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Hence,
R
| n q d|
kn (q)k1/2, = sup kqkdiv,
H 1/2 () kk1/2,
which proves the continuity of n with respect to the k kdiv, -norm.
d is dense in H(div, ), n can be extended by continuity
Since D()
to H(div, ) such that
(7.15) kn (q)k1/2, kqkdiv, , q H(div, ) .
4 Ronald H.W. Hoppe
Denoting by < , > the dual pairing between H 1/2 () and H 1/2 (),
Greens formula now reads as follows:
Theorem 7.3 Greens formula
For q H(div, ) and H 1 () there holds
Z Z
(7.16) q grad dx + div q dx = < n q, > .
Hence, we obtain
< Bh vh , q >Q ,Q = < Bh vh , PQh q >Q ,Q = b(vh , PQh q) =
= < Bvh , PQh q >Q ,Q = < PQh Bvh , q >Q ,Q , vh Vh .
from which we deduce
(7.30) Bh = PQh B|Vh .
Consequently, the existence and uniqueness of a solution (uh , ph )
Vh Qh of (7.29) require a proper balancing of the subspaces Vh and
Qh .
Theorem 7.4 Existence and uniqueness result
Let V and Q be Hilbert spaces and let a(, ) : V V lR and
b(, ) : V Q lR be bounded bilinear forms with associated
operators A : V V and B : V Q .
Moreover, let Vh V and Qh Q be finite dimensional subspaces
and Ah : Vh Vh and Bh : Vh Qh the operators associated with
a(, )|Vh Vh and b(, )|Vh Qh .
Suppose that the following conditions are satisfied:
(i) The bilinear form a(, )|Vh Vh is Ker(Bh )-elliptic, i.e., there exists
a constant h > 0 such that
(7.31) a(vh , vh ) h kvh k2V , vh Ker(Bh ) .
(ii) The bilinear form b(, )|Vh Qh satisfies the Babuska-Brezzi-
Ladyzhenskaya condition
b(vh , qh )
(7.32) inf sup h > 0 .
qh Qh \Ker(Bh ) vh Vh kvh kVh kqh kQh /Ker(B )
h
satisfying
1 b(u vh , qh ) 1
(7.39) krh kV sup kbk ku vh kV .
h qh Qh kqh kQ h
In view of Bu = g, (7.38) tells us that wh := rh + vh Zh (g). Conse-
quently, using (7.39) we obtain
kbk
(7.40) ku wh kV ku vh kV + krh kV 1 + ku vh kV .
h
From (7.40) we readily deduce
kbk
(7.41) inf ku wh kV 1 + inf ku vh kV .
wh Zh (g) h vh Vh
Finally, using (7.41) in (7.37) gives (7.33).
Proof of (7.34). If we subtract the first equation in (7.29) from the
first equation in (7.18) (choosing v = vh Vh ), we get
a(u uh , vh ) + b(vh , p ph ) = 0 , vh Vh .
Then, for any qh Qh
b(vh , qh ph ) = a(u uh , vh ) b(vh , p qh ) .
The Babuska-Brezzi-Ladyzhenskaya condition (7.32) implies
1 b(vh , qh ph )
kqh ph kQ/Ker(Bh ) sup =
h vh Vh kvh kV
1 b(vh , qh p) + a(uh u, vh )
= sup ,
h vh Vh kvh kV
whence
1
(7.42) kqh ph kQ/Ker(Bh ) kbk kp qh kQ + kak ku uh kV .
h
Then, (7.34) follows by the triangle inequality.
Theorem 7.5 is a Cea like result which tells us that the discretization
errors u uh and p ph are bounded by the best approximations of
the solutions u V and p Q of (7.18) by functions in Vh and Qh ,
respectively. However, in terms of the constants h and h , the bound
still depends on h.
If we require the bilinear form a(, )|Vh Vh to be uniformly Ker(Bh )-
elliptic and the bilinear form b(, )|Vh Qh to satisfy the Babuska-
Brezzi-Ladyzhenskaya condition uniformly in h, the dependence on
h can be removed:
Theorem 7.6 A priori error estimate
Finite Element Methods 11
Then, we have
(7.45) ku uh kV
kak kbk kbk
1+ 1+ inf ku vh kV + inf kp qh kQ ,
vh Vh qh Qh
(7.46)
kbk kak
kp ph kQ/Ker(Bh ) 1 + inf kp qh kQ + ku uh kV .
qh Qh
Proof. The proof follows directly from Theorem 7.5.
We have
(k + 1)(k + 3) , d = 2 ,
(7.56) dim RTk (K) = 1 .
2
(k + 1)(k + 2)(k + 4) , d = 3
@
@
@
@
P
iP
1@
@
@ @
@
I
@ @ @
@ @
@ @
? @
@
@
Fig. 7.1: RT0 (K) , d = 2 Fig. 7.2: RT0 (K), d = 3
14 Ronald H.W. Hoppe
@
@
iP
P @
1
@
iP
P u @
1
@
I
@ @@
@
@
I u @ @
@ @ @
@ @P
iP
1
? ? @
@
@
Fig. 7.3: RT1 (K) , =
.2 Fig. 7.4: RT1 (K) , d = 3
Then
div q = 0 .
Finite Element Methods 15
x3
(0, 0, 1)
@
@
@
@
f4 @ (0, 1, 0)
@
x
2
(1, 0, 0)
x1
k1 := (1 , 2 , 3 )T in (7.60), we obtain
If we choose p
X 3 Z
xi i2 dx = 0
i=1
K
16 Ronald H.W. Hoppe
1 c q
(7.73) div q = div ,
det(B)
q and Dq denote the Jacobians of q
where D and q, respectively.
Proof. (7.72) can be easily established by elementary calculations,
whereas (7.73) follows from the fact that the trace of a matrix is in-
variant with respect to a change of variables.
If we define
(7.81) Hm (div, ) := {q H m ()d | div q H m ()} , m lN ,
we have the following transformation rules:
Finite Element Methods 19
In order to study the error in H(div, K), we need the following impor-
tant commuting diagram property:
Proof. The proof can be done using Lemmas 7.11,7.12 and standard
scaling arguments.
References
[1] F. Brezzi and M. Fortin, Mixed and hybrid finite element methods. Springer
Series in Computational Mathematics, Springer-Verlag, New York, 1991
[2] V. Girault and P.A. Raviart, Finite Element Approximation of the Navier-
Stokes Equations. Lecture Notes in Mathematics 749, Springer, Berlin-
Heidelberg-New York, 1979
[3] J. Hiriart-Urruty and C. Lemarechal, Convex Analysis and Minimization Al-
gorithms. Springer, Berlin-Heidelberg-New York, 1993
[4] P.A. Raviart and J.M. Thomas, A mixed finite element method for second order
elliptic problems. In: Mathematical Aspects of the Finite Element Method (I.
Galligani and E. Magenes; eds.), Lecture Notes in Mathematics 606, Springer,
Berlin-Heidelberg-New York, 1977
[5] K. Yosida, Functional Analysis. Springer, New York, 1966