1.
Introduction and preliminaries
First of all, it is important to keep in mind that N0, Z, R, R+ and R+∪{0}, refer to the non-negative integer set, integer set, real set, positive real set and non-negative real set, respectively. If Φ,Ψ∈Z and Φ≤Ψ, the notation k=¯Φ,Ψ stands for {k∈Z:Φ≤k≤Ψ}.
It is of utmost importance to use different branches of science in tandem. Mathematics can also be deployed in research fields of other scientific areas. Especially, mathematical models of many sorts have been developed for many areas of study, such as ecology, medicine, population biology, biostatistics and molecular biology in [1]. In order to apply mathematical modeling in biology, both mathematical and biological information are required. As such, multidisciplinary or interdisciplinary research studies are very popular these days (see [2,3,4,5,6,7,8,9,10,11,12,13,14,15]).
Difference equations, which represent a topic of applied mathematics, can also be used in mathematical modeling. In addition, difference equations are used to define real discrete models in different areas of advanced science, such as control theory, biology, physics, economics and psychology. One of the applications of difference equations in biology is the population model. Some population models involve exponential-form difference equations. Difference equations of the mentioned type attract the attention of mathematicians. But, their stability analysis process can be complex. Therefore, studying these difference equations and systems is worthwhile. To date, a significant number of papers concerning difference equations have been published (see [16,17,18,19,20,21,22,23,24,25,26,27]).
As a model in the field of mathematical biology, several difference equations of the exponential-type were studied. For example, the following single-species population model
where κ,ϵ∈R+ and U−1,U0∈R+∪{0}, was investigated by El-Metwally et al. in [28]. κ was used as the migration rate and ϵ was taken as the population growth rate in Eq (1.1).
There is another example, in which the authors of [29] changed Eq (1.1) to a newer version as;
where U−1,U0∈R+∪{0} and κ,ϵ∈R+. As a model in the field of mathematical biology, Eq (1.2) was investigated. In Eq (1.2), κ is the migration rate and ϵ is the population growth rate.
The authors of [30] researched the dynamical properties of the next exponential-type difference equation:
where U−1,U0∈R+∪{0} and κ,ϵ,ζ∈R+. Equation (1.3) represent a mathematical biology-purposed model, where κ is the migration rate, ϵ is the population growth proportion and ζ is the carrying capacity.
Comert et al. in [31], explored the global behavior of the next exponential-type difference equation:
where k is an even number, the initial values U−k,U−k+1,…,U0∈R+∪{0} and the parameters δ,ϵ,ζ∈R+.
Moreover, there are numerous studies that can be viewed as a model for difference equations of the exponential-type in the literature [32,33,34,35].
Some authors extended Eq (1.3) to the two-dimensional exponential-type difference equations systems. For instance, Papaschinopoulos et al. examined the following systems of two-dimensional exponential-form difference equations:
for n∈N0, where T−1,T0,R−1,R0∈R+ and κ,ϵ,ζ,δ,λ,μ∈R+ in [36]. The systems given by in (1.5) are two-species population models.
In addition, Thai et al. in [37], studied the dynamical properties of the following systems:
for n∈N0, where the parameters αk,βk,γk∈R+, for k∈{1,2} and T−1,T0,R−1,R0∈R+. Two-dimensional exponential-form difference equations systems have been studied by many authors in recent years (see [38,39,40,41,42,43,44]).
Our aim in this paper is to generalize the systems given by (1.6) to the following three-dimensional system of difference equations of exponential-form:
for n∈N0, where the parameters Γk, δk, Θk for k=¯1,3 and the initial values Υ−ν, Ψ−ν, Ω−ν, for ν∈{0,1} are positive constants. Another goal of this study is to contribute to the literature, since there are few studies on systems of three-dimensional exponential-form difference equations in the literature (see [45,46]).
In mathematical biology, the systems given by (1.7) and (1.8) can be viewed as three-species population models. Also, the biological parameters of systems (1.7) and (1.8) are shown in Table 1.
Our paper is organized as follows: In the following section, we study the boundedness, local and global stability of the unique positive equilibrium point and rate of convergence of system (1.7). In the third section, we study the boundedness, local and global stability of the unique positive equilibrium point and rate of convergence of system (1.8). The conclusion is given in the last section.
Before we start our analysis, recall some lemmas and definitions which are used throughout this work. For more particulars, one can refer to the references [47,48,49,50].
where f:U2×V2×W2→U, g:U2×V2×W2→V, h:U2×V2×W2→W are continuous differentiable functions and U, V, W are some intervals of real numbers. Also, a solution {℧n,ρn,σn}∞n=−1 of system (1.9) is uniquely defined by the initial values (℧−μ,ρ−μ,σ−μ)∈U×V×W for μ∈{0,1}. Along with system (1.9), we take into account the suitable vector map F=(f,℧n,g,ρn,h,σn). An equilibrium point of system (1.9) is a point (¯℧,¯ρ,¯σ) that supplies
The point (¯℧,¯℧,¯ρ,¯ρ,¯σ,¯σ) is named a fixed point of the vector map F.
Definition 1. Assume that (¯℧,¯℧,¯ρ,¯ρ,¯σ,¯σ) is a fixed point of the vector map F=(f,℧n,g,ρn,h,σn), where f, g and h are continuous differentiable functions at (¯℧,¯ρ,¯σ). The linearized system given by system (1.9) about the equilibrium point (¯℧,¯ρ,¯σ) is
where Kn=(℧n℧n−1ρnρn−1σnσn−1) and JF is the Jacobian matrix of system (1.9) about the equilibrium point (¯℧,¯ρ,¯σ).
Lemma 1. Let Kn+1=F(Kn), n∈N0, be a system of difference equations where ¯K is a fixed point of F. If all eigenvalues of the Jacobian matrix JF about ¯K lie inside the open unit disk |λ|<1, then ¯K is locally asymptotically stable. If one of them has a modulus greater than one, then ¯K is unstable.
Definition 2. If there exist positive constants t and T and an integer N≥−1, the positive solution {℧n,ρn,σn}∞n=−1 of system (1.9) is bounded and persists such that
The following lemma gives the rate of convergence of solutions of the systems of difference equations.
Lemma 2. ([37])
where Xn is a k-dimensional vector, α∈Ck×k is a constant matrix and β:Z+→Ck×k is a matrix function satisfying
where ||.|| denotes any matrix norm which is associated with the vector norm
2.
Global behavior of system (1.7)
Lemma 3. Every positive solution of system (1.7) is bounded and persists.
Proof. Suppose that {(Υn,Ψn,Ωn)} is an arbitrary solution of system (1.7). We get
Then, from system (1.7) and Eq (2.1), we have
for n∈N.
Therefore, from Eqs (2.1) and (2.2), the proof of the lemma is complete. □
We can indicate the following lemma, which is useful for our study of system (1.7). We consider the following general system of difference equations:
where f, g and h are continuous functions and the initial conditions x−1, x0, y−1, y0, z−1 and z0 are positive numbers.
Lemma 4. Let f, g, h, f:R+→R+, g:R+→R+ and h:R+→R+ be continuous functions. Let a1, b1, a2, b2, a3 and b3 be positive numbers such that a1<b1, a2<b2, a3<b3 and
Suppose that the function f(u,v) is a decreasing function with respect to u (resp. v) for every v (resp. u), g(w,t) is a decreasing function with respect to w (resp. t) for all t (resp. w) and h(p,s) is a decreasing function with respect to p (resp. s) for every s (resp. p). Finally, suppose that, if m, M, r, R, t and T are real numbers such that, if
then m=M, r=R and t=T. Then, system (2.3) has a unique positive equilibrium (¯x,¯y,¯z) and every positive solution of system (2.3) that satisfies
tends to the unique positive equilibrium of system (2.3).
Proof. System (2.3) is equivalent to the following system of separated equations:
We consider the equation
From the conditions of f, g, h, we have that F:[a1,b1]×[a1,b1]×[a1,b1]→[a1,b1] and F(α,β,γ,δ) is increasing in α for all β,γ,δ; increasing in β for all α,γ,δ; increasing in γ for all α,β,δ; increasing in δ for all α,β,γ. Now, let us take m and M as positive numbers so that
By setting h(m,m)=T and h(M,M)=t, we get
By setting g(t,t)=R and g(T,T)=r, we have that the relations given by Eq (2.4) are satisfied. Then, from a hypothesis of Lemma 4, we have that m=M. Equation (2.5) has a unique positive equilibrium ¯x, and every positive solution of Eq (2.5) tends to the unique positive equilibrium ¯x. Similarly, we can prove that the equation
has a unique positive equilibrium ¯y and every positive solution of Eq (2.6) tends to the unique positive equilibrium ¯y. Similarly, we can prove that the equation
has a unique positive equilibrium ¯z and every positive solution of Eq (2.7) tends to the unique positive equilibrium ¯z. This completes the proof of the lemma. □
2.1. Local and global asymptotic stability
Theorem 3. For the local stability about (¯Υ,¯Ψ,¯Ω)∈[Λ1,Π1]×[Λ2,Π2]×[Λ3,Π3], i.e., the equilibrium point of system (1.7), the next declarations are valid:
(i) (¯Υ,¯Ψ,¯Ω) is locally asymptotically stable if L1<1,
(ii) (¯Υ,¯Ψ,¯Ω) is unstable if U1>1,
where
Proof. (i) From system (1.7), we obtain
In order to construct the corresponding linearized form of system (1.7), we consider the following transformation:
where
By using the transformation given by Eq (2.11), we obtain
where
The characteristic equation of FJ(¯Υ,¯Ψ,¯Ω) is below:
where
Because xe−x<e−1, for x>0, we have
By supposing that L1<1, from Eq (2.17), we have that ∑4i=1|mi|<1. According to the Rouche theorem, (¯Υ,¯Ψ,¯Ω) is locally asymptotically stable.
(ii) We get
By supposing that U1>1, from Eq (2.18), we have that ∑4i=1|mi|>1. According to the Rouche theorem, (¯Υ,¯Ψ,¯Ω) is unstable.
□
Theorem 4. System (1.7) has a unique positive equilibrium (¯Υ,¯Ψ,¯Ω), and every positive solution of system (1.7) tends to the unique positive equilibrium of system (1.7) as n→∞ if
Proof. We consider the functions
where
From Eqs (2.20) and (2.21) we get the following relations for k,l∈[Λ1,Π1], u,v∈[Λ2,Π2] and w,t∈[Λ3,Π3]:
thus, f:[Λ2,Π2]×[Λ2,Π2]→[Λ1,Π1], g:[Λ3,Π3]×[Λ3,Π3]→[Λ2,Π2] and h:[Λ1,Π1]×[Λ1,Π1]→[Λ3,Π3]. Let {(Υn,Ψn,Ωn)} be an arbitrary solution of system (1.7). Therefore, from Lemma 3, for n∈N, we get
Now, let m, M, r, R, t and T be positive numbers such that
Then, we consider the functions
Note that F maps the interval [Λ1,Π1] into itself. We claim that the equation F(x)=0 has a unique solution in [Λ1,Π1]. From Eq (2.23), we get
Let ¯x, ¯x∈[Λ1,Π1] be a solution of the equation F(x)=0. Then, from Eq (2.23), we get
Now, observe that Eqs (2.26) and (2.27) imply that
Then, from Eqs (2.19), (2.26) and (2.28), we have
Therefore, from Eq (2.29), we see that the equation F(x)=0 has a unique solution in [Λ1,Π1].
Note that G maps the interval [Λ2,Π2] into itself. We claim that the equation G(y)=0 has a unique solution in [Λ2,Π2]. From Eq (2.24), we get
Let ¯y, ¯y∈[Λ2,Π2] be a solution of the equation G(y)=0. Then, from Eq (2.24), we get
Now, observe that Eqs (2.30) and (2.31) imply that
Then, from Eqs (2.19), (2.30) and (2.32), we have
Therefore, from Eq (2.33), we see that the equation G(y)=0 has a unique solution in [Λ2,Π2].
Note that H maps the interval [Λ3,Π3] into itself. We claim that the equation H(z)=0 has a unique solution in [Λ3,Π3]. From Eq (2.25), we get
Let ¯z, ¯z∈[Λ3,Π3] be a solution of the equation H(z)=0. Then, from Eq (2.25), we get
Now, observe that Eqs (2.34) and (2.35) imply that
Then, from Eqs (2.19), (2.34) and (2.36), we have
Therefore, from, Eq (2.37) we see that the equation H(z)=0 has a unique solution in [Λ3,Π3].
In addition, Eq (2.22) implies that m and M are roots of F(x)=0. Hence, we get that m=M. Similarly, Eq (2.22) implies that r and R are roots of G(y)=0. Hence, we get that r=R. Finally, Eq (2.22) implies that t and T are roots of H(z)=0. Hence, we get that t=T. From Lemma 4, system (1.7) has a unique positive equilibrium (¯Υ,¯Ψ,¯Ω) and every positive solution of system (1.7) tends to the unique positive equilibrium as n→∞. This completes the proof of the theorem.
□
2.2. Rate of convergence
Theorem 5. If {(Υn,Ψn,Ωn,)}∞n=−1 is a positive solution of system (1.7) such that
where
then the error vector Φn=(Φ1n,Φ1n−1,Φ2n,Φ2n−1,Φ3n,Φ3n−1)T of every solution of system (1.7) supplies both of the following asymptotic relations:
where |λ1,2,3,4,5,6FJ(¯Υ,¯Ψ,¯Ω)| denotes the characteristic root of FJ(¯Υ,¯Ψ,¯Ω).
Proof. To find the error terms, from system (1.7), we obtain
that is,
Set
By using Eq (2.43), Eq (2.42) can be written in the following form:
where
By taking the limits of dn, en, fn, gn, hn and jn, we respectively obtain
that is,
where ξ1n→0, ξ1n−1→0, ξ2n→0, ξ2n−1→0, ξ3n→0 and ξ3n−1→0 as n→∞. Then, we get Poincare difference system (1.10) of [51], where
and
and ||Bn||→0 as n→∞. Moreover, the limiting system of error terms turns into
which is similar to the linearized system (1.7) about the equilibrium (¯Υ,¯Ψ,¯Ω). □
3.
Global behavior of system (1.8)
Lemma 5. Every positive solution of system (1.8) is bounded and persists.
Proof. Suppose that {(Υn,Ψn,Ωn)} is an arbitrary solution of system (1.8). From Lemma 3, by using induction and applying n∈N, we obtain
The proof of the lemma is similar to Lemma 3, so it is omitted. □
3.1. Local and global asymptotic stability
Theorem 6. For the local stability about (¯Υ,¯Ψ,¯Ω)∈[Λ4,Π4]×[Λ5,Π5]×[Λ6,Π6], i.e., the equilibrium point of system (1.8), the next declarations are valid:
(i) (¯Υ,¯Ψ,¯Ω) is locally asymptotically stable if L2<1,
(ii) (¯Υ,¯Ψ,¯Ω) is unstable if U2>1,
where
Proof. (i) From system (1.8), we have
In order to construct the corresponding linearized form of system (1.8), we consider the following transformation:
where
By using the transformation given by Eq (3.5), we have
where
The characteristic equation of FJ(¯Υ,¯Ψ,¯Ω) is below:
where
Now, we can compute ∑4i=1|ˆmi| as follows:
By supposing that L2<1, from Eq (3.11), we have that ∑4i=1|ˆmi|<1. According to the Rouche theorem, (¯Υ,¯Ψ,¯Ω) is locally asymptotically stable.
(ii) We have
By supposing that U2>1, from Eq (3.12), we have that ∑4i=1|ˆmi|>1. According to the Rouche theorem, (¯Υ,¯Ψ,¯Ω) is unstable. □
Theorem 7. Consider system (1.8). Assume that the next relation is true:
Moreover, system (1.8) has a unique positive equilibrium (¯Υ,¯Ψ,¯Ω), and every positive solution of system (1.8) tends to the unique positive equilibrium of system (1.8) as n→∞.
Proof. We consider the functions
where
and I4,I5,I6 are defined in Eq (3.1). From Eqs (3.14) and (3.15), we see that, for Υ∈I4, Ψ∈I5 and Ω∈I6,
thus,
Let p, P, l, L, w and W be positive numbers such that
From Eq (3.16), we get
which imply that
Moreover, we get
Then Eqs (3.17) and (3.18) imply that
thus,
In addition, observe that Eqs (3.13) and (3.20) imply that
from which we have that P=p, L=l and W=w. Thus from Eq (3.1), system (1.8) has a unique positive equilibrium (¯Υ,¯Ψ,¯Ω), and every positive solution of system (1.8) tends to the unique positive equilibrium as n→∞.
□
3.2. Rate of convergence
Theorem 8. If {(Υn,Ψn,Ωn,)}∞n=−1 is a positive solution of system (1.8) such that
where
then the error vector Φn=(Φ4n,Φ4n−1,Φ5n,Φ5n−1,Φ6n,Φ6n−1)T of every solution of system (1.8) supplies both of the following asymptotic relations:
where |λ1,2,3,4,5,6FJ(¯Υ,¯Ψ,¯Ω)| denotes the characteristic root of FJ(¯Υ,¯Ψ,¯Ω).
Proof. To find the error terms, from system (1.8), we apply
that is,
Set
By using Eq (3.26), Eq (3.25) can be written in the following form:
where
By taking the limits of ˆdn, ˆen, ˆfn, ˆgn, ˆhn and ˆjn, we respectively obtain
that is,
where ξ4n→0, ξ4n−1→0, ξ5n→0, ξ5n−1→0, ξ6n→0 and ξ6n−1→0 as n→∞. Then, we obtain Poincare difference system (1.10) of [51], where
and
and ||ˆBn||→0 as n→∞. Moreover, the limiting system of error terms turns into
which is similar to the linearized system (1.8) about the equilibrium (¯Υ,¯Ψ,¯Ω). □
4.
Conclusions
In this paper, the global dynamics of two exponential-type systems of difference equations are investigated. The main results are as follows:
(i) All positive solutions of systems (1.7) and (1.8) have been shown to persist and to be bounded.
(ii) It has been shown that the equilibrium points of systems (1.7) and (1.8) are locally asymptotically stable or unstable based on the parameters L1, L2, U1 and U2.
(iii) It has been explained, by using both increasing and decreasing functions and a well-known mean-value theorem, that the equilibrium points of systems (1.7) and (1.8) are globally asymptotically stable when the conditions given by Eqs (2.19) and (3.13) are valid.
(iv) Information has been given regarding the rates of convergence of systems (1.7) and (1.8).
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Conflict of interest
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