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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: jaea@correo.azc.uam.mx 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
http://www.iaumath.com/content/7/1/32
of the solutions are global, are uniformly bounded, and
converge to the equilibria set.
Preliminaries
We present an existent, unique, and continued theorem
for Equation 1 (see [23]).
Theorem 1. Assume that r > 2 and r 2(n 2)/(n
4) if n 5. For every initial data (u0 , v0 ) H B
L2 (), where B is defined either by B H 2 () H01 () or
by B H02 (), there exists a unique (local) weak solution
(u(t), v(t)) of problem (1), that is,
d
(v(t), w)2 + (u(t), w)2 + M(u(t)22 )(u(t), w)2
dt
+ (g(v(t)), w)2 = (f (u(t)), w)2 ,
(5)
almost everywhere (a.e.) in (0,T) and for every w B
L (), such that
u C([ 0, T); B) C 1 ([ 0, T); L2 ()),
v ut L ((0, T) ).
Here, (, )2 denotes the inner product in L2 ().
The following energy equation holds:
Page 2 of 8
We define the set of equilibria of Equation 1 by:
E {ue B : 2 ue M(u22 )ue = f (ue )}. (11)
We notice that, in particular, 0 E .
Main result
In this section, we prove that all of the solutions are global
and uniformly bounded and that the global attractor is E .
Theorem 2. Let (u(t), v(t)) be a solution of problem (1),
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-
formly bounded, and (u(t), v(t)) E is strongly in H as
t , where E {(ue , 0) : ue E , J(ue ) = E
lim t E(u(t), v(t))}.
Proof. Since the proof is long, we shall divide it into five
steps as follows. First, we prove that the solution is global
and bounded. Next, we show that this implies weak con-
vergence to the equilibria set. In order to conclude strong
convergence, we have to prove that the orbit is precom-
pact in the phase space. In order to do that, we show that
the solution is uniformly continuous. We then prove the
precompactness of the orbit.
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
uniformly bounded and nonincreasing; consequently,
< E lim E(t) = inf E(t) E(t) E0 < .
t t0
(14)
From the energy equation and the continuous injection
[15], and we shall extend it to handle the nonlinearities of
Equation 1 as follows.
Uniform continuity
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
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
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
g (t) g(v(t +))g(v(t)), f (t) f (u(t +))f (u(t)),
  (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
Esquivel-Avila Mathematical Sciences 2013, 7:32 Page 4 of 8
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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)
Esquivel-Avila Mathematical Sciences 2013, 7:32 Page 6 of 8
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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)}.
s[0,1]
Since the solution (u, v) :[ 0, 1] H is uniformly con-
tinuous, W has the same property due to (20). Then, (48)
implies that t  W (t) is uniformly continuous for any
(48) B  L ()  L2 ()  L ()  B ,
where L () = (L ()) , = /( 1), we extend the
inner product in L2 () to the duality product in B B.
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)
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 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)
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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
|| 2 sup{M(u(t)22 )u(t)B } viscosity. J. Math. Anal. Appl. 226, 4060 (1998)
t0 5. Cavalcanti, MM: Existence and uniform decay for the Euler-Bernoulli
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|| 2 C(E0 ), Contin. Dyn. Syst. 8, 675695 (2002)
6. Cavalcanti, MM, Domingos Cavalcanti, VN: Existence and asymptotic
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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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