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Global attractor for a nonlinear Timoshenko

equation with source terms

Article January 2013

DOI: 10.1186/2251-7456-7-32

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Jorge Alfredo Esquivel-Avila

Metropolitan Autonomous University
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Esquivel-Avila Mathematical Sciences 2013, 7:32
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ORIGINAL RESEARCH Open Access

Global attractor for a nonlinear Timoshenko

equation with source terms
Jorge Alfredo Esquivel-Avila

Abstract
We study weak solutions of the Timoshenko equation in a bounded domain. We consider a nonlinear dissipation and
a nonlinear source term. We obtain boundedness of the solutions as well as their asymptotic behavior. In particular,
the source term does not produce a blowup, and the global attractor is the set of all equilibria.
Keywords: Timoshenko equation; Global solutions; Boundedness; Asymptotic behavior; Global attractor
MSC: 35L70; 35B35; 35B40

Introduction work of Antman [1] for a general and rigorous frame-

In this work, we shall study the dynamics of the following work of models in the theory of elasticity, in particular,
equation: of Equation 1. Here, we are interested in the qualita-
tive behavior of solutions of the Timoshenko equation
utt + 2 u M(u22)u + g(ut ) = f (u) in , (1)
for any n. The dynamics of second-order equations in
with one set of the following boundary conditions: time has been widely studied by Alves and Cavalcanti [2],
u = 0 and u = 0 on  Barbu et al. [3], Cavalcanti et al. [4-9], Rammaha and
Sakuntasathien [10,11], Todorova and Vitillaro [12,13].
or There are a number of papers studying the dynamics of
u Equation 1, when sf (s) 0, s R; see for instance the
u = 0 and = 0 on ,
books of Hale [14] and Haraux [15] and references therein.
and the following initial conditions: For a destabilizing source term, sf (s) > 0, s R \{0},
u(x, 0) = u0 , ut (x, 0) = v0 , x . there are several results studying the effect of this force in
nonlinear wave equations; see the papers of Payne and Sat-
Here,  Rn is a bounded domain with a sufficiently tinger [16], Georgiev and Todorova [17], Ikehata [18], and
smooth boundary,  2 is the norm in L2 (), and the Esquivel-Avila [19,20]. For the undamped Timoshenko
nonlinearities considered are defined by: equation, Bainov and Minchev [21] gave sufficient con-
ditions for the nonexistence of smooth solutions of (1),
M(s2 ) = +s2 , 0, 0, + > 0, 1,
with negative initial energy, and gave an upper bound
(2) of the maximal time of existence. For positive and suffi-
ciently small initial energy, blowup and globality proper-
g(ut ) = ut |ut |2 , > 0, 2, (3) ties are characterized in the study of Esquivel-Avila [22].
and For damped Timoshenko equation, see another study of
Esquivel-Avila [23]; we proved blowup in finite time, glob-
f (u) = u|u|r2 , > 0, r > 2. (4)
ality and unboundedness, globality and convergence to
For n = 1, Timoshenko equation is an approximate the equilibria, and rates of such convergence for the zero
model describing the transversal motion of a rod. See the equilibrium. All these results were obtained by means of
the potential well theory under the assumption that r
Correspondence: [email protected] 2( + 1). To the knowledge of the author, the behavior of
Departamento de Ciencias Bsicas, Anlisis Matemtico y sus Aplicaciones,
UAM-Azcapotzalco, Av. San Pablo 180, Colonia Reynosa Tamaulipas, Mexico the solutions is still unknown when 2 < r < 2( + 1).
02200, Distrito Federal, Mexico Here, we prove that, in this case, there is no blowup; all

2013 Esquivel-Avila; licensee Springer. This is an Open Access article distributed under the terms of the Creative Commons
Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction
in any medium, provided the original work is properly cited.
Esquivel-Avila Mathematical Sciences 2013, 7:32 Page 2 of 8
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of the solutions are global, are uniformly bounded, and We define the set of equilibria of Equation 1 by:
converge to the equilibria set.
E {ue B : 2 ue M(u22 )ue = f (ue )}. (11)
Preliminaries
We present an existent, unique, and continued theorem
We notice that, in particular, 0 E .
for Equation 1 (see [23]).

Theorem 1. Assume that r > 2 and r 2(n 2)/(n Main result

In this section, we prove that all of the solutions are global
4) if n 5. For every initial data (u0 , v0 ) H B
L2 (), where B is defined either by B H 2 () H01 () or and uniformly bounded and that the global attractor is E .
by B H02 (), there exists a unique (local) weak solution
Theorem 2. Let (u(t), v(t)) be a solution of problem (1),
(u(t), v(t)) of problem (1), that is,
given by Theorem 1. Assume that r < 2( + 1) and r
2n/(n 2) if n 3. Then, (u(t), v(t)) is global and uni-
d
(v(t), w)2 + (u(t), w)2 + M(u(t)22 )(u(t), w)2 formly bounded, and (u(t), v(t)) E is strongly in H as
dt t , where E {(ue , 0) : ue E , J(ue ) = E
+ (g(v(t)), w)2 = (f (u(t)), w)2 , lim t E(u(t), v(t))}.
(5)
Proof. Since the proof is long, we shall divide it into five
almost everywhere (a.e.) in (0,T) and for every w B steps as follows. First, we prove that the solution is global
L (), such that and bounded. Next, we show that this implies weak con-
vergence to the equilibria set. In order to conclude strong
u C([ 0, T); B) C 1 ([ 0, T); L2 ()), convergence, we have to prove that the orbit is precom-
pact in the phase space. In order to do that, we show that
v ut L ((0, T) ).
the solution is uniformly continuous. We then prove the
precompactness of the orbit.
Here, (, )2 denotes the inner product in L2 ().
The following energy equation holds: Globality and boundedness
 t Notice that, from the continuous injection H01 () 
E0 = E(t) + v( ) d , (6) Lr (),
0
1 1 1
where c(u) 2( +1) = 2( +1) u2 2( +1) C()ur
1 1 1 1 1
1 = 2( +1) C() r b(u) r 2( +1) b(u) r ,
E(t) E(u(t), v(t)) v(t)22 + J(u(t)) (7)
2
and C() > 0 is a Sobolev constant. Then, along the
and solution, for any t 0,
1 1 1
J(u) a(u) + c(u) b(u), (8) 1 2( +1)
2 2( + 1) r c(u(t)) b(u(t)) r
2( + 1) 2( + 1)
with
and
a(u) u2B u22 + u22 , b(u) urr ,
2( +1)
(9) 1 1 2( +1)
c(u) u2 . c(u(t)) b(u(t)) b(u(t)) r
2( + 1) r 2( + 1)
  
Here, E0 E(u0 , v0 ) is the initial energy, and  q 2( +1)r
1 b(u(t)) r
,
denotes the norm in the Lq () space.
If the maximal time of existence TM < , then (12)
(u(t), v(t)) as t  TM , in the norm of H:
2( +1)
where . Here, we have either
(u, v)2H u2B + v22 . (10) r

r r
In that case, from (6) to (9), u(t)r as t  TM . (i) b(u(t)) 2( +1)r or (ii) b(u(t)) 2( +1)r .
Esquivel-Avila Mathematical Sciences 2013, 7:32 Page 3 of 8
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We use the energy equation in both cases. For the first Strong convergence to E
one, we get the following from (12): If the convergence is strong in H,
1 lim (u(tn ) ue , v(tn))H = 0,
(u(t), v(t))2H v(t)22 + a(u(t)) + c(u(t)) n
+1
2 r
then
2E0 + 2( +1)r .
r J(ue ) = lim J(u(tn )),
n
In the second case,
and by (14),
(u(t), v(t))2H = v(t)22 + a(u(t)) 2E(t) 2E0 . E lim E(tn ) = lim J(u(tn )).
n t
Therefore, for any t 0,
Consequently,
2 r
(u(t), v(t))2H 2E0 + 2( +1)r E0 . (13) E lim E(t) = J(ue ),
r t

Weak convergence to E
and the assertion of the theorem holds.
Since the solution is global and uniformly bounded in the Now, strong convergence follows if the orbit
norm of H, there exists a sequence, {tn }, such that if n {(u(t), v(t))}t0 (15)
, then tn , and (u(tn ), v(tn )) (u, v) weakly in
is a precompact subset of H.
H. Moreover, b(u(tn )) b(u), because of the compact
To show this, we shall use a technique due to Haraux
injection B  Lr (). On the other hand, the energy is
[15], and we shall extend it to handle the nonlinearities of
uniformly bounded and nonincreasing; consequently,
Equation 1 as follows.
< E lim E(t) = inf E(t) E(t) E0 < .
t t0 Uniform continuity
(14) We shall prove that t  (u(t), v(t)) H is uniformly con-
tinuous. In order to do that, we define, for every  > 0 and
From the energy equation and the continuous injection
t 0,
L ()  L2 (), this implies that
 t+1 u (t) u(t + ) u(t), v (t) v(t + ) v(t),
lim v( )2 d = 0. 2w (t) (u (t), v (t)2H .
t t

In particular, for any sequence {sn } such that sn as Hence, the uniform continuity of the solution holds if
n , for any > 0, there exists () > 0, such that
 1 w (t) , (16)
lim hn ( ) d = 0,
n 0 for every t 0, and  (0, ()). To get that estimate, we
need the energy equation for (u (t), v (t)). Then, from (5),
where hn ( ) v(sn + )2 , for [ 0, 1]. By Fatou
we obtain
Lemma,  t
lim inf v(sn + )2 = lim inf hn ( ) = 0, w (0) = w (t)+ (g ( )f ( ) m
  ( ), v ( ))2 d ,
n n 0
for a.e. [ 0, 1], and by the weak convergence to v, (17)

v2 lim inf v(tn )2 = 0, where

n
g (t) g(v(t +))g(v(t)), f (t) f (u(t +))f (u(t)),
where we choose {sn } such that tn = sn + 0 , for some
0 [ 0, 1]. Then, the weak limit set of the orbit is such that   (t) m(u(t +)22 )u(t +)m(u(t)22 )u(t),
m

w (u0 , v0 ) = {(u, 0) : (u(tn ), v(tn )) (u, 0), weakly in H}. and

2
m(u(t)22 ) u(t)2 .
The weak limit set is positive invariant (see Ball [24]),
that is, However, we cannot obtain (16) through the energy
equation (17) alone because of the form of the nonlin-
(u(0), v(0)) w (u0 , v0 ) (u(t), v(t)) w (u0 , v0 ), t > 0.
  (t). Hence, we have to work with the auxiliary
earity m
Consequently w (u0 , v0) E , that is, there exists some function:
ue E , such that, along a sequence of times, the solution 1
converges weakly to (ue , 0). W (t) w (t) + m(u(t + )22 )u (t)22 . (18)
2
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The corresponding energy equation for W (t) is Now, we apply Hlder inequality to obtain
 t   12
t+1
W (0) = W (t) + (g ( ) f ( ) m ( ), v ( ))2 d f ( )22 d C sup a(u(t))(r2)/2
0
 t
t t0
  2(r1)
1
(n ( ), u ( ))2 d , t+1
2(r1)
0 u ( )2(r1) d ,
(19) t
(27)
where
where C 2 (r)C(), and C() > 0 is a Sobolev
m (t) (m(u(t + )22 ) m(u(t)22 ))u(t) constant of the injection B  L2(r1) ().
We claim that t  u(t) L2(r1) () must be uniformly
and continuous. Otherwise, there exists some 0 > 0 and
n (t) m (u(t + )22 )(u(t + ), v(t + ))2 u (t). sequences {n }n1 {tn }n1 , such that n 0 and tn ,
as n , and
Notice that since the solution is uniformly bounded by
un (tn )2(r1) > 0 , (28)
E0 , there exists a constant E0 > 0, depending on E0 , such
that for every n 1. By assumption, B  L2(r1) ()
is compact, and since {u(t)}t0 is bounded in B,
w (t) W (t) E0 w (t), (20) then {u(tn + n )}n1 , {u(tn)}n1 are precompact in
L2(r1) (). Therefore, we can extract subsequences
that is, W is an equivalent norm of the solution in H. We
{u(tn + n )}n1 , {u(tn )}n1 , such that for some fixed n0 ,
shall show the uniform continuity property for W . which is sufficiently big, and every n n0 ,
For every t 0, we have either
u(tn + n ) u(tn )2(r1) u(tn + n ) u(tn0 + n0 )2(r1)
W (t + 1) W (t) (21) + u(tn0 + n0 ) u(n0 )2(r1)
or + u(tn0 ) u(tn )2(r1)
0 0 0
W (t + 1) > W (t). (22) + + = 0 .
3 3 3
If (22) holds,
This contradicts (28). Hence, for any > 0, there exists
 t+1 some  () > 0, such that for every t 0 and every 
0 > W (t) W (t + 1) = (g ( ) f ( ) m ( ), (0,  ()),
t
 t+1  t+1  2(r1)
1
2(r1)
v ( ))2 d (n ( ), u ( ))2 d . u ( )2(r1) d 4(1) . (29)
t t
(23) Consequently, from (27), (29), and Hlder inequality, we
A well-known inequality can be applied to the get
 t+1
monotone form of the damping term:
|(f ( ), v ( ))2 |d C4(1)
(g (t), v (t))2 22 v (t) . (24) t
(30)
 t+1  1
Therefore, (23) yields v ( ) d ,
 t+1  t+1
t

22 v ( ) d < (f ( ) + m ( ), where C > 0 depends on C, E0 , and the inclusion

t

t
(25) L ()  L2 ().
t+1
v ( ))2 d + (n ( ), u ( ))2 d . Now notice that

t m (t)2 sup{m (u(t)22 )} u(t + )22
t0
On the other hand, we apply another inequality for the 
source term: u(t)22  u(t)2 = sup{m (u(t)22 )} |
t0
 
(u(t + )+u(t), u(t + )u(t))2 |u(t)2
f (t) (r) |u(t + )|r2 + |u(t)|r2 |u (t)|,
(26) sup{m (u(t)22 )u(t + ) +u(t)2 u(t)2 }
t0

where (r) = 1 if r [ 2, 3] and (r) = (r 1)/2 if r > 3. u (t)2 C(E0 )u (t)2 ,
Esquivel-Avila Mathematical Sciences 2013, 7:32 Page 5 of 8
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then We apply inequality (26) to g , and by Hlder inequality,

we get
|(m (t), v (t))2 | C(E0 )u (t)2 v (t)2 . (31)
 t+1  t+1  1
Also, (g ( ), u ( ))2 d () v ( ) d
t t

|(n (t), u (t))2 | m (u(t + )22 )u(t + )2  t+1  1  t+1  2

u ( ) d v( + ) d
v(t + )2 u (t)2 u (t)2 t t
C(E0 )u (t)2 .
 t+1  2

(32) + v( ) d .
t
Here, C(E0 ) > 0 is a constant.
(38)
Since B  L2 () is compact, we show like in (29) that
 t+1  12
Notice that by (6) and (14),
u ( )22 d 4(1) . (33) 
t E0 E
v(t) dt . (39)
Consequently, from (31) to (33) and Hlder inequality, 0
we obtain By assumption, B  L (), then
 t+1
{|(m ( ), v ( ))2 | + |(n ( ), u ( ))2 |}d 
C4(1)  t+1  1
t
u ( ) d 2C() sup u(t)B C,
 t+1  1 t t0

v ( ) d +1 , (40)
t
where C > 0 depends on the embedding constant C()
(34) and E0 .
Therefore, from (35), (39), and (40) and for that is
where  C > 0 depends on C(E0 ) and the inclusion
sufficiently small, (38) becomes
L ()  L2 ().
 t+1 
Taking into account (30) and (34) in (25), we have  
 (g ( ), u ( ))2 d  2 ()C
 t+1 
t
v ( ) d 
C4(1)   2 (41)
E0 E 2
t
3 .
 t+1  1 5
v ( ) d +1 , Now, by (27), (29), and (33) and for small , we obtain
t
 t+1
2
(f ( ), u ( ))2 d C8(1) . (42)
where  C > 0 is a constant. Consequently, for that is t 5
sufficiently small, we obtain
Next, we have the estimate
 t+1
v ( ) d 3 (35) m (t), u (t))2 = m(u(t + )22 )u (t)22
(
t
+ {m(u(t + )22 ) m(u(t)22 )}
and (u(t), u (t))2
 t+1 2 C(E0 )u (t)2 .
v ( )22 d . (36)
t 5
Hence, by Hlder inequality, (33) and small ,
We want to get a similar estimate for u in the B norm.  t+1
To this end, from (5), we get 2
(
m ( ), u ( ))2 d . (43)
t 5
d
(v (t), u (t))2 v (t)22 + u (t)22 + u (t)22 Therefore, (36), (41), (42), and (43) in (37), yield
dt

+ (g (t), u (t))2 t+1 42
u ( )2B d 2 sup{v (t)2 u (t)2 } + .
=(
m (t), u (t))2 + (f (t), u (t))2 . t t0 5
(37) (44)
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Notice that for every t 0, we have t 0, and the same holds for the solution in H, again in
 virtue of (20), that is, we have proven (16).
u (t)2  sup v(s)2  2E0
s[t,t+]
Precompactness
and Next, we shall prove (15), that is, the orbit is a precompact
 subset of H. We start with {v(t)}t0 L2 ().
v (t)2 2 sup v(t)2 2 2E0 . Notice that because of (16),
t0

Consequently, for  (0,  ()), with  () sufficiently   t+   t+

 
small, (44) is v(t) 1 v( )d  1 v(t) v( )2 d
  t   t
 t+1 2
u ( )2B d 2 . (45) sup v(t) v( )2
t [t,t+]

Hence, in case (22), from (36) and (45) we conclude that 2.
 t+1
32 (49)
w ( ) d . (46)
t 5
Since {u(t)}t0 is bounded in B, then
Also, from (20) with small,
 t+1   t+ 
3 1 
W ( ) d . (47)  v( )d  1 u(t + ) u(t)B
t 5   
t B
From (19) and by (24), we have for any s [ t, t +1] , t 0 2
sup u(t)B
that  t0
 t+1 
2
W (t + 1) W (s) + (m ( ) + f ( ), v ( ))2 d 2E0 .
s 
 t+1
+ (n ( ), u ( ))2 d .  t+
Since B  L2 () is compact, { 1 t v( )d }t0 is pre-
s
 t+1 compact or, equivalently, totally bounded in L2 (). Also,
W (s) + {|(f ( ), v ( ))2 | + |(m ( ), by (49), {v(t)}t0 is precompact in L2 ().
t In a similar way, from (16), we estimate
v ( ))2 | + |(n ( ), u ( ))2 |} d .
  t+ 
Then, taking into account (30), (34), and (35) and for   
u(t) 1 u( )d  sup u(t)u( )B 2.
small   t 
B [t,t+]
2 (50)
W (t + 1) W (s) + .
5
 t+
Therefore, by (47), we obtain We shall prove that {L t u( ) d }t0 is precompact
 t+1 in B the dual space of B, where
2
W (t + 1) W (s) ds + .
5
t
L 2 : B B ,
Consequently, in both cases, (21) and (22),
W (t + 1) max{, W (t)}. then precompactness of {u(t)}t0 in B follows from (50)
since
Notice that for every t 0, there exists a natural num-
ber N such that N t N + 1, then the last estimate
L1 (2 )1 : B B
implies that
W (t) max{, max W (s)}. is a linear and continuous operator.
s[N1,N]
According to the dense and continuous inclusions
Hence, applied recursively backwards,

W (t) max{, max W (s)}. (48) B  L ()  L2 ()  L ()  B ,
s[0,1]

Since the solution (u, v) :[ 0, 1] H is uniformly con- where L () = (L ()) , = /( 1), we extend the
tinuous, W has the same property due to (20). Then, (48) inner product in L2 () to the duality product in B B.
implies that t  W (t) is uniformly continuous for any Now, we integrate Equation 1, and since L : B B is
Esquivel-Avila Mathematical Sciences 2013, 7:32 Page 7 of 8
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closed, we get, in the sense of B , Remark 1. We observe that the main difficulty in the
 t+ proof of the last theorem is to show precompactness of
L u( )d = v(t) v(t + ) bounded orbits. This has been accomplished for semi-
t linear wave equations by Haraux [15]. Here, we extend
 t+
this technique for a Timoshenko equation with nonlinear
+ M(u( )22 )u( )d damping and a source term. This source term has an
t
 t+  t+ amplifying effect instead of a restoring one in case of
g(v( ))d + f (u( ))d . r 2( + 1) (see [23]). Indeed, in another study [23],
t t
we proved that, depending on the initial conditions, every
(51)
solution of (1) either blows up in a finite time or there
By Hlder inequality and since v(t) is bounded in L2 (), exists for all time. In this last case, again depending on
2 the initial conditions, the solution is either unbounded
v(t) v(t + ) 2|| 2 sup (v(t))2 or bounded and tends to the set of equilibria E , as time
t0 (52)
2
goes to infinity. On the other hand, Theorem 2 shows that
2|| 2 C(E0 ). every solution of Equation 1 converges to E , whenever 2 <
r < 2( + 1), that is, when the source term is dominated,
By Hlder inequality and (39),
 t+   t+ then every solution is bounded and tends to the equilib-
  ria set as time goes to infinity. Consequently, we give a
 g(v( ))d  (v( ))1 d
  complete panorama of the qualitative behavior of the solu-
t t (53)
1 1 tions of the nonlinear Timoshenko equation, Equation 1.
(E0 E )
.
A dynamic analysis of more realistic rod models (see for
By the boundedness of u(t) in B, Hlder inequality and instance [1]) requires more effort and research.
the injection B  L2(r1) (), we obtain the estimate
 t+   t+ 
  2   Competing interests
 
f (u( ))d  ||  f (u( ))d 
 2
  The author declare that he have no competing interests
t t 2
 t+ Acknowledgments
2
|| 2 (u( ))r1
2(r1) d
Both author thank to the reviewers for their valuable comments that led to the
t present improved version of the original manuscript.
C() sup u(t)B , Received: 23 September 2012 Accepted: 3 July 2013
t0
Published: 17 July 2013
C()C(E0 ).
References
(54) 1. Antman, SS: Nonlinear Problems of Elasticity, 2nd ed. Springer, New York
(2005)
Also, 2. Alves, CO, Cavalcanti, MM: On existence, uniform decay rates and blow
 
 t+  up for solutions of the 2-D wave equation with exponential source. Calc.
 M(u( )22 )u( )d  Var. Partial Differential Equations. 34, 377411 (2009)
   3. Barbu, V, Lasiecka, I, Rammaha, MA: Blow-up of generalized solutions to
t
 t+  wave equations with nonlinear degenerate damping and source terms.
2  
|| 2 
 M(u( ) 2
2 )u( )d 

Indiana Univ. Math. J. 56, 9951021 (2007)
t 2 (55) 4. Cavalcanti, MM, Domingos Cavalcanti, VN, Prates Filho, JS, Soriano, JA:
2 Existence and exponential decay for a Kirchhoff-Carrier model with
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doi:10.1186/2251-7456-7-32
Cite this article as: Esquivel-Avila: Global attractor for a nonlinear Timo-
shenko equation with source terms. Mathematical Sciences 2013 7:32.

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