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Chebyshev bounds and endpoint derivatives used by stabilized Runge–Kutta methods

Statement

Let Tn and Un be the real evaluation functions of the Chebyshev polynomials defined by Chebyshev polynomials of the first and second kinds by their three-term recurrences. For every natural n,

∣Tn(x)∣≤1,∣Un(x)∣≤n+1(−1≤x≤1),

and for n≥1, ∣Tn(x)∣>1 whenever ∣x∣>1. Also,

Tn(1)=1,Tn(−1)=(−1)n,Un(1)=n+1,Un(−1)=(−1)n(n+1).

For every natural n≥1, Tn has degree n and leading coefficient 2n−1, while Un has degree n and leading coefficient 2n. This degree and leading-coefficient assertion is exactly the content of Degrees and leading coefficients of the Chebyshev polynomials; that item does not assert an extremum bound.

The evaluation functions are twice differentiable at 1, with

Tn′(1)=n2,Tn′′(1)=n2(n2−1)3.

Here each natural number in a real formula denotes its canonical real image (The canonical natural ι(n)=n⋅1F of a field), and powers use Integer powers am.

Facts & Assumptions

Given: A natural number n, the Chebyshev polynomial recurrences, and a real x∈[−1,1] when an interval bound is used.

[F1]

Chebyshev polynomials of the first and second kinds by their three-term recurrences: T0=1, T1=X, Tn+2=2XTn+1−Tn; U0=1, U1=2X, and Un+2=2XUn+1−Un.

[F2]

Tn(cos⁡θ)=cos⁡(nθ) and Un(cos⁡θ)sin⁡θ=sin⁡((n+1)θ) for every n∈N: for real θ, Tn(cos⁡θ)=cos⁡(nθ) and Un(cos⁡θ)sin⁡θ=sin⁡((n+1)θ).

[F3]

Signs, monotonicity intervals, and ranges of sine and cosine and Parity and the Pythagorean identity for sine and cosine: every x∈[−1,1] is cos⁡θ for some real θ, and ∣sin⁡θ∣,∣cos⁡θ∣≤1 for every real θ.

[F4]

The zero sets of sine and cosine and the least positive common period 2 pi and Quarter-turn values and shifts by pi/2 and pi: if sin⁡θ=0, then θ=mπ for an integer m, and the cosine shift identities give cos⁡θ∈{−1,1}.

[F5]

The addition formulas for sine and cosine and The triangle inequality: sin⁡((m+1)θ)=sin⁡(mθ)cos⁡θ+cos⁡(mθ)sin⁡θ, and ∣a+b∣≤∣a∣+∣b∣.

[F6]

Degrees and leading coefficients of the Chebyshev polynomials: for n≥1, Tn has degree n and leading coefficient 2n−1, and Un has degree n and leading coefficient 2n. This fact supplies degree only, not an extremum estimate.

[F8]

The principle of mathematical induction: a property true at 0 and inherited by successors holds for every natural number.

Proof

1.1F1F8inductionalgebra

The recurrences [F1] give Tn(1)=1 and Tn(−1)=(−1)n by induction from T0,T1: the successor substitution is 2(−1)(−1)n+1−(−1)n=(−1)n+2. They give Un(1)=n+1 and Un(−1)=(−1)n(n+1), since the bases hold at n=0,1 and the successor substitutions are 2(n+2)−(n+1)=n+3 and −2(−1)n+1(n+2)−(−1)n(n+1)=(−1)n+2(n+3).

1.2F3F5F8baseihinductionalgebra

Fix θ∈R. For m=0, ∣sin⁡((m+1)θ)∣≤(m+1)∣sin⁡θ∣ is equality. If it holds at m, then [F5] and [F3] give ∣sin⁡((m+2)θ)∣≤∣sin⁡((m+1)θ)∣ ∣cos⁡θ∣+∣cos⁡((m+1)θ)∣ ∣sin⁡θ∣≤(m+2)∣sin⁡θ∣. Induction [F8] proves this inequality for every natural m.

1.3F1F8inductionalgebra

For x>1, induction in the recurrence [F1] gives T1(x)>T0(x)=1 and, whenever Tn+1(x)>Tn(x)≥1, Tn+2(x)−Tn+1(x)=(2x−1)Tn+1(x)−Tn(x)≥2(x−1)Tn+1(x)>0. Thus Tn(x)>1 for every n≥1. The recurrence also gives Tn(−x)=(−1)nTn(x): the identity holds at n=0,1, and if it holds at n,n+1, then Tn+2(−x)=2(−x)(−1)n+1Tn+1(x)−(−1)nTn(x)=(−1)n+2(2xTn+1(x)−Tn(x))=(−1)n+2Tn+2(x). Applying the positive case to −x>1 proves ∣Tn(x)∣>1 when x<−1.

1.4F1F7F8baseihinduction

Each Tn is twice differentiable as a real polynomial evaluation function: T0,T1 are, and if Tn,Tn+1 are twice differentiable, [F1] and [F7] make Tn+2=2XTn+1−Tn twice differentiable. Thus the derivative recurrences below are defined for every n.

2.1F2F3F4step 1.1step 1.2choosealgebra

Let x∈[−1,1] and choose θ with x=cos⁡θ by [F3]. If sin⁡θ≠0, [F2] and step 1.2 give ∣Un(x)∣=∣sin⁡((n+1)θ)∣/∣sin⁡θ∣≤n+1. If sin⁡θ=0, [F4] gives x=cos⁡θ∈{−1,1}, so step 1.1 gives the same bound. Also [F2] and [F3] give ∣Tn(x)∣=∣cos⁡(nθ)∣≤1.

2.2F1F7F8step 1.1step 1.4inductionalgebra

Put pn:=Tn′(1). Differentiating [F1] once by [F7] and using Tn(1)=1 gives p0=0, p1=1, and pn+2=2+2pn+1−pn. The values pn=n2 satisfy the bases and recurrence because 2+2(n+1)2−n2=(n+2)2; induction gives Tn′(1)=n2.

3.1F1F6baseinductionalgebrastep 2.1

To supply the consecutive base indices needed by the recurrence, [F1] gives T0=U0=1, each of degree 0 and leading coefficient 1, and T1=X, U1=2X, of degree 1 and leading coefficients 1 and 2. The recurrence at index 0 gives T2=2X2−1 and U2=4X2−1, of degree 2 and leading coefficients 2 and 4. Thus the formulas in [F6] hold at indices 1 and 2. Now suppose they hold at indices n and n+1 for some n≥1. In Tn+2=2XTn+1−Tn, the first term has degree n+2 and leading coefficient 2⋅2n=2n+1, while the subtracted term has degree n; hence no leading-term cancellation occurs. In Un+2=2XUn+1−Un, the first term has degree n+2 and leading coefficient 2⋅2n+1=2n+2, while the subtracted term has degree n. Induction starting with indices 1 and 2 gives the formulas for every index n≥1, agreeing with [F6]. No extremum claim is taken from that source item; the interval inequalities in the Statement were proved in step 2.1.

4.1F1F7F8step 1.4step 2.2inductiondischarge-inductionalgebra∎

Put qn:=Tn′′(1). Differentiating [F1] twice by [F7] gives q0=q1=0 and qn+2=4pn+1+2qn+1−qn. The values qn=n2(n2−1)/3 satisfy the bases and, using step 2.2, the recurrence since 4(n+1)2+2(n+1)2((n+1)2−1)−n2(n2−1)3=(n+2)2((n+2)2−1)3. Induction proves the stated second-derivative formula.

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