Automatica, Vol. 23, No. 6, pp. 753-757, 1987
00
Printed in Great Britain.
Sliding Mode Control in Indefinite-dimensional
Systems*
YU. V. O R L O V t and V. I. UTKINt
Key Words--Sliding states; disturbance rejection; distributed parameter system; decoupling; stability.
Abstract--A mathematical description of motion in a sliding
mode is considered for systems with discontinuous controls
described by differential equations in Banach space.
Applying the regularization principle to such systems the
sliding mode equations are obtained. For a set of
interconnected heat processes the control system with the
prescribed dynamics is designed through deliberate introduc-
tion of sliding modes.
1. Introduction
USING MATHEMATICALTOOLSdeveloped for the investigation
of discontinuous dynamic systems, efficient algorithms for
control in sliding modes were designed for essentially
nonlinear time-varying high-dimension plants. The basic
philosophy of sliding mode control will he shown for
nonlinear finite-dimensional systems which are linear with
respect to control
Yc=f(x, t) + B(x, t)u(x, t),
xeRn, u~Rm, B e R ''n, (1)
where
., _ fur(x, t), ifsi(x, t) > 0
ui(x, l) i=l,...,m.
- ~ ui-(x, t), if si(x, t)< O'
(2)
In system (1), (2) with the control undergoing discontinuities
on manifold S = ($1 . . . . . Sin)T = 0 in certain cases the state
would inevitably return to this manifold should any small
deviation occur.
Since the control is a discontinuous function of the state,
conventional theorems of the existence and uniqueness of the
solution are inapplicable and description of the behaviour of
system (1) at discontinuity boundaries requires the design of
ad hoc techniques based on the regularization principle.
According to this principle, the original system is replaced by
a resembling system whose solution does exist in the
conventional sense. Sliding mode equations are obtained by
making the characteristics of the new system approach those
of the original one.
Regularization for discontinuous dynamic system usually
implies that the state trajectories do not lie in the
intersection of discontinuity surfaces but in their boundary
layer and the solution exists in the conventional sense. Then
by letting the boundary layer tend to zero we obtain the
solution of the original system. Under a natural assumption
that the right-hand side of equation (1) satisfies the Lipschitz
condition outside the discontinuity manifolds and if
det GB ~ 0 , G = {dS/dx}, all types of regularizations for
finite-dimension systems (1) lead to the same sliding mode
* Received 22 May 1985; revised 3 April 1986; revised 24
March 1987. The original version of this paper was not
presented at any IFAC meeting. This paper was recom-
mended for publication in revised form by Associate Editor
E. Kreindler under the direction of Editor H. Kwakernaak.
t Institute of Control Sciences, 65 Profsoyuznaya,
GSP-312, Moscow, U.S.S.R.
753
0005-1098187 $3.00 + 0.
Pergamon Journals Ltd.
1987 International Federation of Automatic Control
Brief Paper
equation which may be obtained with the use of the
equivalent control method (Utkin, 1978). According to this
method, the continuous solution of the equation
S=Gf+GBueq=O, Ueq=-(GB)-lGf, G=(dS/dx}
is substituted into (1) for u:
Yc=f-B(GB)-IGf, S(x(0)) = 0. (3)
Since S = 0, s e R m for the sliding mode, the order of system
(3) equals n - m.
The design of sliding mode control consists of two steps:
first, a sliding mode is designed to have the prescribed
properties by a proper choice of a function S (or G)--an
(n-m)-dimensional design problem; second, the discon-
tinuous control (2) is designed to guarantee existence of the
sliding mode in manifold S = 0 (which is equivalent to the
stability problem of the origin in m-dimensional space S).
Since the sliding mode equation (3) is control-independent,
the above approach leads to decoupling the original design
problem into two independent problems of lower dimen-
sions. If f(x, t) =f0(x, t) + Af(x, t), where Af is a vector-
function of parameters and disturbances which are not
accessible for measurement and Af e ~ ( ~ being a span of
B), then the sliding mode does not depend on Af(x, t). In
this case, an invariance control system can be designed
(Drazenovic, 1969). These advantages and the simplicity of
hardware for discontinuous controls are widely used in
various applications (Sabanovic and Izosimov, 1981; Utkin,
1981).
Although the researchers proposed a lot of sliding mode
algorithm modifications that can be successfully applied to a
wide variety of controlled plants, they confined themselves
only to the finite-dimensional cases. Theoretical generaliza-
tions to infinite-dimensional plants were hindered by major
difficulties, since the assumption on Lipschitzian right-hand
sides of plant equations which is quite natural for
finite-dimensional systems generally is not valid for
infinite-dimensional plants. For example, in a heat equation
the double differentiation operator with respect to the spatial
variable is not Lipshitzian and, moreover, it is unbounded.
Without touching the entire range of problems associated
with infinite-dimensional systems with discontinuous controls
we shall note that such fundamental topics as the
introduction of the "sliding mode" concept, the conditions
for the sliding mode to exist and its mathematical description
are still open. At the same time, a set of examples proved
the sliding mode properties obtained for finite-dimensional
plants to be applicable to distributed plants as well (Utkin,
1981).
Distributed plants are particular cases of infinite-
dimensional systems whose general mathematical description
is given by differential equations in Banach space. In the
authors' opinion, the development of mathematical tools for
such equations with a discontinuous right-hand part, the
design of control algorithms which employ sliding modes and
their practical implementation is a promising field of
research. This paper treats the initial problem of this field,
that of mathematical description of motion in sliding modes
754
in systems with discontinuous controls which may be applied
to infinite-dimensional dynamic plants described by
differential equations in Banach space.
It is important to note that such equations may be used in
describing a wide class of real life control problems. Well
known examples of differential equations in Banach space
are partial differential equations, integrodifferential equa-
tions and equations with delays. Regardless of the abstract
nature of the equations considered, this explains the applied
character of the study undertaken. The results obtained will
be exemplified with the equations of mathematical physics
often met in the problems of control design for the modern
technological plants.
2. Problem statement
Consider an infinite-dimensional dynamic system described
as
Jc=Ax+bu(x,t)+f(x,t), O<~t<~T, x(0)=Xo,
where x(t) is an abstract function with the values in the
reflexive Banach space B; f(x, t), u(x, t) are operator
functions with the values in B and B1, respectively; and A is
an unbounded linear operator whose domain D ( A ) c B is
tight [or D(A) = B], b .~(B 1, B) [Sf(Bl, B) is a space of
continuous linear operators which transform B~ into B]. In
particular, the B space in the heat equation is the
corresponding Sobolev (reflexive) space, A is the operator of
double differentiation with respect to the spatial variable,
b = / , the identity operator, and u(x, t) is the power of the
distributed control.
In infinite-dimensional feedback systems one meets the
same problems--stability, reference input tracking, in-
variancy to disturbances--that are common to the finite-
dimensional systems. The design procedure for finite-
dimensional systems usually implies that each control
component undergoes discontinuities on its "own" surface in
a finite-dimensional state space. Such a design approach is
not applicable to infinite-dimensional systems since in many
cases the control cannot be decoupled into a set of
components. Hereinafter we shall deal with discontinuous
controls defined as follows: a linear operator S = c x ,
c ~q(B, B2) (Bz is the Banach space) and it is assumed that
no continuous operator u*(x, t) exists for which
lim Ilu(x, t ) - u * ( x , t)ll =0,
Ilsll~0
i.e. the operator u(x, t) undergoes discontinuities on the
surface S = 0.
Such systems obviously require certain natural assumptions
to be made about the operators A , f ( x , t) and u(x, t). By
virtue of these assumptions, the solution is uniquely
determined outside of the surface S = 0 [for instance, A is an
abstract elliptic operator and Lipschitz's constant exists for
the function f(x, t)+bu(x, t) in the regions outside the
discontinuity surface].
The trajectory of such a system may stay in any small
vicinity of the surface S = 0 for the time interval [to, tl].
Examples of such situations were given in Breger et al.
(1980) Orlov and Utkin (1982) and Orlov (1983). The
motions along the control-discontinuity surface are also
referred to sliding modes for infinite-dimensional systems. In
essence, the aim of this paper is to find the differential
equation of motion in the sliding mode.
Let, in a &vicinity of the surface S = 0, the function
u(x, t) in system (4) be replaced by the control a(x, t) such
that the solution of system (4) corresponding to this control
does exist for the time interval [to, q] and belongs to the
boundary layer [ISII~< 6. Formally, the equivalent control
method equation is written as
Yc=fix+f(x,t), to~<t~<tl,
where A = gA, f(x, t) = gf(x, t), g = I - p , p = b (cb )- tc (the
operator cb is supposed to be continuously invertible).
Brief Paper
Theorem. Let the following conditions be satisfied:
(1) operators - A and - A are strongly positive;*
(2) A -1 and A -1 are compact operators;
(3) operators A and p are commutable:
pAx=Apx for all x D ( A ) ;
(4) a Lipschitz constant with respect to x exists for the
nonlinear operator f(x, t) and this operator is measur-
able with respect to t; and
(5) the control ~(x, t) is bounded in any bounded region,
equation (4) has a unique solution ~?(t) under
u(x, t) = (t(x, t) and this solution is bounded.
Then for the class (4) of systems considered, lim I]~(t)-
6~0
x*(t)]] = 0 uniformly for all t [t0, q], where x*(t) is the
solution to equation (5) under S(x*(to) ) = O, x*(to) D(,4),
IIx*(to) -~(to)ll ~<6, ~(to) D(A).
The proof of the theorem is given in the Appendix.
Condition 1 of the theorem can be easily generalized:
instead of strong positiveness of - A and - A it suffices that
(4) operators A and A be abstract elliptic. Indeed, there exists
such a scalar ~-o for any elliptic operator that the operator
().oi- A) is strongly positive (Krasnoselskii et al., 1976).
Therefore equation (4) with elliptic operator A can be
rewritten in the form Yc=Aox+bu(x,t)+fo(x,t ) with
strongly positive operator -A0 = ; t o l - A and Lipschitzian
operator fo(X, t ) = f ( x , t)+,~ol [equation (5) can be pre-
sented in a similar form].
It should be noted that operator -fi, in (5) does not satisfy
condition (1) in the theorem. Indeed, in the sliding mode
= 0 which means the existence of zero eigenvalues of
operator fi; therefore it is not strongly positive. Neverthe-
less, according to the above generalization, the sliding mode
equation (5) is valid if A is an abstract elliptic operator,
which is typical for many physical processes.
3. Control of a multi-dimensional heat process
Consider the problem of controlling thermal fields of a set
of plants using the discontinuous control vector if the initial
equations and the sliding mode equations contain elliptic
unbounded operators. Let the equations of the plant be of
the form:
OQ-O2Q+DQ+Fu, O<y<l. t>O,
Ot ay 2
Q'(O,t)=Q'(1, t)=O, t>~O,
Q(y,O)=Qo(y ), 0~<y~<l, (6)
where Q(y, t) R", u(y, t) R " under fixed t, y R 1, D and
F are constant matrices.
From the physical viewpoint the problem consists of
heating n similar objects using m distributed sources; matrix
D characterizes heat exchange with the environment and
between the plants, and, in the special case of no interaction
between the plants, D is the diagonal matrix.
Let the control be discontinuous on the manifold
s ( a , y, t) = c a ( y , t) = q Q l ( y , t) + czQz(y, t) = o,
Q l ( y , t ) R n % Q2(y,t) e R m, detc24:0, (7)
and consider equation (6) with respect to the variables Q1
and S:
(21 = Q7 + D1,Q1 + DI2S + FlU,
(8)
= S"+ De1QI + D22S + cFu,
where Dq (i, j = 1, 2) are constant matrices. Then taking into
account that Ueq = - ( c F ) - D12 I Q t , write down the sliding
*Strong positiveness of operator ( - A ) means that
(5) J[(A - M ) - l l J ~<M/(1 + I~,0 for some M and for any ~. with a
non-negative real part (Krasnoselskii et al., 1976).
t A compact operator transforms any bounded domain
into a compact one.

mode equation (5) for system (8):
(21 = Q~ + RQ1, R = Dll - F1(cF) -1
(matrix cF is supposed to be invertable). The validity of
equation (9) may be verified with the help of the theorem.
Let us check whether the conditions of the theorem are
satisfied for the initial system (6) and the slidin~ mode
0
equation (9). The inverse operator for A = l ~ y 2 with
D(A) = {Q e Hi(O, 1); Q'(0) = 0, Q'(1) = 0}* is integral and
hence compact (Krasnoselskii et al., 1976). Taking into
02
account that the spectrum of the operator l~-~v2 is the
sequence {-(:re)z}, a strong positiveness of operator
02
-1~v2 is shown (Krasnoseiskii et aL, 1976). This means
- j
that conditions (1), (2) of the theorem are true. Operators
02
l~-~v2 and Fa(cF) -1 are commutable which results in con-
- j
dition (3). The existence of the Lipschitz constant for
f(Q, t) = DQ [condition (4)] is evident since D is a hounded
linear operator. Condition (5) describes the class of
admissible real controls "acting" in the boundary layer.
Presentation of the solution of heat equation (6) in an
integral form using Green's function directly yields that for
ti(Q(y, t), t) being a measurable function of time and spatial
variable, the solution is unique and bounded. Thus the
sliding mode in manifold S = 0 is described by equation (9).
I n accordance with i-he design procedure given in the
Introduction, in the first step the discontinuity manifold S = 0
is chosen to provide the prescribed properties of the motion
in the sliding mode. It is known that for the finite-
dimensional system (2 = DQ + Fu the equation of sliding
along the manifold S = cQ(t)= 0 has the form Q1 = RQ1 by
virtue of the equivalent control technique. Matrix c for the
controllable system may be chosen so that det (cF)~ 0 and
the eigenvalues of matrix R in the slide equation take up the
desired values (Utkin, 1981). Using this fact we may show
that the required rates of convergence to the state of
equilibrium Q = 0 may be provided in distributed system (9)
if the pair (D, F) is controllable. Assuming Re A{R} < 0 we
may write down the Lyapunov functional as
v(t) =
/o'QT(y, t)WQl(y ' t) dy,
where W is the positive definite solution of Lyapunov's
equation RTW + WR = - I . Find the time derivative of this
function along the sliding mode equation trajectories:
I;'(t) = - 2 [Q;(y, t)]TWQ;(y, t) dy
- QI(y,t)Q~(y,t)dy. (11)
Bearing in mind that Q~WQI<~itr~QyQ (max is the
maximal eigenvahie of matrix R), we shall obtain from (11)
that
(t) ~< - 7 1 V(t).
Amax
Matrix W = f~*exp {RTt} exp {Rt} dt (Kwakernaak and
Sivan, 1972); therefore by choosing eigenvalues of matrix R
with negative real parts sufficiently large in magnitude, the
norm of matrix W and, consequently, ;tmax may be made as
small as desired. As stated above, the appropriate choice of
matrix c permits arbitrary allocation of eigenvalues of R and,
by virtue of (12), convergence of the Lyapunov functional
(10) or vector Qt in metric L2 to zero at a desired rate.
In the second step a discontinuous control is designed to
guarantee the existence of a sliding mode in manifold S = 0.
We will show that for this purpose the discontinuous control
* Ht(0, 1) is the Sobolev space.
AUTO 2 3 : 6 - E "
Brief Paper 755
may be chosen in a form*
(9) u(Q, y, t) = - M ( Q ) sign SI(Q, y, t),
M(Q) = Mo IIQII, SI(Q, y, t) = (cF)-tS(Q, y, t)
(Mo is a scalar). Indeed, computing the time derivative of the
Lyapunov functional V(t) = 12SloS~(Q, y, t)SI(Q, y, t) dy
with due regard for the boundary conditions (6)
O(t) = ~XS~S1 dy
= SlT [$1fl + ( c F ) - D Q + u] dy = -
f0[si]Tsl dy
- folS~tMo IIQII sign $1 - (cF)-OQ] dy,
we obtain V ( t ) < 0 when V(t)--/;O if scalar Mo is chosen
sufficiently large. This fact results in the convergence of the
solutions in L2 to the manifold (7). It should be noted that an
increase of Mo leads to a higher rate of convergence to
manifold S = 0 and the convergence can be provided for a
bounded domain of initial conditions using bang-bang control
[M(Q) = const].
Thus the sliding mode control approach leads to a
decoupling system design and provides the desired rate of
transient decay.
4. Conclusions
The concept of the "sliding mode" is introduced in
application to infinite-dimensional systems with discon-
tinuous controls and cases are isolated for which the
equivalent control technique may be used for describing this
sort of motion. A general case with an unbounded operator
in the sliding equation is illustrated by control of a set of
thermal fields. A remark is due in the context of this example
that for equations of the type
(2 = AQ" + DQ + Fu, A = diag (Ai),
).i>0, i=1 ..... n (13)
an equation of sliding mode along the manifold (7)
Q1 = PQ'~ + HQI (H and P are constant matrices) may be
written, and its validity for the Hurwitzian matrix - P may be
verified with the help of the theorem. (It results from the
(10) decomposition of the sliding mode equation solution into
modes immediately that, similarly to the operator
02 _pO 2
-l~v~v
, _ j2 the operator 0y 2 is strongly positive and its in-
verse operator is compact.) Nevertheless, we abstain here
from the detailed consideration of this more general case
because the sliding mode existence conditions have not yet
been found for this case; for system (9) this problem was
solved via the use of the Lyapunov functional which does not
"work" in this case. Along with a mathematical description
of sliding modes, the problem of their existence remains a
crucial one in the theory of systems with discontinuous
controls. Stating this general problem is what seems an
appropriate end to this paper.
References
(12) Breger, A. M. et aL (1980). Sliding modes for control of
distributed-parameter entities subjected to a mobile
multi-cycle signal. Automn Remote Control, 41, 346--355.
Drazenovic, B. (1969). The invariance conditions in variable
structure systems. Automatica, 5, 287-295.
Krasnoselsldi, M. A. et al. (1976). Integral Operators in
Spaces of Summable Functions. Monograph, Noordhoff,
Leyden.
Kwakernaak, H. and R. Sivan, R. (1972). Linear Optimal
Control Systems. Monograph, Wiley Interscience, New
York.
Oflov, Yu. V. and V. I. Utkin (1982). Use of sliding modes
in distributed system control problems. Autoran Remote
Control, 43, 1127-1135.
* The equality is implied for each component.
756
Sabanovic, C. and D. B. Izosimov (1981). Application of
sliding modes to induction motor control. IEEE Trans.
Ind. Appl., IA-17, 41-49.
Utkin, V. I. (1978). Sliding Modes and their Applications in
Variable Structure Systems. Monograph, Mir, Moscow.
Utkin, V. I. (1981). Sliding Modes in Optimization and
Control. Monograph, Nauka Moscow.
Appendix: proof of the sliding mode equation theorem
The proof of this theorem will be preceded by two
lemmas.
Lemma 1. Under conditions of the theorem, the following
inequality is true: I[(-A)*~2(t)ll ~ C ( e l ) , t [0, T], e 1
(0, 1), where C(el) is a constant dependent on ej.
Proof. The solution 2(t) of system (4) satisfies the integral
equation
Yc(t) = v(t)Xo + V (t - v)[bti(.f(r), v) +f(.~(T), r)] dr,
where v(t) is a strongly continuous semigroup with
generating operator A (Krasnoselskii et al., 1976). As a
consequence, we have
[l(-A)~'2(t)li ~< II(-A)~v(t)xoll
+ J~(-A)~tV(t - r ) . Ca0Z(r), r) dr
+ fo(-A)*tv(t- r)f(2(v), r) dr .
Using the inequality I[(-A)*~v(t- ~)11<~cl(el)/(t- r) ~a
(Krasnoselskii et al., 1976) and recognizing condition (5) of
the theorem, we may estimate the second term in (A.2) as
follows:
o ( - A ) ~ l v ( t - r)ba(2(r), r) dr
ft cl(e 0 dr~<c2(el).
<-IIb[I [lull 3o ( t - r) ~'
Similarly, IlJ'~(-A)*~V( t - r)f((r), r) drll ~<c3(el) [c,(e0,
i = 1, 2, 3 are some constants dependent on e~].
The first term in (A.2) is constant, therefore the validty of
Lemma 1 resulting from the above estimates is proved.
Lemma 2. Under the conditions of the theorem, the
following inequality is true: I[(-A)*p2(t)ll <~k(e), t [to, tx],
k(e) is a constant dependent on e.
Proof. Since fit is dominated by operator A [or Ilfitx[I~<
Ilgl[l[Axll for all x D ( A ) ] , then operator ( - A ) * is
dominated by ( - A ) ~ when el > e (Krasnoselskii et al.,
1976), i.e.
II(-fit)~xll ~ k~(e) II(-A)'~xll
for all x D((-A)*t), kl(e) =const. According to condition
(3) of the theorem, operators ( - A ) ~ and p are permutable;?
using (A.3) we have
II(-fit)~p2(t)l[ <~kl(e) H(-A)*ap2(t)ll
<~k~(e) IlPll II(-A)*'2(t)ll ~<k(e).
Lemma 2 is proved.
Let us return to the proof of the theorem. Write the
solution of equation (5) in the integral form
x*(t) = f:(t - to)X*(to) + - r)f(x*(r), r) dr, (A.4)
where l?(t) is a strongly continuous semigroup with the
generating operator A.
t As was shown by P. Ye. Sobolevskii at the author's
request, permutability of linear operators ( - A ) * and p
results from permutability of the operator A and the
bounded operator p.
Brief Paper
An ideal slid.ing equation was obtained under the
assumption that S = 0 in its solutions. Any real sliding mode
2(t) stipulated b_y inadequacies in the system already rejects
the equaltiy of S(t) or cx(t) to zero. Therefore a real con-
trol t~(, t) differs from U,q(~, t) by the value (cb) 1~:
5(2, t) = U,q(, t) + (cb) '~(t).
Thus, the real sliding mode satisfies the integral equation
$(t) = O(t - to)$(to) + f,[oct- v)f(2(V), v) dr
+ ftlv(t
) -dr ) .px
- _.( v r. (A.5)
The term
0(t - r)p.~(~) dr = 0 (t - r)b(cb)-lg(r) dz
naturally takes into account all types of inadequacies. Let us
(A.1) estimate the difference between the solutions of the ideal
(A.4) and real (A.5) sliding equations:
112(t) - x*(t)ll <~ II0(t - to)ll 1[2(to) - x*(to)ll
+ L I[ , , v ( t - r ) , l 112(r) - x*(v)tl dr
+ ftifit O(t - r)p2(r) d~
(A.2) + IIO(t- t0)ll' IIP(2(to)[I + Hp2(t)II, (A.6)
where L is the Lipschitz's constant of the function ](x, t)
[used here are the formula of integration of abstract
functions by parts and the condition that a strongl)(
continuous semigroup. 0(t)_ with the generating operator A
satisfies the equation 0 = A 0, 0(0) = I]. Note that under the
conditions of the theorem lim [[p2(t)[l = 0 for all t e [t0, q].
Consequently, the last two last terms in (A.6) tend to zero as
[1~11---,0. The first term, under these conditions, also tends to
zero. Using the fact that the strongly continuous semigroup
O(t) permutates with fractional powers of the generating
operator (Krasnoselskii et al., 1976) we may show that the
third term
[A0(t - v)p2(r) dr
= I[(-A)l-~O(t-v)(-A)~b(cb)-lg(v)dr (A.7)
also tends to zero.
Show first that (-fi0~p2(v) weakly tends to zero as
IIS(OIIL (s)= (J"t~gq(r) dr)l/q--*0 q > 1 or, which is the
same, as Ilpx(r)[ILo~B)--*0. For this purpose we must show
that for any q0 L~[B) [Lq(B) is the Lq(B)-adjoint space], if
(m.3)
IIP2(V)[ILq(m-'* 0, then the convergence is true:
((-A)~#(r), q~)~o. (A.S)
Since the set {(-fit)'p2(v)) is uniforndy bounded (Lemma
2), then by virtue of the Banach-Steinhouse theorem it is
sufficient to verify the convergence of (A.8) for all q0 from a
certain set dense in L~(B). The adjoint operator ((-A)*) *
hasa tight region of definition in the reflexive space L~(B) if
( - A ) ~ is a closed one (Krasnoselskii et al., 1976). Operator
( - A ) ~ is closed by virtue of the boundedness of ( - A ) -~, and
the adjoint operator for any closed one has a tight region of
definition in the reflexive space L,~(B) (Krasnoselskii et al.,
1976). So l e t q0 belong to the region of definition of the
operator ((-A)*) *. Then
I((-A)~p2, q0)l = I(p$, ((-A)*)*q0)l
Ilp:ZllLq(m II((-fit)E)*rpll --'0
with IIP~llLq(~)---,0. Under the above assumptions on
operator A, the operator OUd(t)= Stt0(-fit)l-'0(t-
z)qJ(z) dr was shown to be compact in C(B) (Krasnoselskii
 Brief Paper 757

et al., 1976). The proof of the compactness is valid if
operator OVa(t) transforms Lq(B), q > l / ~ into C(B).
Therefore a weak convergence of (-A)ep~(r) to zero is
sufficient for a convergence of (A.7) to zero. Consequently,
it follows from (A.6) that II-~(t)- x*(t)lJ ~<~ +
y2f~0ll~(~)-x*(~)l I dT, y2 is constant, and tr~s---*0 with
I1~11-'0. Using the Beilman-Gronwall inequality we may
obtain lim IlX(t)-x*(t)ll =0 uniformly for all t[to, tl].
II~ll--m
The theorem is thus proved.