52

Sturm-Liouville Problems

“Sturm-Liouville problems” are boundary-value problems that naturally arise when solving certain
partial differential equation problems using a “separation of variables” method that will be discussed
in a later chapter. It is the theory behind Sturm-Liouville problems that, ultimately, justifies the
“separation of variables” method for these partial differential equation problems. The simplest
applications lead to the various Fourier series, and less simple applications lead to generalizations
of Fourier series involving Bessel functions, Hermite polynomials, etc.
Unfortunately, there are several difficulties with our studying Sturm-Liouville problems:

1. Motivation: Had we the time, we would first discuss partial differential equation problems and
develop the separation of variables method for solving certain important types of problems
involving partial differential equations. We would then see how these “Sturm-Liouville
problems” arise and why they are so important. But we don’t have time. Instead, I’ll briefly
remind you of some results from linear algebra that are analogous to the results we will,
eventually, obtain.
2. Another difficulty is that the simplest examples (which are very important since they lead to
the Fourier series) are too simple to really illustrate certain elements of the theory, while the
other standard examples tend to get complicated and require additional tricks which distract
from illustrating the theory. We’ll deal with this as well as we can.

3. The material gets theoretical. Sorry, there is no way around this. The end results, however,
are very useful in computations, especially now that we have computers to do the tedious
computations. I hope we get to that point.

4. Finally, I must warn you that, in most texts, the presentation of the “Sturm-Liouville theory”
stinks. In most introductory ordinary differential equation texts, this material is usually near
the end, which usually means that the author just wants to finish the damn book, and get it
published. In texts on partial differential equations, the results are usually quoted with some
indication that the proofs can be found in a good text on differential equations.

52.1 Linear Algebraic Antecedents

Let us briefly review some elements from linear algebra which we will be “recreating” using functions
instead of finite-dimensional vectors. But first, let me remind you of a little “complex variable
algebra”. This is because our column vectors and matrices may have complex values.
Chapter & Page: 52–2 Sturm-Liouville

Recollections From (Real) Linear Algebra

For the rest of this section, let N be some positive integer. Following fairly standard convention,
we’ll let R N denote the vector space of all N ×1 matrices with real components. That is, saying
that v and w are ‘vectors’ in R N will simply mean
   
v1 w1
v  w 
 2  2
v =  
 ..  and w =  
 .. 
 .   . 
vN wN

where the vk ’s and wk ’s are real numbers.

Recall that the norm (or ‘length’) of the above v , kvk , is computed by
q
kvk = |v1 |2 + |v2 |2 + · · · |v N |2

and that, computationally, the classic dot product of the above v and w is

v · w = v1 w1 + v2 w2 + · · · + v N w N
 
w1
w 
 2 T
 ..  = v w
= [v1 , v2 , . . . , v N ]  
 . 
wN

where vT w is the matrix product with vT being the transpose of matrix v (i.e., the matrix constructed
from v by switching rows with columns).
Observe that, since v 2 = |v|2 when v is real,

v · v = v1 v1 + v2 v2 + · · · + v N v N
= |v1 |2 + |v2 |2 + · · · + |v N |2 = kvk2 .

Also recall that a set of vectors {v1 , v2 , v2 , . . .} is said to be orthogonal if and only if

v j · vk = 0 whenever j 6= k .

And finally, recall that a matrix A is symmetric if and only if AT = A , and that, for symmetric
matrices, we have the following theorem from linear algebra (and briefly mentioned in chapter 38):

Theorem 52.1
Let A be a symmetric N × N matrix (with real-valued components). Then both of the following
hold:
1. All the eigenvalues of A are real.
2. There is an orthogonal basis for R N consisting of eigenvectors for A .

Ultimately, we will obtain an analog to this theorem involving a linear differential operator
instead of a matrix A .
Linear Algebraic Antecedents Chapter & Page: 52–3

Linear Algebra with Complex Components

Complex Conjugates and Magnitudes
We’ve certainly used complex numbers before in this text, but I should remind you that a complex
number z is something that can be written as

z = x + iy

where x and y are real numbers — the real and imaginary parts, respectively of z . The corre-
sponding complex conjugate z ∗ and magnitude |z| of z are then given by
q
∗
z = x − iy and |z| = x 2 + y 2 .

Now if x is a real number — positive, negative or zero — then x 2 = |x|2 . However, you can easily
verify that z 2 6 = |z|2 . Instead, we have

|z|2 = x 2 + y 2 = x 2 − (i y)2 = (x − i y)(x + i y) = z ∗ z .

Vectors and Matrices with Complex-Valued Components

Everything mentioned above can be generalized to C N , the vector space of all N ×1 matrices with
complex components. In this case, saying that v and w are ‘vectors’ in C N simply means
   
v1 w1
v  w 
 2  2
v =  
 ..  and w =   .. 

 .   . 
vN wN

where the vk ’s and wk ’s are complex numbers. Since the components are complex, we define the
complex conjugate of v in the obvious way,
 ∗
v1
 v∗ 
 2
v∗ =  ..  .

 . 
v ∗N

The natural norm (or ‘length’) of v is still given by

q
kvk = |v1 |2 + |v2 |2 + · · · |v N |2

However, when we try to relate this to the classic dot product v · v , we get

kvk2 = |v1 |2 + |v2 |2 + · · · + |v N |2

= v1 ∗ v1 + v2 ∗ v2 + · · · + v N ∗ v N
= (v∗ ) · v 6 = v · v .

This suggests that, instead of using the classic dot product, we use the (standard vector) inner product
of v with w , which is denoted by h v | w i and defined by by

h v | w i = v∗ · w = v1 ∗ w1 + v2 ∗ w2 + · · · + v N ∗ w N
Chapter & Page: 52–4 Sturm-Liouville

 
w1
w 
∗ ∗ ∗ 
 2 ∗ T
= [v1 , v2 , . . . , v N ]  .  = (v ) w .
 .. 
wN
Then
h v | v i = v∗ · v = kvk2 .
We also adjust our notion of “orthogonality” by saying that any set {v1 , v2 , . . .} of vectors in C N
is orthogonal if and only if

vm vn = 0 whenever m 6 = n .

The inner product for vectors with complex components is the mathematically natural extension
of the standard dot product for vectors with real components. Some easily verified (and useful)
properties of this inner product are given in the next theorem. Verifying it will be left as an exercise
(see exercise 52.4).

Theorem 52.2 (properties of the inner product)

Suppose α and β are two (possibly complex) constants, and v , w , and u are vectors in C N .
Then

1. h v | w i = h w | v i∗ ,

2. h u | αv + βw i = α h u | v i + β h u | w i ,

3. h αv + βw | u i = α ∗ h v | u i + β ∗ h w | u i ,
and
4. h v | v i = kvk .

Later, we’ll define other “inner products” for functions. These inner products will have very
similar properties to those in given in the last theorem.

Adjoints
The adjoint of any matrix A — denoted A† — is the transpose of the complex conjugate of A ,
 ∗
A† = (A∗ )T (equivalently, AT ) .

That is, A† is the matrix obtained from matrix A by replacing each entry in A with its complex
conjugate, and then switching the rows and columns (or first switch the rows and columns and then
replace the entries with their complex conjugates — you get the same result either way).

!◮Example 52.1: If  
1 + 2i 3 − 4i 5i
A = ,
−6i 7 −8i
then
 
 ∗ !T  T 1 − 2i 6i
1 + 2i 3 − 4i 5i 1 − 2i 3 + 4i −5i
A† =
 
= = 3 + 4i 7 .
−6i 7 −8i 6i 7 8i
−5i 8i
Linear Algebraic Antecedents Chapter & Page: 52–5

This “adjoint” turns out to be more useful than the transpose when we allow vectors to have
complex components.
A matrix A is self adjoint 1 if and only if A† = A . Note that:
1. A self-adjoint matrix is automatically square.
2. If A is a square matrix with just real components, then A† = AT , and “ A is self adjoint”
means the same as “ A is symmetric”.
If you take the proof of theorem 52.1 and modify it to take into account the possibility of complex-
valued components, you get

Theorem 52.3
Let A be a self-adjoint N × N matrix. Then both of the following hold:
1. All the eigenvalues of A are real.
2. There is an orthogonal basis for C N consisting of eigenvectors for A .

This theorem is noteworthy because it will help explain the source of some of the terminology
that we will later be using.
What is more noteworthy is what the above theorem says about computing Av when A is self
adjoint. To see this, let n o
b1 , b2 , b3 , . . . , b N

be any orthogonal basis for C N consisting of eigenvectors for A (remember, the theorem says there
is such a basis), and let
{ λ1 , λ2 , λ3 , . . . , λ N }
be the corresponding set of eigenvectors (so Abk = λk bk for k = 1, 2, . . . , N ). Since the set of
bk ’s is a basis, we can express v as a linear combination of these basis vectors.
N
X
1 2 3 N
v = v1 b + v2 b + v3 b + · · · + v N b = vk bk , (52.1)
k=1

and can reduce the computation of Av to

h i
Av = A v1 b1 + v2 b2 + v3 b3 + · · · + v N b N

= v1 Ab1 + v2 Ab2 + v3 Ab3 + · · · + v N Ab N

= v1 λ1 b1 + v2 λ2 b2 + v3 λ3 b3 + · · · + v N λ N b N .

If N is large, this could be a lot faster than doing the basic component-by-component matrix
multiplication. (And in our analog with functions, N will be infinite.)

Finding Vector Components

One issue is finding the components (v1 , v2 , v3 , . . . , v N ) in formula (52.1) for v . But a useful
formula is easily derived. First, take the inner product of both sides of (52.1) with one of the bk ’s ,
say, b1 and then repeatedly use the linearity property described in theorem 52.2,
D E D E
b1 v = b1 v1 b1 + v2 b2 + v3 b3 + · · · + v N b N
1 the term Hermitian is also used
Chapter & Page: 52–6 Sturm-Liouville

D E D E D E D E
= v1 b1 b1 + v2 b1 b2 + v3 b1 b3 + · · · + v N b1 bN .

Remember, this set of bk ’s is orthogonal. That means

D E
b1 bk = 0 if 1 6 = k .

On the other hand,

D E 2
b1 b1 = b1 .

Taking this into account, we continue our computation of b1 · v :

D E D E D E D E D E
b1 v = v1 b1 b1 + v2 b1 b2 + v3 b1 b3 + · · · + v N b1 bN
2
= v1 · b1 + v2 · 0 + v3 · 0 + · · · + v N · 0 .

So,
D E 2
b1 v = v1 b1 .

Solving for v1 gives us D E

b1 v
v1 = 2
.
b1

Repeating this using each bk yields the next theorem:

Theorem 52.4
Let n o
b1 , b2 , b3 , . . . , b N

be an orthogonal basis for C N . Then, for any vector v in R N ,

N
X
v = v1 b1 + v2 b2 + v3 b3 + · · · + v N b N = vk bk (52.2a)
k−1
where D E
bk v
vk = 2
for k = 1, 2, 3, . . . , N . (52.2b)
bk

If you know a little about “Fourier series”, then you may recognize formula set (52.2) as a
finite-dimensional analog of the Fourier series formulas. If you know nothing about “Fourier series”,
then I’ll tell you that a “Fourier series for a function f ” is an infinite-dimensional analog of formula
set (52.2). We will eventually see this.

About ‘Normalizing’ a Basis

In the above, we assumed that n o
b1 , b2 , b3 , . . . , b N

is an orthogonal basis for C N . If it had been orthonormal, then we would also have had

bk = 1 for k = 1, 2, 3, . . . , N ,
Linear Algebraic Antecedents Chapter & Page: 52–7

and the formulas in our last theorem would have simplified somewhat. In fact, given any orthogonal
set n o
b1 , b2 , b3 , . . . , b N ,
we can construct a corresponding orthonormal set
n o
n1 , n2 , n3 , . . . , n N

by just letting
bk
nk = for k = 1, 2, 3, . . . , N .
bk
Moreover, if bk is an eigenvector for a matrix A with corresponding eigenvalue λk , so is nk .
When we so compute the nk ’s from the bk ’s , we are said to be normalizing our bk ’s . Some
authors like to normalize their orthogonal bases because it does yield simpler formulas for computing
with such a basis. These authors, typically, are only deriving pretty results and are not really using
them in applications. Those that really use the results rarely normalize, especially when the dimension
is infinite (as it will be for us), because normalizing leads to artificial formulas for the basis vectors,
and dealing with these artificial formulas for basis vectors usually complicates matters enough to
completely negate the advantages of having the ‘simpler’ formulas for computing with these basis
vectors.
We won’t normalize.

Inner Products and Adjoints

You should recall (or be able to quickly confirm) that
 T
∗
(AB)T = BT AT , AT = A , (AB)∗ = A∗ B∗ and A∗ = A .

With these and the definition of the adjoint, you can easily verify that
 †
(AB)† = B† A† and A† = A .

Also observe that, if    

v1 w1
v  w 
 2  2
v =  
 ..  and w =  
 ..  ,
 .   . 
vN wN
then  
w1
 
   w2 
v † w = v1 ∗ , v2 ∗ ∗
, . . . , vN  ∗ ∗ ∗
 ..  = v1 w1 + v2 w2 + · · · + v N w N = h v | w i
 .
 . 
wN

So, for any N × N matrix A and any two vectors v and u in C N ,

D E  
v A† u = v† A† u = v† A† u = (Av)† u = h Av | u i .

Consequently, if A is self adjoint (i.e., A† = A ), then

h v | Au i = h Av | u i for every v, u in C N
Chapter & Page: 52–8 Sturm-Liouville

It’s a simple exercise in linear algebra to show that the above completely characterizes “ad-
jointness” and “self adjointness” for matrices. That is, you should be able to finish proving the next
theorem. We’ll use the results to extend the these concepts to things other than matrices.

Theorem 52.5 (characterization of “adjointness”)

Let A be an N × N matrix. Then,
D E
v A† u = h Av | u i for every v and u in C N .

Moreover, both of the following hold:

1. B = A† if and only if

h v | Bu i = h Av | u i for every v and u in C N .

2. A is self adjoint if and only if

h v | Au i = h Av | u i for every v and u in C N .

Comments
To be honest, we are not going to directly use the material we’ve developed over the past several
pages. The reason we went over the “theory of self-adjoint matrices” and related material concerning
vectors in C N is that the Sturm-Liouville theory we’ll be developing is a functional analog of what
we just discussed, using differential operators and functions instead of matrices and vectors in C N .
Understanding the theory and computations we’ve just developed should expedite learning the theory
and computations we will be developing.

52.2 Boundary-Value Problems with Parameters

In each boundary-value problem of interest to us, the differential equation will involve both the
unknown function — which (following tradition) we will denote by φ or φ(x) — and a parameter
λ (basically, λ is just some yet undetermined constant). We’ll assume that each of these equations
can be written as
d2φ dφ
A(x) + B(x) + [C(x) + λ]φ = 0 (52.3a)
dx2 dx
or, equivalently, as
d2φ dφ
A(x) + B(x) + C(x)φ = −λφ (52.3b)
dx2 dx
where A , B and C are known functions.
A solution to such a problem is a pair (λ, φ) that satisfies the given problem — both the differ-
ential equation and the boundary conditions. To avoid triviality, we will insist that the function φ be
nontrivial (i.e., not always zero). Traditionally, the λ is called an eigenvalue, and the corresponding
φ is called an eigenfuction. We’ll often refer to the two together, (λ, φ) , as an eigen-pair. The entire
problem can be called an eigen-problem, a boundary-value problem or a “Sturm-Liouville problem”
(though we won’t completely define just what a “Sturm-Liouville problem” is until later).
Boundary-Value Problems with Parameters Chapter & Page: 52–9

In our problems, we will need to find the general solution φ = φλ to the given differential
equation for each possible value of λ , and then apply the boundary conditions to find all possible
eigen-pairs. Technically, at this point, λ can be any complex number. However, thanks to the
foreknowledge of the author, we can assume λ is real. Why this is a safe assumption will be one of
the things we will later need to verify (it’s analogous to the fact that self-adjoint matrices have only
real eigenvalues). What we cannot yet do, though, is assume the λ’s all come from some particular
subinterval of the real line. This means you must consider all possible real values for λ , and take
into account that the form of the solution φλ may be quite different for different ranges of these λ’s .

!◮Example 52.2: The simplest (and possibly most important) example of such an boundary-value
problem with parameter is

φ ′′ + λφ = 0 (52.4a)
with boundary conditions
φ(0) = 0 and φ(L) = 0 (52.4b)

where L is some positive number (think of it as a given ‘length’).

The above differential equation is a simple second-order homogeneous differential equation
with constant coefficients. Its characteristic equation is

r2 + λ = 0 ,
with solution
√
r = ± −λ .

In this example, the precise formula for φλ (x) , the equation’s general solution corresponding
to a particular value of λ , depends on whether λ > 0 , λ = 0 or λ < 0 . Let’s go through all
the cases:
√
λ < 0 : In this case, −λ > 0 . For convenience, let ν = −λ . Then

r = ±ν ,

and
φλ (x) = c1 eνx + c2 e−νx
√
where c1 and c2 are arbitrary constants, and, as already stated, ν = −λ .

Applying the first boundary condition:

0 = φλ (0) = c1 eν·0 + c2 e−ν·0 = c1 + c2 ,

which tells us that

c2 = −c1 ,
and thus,  
φλ (x) = c1 eνx − c1 e−νx = c1 eνx − e−νx .
Combining this with the boundary condition at x = L yields
 
0 = φλ (L) = c1 eν L − e−ν L .

Now eν L > e0 = 1 and e−ν L < e0 = 1 . So

eν L − e−ν L > 0 ,
Chapter & Page: 52–10 Sturm-Liouville

and the only way we can have

 
0 = c1 eν L − e−ν L

is for c1 = 0 . Thus, the only solution to this problem with λ < 0 is

 
φλ (x) = 0 eν L − e−ν L = 0 ,

the trivial solution (which we don’t really care about).

λ = 0 : Instead of using the characteristic equation, let’s just note that, if λ = 0 , the differential
equation for φ = φ0 (x) reduces to

φ ′′ (x) = 0 .

Integrating this twice yields

φ0 (x) = φ0 (x) = c1 x + c2 .

Applying the first boundary condition gives us

0 = φ0 (0) = c1 · 0 + c2 = c2 .

Combined with the boundary condition at x = L , we then have

0 = φ0 (L) = c1 L + 0 = c1 L ,

which says that c1 = 0 (since L > 0 ). Thus, the only solution to the differential equation
that satisfies the boundary conditions when λ = 0 is

φ0 (x) = 0 · x + 0 = 0 ,

again, just the trivial solution.

√
λ > 0 : This time, it is convenient to let ν = λ , so that the solution to the characteristic
equation becomes √
r = ± −λ = ±iν .
While the general formula for φλ can be written in terms of complex exponentials, it is
better to recall that these complex exponentials can be written in terms of sines and cosines,
and that the general formula for φλ can then be given as

φλ (x) = c1 cos(νx) + c2 sin(νx)

√
where, again, c1 and c2 are arbitrary constants, and, as already stated, ν = λ.

Applying the first boundary condition:

0 = φλ (0)
= c1 cos(ν · 0) + c2 sin(ν · 0)
= c1 · 1 + c2 · 0 = c1 ,

which tells us that

φλ (x) = c2 sin(νx) .
Boundary-Value Problems with Parameters Chapter & Page: 52–11

With the boundary condition at x = L , this gives

0 = φ(L) = c2 sin(ν L) .

To avoid triviality, we want c2 to be nonzero. So, for the boundary condition at x = L to

hold, we must have
sin(ν L) = 0 ,
which means that
ν L = an integral multiple of π ,
√
Moreover, since ν = λ > 0 , ν L must be a positive integral multiple of π . Thus, we
have a list of allowed values of ν ,
kπ
νk = with k = 1, 2, 3, . . . ,
L
a corresponding list of allowed values for λ ,
 kπ 2
λk = (νk )2 = with k = 1, 2, 3, . . .
L

(these are the eigenvalues), and a corresponding list of φ(x)’s (the corresponding eigen-
functions),
 kπ 
φk (x) = ck sin(νk x) = ck sin x with k = 1, 2, 3, . . .
L
where the ck ’s are arbitrary constants. For our example, these are the only nontrivial
eigenfunctions.
In summary, we have a list of solutions to our “Sturm-Liouville problem”, namely,

(λk , φk ) for k = 1, 2, 3, . . .

where, for each k ,

 kπ 2
λk =
L
and
 kπ 
φk (x) = ck sin(νk x) = ck sin x
L

(with the ck ’s being arbitrary constants).

In particular, if L = 1 , then the solutions to our “Sturm-Liouville problem" are given by
 
(λk , φk (x)) = k 2 π 2 , ck sin(kπ x) for k = 1, 2, 3, . . . .
Chapter & Page: 52–12 Sturm-Liouville

52.3 The Sturm-Liouville Form for a Differential

Equation
To solve these differential equations with parameters, you will probably want to use form (52.3a),
as we did in our example. However, to develop and use the theory that we will be developing and
using, we will want to rewrite each differential equation in its Sturm-Liouville form
d
h dφ
i
p(x) + q(x)φ = −λw(x)φ
dx dx
where p , q and w are known functions.

!◮Example 52.3: Technically, the equation

φ ′′ + λφ = 0

is not in Sturm-Liouville form, but the equivalent equation

φ ′′ = −λφ

is, with p = 1 , q = 0 and w = 1 .

!◮Example 52.4: The equation

d
h dφ
i
sin(x) + cos(x)φ = −λx 2 φ
dx dx
is in Sturm-Liouville form, with

p(x) = sin(x) , q(x) = cos(x) and w(x) = x 2 .

On the other hand,

d2φ dφ
x + 2 + [sin(x) + λ]φ = 0
dx2 dx
is not in Sturm-Liouville form.

Fortunately, just about any differential equation in form (52.3a) or (52.3a) can converted to
Sturm-Liouville form using a procedure similar to that used to solve first-order linear equations. To
describe the procedure in general, let’s assume we have at least gotten our equation to the form

d2φ dφ
A(x) + B(x) + C(x)φ = −λφ .
dx2 dx
To illustrate the procedure, we’ll use the equation

d2φ dφ
x 2
+ 2 + sin(x)φ = −λφ
dx dx
(with (0, ∞) being our interval of interest).
Here is what you do:
1. Divide through by A(x) , obtaining

d2φ B(x) C(x) 1

2
+ φ + φ = −λ φ .
dx A(x) A(x) A(x)
The Sturm-Liouville Form for a Differential Equation Chapter & Page: 52–13

Doing that with our example yields

d2φ 2 dφ sin(x) 1
+ + φ = −λ φ .
dx2 x dx x x
2. Compute the “integrating factor”
R B(x)
dx
p(x) = e A(x) ,
ignoring any arbitrary constants.
In our example,
Z Z
B(x) 2
dx = dx = 2 ln x + c .
A(x) x
So (ignoring c ),
R B(x)
dx 2
p(x) = e A(x) = e2 ln x = eln x = x2 .
(As an exercise, you should verify that
dp B
= p .
dx A
In a moment, we’ll use this fact.)
3. Using the p(x) just found:
(a) Multiply the differential equation resulting from step 1 by p(x) , obtaining
d2φ B dφ C p
p 2
+ p + p φ = −λ φ ,
dx A d x A A
(b) observe that (via the product rule),
d2φ
d
h dφ i B dφ
p = p 2 + p ,
dx dx dx A dx
(c) and rewrite the differential equation according to this observation,
d
h dφ i C p
p + p φ = −λ φ .
dx dx A A
In our case, we have
 2  h 1 i
2 d φ 2 dφ sin(x) 2
x 2
+ + φ = x −λ φ
dx x dx x x

d2φ dφ
֒→ x2
dx2
+ 2x
dx
+ x sin(x)φ = −λxφ .

Oh look! By the product rule,

d2φ
d
h dφ i d
h dφ i dφ
p = x2 = x 2 2 + 2x .
dx dx dx dx dx dx
Using this to ‘simplify’ the first two terms of our last differential equation above,
we get h i
d dφ
x2 + x sin(x)φ = −λxφ .
dx dx
It is now in the desired form, with
p(x) = x 2 , q(x) = x sin(x) and w(x) = x .
Chapter & Page: 52–14 Sturm-Liouville

52.4 Boundary Conditions for Sturm-Liouville Problems

The boundary conditions for a Sturm-Liouville problem will have to be ‘homogeneous’ as defined
in the previous chapter. There is an additional condition that we’ll derive in this section that will
help allow us to view a certain operator as “self adjoint”. That operator is given by the left side of the
differential equation of interest when that differential equation is written in Sturm-Liouville form,
d
h dφ
i
p(x) + q(x)φ = −w(x)φ .
dx dx

For the rest of this chapter, this operator will be denoted by L . That is, given any suitably differen-
tiable function φ , h i
d dφ
L[φ] = p(x) + q(x)φ
dx dx
where p and q are presumably known real-valued functions on some interval (a, b) . Note that
our differential equation can be written as

L[φ] = −λwφ .

Green’s Formula, and “Sturm-Liouville Appropriate” Boundary

Conditions
To describe the additional boundary conditions needed, we need to derive an identity of Green. You
should start this derivation by doing exercise 52.10 on page 52–35, in which you verify the following
lemma :

Lemma 52.6 (the preliminary Green’s formula)

Let (a, b) be some finite interval, and let L be the operator given by
d
h dφ
i
L[φ] = p(x) + q(x)φ
dx dx

where p and q are any suitably smooth and integrable functions on (a, b) . Then
Z b Z b Z b
dg b d f dg
f L[g] dx = p(x) f (x) − p dx + q f g dx (52.5)
a dx a a dx dx a

whenever f and g are suitably smooth and integrable functions on (a, b) .

Now suppose we have two functions u and v on (a, b) (assumed “suitably smooth and
integrable”, but, possibly, complex valued), and suppose we want to compare
Z b Z b
u ∗ L[v] dx and L[u]∗ v dx .
a a

(Why? Because this will lead to our extending the notion of “self adjointness” as characterized in
theorem 52.5 on page 52–8)
If p and q are real-valued functions, then it is trivial to verify that
 
L[u]∗ = L u ∗
Boundary Conditions for Sturm-Liouville Problems Chapter & Page: 52–15

Using this and the above preliminary Green’s formula, we see that
Z b Z b Z b Z b  
u ∗ L[v] dx − L[u]∗ v dx = u ∗ L[v] dx − v L u ∗ dx
a a a a
 Z b Z b 
dv b du ∗ dv
= pu ∗ − p dx + qu v dx ∗
dx a a dx dx a
" #
b Z b Z b
du ∗ dv du ∗ ∗
− pv − p dx + qvu dx .
dx a a dx dx a

Nicely enough, most of the terms on the right cancel out, leaving us with:

Theorem 52.7 (Green’s formula)

Let (a, b) be some interval, p and q any suitably smooth and integrable real-valued functions on
(a, b) , and L the operator given by

d
h dφ
i
L[φ] = p(x) + q(x)φ .
dx dx

Then
Z b Z b   b
∗ ∗ du ∗ ∗ dv
u L[v] dx − L[u] v dx = p u −v (52.6)
a a dx dx a

for any two suitably smooth and differentiable functions u and v .

Equation (52.6) is known as Green’s formula. (Strictly speaking, the right side of the equation
is the “Green’s formula” for the left side).
Now we can state what sort of boundary conditions are appropriate for our discussions. We will
refer to a pair of homogeneous boundary conditions at x = a and x = b as being Sturm-Liouville
appropriate if and only if
  b
dv du ∗
p u∗ −v = 0 . (52.7)
dx dx a

whenever both u and v satisfy these boundary conditions.

For brevity, we may say “appropriate” when we mean “Sturm-Liouville appropriate”. Do note
that the function p in equation (52.7) comes from the differential equation in the Sturm-Liouville
problem. Consequently, it is possible that a particular pair of boundary conditions is “Sturm-Liouville
appropriate” when using one differential equation, and not “Sturm-Liouville appropriate” when using
a different differential equation. This is particularly true when the boundary conditions are of the
periodic or boundedness types.

!◮Example 52.5: Consider the boundary conditions

φ(a) = 0 and φ(b) = 0 .

If u and v satisfy these conditions; that is,

u(a) = 0 and u(b) = 0

and
v(a) = 0 and v(b) = 0 ,
Chapter & Page: 52–16 Sturm-Liouville

then, assuming p(a) and p(b) are finite numbers,

  b  
dv du ∗ dv du ∗
p u∗ −v = p(b) (u(b))∗ − v(b)
dx dx a d x x=b d x x=b
 
dv du ∗
− p(a) (u(a))∗ − v(a)
d x x=a d x x=a
 
du ∗
∗ dv
= p(b) 0 −0
d x x=b d x x=b
 
dv du ∗
− p(a) 0∗ −0
d x x=a d x x=a

= 0 .
So
φ(a) = 0 and φ(b) = 0 .
are “Sturm-Liouville appropriate” boundary conditions, at least whenever p(a) and p(b) are
finite.

A really significant observation is that, whenever u and v satisfy “appropriate” boundary

conditions, then Green’s formula reduces to
Z b Z b
u ∗ L[v] dx − L[u]∗ v dx = 0 ,
a a

which, in turn, gives us the following lemma, which, in turn, suggests just what we will be using for
“inner products” and “self adjointness” in the near future.

Lemma 52.8
Let (a, b) be some interval, p and q any suitably smooth and integrable real-valued functions on
(a, b) , and L the operator given by
d
h dφ
i
L[φ] = p(x) + q(x)φ .
dx dx
Assume, further, that u(x) and v(x) satisfy Sturm-Liouville appropriate boundary conditions at a
and b . Then Z b Z b
∗
u L[v] dx = L[u]∗ v dx .
a a

The Rayleigh Quotient

Before we stray too far from the “preliminary Green’s formula” (lemma 52.6), let’s take a look at
the integral
Z b
φ ∗ L[φ] dx
a
when φ is an eigenfunction corresponding to eigenvalue λ for some Sturm-Liouville problem with
differential equation
d
h dφ
i
p(x) + q(x)φ = −λwφ for a < x < b .
dx dx
Boundary Conditions for Sturm-Liouville Problems Chapter & Page: 52–17

In terms of the operator L , this equation is

L[φ] = −λwφ ,

and, so,
Z b Z b Z b Z b
∗
φ L[φ] dx = ∗
φ [−λwφ] dx = −λ ∗
(φ(x)) φ(x)w(x) dx = −λ |φ|2 w dx .
a a a a

On the other hand, using the preliminary Green’s formula gives us

Z b Z b Z b
dφ b dφ ∗ dφ
φ ∗ L[φ] dx = pφ ∗ − p dx + qφ ∗ φ dx
a dx a a dx dx a
Z b Z b
∗ dφ
b dφ 2
= pφ − p dx + q |φ|2 dx
dx a a dx a
Z b 
dφ b dφ 2
= pφ ∗ − p − q |φ|2 dx .
dx a a dx

Together, the above tells us that

Z b Z b Z b  
dφ b dφ 2
−λ |φ|2 w dx = φ ∗ L[φ] dx = pφ ∗ − p − q |φ|2 dx .
a a dx a a dx

Cutting out the middle and solving for λ gives us the next lemma.

Lemma 52.9 (Rayleigh’s Quotient)

Let (λ, φ) be an eigen-pair for a Sturm-Liouville problem with differential equation
d
h dφ
i
p(x) + q(x)φ = −λwφ for a < x < b .
dx dx
Then
dφ b dφ 2
Z b 
− pφ ∗ + p − q |φ|2 d x
dx a a dx
λ = Z b . (52.8)
|φ|2 w d x
a

Equation (52.8) is called the Rayleigh quotient. It relates the value of an eigenvalue to any
corresponding eigenfunction. It is of particular interest in the Sturm-Liouville problems in which
the boundary conditions ensure that

dφ b
pφ ∗ = 0 .
dx a
Then the Rayleigh quotient reduces to

dφ 2
Z b 
p − q |φ|2 d x
a dx
λ = Z b .
|φ|2 w d x
a

Now look at the right side of this equation. Remember, p , q and w are all real-valued functions
on (a, b) . It should then be clear that the integrals on the right are all real valued. Thus, λ must be
real valued.
Chapter & Page: 52–18 Sturm-Liouville

If, in addition,
q(x) ≤ 0 for a<x <b
(which occurs fairly often) then, in fact,

dφ 2
Z b 
p −q |φ| 2 dx
a dx
λ = Z b ≥ 0 .
|φ|2 w d x
a

Now if q(x) is nonzero on some subinterval of (a, b) (in addition to being “nonpositive” on (a, b) ),
then the integrals must be positive for any nontrivial function φ , which means that λ must always
be positive. On the other hand, if q = 0 on (a, b) (which is quite common), then the Rayleigh
quotient further reduces to
dφ 2
Z b
p dx
a dx
λ = Z b ≥ 0 .
|φ|2 w d x
a
With a little thought, you can then show that the only possible eigenfunctions corresponding to a zero
eigenvalue, λ = 0 , are nonzero constant functions, and, consequently, if nonzero constant functions
do not satisfy the boundary conditions, then λ cannot be zero; all the eigenvalues are positive.

52.5 Sturm-Liouville Problems

Full Definition
Finally, we can fully define the “Sturm-Liouville problem”: A Sturm-Liouville problem is a boundary-
value problem consisting of both of the following:
1. A differential equation that can be written in the form
d
h dφ
i
p(x) + q(x)φ = −λw(x)φ for a < x < b (52.9)
dx dx
where p , q and w are sufficiently smooth and integrable functions on the finite interval
(a, b) , with p and q being real valued, and w being positive on this interval. (The sign of
p and w turn out to be relevant for many results. We will usually assume they are positive
functions on (a, b) . This is what invariably happens in real applications.)
2. A Sturm-Liouville appropriate pair of corresponding homogeneous boundary conditions at
x = a and x = b .
As stated before, a solution to a Sturm-Liouville problem consists of a pair (λ, φ) where λ
is a constant — called an eigenvalue — and φ is a nontrivial (i.e, nonzero) function — called an
eigenfunction — which, together, satisfy the given Sturm-Liouville problem. When convenient, we
will refer to (λ, φ) as an eigen-pair for the given Sturm-Liouville problem.
Again, I’ll mention that whenever we have a Sturm-Liouville problem, we will automatically
let L be the linear differential operator defined by the left side of differential equation (52.9),
d
h dφ
i
L[φ] = p(x) + q(x)φ .
dx dx
Sturm-Liouville Problems Chapter & Page: 52–19

A Important Class of Sturm-Liouville Problems

There are several classes of Sturm-Liouville problems. One particularly important class goes by the
name of “regular” Sturm-Liouville problems. A Sturm-Liouville problem is said to be regular if
and only if all the following hold:
1. The functions p , q and w are all real valued and continuous on the closed interval [a, b] ,
with p being differentiable on (a, b) , and both p and w being positive on the closed
interval [a, b] .
2. We have homogeneous regular boundary conditions at both x = a and x = b . That is

αa φ(a) + βa φ ′ (a) = 0

where αa and βa are constants, with at least one being nonzero, and

αb φ(b) + βb φ ′ (b) = 0

where αa and βb are constants, with at least one being nonzero.

Many, but not all, of the Sturm-Liouville problems generated in solving partial differential
equation problems are “regular”. For example, the problem considered in example 52.2 on page
52–9 is a regular Sturm-Liouville problem.

So What?
It turns out that the eigenfunctions from a Sturm-Liouville problem on an interval (a, b) can often
be used in much the same way as the eigenvectors from a self-adjoint matrix to form an “orthogonal
basis” for a large set of functions. Consider, for example, the eigenfunctions from the example 52.2
 kπ 
φk (x) = ck sin x for k = 1, 2, 3, . . . .
L

If f is any reasonable function on (0, L) (say, any continuous function on this interval), then we
will discover that there are constants c1 , c2 , c3 , . . . such that
∞
X  kπ 
f (x) = ck sin x for all x in (0, L) .
L
k=1

This infinite series, called the (Fourier) sine series for f on (0, L) , turns out the be extremely
useful in many applications. For one thing, it expresses any function on (0, L) in terms of the
well-understood sine functions.
Our next goal is to develop enough of the necessary theory to “discover” what I just said we
will discover. In particular we want to learn how to compute the ck ’s in the above expression for
f (x) . It turns out to be remarkable similar to the formula for computing the vk ’s in theorem 52.4
on page 52–6. Take a look at it right now. Of course, before we can verify this claim, we will have
to find out just what we are using for an “inner product”.
All this, alas, will take some time.
Chapter & Page: 52–20 Sturm-Liouville

52.6 The Eigen-Spaces

Suppose we have some Sturm-Liouville problem. For convenience, let us write the differential
equation in that problem as
L[φ] = −λwφ
with, as usual, h i
d dφ
L[φ] = p(x) + q(x)φ .
dx dx
One observation we can immediately make is that L is a linear operator. That is, if φ(x) and
ψ(x) are any two functions, and c1 and c2 are any two constants, then

L[c1 φ + c2 ψ] = · · · = c1 L[φ] + c2 L[ψ]

Now, further suppose that both φ(x) and ψ(x) are eigenfunctions corresponding to the same
eigenvalue λ . Then,

L[c1 φ + c2 ψ] = c1 L[φ] + c2 L[ψ]

= c1 [−λwφ] + c2 [−λwψ] = −λw[c1 φ + c2 ψ] .

This shows that the linear combination c1 φ + c2 ψ also satisfies the differential equation with that
particular value of λ . Does it also satisfy the boundary conditions? Of course. Remember, the set
of boundary conditions in a Sturm-Liouville problem is “homogeneous”, meaning that, if φ(x) and
ψ(x) satisfy the given boundary conditions, so does any linear combination of them. Hence, any
linear combination of eigenfunctions corresponding to a single eigenvalue is also an eigenfunction
for our Sturm-Liouville problem, a fact significant enough to write as a lemma.

Lemma 52.10
Assume (λ, φ) and (λ, ψ) are both eigen-pairs with the same eigenvalue λ for some Sturm-
Liouville problem. Then any nonzero linear combination of φ(x) and ψ(x) is also an eigenfunction
for the Sturm-Liouville problem corresponding to eigenvalue λ .

This lemma tells us that the set of all eigenfunctions for our Sturm-Liouville problem cor-
responding to any single eigenvector λ is a vector space of functions (after throwing in the zero
function). Naturally, we call this the eigenspace corresponding to eigenvalue λ . Keep in mind that
these functions are all solutions to the second-order homogeneous linear equation
d
h dφ
i
p(x) + [q(x) + λw(x)]φ = 0 ,
dx dx
and that the general solution to such a differential equation can be written as

φ(x) = c1 φ1 (x) + c2 φ2 (x)

where c1 and c2 are arbitrary constants and {φ1 , φ2 } is any linearly independent pair of solutions
to the differential equation. φ1 can be chosen as one of the eigenfunctions. Whether or not φ2 can
be chosen to be an eigenfunction depends on whether or not there is a linearly independent pair of
eigenfunctions corresponding to this λ . That gives us exactly two possibilities:
1. There is not an independent pair of eigenvectors corresponding to λ . This means the
eigenspace corresponding to eigenvalue λ is one dimensional (i.e., λ is a ‘simple’ eigen-
value), and every eigenfunction is a constant multiple of φ1 .
Inner Products, Orthogonality and Generalized Fourier Series Chapter & Page: 52–21

2. There is an independent pair of eigenvectors corresponding to λ . This means the eigenspace

corresponding to eigenvalue λ is two dimensional (i.e., λ is a ‘double’ eigenvalue), and
every solution to the differential equation (with the given λ ) is an eigenfunction.

52.7 Inner Products, Orthogonality and Generalized

Fourier Series
We must, briefly, forget about Sturm-Liouville problems, and develop the basic analog of the inner
product described for finite dimensional vectors at the beginning of this chapter. Throughout this
discussion, (a, b) is an interval, and w = w(x) is a function on (a, b) satisfying
w(x) > 0 whenever a < x < b .
This function, w , will be called the weight function for our inner product. Often, it is simply the
constant 1 function (i.e., w(x) = 1 for every x ).
Also, throughout this discussion, let us assume that our functions are all piecewise continuous
and “sufficiently integrable” for the computations being described. We’ll discuss what “suitably
integrable” means if I decide it is relevant. Otherwise, we’ll slop over issues of integrability.

Inner Products for Functions

Let f and g be two functions on the interval (a, b) . We define the inner product (with weight
function w ) of f with g — denoted h f | g i — by
Z b
h f | gi = f (x)∗ g(x)w(x) dx .
a
For convenience, let’s say that the standard inner product is simply the inner product with weight
function w = 1 , Z b
h f | gi = f (x)∗ g(x) dx .
a
For now, you can consider the inner product to be simply shorthand for some integrals that will often
arise in our work.

!◮Example 52.6: Let (a, b) = (0, 2) and w(x) = x 2 . Then

Z 2
h f | gi = f (x)∗ g(x)x 2 dx .
0
In particular
D E Z 2
1 1
6x + 2i = (6x + 2i)∗ · · x 2 dx
x 0 x
Z 2
= (6x − 2i)x dx
0
Z 2h i
= 6x 2 − i2x dx
0
2
= 2x 3 − i x 2 = 16 − 4i .
0
Chapter & Page: 52–22 Sturm-Liouville

The inner product of functions just defined is, in many ways, analogous to the inner product
defined for finite dimensional vectors at the beginning of this chapter. To see this, we’ll verify the
following theorem, which is very similar to theorem 52.2 on page 52–4.

Theorem 52.11 (properties of the inner product)

Let h · | · i be an inner product as just defined above. Suppose α and β are two (possibly complex)
constants, and f , g , and h are functions on (a, b) . Then

1. h f | g i = h g | f i∗ ,

2. h h | α f + βg i = α h h | f i + β h h | g i ,

3. h α f + βg | h i = α ∗ h f | h i + β ∗ h g | h i ,
and
4. h f | f i ≥ 0 with h f | f i = 0 if and only if f = 0 on (a, b) .

PROOF: To Be Written (Someday) --- Take Notes in Class

Norms
Recall that the norm of any vector v in C N is related to the inner product of v with itself by
p
kvk = h v | v i .

In turn, for each inner product h · | · i , we define the corresponding norm of a function f by
p
kfk = h f | f i .

In general
Z b Z b
k f k2 = h f | f i = f (x)∗ f (x)w(x) dx = | f (x)|2 w(x) dx .
a a

Do note that, in a loose sense,

“ f is generally small over (a, b) ” ⇐⇒ “ k f k is small” .

!◮Example 52.7: Let (a, b) = (0, 2) and w(x) = x 2 . Then

s s
p Z 2 Z 2
kfk = h f | f i = ∗ 2
( f (x)) f (x)x dx = | f (x)|2 x 2 dx .
0 0

In particular,
Z 2
k5x + 6ik2 = (5x + 6i)∗ (5x + 6i)x 2 dx
0
Z 2
= (5x − 6i)(5x + 6i)x 2 dx
0
Z 2h i
= 25x 2 + 36 x 2 dx
0
Inner Products, Orthogonality and Generalized Fourier Series Chapter & Page: 52–23

Z 2h i
= 25x 4 + 36x 2 dx
0
2
= 5x 5 + 12x 3
0
= 256 .
So √
k5x + 6ik = 256 = 16 .

Orthogonality
Recall that any two vectors v and w in C N are orthogonal if and only if
hv | wi = 0 .
Analogously, we say that any pair of functions f and g is orthogonal (over the interval) (with
respect to the inner product, or with respect to the weight function) if and only if
h f | gi = 0 .
More generally, we will refer to any indexed set of nonzero functions
{ φ1 , φ2 , φ3 , . . . }
as being orthogonal if and only if
h φk | φn i = 0 whenever k 6 = n .
If, in addition, we have
kφk k = 1 for each k ,
then we say the set is orthonormal. For our work, orthogonality will be important, but we won’t
spend time or effort making the sets orthonormal.

!◮Example 52.8: Consider the set

n   o
kπ
sin x : k = 1, 2, 3, . . .
L

which is the set of sine functions (without the arbitrary constants) obtained as eigenfunctions in
example 52.2 on page 52–9. The interval is (0, L) . For the weight function, we’ll use w(x) = 1 .
Observe that, if k and n are two different positive integers, then, using the trigonometric identity
2 sin(A) sin(B) = cos(A − B) − cos(A + B) ,
we have
D    E Z L   ∗  
kπ nπ kπ nπ
sin x sin x = sin x sin x dx
L L 0 L L
Z L    
kπ nπ
= sin x sin x dx = · · · = 0 .
0 L L

So n   o
kπ
sin x : k = 1, 2, 3, . . .
L
is an orthogonal set of functions on (0, L) with respect to the weight function w(x) = 1 .
Chapter & Page: 52–24 Sturm-Liouville

Generalized Fourier Series

Now suppose {φ1 , φ2 , φ3 , . . . } is some orthogonal set of nonzero functions on (a, b) , and f is
some function that can be written as a (possibly infinite) linear combination of the φk ’s ,
X
f (x) = ck φk (x) for a < x < b .
k

To find each constant ck , first observe what happens when we take the inner product of both sides of
the above with one of the φk ’s , say, φ3 . Using the linearity of the inner product and the orthogonallity
of our functions, we get
D X E
h φ3 | f i = φ3 c k φk
k
X
= c k h φ3 | φk i
k
( )
X kφ3 k2 if k=3
= ck = c3 kφ3 k2 .
k 0 if k 6= 3

So
h φ3 | f i
c3 = .
kφ3 k2
Since there is nothing special about k = 3 , we clearly have
h φk | f i
ck = for all k .
kφk k2

More generally, whether or not f can be expressed as a linear combination of the φk ’s , we

define the generalized Fourier series for f (with respect to the given inner product and orthogonal
set {φ1 , . . . , } ) to be X
G.F.S.[ f ]|x = ck φk (x)
k
where, for each k
h φk | f i
ck = .
kφk k2
The ck ’s are called the corresponding generalized Fourier coefficients of f .2 Don’t forget:
Z b
h φk | f i = φk (x)∗ f (x)w(x) dx
a
and
Z b
kφk k2 = |φk (x)|2 w(x) dx .
a

We will also refer to G.F.S.[ f ] as the expansion of f in terms of the φk ’s . If the φk ’s just
happen to be eigenfunctions from some Sturm-Liouville problem, we will even refer to G.F.S.[ f ]
as the eigenfunction expansion of f .

2 Compare the formula for the generalized Fourier coefficients with formula in theorem (52.4) on page 52–6 for the com-
ponents of a vector with respect to any orthogonal basis. They are virtually the same!
Inner Products, Orthogonality and Generalized Fourier Series Chapter & Page: 52–25

!◮Example 52.9: From previous exercises, we know

n   o
kπ
{φ1 , φ2 , φ3 , . . . } = sin x : k = 1, 2, 3, . . .
L

is an orthogonal set of functions on (0, L) with respect to the weight function w(x) = 1 . (Recall
that this is a set of eigenfunctions for the Sturm-Liouville problem from example 52.2 on page
52–9.) Using this set,
X h φk | f i
G.F.S.[ f ]|x = ck φk (x) with ck = 2 kφk k
k

becomes
∞
X  
kπ
G.F.S.[ f ]|x = ck sin x
L
k=1
with Z L Z L
 kπ ∗  kπ 
sin x f (x) d x f (x) sin x dx
h φk | f i 0 L 0 L
ck = = Z L = Z L .
kφk k2  kπ  2  kπ 
sin x dx sin2 x dx
0 L 0 L

Since Z L  
kπ L
sin2 x dx = · · · = .
0 L 2
the above reduces to
∞  kπ  LZ  
X 2 kπ
G.F.S.[ f ]|x = ck sin x with ck = f (x) sin x dx .
L L 0 L
k=1

In particular, suppose f (x) = x for 0 < x < L . Then the above formula for ck yields
Z L  kπ 
2
ck = x sin x dx
L 0 L
  kπ  L
Z L  kπ  
2 −2x 2
= cos x + cos x dx
L kπ L 0 kπ 0 L
  kπ   2 2  kπ  L

2 2L 4
= 0+ cos L + sin x = (−1)k .
L kπ L kπ L 0 kπ

So, using the given interval, weight function and orthogonal set, the generalized Fourier series
for f (x) = x , is
∞  kπ 
X 4
(−1)k sin x .
kπ L
k=1
(In fact, this is the classic “Fourier sine series for f (x) = x on (0, L) ”.)

Approximations and Completeness

Let’s say we have an orthogonal set of functions {φ1 , φ2 , φ3 , . . . } and some function f on (a, b) .
Let
X∞
G.F.S.[ f ]|x = ck φk (x)
k=1
Chapter & Page: 52–26 Sturm-Liouville

In practice, to avoid using the entire series, we may simply wish to approximate f using the N th
partial sum,
X N
f (x) ≈ ck φk (x) .
k=1
The error in using this is
N
X
E N (x) = f (x) − ck φk (x) ,
k=1
and the square of its norm
N 2
X
2
kE N k = f (x) − ck φk (x)
k=1
Z N 2
b X
= f (x) − ck φk (x) w(x) dx
a k=1

give a convenient measure of how good this approximation P N is. The above integral is sometimes
known as the “(weighted) mean square error in using k=1 ck φk (x) for f (x) on the interval
(a, b) .”
We, of course, hope the error shrinks to zero (as measured by kE N k ) as N → ∞ . If we can
be sure this happens no matter what piecewise continuous function f we start with, then we say the
orthogonal set {φ1 , φ2 , φ3 , . . . } is complete.
Now if {φ1 , φ2 , φ3 , . . . } is complete, then taking the limits above yield

k f − G.F.S.[ f ]k = 0 .

Equivalently
Z ∞ 2
b X
f (x) − ck φk (x) w(x) dx = 0 .
a k=1
P
In practice, all of this usually means that the infinite series k ck φk (x) converges to f (x) at every
x in (a, b) at which f is continuous. In any case, if the set {φ1 , φ2 , φ3 , . . . } is complete, then
we can view the corresponding generalized Fourier series for a function f as being the same as that
function, and can write
X
f (x) = ck φk (x) for a < x < b
k

where
h φk | f i
ck = .
kφk k2
In other words, a complete orthogonal set of (nonzero) functions can be viewed as a basis for the
vector space of all functions ‘of interest’.
Sturm-Liouville Problems and Eigenfunction Expansions Chapter & Page: 52–27

52.8 Sturm-Liouville Problems and Eigenfunction

Expansions
Suppose we have some Sturm-Liouville problem with differential equation
d
h dφ
i
p(x) + q(x)φ = −λwφ for a < x < b
dx dx
and Sturm-Liouville appropriate boundary conditions. As usual, we’ll let L be the operator given
by h i d dφ
L[φ] = p(x) + q(x)φ .
dx dx
Remember, by definition, p and q are real-valued functions and w is a positive function on (a, b) .

Self-Adjointness and Some Immediate Results

Glance back at lemma 52.8 on page 52–16. It tells us that, whenever u and v are sufficiently
differentiable functions satisfying the boundary conditions,
Z b Z b
∗
u L[v] dx = L[u]∗ v dx .
a a

Using the standard inner product for functions on (a, b) ,

Z b
h f | gi = f (x)∗ g(x) dx ,
a

we can write this equality as

h u | L[v] i = h L[u] | v i ,

which looks very similar to the equation characterizing self-adjointness for a matrix A in theorem
52.5 on page 52–8. Because of this we often say either that Sturm-Liouville problems are self adjoint,
or that the operator L is self adjoint.3 The terminology is important for communication, but what is
even more important is that functional analogs to the results obtained for self-adjoint matrices also
hold for here.
To derive two important results, let (λ1 , φ1 ) and (λ2 , φ2 ) be two solutions to our Sturm-
Liouville problem (i.e., λ1 and λ2 are two eigenvalues, and φ1 and φ2 are corresponding eigen-
functions). From a corollary to Green’s formula (lemma 52.8, noted just above), we know
Z b Z b
φ1 ∗ L[φ2 ] dx = L[φ1 ]∗ φ2 dx .
a a

But, from the differential equation in the problem, we also have

L[φ2 ] = −λ2 wφ2 ,

L[φ1 ] = −λ1 wφ1
and thus,
L[φ1 ]∗ = (−λ1 wφ1 )∗ = −λ1 ∗ wφ1 ∗
3 The correct terminology is that “ L is a self-adjoint operator on the vector space of twice-differentiable functions satisfying
the given homogeneous boundary conditions”.
Chapter & Page: 52–28 Sturm-Liouville

(remember w is a positive function). So,

Z b Z b
φ1 ∗ L[φ2 ] dx = L[φ1 ]∗ φ2 dx
a a
Z b Z b
֒→ φ1 ∗ (−λ2 wφ2 ) dx = (−λ1 ∗ wφ1 ∗ )φ2 dx
a a
Z b Z b
֒→ −λ2 ∗
φ1 φ2 w dx = −λ1 ∗
φ1 ∗ φ2 w dx .
a a

Since the integrals on both sides of the last equation are the same, we must have either
Z b
λ2 = λ1 ∗ or φ1 ∗ φ2 w dx = 0 . (52.10)
a

Now, we did not necessarily assume the solutions were different. If they are the same,

(λ1 , φ1 ) = (λ2 , φ2 ) = (λ, φ)

and the above reduces to

Z b
λ = λ∗ or φ ∗ φw dx = 0 .
a

But, since w is a positive function and φ is necessarily nontrivial,

Z b Z b
∗
φ φw dx = |φ(x)|2 w(x) dx > 0 (6 = 0) .
a a

So we must have
λ = λ∗ ,
which is only possible if λ is a real number. Thus
FACT: The eigenvalues are all real numbers.
Now suppose λ1 and λ2 are not the same. Then, since they are different real numbers, we
certainly do not have
λ2 = λ1 ∗ .
Line (52.10) then tells us that we must have
Z b
φ1 ∗ φ2 w dx = 0 ,
a

which we can also write as

h φ1 | φ2 i = 0
using the inner product with weight function w ,
Z b
h f | gi = f (x)∗ g(x)w(x) dx .
a

Thus,
FACT: Eigenfunctions corresponding to different eigenvalues are orthogonal with re-
spect to the inner product with weight function w(x) .
Sturm-Liouville Problems and Eigenfunction Expansions Chapter & Page: 52–29

By the way, since the eigenvalues are real, it is fairly easy to show that the real part and the
imaginary part of each eigenfunction is also an eigenfunction. From this it follows that we can
always choose real-valued functions as our basis for each eigenspace.
What all the above means, at least in part, is that we will be constructing generalized Fourier
series using eigenfunctions from Sturm-Liouville problems, and that the inner product used will be
based on the weight function w(x) from the differential equation
d
h dφ
i
p(x) + q(x)φ = −λwφ for a < x < b .
dx dx
in the Sturm-Liouville problem. Accordingly, we may refer to w(x) and the corresponding inner
product on (a, b) as the natural weight function and the natural inner product corresponding to the
given Sturm-Liouville problem.

Other Results Concerning Eigenvalues

Using the Rayleigh quotient it can be shown that there is a smallest eigenvalue λ0 for each Sturm-
Liouville problem normally encountered in practice. The rest of the eigenvalues are larger. Un-
fortunately, verifying this is beyond our ability (unless the Sturm-Liouville problem is sufficiently
simple). Another fact you will just have to accept without proof is that, for each Sturm-Liouville
problem normally encountered in practice, the eigenvalues form an infinite increasing sequence

λ0 < λ1 < λ2 < λ3 < · · ·

with
lim λk = ∞ .
k→∞

The Eigenfunctions
Let us assume that
E = { λ0 , λ1 , λ2 , λ3 , . . . }
is the set of all distinct eigenvalues for our Sturm-Liouville problem (indexed so that λ0 is the
smallest and λk < λk+1 in general). Remember, each eigenvalue will be either a simple or a double
eigenvalue. Next, choose a set of eigenfunctions

B = { φ0 , φ1 , φ2 , φ3 , . . . }

as follows:
1. For each simple eigenvalue, choose exactly one corresponding (real-valued) eigenfunction
for B .
2. For each double eigenvalue, choose exactly one orthogonal pair of corresponding (real-
valued) eigenfunctions for B .
Remember, this set of functions will be orthogonal with respect to the weight function w from
the differential equation in the Sturm-Liouville problem. (Note: Each φk is an eigenfunction
corresponding to eigenvalue λk only if all the eigenvalues are simple.)
Now let f be a function on (a, b) . Since B is an orthogonal set, we can construct the
corresponding generalized Fourier series for f
∞
X
G.F.S.[ f (x)] = ck φk (x)
k=0
Chapter & Page: 52–30 Sturm-Liouville

with Z b
φk (x)∗ f (x)w(x) d x
h φk | f i a
ck = = Z b .
kφk k2
|φk (x)|2 w(x) d x
a
The obvious question to now ask is “Is this orthogonal set of eigenfunctions complete?” That is, can
we assume
X∞
f = c k φk on (a, b) ?
k=0
The answer is yes, at least for the Sturm-Liouville problems normally encountered inPpractice. But
you will have to trust me on this.4 There are some issues regarding the convergence of ∞k=0 ck φk (x)
when x is a point at which f is discontinuous or when x is an endpoint of (a, b) and f does
not satisfy the same boundary conditions as in the Sturm-Liouville problem, but we will gloss over
those issues for now.
Finally (assuming “reasonable” assumptions concerning the functions in the differential equa-
tion), it can be shown that the graphs of the eigenfunctions corresponding to higher values of the
eigenvalues “wiggle” more than those corresponding to the lower-valued eigenvalues. To be precise,
eigenfunctions corresponding to higher values of the eigenvalues must cross the X–axis (i.e., be
zero) more oftern that do those corresponding to the lower-valued eigenvalues. To see this (sort
of), suppose φ0 is never zero on (a, b) (so, it hardly wiggles — this is typically the case with
φ0 ). So φ0 is either always positive or always negative on (a, b) . Since ±φ0 will also be an
eigenfunction, we can assume we’ve chosen φ0 to always be positive on the interval. Now let φk
be an eigenfunction corresponding to another eigenvalue. If it, too, is never zero on (a, b) , then, as
with φ0 , we can assume we’ve chosen φk to always be positive on (a, b) . But then,
Z b
h φ0 | φk i = φ0 (x)φk (x)w(x) dx > 0 ,
a | {z }
>0

contrary to the known orthogonality of eigenfunctions corresponding to different eigenvalues. Thus,

each φk other than φ0 must be zero at least at one point in (a, b) . This idea can be extended, showing
that eigenfunctions corresponding to high-valued eigenvalues cross the X–axis more often than do
those corresponding to lower-valued eigenvalues, but requires developing much more differential
equation theory than we have time (or patience) for.

52.9 The Main Results Summarized (Sort of)

A Mega-Theorem
We have just gone through a general discussion of the general things that can (often) be derived re-
garding the solutions to Sturm-Liouville problems. Precisely what can be proven depends somewhat
on the problem. Here is one standard theorem that can be found (usually unproven) in many texts

4 One approach to proving this is to consider the problem of minimizing the Rayleigh quotient over the vector space U of
functions orthogonal to the vector space of all the eigenfunctions. You can then (I think) show that, if the orthogonal set of
eigenfunctions in not orthogonal, then U is not empty, and this minimization problem has a solution (λ, φ) and that this
solution must also satisfy the Sturm-Liouville problem. Hence φ is an eigenfunction in U , contrary to the definition of
U . So U must be empty and the given set of eigenfunctions must be complete.
The Main Results Summarized (Sort of) Chapter & Page: 52–31

on partial differential equations and mathematical physics. It concerns the regular Sturm-Liouville
problems (see page 52–19).

Theorem 52.12 (Mega-Theorem on Regular Sturm-Liouville problems)

Consider a regular Sturm-Liouville problem5 with differential equation
d
h dφ
i
p(x) + q(x)φ = −λw(x)φ for a < x < b
dx dx

and homogeneous regular boundary conditions at the endpoints of the finite interval (a, b) . Then,
all of the following hold:
1. All the eigenvalues are real.
2. The eigenvalues form an ordered sequence

λ0 < λ1 < λ2 < λ3 < · · · ,

with a smallest eigenvalue (usually denoted by λ0 or λ1 ) and no largest eigenvalue. In fact,

λk → ∞ as k → ∞ .

3. All the eigenvalues are simple.

4. If, for each eigenvalue λk , we choose a corresponding eigenfunction φk , then the set

B = { φ0 , φ1 , φ2 , φ3 , . . . }

is a complete, orthonormal set of functions relative to the inner product

Z b
hu | vi = u(x)∗ v(x)w(x) dx .
a

Moreover, if f is any piecewise smooth function on (a, b) , then the corresponding gener-
alized Fourier series of f ,
∞
X h φk | f i
G.F.S.[ f ] = ck φk (x) with ck = ,
kφk k2
k=0

converges for each x in (a, b) , and it converges to

(a) f (x) if f is continuous at x .
(b) the “midpoint of the jump in f ”,
1
lim [ f (x + ǫ) + f (x − ǫ)] ,
ǫ→0+ 2

if f is discontinuous at x .

5. φ0 , the eigenfunction in B corresponding to the smallest eigenvalue, is never zero on (a, b) .

Moreover, for each k , φk+1 has exactly one more zero in (a, b) than does φk .

5 i.e., p , q and w are real valued and continuous on the closed interval [a, b] , with p being differentiable on (a, b) , and
both p and w being positive on the closed interval [a, b] .
Chapter & Page: 52–32 Sturm-Liouville

6. Each eigenvalue λ is related to any corresponding eigenfunction φ via the Rayleigh quotient
Z b
b dφ 2
dφ
h i
− pφ ∗ + p − q |φ|2 dx
dx a a dx
λ = .
kφk2

Similar mega-theorems can be proven for other Sturm-Liouville problems. The main difference
occurs when we have periodic boundary conditions. Then most of the eigenvalues are double
eigenvalues, and our complete set of eigenfunctions looks like

{ . . . , φ k , ψk , . . . }

where {φk , ψk } is an orthogonal pair of eigenfunctions corresponding to eigenvalue λk . (Typically,

though, the smallest eigenvalue is still simple.)

⋆⋆⋆
Additional Exercises Chapter & Page: 52–33

Additional Exercises

52.1. Let λ1 = 3 , λ2 = −2 ,
   
1 2 2 −3
b = and b = ,
3 2

and assume (λ1 , b1 ) and (λ2 , b2 ) are eigenpairs for a matrix A .

a. Verify that {b1 , b2 } is an orthogonal set.
b. Compute b1 and b2 .
c. Express each of the following vectors in terms of b1 and b2 using the formulas in theorem
52.4 on page 52–6.
     
4 12 0
i. u = ii. v = iii. w =
6 5 1
d. Compute the following using the vectors from the previous part. Leave your answers in
terms of b1 and b2 .
i. Au ii. Av iii. Aw

52.2. Let λ1 = 2 , λ2 = 4 , λ3 = 6 ,
  
 
1 2 1
1
b2 = −1 b3 =  2 
     
b = 2 , and .
1 0 −5

and assume (λ1 , b1 ) , (λ2 , b2 ) and (λ3 , b3 ) are eigenpairs for a matrix A .
a. Verify that {b1 , b2 , b3 } is an orthogonal set.
b. Compute b1 , b2 and b3 .
c. Express each of the following vectors in terms of b1 , b2 and b3 using the formulas in
theorem 52.4 on page 52–6.
     
4 1 0
     
i. u = −7 ii. v = 2 iii. w = 1
22 3 0
d. Compute the following using the vectors from the previous part. Leave your answers in
terms of b1 , b2 and b3 .
i. Au ii. Av iii. Aw

52.3. Let λ1 = −1 , λ2 = 0 , λ3 = 1 ,
     
1 1 −1
1   2   3  
b = 1 , b = −2 and b = 0 .
1 1 1

and assume (λ1 , b1 ) , (λ2 , b2 ) and (λ3 , b3 ) are eigenpairs for a matrix A .
Chapter & Page: 52–34 Sturm-Liouville

a. Verify that {b1 , b2 , b3 } is an orthogonal set.

b. Compute b1 , b2 and b3 .
c. Express each of the following vectors in terms of b1 , b2 and b3 using the formulas in
theorem 52.4 on page 52–6.
     
−5 0 1
     
i. u =  8  ii. v = −3 iii. w = 0
3 6 0
d. Compute the following using the vectors from the previous part. Leave your answers in
terms of b1 , b2 and b3 .
i. Au ii. Av iii. Aw

52.4. Verify each of the claims in theorem 52.2 on page 52–4.

52.5. Finish verifying the claims in theorem 52.5 on page 52–8. In particular show that, if B and
A are N × N matrices such that

h v | Bu i = h Av | u i for every v, u in R N ,

then B = A† .

52.6. Find the general solutions for each of the following corresponding to each real value λ .
Be sure the state the values of λ for which each general solution is valid. (Note: Some of
these are Euler equations — see chapter 18.)
a. φ ′′ + 4φ = −λφ
b. φ ′′ + 2φ ′ = −λφ
c. x 2 φ ′′ + xφ ′ = −λφ for 0 < x
2 ′′ ′
d. x φ + 3xφ = −λφ for 0 < x

52.7. Rewrite each of the following equations in Sturm-Liouville form.

a. φ ′′ + 4φ + λφ = 0
b. φ ′′ + 2φ ′ = −λφ
c. x 2 φ ′′ + xφ ′ = −λφ for 0 < x
d. x 2 φ ′′ + 3xφ ′ = −λφ for 0 < x
′′ ′
e. φ − 2xφ = −λφ (Hermite’s Equation)
 
f. 1 − x 2 φ ′′ − xφ ′ = −λφ for − 1 < x < 1 (Chebyshev’s Equation)

g. xφ ′′ + (1 − x)φ ′ = −λφ for 0 < x (Laguerre’s Equation)

52.8. Solve the Sturm-Liouville problems consisting of the differential equation

φ ′′ + λφ = 0 for 0 < x < L

(where L is some finite positive length) and each of the following sets of boundary condi-
tons:
Additional Exercises Chapter & Page: 52–35

a. φ ′ (0) = 0 and φ ′ (L) = 0

b. φ(0) = 0 and φ ′ (L) = 0

52.9. Solve the following Sturm-Liouville problems:

a. φ ′′ = −λφ for 0 < x < 2π with φ(0) = φ(2π ) and φ ′ (0) = φ ′ (2π )
b. x 2 φ ′′ + xφ ′ = −λφ for 1 < x < eπ with φ(1) = 0 and φ(eπ ) = 0


c. x 2 φ ′′ + 3xφ ′ = −λφ for 1 < x < eπ with φ(1) = 0 and φ eπ = 0

52.10. (Preliminary Green’s formula) Assume (a, b) is some finite interval, and let L be the
operator given by h i
d dφ
L[φ] = p(x) + q(x)φ .
dx dx
where p and q are any suitably smooth and integrable functions on (a, b) . Using inte-
gration by parts, show that
Z b Z b Z b
dg b d f dg
f L[g] dx = p(x) f (x) − p dx + q f g dx
a dx a a dx dx a

whenever f and g are suitably smooth and integrable functions on (a, b) .

52.11. Let L be the differential operator

d
h dφ
i
L[φ] = p(x) + q(x)φ
dx dx
where p and q are continuous functions on the closed interval [a, b] .
a. Verify that the boundary conditions

φ ′ (a) = 0 and φ ′ (b) = 0

is a Sturm-Liouville appropriate set of boundary conditions.

b. Show that any pair of homogeneous regular boundary conditions at a and b is Sturm-
Liouville appropriate.
c. Suppose our boundary conditions are periodic; that is,

φ(a) = φ(b) and φ ′ (a) = φ ′ (b) .

What must p satisfy for these boundary conditions to be Sturm-Liouville appropriate?

52.12. Compute the following, assuming the interval is (0, 3) and the weight function is w(x) =
1.
D E
a. h x | sin(2π x) i b. x 2 9 + i8x
D E D E
c. 9 + i8x x 2 d. ei 2π x x

e. kxk f. k9 + i8xk

g. ksin(2π x)k h. ei 2π x

52.13. Compute the following, assuming the interval is (0, 1) and the weight function is w(x) =
x.
Chapter & Page: 52–36 Sturm-Liouville

D E
a. h x | sin(2π x) i b. x2
9 + i8x
D E D E
c. 9 + i8x x 2 d. ei 2π x x

e. kxk f. k4 + i8xk

g. ksin(2π x)k h. ei 2π x

52.14. Determine all the values for β so that

n 2 2
o
ei 2π x , ei 2πβx

is an orthogonal set on (0, 1) with weight function w(x) = x .

52.15. Let L be a positive value. Verify that each of the following sets of functions is orthogonal
on (0, L) with respect to the weight function w(x) = 1 .
n   o n o
kπ
a. cos x : k = 1, 2, 3, . . . b. ei 2kπ x/L : k = 0, ±1, ±2, ±3, . . .
L

52.16. Consider
n       o
1π 2π 3π
{φ1 , φ2 , φ3 , . . . } = cos x , cos x , cos x , ... ,
L L L

which, in the exercise above, you showed is an orthogonal set of functions on (0, L)
with respect to the weight function w(x) = 1 . Using this interval, weight function and
orthogonal set, do the following:
a. Show that, in this case, the generalized Fourier series
∞
X h φk | f i
G.F.S.[ f ] = ck φk (x) with ck =
kφk k2
k=1

is given by
∞   Z
L  
X kπ 2 kπ
G.F.S.[ f ] = ck cos x with ck = f (x) cos x dx .
L L 0 L
k=1

b. Find the generalized Fourier series for

(
1 if 0 < x < L/
2
i. f (x) = x ii. f (x) = L/
0 if 2 <x<L
(
x if 0 < x < L/
2
iii. f (x) = L/
L−x if 2 <x<L
c. Show that this set of cosines is not a complete set by showing
∞   LZ  
X kπ 2 kπ
f (x) 6 = ck cos x with ck = f (x) cos x dx
L L 0 L
k=1

when f is the constant function f (x) = 1 on (0, L) .

Additional Exercises Chapter & Page: 52–37

52.17. In several exercises above, you considered either the Sturm-Liouville problem

φ ′′ + λφ = 0 for 0 < x < L with φ ′ (0) = 0 and φ ′ (L) = 0

or, at least, the above differential equation. You may use the results from those exercises to
help answer the ones below:
a. What is the natural weight function w(x) and inner product h f | g i corresponding to
this Sturm-Liouville problem?
b. We know that
      2 
1π 2 2π 2 kπ
{λ0 , λ1 , λ2 , . . . , λk , . . .} = 0, , , ..., , ...
L L L

is the complete set of eigenvalues for this Sturm-Liouville problem. Now write out a
corresponding orthogonal set of eigenfunctions (without arbitrary constants),

{φ0 , φ1 , φ2 , . . . , φk , . . .} .

c. Compute the norm of each of your φk ’s from your answer to the last part.
d. To what does each coefficient in the generalized Fourier series
∞
X h φk | f i
G.F.S.[ f ] = ck φk (x) with ck = ,
kφk k2
k=0

reduce to using the eigenfunctions and inner products from previous parts of this exercise?
e. Using the results from the last part, find the generalized Fourier series for the follow-
ing:
i. f (x) = 1 ii. f (x) = x
(
1 if 0 < x < L/
2
iii. f (x) = L/
0 if 2 <x<L

52.18. In several exercises above, you considered either the Sturm-Liouville problem


x 2 φ ′′ + xφ ′ = −λφ for 1 < x < eπ with φ(1) = 0 and φ eπ = 0

or, at least, the above differential equation. You may use the results from those exercises to
answer the ones below:
a. What is the natural weight function w(x) and inner product h f | g i corresponding to
this Sturm-Liouville problem?
b. We know that
n o
{λ1 , λ2 , λ2 , . . . , λk , . . .} = 1, 4, 9, . . . , k 2 , . . .

is the complete set of eigenvalues for this Sturm-Liouville problem. Now write out a
corresponding orthogonal set of eigenfunctions (without arbitrary constants),

{φ1 , φ2 , φ3 , . . . , φk , . . .} .

c. Compute the norm of each of your φk ’s from your answer to the last part. (A simple
substitution may help.)
Chapter & Page: 52–38 Sturm-Liouville

d. To what does each coefficient in the generalized Fourier series

∞
X h φk | f i
G.F.S.[ f ] = ck φk (x) with ck = ,
kφk k2
k=0

reduce to using the eigenfunctions and inner products from previous parts of this exercise?
e. Using the results from the last part, find the generalized Fourier series for the follow-
ing:
i. f (x) = 1 ii. f (x) = ln |x| iii. f (x) = x α

52.19. In several exercises above, you considered either the Sturm-Liouville problem


x 2 φ ′′ + 3xφ ′ = −λφ for 1 < x < eπ with φ(1) = 0 and φ eπ = 0

or, at least, the above differential equation. You may use the results from those exercises to
answer the ones below:
a. What is the natural weight function w(x) and inner product h f | g i corresponding to
this Sturm-Liouville problem?
b. We know that
n o
{λ1 , λ2 , λ2 , . . . , λk , . . .} = 2, 5, 10, . . . , k 2 + 1, . . .

is the complete set of eigenvalues for this Sturm-Liouville problem. Now write out a
corresponding orthogonal set of eigenfunctions (without arbitrary constants),
{φ1 , φ2 , φ3 , . . . , φk , . . .}

c. Compute the norm of each of your φk ’s from your answer to the last part. (A simple
substitution may help.)
d. To what does each coefficient in the generalized Fourier series
∞
X h φk | f i
G.F.S.[ f ] = ck φk (x) with ck = ,
kφk k2
k=0

reduce to using the eigenfunctions and inner products from previous parts of this exercise?
e. Using the results from the last part, find the generalized Fourier series for the follow-
ing:
i. f (x) = 1 ii. f (x) = x α

52.20. Consider the Sturm-Liouville problem

 
1 − x 2 φ ′′ − xφ ′ + λφ = 0 for −1< x <1
with
|φ(−1)| < ∞ and |φ(−1)| < ∞ .
This is not a regular Sturm-Liouville problem, but “it can be shown” that the results claimed
in “mega-theorem” 52.12 hold for this Sturm-Liouville problem. In particular, it can be
shown that the Chebyshev polynomials (type I),

φ0 (x) = 1 , φ1 (x) = x , φ2 (x) = 2x 2 − 1 ,

Additional Exercises Chapter & Page: 52–39

φ3 (x) = 4x 3 − 3x , ... ,

make up a complete, orthogonal set of eigenfunctions for this Sturm-Liouville problem.

Assuming all this, do the following:
a. Using the above differential equation and formulas for φ0 , φ1 , φ2 and φ3 , find the
corresponding eigenvalues λ0 , λ1 , λ2 and λ3 .
b. Rewrite the above differential equation in Sturm-Liouville form.
c. Based on the above, what is the appropriate inner product h f | g i when using the type I
Chebyshev polynomials?
d. Using the inner product from the previous part, and the above φk ’s , compute the following
norms6 :
i. kφ0 k ii. kφ1 k iii. kφ2 k iv. kφ3 k
e. According to our theory, any reasonable function f (x) on (−1, 1) can be approximated
by the N th partial sum
X N
ck φk (x)
k=0
where
∞
X
ck φk (x)
k=0
is the generalized Fourier series for f (x) using the type I Chebyshev polynomials. For
the following, let p
f (x) = x 1 − x 2
and find the above mentioned N th partial sum when
i. N = 0 ii. N = 1 iii. N = 2 iv. N = 3

6 the substitution x = sin(θ) may be useful

Chapter & Page: 52–40 Sturm-Liouville

Some Answers to Some of the Exercises

WARNING! Most of the following answers were prepared hastily and late at night. They have
not been properly proofread! Errors are likely!
√ √
1b. b1 = 13 and b2 = 13
1c i. u = 2b1
1c ii. v = 3b1 − 2b2
3 2
1c iii. w = b1 + b2
13 13
1d i. Au = 6b1
1d ii. Av = 9b1 + 4b2
9 4
1d iii. Aw = b1 − b2
√13 13 √ √
2b. b1 = 6 , b2 = 5 and b3 = 30
2c i. u = 2b1 + 3b2 − 4b3
4 1
2c ii. v = b1 − b3
3 3
1 1 1 3
2c iii. w = b1 − b2 + b
3 5 15
2d i. Au = 4b1 + 12b2 − 24b 3
8
2d ii. Av = b1 − 2b3
3
2 4 2
2d iii. Aw = b1 − b2 + b3
√3 5 √5 √
3b. b1 = 3 , b2 = 6 and b3 = 2
3c i. u = 2b1 − 3b2 + 4b3
3c ii. v = b1 + 2b2 + 3b3
1 1 1
3c iii. w = b1 + b2 − b3
3 6 2
3d i. Au = −2b1 + 4b3
3d ii. Av = −b1 + 3b3
1 1
3d iii. Aw = − b1 − b3
3 2 p
6a. If λ < −4 , φλ (x) = aeνx + be−νx with ν = √ −(4 + λ) ; If λ = −4 , φ4 (x) = ax + b ;
If λ > −4 , φλ (x) = a cos(νx) + b sin(νx) with ν = 4 +√ λ
6b. If λ < 1 , φλ (x) = ae(−1+ν)x + be(−1−ν)x with ν = 1 − λ ;√If λ = 1 , φ1 (x) = ae−x +
bxe−x ; If λ > 1 , φλ (x) = ae−x cos(νx) + be−x sin(νx) √ with ν = λ − 1
6c. If λ < 0 , φλ (x) = ax ν + bx −ν with ν = −λ ;√ If λ = 0 , φ0 (x) = a ln |x| + b ;
If λ > 0 , φλ (x) = a cos(ν ln |x|) + b sin(ν ln |x|) with
√ν = λ
6d. If λ < 1 , φλ (x) = ax ν−1 + bx −ν−1 with ν = 1 − λ ; If λ = 1 , φ√1 (x) = ax −1 ln |x| +
bx −1 ; If λ > 1 , φλ (x) = ax −1 cos(ν ln |x|) + bx −1 sin(ν ln |x|) with ν = λ − 1
7a. φ ′′ +
h 4φ =i −λφ
d dφ
7b. e2x = −λe2x φ
dx h dix
d dφ 1
7c. x = −λ φ
dx h dx i x
d dφ
7d. x3 = −λxφ
dx h dx i
d 2 dφ 2
7e. e−x = −λe−x φ
d x hp d x i
d dφ 1
7f. 1 − x2 = −λ p φ
dx dx 1 − x2
d
h dφ
i
7g. xe−x = −λe−x φ
dx dx    
kπ 2 kπ
8a. (λ0 , φ0 (x)) = (0, c0 ) and (λk , φk (x)) = , ck cos x for k = 1, 2, 3, . . .
L L
Additional Exercises Chapter & Page: 52–41

   
(2k + 1)π 2 (2k + 1)π
8b. (λk , φk (x)) = , ck sin x for k = 1, 2, 3, . . .
2L 2L
 
9a. (λ0 , φ0 (x)) = (0, c0 ) and (λk , φk (x)) = k 2 , ck,1 cos(kx) + ck,2 sin(kx) for k = 1, 2, 3, . . .
 
9b. (λk , φk (x)) = k 2 , ck sin(k ln |x|) for k = 1, 2, 3, . . .
 
9c. (λk , φk (x)) = k 2 + 1 , ck x −1 sin(k ln |x|) for k = 1, 2, 3, . . .
11c. p(b) = p(a)
3
12a. −
2π
12b. 81 + 162i
12c. 81 − 162i
3
12d. i
2π
12e. √
3
12f. r819
3
12g.
2
√
12h. 3
1
13a. −
2π
9 8
13b. +i
4 5
9 8
13c. −i
4 5
1 1
13d. + i
2π 2 2π
1
13e.
2√
13f. 2 r6
1 1
13g. 1+
2 2π
1
13h. √
2
14. β can be any integer except 1 .
∞
X h i  
2L k kπ
16b i. 2
(−1) − 1 cos x
(kπ ) L
k=1
∞
X    
2 kπ kπ
16b ii. sin cos x
kπ 2 L
k=1
RL
17a. w(x)
n =1 , hf | gi = 0 ( f (x))∗ g(x)  dx o
1π 2π kπ
17b. 1, cos x , cos x , . . . , cos x , ...
L  L L
kπ L
17c. k1k = L , cos x =
Z L L 2 Z
L  
1 2 kπ
17d. c0 = f (x) dx , ck = f (x) cos x dx for k > 0
L 0 L 0 L
17e i. 1
∞
X h i  
L 2L kπ
17e ii. + (−1)k − 1 cos x
2 (kπ )2 L
k=1
X∞    
1 2 kπ kπ
17e iii. + sin cos x
2 kπ 2 L
k=1
1 R eπ 1
18a. w(x) = , h f | g i = 1 ( f (x))∗ g(x) dx
x x
18b. {sin(1 ln |x|) , sin(2 ln |x|) , sin(3 ln |x|) , . . . , sin(k ln |x|) , . . .}
Chapter & Page: 52–42 Sturm-Liouville

π
18c. ksin(k ln |x|)k =
Z eπ 2
2 1
18d. ck = f (x) sin(k ln |x|) dx
π 1 x
∞
X h i
2
18e i. 1 − (−1)k sin(k ln |x|)
kπ
k=1
∞
X 2
18e ii. (−1)k+1 sin(k ln |x|)
k
k=1
∞
X h i
2k
18e iii. 1 − (−1)k eαπ sin(k ln |x|)
π(α 2 + k 2 )
k=1
R eπ
19a. w(x)
n = x , h f | g i = 1 ( f (x))∗ g(x)x dx o
19b. x −1 sin(1 ln |x|) , x −1 sin(2 ln |x|) , x −1 sin(3 ln |x|) , . . . , x −1 sin(k ln |x|) , . . .
q
π
19c. x −1 sin(k ln |x|) =
2
Z eπ
2
19d. ck = f (x) sin(k ln |x|) dx
π 1
∞
X h i
2k sin(k ln |x|)
19e i.
1 − (−1)k eπ
π 1 + k2 x
k=1
∞
X h i
2k sin(k ln |x|)
19e ii.
1 − (−1)k e(α+1)π
π (α + 1)2 + k 2 x
k=1
20a. λ0 = h 0 , λ1 =dφ1 ,i λ2 = 4 , λ3 = 9
d p 2 1
20b. 1−x = −λ p φ
dx dx 1 − x2
Z 1  −1/2
20c. h f | g i = ( f (x))∗ g(x) 1 − x 2 dx
√ −1
20d i. qπ
π
20d ii.
r2
3π
20d iii.
q 8
π
20d iv.
2
20e i. 0
4
20e ii. x
3π
4
20e iii. x
3π
4 4
20e iv. x − x3
3π 5π