Research article Special Issues

Ulam stabilities of nonlinear coupled system of fractional differential equations including generalized Caputo fractional derivative

  • Received: 03 December 2020 Accepted: 01 February 2021 Published: 09 March 2021
  • MSC : 47H10, 26A33, 34B27, 39B82

  • In this paper, we establish the existence and uniqueness of solution for a nonlinear coupled system of implicit fractional differential equations including ψ-Caputo fractional operator under nonlocal conditions. Schaefer's and Banach fixed-point theorems are applied to obtain the solvability results for the proposed system. Furthermore, we extend the results to investigate several types of Ulam stability for the proposed system by using classical tool of nonlinear analysis. Finally, an example is provided to illustrate the abstract results.

    Citation: Tamer Nabil. Ulam stabilities of nonlinear coupled system of fractional differential equations including generalized Caputo fractional derivative[J]. AIMS Mathematics, 2021, 6(5): 5088-5105. doi: 10.3934/math.2021301

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  • In this paper, we establish the existence and uniqueness of solution for a nonlinear coupled system of implicit fractional differential equations including ψ-Caputo fractional operator under nonlocal conditions. Schaefer's and Banach fixed-point theorems are applied to obtain the solvability results for the proposed system. Furthermore, we extend the results to investigate several types of Ulam stability for the proposed system by using classical tool of nonlinear analysis. Finally, an example is provided to illustrate the abstract results.



    In 1960, Opial [1] presented an inequality involving integral of a function and its derivative as follows

    Theorem 1.1. Let xC1[0,h] be such that x(t)>0 in (0,h). Then, the following inequalities hold:

    i) If x(0)=x(h)=0, then

    h0|x(t)x(t)|dth4h0|x(t)|2dt. (1.1)

    ii) If x(0)=0, then

    h0|x(t)x(t)|dth2h0|x(t)|2dt. (1.2)

    In (1.1), the constant h4 is the best possible.

    Since then, the study of generalizations, extensions and discretizations for inequalities (1.1) and (1.2) of Opial type inequalities has grown into a substantial field, with many important applications in theory of differential equations, approximations and probability, among others. For more details, we cite the readers to [2,3,4,5,6,7] and the references therein.

    Recently, Mirkovi et.al [8] established a new integral inequality of the q-Opial type as follows:

    Theorem 1.2. Let fC1[0,1] be q-decreasing function with f(bq0)=0. Then, for any p0,

    ba|Dqf(x)||f(x)|pdqx(ba)pba|Dqf(x)|p+1dqx. (1.3)

    In [9], Alp et al. gave the following q-Opial type inequality for quantum integral :

    Theorem 1.3. Let x(t)C1[0,h] be such that x(0)=x(h)=0, and x(t)>0 in (0,h). Then, the following inequality holds :

    h0|(x(t)+x(qt))Dqx(t)|dqth1+qh0|Dqx(t)|2dqt. (1.4)

    The (p,q)-calculus is known as two parameter quantum calculus, a generalization of q-calculus, whose applications play important roles in physics, chemistry, orthogonal polynomials and number theory [10,11]. In [12], Mursaleen et al. applied (p,q)-calculus in approximation theory and investigated first (p,q)-analogue of Bernstein operators. Recently, Sadjang in [13] studied the (p,q)-derivative, the (p,q)-integration, and obtained some of their properties and the fundamental theorem of (p,q)-calculus. About the recent results of (p,q)-calculus, please see [14,15,16,17,18].

    Inspired by the above mentioned works [8,9,13], in this paper, we will establish some (p,q)-Opial type inequalities by using (p,q)-calculus and analysis technique. If p=1 and q1, then all the results we have obtained in this paper reduce to the classical cases.

    In what follows, p,q are two real numbers satisfying 0<q<p1, and (p,q)-bracket is defined as

    [n]p,q=pnqnpq=pn1+qpn2++qn1,nN.

    Definition 2.1. ([13]) The (p,q)-derivative of the function f is defined as

    Dp,qf(x)=f(px)f(qx)(pq)x,x0,

    and (Dp,qf)(0)=limx0Dp,qf(x)=f(0), privided that f is differentiable at 0.

    Definition 2.2. ([13]) Let f be an arbitrary function and a be a positive real number, the (p,q)-integral of f from 0 to a is defined by

    a0f(x)dp,qx=(pq)ai=0qipi+1f(qipi+1a).

    Also for two nonnegative numbers such that a<b, we have

    baf(x)dp,qx=b0f(x)dp,qxa0f(x)dp,qx.

    Lemma 2.1. ([13]) The (p,q)-derivative fulfills the following product rules

    Dp,q(f(x)g(x))=f(px)Dp,qg(x)+g(qx)Dp,qf(x),
    Dp,q(f(x)g(x))=g(px)Dp,qf(x)+f(qx)Dp,qg(x).

    Theorem 2.2. ([13]) (Fundamental theorem of (p,q)-calculus). If F(x) is a (p,q)-antiderivative of f(x) and F(x) is continuous at x=0, we have

    baf(x)dp,qx=F(b)F(a),

    where 0a<b.

    Theorem 3.1. Let fC1[0,h] be such that f(t)>0 in (0,h). If f(0)=0 and mN. Then, the following inequality holds:

    h0|mj=0fmj(px)fj(qx)||Dp,qf(x)|dp,qxhmh0|Dp,qf(x)|m+1dp,qx. (3.1)

    Proof. Choosing g(x) as

    g(x)=x0|Dp,qf(t)|dp,qt, (3.2)

    such that

    |Dp,qf(x)|=Dp,qg(x), (3.3)

    and for x[0,h], we have

    |f(x)|=|x0Dp,qf(t)dp,qt|x0|Dp,qf(t)|dp,qt=g(x), (3.4)
    |f(px)|=|px0Dp,qf(t)dp,qt|px0|Dp,qf(t)|dp,qt=g(px), (3.5)

    and

    |f(qx)|=|qx0Dp,qf(t)dp,qt|qx0|Dp,qf(t)|dp,qt=g(qx). (3.6)

    By Lemma 2.1, we can obtain that

    Dp,qfm+1(x)=mj=0fmj(px)fj(qx)Dp,qf(x). (3.7)

    Thus, by (3.2)–(3.7), it follows that

    h0|mj=0fmj(px)fj(qx)Dp,qf(x)|dp,qxh0mj=0|f(px)|mj|f(qx)|j|Dp,qf(x)|dp,qxh0mj=0gmj(px)gj(qx)Dp,qg(x)dp,qx=h0Dp,qgm+1(x)dp,qx=gm+1(h). (3.8)

    By using the H¨older's inequality and (3.8) with (3.2) for (p,q)-integral with indices m+1 and m+1m, we obtain

    h0|mj=0fmj(px)fj(qx)Dp,qf(x)|dp,qxgm+1(h)=[h0|Dp,qf(x)|dp,qx]m+1[(h0dp,qx)mm+1(h0|Dp,qf(x)|m+1dp,qx)1m+1]m+1=hmh0|Dp,qf(x)|m+1dp,qx,

    which proves the theorem.

    Remark 3.1. If p=1 and m=1, then Theorem 3.1 reduces to Theorem 3.3 in [9]. If p=1 and m=α, then Theorem 3.1 reduces to Theorem 3.9 in [9]. Moreover, if p=1, m=1, and q1, then (3.1) reduces to (1.2) in Theorem 1.1.

    Theorem 3.2. Let fC1[0,h] be such that f(t)>0 in (0,h). If f(0)=f(h)=0 and mN. Then, the following inequality holds :

    h0|mj=0fmj(px)fj(qx)||Dp,qf(x)|dp,qx(h1+q)mh0|Dp,qf(x)|m+1dp,qx. (3.9)

    Proof. Let g(x) be as in (3.2) and w(x) be as follows

    w(x)=hx|Dp,qf(t)|dp,qt. (3.10)

    Then, we obtain by the condition f(h)=0 that

    |Dp,qf(x)|=Dp,qw(x), (3.11)

    and for x[0,h], we have

    |f(x)|=|hxDp,qf(t)dp,qt|hx|Dp,qf(t)|dp,qt=w(x), (3.12)
    |f(px)|=|hpxDp,qf(t)dp,qt|hpx|Dp,qf(t)|dp,qt=w(px), (3.13)

    and

    |f(qx)|=|hqxDp,qf(t)dp,qt|hqx|Dp,qf(t)|dp,qt=w(qx). (3.14)

    From (3.8), one has

    h1+q0|mj=0fmj(px)fj(qx)||Dp,qf(x)|dp,qxgm+1(h1+q). (3.15)

    Similarly, by (3.10)–(3.14), we can get that

    hh1+q|mj=0fmj(px)fj(qx)||Dp,qf(x)|dp,qxhh1+qmj=0wmj(px)wj(qx)Dp,qw(x)dp,qx=wm+1(h1+q). (3.16)

    Adding (3.15) to (3.16), we obtain

    h0|mj=0fmj(px)fj(qx)|Dp,qf(x)dp,qxgm+1(h1+q)+wm+1(h1+q). (3.17)

    Using the H¨older's inequality with indices m+1 and m+1m, we can write that

    gm+1(h1+q)=[h1+q0|Dp,qf(t)|dp,qt]m+1[(h1+q0dp,qt)mm+1(h1+q0|Dp,qf(t)|m+1dp,qt)1m+1]m+1=(h1+q)mhp+q0|Dp,qf(t)|m+1dp,qt. (3.18)

    Similarly, we obtain

    wm+1(h1+q)=[hh1+q|Dp,qf(t)|dp,qt]m+1[(hh1+qdp,qt)mm+1(hh1+q|Dp,qf(t)|m+1dp,qt)1m+1]m+1=(hq1+q)mhhp+q|Dp,qf(t)|m+1dp,qt(h1+q)mhhp+q|Dp,qf(t)|m+1dp,qt. (3.19)

    Therefore, (3.17)–(3.19) imply that (3.9) holds.

    Remark 3.2. If p=1 and m=1, then Theorem 3.2 reduces to Theorem 3.1 in [9]. In Theorem 3.2 if we take p=1, m=1, and q1, we recapture the inequality (1.1).

    Theorem 3.3. Let m>0. Assume that μ(t) is a nonnegative and continuous function on [0,h], mN, and fC1[0,1] with f(0)=0. Then, the following inequality holds:

    h0μ(x)|f(x)|m|Dp,qf(x)|dp,qxhm2m+1(h0μ(x)m+1mdp,qx)mm+1h0|Dp,qf(x)|m+1dp,qx. (3.20)

    Proof. Using the H¨older's inequality for (p,q)-integral with indices m+1m and m+1, we obtain

    h0μ(x)|f(x)|m|Dp,qf(x)|dp,qx(h0μ(x)m+1m|f(x)|m+1dp,qx)mm+1(h0|Dp,qf(x)|m+1dp,qx)1m+1. (3.21)

    By using (3.4) and from the H¨older's inequality for (p,q)-integral with indices m+1m and m+1, we get

    h0μ(x)m+1m|f(x)|m+1dp,qxh0μ(x)m+1m[h0|Dp,qf(t)|dp,qt]m+1dp,qxh0μ(x)m+1mdp,qx[(h0dp,qt)mm+1(h0|Dp,qf(t)|m+1dp,qt)1m+1]m+1=hmh0μ(x)m+1mdp,qxh0|Dp,qf(x)|m+1dp,qx. (3.22)

    Substituting (3.22) into (3.21), we have

    h0μ(t)|f(x)|m|Dp,qf(x)|dp,qxhm2m+1(h0μ(x)m+1mdp,qx)mm+1h0|Dp,qf(x)|m+1dp,qx.

    This completes the proof.

    Theorem 3.4. If f and g are absolutely continuous functions on [0,h], and f(0)=g(0)=0, then

    h0[f(px)Dp,qg(x)+g(qx)Dp,qf(x)]dp,qxh2h0[(Dp,qf(x))2+(Dp,qg(x))2]dp,qx. (3.23)

    Proof. As in (3.4), we have

    |f(x)|x0|Dp,qf(t)|dp,qt,|g(x)|x0|Dp,qg(t)|dp,qt. (3.24)

    By using Lemma 2.1, Theorem 2.2, (3.24) and Cauchy inequality, we get

    h0[f(px)Dp,qg(x)+g(qx)Dp,qf(x)]dp,qx
    =h0Dp,q(f(x)g(x))dp,qx=f(h)g(h)f(0)g(0)
    =f(h)g(h)|f(h)||g(h)|h0|Dp,qf(x)|dp,qxh0|Dp,qg(x)|dp,qx
    12[(h0|Dp,qf(x)|dp,qx)2+(h0|Dp,qg(x)|dp,qx)2]
    12[h0dp,qxh0|Dp,qf(x)|2dp,qx+h0dp,qxh0|Dp,qg(x)|2dp,qx]
    =h2h0[(Dp,qf(x))2+(Dp,qg(x))2]dp,qx.

    Theorem 3.5. Let m,r>0. Assume that f and g are absolutely continuous functions on [0,h], f(0)=g(0)=0, f(h)=g(h)=0, and f(t),g(t)>0 in (0,h). Then

    h0|f(x)|m|g(x)|rdp,qx(h2)m+rm+r(mh0|Dp,qf(x)|m+rdp,qx+rh0|Dp,qg(x)|m+rdp,qx). (3.25)

    Proof. Let

    y(x)=x0|Dp,qf(t)|dp,qt,z(x)=hx|Dp,qf(t)|dp,qt,t[0,h]. (3.26)

    Then, we have

    |Dp,qf(x)|=Dp,qy(x)=Dp,qz(x),|f(x)|=|x0Dp,qf(t)dp,qt|x0|Dp,qf(t)|dp,qt=y(x), (3.27)

    and

    |f(x)|=|hxDp,qf(t)dp,qt|hx|Dp,qf(t)|dp,qt=z(x). (3.28)

    By (3.26)–(3.28), we obtain

    |f(x)|y(x)+z(x)2=12h0|Dp,qf(t)|dp,qt. (3.29)

    Similarly, we have

    |g(x)|12h0|Dp,qg(t)|dp,qt. (3.30)

    On the other hand, the following elementary inequality in [8] holds :

    mAm+r+rBm+r(m+r)AmBr0,A,B0,m,r>0. (3.31)

    From (3.29)–(3.31), we get

    |f(x)|m|g(x)|r(12)m+rm+r[m(h0|Dp,qf(t)|dp,qt)m+r+r(h0|Dp,qg(t)|dp,qt)m+r]. (3.32)

    By using H¨older's inequality on the right side of (3.32) with indices m+rm+r1, m+r, we obtain

    |f(x)|m|g(x)|r(12)m+rm+r[mhm+r1h0|Dp,qf(t)|m+rdp,qt+rhm+r1h0|Dp,qg(t)|m+rdp,qt]. (3.33)

    Integrating (3.33) on [0,h], we have

    h0|f(x)|m|g(x)|rdp,qx(h2)m+rm+r(mh0|Dp,qf(t)|m+rdp,qt+rh0|Dp,qg(t)|m+rdp,qt),

    and the proof is completed.

    Remark 3.3. If m=r>0 and f(x)=g(x), then the inequality (3.25) reduces to the following (p,q)-Wirtinger inequality:

    h0|f(x)|2mdp,qx(h2)2mh0|Dp,qf(x)|2mdp,qx.

    In the following, we will give an example to illustrate our main result.

    Example 4.1. Let p=23, q=12 and m=5. Set μ(t)=t, it is clear that μ(t) is a nonnegative and continuous function on [0,π2]. Set h=π2, and f(x)=sinx, then fC1[0,1] with f(0)=0. Thus, by Theorem 3.3, we have

    π20x|sinx|5|D23,12sinx|d23,12x(π2)256(π20x65d23,12x)56π20|D23,12sinx|6d23,12x.

    It is known that (p,q)-calculus is a generalization of q-calculus. In this paper, we have established 5 new kinds of general Opial type integral inequalities in (p,q)-calculus. The methods we used to establish our results are quite simple and in virtue of some basic observations and applications of some fundamental inequalities and analysis technique. First, we investigated the Opial inequalities in (p,q)-calculus involving one function and its (p,q) derivative. Furthermore, Opial inequalities in (p,q)-calculus involving two functions and two functions with their (p,q) derivatives are given. We also discussed several particular cases. Our results are (p,q)-generalizations of Opial-type integral inequalities and (p,q)-Wirtinger inequality. An example is given to illustrate the effectiveness of our main result.

    The authors thanks anonymous referees for their remarkable comments, suggestions which help to improve this paper. This work is supported by Natural Science Foundation of China (11571136).

    The authors declare that there are no conflicts of interest.



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