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A vector field along an ODE solution has an explicit derivative bound

Statement

Let d≥1, let V⊆R×Rd be open, let f:V→Rd have continuous first partial derivatives, and let y:I→Rd solve y′=f(t,y) on an open interval I. Fix a<b with [a,b]⊂I such that (s,y(s))∈V for every s∈[a,b]. Suppose finite constants Fj,Mt,i,Mij≥0 satisfy for all s∈[a,b]

∣fj(s,y(s))∣≤Fj,∣∂tfi(s,y(s))∣≤Mt,i,∣∂zjfi(s,y(s))∣≤Mij(1≤i,j≤d).

Define gi(s):=fi(s,y(s)) and Bi:=Mt,i+∑j=1dMijFj. Then gi is continuous on [a,b], differentiable on (a,b), and

gi′(s)=∂tfi(s,y(s))+∑j=1d∂zjfi(s,y(s))fj(s,y(s)),∣gi′(s)∣≤Bi.

Facts & Assumptions

Given: The open ODE domain, continuous first partial derivatives, solution y′=f(t,y) on [a,b], and the displayed componentwise bounds.

[F1]

First-order systems, initial value problems, and solutions on intervals: an IVP solution is differentiable, its graph lies in the open domain, and it satisfies y′(s)=f(s,y(s)).

[F2]

If all partial derivatives exist on a neighbourhood and are continuous at a point, then the map is totally differentiable there with Jacobian derivative: continuous first partial derivatives give total differentiability with derivative matrix equal to the Jacobian.

[F4]

The chain rule for total derivatives: D(g∘f)(a)=Dg(f(a))∘Df(a): the derivative of a composition is the composition of the total derivatives.

Proof

1.1givenF1F2F3

By [F2]–[F3], f is continuous on V. Since y′=f(s,y(s)), the derivative of y is continuous on I; hence y is continuously differentiable and the path q(s):=(s,y(s)) has derivative q′(s)=(1,f(s,y(s))).

2.1F1F2F3F4algebra∎

For each i, the component map fi is totally differentiable, so [F4] applied to gi=fi∘q gives the displayed derivative formula. The bounds give ∣gi′(s)∣≤Mt,i+∑j=1dMijFj=Bi for every s∈(a,b). Continuity of gi on [a,b] follows from continuity of f and y.

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