Abstract

The theory of approximate solution lacks development in the area of nonlinear 𝑞-difference equations. One of the difficulties in developing a theory of series solutions for the homogeneous equations on time scales is that formulas for multiplication of two 𝑞-polynomials are not easily found. In this paper, the formula for the multiplication of two 𝑞-polynomials is presented. By applying the obtained results, we extend the use of the variational iteration method to nonlinear 𝑞-difference equations. The numerical results reveal that the proposed method is very effective and can be applied to other nonlinear 𝑞-difference equations.

1. Introduction

A time scale is a nonempty closed subset of real numbers. Recently, much research activity has focused on the theory and application of the 𝑞-calculus. For example, the 𝑞-calculus has being given a financial meaning by Muttel [1] and is applied to pricing the financial derivatives. Many real world problems are now formulated as 𝑞-difference equations. Nonlinear 𝑞-difference equations, as well as their analytic and numerical solutions, play an important role in various fields of science and engineering, especially in nonlinear physical science, since their solutions can provide more inside into the physical aspects of the problems.

Solutions of linear differential equations on time scales have been studies and published during the past two decades. One area lacking in development is the theory of approximate solutions on nonlinear 𝑞-difference equations. Recent developments in the theory of approximate solution have aroused further interest in the discussion of nonlinear 𝑞-difference equations.

One of the difficulties in developing a theory of series solutions for linear or nonlinear homogeneous equations on time scales is that formulas for multiplication of two generalized polynomials are not easily found. Haile and Hall [2] provided an exact formula for the multiplication of two generalized polynomials if the time scale had constant graininess. Using the obtained results, the series solutions for linear dynamic equations were proposed on the time scales and 𝕋= (difference equations with step size ). For generalized time scales, Mozyrska and Pawtuszewicz [3] presented the formula for the multiplication of the generalized polynomials of degree one and degree 𝑛.

The variational iteration method proposed by He [4] has been proved by many authors to be a powerful mathematical tool for analysing the nonlinear problems on (the set of real numbers). The advantages of this method include (i) that it can be applied directly to all types of difference equations, and (ii) that it reduces the size of computational work while maintaining the high accuracy of the numerical solution. For the nonlinear 𝑞-difference equations, the approximate solution obtained by using the variational iteration method may not yet been found.

In this paper, we presented a formula for the multiplication of two 𝑞-polynomials. The obtained results can be used to find a series solution of the 𝑞-difference equations. The aim is to extend the use of the variational iteration method to strongly nonlinear 𝑞-difference equations. Precisely, the equation is described as𝑥ΔΔ(𝑡)+2𝛾+𝜀𝛾1𝑥𝑥(𝑡)Δ(𝑡)+Ω2𝑥(𝑡)+𝑥2(𝑡)=0,(1.1) where 𝑥Δ=Δ𝑥/Δ𝑡 is the 𝑞-derivative as defined in Definition 2.1. In future studies, we intend to extend the use of the variational iteration method to the other nonlinear 𝑞-difference equations.

This paper is organized as follows: in Section 2 basic ideas on 𝑞-calculus are introduced; in Section 3, the multiplication of two 𝑞-polynomials is demonstrated; in Section 4, the variational iteration method is applied to find an approximate solution of strongly nonlinear damped 𝑞-difference equations; in Section 5, the numerical results and the approximate solutions, which were very close, are presented; finally, a concise conclusion is provided in Section 6.

2. Introduction to 𝑞-Calculus

Let 0<𝑞<1 and use the notations 𝑞={𝑞𝑛𝑛},𝑞=𝑞{0},(2.1) where denotes the set of positive integers.

Let 𝑎 and 𝑞 be real numbers such that 0<𝑞<1. The 𝑞-shift factorial [5] is defined by(𝑎;𝑞)0=1,(𝑎;𝑞)𝑛=𝑛1𝑘=01𝑎𝑞𝑘,𝑛=1,2,,𝑛.(2.2)

Definition 2.1. Assume that 𝑓𝑞 is a function and 𝑡𝑞. The 𝑞-derivative [6] at 𝑡 is defined by 𝑓Δ(𝑡)=𝑓(𝑞𝑡)𝑓(𝑡),𝑓(𝑞1)𝑡Δ(0)=lim𝑛𝑓(𝑞𝑛)𝑓(0)𝑞𝑛.(2.3)

A 𝑞-difference equation is an equation that contains 𝑞-derivatives of a function defined on 𝑞.

Definition 2.2. On the time scale 𝑞, the 𝑞-polynomials 𝑘(,𝑡0)𝑞 are defined recursively as follows: 0(𝑡,𝑠)=1,𝑘+1=𝑡𝑠𝑘(𝜏,𝑠)Δ𝜏.(2.4) By computing the recurrence relation, the 𝑞-polynomials can be represented as 𝑘(𝑡,𝑠)=𝑘1𝑣=0𝑡𝑠𝑞𝑣𝑣𝑗=0𝑞𝑗(2.5) on 𝑞 [6].

Hence, for each fixed 𝑠, the delta derivative of 𝑘 with respect to 𝑡 satisfies𝑘(𝑡,𝑠)=𝑘1(𝑡𝑠),𝑘1.(2.6)

Using 𝑞-polynomials, Agarwal and Bohner [7] gave a Taylor’s formula for functions on a general time scale. On 𝑞 Taylor’s formula is written follows.

Theorem 2.3. Let 𝑛. Suppose that 𝑓 is 𝑛 times differentiable on 𝑞. Let 𝛼,𝑡𝑞. Then one has 𝑓(𝑡)=𝑛1𝑘=0𝑘𝑓Δ𝑘(𝛼)+𝜌𝑛1𝛼(𝑡)𝑛1(𝑡,𝜎(𝜏))𝑓Δ𝑛(𝜏)Δ𝜏.(2.7)

3. Multiplication of Two 𝑞-Polynomials

The purpose of this section is to propose a production rule of two 𝑞-polynomials at 0 [8] which will be used to derive an approximate solution in the following section.

Theorem 3.1. Let 𝑖(𝑡,0) and 𝑗(𝑡,0) be two 𝑞-polynomials at zero. One has 𝑖(𝑡,0)𝑗𝑞(𝑡,0)=𝑖+1;𝑞𝑗(𝑞;𝑞)𝑗𝑖+𝑗(𝑡,0).(3.1)

Proof. Since 𝑖+𝑗(𝑡,0)=𝑖+𝑗1𝜈=0𝑡𝜈𝜇=0𝑞𝜇,(3.2) we have 𝑖+𝑗(𝑡,0)=𝑖1𝜈=0𝑡𝜈𝜇=0𝑞𝜇𝑖+𝑗1𝜈=𝑖𝑡𝜈𝜇=0𝑞𝜇=𝑖(𝑡,0)𝑗1𝜈=0𝜈𝜇=0𝑞𝜇𝑗1𝜈=0𝜈𝜇=0𝑞𝜇𝑡𝑗𝑖+𝑗1𝜈=𝑖1𝜈𝜇=0𝑞𝜇=𝑖(𝑡,0)𝑗1𝜈=0𝑡𝜈𝜇=0𝑞𝜇𝑗1𝜈𝜈=0𝜇=0𝑞𝜇𝑖+𝑗1𝜈=𝑖1𝜈𝜇=0𝑞𝜇=𝑖(𝑡,0)𝑗(𝑡,0)𝑗1𝜈=0𝜈𝜇=0𝑞𝜇𝜈+𝑖𝜇=0𝑞𝜇.(3.3) This implies that 𝑖(𝑡,0)𝑗(𝑡,0)=𝑗1𝜈=0𝜈+𝑖𝜇=0𝑞𝜇𝜈𝜇=0𝑞𝜇𝑖+𝑗(𝑡,0)=𝑗1𝜈=01𝑞𝜐+𝑖+11𝑞𝜐+1𝑖+𝑗𝑞(𝑡,0)=𝑖+1;𝑞𝑗(𝑞;𝑞)𝑗𝑖+𝑗(𝑡,0).(3.4)

Proposition 3.2. Let 𝑖(𝑡,0) and 𝑗(𝑡,0) be any two 𝑞-polynomials. We have 𝑖(𝑡,0)𝑗(𝑡,0)=𝑗(𝑡,0)𝑖(𝑡,0).(3.5)

Proof. By Theorem 3.1, it suffices to show that 𝑞𝑖+1;𝑞𝑗(𝑞,𝑞)𝑗=𝑞𝑗+1;𝑞𝑖(𝑞,𝑞)𝑖.(3.6) Suppose 𝑖>𝑗, one has 𝑞𝑖+1;𝑞𝑗(𝑞,𝑞)𝑗𝑞𝑗+1;𝑞𝑖(𝑞,𝑞)𝑖=1𝑞𝑗+11𝑞𝑖+𝑗(1𝑞)(1𝑞𝑖)1𝑞𝑖+11𝑞𝑖+𝑗(1𝑞)(1𝑞𝑗)=1𝑞𝑗+11𝑞𝑖+𝑗(1𝑞)(1𝑞𝑖)1𝑞𝑖+11𝑞𝑖+𝑗1𝑞𝑗+11𝑞𝑖(1𝑞)(1𝑞𝑗)1𝑞𝑗+1(1𝑞𝑖)=0.(3.7)

4. Variational Iteration Method

4.1. Basic Ideas of Variational Iteration Method

To clarify the ideas of the variational iteration method, we consider the following nonlinear equation:𝐿𝑥(𝑡)+𝑁𝑥(𝑡)=𝑔(𝑡),(4.1) where 𝐿 is a linear operator, 𝑁 is a nonlinear operator, and 𝑔 is an inhomogeneous term. According to the variational iteration method, we can construct a correction functional as follows: 𝑥𝑛+1=𝑥𝑛(𝑡)+𝑡0𝜆𝐿𝑥𝑛(𝑠)+𝑁̃𝑥𝑛(𝑠)𝑔(𝑠)𝑑𝑠,(4.2) where 𝜆 is a general Lagrange multiplier, 𝑢0 is an initial approximation which must be chosen suitably, and ̃𝑥𝑛 is considered a restricted variation; that is, 𝛿̃𝑥𝑛=0. To find the optimal value of 𝜆, we make the above correction functional stationary with respect to 𝑥𝑛, noticing that 𝛿𝑥𝑛(0)=0, and have 𝛿𝑥𝑛+1(𝑡)=𝛿𝑥𝑛(𝑡)+𝛿𝑡0𝜆𝐿𝑥(𝑠)𝑑𝑠=0.(4.3) Having obtained the optimal Lagrange multiplier, the successive approximations 𝑥𝑛, 𝑛0, of the solution 𝑥 will be determined upon the initial function 𝑥0. Therefore, the exact solution is obtained at the limit of the resulting successive approximations.

4.2. Approximate Solution to Nonlinear Damped 𝑞-Equations

In this section, we extend the use of the variational iteration method to strongly nonlinear damped 𝑞-difference equation as follows:𝑥ΔΔ(𝑡)+2𝛾+𝜀𝛾1𝑥𝑥(𝑡)Δ(𝑡)+Ω2𝑥(𝑡)+𝑥2(𝑡)=0,𝑡𝑞(4.4) with 𝑥(0)=𝑎 and 𝑥Δ(0)=𝑏.

First of all, we illustrate the main idea of the variational iteration method. The basic character of the method is to construct a correction functional for the system (4.4), which reads 𝑥𝑛+1(𝑡)=𝑥𝑛(𝑡)+𝑡𝑡0𝜆(𝑠)𝐿𝑥𝑛(𝑠)+𝑁̃𝑥𝑛(𝑠)Δ𝑠,(4.5) where 𝐿 is a linear operator, 𝑁 is a nonlinear operator, 𝜆 is a Lagrange multiplier which can be identified optimally by variational theory, 𝑥𝑛 is the 𝑛th approximation, and ̃𝑥𝑛 denotes a restricted variation, that is, 𝛿̃𝑥𝑛=0.

In this work, the linear operator 𝐿 is selected as 𝐿𝑥=𝑥ΔΔ,(4.6) and the nonlinear operator 𝑁 is selected as𝑁𝑥=2𝛾+𝜀𝛾1𝑥𝑥Δ+Ω2𝑥+𝑥2.(4.7) Making the above correction functional stationary with respect to 𝑥𝑛𝛿𝑥𝑛+1(𝑡)=𝛿𝑥𝑛(𝑡)+𝛿𝑡0𝑢𝜆(𝑠)𝑛ΔΔ+𝑁̃𝑢𝑛(=𝑠)Δ𝑠1𝜆Δ𝛿𝑥𝑛(𝑡)+𝜆(𝑡)𝛿𝑥Δ(𝑡)+𝑡0𝜆ΔΔ(𝑠)𝛿𝑥𝑛(𝜎(𝑠))Δ𝑠,(4.8) we, therefore, have the following stationary conditions:1𝜆Δ𝜆(𝑡)=0,𝜆(𝑡)=0,ΔΔ(𝑠)=0.(4.9) The Lagrange multiplier can be readily identified: 𝜆(𝑠)=𝑠𝑡=1(𝑠)1(𝑡).(4.10)

As a result, we obtain the variational iteration formula: 𝑥𝑛+1(𝑡)=𝑥𝑛(𝑡)+𝑡01(𝑠)1𝑥(𝑡)𝑛ΔΔ(𝑠)+2𝛾+𝜀𝛾1𝑥𝑛𝑥(𝑠)Δ𝑛(𝑠)+Ω2𝑥𝑛(𝑠)+𝑥2𝑛(𝑠)Δ𝑠.(4.11) According to the initial condition, we begin with the following initial approximation:𝑥0(𝑡)=𝑎+𝑏1(𝑡).(4.12) According to the variational iteration formula, we have𝑥1(𝑡)=𝑎+𝑏1(𝑡)+𝐴12(𝑡)+𝐵13(𝑡)+𝐶14(𝑡),(4.13) where 𝐴1=2𝛾+𝜀𝛾1𝑎𝑏+𝑎Ω2+𝑎2𝐵(1𝐻(1,1)),1=𝜀𝛾1𝑏2+Ω2[],𝐶𝑏+2(𝑎𝑏)𝐻(1,1)𝐻(2,1)1=𝑏2[],𝐻(1,1)𝐻(1,2)𝐻(1,3)(4.14) and 𝐻(𝑖,𝑗)=(𝑞𝑖+1;𝑞)𝑗/(𝑞;𝑞)𝑗.

5. Numerical Method

By Definition 2.1, the derivative of 𝑥(𝑡) at 0 is defined as 𝑥Δ(0)=lim𝑛𝑥(𝑞𝑛)𝑥(0)𝑞𝑛,if𝑞<1.(5.1)

Let 𝑁0>0 be a nonnegative integer. To obtain an approximation for the derivative of 𝑥(𝑡) at 𝑡=0, we use 𝑥𝑞𝑁0=𝑥(0)+𝑞𝑁0𝑥Δ𝑞(0)+2𝑁02𝑥Δ2(0)+.(5.2) Rearrangement leads to𝑥Δ𝑥𝑞(0)𝑁0𝑥(0)𝑞𝑁0𝑞𝑁02𝑥Δ2=𝑥𝑞(0)𝑁0𝑥(0)𝑞𝑁0𝑞+𝑂𝑁0,(5.3) where the dominant term in the truncation error is 𝑂(𝑞𝑁0).

Since 𝑥Δ(0)=𝑏, we have𝑥𝑞𝑁0𝑥(0)𝑞𝑁0=𝑏(5.4) which yields𝑥𝑞𝑁0=𝑥(0)+𝑞𝑁0𝑏=𝑎+𝑞𝑁0𝑏.(5.5) Set 𝑡0=0 and 𝑡1=𝑞𝑁0 and define𝑡𝑖=𝑞𝑁0(𝑖1),𝑖=2,,𝑁0+1.(5.6) Then the interval [0,𝑞] is partitioned into 𝑁0 subintervals.

Now we denote𝑥𝑖𝑡=𝑥𝑖,𝑖=0,1,2,,𝑁0+1.(5.7) The Delta-derivative of 𝑥(𝑡) at 𝑡𝑖 can be calculated as𝑥Δ𝑖=𝑥𝑖+1𝑥𝑖𝑡𝑖+1𝑡𝑖=𝐷𝑖𝑡𝑖+1𝐷𝑖𝑡𝑖,𝑥𝑖ΔΔ=𝑥Δ𝑖+1𝑥Δ𝑖𝑡𝑖+1𝑡𝑖=𝐴𝑖𝑥𝑖+2𝐵𝑖𝑥𝑖+1+𝐶𝑖𝑥𝑖,(5.8) where𝐴𝑖=1𝑡𝑖+1𝑡𝑖𝑡𝑖+2𝑡𝑖+1,𝐵𝑖=𝑡𝑖+2𝑡𝑖𝑡𝑖+1𝑡𝑖2𝑡𝑖+2𝑡𝑖+1,𝐶𝑖=1𝑡𝑖+1𝑡𝑖2,𝐷𝑖=1𝑡𝑖+1𝑡𝑖.(5.9) Substituting (5.8) into (4.4) yields the following: 𝐴𝑖𝑥𝑖+2+2𝛾𝐷𝑖𝐵𝑖𝑥𝑖+1+Ω+𝐶𝑖2𝛾𝐷𝑖𝑥𝑖+𝜀𝐷𝑖𝑥𝑖𝑥𝑖+1+1𝜀𝐷𝑖𝑥2𝑖=0.(5.10) This implies that 𝑥𝑖+21=𝐴𝑖2𝛾𝐷𝑖𝐵𝑖𝑥𝑖+1+Ω+𝐶𝑖2𝛾𝐷𝑖𝑥𝑖+𝜀𝛾1𝐷𝑖𝑥𝑖𝑥𝑖+1+1𝜀𝛾1𝐷𝑖𝑥2𝑖.(5.11)

6. Numerical Results

The theoretical considerations introduced in previous sections are illustrated with examples, where the approximate solutions are compared with the numerical solutions.

The time scale 𝑞 is given as {0.9𝑛𝑛}{0}={0.9,0.81,0.729,,0}, where 0 is the cluster point of 𝑞. For the numerical computations, the interval [0,0.9] is partitioned into 100 subintervals. The maximum error and the average error are defined as maximumerror||=max𝑥𝑛||(𝑡)̂𝑥(𝑡)𝑡𝑞,𝑡0.9100,averageerror=sum||𝑥𝑛||(𝑡)̂𝑥(𝑡)𝑡𝑞,𝑡0.9100,100(6.1) respectively, where 𝑥𝑛 is the approximate solution with 𝑛 iterations and ̂𝑥 is the numerical solution obtained by (5.11).

Example 6.1. Consider the underdamped cases with (i) 2𝛾=0.1, 𝛾1=0.1, 𝜀=1, and Ω=1; and (ii) 2𝛾=0.1, 𝛾1=2.5, 𝜀=1 and Ω=1. As the initial conditions are given as 𝑥(0)=1 and 𝑥Δ(0)=0.5, we begin with the initial approximation 𝑥0=1+0.5𝑡. By the variational iteration formula (4.11), we obtain the first few components of 𝑥𝑛(𝑡). In the same manner the rest of the components of the iteration formula are obtained using the symbolic toolbox in the Matlab package.For Case (i)
The first two components of 𝑥𝑛 are obtained as 𝑥01=1+2𝑥𝑡,1=1+0.51(𝑡,0)1.892(𝑡,0)1.23533(𝑡,0)0.34634(𝑡,0).(6.2) and so on. After 3 iterations, the maximum error is 0.0415 and the average error is 0.00356.

For case (ii)
The first two components of 𝑥𝑛 are obtained as 𝑥01=1+2𝑥𝑡,1=1+0.51(𝑡,0)2.972(𝑡,0)1.72133(𝑡,0)0.34634(𝑡,0),(6.3) and so on. After 3 iterations, the maximum error is 0.0275 and the average error is 0.001167.
The responses of 𝑥(𝑡) are shown in Figures 1 and 2 for cases (i) and (ii), respectively.

Example 6.2. In this example, we consider the overdamped cases with (iii) 2𝛾=2.5, 𝛾1=0.1, 𝜀=1, and Ω=1; and (iv) 2𝛾=2.5, 𝛾1=2.5, 𝜀=1, and Ω=1. As the initial conditions are given as 𝑥(0)=1 and 𝑥Δ(0)=0.5, we begin with the initial approximation 𝑥0=1+0.5𝑡. By the variational iteration formula (4.11), we obtain the first few components of 𝑥𝑛(𝑡). In the same manner the rest of the components of the iteration formula were obtained using the symbolic toolbox in the Matlab package.For Case (iii)
The first two components of 𝑥𝑛 are obtained as 𝑥01(𝑡)=1+2𝑥𝑡,1(𝑡)=1+0.51(𝑡,0)2.972(𝑡,0)1.23533(𝑡,0)0.34634(𝑡,0),(6.4) and so on. After 3 iterations, the maximum error is 0.01609 and the average error is 0.001227.
For Case (iv)
The first two components of 𝑥𝑛 are obtained as 𝑥01=1+2𝑥𝑡,1=1+0.51(𝑡,0)4.052(𝑡,0)1.72133(𝑡,0)0.34634(𝑡,0)(6.5) and so on. After 7 iterations, the maximum error is 0.026 and the average error is 0.00105. At less than 7 iterations, the approximate solution is not close to the numerical solution.
The responses of 𝑥(𝑡) are shown in Figures 3 and 4 for cases (iii) and (iv), respectively.

These figures and the maximum/average errors indicate that the approximate solution is close to the numerical results.

7. Conclusion

In the area of 𝑞-calculus, the formula for the multiplication of two 𝑞-polynomials has long been in need of development. In this paper, we have presented the aforementioned formula, overcoming the previous difficulties in developing a theory of series solutions for the nonlinear 𝑞-difference equations. The goal of this paper was to extend the use of the variational iteration method to strongly nonlinear damped 𝑞-difference equations. The numerical results have demonstrated that the approximate solution obtained by the variational iteration method is very accurate. Therefore, the proposed method is very effective and can be applied to other nonlinear 𝑞-equations.