Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163 DOI 10.1186/s13661-015-0415-4

RESEARCH

Open Access

Multiple positive solutions of a (p, p)-Laplacian system with nonlinear BCs Filomena Cianciaruso and Paolamaria Pietramala* *

Correspondence: [email protected] Dipartimento di Matematica e Informatica, Università della Calabria, Arcavacata di Rende (Cosenza), 87036, Italy

Abstract Using the theory of fixed point index, we discuss existence, non-existence, localization and multiplicity of positive solutions for a (p1 , p2 )-Laplacian system with nonlinear Robin and/or Dirichlet type boundary conditions. We give an example to illustrate our theory. MSC: Primary 45G15; secondary 34B18 Keywords: fixed point index; cone; positive solution; p-Laplacian system; nonlinear boundary conditions

1 Introduction In the remarkable paper [], Wang proved the existence of one positive solution of the following one-dimensional p-Laplacian equation:       ϕp u (t) + g(t)f u(t) = ,

t ∈ (, ),

(.)

subject to one of the following three pairs of nonlinear boundary conditions (BCs)   u () = , u() + B u () = ,   u () = , u() = B u () ,     u() = B u () , u() + B u () = , where B , B : R → R are continuous functions satisfying some suitable growth conditions. The results of [] were extended by Karakostas [] to the context of deviated arguments. In both cases, the existence results are obtained via a careful study of an associated integral operator combined with the use of the Krasnosel’ski˘ı-Guo theorem on cone compressions and cone expansions. The Krasnosel’ski˘ı-Guo theorem and other topological methods are commonly used tools in the study of existence of positive solutions for the p-Laplacian equation (.) subject to different BCs. This is an active area of research, for example, homogeneous Dirichlet BCs were studied in [–], homogeneous Robin BCs in [, , ], nonlocal BCs of Dirichlet type in [, –] and nonlocal BCs of Robin type in [, –]. © 2015 Cianciaruso and Pietramala. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Here we study the one-dimensional (p , p )-Laplacian system 

    ϕp u (t) + g (t)f t, u(t), v(t) = ,       ϕp v (t) + g (t)f t, u(t), v(t) = ,

t ∈ (, ),

(.)

t ∈ (, ),

with ϕpi (w) = |w|pi – w, subject to the nonlinear boundary conditions u () = ,

  u() + B u () = ,

  v() = B v () ,

v() = .

(.)

The existence of positive solutions for systems of equations of the type (.) has been widely studied; see, for example, [–] under homogeneous Dirichlet BCs and [, – ] with homogeneous Robin or Neumann BCs. For earlier contributions on problems with nonlinear BCs, we refer to [, , , –] and the references therein. We improve and complement the previous results in several directions: we obtain multiplicity results for the (p , p )-Laplacian system subject to nonlinear BCs, we allow different growths in the nonlinearities f and f , and also we discuss non-existence results. Finally we illustrate in an example that all the constants that occur in our results can be computed. Our approach is to seek solutions of system (.)-(.) as fixed points of a suitable integral operator. We make use of the classical fixed point index theory and benefit from ideas of the papers [, , , ].

2 The system of integral equations We recall that a cone K in a Banach space X is a closed convex set such that λx ∈ K for x ∈ K and λ ≥  and K ∩ (–K) = {}. If  is an open bounded subset of a cone K (in the relative topology), we denote by  and ∂ the closure and the boundary relative to K . When  is an open bounded subset of X, we write K =  ∩ K , an open subset of K . The following lemma summarizes some classical results regarding the fixed point index; for more details, see [, ]. Lemma . Let  be an open bounded set with  ∈ K and K = K . Assume that F : K → K is a compact map such that x = Fx for all x ∈ ∂K . Then the fixed point index iK (F, K ) has the following properties. () If there exists e ∈ K \ {} such that x = Fx + λe for all x ∈ ∂K and all λ > , then iK (F, K ) = . () If μx = Fx for all x ∈ ∂K and for every μ ≥ , then iK (F, K ) = . () If iK (F, K ) = , then F has a fixed point in K . () Let  be open in X with  ⊂ K . If iK (F, K ) =  and iK (F, K ) = , then F has a fixed point in K \ K . The same result holds if iK (F, K ) =  and iK (F, K ) = . To system (.)-(.) we associate the following system of integral equations, which is constructed in a similar manner as in [] where the case of a single equation is

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studied: 





ϕp–

u(t) = t

s

   g (τ )f τ , u(τ ), v(τ ) dτ ds



      g (τ )f τ , u(τ ), v(τ ) dτ , + B ϕp–

 ≤ t ≤ ,



⎧ t –  σu,v ⎪ g (τ )f (τ , u(τ ), v(τ )) dτ ) ds ⎪  ϕp ( s ⎪ ⎨ σ v(t) = + B (ϕp– (  u,v g (τ )f (τ , u(τ ), v(τ )) dτ )),  ≤ t ≤ σu,v , ⎪ ⎪ ⎪ ⎩  ϕ – ( s g (τ )f (τ , u(τ ), v(τ )) dτ ) ds, σu,v ≤ t ≤ ,  t p σu,v 

(.)



where ϕp–i (w) = |w| pi – sgn w and σu,v is the smallest solution x ∈ [, ] of the equation 



x

ϕp–





x

s





= x

    x     g (τ )f τ , u(τ ), v(τ ) dτ ds + B ϕp– g (τ )f τ , u(τ ), v(τ ) dτ

ϕp–

s





  g (τ )f τ , u(τ ), v(τ ) dτ ds.

x

By a solution of (.)-(.), we mean a solution of system (.). In order to utilize the fixed point index theory, we state the following assumptions on the terms that occur in system (.): (C) For every i = , , fi : [, ] × [, ∞) × [, ∞) → [, ∞) satisfies Carathéodory conditions, that is, fi (·, u, v) is measurable for each fixed (u, v) and fi (t, ·, ·) is continuous for almost every (a.e.) t ∈ [, ], and for each r >  there exists φi,r ∈ L∞ [, ] such that fi (t, u, v) ≤ φi,r (t) for u, v ∈ [, r] and a.e. t ∈ [, ]. (C) g ∈ L [, ], g ≥  and 





ϕp–

< 

s

 g (τ ) dτ ds < +∞.



(C) g ∈ L [, ], g ≥  and 



/

ϕp–

< 

/

  g (τ ) dτ ds +

/

s





ϕp–

s

 g (τ ) dτ ds < +∞.

(.)

/

(C) For every i = , , Bi : R → R is a continuous function, and there exist hi , hi ≥  such that hi v ≤ Bi (v) ≤ hi v

for any v ≥ .

Remark . Condition (.) is weaker than the condition  < 





ϕp–

s



 g (τ ) dτ ds < +∞.

(.)

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In fact, for example, the function ⎧ ⎨ g (t) =

t ∈ [, /],

 , (t–) ⎩, t

t ∈ (/, ],

satisfies (.) but not (.). Remark . From (C) and (C) it follows that there exists [a , b ] ⊂ [, ) such that  b  b a g (s) ds >  and there exists [a , b ] ⊂ (, ) such that a g (s) ds > . We work in the space C[, ] × C[, ] endowed with the norm

 (u, v) := max u∞ , v∞ , where w∞ := max{|w(t)|, t ∈ [, ]}. Take the cones

 K := w ∈ C[, ] : w ≥ , concave and nonincreasing ,

 K := w ∈ C[, ] : w ≥ , concave . It is known (see, e.g., []) that • for w ∈ K , we have w(t) ≥ ( – t)w∞ for t ∈ [, ]; • for w ∈ K , we have w(t) ≥ min{t,  – t}w∞ for t ∈ [, ]. It follows that the functions in Ki are strictly positive on the sub-interval [ai , bi ] and in particular • for w ∈ K , we have mint∈[a ,b ] w(t) ≥ ( – b )w∞ ; • for w ∈ K , we have mint∈[a ,b ] w(t) ≥ min{a ,  – b }w∞ . In the following we assume a =  and we make use of the notations c := min{a ,  – b }.

c :=  – b ,

Consider now the cone K in C[, ] × C[, ] defined by 

K := (u, v) ∈ K × K . For a positive solution of system (.) we mean a solution (u, v) ∈ K of (.) such that (u, v) > . We seek such solution as a fixed point of the following operator T. Consider the integral operator  T (u, v)(t) , T(u, v)(t) := T (u, v)(t) 

where  T (u, v)(t) := t





ϕp–

s

   g (τ )f τ , u(τ ), v(τ ) dτ ds



      g (τ )f τ , u(τ ), v(τ ) dτ + B ϕp– 

(.)

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and ⎧ t –  σu,v ⎪ g (τ )f (τ , u(τ ), v(τ )) dτ ) ds ⎪  ϕp ( s ⎪ ⎨ σ T (u, v)(t) := + B (ϕp– (  u,v g (τ )f (τ , u(τ ), v(τ )) dτ )),  ≤ t ≤ σu,v , ⎪ ⎪ ⎪ ⎩  ϕ – ( s g (τ )f (τ , u(τ ), v(τ )) dτ ) ds, σu,v ≤ t ≤ .  t p σu,v  From the definitions, for every (u, v) ∈ K , we have max T (u, v)(t) = T (u, v)(σu,v ).

t∈[,]

Under our assumptions, we can show that the integral operator T leaves the cone K invariant and is compact. Lemma . The operator (.) maps K into K and is compact. Proof Take (u, v) ∈ K . From the definition we have that the function T (u, v) is nonincreasing. The fact that T (u, v) and T (u, v) are convex functions is known, see Section , p. of []. Thus T(u, v) ∈ K . Now, we show that the map T is compact. Firstly, we show that T sends bounded sets into bounded sets. Take (u, v) ∈ K such that (u, v) ≤ r. Then, for all t ∈ [, ], we have 





ϕp–

T (u, v)(t) = t

   g (τ )f τ , u(τ ), v(τ ) dτ ds

s



      g (τ )f τ , u(τ ), v(τ ) dτ + B ϕp–  ≤





ϕp–

t

≤



≤ 





ϕp–

t



 g (τ )φ,r (τ ) dτ ds



+ h ϕp– 



s

ϕp–

  g (τ )f τ , u(τ ), v(τ ) dτ



 









    g (τ )φ,r (τ ) dτ ds + h ϕp– g (τ )φ,r (τ ) dτ 





ds + h ϕp–

g (τ )φ,r (τ ) dτ 







g (τ )φ,r (τ ) dτ

< +∞.



We prove now that T sends bounded sets into equicontinuous sets. Let t , t ∈ [, ], t < t , (u, v) ∈ K such that (u, v) ≤ r. Then we have   s      t –    T (u, v)(t ) – T (u, v)(t ) =  ϕp g (τ )f τ , u(τ ), v(τ ) dτ ds  t   t       –  ϕp g (τ )φ,r (τ ) dτ ds = Cr |t – t |. ≤ t



Therefore we obtain |T (u, v)(t ) – T (u, v)(t )| →  when t → t . By the Ascoli-Arzelà theorem we can conclude that T is a compact map. For the sake of completeness, we sketch the proof of the fact that T sends bounded sets into equicontinuous sets. Let t , t ∈ [, ], t < t , (u, v) ∈ K such that (u, v) ≤ r. The

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cases  ≤ t < t ≤ σu,v or σu,v ≤ t < t ≤  can be handled as in the case of the operator T . If  ≤ t < σu,v < t ≤ , we observe that   T (u, v)(t ) – T (u, v)(t )   = T (u, v)(t ) – T (u, v)(σu,v ) + T (u, v)(σu,v ) – T (u, v)(t )     ≤ T (u, v)(t ) – T (u, v)(σu,v ) + T (u, v)(σu,v ) – T (u, v)(t ), and the proof follows as in previous cases. Moreover, the map T is compact since the components Ti are compact maps.



3 Existence results For our index calculations, given ρ , ρ >  we use the following (relative) open bounded sets in K : 

Kρ ,ρ = (u, v) ∈ K : u∞ < ρ and v∞ < ρ and   Vρ ,ρ = (u, v) ∈ K : min u(t) < c ρ and min v(t) < c ρ , t∈[,b ]

t∈[a ,b ]

and if ρ = ρ = ρ, we write simply Kρ and Vρ . The set Vρ was introduced in [] as an extension to the case of systems of a set given by Lan []. The use of different radii, in the spirit of the paper [], allows more freedom in the growth of the nonlinearities. The following lemma is similar to Lemma  of [] and therefore its proof is omitted. Lemma . The sets defined above have the following properties: • Kc ρ ,c ρ ⊂ Vρ ,ρ ⊂ Kρ ,ρ . • (w , w ) ∈ ∂Kρ ,ρ iff (w , w ) ∈ K and wi ∞ = ρi for some i ∈ {, } and wj ∞ ≤ ρj for j = i. • (w , w ) ∈ ∂Vρ ,ρ iff (w , w ) ∈ K and mint∈[ai ,bi ] wi (t) = ci ρi for some i ∈ {, } and mint∈[aj ,bj ] wj (t) ≤ cj ρj for j = i. • If (w , w ) ∈ ∂Vρ ,ρ , then for some i ∈ {, }, ci ρi ≤ wi (t) ≤ ρi for each t ∈ [ai , bi ] and wi ∞ ≤ ρi ; moreover, for j = i, we have wj ∞ ≤ ρj . We firstly prove that the fixed point index is  on the set Kρ ,ρ . Lemma . Assume that (Iρ ,ρ ) there exist ρ , ρ >  such that for every i = ,  ρ ,ρ

fi

< ϕpi (mi ),

(.)

where  fiρ ,ρ  = m

= sup  



ϕp–

fi (t, u, v) p –

ρi i  s 

 : (t, u, v) ∈ [, ] × [, ρ ] × [, ρ ] ,

    g (τ ) dτ ds + h ϕp– g (τ ) dτ 

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and             = max ϕp– g (τ ) dτ ds + h ϕp– g (τ ) dτ , m  s   s     ϕp– g (τ ) dτ ds .  

 

Then iK (T, Kρ ,ρ ) = . Proof We show that λ(u, v) = T(u, v) for every (u, v) ∈ ∂Kρ ,ρ and for every λ ≥ ; this ensures that the index is  on Kρ ,ρ . In fact, if this does not happen, there exist λ ≥  and (u, v) ∈ ∂Kρ ,ρ such that λ(u, v) = T(u, v). Firstly we assume that u∞ = ρ and v∞ ≤ ρ . Then we have 





ϕp–

λu(t) = t



s





g (τ )f τ , u(τ ), v(τ ) dτ ds 

      – + B ϕp g (τ )f τ , u(τ ), v(τ ) dτ  ≤ t







ϕp–

   g (τ )f τ , u(τ ), v(τ ) dτ ds

s 



+ h ϕp–  = ρ t







ϕp–

  g (τ )f τ , u(τ ), v(τ ) dτ



s

g (τ )

f (τ , u(τ ), v(τ )) p –

ρ 





+ ρ h ϕp–



g (τ )

 dτ ds

f (τ , u(τ ), v(τ )) p –

ρ 





 dτ .

Taking t =  gives λu() = λρ  s       ρ ,ρ ρ ,ρ – – ≤ ρ ϕp g (τ )f dτ ds + ρ h ϕp g (τ )f dτ 

=

ρ ϕp–

= ρ



 ρ ,ρ  f

 





ϕp–



s

g (τ ) dτ 



ds + h ϕp–







g (τ ) dτ 

 –  ρ ,ρ  . ϕ f m p 

Using hypothesis (.) and the strict monotonicity of ϕp– , we obtain λρ < ρ . This contradicts the fact that λ ≥  and proves the result. Now we assume v∞ = ρ and u∞ ≤ ρ . Then we have λρ = T (u, v) ∞ = T (u, v)(σu,v ).

Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163

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If σu,v ≤  , we have λρ = T (u, v) ∞ = T (u, v)(σu,v )  σu,v   σu,v   = ϕp– g (τ )f τ , u(τ ), v(τ ) dτ ds 

s

  + B ϕp–

σu,v

  g (τ )f τ , u(τ ), v(τ ) dτ









 

≤

ϕp–



s



+ h ϕp–  ≤

ϕp–



s

+ h ϕp– 

 





   g (τ )f τ , u(τ ), v(τ ) dτ ds

 



= ρ

  g (τ )f τ , u(τ ), v(τ ) dτ

σu,v 



 

   g (τ )f τ , u(τ ), v(τ ) dτ ds

 

 







g (τ )f τ , u(τ ), v(τ ) dτ



 ϕp–

 

g (τ )

f (τ , u(τ ), v(τ )) p –

ρ 

s

 + ρ h ϕp–

 

g (τ )

 dτ ds

f (τ , u(τ ), v(τ )) p –

ρ 



 dτ ;

thus we obtain  ρ ,ρ  λρ ≤ ρ ϕp– f  



 



 ϕp–

 

s

  g (τ ) dτ ds + h ϕp–

 

 g (τ ) dτ

.



If σu,v >  , we have λρ = T (u, v) ∞ = T (u, v)(σu,v )   s     = ϕp– g (τ )f τ , u(τ ), v(τ ) dτ ds σu,v

 ≤





ϕp– 



= ρ





σu,v s

 

   g (τ )f τ , u(τ ), v(τ ) dτ ds



ϕp– 



  ≤ ρ ϕp– fρ ,ρ

s  

f (τ , u(τ ), v(τ ))

g (τ )



p –



  

ρ 

ϕp–

s  

 dτ ds

 g (τ ) dτ ds.

Then, in both cases, we have λρ = T (u, v) ∞ = T (u, v)(σu,v )       ≤ ρ ϕp– fρ ,ρ max ϕp– 

 

s

  g (τ ) dτ ds + h ϕp–

 



 g (τ ) dτ ,

Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163





  

ϕp–

Page 9 of 18

  g (τ ) dτ ds

s  

   . = ρ ϕp– fρ ,ρ m Using hypothesis (.) and the strict monotonicity of ϕp– , we obtain λρ < ρ . This contradicts the fact that λ ≥  and proves the result.  We give a first lemma that shows that the index is  on a set Vρ ,ρ . Lemma . Assume that: (Iρ ,ρ ) there exist ρ , ρ >  such that for every i = ,  fi,(ρ ,ρ ) > ϕpi (Mi ),

(.)

where   f (t, u, v) : (t, u, v) ∈ [, b ] × [c ρ , ρ ] × [, ρ ] , f,(ρ ,ρ ) = inf p – ρ    f (t, u, v) : (t, u, v) ∈ [a , b ] × [, ρ ] × [c ρ , ρ ] , f,(ρ ,ρ ) = inf p – ρ   s  b    b  = ϕp– g (τ ) dτ ds + h ϕp– g (τ ) dτ , M    and  ν  ν    min = ϕp– g (τ ) dτ ds M  a ≤ν≤b a s   s   b – – + ϕp g (τ ) dτ ds + h ϕp ν

ν



ν

g (τ ) dτ

.

a

Then iK (T, Vρ ,ρ ) = . Proof Let e(t) ≡  for t ∈ [, ]. Then (e, e) ∈ K . We prove that (u, v) = T(u, v) + λ(e, e) for (u, v) ∈ ∂Vρ ,ρ and λ ≥ . In fact, if this does not happen, there exist (u, v) ∈ ∂Vρ ,ρ and λ ≥  such that (u, v) = T(u, v) + λ(e, e). We examine two cases. Case (): c ρ ≤ u(t) ≤ ρ for t ∈ [, b ] and  ≤ v(t) ≤ ρ for t ∈ [, ]. Thus we have, for t ∈ [, b ], ρ ≥ u(t)   s     – ϕp g (τ )f τ , u(τ ), v(τ ) dτ ds = 

t

      – + B ϕp +λ g (τ )f τ , u(τ ), v(τ ) dτ  ≥ t

b



 ϕp–

+ h ϕp–

s

   g (τ )f τ , u(τ ), v(τ ) dτ ds





 

   g (τ )f τ , u(τ ), v(τ ) dτ + λ

Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163





b

≥

ϕp–

t



+ h ϕp– 

b

= ρ t

   g (τ )f τ , u(τ ), v(τ ) dτ ds

s



Page 10 of 18

   g (τ )f τ , u(τ ), v(τ ) dτ + λ

b 

 ϕp–

s

g (τ )

f (τ , u(τ ), v(τ )) p –

ρ 



 + ρ h ϕp–

b

g (τ )

 dτ ds

f (τ , u(τ ), v(τ )) p –

ρ 



 dτ + λ.

For t = , we obtain  ρ ≥ ρ ϕp– (f ,(ρ ,ρ ) )

b 

 ϕp–

 g (τ ) dτ ds





+ ρ ϕp– (f ,(ρ ,ρ ) )h ϕp– > ρ ϕp– (f,(ρ ,ρ ) )

s

b

 g (τ ) dτ + λ



 + λ. M

Using hypothesis (.) we obtain ρ > ρ + λ, a contradiction. Case ():  ≤ u(t) ≤ ρ for t ∈ [, ] and c ρ ≤ v(t) ≤ ρ . We distinguish three cases as follows. Case ( ):  < σu,v ≤ a . Therefore we get ρ ≥ v(σu,v ) = T (u, v)(σu,v ) + λ  s      – ϕp g (τ )f τ , u(τ ), v(τ ) dτ ds + λ = 

σu,v

b

≥

a



σu,v

 ϕp– b

= ρ

   g (τ )f τ , u(τ ), v(τ ) dτ ds + λ

s a

 ϕp–

s

g (τ )

f (τ , u(τ ), v(τ )) p –

 dτ ds + λ

ρ   s   b ϕp– g (τ ) dτ ds + λ ≥ ρ ϕp– (f ,(ρ ,ρ ) ) a

a

a

a

 + λ. ≥ ρ ϕp– (f ,(ρ ,ρ ) ) M Using hypothesis (.) we obtain ρ > ρ + λ, a contradiction. Case ( ): σu,v ≥ b . ρ ≥ v(σu,v ) = T (u, v)(σu,v ) + λ  σu,v   σu,v   – ϕp g (τ )f τ , u(τ ), v(τ ) dτ ds = 

s

  + B ϕp–  ≥

b a



 ϕp–

b s

σu,v

  g (τ )f τ , u(τ ), v(τ ) dτ



   g (τ )f τ , u(τ ), v(τ ) dτ ds

+λ

Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163

 + h ϕp– 

b

= ρ a

Page 11 of 18

   g (τ )f τ , u(τ ), v(τ ) dτ + λ

b

a

 ϕp–

b

p –

ρ 

s



+ ρ h ϕp–

b

g (τ ) 

b a



f (τ , u(τ ), v(τ ))

dτ + λ

p –

a

≥ ρ ϕp– (f ,(ρ ,ρ ) )

 dτ ds

f (τ , u(τ ), v(τ ))

g (τ )

ρ 

 ϕp–

b

 g (τ ) dτ ds

b

 g (τ ) dτ + λ

s



+ ρ ϕp– (f ,(ρ ,ρ ) )h ϕp–

a

 + λ. M

≥ ρ ϕp– (f ,(ρ ,ρ ) )

Using hypothesis (.) we obtain ρ > ρ + λ, a contradiction. Case ( ): a < σu,v < b . ρ ≥ v(σu,v ) = λ + T (u, v)(σu,v )   σu,v  σu,v   – = λ + ϕp g (τ )f τ , u(τ ), v(τ ) dτ ds 

  + B ϕp– 







+ σu,v

ϕp–



a





+ σu,v

σu,v

s











g (τ )f τ , u(τ ), v(τ ) dτ a

 ϕp– 

s

b

σu,v



ϕp–



+ ρ h ϕp– + ρ



g (τ )f τ , u(τ ), v(τ ) dτ ds σu,v

σu,v a

σu,v

g (τ )

σu,v

g (τ ) 



σu,v

p –

ρ 

f (τ , u(τ ), v(τ )) p –

ρ 

a

ϕp–

f (τ , u(τ ), v(τ ))

s

s

g (τ ) σu,v

≥ λ + ρ ϕp– (f ,(ρ ,ρ ) ) + h ϕp–

   g (τ )f τ , u(τ ), v(τ ) dτ ds

σu,v

= λ + ρ





   g (τ )f τ , u(τ ), v(τ ) dτ ds

s

ϕp–

+ h ϕp– b

  g (τ )f τ , u(τ ), v(τ ) dτ

σu,v

σu,v

≥ λ +



s

σu,v



σu,v

dτ

a

p –

ϕp–

  g (τ ) dτ +

a

σu,v s

b σu,v

ϕp–

dτ ds



f (τ , u(τ ), v(τ )) ρ  



 dτ ds

 g (τ ) dτ ds



s

  g (τ ) dτ ds

σu,v

 . ≥ λ + ρ ϕp– (f ,(ρ ,ρ ) ) M Using hypothesis (.) we obtain ρ > λ + ρ , a contradiction.



Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163

Page 12 of 18

Remark . We point out that a stronger, but easier to check, hypothesis than (.) is ˜ i ), fi,(ρ ,ρ ) > ϕpi (M where  = ˜ M



b



 ϕp–

s

 g (τ ) dτ ds



and   min = ˜   a ≤ν≤b M





ν

a

ϕp–

s

ν

  g (τ ) dτ ds + ν

b

 ϕp–

s

  g (τ ) dτ ds .

ν

In the following lemma we exploit an idea that was used in [, , ], and we provide a result of index  controlling the growth of just one nonlinearity fi , at the cost of having a larger domain. Nonlinearities with different growths were considered, for example, in [–]. Lemma . Assume that (Iρ ,ρ ) there exist ρ , ρ >  such that for some i ∈ {, } we have ∗ > ϕpi (Mi ), fi,(ρ  ,ρ )

(.)

where ∗ fi,(ρ  ,ρ )

  fi (t, u, v) = inf : (t, u, v) ∈ [ai , bi ] × [, ρ ] × [, ρ ] . p – ρi i

Then iK (T, Vρ ,ρ ) = . Proof Suppose that condition (.) holds for i = . Let (u, v) ∈ ∂Vρ ,ρ and λ ≥  such that (u, v) = T(u, v) + λ(e, e). Thus we proceed as in the proof of Lemma ..  The proof of the next result regarding the existence of at least one, two or three positive solutions follows by the properties of fixed point index and is omitted. It is possible to state results for four or more positive solutions, in a similar way as in [], by expanding the lists in conditions (S ), (S ). Theorem . System (.) has at least one positive solution in K if one of the following conditions holds. (S ) For i = , , there exist ρi , ri ∈ (, ∞) with ρi < ri such that (Iρ ,ρ ) [or (Iρ ,ρ ) ], (Ir ,r ) hold. (S ) For i = , , there exist ρi , ri ∈ (, ∞) with ρi < ci ri such that (Iρ ,ρ ), (Ir ,r ) hold. System (.) has at least two positive solutions in K if one of the following conditions holds. (S ) For i = , , there exist ρi , ri , si ∈ (, ∞) with ρi < ri < ci si such that (Iρ ,ρ ) [or (Iρ ,ρ ) ], (Ir ,r ) and (Is ,s ) hold.

Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163

Page 13 of 18

(S ) For i = , , there exist ρi , ri , si ∈ (, ∞) with ρi < ci ri and ri < si such that (Iρ ,ρ ), (Ir ,r ) and (Is ,s ) hold. System (.) has at least three positive solutions in K if one of the following conditions holds. (S ) For i = , , there exist ρi , ri , si , δi ∈ (, ∞) with ρi < ri < ci si and si < δi such that (Iρ ,ρ ) [or (Iρ ,ρ ) ], (Ir ,r ), (Is ,s ) and (Iδ ,δ ) hold. (S ) For i = , , there exist ρi , ri , si , δi ∈ (, ∞) with ρi < ci ri and ri < si < ci δi such that (Iρ ,ρ ), (Ir ,r ), (Is ,s ) and (Iδ ,δ ) hold.

4 Non-existence results We now provide some non-existence results for system (.). We use an argument similar to the ones of [, –]. Theorem . Assume that one of the following conditions holds. . For i = , , fi (t, u , u ) < ϕpi (mi ui ) for every t ∈ [, ] and ui > ,

(.)

where mi is defined in Lemma .. . For i = , ,   Mi fi (t, u , u ) > ϕpi for every t ∈ [ai , bi ] and ui > , ui ci

(.)

where Mi is defined in Lemma .. . There exists k ∈ {, } such that (.) is verified for fk and for j = k condition (.) is verified for fj . Then there is no positive solution of system (.) in K . Proof () Assume, on the contrary, that there exists (u, v) ∈ K such that (u, v) = T(u, v) and (u, v) = (, ). We distinguish two cases. • Let u∞ = . Then we have 





u(t) = t

ϕp–

s

   g (τ )f τ , u(τ ), v(τ ) dτ ds



      g (τ )f τ , u(τ ), v(τ ) dτ + B ϕp– 







< m t

ϕp–

s





        g (τ )ϕp u(τ ) dτ ds + m h ϕp– g (τ )ϕp u(τ ) dτ 



≤ m u∞ t

ϕp–



s

g (τ ) dτ 

 ds + h ϕp–





 g (τ ) dτ .



Taking t =  gives  

 = m u∞ , m a contradiction.





u∞ = u() < m u∞

ϕp–

s 

    g (τ ) dτ ds + m u∞ h ϕp– g (τ ) dτ 

Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163

Page 14 of 18

• Let v∞ = . Reasoning as in Lemma . we distinguish the cases σu,v ≤ / and σu,v > /. In the first case we have v∞ = T (u, v) ∞ = T (u, v)(σu,v )   σu,v  σu,v   – = ϕp g (τ )f τ , u(τ ), v(τ ) dτ ds 

s

  + B ϕp–

σu,v

  g (τ )f τ , u(τ ), v(τ ) dτ





σu,v

< m v∞ 

 ϕp– 

 

≤ m v∞ 

≤ m v∞



σu,v

g (τ ) dτ ds

+ h m v∞ ϕp– 



s



σu,v

g (τ ) dτ 

 ϕp–

 

 g (τ ) dτ

s

 ds + h ϕp–

 

 g (τ ) dτ



 , m

a contradiction. In a similar manner we proceed in the case σu,v > /. () Assume, on the contrary, that there exists (u, v) ∈ K such that (u, v) = T(u, v) and (u, v) = (, ). We distinguish two cases. • Let u∞ = . Then, for t ∈ [a , b ] = [, b ], we have 





ϕp–

u(t) = t

s

   g (τ )f τ , u(τ ), v(τ ) dτ ds



      g (τ )f τ , u(τ ), v(τ ) dτ + B ϕp–  ≥

b

t



 ϕp–

≥ t

ϕp–

M c

t

b

  g (τ )f τ , u(τ ), v(τ ) dτ 

s







g (τ )f τ , u(τ ), v(τ ) dτ ds 



+ h ϕp– >

 







g (τ )f τ , u(τ ), v(τ ) dτ ds 

b





+ h ϕp– 



s

b

  g (τ )f τ , u(τ ), v(τ ) dτ





ϕp–

s 



   g (τ )ϕp u(τ ) dτ ds

 b   M h ϕp– g (τ )ϕp u(τ ) dτ c    s  b   M > ϕp– g (τ )ϕp c u∞ dτ ds c t  +



Cianciaruso and Pietramala Boundary Value Problems (2015) 2015:163

Page 15 of 18

 b  M h ϕp– g (τ )ϕp (c u∞ ) dτ c   b  s   ϕp– g (τ ) dτ ds + h ϕp– = M u∞ +



t

b

g (τ ) dτ

 .



For t =  we obtain u() = u∞ > M u∞

 , M

a contradiction. • Let v∞ = . We examine the case σu,v ≥ b . We have v∞ = v(σu,v ) = T (u, v)(σu,v )   σu,v  σu,v   – ϕp g (τ )f τ , u(τ ), v(τ ) dτ ds = 

s

  + B ϕp–  ≥

b a



 ϕp–

b





   g (τ )f τ , u(τ ), v(τ ) dτ ds

b

  g (τ )f τ , u(τ ), v(τ ) dτ

a b

a

≥ M v∞

  g (τ )f τ , u(τ ), v(τ ) dτ

s



+ h ϕp– > M v∞

σu,v

 ϕp–

s

b



  g (τ ) dτ ds + h ϕp–



b

g (τ ) dτ

a

 , M

a contradiction. By similar proofs, the cases  < σu,v ≤ a and a < σu,v < b can be examined. () Assume, on the contrary, that there exists (u, v) ∈ K such that (u, v) = T(u, v) and (u, v) = (, ). If u∞ = , then the function f satisfies either (.) or (.), and the proof follows as in the previous cases. If v∞ = , then the function f satisfies either (.) or (.), and the proof follows as in the previous cases. 

5 An example We illustrate in the following example that all the constants that occur in Theorem . can be computed. Consider the system     ϕp u (t) + g (t)f t, u(t), v(t) = ,       ϕp v (t) + g (t)f t, u(t), v(t) = ,



t ∈ (, ),

(.)

t ∈ (, ),

subject to the boundary conditions u () = ,

  u() + B u () = ,

  v() = B v () ,

v() = ,

(.)

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where B and B are defined by ⎧ ⎪ ⎪ ⎨w,

w ≤ ,

B (w) = w , ⎪ ⎪ ⎩w  + , 

 ≤ w ≤ , w ≥ ,

and

B (w) =

⎧ ⎨w,  ⎩w 

 ≤ w ≤ ,

+  , w ≥ .

Now we assume g = g ≡ . Thus we have p –   = + h , m p   p   p – p –   p –    = + h , m p      p –  pp –  p – = b + h b  = M M [, b ] p

and   = M M [a , b ]   p p   p –    = (ν – a ) p – + (b – ν) p – + h (ν – a ) p – . min  a ≤ν≤b p The choice p =  , p = , b =  , a = by direct computation,  c = ; 

c =

 ; 

 

, b =  , h =  , h =  , h =

m = .;

M = .;

 

and h =

m = .;

Let us now consider f (t, u, v) =

       u +t v + ,  

Then, with the choice of ρ = ρ =

 ,r  

f (t, u, v) =

√

tu + v .

= , r =  , s = s = , we obtain

     inf f (t, u, v) : (t, u, v) ∈ , × [, ρ ] × [, ρ ]   = f (, , ) = . > M ρ = .,

 sup f (t, u, v) : (t, u, v) ∈ [, ] × [, r ] × [, r ] √ = f (, r , r ) = . < m r = ., 

sup f (t, u, v) : (t, u, v) ∈ [, ] × [, r ] × [, r ] = f (, r , r ) = . < (m r ) = ,

 

gives,

M = ..

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     inf f (t, u, v) : (t, u, v) ∈ , × [c s , s ] × [, s ]   = f (, c s , ) = . > M s = .,       , × [, s ] × [c s , s ] inf f (t, u, v) : (t, u, v) ∈   = f (t, , c s ) = . > M s = .. Thus the conditions (I

  , 

) , (I,  ) and (I, ) are satisfied; therefore system (.)-(.) 

has at least two positive solutions (u , v ) and (u , v ) such that  < (u , v ) ≤ .

 

< (u , v ) ≤  and

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