Acta Mathematica Scientia 2006,26B(2):371378 www.wipm.ac.

cn/publish/

ON THE LASOTA-WAZEWSKA MODEL WITH PIECEWISE CONSTANT ARGUMENT

Feng Qiuxiang(

) )

College of Statistics, Shanxi University of Finance and Economics, Shanxi 030006, China E-mail: fqxiang@eyou.com

Yuan Rong (

Department of Mathematic, Beijing Normal University, Beijing 100875, China

Abstract In this article, a delay dierential equation with piecewise constant argument is considered; the existence and global attractivity condition of almost periodic solution and quasi-periodic solution are obtained. Key words Almost periodic solution, quasi-periodic solution, piecewise constant argument 2000 MR Subject Classication 34K14, 34K20

Introduction

This article considers the following nonlinear delay dierential equation with piecewise constant argument x (t) = (t)x(t) + p(t)f (x([t])) (1) with initial condition x(0) = x0 > 0, here , p C (R, R+ ) satisfy (t) 0, p(t) 0; f : [0, +) (0, +) is a real analytic function with Lipschitz constant L. This equation stems from the following autonomous equation y (t) = y (t) + pey(t ), t 0, (2)

which was used by Wazewska-Czyzewska & Lasota [1] as a model for the survial of red blood cells in an animal, here y (t) denotes the number of red blood cells at time t, > 0 is the probability of death of a red blood cell, p and are positive constants related to the production of red blood cells per unit time, and is the time required to produce a red blood cell. The oscillation and attractivity of Eq.(2) have been extensively studied (see Ref.[2-5]). Nonautonomous delay dierential equation y (t) = (t)y (t) + p(t)f (x(t ))
Received

(3)

November 8, 2004; revised June 27, 2005

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is investigated in [6,7]. When (t),p(t) are nonnegative -periodic functions and = m (m Z+ ), the existence and global attractivity of -periodic solution as well as the oscillation of solutions for Eq.(3) with f (x) = ex are discussed in [6]; when (t) and p(t) are nonnegative almost periodic functions, the existence and attractivity of almost periodic solution for Eq.(3) are studied in [7]. Dierential equations with piecewise constant argument (EPCA) were rst considered by Cooke & Wiener [8]and Shah & Wiener [9] (also see [10]). These equations have the structure of continuous dynamical systems within intervals of unit length. Continuity of a solution at a point joining any two consecutive intervals implies recursion relations for the values of the solution at such points. Therefore, they combine the properties of dierential equations and dierence equations. Yuan & Hong [11] rst study the almost periodic solution of EPCA, after that, there have been many works in this eld (see [12-16]). The purpose of this paper is to investigate the existence and global attractivity of almost periodic solution and quasi-periodic solution of Eq.(1). Our motivation to study (1) comes from the recent works [12,15] on the following logistic delay dierential equations (t) = N (t)(a(t) f (N ([t]))). N

Preliminary and Main Theorem

For the readers convenience, we shall introduce a few concepts from [17,18]. Denition 1 Assume that 1 , 2 , , r R are rationally independent. A continuous function x : R Rn , t x(t) is said to be quasi-periodic with frequencies (1 , 2 , , r ) if there exists a periodic function F (u1 , u2 , , ur ) of u1 , u2 , , ur with period 1, such that x(t) = F (1 t, 2 t, , r t), t R. For convenience, we denote = (1 , 2 , , r ), m = (m1 , m2 , , mr ) Zr , and m, = m1 1 + m2 2 + + mr r . Set QP ( ) = u(t) =
m

um ei2

m, t

u m = u m ,
m

|um | < + .

It is easy to see that every function in QP ( ) is quasi-periodic with frequencies . Setting u = m |um |, it is easily shown that (QP ( ), ) is a Banach space. Set QP ( ; Z) = u(n) =
m

um ei2

m, n

; n Z u m = u m ,
m

|um | < + ,

every sequence in QP ( ; Z) can be seen as a function in QP ( ) taking values at integer point t = n Z. We dene u = |um |, u QP ( ; Z),
m

then (QP ( ; Z), ) is a Banach space (See [15]). Set (t) (t) = i2 m, m m ({t})e GQP (1, ) = k Z, k () C [0, 1]; sup
m

[t]

0s1

, m (s) = m (s), , |m (s)| < +.

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obviously, QP ( ) GQP (1, ), QP (, Z) GQP (1, ). Denition 2 A continuous function x(t) is said to be almost periodic if for any > 0, the -translation set of x T (x, ) = { R; |x(t + ) x(t)| < , t R} is a relative dense set on R (that is, there is l > 0, such that [a, a + l] T (x, ) = for any a R). is called an -almost period of x. Denition 3 A sequence x : Z Rn is called an almost periodic sequence if the translation set of x T (x, ) = { Z; |x(n + ) x(n)| < , n Z} is a relative dense set on Z for all > 0. Denote by AP the set of all almost periodic functions with norm x = suptR |x(t)|, and by AP (Z) the set of all almost periodic sequences with norm x = supnZ |x(n)|, then (AP , ) and (AP (Z), ) are both Banach spaces. Noticing that the concept of almost periodic functions is in terms of functions on R, we should nd a solution of Eq.(1) on R. Since the standard denition of sequence is that it is a function on Z+ , we will use the term extended sequence to mean a function on Z as in [12,15], and denote by ES the set of extended sequences, by BES the set of bounded extended sequences, respectively. Following [10], a function x : R R is called a solution of Eq.(1) if x(t) satises the following conditions: (i) x is continuous on R; (ii) The derivative x (t) of x(t) exists everywhere except for the points n Z, where the right derivatives exist; (iii) x satises Eq.(1) for t (n, n + 1), n Z. By direct integration for Eq.(1) we obtain that x(t) = x(k ) exp
t k t t

(s)ds + f (x(k ))
k

p(s) exp
s

( )d ds,

(4)

k t < k + 1, k Z, and by the continuity requirement for solutions of Eq.(1) we get easily that
k+1

x(k + 1) = x(k ) exp

k k+1

(s)ds
k+1

(5) ( )d ds, k Z.

+f (x(k ))
k

p(s) exp
s

If x(t) solves Eq.(1), clearly the dierence equation (5) denes an extended sequence {x(k )}kZ . Lemma 1 ([19]) Assume u(t) AP , {v (n)} AP (Z), then for any > 0, T (u, ) Z and T (u, ) T (v, ) are both relatively dense. k+1 Lemma 2 (i) If a(t) AP , then k a(t)dt AP (Z); (ii) If a(t) QP ( ), then
k+1 k

a(t)dt QP (, Z) (see [15]);

k+1 k

(iii) If a(t) GQP (1, ), then

a(t)dt QP (, Z), and

t [t]

a(s)ds GQP (1, ).

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Proof (i) For any given > 0, by Lemma 1, the set T (a, ) Z is relatively dense. Choose T (a, ) Z, we have
k+1+ k+1 k+1

a(t)dt
k + k

a(t)dt
k

|a(t + ) a(t)|dt < .

This shows

k+1 k

a(t)dt AP (Z).
m

(ii) Set a(t) =

k+1

am ({t})ei2
k+1

m, [t]

, we have
1 m, k

a(t)dt =
k k k+1 k m

am ({t})ei2

dt =
m 0

am (s)ds ei2

m, k

This shows

a(t)dt QP (, Z). And we have

t {t}

a(s)ds =
[t] m 0

am (s)ds ei2

m, [t]

GQP (1, ).

Lemma 3 Suppose h : R R is a real analytic function, then we have (i) {h(u(n))} QP ( ; Z), for any {u(n)} QP ( ; Z) (see [15]); (ii) h(v (t)) GQP (1, ), for any v (t) GQP (1, ) (we omit the proof). For any q BC (R, R+ ), denote
k+1 k+1

qm = inf Lemma 4

k Z

q (s)ds , qM = sup
k k Z k

q (s)ds .

Dene : BES BES as y = x, where

k+1

y (k + 1) = x(k ) exp
k k+1

(s)ds
k+1

(6) ( )d ds, k Z.

+f (x(k ))
k

p(s) exp
s

(i) Assume , p AP , then y AP (Z) when x AP (Z); (ii) Assume , p QP ( )), then y QP (, Z)) when x QP (, Z)). Proof (i) Suppose , p AP and x AP (Z). Set
k+1 k+1 k+1

A(k ) = exp
k

(s)ds , B (k ) =
k

p(s) exp
s

( )d

ds.

By the uniform continuity of ez , for any given > 0, there exists > 0 such that |ez ez | <
Take T (p , 2 ) T (, ), we have

when |z z | < . 2 pM

|B (k + ) B (k )|
k+1+ k+1+ k+1 k+1

=
k +

p(s) exp
s

( )d

ds
k

p(s) exp
s

( )d

ds

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375

k+1

k+1

k+1

k+1

=
k k+1

p(s + ) exp
s

( + )d
k+1

ds
k

p(s) exp
s

( )d

ds

|p(s + ) p(s)| exp

s k+1 k+1

( + )d ds
k+1

+
k

p(s) exp
s

( + )d

exp
s

( )d

ds

<

+ = . 2 2

From this and Lemma 1, it follows that {B (k )} AP (Z). Lemma 2 and Lemma 3 lead to {A(k )}, {f (x(k ))} AP (Z). Hence y AP (Z). (ii) Let , p QP ( ). Rewrite
k+1 k+1 s

y (k + 1) = exp
k

(s)ds

x(k ) + f (x(k ))
k

p(s) exp
[s]

( )d

ds .

By Lemma 2 and Lemma 3, we know

t

p(t) exp
[t] k+1 s

( )d

GQP (1, ),
k+1

thus k p(s) exp [s] ( )d ds and exp k (s)ds are both in QP (, Z). When x QP (, Z), clearly f (x) QP (, Z). So we have {y (k )} QP (, Z). This completes the proof. Theorem 1 (i) Assume that , p AP satisfy em + LpM < 1, then Eq.(1) has a unique positive almost periodic solution u (t) which is globally attractive; (ii) Assume that 1, 1 , 2 , , r are rationally independent, and denote = (1 , 2 , , r ), if , p QP ( ) satisfy em +LpM < 1, then Eq.(1) has a unique positive quasi-periodic solution u (t) with frequencies (1, 1 , 2 , , r ), and u (t) is globally attractive. Proof (i) Suppose , p AP . Set S1 = {x AP (Z), x(k ) 0, k Z}. For any x, y S1 , we have (x)(k ) > 0, (y )(k ) > 0 for any k Z, and |(x)(k ) (y )(k )|
k+1

= (x(k ) y (k )) exp
k k+1

(s)ds
k+1

+(f (x(k )) f (y (k )))

k

p(s) exp
s

( )d

ds

(em + LpM ) x y , for any k Z. Then by Lemma 4, it follows that is a contraction mapping S1 into S1 . Hence has a unique xed point x = {x (k ); k Z} in S1 satisfying x (k ) > 0 for any k Z. Let u (t) be a solution of Eq.(1) satisfying u (k ) = x (k ), k Z. Then u (t) can be written

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u (t) = x (k ) exp
k t

(s)ds
t

(7) ( )d ds, k t < k + 1, k Z.

+f (x (k ))
k

p(s) exp
s

For any integer , put M = max{ x , f (x ) , p , f (x) p }, we have |u (t + ) u (t)| = x ([t] + ) exp +f (x ([t] + )) x ([t]) exp
[t] t t+ t+

(s)ds
[t]+ t+

p(s) exp
[t]+ t s

( )d ds
t t

(s)ds

f (x ([t]))
[t]

p(s) exp
s

( )d ds

= x ([t] + ) exp
[t] t

(s + )ds
t

+f (x ([t] + ))
[t]

p(s + ) exp
s t

( + )d ds
t t

x ([t]) exp
[t]

(s)ds

f (x ([t]))
[t] t

p(s) exp
s

( )d ds

|x ([t] + ) x ([t])| exp

[t] t

(s + )ds
t

(8) (s)ds
[t] t

+x ([t]) exp
[t]

(s + )ds
t

exp

+|f (x ([t] + )) f (x ([t]))|

[t] t

p(s + ) exp
s t

( + )d ds

+f (x ([t]))
[t] t

|p(s + ) p(s)| exp

s t

( + )d ds
t

+f (x ([t]))
[t]

p(s) exp
s

( + )d
t

exp
s

( )d
t

ds (s)ds

|x ([t] + ) x ([t])| + M exp

[t]

(s + )ds
t

exp
[t]

+M |f (x ([t] + )) f (x ([t]))| + M
[t] t t

|p(s + ) p(s)|ds
t

+M
[t]

exp
s

( + )d

exp
s

( )d

ds.

For any given > 0, there exists > 0 such that |ez ez | < 5M whenever |z z | < . Meanwile, {x (k )} AP (Z) implies {f (x (k ))} AP (Z). Therefore the set T (x , 5 )

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T (f (x ), 5M ) T (p, 5M ) T (, ) is a relative dense set. Take T (x , 5 ) T (f (x ), 5M ) T (p, 5M ) T (, ), from relation (8) we can arrive |u (t + ) u (t)| < . On the other hand, as a solution of Eq.(1), u (t) is certainly continuous on R, so u (t) AP . That is, u (t) is a unique positive almost periodic solution of Eq.(1). We claim that u (t) is globally attractive. Let u(t) be any solution of Eq.(1), we can get from relation (5) that

|u(k ) u (k )| (em + LpM )|u(k 1) u (k 1)| (em + LpM )k |u(0) u (0)|, k Z+ , so |u(k ) u (k )| 0 as k +. From this, we instantly obtain |u(t) u (t)| (em + LpM )|u(k ) u (k )| 0, as t +. Therefore the unique positive almost periodic solution u (t) is globally attractive. (ii) When , p QP ( ), denote S2 = {x QP (, Z), x(k ) 0, k Z}, then the map dened by (6) is a contraction mapping S2 into S2 , it has a unique xed point in S2 still denoted by x = {x (k ); k Z}, and we have x (k ) > 0 for any k Z. It follows from Lemma t t s 2 and Lemma 3 that x ([t]), f (x ([t])), exp [t] (s)ds and [t] p(s) exp [s] ( )d ds are all in GQP (1, ). Therefore
t t s

u (t) = exp
[t]

(s)ds

x ([t]) + f (x ([t]))
[t]

p(s) exp
[s]

( )d ds

is in GQP (1, ). It follows from the almost periodicity of u (t) obtained above that u (t) QP (1, ). That is, u (t) is the unique positive quasi-periodic solution of Eq.(1) with frequencies (1, ), and u (t) is globally attractive. This completes the proof. Corollary Assume that , p are T -periodic functions satisfying em + LpM < 1. n0 , n0 and m0 Z+ and mutually prime, then Eq.(1) possesses a unique (i) If T = m0 positive globally attractive n0 -periodic solution. (ii) If T is irrational, then Eq.(1) possesses a unique positive globally attractive quasi1 ). periodic solution with frequencies (1, T Example The following dierential equation with piecewise constant delay 1 x (t) = a(1 + sin 2t)x(t) + (1 + cos 2t) exp(x([t])) 2 1 has a unique globally attractive quasi-periodic solution x (t) with frequencies (1, ), when 1 2 a> ln . 1 sin 1 1 sin 1 1 Indeed, (t) = a(1 + sin 2t) and p(t) = (1 + cos 2t) are -periodic functions, f (x) = ex 2 is a real analytic function with Lipschitz constant L = 1. we have
k+1 k+1

(t)dt =
k k k+1

a(1 + sin 2t)dt = a(1 + sin(2k + 1) sin 1) > a(1 sin 1)

k+1

and
k

p(t)dt =

1 2

(1 + cos 2t)dt =
k

1 1 + sin 1 (1 + cos(2k + 1) sin 1) < . 2 2

378 From a > LpM < 1.

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1 2 2 1 + sin 1 ln , it follows that m > ln , pM , thus em + 1 sin 1 1 sin 1 1 sin 1 2

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