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Asymptotic behaviour for the vibrations

modeled by the standard linear solid
model with a thermal effect

Article in Journal of Mathematical Analysis and Applications · March 2013

DOI: 10.1016/j.jmaa.2012.10.019

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 J. Math. Anal. Appl. 399 (2013) 472–479

Contents lists available at SciVerse ScienceDirect

Journal of Mathematical Analysis and

Applications
journal homepage: www.elsevier.com/locate/jmaa

Asymptotic behaviour for the vibrations modeled by the standard linear

solid model with a thermal effect
Margareth S. Alves a , Celene Buriol b , Marcio V. Ferreira b , Jaime E. Muñoz Rivera c ,
Mauricio Sepúlveda d,∗ , Octavio Vera e
a
Departamento Matemática. UFV. Viçosa-MG, Brazil
b
Departamento Matemática. UFSM. Santa Maria-RS, Brazil
c
LNCC/MCT. Quitandinha-Petrópolis. RJ, Brazil
d
CI2 MA and Departamento de Ingeniería Matemática, UdeC. Concepción, Chile
e
Departamento Matemática. UBB. Concepción, Chile

article info abstract

Article history: We consider vibrations modeled by the standard linear solid model of viscoelasticity which
Received 5 June 2012 are coupled to a heat equation modeling an expectedly dissipative effect through heat con-
Available online 22 October 2012 duction. We show that the exponential stability under the Fourier law of heat conduction
Submitted by Pengfei Yao
holds. In order to obtain the asymptotic behaviour we use multiplier techniques.
© 2012 Elsevier Inc. All rights reserved.
Keywords:
Coupled system of thermoviscoelastic
equations
C0 -semigroup
Asymptotic behaviour

1. Introduction

In this work we consider a coupled system of a realistic linear solid model, which models the behaviour of a viscoelastic
material using a linear combination of springs and dashpots to represent elastic and viscous components respectively,
coupled to a heat equation modeling an expectedly dissipative effect through heat conduction

α uttt + utt − a2 ∆u − a2 β ∆ut + η ∆θ = 0, (1.1)

θt − ∆θ − α η ∆utt − η ∆ut = 0, (1.2)
where x ∈ Ω , t ∈ (0, ∞). The function u = u(x, t ) represents the vibration of flexible structures and θ = θ (x, t ) the
difference of temperature between the actual state and a reference temperature. The constants α and β are positive, η is the
coupling constant. Ω is a bounded open connected set in Rn (n ≥ 1) having a smooth boundary Γ = ∂ Ω .
The initial conditions are given by
u(x, 0) = u0 (x), ut (x, 0) = u1 (x), utt (x, 0) = u2 (x), θ (x, 0) = θ0 (x), in Ω , (1.3)
and the boundary conditions
u = 0, ut = 0 , θ = 0, on ∂ Ω = Γ . (1.4)

∗Corresponding author.
E-mail addresses: malves@ufv.br (M.S. Alves), celene@smail.ufsm.br (C. Buriol), v.f.marcio@gmail.com (M.V. Ferreira), rivera@lncc.br
(J.E. Muñoz Rivera), mauricio@ing-mat.udec.cl (M. Sepúlveda), octaviovera49@gmail.com (O. Vera).

0022-247X/$ – see front matter © 2012 Elsevier Inc. All rights reserved.
doi:10.1016/j.jmaa.2012.10.019
 M.S. Alves et al. / J. Math. Anal. Appl. 399 (2013) 472–479 473

Taking v = α ut + u, the system (1.1)–(1.2) can be rewritten as

vtt − a2 ∆v + a2 (α − β) ∆ut + η ∆θ = 0, (1.5)

θt − ∆θ − η ∆vt = 0. (1.6)

Materials undergoing strain are often modeled with mechanical components, such as springs (restorative force component)
and dashpots (damping component). Springs, which represent the elastic component of a viscoelastic material, obey Hooke’s
law in which the stress σ at any point is simply proportional to the strain e, that is,

σ = E e,
where E is the Young modulus of the elastic structure. The springs represent the elastic component of the model response.
Dashpots represent the viscous component of a viscoelastic material. As a result, the vibrations are governed by the wave
equation

ytt (x, t ) = a2 ∆y(x, t ), (≈σ = E e) (1.7)

where a > 0 is the constant wave velocity. Here, we consider vibrations modeled by the standard linear solid model of
viscoelasticity. In this model, a linear spring is connected in series with a combination of another linear spring and a dashpot
in parallel. The stress σ and strain e are then related by the differential equation

σ + α σ ′ = E (e + β e′ ), (1.8)

where the constants α, β are very small satisfying 0 < α < β and denotes the derivative in the t variable. Consequently,
′

the vibrations of flexible structures are governed by the linear differential equation

α uttt + utt = a2 (∆u + β ∆ut ), (1.9)

where u = u(x, t ), and α, β are constants satisfying 0 < α < β .

On the other hand, the model for the propagation of heat turns into well-known equations for the temperature θ
(difference to a fixed constant reference temperature) and the heat flux vector q,

θt + γ div q = 0 (1.10)

and

q + κ∇θ = 0, (1.11)

where γ , and β are positive constants. Eq. (1.10) represents the assumed Fourier law of heat conduction. Replacing (1.11)
into (1.10) we obtain the parabolic heat equation

θt − γ κ ∆θ = 0. (1.12)

The system that we consider is modeled by the standard linear model of viscoelasticity which is coupled to a heat equation
modeling an expectedly dissipative effect through heat conduction. Indeed, we consider the system (1.1)–(1.4).
The asymptotic behaviour as t → ∞ of solutions to the equations of linear viscoelasticity has been studied by many
authors. We refer to the book of Liu and Zheng [1] for a general survey on these topics. Research in the stabilization of math-
ematical models of vibrating, flexible structure has been considerably stimulated by an increasing number of questions of
practical concern among others. Gorain [2–4] considered the stabilization for the vibrations modeled by the standard linear
model of viscoelastic defined in Ω subject to the undamped Dirichlet and Neumann boundary where the boundary ∂ Ω =
0 1
Γ consists of two parts Γ 0 and Γ 1 such that Γ = Γ ∪ Γ . Gorain proved that the amplitude of the vibrations remains
bounded in the sense of a suitable norm in an appropriate space. Other results can be found in [3,4] and references therein.
It is important to observe that, there are relatively few mathematical results on vibrations modeled for coupled systems of
thermoviscoelastic equations type, see for instance [5] and references therein.
Of particular interest in this paper is to prove the asymptotic behaviour considering suitable multiplier techniques.
Indeed, the main result of this paper is the following theorem.

Theorem 1.1. Let (β − α) > 0. Let u, θ be solutions of the system (1.1)–(1.4). Then there exist positive constants C and K such
that

E (t ) ≤ C E (0) e−K t , ∀t ≥ 0.

For (1.1)–(1.4) we have the following estimate of the energy.

474 M.S. Alves et al. / J. Math. Anal. Appl. 399 (2013) 472–479

Lemma 1.2. Let (β − α) > 0. For every solution of the system (1.1)–(1.4) the total energy E : R+ → R+ is given in time t by
    
1
E (t ) = 2
|α utt + ut | dx + a 2
|α ∇ ut + ∇ u| dx + a α (β − α)
2 2 2
|∇ ut | dx + θ dx
2
(1.13)
2 Ω Ω Ω Ω

and satisfies
 
d
E (t ) = −a2 (β − α) |∇ ut |2 dx − |∇θ |2 dx. (1.14)
dt Ω Ω

Proof. Multiplying (1.5), (1.6) by vt and θ respectively, using the Green formula together with the boundary conditions, and
adding the results the lemma follows. 

Remark 1.3. The negativity of the right hand side of (1.14) shows that some amount the energy of the system is dissipating
throughout the domain due to the consideration of small internal damping of the structure.
This paper is organized as follows. Section 2 outlines briefly the notation and the well-posedness of the system. Section 3
shows the exponential stability of the system (1.1)–(1.4), using suitable multiplier techniques.
Finally, throughout this paper C is a generic constant, not necessarily the same at each occasion (it will change from line
to line), which depends in an increasing way on the indicated quantities.

2. Setting of the semigroup

In this section, we obtain the existence and uniqueness of solutions of the coupled system of thermoviscoelastic equations
type (1.1)–(1.4). We will use the following standard L2 (Ω ) space, the scalar product and norm are denoted by
 
⟨u, v⟩L2 (Ω ) = u v dx, ∥u∥2L2 (Ω ) = |u|2 dx.
Ω Ω
We have the Poincaré inequality
∥u∥2L2 (Ω ) ≤ Cp ∥∇ u∥2L2 (Ω ) , ∀u ∈ H01 (Ω ),
where Cp is the Poincaré constant.
Taking ut = v and vt = w , the initial boundary value problem (1.1)–(1.4) can be reduced to the following abstract initial
value problem for a first-order evolution equation
d
U (t ) = A U (t ), U (0) = U0 , ∀t > 0 , (2.1)
dt
where U (t ) = (u, v, w, θ )T and U0 = (u0 , u1 , u2 , θ0 )T , and the linear operator A : D (A) ⊂ H → H is given by

v
 
 
u
w
v 
 
A  = 1 1 . (2.2)
 
w ∆(a u + a β v − η θ ) −
2 2
w
α α

θ ∆(η v + α η w + θ )
We introduce the energy space H = H01 (Ω ) × H01 (Ω ) × L2 (Ω ) × L2 (Ω ) equipped with the inner product given by
 
⟨(u, v, w, θ ), (u1 , v1 , w1 , θ1 )⟩H = a2 α (β − α) ∇v · ∇v 1 dx + a2 (∇ u + α ∇v) (∇ u1 + α ∇v 1 ) dx
Ω
 Ω
+ (v + α w) (v 1 + α w 1 ) dx + θ θ 1 dx
Ω Ω
and the norm
∥(u, v, w, θ )∥2H = a2 α (β − α) ∥∇v∥2L2 (Ω ) + a2 ∥∇ u + α ∇v∥2L2 (Ω ) + ∥v + α w∥2L2 (Ω ) + ∥θ∥2L2 (Ω ) .
We can easily show that the norm ∥ · ∥H is equivalent to the usual norm in H .
Instead of dealing with (1.1)–(1.4) we will consider (2.1) in the Hilbert space H , with the domain D (A) of the operator
A given by
D (A) = (u, v, w, θ ) ∈ H : w, θ ∈ H01 (Ω ), a2 u + a2 β v − η θ ∈ H01 (Ω ) ∩ H 2 (Ω ),


η v + α η w + θ ∈ H01 (Ω ) ∩ H 2 (Ω ) .


First, we show that the operator A generates a C0 -semigroup of contractions on the space H .
 M.S. Alves et al. / J. Math. Anal. Appl. 399 (2013) 472–479 475

Proposition 2.1. Let (β − α) > 0. The operator A generates a C0 -semigroup SA (t ) of contractions on the space H .
Proof. We will show that A is a dissipative operator and 0 belongs to the resolvent set of A, denoted by ϱ(A). Then our
conclusion will follow using the well known Lumer–Phillips Theorem [6].
 
⟨AU , U ⟩H = a α (β − α)
2
∇w · ∇v dx + a (∇v + α∇w) (∇ u + α∇v) dx
2

Ω Ω
 
+ ∆(a2 u + a2 β v − η θ ) (v + α w) dx + ∆(η v + α η w + θ ) θ dx
Ω Ω
 
= a2 α β ∇w · ∇v dx − a2 α 2 ∇w · ∇v dx
Ω Ω

+ a2 ∇v · ∇ u + α |∇v|2 + α ∇w · ∇ u + α 2 ∇w · ∇v dx
 

Ω
2
∇ u · ∇v + α ∇ u · ∇w + β |∇v|2 + α β ∇v · ∇w dx
 
−a
 Ω 
[η∇v ∇θ + α η∇w ∇θ ] dx − η∇v ∇θ + α η∇w ∇θ + |∇θ |2 dx
 
+
Ω Ω
 
= −a (β − α)
2
|∇v| dx + 2 i a α β Im
2 2
∇w · ∇v dx
 Ω  Ω
+ 2 i a2 Im ∇v · ∇ u dx + 2 i a2 α Im ∇w · ∇ u dx
Ω
  Ω 
+ 2 i η Im ∇v · ∇θ dx + 2 i α η Im ∇w · ∇θ dx − |∇θ |2 dx.
Ω Ω Ω

Hence,
 
Re ⟨AU , U ⟩H = −a2 (β − α) |∇v|2 dx − |∇θ|2 dx ≤ 0. (2.3)
Ω Ω

Thus, A is a dissipative operator. 

Proposition 2.2. ℜ(λ I − A) = H , if

√
−1 + 1 + 4α
λ= . (2.4)
2

Proof. We show that for all F = (f , g , h, q) ∈ H , there exists a unique U = (u, v, w, θ ) ∈ D (A) such that (λ I − A)U = F ,
that is,

λu − v = f in H01 (Ω ) (2.5)

λ v − w = g in H01 (Ω ) (2.6)

α λ w − ∆ (a u + a β v − η θ ) + w = α h in L (Ω )
2 2 2
(2.7)
λ θ − ∆ (η v + α η w + θ ) = q in L (Ω ). 2
(2.8)
Replacing v = λ u − f and w = λ v − g = λ u − λ f − g into (2.7) and (2.8) we obtain
2

(α λ3 + λ2 ) u − (a2 + a2 β λ) ∆u + η ∆θ = (α λ2 + λ) f − a2 β ∆f + (α λ + 1) g + α h (2.9)
−(λ + α λ ) η ∆u + λ θ − ∆θ = −(1 + α λ) η ∆f − α η ∆g + q.
2
(2.10)
To solve (2.9)–(2.10) we consider the bilinear form
M : (H01 (Ω ) × H01 (Ω )) × (H01 (Ω ) × H01 (Ω )) −→ R
given by
 
M ((u, θ ), (ϕ, χ )) = (α λ3 + λ2 ) u ϕ dx + (a2 + a2 β λ) ∇ u · ∇ϕ dx
Ω Ω
   
−η ∇θ · ∇ϕ dx + (α λ2 + λ) η ∇ u · ∇χ dx + λ θ χ dx + ∇θ · ∇χ dx
Ω Ω Ω Ω
476 M.S. Alves et al. / J. Math. Anal. Appl. 399 (2013) 472–479

and the linear form K : H01 (Ω ) × H01 (Ω ) −→ R given by

  
K (ϕ, χ ) = (α λ2 + λ) f ϕ dx + a2 β
∇ f · ∇ϕ dx + (α λ + 1) g ϕ dx
Ω
 Ω  Ω

+α h ϕ dx + (α λ + 1) η ∇ f · ∇χ dx + α η ∇ g · ∇χ dx + q χ dx.
Ω Ω Ω Ω

We have that
 
M((u, θ ), (u, θ )) = (α λ3 + λ2 ) u2 dx + (a2 + a2 β λ) |∇ u|2 dx
Ω Ω
   
−η ∇θ · ∇ u dx + (α λ2 + λ) η ∇ u · ∇θ dx + λ θ 2 dx + |∇θ|2 dx
Ω Ω Ω Ω
 
= (α λ + λ )
3 2
u dx + (a + a β λ)
2 2 2 2
|∇ u| dx
Ω Ω
  
+ (α λ2 + λ − 1) η ∇ u · ∇θ dx + λ θ 2 dx + |∇θ|2 dx
Ω Ω Ω
 
≥ C ∥u∥2H 1 (Ω ) + ∥θ ∥2H 1 (Ω ) , (using (2.4)).
0 0

Thus M is coercive.
On the other hand, using the Hölder inequality

M((u, θ ), (ϕ, χ )) ≤ α λ3 + λ2  ∥u∥ ∥ϕ∥ + |a2 + a2 β λ| ∥∇ u∥ ∥∇ϕ∥ + |η| ∥∇θ∥ ∥∇ϕ∥

 

+ (α λ2 + λ) η ∥∇ u∥ ∥∇χ∥ + λ ∥θ∥ ∥χ∥ + ∥∇θ∥ ∥∇χ∥

 
 1/2  1/2
≤ C ∥u∥2H 1 (Ω ) + ∥θ ∥2H 1 (Ω ) ∥ϕ∥2H 1 (Ω ) + ∥χ∥2H 1 (Ω ) .
0 0 0 0

Finally,

|K (ϕ, χ )| ≤ α λ2 + λ ∥f ∥ ∥ϕ∥ + |a2 β| ∥∇ f ∥ ∥∇ϕ∥ + |α λ + 1| ∥g ∥ ∥ϕ∥ + |α| ∥h∥ ∥ϕ∥

 

+ |(1 + α λ) η| ∥∇ f ∥ ∥∇χ∥ + |α η| ∥∇ g ∥ ∥∇χ ∥ + ∥q∥ ∥χ∥

= α λ2 + λ ∥f ∥ + |α λ + 1| ∥g ∥ + |α| ∥h∥ ∥ϕ∥ + |a2 β| ∥∇ f ∥ ∥∇ϕ∥
  

+ ∥q∥ ∥χ∥ + (|(1 + α λ) η| ∥∇ f ∥ + |α η| ∥∇ g ∥) ∥∇χ∥

 1/2  1/2
≤ C1 ∥ϕ∥2H 1 (Ω ) + ∥∇ϕ∥2H 1 (Ω ) + C2 ∥χ∥2H 1 (Ω ) + ∥∇χ∥2H 1 (Ω ) .
0 0 0 0

Using the Lax–Milgram theorem, there exists a unique (u, θ ) ∈ H01 (Ω ) × H01 (Ω ) such that

M((u, θ ), (ϕ, χ )) = K (ϕ, χ ), ∀(ϕ, ψ) ∈ H01 (Ω ) × H01 (Ω ). (2.11)

In particular, for all (ϕ, 0), where ϕ ∈ D (Ω ) we have that

  
(α λ3 + λ2 ) u ϕ dx + (a2 + a2 β λ) ∇ u · ∇ϕ dx − η∇θ · ∇ϕ dx
Ω Ω Ω
   
= (α λ2 + λ) f ϕ dx + a2 β ∇ f · ∇ϕ dx + (α λ + 1) g ϕ dx + α h ϕ dx,
Ω Ω Ω Ω

that is,

(α λ3 + λ2 ) u − (a2 + a2 β λ) ∆u + η ∆θ = (α λ2 + λ) f − a2 β ∆f + (α λ + 1) g + α h in D ′ (Ω ). (2.12)

We set v = λ u − f and w = λ2 u − α f − g . Then v, w ∈ H01 (Ω ) solve (2.5)–(2.6). Hence, using (2.12) we have

α λ w − a2 ∆u − a2 β ∆v + w + η ∆θ = α h, (2.13)

which solves (2.7), since F ∈ H , and therefore α h ∈ L2 (Ω ). Moreover, we note that (2.13) implies

a2 u + a2 β v − η θ ∈ H01 (Ω ) ∩ H 2 (Ω ).
 M.S. Alves et al. / J. Math. Anal. Appl. 399 (2013) 472–479 477

On the other hand, from (2.11) we obtain

  
(α λ2 + λ) η ∇ u · ∇χ dx + λ θ χ dx + ∇θ · ∇χ dx
Ω Ω Ω
  
= (1 + α λ) η ∇ f · ∇χ dx + α η ∇ g · ∇χ dx + q χ dx,
Ω Ω Ω
for all (0, χ ) with χ ∈ D (Ω ). Thus
λ θ − ∆θ − (α λ2 + λ) η ∆u = −(1 + α λ) η ∆f − α η ∆g + q in D ′ (Ω )
or equivalently
λ θ − η ∆v − α η ∆w − ∆θ = q, (2.14)
which solves (2.8). Now, from (2.14) we conclude that
η v + α η w + θ ∈ H01 (Ω ) ∩ H 2 (Ω ).
It is easy to show that D (A) is dense in H . Using the well known Lumer–Phillips Theorem [6] we conclude that the operator
A generates a C0 -semigroup of contractions on the space H . 

Theorem 2.3. For any U0 ∈ H there exists a unique solution U (t ) = (u, ut , utt , θ ) of (1.1)–(1.4) satisfying
u ∈ C 1 ([0, ∞[: H01 (Ω )) ∩ C 2 ([0, ∞[: L2 (Ω ))
θ ∈ C ([0, ∞[: L2 (Ω )).
However, if U0 ∈ D (A) then
u ∈ C 2 ([0, ∞[: H01 (Ω )) ∩ C 3 ([0, ∞[: L2 (Ω ))
θ ∈ C ([0, ∞[: H01 (Ω )) ∩ C 1 ([0, ∞[: L2 (Ω ))
a2 u + a2 β ut − η θ ∈ ([0, ∞[: H01 (Ω ) ∩ H 2 (Ω ))
η ut + α η utt + θ ∈ ([0, ∞[: H01 (Ω ) ∩ H 2 (Ω )).

3. Asymptotic behaviour

In this section we show the exponential stability of the energy of the system (1.1)–(1.4). The idea is to use a multiplier
technique. Indeed, we prove the following theorem.

Theorem 3.1. Let (β − α) > 0. Let u, θ be solutions of the system (1.1)–(1.4) given in Theorem 2.3. Then there exist positive
constants C and K such that
E (t ) ≤ C E (0) e−K t , ∀t ≥ 0.
Proof. From Lemma 1.1 we have
 
d
E (t ) = −a2 (β − α) |∇ ut |2 dx − |∇θ|2 dx (3.1)
dt Ω Ω
where
    
1
E (t ) = |α utt + ut |2 dx + a2 |α ∇ ut + ∇ u|2 dx + a2 α (β − α) |∇ ut |2 dx + θ 2 dx . (3.2)
2 Ω Ω Ω Ω

We set
 
F1 ( t ) = vt v dx, F2 (t ) = θ vt dx (3.3)
Ω Ω
where v = α ut + u. From (1.5), (1.6)
   
d
F1 (t ) = vt2 dx − a2 |∇v|2 dx + a2 (α − β) ∇ ut · ∇v dx + η ∇θ · ∇v dx
dt Ω Ω Ω Ω
a2 η2
≤ ∥vt ∥2 − a2 ∥∇v∥2 + (β − α) ∥∇ ut ∥2 + a2 ε1 (β − α) ∥∇v∥2 + ∥∇θ∥2 + ε2 ∥∇v∥2
4 ε1 4 ε2
a2 η2
= ∥vt ∥2 − (a2 − a2 ε1 (β − α) − ε2 )∥∇v∥2 + (β − α) ∥∇ ut ∥2 + ∥∇θ ∥2 (3.4)
4 ε1 4 ε2
478 M.S. Alves et al. / J. Math. Anal. Appl. 399 (2013) 472–479

and
 
d
F2 (t ) = θt vt dx + θ vtt dx
dt Ω Ω
 
= vt ∆ (θ + η vt ) dx + θ ∆[a2 v − a2 (α − β) ut − η θ] dx
Ω Ω
    
=− ∇vt · ∇θ dx − η |∇vt |2 dx − a2 ∇θ · ∇v dx + a2 (α − β) ∇θ · ∇ ut dx + η |∇θ |2 dx
Ω Ω Ω Ω Ω
1 a4 a2
≤ ε3 ∥∇vt ∥2 + ∥∇θ ∥2 − η ∥∇vt ∥2 + ∥∇θ ∥2 + ε4 ∥∇v∥2 + (β − α) ∥∇θ∥2
4 ε3 4 ε4 2
a2
(β − α) ∥∇ ut ∥2 + η ∥∇θ ∥2
+
2
a4 a2 a2
 
1
= −(η − ε3 ) ∥∇vt ∥ +
2
+ + (β − α) + η ∥∇θ∥2 + ε4 ∥∇v∥2 + (β − α) ∥∇ ut ∥2 , (3.5)
4 ε3 4 ε4 2 2

where ε1 , ε2 , ε3 , and ε4 are to be defined.

Taking

F (t ) = ε F1 (t ) + δ F2 (t ) (3.6)

where ε and δ are positive parameters to be defined. Hence,

ε δ 2 η
 2
a4 a2
   
d 1
F (t ) ≤ ε ∥vt ∥2 + + a (β − α) ∥∇ ut ∥2 + ε+δ + + (β − α) + η ∥∇θ ∥2
dt 4 ε1 2 4 ε2 4 ε3 4 ε4 2
− [ε (a2 − a2 ε1 (β − α) − ε2 ) − ε4 δ] ∥∇v∥2 − δ (η − ε3 ) ∥∇vt ∥2 .
We fix ε1 , ε2 > 0 such that C1 = a2 − a2 ε1 (β − α) − ε2 > 0. Thus

(η − ε3 ) ε δ 2
   
d
F (t ) ≤ − δ − ε ∥vt ∥2 + + a (β − α) ∥∇ ut ∥2
dt Cp 4 ε1 2
η
 2
a4 a2
 
1
+ ε+δ + + (β − α) + η ∥∇θ∥2 − (C1 ε − ε4 δ) ∥∇v∥2 .
4 ε2 4 ε3 4 ε4 2

Now, let 0 < ε3 < η and, consider 0 < δ < 1,

η − ε3 2 ε2
 
0 < ε < min 2 ε1 , δ, ,
Cp η2
such that
(η − ε3 ) ε δ
 
C2 = δ − ε > 0, C3 = + <1
Cp 4 ε1 2

and
η2 a4 a2
 
1
C4 = ε+δ + + (β − α) + η < 1.
4 ε2 4 ε3 4 ε4 2

Thus

d C1 ε
F (t ) ≤ −C2 ∥vt ∥2 + C3 a2 (β − α) ∥∇ ut ∥2 + C4 ∥∇θ ∥2 − ∥∇v∥2 . (3.7)
dt 2
Now, we define the Perturbed Energy

G(t ) = E (t ) + F (t ). (3.8)

From (3.1) and (3.7) we have

d C1 ε
G(t ) ≤ −C2 ∥vt ∥2 − (1 − C3 ) a2 (β − α) ∥∇ ut ∥2 − (1 − C4 ) ∥∇θ ∥2 − ∥∇v∥2
dt 2
≤ −K1 E (t ), (3.9)
 M.S. Alves et al. / J. Math. Anal. Appl. 399 (2013) 472–479 479

where
(1 − C3 ) (1 − C4 ) C1 ε
 
K1 = 2 min C2 , , , 2 > 0.
α Cp 2a
Performing straightforward estimates we have
|G(t ) − E (t )| ≤ ε ∥vt ∥ ∥v∥ + δ ∥θ ∥ ∥vt ∥
1 ε δ
≤ (ε + δ) ∥vt ∥2 + ∥∇v∥2 + ∥θ ∥2 .
2 2 Cp 2
Hence,
a2 ε a2 α
 
1 1
[1 − (ε + δ)] ∥vt ∥2 + 1− ∥∇v∥2 + (β − α) ∥∇ ut ∥2 + (1 − δ) ∥θ ∥2
2 2 a2 Cp 2 2
a2 ε a2 α
 
1
≤ G(t ) ≤ [1 + (ε + δ)] ∥vt ∥2 + 1+ ∥∇v∥2 + (β − α) ∥∇ ut ∥2 + (1 + δ) ∥θ ∥2 .
2 a2 Cp 2 2

Observe that we can choose ε and δ such that ε + δ < 1 and ε < a2 Cp . Therefore

K2 E (t ) ≤ G(t ) ≤ K3 E (t ), K2 , K3 > 0. (3.10)

From (3.9) and (3.10) we conclude that
E (t ) ≤ C E (0) e−K t , ∀t ≥ 0.
The theorem follows. 

Acknowledgments

Mauricio Sepúlveda thanks the support of Fondecyt project 1110540, CONICYT project Anillo ACT1118 (ANANUM), and
Basal, CMM, Universidad de Chile. Octavio Vera thanks the support of Fondecyt projects 1121120. This research was partially
supported by PROSUL Project (Chamada II): Sistemas dinâmicos Controle e Aplicaçoes. Processo: CNPq 490577/2008-3.

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