Long-time dynamics of a nonlinear

Timoshenko beam with discrete delay term

and nonlinear damping
Cite as: J. Math. Phys. 61, 061505 (2020); https://doi.org/10.1063/5.0006680
Submitted: 05 March 2020 . Accepted: 12 May 2020 . Published Online: 05 June 2020

M. J. Dos Santos , M. M. Freitas , A. J. A. Ramos , D. S. Almeida Júnior , and L. R. S. Rodrigues

J. Math. Phys. 61, 061505 (2020); https://doi.org/10.1063/5.0006680 61, 061505

© 2020 Author(s).
 Journal of
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Long-time dynamics of a nonlinear Timoshenko

beam with discrete delay term and nonlinear
damping
Cite as: J. Math. Phys. 61, 061505 (2020); doi: 10.1063/5.0006680
Submitted: 5 March 2020 • Accepted: 12 May 2020 •
Published Online: 5 June 2020

M. J. Dos Santos,1,a) M. M. Freitas,2,b) A. J. A. Ramos,2,c) D. S. Almeida Júnior,3,d) and L. R. S. Rodrigues4,e)

AFFILIATIONS
1
Faculty of Exact Sciences and Technology, Federal University of Pará, Manoel de Abreu St., Abaetetuba, PA 68440-000, Brazil
2
Faculty of Mathematics, Federal University of Pará, Raimundo Santana St., Salinopólis, PA 68721-000, Brazil
3
Ph.D. Program in Mathematics, Federal University of Pará, 01 Augusto Corrêa St., Belém, PA 66075-110, Brazil
4
Federal University of Maranhão, 2008 José Anselmo Ave., Codó, MA 65400-000, Brazil

a)
Author to whom coresspondence should be addressed: jeremias@ufpa.br
b)
Email: mirelson@ufpa.br
c)
Email: ramos@ufpa.br
d)
Email: dilberto@ufpa.br
e)
Email: leonardo.rodrigues@ufma.br

ABSTRACT
The purpose of this manuscript is to establish well posedness as well as the existence of global and exponential attractor for a nonlinear
Timoshenko system subject to control terms in the two equations of the system. Since the control terms act on both equations, we will not
use the nonphysical relationship known as equal speeds of propagation of waves. A combination involving friction-delay and friction controls
will act on the angle of rotation equation, while a nonlinear friction control will act on the transverse motion equation. The result will be
established by showing that the system is quasi-stable and by using a relationship involving the size of the friction type controls inserted in
the rotation angle equation.
Published under license by AIP Publishing. https://doi.org/10.1063/5.0006680

I. INTRODUCTION
In this paper, we will study the long-time behavior of solutions of the following nonlinear Timoshenko system with a delay term

ρ1 φtt − κ(φx + ψ)x + g(φt ) + f 1 (φ, ψ) = h1 in (0, 1) × (0, ∞),

(1)
ρ2 ψtt − bψxx + κ(φx + ψ) + μ1 ψt + μ2 ψt (x, t − τ) + f 2 (φ, ψ) = h2 in (0, 1) × (0, ∞),

subject to the following boundary conditions

φ(0, t) = φ(1, t) = ψ(0, t) = ψ(1, t) = 0, ∀t ∈ (0, ∞), (2)

and initial conditions given by

φ(x, 0) = φ0 (x), φt (x, 0) = φ1 (x), ψ(x, 0) = ψ0 (x), ∀x ∈ (0, 1),
(3)
ψt (x, 0) = ψ1 (x), ψt (x, −τt) = z0 (x, t), ∀(x, t) ∈ (0, 1) × (0, 1).

The Timoshenko system, introduced in Ref. 1 by the Ukrainian engineer Timoshenko, is a model consisting of two coupled hyperbolic partial
differential equations in order to describe the transverse vibrations in beams; the novelty of Timoshenko’s model with respect to earlier models

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is that it takes into account the effects of shear distortion and rotational inertia. This model is given according to the following governing
equations:
ρ1 φtt (x, t) = Sx (x, t),
(4)
ρ2 ψtt (x, t) = Mx (x, t) − S(x, t),
where t represents the temporal variable, x represents the point position variable located on the beam of length L = 1, and φ and ψ are,
respectively, the transverse displacement and rotation angle functions of a beam filament with respect to the initial configuration. In (4),
ρ1 = ρA, ρ2 = ρI, where ρ, A, and I represent, respectively, the mass density of the material, area of the cross section, and the second moment
of the cross-sectional area. The function M represents the bending moment, and S is the shear force. Timoshenko in Ref. 1 established the
following model without mechanical dissipation:
S(x, t) = κ(φx + ψ) and M(x, t) = bψx , (5)
′ ′
with κ = k AG and b = EI, where k , G, and E are positive constants denoting the shear factor, the shear modulus, and Young’s modulus,
respectively.
Physically, system (1) represents a beam subject to internal forcing terms f i (φ, ψ) (i = 1, 2) acting on both equations, an internal nonlinear
damping term of friction type g(φt ) acting on the transverse displacement equation, an internal damping of friction type μ1 ψ t , and an internal
damping of friction type μ2 ψ t (⋅, t − τ), whose performance at the moment depends on information from the past; this means that the system
models a phenomenon that has “memory,” and the last two dampings acting on the angle of rotation equation, still under this system, act on
the external forces h1 and h2 .
In recent years, research on well-posedness and long-time behavior of mathematical models of beam and plate vibrations, consisting
of equations or systems of partial differential equations, has intensified. When equations or systems present the so-called source terms, it
is interesting to analyze the existence of limited sets in phase space for which solutions tend asymptotically (attractors). In order to enrich
the physical aspects of the models, various types of boundary conditions are considered, as well as damping terms of various kinds, such
as thermal memory,2–4 thermoelasticity,3,5 friction,6–8 boundary dissipation,9 delay effect,10–12 thermal and mass diffusion,13,14 and thermal
dissipation;15 these dampings make the long-time analysis of the model somewhat challenging.
In particular, systems that represent phenomena whose state in the present time is affected by the state of the system in a past time
are very common in nature and in society, for example, just how much our lives are currently affected by decisions and choices we have
made in the past. Mathematical models that take into account the effect of the past state to characterize the system in the present have
long been studied.16 In recent years, mathematical research involving differential equations with delay terms has intensified, thanks to their
applications in the fields such as biology, physiology, social sciences, economics, and engineering (see Refs. 17–20). The presence of delay
terms in a mathematical model increases its reliability in describing the phenomenon and predicting its behavior. The increased complexity
of the system caused by the presence of delay terms requires greater effort in describing the phenomenon, and this requires more efficient
tools in addressing problems. It is also noteworthy that the introduction of delay terms in differential equations can change the dynamics of
solutions, causing instability, loss of performance, or even improvement in the stability of solutions (see Ref. 21).
For some particular cases involving the functions g, f 1 , f 2 , h1 , and h2 , as well as constants μ1 and μ2 , results on the long-time behavior
of the solutions of system (1) are known.
Soufyane in Ref. 22 considered (1) with g = f 1 = f 2 = h1 = h2 = 0, μ2 = 0, and μ1 = b(x), satisfying 0 < b0 < b(x) < b1 , where b0 and b1 are
constants and Dirichlet boundary conditions. The author showed that the energy of the system decays exponentially with the equality of wave
propagation
κ b
= ; (6)
ρ1 ρ2
otherwise, the system-associated semigroup is not uniformly stable.
Almeida Júnior et al. in Ref. 23 considered (1) with f 1 = f 2 = h1 = h2 = 0, μ1 = μ2 = 0, and g(x) = γx with γ > 0 constant and boundary
conditions of Neumann–Dirichlet type. The authors obtained exponential stability if (6) took place; otherwise, the system was polynomial
stable.
In the absence of the delay term and g linear, that is, μ2 = 0 and g(x) = x, system (1)–(3) (with μ1 = 1) were studied by Fatori et al. in
Ref. 24, which established the existence of global and exponential attractors without using any relationship involving the coefficients of the
system.
The first work that took into account the effect of delay acting on a single equation of the Timoshenko system was performed by Said-
Hourari and Laskri in Ref. 25. In this paper, the authors considered system (1) and (2), with g = f 1 = f 2 = h1 = h2 = 0; that is, they studied the
system
ρ1 φtt − κ(φx + ψ)x = 0,
(7)
ρ2 ψtt − bψxx + κ(φx + ψ) + μ1 ψt + μ2 ψt (x, t − τ) = 0,
with μ1 and μ2 being positive constants and boundary conditions given by (2). Assuming (6) and the inequality

0 < μ2 < μ1 , (8)

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the authors proved that system (7) is exponentially stable. The same authors in collaboration with Anwar in Ref. 26 studied (7) with varying
delay τ = τ(t) and obtained exponential stability using (6) and
√
0 < μ2 ≤ 1 − dμ1 , (9)

where d is a constant satisfying d < 1.

In Ref. 27, Feng and Pelicer studied system (1) and (2) with g = f 1 = h1 = h2 = 0 and f 2 (φ, ψ) = f (ψ) satisfying

∣ f (x) − f (y)∣ ≤ k0 (∣x∣θ + ∣y∣θ )∣x − y∣, ∀x ∈ R, (10)

and x
0≤∫ f (s)ds ≤ f (x)x, ∀x ∈ R, (11)
0

where k0 and θ are positive constants. By using (6)–(8), the authors proved that the system is exponentially stable.
Feng and Yang in Ref. 10 considered (1) and (2) with g = f 1 = 0 and f 2 (φ, ψ) = f (ψ) satisfying (10) and
x
−k1 ≤ ∫ f (s)ds ≤ f (x)x, ∀x ∈ R, (12)
0

for some constant k1 > 0. The authors showed the existence of a global attractor with finite fractal dimension, as well as the existence of an
exponential attractor, provided that (6)–(8) are valid.
In Ref. 12, Yang et al. studied the system found in Ref. 10 with varying delay τ = τ(t), that is,

ρ1 φtt − κ(φx + ψ)x = h1 ,

(13)
ρ2 ψtt − bψxx + κ(φx + ψ) + μ1 ψt + μ2 ψt (x, t − τ(t)) + f (ψ) = h2 ,

with boundary conditions (2) and f satisfying f (0) = 0 and (10). The authors used (6)–(8) to show that the associated dynamical system
possesses a global and exponential attractor.
Apalara in Ref. 28 considered the Timoshenko system with friction damping and delay friction in the transverse motion equation, i.e.,

ρ1 φtt − κ(φx + ψ)x + μ1 φt + μ2 φt (x, t − τ) = 0,

(14)
ρ2 ψtt − bψxx + κ(φx + ψ) = 0.

By using (6) and

0 < ∣μ2 ∣ < μ1 , (15)

he proved that the system is exponentially stable for boundary conditions such as

φ(0, t) = φ(1, t) = ψx (0, t) = ψx (1, t) = 0. (16)

It is noteworthy that the aforementioned works considered the Timoshenko system under the effect of a combination friction and
friction-delay type dampings involving the functions φ or ψ acting on a single equation of the system, which requires the use of equal speeds
of propagation of waves (6) to obtain the exponential decay or existence of attractors.
Recently, in Ref. 11, Ramos et al. studied system (1)–(3) with g(s) = s, and considering (8), they established the existence of global and
exponential attractors. Since the dampings were placed in the two equations of the system, relation (6) was not used to obtain the result.
System (1)–(3) improves the one found in Ref. 11 in the sense of making it more realistic by introducing a nonlinear damping g(φt ) in
the first equation, and thanks to (15), the constant μ2 can assume negative values. In addition, the presence of damping in both equations of
the system avoids the use of relation (6), which is a nonphysics relation (see Ref. 29).
This paper is organized as follows: in Sec. II, we will establish the nomenclatures as well as the assumptions that will be used in this work.
In Sec. III, we will establish the well-posedness to problem (1)–(3); that is, we will prove that there is a global solution and continuous depen-
dence on the initial data. In Sec. IV, we will establish the stabilizability estimate that will play a fundamental role in the proof of asymptotic
smoothness for the dynamical system associated with (1)–(3). In Secs. V and VI, respectively, the existence of global and exponential attractors
for system (1)–(3) will be proved. The Appendix gathers the main concepts and results about infinite-dimensional dynamical systems that
will be used in this paper.

II. PRELIMINARY
We will begin this section by performing the following well-known procedure of considering the new dependent variable:

z(x, y, t) ∶= ψt (x, t − τy). (17)

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Note that
τzt (x, y, t) + zy (x, y, t) = 0. (18)

So, we can put system (1)–(3) as

ρ1 φtt − κ(φx + ψ)x + g(φt ) + f 1 (φ, ψ) = h1 in (0, 1) × (0, ∞),

ρ2 ψtt − bψxx + κ(φx + ψ) + μ1 ψt + μ2 z(x, 1, t) + f 2 (φ, ψ) = h2 in (0, 1) × (0, ∞), (19)
τzt + zy = 0 in (0, 1) × (0, 1) × (0, ∞),

subject to the following boundary conditions

φ(0, t) = φ(1, t) = ψ(0, t) = ψ(1, t) = 0, ∀t ∈ (0, ∞), (20)

and initial conditions

φ(x, 0) = φ0 (x), φt (x, 0) = φ1 (x), ψ(x, 0) = ψ0 (x), ∀x ∈ (0, 1),
(21)
ψt (x, 0) = ψ1 (x), z(x, y, 0) = z0 (x, y), ∀(x, t) ∈ (0, 1) × (0, 1).

A. Notations and assumptions

Throughout this work, we will denote by ∥ ⋅ ∥q the norm on Lebesgue space Lq (0, 1) for 1 ≤ q ≤ ∞. In particular, when q = 2, we will
represent by ⟨⋅, ⋅⟩ and ∥ ⋅ ∥ the inner product and norm, respectively, on L2 (0, 1) [and on L2 ((0, 1) × (0, 1))]. It will be represented by H r (0, 1),
with r ∈ N, the Sobolev space of the functions whose derivative in the sense of distributions up to order r belong to L2 (0, 1); in particular, we
will represent by H01 (0, 1) the closure [on H 1 (0, 1)] of infinitely continuously differentiable functions with compact support on (0, 1) and by
H −1 (0, 1) your dual space.
For the purpose of notations economy, we will use the simplified Poincaré’s inequality (the Poincaré constant equal to one) (cf. Ref. 13),
that is,
∥u∥ ≤ ∥ux ∥ and ∥u∥H01 = ∥ux ∥∀u ∈ H01 (0, 1). (22)

(A1) hi ∈ L2 (0, 1) for i = 1, 2.

(A2) There is a C2 -function F : R2 → R and positive constants β, mF , C f , and p ≥ 1 satisfying

∇F = ( f 1 , f 2 ), (23)

F(u, v) ≥ −β(∣u∣2 + ∣v∣2 ) − mF , ∀u, v ∈ R, (24)

κ b
0 ≤ β < min{ , }, (25)
16 24
and
∣∇ f i (u, v)∣ ≤ C f (1 + ∣u∣p−1 + ∣v∣p−1 ), ∀u, v ∈ R. (26)

By successive integration, the previous inequality produces a positive constant CF such that

F(u, v) ≤ CF (1 + ∣u∣p+2 + ∣v∣p+2 ), ∀u, v ∈ R. (27)

We suppose in addition that

∇F(u, v) ⋅ (u, v) − F(u, v) ≥ −β(∣u∣2 + ∣v∣2 ) − mF , ∀u, v ∈ R. (28)

(A3) g ∈ C1 (R), g(0) = 0, and g is increasing. In addition, there are positive constants m g and M g such that

mg ≤ g ′ (s) ≤ Mg ∀s ∈ R, (29)

which results in the following monotonicity property:

(g(u) − g(v))(u − v) ≥ mg ∣u − v∣2 ∀u, v ∈ R, (30)

2
(g(u) − g(v))(u − v) ≤ Mg ∣u − v∣ ∀u, v ∈ R, (31)

and
g(u) ≤ Mg ∣u∣ ∀u ∈ R, (32)

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(A4) We will assume that μ1 and μ2 satisfy (15).

Remark 1. As a concrete example of a function satisfying assumption (A2), we can consider F : R × R → R given by
p+1
F(x, y) = a∣x + y∣p+1 + 2b∣xy∣ 2 , (33)

with a > 1, b > 0, and p ≥ 3 (see Ref. 30).

III. WELL POSEDNESS

A. Cauchy problem
First, we consider the following linear space:
1 2 1 2 2
H = H0 (0, 1) × L (0, 1) × H0 (0, 1) × L (0, 1) × L ((0, 1) × (0, 1)). (34)

This space we introduce has the following inner product: for any U = (φ, u, ψ, v, z) and ũ = (φ̃, ũ, ψ̃, ṽ, z̃) in H,

⟨U, ũ⟩H ∶= ρ1 ⟨u, ũ⟩ + ρ2 ⟨v, ṽ⟩ + b⟨ψx , ψ̃ x ⟩ + κ⟨φx + ψ, φ̃x + ψ̃⟩ + τ∣μ2 ∣⟨z, z̃⟩. (35)

The norm induced by the inner product above is given by

∥U∥2H ∶= ρ1 ∥u∥2 + ρ2 ∥v∥2 + b∥ψx ∥2 + κ∥φx + ψ∥2 + τ∣μ2 ∣∥z∥2 . (36)

The vector space H endowed inner product above is a Hilbert space, and this allows us to rewrite system (19)–(21) in the form of the
following semilinear initial value problem on H:

U ′ (t) − AU(t) = F (U(t)), t > 0,

{ (37)
U(0) = U0 ,

where U 0 = (φ0 , φ1 , ψ 0 , ψ 1 , z0 ); A = A1 + A2 , where A1 : D(A1 ) ⊂ H → H and A2 : H → H are given by

u
⎛ φ⎞ ⎛ −1
⎞ ⎛ φ⎞ ⎛ −10 ⎞
⎜ u⎟ ⎜ ρ 1 κ(φ x + ψ)x ⎟ ⎜ u⎟ ⎜−ρ1 g(u)⎟
⎜ ⎟ ⎜ v
⎟ ⎜ ⎟ ⎜ ⎟
A1 ⎜ψ ⎟ = ⎜ ⎟, A2 ⎜ψ ⎟ = ⎜ 0 ⎟ (38)
⎜ ⎟ ⎜ ⎜
⎟
⎟ ⎜ ⎟ ⎜ ⎟
⎜ v⎟ ⎜ρ2 [bψxx − κ(φx + ψ) − μ1 v − μ2 z(1)]⎟
−1 ⎜ v⎟ ⎜ 0 ⎟
⎝ z⎠ ⎝ τ −1 zy ⎠ ⎝ z⎠ ⎝ 0 ⎠

with
D(A1 ) = {(φ, u, ψ, v, z) ∈ H∣φ, ψ ∈ H 2 (0, 1), u, v ∈ H01 , z ∈ L2 (0, 1; H01 (0, 1)) with z(0) = v} (39)

and F : H → H is given by
⎛ φ⎞ ⎛ −1 0 ⎞
⎜ u⎟ ⎜ρ1 [h1 − f 1 (φ, ψ)]⎟
⎜ ⎟ ⎜ ⎟
F ⎜ψ ⎟ = ⎜ 0 ⎟. (40)
⎜ ⎟ ⎜ −1 ⎟
⎜ v⎟ ⎜ρ2 [h2 − f 2 (φ, ψ)]⎟
⎝ z⎠ ⎝ 0 ⎠

Definition 1. A strong solution to (37) on [0, T) with 0 < T ≤ ∞ is a continuous function Φ : [0, T) → H with Φ(0) = Φ0 , differentiable
a.e. on [0, T), and for any t ∈ [0, T), Φ(t) ∈ D(A) and (37) holds.

Definition 2. A generalized solution to (37) (see Ref. 31, Sec. 2.3 and Ref. 32, Sec. IV.4) on [0, T] is a function U ∈ C([0, T]; H) such that
U(0) = U 0 and for which there is a sequence of strong solutions U n defined in [0, T] to

Un′ (t) − AUn (t) = F (Un (t))n = 1, 2, (41)

with U n → U on C([0, T], H). A function U ∈ C([0, T), H) is a generalized function to (37) on [0, T), if U is a generalized solution to (37) for
any [0, T ′ ], with 0 < T ′ < T.

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B. Energy system
We consider U(t) = (φ(t), φt (t), ψ(t), ψ t (t), z(t)) a strong solution of (37) on the interval [0, T). The energy E(t) of U(t) on [0, T) is given
by the following functional:

1
E(t) = ∥(φ(t), φt (t), ψ(t), ψt (t), z(t))∥2H
2 (42)
1
= [ρ1 ∥φt (t)∥2 + ρ2 ∥ψt (t)∥2 + b∥ψx (t)∥2 + κ∥φx (t) + ψ(t)∥2 + τ∣μ2 ∣∥z(t)∥2 ].
2
The modified energy E(t) is defined by
1 1 1
E(t) ∶= E(t) + ∫ F(φ(t), ψ(t))dx − ∫ h1 φ(t)dx − ∫ h2 ψ(t)dx. (43)
0 0 0

Remark 2. Going forward, we will omit the symbol t in the coordinates of the solution U(t), that is, we will just write U(t) = (φ, φt , ψ, ψ t , z),
it being understood that φ, φt , ψ, ψ t , z depend on t.

Lemma 3. Let U(t) = (φ, φt , ψ, ψ t , z) be a solution to (37) on the maximal interval [0, T); then, the modified energy given by (43) satisfies
′ 2 2
E (t) ≤ −mg ∥φt ∥ − (μ1 − ∣μ2 ∣)∥ψt ∥ , ∀t ∈ [0, T). (44)

Furthermore, there exists a constant K = K(∥h1 ∥, ∥h2 ∥) > 0 such that

1
E(t) ≥ E(t) − K, ∀t ∈ [0, T). (45)
4
Proof. Let U(t) = (φ, φt , ψ, ψ t , z) be a strong solution to (37). Multiplying (19)1 by φt and (20)1 by ψ t , integrating by parts the resulting
inequalities with respect to x over [0, 1] and adding the results, we arrive at

d 1 1 1 1
{ [ρ1 ∥φt ∥2 + ρ2 ∥ψt ∥2 + b∥ψx ∥2 + κ∥φx + ψ∥2 ] + ∫ F(φ, ψ)dx − ∫ h1 φdx − ∫ h2 ψdx} =
dt 2 0 0 0
1 1
−∫ g(φt )φt dx − μ1 ∥ψt ∥2 − μ2 ∫ z(1)ψt dx. (46)
0 0

Multiplying (19)3 by zt and integrating by parts with respect to x and y over [0, 1] × [0, 1], we obtain

τ∣μ2 ∣ d ∣μ2 ∣ ∣μ2 ∣

∥z∥2 = ∥ψt ∥2 − ∥z(1)∥2 . (47)
2 dt 2 2
Adding (46) and (47), we arrive at

d 1 1 1 1 ∣μ2 ∣
{E(t) + ∫ F(φ, ψ)dx − ∫ h1 φdx − ∫ h2 ψdx} = −∫ g(φt )φt dx − (μ1 − )∥ψt ∥2
dt 0 0 0 0 2
1 ∣μ2 ∣
−μ2 ∫ z(1)ψt dx − ∥z(1)∥2 . (48)
0 2
Now, by using Young’s inequality, we obtain
1 ∣μ2 ∣ ∣μ2 ∣
− μ2 ∫ z(1)ψt dx ≤ ∥ψt ∥2 + ∥z(1)∥2 , (49)
0 2 2
and from (30), we have
1
− ∫ g(φt )φt dx ≤ −mg ∥φt ∥2 . (50)
0

Combining (48)–(50), we obtain (44). In addition, from (24) and from Poincaré’s inequality, we have
1
2 2 2 2
∫ F(φ, ψ)dx ≥ −β(∥φx ∥ + ∥ψx ∥ ) − mF ≥ −β(2∥φx + ψ∥ + 3∥ψx ∥ ) − mF . (51)
0

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Thanks to the Hölder and Young’s inequalities, we obtain

1 κ b 2 1
2 2 2
∫ h1 φdx ≤ ∥h1 ∥∥φx ∥ ≤ ∥h1 ∥∥φx + ψ∥ + ∥h1 ∥∥ψx ∥ ≤ 4 ∥φx + ψ∥ + 8 ∥ψx ∥ + ( b + κ )∥h1 ∥ (52)
0

and
1 b 2
2 2
∫ h2 ψdx ≤ 8 ∥ψx ∥ + b ∥h2 ∥ . (53)
0

From (43) and (51)–(53), we have

κ 2 b 2 2 1 2 2 2
E(t) ≥ E(t) − (2β + )∥φx + ψ∥ − (3β + )∥ψx ∥ − ( + )∥h1 ∥ − ∥h2 ∥ − mF , (54)
4 4 b κ b
and from (24), we obtain
3κ 3b 2 1 2
E(t) ≥ E(t) − ∥φx + ψ∥2 − ∥ψx ∥2 − ( + )∥h1 ∥2 − ∥h2 ∥2 − mF
8 8 b κ b
1 2 1 2 (55)
≥ E(t) − [( + )∥h1 ∥2 + ∥h2 ∥2 + mF ] ,
4 b κ b
´¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¸¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¶
K∶=

proving (45). By using a density argument, we obtain that (44) and (45) are valid for generalized solutions. □

Remark 3. If U(t) is a solution of (37) and (15) is true, then it follows from (44) that E(t) ≤ E(0) for all t ∈ [0, T), and together with (45),
we have
∥U(t)∥2H ≤ 8E(0) + 8K∀t ∈ [0, T). (56)

C. Global solution

Lemma 4. Assume that (15) holds. Then, −A1 is a monotone operator.

Proof. Since A1 is linear, for every U ∈ D(A), we have

⟨−A1 U, U⟩H = μ1 ∥v∥2 + μ2 ⟨z(1), v⟩ + ∣μ2 ∣⟨zy , z⟩. (57)

Now, note that

∣μ2 ∣
∣μ2 ∣⟨zy , z⟩ = (∥z(1)∥2 − ∥v∥2 ), (58)
2
and from Young’s inequality, we have
∣μ2 ∣ 2 ∣μ2 ∣
μ2 ⟨z(1), v⟩ ≥ − ∥v∥ − ∥z(1)∥2 . (59)
2 2
Therefore,
⟨−A1 U, U⟩H ≥ (μ1 − ∣μ2 ∣)∥v∥2 ≥ 0. (60)

□
The proof of the following lemma can be found in Ref. 25.
Lemma 5. Let R(I − A1 ) be the range of the operator I − A1 . So, one has R(I − A1 ) = H.

Lemma 6. The operator −A2 is monotone, bounded, and hemicontinuous.

Proof. For any Ui = (φi , ui , ψi , vi , zi ) ∈ H, i = 1, 2, it follows directly from (A3) that

⟨−A2 U 1 + A2 U 2 , U 1 − U 2 ⟩H = ⟨g(u1 ) − g(u2 ), u1 − u2 ⟩ ≥ mg ∥u1 − u2 ∥2 ≥ 0. (61)

Therefore, A2 is monotone. In addition, from (32), we have

−1/2
∥ − A2 U∥H ≤ ρ1 Mg ∥u∥. (62)

This means that −A2 is bounded.

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To prove the hemicontinuity of −A2 , consider Ui = (φi , ui , ψi , vi , zi ) ∈ H, i = 1, 2. So, for any U = (φ, u, ψ, v, z) ∈ H, we have

⟨−A2 (U1 + tU2 ), U⟩H = ⟨g(u1 + tu2 ), u⟩. (63)

We now take
h(x) = g(u1 (x))u(x) ∈ L1 (0, 1) (64)

and sequence (hn ) ⊂ L1 (0, 1) given by

1
hn (x) = g(u1 (x) + u2 (x))u(x) ∈ L1 (0, 1). (65)
n
Note that
lim hn (x) = h(x) a.e. in (0, 1). (66)
n→∞

In addition, we still have

1 1
∣hn (x)∣ = ∣g(u1 (x) + u2 (x))u(x)∣ ≤ Mg ∣(u1 (x) + u2 (x))u(x)∣ ≤ Mg (∣u1 (x)∣ + ∣u2 (x)∣)∣u(x)∣. (67)
n n
It follows from Lebesgue’s dominated convergence theorem that

lim ⟨−A2 (U1 + tU2 ), U⟩H = ⟨g(u1 ), u⟩ = ⟨−A2 U1 , U⟩H , (68)

t→0

proving that −A2 is hemicontinuous. □

The proof of the following lemma can be found in Ref. 15.
Lemma 7. The operator F : H → H is locally Lipschitz.
In the following, we will state and prove the most important result of this section.

Theorem 8 (Existence of global solutions). Suppose (15). Then,

(i) if U0 ∈ H, then (37) has a unique generalized solution U ∈ C([0, ∞); H);
(ii) if U0 ∈ D(A), then the above generalized solution is a strong solution; and
(iii) for all T > 0, if U 1 (t) and U 2 (t) are two solutions of (37), then there exists a constant C0 (U 1 (0), U 2 (0)) > 0 such that

∥U 1 (t) − U 2 (t)∥H ≤ eC0 t ∥U1 (0) − U2 (0)∥H , ∀t ∈ [0, T]. (69)

Proof. Since −A1 is maximal monotone; −A2 is monotone, bounded, and hemicontinuous; and H is a Hilbert space, it follows from Ref.
33, Corollary 2.1 that −A = −(A1 + A2 ) is a maximal monotone operator.
Since −A is a maximal monotone operator and F is locally Lipschitz, it follows from Ref. 34, Theorem 7.2 that there exists a maximal
interval I = [0, T) such that (37) has a unique strong solution on I if U0 ∈ D(A), and if U0 ∈ H = D(A), (37) has a unique generalized solution
on I. If U(t) is a solution of (37), then, thanks to (56), it does not blow up when t → T − and thus T = ∞, proving (i) and (ii).
(iii) Let U 1 (t) = (φ1 , ψ 1 , φ1t , ψt1 , z1 ) and U 2 (t) = (φ2 , ψ 2 , φ2t , ψt2 , z2 ) be two strong solutions of (37) with corresponding initial data U01 and
U02 . Consider φ = φ1 − φ2 , ψ = ψ 1 − ψ 2 , and z = z1 − z2 ; then, U(t) = U 1 (t) − U 2 (t) = (φ, ψ, φt , ψ t , z) is a solution of

ρ1 φtt − κ(φx + ψ)x + g(φ1t ) − g(φ2t ) = f 1 (φ2 , ψ 2 ) − f 1 (φ1 , ψ 1 ),

ρ2 ψtt − bψxx + κ(φx + ψ) + μ1 ψt + μ2 z(x, 1, t) = f 2 (φ2 , ψ 2 ) − f 2 (φ1 , ψ 1 ), (70)
τ0 zt + zy = 0.

Multiplying (70)1 by φt , (70)2 by ψ t , and (70)3 by ∣μ2 ∣z and integrating the first and second over [0, 1] with respect to x and the third over
[0, 1] × [0, 1] with respect to x and y, adding the results, we obtain

1 d 1 1
∥U(t)∥2H = − ∫ (g(φ1t ) − g(φ2t ))(φ1t − φ2t )dxdx + ∫ ( f 1 (φ2 , ψ 2 ) − f 1 (φ1 , ψ 1 ))φt dx+
2 dt 0 0
1 1 ∣μ2 ∣ 1 2
2 2 1 1
∫ ( f 2 (φ , ψ ) − f 2 (φ , ψ ))ψt dx − μ2 ∫ z(x, 1, t)ψt dxdx − 2 ∫ z (x, 1, t)dx+ (71)
0 0 0
∣μ2 ∣ 2
( − μ1 )∥ψt ∥ .
2

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By using (30) and Young’s inequality, we obtain

1 d 1
∥U(t)∥2H = − mg ∥φt ∥2 − (μ1 − ∣μ2 ∣)∥ψt ∥2 + ∫ ( f 1 (φ2 , ψ 2 ) − f 1 (φ1 , ψ 1 ))φt dx+
2 dt 0
1
(72)
2 2 1 1
∫ ( f 2 (φ , ψ ) − f 2 (φ , ψ ))ψt dx.
0

By using Young’s inequality, we have

1 1 1
2 2 1 1 2 2 1 1 2 2
∫ ( f 1 (φ , ψ ) − f 1 (φ , ψ ))φt dx ≤ ∫ ∣ f 1 (φ , ψ ) − f 1 (φ , ψ )∣ dx + 4 ∥φt ∥ . (73)
0 0

Applying the mean value theorem and Schwarz’s inequality, we obtain

1 1
2 2 1 1 2 2 2 1 1 2 2 1 2 1 2
∫ ∣ f 1 (φ , ψ ) − f 1 (φ , ψ )∣ dx ≤ ∫ ∣∇ f 1 ((1 − σ)(φ , ψ ) + σ(φ , ψ ))∣ ∣(φ − φ , ψ − ψ )∣ dx (74)
0 0

for some σ ∈ (0, 1). By using (26), we obtain a positive constant C independent of U 1 and U 2 (henceforward, in this proof, we will represent
for C a generic positive constant that is independent of U 1 and U 2 ) such that
1
2 2 1 1 2 2 1 2 1 2
∫ ∣∇ f 1 ((1 − σ)(φ , ψ ) + σ(φ , ψ ))∣ ∣(φ − φ , ψ − ψ )∣ dx ≤
0
1
C∫ (1 + ∣φ2 ∣p−1 + ∣φ1 ∣p−1 + ∣ψ 2 ∣p−1 + ∣ψ 1 ∣p−1 )2 (∣φ∣2 + ∣ψ∣2 )dx ≤ (75)
0
1
C∫ (1 + ∣φ2 ∣2(p−1) + ∣φ1 ∣2(p−1) + ∣ψ 2 ∣2(p−1) + ∣ψ 1 ∣2(p−1) )(∣φ∣2 + ∣ψ∣2 )dx.
0

By using Hölder’s inequality,

1
2 2(p−1)
∫ (1 + ∣φ ∣ + ∣φ1 ∣2(p−1) + ∣ψ 2 ∣2(p−1) + ∣ψ 1 ∣2(p−1) )(∣φ∣2 + ∣ψ∣2 )dx ≤
0 (76)
2(p−1) 2(p−1) 2(p−1) 2(p−1)
C(1 + ∥φ2 ∥2p + ∥φ1 ∥2p + ∥ψ 2 ∥2p + ∥ψ 1 ∥2p )(∥φ∥2 + ∥ψ∥2 ).

Considering the embedding H01 (0, 1) ↪ Ls (0, 1) for 1 ≤ s ≤ ∞ and the inequality

∥φx ∥2 ≤ 2∥φx + ψ∥2 + 2∥ψx ∥2 , (77)

we have
2(p−1) 2(p−1) 2(p−1) 2(p−1)
(1 + ∥φ2 ∥2p + ∥φ1 ∥2p + ∥ψ 2 ∥2p + ∥ψ 1 ∥2p )(∥φ∥2 + ∥ψ∥2 ) ≤
C(1 + ∥φ2x + ψ 2 ∥2(p−1) + ∥φ1x + ψ 1 ∥2(p−1) + ∥ψx2 ∥2(p−1) + ∥ψx1 ∥2(p−1) )(∥φx + ψ∥2 + ∥ψx ∥2 ) ≤ (78)
1 2(p−1) 2 2(p−1) 2
C(∥U (t)∥H + ∥U (t)∥H )∥U(t)∥H .

From (56), we obtain

2(p−1) 2(p−1)
(∥U 1 (t)∥H + ∥U 2 (t)∥H )∥U(t)∥2H ≤ C0 ∥U(t)∥2H , (79)

where C0 = (U 1 (0), U 2 (0)) is a generic positive constant depending on U 1 and U 2 . Combining (73)–(76), (78), and (79), we obtain
1
2 2 1 1 2
∫ ( f 1 (φ , ψ ) − f 1 (φ , ψ ))φt dx ≤ C0 ∥U(t)∥H . (80)
0

Similarly,
1
2 2 1 1 2
∫ ( f 2 (φ , ψ ) − f 2 (φ , ψ ))φt dx ≤ C0 ∥U(t)∥H . (81)
0

From (72), (80), and (81), we arrive at

d
∥U(t)∥2H ≤ C0 ∥U(t)∥2H , (82)
dt
which implies
∥U(t)∥2H ≤ eC0 t ∥U(0)∥2H . (83)

Applying a density argument, we obtain that the previous inequality is valid for generalized solutions on every closed interval [0, T]. □

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Remark 4. Once the existence and uniqueness of solutions are established, we can define a family S(t) : H → H, t ≥ 0, of nonlinear operators
given by
S(t)U0 = U(t) for any U0 ∈ H, (84)

where U(t) is the solution of (19)–(21) with initial data U 0 . It is not difficult to show that S(t) satisfies the semigroup property. By using (69),
one can establish that S(t) is a continuous operator for all t ≥ 0, and since t ↦ S(t)U 0 = U(t) is continuous for all U0 ∈ H, it follows that S(t) is a
C0 -semigroup. This way, we conclude, therefore, that (H, S(t)) is a dynamical system with a semigroup S(t).

IV. QUASI-STABILITY AND SMOOTH ASYMPTOCITY

In this section, we will prove that the dynamical system obtained in Sec. III C, associated with (37), is quasi-stable (see Definition 20) on
every bounded, positively invariant set and therefore asymptotically smooth.
Lemma 9. Suppose ∣μ2 ∣ < μ1 . Then, for every bounded set B ⊂ H , there exists positive constants γ0 , ϑ0 , and CB , with CB depending on
B such that, for any U i = (φi0 , φi1 , ψ0i , ψ1i , z0i ) ∈ B , with S(t)U i = (φi (t), φit (t), ψ i (t), ψti (t), zi (t)) mild solution of (37) for i = 1, 2, the following
inequality is valid:
t
∥S(t)U 1 − S(t)U 2 ∥2H ≤ ϑ0 e−γ0 t ∥U 1 − U 2 ∥2H + CB ∫ e−γ0 (t−s) [∥φ(s)∥22p + ∥ψ(s)∥22p ]ds t ≥ 0, (85)
0

where φ(t) = φ1 (t) − φ2 (t) and ψ(t) = ψ 1 (t) − ψ 2 (t).

Proof. Given a bounded set B ⊂ H and U i = (φi0 , φi1 , ψ0i , ψ1i , zi ) ∈ B with i = 1, 2, let U i (t) = S(t)U i = (φi , φit , ψ i , ψti , zi ) be mild solutions
of (37) corresponding to initial data U i . Consider the following notations:

φ = φ1 − φ2 , ψ = ψ 1 − ψ 2 , z = z1 − z2 , G(φt ) = g(φ1t ) − g(φ2t ), (86)

and
Fi (φ, ψ) = f i (φ1 , ψ 1 ) − f i (φ2 , ψ 2 ). (87)

In this way, U(t) = U 1 (t) − U 2 (t) = (φ, φt , ψ, ψ t , z) satisfies (in mild sense) the following system:

ρ1 φtt − κ(φx + ψ)x = −F1 (φ, ψ) − G(φt ),

ρ2 ψtt − bψxx + κ(φx + ψ) + μ1 ψt + μ2 z(x, 1, t) = −F2 (φ, ψ), (88)
τzt + zy = 0,

with Dirichlet bounded conditions and initial data

U 1 (0) − U 2 (0) = U 1 − U 2 = (φ0 , φ1 , ψ0 , ψ1 , z0 ). (89)

The solution energy E(t) of U(t) to (88) is the same as (42). We will divide the proof in the following steps:
Step 1. There is a positive generic constant CB depending on B such that the energy E(t) of solution U(t) of (88) satisfies the following
inequality:
μ1 − ∣μ2 ∣ m1
E′ (t) ≤ −( )∥ψt ∥2 − ∥φt ∥2 + CB (∥φ∥22p + ∥ψ∥22p ). (90)
2 2

In fact, multiplying (88)1 by φt and (88)2 by ψ t and integrating over [0, 1], then multiplying (88)3 by z and integrating over [0, 1] × [0, 1]
and adding the results obtained, we have
1 1
E′ (t) = −μ1 ∥ψt ∥2 − μ2 ∫ z(1)ψt dx − ∫ (F1 (φ, ψ)φt + F2 (φ, ψ)ψt )dx
0 0
1
(91)
∣μ2 ∣
− ∫ G(φt )φt dx + (∥ψt ∥2 − ∥z(1)∥2 ).
0 2
By using Young’s inequality, we obtain
1 1
E′ (t) ≤ −(μ1 − ∣μ2 ∣)∥ψt ∥2 − ∫ (F1 (φ, ψ)φt + F2 (φ, ψ)ψt )dx − ∫ G(φt )φt dx. (92)
0 0

Now, performing a procedure analogous to that found in Ref. 15, we obtain a positive constant CB such that

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1 m1 CB
2 2 2
∫ F1 (φ, ψ)φt dx ≤ 2 ∥φt ∥ + 2 (∥φ∥2p + ∥ψ∥2p ), (93)
0
1 μ1 − ∣μ2 ∣ CB
∫ F2 (φ, ψ)φt dx ≤ ( )∥ψt ∥2 + (∥φ∥22p + ∥ψ∥22p ). (94)
0 2 2
It follows from (29) that
1
2
∫ G(φt )φt dx ≥ m1 ∥φt ∥ . (95)
0

Combining (92)–(95), we obtain (90).

Step 2. Now, we consider the functional given by
1 1
K(t) ∶= ρ1 ∫ φt φdx + ρ2 ∫ ψt ψdx. (96)
0 0

Then, K(t) satisfies

⎛ Mg2 3Mg2 ⎞ 3μ2 b

′
K (t) ≤ ρ1 + + ∥φt ∥2 + (ρ2 + 1 )∥ψt ∥2 − ∥ψx ∥2
⎝ 2κ 2b ⎠ 2b 2
κ 3μ2
− ∥φx + ψ∥2 + CB (∥φ∥22p + ∥ψ∥22p ) + 2 ∥z(1)∥2 . (97)
2 2b
In fact, taking the derivative of K and using (19)1 and (19)2 , we obtain
1
′ 2 2 2 2
K (t) = ρ1 ∥φt ∥ + ρ2 ∥ψt ∥ − b∥ψx ∥ − κ∥φx + ψ∥ − ∫ (F1 (φ, ψ)φ + F2 (φ, ψ)ψ)dx
0
1 1 1
− ∫ G(φt )φdx − μ1 ∫ ψt ψdx − μ2 ∫ z(1)ψdx. (98)
0 0 0

Using a procedure analogous to that found in Ref. 15, we obtain

1
2 2
∫ F1 (φ, ψ)φdx ≤ CB (∥φ∥2p + ∥ψ∥2p ), (99)
0
1
2 2
∫ F2 (φ, ψ)ψdx ≤ CB (∥φ∥2p + ∥ψ∥2p ). (100)
0

By using (31) and the Poincaré and Young’s inequalities, we can obtain
1 1
1 2
∫ G(φt )φdx ≤ ∫ [g(φt ) − g(φt )]φdx ≤ Mg ∥φt ∥∥φ∥ ≤ Mg ∥φt ∥∥φx + ψ∥ + Mg ∥φt ∥∥ψx ∥
0 0
Mg2 κ 3Mg2 b
≤ ∥φt ∥2 + ∥φx + ψ∥2 + ∥φt ∥2 + ∥ψx ∥2 (101)
2κ 2 2b 6
2 2
⎛ Mg 3Mg ⎞ κ b
≤ + ∥φt ∥2 + ∥φx + ψ∥2 + ∥ψx ∥2 ,
⎝ 2κ 2b ⎠ 2 6

1 3μ21 b
μ1 ∫ ψt ψdx ≤ ∥ψt ∥2 + ∥ψx ∥2 , (102)
0 2b 6
and
1 b 3μ2
μ2 ∫ z(1)ψdx ≤ ∥ψx ∥2 + 2 ∥z(1)∥2 . (103)
0 6 2b
Combining (98)–(103), we obtain (97).
Step 3. We consider the functional
1 1
−2τy 2
P(t) ∶= τ ∫ ∫ e z dydx. (104)
0 0

Taking the derivative of P(t), we obtain

1
2
′
P (t) = ∥ψt ∥ − e
−2τ
∥z(1)∥2 − 2τ ∫ e−2τy z2 dydx. (105)
0

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Step 4. We define the following functional:

I(t) ∶= NE(t) + K(t) + M P(t), (106)

where N and M are positive constants to be defined later. It is not difficult to check that there exists a positive constant C0 such that

∣I(t) − NE(t)∣ ≤ C0 E(t)∀t ≥ 0. (107)

So, for N big enough, we have N − C0 > 0, and in this way, we have

(N − C0 )E(t) ≤ I(t) ≤ (N + C0 )E(t)∀t ≥ 0. (108)

In addition, if N 1 is a positive constant, we obtain

⎡ ⎤
⎢ m1 N ⎛ Mg2 3Mg2 ⎞ ρ1 N1 ⎥
′
I (t) + N1 E(t) ≤ −⎢ ⎥∥φt ∥2
⎢ 2 − ⎝ρ1 + 2κ + 2b ⎠
−
2 ⎥
⎢ ⎥
⎣ ⎦
2
μ1 − ∣μ2 ∣ 3μ1 ρ2 N1
− [( )N − (ρ2 + )−M− ]∥ψt ∥2
2 2b 2
(109)
3μ2 b bN1
− [Me −2τ
− 2 ]∥z(1)∥2 − [ − ]∥ψx ∥2
2b 2 2
κ κN1 τ∣μ2 ∣N1
−[ − ]∥φx + ψ∥2 − [2τM − ]∥z∥2 + CB (∥φ∥22p + ∥ψ∥22p ).
2 2 2

Consider now
1 3e2τ μ22 ∣μ2 ∣N1
0 < N1 < and M > max{ , }. (110)
2 2b 4

Then, having N big enough, we obtain

′ 2 2
I (t) ≤ −N1 E(t) + CB (∥φ∥2p + ∥ψ∥2p ). (111)

From (108) and (111), we have

′ 2 2
I (t) ≤ −γ0 I(t) + CB (∥φ∥2p + ∥ψ∥2p ), (112)

where
N1
γ0 = > 0. (113)
N + C0

From (112), we obtain

t
−γ0 t −γ0 (t−s)
I(t) ≤ e I(0) + CB ∫ e (∥φ∥22p + ∥ψ∥22p )ds, (114)
0

and again from (108), we arrive at

N + C0 −γ0 t t
E(t) ≤ ( ) e E(0) + CB ∫ e−γ0 (t−s) (∥φ∥22p + ∥ψ∥22p )ds, (115)
N − C0 0
´¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¸ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¶
ϑ0

so proving (85). □

Lemma 10. The dynamical system (H, S(t)) is quasi-stable (see Definition 20) on any bounded, positively invariant subset of H. Therefore,
(H, S(t)) is asymptotically smooth.

Proof. Since the embedding H01 (0, 1) ↪ L2 (0, 1) is compact, we consider the isomorphism H ≅ H
̃ , where

̃ ∶= [H01 (0, 1)]2 × [L2 (0, 1)]2 × L2 ((0, 1) × (0, 1)) ,

H (116)
´¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¸¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹¶ ´¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¸ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¶ ´¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¸¹¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¹ ¶
X Y Z

(φ, φt , ψ, ψt , z) ∈ H ⇐⇒ (φ, ψ, φt , ψt , z) ∈ H
̃, (117)

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and the inner product on H ̃ . Let B ⊂ H

̃ is the same as H. In this proof, when there is no danger of confusion, we will write H instead of H
be a bounded and positively invariant set on (H, S(t)). Given U 1 , U 2 ∈ B , we have

S(t)U i = (φi , ψ i , φit , ψti , zi )for i = 1, 2 and (φ, ψ) = (φ1 − φ2 , ψ 1 − ψ 2 ). (118)

From Theorem 13 (ii), we obtain

∥S(t)U 1 − S(t)U 2 ∥H ≤ a(t)∥U1 − U2 ∥H , (119)

where a(t) = eC0 t > 0 is locally bounded on [0, ∞). In addition, we consider the seminorm ηX (⋅, ⋅) on X = [H01 (0, 1)]2 , given by

ηX (u, v) ∶= ∥u∥22p + ∥v∥22p , (120)

which is compact because the embedding H01 (0, 1) ↪ L2p (0, 1) is compact. It follows from Lemma 9 that

∥S(t)U 1 − S(t)U 2 ∥2H ≤ b(t)∥U 1 − U 2 ∥2H + c(t) sup [∥φ(s)∥22p + ∥ψ(s)∥22p ]t ≥ 0, (121)
0≤s≤t

where
t
b(t) = ϑ0 e−γ0 t and c(t) = CB ∫ e−γ0 (t−s) ds. (122)
0

It is not difficult to prove that

CB
b(t) ∈ L1 (R+ ), with lim b(t) = 0 and c∞ = sup c(t) ≤ < ∞. (123)
t→∞ t∈R+ γ0

Therefore, (H, S(t)) is quasi-stable on B , and from Theorem 21, (H, S(t)) is asymptotically smooth. □

V. EXISTENCE OF GLOBAL ATTRACTOR

Lemma 11. Suppose ∣μ2 ∣ < μ1 . Then, the dynamical system (H, S(t)) is gradient (see Definition 25). In addition,
(a) the Lyapunov function Φ of (H, S(t)) is bounded from above on bounded sets of H and
(b) the set ΦR = {U ∈ H; Φ(U) ≤ R} is bounded for all R > 0.

Proof. First, we will prove the existence of the Lyapunov function for (H, S(t)). In fact, we consider the following functional Φ : H → R
given by
1 1 1 1
Φ(φ, u, ψ, v, z) = ∥(φ, u, ψ, v, z)∥2H + ∫ F(φ(t), ψ(t))dx − ∫ h1 φ(t)dx − ∫ h2 ψ(t)dx. (124)
2 0 0 0

So, for all U0 ∈ H, S(t)U 0 = U(t) is a mild solution of (37) with initial data U 0 , and if E(t) is the modified energy of U(t), then

Φ(S(t)U0 ) = E(t). (125)

It follows from Lemma 3 that

Φ(S(t)U0 ) ≤ Φ(U0 )∀t ≥ 0, (126)

and by the semigroup property S(t), one has t → Φ(S(t)U 0 ) nonincreasing; this means that Φ is a Lyapunov function for (H, S(t)). In addition,
we claim that Φ is strict for (H, S(t)). In fact, given U0 = (φ0 , φ1 , ψ0 , ψ1 , z0 ) ∈ H, we consider the orbit S(t)U 0 = (φ, φt , ψ, ψ t , z) satisfying

Φ(S(t)U0 ) = Φ(U0 )∀t ≥ 0. (127)

From (44), (125), and (127), we have

t t
0 = E(t) − E(0) ≤ −mg ∫ ∥φt ∥2 ds − (μ1 − ∣μ2 ∣)∫ ∥ψt ∥2 ds ≤ 0, (128)
0 0

which implies
ψt ≡ φt ≡ z ≡ 0, (129)

that is,
S(t)U0 = (φ0 , 0, ψ0 , 0, 0) = U0 , ∀t ≥ 0. (130)

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Therefore, U 0 is a stationary point of S(t), and so, Φ is strict. Once Φ is a strict Lyapunov function for (H, S(t)) onto H, one has the
(H, S(t)) gradient.
(a) It is not difficult to see from (124) that Φ is bounded from above on bounded sets.
(b) Given R > 0 and U 0 ∈ ΦR , we consider the mild solution S(t)U 0 = U(t) from (37) with initial data U 0 and modified energy E(t); from
Remark 3, we have ∥U 0 ∥2 ≤ 8(R + K), that is, ΦR is bounded. □

Lemma 12. The stationary point set N of (H, S(t)) is bounded.

Proof. If U0 = (φ0 , 0, ψ0 , 0, 0) ∈ N , then U 0 satisfies

−κ(φx + ψ)x + f 1 (φ, ψ) = h1 ,
(131)
−bψxx + κ(φx + ψ) + f 2 (φ, ψ) = h2 .
Using an argument analogous to that found in Ref. 15, we can get a positive constant K, depending on U 0 , such that

∥U0 ∥H ≤ K(1 + ∥h1 ∥2 + ∥h2 ∥2 ), (132)

thus proving the result. □
Based on Lemmas 10–12 and on Theorem 26, we have the first main result this work.

Theorem 13. The dynamical system (H, S(t)) associated with (19) possesses a compact global attractor A given by A = M (N ), that is,
the global attractor is the unstable manifold emanating from N (see Definition 24).

Remark 5. Since the attractor A is invariant and bounded, it follows from Lemma 10 and Ref. 31, Theorem 7.9.6 that A possesses a finite
fractal dimension.

Remark 6. The compact global attractor obtained in Theorem 13 consists of the complete trajectories γ = {u(t) : t ∈ R} such that
lim dist H (u(t), N ) = 0 and lim dist H (u(t), N ) = 0. (133)
t→−∞ t→+∞

VI. EXPONENTIAL ATTRACTOR

Theorem 14. For any δ ∈ (0, 1], there is an exponential fractal attractor (see Definition 20) Aexp,δ ⊂ H with a finite fractal dimension on
extended space H−δ , defined as interpolation of spaces
2 −1 2 2
H0 ∶= H, and H−1 ∶= [L (0, 1) × H (0, 1)] × L ((0, 1) × (0, 1)). (134)

Proof. Consider the Lyapunov function given in (124) and the set ΦR given in Lemma 124. For any U 0 ∈ ΦR , we know that there is a
unique mild solution U(t) = S(t)U 0 and Φ being a Lyapunov function results in Φ(S(t)U 0 ) ≤ Φ(U 0 ) ≤ R; this implies S(t)ΦR ⊂ ΦR , and so, ΦR
is positively invariant. In addition, from Lemma 11, we have that ΦR is bounded, and as the global attractor A is compact, then for R being
sufficiently large, we have A ⊂ ΦR . Therefore, ΦR is bounded, positively invariant, and absorbing. Moreover, since A1 and A2 are bounded
because D(A1 ) = H and A1 is closed, we have A bounded because F is locally bounded.
In this way, if U(t) is a strong solution of (37) with initial data U 0 ∈ ΦR defined on [0, T], since ΦR is positively invariant, there is a
generic constant CΦR depending on ΦR such that
∥AU(t)∥H ≤ CΦR , ∥F (U(t))∥H ≤ CΦR , ∀t ∈ [0, T]. (135)
So,
∥U ′ (t)∥H−1 ≤ ∥ − AU(t)∥H−1 + ∥F (U(t))∥H−1 ≤ ∥AU(t)∥H + ∥F (U(t))∥H ≤ CΦR . (136)
In this way, if 0 < t 1 < t 2 < T, we have
t2
∥S(t1 )U0 − S(t2 )U0 ∥H−1 ≤ ∫ ∥U ′ (t)∥H−1 dt ≤ CΦR ∣t1 − t2 ∣. (137)
t1

This means that t ↦ S(t)U 0 is Hölder continuous on H−1 with exponent γ = 1. It follows from Theorem 23 that the dynamical system (H, S(t))
possesses a generalized exponential attractor with a finite fractal dimension in H−1 . For proving the existence of the generalized exponential
attractor with a finite fractal dimension in H−δ for δ ∈ (0, 1), we use an argument analogous to that found in Refs. 2 and 3 and so finishing the
proof of the result. □

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ACKNOWLEDGMENTS
The authors are grateful to the anonymous referee for the constructive remarks that have enhanced the presentation of this paper. The
authors also thank PROPESP/UFPA. D. S. Almeida Júnior thanks the CNPq for financial support through the following projects: “New
guidelines for dissipative Timoshenko type systems at light of the second spectrum”—CNPq Grant No. 310423/2016-3—and “Stabilization
for Timoshenko systems from the second spectrum point of view”—PNPD/CAPES/INCTMAT/LNCC 88887.351763/2019-00. A. J. A. Ramos
thanks the CNPq for financial support through the project: “Asymptotic stabilization and numerical treatment for carbon nanotubes” - CNPq.

APPENDIX: SOME CONCEPTS AND RESULTS RELATED TO INFINITE-DIMENSIONAL DYNAMICAL SYSTEMS

In this section, we gather the main concepts and results related to infinite-dimensional dynamical systems needed for this work. We will
consider in this section a dynamical system (X, S(t)), where X is a Banach space and S(t) is a C0 -semigroup of continuous operators from X
into itself for all t ≥ 0. The definitions and results stated in this section can be found in Refs. 31 and 35–37.
Definition 15. A bounded closed set A ⊂ X is called a global attractor of (X, S(t)) if
(i) A is invariant set, that is, S(t)A = A for all t ≥ 0, and
(ii) A uniformly attracts bounded sets on X, that is, for any bounded set B ⊂ X, we have

lim dX {S(t)B ∣A } = 0, (A1)

t→+∞

wheredX A∣B} = supx∈A dist X (x, B) is the Hausdorff semidistance.

Definition 16. We say that (X, S(t)) is asymptotically smooth if for every positively invariant bounded set D , that is, S(t)D ⊂ D , for all
t ≥ 0, there is a compact set K in the closure D of D such that

lim dX {S(t)D ∣K } = 0. (A2)

t→+∞

Definition 17. The dynamical system (X, S(t)) is called dissipative if it possesses a bounded absorbing set B , that is, B is a closed set and
for any bounded set D ⊂ X, there exists t0 (D ), such that S(t)D ⊂ B , for all t ≥ t0 (D ).

Remark 7. It follows from Ref. 31, Theorem 7.2.3 that if (X, S(t)) is dissipative and asymptotically smooth, then it possesses a unique
compact global attractor.

Definition 18. Let K be a compact set in X. The fractal dimension dim f K of K is defined by

ln n(K , ε)
dim f K = lim sup , (A3)
ε→0 ln(1/ε)
where n(K , ε) is the minimal number of closed balls of the radius ε covering K .

Definition 19. A compact set Aexp ⊂ X is called the exponential fractal attractor of X, S(t) if Aexp is a positively invariant set of finite fractal
dimension and for any bounded set B , there are positive constants tB , CB , and γB such that

dX {S(t)B ∣Aexp } = sup dist X (S(t)x, Aexp ) ≤ CB e−γB (t−tB ) . (A4)

x∈B

If Aexp has a finite fractal dimension in some extended space X

̃ ⊃ X, we say Aexp is a generalized exponential fractal attractor.

1. Quasi-stable dynamical systems

Suppose that the Banach space X has the form X = X × Y × Z, with X, Y, and Z reflexive Banach spaces and X compactly embedded in
Y, we endow this space with the following norm:

∥u∥2X = ∥u1 ∥2X + ∥u2 ∥2Y + ∥u3 ∥2Z , ∀u = (u1 , u2 , u3 ) ∈ X = X × Y × Z. (A5)

We further assume that the evolution operator S(t) is of the form

S(t)y = (x(t), xt (t), w(t)), with y = (x0 , x1 , w0 ) ∈ X, (A6)

and the functions x and w satisfy

x ∈ C(R+ , X) ∩ C1 (R+ , Y), w ∈ C(R+ , Z). (A7)

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Definition 20. A dynamical system of form (A6) is called quasi-stable on B ⊂ X if there exist a compact seminorm μX (⋅) on X and
nonnegative scalar functions a(t), b(t), and c(t) defined on [0, +∞) such that
(a) a(t) and c(t) are locally bounded on [0, +∞);
(b) b(t) ∈ L∞ ([0, +∞)) satisfies limt→+∞ b(t) = 0;
(c) for any x1 and x2 in B and t > 0, the following relations are valid:

∥S(t)x1 − S(t)x2 ∥2X ≤ a(t)∥x1 − x2 ∥2X (A8)

and
2
∥S(t)x1 − S(t)x2 ∥2X ≤ b(t)∥x1 − x2 ∥2X + c(t) sup [μX (x1 (s) − x2 (s))] , (A9)
0≤s≤t

where S(t)yi = (xi (t), xti (t), wi ) for i = 1, 2.

Theorem 21 (Ref. 31, Proposition 7.9.4). Let (X, S(t)) be a dynamical system with an evolution operator of form (A6). If (X, S(t)) is
quasi-stable on every bounded positively invariant set B in X, then (X, S(t)) is asymptotically smooth.

Theorem 22 (Ref. 31, Theorem 7.9.6). Let (X, S(t)) be a dynamical system with an evolution operator of form (A6). If (X, S(t)) possesses
a compact global attractor A and is quasi-stable on A , then A has finite fractal dimension dim f A .

Theorem 23 (Ref. 31, Theorem 7.9.9). Let (X, S(t)) be a dynamical system with an evolution operator of form (A6), which is dissipative
and quasi-stable on some bounded absorbing set B in X. Suppose that there exists a space X
̃ ⊃ X such that t ↦ S(t)x is Hölder continuous in X
̃
for every x ∈ B , that is, there exists 0 < γ ≤ 1 and CB ,T > 0 satisfying

γ
̃ ≤ CB ,T ∣t1 − t2 ∣ , t1 , t2 ∈ [0, T], x ∈ B .
∥S(t1 )x − S(t2 )∥X (A10)

Then, (X, S(t)) possesses a fractal exponential attractor with a finite fractal dimension in X
̃.

2. Gradient dynamical systems

Definition 24. The stationary point set of (X, S(t)) will be represented by N , that is,

N ∶= {x ∈ X; S(t)x = x, ∀t ≥ 0}. (A11)

In addition, an unstable manifold emanating from N , represented by M (N ), is the set of all y ∈ X such that there exists a full trajectory
γ = {u(t); t ∈ R} satisfying
u(0) = y and lim dist X (u(t), N ) = 0. (A12)
t→−∞

Definition 25. We say that the dynamical system (X, S(t)) is gradient if there is a continuous functional Φ : X → R, called the Lyapunov
function, satisfying the following:
(a) the function t ↦ Φ(S(t)x) is nonincreasing for all x ∈ X and
(b) Φ is strict, that is, if Φ(S(t)x0 ) = Φ(x0 ), for all t > 0, then S(t)x0 = x0 for all t > 0; in other words, x0 is the stationary point of (X, S(t)).

Theorem 26 (Ref. 31, Corollary 7.5.7). Suppose (X, S(t)) is gradient and asymptotically smooth satisfying the following:
(a) its Lyapunov function Φ is bounded from above on any bounded subset of X;
(b) the set ΦR = {x ∈ X; Φ(x) ≤ R} is bounded for every R; and
(c) the stationary point set N of (X, S(t)) is bounded.
Then, (X, S(t)) possesses a compact global attractor A = M (N ).

DATA AVAILABILITY
The data that support the findings of this study are available from the corresponding author upon reasonable request.

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