2. Auxiliary Facts
In this section, we collect notations and auxiliary facts that will be utilized in our investigations of this paper. By the symbol we denote the set of real numbers and we put Moreover, we denote by the set of natural numbers.
Further, assume that E is a given Banach space with the norm and the zero element . In our considerations, we will also write instead of if it does not lead to misunderstanding.
The symbol denotes the closed ball centered at x and with radius r. We write to denote the ball If X is a subset of E then the symbols and stand for the closure and convex closure of X, respectively. Moreover, we will use the standard notation , to denote the classical algebraic operations on subsets of E.
Next, let denote the family of all nonempty and bounded subsets of E while its subfamily consisting of all relatively compact sets will be denoted by .
The most important concept used in our paper is the concept of a MNC. We will accept the axiomatic definition of that concept taken from Banaś and Goebel [
12].
Definition 1. A function is said to be a MNC in the space E if it satisfies the following conditions:
- (i)
The family is nonempty and .
- (ii)
- (iii)
- (iv)
- (v)
for
- (vi)
If is a sequence of closed sets from such that for and then the set is nonempty.
The family appearing in is called the kernel of the MNC .
If then the MNC is called full.
Let us note that the set from axiom is an element of the kernel . It follows immediately from the inequality for Hence we infer that and consequently . This simple observation plays a significant role in applications of the technique connected with MNCs.
Further, assume that
is a MNC in the space
E. The measure
is called sublinear [
12] if it satisfies the following conditions:
- (vii)
- (viii)
, for
If satisfies the condition
- (ix)
then it is called the MNC with the maximum property. If
is a full and sublinear MNC, which has the maximum property, then it is called regular [
12].
It is worthwhile mentioning that the first MNC was defined by K. Kuratowski [
13]. Nevertheless, the most important and useful MNC is the so-called Hausdorff (or ball) MNC defined in [
14,
15] with the help of the following formula
for
It can be shown that
is a regular MNC [
12]. Let us notice that in some Banach spaces such as
we can give formulas expressing
in connection with the structure of these Banach spaces (cf. Akhmerov et al. [
16], Ayerbe et al. [
17], Banaś and Goebel [
12]). On the other hand, there are Banach spaces such as
c or
in which we know formulas for regular MNCs are equivalent to the Hausdorff MNC
in the mentioned spaces (cf. Banaś and Goebel [
12]).
Moreover, let us pay attention to the fact that in some Banach spaces, there exist regular MNCs that are not equivalent to the Hausdorff MNC
(cf. Ablet et al. [
18], Mallet-Paret and Nussbaum [
19]).
Let us point out that in a lot of Banach spaces, we are not in a position to construct formulas expressing the Hausdorff MNC or MNCs equivalent to . In such a situation, we have to restrict ourselves to MNCs in the sense of Definition 1, in which they are not even full.
Now, we recall the fixed point theorem of the Darbo type utilizing the concept of an MNC (cf. Banaś and Goebel [
12], Darbo [
20]). That theorem will be important in our further considerations.
Theorem 1. Let Ω be a nonempty, bounded, closed, and convex subset of a Banach space E. Assume that is a continuous operator and there exists a constant such that for any nonempty subset X of Ω, where μ is an MNC in the space E. Then, Q has at least one fixed point in the set Ω.
Notice that it can be shown (see Banaś and Goebel [
12]) that the set
of fixed points of the operator
Q belonging to
is an element of the kernel
. This simple observation allows us to characterize solutions of considered operator equations.
In what follows, we will work in the Banach space
consisting of functions defined, continuous, and bounded on
with values in a given Banach space
E. Here, we will assume that in the space
E, there is given an MNC
, which, in general, is not equivalent to the Hausdorff MNC
. If
then we define the norm of
x as
where
is a norm in the Banach space
E.
We will also consider the space
where
is arbitrarily fixed. Obviously the space
consists of functions
being continuous on the interval
and normed by the formula
Notice that if we take a function then the restriction of x to the interval is an element of the space .
Now, we are going to present the construction of the MNC in the space
(cf. Banaś et al. [
21]). This MNC will be utilized in considerations conducted in the paper. Let us indicate that the mentioned MNC is associated with the investigations of conditions ensuring the existence of solutions of the IS of IEs (
1) which are asymptotically stable.
Thus, let us take an arbitrary nonempty and bounded subset
X of the space
. Fix a function
For
we define the quantity
by putting
Notice that
if and only if the function
is uniformly continuous on
. On the other hand observe that for any
we have
where
denotes the modulus of the restriction
in the space
i.e.,
However, we will not use the modulus
in this paper (cf. Banaś and Chlebowicz [
10]).
It is easily seen that if and only if functions from the set X are equicontinuous on the interval or equivalently, functions from X are equiuniformly continuous on
Next, let us consider the function
defined on the family
by the formula
where
and
is an MNC given in the Banach space
E.
Notice that the existence of the limit in (
3) follows from the fact that the function
is nondecreasing and bounded on
(cf. Banaś et al. [
21]).
Further, for arbitrarily fixed
we define
and
Finally, taking into account (
2)–(
4), we define the following quantity
(cf. Banaś et al. [
21]).
It can be shown that the function
defined by (
5) is the MNC in the Banach space
(cf. Banaś et al. [
21]). The kernel
, of this measure contains all nonempty and bounded subsets
X of the space
which are equiuniformly continuous on
and such that all cross-sections
of
X are elements of the kernel
in the Banach space
E. Moreover, the thickness of the bundle formed by graphs of functions from
X tends to zero at infinity.
Let us also pay attention to the fact that the MNC
is not full and does not have the maximum property. If we take the MNC
to be sublinear in
E then the MNC
is also sublinear in the Banach space
(cf. Banaś et al. [
21] for details).
In what follows, keeping in mind further applications of the MNC
defined by (
5), we will consider as the Banach space
E the sequence space
consisting of all real sequences
being bounded. Obviously, we consider the space
with the classical supremum norm
where
It is worthwhile mentioning (Banaś and Goebel [
12]) that we do not know formulas expressing the Hausdorff MNC
in the space
. Therefore, we are forced to consider the MNC defined by (
5), where in the component defined by (
3) we use one of MNCs constructed in the space
(cf. Banaś and Geobel [
12], Banaś and Mursaleen [
22], Akhmerov et al. [
16]).
Now, we present the formula for the MNC used in the space in our further considerations. For convenience, we will denote the space by the symbol .
Summing up, we consider the space
consisting of functions
which are continuous and bounded on
. Any such a function can be written in the form
for
, where the sequence
is an element of the space
for any fixed
t. The norm of the function
is defined with help of the equality
In what follows, we present the formula expressing the MNC in connection with an MNC in the space , which seems to be the most natural in our setting.
Thus, let us fix a set
. For
and for an arbitrary function
belonging to the set
X let us consider the modulus
which now has the form
Finally, in view of (
2) we have
Now, to define the second term
of the MNC
given by Formula (
5), we will assume (as we indicated it above) that in the space
we take the MNC
defined on the family
in the following way (see Banaś and Goebel [
12], Banaś and Mursaleen [
22]):
where
and
Now, keeping in mind the above formula and (
3), for
and for arbitrarily fixed
we obtain
Hence, we derive the following formula
Further, we define the third term of the MNC
in the space
given by Formula (
4). Indeed, we obtain
Now, based on Formulas (
6)–(
8) and taking into account Formula (
5) expressing the MNC
in the Banach space
we obtain the formula for the MNC in the space
being counterpart of the MNC
mentioned above. In fact, this MNC has the form
(cf. Banaś et al. [
21]).
Let us point out that the function is the MNC in the Banach space , which is sublinear but does not have the maximum property. Moreover, is not full.
The kernel is the family consisting of all nonempty and bounded subsets X of the space such that functions belonging to X are equiuniformly continuous on and all cross-sections of X are sets in such that the thickness tends to zero as , uniformly with respect to . Moreover, the thickness of the bundle formed by graphs of functions from X tends to zero at infinity.
Let us mention that the MNC
defined by (
9) will be used in our considerations of the next sections of the paper.
3. Main Result
This section is devoted to investigating the solvability of the IS of the quadratic Hammerstein IEs (
1).
Let us recall that the mentioned IS has the form
where
and
As we indicated earlier, our considerations are located in the Banach space
. The main tool used in our study is the MNC
defined by Formula (
9).
Now, we present assumptions under which the IS if IEs (
1) will be investigated.
- (i)
The sequence is an element of the space . Apart from this, the functions are equicontinuous on .
For further purposes we denote by
A the norm of the function
in the space
i.e.,
- (ii)
The functions
are continuous on the set
Moreover, the functions
are equicontinuous on the set
uniformly with respect to
i.e., the following condition is satisfied
- (iii)
For any
and for each
the improper integral
is convergent. Moreover, the integrals
are equibounded for any
and for each
.
In what follows we denote by
the finite constant defined by the equality
- (iv)
The sequence is equibounded on i.e., there exists a constant such that for and .
- (v)
The functions
are defined on the set
and take real values for
. Apart from this, the functions
are equicontinuous on
uniformly with respect to
i.e., the following condition is satisfied
- (vi)
There exists a function
which is nondecreasing on
,
and continuous at 0. Moreover, the following condition is satisfied
for any
, for
such that
and for all
and
.
- (vii)
The sequence of functions , where is an element of the space
Notice that on the basis of assumption (vii), we infer that we can define the finite constant
Now, we formulate other assumptions concerning IS (
1).
- (viii)
The functions
are defined on the set
and take real values for
. Moreover, there exists a function
, which is nondecreasing on
, continuous at
,
and such that the following condition is satisfied
for any
, for
such that
and for all
and
.
- (ix)
The operator
h defined on the set
by the formula
is bounded, i.e., there exists a positive constant
such that
for any
and for each
- (x)
For any
and for each function
the improper integral
is convergent. Moreover, the integrals
are equibounded for
and for each
.
In view of the above assumption, we can define the finite constant
by putting
- (xi)
There exists a positive number
which satisfies the inequality
and such that
where the constants
were defined above and the constant
A was defined in assumption (i).
Remark 1. Let us notice that on the basis of assumption (vi) we conclude that for such that and for the following inequality holdswhere is the function appearing in assumption (vi). In the same way, from assumption (viii) we deduce thatfor and for , where are such that Moreover, the function is involved in assumption (viii). Let us observe that the above remark allows us to infer that assumptions (vi) and (viii) are essentially stronger than the assumption requiring that the functions and satisfy the classical Lipschitz condition with the functions and .
Now, we are in a position to formulate our main existence result concerning IS of IEs (
1).
Theorem 2. Under assumptions (i)-(xi) the IS of IEs (1) has at least one solution in the space Moreover, solutions of IS of IEs (1) are such that the thickness of the bundle formed by graphs of functions belonging to those solutions tends to zero at infinity. Proof. At the beginning we define three operators
on the space
in the following way:
At first, we show that the operator F acts from the space into itself.
To prove this fact let us choose a function
Next, let us fix a natural number
n and
. Then, keeping in mind the imposed assumptions and Remark 1, we obtain
Further, we show that the function is continuous on .
To this end, we will utilize the continuity of the function
on the interval
. Indeed, this means that the following condition is satisfied:
Thus, let us take
and
. Next, choose
according to the above condition. Then, for
such that
, in view of Remark 1 we have:
Now, taking into account assumption (v), we can find a number
such that
for
and for
. Joining this fact with (
11) we obtain the following estimate
for
and for
such that
.
The above reasoning shows that the function is continuous at the point . Keeping in mind that was chosen arbitrarily, we deduce that is continuous on . Linking this property with the boundedness of , which was established earlier, we conclude that the operator F acts from the space into itself.
Next, we show that the operator
H defined above maps the space
into itself. To prove this fact let us take a function
. Then, for a fixed number
and for
in virtue of assumptions (iii) and (ix), we obtain
The obtained estimate shows that the function is bounded on the interval .
Now, let us fix
and choose a number
according to assumption (ii). Then, for arbitrary numbers
such that
, based on assumptions (ii) and (ix) (taking, for example, that
) we obtain
where
denotes the common modulus of equicontinuity of the sequence of functions
(according to assumption (ii)). Obviously we have that
as
Further, let us notice that applying assumption (x), from the above derived estimate we obtain
The above estimate shows that the function is continuous on the interval . Linking this fact with the boundedness of the function on , we deduce that the operator H maps the space into itself.
Now, in view of the fact that the space
is a Banach algebra with respect to the coordinatewise multiplication of function sequences and taking into account the definition of the operator
Q and assumption (i) we conclude that for arbitrarily fixed function
the function
transforms the interval
into the space
Indeed, in virtue of the fact that
for any
and in view of the estimate (
12) we obtain
for any
Hence, on the base of (
10) we infer that
for any
Next, let us observe that the continuity of the function in the interval is a consequence of the continuity of the functions and on In a similar way, we derive the boundedness of the function on , provided we pay attention to the assumption (i).
Summing up, gathering all the above-established properties of the function , we deduce that the operator Q transforms the space into itself.
In what follows, let us notice that keeping in mind estimates (
10) and (
12), for arbitrarily fixed
and
, we obtain
Hence, we derive the following estimate
The above estimate and the first inequality from assumption (xi) yields that there exists a number such that the operator Q transforms the ball into itself.
Further on, we are going to show that the operator Q is continuous on the ball To this end, let us notice that taking into account the representation of the operator Q given at the beginning of the proof, it is sufficient to show the continuity of the operators F and H separately.
Thus, let us take an arbitrary number
and choose
Further, for an arbitrary point
such that
and for
in view of assumption (vi) and Remark 1, we have
On the basis of the above estimate, we derive the desired continuity of the operator F on the ball
Now, let us take arbitrary points
Then, keeping in mind assumption (viii), for fixed
and
, we obtain
Hence, taking into account assumption (iii), we obtain the following inequality
From the above estimate we infer that the operator H is continuous on the ball
In what follows, we will study the behavior of the operators
, and
Q with respect to the components of the MNC defined by the Formula (
5). Let us recall that those components are defined successively by Formulas (
2), (
3) and (
4) (cf. also the extensions of those formulas given by (
6), (
7) and (
8)). To realize our goal, let us fix an arbitrary number
Next, choose
such that
and take a nonempty subset
X of the ball
. Then, for a function
and for a fixed natural number
n, in the similar way as in (
12), we obtain
where
Obviously, taking into account assumption (v) we conclude that as .
Now, from the last estimate we infer that
Further on, let us notice that utilizing assumptions (ii), (ix), (x) and assuming additionally that
in a similar way as in (
14), we can obtain the following estimate
where the quantity
was defined earlier as the common modulus of equicontinuity of the sequence of functions
. Let us recall that
as
Obviously, from the above estimate, we obtain the following one
Now, for a fixed function
and for arbitrary numbers
, in virtue of the representation of the operator
Q, we obtain
where we put
Next, let us fix
and assume that
Then, keeping in mind (
12), (
14), (
10) and (
15), from the above inequality we obtain
Hence, taking into account the above established properties of the functions
and assumption (i), we derive the following inequality
Now, we are going to consider the second component of the MNC
defined by Formula (
9). Recall that the mentioned term is denoted by
and is given by Formula (
7). To this end let us fix a nonempty set
and choose arbitrary functions
Then, for fixed
and
, we obtain:
Further, we intend to estimate the components on the right-hand side of inequality (
17). To realize this goal, let us fix a natural number
n and a number
. Then. for
and for
,
, in view of assumptions (viii) and (iii), for arbitrarily fixed functions
, we obtain
From the above estimate, we obtain
Hence, keeping in mind Formula (
7), we obtain the following inequality
In the similar way as above, for arbitrarily fixed
and for
taking into account assumption (vi), we obtain
This yields the following estimate
Now, taking into account the above estimate and Formula (
7), we derive the following inequality
Finally, linking estimates (
17), (
12), (
10), (
18) and (
19), we obtain
In what follows, we will investigate the third component of the MNC
defined by (
9) i.e., the term
expressed by Formula (
8). To this end, let us fix a nonempty subset
X of
. Let us take functions
Further, fix
and take
Then, for an arbitrary number
, based on calculations performed before estimate (
18), we obtain
The above estimate leads to the following inequality
In the sequel, arguing in the style of calculations preceded estimate (
19), we derive the inequality
Finally, combining estimates (
17), (
21), (
22), (
10) and (
12), we arrive to the following inequality
Now, linking estimates (
16), (
20), (
23) and taking into account Formula (
9) expressing the MNC
, we obtain
Hence, we deduce the following estimate
Next, keeping in mind the above estimate, in virtue of the facts derived in the above-conducted proof, and taking into account assumption (xi) as well as Theorem 1, we infer that there exists at least one element
being a fixed point of the operator
Q in the ball
. Obviously the function
is a solution of IS of IEs (
1) in the space
Moreover, in view of the remark made after Theorem 1 and the description of the kernel of the MNC
given after Formula (
5), we conclude that the thickness of the bundle formed by graphs of solutions of IS of IEs (
1) tends to zero at infinity. The proof is complete. □
The above proved theorem can be treated as the characterization of the set of solutions of IS of IEs (
1) in terms of the concept of asymptotic stability. To show this fact, we adopt the definition of asymptotic stability accepted in the paper of Banaś and Rzepka [
23] (cf. also Hu and Yan [
24]).
Indeed, let us consider a nonempty subset of the space Let Q be an operator defined on with values in the space .
Consider the operator equation having the form
Definition 2. We say that solutions of equation (24) are asymptotically stable if there exists a ball in the space with such that for every there exists a number with the propertyfor all solutions of equation (24) such that and for Notice that in the light of Definition 2, we can formulate Theorem 2 exposing the property of the asymptotic stability of solutions of IS of IEs (
1).
In fact, we have the following version of the mentioned theorem.
Theorem 3. Under assumptions (i)–(xi) the IS of IEs (1) has at least one solution in the space Moreover, solutions of the IS of IEs (1) are asymptotically stable. 4. An Example
This section is dedicated to presenting an example that illustrates the applicability of our main result contained in Theorem 2 (cf. also Theorem 3).
Namely, we will consider the following IS of IEs:
where
and
. Moreover,
and
are positive constants which will be specified later.
Observe that IS of IEs (
25) is a particular case of IS (
1) if we put
for
and for
To show that IS of IEs (
25) has a solution in the space
we will apply Theorem 2. To this end we show that functions defined by (
26)–(
29) satisfy assumptions (i)–(xi) of that theorem.
Let us start with the observation that the function
given by (
26) satisfies the Lipschitz condition with the constant
for
. Hence, we deduce that these functions are equicontinuous on
. Apart from this, we obtain
Further on, let us observe that the functions
defined by (
27) act from the set
into
for
. Since these functions do not depend explicitly on
t, we infer that there is a satisfied assumption (v).
Next, let us fix a number
and choose
such that
Then, taking into account Formula (
27), for an arbitrary number
, we have
The above inequality implies that there is a satisfied assumption (vi), where we can put .
Further, let us notice that This implies that the functions satisfy assumption (vii) with
In what follows let us consider the functions
defined by (
28). Observe that these functions are continuous on the set
Further, taking arbitrarily fixed numbers
(without loss of generality we may assume that
) and
,
, we obtain the following estimates
From the above estimate we conclude that the functions satisfy assumption (ii).
Next, let us notice that the following inequality holds for arbitrary
and for
:
Thus, the functions satisfy assumption (iv) with the constant
Now, keeping in mind that the function
is continuous on
, for any arbitrarily fixed
we obtain
Hence, we derive that there is a satisfied assumption (iii) with the constant
Further on, we intend to verify assumption (viii). To this end let us take
and choose arbitrary
such that
and
. Then, for an arbitrary
and
, in view of Formula (
29), we obtain:
From the obtained estimate we infer that the functions satisfy assumption (vii) with the function
Additionally, we obtain
for
and
. This yields that there is a satisfied assumption (ix) with the constant
In what follows, fixing
and keeping in mind Formula (
29), for an arbitrary function
we obtain
This shows that there is satisfied assumption (x) with the constant
Finally, combining the calculated values of the constants
and keeping in mind the formulas expressing the functions
and
, we conclude that the first inequality from assumption (xi) has the form
We can easily check that taking, for example
we convert the above inequality to the form
Then, for
, we see that there is satisfied inequality (
30).
On the other hand, the second inequality from assumption (xi) has the form
Taking into account the above established values of the constants
and the form of the functions
and
we obtain the following form of inequality (
31):
It is easily seen that the number
satisfies inequality (
32).
Now, taking into account Theorem 2, we infer that IS of IEs (
25) has at least one solution
which belongs to the ball
in the space
Moreover, in the light of Theorem 3 all solutions of IS of IEs (
25) belonging to the ball
are asymptotically stable.