1. Introduction
In this paper, , , , , and denote, as usual, sets of positive integers, integers, rational numbers, and real and complex numbers, respectively. Moreover , , and S and T are nonempty sets.
At the 16th International Conference on Functional Equations and Inequalities (Będlewo, Poland, 17–23 May 2015), W. Sintunavarat gave a talk ([
1]) on the Ulam stability of the following functional equation:
in the class of all functions
.
For more information on Ulam stability, we refer to [
2,
3,
4]. Here, let us only mention that this stability (often also called Hyers–Ulam stability) concerns the flowing problem: how much the mappings satisfying an equation approximately (in a sense) differ from the exact solutions of the equation. This problem is closely related to the issues considered in the theories of approximation, optimization, perturbation, and shadowing.
Motivated by the talk of W. Sintunavarat, J. Schwaiger raised the problem to determine the general solution of the equation, which was answered by the author of this paper (see [
1], p. 196), who showed that
is a solution to (
1) if and only if
with some
that is additive (i.e., fulfills the equality
for every
).
It is worth mentioning that, earlier, in [
5,
6,
7,
8,
9], Ulam stability was studied for other analogous equations, which are usually called radical functional equations. For examples of some later similar results, we refer to [
10,
11,
12,
13,
14,
15,
16,
17,
18,
19]. The authors of these papers sometimes provide some descriptions of the solutions to such equations, but in some cases, these descriptions are incomplete, unclear, or even misleading (see Remarks 3 and 5 and the comments after Equation (
78)). This is the reason why this paper was written. However, the main purpose of this paper is not to identify and discuss all such imperfections, but to present a general, easy method that allows for the establishment of sensible, simple, and complete descriptions of solutions to numerous equations of the radical type.
Now, let us present some examples of these equations of the radical type. First, note that (
1) is a special case (
) of the following functional equation that has been considered (in various situations) in [
5,
9,
10,
11,
13,
17] for
:
Next, let us mention the following equation that was studied in [
16] for functions
g mapping
into
and has been called Pythagorean mean functional equation:
Of course, we must exclude in (
3) all
such that
(this was not clearly mentioned in [
16]).
Solutions to and the stability of the following functional equation were investigated in [
9] for functions from
in a real linear space:
with positive
such that
.
Moreover, the equation
and its generalized form
were considered in [
5,
8,
17] for functions from
in a real linear space, with positive
,
.
The following functional equations
and some particular cases of them (e.g., with
,
, or
) have been studied for
, e.g., in [
15,
18,
19].
Clearly, all these functional equations are particular cases of the general functional equation, of the form
considered for unknown functions
with given functions
,
,
, where
n,
k, and
m are fixed positive integers with
,
T and
S are nonempty sets, and
.
A description of solutions to (
10) was provided in [
20], but only when
, i.e., for the following equation:
In the next section, we provide an analogous result for the more general Equation (
10).
A somewhat different generalization of (
1) and (
2) was investigated in [
21]. In particular, the conditional equation
was considered for functions
, where
S is a nonempty set,
and
are groupoids (i.e.,
Y and
W are nonempty sets endowed with binary operations
and
),
,
,
is nonempty, and
is a selection of
, i.e.,
Only some very weak additional assumptions concerning the neutral elements in
or the cancellation property in
were used.
Remark 1. To avoid any ambiguity, let us explain that we understand conditional Equation (
11)
for a given function in the following way: for every such that . Any other conditional equation considered in this article should be understood in a similar way. Clearly, if
,
is the additive group of real numbers,
,
for
, and
for
, then (
11) takes the following form:
It is easily seen that Equations (
1), (
2), and (
3) are special cases of (
11).
Another special case of (
11) is
which was studied in [
22] for
. Clearly, in this case,
and
for
.
In [
21], two more simple examples of (
11) were mentioned (for real-valued functions with real variables). The first one, for
, is a conditional equation of the form
where
is the floor function, i.e.,
for
(
denotes the largest integer not greater than a real number
x),
S is such that
, and
for
.
The second one, also for
, has the form
when
is given by
for
,
S is such that
, and
for
.
Below, we provide three more examples of particular forms of (
11) in the case when the ★ operation is just the usual addition + in
or
and
is fixed.
In particular, if
for
, then
and Equation (
11) takes the following form:
If
for
, then
and Equation (
11) has the following form:
Finally, if
for
(
stands for the modulus of a complex number
z) and
, then (
11) becomes
The main purpose of this expository article is to provide simple general descriptions of solutions to various functional equations of the radical type and to present appropriate examples showing how to apply them. We believe that this should be helpful for authors considering similar topics in the future.
Moreover, the results presented in this paper show that there is a significant symmetry between solutions of numerous functional equations and solutions to the equations of the radical type that correspond to them.
3. Applications of Theorem 2
Below, we provide two corollaries with simplified versions of Theorem 2 and show some applications of them. We start with the following one for and (as before, ).
Corollary 1. Let for and one of the the following two conditions be fulfilled.
- (a)
n is odd;
- (b)
There exist for such that the mappings expressed asare injective.
Then, functions , , and fulfill the functional equationif and only if there exist functions for satisfying the equationsuch that for and for , . Now, we show applications of this corollary. Let
be a group. We start with the functional equation
for
mapping
into
X. Clearly, (
30) is a radical version of the Pexider equation, i.e.,
It is said quite often that the Pexider equation (
31) is the so-called
pexiderization of the well known Cauchy additive equation, i.e.,
The terms
Pexider equation and
pexiderization refer to the name of J.V. Pexider, who studied Equation (
31) in [
23] (cf. [
24], Ch. 4.3 and [
25], Ch. 2.2).
Clearly, similar pexiderizations of other functional equations can be considered, as we do later. Now, let us focus on Equation (
30) for functions mapping
into
X.
First, let us recall (see, e.g., [
24], Ch. 4.3, p. 43, Theorem 9) that
satisfy (
31) if and only if they have the forms of
where
is a solution to (
32) and
are constants with
. Moreover, if
is the group
and at least one of functions
,
, and
is continuous at least at one point, then (see, e.g., [
24], Ch. 2.1, pp. 15 and 18, Corollaries 5 and 9) there is a real constant
such that
for
, and consequently,
Observe that (
30) is Equation (
29) with
for
and
for
. Therefore, the assumption (b) of Corollary 2 is fulfilled, and functions
satisfy (
30) if and only if there exist
fulfilling (
31) such that, for odd
n,
and, for even
n,
Furthermore, in view of (
33), condition (
35) can be rewritten as
and condition (
36) takes the following form
Thus, we have proven the following result.
Corollary 2. Let be a group. Functions fulfill functional Equation (
30)
if and only if there exist with and a solution of Equation (
32)
such that - (i)
In the case where n is odd, condition (
37)
is valid; - (ii)
In the case where n is even, condition (
38)
holds.
Moreover, if and there is such that is continuous at least at one point, then for , with some real constant α.
Proof. The necessary forms of
,
, and
were determined by the reasoning presented before this corollary. It only remains to add that one can easily check that if one of conditions (i) and (ii) holds, then
,
, and
satisfy functional Equation (
30). □
The next example shows possible applications of Corollary 2 to functional equations with one unknown function.
Example 1. Let us consider a generalized form of Equation (
4)
, namely for functions f mapping into a real linear space X (as in [
8,
9])
and with fixed , and . Let be a solution to (
39)
andThen,which actually is Equation (
30)
with . Consequently, according to Corollary 2,where is a solution of Equation (
32)
and constants are such that . According to (
40)
, this implies the following equalities: Note that (
46)
implies that either or (because ). Therefore, we obtainwhere is additive and fulfills (
47)
, and Moreover, it is easy to check that Equation (
39)
is fulfilled by every given by (
48)
with some additive satisfying (
47)
and fixed such that (
49)
holds. Therefore, we have the following corollary. Corollary 3. Function fulfills functional Equation (
39)
if and only if there exists an additive and constant such that (
47)–(
49)
hold. Remark 3. Note that an additive () satisfies condition (
47)
if and only if it is a solution to the following equation:Therefore, very useful information on additive mappings satisfying condition (
48)
can be derived from [
26]
(Ch. IV, §12, Theorem 2 and Ch. XIII, §10, Theorem 5). It was proven in [
9]
(Theorem 2.3) that for , each solution to (
4)
satisfies the quadratic functional equation:i.e., g must be a quadratic function (see [
24]
for more information on such functions). Moreover, it is easy to check that for every additive , the function with the form of (
48)
, where , satisfies quadratic Equation (
51)
. Therefore, Corollary 3 is consistent with the result obtained in [
9]
(Theorem 2.3). However, not all functions satisfying (
51)
must be solutions to (
4)
. For instance, let , and be additive. Let for . Then, it is easy to check that g is a solution to (
51)
. But and , which means that , and consequently, (
4)
does not hold for and . From Corollary 2, we can also derive the following conclusion.
Corollary 4. Assume that are odd. Then, functions fulfill the functional equationif and only if there exist and a solution of Equation (32) such that and Moreover, if and there is such that is continuous at least at one point, then for , with some real constant α.
Proof. Let
fulfill Equation (
52). Fix
and insert
and
in (
52). Then, we obtain
which is (
30) with
and
Now, it is enough to use Corollary 2.
The converse is easy to check. □
We also have the following result.
Corollary 5. Let be odd and such that it is not true that . Let be continuous at least at one point. Then, f fulfills the functional equationif and only if for . Proof. Let
f be a solution to Equation (
55). According to Corollary 4 with
, condition (
53) holds, which (with
) yields
(because
). Furthermore,
for
, and
for
.
Suppose that there is
such that
. Then,
, and according to (
53),
. This implies that
. Analogously we, obtain
and
. Thus we have shown that
, which is a contradiction with the assumption that
n,
k, and
m are not equal. Consequently,
for all
.
The converse is easy to check. □
Remark 4. Corollaries 4 and 5 show that there is a significant difference between the solutions of Equation (
55)
and the solutions of its pexiderized form, i.e., Equation (
52).
Next, consider the following functional equation:
which is a radical version of
i.e., of the pexiderization of the following well known exponential functional equation:
Let
fulfill functional Equation (
56). First, we study the situation when
for
. Then, the assumption (b) of Corollary 2 is valid, and consequently,
,
, and
fulfill functional Equation (
56) if and only if there exist solutions
of Equation (
57) such that
Clearly,
which implies that
.
Therefore, we focus on functions
satisfying Equation (
57) such that
for
.
Let
be solutions to (
57) and
for
. Then, according to (
57) (with
and/or
),
and
Hence, according to (
60),
, and consequently, (
57) implies that
Consequently, the function (
) given by
for
satisfies Equation (
58). Clearly, according to (
61), we have
It is known (see [
24], Ch. 3, p. 28–29 and Theorem 5) that every solution
of (
58) has one of the following forms:
- (A)
for
, where
is additive (i.e., a solution to (
32));
- (B)
for ;
- (C)
(only when , and for , .
Hence, (
59) and (
62) imply that if
n is odd, then
and if
n is even,
where
is depicted by (A)–(C).
Therefore, we have proven the following result.
Corollary 6. Functions , with for , fulfill functional Equation (
56)
if and only if - (i)
in the case where n is odd, condition (
63)
holds with some real constants (, ) and with a function () of the form depicted by (A) or (B) with ; - (ii)
in the case where n is even, condition (
64)
holds with some real constants , , and with a function of the form depicted in one of conditions (A)–(C) with .
Moreover, if (A) holds and there is such that is continuous at least at one point, then for , with some real constant α.
Proof. The necessary forms of
,
, and
were determined by the reasoning presented before this corollary. It is also easy to check that if one of conditions (i) and (ii) holds, then
,
, and
satisfy functional Equation (
56).
It remains to notice that if (A) holds and there is
such that
is continuous at least at one point, then
h must be continuous at this point, and consequently,
for
, with some real constant
(see, e.g., [
24], Ch. 2.1, pp. 15 and 18, Corollaries 5 and 9). □
The following remarks complement Corollary 6.
Let
satisfy Equation (
56). Assume that
. Then,
which means that
for
. Analogously, if
, then
for
.
On the other hand, if
and
, then Equation (
56) is satisfied with any function
. Analogously, if
and
, then Equation (
30) is satisfied with any function
.
Therefore, we obtain the following conclusion.
Corollary 7. Let and for some . Then, , , and fulfill functional Equation (
56)
if and only if for . The following generalized pexiderization of (
3):
is a radical version of the equation:
In this section, we consider (
65) only for
(a slightly more involved situation is studied in the next section). Then, the assumptions of Corollary 1 are valid, and consequently
,
, and
fulfill functional Equation (
65) if and only if there exist solutions
of Equation (
66) such that
Note that (
66) can be rewritten as
which actually is (
31) with
for
,
. Clearly,
,
, and
also map
into
.
As before, we find that
satisfy (
31) if and only if they have the form
where
is additive (i.e., a solution to (
32)) and
are constants with
(see, e.g., [
24], Ch. 4.3, p. 43, Theorem 9). It is clear that
h must be bounded from below, so (see, e.g., [
24], Ch. 2.1, pp. 15 and 18, Corollary 9) there is a real constant
such that
for
, which implies that
for
. Hence,
and consequently,
In this way, we obtain the following.
Corollary 8. Functions fulfill functional Equation (
65)
if and only if there exist and such that and (
71)
holds. Example 2. If we consider Equation (
65)
for functions such that for every , they must not necessarily be continuous, as in (
71).
For instance, for , they may have the form ofwhere is an injective discontinuous additive function (i.e., an injective discontinuous solution to functional Equation (
32))
such that and satisfy the condition . Then, for , , which means that (
72)
makes sense. It follows from the results in [
26]
that such additive functions h exist. Remark 5. As we mentioned in the Introduction, the equationhas been studied in [
16]
for nonzero functions . This has not been clearly stated in [
16]
, but we must exclude in (
73)
all such that , which means that, actually, we consider the following conditional equation: In [
16]
(Theorem 3.1), it has been stated that every nonzero solution of (
73)
, such that the limitis finite, has the formwith some real constant c. It is not clear in this statement what does a nonzero solution means. At first, we could think that the authors assume, in this way, that for some . But simple calculations show that the function given bysatisfies the conditional equationwhere is given by for , is a solution to (
74)
. Therefore, the assumption that f is a nonzero solution in [
16]
(Theorem 3.1) must mean, in particular, that for every . We end this section with results on solutions of (
9), i.e., of the following pexiderized radical version of the sine equation:
of which some particular cases (with
,
, or
) have been studied, e.g., in [
15] for
and odd
.
For instance, Lemma 1 in [
15] states the following.
Proposition 1. Let be odd. If satisfy (
78)
, then, as one of the solutions of (
78)
, , , and have the forms of , , and for all . The authors of [
15] actually has proven the converse, i.e., they have shown that if
have the forms specified in Proposition 1, then they fulfill (
78).
However, if
are complex numbers with
and
,
,
for
, then clearly,
,
, and
are also solutions to (
78). Moreover, it is easy to check that for
,
and
for
, Equation (
78) is also satisfied, (cf. [
15], Lemma 2).
Therefore, Proposition 1 (i.e., [
15], Lemma 1) only gives examples of solutions to (
78), and it seems that the authors of [
15] probably had the following formulation in mind:
if have the forms of , , and for all , then they satisfy Equation (
78); or eventually:
if satisfy (
78)
, then , , and can have the forms: , , and for all . The same is true for [
15] (Lemmas 2 and 3).
Below, we provide a description of solutions to (
78) that can be derived from Theorem 2. For the sake of simplicity, we do it only for odd
n values, but it can also be easily done for even
n.
Corollary 9. Let n be odd. Functions fulfill functional Equation (
78)
if and only if there exist functions satisfying the equationsuch that for , . Clearly, (
79) is a pexiderization of the so-called sine equation, i.e.,
which is sometimes better known (see, e.g., [
25], Ch. 15) in the following modified form (with
and
):
The sine function and the hyperbolic sine function satisfy Equations (
80) and (
81) (see [
25] (Ch. 15) for fuller descriptions of solutions).
It is easy to check that every solution of (
32) fulfills (
81), i.e., (
79) with
. Moreover, it follows from [
25] (Corollary 15.5) (cf. [
27]) that the only other solutions
of (
81) have the forms of
for
, where
c is a complex constant and
is a solution to Equation (
58).
Finally, observe that if
is a solution to (
58), then (
79) holds for all
with
and
for
. Some further information on solutions to (
79) can also be found in [
28].
All this shows that the description in Proposition 1 (i.e., in [
15], Lemma 1) is not complete.
4. Further General Results on Solutions of Equations of Radical Type
In this section, S is a nonempty set, is a groupoid (i.e., Y is a nonempty set endowed with a binary operation ), is a cancellative groupoid (i.e., for every such that or ), , , and is a selection of (i.e., for ).
We show how to apply a particular case of Theorem 2.1 in [
21] and prove a very simple generalization of it. So, consider Equation (
11), which is the conditional functional equation
for functions
, where
is nonempty.
The next theorem is a very simplified version of the main result in [
21] (Theorem 2.1).
Theorem 3. Let be nonempty and Then, satisfies conditional Equation (
82)
if and only if there exists a solution of the conditional equation such that . Moreover, such an A is unique, and .
Now, we show an application of Theorem 3 in finding solutions of a conditional version of a generalization of Equation (
3), i.e., of the equation
for functions
, where
,
is fixed, and
. As mentioned in the introduction, Equation (
3) was considered in [
16] for
and functions
.
Therefore, let
be a solution to (
85). Define
by
for
. Then,
f satisfies
According to Theorem 3 with
,
for
,
, and
for
, there exists a solution
of the conditional equation
such that
Let
be a restriction of
A to
. Clearly,
is a solution to the equation
and
is bounded from below (because
A is). Hence, according to [
29] (Theorem 2), there is a solution
of the equation
such that
for
. Since
is bounded from below on
, there is a real
c such that
for
(see, e.g., [
24], Ch. 2.1, pp. 15 and 18, Corollary 9), and consequently,
for
.
Let
be fixed. There is
with
. Therefore, according to (
86),
, which implies that
. Thus, in view of (
87), we have shown that
for
. This implies that
Clearly, if n is odd, then . If n is even, then only for . This means that we have obtained the following.
Corollary 10. If n is odd, then conditional Equation (
85)
does not have solutions . If n is even, then a function satisfies conditional Equation (
85)
if and only if there exists a real constant such that (
88)
holds. Now, we prove the following pexiderized version of Theorem 3.
Theorem 4. Let be nonempty and (83) be valid. Then, satisfy the conditional equationif and only if there exist fulfilling the conditional equationsuch that Moreover, , , and are unique, and for .
Proof. Assume that
,
, and
fulfill (
89). Write
for
. We show that (
90) holds. To this end, take
with
. Then,
Next, it is easily seen that for , which yields for .
Furthermore, let
be such that
. Clearly, (
83) implies that there exists
with
Fix
with
and
. Then, according to (
82),
and consequently,
for
, because groupoid
is cancellative. In this way, we have shown that
where
Consequently, (
91) holds.
Now, let
fulfill (
90) and (
91) be valid. Fix
with
. Then,
which means that
,
, and
satisfy Equation (
89).
Finally, observe that (
91) implies
whence we obtain the form and the uniqueness of
,
, and
. □
We have the following two simple examples of applications of Theorem 4.
Example 3. Let be group and be group , for , , and for . Then, Equation (
89)
takes the form of Let be solutions to Equation (
94)
. According to Theorem 4, there exist solutions of the equationsuch that On account of [
24]
(Ch. 4.3, p. 43, Theorem 9), , , and must have the forms ofwhere is additive (i.e., a solution to (
32))
and , , and are constants with . Furthermore, it is easily seen that for , where can be any real number. Consequently, Example 4. Let be semigroup , be a group, , and and for . Then, Equation (
89)
takes the form for , which is a generalization of Equation (
12).
Using [
24]
(Ch. 4.3, p. 43, Theorem 9) and arguing analogously as in Example 3, we find that satisfy Equation (
99)
if and only if there exist constants and a solution to the equationsuch that Below, we provide two further (less trivial) examples of the application of Theorem 4 to the pexiderized versions of conditional Equations (
13) and (
14), i.e., to the equations
for
, where
denotes the greatest integer less than or equal to a real number (
x) and
.
Let us start with Equation (
100). Then, according to Theorem 4 with
,
for
,
,
and
for
, there exist
fulfilling the conditional equation
such that
Let
for
and
. Then, according to (
102) (with
or
),
Hence, (
102) yields
Consequently, the function
, given by
for
, satisfies the following equation:
Clearly, (
104) implies that
Next, it is easy to show by induction that
where
. Hence, according to (
105),
Fix
and take
with
. Then, (
102) and (
107) yield
whence we find that
and
for
. Therefore, according to (
103),
Since it is easy to check that every
given by (
108), with any real
c, satisfies Equation (
100), we obtain the following.
Corollary 11. Functions satisfy conditional Equation (
100)
if and only if there exist such that and (
108)
holds. Analogously, one can obtain the following similar result for the equation
with
, where
denotes the least integer greater than or equal to the given real number
x.
Corollary 12. Functions satisfy conditional Equation (
109)
if and only if there exist such that and Now, consider Equation (
101). Then, according to Theorem 4 with
for
,
for
,
,
, and
for
, there exists
fulfilling the conditional equation
such that
Let
for
. Then, according to (
110) (with
and/or
),
and
Hence, (
110) yields
Consequently, the function (
) given by
for
satisfies the following equation:
Clearly,
Next, it follows from [
30] (Lemma 1.2) and [
29] (Theorem 2) that there exists a solution
of the equation expressed as
such that
for
. Clearly,
Since it is easy to check that every
fulfilling (
113) are solutions of Equation (
101), we obtain the following.
Corollary 13. Functions satisfy conditional Equation (
101)
if and only if there exist an additive and such that and (
113)
holds.