ON NONUNIFORM ASYMDTOTIC STABILITY

(K

NERAVNOMERNOI ASIMPTOTICHESKOI
P#M Vo1.27,

No.2,

1963,

Roumanian

(Received

Consider
t)

nonuniform

asymptotic

there
with

are

various

respect

to of

equations,

and the

developed.

Criteria

duced,
of

criteria

Persidskii

ized

of
the

for

which

the

contain
Malkin

of Liapunov

initial

value

leading
of

The criteria
tional)

[91,

considered

stability,

are

for

also

the

special

parameter
shown that

approximation

uniform
[41,

conditions

the

of

ordinary

cases

of

the

results

(see

also

31 and

mentioned

criteria

case

general-

Note

last

intro-

criteria

the

[v, P. 384,

are

are

equivalent

and also

p.721,

behavior
differential

various

of
h,

of

first

[31 and Perron

(see

is

system

It is shown that
[81, see also
[6, p. 3691).
contain
as a special
case the generalized

Malkin
criteria

the

It

these

in the

a group

of

to nonuniform

a linear

between

1961)

approximation.

conditions
solutions

stability

8 Republic)

12,

first

relationships

[1.21,

criteria

to

in the

types

to

People

January

(relative

stability,

231-243

pp.

REGISH

M.

(Timishoara,

USTOICHIVOSTI)

of

(i.e.

Liapunov.

uncondiof

the

present

paper.
ln this

paper

certain

ideas

of

Krein

[loI

[ill)

are

following
Bellman [121, a theorem of Banach-Steinemployed;
and also,
The paper admits of further
generalization
in
haus [13,141
is employed.
the direction
of the treatment
of the equations
considered,
as Well as
in the direction
of considering
the problem in arbitrary
Banach spaces.
and in the discussion
of the so-called
conditional
stability
(i.e.
dichotomy)

in the

sense

this

occasion

I take
which
tributed

have

influenced

to

the

of

space

a matrix

of

the

completion

all

A will

paper

to thank
the

1. Preliminary
be the

of

paper,
of

of

Massera

A. Khalana
as well

the

and Schaffer

for

his

many Suggestions.

as for

his

aid,

n by R matrices.

be denoted,

which

con-

paper.

remarks. Let Rn be a n-dimensional

square

[151.

respectively,

344

?he
by

norm of

space
a vector

and R,*
x and

On nonuniform

(5Xi3r

IIsII= II(xih6%n1=
We shall

asymptotic

II A II =

345

stability

(i

II(a&3. i<n I= zz

i=l

consider

uijr

j=l

the

following

differential

equations:

dx
= A (t) 2
v > 0)
dt
dx
- dt = A (0 5 + cp (4
P > 0)
$
where

9(t)

is

= A (t) X

a vector-valued

(1.1)
(l-2)

rt>O)

function

(1.3)

defined

on

[O, + 0~) and having

in the following
to various
values
in the set R,, and which is subject
conditions;
A(t)
is a function
defined
on [O, + a~) and with values
in
and
such
that
there
exists
a
number
A,
>
0
such
that
11
A(t)
11
<Aa
R,* t
on

LO, + m);
lhe

will

the

solution

x(t)

be denoted

equation
If
tion:

matrix
of

by x(t,

(1.3),

for

I is

the

toI = X(t,

identity

an n by n square

equation

(1.1)

tO,

Analogously,

which

X(t,

x (Ml,&)

X is

no).

X(t,)

matrix

= X,,, will

X(V,)

= x(VI)

If

4t,

is

ro)

to,

If dt,

x0)

to,

is

to h,

a solution

x (b

(1.2),

for
the

which

solution

be denoted

x(t,)

= x0,

X(t)

by X(t,

of
t,,,

the
X0).

of R,*, then,
introducing
the usual
we have the following
relations:

to, I),

= x Wo) x0,

or

matrix.

of

Wo),

(h,h)

nota-

(Wl)

h>,O

equation

(l.l),

then

to,50)= x 0, to)x0

a solution

of

(1.2),

(1.4)

then

2 (6 to, 20) = x (G to) 5 + s x (C s) cp (s) QTS

(1.5)

1.
Next
have

to

Let

we shall
deal

L be the

values

in

a is

a real

spaces
l

define

a class

frequently

R,,

set

of

the

all

Let

that

Equivalent
functions
measure
zero.

function

on each

us

one

of

introduce
identifies

are

spaces

with

which

we shall

sequel.

measurable

and integrable

number.

(assuming

in

functions

functions
finite

q(t)

interval,

the

following

all

equivalent*

which

coincide

on

[O, + a~), with

and suppose
Banach

that

function

functions):
up to

a set

of

346

M. Rcgish

that

is,

ing

the

the

set

of

inequality

all

p in L (i.e.

functions

between

braces)

measurable

and satisfy-

and
(1.7)

that

is,

the set of functions

in L which satisfy
the inequality
braces*.
In these spaces the norm is defined
in the usual

curly

II(PInLaP= IIcpIl(p.a)
=

[+fTl
cp(s)lrepsdslyP

[I, + ~1

PE

between
manner

(1.8)

IIcpII

L,oJ

ncpIl(co,
a)

es8SUP,>, IIcp(s)IIeas

(1.9)

Note1.1. If
nab which
as follows:

n and b are two real numbers, then the linear

operator
maps elements q(s)
in L Pinto elements q*(s)
in LbP, defined
a

cp*(s)
possesses

an inverse

isometric
space Lap

(that
on the

preserves

space

lShp.

all

spaces

Q,q =
the

(1.10)

cp(s) e(a--b)s

[Q~~I-= Rba and

operator

is,

In particular,

distance

is

an isomorphic

between

Lap are isometric

elements)

to the

and

map of

the

LOP = LJ.

space

Further,
if n < b, then Lap contains
LbP, and the topology
of the space
LbP is stronger
than the topology
which is induced in LbP by the topology
of

Lap

(in

other

words,

from the convergence

of

Lb P it

in the sense of the norm of the space

same sequence converges
in the sense of
this

sense,

space
2.

Lb P is

employing
stronger

terminology

than the

space

the

of

functions

space

we shall

that

Lap;

the

in

say that

the

L,P) .

the consideration

to

of

on the solutions
of the equations
generalize
the restrictions
which

a series

semi

axis

>

0 by sets

of

measure

of

conditions

to be im-

(1.2)
and (1.3).
These condiare imposed on the motions of

denotes
the
The symbol ess sup,>, ,, y(s)
which are upper bounds of the function
the

norm in the

[15,161,

of
follows

Investigation of the systems (1.11, (1.2) and (1.3).

Let. us now pass

posed
tions

the

a sequence

necessarily

lower
y(s)
zero.

bound
on sets

of

all

which

numbers
differ

from

On nonuniform

systems of
A (h,

first

approximation

a, b).

exist

There

h,

asymptotic

in the above mentioned criteria.

a,

b > 0 such that

IIX (6 s) iI< /SF e-bf

B (a,

b, p).

exist

There

347

stability

(t > s > 0)

a, b > 0 and p in [l,

w~ep*7,X(t,
s)Ipe-vds<+

ml such

that

00

exist a, b > 0 and p in [l, + ~1 such that the

no) of equation (1.2) belongs to Lbm for each 9 in LP,

here

C (a, b, p).
solution
that is

x(t,

to,

ess sup 1z (t, to, zo) 11

em = N < 00 for

lhe fundamental result

theorem:
Theorem 2.1.

of this

The following

section

relations

\
;,

11
p (8) IIPcm ds < 00

is contained

in the following

are valid:

Equivalences

(4

A@, a, 6)wC(a, h 1)

0)

B(&hq)wC(a,hp)

pE(l*+

for $+$=I

{ !7E

001

[I#+

00)

Implications
(7)

c (6

B (a, 6, q),

4 p)

(6) A(h, a, b)iC(u,

I)

b-s,

A@, U, 6)
p)

for

~Eu.+-l,

qE

[C + =)

for P E (L+ =I ahd arbitrarily

given e > 0

Before proving this theorem, we shall forrrrulate two lemnas, whose

proof will be omitted, for the sake of brevity,
in view of their simplicity.
We only note that one employs an inequality
of Bellman L171.
Lemma 2.1.

lhere exists

IjX(t, s)-X(t,
lhe following
proved:

t,)j\<fjjX(t,
1-a

T > 0 such that

to)1

for

is an imnediate

sEVO--TT,

consequence

to+T]

0, to),o)

of the learna just

348

M. Regish

Lemma 2.2.

exists

here

T > 0 such that

Let US now formulate the important theorem of Dana&-Steinhaus

on which is based, in an essential
way, the proof of Theorem 2.1.
Theorenr 2.2. Suppose that, for certain
certain p in [l, + ml, the integral

real

type

numbers a and b and a

t
vtu

(t,

s)

2.4 (s)

ds

(t

ia01

s
0

defines

a linear

operator

V:LaP *Lb?

(Vu)(t) = Vtu

Then this operator is a continuous

exists a number dl > 0 such that

operator,

that is to say,

there

Furthermore,
a) if

p is in (1,

+ al,

then
1

sup [i

l>O 0

(q = -f--)

e*btllX(t, s)~~qe-qa~ds]4< + 00

P--l

b) if p = 1, then
SUP @IIX(t,

dlle-8<

00

t>a>O

Proof.

Let us prove first

Suppose

in a certain

the first

that lt,)
is the sequence of all rational
numbers, arranged
order, and suppose that the linear bounded operators
vk:LaP4Tn

are defined

(k -- 1,2, . I *)

by the formulas

v*u = ebikVtliu
Since,

part of the theorem.

for

each

II in Lap we have,

(k = 1,2, . * .)

by hypothesis,

that

On

then,

according

there

exists

nonuniform

to the

asymptotic

Banach-Steinhaus

a positive

theorem

number M for

349

stability

1131 it

follows

that

which

IIVkIId M

(k = 1, 2,.

. .)

Consequently

or

IIvk II< M IIu IIt,,,0)

ebtk 111 X ($3 4 U (8) ds II< M 11~lItp,0)

(k = 1,2, . . .)

which,

by continuity,

implies

that

bt

IItm,
b)
dMiIUntp,
a)(2.3)
ISX (4 4 u (4 ds II< M IIu IIcpsaj tt>O)OrIIvU
0

Let

us now prove

suppose
columns

that

of

a) Let
the

the

second
s),

the matrix

X( t,

p be

in

(1,

the
s)

theorem.
(j

= 1,

. . . . n) are

the

s).

+ m),

Consider

of

. . . . x,j(t,

xlj(t,

discussion.

part

and let

the

t >

0 be arbitrary,

but fixed

during

functions

ts) = (ij

(i = 1,. . ., n)

tS))l<j<n

where

uij (6) = 11x (t, 8) ,-+

e-*aszij

(t, s) [i

11X (t, s)

I? emqcu ds]-

$,

8 E IO,4

0
'{j (')=

It

is

easily

seen

ui E
Applying

then

={~

(i,i=l,...,n)

s>t

that

Lap,

inequality

Memb>

'9

IIui II@,a)

(2.3)

<

we then

(i = 1, . . ., n)

obtain

that

x(t,S)Ui(d)dsll=l\S
[$ ($raj(*S)Uij(S))
e,]dsn=

1s

(~;;:

a=1

j=l

~mj(,s)U~j(s)]d~~~~r,~[~

a=1

j=l

zij(t,o)Uij(s)]dSI=
0

j=l

M.Regish

from which it follows that

Now, as is easily seen, for arbitrary integrable non-negative

func-

tions on the set E, fl(s), . . . . f,(s), one has the inequality

and hence one obtains finally that

as was desired.
The case p = + m may be treated analogously,

the difference being

that the functions uij(s) 8re then defined store simply

zi j (t, s)
uij (5) =

b)

JIX(f,s))I

et

EIO# tli

Suppose that p = f and t >

s>t

"ij(s)=os

f,, h

(i, i = 1, . . ., a)

0 is an arbitrary number. fixed

during the discussion. Applying Lemma 2.2 to the equation

dY
-=d%

that is, to the matrix Y(T,

a)

YA (T)

= X-lf~,

u)

= X(0, T), one can conclude

the existence of a number I', independent of t and S, such that

I~~~(s,~o)I~%IIX(~~,~~)II=~<~

for

sE.[t0-T,

h-l-T],

to),0

asyaptot

On nonuniform

Consider

351

stability

now the function

u (8)

(e-O / 47) X (8, to)

easily

0 <

8 &

ia,

\P

PI

seen that

II11iltl, aJ<

u E Lb,
Applying

(a = max (0, to- T)\

=
min (t, to + 2))

s E 1% PI

~0,

0,

It is

ic

the inequality

(2.31,

we obtain

II~0II
that

f
Me-* >

I$
a

=$lX(t~te)~~ll~e-~s~~llX(t,t~)~~lle~~[~-a~
a

and, consequently,

in view of the arbitrariness

flX (t, to) II< 4MeaT ea4e-*,

Introducing

II X (4 to)

t ,, T,

IIB 2,

that

t<T

the notation
h=max[2/min(ea4ed);

we obtain

of x0, we obtain

finally

4MezaT] (O< t < to < T),

that
IIX (4 to) IId

*e-Y

t>ta>o

and Theorem 2.2 is proved.

2.1. In case (a) the boundedness of the matrix A(t) for t >O
turns out to be unessential,
while in case (b), on the contrary,
it is
extremely essential,
in order that the proof of Theorem 2.2 carry over
without change to an arbitrary
Banach space, instead of R,.
Note

similar theorem appears, without proof,

in Bellmans
paper [121. There the theorem is formulated for a finite
dimensional
space, with a = b = 0, p = 1, 2, . . ., + m (see also, in this connection I
C13,14l).
Note

2.2.

Proof

of

obvious.
solution

Theorem

In order

2.1. The implication

to prove that C(a, b,

A(h, a, b) =+C(a,
b, 1) is
1) + A(h, a, b), consider the

t
2 (t, ho) = 1 X (4 4 cp(4 ds
0

0 > 0)

(2.4)

352

of

M. Regish

equation

(1.2).

In view

of

the hypotheses.

the

function

(V,cp) ebf = rebt

is

a bounded

2.2,

function

from this

for

follows

for

t >,O

the

each

existence

of

p in L,.

ema*11X (t, s) 11ebt < h,

and this
tions
Let
let
is
ity

implies

C(a,

b,

and B(a,

us prove

us suppose
to

the condition

p)

next

say that

(2.5)
Let

is

that

that

b,

does

a,

b,

not

(2.5)

The equivalence

b).

q) =+ A(h,

holds,

q)

a,

while

us determine

Then there

is

the

which

a sequence

exist

easy

to

case,

is

In order

b).

A(h,

such

{h,)

condi-

a,

b)

to

does

do this,

not,

which

that

inequal-

sequences

that

as nd

{t,),

{s,)

see

then

that

necessarily

(2.6)

impossible.

and (2.7)

that

such

since

X(

. . .)

(2.7)

= + m; indeed,

if

on a compact

set*

hold

is continuous

in each

this

were

argument,

and

subsequences,
and labeling
them.
e
supposed
further
that
lim
may b

ret, =

S)

t,

(n = 1,2,3,

suput,
would

(2.6)

IIX P,, s,,)II2> h,,

t,>snt edan
It

the

valid.

limh,=+m

not

of

analogously.

a number h > 0 for

exist

to Theorem
that

t>s>o

can be proved

q)

6(a,

R(a,

there

A( h,

b,

According

a number h > 0 such

II x (4 4 IIQ IIx (4 0) IIIIx (0, s) II

Extracting
spectively,
tmasnd+m.

(if
{h,,),

need
{t,),

We now consider
Suppose

a)
6(a,

be)

three

{s,),

it

two cases.

that

b,

4).

there

That

is,

on a set

at least

one limit

sup,sn

exists

such

< + m; in this
a constant

that

element.

every

case,

C > 0 such

bounded

in view

of

the

condition

it

possesses

that

subsequence

of

asymptotic

On nonuniform

e+ [ x

(t,,

s) lf

eqbtn
ds >

353

e+ 11X (t,,

s) If

eqbtn
ds

in

for

stability

all

numbers n which are sufficiently

large,
where T is the number
determined
by means of Lemma 2.2. According to this lemma, and
inequality
(2. I), one may assert further that

which

is

an+T

e-qcrr
11X (t,,

sn)

If

eqbfn
ds > $ e-qaThnq+
+-

n - + a~, which is impossible.

as

b)

now that

suppose

lim s, = +a, as

SUP,,S~

0~; in
this case we may assume that
we obtain the inequalas in case (a),

- m* and then.

io

In

11x (t,,,
c> e-qar

S)Iv eqbfn
ds >

as n - t a,

which

Finally,
in

(1,

the

e*a

IIX (t,, s) If eqbln ds > +nq

-, -I- CKJ

%a- T

the

al

is

also

impossible.

implication

A(h,

and arbitrary

a,

b) +C(a,

E > 0 follows

in

b -

E,

p)

for arbitrary

a corresponding

manner

from

inequality

t
(b-c); <e(b--r)t

IIx (t, O,O)IIe

< etbsejt

11X

(1

(t, s) If eeqas ds)

or

s
0

IIX (4 4 II.IIcp(4 IIdaQ

11cp (s) 11 ep ds)

(i

< htf

em 11cp ntp, a) < Cl

from the inequality

IIx V, 0, 0) IIe(b--r)f
d ( ~2 IIcp(4 0eonIdbbc)1IIX k.4 IIe ds < hPf

I cplltoo,a) < G

where C,, C, > 0 are sufficiently

completely proved.

large

constants.

The theorem

is

thus

3.
Application to the problem of stability to the first
approximation. Consider
the equation
dx

dt

= A (t) 2 + @(z,

q,

XER,

(3.1)

354

M. Regish

where A(t) is the matrix-valued

function of (1. l), and 0(x,
vector function,
defined and continuous on the set

t>o,
and satisfying

t) is a

P>O)

1141\<
D

(3.2)

the condition
IIW,

(m>,l)

t)II\(fWT

where the number m and the real

precisely
below.

valued

function

f(t)

(3.3)

are specified

more

For equation (3.1) there exist various important criteria

of stability
in the first approximation;
they may be divided into two classes.
In the first class one finds the criteria
based on the condition
imposed on the matrix X(t, t,) by Persidskii
[II

t),to>o

11
x (t, to)(I< he-(+),
These criteria
second class
to say,
uniform
tion,

constitute

one finds

the extensions
case.

the class

of uniform

criteria.

criteria

[5,8,9,181,

the generalized
of the criteria

For example,

(3.4)

of the first

the condition

class

of Malkin,

that

is

to the non-

in the present

nota-

has the form

nX(t, to)I~<hf?t~e-a(f-t~),

m >+

(3.5)

Let us now formulate certain criteria

of stability
approximation which comprise all these criteria
just
Theorem 3.1.
satisfies
0(X,

In the

t)

(4

satisfies

a>,h

a>b,

m=+,

m=a

a,

D1,

of first

b) for some h > 0,

(3.3);

and that
the following
cases:

fEhlP, 1lfU(,,,)~K,
--

,I

--

,-?

f EJS?, Ilf II&O)\<K1

I]x0 11Q [2 (m -- 1) IL~K,]

PE[i,

+ ~19

ll~oIl~Dl

(1.1)

> 0,

e@--mb)s(llq, 0)]
1) hm K, 11

P = 1,

a = b,

approximation

a >b

and consider

[I, + c=lv

PE

11
x0 II< [ 2 (m -

/lx0ll<
(7)

A(h,

the inequality

m>t,

11
x0 II< D1,

@I

Suppose that the equation

condition

in the first
mentioned.

--

,-I

f EL07

e- *

IlfIl(P,o,\<~P

to

On nonuniform

(I--L,

where

P--l

every solution

D1 <D,
x(t,

(a), (Pi,

to,

K,,

355

stability

are constants.

p E [1, -+ cc]

x0> of equation

(r) -=+I/z (6

@)=qz

asymptotic

(3.1)

satisfies

A@*

cpct

t>

))20Jj,

the implications

tZ&),

to, "o)(I\<Heaf~-bfl/20(1,

(t, to, x0)]/<

Then

t, >o

where

H = 2h
Proof

k in cases (a), (p); H=hehXP

of

Theorem

in case (T); c=b-Ma>0

in case(a)

Ye have that

3.1.

Itx (4 to, ~1 il i\< II X (4 lo) II II20 II+ 1 II X (4 ~1II II @ @W,

~1 IIdr,

t),t,>o

$0
Setting
t =to+s,
and observing

7=t*+c,
the condition

II3 00+ s,
A(h,

-W,+s&,,(0) +
cp(s) < heat62

a,

b),

to,5) If=

~~~~=ll~oll

gl (4,

we obtain

that

Y
/&f,+@ ,-~(fo+s)f (to $ a) pm (3) dz
s

which means that

cp(s) < ke-bsq (0) + ke-b8 i eQf (to + 6) pm (3) dq

k=

hefawb)O,

It is readily

h>t

h,

seen that if y(s)

is defined

by the equation

t@(s) = kewb8q (0) -f- kemb81 et (to + CT)9 (3) d&,

S),O

(3.6)

then,

on the one hand

p (4 G I (4,

while,

on the other

hand, a simple

$+btb=
In cases (a),

$5) this

Q(s)'@",
equation

s>o

differentiation

of

(3.6)

leads

to

Q (s) = ke(a--a)sf (to + s)

is of Bernoulli

type.

(3.7)

Solvfng

it,

we

356

M. Regish

obtain
--

9 (8) = [[rp(O)]l_ P--l)bs

- (m - i) ke(-1)s

5 &-@f (to + a) da
0

But

kq(O) and T(S) Q y(s).

~(0)

1
m-1
8

consequently
1

-cp(s)<

ke-"*q (0) { 1 -

1) km [cp(O)]

(m -

s>o

j &-@j

(to + ts) da)

(3.9)

Case

(a).

Since

s/uo+

In this

k = hecoBb)

case

t0,

and

$+$=i

0) e(a--mb)o
dad IIf llcp,o) IIe(a--mb)a
/Itq,o),

(3.9)

then, from the Inequality

it follows
that

cp(4 B

or,

in the preceding

(a)

1
m-1

for

11x0 11, together

he(+Woe-b6cp

(0) =2

tkl

with

(3.8)

and (3.9),

~a'oe-Wo+Qcp(o)

notation

II2 (t. to, zo) IId Heaoe-bIIz. II,

f&2&

Case (p). Since Nb = a and p = 1, then (3.8)

11x0 11 imply, as before,
that (3.10)
holds.

(3.10)

and Inequality

@) for

in an analogous
Cases (y) and (6). In these cases the proof proceeds
manner, the difference
being that equation
(3.7)
is linear;
however, in
these cases the results
coincide
essentially
with the results
of Krein
[lOI and Kucher[lll.
Theoren
a,

3.2. If equation
(1.2) satisfies
condition
C(a, b, r),
in [l, + ml, then all the conclusions
of Theorem 3.1 are
Further,
in case (p) the following
improvement is possible:

b > 0,

valid.
(p).

Suppose

that

for

a > b,

II >a/b

where
9 E

La,

II\PII@,GKrs
a)

rE[l,

+ ml

W, > 0)

Then one has

11%
(6 to, %:o)[\<

m+--q~o

II*

t>to>o,

fELJ,,

Ilfllo%ot<~~

asymptotic

On nonuniform

Proof.

Since

Theorem 2.1 implies

357

stability

that C(a,

b,

r) =+ A(h,

a,

b),

then

the first
part of the theorem follows automatically.
In order to prove
the last part, let us suppose that (1.2) satisfies
the condition
C(a,
b, r) for some r in 11. + ml, a > b > 0 and that a >, a/b. From C(a,b,r)
it follows that
11x (f, to) nq hCab-bf,

Let us choose

and let

h > l/4,

us prove that
-bt

I = U, 10920)II< hale
provided

t>ro>O

II=0II.

t>,to

that
-- -_1

-
11ebt 1 X (4 8) 9 (4 ds I,, o) }
n
Since
IIz(to, to, ~~)n=nzou<4hIIzoUlc(~~)r,
it follows that, whenever
does indeed
near to, the required inequality
t > to, with t sufficiently
hold. Let us suppose that there exists some number T > t,, for which
II 5 ll f Wea41-1

{ 4wJ,

[lx (T,to,20)ll= 4bat*Fb*II =o II

while,

for

t in [to,

all

T) we have
II 2 k

This supposition
the function

It is readily

will

to,

5)

II <

4hafoe

-bt

(3.11)

II x0 u

be shown to lead to a contradiction.

seen that

cp(8) = [4mhmiI20IIm eamo]-1 b, [Cp(b), S] E La,

rt,,

From this,
I) that

But,

for

Consider

together

with condition

these values

of t we have

C(a,

b,

II \P lltr, a) < Kr
r),

it

follows,

for

t in

358

M. Regish

that

is

to

say,

From this,
finally

that

in

view

of the

condition

imposed

upon

II *o II, we obtain

that

which

is

impossible,

Thus
Let

the

since

theorem

is

us now prove

values,

then

it

contradicts

the

assumption

proved.
if

that

one always

equation

(1.1)

has a certain

possesses

theorem

of

positive

stability

eigenin the

first

approximation.
Let

us denote
>

PI >e.*

p,

by h, <

dY

dz=
Then the

following

Theorem 3.3.
certain

h > 0,

condition
conclusions

Let
a, <

A, > 0,

the

of

us denote

this

then

for

follows

(i,

j = 1,

equation
(l.lj
(see,
for
<hn
be
the
corresponding
.*.

By N(t)
normal

arbitrary

satisfies

of

hj = eigenvalue
we shall

solutions

just

of (N,j (t),
denote

and by

holds:

(1.1)

by Ni .(t)

(1.11,

Y E R,

- yfl (a

theorem

of

equation

p,,
d(h,

al.

. . . , n)

. . . , Nnj

b < h,,
a,

and a

b) and even

Consequently,

from Lemma 3.1

example,
[6,
eigenvalues

the matrix

mentioned

cz <

condition

C(a, b, p,) for arbitrary

p in [l, +
of Theorems 3.1 and 3.2 erp valid.

Ike proof

tions

If

of

theorem

equation

An the eigenvalues

...<

the eigenvalues

below.

a normal

system

pp.323-3321)

(t])

whose columns

the

of

solu-

and let

(j = 1,.

. , nf

consist

of

the

On nonuniform

asymptotic

Ibis

matrix

possesses

the

following

N (t) E K*,

b)

X (t, to) = N(t) N-l (to)

4
d)

If

the elements

e)

If

cl,>

of

one has

where o>O
is,

that

is

of

(see,

the

(s>O)

inverse

matrix

eigenvalues

of

{Ni;(s),
for

of(exp

example,

this

Lemma 3.1.

If

the matrix

of

denoted

N-(s),

by N*-l,

that

is

(i = 1, . . . , n)

irregularity

of

equation

(l.l),

that

by the equation

5 Sp A (U) d)

terminology,

A, = -

(3.12)

(0 > 0)

a=1

the

following

A < A, and ~1< cl,,, then

h=h(P,

such

are

[191)

Employing

N-(s)

. . . , Ni,(S)}

coefficient

the number defined

eigenvalue

the

are

. . . >cl,

pi = eigenvalue
then

v, to>,w

= - N- (s) A (s)

ds

properties:

t>o

a)

dN-l(s)

(i=l,..,,n)

t>o

{Nlj(t), - - * Nnj(t)},

359

stability

theorem

there

is

exists

valid:

a number

A)>0

that
11
X

(t, to) I]Q he+* e-If

Proof. Since h < A, and A, is

N(t), we have that

ttt

the,least

IIN (0 II< kl (A)e--l,

to> 0)

eigenvalue

t > 0,

(3.13)
of

kl (A)> 0

the matrix

(3.14)

Similarly
IIN-

00) II< h* (P) e+%

to > 0,

ha(P)>0

(3.15)

360

M. Regish

From property

(b),

together

with

(3.14)

and (3.151,

we then deduce

that

IIx @c
to)nG uN 0) 11iv- (to)I]Q he+0 e--A,
where h = h,h,,
Lemma 3.2.

and the 1-a

is

to>0

t,

proved.

For any E > 0 there

exists

a number

k = k (e) > 0
such that
] X (t, to) I; < ke(s+W 4 e-h-~)
where o is

the
Let

Proof.

number

by equation

defined

us denote

the

columns

(zlj ('9 tO)t ' ' +* z,j(t#

From (b)

we have

zlj

From this,

U--I.),

of

t,

(3.16)

to>0

(3.12).
the

matrix

X( t,

to)

by

(i=l,...,n)

tO))

that

N*, (t) Noi (to)

(t, to) = i

keeping

in mind

property

(i,i=
(e),

1,. . .,n)

we obtain

that

a=1
are
CDij, kij = n mar, C,i
6 = q = E > 0, we obtain
finally

where

11X

as

was to
Note

generalized
they also
since

(1,

to) 11(

constants.

ke(6+ac)re-(a,-L)(f-f.)

Consequently,

putting

0, toso)

be shown.

3.1.

The generalized

of Liapunov

criteria

criteria
of Malkin (M, or [6,
follow
from the criteria
expressed

Liapunovs

condition

means

that

m>i+t

[VI
(i

follow

from

the

p. 3691),
and consequently.
in Theorem 3.1.
Indeed,

=i,...,n)

On nonuniform asymptotic

361

stability

where .Wis the number appearing in Theorem 3.1, Ai are the eigenValUeS
of equation (1.1).
and a is the number given by (3.12),
then one may
choose a sufficiently
stnall E $ 0 such that

of Malkins criteria
Now, since,
in view of Lemma 3.2, the conditions
are satisfied,
this is just what was required to be proved. One may
still
note that (as may be easily seen from the examples given by Malkin
([6, p. 3681 or Id)), the criteria
of Malkin are not equivalent
to
Liapunov s criteria.
Note
3.2. The criteria
presented in 193, formulated for the case of
ordinary (i.e.
unconditional)
stability,
are included in Theorem 3.2
for m = 2. a = 2k, b = k, p = + 0~.

BYBLIOGRAPHY

1.

ustoichivosti
integralov
sistem diffePersidskii,
K. P., K teorii
rentsialnykh
uravnenii (On the stability
of systems of differfor Kazan
Univcrs
ity,
ential equations).
Fiz. Math. Obshest.
Vol.
6, No. 3. 1936-1937.

2.

dvizheniia
PO pervomu pribliPersidskii,
K. P., Ob ustoichivosti
zheniiu (On the stability
of motion to the first
approximation).
Maten. Sbornik, Vol. 40. 1933.

3.

Malkin,
bility

4.

5.

po pervomu priblizheniiu
I. G., Ob ustoichivosti
to the first
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Sbornik
nauchnykh
aviation
institute,
NO. 3. 1935.

Perron,

0..

Zeit.

32.

Liapunov.
General

6.

Yalkin,

7.

6.

A.M., Obschaia
Problem of the

of

Massera,
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Die StahilitHtsfrage
bei Differentialgleichungen.
5 (Schluss)
Heft. 1930.

I. G. , Teoriia

bility

(On statrudov

Motion).

J. L.,

zadacha

Stability

ustoichiuosti

po

ustoichivosti
of

Motion).

duizheniia

Math.

dvizheniia

(The

Gostekhizdat,
(Theory

of

Kazan.

1950.
the

Sta-

GITTL, 1952.

Contributions
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64, pp. 162-206, 1956.

theory.

Annals of Math.

Malkin, I. G., Ob ustoichivosti

dvizheniia
PO pervomu priblizheniiu
(On stability
of motion to the first
approximation).
Dokl.
Akad.
Nauk SSSR, Vol. 16. No. 3. 1936.

362

9.

M. Regish
Maizel , A. D. , Ob ustoichivosti
PO pervomu priblizheniiu
(On stability
to the first approximation).
PMM Vol. 14. No. 2, 1950.

10. Krein, M.G., 0 nekotorykh voprosakh sviazannykh s krugom idei Liapunova v teorii
ustoichivosti
(On certain questions related to
Liapunovs ideas concerning the theory of stability).
Uspekhi
Mater.
Nauk,
Vol. 3, No. 3/25, 1948.
11. Kucher, D.L., 0 nekotorykh
sistemy differentsialnykh
boundedness of solutions
Dokl.

Akad.

Nauk

SSSR.

kriteriiakh
ogranichennosti
reshenii
uravnenii (On certain criteria
for
of systems of differential
equations).
Vol. 19. No. 5. 1949.

of a Banach-Steinhaus theorem to the

12. Bellman, R., An application
study of the boundedness of solutions
of nonlinear differential
and difference
equations.
Annals
of Math.
Vol. 49, No. 3. July,
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zawa-

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Trigonometrical
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J. J., Linear differential
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Differential

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New

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Trans

lated

by

J. B. D.