first pole zo =  n/m is expressed in terms of the principal symbol a, by a formula that can be written in any local coordinates in the form
ro = (2.n)"m'
c A; joA*dN(A).
m
(8.37)
jx
dx J,,=l a,"%,
5 ) dS,,
(8.40)
This integral converges for z in a halfplane Re z < po, and it defines a holomorphic function of z in this halfplane. Let us assume for a moment that N ( 1 ) has the asymptotic expansion
r1
N(A) =
k=O
1 ckAak + o(Aar),
(8.38)
as A + c o ,where a. > a, > > a,, > a,. Substituting this expression into (8.37)and replacing the integral by a similar integral with limits from 1 to co we find that (8.39) where p,(z) is a holomorphic function for Re z > a,. Thus we see that if N(A)has the expansion (8.38), then the function has a meromorphic extension to the halfplane { z : Re z > a,} with simple poles at the points t l k and the residues at these poles are Ckak. In this way, all the terms of the expansion (8.38), corresponding to the exponents ak > 0, can be recovered from the poles and residues of ( A . The hypothetical expansion (8.38) is almost never valid in a real analytic situation. For an elliptic operator on a closed manifold X with dimension n 2 2 we have, in general, only one term of such an expansion. For example, R " + ' , the eigenfor the LaplaceBeltrami operator A on the unit sphere S" c l values pk =  k(k n  1) ( k = 0, 1,2, . . .) have such a high multiplicity Nk =
after using a partition of unity, where dS, is the standard measure on the unit sphere {t: = l}. Returning to the connection between (8.38)and (8.39),we find that the coefficient co in the principal term of the asymptotics (8.38) has the form co = ro/a,, = ro/zo = rom/n. It can be verified easily that this result agrees with the Weyl formula of Example 8.3. The proof of Theorem 8.3 is based on the description of the structure of the complex powers of A given in the language of the pseudodifferential operators in 5 1. If we compute CA(z) = Tr A' using a partition of unity and local coordinates on X, then passing to homogeneous components of the approxmation of the symbol of A" and finally a polar coordinates on the set { ( x , 5): 151 2 l}, we find that everything reduces to a meromorphic continuation of the integrals
z  zj
Jt
distribution function N(A)corresponding to the operator A = A cannot exist. What is striking is that the (function is still meromorphic in the whole complex plane for the most general case:
(" ") (

+ 
')
Theorem 8.3 (Seeley [1967]). Let A be a selfadjoint classical pseudodifferential operator of order m > 0 on an ndimensional closed manifold X . Then the (function = rA(z)has a meromorphic extension to the whole complex zplane with possible simple poles at the points zj = ( j  n)/m( j = 0, 1,2, . ..) which form an arithmetical progression. In fact, the point z = 0 is not a pole, and i f A is a differential operator, then the points z = 0, 1,2, ... are also not poles.
Results of the type in Theorem 8.3 are also valid for an operator on a compact manifold with boundary if by A we mean a selfadjoint operator defined by an elliptic formally selfadjoint differential operator L with homogeneous elliptic boundary conditions, provided that L  AI with these conditions satisfies the 01 (Seeley [1969a, b]). The ellipticity condition with the parameter A in (a, case of pseudodifferential boundaryvalue problems is much more complicated (see Grubb [1986], Rempel and Schulze [1982]). In place of the [function, we can consider the kernel K , = K,(x, y) of the complex power A" as a function of z for fixed x, y E X . If Re z <  n/m, then such a kernel is a continuous function of x and y on X x X and a holomorphic function of z. Moreover, a statement similar to Theorem 8.3 holds for the value K J x , x ) on the diagonal, that is, the function Z H K J x , x) can be extended meromorphically to the whole complex plane Q: with possible poles at the same points zj = ( j  n)/m ( j = 0, 1,2, . . .) which constitute an arithmetical progression, excluding the point z = 0 which is not a pole (and also excluding integers z 0 if A is a differential operator). The residues at these poles and the value at
108
109
z = 0 are given by formulae similar to those mentioned earlier. For example, the residue at the first pole z , =  n/m is obtained by dropping the integration with respect to x in (8.40). When x # y, the function z H K,(x, y ) can be extended to an entire function of z which vanishes for z = 0 (and for all integers z 2 0 if A is
a differential operator). We now introduce the spectral function of the operator A, this being the kernel e(1, x, y ) of the spectral projection E,. This function is defined for every selfadjoint operator A in L,(X), but if A is semibounded below and has discrete spectrum, then the function can be expressed in terms of the eigenvalues Lj and normalized eigenfunctions by the formula
cated formula (which, in particular, contains lower terms of the symbol) with the help of the theory of invariants (see Atiyah, Bott and Patodi [1973], Berline, Getzler, Vergne [1992]). We turn finally to the question of what information about the asymptotics of N(1) can be derived from Theorem 8.3. Here the following theorem plays a fundamental role (see, for example, Shubin [19781).
Theorem 8.4 (Ikehara's Tauberian theorem). Let the function & J z ) be defined i 1< 0. by (8.37) in terms of the nondecreasing function N(1) which is zero f Suppose that the integral in (8.37) converges for Re z <  k,, where k, > 0, and
r0 that the function CA(z) is continuous in the closed halfplane Re z
 ko.
Then, as 1 ,co,
+ z + k,
<
In particular, this implies that, under the hypotheses of Theorem 8.3, e(1, *, ) E Cm(X x X) for each fixed 1 .The function 1H e(1, x , x ) is increasing in 1 for each fixed x. Moreover, the kernel e@', A", x, y ) = e(A', x, y )  e ( T , x, y ) is hermitian and positive for A' > A", that is, the matrix l/e(A',A", x i , xj)llTj=l is hermitian and positive for every set of points x l , ..., xN E X . Using this fact for N = 2, we can show easily that the function A H e(1, x, y ) is of bounded variation of each bounded interval of the 1axis. We now note that on account of the formula
A'=
+ o(1)).
the kernels K,(x, y ) and e(1, x, y ) are connected by the formula (8.41) where the differential d is taken with respect to 1. Here the integral can be understood in a weak sense, but for Re z < n/m the integral converges as a Steiltjes integral for every fixed x and y. The formula (8.41) can be used for obtaining information about the spectral function on the basis of properties of the kernel K, in accordance with the above scheme but subject to the comments given below. Theorem 8.3 can also be used to study and compute the index of A due to the AtiyahBott formula ind A = I;r+A*A(Z)  Cr+AA*(Z) which follows from the fact that all the nonzero eigenvalues of the operators AA* and A*A coincide, and have the same multiplicity. The most convenient approach is to take z = 0 on the righthand side because the value of this side at z = 0 is expressed in terms of the symbol of the operator A. In this way we obtain an expression for the index in terms of integrals of expressions which contain the symbol and its derivatives. One of the proofs of the celebrated AtiyahSinger index theorem is based on the simplification of the above compli
A'dE,,
(8.42) in the case of an elliptic operator A of order m which is selfadjoint and semibounded below on a closed manifold X. We note that the condition A > 0 can be made to hold by replacing A by A + c l , where c > 0 is sufficiently large. However, in the transition from rA(z)to N(1) in Theorem 8.4, all the information regarding the [function is lost, except the information concerning the first pole, and we fail to utilise it for improving the asymptotics (8.42). Likewise, in the nonselfadjoint case, if the principal symbol is complexvalued, we fail to utilise the information regarding the cfunction (and other known methods) for obtaining even the principal term of the asymptotics of the eigenvalues. Using the meromorphic extension of the function z + K,(x, x), we can easily derive the asymptotics of the spectral function e(1, x, x) from Theorem 8.4. Thus, under the hypotheses of Theorem 8.3, we have
e(1, x, x ) = c0(x)1"/"(l
+ o(1))
+ o(l)),
(8.43)
(8.44) The asymptotics (8.43) is uniform in x and, by integrating (8.43), we obtain the asymptotics (8.42) for N(1). The holomorphicity of the function z H K,(x, y ) for x # y does not give any asymptotics nor even an estimate for e(1, x, y), because H e(1, x, y ) is not monotonic in 1 . the function 1 Instead of using the [function rA(z), we can straightaway use the trace Tr(A  zZ)' of the resolvent, this trace being defined if m > n; otherwise A must be replaced by Ak with a sufficiently large k. This gives information regarding the behaviour of N(1) from the behaviour of its Steiltjes transform
Tr(A  zZ)'
=
(A  z)l dN(1).
110
111
Another variant of the use of the Tauberian technique is to consider the function
In using this function, we usually study the operator e'" as an operatw solution of the Cauchy problem for the parabolic equation
where u = u(t, x ) , t E IR, x E X , and uo = uo(x). This problem is the simplest hyperbolic pseudodifferential Cauchy problem and its operator solution U ( t )is a Fourier integral operator which depends smoothly on t (see $4). The structure of this operator enables us to describe the singularities of its kernel U ( t ,x, y). In particular, it can be shown easily that if WF'(U) = {((x, then WF'(U(4
* 9
5 1 3
Y , rl): ( x , Y , 5, rl)
WF(U)},
The kernel K = K ( t , x, y) of the operator e'", which is a fundamental solution of the Cauchy problem, is usually constructed by the Levi method (see Egorov and Shubin [1988, $5, Chap. 21). Under the hypotheses of Theorem 8.3, the function OA(t)has an asymptotic expansion as t + + 0, from which we can again obtain the asymptotics (8.42). Historically, this method M s the first Tauberian method by means of which Carleman [1935] first established the asymptotic formula (8.43) for the spectral function of the Laplace operator in a domain. A detailed account of the parabolic equation method and the resolvent method can be found in the paper by Rozenblyum, Solomyak and Shubin on the spectral theory of differential operators to be published in one of the volumes of the present series.
(8.47)
where @'is the Hamiltonian flow defined on T * X by the Hamiltonian b, = a,!,"". This implies, in particular, that if u = u(t, x ) is a solution of the Cauchy problem (8.46), then WF(u(t, 9) = @l(wF(lJo)), (8.48)
and this gives important information concerning the propagation of singularities. We note that formally
o(t) = Tr U ( t )=
In fact, this formula can be given a precise meaning after multiplication by an arbitrary function cp = cp(t)E C,"(IR) and integration with respect to t, and in this regularised form it is easily established. Since U(t, x, y ) is a smooth function oft with values in 9 ' ( X x X ) , the function (T is smooth for those to such that, for nearby values of t, the restriction U ( t ,x , x ) to the diagonal A = { ( x , x ) } c X x X depends continuously on the distribution U(t, *,  ) (and this restriction U(t,x , x ) must be understood as an element of 9 ' ( X ) that depends on t). But this evidently holds if the microlocal condition for the existence of restriction to the diagonal is satisfied (see $ 3): WF(U(to, ., .)) n N*A = 0, where N*A denotes the conormal bundle of the diagonal, that is,
N*A = { ( x , x , 5,  5): x
U ( t , x, x ) dx.
(8.49)
(8.50)
X } c T*(X x X ) .
eiA1 d N B ( l )=
1ei"jt,
j
(8.45)
It follows from (8.47) that, if (8.50) is not satisfied, then there is a point ( x , 5 ) E T*X\O such that @Io(x, 5 ) = ( x , t),that is, to is the period of the Hamiltonian f the flow @ In I ) . this flow @' (in this case, ( x , 5 ) is known as the periodic point o way, we find that
(8.51) sing supp (T c {t: 3 ( x , t) E T*X\O, @ ( x , 5 ) = ( x , t)}. This relation was first obtained independently by Chazarain and Colin de Verdiere (see Trkves [1980]). It is referred to as the Poisson relation, because in the simplest case of the operator A =  d 2 / d x 2 on the circle S' = W / T Z , in which T > 0, this relation follows from the Poisson summation formula
where pj are the eigenvalues of B, and the sum and integral are understood in the sense of distributions. We now introduce the operator U ( t )= eiB1which is an operator solution of the Cauchy problem
 = iBu,
at
au
U I , = ~ = uo,
(8.46)
112
113
(8.52) It is clear from the Poisson relation (8.51) that to study the asymptotics of N(1) as A + 00, it is most important to know the behaviour of o ( t ) near the periods of the Hamiltonian flow. The most important point here is the point t = 0. The singularity of a, as t + 0, is referred to as the big singularity. From its study we can obtain important information concerning the asymptotics of the function NB(l).We note that this singularity is isolated, and this fact is an important feature of the hyperbolic equation method. We cloose a function p E S(R) such that p E C,"(lR), p(0) = 1, p(A) > 0 and p(0) > 0. Then pa is the Fourier transform of the function
( p * dNB)(A) =
NB(A)
= cOn'A"
+ c l ( n  l)'An' + o(A"')
(8.57) (8.58)
or
N(A) = conq"'m
If supp p is sufficiently small, we may assume that pa has a singularity only at 0 and, by analysing this singularity of pa, we can easily find the complete asymptotic expansion
( p * d N B ) ( A ) = coAn'
dA
dNB(p)*
+c
~ A + ~ c ~~ A + ~ ...  . ~
(8.53)
Levitan's Tauberian theorem enables us to derive from (8.53) the asymptotic formula (8.54) N B ( l )= Con'A" + O ( P ) , which is equivalent to the asymptotic formula
N(A) = c 0 n  v / m
+ o(A'"'"").
(8.55)
This formula in the above context was obtained by Hormander [1968], who was the first to apply Fourier integral operators to spectral theory. The estimate for the remainder term in (8.55) cannot be improved in the general case, as is shown by examining the LaplaceBeltrami operator on the standard unit sphere. Under some additional conditions of a geometrical nature, we can also obtain the second term of the asymptotics. This was first done by Duistermaat and Guillemin [1975]. The first step of their method consists of replacing p by PT, where &.(I) = P ( t / T ) and T + co. Next, to obtain the asymptotics of pT * dNB(A) as A + 00, we need to know the singularities of the function PTc,and for this we need information concerning the singularities of a on a segment with length T. The necessary information is obtained if the set of periodic points of the flow Qt has measure zero. Further, it is sufficient to consider, in place of periodic points, absolutely periodic points, that is, the points (x, 5 ) E T*X\O such that the graph of the map Qt at the point ((x, Qt(x, has contact of infinite order with the diagonal. Under this assumption, the formula
Here the coefficient c1 is expressed in terms of the subprincipal symbol of the operator A and is equal to zero if A is a differential operator. The asymptotic formulae (8.55) and (8.58) were extended to the case of manifolds X with boundary by Ivrii and Vasil'ev, and their results were stated above in @ 8.2. They also use some analogues of the hyperbolic equation method just described but with essential modifications. The estimate o(A("')/'") in (8.58) for the remainder term can be improved in certain cases. Namely, for the LaplaceBeltrami operator on closed manifolds can be replaced by with negative curvature, Berard [19773 found that o(A("')I2) O(A("')/2/logA). Volovoj [1986, 1990a, b] extended this result and proved that o(A("')/'")can be replaced by O(l("')/"/log A) for a class of operators of an arbitrary order m > 0 (on a closed manifold), and under certain assumptions Volovoj also established an asymptotic formula with the estimate O(A(n')lmne ), where E > 0, for the remainder. These results take into account a more precise dependence on T i n asymptotics of the type (8.56); this is done by studying the behaviour of U ( t )as 111 + co.The assumptions include estimates on the measure of the set of the trajectories of the Hamiltonian flow that are nearly closed. For the spectral function e(A, x, y ) of secondorder operators in IR" with coefficients which are constant in a neighbourhood of infinity, as well as for the Hill operator (that is, the Schrodinger operator with periodic potential on I R ' ) , we can even obtain a complete asymptotic expansion in powers of A (see Popov and Shubin [1983], Schenk and Shubin [1985], and Vajnberg [1983]).
Bibliographical Comments
The theory of pseudodifferential operators appeared in its present form in the mid1960s. Its appearance was preceded by a long development and perfection of the theory of singular integral and integrodifferential operators (see Agranovich [19653, Calderon [19581, Calderon and Zygmund [1952], Mikhlin [1962], and Stein [1970]). But only the formulationof the basic elements in the language of Fourier transformations in the work of Kohn and Nirenberg [1965] enabled the theory to reach its final form, and subsequently to display breadth and power as it penetrated practically all branches of the theory of linear partial differential equations. Later in the course of the natural development of the theory of pseudodifferential operators, the ideas were combined with concepts from asymptotic theory (Maslov [1965]) to produce the theory of Fourier integral operators, a direct ancestor of which is the theory of the Maslov canonical operator (see Leray [1978], Maslov [1965], Maslov and Fedoryuk [1976], Mishchenko, Sternin and Shatalov [1978], Nazajkinskij,Oshmyan, Sternin and Shatalov [1981], Vajnberg [1982]). Together with the concept of the wave front, introduced by Sat0 [1970] and Hormander [1971] and very widely used, these ideas came to form one of the fundamental directions in the modern development of the theory of partial differential equations and constitute what is referred to as microlocal analysis.
r),
r))
PT
(8.56)
holds for any T > 0. From (8.56) and with the help of a certain refinement of Levitan's Tauberian theorem, we can obtain the formula
114
115
The various aspects of microlocal analysis and its applications have been discussed in Agranovich [1969, 19713, Atiyah, Bott and Patodi [1973], Beak and Fefferman [1973], Duistermaat and Hormander [1972], Egorov [1975, 1984, 19851, Eskin [1973], Fedoryuk [1971], Friedrichs [1968], Grubb [1986], Guillemin and Sternberg [1977], Hormander [1966, 1983, 19851, Kumanogo [1982], Melrose [1978], Mishchenko, Sternin and Shatalov [1978], Nazajkinskij, Oshmyan, Sternin and Shatalov [1981], Nirenberg [1970, 19731, Olejnik and Radkevich [1969], Plamenevskij [1986], Reed and Simon [197219783, Seeley [1967], Shubin [1978], Taylor [1981], and Treves [1980]. An account of symplectic geometry can be found in Arnol'd [1979] and in the survey paper of Arnol'd and Givental published in vol. 4 of the present series. The method of stationary phase with degenerate critical points has been discussed by Arnol'd, Varchenko and GusejnZade [1984] and by Duistermaat [1974]. The appearance of the theory of pseudodifferential operators was stimulated by the requirements of index theory (see Fedosov [1974a], Palais [1965], and Rempel and Schulze [1982]). The asymptotic methods and their various applications have been discussed in Babich and Buldyrev [1972], Fedoryuk [1977, 19861, Ivrii [1984], Leray [1978], Maslov [1965, 1973, 1977, 19873, Maslov and Fedoryuk [1976], Mishchenko, Sternin and Shatalov [1978], Nazajkinskij, Oshmyan, Sternin and Shatalov [1981], and Vajnberg [1975,1982]. The papers by Birman and Solomyak [1974, 19773 contain a survey of the classical questions connected with the asymptotics of the spectrum and, for further development in this direction, the reader is referred to Ivrii [1984] and to the survey paper by Rozenblyum, Solomyak and Shubin to be published in the present series. An account of the geometry of the spectrum can be found in Berard's book [1986]. We also note that the commentary which accompanies the works of Petrovskij [1986] contains a survey of the most diverse questions in the modern theory of partial differential equations, a theory greatly indebted to Petrovskij himself.
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Contents
Preface
125
. . . . . . .. . .. . .. . . . . . . . .. . .. . . ... .. .. . . . .. ..
$ 1. Fourier Transformation of Test Functions . . . . . . . . . . . . . . . . . . . . . . 1.1. Fourier Transformation of Rapidly Decreasing Functions . . . . . 1.2. Properties of the Fourier Transformation . . . . . . . . . . . . . . . . . . . 1.3. Fourier Transformation of Functions with Compact Support . .
122
A.I. Komech
123
. . . . . . 151
151 151 153 154 155 156 156 157 158 158 158 160 160 160 161 163
2.1. Closure of the Fourier Transformation with Respect to Continuity ............................... 2.2. Properties of the Fourier Transformation . . . . . . . . . . . . . . . . . . . 2.3. Methods for Computing Fourier Transforms . . . . . . . . . . . . . . . . 2.4. Examples of the Computation of Fourier Transforms . . . . . . . . The Sobolev Function Spaces ................................ 3. 4. Fourier Transformation of Rapidly Growing Generalized Functions ..................... 4.1. Functions on the Space Z(C")............................ 4.2. Fourier Transformation on the Space 9'(lR") . . . . . . . . . . . . . . . 4.3. Operations on the Space Z ( C ) ........................... 4.4. Properties of the Fourier Transformation . . . . . . . . . . . . . . . . . . . 4.5. Analytic Functionals .................................... 5 * The PaleyWiener Theory ................................... 5.1. Fourier Transform of Generalized Functions with Compact Supports ................................. 5.2. Tempered Distributions with Support in a Cone . . . . . . . . . . . . . 5.3. Exponentially Growing Distributions Having Support in a Cone ............................... Convolution and Fourier Transform .......................... 6. Chapter 3. Existence and Uniqueness of Solutions of Differential Equations .............................. 1 . The Problem of Division .................................... 1.1. The Problem of Division in Classes of Rapidly Growing Distributions ......................... 1.2. The Problem of Division in Classes of Exponentially Growing Generalized Functions. The Hormander Staircase ........... 1.3. The Problem of Division in Classes of Tempered Distributions ............................... 2. Regularization. The Methods of "Subtraction" and Exit to the Complex Domain and the Riesz Power Method . . . . . . . . . . . 2.1. The Method of Subtraction .............................. 2.2. The Method of Exit to the Complex Domain . . . . . . . . . . . . . . . 2.3. The Riesz Method of Complex Powers ..................... 3 . Equations in a Convex Cone. An Operational Calculus . . . . . . . . . . . 3.1. Equations in a Cone . . . . . . . . . . . . . . . . . . .................. 3.2. An Operational Calculus ................................ Equations on a Semiaxis . . . . . . . . . . . . . 3.3. Differentialdifference $ 4. Propagation of Singularities and Smoothness of Solutions . . . . . . . . 4.1. Characteristics of Differential Equations . . . . . . . . . . . . . . . . . . . 4.2. Wave Fronts, Bicharacteristics and Propagation of Singularities .........................................
. . . . . 183 5.1. Smoothness of Generalized Solutions of Elliptic Equations . . . . 183 184 5.2. Hypoelliptic Operators ..................................
Chapter 4. The Function P: for Polynomials of Seconddegree and its Application in the Construction of Fundamental Solutions .............................
tj 1 The Function
186 186 186 188 188 189 190 191 193 196 197 198 200 200 201 204 204 207
164 164 164 166 167 168 169 171 172 173 173 175 177 178 178 180
P: for the Case when P is a Real Linear Function . . . 1.1. Analytic Continuation with Respect to , I ................... 1.2. An Application to Bessel Functions ....................... 9 2. The Function P: for the Case when P ( x ) is a Quadratic Form of the Type (rn, n  rn) with Real coefficients .................... 2.1. The Case rn = n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2. Application to Decomposition of &Function into Plane Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3. TheCase1 G r n G n  1 ................................. 2.4. Application to Bessel Functions ........................... 3. Invariant Fundamental Solutions of Secondorder Equations with Real Coefficients ....................................... 3.1. Analysis of Invariance Properties of the Equation . . . . . . . . . . . . 3.2. Determination of the Regular Part of an Invariant Fundamental Solution ..................... tj 4. Regularization of the Formal Fundamental Solution for the Case q = 0 .......................................... 4.1. The Case rn = 0 or rn = n ................................ 4.2. The Case 1 < rn < n  1 ................................. Q 5. Regularization of the Fundamental Solution for the Case q # 0 . . . . 5.1. The Case 1 < rn < n  1 ................................. 5.2. The Case m = 0 or m = n ................................ 6. On Singularities of Fundamental Solutions of Secondorder Equations with Real Coefficients and with Nondegenerate Quadratic Form .....................
211
124
A.I. Komech
125
3.2. The Cauchy Problem ................................... 3.3. The Dirichlet Problem for Elliptic Equations . . . . . . . . . . . . . . . Regular Boundaryvalue Problems in the Class of Functions 9 4. of Arbitrary Growth . . . . . . . . . . . . . . . . . . . . . . . ................. 6 5. Wellposed and Continuous Boundaryvalue Problems in a Halfspace ............................................. 5.1. Wellposed Boundary Value Problems ..................... 5.2. Continuous Wellposed Boundaryvalue Problems . . . . . . . . . . . The Poisson Kernel for the Boundaryvalue Problem 9 6. in a Halfspace ............................................. 6.1. The Poisson Kernel and the Fundamental Solution of the Boundaryvalue Problem ........................... 6.2. The Connection Between the Fundamental Solution of the Cauchy Problem and the Retarded Fundamental Solution of the Operator P(ax) .................................... 9 7 Boundaryvalue Problems in a Halfspace for Nonhomogeneous Equations ............................. 7.1. Nonhomogeneous Equations in a Halfspace . . . . . . . . . . . . . . . 7.2. Boundaryvalue Problems for Nonhomogeneous Equations . .
Preface
The present survey paper is devoted to the methods of solution and investigation of equations of the form
P ~ ( := ~ P(ax)u(x) ) :=
1 paa:u(x)
IulSrn
= j(x),
x E IR,.
(0.1)
9 1. Basic Notions .............................................. 9 2. The Petrovskij Criterion ..................................... 6 3. The Local Petrovskij Criterion ............................... 94. Geometry of Lacunae Near Concrete Singularities of Fronts . . . . . . Q 5. Equations with Variable Coefficients ..........................
Bibliographical Comments ...................................... References
....................................................
The basic tools for investigating these equations are the Fourier transformation and the theory of generalized functions. Equations of the form (0.1) are used in mathematical physics to describe various phenomena in the theories of elasticity, acoustics, electrodynamics and quantum mechanics. The investigation of the properties of solutions of these equations, as well as finding formulae for the solutions themselves, attracted the attention of Euler, d'Alembert, Laplace, Fourier, Bessel, Poisson, Kirchhoff, Heaviside, and Green back in the 18th19th centuries. From the beginning of the 20th century and right up to the forties, significant results in this direction were obtained by Hadamard, Riesz, Herglotz, Petrovskij, Girding, and Leray. During the following decades, a sufficiently general theory of such equations was developed in the works of Schwartz, Gel'fand, Shilov, Malgrange, Ehrenpreis, Hormander, and others. This was achieved by means of the theory of generalized functions, the appearance and development of which was closely associated with the investigation of the equations of mathematical physics. The basic method of investigating the equations (0.1) is to represent u(x) and f(x) in terms of Fourier integrals, that is, representations in terms of harmonics of the form
u(x) =
x< = xlt,
e'"%(<) d t , f(x) =
+ ... + x,<,
for x, 5 E lR".
P Y ( <d )t ;
(0.2)
In fact, the exponentials eVixr are eigenfunctions of the operator P of the form (0.1). Thus
Peixt = j 5 ( y ) e  i x r ,
where
= p(it),
(0.3)
and therefore F(t), the symbol of P, is an eigenvalue corresponding to the Consequently, the Fourier representation (0.2) is the decomeigenfunction eixt;.
126
A.I. Komech
127
position in terms of the eigenfunctions of P,and so reduces P to diagonal form, that is, if after which (0.1)can be solved easily. For example, if f ( x ) = f(<)eix5, f ( x ) contains only one harmonic, then u ( x ) can also be sought in the form ii(<)e'"<.Substituting u ( x ) into (0.1)and taking into account (0.3),we obtain
mw m.
=
(0.4)
Hence ii(<) = f(<)/F(<] if P(<)# 0. If, however, P(<) = 0, then u"(<) is an arbitrary quantity when f ( < ) = 0, while G ( 5 ) does not exist iff(<) # 0. A similar analysis is possible with the help of (0.2) in the general case of an arbitrary function f ( x ) . This again leads to (0.4),which holds for all and, consequently,
the propagation of singularities for real equations of principal type as well as an account of the classical "Weyl lemma" on the smoothness of generalized solutions of elliptic equations. By a unified method, which generalizes the Riesz method [1949] of complex powers, in Chap. 4 we compute in an explicit form the fundamental solutions of all real secondorder equations with a nondegenerate quadratic form. For homogeneous operators of the form P = n f, a2 with n # 2, the fundamental
i=l
ax;
<
(T
.,A,
ix;)'")
nonhomogeneous operators of the form P = formally for all 5. Substituting into (0.2),we find that, formally,
c +n
a2
+ q, with q # 0, (and, in
i=l
ax;
The main difficulty in carrying out this programme lies in giving a precise meaning to the formal computations (0.2) and (0.4)(0.6) and in justifying the division in (0.5).These problems arise due to the fact that the operator P,which is defined on functions in the whole space IR",has a continuous spectrum and its eigenfunctions e?< do not lie in L,(IR"), that is, the eigenfunctions are ''general(see Gel'fand ized" eigenfunctions in the sense of Gel'fandKostyuchenkoLevitan and Shilov [1958c]). Consequently, the "coefficients" ii(<) and f(5) in (0.2) are also generalized functions. In view of these remarks, the theory of generalized functions turns out to be the fundamental tool for investigating equations of the form (0.1) and, accordingly, we start our survey with a brief account of this theory in Chap. 1. In Chap. 1 we recall the basic rules of operations with generalized functions. We construct the solutions of (0.1) with an arbitrary righthand side f ( x ) in terms of the convolution of fand a fundamental solution of (0.1). In Chap. 2 we introduce the Fourier transformation of generalized functions by means of the closure property with respect to continuity. The PayleyWiener theory of the Fourier transformation in the complex domain (see Paley and Wiener [1934]) and a connection between the convolution and the Fourier transformation are discussed. This theory has important applications, for example, in justifying the dispersion relations in quantum field theory (Bogolyubov and Shirkov [1973]), and in constructing the Heaviside operational calculus (see 0 3, Chap. 3, and Doetsch [19673). Chap. 3 deals with the existence and smoothness of the solutions of (0.1). A plan for solving the division problem (0.5) is put forward, and the theory of solvability for equations (0.1) in a cone and the operational calculus are discussed. The fundamental concepts of the theory of partial differential equations, namely, the concepts of characteristics, bicharacteristics, the wave front, etc., are introduced and are discussed in detail. We also give an account of the results on
particular, for the KleinGordon operator) the fundamental solutions are obtained in the form of an analytic continuation of the Bessel function Cp'JJp) to n2 the point v = ~ (for n # 2). These fundamental solutions in terms of im2 proper integrals ("the Hadamard gallows") were constructed back in 1932 by Hadamard [19321. However, in the modern language of distribution theory these fundamental solutions were first constructed for q = 0 by Leray [1953] and Riesz El9491 (see Schwartz [1966]), and for q # 0 they have been constructed in the present paper. These fundamental solutions play an important role in the problems of modern mathematical physics (see Bogolyubov and Shirkov [1973]). On this account we devote much attention to the methods by which they are computed and the ways in which they are used. Chap. 5 discusses the basic theory of boundaryvalue problems in a halfspace due to Petrovskij [1937a, b; 19383, Gel'fand and Shilov [1953, 1958~1, Krejn [1967]. We present sufficient conditions, which are close to being necessary, to be imposed on the boundaryvalue problem to ensure a unique solution for any boundary data. We also present necessary conditions to be imposed on the differential operator under which such boundaryvalue problems for the operator do exist. In the treatment of these problems there appears the natural classification of the equations into hyperbolic, parabolic and elliptic types which plays a fundamental role in the modern theory of partial differential equations, although this classification is not exhaustive. We mention the "proper" formulation of boundaryvalue problems for equations of hyperbolic, parabolic and elliptic types. Chap. 6, written by Vasil'ev, is devoted to a survey of the theory of lacunae for hyperbolic equations as developed by Petrovskij, and Atiyah, Bott and Girding. We denote by x k 3 x a sequence of elements of a linear topological space X that converges to x E X . By continuous maps of these spaces we mean, for simplicity, sequentially continuous maps, although we do not always mention it explicitly.
128
A.I. Komech
129
(W,cp(x)> = cp(O),
cp E 9(W,
(1.4)
(see Dirac C1958J). Sometimes we also write 6,(x) for the function 6(x). Example 1.1 shows that the space LP(R")of "classical" functions is mapped into 9'(lRn) in a natural manner. It turns out that to distinct functions u(x) E L?(IR") there correspond (in accordance with formula (1.2))distinct functionals uE9 ' . Therefore the map L?(R") + 9'(lR") defined by (1.2) is an embedding, that is, L?(IR") can be identified with a subset of 9'(Rn),and it can be assumed that
LY(lR")c 9'(lR,).
On the other hand, it turns out (Gel'fand and Shilov [1958a], Shilov [1965]) that L?(IR") does not coincide with W(lR"), because, for example, 6 E 9' but 6 4 L?(lR"). Thus the space 9'(R")is larger than LP(IR"). What is striking is that such an extension of the space L?(lR") is closed with respect to the operation of differentiation. Definition 1.2. For any generalized function u(x) and any multiindex a = (al, ...,a,) the derivative d:u(x) = u(')(x) is defined by the identity
(u(')(x),cp(x)) = ( l)"'(u(x), cp'"'(x)), cp E 9.
=0
We denote by 9 ' = 9'(R")the set of all linear functions on 9that are continuous with respect to the convergence introduced on 9.We can also introduce in 9 ' the concept of weak convergence. Namely, by definition, a sequence uk(x)E 9 ' converges weakly to u(x)E 9' as k + co if
(uk, V> k S f , (u, cp>
(1.5)
for all cp 9*
(1.1)
w e then write Uk 5 u. Example 1.1. If u(x) E L:"f(lR"), then the functional of cp E 9 of the form
U: cp H
It turns out (Gel'fand and Shilov [1958a], Shilov [1965]) that u(")(x) E9 ' for ' and all multiindices a = (al, . ..,a,), and that the operator a': u H all u E 9 u(') is (sequentially)continuous in 9' with respect to the weak convergence (1.1). If u E C"(lR"), the derivatives @ ( x ) coincide with the usual derivatives in the sense of classical analysis. Since Cm(lR")is dense in 9'(lR"), such a continuous extension of the operator 8 , .to 9'(lR") is unique. Example 1.3. Let 0 ( x )be the Heauiside function ("the step"):
~ ( c p )= (u(x), cp(x)) :=
s.
u ( x ) ~ ~ dx (x)
(1.2)
e(x)=
1, x > 0, 0, x < 0.
cp'(x)dx = cp(O), that is,
is an element of 9'(lR"). Definition 1.1. The functionals u E 9 ' are called generalized functions or distributions. In analogy with (1.2), we define a "scalar product" for u E 9 'by
(u(x), d X ) > := u(cp), cp E 9 .
:1
el(x) = 6(x).
(1.7)
We remark that here u(x)is merely a notation and does not denote the value at the points x of a function u. Roughly speaking, for a generalized function u the "observable" quantities are the values u(cp)for cp E 9 and not u(x)for x E IR". Generalized functions will often be simply referred to as functions.
(6'(X)?cpW> = cp'(O); <6''(x),cp(x)> = cp"(0). (1.8) An extremely important role in applications is played by the following simple differentiation formula for piecewise smooth functions. Let u(x) E C1(lR\{a}), where a E W. We denote by {u'(x)>= u'(x), x # a,
(1.9)
130
A.I. Komech
131
a function which is equal to the usual derivative of u(x) at those points x E I R where it exists. We assume that the limits u(a f 0) exist, and we further assume (although it is not necessary to do so) that the limits u'(a f 0) exist.
(1.14)
(1.10)
Example 1.6. If m = n, then h: IR"+ IR"is a diffeomorphism, I ' , = h'(x) is a single point, co(Tx) = 1 and
(1.15)
+ 0)  U ( U  0)
is the Jacobian of h at the point y.
denotes the jump o f the function u(x)at the point x = a. Proof. For cp(x)E 9(IR), we have
(u', cp) =  ( u , cp') = 
Example 1.7. If n = 1, we have h = h,(y) and grad h(y) # 0 for y E IR". Then
ucp'dx
=
rm
+
ja
03
ucp'dx 
:1
G(Y)=
Wl.
(1.16)
ucp'dx
H
Example 1.8. If m = 3 and n = 2, then G ( y ) = l[grad h,(y), grad h,(y)]l is the modulus of the ''vector'' product.
ah(Y) = n for all y E IR". Then the map u(x) H Proposition 1.1. Let rank aY u(h(y)) acts continuously from C(lR") into C(IR'") and can be extended to an operator from 9'(IR") into 9'(IR") that is (sequentially)continuous in the conuergence (1.1). Proof. We take a function u(x)E C(lR"). With cp(y) E Q(IR"), we find from
(1.12) that
=UV['~ ~ u~p1.m
6 , .
U'C~ dx = hV(a)
+ ({u'},~ p ) .
Example 1.5. It can be derived easily from (1.10) that @(x)= 6(x), which agrees with (1.7). Furthermore, ( x ( "= 26(x),and
1.2. Change of Variables in Generalized Functions. Let rn 2 n. Let h: IR" + IR"be a smooth map of rank n at each point y E IR". Then the preimage of each point x E IR"is a smooth submanifold r, = h'(x) in IR" of dimension v = m n. On I ' , a smooth measure o,(dy) is defined with the following property. For
any function f(y) E C(lR") vanishing outside a bounded set (each function has its own set) in IR",
(1.17)
(1.18)
j f 0 d " Y = j ( J r x f ( Y ) W , ( d Y ) ) d"x9
(1.12)
F(x) E 9(IR").
(1.19)
where d"x and d"y are forms of the volume element on IR"and IR" respectively. Such a measure can be constructed easily (Hormander [1983, 19851). It can be shown that
(1.13)
For example, cp(y) can be decomposed into a sum of functions having sufficiently small supports and in each support the coordinates y,, . . ., y, can be chosen so that y k ( x ) = hk(x)for k = 1, . . ., m. Therefore the map u(x)+ u(h(y)) is continuous on C(IR") with respect to the convergence (1.1) and admits a closed extension with respect to (sequential) continuity on 9'(IR"). H By taking the closure with respect to continuity, from (1.17) we have
where q ( d y ) denotes the vdimensional Euclidean measure on r,, and G ( y ) denotes the ndimensional volume of a parallelopiped that is spanned by the vectors grad h,(y), ... , grad h,,(y)( h ( y )= (h,(y),...,h,,(y))). Thus,
132
A.I. Komech
133
Example 1.9. If, as in Example 1.6, h: IR" + IR" is a diffeomorphism, then Cp(x)= cp(h'(x))/G(h'(x)),and
(1.21)
fined by (1.22), depends continuously on h ( . ) E C1(lRm) in the class of functions h(y) for which grad h(y) # 0 with y E ro.
Remark 1.1. The assumption that h(y) has rank n at each point y E IR" is not to be meaningful. The condition Cp E 9(IRn) necessary for the composition u(h(y)) of (1.19)may be satisfied for all cp E 9(IR") for some maps h(y) that do not have rank n everywhere. Further, the condition that Cp E 9(IR") is also not necessary. Roughly speaking, the function Cp(x) must be smooth only at those points xo where u ( x ) has singularities, and the map h(y) must have rank n only at the points yo = h'(xo). Example 1.10. If h(y) E Cm(IRm) and grad h(y) # 0 for y E I R " , then, by Definition 1.3 and (1.16),
Remark 1.2'. We note that the expression (1.22) coincides with the result obtained by the "usual" formal integration performed with the &function as an integration with respect to the measure 6(h)dh = 6,,,(dh) concentrated at the point h = 0. Namely, in a neighbourhood of the surface ro we choose the coorThis is possible provided dinates (h(y),y'), where y' are local coordinates on ro. that grad h(y) # 0 for y E roand h(y) E C1(IRm). Then d"y = dh gm1 (dy') and lgrad h(Y)l therefore, formally,
(1.26) for cp E 9(IR"); here ro = hl(O) = ( y E I R " : h(y) = O}. For h ( y ) = IyI2  w2, with w E IR\O, it is natural to define (1.23) even though grad h ( y ) = 0 at y = 0. Note that the righthand side of (1.22) is valid for any cp E 9(IRm) provided that h E C"(IR"), grad h ( y ) # 0 for y # 0, m 2 2, and
Example 1.12. Let the map h: IR2 + I R be a projection. In particular, let h b l , Y 2 ) = Y l . Then
(6l(Yl), d Y ) > = (61(X),CpW>= V(0) = for cp E 9(]R2). Similarly, (61(Y2)? cp(Y)> =
cp@,
Y 2 ) dY2
(1.27)
J"
m
cp(Y1,O)
dY1.
(1.28)
Example 1.13. Let m = n. Let x = h ( y ) = y z E IR". Then, by (1.21), Definition 1.4. With condition (1.24),we define 6,(h(y))by the formula (1.22), assuming that 0,,~({0}) = 0 if 0 E ro. Example 1.11. If h ( y ) = y: + + y :  yz+l  ...  y i is a nondegenerate However, (1.24) is satisfied for quadratic form, then grad h ( y ) = 0 if y = 0 E ro. m 2 3. Note that (1.22) implies that
1 . .
z
+ z)>.
(1.29)
In particular,
(4Y
4, cp(Y)>= cp(z),
cp E 9(IR").
(1.30)
Remark 1.3. It is clear from (1.30) that S(y  z) is formally the integral kernel of the identity operator in 9(lRn).This is what prompted Dirac in 1927 to denote such a "function" by the letter 6, in analogy with 6,, the Kronecker bnotation, which constitutes the matrix of the identity operator in IRN: dijcpj
1
j
IR".
Remark 1.2. The condition (1.24)enables us to define 6,(h(y))but this condiif u E 9'(IR) is an arbitrary function. For tion cannot be used for defining u(h(y)) each concrete u E one can find its own (1.24)type condition on h(y) under which u(h(y))is defined and depends continuously in some sense on the map h from the class in question. For example, the generalized function 6,(h(y)), de
E
I
134
A.I. Komech
1 1
135
(1.32) Thus 6 J y ) is a homogeneous, positive generalized function of order n, and 6,,(y) is an even function. Example 1.15. If x = h(y) = Cy, where C E GL,(n) is a nondegenerate real matrix, we set uc(y) = u(Cy):
(UC(Y),
If supp u c K, where K is a set in IR", then we say that u is concentrated on K. We write 9; = { u E 9'(Rn): supp u c K}. If K is closed in IR", then 9; is a ;coincides with closed subspace of 9' and, by definition, the convergence in 9 ' . that in 9 Example 1.16. We have supp O(x) = E+, where IR+ = {x E I R :x > 0}, and supp 6(x  a) = supp 6 ' " ' ( x  a) = (a}, a E IR". (1.39) Clearly, supp u is a closed set. If u E g(IR"), the supports (1.35) and (1.38) coincide. Definition 1.7. We denote by 8' = d ' ( l R " )the space of distributions u(x) E g'(lR") which have compact support (see Gel'fand and Shilov [1958a], Shilov [1965]). BY definition, Uk f u if uk 5 u and supp uk c K, where K is a compact set in I R "which is independent of k. A distribution u(x) E b'(IR") is referred to as a distribution with compact support.
cp(Y)> = ( W Y ) , d Y ) > =
(u(x), cp(C'x)>.
(1.33)
(1.34)
This implies, for example, that 6,,(y) is invariant under rotations C E O(n) and under the Lorentz transformations (which preserve the quadratic form y: y;  ...  y,'). 1.3. Support of a Generalized Function. The support of a function cp(x) E 9(IR") is defined to be the closure of the set of points x E IR" where cp(x) # 0 supp cp := {x E IR": cp(x) # O } .
If u(x) E B', the scalar product (1.3) can be defined for all cp(x) E C"(IR"), and even for those cp(x) E C"(52) which are smooth in a neighbourhood 52 of the set supp u. To do this, we take a "cutoff" function $(x) E 9(Q) which is unity in a neighbourhood of the set supp u and then write
(1.40) (u(x), cp(x)> = (W, $(X)cp(X)>, where $(x)cp(x) = 0 for x E Rn\52. Here $(x)cp(x) E 9(IR") and the definition (1.40) does not depend on the choice of $(x) with the required properties. It can be shown easily that d 'is the dual space of 8 = C"(IR"). Lemma 1.2 (Gel'fand and Shilov [1958a], Yosida [1965]). If u E d ' ( I R " )and supp u = K, then for each E > 0
I(u, cp>l G
CllcpllClmqKe)9
Clearly, supp cp is a compact set. For an open domain 52 c IR", we set Q(52) = % R") c;(Q) = {cp E ~(IR'): supp cp c 52). BY definition, (pk s(n! cp if Vk cp and supp (pk c K, where K is a compact set in 52 which is independent of k. The c Q(lR") is continuous and the dual map Q'(IR") + 9 ' ( 5 2 is ) embedding Q(9) defined to be the operation of restricting the generalized functions u(x) to the open set 52: u H ulR.To give the detailed definition,
(UlR,
(1.35)
cp E 9;(Q),
(1.36)
cp E CCO(IR"),
(1.41)
where ( ., . > o denotes the duality between 9'(52) and 9 ( 5 2 ) . Definition 1.5. For u, o E 9'(lR"), we say that u(x) = o(x) for x E 52 if ulQ = via, that is, if
(u, cp> = (0,cp>, cp E 9 4 5 2 ) .
(1.37)
Proposition 1.2 (Gel'fand and Shilov [1958a], Schwartz [1966], Shilov [1965]). If (52,) is a family of open sets Qi c IR" and uln, = 0 for all i, then ulR = 0, where 52=
UQi. i
supp u is not a compact set and the order of u is 00 (that is, it is not finite). Lemma 1.2 yields immediately Corollary 1.1 (Gel'fand and Shilov [1958a], Shilov [1965]). I f u E 9'(IR") and supp u = { a } , where a E IR", then
Thus there exists a largest domain Q(u) c IR" where u(x) = 0, namely
Q(U)
R: uln =0
52.
u(x) =
C
lal<m
C , d ( ' ) ( x
 a)
Definition 1.6. The support of a function u E 9'(IR") is the set supp u := IR"\Q(U). (1.38)
136
A.I. Komech
= C"(IR"),
137
Definition 1.8. If u(x) E 9 ' ( l R and " ) cp(x) E d supp cp is a bounded set of IR", then we write
(u(x),
where K := supp u n
(1.42)
The properties o f the convolution o f test functions. 1) It follows from (1.45) that convolution is commutative, bilinear, and associative. Thus
u * u = u*u,
where $(x) E 9(IR") and $(x) = 1 in a neighbourhood of K. Evidently, the formula (1.42) does not depend on the choice of $(x) with the required properties.
u*(au
+ Bw) = a u * u + Bu*w,
( u * u ) * w = u * ( u * w ) (1.46)
for u, u and w E 9(lR") and a, /3 E (c. 2) The principal properties of the convolution are the following translation and differentiation formulae: for u and u E 9
1.4. Singular Support of Generalized Functions. As for supp u, we define the singular support o f a generalized function u(x) E 9'(IR") by
sing supp u = R"\Q"(u), where
P ( U )=
T,(u*u) = ( T , u ) * u = u * T,u,
where T,u(x) := u(x + a), a E IR", and
(1.43)
a;(u * 0) = (a;u) *
supp(u*u) c supp u
= u a;o,
a = (a1,. . ,an).
(1.47)
(J
D:ulo E @"( 0 )
3) The support of the convolution is contained in the algebraic sum of the supports, that is,
is the largest domain in which u E C". For a closed set K c IR", we set 9 ' S K = {u E 9'(IR"): sing supp u c K} or, O'SK in other words, 9'SK = {u E 9': uIRniKE C"(IR"\K)}. By definition, urn u if 9' urn+ u and
UmIR"\K
Remark 1.4. If sing supp u c K, where K c IR", then the substitution u(h(y)) is defined under milder restrictions on h than those mentioned earlier. Thus, in order to define u(h(y))it is enough to require that the map h E C(IRm,IR") n ah C"(h' (a), SZ) and rank  = n only at the points y E h'(SZ), where 52 is a neighaY bourhood of K. The map u(x) H u(h(y))is continuous as a map 9 ' S K + 9'(IRm). Therefore, if uA(x) is a continuous function of the parameter I E (c with values in 9'SK, then u,(h(y))is also a continuous function of I E (c with values in 9'(IRm). The same is true for differentiable, holomorphic, and meromorphic functions of a parameter (see Gel'fand and Shilov [1958a]).
c( R"\K)
UIR"\K*
'$ '
4) The map (u, u) H u * u is continuous as a map on 9 x 9 + 9. The convolution o f generalized functions is defined by the taking the closure with respect to continuity of the convolution of the test functions. We recall (Schwartz [1966]) that the direct product of the generalized functions u(z) E 9'(R") and u(y) E 9'(IR") is defined as the functional u x u which acts on test functions of the form cp(z)$(y) according to the formula (1.49) $>, cp E 9(R"),$ E %Rrn). Proposition 1.3 (Schwartz [1966]). For all u E 9'(IR") and all u E 9'(IR") there exists a unique distribution u x u E 9'(IR" x IR") satisfying the identity (1.49). The map (u, u) H u x u is continuous as a map on 9'(IR") x 9'(IRm) + 9 ' ( l R "x I R " ) . Furthermore,
(u x
0 , cp(Z)$(Y)
= (4cp>
(0,
(1.50)
Example 1.18. Let u(x) = 6,(x) and h(y) = lylz  R Z for y E R" and R with R # 0. Then (1.20), (1.18), (1.16) and (1.13) imply that
( ~ l ( l Y l Z  R2), cp(Y)> = g
lyl=R
IR
In order to decide whether the operation of forming the convolution of distributions is closed, we note that (1.45) yields the following identity: for u, u E 9(IR") and cp E 9(IR")
<u * u, cp> =
=
cp(Y)dY.
(1.44)
We note that grad(ly1'  R z ) = 0 if y = 0. Therefore u(ly('  R z ) is not meaningful for all u E 9'(IR).
1.5. The Convolution of Generalized Functions. The convolution of two functions u and u is defined to be the function
U(X  Y ) U ( Y )dy
(1.51) V(Y), cp(Y + 2)). This expression can be defined for u, u E 9'(lR"), with cp E 9(lR"), by means of Definition 1.8 provided that
ss
u(x  Y)U(Y)cp(X)dx d y
(4.4 x
h.
for all cp E 9(IR") the set B, := supp(u x u) n supp(cp(y + z)) is bounded in I R ' " .
(1.52)
138
A.I. Komech
139
In view of (1.50), this condition is equivalent to the following condition concerning the sets U = supp u and V = supp u: for all R > 0 the set B, := (U x V )n { ( z ,y ) E I R ' " : is bounded in I R ' " .
ly
for u E gr(IR"). Therefore the operator P(&) of (0.1) is a convolution operator with kernel
P, := P6
=
+ zI < R )
(1.52')
C
lal$m
p,8,"6(~): P, * U = ( P a )* U = P(6 * U) = P U ,
U E9 ' ( l R " ) .
(1.56)
Definition 1.9 (Schwartz [1966]). If u, u E 9'(IR") and the sets U = supp u and V = supp u satisfy (1.52r), then the convolution u * u is defined by the identity
(u
* u, cp>
+Y)),
cp E 9(IR"),
(1.53)
Definition 1.10 (Vladimirov [1964]). If K is a cone in IR" not containing denotes the set of distributions u(x) E W(W) with straight lines, then 91K) supp u c K R for some R > 0, where K , is an Rneighbourhood of K . Furthermore, uk %u if uk 2 u and supp #k c K , for all k and some R > o independent of k. As we noted above, the convolution is defined for u, u E 9 ; , Therefore . Lemma
1.3 implies
where the righthand side is defined in accordance with (1.42). Example 1.19. Since supp 6 ( x ) = {0}, it follows that the convolution 6 * u is defined for all u E W(IR") and
(1.54) (6 * 4 cp> = (W) x 4 Y ) , cp(z + Y ) > = M Y ) , d Y ) > * 6 * I J = The condition (1.52) is equivalent to the following condition which is geometrically more obvious: (1.52") for all R > 0, ( x  U)n V c D, for 1x1 R,
Corollary 1.2. The spaces b'(IR") and 9iK) are algebras with identity 6(x) (see (1.54)) with respect to the operation of forming convolution that are commutative and associative if K is a cone o f IR" not containing straight lines. The convolution 'and 9lK) x 9&). is (sequentially) continuous on both b' x 8 Lemma 1.4. I f u(x) E 9 ' (or 8 )and u E 9 (or d), then u * u E Cm(lR"), and
(u * u)(x)= (u(x  Y), 4 Y ) > = (W, u(x  Y ) > .
=
where D R is a bounded set in IR". The conditions (1.52") and (1.52') are satisfied, in particular, in the following important practical cases. 1) U or I/ is a bounded set. 2) U c K and V c K , where K is a (convex) cone in IR"that does not contain straight lines. By a cone here (and in what follows) is meant a set K c lR" such that K + K c K and tK c K for all t > 0. 3) U c K , and V c KR for some R > 0, where K , is an Rneighbourhood of the cone K , the cone not containing straight lines. 4) U is an asymptotically timelike set, that is, for some (large) R > 0 the inequality lxll > ylx'l holds for x E U and 1x1 > R, where y > 1 and x r = ( x 2 , . .., x,,), and V is an asymptotically spacelike set, that is, lxll < lx'l for x E I/ and 1x1 > R. (For example, U = { ( t ,x ) E IR4: x = x ( t ) } ,where li(t)l < 1, that is, (t, x ( t ) )is a timelike curve, and V is the light cone t2 = [XI'. )
Remark 1.5. If the sets U and V satisfy the condition (1.52'), then their Rneighbourhoods U, and V,, and their translates U + a , and I/ + a,, also obviously satisfy this condition for all R > 0 and all a , , a2 E IR".
I
(1.57)
This relation follows from (1.45) in view of the continuity of the operation of convolution. The same formula implies easily that u * u E Cm(IRn). Let us show that the inclusion sing supp u * u c sing supp u
+ sing supp u + +
(1.58)
holds when the convolution is defined, that is, when the condition (1.52) is satisfied. Indeed, for all E > 0, the decompositions u = u, u: and u = u, u: exist such that suppu, and supp v, lie in meighbourhoods of sing suppu and sing supp u respectively, and u:, u: E Cm(lR"). Then u * u = u, * u, + u: * v, + u, * vi u: * u:. All the terms here, except the first, lie in Cm(IRn) by Lemma 1.4. It remains to note that supp u, * u, c supp u, supp v,, in view of (1.48), that is, supp u, * v, lies in the 2~neighbourhoodof the set sing supp u sing supp u, and E > 0 is arbitrary. Note that the sum of the sets on the righthand sides of (1.48) and (1.58) is empty if one of the summands is empty, and then the set on the lefthand side is also empty.
Lemma 1.3 (Schwartz [1966]). Suppose that the sets U , V c IR" satisfy the ;the convolution u * u lies in condition (1.52') or (1.52"). Then for u, u E 9;x 9 WU+" and the map (u, u) H u * u is continuous in these spaces. For this convolution the formulae (1.47) and (1.48) hold; the formulae (1.46) also hold provided that all the convolutions inuolued are defined. Example 1.20. The formulae (1.54) and (1.47) imply that
R", and let f ( x + iy) be an analytic function of z = x TQ E IR" + iQ. Consider the distributions
fy(x) = f ( x
1.6. Boundary Values of Analytic Functions. Let Q be a convex open set in + iy in a "tubular" domain
(1.59)
* u = a:(s * u) = dX"U(X),
va = (a1, . . ., a,),
(1.55)
Assume that, for each open cone K c IR" such that K' = {y E K : lyl < S} c SZ for some 6 > 0,
140
A.I. Komech
141
If(x
for x E IR", y
E K',
Im z , > 0, ... , Im z, > 0 and IzI c 6,. To complete the proof, it remains to repeat the argument (1.65) with respect to the variable x , , instead of x, by keeping the remaining variables x 2 , . . ., x , fixed. The primitives can be chosen x 2 , ...,x,) = 0. from the condition that f(m)(id,,2, Definition 1.11. Under the hypotheses of Lemma 1.5, the function f o ( x ) is called the boundary value o f the analytic function f ( x iy) in T, and f ( x + iy) is f the generalized function f ( x ) to To. We set called the analytic continuation o
+ icy) eo/ f ( x + ioy) E 9'(Rn), (1.61) and the limit function (generalized)f o ( x ) = f ( x + iOy) is independent o f y E 52.
f,,(x) := f(x
(1.66)
Example 1.21. The function f(z) = l/z, z E C\O, has upper and lower limits on IR, given by 1 1 1 (1.62) +  p.v.  T d ( x ) , X x + is &+Of x f i 0 where p.v. llx denotes the Cauchy principal value (see Gel'fand and Shilov [1958a], Shilov [1965] and the formula (2.5') of Chap. 3). Example 1.22. The function f(to, 5)= alytic for IIm 51 c IIm to[, and 1
1.7. The Space of Tempered Distributions. We now introduce new classes of test functions and generalized functions.
Definition 1.12. The Schwartz space S = S(IR") of rapidly decreasing functions consists of complexvalued functions cp(x) E Cm(lR")such that
IqIa,N
:=
SUP
XE
R"
(1 + I X I ) ~ I ~ , " V ( X ) I
<a
(1.67)
5; + 1512'
for all a = (al, . . .,a,) and all N > 0. Convergence of a sequence (pk to cp in the space S is defined by
I~~cpIa,N+Oask+~
1  ( t o f io)2
+ [<I2'
1
(1.64)
In the onedimensional case when n = 1 and 52 = IR+, the lemma can be proved as follows. The primitive f(")(z) off (z) of order m = [v] + 1 is continuous in the halfplane Im z a 0. Therefore f(")(x + is) E'O/ f(")(x)in C(IR)and d" more so in 9'(lR). But the operator is (sequentially) continuous in 9'(IR). dx" Therefore
~
for all a and all N, and it is denoted by (pk 5 cp. As usual, we denote, the space of continuous linear functionals on S(IR")by S ' ( I R " ) . The functionals u E S ' ( I R " ) are called temperately growing or simply tempered generalized functions (or distributions). Clearly, 9(IR") c S(lR") is a continuous embedding and 9(IRn) is everywhere ' ( l R " )c 9'(IRn) is also a continuous dense in S(lR").Therefore the dual map S embedding (with respect to weak convergence). It can also be shown easily that al(IR") c S ' ( I R " ) . Thus S' = S ' ( l R " ) is a subset of 9'(IR"). We can show easily that S(lR")is everywhere dense in S ' ( l R " ) . Clearly, 6 ( x )E S' and 6(")(x) E S' for all a. But e x $ S' although e x cos e x = (sin ex)' E S'. Since the operations of differentiation, forming convolution, etc., are defined ' ( l R " ) c 9'(lR"). Under cerin 9'(R"),the same operations are also defined in S ' ( l R " ) . tain conditions, these operations lead to results which remain within S For example, 8 , " S : ' ( I R " ) +S ' ( I R " ) is a continuous operator for all a because it is the adjoint of the continuous operator (&)a: S(IR") + S(IRn). The operator u(x) w g(x)u(x)is continuous in S ' ( I R " ) if
lg'a'(x)l < ca(l
=f ( x
+ i0)E W(lR).
+ Ixl)Pa,
IR",
(1.68)
(1.65)
In the general case of arbitrary n 2 1, we can make a linear change of variables in R"such that in the new coordinates y = (1,0, . . .,0) and the domain x , a 0, . ..,x, a 0 is contained in the cone K. Then f ( z ) is an analytic function of z for
for all u = (al, . . ., a,) and certain c,, pa E IR. This result follows from the continuity of the operator cp H gcp in S(IR")when (1.68) holds. It turns out (Volevich and Paneyakh [1965]) that the condition (1.68) is also necessary for the operator of multiplication by g(x) to be continuous in S'(IR")(and in S(lR")).
142
A.I. Komech
143
The condition (1.68) is satisfied by any polynomial g(x) for example. Therefore the operation of multiplication by any polynomial is a continuous operation in both S ' ( I R " )and S(IR"). For all k and N = 0, 1,2, . . .,we write (1.69) As for Lemma 1.2, we can establish
2) I f the righthand side f(x) o f the equation (0.1) lies in 6'(IR"), then the function (2.2) is a (particular) solution o f the equation.
Proof. 1) If u E b', then (0.1) implies that d*Pu = S * J (2.3) But d * Pu = P b * u = 6 * u = u by (1.47), and then (2.2) follows from (2.3). 2) Iff E 8 and u is given by (2.2) we have, in view of (2.1),
PES(IR")
(1.70)
~u=m+j=6*f=f.
(2.4)
Example 1.22. 1) If either u(x) E C(IR")or u(x) E LF(IR"), and if lu(x)l < C(1 IXI)P, x E IR"
(1.71)
for some C and p , then u E S ' ( I R " ) ; here u is a functional of the form (1.2). 2) If u(x) E LP(IR") and (1.72) for some N > 0, then u(x) E S ' ( I R " ) .
Remark 1.6. Assume that the function c(x) of (1.60) satisfies an estimate of the form I c ( x ) l < C(1 IXI)P, x E IR". (1.73)
Proposition 2.1 implies that the operator 6*:f H 8 *f is a left inverse of P on the domain of definition 6'(lR") and a right inverse of P on the domain of ' : Pu E a}. definition P'B' = {u E 9 The construction and investigation of properties of various fundamental solutions of differential operators constitutes one of the major problems in the theory of partial differential equations with constant coefficients. In 9 1, Chap. 3, we shall prove
Theorem 2.1 (Ehrenpreis [1954], Gel'fand and Shilov [1958a1, Malgrange [1953], Shilov [19651). Every dvferential operator P(&) has a fundamental solution S(x) E 9'(IR") provided that P # 0.
Then it is clear from the proof of Lemma 1.5 that the limit function in (1.61) lies ' ( I R " ) and the convergence in (1.61)is weak convergence in S(IR"). in S
0 2.
2.1. The Fundamental Solutions Definition 2.1. By a fundamental solution of the differential operator P(&), and o f the equation (O.l), we mean a distribution 6(x) E 9 ' ( I R " ) such that
P(&)b(x)
= 6(x),
x E IR".
(2.1)
E
Examples of fundamental solutions of ordinary differential equations are given in (1.1 1). Roughly speaking, solutions of the equation (0.1) for an arbitrary righthand side f(x) are expressed as the convolution of f(x) with suitable fundamental solutions of P(&) (see (2.2) and (2.21)below).
Proposition2.2. 1) Let u(x) be a solution o f the equation (0.1) and let S(x) be a f the operator P(aX). Assume that the sets U = supp B and fundamental solution o V = supp u satisfy the condition (1.52'). Then the given solution u(x) is expressed by the formula (2.2). 2) I f U = supp S and V = suppf satisfy (1.52'), then u = d * f is a particular solution o f (0.1). 2.2. Examples of Fundamental Solutions Example 2.1. To solve the equation
Proposition 2.1. 1) I f a solution u(x) of the equation (0.1) lies in S'(IR"), then also f ( x ) E S ' ( I R " ) , and
u(x) = 6 *f(x).
(2.2)
144
A.I. Komech
145
in the form (2.2) when f ( t ) = 0 for either t < 0 or t > 0, we take the fundamental solution
J  ' 1 2 ( m o J q )
((at)2  x2)'/4
(2.5')
where 6 is the Heaviside function of Example 1.3. These fundamental solutions are known as 'the retarded solution ( 8 ' ) and the advanced solution ( K ) This . is 8 *f = u ' is expressed, in due to the fact that when f E 9(IR) the convolution ' view of (1.57),by the formula
(2.7')
u'(t) = ' 8 * f ( t )=
Lm
(2.5") respectively (Bogolyubov and Shirkov [1973], Reed and Simon C1975, 19793, Vladimirov [198l]).
u(t) = 8* f ( t )=
depends only on f(z) for T > t. The solutions (2.5") and (2.5"') are referred to as the retarded and advanced potentials respectively. Example 2.2. Likewise, for the wave equation
8(t
 z)f(z)
dz, t E IR,
(2.5")
Example 2.4. For the equation o f heat conduction (or diffusion equation)
;(
 a2A) u(x,
t ) = f ( x , t), t E w, x E IR';
a > 0,
(2.8)
the retarded fundamental solution has the form of the Gaussian distribution (2.6) (2.8') with dispersion  a d at time t > 0 (Hormander C1983, 19851, Vladimirov [1981]). Example 2.5. The Schriidinger equation
U U= (it:   a2A
U(X,
(i
respectively (Bogolyubov and Shirkov [19733, Vladimirov [19811). These fundamental solutions, named after d'Alembert ( k = l), Poisson (k = 2) and Kirchhoff (k = 3), will be derived in Chap. 4. These formulae enable us to obtain solutions of the equation Ou = f ( x , t ) in the form (2.2) for the cases when f = 0 for either t < 0 or t > 0 respectively. Example 2.3. For the KleinGordon equation
 ia2A ) +(x,
(2.9)
has retarded and advanced fundamental solutions which are analogous to (2.8') (Hormander C1983, 19853):
(2.10)
E ]Rk;
m, > 0,
=
(2.7)
in IRk, the retarded and advanced fundamental solutions for k reduce to (2.6) as m, + 0) are
1, 2, 3 (which
_ 1 ln,1
2n
n = 2,
(2.10)
1 x 1
146
A.I. Komech
147
where SZ, denotes the surface area of the sphere 1 x 1 = 1 in I R "(Vladimirov [198l], Shilov [1965]). In particular, 8,(x) = Ixl/2. Example 2.7. The Helmholtz equation
( A + w')u(x) = f(x), x E Rk, o > 0,
(2.11)
is obtained from the wave equation (2.6) by substituting u(x, t) = u(x)e'"' and f(x) = f(x)e'"'. Its fundamental solutions for k = I, 2, 3 are
I 4
respectively, where Hi1) is the Hankel function (Bateman and Erdelyi [1953], Whittaker and Watson [1927]). The fundamental solutions enable us to obtain by means of (2.2) the limiting amplitude u(x) of the solution u(x, t) for a given amplitude f ( x ) of some external source f ( x , t) (force, pressure, current etc.). The convolutions with 8; and 8 i give the limiting amplitudes u'(x) and u(x) of a diverging wave and a converging wave respectively. This is due to the fact that the solution of (2.11) is not unique and, in order to obtain a unique solution, we must prescribe ''boundary conditions" as 1x1 + 00. The amplitude u'(x) satisfies the Sommerfeld condition for lack of radiation (from infinity) and corresponds to the wave which is radiated by a source with density f(x). In contrast, u(x) corresponds to the wave which comes from infinity and is absorbed by the medium with an absorbing intensity f(x). For a detailed account of this topic the reader is referred to Grushin [1963a], Tikhonov and Samarskij [1951], Vajnberg [1966]. All the fundamental solutions (2.6), (2.7'), (2.10) and (2.11') will be obtained by a unified method in Chap. 4. For the other fundamental solutions (2.8') and (2.9') the reader is referred to Hormander C1983, 19851 and Vladimirov [1981].
Remark 2.1. 1) We write Q' = {(x, t) E Rk": 1x1 6 at} and 9 = supp f(x, t). Then, in view of (1.48), it is clear that supp u: t 9 Q' for the solutions (2.12')  (2.12"'), because supp 8 ; c Q+.But 9 Q' intersects each plane t = to lying in IRk+' along a set whose diameter does not exceed d + at,, where d is the diameter of 9. Hence u:(x, to) = 0 for 1x1 2 const. + at,, that is, the "wave" u:(x, t) has a sharp front edge and is propagated with a speed <a. For rear edges, on the other hand, a difference occurs according to the value of k. For k = 3, supp 8 ; cQ ' = aQ' and so supp u: c 9 + Q'. But 9 + Q ' is an "in' of thickness x d . Accordingly, u:(x, t o ) = 0 for 1x1 6 at, flated" cone Q const., that is, the wave u: has also a sharp rear edge. It turns out (see Corollary 4.1, Chap. 4) that for all odd k 2 3 the wave equation (2.6) in IRk similarly has a retarded fundamental solution 8 ; concentrated on the cone Q ' and the solution is unique, by Proposition 6.2, Chap. 5. Consequently, the ''retarded solu, ' *f of the equation (2.6), with f E 9(IRk"), have sharp front and tions u: = 8 rear .edges. In contrast, supp 8 ; coincides with Q' for all even k 2 2 and for k = 1, and the solutions u: have, in general, no rear edges. This is expressed by saying that ''wave diffusion" takes place. 2) For the KleinGordon equation (2.7), where k 2 1, the retarded fundamental solution 8; is concentrated in Q' but not in Q' (see formula (5.12), ; of (2.7) Chap. 4). Consequently, for all k, the ''retarded solutions u: = f * 8 have sharp front edge and are propagated with a speed < a and they have, in general, no rear edge. 3) For both the heat equation (2.8) and the Schrodinger equation (2.9) the ; coincide with the halfspace supports of the retarded fundamental solutions 8 t 2 0 for all k 2 1. Therefore the retarded solutions u = 8 ; *f have neither front nor rear edges, that is, they are propagated with infinite speed.
2.3. The Propagation of Waves. By formula (2.2), we can obtain a particular solution of equation (2.6) when f(x) E C$(IRk"). Thus, from (2.6) and (2.2) we obtain such a solution in the form (1.57):
uZ(., t) = <4?(x  y, t  4 f ( y ,
4).
(2.12)
2.4. The Construction of Fundamental Solutions of Ordinary Differential Equations. When n = 1, it is easy to construct the (retarded) fundamental solutions for any operator P # 0. Thus, with prn# 0, let 8+(x)denote a solution of the following Cauchy problem:
When k
= 1 this formula
becomes (2.12')
(2.14)
Similarly, when k = 2,
Lemma 2.1. Let 8+(x)be extended to x < 0 by setting it equal to zero and let (2.15)
148
A.I. Komech
149
We note that (2.21) expresses the solution u(x), with x E w, in terms of the righthand side of equation (0.1) and the "values" of the solution u(x) in the domain supp $\o.Thus (2.21) is an analogue of the Poisson formula for harmonic functions.
= {b'k'(X)},
(2.16)
Corollary 2.1. If f ( x )E Cm(52)and the solution u ( x ) o f the equation (0.1) is f 80,then u ( x ) E Cm(52). smooth in a neighbourhood o
Proof. We take a domain o c 52 so that u E Cm(52\o), and we take functions cp, 4, $ E C;(Q) satisfying (2.18). Then $ f E C;(O) and w E Cg(52). Therefore (2.21) implies that u E Cm(o).
for k = 0, . . .,m  1 in succession because, by (2.14)and (2.15), hk = ~ ! ? ' ~  ~ ) ( 0 + )  S("')(O) = Ofor k = 1, ...,m  1 and, fork = m,
b'"'(x) = {B'"'(X)}
+ 6(x).
Pm
(2.17)
The formula (2.21) also enables us to obtain sharper results on the smoothness of solutions of equations of the form (0.1) (see Grushin [1963b]).
On multiplying (2.16) and (2.17) by pk and pm and summing, we obtain (2.1) because for x # 0 b ( x ) satisfies the homogeneous equation
P b ( x ) = 0.
2.5. A Mean Value Theorem. Basic for the investigation of the smoothness of solutions of equations (0.1) is the following mean value theorem (Gel'fand and Shilov [1958a], Shilov [1965]). Take a point xo E IR"and let cp(x), @(x), &x) E 9(IRn).Suppose that xo E o, where 0 is an open domain of IR". Further, assume that
cp(x) = 1 for x
E o, @ ( X I =
1 for x
E supp
cp,
&x) = 1 for x
E supp
(2.18)
4.
0 1.
w. We define
(2.19)
Lemma 2.2. Let S ( x ) E 9'(IR") be an arbitrary fundamental solution o f P(dx). Then, for x E o, u(x) is expressed in terms off and w as follows: (2.21) u ( x ) = d * (@f  f$Pw)(x), x E 0.
Proof. It follows from (0.1) that
P(cpU) = 4P(cpu) = 4(f  P((1  cp)u))
= 4f  4P(&  cp)u).
s..
eixc$(5) d t := Flcp;
xt =xltl
+ ... + xn&,
(1.1)
$(t)=
eiXrcp(x) dx := Fcp,
R"
< E IR".
H
(1.2)
(2.22)
1.2. Properties of the Fourier Transformation 1) The differentiation formulae. It follows from (1.1) and (1.2) that a,"cp(x) =
(27~)" ( i5)"e'"'@(t)d5 and a!$(t)
(2.23)
Therefore, for cp E S,
Fa& = (
(1.3)
150
A.I. Komech
151
2) The translation formulae. The formula (1.1) implies that F(cp(x + a)) = ei"t@(<), F(e'""cp(x))= @(<+ a)
( 1.4)
For cp E 9 all the properties (1.3) and (1.4) of the Fourier transformation hold, and the second relation of (1.4) is valid for all a E C".
for cp E S(IR")and all a E IR". 3) Proposition 1.1 (Gel'fand and Shilov [1958a], Shilov [1965]). F i s an isomorphism o f S(IR") onto S(IR"). 4) For cp, $ E S(IR"),we define the convolution cp * $ by the formula (1.45), Chap. 1. Then, for E IR",by the Fubini theorem we have
<
= l e i i y ( [sii'xY'a(x
 y ) dx $ ( y ) dy
= @(<)$(<),
= (2n)"(@
* $)(<).
(1.5)
Proposition 2.1. The operator F : u H G acts continuously from S'(IR") into u" H u is also a continuous map from S ' ( I R " ) onto S'(IR"). Example 2.1. 1) On taking u(x) = 6(x)and using (1.2), we have
1.3. Fourier Transformation of Functions with Compact Support. If cp(x)E 9(lR"), the formula (1.2) shows that @(<)is an entire function on C",and
<
(8, cp)
= ( 4 4 ) = @(O) =
C",
(1.6)
provided that cp(x) = 0 for 1x1 > A. We write gA= {cp E 9(lR"): cp(x) = 0 for 1x1 > A}. If cp E gA, then x"cp(x) E gAand a,"cp(x)E gA. In view of ( 1 3 , the funcalso satisfy estimates of the form (1.6). tions a;@(<) and <"@(<) Theorem 1.1 (PaleyWiener; see Gel'fand and Shilov [1958a1, Hormander f cp E g(IR"), then @(<)is an entire function on C" [1963], Vladimirov [1964]). I and, for all a and N > 0, (1 + I<I)NIa;@(t)l < C,,NeAl*mCl,5 E C", (1.7)
for some A and Ca,N2 0 which depend on cp. Conversely, if @(<)is an entire function on C" which satisfies estimates of the form (1.57) for all a and N , then cp(x) = F'@ E QA(IRn).
st.
* W ) = 1.
(2.2)
(T, cp)
by (1.1).
= (1, @) =
@(x) dx
= (2n)ncp(O)
T = (2n)"6(x),
(2.3)
2.2. Properties of the Fourier Transformation 1) By taking closure with respect to continuity, we find from (1.3) that, for all
uES ' ( I R " ) ,
F(dzu(x))= (it)%(<),F(x"u(x))= (i&)"G(<) Va. Corollary 2.1. For any operator P(&) of the form (0.1) F(P(&)u(x))= P(  i<)ii(<)= P(<)G(<), u E S ' ( I R " ) , where P (  i t ) = P(5) is the polynomial
P(  i t ) = F(5) =
(2.4)
Definition 1.1. We denote by Z = Z(C")the space of entire functions 4 in C" which satisfy estimates of the form (1.57) for all a and N. By definition, a sequence $k E Z converges to 0 E Z if
l$k\a,N
(2.5)
:= sup eAl'""(l
( s C"
+ 1<1)Nld;$k(<)1,2mo v'%N
+ 0.
Z
(1.8)
la1< m
1 pa(  it)",
5 E IR".
(2.6)
Theorem 1.1' (Gel'fand and Shilov [1958a, 1958bl). The operator F : 9 + Z i s continuous and so i s its inverse F': Z + 9.
P(t) = P (  i t )
152
A.I. Komech
153
(2.7)
2) By taking the closure with respect to continuity, we find from (1.4) that
F(u(x + a)) = e"%(<), F(e'""u(x))= u"(<
+ a),
Corollary 2.2. The formula (2.14) implies that under an orthogonal change o f variables in IR" the Fourier transform C(<) of a generalized function u ( x ) E S'(IR") transforms as an invariantly defined generalized function on R". Therefore, by (2.5), the symbol F(t)o f the di,fferential operator P(8,) is also transformed under an orthogonal change of variables as a function which is invariantly defined on IR".
On the other hand, under a general change of variables C E GL,(n) we find from (2.13) and (2.5) that the symbol Fc of the operator P(ax)takes the form
FC(rl)
On applying (2.2) and (2.3), we obtain from these results, for example, the formulae
F(6(x
+ a)) = e'"',
F(eiax) = (27r)"6([
+ a),
a E IR".
(2.9)
F((cl)trl), v E R",
(2.15)
3) By taking the closure with respect to continuity, we can deduce easily from (1.5) that (2.10) F(u*v) = u"(<)v"(<) for (u, v) E S x S' (or S' x S). Similarly, we can also deduce from (1.5) that
Corollary 2.3. The symbol P" of the operator P is an invariantly defined function on the space I R " ' , the dual space of IR" which consists of (continuous) linear functionals on IR".
(xl ,..., x,) by means of the row vector = (C1,..., <,,)EIR", that is, l(x) = <x = t l x l ... &x,. Then, in terms of the coordinates y = Clx, the
(2.11)
Here the convolution u" * v" can be defined, for example, by the formula (1.57) in Chap. 1. 4) The Parseval theory. Note that F : S'(IR") + S'(IR")is an isomorphism, by Proposition 2.1. In particular, F: L2(IR") + S'(IR").
+ +
<
(2.16)
Theorem 2.1 (Parseval; see Gel'fand and Shilov [1958a], Shilov [1965], Titchmarsh [1937]). The operator F is an isomorphism from L,(IR") onto L2(IRn), and
slu"(t)12 dt
= (271)"
5) Linear change of variables. With C E GLR(n)and u(x) E S'(IR"), we define uc(y) = u(Cy)for y E IR" (see formula (1.33), Chap. 1).Then
1 q(Cl)'q), u"c(rl)= ldet CI In particular,
Y/
<
(2.17)
lu(x)12 dx.
(2.12)
This means that the values of Fc and P coincide on the same functional 1 E W"*.
rn
E R"
(2.13)
2.3. Methods for Computing Fourier Transforms. The formula (1.2) can be used for obtaining Fourier transforms of a wide class of generalized functions, not only for cp E S(lR"). Lemma 2.1. I f u(x) E L1(R"), then u ( x ) E S'(R")and u"(5) E C,(IR"). Furthermore (compare with (1.2)),
< E IR";
(2.18)
max
<E
lu"(t)l <
R"
e'Y%(Cy) dy
Proof. Using Definition 2.1, the formula (1.2)and Fubini's theorem, we have
(6, cp> = / u ( x ) ( f e i x % ( t ) d t ) d x =
lu(x)l dx.
f(
[eixtu(x) dx)cp(t) d t
while for u E S' (2.13) follows by taking the closure with respect to continuity.
154
A.I. Komech
155
(2.18")
F(O(x)eAx)= i
t  i1'
(2.23')
This last result follows from the second formula in (2.4); here the derivatives involved are in the sense of generalized functions.
*
x+i
5) Since the Fourier transformation is continuous, the previous results imply that, as 1 + 0 + ,
E L,(lR) by
F(O(x))(t) = i
t  i0'
(2.24)
Lemma 2.2 (Hormander [1983, 19851). Zf u(x) E b'(IR"), then ii(t)E Cm(lR"), and ii(0 = (u(x), eixfi), t E R", (2.19)
where the scalar product is taken in the sense of the formula (1.40)in Chap. 1.
6) Adding these two relations, we obtain the SokhotskijPlemelj ''jump" formula 1 (see (1.62)in Chap. 1). 7) In view of (2.4),the formula (2.23) yields 1 F(l)(<)= 2nd(t) = i (msio) (2.25)
Example 2.3.
F(S(')(x))({) = (6("(x), e i x t ) = (it)"; F(d(x  h))(<) = (6(x
 h), eixt) = eihg.
(2.19)
2.4. Examples of the Computation of Fourier Transforms 1) For the onedimensional Gaussian distribution with dispersion t~ > 0
e((x  i ~ t ) ~ / 2 a )  ( a t ~ / 2 )
dx=[
JG
dx = e(aCz/2). (2.20)
F(O( x)xke")(t) = 
ik+'k!
(5  il)'+''
(2.27)
2) If we close the contour of integration from above (in the domain Im x > 0) when t > 0 and from below (in the domain Im x < 0) when 5 < 0, we obtain 1
0 3.
=
(2.21)
for a E C\R, by using the Cauchy residue theorem, as in the case of (2.18"). 1 3) For the Cauchy distribution 2, the last formula gives l+x
Definition 3.1 (Agranovich and Vishik [19643, Hormander [1983, 19851, Sobolev [1936], Volevich and Paneyakh [1965]). For s E IR,we denote by H, = H,(IR")the space of generalized functions u(x) E S ' ( I R " ) for which ii(5) E L?(IR") and
156
A.I. Komech
157
(1
is a continuous embedding if s1 2 s2. If s is a nonnegative integer I, then u(x)E H,if and only if d:u(x) E L,(IR") for la1 < I, and then the metric (3.1) is equivalent to the metric
Let us construct more general functionals belonging to Z(C").We take an where IR2" denotes the usual formulation of the comelement w(5, q) E S'(lRz"), plex space C" as a real space. We assume that
SUPP
wcT B
for some B 2 0 where T B = {z = 5 (see Agranovich and Vishik [1964], Volevich and Paneyakh [1965]). This result is a consequence of Theorem 2.1 and (2.4). It can be shown easily that 9(IR") is everywhere dense in H,(IR") for s E I R (see Hormander [1983,1985]).
(4.2)
(4.3)
Proposition 3.1. For s E IR,the operator P o f the form (0.1) acts continuously from H,(IR") into H,,(IR").
Proof. For any u E H,(IR"), we have, by (2.5),
Then the estimates (1.7) imply that 5B(q)cp(< iq) E S(IR2") for cp E Z(C").We define the scalar product
where (.,  )on the righthand side denotes the duality between S ' ( I R ' " ) and S(IR2"). The functional (4.4) does not depend on the choice of lBwith the required properties (4.3) and, by Definition 1.1, it is continuous on the space Z(Cn).
Definition4.2. A functional v(z) E Z(C") has a local density w(5, q) on the set T B if it can be represented as
( v ( 4 , dZ)> = (w(5,
cp(5 + id),
cp E
w"),
(4.5)
Example 4.1.
( L ( 5 9
( ~ (+ 5 iq)) =
Note that the functional (4.1) has also the local density w(5, q) = w(5) x d,,(q).
sRn
~ ( 5d5)
4.2. Fourier Transformation on the Space 9'(IR") Proposition 4.1. The operator F : S'(R")+ S'(R")defined by the identity (2.1) can be extended to a continuous map F : 9'(IR") + Z ( C n ) in such a way that the diagram S'(IR")
n
LS'(IR")
n
(4.1)
Then v(z) E Z'(C") because the map cp H cpI Rn is a continuous embedding Z(Cn) c S(IR").Also, Z(Cn) is everywhere dense in S(IR"),since 9(IR") is everywhere dense in S(lR")and F: S(R")+ S(IR")is an isomorphism, by Proposition 1.1 and, further, F: 9(R")+ Z(C")is an isomorphism, by Theorem 1.1'. Conse' ( I R " ) + Z'(C")which maps w into u by formula (4.1) is quently, the dual map S also an embedding. Thus S ' ( I R " ) is a subset of Z(C").
9'(lR")
LZ(IR")
@(x)>, cp E Z ( V ) .
158
A.I. Komech
159
It remains to note that the map F: cp H @ acts continuously from Z(C")into Q(CC") as does the operator F' (see Theorem 1.1'). If we take the closure with respect to continuity in (4.6) we are led to the next definition.
is a tubular domain of C" with base SZ. We assume that for z E Tn, IIm zI < B (4.10) for all B > 0 and some C = CB and p = pB. We can then define an analytic functional by the formula (see Gel'fand and Shilov [1958a])
If(z)l
cp> =
f(z)cp(z)dz, cp E 2; tl 52.
(4.11)
Imz=q
+ Z(C") and
4.3. Operations on the Space Z(C"). Since 9(IR") is dense in 9'(IR") and F: 9 '+ Z is an isomorphism, it follows that Z = F ( 9 ) is dense in Z . On Z there are defined the operations of differentiation, multiplication by a polynomial and by ehX,where a E IR", linear real coordinate transformations and the operation of translation by a complex vector. By continuity all these operations can be extended to u E Z by means of the following identities, in which cp E
Z(C"):
<dZ"u(z), &)>
= (u(z),(d,)Olcp(z)>
This functional does not depend on q E 0, as can be established easily using the Cauchy theorem together with the estimates (4.10) and (1.7) and the fact that SZ is a connected domain. Note that SZ and TQ can be assumed to be convex, by the Bochner theorem (Gunning and Rossi [1965], Hormander [1973], Vladimirov [19643).
(4.7) C E GL,(n).
= 2niS(5),
5 E IR.
(4.11")
IIm s > o
Proposition 4.2. If u E Z ( C " )is an analytic functional, so that u = flT,, for z E To, the function f(z) is uniquely determined by v.
The result follows because the function space {@(5 is dense in S(IR").
then,
4.4. Properties of the Fourier Transformation. By taking the closure with respect to continuity, we obtain from (2.4), (2.5) and (2.8) the following identities for u E 9'(lR"):
Proposition4.3. Any functional o f the form (4.5) (that is, any functional with a f (not more than 2") analytic local density) can be represented as a finite sum o f the form (4.11). functionals o
Proof. In the onedimensional case, for any continuous function w ( t ) such with 5 E IR, we claim that that lw(5)I < C(l
a E IR", a E C".
14.8)
We note that the last identity is valid for all a E C" and u E 9'(lR") (as well as for u E 9(lR")) in contrast to the second formula of (2.8). (4.12)
4.5. Analytic Functionals. By this term we mean functionals u(z) E Z having analytic local density (Gel'fand and Shilov [1958a]). More precisely, let f(z) be a holomorphic function of z E To, where Q is a connected domain in IR" and
where (4.13)
To:= { z = t
+ iq E C":q = Im z E Q}
(4.9)
160
A.I. Komech
161
<+
1
imz=l
<
Clearly,
+(x)eixz E S(lR") for Im z
E K*.
(5.4)
For u E SK= { u E S ' ( l R " ) ; supp u c K}, we define the scalar product (5.5) This definition of the scalar product is independent of the function +(x) chosen with the required properties (5.3). Theorem 5.2 (Hormander [1983, 19851, Komech [1974], Merzon [1973], Paley and Wiener [1934], Reed and Simon [1975, 19793, Vladimirov [1964]). Zf u E Sk, then ii(<) E S ' ( I R " ) can be extended in the sense of Definition 1.11, Chap. 1, as an analytic function ii(z) in the tubular domain TK*= {z E C":Im z E K*} (see (4.9)), and
G(z) = ( u ( x ) , eixz), z
E
E K*.
A similar construction can be carried out for the general ndimensional case and for any functional of the form (4.5).
TK*,
(5.6)
(5.6')
holds for some C, p and v where p = p(z, J T , . ) = p(Im z, aK*) (compare with the formulae (1.60) and (1.73) of Chap. 1). Conversely, if G(z) is a holomorphic function in TK*satisfying (5.6'), then i i l R n E S' and ii has a unique representation o f the form (5.6), where u = F'(iilRn) E Sk.
(54 (5.1')
z E C".
Conversely, if ii(z) is an entire function in C" satisfying (5.1') for some C, A and p, then ii(z)IRn= ii(<) E S'(IRn) and u = F% E I'(lR"), and furthermore, u ( x ) = 0 for 1x1 > A.
Definition 5.1 (Hormander [1983, 19851, Vladimirov [1964]; compare with Definition 1.10). We denote by S&,) the space of functions u(x)E S ' ( I R " ) for which supp u(x + a) c K for some a E IR". In view of the first formula of (2.8), Theorem 5.2 evidently leads to Theorem 5.2. Zf u(x) E SiK),then ii(<) has an analytic extension to the domain TK+. Zf supp u(x + a) c K , where a E IR", then
ii(z)= (u(x), $(x Moreover, the estimate
 a)eixz),
useHJR").
The result follows because for Im z = 0 (5.1') implies that lii(<)l < C(l E H,(IR") for s <  p  4 2 .
+ I<[)",
z E TK*.
(5.7)
5.2. Tempered Distributions with Support in a Cone. Let K be a closed cone in IR" with vertex at the origin and not containing straight lines. By definition, K + K c K and tK c K for t > 0; thus K is a convex set. An example is K = IR+ = {x E IR: x > O}. Let K* be the dual cone defined by K* = ( q E IR": qx > 0 for x
E K\O}.
(5.7')
holds for some C, p, v and A > 0. Conversely, if ii(z)is any holomorphic function in T K . satisfying (5.77, then ii(z)l Rn E S' and G(z) has a unique representation of the form (5.7), where u = F'(fi(~)lR,,)E SiK).
5.3. Exponentially Growing Distributions Having Support in a Cone. As above, let K be a closed convex cone in IR" not containing straight lines. A distribution u ( x ) E 9'(IR") is said to be an exponentially growing distribution if
(5.2)
Evidently, K* is an open set and K* # 4 if and only if K does not contain straight lines. Let us take a cutoff function +(x) E Cm(IR")such that
162
A.I. Komech
163
eB.M(X)u(x) E S'(IR")
for some B > 0, where
M(x)=
Jm.
(5.9) (5.9')
Definition 5.2. 9'E(IR")denotes the set of all exponentially growing distributions u(x) E 9'(Rn), and 9'EK = 9'E(IR") n 9 ; . With R > 0, we write KR = { q E K*: p(q, dK*) > R } .
Clearly,
Definition 5.3. We denote by 9'E(K) the space of functions u(x) E 9 ' E ( R " ) for which supp u ( x a) c K for some a E IR". A sequence Uk 2u if e  B . M ( x ) uk(x  a) 2 eB'M(x)u(x  a) for some B > 0 and a E IR" which are independent of k (by definition, convergence in Sk coincides with weak convergence in S'(IR")).
Theorem 5.3. Z f u(x) E 9'E(K),then i i = Fu is an analytic functional in TKg for a sufficiently large R > 0 with a local density of the form (5.10) which satisfies the estimate
$(x)eixzeB.M(X) E S(IR"),
If(z)l
(5.12)
with Im z E KX, for a sufficiently large R = R(B) > 0. Therefore for such an R the scalar product
for some C,p and A > 0. The conuerse also holds. For example, when u(x) = O(x
fb) = ( u ( 4 , $(x)eiX'>
:= (eB
.M(x)~(~ $ ) (x)e , ixzeB.M(x)
(5.10)
f(z)
JI
+3 )
for Im z > 3.
eizxe3x dx =
~
is defined for Im z
iz
E KR.
+3
(5.13)
Theorem 5.3. Zf an exponentially growing distribution u lies in 9;, then ii = Fu E 2' is an analytic functional of the form (4.11) in the domain Q = T K t for a sufficiently large R > 0; here the function f(z) is holomorphic in T K g and is defined by the formula ( 5 . 1 0 ) . An estimate of the form ( 5 . 6 ) holds: for some C and p
0 6.
According to (lS),
( 5 . 1 1)
for u, u E 9(IRn).
Conversely, if f(z) is any holomorphic function in TKg satisfying (5.11) for some C and p, then the analytic functional f I T r : is the Fourier transform o f an exponentially growing distribution u E 9'EK.
The proof of this theorem is almost word for word the same as that of Theorem 5.2. Indeed, the theorem can be deduced from Theorem 5.2 because, by (5.9'), u,(x) = e%(x) E S; for q E KR,_and ii,(z) = f(z + iq) is a holomorphic function in T p which is continuous in T K t .
(6.2)
= Fu E Z'(C").
Corollary 5.2. The Fourier transform of any exponentially growing distribu. 2 .The converse statement is tion has a local density in the sense of Definition 4 also true.
The direct statement is obtained from Theorem 5.3 by decomposing an exponentially growing distribution into a sum whose terms have supports in convex cones not containing straight lines. The converse statement is obvious for ana4 . 1 l ) ,because they are the Fourier transforms of lytic functionals of the form ( the product of exponentials of the form evx and tempered distributions belonging to S'(IR"). It remains to note that any functional having a local density is, by Proposition 4 . 3 ,equal to a finite sum of analytic functionals of the form
To prove this result, we approximate u and u by functions belonging to 9(IR") and use (6.1) as well as continuity of all the operations involved in (6.2). These operations are convolution on I' x 9,Fourier transformation and multiplication on the righthand side. As above, let K be a closed convex cone in IR" not containing straight lines.
( 4 . 1 1 ) .
TKt.
164
A.I. Komech
165
Proof. We approximate u and u by functions belonging to d ' which have the form u,(x) = $(Ex)u(x) and u,(x) = $(Ex)o(x), where $(x) E C$(lR")and $(x) = 1 for Ix I c 1. Then, clearly, P'ElK, a'&) %c) (u, u, u, u) * (u, * 0, u * v) (6.4)
 
To complete the proof of Theorem 1.1 it remains to verify that fi can be extended from FZ as a continuous linear functional on 2. This fact follows from the HahnBanach theorem once we have established that the functional ii is continuous on FZ endowed with the topology induced by the embedding FZ c 2. To do this, we require the following Lemma.
for z E TKi,with a sufficiently large R > 0. Finally, the functions fi,(z) and 5,(z) satisfy estimates of the form (5.12) uniformly in E. Therefore, as E + 0, we obtain (6.3)by applying (6.2) to u, and 0,. W
then also
and
EN($)
BNcN(v),
(1.5)
We establish the lemma by following the method of Ehrenpreis [1954], Merzon [1973] and Vladimirov [1964]. First, by the Cauchy theorem, 1
$ ( z + Ae)dA
$(z) = GJyz
where yz is a positively oriented contour in the complex plane enclosing the point A = 0 and e E C"\O. Next we choose the vector e E IR" such that
a
= P,,,(e)# 0,
where P,(z)
(1.1)
= 1apm 1 p,(iz)".
(1.7)
Theorem 1.1 (Ehrenpreis [1954], Malgrange [1953]). The equation (1.1) has a solution ii E Z(Cn) for all f " Z~ ( C " )prouided that P(() f 0. Corollary 1.1. The equation (1.1) has a solution u(x) E 9 ' ( l R " ) for all f E 9'(lR") if P # 0.
We note that Theorem 2.1 in Chap. 1 follows from this result when f = 6(x). To prove Theorem 1.1 we apply the HahnBanach theorem on the extension of continuous linear functionals in locally convex spaces (Yosida [19653).First we note that (1.1) is equivalent to
Then F(z Ae) = aA" Qml(z,A), where Q m  l is a polynomial in A of degree G m  1. Therefore F(z Ae) = a(A  A,(z))...(A  A,(z)). This shows that the contour yz can be chosen for all z E C" such that yz depends piecewise continuously on z, and 1
+ +
+ Ae)l 2 c(m)lal,
(1.8)
where c(m) > 0 is independent of z and Iy,l denotes the length of yz. Substituting cp/F for I ) in (1.6), we immediately obtain (1.4) and (1.5) from (1.3) and (1.8).
Corollary 1.2. Lemma 1.1 implies that the map p(() = F$ H $(() = cp/F is continuous as a map from FZ into z(c).
Now since f is a continuous functional on 2, it follows that 6,defined on FZ by (1.2), is continuous on PZ. But then, by the HahnBanach theorem, ii can be completing the proof of Theorem extended as a continuous functional on Z(C"), 1.1.
0 4 0 P"(5)W)) , =
<m 4Wh
(1.2)
where $ E Z(C").Thus the desired functional ii is known in the space of test functions of the form F(<)$(l) with t,b E Z(C").Let us denote this space by FZ.
166
A.I. Komech
167
1.2. The Problem of Division in Classes of Exponentially Growing Generalized Functions. The Hormander Staircase Theorem 1.2. Let f E 9'E(lRn). Then the equation (0.1) has a solution u E 9'E(lR") provided that P # 0.
The result follows because 6(x)E 9'E(IR"). 1.3. The Problem of Division in Classes of Tempered Distributions We consider the equation (0.1) with f ( x )E S'(IR"), where the solution u(x)is also sought ' ( I R " ) .We apply the Fourier transformation to both sides of (0.1). Then, by in S formula (2.5) in Chap. 2, we obtain the "algebraic" equation
Proof. According to Proposition 4.3 in Chap. 2, we can assume that f is an analytic functional of the form (4.11) of Chap. 2, where 52 is an open connected domain of IR". Thus, for all t,b E 2,
< f W ,W ) > =
(1.9)
Imz=q
F(t)u"(5) = 5 E IR", (1.13) which, in contrast to (l.l), is an equation in S ' ( I R " ) .This division problem was solved in the works of Bernshtejn [1971], Bernshtejn and Gel'fand [1969], Hormander [1958], Lojasiewicz [1959].
Theorem 1.3. The equation (1.13) has a solution ii(5) E S ' ( l R " ) for any righthand side f(5) E S ' ( I R " ) provided that F(5) f 0. Corollary 1.4. r f P'# 0, the equation (0.1) has a solution u E S' for all f E S'. When f = 6(x),this result leads to Theorem 2.2 in Chap. 1. The equation (1.1) can be solved easily when (1.14) for 5 E IR" and some c > 0. Such operators P are called strictly elliptic. For example, the operator K = d  mi, with mo E R\O, is strictly elliptic, because its symbol E is
f a
The required functional ii acts on the teest functions cp = Ft,b E FZ according to the formula
In this integral we can replace t,b = cp/F by the expression (1.6) and obtain an extension of ii to cp E 2, because (1.8) holds for all z E (c". There is, however, another vivid construction, known as the Hbrmander staircase. To carry out this construction; we make a linear coordinate transformation 5 in IR" so that the vector e of (1.7) becomes the first basis vector. To keep the discussion simple, we assume that the coordinates tl, ..., 5. themselves have this property, that is, e = (1, 0, . . .,0): Then, by the Cauchy theorem, the formula (1.10) for cp E FZ can be transformed into
lF(5)l2 4 1 + 151)"
E(t)= lt12 mi I E ( ~3 ) c(1 I + I ~ I ) ~t ,E IR". In contrast, the Helmholtz operator H = d + 02, with o E lR\O, is not strictly
elliptic, because its symbol
where z' = ( z 2 ,. . .,z,,), q ' = (q2,.. ., q,,) and (h, q') E 52. Note that, by Bochner's theorem (Hormander [1973], Vladimirov [1964]), 52 can be assumed to be convex. Thus (h, q') E 52 for h E ]a(q'), P(q')[, where a(q') < &'). It remains to choose h(z'),for all z', such that, on the straight line Im z 1 = h(z')of the complex plane, P(zl, z ' ) has no roots as a polynomial in z l . This is possible because F(z) = a(zl  A,(z')).. .(zl A,(z')) and the roots A,(z'), . .., Am@') depend continu1, 0, . ..,0) # 0. Therefore we can choose h(z'), ously on z' since, by (1.7), a = Fm( depending piecewise continuously on z' for Im z' = q ' , so that
h(z') E ]a(q'), /?(q')[ and lF(z)l > 6 > 0 for Im z 1 = h(z'),
k(5)= 151'
Notice that the operator of multiplication by l/F(t) is continuous in S ' ( I R " ) because, by (1.14), g ( ( ) = l/F(<) satisfies (1.68) in Chap. 1. For example, on applying the Fourier transformation the equation
(&
Im z' = q'.
(1.12)
The set H = { z E C":Im z' = q', Im z 1 = h(z')} is known as the HBrmander staircase. In view of the estimate (4.10) in Chap. 2, it follows from (1.12) that the functional ii of (1.1 1) is continuous on 2. Corollary 1.3. The equation (2.1) in Chap. 1 has a solution &(x)E 9'E(R") provided that P(8,) # 0.
_t 2n
mi)&'(x)= 6(x),x
eixt
1
t2
dt
m0

Chap. 1). It is almost as simple to solve the division problem for the case when F(t)# 0 for t E IR". Indeed, in this case ii(t)can be defined by (1.15) as an element of g'(IR"). However, we must show further that C(t) E S'(IR"), but this assertion follows from an estimate of the type (1.14). Thus we have
2%
168
A.I. Komech
169
Lemma 1.2. If
<
E R",
(1.16)
J(i0 the conditions (2.1), and we write R(<) =. , (9. In general, R(<)#LY(IR"), P(<) and therefore for this R ( t )we cannot in general construct a generalized function R^ using formula (1.2) in Chap. 1. Therefore R(5) is referred to as a formal function.
Definition 2.1. A generalized function Z(t) E S ' ( l R " ) is known as a regularization o f a formal function R(<) E C(IR"\Y) if
<
( R cp> = ( R , cp> =
W = IR"\Y.
(1.17)
Then (1.13) defines a unique restriction a(<) to W (see Definition 1.5, Chap. 1) given by
ii(t)lsr = =(f(t)lsr)(fi(t),do)
P(<)
(1.18)
If R^' and R^' are two distinct regularizations of R(<), then (2.2) implies that . supp(Z1  R 2 ) c 9 The complexity of the regularization problem depends on the construction of the set Y and on the nature of growth of R(<) near 9 . In the proof of Theorem 1.3, the following two factors play a decisive role. 1) The algebraic manifold Y of (1.17) is the union of a finite number of sets of analytic submanifolds of IR" having different dimension:
n 1
R(Ocp(5)d<
vcp E wR"\Y).
(2.2)
Y=
(P(5) Here, by definition, . = 0 for 4 supp cp and hence for all E 9 . P(<) Thus in order to solve the division problem, we extend the functional (1.18), defined in W, to a distribution ii(5) E S ' ( I R " ) . This problem, in turn, is referred to f regularization and, by Theorem 1.3, it always has a solution as the problem o provided that P(<)f 0.
<
<
k=O
Y k , dim 9 '= k,
where Y k is an analytic manifold of IR". 2) l/P(<) grows near Y not faster than some (negative) power of distance from Y (the Lojasiewicz inequality; see Lojasiewicz [1959]). Thus, for some N and v,
Remark 1.1. If Y # 4, the solution of the regularization problem is never unique. For example, we can always add cS(<  to) to ii(<), where toE 9, because F(<)S(< to) =0 , E IR". If grad P(<)# 0 for E Y then also F(<)S(P(<)) = 0 and thus we can add cS(F(<))to i i if S(P(<)) ES ' ( l R " ) .For example, condition (1.24) of Chap. 1 is satisfied for the symbol l<I2 + w 2 of the Helmholtz operator H = A w2,with w E IR\O, and S(1<I2 0 ' ) E S'(R") (see (1.23), Chap. 1).
<
<
To establish (2.4), we use, as in (1.16), the SeidenbergTarski principle (Gorin [1961], Hormander [1983,1985]).
0 2.
Regularization. The Methods of "Subtraction" and Exit to the Complex Domain and the Riesz Power Method
2.1. The Method of Subtraction (Ehrenpreis [1954]). To keep the exposition is a smooth submanifold in IR", simple, we confine ourselves to the case when Y& that is, when (2.3) contains just one member Yk, where 0 < k < n  1. We first examine the case k = 0 so that Y = Y ois a discrete point set (if Y o is not discrete, (2.4) does not hold). Thus Y = {aj E IR", j = 1, ...} and the E ~ neighbourhood (cj > 0) of aj does not contain other points a,. Then a regularization can be constructed by subtracting from cp(x) a truncated Taylor series:
(2.1) where
' ( I R " ) can be expressed as a finite sum of derivabecause any distribution f" E S tives of functions having the properties (2.1). Thus we assume that f(<) satisfies
170
A.I. Komech
171
(l?, rp)
a regularization of R ( 5 ) in the sense of (2.2). However, we must show that an l? E S' does exist.
Example 2.1. For n = 1 and R ( ( ) = l/(, the regularization l? can be defined as the Cauchy principal value. Namely, for rp(x) E S(IR),
(2.5')
2.2. The Method of Exit to the Complex Domain. Such a method of regularR ( 5 ) is, in the sense of Definition 1.11 in ization is applicable when, with ( E W, Chap. 1, a restriction to W of a function R(z) that is holomorphic in a tubular domain of C". The existence of a regularization follows from Lemma 1.5 in Chap. 1. Without going into the general formulation, we c o n h e ourselves to concrete examples. 1) For the function R(5) = 1/(, 5 E lR\O, we can define a regularization by 1 1 the formulae R + ( 5 )= or R  ( ( ) =  Furthermore, F'& (5) = 5 i0 5  i0' T iO( fx ) = 0 for x 5 0. This result follows from Theorem 5.2 in Chap. 2, because l?,(5) has an analytic extension to the set Im 2 0.
A
<
Example 2.2. For the Helmholtz operator H = A + o ' , o E R\O, in IR" the symbol G(5)is  151' o2 and grad I?(() = 25 # 0 if I?(t) = 0. Therefore the regularization of R = l/I?(() can be defined by the formula l?(c) = p.v. 1
Corollary 2.1. For the Helmholtz operator o f Example 2.2, the regularization 1 1 = of R ( l ) = can be defined as the superposition of ___ and 5 = I?(?) 5 i0 [(I2 0 ' because grad I?(<)= 25 # 0 for I?(c) = 0. Thus l?,(5) =
~
I=,
We now consider the more general case when 9 '= 9 'for 1 < k < n  1. For simplicity, assume that y kis a compact smooth manifold. With E > 0, we an Eneighbourhood of 9". Then for some E > 0 there is a diffeodenote by .4.,& " x D"&, where D"' is a ball in IR"& of radius 1 (or E, the morphism h: .4.,' + 9 value being immaterial), that maps 5 E .4.,' into h ( ( ) = (t', tD),where 5" E Y', 5" E D"& and h ( P ) = Y k x (0). Then the regularization can be constructed in a form that is analogous to (2.5). Namely, for rp E S(IR"),
It12
+ 02'
I(['
+o '
iO'
Remark 2.1. The regularization l?+(l) is used for finding the limiting amplitude of diverging waves. This amplitude corresponds to the limiting absorption and satisfies for o > 0 the Sommerfeld condition for the absence of radiation (see Grushin [1963a], Tikhonov and Samarskij [1951], Vajnberg [19661). 2) For the wave operator
O)  * * *
where
W(~ = ) IR"\%,
(('9
the symbol is E(z,5 ) = z2 + a ' l<I2, where T E I R and 5 E Rk. It can be v e d e d easily that fi(r, 5 ) # 0 in the tubular domain TK,with base K* = {(s, q) E IR x I R ' : Is1 alql}. This domain has two connected domains Kf in which s > 0 and s < 0 respectively. Therefore we can define two different regularizations
=
(Ph(rs,
Here a,",rph(<', 0) denotes the derivative of (Ph(<', tD)at the point tD = 0, and 0)E h ( Y k ) . Since Y k is a compact manifold, it follows that l? E S ' ( I R " ) . In the general case when Y is of the form (2.3), the regularization l? E S(IR") is constructed in a similar fashion by using (2.4). In this method, suitable coordinates are constructed in the neighbourhood of each "layer" Y' of Y by means f of the socalled oprocess (or otherwise known as the method of resolution o singularity). (See Hormander [19581, Lojasiewicz [19591.) This is how we solve the problem of regularization, and we can also establish Theorem 1.3 along the same lines (Hormander [1958], Lojasiewicz [1959]).
To see this, we write K , = { ( t , x ) E IR x IRk: + a t > IxI}. Then the cones Kf are dual to K , and 8,(z, 5 ) have analytic extensions to TK* 3) Similarly, for the KleinGordon operator 2= 0 + ,'m m > 0, the symbol 2 ( z , 5 ) = E(z, 5 ) + m2 # 0 in TK*.Therefore there are two distinct regularizations
172
A.I. Komech
173
The proof of this theorem makes use of the oprocess for resolving the singu'(see (1.17)). There is a simplified proof in larities of the algebraic manifold 9 Bernshtejn [1971] that does not use the aprocess. Theorem 2.1 also implies the analyticity of the extension of F A because
2.3. The Riesz Method of Complex Powers. Roughly speaking, the idea of the Riesz method is that FA(<)is an analytic function of 1 E C with values in S'(IR") for Re 1 > 0, and therefore we can conjecture first that FA(<) has an analytic extension to the domain Re 1 < 0, and second that F'(<)(the value of the extension of F Afor 1=  1)is a regularization of the formal function l/F(<). The conjecture turns out to be valid with certain refinements. Namely, 1) Fa(<) has an extension as a meromorphic function of 1 E C with values in S'(IR"),and 2) the regularization of l/F(<) is the regular part of the meromorphic function FAfor 1 =  1. We now formulate the precise results in this direction (Bernshtejn [1971], Bernshtejn and Gel'fand [1969], Gel'fand and Shilov [1958a]). Let F(t) be a real polynomial in E IR". For Re 1> 0, we define
an
= 0). Hence
(2.11) where rk E S'(IR")and fi,(<) is an analytic function of 1in a neighbourhood of the point 1 =  1 with values in S'(lR").
Proposition 5.1. The function kl(<) E S'(IR")is a regularization of the formal and function l/F(<)
F(<)*k,(<) = 1,
k
< E IR",
(2.12)
<
where the equality is understood in the sense of generalized functions. Proof. It follows from (2.9) and (2.8) that
P"(<).&<)
where ( l)a denotes an arbitrary branch; for example, ( l)A= elrri. It is understood, of course, that a A= e l l n afor a > 0. Note that, for Re 1> 0 and k = 0, 1, 2,3, ...)
FA+"<)
+1
as 1+  1, Re 1>  1.
(2.13)
'
We note that the equality holds in the sense of S'(R") for all 1 E C except 1 E I7 because of the uniqueness of the analytic extension. But (2.13) and (2.11) imply that
= Fk(<)*F"<),
< E R".
is continuous and, with this function, we can For Re 1 2 0, the function pa(() construct a distribution belonging to S'(IR"). We note that
FA(<)
Let F+ denote the function
and
P"(5)*kl(t) = 1.
+
1 as 1+ 0, Re 1> 0.
(2.9)
0 3.
(2.10)
Then the following result has been established in Bernshtejn [1971], Bernshtejn and Gel'fand [1969].
3.1. Equations in a Cone. Let K be a closed (convex) cone of IR", that is, K K c K and t K c K for all t 2 0. Suppose that K does not contain straight lines. We consider the differential equation (0.1) in K . More precisely, we consider the equation in the class of functions having support in K :
Theorem 2.1. 1) The function F : (and lFIA)can be extended from the domain Re R 2 0 as a meromorphic function of 1 E C with values in S ' ( I R " ) . 2) The set I 7 of poles of the function F : (and lFIA)of R is the union of a finite number of sets that form an arithmetic progression.
P ( ~ , ) U ( X )= f ( x ) ,
JR",
(3.1)
where
f E Sk(R"):= { f E s:supp f c K } .
174
A.I. Komech
175
The solution u is also sought in Sk. By Theorem 5.2 in Chap. 2, the functions il(<) and f(<) have analytic extensions to TK* and the identity (1.13) also holds in TK*:
f(z) E g & )
(3.9)
(3.2) Let us formulate necessary and sufficient conditions for the equation (3.1) to have a solution in the class Sk(IR").We define
P(z)G(z)
=f ( z ) ,
z E TK*.
K n 2) If grad P ( z ) # 0 for all z E VKt := V n TKn except for a submanifold in T of codimension 3 2, then (3.9) is equivalent to the condition that
(3.3) Further, gK*(F) denotes the ideal generated by the polynomial P(z) in the ring of holomorphic functions in TK*. The prinicipal observation is that
V := {Z E C":P(z) = 0} and VK.:= V n TK*.
(3.10)
Here gKn(P) is an ideal generated by the polynomial P(z) in the ring o f holomorphic functions in TKn.
{ ( z ) = o for z E v,,,
in view of (3.2). Moreover, (3.2) implies that
(3.4)
3.2. An Operational Calculus. Let n = 1 and K consider the ordinary differential equation (0.1)
E , := { x E IR: x 2 O}. We
(3.11)
(3.5). Using the method of proof of Lemma 1.1 as well as Theorem 5.2 in Chap. 2, we can establish
f ( z ) E gK*(p)*
Theorem 3.1 (Merzon [1973], Vladimirov [1964]). 1) For the equation (3.1) to ( z ) / & z ) haoe a solution u E Sk it is necessary and sufficient that (3.5) holds, that is, f is a holomorphic function in TK*. 2) If grad &z) # 0 for all z E VK,except for an analytic submanifold in TK* of codimension 22, then the condition (3.5) is equioalent to (3.4). Example 3.1. Let n = 2 and K = ( x E IR2: x 1 2 0, x 2 2 0} be the first quadrant of the plane. Then for the equation (34 to have a solution u in the class Sk, with f E Sk, it is necessary and sufficient that
h ( x )  u(x) = f ( x ) , x E IR2,
on the semiaxis x > 0 with f ( x ) E 9'E(E+). To simplify the discussion, we assume that f ( x )E C(E+)and u(x)E C'"(]R+).In order to find a unique solution u(x),we prescribe the initial conditions
u(O+)=uO,
..., u ( m  1 ) ( 0 + ) =
(3.12)
We solve the Cauchy problem (3.11), (3.12) by means of the Fourier transformation. For functions having support in E+the Fourier transformation is sometimes called the FourierLaplace transformation. We first extend (3.1 1) to the whole real axis IR in the form
( d )
uo(X) = I f ( X )
fo(X)
m 1
k =O
c bk(u(0))8(k)(X),
X E ]R,
(3.13)
+z : + 1 = 0,
Im z1 > 0, Im z2 > 0.
(3.7)
We next examine (3.1) in the classes of exponentially growing distributions. Thus u and f now lie in YE, = YE(IR")n 9; (see Definition 5.2, Chap. 2). Then, by Theorem 5.3 in Chap. 2, the functionals il, f~ 2' are holomorphic in the domain TKrfor a sufficiently large R > 0 (see formula (5.9), Chap. 2). Denoting holomorphic local densities of the functionals u" and f also by G(z) and f ( z ) and using Proposition 4.2, Chap. 2, we obtain from (3.1) the identity (3.2) holding in TKt instead of TK*.Thus
{y
x > 0,
X<o;
(3.14)
+ PmlUo,
*.. *
P(z)ii(z) = f ( z ) , z E TKn. (3.8) Hence the conditions (3.4) and (3.5) are also satisfied when K* is replaced by KB with a sufficiently large R > 0. As for Theorem 3.1, we can use the method of proof of Lemma 1.1, as well as
Theorem 5.3 in Chap. 2, to establish
The equation (3.13) has the form (3.1). We assume that the growth of u(x)and f ( x ) as x ,+a is at most exponential, that is, we assume that
lu(x)l < C l e B x , If(x)l G c 2 e B X , x > 0.
(3.15)
116
A.I. Komech
177
(3.23)
This condition is also sufficient if the roots zk are simple, with Im zk # D for all k, and f = 0. If, however, the root zk has multiplicity vk, then (3.23) is replaced by the condition that
N
We note that, for the case in question, K* = IR, = {s E IR: s > 0} and so. ' ' 7 = { z E (c: Im z > 0} and KX = {s E IR: s > R}, while TKt= { z E C: Im z > R}. By (3.8) and (3.13), we obtain
If')(Zk)
=0
for Im zk > D, j
= 0, . . . , v k
 1.
This condition on uo, .. ., u"l when f = 0 is necessary and sufficient for the existence of a solution u ( x ) such that lu(x)l G ceDXfor x > 0 provided that Im zk # D for all k.
= 2.
(z2
But, by Theorem 3.1', the functional iio E Z'(C)defined by this density in the domain Im z > R is the Fourier transform of a distribution u E 9'Ex+ if and only if C0(z)is holomorphic for Im z R, that is, if and only if (3.9) holds. The polynomial F(z) has m zeros (taking multiplicity into account): and hence
+ 3iz)ii0(z)= iz
~
 1, Im z > 3,
=
iio(z) =
E (c.
(3.19j
Therefore P ( z ) # 0 for Im z > M := max Im zk, and thus (3.9) holds for R > max(M, B). Thus, by Theorem 3.1', the equation (3.13)has a solution uo(x)E Q'Ex+ given by
uo = F'(u"o(z)Ilmz>max(M,B)),
u ( x )=
4+ 5e3X
for x > 0.
(3.20)
3.3. DifferentialdifferenceEquations on a Semiaxis (Ditkin and Prudnikov [1966], Doetsch [1967]). We consider an equation with a retarded argument on the semiaxis x > 0. Thus, we consider the equation
(3.24)
where p m # 0 and hk 2 h, = 0 for 0 < k < m  1. We assume that f ( x ) satisfies the condition (3.15). For the initial conditions we can require that
where iio(z)is found from (3.18), and iio(z)is unique under the conditions (3.15). The solution uo has the simplest form when f ( x ) = 0 and the roots zj are simple, that is, zi # zj if i # j . Then the formula (3.18) can be transformed into
(3.21)
whence we obtain, as for (5.13) in Chap. 2,
m
uo(x) =
k=l
dk(V(o))e(x)eizkx *u(x) =
1 dk(U(o))eizkx,
k=l
> 0. (3.22)
where
( P * u ) ( x )= fo(x), x E R,
m
(3.25)
In the general case uo(x) can be found from (3.18) by means of the tables for Laplace tranSforms (Ditkin and Prudnikov [1966], Doetsch [1967])which differ from FourierLaplace transforms in that z is replaced by s =  iz. We note that if we require a solution u for which lu(x)l G CeD", x > 0, the density iio(z)must be analytic for Im z > D. Therefore (3.17) implies the necessity of the condition that
P ( x ) :=
k=O
pk6'k'(X  hk).
178
A.I. Komech
179
<
is the symbol o f the convolution operator (3.25) which is equal to the Fourier k 2 h, = 0 for 1 < transform of the "convolution kernel" P(x). Since pm # 0, h k < m  1 and leihkzl = ehklmr, it follows that
~F(z)l 2 clzlm for Im z > M
with some c > 0 and a sufficiently large M > 0. This implies that the quotient
(44 3) The hyperplane tio= { u E TxolR": (<, u ) = 0} in TOR" is called the characteristic plane of (0.1)at a point xo if the covector E IR"*\O is a characteristic conormal of (0.1). ' in IR" is called a characteristic hypersuqace 4) A hypersurface 9 of class C at a point xo if the tangent plane at this point is characteristic, and it is called a characteristic of (0.1)if 9 ' is a characteristic surface at each of its points.
<
<
where Im z > R = max(M, B), satisfies estimates of the form (5.11) in Chap. 2. Accordingly,by Theorem 5.3 in Chap. 2, the analytic functional ii(z)llm is the Fourier transform of a distribution u E ~ ' E Xsatisfying , the equations (3.24)and (3.25).
<
Corollary 4.1. For any characteristic o f (4.2) which has the form { x E IR": ( x  x o ) .t = 0} the equation (4.2)has solutions u(x)that are discontinuous on this plane.
For example, u(x) = O((x  x o )  t ; )is a function of the form (4.3) and hence satisfies (4.2).
Remark 4.1. We make a linear coordinate transformation x = Cy in I R : . Let the plane yn = 0 be a characteristic of (4.2), that is, let the covector t; = (Cl)r(O, ...,0, 1) be characteristic. Then, by Theorem 2.15 in Chap. 2, the sym= F,((C')'q), where q E R". Therebol of Pmin the new ycoordinates is (F,,,)&) fore
8 4.
4.1. Characteristics of Differential Equations. We denote by Pmthe principal homogeneous part of the operator P in (0.1):
With such a homogeneous operator P,, we first examine (0.1)in the case f = 0
P,(d,)U(X) = 0, x
E
IR".
E IR"*\o;
(4.2)
(4.7) But (F,),(O, ..., 0, 1) is the coefficient of d,"nu(y) in the operator (P,),(d,,). Therefore (4.7)implies that in the new ycoordinates (4.2)takes the form (4.8)
a, <m
= 0.
We seek the solutions of this equation in the form of plane waves, that is,
u ( x ) = w(t;*x), x
E
IR";
<
(4.3)
' ( l R ) .To do this we substitute (4.3) where t ;  x := t l x l + ... + t;,,x,,and w E 9 into (4.2)and obtain
P,(a,)W(t;x) = w'"1'(t;x)
IaI=m
c pa<"
(al=m
c pa<"
= 0.
(4.4)
= imFm(t;). From
(4.4)there follows
This form of the equation clearly explains why the solutions of (4.2) may have discontinuities along the characteristichyperplanes y, = const. Indeed, (4.8)does not contain the leading derivative d,"n in a direction transverse to these planes, but each term in (4.8)contains at least one derivative with respect to the contact Therefore any function which is constant on the hypervariables y l , . . ., ynWl. planes y, = const. satisfies (4.8) and, in particular, so does any discontinuous function.
Proposition 4.1. The function (4.3)satisfies (4.2)for all w E .9'(R)if the covector
Example 4.2. For the wave operator (2.6) the characteristic equation (4.5) is
t 2=
1 pa<" = OF,(<)
= 0.
(4.5)
a2 Icy,
(z,
t)E I Rx
IRk.
(4.9) (4.10)
Definition 4.1. 1) The covector t E lR"*\O satisfying (4.5) is known as the characteristic (co)normal o f equation (0.1)(or o f the operator P(dx)in (0.1)).
184
A.I. Komech
185
that is, if P(a,) does not have (real)characteristics: Char P = 4. (5.1') Example 5.1. The Laplace operator in IR" is elliptic because j ( 5 ) =  151' # 0 for E IR"\O. Similarly, the Helmholtz operator H = A + 0 ' is elliptic because fi2(<> = /<I' # o for E IR"\O.
K#)
:= { Z E C":P(z) = O}.
(5.4)
<
Theorem 5.2 (Shilov [1965], Trtves [1961]). The operator P(&) is hypoelliptic if and only if IIm zI 2 AlRe zIK B for some A > 0, B, and K > 0,
on the algebraic manifold (5.4) or, equivalently,
<
(5.5) (5.5')
=  
az a 2
ya
+ iax
a"y)
JImzI + 00
for z
E K,(P)
Proposition 5.1 (Hormander [1983, 19851, Vishik and Ehskin [1965]). If n 2 3, the order m of the elliptic operator P(&) is an even integer. Note that this statement is obviously true for all n 2 2 if the operator P(&) has real coefficients.
Remark 5.1. When n = 1, all equations of the form (0.1) are elliptic provided that P(a,.) # 0.
As it turns out, it is also possible to characterize the hypoelliptic operators in terms of the behaviour of their symbols in the real domain. Theorem 5.3 (Shilov [1965], Trtves [1961]). The hypoellipticity of the operator P(aJ is equivalent to each of the following two conditions:
Theorem 5.1 (the Weyl lemma; Shubin [1978], Weyl [1940]). If the operator P(d,) of the equation (0.1) is elliptic and f ( x ) E C"(Q), where SZ is a domain of IR", then also u(x) E C"(l2). We note that sing supp f = sing supp P u c sing supp u, while the reverse inclusion is a consequence of Theorem 5.1. Therefore this theorem is equivalent to the equality sing supp u = sing supp f if the operator P(a,) is elliptic.
Remark 5.2. If the operator P is not elliptic but is, for example, homogeneous, that is, if P = Pm(a,),then (5.2) does not hold in general. Indeed, if P,,,(<,) = 0 for some toE IR"\O, then the homogeneous equation P,(a,)u(x) = 0, x E IR", has discontinuous solutions, by Corollary 4.1. Remark 5.3. Theorem 5.1 is a particular case of Theorem 4.1. In fact, if P is elliptic, then Char P = 4, and so (4.19) implies that
(5.6') Hypoellipticity is also related in a simple way to the smoothness of fundamental solutions. If P is a hypoelliptic operator, then, by Definition 5.2, every fundamental solution d ( x ) of P is smooth for x # 0 because 6 ( x )is smooth for x # 0, where we recall that S(x) = 0 when x # 0. Lemma 2.2 of Chap. 1shows that the converse of this statement is also true. Theorem 5.4. If the equation (0.1) has at least one fundamental solution d ( x ) which is smooth for x # 0, then the operator P(a,) is hypoelliptic.
Proof. Let f ( x ) E W(IR") and let f lo E C"(Q), where Q is a domain in IR". Take any point x,, E f 2 and functions cp, @ and 4 as in (2.18) of Chap. 1. Let o c supp @ c Q. Then, by (2.21) in Chap. 1,
u(x) = (8* @ f ) ( x ) (8* @Pw)(x) for x E o.
(5.2)
WF(u)= WF(f ).
(5.3)
This implies that u ( x ) E C" for x E o.In fact, @f E 9 and then d * @f E Cm(IR") by Lemma 1.4 of Chap. 1. On the other hand, by (1.58) in Chap. 1, sing supp d * @Pw c (0) + supp w = supp w, but supp w does not intersect o. Corollary 5.1. When n = 1, all the operators P # 0 of the form (0.1) are hypoelliptic. This result is a consequence of the fact that all the fundamental solutions (2.15) of Chap. 1 are smooth for x # 0.
Definition 5.2. The operator P(&) is called hypoelliptic if (5.2) holds for any solution u(x)of (0.1).In other words, the smoothness of f ( x )in a domain i2 c IR" implies the smoothness of the solution u(x) of (0.1) in the same domain. It is known that the hypoellipticity of P(ax)is related to the location of the complex zeros of the symbol P(z) and, in particular, to their distance from the real space. We denote
186
A.I. Komech
187
Chapter 4 The Function P< for Polynomials of Seconddegree and its Application in the Construction of Fundamental Solutions
In this chapter we first study in 0 1 and 0 2 the analytic continuation of the function P i for polynomials P(x) of the second (and first) degree. Then using this analytic continuation we contruct in 0 35 5 fundamental solutions for secondorder equations with nondegenerate quadratic form having arbitrary signature and arbitrary number of independent variables. We shall obtain, in particular, all the fundamental solutions (2.6'), (2.77, (2.10) and (2.11') of Chap. 1. The fundamental solutions constructed in 0355 are invariant under the group of transformations which preserve the principal part of the equation. The solutions are functions of "radius" in a (generally speaking) indefinite metric connected with the equation. In particular, the fundamental solutions of the KleinGordon equation in (2.7) and (2.7')of Chapter 1 turn out to be the analytic continuation of the Bessel functions of the Lorentz interval with respect to the order of the Bessel function.
: 1
x a q ( x )dx
It is clear that the first integral on the righthand side of (1.3) is holomorphic for Re 1>  k  1, while the second integral is holomorphic for all 1 E C. The remaining integrals have smple poles at the points 1 =  k with residues q(kl)(0)/(k  l ) ! (k = 1,2, . . .).
1
+ +
=('Ik
Consequently, the function
:1
XA+k
(1 + 1) ...(A
+ k) q")(x) dx.
(1.5)
:1
dX)>
x a q ( x )dx V q E 9 (R ), Re 1 >  1
l)k
(1.6)
(see formula (2.10),Chap. 1).The integral converges and depends analytically on 1 i f R e 1 > 1.
V'~)(X) dx
0
Theorem 1.1. The function 1 + x:, which is holomorphic as a map of the domain Re 1 >  1 into 9'(R),can continued as a meromorphic function of 1 E C in the sense of Gellfand and Shilov [1958a] with values in 9'(lR). It has simple poles at the points 1 =  1,  2, . .. and the residues are given by
res x:
A=k
I=k
(k
+ 1) ...(
1)
 q'k 
1yO)
(k  l)!
(1.7)
( 1)k1&1yX)
=
( k  l)!
, k = l , 2 ,....
In x:, we use the substitution x = h(y) = ly12  02, where y E R"and o E R\O. Since sing supp x: = ( 0 ) and grad h(y) # 0 for Jy12= 02, it follows that (h(y)): = (Iy12  02)$ E 9'(lR"), in view of Remark 1.4, Chap. 1. Moreover, the map u(x) H u(h(y)) is continuous in u in the class of functions u(x) having sing supp u $ 0 with the appropriate convergence.
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A.I. Komech
189
Corollary 1.1. The function (lyl'  w2): is a meromorphic function o f 1E C with simple poles at 1 =  1,  2, . .. and residues
Remark 2.1. If m = n, the function B:(x) = 1x1 is a holomorphic function of 1 E C for x # 0, with vaues in 9'(R"\(O}). When 1 < m < n, evidently grad B(x)
# 0 for x # 0, and accordingly B: can be expressed as the composition of and B(x):
(a):
1.2. An Application to Bessel Functions. Following Bateman and Erdilyi [1953], Whittaker and Watson [1927], we define Jv(z)=
B:(x) = (B(x)):,
x # 0.
(2.2)
c
6)
( 1)'
,2r+v
Consequently, by Theorem 1.1, B : ( X ) ~ ~is +~ a meromorphic function of 1 E C with values in 9'(IR"\(O}) and residues (see (1.2))
( l)k1c5(k1)(B(x))
22r+vr!r( + ~r
+ 1)
for A < arg z < n and v E C. Then we define Jv(x+) E 9'(R") for v E C as an analytic continuation of
x2r+v
(k  l)!
, x#O, k = l , 2 ,...
(2.3)
Jv(x+) =
x E R,
(1.10)
2.1. The Case m = n. In this case B+(x)= 1x1' and B : ( i ) = (XI". We investigate only lxl', all the corresponding results for lxlz2being obtained by a simple scaling. We use spherical coordinates x = ro, where IwI = 1 and r = 1x1 > 0. With cp(x) E 9(lR"), the integral (1x12, cp(x)> =
(r = 0, 1, ...) T(v r 1) is a holomorphic function of v E C with values in 9'(R). For integers v =  1, 2, . . .,we have
+ +
f :
f
rI+n1p(r) dr = (r:+"',
@(r))
(2.4)
( 1 ) ' w y x )
(k  l)!
if2r
+ v = k
 1.
1, 2,...;
if2r+v>,0, v + r + l = 0 ,  1 ,  2
,...,
(1.11)
lol=l
[thatis,if2r
< v < r
We expand cp(x) in a Taylor series at the point x = 0 and see that, as r + 0, p(r) has a series expansion in which only even powers of r occur, that is, only the terms involving ro, r2, . . . are present. Accordingly, by Theorem 1.1, the integral (2.4) has poles only for 1 n  1 =  1, 3, .. .,  1  2k, ... (k = 0, 1,2, ...) with residues (see Gel'fand and Shilov [1958a])
$2. The Function P: for the Case when P ( x ) is a Quadratic Form of the Type (m, n  m)with Real Coefficients
Let P ( x ) = B(x) be a nondegenerate quadratic form in R", with real coefficients. By a linear coordinate transformation, we can write B(x) = x:
where f 2 " is the surface area of the sphere 1x1 = 1 in IR". We note that the last relation is trivial for k = 0. It follows from (2.5) that 1x1' is meromorphic in C with values in 9'(IR") and simple poles at 1 =  n  2k, k = 0, 1,2, . . . with residues res
I=nZk
+ ... + x i 
 ...  Xn 7
(2.1)
where 0 < m < n. We show that P:(x) is analytic for Re 1 >  1 with values in 9'(R")and that it can be continued to be meromorphic for 1 E C. If m = 0, then BZ(x) E 0. If m # 0, we consider separately the two cases m = n and 1 < m < n  1. This is because when m = n, the set B ( x ) = 0 consists of only one point x = 0, while for 1 < m < n  1 this set is a conical surface Q c R"which is smooth except at the vertex x = 0.
lX"
Thus all the residues of 1x1' are concentrated at the point x = 0. Note that in the case n = 1, important for our later work, we have
190
A.I. Komech
191
res
A= 1Zk
lxlA= 2
P)( X)
2kk!(2k  l)!'
k = 0 , 1 , 2 ,....
Theorem 2.1. For m = n, the generalized function BA = lxlzAis a meromorphic function o f 1 E (c with values in 9'(IR'') and simple poles at the points 1 = n n _  k. The residue at 1 =  is given by 2 2
1 BA = Qn6(x). A=(~/z) 2 res
a(x) = 1 0 . ~ 1 , where o E lR"\O and o  x = w l x l
This is the decomposition of the &function into plane waves which has important applications (see Gel'fand and Shilov [1958a1).
(2.7')
2.3. The Case 1 < m < n  1. In bipolar coordinates (xl, ..., x,) = ro,, (x,+~, ..., x,) = pen,, where r, p > 0 and 1 o , 1 = 19nml= 1, we have B(x) = rz  pz. Therefore, with Re 1 >  1 and cp E 9(IR"),
(B:(x), cp(x)> =
where
ijj(r9
2.2. Application to Decomposition of &Function into Plane Waves. We take + + w,x, is a ''plane wave". Then, for Re 1 >  1, we have
(2.9) as a result of substituting y = w ' x into lylA, y E IR. Since grad y = o # 0, it follows from (2.8) that 1 0 . ~ 1 ' can be continued from the domain Re 1 >  1 as a meromorphic function of 1 E (c with values in 9'(R") and having simple poles at the points 1 =  1  2k, k = 0, 1,2, . . . with the residues
a$(x) = 1w.xlA
1; (1;
iwmi = ien,.,i
.)
rml
dr,
(2.14)
P) =
res
A=lZk
lo.xlA= 2
(2.10)
Just as before, ijj(r, p) is expanded, as r + 0 or p + 0, in a series of only even powers of r and p. The change of variables p = rr and 1  T = s yields
d r u m , pen,) d o , denma
=1
(2.15)
concentrated on the hyperplane o. x = 0. We take the mean value of (2.9) over the sphere 101 = 1. Then
I
for Re 1 >  1, where
Jo
Iwl=l
lo1 '[1 ;
s
Jo
rZA+"lZ(r, s, 1)dr' ds
rr+)
c(I,n) = 2dnl)/'
(2.11)
(2.16)
 s)r)(l  s)";ml.
(see Gel'fand and Shilov [1958a]), whence 21XV (2.12)
(2.16)
It follows from Theorem 1.1 that the internal integral (with respect to r) is a meromorphic function of 1 E (c with simple poles at the points 1 given by 21 n  1 = 1, 3, ..., 1  2j, ... ( j = 0, 1, ...), that is, at the points 1 = : 1 = n  j, because, as r + 0, Z(r, s, 1)has a Taylor expansion in even powers of r 2
By (2.6) and (2.10), both sides of (2.12) can be continued to be analytic functions of I E (c. Hence the fact that they coincide for Re I >  1 implies that they coincide for all 1 E (c. The lefthand side has to be viewed as the integral of a function of a parameter w with values in 9'(Rn).
192
A.I. Komech
193
where a,?Z(O+, s, I) and RN(s,A) are smooth functions of s E [0, 13 which are holomorphic in I for Re A > N. Another applicaton of Theorem 1.1 (more precisely, the method of proof of this theorem) to (2.17) yields
In fact, (2.22) follows from (2.3), while (2.20) follows from (2.17) and (2.16):
r(A+ 1)'
(2.18)
= (  1,  2, . . .) and R N N ( I is ) holomorphic for Re A > where I f =  i , Y Q N. The above result shows that B: is meromorphic in (c with poles at the points A E YQ u Y owhich are simple if I 4 Y Q n Yo. The residues of B: at the poles I E YQ\Yo are concentrated at s = 0, that is, at p = r, or, in other words, on the are concentrated at "cone" Q = (x E IR":B(x) = O}. The residues at I E Yo\YQ r = 0, that is, at p = 0 and z = 1  s E [0, 11. Thus, these residues are concentrated at the vertex x = 0 "on all angular directions z E [0, 11" (where B(x) > 0). At the points I, E Y Q n Y othe poles are, in general, of the second order, and the first residue is concentrated on the cone Q (including the vertex x = 0), while
A = (n/2)
 x i (a Lorentz
(2.24)
= 71
xf,
(2.24)
is concentrated at the (1 A d 2 vertex x = 0 of Q. These observations lead to (Gel'fand and Shilov [1958a])
7
.
g : ois a holor(n+ 1)
(2.19)
2.4. Application to Bessel Functions. Let B(x) be the quadratic form (2.1) and with arg z E ] a, a [ . Then, as for (l.lO), we define the function Hv(z)= zvJv(z), for Re v > 0 as the function define the composition with
J B , ( x )
morphic function of I E C with values in 9'(IR"\O) and a meromorphic function of E C with values in 9 ' ( l R " ) . 2) This function has only simple poles situated at the points
The residues are concentrated at the vertex x = 0 and the residue at the first pole n I = is proportional to 6(x): 2
and we note that it is continuous for x E IR". When Re v < 0, we define this function by its analytic continuation with respect to v as a function of v with values in 9'(lRn). B;+' (x) By Theorem 2.2, each term T(v + r 1) in (2.25) is a holomorphic function
res
~
r(n+ 1)
B Z
v=r(n/2)
r(v+ r + 1)
= Qm,nm6(x), 1
< m < n  1,
n 2 2.
(2.26)
k = l , 2 ,....
Theorem 2.3. H v ( m )is a meromorphic function of v E CC with values in g'(IR") and with simple poles at v E Yo.
194
A.I. Komech
195
We shall use (2.26) in $ 4 and $5 to construct fundamental solutions of secondorder differential equations (0.1); in particular, for the wave equation and the KleinGordon equation in Rk(in this case, n = k + 1 and rn = 1). We note that, as for (1.12), we have
(2.32)
by (2.30) and (2.31). Note that for n 2 3 and k = 1 the condition (1.24) in Chap. 1 holds and the expression (2.32) corresponds to (1.22) in Chap. 1, that is, it agrees with the "usual" practice of computation with the &function as with a unit measure. Thus, using (1.25) in Chap. 1 we obtain
(2.27)
forv= 1(1=
1,2, ...).
Remark 2.1. The formulae (2.22) and (2.27) are valid only when x # 0. For (2.22) to be valid for "all" x E IR, the function 6(k1)(B(x)) must be suitably regularized at the point x = 0. Such a regularization is possible for (2.22) only in
those cases where A =  k # Y o =  j : j = 0, 1,2, ... , that is, when the lefthand side of (2.22) is meaningful. In that case the righthand side of (2.22) must be assumed, by definition, to be equal to the lefthand side. Then (2.27) continues to be valid for such a regularization of ~5('~')(B(x}), as is clear from the derivation of (2.27), if
i;
(2.33)
just like (1.26) of Chap. 1. We note that when k = 1 this coincidence with the "usual" methods occurs only for n 2 3 (as in Example 1.1, Chap. 1). When n = 2, the integral (2.32) diverges and (2.22) becomes false because its lefthand side does not exist. We further note that, under the condition (2.29), (2.22) remains valid when we compute with derivatives of the &function by the "usual" method because all the integrals occuring in these computations converge. For example, when 1 = 2, the condition (2.29) is satisfied for n 2 4, etc. Later, we shall use (2.22) and (2.27) for the case rn = 1, n = 4 and k = 1, 1 = 1 when (2.29) holds, these formulae then being
1
(2.28)
(2.29)
n Thus for k #  + j , j = 0, 1, . . ., we define a regularization of S('')(B(x)) using 2 (2.22) which, by (2.16), we can write as
((  l)kld(kl)(B(x)) (k  l)!
r(A+ 1) I =  1
=
= d(B(x)), x E R4,
 B;1/2(x)J1(JB,(x)),
(2.34)
x E R4.
H,(JB,(x)) = 6(B(x))
B : , rp)
(2.35)
,'="k
Note that in this case B(x) = x:  x t  x:  x i is the Lorentz interval, and that the formulae (2.20), (2.24) and (2.25) lead to res
I=2
(2.36)
, I(r, s, A))
= (2  s ) '
1 :
+ n > 0.
(2.37)
196
A.I. Komech
197
9 3.
In this section we construct fundamental solutions when the equation (0.l), with real Coefficients, is of the secondorder, that is, when m = 2. Such equations can be written in the form
Pu(x) =
= 6 ( y ) , YEIR".
(3.8)
i ,j = 1
c
n
aij
a2u axiaxj
au + aou = f ( x ) , + c aiaxi
n
i=l
j=l,,
I CI
when C E GL(n).Therefore
IR".
(3.1)
b(c'x)
ICI
We assume that this equation has a nondegenerate quadratic form, that is, det A # 0, A =
.,,", aij = aji.
E 9yIR")
(3.8')
(3.2)
3.1. Analysis of Invariance Properties of the Equation. Consider the quadratic form
B(y)=
i =1
c biiy'
n
= yf
+ +
**.
J(,
 y,",
Y E
IR",
(3.9)
= febx.
(3.3)
We determine the vector b by the condition that 2Ab + a = 0, that is, b =  3 A  l ~ .Then (3.3) becomes P,v=
q
i,j=1
c aijaxiaxj +
n aZv
1
I
qv = f(x)ebx:= g(x);
of equation (3.8). This form is invariant under ''orthogonal'' transformations C E O(n, m) (for which C'BC = B, that is, B(Cy) = B(y), y E I R " ) . The equation (3.8) is itself invariant under the transformation y H Cry because C'B(C')' = B (compare with (3.5)). Thus, if b ( y ) is a solution of (3.Q &'(Cry) is also a solution of the same equation. This can also be seen directly since
(3.4)
A la),
= a,  (a,
Thus (3.1) and (3.4) are equivalent. Further, they have the same fundamental solutions because 6(x)edb'" = 6(x). We reduce (3.4) to the canonical form by the linear change of variables x = C y . Then A becomes the matrix
(3.10)
Moreover, since B' = B, it also follows that C'B(C')' = B, that is, C' also preserves the form (3.9) and b ( C y ) is a solution of (3.8). These considerations of invariance suggest the idea of the existence of an invariant fundamental solution, that is, a solution for which ~ ( C X =) b(x), x E lR",for all C E O(n, m). In each connected component of the set {x E IR": B(x) # 0} such distributions have the form
b(Y) =
(3.5) just as it does in the transfomation of a quadratic form when (CI)' is applied. Therefore we can choose C so that B becomes diagonal:
B =P A ( P ) ' , B=
...
bnn
Then (3.4) takes the form
"1;
IR".
b i i = + l , i = l , ..., n.
(3.6)
(3.11)
a2v
ay;
qv
= g(Cy), Y
(3.7)
where p := JB(y) and E ( p ) is a generalized function. The branch JB(y) is, for the time being, arbitrary. E Cm(IRn\Q), where is the "cone" B ( y ) = 0. We can choose p = The range of values of the function p ( y ) = B(y), y E IR"\Q, will in the sequel be denoted by W for brevity. Clearly 0 $ W.
198
A.I. Komech
199
3.2. Determination of the Regular Part of an Invariant Fundamental Solution. We now find an ordinary differential equation satisfied by E ( p ) assuming that (3.11) defines a fundamental solution, that is, (3.8) holds. Substituting (3.11) into (3.8), we have
al(Y) aYk
1 + 2p0)
(3.12)
Hence
+ w[zpo + zp0'((n
= 0,
l)po
+ po(po  I))]
(3.18) dw
ZEZ.
for y
E R"\Q. But
(3.19)
Y E
R"\Q.
(3.14)
This equation coincides with the standard Bessel equation of order vo if n  1 + 2p0 = 1 and vi = ((n  l)po po(po  1)) = po(n  2 + p o ) (Bateman and ErdClyi [1953], Whittaker and Watson [1927]). These equations yield the values of po and vo:
p o = n2, 2
(!g)2
(3.20)
1 + nEP '(p)
+ qE(p) = 0
(3.14')
for p E W, because 6 ( y ) = 0 when y # 0 and hence when p E W. For further discussion, it is necessary to distinguish between the two cases q = 0 and q # 0. When q = 0, (3.14') can be easily solved, and we have
P E W , n#2,
(3.21)
(Bateman and Erdelyi [19533, Whittaker and Watson [19271.) We can take n2 yo = p o = ~ . The general solution of (3.21) is 2
(3.15)
reduces
lcl
+ c21np,
PEW, n =2
y o ( z ) , w(z) = c,Jvo(z)+ c2 y
Yo
 2 .
n2
(3.22)
(compare with Riesz [1949]). When q # 0, the substitution z = &p (3.14) to the case q = 1:
(Bateman and Erdtlyi [19531, Whittaker and Watson [19271.) Therefore we find that in a domain where B ( y ) # 0
= 0,
ZEZ
&9,
(3.16)
4 Y ) = 4 o t Y ) = Evo(P)= ZV0W(Z)
= (&P)'OCC~J~,(&P)
which in turn is transformed by the substitution E(z) = zPow(z) to a Bessel equation. Indeed,
+ Cz Ko(&~)l,
Y E R"\Q
(3.23)
d2E(z)
(3.17)
(Compare with Hadamard [1932], Leray [1953].) Here &p = is a realvalued function in a domain where qB(x) > 0 and is pure imaginary where qB(x) < 0. Also, C , and C , are arbitrary constants in each connected component of the domain R"\Q (where B ( y ) # 0). We have thus obtained the required invariant fundamental solution in a domain where B ( y ) # 0 in the explicit form (3.23) and (3.15). The functions (3.23)
J4B(x)
200
A.I. Komech
201
and (3.15) are smooth in IR"\Q but in the case 1 < m < n  1 and n > 4 they fail to be locally integrable, as y + Q, in a neighbourhood of the surface Q where B ( y ) = 0. Therefore the required fundamental solutions are certain regularizations of these functions, for a suitable choice of C , and C , . For brevity, the functions (3.23)and (3.15)will be referred to as formal fundamental solutions.
This equation yields C, when n # 2, and then the formula (4.1) leads to the desired fundamental solutions (2.10) of Chap. 1. The procedure just described does not go through for n = 2. This is due to , the multiplier of the righthand side of (4.2)has a secondthe fact that for 1 = 1 order zero and B"' has a firstorder pole. Therefore in order to obtain a fundamental solution for n = 2 we differentiate (4.2) with respect to 1for I = 1 , = 0. This results in r1n
&I
la=,
= C,
4.1. The Case m = 0 or m = n. For m = 0 and m = n, the fundamental solutions of (3.8) with q = 0 differ only in sign. Therefore it suffices to consider the = d is the Laplace operator in IR" and B(y) > 0 for case m = n. Then P,(I~,,) y # 0. We now show that for n # 2 the desired regularization of (3.15) can be constructed as an analytic continuation of the function
&y) = C,B"y)
8 res B"'
a=o
+ 4 res2
d1
+ c, = c, IyI2~+ c,
= .
n2 We put C 2 = 0. If 2 Re 1 > 1, then 8*(y)E C2(IR")and (3.14) holds, with instead of 8, for all y E IR" and not only for y E IR"\Q. Accordingly, for Re 1> 1,
from the domain Re 1 > 0 to the point 1= 1 ,
dB"' dB"' where res, = res B"' is the "second residue of at the point i=o dl A=O dl 1 = 0, that is, is the coefficient of I,. This leads to the formula (2.10) of Chap. 1 when n = 2.
4.2. The Case 1 < m < n 1. In this case the functions (3.15)are smooth off the surface Q where B(y) = 0. We shall show that we can take C , = 0, as above, as well as C , = 0 in a domain where B(y) < 0. Namely, we construct a regularization of (3.15)as an analytic continuation of the function
~,i?~(y = )~ ~ 2 4 + 2n 1  2)~"1(y), y
IR".
(4.2)
Here, by Theorem 2.1, the righthand side is a meromorphic function of 1 E (c with values in 9'(IRn) and so also is the lefthand side. Exploiting the uniqueness of an analytic continuation, we find that (4.2) is true for all 1 E (c except for the discrete set of poles of the functions Zaand B"'.
Remark 4.1. In a similar fashion we can show the validity of various remarkable results of classical analysis for generalized functions defined as analytic continuations with respect to a parameter (or parameters). This is the principal advantage of regularization using analytic continuation with respect to a parameter. n , = + 1 the function BA(y) is, by Theorem 2.1, holoAt the point 1 = 1 2 morphic while the function B"'(y) = Iy12("" has a simple pole with residue equal to &2,,6(y) (see (2.7')). Moreover, 21 n  2 = 0 when 1= I,. Therefore it follows from (4.2) that, as 1 ,A,,
202
A.I. Komech
203
P Y f(1 1)
(n  1)21pf2 f(1 1)
c, 2(21 + n  2) B:(y),
1
(4.7)
m)
y E IR.
This relation is true for all 1 as before, except for the discrete set of poles. n Therefore, as 1 + 1 , =  + 1, we obtain 2
which is obtained, by definition, by analytic continuation of the function k1 B: _ _ ~ _ _ to the point 1= . Indeed, for this function (4.6) holds 2Ql. r(n+ 1) 2 also for Re 1 > 2. Moreover, this function can be continued as a meromorphic function of 1 E (c, a fact which can be established by repeating the proof of Theorem 2.2 word for word. However, the poles are now situated at the points n n l A=_. The reason for this fact is that in defining ij5 in (2.15) the 2 2 2 integration over 1 0 ~ 1 = 1 has now to be replaced simply by the substitution om = t = & 1, and therefore, as r + 0, F(r, p) contains all nonnegative integral powers oft. Also we now have iJ(0,O) = s2,(p(O) 2 for O(kt) B:
Q
as for (4.3), where we have used (2.20). We thus find that C, desired fundamental solution is
1
~
4Qm.nm
and the
f(1 + 1)
of (4.9).
Corollary 4.1. By (4.9), (4.10) and (2.22) we find that for odd k = 21 + 1 2 3
Example 4.1. For a = 1, a fundamental solution of the wave equation (2.6) in Chap. 1 is given by
(4.9) in I R because n = k n2 + 1 and ~ 2
(4.11)
 ~ 
k1 2 
Remark 4.3. In view of Remark 3.1, a fundamental solution of equation (2.6) in Chap. 1, with a > 0, is the function (compare with Riesz [1949])
This means that for odd k 2 3 the fundamental solution 8 of the wave : is concenequation in IR is concentrated on the fight cone t 2 = 1x1 while 8 trated on the jiuture fight cone (where t 2 0) or on the pus? fight cone (where t < 0), respectively. This implies that for odd k 2 3 the solutions of the wave equation in IR have sharp front and rear edges (see 5 2, Chap. 1). For even k 2 2 and for k = 1 the fundamental solutions 8 and 8 : are concentrated in the interior of the light cone, that is, in the domain t Z  1x1 2 0 (and t 2 0), and consequently the solutions of the wave equation have sharp front edge but do not have sharp rear edge, that is, wave &flusion takes place. Remark 4.5. With k = 3, (4.11) yields (2.6) in Chap. 1 for 8 : because 521.3 = n, by (2.24). Furthermore, with k = 1, (4.10) leads to (2.6) in Chap. 1 for 8 : because Q,,, = 1, by (2.24). Finally, the formula (2.6) in Chap. 1, for ,& : can also be obtained from (4.10) if we compute Q l , 2 . However, it is easier to obtain 8: by the method o f descent (Petrovskij [1961], Vladimirov [1981]): we have, formally,
i
(4.9) since the transformation (t, x) H C(t, x) = (t, x/a) reduces equation (2.6), Chap. 1, to the case a = 1, and det C = a. Remark 4.4. Let a = 1 in the wave equation (2.6) in Chap. 1. Then an invariant fundamental solution is also the function (4.10)
G ( t ,xi, ~
= )
A similar formula connects 8; and 8 ; + l for any k 2 1. Note that for odd k we can easily compute Q,,, by means of differentiationjust as we did in (2.24) and (2.24). Therefore 8; can be obtained from (4.1 1)for odd k, and from the method of descent for even k, as in (4.12). As a corollary we also have Q,, =
: I
(4.12)
A.
204
A.I. Komech
205
9 5.
If q # 0, &(y) is expressed by (3.23) in a region where B ( y ) # 0. Let us show that the fundamental solution &(y) can be constructed as a regularization of the function (3.23). In doing so we can take C , = 0, at least when n # 2. Thus we seek the fundamental solution as a regularization of the function (see (2.25))
R"\Q,
(5.1)
where C , remains constant in connected components of the domain R"\Q. As we mentioned earlier, when q # 0 we must distinguish the two cases in which, first, 1 < m < n  1 and, second, m = 0 or m = n. By multiplying the equation (3.8) by  1, we can assume that q > 0.
5.1. The Case 1 < m < n 1. We assume that C, = 0 in a domain where B ( y ) < 0 and that C , is a constant in the domain where B ( y ) > 0, although this domain may have more than one connected component (as is the case, for example, with the Lorentz interval B ( y ) = yf  y i   y;). Then (5.1) (with q > 0) becomes
9'(R"). The existence of such continuations follows obviously from Theorem 2.2 and formula (1.9)just as Theorem 2.3 did. Theorem 2.3 implies, in particular, that the lefthand side of (5.4) is analytic n2 in vat the point v = vo = ~ . Let us find the limit of the righthand side of 2 (5.4) as v + vo. We note that the terms z"ldJV and zV,Jv on the righthand side of (5.4) dz have simple poles at the point v = vo and the multiplier n  2 + 2v vanishes at this point. Therefore the righthand side of (5.4) has a limit as v + vo and is expressed in terms of the residues of z"' dJV and zVb2Jvat v = vo. These residz n dues can be found easily by using (2.20) and (1.19). Thus, since vo =  + 1, it 2 follows that
gv0(y) = CIH,~(J,(Y)),
Y E
W"\Q.
(5.2)
(5.5)
We shall show that the desired regularization of the function (5.2) can be constructed as an analytic continuation of the function
(5.3) with respect to the parameter v from the domain Re v > 0 to the point v = vo = n2 ~ . It is clear from (2.25) that IHv(JqB,(y))l IB+(y)lRev as y + Q. There2 fore gV(y) E C2(IR") for Re v > 2, and all the formulae (3.16)(3.19) for & con, with v and Jv replacing po and w. This holds for all tinue to be valid for & y E IR"and not only for y E IR"\Q. Therefore (3.19) (with po = v ) implies that, for Re v > 2,
&v,(Y)
:= c 1zfv(JqB,o),Y
E R",
+ vzV,Jv
= c12q = Clq(n  2
+ 2v)
z = Z(Y)
+ VZ~'J~ ,
= JqB+(y).
y E R";
(5.4)
(3""

)
(5.7)
Q",,,S(y)
= C1qv02("/2)+1 Qm,nmJ(Y)*
= ClHVo(JqB,)
As before, this equality is also valid for all v E CC except for the discrete set of
poles if, on the righthand side, the functions zVl dJV  and zV,Jv are defined in dz the domain Re v < 2 as analytic continuations with respect to v with values in
206
A.I. Komech
207
It can be seen easily that when qo + 0 this formula reduces to (4.8).The above formula has been obtained under the assumption that q > 0. When q 0, we reduce the problem to the preceding case by multiplying (3.8) by  1. Moreover, (5.8) provides a fundamental solution by replacing C , by  C , , q by 4, B by  B and interchanging m and n  m:
=
which coincides with (2.7)in Chap. 1 for Bz, because Q,,, = ?I, by (2.24). Note that, in view of Remark 2.1, the expression 8(a2tz  1x1) in formula (2.77, Chap. 1, is to be understood in the sense of Definition 1.4, Chap. 1, because in this case the condition (2.29)is satisfied ( I = 1 and n = 4).
> 0.
Corollary 5.1. With a = 1, the KleinGordon equation (the equation (2.7),Chap. 1) in l R has a fundamental solution
Therefore for a # 1 a fundamental solution (compare with (4.9)) of the KleinGordon equation is the function (compare with Hadamard [19321, Leray [19531):
8k(t7
We first take up the case m = n and q > 0. Then P , = A q is a Helmholtz operator. We shall show that for n # 2 a fundamental solution of P , can be constructed as a regularization of a function of the form (5.3). However, when m = n, (5.5)(5.7) are not valid, since their proof uses (2.20)which is true only for the case 1 < m < n  1. Indeed, when m = n the function B: has no poles .at v =  1, 2,. . .if v $ Yo. Therefore the factor f ( v 1) occuring in the denominator of the Bessel function J,, (see (2.25))must be dropped. The situation in $ 4 was exactly similar for the case q = 0. This can be seen by comparing (4.5) and (4.1)(see also Remark 4.2). Thus we shall construct a fundamental solution as an analytic continuation with respect to v of the function
x),= 2(&+3)/2Qa&
1 ,
m(kl)/z 0
(5.14)
[(t  l ~ [ ) ~ J v ( m o , / ~v =)(( ] l)/) l . (5.11)
n2 to the point v = vo :=  _ _ . Here we have used (2.25) and the identity
f ( v + r + 1) = (v + r ) .. .(v + l)f(v + 1). Clearly, B ( y ) = B+(y)now. It is clear from (5.14) that &y) E C(lR) for Re v > 2, and Theorem 2.1 implies that &,(y) can be continued from the domain Re v > 0 as a meromorphic function of v E C with simple poles at the points v E Yo.For Re v > 2, the function (5.14)differs from (5.3) only in the nonzero multiplier f ( v 1). Therefore a formula of the form (5.4) remains valid for the function (5.14) provided that Jv is replaced by the function
(5.12)
v = ((
l)/)
which are defined by analytic continuation with respect to v from the domain k1 Re v > 0 to the point v = v,, = ; &:(t, x) are the socalled retarded 2 and advanced fundamental solutions of the KleinGordon equation (Bogolyubov and Shirkov [1973]).
fV(Z)
= f(v
+ l)Jv(z)= 1(
1)
Z
2r+v
22r+vr!(v + r) ...(v
+ 1)
(5.15)
Example 5.1. With k = 1, (5.12) leads to (2.7) in Chap. 1 for 8:, because Q l , l = 1, by (2.247,and vo = 0. When k = 2, (5.12)again yields (2.7)in Chap. 1 for 82, because Q,,, = (see Remark 4.5) and vo = 3. Finally, for k = 3, (5.12),together with (2.35),yields
fi
As before, this formula is valid for all v E (c except for the discrete set of poles of each side. The lefthand side is holomorphic for v = yo. Let us find the limit of the righthand side as v + yo. This can be obtained in exactly the same way as (5.7). Thus, as for (5.5) and (5.6), we obtain from (2.7)
208
A.I. Komech
209
This fundamental solution corresponds, as it should, to (3.23) but now C , = 0 and C , # 0 (in contrast to (5.1) and (5.14)).Thus, using relations between Bessel functions (Bateman and ErdClyi [1953]), we can write (5.23) as
(5.17)
and
(5.18)
(5.24)
where Hhl)(z)= Jo(z) iYo(z)is the Hankel function of the first kind and order zero, and H f ) ( z )= J ( z )  iYo(z) is the Hankel function of the second kind. an entire function of B, Since, by (1.9),.Io(&) = +(H&(@) it follows from (3.14)and (3.23) that (A = 0 for y E IR.Therefore fundamental solutions of A q are, in addition to (5.24), also given by (Vladimirov [1981])
(5.19)
This formula, with n # 2, yields C , and the desired fundamental solution of the operator A q (q > 0) in the form
+ +
zv0(Y) = C,Cf(v + ~ ~ ~ v ~ J q B o l I v = v o
and In order to obtain a fundamental solution for n = 2, it is enough to differentiate (5.16)with respect to v for v = vo. Then, as for (4.4),we obtain
(5.25)
these being complex conjugates. With q = 02, (5.25) yield the formulae (2.11)in Chap. 1 for 8;.
dv dv
+ o2the
+ vzVyv]}
(5.21)
dY
for Re v > 2. Since an analytic continuation is unique, the last identity is also valid for all v E (c except for the discrete set of poles. At the point v = vo E n2 ~ = 0 the lefthand side of (5.21) is holomorphic. Therefore letting v + 2 vo = 0 in (5.21),as we did to obtain (5.19),we find that, as for (5.17) and (5.18),
h and JlI2(z)=
~
(Whittaker and Watson [1927]). On the other hand, cos w l ~ is an entire func20 tion of y and hence satisfies the homogeneous Helmholtz equation (for n = 1).
~
(5.22)
because n = 2 and Q2 = 2a. Hence we obtain C , and the fundamental solution o f d + q when n = 2 andq > Oin the form
A
d2
(5.27)
This formula coincides with formula (2.11),Chap. 1, for k = 1. 2) Similarly, for n = 3 (5.20)(with vo = 3) yields
b(y) = 
(5.23)
210
A.I. Komech
21 1
Example 5.3. Similarly, for n = 1, by taking o = im, in (5.26) and (5.27), we obtain the fundamental solutions of d 2  m i , m, > 0 dY2
(5.28)
Since
sin o Iyl
~
lyl
Finally, for n = 3, from (5.28) and (2.11') in Chap. 1 (for k = 3), we obtain the fundamental solutions for the operator A  mi in IR3:
(5.33)
4ZIYl
We now take up the case where m = 0, q > 0 and Q = A q. Then qB(y) < 0 for y E IR"\O and is an imaginary quantity for y # 0. Therefore the fundamental solution (3.23) contains Bessel functions of an imaginary argument. We shall show that for n # 2 the fundamental solution can be constructed, as before, in the form (5.14). We have only to decide which branch of (qB)'" to take in (5.14) when qB < 0 and v E (c. To be definite, we write
JqB(y)
(4B)'+' = (q)r+vIBI'+v,
where
(q)'+v := e n i ( r + v ) l q l r + v ,
(5.29)
I
that is, a cut along the negative side of the imaginary axis from ico to 0 is chosen for the power function zr+'. Then all the computations (5.16)(5.25) remain valid to within sign when q is replaced by  q and B by IBI. Consequently, noting that Jv(iz)= e"iv/21v(z), we obtain from (5.20) the fundamental solution for the operator A + q, with n # 2, in the form
(6.1)
n2 where the righthand side is defined at the point v = v, := as an ana2
If m = 0 or m = n, the equation (3.8) (and (3.1)) is elliptic and the fundamental solution b(y)(y # 0) is smooth; this statement agrees with Theorem 5.1 in Chap. 3. Now take the case 1 < m < n  1, for which Q is a conical surface in IR". In the original coordinates x = Cy, the equation of Q is
Q = {X E R": B(C'x) := ((C')'BC'x,
X)
= O}.
(6.2)
lytic continuation from the domain Re v > 0. With n = 2, we replace q by  q and B by IBI in (5.24) and (5.25) and obtain the following fundamental solutions of the operator A  q on the plane:
But B = B', by (3.6). Therefore (3.5) implies that (C')'BC' = A', and thus (6.2) can be written as
Q = {X
E
IR": (A'x, X)
= O}.
(6.2')
Proposition 6.1. The set Q is the projection onto IR"of the set of all bicharacteristics of equation (3.1) that emanate from the points of the fibre T$IR" above the point x = 0. (see Bateman and Erdklyi [1953]).
Proof. The equation (4.5), Chap. 3, for the characteristic cone K of the operator P is
212
A.I. Komech
213
PA5) := (At, 5 ) = 0.
(6.3)
In view of Remark, 4.3, Chap. 3, we must prove that the vectors x E Q are perpendicular to the tangent planes to the ''cone" (6.3). But when 5 E K\O, the perpendicular to T K is proportional to grad(& 5 ) = 2A5. It remains to show that the vector x = A t satisfies(6.2') if 5 satisfies (6.3).Butthis is obvious because (Alx, x ) = (5, A t ) = 0. (6.4) Thus sing supp d c Q and Q is the projection of the family of bicharacteristics onto IR". This agrees with Corollary 4.2, Chap. 3. We also note that the fundamental solutions (4.10) and (5.12) have singularitiesonly on the one of two halves of the projections of bicharacteristics. This also agrees with Corollary 4.2, Chap. 3. Finally, the fundamental solutions constructed in Q 4 and Q 5 are the most regular in the sense that sing supp d does not contain projections of bicharacteristics which do not pass through the point y = 0. It turns out that this is a general phenomenon.
other hand, elliptic equations of order m in IR", with n 2 3, have exactly m/2 Petrovskij welldefined roots (when n 2 3, m is even, by Proposition 5.1, Chap. 3), and hence m/2 boundary conditions must be prescribed for such equations. The basic tool for investigating boundaryvalue problems in a halfspace is the contact Fourier transformation, that is, a partial Fourier transformation with R ; . respect to the variables ( x l , . . .,x,') := x' in the boundary plane x , = 0 of I
Theorem 6.1 (Grushin [1963b], Hormander [1983, 19853). For every homogeneous operator P satisfying the hypotheses o f Theorem 4 2 , Chap. 3, there is a fundamental solution d such that W F ( 6 ) consists o f the union o f semibicharacteristics emanating from 0 x IR"* and no bicharacteristic lies wholly in W F ( 8 ) .
Accordingly, sing supp 6 consists of the union of projections of these semibicharacteristics.
u u
(1.2)
SE
Roughly speaking, the functions u E U$) are bounded with respect to x , and the functions u E Uf) grow (or decrease) like eaxnas x, + co. We find the general solution of (1.1) in the classes U(').To do this, we apply to (1.1) the generalized Fourier transformation F,rr. with respect to the "con) x , > 0. For example, if u E C$(lR"), tact" variables x' = ( x l , . . .,x , ,  ~ for
IR"'
(1.4)
P(  it', axn)G((', x,) = 0 (1.5) for almost all 5' E IR"', in the sense of generalized functions of x, > 0. Thus (1.5) is an ordinary differential equation on the semiaxis x, > 0 which depends on the parameter 5' E IR"'. This is the principal technique for solving equations in a halfspace. We write the characteristic equation of (1.5) in the form
This means that v is the order of the operator P(a,) with respect to 8,".
214
A.I. Komech
215
The equality v = m is equivalent to the fact that P,(O, ...,0, 1) # 0, that is, the boundary dlR; of I R ; is not characteristic for P(&) (see Definition 4.1, Chap. 3). For almost all 5' E IR"' (for which p(,)(<') # 0), the equation (1.6) has roots
2) The equation (1.1) and the operator P(&) are said to be Petrouskij well, . .., v) are Petrovskij welldefined, and to be defined if all the roots &($) ( k = 1 aregular if ~ ~ ( 5 is' independent ) o f t ' for almost all 5 'E IR"', that is, if
vu(t')
1 = Al(5'), ...,A,("),
(1.7)
= v,
(1.14)
taking multiplicities into account. For simplicity throughout the discussion, we assume that the roots A,(<') are simple for almost all 5' E IR"', that is, Ik(5') # lj(er) (k # j ) (1.8) for almost all 5'
E
almost everywhere in IR"'. If an equation is Petrovskij welldefined, then it is aregular for all a 2 ti,. Note that 2, < ... < a , . 1.2. Classification of Equations in Halfspace Definition 1.2. The operator P(dx)is said to be (Gdrding) hyperbolic in IR; if it is Petrovskij welldefined and the boundary x, = 0 is noncharacteristic for P (that is, v = m). Proposition 1.1 (Hormander C1983, 19851). If P is a hyperbolic operator in IR; then its principal part P, is also a hyperbolic operator in I . : R
l R " ' .Sometimes we also require that nk.5') # l j ( C r ) ( k + j ) for all 5' E IR"'.
(1.8')
for almost all 5' E W"'and x, > 0. The general case of multiple roots can be investigated along the same lines. We arrange the A k ( 5 ' ) with the real parts in increasing order, so that Re A,(y) < ... < Re 1,(gl)
(1.10)
Indeed, P,(  it, 1)= lim t,P(  it<, tA). Since all the roots t l of the polynomial t'"P(  it5, tA) lie in the halfplane 'Re 1 < Em, it follows that all the roots 1 of the polynomial Pm( it, A) lie in the halfplane Re 1< 0. Proposition 1.2 (Hormander C1983, 19853). If P = P, is a homogeneous hyperbolic operator, then its roots A:(t') are pure imaginary for 5' E R"' \O. In fact, for the homogeneous polynomial we have
P,(  i t r , t1) = PP,(  it',1)
(1.15)
ta3
for almost all 5' E C"'. It is known (Hormander [1973]) that the A , ( ( ' ) can be chosen to be continuous functions of 5' E C"' in a domain where p,({') # 0. Note that the modulus of the kth term of (1.9) is bounded for x, > 0 if Re A,(<') < 0 and grows exponentially as x, 4 +m if Re nk.5') > 0. With a E IR,let v, = v,(l') denote the number of roots A k ( 5 ' ) satisfying the condition that Re &(5') < a: Re A,((')
(1.11)
for all t E C and (<', A) E C". Hence if : 1 is a root of the polynomial P,(  it', .), it follows that t1: is a root of Pm(it(', .) for all t E IR. But Re t1: cannot be : # 0. bounded for t E R if Re 1 Corollary 1.1. For all a 2 0 all the roots o f the homogeneous hyperbolic operator P are awelldefined and P is regular for all a E IR. Note that (1.15) and (1.10) imply that
A,o(tt')= tAt(5') Vt > 0,
almost everywhere in IR''I. Then in order that u lies in Uz), where u is given by (1.9), it is necessary that ck($) = ( k > va(5')) (1.12) almost everywhere in IR"'. Consequently, for the general solution of (1.11) in the class U f ) ,we have
(1.W)
5' E C"'\o.
(1.15')
The Definition 4.2 of strict hyperbolicity given in Chap. 3 is obviously equivalent to the following definition. Definition 1.3 (Hormander [1983, 19851, Petrovskij [1961]). The operator P(dJ is said to be strictly Petrouskij hyperbolic if the roots A : ( < ' ) (k = 1, ...,m) of the corresponding principal part P,(dx) are distinct and pure imaginary for all
almost everywhere in IR"l, for all x, > 0 and certain Ck(('). Definition 1.1. 1) A root &(<') of (1.6) is said to be Petrouskij welldefined if 6!k sup Re < a, (1.13)
&((I)
t' E IR"'\o.
6' E R"L
Proposition 1.3 (Hormander [1983, 19851). For an arbitrary operator P(dx) with a given principal part Pm(dx) to be hyperbolic, it is necessary and sufficient that P, is strictly hyperbolic.
216
A.I. Komech
217
Definition 1.4. The operator P(&) is said to be elliptic if the boundary x , = 0 is noncharacteristic, that is, if v = m and Re A,"(<') # 0 ( k = 1, . .. , m) for <'E lR"'\O,
(1.20)
a2 nu = at2 u  a'du(x, t ) = 0,
has the form (1.1). Therefore the corresponding characteristic equation (1.6) becomes A' a ' [ < I 2 = 0, where E Rk and 5 has been written for f. Then A,,,(<) = kia151. For the general solution u E U$), we have, by (1.12'),
where A,"(<') are roots of the corresponding principal part Pm(ax) of the operator P (see (4.1) of Chap. 3). Proposition 1.4 (Hormander [1983, 19851, Vishik and Ehskin [1965]). If the operator P(&) is elliptic and n 2 3, then the munber m is even, m = 21, and the ) Petrovskij welldefined roots A k equals 1. number ~ ( 5 ' of That m is even when n 2 3 follows from Proposition 5.1 in Chap. 3. By (1.15'), all the roots A," of the homogeneous operator l ' , ( & ) with Re A," < 0 are Petrovskij welldefined, while those with Re A:(<') > 0 are Petrovskij illdefined. This result leads easily to the conclusion of Proposition 1.4 when P = P,. The general case where P # Pmreduces to the previous case on applying the following lemma.
<
ii(<, t ) = C1(<)ei"lcl' + c,(<)e'"~~~' = A ( < )cos al<lt + B ( < )sin a1<1t. (1.16')
2) Similarly, for the KleinGordon equation
(1.17)
Lemma 1.1. I f the boundary x, = 0 is noncharacteristic for the operator P(ax), then the roots A,'(<') corresponding to the operator P(&) and the roots A,"(<') corresponding to Pm(dx)have the same asymptotics as 15'1 + m in the sense that
t>0,
(1.18)
A,(<')
= A:(<')
+ o(l<'l),
15'1 +
5' E (c"'.
(1.21)
K  +
2
L 
J 7
 a '
/<I2.
Proof. We take some 5' E C'. Then the polynomial equations for A,"(<') and for the ratios A,(tC')/t have asymptotically the same form (see (1.6)) since, first, these equations are
c (<)e" ( K P ) )
w, t) =
(1.22) (1.18)
(&+K)lU(x,t)=a'du,
t>0,
XERk,
Ak(t<')/t
t
A,"(<')
(1.24)
and the roots are A,,' =  K f ia151. For the general solution u E U$) we have
ast+oo.
i
(1.19)
Notice that all the equations (1.16)(1.19) are aregular for a 2 0, with v, = 2 for a 2 0. But (1.18) fails to be aregular if a E 3  K, OC. Definition 5.1, Chap. 3, of an elliptic operator is obviously equivalent to the following definition.
Corollary 1.2. I t follows from (1.21) that for the elliptic operator P(ax), with n 2 3, we have
(1.25)
218
A.I. Komech
219
The result follows because it is true for the roots A : ( < ' ) . Thus Proposition 1.4 is proved. Examples o f elliptic equations 1) For the Laplace equation Au(x) = 0, x , > 0, x'
Every Shilov parabolic equation is clearly Petrovskij welldefined and is aregular for all a > a,. Examples of parabolic equations 1) The equation of heat transfer (or diffusion)
E IRnl,
(1.26)
the characteristic equation lt'12 + A2 = 0 has roots general solution u E U$), we have
G(<', x,) = Cl(c)elc'lxn.
=
au at
W k ;a > 0,
(1.31)
~ ( 5 t, ) = Ck(t)ea21c121.
IRn';
q
> 0,
(1.27)
(1.27')
au at
t > 0, x
E IRk;
> 0,
IR,
(1.32)
+ O$U(X)
=
= 0, X ,
> 0, x'
(1.28)
T J .
The equation (1.32) is aregular if a > 4, and then v, = 1, but it fails to be aregular if a c 4.
Jm
Definition 1.6. The equation (1.1) is said to be Petrouskij flparabolic (fl = 1, 2, . ..) if, first,
pa = 0 for la'l
(1.33)
Pm,@(Y, 10) :=
the root is 1 = 5 , and, for the general solution u E U$), we have (1.29) The equation (1.26)is aregular only for a = 0 while (1.27) is regular only for a E [  Jq, &I. The equations (1.28) and (1.29)are not aregular for any a E IR. Corollary 1.2 leads to are strictly stable in the sense that Re A ' ( < ' )
1
Ia'I+pan
=v@
(1.34)
(1.35)
For example, the equations (1.31) and (1.32) are Petrovskij 2parabolic. Notice that (1.35) can hold only for even fl, /? = 2b, where b = 1, 2, . .. . Indeed, if , l o is a root of (1.34) with 5' E IR"'\O, then tpAois a root of the same equation in tt'. This contradicts (1.35) if t =  1 and fl is odd.
Proposition 1.5. The elliptic operator P(ax),with n 2 3, is aregular only for a E [El, _al+,] prouided that El 6 gl+, = inf Re A[+,(t'). Furthermore, v, = m/2.
C' E R"'
Proposition 1.6. I f the equation (1.1) is Petrouskij 2bparabolic, then it is also Shilou 2bparabolic.
Proof. Denote the roots of (1.34) by 1 : ( t ' ) . As for (l.lS), we have AZ(t5') = t261,0(5'), t > 0,
. . ., v
t' E IRn'\o.
(1.36)
(1.30)
220
A.I. Komech
221
= P ( 0,...,0 , v )
z0
(1.37)
o , the roots A,((') and by (1.6) and (1.33). Hence, as lt'l + c asymptotics in the sense that
+ o(1t'12b).
This result follows by applying Lemma 1.1 to the operator P(dx.,a,"),, for which the plane s = 0 is noncharacteristic in view of (1.37). W Remark 1.1. In a halfspace, the classification of equations (1.1) into hyperbolic, elliptic and parabolic equations is incomplete. For example, for the Schrodinger equation
A regular, that is, a ''properly posed problem for equation (1.1) must have a unique solution. For this purpose additional conditions must be imposed on u in order to determine a unique solution from among all the solutions. In the problems of mathematical physics this is done by prescribing certain conditions to be satisfied on the boundary of the domain. In the case of equation (1.1) the boundary is the hypersurface x, = 0. On this surface we prescribe boundary conditions of the form
Bj(dx)~(~)lx,= =o&'), +
where
x'
E
W"';j = 1,. . ., I,
(2.2) (2.2')
a*  = ia2d*(x,
at
Bj(dx)=
i
t), t
> 0,
E lRk;
a > 0,
I ) E
tlsmj
bj&.
Take r 2 iii := max mi. Then, by Theorem 3.1 in Chap. 2, the conditions (2.2) are satisfied for u E U") or u E U$) as equalities in the space H,(IR"') := Hs(IR"').
let2.Therefore for
$(t,t ) = C1(t)eia21c12t.
The Schrodinger equation is neither hyperbolic nor elliptic nor Shilov parabolic. It is, however, aregular for all a E lR. Similarly, for the wave equation with strong friction
a2u
~
at2
= a2du(x,t )
a + K at ~u,
(1.39)
Our task is to find conditions on the operators P, B,, . ..,B, under which the boundaryvalue problem (l.l), (2.2) is ''properly posed, in particular, our task is to find 1. Roughly speaking, the answer to this question consists of rejecting all the terms in (1.9) corresponding to unstable roots (for which Re > 0) and showing that 1 is the number of stable roots (for which Re 1 , < 0). We have also to show that the values (Bj(it', Ak(<)))L=, of the symbols on the stable roots must be linearly independent.
SE
are given by
A1,2
~ ~ 1 5 1 ?'; ~ti4 ~
2
The equation (1.39) is neither hyperbolic nor elliptic nor Shilov parabolic, but it is aregular for all a 2 0 (while it fails to be so if a < 0).
9 2.
Definition 2.1. The boundaryvalue problem (l.l), (2.2) is said to be regular in U$), r 2 iii, if, for all f j E Hm(IRnl),it has a solution u E U$) and this solution is unique. Let us find necessary conditions for the problem (l.l), (2.2) to be regular in Up. Assume that the problem (l.l), (2.2) is regular in U$) and let u E Ut) be the solution. Then, by (1.12'),
VO(5')
ii(5',x,)
1 C,(g')e'k(t')xn
k=l
(2.3)
As (1.9) shows, the equation (1.1) in a halfspace has, in general, an infinite number of linearly independent solutions. Indeed, if we take, for example, ck(5') E Cg(lR"),we see that
almost everywhere in IR"'\O, for x , > 0. The functions Ck(C)are determined from the boundary conditions (2.2). To do this we apply the contact Fourier transformation Fx.+s, to (2.2) with x, = 0 (see (1.4)). This yields
(2.1)
=
1, . . ., v
Bj(iC, dXn)ii(yl,O+) = J ( C ) ( j = 1, ..., I ) (2.4) almost everywhere in lR"'. Substituting (2.3) into this last equation, we have
V O ( U
of (1.1).
Bj(
%',&(t'))ck(t') = A(('> ( i
= 1,
...,1 )
(2.5)
222
A.I. Komech
223
almost everywhere in IR"'. Since the problem (l.l), (2.2) is regular in U t ) , it E I?, = Fx,+c.H,(IR"), the system (2.5) has a solufollows that, for any tion for almost all E IR"' and the solution is unique. Thus we have
x(c)
(2.12)
which is a semialgebraic function of x. Since f ( x ) is semialgebraic, the set (2.13) is also semialgebraic in I R ' . The fact that F is semialgebraic is in turn a consequence of Corollary A.2.4 (Hormander C1983, 19851) because f ( x ) has a representation of the form (A.2.2) (Hormander [1983,1985]):
f ( x ) = inf(y > 0 y 2 = Idet(Ej(it', Ik));,k=1l2, P(  it',I,) = 0, F := { ( x , y ) E IR2: y
<f(x)}
= vo = 1
(2.6)
almost everywhere in IR"'. Thus, in particular, the equation (1.1) must be 0regular; moreover the matrix Bi,(<') = Ej(  it', Ik(c)) must be nondegenerate for almost all 5' E IR"':
(2.14)
det(Bjk((')):,k=l
(2.6)
It is a ShapiroLopatinskij type condition (Lopatinskij [1953]) which is necessary for the problem (l.l), (2.2) to be regular in U$). Let us write (2.5) in the vector form
We note that all these results of Hormander [1983, 19853 are established by using the SeidenbergTarski principle. As for (2.1 l), we can establish the estimate IIk(<')l < c(1+ 15'1)"1., <'E R"', for some ak E IR.This result, together with (2.1l), implies that (2.15)
Wt"5')
F(5')
(2.7)
almost everywhere in I R " ' , where E(<') = (Bjk.5')) is an 1 x 1 matrix and C ( C ) and F(t') are column vectors with components ck(e) and Then, by (2.6'),
d(c).
< C(1 + IFl)*, for some b E IR. Since flj(<') E I?, = I?,(IR"'),
IIE'($)II
<'E IR"',
C(5')= E'(<')F(t')
almost everywhere in IR"'.
(2.8)
imply that Ck(t') E I?w(Rn'). (2.17) It remains to verify that, for some s E IR and all j = 0, 1,2, . . . (and not only for
j
Example 2.1. For any operator P(i3,) satisfying the assumption (1.8), the boundaryvalue problem
&!;'u(x', O + ) = f j ( x ' ) ( j = 1 , . . ., I )
< I),
(2.9) (2.10)
(2.18)
fl
(Ik(5')
 I,(<')) #
i3jnii($, x,) =
k =1
c c,(y')I!(g)e"xn.
yo
(2.19)
almost everywhere in I R " ' . We now present sufficient conditions for the regularity of the problem (l.l), (2.2). We assume that the necessary condition (2.6) is satisfied.
Proposition 2.2. For the problem (l.l), (2.2) to be regular in U$) it is sufficient that (2.6') is satisfied for all 5' E R"' (and not only almost everywhere). Thus
det I%(<') # 0 for all
t' E IR"'.
5' E IR"',
(2.6") (2.21) for all s E IR, and it remains only to recall that C, E I?,.
H
Proof. We have to verify that the solution u found from (2.1), (2.3) and (2.8) belongs to the class U$) (r 2 M).We note first that (2.6") leads to the estimate
+ I<'/)",
(2.11)
for some a E I R and some C > 0. This estimate follows on applying Theorem A.2.5 of Hormander [1983, 19851 to
I
224
A.I. Komech
225
Remark 2.1. If the condition (1.8) holds, the boundaryvalue problem (2.9) satisfies (2.6) because of (2.10).
Proposition 2.3. If (1.8) holds for k, j < vo, then the condition (2.6) (together with (2.6))is necessary and sufficient for the boundaryvalue problem (l.l), (2.2) to be regular in U t ) ,where r 2 max(E, vo  1). Proof. The sufficiency has been proved in Proposition 2.2. To deal with the necessity, we note that, by (1.2), @;lu(x, O+) := vj(x)E H,(IR)
( j= 1,. .., v0)
( ax,
Z
m)
xn=o+
(2.22) (2.29)
%
for u E U$), where r 2 vo  1. Substituting (2.3) into (2.22) and noting that vo = I, by (2.6), we obtain a system of equations for Ck(5)which is analogous to (2.5):
k =1
1 lL(t)ck(t) = 6 j ( t r )E H,.
fi
(2.23)
The determinant (2.10) of the system satisfies (2.6),by (1.8). If the problem (l.l), (2.2) is regular in U$), then, for all E H_,(lRl), it has a solution u E U t ) and E E?, for all k, as shown above. But, by (2.Q then ck(c)
Ck(5)=
1BG1(c)5(tr)
i
(2.24)
Thus, by (2.24), the functions BG1(t) are locally almost everywhere in lR. bounded, implying that (2.6) holds. 2.2. Examples of Regular Boundaryvalue Problems 1) The KleinGordon hyperbolic equation (1.17) has the form (1.1) with n = k + 1 and x, = t. For this equation ll,2(t) = + i J m for 5 E Rk and therefore vo = 2. Also (1.8) is satisfied with t in place oft. Therefore a problem for (1.17) which is regular in U$) is given by (2.9) with 1 = 2; this is the socalled Cauchy problem with initial conditions u(x, o+) = uo(x), a,u(x, 0) = ul(x) (2.25)
(where bk E l R and not all b, are zero) is regular in U$) if b, # 0 or if n = 2. 3) For the Laplace equation (1.26), we also have vo = 1 and the Dirichlet problem is regular in U$):
UI,,=~+
= uo(x)
(2.31)
The third boundaryvalue problem (2.29) with cr > 0 or with Im cr # 0 gives a similar case. Here
(
ax, 
&)
elcln
ltl + 0
(2.32)
4) The parabolic equation (1.32)has the form (1.1) with n = k 1 and x, = t. For this equation vo = 1 if q 2 0, and a problem which is regular in U$) is the Cauchy problem with initial condition
for x E Rk.Substituting the general solution (1.17) into (2.25), we find, as for (2.5) and (2.8), that A ( < )= uo(t)and B(5) = ul(t)/o(<), whence (2.26)
5 ) For the Schrodinger equation (1.38), we also have vo = 1 and a problem which is regular in U$) is again the Cauchy problem with initial condition
w ( t ):=
Jm.
JiFG xn.
2) For the elliptic equation (1.27),we have vo = 1 and the following problems are regular in U t ) . a) The Dirichlet problem:
UI,,=~+
(2.27)
6) Definition 2.2. By the Cauchy problem for the general equation (1.1) is meant a problem with conditions of the form (2.9) in which 1 = v. By Proposition 2.1, it is necessary for this problem to be regular in U$) that vo(<) = v (condition (2.6) with 1 = v) and, by Remark 2.1 and Proposition 2.2, this condition is also sufficient if, in addition, (1.8) holds.
226
A.I. Komech
227
0 3.
fi
Definition 3.1. The boundaryvalue problem (l.l), (2.2) is said to be regular in the class U z ) , where u E IR and r 2 M, if it has a solution u E U$) for any E H,(IR"') and the solution is unique. Proposition 3.1. For the problem (l.l), (2.2) to be regular in Uz),r 2 2,it is 1) necessary thut, as for (2.6),
v,(<')
and therefore for these values of u there are no regular boundaryvalue problems for (1.18)in U z ) ;the situation with the equation (1.39) is similar for u < 0. 4) For the elliptic equation (1.27), all the boundaryvalue roblems (2.27)(2.30) are regular in Uf) for u E &I. When u 4 &I, there are no regular boundaryvalue problems for (1.27) in Uf) because, for these u, the equation is not aregular. The same is true for the Laplace equation when u # 0 and for both the Helmholtz equation (1.28) and the CauchyRiemann equation (1.29) for all u E J R . 5) For the parabolic equation (1.32), the Cauchy problem (2.33) is regular in Uf) if u 2  q. If u <  q, there are no regular boundaryvalue problems in U$) for this equation.
[&,
[A
= v,
=1
(34
almost everywhere in I R " ' ; in particular, it is necessary that the equation (1.1) is uregular and that the condition (2.6) holds; 2) sufficient that the conditions (3.1) and (2.6) hold, 3) necessary and sufficient that the conditions (2.6") and (3.1) hold together provided that the condition (1.8') is satisfied for k , j < v, and r 2 max(v,  1, M).
This proposition can be proved in exactly the same way as Propositions 2.12.3.
Examples o f boundaryvalue problems which are regular in Uf' 1) The hyperbolic wave equation (1.16) has the form (1.1)with n = k 1 and x, = t. For this equation v, = 2, but (1.8') is satisfied only for 5 E IRk\O. Therefore the Cauchy problem for (1.16) with the conditions (2.25) satsfies the requirements (2.6) and (2.6) but fails to satisfy (2.6"). Substituting (1.16') into (2.25), we find that A ( < )= ti,(<) and B(5) = zil(<)/l<l, whence we have
Remark 3.1. The examples examined above show that the number 1 of boundary conditions in boundaryvalue problems which are regular in Uf) for a given equation depends weakly on u. For example, for the abovementioned hyperbolic equations we have 1 = 0 or 1 = 2; for the elliptic, parabolic and Schrodinger equations we have 1 = 1 only; while for the equation (1.39) we have 1 = 2 only. This situation is related to condition (2.6) and the fact that, as a rule, the equation is uregular only for one (or two) values of u E IR provided that such u's do exist. For example, no such values of u exist for the Helmholtz equation (1.28) and the CauchyRiemann equation (1.29), and accordingly there are no regular boundaryvalue problems of the form (2.2) in U r )for these equations. On the other hand, for example, the equation (compare with (1.19))
(i +
K , > 1  a2d ) ( ( i
XEIRk,
+ K,)I
t>0,
 a2d)u(x, t ) = 0,
(3.4)
with K 2 < K,, has the roots This result implies that, as for (2.18)(2.21), (3.3) for t > 0 and s E IR,provided that < co and ~ ~ u l ~ ~ s < + j00.  , It follows from (3.2) that the Cauchy problem (1.16), (2.25) is not regular in Ug) but (3.3) shows that it is regular in Uf) for all a > 0. This example shows that the conditions of Proposition 2.2 (and, in particular, the condition (1.8')), which are sufficient for the problem (l.l), (2.2)to be regular in U$), are close to being necessary. 2) Similarly, for the equations (1.18) and (1.39), the Cauchy problem with the conditions (2.22) is regular in U f ) if u > 0, while it is regular for the equation (1.19) if u >  K . 3) The equations (1.16) and (1.17) have only one solution u = 0 in the class U z )if u < 0. Therefore a regular problem for these equations in Uz),with u < 0, is one without any boundary conditions. The same is true for the equations (1.18) and (1.19) if u < K. The equation (1.18) is not uregular for u E ]  K , O [
2 IIaim~(*, t)Il < C(IIuoIIl+j + IIulIIs+j1 * t )
= K2
~ ~ (= 5 ) 2,
4,
Therefore a regular problem for (3.4) in U f ) must contain four initial conditions if u 2  K 2 (the Cauchy problem, for example), two conditions if u E [  K  K 2 ] while no condition need be prescribed if u <  K , .
0, u <  K 1 ,
K,
u2
,,
228
A.I. Komech
229
3.2. The Cauchy Problem. In order that the Cauchy problem for the general equation (1.1) (see Definition 2.2) be regular in Uz),it is necessary, by (3.1), that the condition
(3.5) holds. This implies, in particular, that (1.1) must be Petrovskij welldefined.
for t 2 0, almost everywhere in R"'. We note that det(Q( i<')  AE) = P(  i c , A),
(3.10)
(v,(c)= v, c E R"')oti,,< a
and so the eigenvalues of the matrix Q( it') are A,(c)(k = 1, . . ., v). Therefore, in view of the estimates contained in Gel'fand and Shilov [1958c] and Shilov [1965], we obtain
Proposition 3.2. Assume that the equation (1.1) is Petrovskij welldefined and that (see (1.6))
(3.11)
P(~)(C =)const # 0.
(3.5')
Then the Cauchy problem for (1.1) is regular in U z ) when a > 8, (even if (1.8) is not satisfied). Proof. When the condition (3.5) is satisfied, the Cauchy problem for (1.1) can be written as the system
(3.12)
j=1
IIfjIIs+Ml,
t > 0,
(3.13)
for a > Ev and all s E IR; here III.llls denotes the norm in [HS(IR"')]'.
As an example, the Cauchy problem (2.25) for the equation (1.39) is regular in U$) when a > 0.
Corollary 3.1. The Cauchy problem is regular in U f ) ,where a > E,,, for those equations (1.1) that are Gdrding hyperbolic or Petrovskij parabolic.
Indeed, for such equations both conditions (3.5) and (3.5') hold.
3.3. The Dirichlet Problem for Elliptic Equations. Let P(ax) be an elliptic operator in R"of order m = 21, where 1 is an integer (this is always true if n 2 3, by Proposition 5.1 in Chap. 3). Definition 3.1. By the Dirichlet problem for the operator P(a,) is meant a boundaryvalue problem with conditions of the form (2.9) in which I = m/2. Proposition3.3. 1) If El < g,+' and the condition (1.8') holds, then the Dirichlet problem for the operator P is regular in U$) for a E [a,, E,+~]. 2) If E, > g,+l, there are no regular boundaryvalue problems for P(8,)) in U$).
(3.7)
Proof. Statement 1) follows from Proposition 1.5 and (2.10) in view of Statement 2) in Proposition 3.1. Statement 2) also follows from Proposition 1.5 on account of Statement 1) in Proposition 3.1.
au = Q(a,?)u(x', t),
at
UJ,=,+ =F
aB
at
0 4.
t > 0;
6(<', 0 + ) = F(Cf),
O(<t, t ) = e Q (  i W F ( ( r )
4.1. Let us examine the boundaryvalue problem (l.l), (2.2) in the function space U ' " ,where r 2 iii.
230
A.I. Komech
231
Definition 4.1. The boundaryvalue problem (l.l), (2.2)is said to be regular in the class U") (r 2 iii) if it has a solution u E U") for all E H,(IR"') and the solution is unique. Let us find necessary conditions on the operators P , B,, ..., Bl so that the for problem (l.l), (2.2) is regular in U"). The function u given by (1.9) lies in U(r) any Ck.5') E C2(IRn')and is a solution of the problem (l.l), (2.2). This gives
fi
(4.4) for x, > 0, as shown if, for If we take ti1([') = 0, then a(*,x,) 4 fi,(IR"') for any N > 0. Therefore example, we choose a,((') = 1 or Co(5') = (1 the Cauchy problem (2.25) for the Laplace equation, with u,(x') = 0, has no solution u E U(')for uo(x')= 6(x') or for uo(x')= F F ! , ~ ,+ (~ 1t'12)N. Note that the latter function uo(x') has 2N  n continuous derivatives for 2N  n > 0 and decreases faster than any power of x' as lx'l+ 00.
+ lclz)N
Proposition 4.1. For the problem (l.l), (2.2) to be regular in U(') it is 1) necessary that 1 = v and the condition ( 2 . 6 ) is satisfied, 2) sufficient that the operator P is Petrovskij welldefined, 1 = v and (2.6) holds, 3) necessary and sufficient that, subject to (1.8') and r 2 v  1, P is Petrovskij welldefined, 1 = v and (2.6) holds.
Proof. The proofs of 1) and 2) repeat word for word those of Propositions 2.1 and 2.2 respectively. The necessity of the Petrovskij welldefined condition in Statement 3) follows from the method of proof of Proposition 2.3. Thus, if the problem (l.l), (2.2) is regular in U(') (r 2 v) then from (1.8') it can be shown, as in the proof of Proposition 2.3, that the functions C,(t') in (1.9) are arbitrary elements of fi,. Taking Cj(c) = 0, with j # k, we obtain from (1.9)
Remark 4.2. If the Cauchy problem for the operator P is regular in U z ) for some a E IR,where r 2 v  1, then (3.1) implies (3.5). This Cauchy problem is therefore regular in U") also. In particular, the Cauchy problem for P is regular in U(') (r 2 v  1) under the hypotheses of Proposition 3.2 (for example, for Girding hyperbolic or Petrovskij parabolic operators P (see Corollary 3.1)). Thus the introduction of the solution space U"),in place of U z ) ,does not lead to any new regular boundaryvalue problems.
(4.1)
for all k, all ck(r) Ek , , and all x , > 0. But this is possible only if Re n k ( 5 ' ) is a bounded function of 5' E IR"'. Indeed, according to Theorem A.2.5 of Hormander [1983,1985], mentioned in $ 2, max Re
It'l=p
A,(c)
Cpak
(4.2)
as p + co,for some C and a, E IR.If a, > 0, then (4.1) cannot hold. Accordingly, ak < 0 and thus all the roots A,(t') are Petrovskij welldefined. The necessity of (2.6") can be shown in the same way as in the proof of Proposition 2.3.
Remark 4.1. If ak > 0 in (4.2) and C,(t') E C(., x,) lies in 9'(IRn) but not, in general, in S'(IRn'). Accordingly, for x , > 0, u (  , x,) lies in Z ( C n  ' )but not, in general, in 9(lR"').
Definition 5.1. The boundaryvalue problem (l.l), (2.2) is said to be wellposed in the spaces H , H', . ..,H' if 1) it has a unique solution u = W( f,, .. .,fi) E H for all fj E Hi; 2) the map a:2 + H is continuous, that is,
IIuIIH < C
j=1
1 IIfiIIHj.
(5.1)
Corollary 4.1. For elliptic equations, with n 2 3, there are no regular boundaryvalue problems in U").
/ ?
+ B(5') ShlellX,.
(4.3)
(5.2) Proposition 5.1. All the boundaryvalue problems which have been examined in $2 and $ 3 and which are regular in U.") are wellposed in the spaces H := Cu(O,00; H,) and Hj = H,, := H,(IR"') for all sj E I R with some s < sj. Proof. For the boundaryvalue problems of $ 2 and $3 which are regular in U:), we have the estimate
= H,(IR"').
and B ( r ) = iil(el)/lt'1, whence Substitution of (4.3) into (2.25) yields A(5') = Co(c)
!
232
A.I. Komech
233
for any sj E JR with some s < sj. For example, such an estimate for a = 0 can be obtained from the arguments (2.15)(2.21) (withj = 0). For a # 0, estimates of the form (5.1) are proved in exactly the same way. For instance, under the hypotheses of Proposition 3.2, an estimate of the form (5.1) has been obtained for the Cauchy problem in (3.13). The estimate (5.1)implies that the operator W is bounded. Since W is linear, it follows that it is also continuous.
5.2. Continuous Wellposed Boundaryvalue Problems. Let 2I: V r + ) [H,(IR)] denote the operator corresponding to the boundaryvalue problem (l.l), (2.2):
%u = (yB,u, ..., yB,u), u E U, r
I
II
det B,P(iY, A;(5))j,k=l # 0 for 151 = 1, 5 E Rl, (5.6) hold (Lopatinskij [1953]). Then the problem (l.l), (2.2) is wellposed in the spaces (5.4) for p = 1, pj = mi, r 2 iii and all s E IR. Proof. Since the boundary x, = 0 is noncharacteristic, Bj(i5, n k ( t ) ) = B,P(it, A,0(5)) + o(151j) as 151 + co,by Lemma 1.1. By (1.15) and (5.6), this gives det Bjk(t)I
(5.7)
I
I
(5.8) as 151 + co. Consequently, by (2.6), the entries of the inverse matrix B  ( c ) satisfy the asymptotics
 151m*++m~
+
u E UO.
151
a.
(5.9)
Of special interest are the boundaryvalue problems which are wellposed in certain spaces H, H, . . .,H and for which the operator 2I: H +2 = H0 . . .@ H is continuous. In fact, the operator 9:X + H is a right inverse of 2I and is continuous, because the boundaryvalue problem is wellposed. Therefore the & + H provided that 2I operator 2I + 6 also has a continuous right inverse g8: is continuous and the operator 6: H + & has a sufficiently small norm. Roughly speaking, the boundaryvalue problem remains wellposed in function spaces in question under small perturbations of the operators P and Bj. This enables us to develop the theory of boundaryvalue problems for differential operators with small changes in the coefficients and then with more general variable coefficients (C etc.). The method of freezing of coefficients (Agranovich and Vishik [1964], Vishik and Ehskin [1965]) is based on this idea. We now give conditions for the continuous boundaryvalue problems (l.l), (2.2) to be wellposed in the spaces
I
and so (5.10) leads to
(5.11)
(5.11)
I
I
< c k =1 I~l(5)l.lck(t)Ieaxn.
c
I
(5.12)
I
[H:= Hs,,JRnl), j
= 1, ...,I.,
Hence, by (1.21),(1.15) and (5.10), we find that (5.13) This proposition can also be extended to operators P that are Petrovskij parabolic. If P is Petrovskij 8parabolic, then (5.5) must be modified as follows. Assuming that bja = 0 for la[ pa, > Pvj, we write
I
I
In these spaces the continuity of the o&rator 2I: H + 2 for all s E IR follows from Proposition 3.1 in Chap. 2, if p = 1 and pj = mj, and r 2 iii. We denote by A; the roots of the characteristic equation (1.6) of the leading part Pm(8,) of the operator P(8,). Also, let (5.5) denote the leading part of the operator Bj(8,).
I
I
(5.14) Then Proposition 3.1, Chap. 2, shows that the operator 2I is continuous in the spaces (5.4) where we take p = /3, pj = /3vj and r 2 V = max v?
Proposition 5.2. Assume that the boundary x, = 0 is noncharacteristic for the operator P and that, for the boundaryvalue problem (l.l), (2.2), the conditions (3.l), (2.6)and the ShapiroLopatinskij condirion
Proposition 5.2. Assume that the operator P is Petrovskij /3parabolic and that the conditions (2.6) and (5.6) hold. Let A,0(c) be the roots o f the equation (1.34). Then the boundaryvalue problem (l.l), (2.2) is wellposed in the spaces (5.4) for r 2 V, all s E JR, p = /3 and pj = Bvj.
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A.I. Komech
235
The proof of this proposition almost coincides with that of the preceding proposition; the only difference is that the conditions (1.36) and (1.37') are used in place of (1.15') and (1.21).
Definition 6.2. The Poisson kernel o f the boundaryvalue problem (l.l), (2.2) is the vector function
B ( x ; y') = E ( x '  y'; x , ) , x , > 0, x', y' E IRn'. (6.2) Note that B ( x ; y ' ) E U$) c W(IR:) for all y' E I R " ' . It follows from (6.1) that p k ( x ; y') = &(x'  y'; x , ) is a solution of the boundaryvalue problem p(8x)pk(x,
y') = O,
xn
Corollary 5.1. Let the condition (1.8') be satisfed and, similarly, let LE(y) # A,"((') for k # j , 15'1 = 1, 5' E IR"'. (5.15) Then the Cauchy problem for the Petrovskij hyperbolic (or fiparabolic),operator P(dX)is well posed in the spaces (5.4) for r 2 m  1, p = 1 and p j = j  1 (or p = fi and p j = f i ( j  1)).
Indeed, the conditions (2.6") and (5.6) are satisfied in view of (2.10). Similary, under conditions (1.8') and (5.15),the Dirichlet problem (see Definition 3.1) for the elliptic operator P(&) is wellposed in the spaces (5.4) for n 2 3, m A voluminous r 2  1, p = 1 and p j = j  1 if ?it c gt+' and a E [?it, literature is available on the question of boundaryvalue problems being wellposed in the most diverse spaces. In Gel'fand and Shilov [1958c] a detailed account can be found of the results on the regularity and wellposedness of the Cauchy problem for general differential equations with constant coefficients in classes of functions that grow like PIxib for various values of a and b. The book by Gel'fand and Shilov [1958c] contains precise bounds for the growth exponents a and b of the solution u ( x ) and of initial conditions under which the Cauchy problem is regular and wellposed. Fundamental results on the wellposedness of the Cauchy problem in L,type spaces were obtained by Petrovskij [1937a, 1937bl.
> O,
(6.3)
for all y' E R"' where y' plays the role of a parameter.
Proposition 6.1. Let the boundaryvalue problem (l.l), (2.2) be regular in U$), where r 2 max(m, 2). Then, for any boundary data f i ( x ' ) E C:(IR"') its solution u is expressed by the formula (in which F = (fl, . . . ,fr))
U(X', X , )
=E(.,
X,)* F =
1E k ( * , x n ) * f k ( . )
k
1(a:rEk(',
k
xn)*fk('))(x')
(6.5)
for the function (6.4), because Ek E C("(0, co;H,) for some s E I R and r 2 m. Hence the property (1.47), Chap. 1, of the convolution and (6.1) together yield
p(8x)u(x',
xn)
1
k
((pEk)(',
xn)*fk('))(x') =0
(6.6)
5 6.
yBjU(X') =
(6.7)
6.1. The Poisson Kernel and the Fundamental Solution of the Boundaryvalue Problem Definition 6.1. By a fundamental solution of the boundary+due problem (l.l), (2.2) is meant a vector function E ( x ) = ( E k ( x ) ) k = l , . . . , l , where Ek E U(') are R : of the following boundaryvalue problems the solutions in I
P(J,)E,(x) = 0, x , > 0, x' = ( X I , ..., X ,  ' ) E IRn', (6.1) Y B j E k ( X ) = djkd(X'), j = 1,. . ., 1, in which djk denotes the Kronecker symbol and 6 ( x ' ) = d,,'(x') is the &function in IR"'. If the problem (l.l), (2.2) is regular in U$) (r 2 2)for some a, then such a
We note that the Poisson kernel (6.2) enables us to write (6.4) in the form
6.2. The Connection Between the Fundamental Solution of the Cauchy Problem and the Retarded Fundamental Solution of the Operator P(8,). Suppose that, for an operator P(&) of order v in ax", the Cauchy problem is regular in U('), where r 2 v  1, and that p(") = const # 0 while pu, = 0 for 1 < j < v  1 in (1.6). Then this Cauchy problem has a fundamental solution E ( x ) E [C('')(O, co;Hs(IR"l))]' for some s E I R .In this case, the system (6.1) takes the form
= ~ ; 1).
IP(')%
+ p(o)(idx*)Ek= 0,
x , > 0, x'
IRn',
236
A.I. Komech
231
for
t' E en'. Using (6.13) and the estimate obtained in Gel'fand and Shilov [1958c] and Shilov [1965], we find, as for (3.11), that
I&<', x,)l < ClleQ(it')Xnll< CeAl'mt'lxn(1 + xnllQ(itr)llYl,
(6.14)
that is,
(8, cp> := J o
" 1
vcp E
ww
(6.10)
for 5' E C' and x , > 0. By Theorem 5.1 in Chap. 2, it follows from the last result that supp 8 ( * x,) , c {x' E IR"l: lx'l < Ax,} a s u p p B c Q = { x E IR": lx'l < Ax,}. It remains to show that the fundamental solution 8 with support in a cone Q is unique. But this result is obvious since, if PBl = 6(x), x E IR", and supp Bl c Q, we have
8 1=
Then 8 ( x )is a retarded fundamental solution of P, that is, B(x) is zero for xn 0 and P(dx)B(x) = 6(x).As for Lemma 1.1 in Chap. 1, this result is a consequence of (6.9). Conversely, the fundamental solution E(x)can be expressed in terms of 8 ( x )in (6.10) as follows:
&(X)
=
(P&)*81 = 8*(P81) = 8,
(6.15)
Corollary 6.1. For the wave equation (1.6), Chap. 1, in I R ' , solution E(k)of the Cauchy problem (2.21) has the form
6(at  1x1)
1 2
the fundamental
= a:",E,,
= P(v)a:nk8(X),
X,
> 0; 1 < k
< V  1.
(6.11)
< V,
(6.12)
lies in U") (r 2 v  1) and is a solution of the problem (6.9), just as E, is. Therefore, since the Cauchy problem is regular, & = E,, leading to (6.11). Thus the fundamental solution (6.9) is expressed in terms of the retarded fundamental solution (6.10) of the operator P(ax)by means of (6.1 1). A retarded fundamental solution of P(&) may not be a priori unique. Therefore the question arises as to how to identify the function (6.10) in the set of all retarded fundamental solutions. For example, for the Girding hyperbolic operators the function (6.10) can be identified as follows.
by (6.11), where the functions 8; and 8; are defined in (1.6), Chap. 1. Accordingly, the solution (6.4) of this Cauchy problem, with k = 1, is expressed by the d'Alembert formula u(x, t ) = (uo(x  at) 2
1
Proposition 6.2. For a Gdrding hyperbolic operator P the retarded fundamental solution (6.10) has support in a cone lx'l < Ax, and such a fundamental solution is unique. Proof. It follows from (6.10), (6.9) and (3.9) that
+ uo(x + at)) + 2a
jxut
X+Uf
u l ( y )d y
vuo, u1 E CZ(IR).
Similarly, for k = 2 and 3 respectively, u(x, t ) is given by the Poisson and Kirchhofl formulae
(6.13) 11J
 Y , 0, Ul(Y)>
~'E]R"',
x , 2 0; v = m .
Therefore for all x, > 0, 8(t, x,) is an entire function of 5' E C  l . Also, by (3.10), the eigenvalues of the matrix Q(  i t ) are A,(<'). Finally, since the operator is Girding hyperbolic, Lemma 1.1 yields IRe 1,0(t')1 [Re nk(<')l
For Petrovskij parabolic equations the function (6.10) is identified in the following manner.
Proposition 6.3 (Ehjdel'man [19641). For a Petrovskij 2bparabolic operator P(&) the retarded fundamental solution (6.10) is a smooth function for x # 0 and for all a satisfies the estimate
238
A.I. Komech
239
1+I~1)/2"~(lx'~2b/x~)~''~*~)
a n
, x , > 0.
(6.16)
Such a fundamental solution is unique. The estimates (6.16) have been established in Ehjdel'man [1964] and the uniqueness can be established as in (6.15).
< r.
(7.4)
Then u := L U I , , , ~ E U$) is the solution of (7.1). On applying the contact Fourier transformation, (7.3) becomes
Corollary 6.2. For the heat equation (1.31) the fundamental solution of the Cauchy problem coincides with (2.8') of Chap. 1, and the solution of the Cauchy problem has the form
eIX
p (  it', dx,)Ge,
xn)
C'j~t', xn)
(7.5)
for all x , E R and almost all 5' E I R " ' . Now, for all P(  it', dxn)has the symbol Therefore, for a E ]E,,, g,, +' [,the function
~1~/4&1
> 0.
A similar formula is obtained from (2.34) for the solution o f the Cauchy problem for the Schrodinger equation (1.38). Namely,
r
(7.7) is a fundamental solution of the operator P (  it', dxn).It follows from (7.6) that
That is, a fundamental solution o f the Cauchy problem for the Schrodinger equation i s given by the function (2.9') of Chap. l .
8 7.
for all E > 0, where C, is independent of t'. These estimates follow from the decomposition
(7.9) P( i t ) = p ( v ) ( it,  &(t')). . .(it.  AJt')), because p(,,)# 0 and Re A,(t') < a,, + E for k < p, while Re A,(t') > gP+'  E for k2p + 1. To make the discussion simple, we assume that v 2 1. Define a function Lo((', x,) by the formula
J m
(7.1)
where f E U$v)+for some a and r. We construct a particular solution u of this equation in the class Uz).
(7.10) Here the integral of a function of the parameter y, and having values in H,(lR"') is taken in the sense of Bochner. The convergence of this Bochner integral follows from (7.8) and (7.2):
Proposition 7.1. Assume that p(", = const # 0 in (1.6) and that Z , < gP+' for some p < v. Then for CI E ]EP, g,+' [ the equation (7.1) has a solution u E U z )for f ( x ) E u?v)+.
Proof. The function f E U?')+ can be extended to the domain x , < 0 as a co;H,(IR"')) for some s E IR in such a manner function L f ( x ) E C('')+(a, that
L f ( * , x , ) = f ( * , x , ) ifx,>O, Lf(.,x,)=O
IIG(.,x,,)\Ifis <
i.
I,
Xn
C,e(i~+a)(XnYn)euYn d y , + {x;a
cEe((l#+l
E)(XnYn)euYn
dYn
< C,leaxn,
provided that a E ]ti,,
(7.11)
Ild::,Lf(*, x,)Il,
< Ceaxn,
x,
w, j < (r  v)+.
E
To do this we use the Stein extension operator (Vishik and Ehskin [1965]). We construct a solution Lu E C("(0, 00; H,(IR"')) of the equation
P(ax)Lu(x)= L f ( x ) , x
IR",
(7.3)
satisfies (7.3); the proof of the estimates (7.4) in this case is similar to that of (7.11).
240
A.I. Komech
24 1
7.2. Boundaryvalue Problems for Nonhomogeneous Equations. We examine the boundaryvalue problem
j = 1,. . .,1.
(7.12)
Proposition7.2. Let a and the operator P satisfy the hypotheses o f Proposition 7.1, and let the boundaryualue problem (l.l), (2.2) be regular in Uf), where r >/ M. Then, for any f E Uf")+ and fi E H,(IRnl), the boundaryvalue problem (7.12) has a unique solution u E Uf).
Proof. Suppose that u E Uf) is a solution of the problem (7.12) and that u E Uf) is a solution of the equation (7.1) constructed in Proposition 7.1. Then w = u  u E Uf) is a solution of the problem
Fig. 1
{,
fi
(7.13)
W
and w exists and is unique because the problem (l.l),(2.2)is regular in Uf).
Remark 7.1. The hypotheses of Proposition 7.2 are satisfied by a) the Cauchy problem for the Girding hyperbolic or for Petrovskij parabolic operator P provided that a > Ev and r >/ v  1 (this statement follows from Corollary 3.1); b) the Dirichlet problem for the elliptic operator P(aJ of order m = 21, with n >/ 3, if Ej < a < E , , ~ and r >/ 1  1 (this statement is a consequence of Proposition 3.3).
wave equation is defined by the equation k2t2 = c z ' , t >/ 0. The subject matter of this chapter is the study of the qualitative behaviour of the wave as it approaches its front. The wave equations themselves provide various examples of such qualitative behaviour. Thus in our fourdimensional spacetime (and in any other 21dimensional space, 12 2) the signal is observed only for an instant when it passes the observer. In contrast, in odddimensional space, the signal continues to make sound beyond the moment to of reception (with intensity proportional to 1 / , / t 2  tg). The first situation enables us to communicate by means of sound while the second explains the fact that the ''acoustic layer" in an ocean, which is otherwise an excellent conductor of separate signals, is unsuitable for transmitting even slightly complicated information. Both examples of the behaviour of sound waves have a F g u e s for arbitrary hyperbolic equations. In the language of the general theory we say that, in the first case, the internal component of the complement of the front is a lacuna while, in the second case, diffusion of the wave occurs on the side of such a component; the external component is a lacuna for all dimensions (and for all hyperbolic equations).
1aZ? = 0,
aZu
which describes the propagation of waves with speed k. In analogy with this example the solutions of arbitrary hyperbolic equations are also referred to as waves. An elementary wave arising from instantaneous perturbation at a point has a singularity on a cone in spacetime on the socalled wave front, is analytic outside it and vanishes outside its convex hull. For example, the front of the
t a =5;'.
...st=.,
242
A.I. Komech
243
in the coordinates ti of ndimensional space IR;. It is useful to regard I R ; as R : , and the pairing between these spaces is expressed by the formula dual to I ((tl,..., Sn), (xl, ...,x,)) = Sixi.The order of P is denoted by deg P. For the operator P we can pose the Cauchy problem in the halfspace x1 2 0. The choice of this halfspace makes the coordinate x 1 more important than the remaining ones (for the case of the wave equation x 1 denotes time); correR ; the unit vector 9 = (1,0, ...,0) is distinguished. spondingly, in the dual space I Let be the principal homogeneous component (of highest degree) of the polynomial P. The equation F(tl, ..., 5,) = 0 defines a conical hypersurface A = A ( P ) in a;; the real part A n I R ; is called the characteristic cone for P and is denoted by Re A.
which we now define. Let t # 0 be an arbitrary point of the cone Re A. The R ! . We tangent plane to Re A at this point will be regarded as a subspace of I consider in the original space IRE the set of all vectors x, with positive first coordinate xl, which are orthogonal to this plane. The set of such x for a given 5 constitutes a ray in R : .
Definition 1.1. The operator P is said to be Petrovskv hyperbolic (or strictly hyperbolic) if, first, the set Re A is nonsingular outside the point 0 and, second, parallel to the unit vector 9 and not passing through 0, intersects any line in R;, Re A in exactly deg P distinct points. Example 1.1. 1) The wave operator. 2) Any operator in R such that P(9) # 0. 3) A nondegenerate cubic curve in RIP2 can have two or one component (and is represented either by both the curves in Fig. 2a or by only the righthand one). The corresponding thirddegree polynomial in R : is never hyperbolic in the second case while, in the first case, it is hyperbolic preciselyiqrhen 9 is directed towards the interior of the conelike component of the su&ce Re A. Numerous other examples of hyperbolic polynomials can be found in Atiyah, Bott and Girding [1970,1973]. R : the Petrovskij operaIn the space of operators of a given order acting in I tors constitute an open domain. Theorem 1.1 (Nuij [1968]). For any natural integers k and n, the set of polynomials o f degree k in IR; which are Petrovskij hyperbolic with respect to a fixed coordinate system consists of two connected components each of which is contract ible. 1.2. Wave Fronts. The fundamental geometric object involved in the qualitative description of the solutions of a hyperbolic equation is the wave front
Definition 1.2. The union of such rays taken over all the points 5 E Re A\{O} is called the wave front of the operator P and is denoted by W(P). The singularities of the wave front can even lie far away from the origin: they correspond to the flattening points of Re A, that is, to points where the curvature form of Re A has rank less than n  2. For example, the projectivization of the wave front corresponding to the cubic surface in Fig. 2a is depicted in Fig. 2b. Furthermore, the points of inflexion of the original curve go over to cusps of the projectivization of the front (in Fig. 2a the third point of inflection lies at infinity). 1.3. Theorem 1.2 (see Atiyah, Bott and Girding C1970, 19731, Petrovskij [1945]). If P is a Petrovskij hyperbolic operator, then A) P has a fundamental solution E ( P ) whose support is a cone, with vertex 0, lying in the halfspace x1 >, 0 and intersecting the plane x l = 0 only at the point 0; B) such a fundamental solution E ( P ) is unique; C ) the solution E ( P ) is analytic outside the surface W(P) and vanishes outside the convex hull of W(P).
Remark 1.1. Statement A of Theorem 1.2 can be formalized as the definition of a (nonstrictly) hyperbolic operator: P is said to be hyperbolic if it has a fundamental solution whose support is contained in the cone described in Statement A. For general hyperbolic operator the wave front can also be defined (see Atiyah, Bott and Girding C1970, 1973)) and all the assertions of Theorem 1.2 remain valid. Such operators also have an explicit algebraic characterization (see Atiyah, Bott and Girding [1970, 1973]), but now hyperbolicity is defined not only by the principal part of the operator  the lower terms must also be known. In the space of all operators the hyperbolic, but not strictly hyperbolic, operators constitute a set of positive codimension; this set lies in the closure of the set of strictly hyperbolic operators.
1.4. Sharpness, Diffusion and Lacunae. Let P be a hyperbolic operator and Wits wave front. Definition 13. A. There is holomorphic sharpness at a point y of W on the side of a local (near y ) component 1 of the complement of W if E ( P ) is continued from l as a holomorphic function in a neighbourhood of a point of 1. Similarly, from 1 to its closure 1. In these there is a Cmsharpnessif E ( P ) has a Cmextension
2a
\
Fig. 2
26
The term component everywhere signifies a component of liriear connectedness.
244
A.I. Komech
245
cases the component 1 is called a (holomorphic or Cm)local lacuna of the operator P near y. B. If there is a no sharpness on the side 1, we say that digusion of waves takes place in 1. C. A component L of the complement to the front is called a holomorphic lacuna (C"lacuna) if from its side there is holomorphic (Cm)sharpness at any point of its closure (or, what is the same, at the single point 0). D. If E(P) = 0 in L, then L is called a strong lacuna (Atiyah, Bott and Girding C1970, 19731)or simply a lacuna (Petrovskij [1945]). Example 1.2. We again consider the wave operator
P,,=k2 at2
a2
n a2 C. i = 2 az;
It is known that the corresponding fundamental solutions E(P,) for n = 2, 3, 4 are given by E(P2)= 8(kt  (z()/2k,E(P,) = 8(kt  ( z l ) / 2 x k , / w and E(PJ = 8(t)8(k2t2 l~1~)/2xh, where 8 is the Heaviside function. Evidently, for the case n = 4 the interior component of the complement to the front is a strong lacuna while, for the case n = 2, it is a holomorphic but not a strong lacuna, and diffusion takes place when n = 3. It turns out that, as n grows, the qualitative picture remains the same as for n = 4 when n is even and the same as for n = 3 when n is odd. The exceptional case n = 2 is explained by the fact that n does not exceed the order of the wave operator. For the thirdorder equation in IR;, the projectivization of the wave front of which is depicted in Fig. 2b, the extreme interior component is a holomorphic but not a strong lacuna while the intermediate component (where "edges" of the interior hang) is diffusive near any point of its boundary.
set X * n Re A* of real points of this intersection is an (n  3)dimensional submanifold in X * n A*. If n is even, this manifold is orientable. A special choice of this orientation that turns the manifold into a cycle has been specified by Atiyah, Bott and Girding C1970, 19733. A Petrovskij cycle B(x) c X *  A* is defined as the image of this cycle under a tubular map. (Let us recall the construction of this map. Consider a tubular neighbourhood in X* of the set of nonsingular points of the manifold X * n A* and fibre this neighbourhood in some way into twodimensional discs which are transversal to the set X * n A*. Then, to any cycle V lying in the smooth part of the set X * n A*, we can assign the union of boundaries of those discs which have intersection with X * n A* at points of V. The complex orientation of the sets X * and X * n A* and the original orientation of V enable us to define an orientation for the tube thus obtained.) For n odd the cycle B(x) coincides far from A* with the manifold Re X * having multiplicity 2, and near A* is double to a pair of contours enclosing A* in X * from two sides. The nonreal part of this cycle coincides geometrically with the abovementioned tube in X *  A* around the manifold X * n Re A* but the two halves of this tube separated by the set Re X* have divergent orientations. For the case n = 3, the cycle B(x)is depicted in Fig. 3, in which the set A* n X * is indicated by crosses.
'
Definition 2.1. The class B(x) defined by the cycle B(x) in the group H,,,(X*  A*) of homologies of the space X *  A* with complex coefficients is known as the Petrouskij class, and the condition B(x) = 0 as the Petrousky criterion. It can be seen easily that the Petrovskij criterion is always satisfied for n = 2, while for n = 3 it is equivalent to the fact that the set X * n A* has no nonreal points; see Fig. 3.
2.2. Theorem 2.1 (see Atiyah, Bott and Girding C1970, 19731, Gabriehlov f B(x) = 0, then the component L, which contains x, [1986], Petrovskij [1945]). I o f the complement o f the front is a holomorphic lacuna for P and for all operators
Rex"
+
X"
Fig. 3
246
A.I. Komech
241
having the same principal part P (if, in addition, deg P < n and P = P, then it is also a strong lacuna). Zf the set A* is smooth, then the converse is also true. Namely, if L is a Cmlacuna, then B(x) = 0 for all x E L. The first assertion of this theorem in the case of homogeneous P = P follows from the HerglotzPetrovskijLeray formula: at the point x E L all the partial derivatives D'E of the fundamental solution E = E(P), where /vI > deg P  n, are defined by the integrals of certain differential (n  1)formsA ( x , v, P). These forms are regular in the domain CIQ'  X *  A*, taken over a cycle tB(x) which lies in this domain and is obtained from B(x) by a tubular operation t: H,,,(X*  A*) + Hnl(CIPf'  X *  A*). Therefore, when B(x) = 0, E ( P ) is, in the restriction to L, a polynomial whose degree does not exceed deg P  n. The second assertion follows from the facts that a) El, is a polynomial if L is a lacuna, b) in our case the tubular map is injective (in particular, B(x) = 0 if tfl(x) = 0), and c) for sufficiently large N the classes of all possible differential forms A(x, v, P), with IvI = N , generate the complete cohomology group H,,(CIPf'  X *  A*) (see Atiyah, Bott and Girding E1970, 19733). The case of nonhomogeneous P reduces to that of homogeneous P (see Atiyah, Bott and Girding C1970, 1973; 54.51). Similar methods can be used to establish the following precise version of Statement C of Theorem 1.2.
Definition 3.1. By the local Petrovskij criterion is meant the condition that
B(x) E Px(Hn,(Y*
 A*)).
3.2. Theorem 3.1 (see Atiyah, Bott and Girding C1970, 19731). Zf for points of the local (near y ) component 1 of the complement of the front the local Petrovskij criterion is fulfilled, then the fundamental solution E(P) is holomorphically sharp at the point y from the side 1.
Theorem 2.2 (see Atiyah, Bott and Girding C1970, 19731). Zf the operator P is hyperbolic and the set A* is smooth, then every point of the wave front W ( P )is a singular point of the fundamental solution E(P). For almost every hyperbolic operator P with the given principal part P, the support of E ( P ) coincides with the convex hull of the wave jiont. Zf n = 3, the last statement holds for all hyperbolic operators without exception. (For example, for even n 2 4 the wave operator is not covered by the term "almost every".)
=
248
A.I. Komech
249
Theorem 4.1 (see Borovikov [1959], Davydova [1945]). Let a be a general point o f A*. Zf n and i , = i*(a) are even, then both the components 1 ' are local lacunae. Zf n is even and i , is not, then there is no lacuna near y. Finally, if n is odd, then a local lacuna is only 1 when i+ is even and only '1 when i, is odd.
4.3. Investigation of Sharpness Near an Edge of Return and Near a Swallowtail. At the points of flattening of the surface Re A* (that is, at the points where its curvature form degenerates) the generating function is no longer Morse but has a degenerate singularity. The classification of such singularities has been dealt with in numerous works (see, for example, Arnol'd, Varchenko and GusejnZade [1982, 19843). Near the simplest singularities in this classification, namely, the singularities of the types A, and A,, the wave front is diffeomorphic (see Fig. 2a) to the product of a linear space with the semicubical parabola ; in (respectively, with the swallowtail, that is, with the surface depicted in Fig. 4 this figure edges of return correspond to points of type A,). The sharpness condition on the side of one or the other component of the complement to the front again depends on whether n and the index i, of the quadratic part of the generating function are even. Moreover, by multiplying z,, by  1 if necessary, we can consider only the modification A: of the singularity A, (see Table 1 below).
Normal form to which the generating function is reduced by diffeomorphism of arguments
C
0
r a n
n odd
i+
i+
i+
i+
0 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2
n2
2 2 k+1 2 k 5 2 k+1 2k + 1 2k + 2
2 0 0 0
0 0 0 0 0 0
even
odd
0 0
odd
even
1 0 1 1 1 1 1 1 1 1
I
8 9 9 9 9 10 10 10 10
Theorem 4.2 (see Girding [1977]). Near points o f the type A,, the front is sharp on the side o f component 2 if n is odd and i, is even, and for other values of n and i, there is no sharpness. Near the singularities A,, local lacunae are the following: domain 3 when i+ is odd and n is arbitrary; domain 2 when i, is even and n is odd.
4.4 In the case of more complicated singularities a similar description of all local lacunae becomes much more unwieldy, and therefore we merely cite the results concerning the number of these lacunae.
? 
21 0 0 0 ? ? ?
1 3 0 2 0 0 0 0 0 0 22
?
1 1 1 1 1 1 1
1 1 1
22
0 0 ? ? 0 0
20
0
0 0 0 0 0
0 21
Theorem 4.3. Near any point at which the wave front of a general hyperbolic operator has a singularity o f one of the types3 A,, D,, E,, X,,Xl0,Jlo the number o f local lacunae is as given in Table 1 (or satisfies the inequality contained there). On the generalfronts in R:, with n < 7, there may only be singularities belonging to one of the types mentioned in Table 1. (In this table Q denotes a nondegenerate quadratic form in the additional variables,,, z , .. .,z,, where r is the corank of the f the surface A*: it has been singularity, that is, the defect of the curvature form o mentioned in the third column o f the table; i+ denotes the positive inertia index o f Q. Then column "n 2" indicates the minimum o f those n such that the corresponding singularity appears on fronts in general in R:.).
Conjecture. All the question marks in the table should be replaced by zeros.
The proof of this theorem concerning A, is given in Davydova [1945], and k and E , is for A, and A, in Girding [1977], while the proof for Ak(k 2 4), D given in Vasil'ev [19861. The assertions regarding other singularities have been
'The notation used here has been taken from the classification tables of Amol'd, Varchenko and GusejnZade C1982, 19841.
Fig. 4
250
A.I. Komech
25 1
obtained with the aid of a computer. This computer experiment provides us with a very strong argument in favour of the above conjecture. The principal methodological remark in the proof of this theorem (and of Theorem 3.2) is that the problem of local lacunae is the problem of the local theory of singularities of smooth functions; the reader is referred to Arnol'd, Varchenko and GusejnZade [1982,1984] for this theory.
0 5.
All the results of $ 3 and $ 4 have natural extension to the case of hyperbolic operators
P = P,(x)(a/ax)(l, Pa E c"(IR:), with variable coefficients (see Girding [1977]). In this case also we can define, in particular, the notion of sharpness and local homological Petrovskij condition. We do not formulate these notions here and present only the fundamental result of this theory.
Theorem 5.1 (see Girding [1977], Varchenko [1986]). Near the points of the wave jiont of a strictly hyperbolic equation which correspond to the isolated f generating functions, the local Petrovskq criterion implies the singularities o sharpness of the fundamental solution.
This theorem was proved by Girding El9771 for the case of analytic coefficients and near singularities of the types A, as well as in the Cmcase.This work also contains a hint to the proof of the theorem in the general formulation presented above that we realized by Varchenko [1986].
Bibliographical Comments
The theory of generalized functions has been dealt with at length in the books by Gel'fand and Shilov [1958a, 1958b1, Schwartz [1961, 19661, Shilov [1965] and Vladimirov [1979]. These books also contain a number of useful exercises and illustrative examples. The books by Ditkin and Prudnikov [1966], Doetsch [1967], and Titchmarsh [1937] discuss a wide range of problems connected with the theory and applications of the Fourier transformation and, in particular, questions connected with operational calculus. The most effective methods of investigating general equations with constant coefficients suggested in Bernshtejn [1971], Bernshtejn and Gel'fand [1969], Bjoric [1979], Hormander [1958], Lojasiewicz [1959], Palamodov [1960, 19671are based on the ideas of algebraic geometry. The works of Borovikov [1959], Girding [1950], Girding, Kotakt and Leray [1964], Hadamard [1932], Hormander [1983, 19851, Leray [1953], and Riesz [1949] contain detailed information regarding the structure, singularities and asymptotics of fundamental solutions of hyperbolic equations while Atiyah, Bott and GHrding [1970, 19731, Davydova [1945], Gabriehlov [1986], GHrding [1977], Petrovskij [1945], Vasil'ev [1968] contain information regarding lacunae of these solutions.
The works of Petrovskij [1937a, 1937b, 19383 contain fundamental results on the wellposedness question of the Cauchy problem for hyperbolic equations while the work of Gel'fand and Shilov [1958c] contains fundamental results on uniqueness classes and wellposedness classes of the Cauchy problem for equations with constant coefficients. An exhaustive account on wellposedness of the boundaryvalue problems for parabolic systems (and equations) can be found in Ehjdel'man [1964]. Agranovich and Vishik [1964] present the theory of boundaryvalue problems in the Sobolev function spaces for equations with variable coefficients which is almost as effective as the one for equations with constant coefficients; Vishik and Ehskin [1965] treat this theory for pseudodifferential equations. An account of the theory of Sobolev spaces and embedding theorems can be found in Egorov [1984], Hormander [1963, 19833, Mikhlin [1977], Shubin [1978], Sobolev [1950], Volevich and Paneyakh [1965]. The works of Grushin [1963a] and Vajnberg [1966] discuss important questions of the stationary theory of scattering, connected with the Sommerfeld radiation conditions, for general equations while Tikonov and Samarskij [1951] treat these questions for the simplest concrete example. Merzon [1973] obtained conditions for the solvability of equations in a cone (as well as in an angle). The reader can become acquainted with the application of the SeidenbergTarski theorem from the works of Gorin [1961], Hormander [1963,1983,+$85], Shilov [1965], and TrBves [1961]. Those interested in the application of equationskith constant coefficients to mathematical physics are referred to Bogolyubov and Shirkov [1973], Courant [1962], and Reed and Simon [1975,1979]. The books by Bateman and Erdtlyi [1953] and Whittaker and Watson [1927] contain vast information on special functiofis and their applications to partial differential equations. A sufficiently complete account of the theory of analytic functions in several complex variables can be found in Gunning and Rossi [1965], Hormander [1973], and Vladimirov [1964]. Agranovich [1961] has surveyed the theory of equations with constant coefficients while the book by Treves [1961] can serve as a course book on these equations. The most complete account of the modern theory of equations with constant coefficients can be found in the monographs of Hormander [1983,1985] and Palamodov [1967]. These monographs discuss such vital questions as the approximation to solutions, Pconvexity and solvability of equations in domains, scattering theory, the WKB method (the transition from wave optics to geometric optics), systems of equations etc. which could not be discussed in the present survey paper due to lack of space. For a detailed account of the modern theory of partial differential equations with variable coeficients the reader is referred to Egorov [1984], Hormander [1983,1985], and Shubin [1978]. The books by Courant [1962], Hormander [1963], Mikhlin [1977], Petrovskij [1961], Tikhonov and Samarskij [1951], and Vladimirov [1981] can be used as general guide books on partial differential equations.
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Agranovich, M.S., Vishik, M.I. Elliptic problems with a parameter and parabolic problems of general type. Usp. Mat. [1964] Nauk 19, No. 3,53161. English trans].: Russ. Math. Surv. 19, No. 3,53157,Zb1.127,296 Arnol'd, V.I., Varchenko, A.N., GusejnZade, S.M. Singularities of Differentiable Maps. Vol. 1. Moscow: Nauka, Zb1.513.58001. English [1982] trans].: Monographs in Mathematics 82, Boston, MA: Birkhauser 1985 Singularities of Differentiable Maps. Vol. 2. Moscow: Nauka, Zb1.545.58001. English [1984] trans].: Monographs in Mathematics 83, Boston, M A Birkhauser 1988 Atiyah, M.F., Bott, R., Girding, L. [1970] Lacunas for hyperbolic differential operators with constant coefficients. I. Acta Math. 124, 109189,Zb1.191,112 [1973] Lacunas for hyperbolic differential operators with constant coefficients. 11. ibid. 131, 145206,Zb1.266.35045 Bateman, H., ErdByi, A. [1953] Higher Transcendental Functions. Vol. 2. New YorkTorontoLondon: McGrawHill. Zb1.52295 Bjork, J.E. [1979] Rings of Differential Operators. Amsterdam: NorthHolland Publ. Co., Math. Library Series 21,Zb1.499.13009 Bernshtejn, LN. Modules over rings of differential operators. Investigation of fundamental solutions of [1971] equations with constant coefficients. Funkts. Anal. Prilozh. 5, No. 2,116. English trans].: Funct. Anal. Appl. 5,89101,Zb1.233.47031 Bernshtejn, I.N., Gel'fand, S.I. [1969] The meromorphicity of the function PA.Funkts. Anal. Prilozh. 3, No. 1, 8485. English trans].: Funct. Anal. Appl. 3,6869,Zbl.208,152 Bogolyubov, N.N., Shirkov, D.V. [1973] Introduction to Quantum Field Theory; 2nd rev. ed. Moscow: Nauka. English trans].: New York: Wiley, 1979 Borovikov, V.A. [1959] Fundamental solutions of linear partial differential equations with constant coefficients. Tr. Mosk. Mat. 0va 8,199257,Zb1.90,312. English Trans].: Trans]., 11. Ser., Am. Math. SOC. 25 (1963), 1176 Courant, R. [1962] Partial Differential Equations. New York, London: Interscience Publishers, Zb1.99,295 Davydova, A.M. [1945] Sufficient Conditions for Lack of Lacuna. Moscow: Izdat. Mosk. Univ. Dirac, P. [l958] The Principles of Quantum Mechanics. 4th ed. Oxford Clarendon Press, Zb1.80,220 Ditkin, V.A., Prudnikov, A.P. [19661 Operational Calculus. Moscow: Vysshaya Shkola, Zbl. 148,367 Doetsch, G. [1967] Anleitung zum praktischen Gebrauch der LaplaceTransformation und zTransformation. 3rd rev. ed., Miichen, Wien: R. Oldenburg, Zb1.166,100 Egorov, Yu.V. [1984] Linear Differential Equations of Principal Type. Moscow: Nauka. English trans].: New York: Contemp. Sov. Math. 1986,Zb1.574.35001 Ehjdel'man, S.D. (= Eidel'man, S.D.) [19641 Parabolic Systems. Moscow: Nauka. English transl.: Amsterdam: NorthHolland 1969, Zb1.121,319 Ehrenpreis, L. [1954] Solutions of some problems of division. I. Amer. J. Math. 76, 883903,Zb1.56,106 Gabriehlov, A.M. [1986] Proof of Petrovskij's theorem. Supplement to the book Petrovskij, I.G., Izbrannye Trudy
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Lojasiewicz, S. [1959] Sur le probleme de division. Stud. Math. 18,87136,Zb1.115,102 Lopatinskij, Ya.B. [1953] On a device of reducing boundaryvalue problems for a system of elliptic differential equations to regular integral equations. Ukr. Mat. Zh. 5, No. 2, 123151, Zb1.52,102. English transl.: Transl., 11. Ser., Am. Math. Soc.89, 149183 (1970) Malgrange, B. [19533 Equations aux derivbs partielles a coefficients constant. I: Solution elbmentaire. CR Acad. Sci. Paris 237, No. 25, 16201622,Zb1.52,342 Merzon, A.E. [1973] On the solvability of differential equations with constant coefficients in a cone. Dokl. Akad. Nauk SSSR 211, No. 2, 285288. English transl.: Sov. Math. Dokl. 14 (1973), 10121015, Zb1.311.35014 Mikhlin, S.G. [1977] Linear Partial Differential Equations. Moscow: Vysshaya Shkola Nuij, W. [1968] A note on hyperbolic polynomials. Math. Scand. 23, No. 1,6972,Zb1.189,408 Palamodov, V.P. On regularization and the problem of division. Dokl. Akad. Nauk SSSR 132, No. 2, [1960] 295298. English transl.: Sov. Math., Dokl. f, 560564, Zb1.98,310 Linear Differential Operators with Constant Coeffcients. Moscow: Nauka, Zb1.191,434. [1967l English transl.: New York, Berlin, Heidelberg: SpringerVerlag 1970 Paley, R., Wiener, N. [1934] Fourier Transforms in the Complex Domain. Amer. Math. SOC. Colloqium Publication, Providence, R.I.: American Math. SOC.,Zbl.l1,16 Petrovskij, LG. [1937a1 On the Cauchy problem in the domain of nonanalytic functions. Usp. Mat. Nauk, 3, 234238 [1937b] Uber das Cauchysche Problem fur Systeme von partiellen Differentialgleichungen. Mat. Sb. 2, NO. 5, 815868,Zb1.18,405 [1938] On the Cauchy problem for systems of partial differential equations in the domain of nonanalytic functions. Bull. Mosk. Univ., Mat. Mekh. 1, no. 7, 172,Zb1.24,37 [1945] On the diffusion of waves and the lacunas for hyperbolic equations. Mat. Sb. Nov. Ser. 17, NO. 2, 289370, Zb1.61,213 Lectures on Partial Differential Equations. Moscow: Fizmatgiz. English transl.: New [1961] York Wiley, 1955,Zb1.115,81 Reed, M., Simon, B. [1975] Methods of Modem Mathematical Physics. Vol. 2. New York Academic Press, Zb1.308.47002 [1979] Methods of Modem Mathematical Physics. Vol. 3. New York: Academic Press, Zb1.405.47007 Riesz, M. [1949] L'integral de RiemannLiouville et le probldme de Cauchy. Acta Math. 81, 1223, Zb1.33276 Rudin, W. Principles of Mathematical Analysis. New York MdjrawHill, Zb1.148,29 [1964] Schwartz, L. [1961] M6thodes mathkmatiques pour les science physiques. Paris: Hermann, Zb1.101,413 [19661 ThCorie des Distributions. Paris: Hermann, Zb1.149,95 Shilov, G.E. [19653 Mathematical Analysis. Second Special Course. Moscow: Nauka. English transl.: Oxford Pergamon Press, Zbl. 137,262 Generalized Functions and Partial Differential Equations. New York: Gordon and [1968] Breach, Zb1.159,183
Shubin, M.A. El9781 Pseudodifferential Operators and Spectral Theory. Moscow: Nauka. English transl.: Berlin, Heidelberg, New York: SpringerVerlag, 1987,Zb1.451.47064 Sobolev, S.L. Methode nouvelle a rbsoudre le probleme de Cauchy pour les equations lineaires hyper[1936] boliques. Mat. Sb., Nov. Ser. I, No. 1, 3971, Zb1.14.59 [19501 Applications of Functional Analysis in Mathematical Physics. Izdat. Leningrad. Gos. Univ. English transl.: Providence, R.I.: Amer. Math. SOC.,1963, Zb1.123,90 Tikhonov, A.N., Samarskij, A.A. Equations of Mathematical Physics. 4th rev. ed. Moscow: Nauka. English transl.: Oxford [1951] Pergamon Press, 1963,Zbl.l11,290 Titchmarsh, E. Introduction to the Theory of Fourier Integrals. Oxford Clarendon Press, Zb1.17,404 [1937] Treves, F. Lectures on Linear Partial Differential Equations with Constant Coefficients. Rio de [1961] Janeiro: Notas de Mathematica, No. 27,Zb1.129,69, New York Gordon and Breach 1966 Vajnberg, B.R. The principles of radiation, limiting absorption and limiting amplitude in the general [1966] theory of partial differential equations. Usp. Mat. Nauk 21, No. 3, 115194. English transl.: Russ. Math. Surv. 21, No. 3, 115193,Zb1.127,137 Varchenko, A.N. On normal forms of nonsmoothness of solutions of hyperbolic equations. Izv. Akad. [1986] Nauk SSSR 51, No. 3, 652665. English transl.: Math. USSR, Izv. 30, No. 3, 615628 (1988), Zb1.646.35054 Vasil'ev, V.A. Sharpness and the local Petrovskij condition for strictly hyperbolic operators with con[1986] stant coefficients. Izv. Akad. Nauk SSSR 50, No. 2, 242283. English transl.: Math. USSR, IZV.28,233273 (1987), Zb1.615.35012 Vishik, MI., Ehskin, G.I. (= Eskin, G.I.) El9651 Convolution equations in a bounded domain. Usp. Mat. Nauk 20, No. 3,89152. English transl.: Russ. Math. Surv.20, No. 3,85151,Zb1.152,342 Vladimirov, V.S. [1964] Methods of the Theory of Functions in Several Complex Variables. Moscow: Nauka. English transl.: Cambridge, Mass.: M.I.T. Press, 1966,Zb1.125,319 [19791 Generalized Functions in Mathematical Physics. Moscow: Nauka. English transl.: Moscow: Mir Publishers, 1979, Zb1.515.46034 [19811 Equations of Mathematical Physics, 4th edition. Moscow: Nauka. English transl.: Moscow: Mir Publishers, 1984, Zb1.652.35002, 5th ed., compl. 1988 Volevich, L.R., Paneyakh, B.P. (= Paneah, B.P.) [1965] Some spaces of generalized functions and embedding theorems. Usp. Mat. Nauk 20, No. 1, 374. English transl.: Russ. Math. Surv. 20, No. 1, 173,Zb1.135,165 Weyl, H. [1940] The method of orthogonal projection in protential theory. Duke Math. J. 7, 411444, Zb1.26,20 Whittaker, E.T., Watson, G.N. [1927] A Course of Modern Analysis. 4th ed. Cambridge: Cambridge Univ. Press, FdM.53J.80 Yosida, K. [1965] Functional Analysis. Berlin, Heidelberg, New York SpringerVerlag, 3rd ed., 1971, Zbl. 126,115
i
Author Index
Agranovich, M.S. 4,6,26, 36, 37,67, 69, 113, 114, 155, 156, 232,251,252 Airy, G.B. 72,73 Arnol'd, V.I. 54,82, 85, 92, 114, 115,248251 Atiyah, M.F. 25, 109, 114, 115, 127,242247,250,252 Babich, V.M. 96, 114, 115 Balaban, T. 67, 115 Banach, S. 164, 165 Bateman, H. 146, 188, 199, 209,210,251,252 Beals, R. 65, 114, 115 Beltrami, E. 106, 112 Bkrard, P.H. 113115 Berezin, F.A. 96, 115 Bernshtejn, I.N. 143, 167, 172, 173,250,252 Bers, L. 36, 37, 115 Bessel, F.W. 125, 186, 188, 193,198,207 Birman, M.Sh. 114, 115 Bjork, J.E. 250,252 Bochner, S. 159,166,239 Bogolyubov, N.N. 126,127, 144, 145,206,251,252 Borovikov, V.A. 248,250,252 Bott, R. 109,114, 115,127, 242247,250,252 Brillouin, L. 78 Buldyrev, V.S. 96, 114, 115 Bunyakovskij, V.Ya. 154
I
I
Courant, R. 96,97, 100, 115, 182, 183,251,252 DAlembert, J. 125, 144,237 Davydova, A.M. 248250, 252 Dirac, P.A.M. 129, 133,252 Dirichlet, L.P.G. 43,99,224, 225,229 Ditkin, V.A. 176,177,250, 252 Doetsch, G. 126, 176, 177, 250 Duistermaat, J. 63, 112, 114, 116 Dynin, A.S. 25 5
I>
48, 55, 56, 61,62,65, 67, 68, 85,90,96,99, 101, 110, 114, 116,251,252 Ehrenpreis, L. 125, 143, 164,165,169,252 Ehjdel'man, S.D. (= Eidel'man, S.D.) 237,238,251,252 Erdtlyi, A. 146, 188, 199,209, 210,251,252 Eskin,G.I.(=Ehskin,G.I.) 6, 78, 114, 116, 184, 217,232, 238,251,255 Euler, L. 61, 125, 182 Fedorova, S.I. 101, 117 Fedoryuk, M.V. 54,79,8587,90,95,96, 113, 114, 116, 118 Fedosov, B.V. 24,25, 114,116 Fefferman, C. 65, 114, 115 Fourier, J.B.J. 36,48, 56, 59, 88, 125, 149, 151, 153, 175, 176,213,239 Fredholm, I. 23,24,32, 35 Friedlander, F.G. 71, 116 Friedrichs, K. 6, 114, 116 Fubini, G.G. 150, 153
Gabriehlov, A.M. 245,250, 252 Girding, L. 125, 127, 182, 183,215,229,231,236,240, 242250,252,253 Gel'fand, LM. 25,125127, 129,134136, 140, 143,148, 150, 152, 158, 159, 167, 172, 189, 191, 192, 229,234,237, 250253 Gevrey, M. 48 Giraud,G. 36 Givental, A.B. 114 Glazman, I.M. 96,98, 116 Gokhberg, LTs. 29, 117 Gordon, W. 127, 144, 186, 194,206,216,224 Gorin, E.A. 168, 169,251,253 Green,G. 125 Grubb, G. 107, 114,117 Grushin, V.V. 146,149,171, 212,251,253 Guillemin, V. 44, 79,96, 112, 114, 116, 117 Gunning, R. 159,251,253 Gureev, T.V. 101, 117 GusejnZade, S.M. 82,114, 115,248250,252 Hadamard, J. 13,125,127, 199,206,230,250,253 Hahn, K. 164,165 Hamilton, W.R. 48,55,84,90, 91, 92,95 Hankel, H. 146,209 Hartogs, F. 247 Heaviside, 0. 125, 126, 129, 144 Helmholtz, H. 146, 167, 168, 170,171,184,207,209,210, 218,227 Herglotz, G. 125,246 Hersh, R. 66,67, 117 Hilbert, D. 13, 18, 36, 96, 100, 115 Hill, G.W. 113
Calderon, A.P. 36, 39,40,43, 113, 115 Carleman, T. 110,115 Cauchy,A.L. 30,31,39,49, 62,86,87, 140, 154, 165, 166, 170,184,218,224,225,227231,235,238 Chazarain, J. 111 Colin de Verdiere. 111 Cordes, H.O. 115
258
Author Index Popov, G.S. 113,118 Povzner, A.Ya. 70, 118 Prudnikov, A.P. 176, 177,
250,252
259
144146,150,159161,165, 166,174,203,209,250,251, 255 Volevich, L.R. 141, 155,156, 251,255 Volovoj, A.V. 113, 119
Tikhonov, A.N.
255
146,171,251,
Lorentz, H.A.
204
134,186, 193,
l81184,212,214,215,2l7,
222,223,230,250,251,253
Radkevich, E.V. 114, 118 Rauch, J. 67,119 Reed, M. 6,114, 118, 140,
145,161,251,254 Rempel, S. 6,107,114,119 Riemann, W. 184,218,227 Riesz, F. 23 Riesz, M. 125, 127, 168, 172, 198,202,250,254 Roitburd, V. 105 Rossi, H. 159,251,253 Rozenblyum, G.B. 110,114 Rudin, W. 254
Watson, G.N.
Huygens, Ch. 44 Ikawa, M. 117 Ikehara, S. 109 Ivrii, V.Ya. ( =Ivrij, V.Ya) 96,
100,101,113, 114, 117
Maslov, V.P. 8587,90,9496,113,114,118 Melrose, R. 73, 114, 118 Merzon, A. 161,165,174,251, 254 Mikhlin, S.G. 36, 113, 118, 251,254 Mishchenko, AS. 96, 113, 114,118 Mizohata, S . 36, 38, 118 Morse, H.M. 80, 81,247,248 Muskhelishvili, N.I. 25
146,188, 199, 209,251,255 Wentzel, G. 78 Weyl, H. 33, 34, 100, 102, 103, 105,184,255 Whittaker, E.T. 146, 188, 199, 209,251,255 Wiener, N. 126, 150, 160, 161, 254
Jacobi, K.G.J. 9092, 95 John, F. 36,37, 115 Jordan, C. 39,40 Kajitani, K. 117 Kirchhoff, G.R. 125,144,237 Klein, F. 127, 144, 171, 186,
194,206,216,224 Kohn, J.J. 6, 113, 117 Komech, A.I. 161,253 Korn,A. 36 Kostyuchenko, A.G. 26 Kotakk, T. 182, 183,250,253 Kramers, H. 78 Kreiss, H.O. 67, 117 Krejn, M.G. 29, 117 Krejn, S.G. (= Krein, S.G.) 127,253 Kronecker, L. 133,234 Kumanogo, H. 6,9, 14, 17, 19,32, 35, 114, 117
Safarov, Yu.G. 101,117 Sakamoto, R. 69, 119 Samarskij, A.A. 146, 171,251,
255
Noether, F. 25 Nuij, W. 242,254 Olejnik, O.A. 114, 118 Oshima, T. 73, 118 Oshmyan, V.G. 96,113, 114,
118
Sato, M. 44,73,113, 119 Schechter, M. 36,37,115 Schenk, D. 113, 119 Schmidt,E. 18 Schrodinger, E. 103, 113,145,
147,212,220,225,227,238
Paley, R.E.A.C.
161,254
126,150,160,
Parseval, M. 36, 151, 152 Patodi, V.M. 109,114, 115 Petkov, V.M. 101, 119 Petrovskij, LG. 114, 119, 125, 127,180,203,212215,217,
219,228,231, 233, 234, 237, 240,242247,250,252,254 Plamenevskij, B.A. 114, 119 Planck, M. 34 Plemelj, J. 155 Poisson, S.D. 33,40,55, 111, 112,125, 144, 149,234,235, 231
Subject Index
amplitude, classical 11 of Fourier integral operater 49  of pseudodifferential operater 9 analytic continuation of generalized function 141  functional 159

bicharacteristiqs) 63, 182 ,glancing 73 ,null 74  strips 182 big singularity 112 boundary value of analytic function 141 boundaryvalue problem, regular 221,226 ,third 225  , wellposed 23 1 Cauchy problem 225 226 caustics 90 characteristic cone 179, 183, 242  conoid 183  conormal 178  equation 178  hypersurface 179  plane 179  polynomial 241 condition, HershKreiss 66 , Sakamato 68 , ShapiroLopatinskij 232 , uniform Lopatinskij 69  with parameter, ellipticity 26 cone 138 ,dual 160 , future light 203 ,light 203 , past light 203 conical subset 45 conjecture, Sat0 73 convolution of functions 137   generalized functions 137
 , regular
for operator 229 distribution 128 , exponentially growing 161 ,Fourier 59 , temperately growing 141  with compact support 135 division problem 164   in classes of tempered distributions 167

eikonal 83 embedding 129 equation, Airy 72 , CauchyRiemann 218 , convolution, 177 , diffusion Y45 ,eikonal 83 , heat conduction 145 , Helmholtz 146 , KleinGordon 144 ,  hyperbolic 224 , Laplace I45  of heat transfer with absorption (generation) 219 , Petrovskij welldefined 215 ,  /3parabolic 219 , aregular 215 , Schrodinger 145 , secondorder differential 196 , Shilov hparabolic 218 ,transport 53, 85 ,wave 144  with friction, wave 216  with retarded argument 177 example, Friedlander 71 , Hadamard 230 ,Lewy 64 ,Taylor 74 formula, AtiyahBott 108 , dAlembert 144,237 , differentiation 149 , DyninFedosov 25 , Kirchhoff 144,237 , NoetherMuskhelishvili 25  of piecewise smooth functions, differentiation 129
262
Subject Index point, absolutely periodic 112 , diffractive 74 , elliptic boundary 74 , hyperbolic  74 , focal 82 , glancing 74 ,gliding 74 , nondegenerate 74 ,  critical 79  ofcontact 74   ,higher order 74   periodic flow 111   stationary phase 79 Poisson bracket 55  kernel 235  relation 111 phase function 49  , Lagrangian manifold 58 ,local 58  , nondegenerate 57 potential, advanced 144 , retarded 144 principal homogeneous part of operator 178  value of integral 13 principle, Courants minimax 97 pseudolocality 8 pseudodifferential operator, complex powers 31 .kernel 7 quantization 34 , Weyl 34 ray 82 regularization problem 168 , formal function 169 relation, homogeneous canonical 60 root, Petrovskij welldefined 214 ,stable 214 , unstable 214 , awellposed 214 set, asymptotically timelike 138 , spacelike 138 semibicharacteristic, reflected property 71 solution, asymptotic 83 , rapidly oscillating  83 space, Schwartz 141 , test functions 128 structure, symplectic 54 support of function 134   generalized  134    ,singular 136 swallowtail 248 symbol, classical 11 , differential operator 6 , elliptic 15 , operator 102 , convolution  108 , polyhomogeneous 11 , principal 11 , symmetric 34 , Weyl 33 theorem, Calderon 39 , CalderonZygmund 36 , composition 15 ,Ikehara 109 , mean value 148 ,PayleyWiener 150 , regularity 17 transformation, canonical 54 , Fourier 149 ,contact  213 , FourierLaplace 175 , Hilbert 13 , Laplace 176 , Lorentz 134 wave diffusion 147,203 82,180  set 44,48   of generalized function  _ operator 243 weak convergence 128 Weylsymbol 33  hsymbol 34
263
, Poisson 144,237 , SokhotskijPlemelj 155 , translation 150 function, Diracs delta 129 ,formal 169 , Heaviside 129 ,Morse 248  of eigenvalues, distribution 97 fundamental solution, advanced 144 ,formal 200  , invariant 197    equation 142   of boundaryvalue problem 234    differential operator 142  , retarded 144 Fourier integral 149
generalized function 128  , derivative 129 ,order 135  , product 137  , temperately growing 161 generating function of canonical transformation 55    Lagrangian manifold 93  , projective 247 glancing surface 73 Hamiltonian system 181 Hormander staircase 166 index, Maslov 94 ,operator 24 lacuna 244 ,local 244 ,strong 244 lemma, Glazman 98 ,Morse 80 , Weyl 184 locally equivalent phase functions 58 Lojasiewicz inequality 169 Lopatinskij determinant 69  matrix 69 manifold, Lagrangian 57,91
,
oblique derivative problem 225 operator, canonical 94 , CauchyRiemann 184 , differential 6  with constant coefficients,differential 241 , elliptic 183 ,  Fourier integral 56 ,  pseudodifferential 15 , formal adjoin t 9 , Fourier integral 48 , Girding hyperbolic 215 , global Fourier integral 60 , Helmholtz 167 ,Hill 113 ,hyperbolic 243 , hypoelliptic 184 , KleinGordon 171 , Laplace 184 , Maslov canonical 94 , Petrovskij hyperbolic 242 ,  strictly  180,215 ,  welldefined 215 , precanonical 93 , principal type differential 60 , pseudodifferential 7 , principal type  61  on manifold,  19 , properly supported  14 , semiglobally solvable  63  solvable at a point,  63 , uniformly elliptic  32 , aregular 215 , singular integral 36 , multidimensional   13 , onedimensional   12  on smooth curve,   22 , spectral function 108 , Stein extension 238 , strictly elliptic 167 , subelliptic 65 ,transpose 8 , cfunction of 106 ,wave 171 parametrix 16 Parseval identity 151  theorem 152 Petrovskij class 244  criterion 244 ,local 244  cycle 247
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