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On the Nonlinear $\Psi$-Hilfer Fractional Differential Equations

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 On the Nonlinear Ψ-Hilfer Fractional Differential Equations

Kishor D. Kucche 1
kdkucche@gmail.com

Ashwini D. Mali 2
arXiv:1808.01608v2 [math.DS] 28 Sep 2018

maliashwini144@gmail.com

J. Vanterler da C. Sousa3
ra160908@ime.unicamp.br
1,2 Department of Mathematics, Shivaji University, Kolhapur-416 004, Maharashtra, India.
3 Department of Applied Mathematics, Imecc-Unicamp, 13083-859, Campinas, SP, Brazil.

Abstract
We consider the nonlinear Cauchy problem for Ψ- Hilfer fractional differential equa-
tions and investigate the existence, interval of existence and uniqueness of solution in
the weighted space of functions. The continuous dependence of solutions on initial con-
ditions is proved via Weissinger fixed point theorem. Picards successive approximation
method has been developed to solve nonlinear Cauchy problem for differential equations
with Ψ- Hilfer fractional derivative and an estimation have been obtained for the error
bound. Further, by Picard’s successive approximation, we derive the representation
formula for the solution of linear Cauchy problem for Ψ-Hilfer fractional differential
equation with constant coefficient and variable coefficient in terms of Mittag-Leffler
function and Generalized (Kilbas–Saigo) Mittag-Leffler function.

Key words: Ψ–Hilfer fractional derivative; Existence and uniqueness; Continuous depen-
dence of solution; Successive approximations; Mittag-Leffler function, Generalized Mittag-
Leffler function.
2010 Mathematics Subject Classification: 26A33, 34A12, 33E12

1 Introduction
During the last decade, fractional differential equations(FDEs) [1, 2, 3] appeared as rich
and beautiful field of research due to their applications to the physical and life sciences.The
theoretical development of FDEs in the classical Riemann-Liouville’s or Caputo sense have
been excellently given in [1, 2, 3, 4, 5, 6]. For important and interesting works on existence,
uniqueness, data dependence and heterogeneous qualitative properties of solution of classical
FDEs, we propose the work of Lakshmikantham et al.[6, 7, 8], Gejji et al.[9, 10], Kai et al.[11],
Trujillo et al.[12], Benchora et al.[13], and the references cited therein. Other interesting
works on these aspect can be found in [13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26].
The fundamental concept and properties of integrals and derivatives of fractional order
of a function with respect to the another function viz. Ψ-Riemann-Liouville integral and
derivative have been introduced in [2, Chapter 2]. Following the similar approach, Almeida
[27] introduced Ψ-Caputo fractional derivative and investigated the interesting properties
of this operator and extended few preceding study concerned with the Caputo and the
Caputo–Hadamard derivative operators.

1
2

η,ν
On the other hand, Hilfer [28] introduced a fractional derivative Da+ (·) having two
parameters η ∈ (n − 1, n), n ∈ N and ν (0 ≤ ν ≤ 1) which in specific gives the Riemann–
Liouville and the Caputo derivative operator. Furati et al. [29] analyzed nonlinear FDEs
with Hilfer derivative operator. Sousa and Oliveira [30, 31] introduced a new definition
of fractional derivative viz. Ψ–Hilfer fractional derivative and investigated its important
properties. Further, it is proved that the Ψ–Hilfer derivative is the generalization of many
existing fractional derivative operators. In [31], Sousa and Oliveira established generalized
Gronwall inequality through the fractional integral with respect to another function and
studied the existence, uniqueness and data dependence of solution of Cauchy problem with
Ψ–Hilfer fractional derivative. For the study relating to existence, uniqueness and stability
of different sorts of FDEs involving ψ-Hilfer fractional derivative operator, we refer to the
work of Sousa et al.[32, 33, 34] and the references given there in.
Motivated by the work of [11, 30, 31] in this paper, existence along with the interval
of existence, uniqueness and continuous dependence of solutions on initial condition have
examined for the nonlinear Ψ-Hilfer FDEs structured as:
H η, ν ; Ψ
Da+ y(t) = f (t, y(t)), t ∈ Λ = [a, a + ξ], ξ > 0, 0 < η < 1, 0 ≤ ν ≤ 1, (1.1)
1−ζ ; Ψ
Ia+ y(a) = y a ∈ R, ζ = η + ν (1 − η) , (1.2)
η,ν; Ψ 1−ζ; Ψ
where H Da+ (·) is the Ψ-Hilfer derivative of order η and type ν, Ia+ (·) is Ψ-Riemann–
Liouville integral of order 1 − ζ and f : Λ × R → R is an appropriate function.
Further, by Picards successive approximation method we derive the existence along with
uniqueness of solution for Cauchy type problem (1.1)-(1.2). We have established bound
for the error between approximated solution yn and exact solution y and proved that the
difference is approaches to zero when n is very large. The development of Picards successive
approximation technique is utilized to obtain representation formula for the solution of linear
Cauchy problem with constant coefficient
H η, ν ; Ψ
Da+ y(t) − λy(t) = f (t), λ ∈ R, 0 < η < 1, 0 ≤ ν ≤ 1, t ∈ ∆ = [a, b]. (1.3)
1−ζ ; Ψ
Ia+ y(a) = ya ∈ R, ζ = η + ν(1 − η) (1.4)

in form of Mittag–Leffler function, where as the representation formula for the solution of
linear Cauchy problem with variable coefficient
H η, ν ; Ψ
Da+ y(t) − λ[Ψ(t) − Ψ(a)]µ−1 y(t) = 0, 0 < η < 1, 0 ≤ ν ≤ 1, µ > 1 − η, t ∈ ∆,
(1.5)
1−ζ ; Ψ
Ia+ y(a) = ya ∈ R, ζ = η + ν(1 − η), (1.6)

is obtained in form of generalized (Kilbas–Saigo) Mittag–Leffler function.

This paper is divided in five sections: In the section 2, we provide some definitions,
theorems of Ψ-Hilfer fractional derivative and the results which will be utilized through-
out this paper. In Section 3, we establish the results pertaining to existence, uniqueness
and continuous dependence of solution of (1.1)-(1.2). Section 4, discuss the convergence of
Picard’s type successive approximations to the solution of (1.1)-(1.2). In Section 5, rep-
resentation formulas have been obtained for the solution of linear Cauchy problem with
constant coefficient and variable coefficient.
 3

2 Preliminaries
We review a few definitions, notations and results of Ψ-Hilfer fractional derivative [30, 31].
Let ∆ = [a, b] (0 < a < b < ∞) be a finite interval. Consider the space C1−ζ; Ψ (∆, R) of
weighted functions h defined on ∆ given by
n o
C1−ζ; Ψ (∆, R) = h : (a, b] → R  (Ψ (t) − Ψ (a))1−ζ h (t) ∈ C(∆, R) , 0 < ζ ≤ 1


endowed with the norm

 
khkC = max (Ψ (t) − Ψ (a))1−ζ h (t) . (2.1)
   
1−ζ; Ψ ∆,R t∈∆

Definition 2.1 Let η > 0 (η ∈ R), h ∈ L1 (∆, R) and Ψ ∈ C 1 (∆, R) be an increasing

function wth Ψ′ (t) 6= 0, for all t ∈ ∆. Then, the Ψ-Riemann–Liouville fractional integral
of a function h with respect to Ψ is defined by
Z t
η;Ψ 1
Ia+ h (t) = Qη (t, σ)h(σ) dσ. (2.2)
Γ (η) a Ψ
where,QηΨ (t, s) = Ψ′ (s)(Ψ(t) − Ψ(s))η−1 , t, s ∈ ∆.

Definition 2.2 Let n − 1 < η < n ∈ N and h, Ψ ∈ C n (∆, R) two functions such that Ψ is
increasing with Ψ′ (t) 6= 0, for all t ∈ ∆. Then, the (left-sided) Ψ-Hilfer fractional derivative
H D η, ν ; Ψ (·) of a function h of order η and type 0 ≤ ν ≤ 1, is defined by
a+

1 d n (1−ν)(n−η) ; Ψ
 
H η, ν ; Ψ ν(n−η) ; Ψ
Da+ h (t) = Ia+ Ia+ h (t) . (2.3)
Ψ′ (t) dt

Following results from [30, 31] play key role in proving our main results.

η;Ψ
Lemma 2.1 If η > 0 and 0 ≤ µ < 1, then Ia+ (·) is bounded from Cµ ; Ψ [a, b] to
η;Ψ
Cµ ; Ψ [a, b] . In addition, if µ ≤ η, then Ia+ (·) is bounded from Cµ ; Ψ [a, b] to C [a, b].

Lemma 2.2 Let η > 0 and δ > 0. If h(t) = (Ψ (t) − Ψ (a))δ−1 , then
η;Ψ Γ (δ)
Ia+ h(t) = (Ψ (t) − Ψ (a))η+δ−1 .
Γ (η + δ)

Lemma 2.3 Let Ψ ∈ C 1 (∆, R) be increasing function with Ψ′ (t) 6= 0, for all t ∈ ∆. If
ζ = η + ν (1 − η) where, 0 < η < 1 and 0 ≤ ν ≤ 1, then Ψ-Riemann-Liouville fractional
η;Ψ
integral operator Ia+ (·) : C1−ζ ; Ψ [a, b] → C1−ζ ; Ψ [a, b] is bounded and it is given by :

η;Ψ
Γ (ζ)
Ia+ h ≤M (Ψ (t) − Ψ (a))η , (2.4)
C1−ζ ; Ψ [a,b] Γ (ζ + η)
where, M is the bound of a bounded function (Ψ(·) − Ψ(a))1−ζ h(·).
4

Theorem 2.4 Let ũ, ṽ ∈ L1 (∆, R) and g̃ ∈ C(∆, R). Let Ψ ∈ C 1 (∆, R) be an increasing
function with Ψ′ (t) 6= 0, for all t ∈ ∆. Assume that

1. ũ and ṽ are nonnegative;

2. g̃ is nonnegative and nondecreasing.

If Z t
ũ(t) ≤ ṽ(t) + g̃(t) QηΨ (t, σ) ũ(σ) dσ,
a

then
∞
t X
[g̃ (t) Γ (η)]m mη
Z
ũ(t) ≤ ṽ(t) + QΨ (t, s) ṽ(σ) dσ, t ∈ ∆. (2.5)
a m=1 Γ (mη)

where, Qmη ′
Ψ (t, s) = Ψ (s)(Ψ(t) − Ψ(s))
mη−1 , t, s ∈ ∆. Further, if ṽ is a nondecreasing func-

tion on ∆ then
ũ(t) ≤ ṽ(t) Eη (g̃(t)Γ(η) (Ψ(t) − Ψ(a))η ) ,

where, Eη (·) is the Mittag-Leffler function of one parameter.

Existence and uniqueness results are proved via following fixed point theorems.

Theorem 2.5 ([11], Schauder) Let X be a Banach space, let U be a nonempty convex
bounded closed subset of X and let A : U → U be a completely continuous operator. Then
A has at least one fixed point.

Theorem 2.6 ([11], Weissinger) Assume (U , d) to be a non empty complete metric space
∞
P
and let ηj ≥ 0 for every j ∈ N0 such that ηj converges. Furthermore, let the mapping
j=0
A : U → U satisfy the inequality

d(Aj u, Aj v) ≤ ηj d(u, v)

for every j ∈ N and every u, v ∈ U . Then, A has a unique fixed point u∗ . Moreover, for any
u0 ∈ U , the sequence (Aj u0 )∞ ∗
j=1 converges to this fixed point u .

Definition 2.3 ([4]) Let η > 0, ν > 0 ( η, ν ∈ R). Then the two parameter Mittag-Leffler
function is defined as
∞
X zk
Eη, ν (z) = .
Γ(kη + ν)
k=0
 5

Definition 2.4 ([4]) Let η, m ∈ R and l ∈ C such that η > 0, m > 0 and η(jm + l) +
1 6= −1, −2, −3, · · · (j = 0, 1, 2, · · · ). Then generalized (Kilbas–Saigo) Mittag–Leffler type
function of three parameters is defined by
∞
X
Eη, m, l (z) = ck z k
k=0

where
k−1
Y Γ(η[jm + l] + 1)
c0 = 1, ck = (k = 1, 2, · · · )
Γ(η[jm + l + 1] + 1)
j=0

and an empty product is assumed to be equal to one.

3 Existence, Uniqueness and Continuous Dependence

The forthcoming theorem establishes the existence of solution along with the interval of ex-
istence of the initial value problem (IVP) (1.1)-(1.2) using its equivalent fractional Volterra
integral equation(VIE) in the weighted space C1−ζ; Ψ (Λ, R).

Theorem 3.1 (Existence and interval of existence) Let ζ = η + ν(1 − η), 0 < η < 1
and 0 ≤ ν ≤ 1. Define

R0 = (t, y) : a ≤ t ≤ a + ξ, y − HζΨ (t, a) ya  ≤ k , ξ > 0, k > 0.

  

(Ψ(t) − Ψ(a))ζ−1
where, HζΨ (t, a) := . Let f : R0 → R is continuous function such that
Γ(ζ)
f (· , y(·)) ∈ C1−ζ ; Ψ (Λ, R) for every y ∈ C1−ζ ; Ψ (Λ, R). Let Ψ ∈ C 1 (Λ, R) be an increasing
bijective function with Ψ′ (t) 6= 0, for all t ∈ Λ . Then the IVP (1.1)-(1.2) possesses at least
one solution y in the space C1−ζ ; Ψ [a, a + χ] of weighted functions, where
  !1  
η
 k Γ(η + ζ) 
χ = min ξ, Ψ−1 Ψ(a) + −a .
 Γ(ζ) kf kC1−ζ ; Ψ [a,a+ξ] 

Proof: The equivalent fractional VIE to the Cauchy problem (1.1)-(1.2) in the space
C1−ζ ; Ψ (Λ, R) is derived in [31] and it is given by
t
1
Z
y(t) = HζΨ (t, a) ya + Qη ; ψ (t, σ)f (σ, y(σ)) dσ, t ∈ Λ. (3.1)
Γ(η) a

Consider the set defined by,

n o
U = y ∈ C1−ζ ; Ψ [a, a + χ] : y − HζΨ (·, a) ya C

≤k .
1−ζ ; Ψ [a,a+χ]
6

ya
Define ỹ(t) = HζΨ (t, a) ya , t ∈ [a, a+χ]. Then (Ψ(t)−Ψ(a))1−ζ ỹ(t) = ∈ C[a, a+χ]
Γ(ζ)
and hence we have, ỹ(t) ∈ C1−ζ ; Ψ [a, a + χ]. Further,
ỹ − HΨ (·, a) ya

ζ C [a,a+χ]
= 0 ≤ k.
1−ζ ; Ψ

Thus, ỹ ∈ U and hence U is non-empty set. Clearly, U is a convex, bounded and closed
subset of space C1−ζ ; Ψ [a, a + χ] . We define an operator A on the set U by
t
1
Z
Ay(t) = HζΨ (t, a) ya + Qη ; ψ (t, σ)f (σ, y(σ)) dσ.
Γ(η) a

By definition of an operator A, the equation (3.1) can be written as

y = Ay.

We analyze the properties of A so that it admit at least one fixed point.

First we show that, A U ⊆ U . In the view of Lemma 2.1, Ψ-Riemann-Liouville frac-
η;Ψ
tional integral operator Ia+ (·) maps C1−ζ ; Ψ [a, a + χ] to C1−ζ ; Ψ [a, a + χ], and hence
η;Ψ
Ia+ f (·, y(·)) ∈ C1−ζ; Ψ [a, a + χ] for any y ∈ C1−ζ ; Ψ [a, a + χ]. Further,
ya
(Ψ(t) − Ψ(a))1−ζ HζΨ (t, a) ya = ∈ C[a, a + χ],
Γ(ζ)

and hence HζΨ (t, a) ya ∈ C1−ζ ; Ψ [a, a + χ].

From the above arguments it follows that Ay ∈ C1−ζ ; Ψ [a, a + χ]. Next, for any y ∈ U
and any x, a < x ≤ χ, we have
Ay − HΨ (·, a) ya

ζ C1−ζ ; Ψ [a,a+x]
 Z t
1−ζ 1
Qη ; ψ (t, σ)(Ψ(σ) − Ψ(a))ζ−1 ×

= max (Ψ(t) − Ψ(a))

t∈[a,a+x] Γ(η) a

1−ζ
(Ψ(σ) − Ψ(a)) f (σ, y(σ)) dσ 

Z a+x
1
≤ (Ψ(a + x) − Ψ(a))1−ζ Qη ; ψ (a + x, σ)(Ψ(σ) − Ψ(a))ζ−1 ×
Γ(η) a
 
max (Ψ(ς) − Ψ(a))1−ζ f (ς, y(ς)) dσ
 
ς∈[a, σ]
η;Ψ
≤ kf kC1−ζ ; Ψ [a,a+x] (Ψ(a + x) − Ψ(a))1−ζ Ia+ (Ψ(a + x) − Ψ(a))ζ−1
Γ(ζ)
≤ kf kC1−ζ ; Ψ [a,a+x] (Ψ(a + x) − Ψ(a))1−ζ (Ψ(a + x) − Ψ(a))η+ζ−1
Γ(η + ζ)
Γ(ζ)
= kf kC1−ζ ; Ψ [a,a+x] (Ψ(a + x) − Ψ(a))η .
Γ(η + ζ)

Taking x → χ we get,

Ay − HΨ (·, a) ya Γ(ζ)
(Ψ(a + χ) − Ψ(a))η

ζ ≤ kf kC1−ζ ; Ψ [a,a+χ] (3.2)
C1−ζ ; Ψ [a,a+χ] Γ(η + ζ)
 7

Since,   !1  
η
 k Γ(η + ζ) 
χ = min ξ , Ψ−1 Ψ(a) + −a
 Γ(ζ) kf kC1−ζ ; Ψ [a,a+ξ] 

we have  !1 
η
k Γ(η + ζ)
χ ≤ Ψ−1 Ψ(a) +  − a.
Γ(ζ) kf kC1−ζ ; Ψ [a,a+ξ]

Further, since Ψ ∈ C 1 (Λ, R) is a bijective function, Ψ−1 : R → Λ exists and from above
inequality, we have
k Γ(η + ζ)
(Ψ(a + χ) − Ψ(a))η ≤ . (3.3)
Γ(ζ) kf kC1−ζ ; Ψ [a,a+ξ]

Using Eq.(3.3) in Eq.(3.2), we get

Ay − HζΨ (·, a) ya

≤ k.
C1−ζ ; Ψ [a,a+χ]

We have proved that Ay ∈ U for any y ∈ U . This proves A maps U to itself.

Next, we prove that A is a continuous operator. Let any ε > 0. Since f : R0 → R
is continuous and R0 is compact set, f is uniformly continuous on R0 . Thus, there exists
δ̃ > 0 such that
ε Γ(η + 1)
|f (t, y) − f (t, z)| < , whenever |y − z| < δ̃.
(Ψ(a + χ) − Ψ(a))η−ζ+1

Since, Ψ is continuous on compact set Λ, we can choose δ > 0 such that (Ψ(t) −
Ψ(a))1−ζ |y − z| < δ. Therefore, we have
ε Γ(η + 1)
|f (t, y) − f (t, z)| < , whenever (Ψ(t) − Ψ(a))1−ζ |y − z| < δ.
(Ψ(a + χ) − Ψ(a))η−ζ+1
(3.4)

Let any y, z ∈ U such that ky − zkC1−ζ ; Ψ [a,a+χ] < δ. Then in the view of (3.4), we have

ε Γ(η + 1)
|f (t, y(t)) − f (t, z(t))| < , t ∈ [a, a + χ].
(Ψ(a + χ) − Ψ(a))η−ζ+1

Therefore,

kAy − AzkC1−ζ ; Ψ [a,a+χ]

t
1
Z
1−ζ
≤ max (Ψ(t) − Ψ(a)) Qη ; ψ (t, σ) |f (σ, y(σ)) − f (σ, z(σ))| dσ
t∈[a,a+χ] Γ(η) a
Z t
ε Γ(η + 1) 1 1−ζ
< max (Ψ(t) − Ψ(a)) Qη ; ψ (t, σ) dσ
(Ψ(a + χ) − Ψ(a))η−ζ+1 t∈[a,a+χ] Γ(η) a
ε Γ(η + 1) 1
= max (Ψ(t) − Ψ(a))1−ζ (Ψ(t) − Ψ(a))η
(Ψ(a + χ) − Ψ(a))η−ζ+1 t∈[a,a+χ] Γ(η + 1)
8

ε
≤ (Ψ(a + χ) − Ψ(a))η−ζ+1
(Ψ(a + χ) − Ψ(a))η−ζ+1
= ε.

Thus, the operator A is continuous on U . Now, for any z ∈ A(U ) = {Ay : y ∈ U } and
any x such that a < x ≤ χ, we have
kzkC = kAykC
1−ζ ; Ψ [a,a+x] 1−ζ ; Ψ [a,a+x]

 (Ψ(t) − Ψ(a))1−ζ t η ; ψ
 Z
ya
≤ + max  Q (t, σ)×
Γ(ζ) t∈[a,a+x]  Γ(η) a

(Ψ(σ) − Ψ(a))ζ−1 (Ψ(σ) − Ψ(a))1−ζ f (σ, y(σ)) dσ 


(Ψ(a + x) − Ψ(a))1−ζ a+x η ; ψ

Z
ya
≤ + Q (a + x, σ)×
Γ(ζ) Γ(η) a
 
(Ψ(σ) − Ψ(a))ζ−1 max (Ψ(ς) − Ψ(a))1−ζ f (ς, y(ς)) dσ
 
ς∈[a,σ]
ya η;Ψ
≤ + kf kC (Ψ(a + x) − Ψ(a))1−ζ Ia+ (Ψ(a + x) − Ψ(a))ζ−1
Γ(ζ) 1−ζ ; Ψ [a,a+x]

ya Γ(ζ)
= + kf kC1−ζ ; Ψ [a,a+x] (Ψ(a + x) − Ψ(a))1−ζ (Ψ(a + x) − Ψ(a))η+ζ−1
Γ(ζ) Γ(η + ζ)
ya Γ(ζ)
= + kf kC1−ζ ; Ψ [a,a+x] (Ψ(a + x) − Ψ(a))η .
Γ(ζ) Γ(η + ζ)

This shows that A(U ) is uniformly bounded subset of C1−ζ ; Ψ [a, a + χ] and hence it is
point wise bounded also. Next, we prove that A(U ) is equicontinuous. For any t1 , t2 such
that a < t1 ≤ t2 ≤ a + χ and any y ∈ U , we have
|Ay(t2 ) − Ay(t1 )|
 o
 ya n ζ−1 ζ−1
≤  (Ψ(t2 ) − Ψ(a)) − (Ψ(t1 ) − Ψ(a)) 
Γ(ζ) 
 Z t2 Z t1 
 1 η;ψ 1 η;ψ

+  Q (t2 , σ) |f (σ, y(σ))| dσ − Q (t1 , σ) |f (σ, y(σ))| dσ 
Γ(η) a Γ(η) a
 o
 ya n ζ−1 ζ−1
≤  (Ψ(t2 ) − Ψ(a)) − (Ψ(t1 ) − Ψ(a)) 
Γ(ζ) 
 Z t2
 1  
+  Qη ; ψ (t2 , σ)(Ψ(σ) − Ψ(a))ζ−1 max (Ψ(ς) − Ψ(a))1−ζ f (ς, y(ς)) dσ
 
Γ(η) a ς∈[a,σ]
Z t1  
1 η;ψ ζ−1

1−ζ
− Q (t1 , σ)(Ψ(σ) − Ψ(a)) max (Ψ(ς) − Ψ(a)) f (ς, y(ς)) dσ 
 
Γ(η) a ς∈[a,σ]
 o
 ya n ζ−1 ζ−1 
≤  (Ψ(t2 ) − Ψ(a)) − (Ψ(t1 ) − Ψ(a))
Γ(ζ) 
 
 η;Ψ η;Ψ
+ kf kC1−ζ ; Ψ [a,a+χ] Ia+ (Ψ(t2 ) − Ψ(a))ζ−1 − Ia+ (Ψ(t1 ) − Ψ(a))ζ−1 


ya  ζ−1

= (Ψ(t2 ) − Ψ(a)) − (Ψ(t1 ) − Ψ(a))ζ−1 

Γ(ζ)
Γ(ζ)  
+ kf kC1−ζ ; Ψ [a,a+χ] (Ψ(t2 ) − Ψ(a))η+ζ−1 − (Ψ(t1 ) − Ψ(a))η+ζ−1  .

Γ(η + ζ)
 9

Observe that, the right hand part in the preceding inequality is free from y. Thus, using
the continuity of Ψ, |t2 − t1 | → 0 implies that |Ay(t2 ) − Ay(t1 )| → 0. This proves that
A(U ) is equicontinuous. In the view of Arzela-Ascoli Theorem [11], it follows that A(U ) is
relatively compact. Therefore, by Schauder’s fixed point Theorem 2.5, operator A has at
least one fixed point y ∈ C1−ζ ; Ψ [a, a + χ] which is the solution of IVP (1.1)–(1.2). ✷

In the next theorem, using Lipschitz condition on f and the Weissinger theorem, we
establish another existence result for the IVP (1.1)–(1.2), which gives in addition the unique-
ness of solution also.

Theorem 3.2 (Uniqueness) Let ζ = η + ν(1 − η), 0 < η < 1, 0 ≤ ν ≤ 1 and

R0 = (t, y) : a ≤ t ≤ a + ξ, y − HζΨ (t, a) ya  ≤ k , ξ > 0, k > 0.

  

(Ψ(t)−Ψ(a)) ζ−1
where, HζΨ (t, a) = Γ(ζ) . Let f : R0 → R be a function such that f (· , y(·)) ∈
C1−ζ ; Ψ (Λ, R) for every y ∈ C1−ζ ; Ψ (Λ, R) and satisfies the Lipschitz condition

|f (t, u) − f (t, v)| ≤ L|u − v|, u, v ∈ R, L > 0.

Let Ψ ∈ C 1 (Λ, R) be an increasing bijective function with Ψ′ (t) 6= 0 for all t ∈ Λ. Then,
the IVP (1.1)-(1.2) has a unique solution y in the weighted space C1−ζ ; Ψ [a, a + χ], where
  !1  
η
 k Γ(η + ζ) 
χ = min ξ, Ψ−1 Ψ(a) + −a .
 Γ(ζ) kf kC1−ζ ; Ψ [a,a+ξ] 

Proof: Consider the operator A used in Theorem 3.1. It is as of now demonstrated that
A : U → U is continuous on closed, convex and bounded subset U of Banach space
C1−ζ ; Ψ [a, a + χ]. We now prove that, for every n ∈ N and every x such that a < x ≤ χ,
we have
Γ(ζ)
kAn y − An zkC ≤ [L (Ψ(a + x) − Ψ(a))η ]n ky − zkC . (3.5)
1−ζ ; Ψ [a,a+x] Γ(nη + ζ) 1−ζ ; Ψ [a,a+x]

We provide the proof of above inequality by using mathematical induction. By using

Lipschitz condition on f , for any x ∈ (a, χ], we have

kAy − AzkC1−ζ ; Ψ [a,a+x]

Z a+x
1 1−ζ
≤ (Ψ(a + x) − Ψ(a)) Qη ; ψ (a + x, σ) |f (σ, y(σ)) − f (σ, z(σ))| dσ
Γ(η) a
Z a+x
1−ζ 1
≤ L(Ψ(a + x) − Ψ(a)) Qη ; ψ (a + x, σ)×
Γ(η) a
(Ψ(σ) − Ψ(a))ζ−1 (Ψ(σ) − Ψ(a))1−ζ |y(σ) − z(σ)| dσ
Z a+x
1−ζ 1
≤ L(Ψ(a + x) − Ψ(a)) Qη ; ψ (a + x, σ)×
Γ(η) a
10

 
(Ψ(σ) − Ψ(a))ζ−1 max (Ψ(ς) − Ψ(a))1−ζ [y(ς) − z(ς)] dσ
 
ς∈[a,σ]
η;Ψ
≤ L ky − zkC1−ζ ; Ψ [a,a+x] (Ψ(a + x) − Ψ(a))1−ζ Ia+ (Ψ(a + x) − Ψ(a))ζ−1
Γ(ζ)
= [L(Ψ(a + x) − Ψ(a))η ] ky − zkC1−ζ ; Ψ [a,a+x] .
Γ(η + ζ)
Hence, the inequality (3.5) is true for n = 1. Let us assume that, it is true for n = k − 1.
Now, we prove that inequality (3.5) is also true for n = k. Then, we have

k
A y − Ak z

C1−ζ ; Ψ [a,a+x]
 Z t i 
1 h   
= max (Ψ(t) − Ψ(a))1−ζ Qη ; ψ (t, σ) f σ, Ak−1 y(σ) − f σ, Ak−1 z(σ) dσ 

t∈[a,a+x] Γ(η) a
Z a+x
1  
≤ L (Ψ(a + x) − Ψ(a))1−ζ Qη ; ψ (a + x, σ) Ak−1 y(σ) − Ak−1 z(σ) dσ
 
Γ(η) a
Z a+x
1−ζ 1
≤ L (Ψ(a + x) − Ψ(a)) Qη ; ψ (a + x, σ)×
Γ(η) a

(Ψ(σ) − Ψ(a))ζ−1 Ak−1 y − Ak−1 z dσ

C1−ζ ; Ψ [a,σ]

a+x
1
Z
≤ L (Ψ(a + x) − Ψ(a))1−ζ Qη ; ψ (a + x, σ)(Ψ(σ) − Ψ(a))ζ−1 ×
Γ(η) a
Γ(ζ)
[L (Ψ(σ) − Ψ(a))η ]k−1 ky − zkC dσ
Γ((k − 1)η + ζ) 1−ζ ; Ψ [a,σ]

Γ(ζ)
≤ Lk (Ψ(a + x) − Ψ(a))1−ζ ky − zkC ×
Γ((k − 1)η + ζ) 1−ζ ; Ψ [a,a+x]

η;Ψ
Ia+ (Ψ(a + x) − Ψ(a))η(k−1)+ζ−1
Γ(ζ)
= Lk (Ψ(a + x) − Ψ(a))1−ζ ky − zkC ×
Γ((k − 1)η + ζ) 1−ζ ; Ψ [a,a+x]

Γ((k − 1)η + ζ)
(Ψ(a + x) − Ψ(a))kη+ζ−1
Γ(kη + ζ)
Γ(ζ)
= [L(Ψ(a + x) − Ψ(a))η ]k ky − zkC .
Γ(kη + ζ) 1−ζ ; Ψ [a,a+x]

Hence, the inequality (3.5) is true for n = k. By mathematical induction the proof of
the inequality (3.5) is concluded. Taking x → χ, we obtain
Γ(ζ)
kAn y − An zkC ≤ [L (ψ(a + χ) − ψ(a))η ]n ky − zkC .
1−ζ; ψ [a,a+χ] Γ(nη + ζ) 1−ζ; ψ [a,a+χ]

Note that, the operator A satisfy all the conditions of the Weissinger’s theorem 2.6,
with
[L (Ψ(a + χ) − Ψ(a))η ]n
ηn = .
Γ(nη + ζ)
Further, by definition of two parameter Mittag–Leffler function, we have
∞ ∞
X X [L(Ψ(a + χ) − Ψ(a))η ]n
ηn = = Eη, ζ (L(Ψ(a + χ) − Ψ(a))η ) ,
Γ(nη + ζ)
n=0 n=0
 11

which is convergent series. Thus, by using Weissinger’s fixed point theorem 2.6, operator
A has a unique fixed point y in C1−ζ ; Ψ [a, a + χ], which is a unique solution of the IVP
(1.1)-(1.2). ✷

Remark 3.3 1. The results obtained by Diethelem and Ford [11] can be regarded as
the particular cases of Theorem 3.1 and Theorem 3.2 and can be derived by putting
ν = 1, a = 0 and Ψ(t) = t, t ∈ Λ.

2. We have investigated in Theorem 3.1 and Theorem 3.2, the existence and uniqueness
of the Cauchy problem (1.1)-(1.2) involving the Ψ-Hilfer fractional derivative. One
of the fundamental properties of the Ψ-Hilfer fractional derivative is the wide class
of fractional derivatives that contain it as particular cases. Thus, in this sense, the
respective results obtained by Theorem 3.1 and Theorem 3.2, are also valid for these
fractional derivatives. For examples, some particular cases in the items as follows:

(a) If we take ν → 1 on both sides of (1.1)-(1.2),it reduces to the Cauchy problem with
Ψ-Caputo fractional derivative and consequently, the Theorem 3.1 and Theorem
3.2, there are true;

(b) If we take ν → 0 on both sides of the (1.1)-(1.2), we have the Cauchy problem
with Ψ-Riemann-Liouville fractional derivative and consequently, the Theorem
3.1 and Theorem 3.2, there are true;

(c) Choose Ψ(t) = tρ and take ν → 1 on both sides of (1.1)-(1.2), we have the
Cauchy problem involving the Caputo-Katugampola fractional derivative and con-
sequently, the Theorem 3.1 and Theorem 3.2, there are true;

(d) In cases where they involve the fractional derivatives of Hadamard, Caputo-
Hadamard, Hilfer-Hadamard or any other that is related to Hadamard’s frac-
tional derivative, we have to impose the condition on the parameter a > 0, since
in these fractional derivatives they involve the function ln t and is not defined
when t = a = 0.

Next, we prove the continuous dependence of solution for the Cauchy type problem
(1.1)-(1.2) via Weissinger’s theorem.
12

Theorem 3.4 (Continuous Dependence) Let ζ = η + ν (1 − η) where, 0 < η < 1 and

0 ≤ ν ≤ 1. Let f : [a, a + χ] × R → R be a function such that f (· , y(·)) ∈ C1−ζ ; Ψ [a, a + χ]
for every y ∈ C1−ζ ; Ψ [a, a + χ] and satisfies the Lipschitz condition

|f (t, u) − f (t, v)| ≤ L|u − v|, u, v ∈ R, L > 0.

Let y(t) and z(t) be the solutions of, the IVPs,

H η, ν; Ψ 1−ζ ; Ψ
Da+ y(t) = f (t, y(t)), Ia+ y(a) = ya (3.6)

and

H η, ν; Ψ 1−ζ ; Ψ
Da+ z(t) = f (t, z(t)), Ia+ z(a) = za (3.7)

respectively. Then,

ky − zkC1−ζ ; Ψ [a,a+χ] ≤ {1 + Γ(ζ) Eη, ζ (L (Ψ(a + χ) − Ψ(a))η )} kỹa − z̃a kC1−ζ ; Ψ [a,a+χ] ,
(3.8)

(Ψ(t) − Ψ(a))ζ−1 (Ψ(t) − Ψ(a))ζ−1

where, ỹa (t) = ya and z̃a (t) = za .
Γ(ζ) Γ(ζ)

Proof: Consider the sequences {Am ỹa } and {Am z̃a } defined by

A0 ỹa (t) = ỹa (t),

t
1
Z
m
Qη ; ψ (t, σ)f σ, Am−1 ỹa (σ) dσ, (m = 1, 2, · · · )


A ỹa (t) = ỹa (t) +
Γ(η) a

and

A0 z̃a (t) = z̃a (t),

t
1
Z
m
Qη ; ψ (t, σ)f σ, Am−1 z̃a (σ) dσ, (m = 1, 2, · · · )


A z̃a (t) = z̃a (t) +
Γ(η) a
respectively.

Then, for each x with a < x ≤ χ,

kAm ỹa − Am z̃a kC1−ζ ; Ψ [a,a+x]

 n
= max (Ψ(t) − Ψ(a))1−ζ ỹa (t) − z̃a (t)

t∈[a,a+x]
t 
1
Z
η;ψ m−1m−1


 
+ Q (t, σ) f σ, A ỹa (σ) − f σ, A z̃a (σ) dσ 
Γ(η) a
Z a+x
1−ζ L
≤ kỹa − z̃a kC1−ζ ; Ψ [a,a+x] + (Ψ(a + x) − Ψ(a)) Qη ; ψ (a + x, σ)×
Γ(η) a
 13

 
(Ψ(σ) − Ψ(a))ζ−1 max (Ψ(ς) − Ψ(a))1−ζ Am−1 ỹa (ς) − Am−1 z̃a (ς)  dσ
 
ς∈[a,σ]
Z a+x
1−ζ 1
≤ kỹa − z̃a kC1−ζ ; Ψ [a,a+x] + L(Ψ(a + x) − Ψ(a)) Qη ; ψ (a + x, σ)×
Γ(η) a
(Ψ(σ) − Ψ(a))ζ−1 Am−1 ỹa − Am−1 z̃a C

[a,σ]
dσ.
1−ζ ; Ψ

Using the inequality (3.5),

kAm ỹa − Am z̃a kC1−ζ ; Ψ [a,a+x]

Z a+x
1−ζ L
≤ kỹa − z̃a kC1−ζ ; Ψ [a,a+x] + (Ψ(a + x) − Ψ(a)) Qη ; ψ (a + x, σ)×
Γ(η) a
Γ(ζ)
(Ψ(σ) − Ψ(a))ζ−1 [L (Ψ(σ) − Ψ(a))η ]m−1 kỹa − z̃a kC dσ
Γ((m − 1)η + ζ) 1−ζ ; Ψ [a,σ]

Γ(ζ)
= kỹa − z̃a kC1−ζ ; Ψ [a,a+x] + Lm kỹa − z̃a kC1−ζ ; Ψ [a,a+x] ×
Γ((m − 1)η + ζ)
η;Ψ
(Ψ(a + x) − Ψ(a))1−ζ Ia+ (Ψ(a + x) − Ψ(a))(m−1)η+ζ−1

Γ(ζ)
= kỹa − z̃a kC1−ζ ; Ψ [a,a+x] 1 + Lm (Ψ(a + x) − Ψ(a))1−ζ ×
Γ((m − 1)η + ζ)

Γ((m − 1)η + ζ) mη+ζ−1
(Ψ(a + x) − Ψ(a))
Γ(mη + ζ)
[L(Ψ(a + x) − Ψ(a))η ]m
 
= 1 + Γ(ζ) kỹa − z̃a kC1−ζ ; Ψ [a,a+x]
Γ(mη + ζ)
m
( )
X [L(Ψ(a + x) − Ψ(a))η ]m
≤ 1 + Γ(ζ) kỹa − z̃a kC1−ζ ; Ψ [a,a+x] .
Γ(mη + ζ)
k=0

Taking limit as m → ∞ and x → χ and utilizing Theorem 2.6, we get the desired
inequality (3.8). ✷

Remark 3.5 In the above theorem, in particular if ya = za , then we get uniqueness of

solution.

4 Picard’s Successive Approximations: Nonlinear Case

In this section, we define the Picard’s type successive approximations and prove that it
converges to a unique solution of nonlinear Cauchy problem (1.1)-(1.2). Further, we obtain
an estimation for the error bound.

Theorem 4.1 Let ζ = η + ν(1 − η), 0 < η < 1 and 0 ≤ ν ≤ 1. Define

R0 = (t, y) : a ≤ t ≤ a + ξ, y − HζΨ (t, a) ya  ≤ k , ξ > 0, k > 0.

  
14

(Ψ(t)−Ψ(a))ζ−1
where, HζΨ (t, a) = Γ(ζ) . Let f (· , y(·)) ∈ C1−ζ ; Ψ [a, a+χ] for every y ∈ C1−ζ ; Ψ [a, a+
χ]. Let Ψ ∈ C 1 ([a, a + χ], R) be an increasing bijective function with Ψ′ (t) 6= 0, for all
t ∈ [a, a + χ], where
( "  1# )
−1 k Γ(η + ζ) η
χ = min ξ, Ψ Ψ(a) + −a
Γ(ζ)M
and M is constant such that

| (Ψ(t) − Ψ(a))1−ζ f (t)| ≤ M, ∀ t ∈ [a, a + χ].

Then the successive approximations defined by

y0 (t) = HζΨ (t, a) ya

yn (t) = HζΨ (t, a) ya + Iηa+; Ψ f (t, yn−1 (t)) , n = 1, 2, · · · . (4.1)

satisfies the following conditions:

(a) yn ∈ C1−ζ; Ψ [a, a + χ], n = 0, 1, 2, · · · ;

M Γ(ζ)
(b) (Ψ(t)−Ψ(a))1−ζ |yn (t)−y0 (t)| ≤ (Ψ(t)−Ψ(a))η , t ∈ [a, a+χ], n = 0, 1, 2, · · · .
Γ(η + ζ)
ya
Proof: (a) Since y0 (t) = HζΨ (t, a) ya , we have (Ψ(t) − Ψ(a))1−ζ y0 (t) = ∈ C[a, a + χ]
Γ(ζ)
and hence y0 ∈ C1−ζ ; Ψ [a, a + χ]. Further, by Lemma 2.1, Ψ–Riemann fractional integral
η;Ψ η; Ψ
operator Ia+ (·) maps C1−ζ ; Ψ [a, a + χ] to C1−ζ ; Ψ [a, a + χ] and hence Ia+ f (·, yn−1 (·)) ∈
C1−ζ; Ψ [a, a + χ] for any yn−1 ∈ C1−ζ ; Ψ [a, a + χ] for n = 1, 2, · · · . This proves, yn ∈
C1−ζ ; Ψ [a, a + χ] ∀ n ∈ N.

(b) For any t ∈ [a, a + χ] and n ∈ N, we have

 Z t 
 1 η 
|yn (t) − y0 (t)| = 
 QΨ (t, σ)f (σ, yn−1 (σ)) dσ 
Γ(η) a
Z t
1
≤ QηΨ (t, σ)(Ψ(σ) − Ψ(a))ζ−1 ×
Γ(η) a
 
(Ψ(σ) − Ψ(a))1−ζ f (σ, yn−1 (σ)) dσ
 

η;Ψ
≤ M Ia+ (Ψ(t) − Ψ(a))ζ−1
Γ(ζ)
=M (Ψ(t) − Ψ(a))η+ζ−1 .
Γ(η + ζ)
Therefore,
M Γ(ζ)
(Ψ(t) − Ψ(a))1−ζ |yn (t) − y0 (t)| ≤ (Ψ(t) − Ψ(a))η , t ∈ [a, a + χ], n = 0, 1, 2, · · · .
Γ(η + ζ)
✷
 15

Theorem 4.2 Let ζ = η + ν(1 − η), 0 < η < 1 and 0 ≤ ν ≤ 1. Define

R0 = (t, y) : a ≤ t ≤ a + ξ, y − HζΨ (t, a) ya  ≤ k , ξ > 0, k > 0.

  

(Ψ(t)−Ψ(a))ζ−1
where, HζΨ (t, a) = Γ(ζ) . Let f (· , y(·)) ∈ C1−ζ ; Ψ [a, a+χ] for every y ∈ C1−ζ ; Ψ [a, a+
χ] and satisfies the Lipschitz condition

|f (t, u) − f (t, v)| ≤ L|u − v|, u, v ∈ R, L > 0.

Let Ψ ∈ C 1 ([a, a + χ], R) be an increasing bijective function with Ψ′ (t) 6= 0,for all t ∈
[a, a + χ], where
( "  1# )
−1 k Γ(η + ζ) η
χ = min ξ, Ψ Ψ(a) + −a
Γ(ζ)M

and M is constant such that

| (Ψ(t) − Ψ(a))1−ζ f (t)| ≤ M, ∀ t ∈ [a, a + χ].

Then the successive approximations defined by (4.1) converges to the unique solution y of
the Cauchy type problem (1.1)-(1.2) in the weighted space C1−ζ ; Ψ [a, a + χ].

Proof: We give the proof of the theorem in the following steps.

Step 1: In the above theorem we have already proved that yn ∈ C1−ζ ; Ψ [a, a+χ], ∀ n ∈ N.

Step 2: We show that the sequence {yn } converges to a function y ∈ C1−ζ ; Ψ [a, a + χ]
with respect to the norm k · kC1−ζ ; Ψ [a,a+χ] . Observe that yn can be written as
n
X
yn = y0 + (yk − yk−1 ) (4.2)
k=1

which is partial sum of series

∞
X
y0 + (yk − yk−1 ). (4.3)
k=1

Therefore, to show that sequence {yn } is convergent, we prove that the series (4.3) is
convergent. For any x ∈ [a, a + χ], consider the space C1−ζ ; Ψ [a, x] having norm
 
khkC1−ζ ; Ψ [a,x] = max (Ψ (t) − Ψ (a))1−ζ h (t) . (4.4)
 
t∈[a,x]

By mathematical induction, we now prove , for each x ∈ [a, a+χ] and yj ∈ C1−ζ ; Ψ [a, x],

M Γ(ζ) [L(Ψ(x) − Ψ(a))η ]n+1

kyn+1 − yn kC ≤ , n ∈ N. (4.5)
1−ζ ; Ψ [a,x] L Γ((n + 1)η + ζ)
16

Using Lemma 2.3, we obtain

ky1 − y0 kC
1−ζ ; Ψ [a,x]
  Z t 
 1−ζ 1 η 
= max (Ψ(t) − Ψ(a))
 y0 (t) + QΨ (t, σ)f (σ, y0 (σ)) dσ − y0 (t) 
t∈[a,x] Γ(η) a
 Z t 
1
= max (Ψ(t) − Ψ(a))1−ζ QηΨ (t, σ)f (σ, y0 (σ)) dσ 
 
t∈[a,x] Γ(η) a

η;Ψ
= Ia+ f (·, y0 (·))

C1−ζ ; Ψ [a,x]

Γ(ζ)
≤M (Ψ(t) − Ψ(a))η
Γ(η + ζ)
Γ(ζ)
≤M (Ψ(x) − Ψ(a))η ,
Γ(η + ζ)
which is the inequality (4.5) for n = 0.
Now, assume that the inequality (4.5) is hold for n = k. We prove it is also hold for
n = k + 1. In fact,
kyk+2 − yk+1 kC1−ζ ; Ψ [a,x]
t
1
Z
≤ L max (Ψ(t) − Ψ(a)) 1−ζ
QηΨ (t, σ)×
t∈[a,x] Γ(η) a
(Ψ(σ) − Ψ(a)) (Ψ(σ) − Ψ(a))1−ζ |yk+1 (σ) − yk (σ)| dσ
ζ−1
Z x
1−ζ 1
≤ L(Ψ(x) − Ψ(a)) Qη:Ψ (x, σ)(Ψ(σ) − Ψ(a))ζ−1 kyk+1 − yk kC1−ζ ; Ψ [a,σ] dσ
Γ(η) a
Z x
1−ζ 1
≤ L(Ψ(x) − Ψ(a)) Qη:Ψ (x, σ)(Ψ(σ) − Ψ(a))ζ−1 ×
Γ(η) a
M Γ(ζ) [L(Ψ(σ) − Ψ(a))η ]k+1
dσ
L Γ((k + 1)η + ζ)
Γ(ζ) η;Ψ
= M Lk+1 (Ψ(x) − Ψ(a))1−ζ Ia+ (Ψ(x) − Ψ(a))(k+1)η+ζ−1
Γ((k + 1)η + ζ)
Γ(ζ) Γ((k + 1)η + ζ)
= M Lk+1 (Ψ(x) − Ψ(a))1−ζ × (Ψ(x) − Ψ(a))(k+2)η+ζ−1
Γ((k + 1)η + ζ) Γ((k + 2)η + ζ)
M Γ(ζ) (L (Ψ(x) − Ψ(a))η )k+2
= .
L Γ((k + 2)η + ζ)
Thus, inequality (4.5) is true for n = k + 1. Hence, by using principle of mathematical
induction the inequality (4.5) holds for each n ∈ N and x ∈ [a, a + χ]. Taking x → a + χ in
(4.5), we get,
M Γ(ζ) [L(Ψ(a + χ) − Ψ(a))η ]k
kyk − yk−1 kC1−ζ ; Ψ [a,a+χ] ≤ .
L Γ(kη + ζ)
Therefore,
∞
M Γ(ζ) X [L(Ψ(a + χ) − Ψ(a))η ]k
X ∞
kyk − yk−1 kC1−ζ ; Ψ [a,a+χ] ≤
L Γ(kη + ζ)
k=1 k=1
 17

 
M Γ(ζ) η 1
≤ Eη, ζ (L (Ψ(a + χ) − Ψ(a)) ) − .
L Γ(ζ)
P∞
This proves the series y0 + k=1 (yk − yk−1 ) is convergent in the space C1−ζ ; Ψ [a, a + χ].
Let us suppose that
∞
X
ỹ = y0 + (yk − yk−1 ).
k=1

Therefore,
kyn − ỹkC1−ζ ; Ψ [a,a+χ] → 0 as n → ∞. (4.6)

Step 3: ỹ is solution of fractional integral equation (3.1). In fact, we have

η;Ψ η;Ψ
Ia+ f (·, yn (·)) − Ia+ f (·, ỹ(·))

C1−ζ ; Ψ [a,a+χ]
η;Ψ
≤ L kyn − ỹkC1−ζ ; Ψ [a,a+χ] max (Ψ(t) − Ψ(a))1−ζ Ia+ (Ψ(t) − Ψ(a))ζ−1
t∈[a,a+χ]
Γ(ζ)
≤ L kyn − ỹkC1−ζ ; Ψ [a,a+χ] max (Ψ(t) − Ψ(a))1−ζ (Ψ(t) − Ψ(a))η+ζ−1
t∈[a,a+χ] Γ(η + ζ)
Γ(ζ)
≤L (Ψ(a + χ) − Ψ(a))η kyn − ỹkC1−ζ ; Ψ [a,a+χ] .
Γ(η + ζ)

Using (4.6), we obtain

η;Ψ η;Ψ
Ia+ f (·, yn (·)) − Ia+ f (·, ỹ(·)) → 0 as n → ∞. (4.7)

C1−ζ ; Ψ [a,a+χ]

Therefore, taking limit as n → ∞ in (4.1), we get

η;Ψ
ỹ(t) = y0 (t) + Ia+ f (t, ỹ(t))
Z t
1
= HζΨ (t, a) ya + Qη (t, σ)f (σ, ỹ(σ)) dσ.
Γ(η) a Ψ

This proves, ỹ ∈ C1−ζ ; Ψ [a, a + χ] is solution of (3.1).

Step 4: Uniqueness of the solution.
Let y(t) and y ∗ (t) be any two solutions of the IVP (1.1)–(1.2) and consider the function
defined by z(t) = |y(t) − y ∗ (t)|. Then, we get

z(t) = |y(t) − y ∗ (t)|

 Z t 
 1 η ∗

= QΨ (t, σ) [f (σ, y(σ)) − f (σ, y (σ))] dσ 
Γ(η) a
Z t
1
≤ Qη (t, σ) |f (σ, y(σ)) − f (σ, y ∗ (σ))| dσ
Γ(η) a Ψ
Z t
L
≤ Qη (t, σ) |y(σ) − y ∗ (σ)| dσ
Γ(η) a Ψ
Z t
L
≤ QηΨ (t, σ)z(σ) dσ.
Γ(η) a
18

Using Gronwall inequality given in the Theorem 2.4, we get

z(t) ≤ 0 × Eη [L (Ψ(t) − Ψ(a))η ].

Therefore z(t) = 0 and we have y(t) = y ∗ (t). ✷

Remark 4.3 For η = 1, ν = 1 and Ψ(t) = t the above theorems includes the results of
Coddington [[40],Chapter 5] for the ordinary differential equations.

Theorem 4.4 Let {yn } be the sequence of Picard’s successive approximation defined by
(4.1) and y is the solution of the IVP (1.1)-(1.2). Then the error y − yn satisfies the
condition
n
!
M Γ(ζ) η
X (L(Ψ(a + χ) − Ψ(a))η )k
ky−yn kC1−ζ ; Ψ [a,a+χ] ≤ Eη, ζ (L(Ψ(a + χ) − Ψ(a)) ) − .
L Γ(kη + ζ)
k=0
(4.8)

Proof: From the proof of the Theorem 4.2, we have

∞
X
y = y0 + (yk − yk−1 )
k=1

and
n
X
yn = y0 + (yk − yk−1 ).
k=1
Hence
∞
X
y − yn = (yk − yk−1 ).
k=n+1

From the above relations, in view of (4.5), we have

ky − yn kC1−ζ ; Ψ [a,a+χ]
∞
X
≤ kyk − yk−1 kC1−ζ ; Ψ [a,a+χ]
k=n+1
∞
X M Γ(ζ) (L(Ψ(a + χ) − Ψ(a))η )k
≤
L Γ(kη + ζ)
k=n+1
n
∞
!
M Γ(ζ) X (L(Ψ(a + χ) − Ψ(a))η )k X (L(Ψ(a + χ) − Ψ(a))η )k
≤ −
L Γ(kη + ζ) Γ(kη + ζ)
k=0 k=0
n
!
M Γ(ζ) η
X (L(Ψ(a + χ) − Ψ(a))η )k
≤ Eη, ζ (L(Ψ(a + χ) − Ψ(a)) ) − .
L Γ(kη + ζ)
k=0
✷
 19

Remark 4.5 From the inequality (4.8), it follows that

lim ky − yn kC1−ζ ; Ψ [a,a+χ]

n→∞
n
!
∞ k k
M Γ(ζ) X (L(Ψ(a + χ) − Ψ(a))η ) X (L(Ψ(a + χ) − Ψ(a))η )
≤ lim −
L n→∞ Γ(kη + ζ) Γ(kη + ζ)
k=0 k=0
!
∞ k
M Γ(ζ) η
X (L(Ψ(a + χ) − Ψ(a))η )
= Eη, ζ (L(Ψ(a + χ) − Ψ(a)) ) −
L Γ(kη + ζ)
k=0
M Γ(ζ)
= (Eη, ζ (L(Ψ(a + χ) − Ψ(a))η ) − Eη, ζ (L(Ψ(a + χ) − Ψ(a))η )
L
= 0.

This implies the sequence {yn } of successive approximation converges to the solution y of the problem

(1.1)-(1.2) as n → ∞.

5 Picard’s Successive Approximations: Linear Case

Here we derive the representation formula for the solution of linear Cauchy problem with
constant coefficient and variable coefficients which extend the results of [4, Chapter 7].

5.1 Linear Cauchy Type problem with Constant Coefficient

Theorem 5.1 Let f ∈ C1−ζ ; Ψ (∆, R)] and λ ∈ R. Then, the solution of the Cauchy
problem for FDE with constant coefficient involving Ψ-Hilfer fractional derivative (1.3)-
(1.4) is given by

y (t) = ya (Ψ(t) − Ψ(a))ζ−1 Eη, ζ (λ(Ψ(t) − Ψ(a))η )

Z t
+ QηΨ (t, σ) Eη, η (λ(Ψ(t) − Ψ(σ))η ) f (σ) dσ
a

where, QηΨ (t, σ) = Ψ′ (σ)(Ψ(t) − Ψ(σ))η−1

Proof: The linear Cauchy problem (1.3)-(1.4) is equivalent to

t t
1
Z Z
λ
y(t) = HζΨ (t, a) ya + QηΨ (t, σ)y(σ) dσ + QηΨ (t, σ)f (σ) dσ. (5.1)
Γ(η) a Γ(η) a

Employing the method of successive approximation we derive the solution of (5.1). Consider
the sequences {ym } defined by

y0 (t) = HζΨ (t, a) ya

20

Z t
λ
ym (t) = y0 (t) + QηΨ (t, σ)ym−1 (σ) dσ
Γ(η) a
Z t
1
+ Qη (t, σ)f (σ) dσ, (m = 1, 2, · · · ).
Γ(η) a Ψ

By method of induction, we prove that

m t m−1
λk (Ψ(t) − Ψ(a))kη+ζ−1 λk (Ψ(t) − Ψ(σ))(k+1)η−1
X Z X
ym (t) = ya + Ψ′ (σ) f (σ) dσ. (5.2)
Γ(kη + ζ) a Γ((k + 1)η)
k=0 k=0

For the case m = 1, we have

Z t Z t
λ η 1
y1 (t) = y0 (t) + Q (t, σ)y0 (σ) dσ + Qη (t, σ)f (σ) dσ
Γ(η) a Ψ Γ(η) a Ψ
Z t
λ (Ψ(σ) − Ψ(a))ζ−1
= y0 (t) + QηΨ (t, σ) ya dσ
Γ(η) a Γ(ζ)
Z t
1
+ Qη (t, σ)f (σ) dσ
Γ(η) a Ψ
λ
= y0 (t) + ya I η ; Ψ (Ψ(t) − Ψ(a))ζ−1 + Ia+
η;Ψ
f (t)
Γ(ζ) a+
(Ψ(t) − Ψ(a))ζ−1 λ
= ya + ya (Ψ(t) − Ψ(a))η+ζ−1
Γ(ζ) Γ(η + ζ)
Z t
1
+ Qη (t, σ)f (σ) dσ.
Γ(η) a Ψ

This is the equation (5.2) for m = 1. Now, we assume that the equation (5.2) is hold
for m = j and prove that it is also true for m = j + 1. In fact,
t Z t
1
Z
λ
yj+1 (t) = y0 (t) + QηΨ (t, σ)yj (σ) dσ + Qη (t, σ)f (σ) dσ
Γ(η)
a Γ(η) a Ψ
j
Z t (
λ η
X λk (Ψ(σ) − Ψ(a))kη+ζ−1
= y0 (t) + QΨ (t, σ) ya
Γ(η) a Γ(kη + ζ)
k=0
j−1
Z σ )
′
X λk (k+1)η−1 η;Ψ
+ Ψ (τ ) (Ψ(σ) − Ψ(τ )) f (τ )dτ ) dσ + Ia+ f (t)
a Γ((k + 1)η)
k=0
j
λk+1
I η ; Ψ (Ψ(t) − Ψ(a))kη+ζ−1
X
= y0 (t) + ya
Γ(kη + ζ) a+
k=0
j−1 Z t
X λk+1 1
+ Qη (t, σ)×
Γ((k + 1)η) Γ(η) a Ψ
k=0
Z σ 
′ (k+1)η−1 η;Ψ
Ψ (τ )(Ψ(σ) − Ψ(τ )) f (τ )dτ dσ + Ia+ f (t).
a

Changing the order of integration in the second last term,

yj+1 (t)
 21

ζ−1 j
(Ψ(t) − Ψ(a)) X λk+1
= ya + ya (Ψ(t) − Ψ(a))(k+1)η+ζ−1
Γ(ζ) Γ((k + 1)η + ζ)
k=0
j−1 k+1 Z t Z t 
X λ 1
+ Ψ′ (τ ) Ψ′ (σ)(Ψ(σ) − Ψ(τ ))(k+1)η−1 (Ψ(t) − Ψ(σ))η−1 f (σ) dσ f (τ )dτ
Γ((k + 1)η) Γ(η) a τ
k=0
Z t
1
+ Qη (t, σ)f (σ) dσ
Γ(η) a Ψ
j+1
X λk
= ya (Ψ(t) − Ψ(a))kη+ζ−1
Γ(kη + ζ)
k=0
j−1 Z t
X λk+1 1 Γ(η)Γ((k + 1)η)
+ (Ψ(t) − Ψ(τ ))(k+2)η−1 Ψ′ (τ )f (τ )dτ
Γ((k + 1)η) Γ(η) a Γ((k + 2)η)
k=0
Z t
1
+ Qη (t, σ)f (σ) dσ
Γ(η) a Ψ
j+1
X λk
= ya (Ψ(t) − Ψ(a))kη+ζ−1
Γ(kη + ζ)
k=0
Z t (Xj−1
)
λk+1 (k+2)η−1 (Ψ(t) − Ψ(σ))η−1
+ (Ψ(t) − Ψ(σ)) + Ψ′ (σ)f (σ) dσ
a Γ((k + 2)η) Γ(η)
k=0
j+1 t j
λk λk
X Z X
= ya (Ψ(t) − Ψ(a))kη+ζ−1 + Ψ′ (σ) (Ψ(t) − Ψ(σ))(k+1)η−1 f (σ) dσ.
Γ(kη + ζ) a Γ((k + 1)η)
k=0 k=0

This proves equation (5.2) is true for m = j + 1. By mathematical induction the equation
(5.2) is true for all m ∈ N. Taking limit as m → ∞, on both sides of (5.2), we get the
solution of the Cauchy problem (1.3)-(1.4) as

y(t) = lim ym (t)

m→∞
∞ t ∞
λk (Ψ(t) − Ψ(a))kη+ζ−1 λk (Ψ(t) − Ψ(σ))(k+1)η−1
X Z X
′
= ya + Ψ (σ) f (σ) dσ
Γ(kη + ζ) a Γ((k + 1)η)
k=0 k=0
= ya (Ψ(t) − Ψ(a))ζ−1 Eη, ζ (λ(Ψ(t) − Ψ(a))η )
Z t
+ QηΨ (t, σ)Eη, η (λ(Ψ(t) − Ψ(σ))η ) f (σ) dσ.
a

5.2 Linear Cauchy Type problem with Variable Coefficient

Theorem 5.2 Let f ∈ C1−ζ ; Ψ (∆, R) , λ ∈ R and µ > 1 − η. Then, the solution of
Cauchy problem for homogeneous FDE with variable coefficient involving Ψ-Hilfer fractional
derivative (1.5)-(1.6) is given by

y (t) = HζΨ (t, a) ya Eη, 1+ µ−1 , µ+ζ−2 λ(Ψ(t) − Ψ(a))η+µ−1 .

η 2
22

(Ψ(t)−Ψ(a)) ζ−1
where, HζΨ (t, a) = Γ(ζ)

Proof: The equivalent fractional integral of (1.5)-(1.6) is

Z t
λ
Ψ
y(t) = Hζ (t, a) ya + QηΨ (t, σ)(Ψ(σ) − Ψ(a))µ−1 y(σ) dσ. (5.3)
Γ(η) a
We consider the sequences {ym } of successive approximation defined by

y0 (t) = HζΨ (t, a) ya

Z t
λ
ym (t) = y0 (t) + QηΨ (t, σ)(Ψ(σ) − Ψ(a))µ−1 ym−1 (σ) dσ, (m = 1, 2, · · · ),
Γ(η) a

and derive the solution of (5.3). By mathematical induction, we prove that

m
( )
η+µ−1 k
X
Ψ


ym (t) = Hζ (t, a) ya 1 + ck λ(Ψ(t) − Ψ(a)) , (5.4)
k=1

where
k−1
Y Γ(j(η + µ − 1) + µ + ζ − 1)
ck =
Γ(j(η + µ − 1) + η + µ + ζ − 1)
j=0
k−1 µ−1 µ+ζ−2
Y Γ(η[j(1 + η )+ η ] + 1)
= µ−1 µ+ζ−2
.
j=0 Γ(η[j(1 + η ) + η + 1] + 1)

For the case m = 1, we have

Z t
λ
y1 (t) = y0 (t) + Qη (t, σ)(Ψ(σ) − Ψ(a))µ−1 y0 (σ) dσ
Γ(η) a Ψ
Z t
λ (Ψ(σ) − Ψ(a))ζ−1
Ψ
= Hζ (t, a) ya + QηΨ (t, σ)(Ψ(σ) − Ψ(a))µ−1 ya dσ
Γ(η) a Γ(ζ)
λ
= HζΨ (t, a) ya + ya I η ; Ψ (Ψ(t) − Ψ(a))µ+ζ−2
Γ(ζ) a+
(Ψ(t) − Ψ(a))ζ−1 λ Γ(µ + ζ − 1)
= ya + ya (Ψ(t) − Ψ(a))η+µ+ζ−2
Γ(ζ) Γ(ζ) Γ(η + µ + ζ − 1)
 
Ψ Γ(µ + ζ − 1) η+µ−1


= Hζ (t, a) ya 1 + λ(Ψ(t) − Ψ(a)) .
Γ(η + µ + ζ − 1)

This is the equation (5.4) for m = 1. Now, we assume that the equation (5.4) is hold
for m = j. we prove it is also hold for m = j + 1. In fact,

yj+1 (t)
Z t
λ
= y0 (t) + Qη (t, σ)(Ψ(σ) − Ψ(a))µ−1 yj (σ) dσ
Γ(η) a Ψ
Z t
λ
= y0 (t) + QηΨ (t, σ)(Ψ(σ) − Ψ(a))µ−1 ×
Γ(η) a
 23

j
( )
(Ψ(σ) − Ψ(a))ζ−1 X k
ck λ(Ψ(σ) − Ψ(a))η+µ−1


ya 1 + dσ
Γ(ζ)
k=1
Z t
λ 1
= y0 (t) + ya Qη (t, σ)(Ψ(σ) − Ψ(a))µ+ζ−2 dσ
Γ(ζ) Γ(η) a Ψ
j Z t
ck λk+1 1
Qη (t, σ)(Ψ(σ) − Ψ(a))(k+1)µ+kη+ζ−k−2 dσ
X
+ ya
Γ(ζ) Γ(η) a Ψ
k=1
λ
= y0 (t) + ya I η ; Ψ (Ψ(t) − Ψ(a))µ+ζ−2
Γ(ζ) a+
j
X ck λk+1 η ; Ψ
+ ya Ia+ (Ψ(t) − Ψ(a))(k+1)µ+kη+ζ−k−2
Γ(ζ)
k=1
(Ψ(t) − Ψ(a))ζ−1 λ Γ(µ + ζ − 1)
= ya + ya (Ψ(t) − Ψ(a))η+µ+ζ−2
Γ(ζ) Γ(ζ)Γ(η + µ + ζ − 1)
j
X ck λk+1 Γ((k + 1)µ + kη + ζ − (k + 1))
+ ya (Ψ(t) − Ψ(a))(k+1)(η+µ)+ζ−k−2
Γ(ζ) Γ((k + 1)(µ + η) + ζ − (k + 1))
k=1

Ψ Γ(µ + ζ − 1)
= Hζ (t, a) ya 1 + λ(Ψ(t) − Ψ(a))η+µ−1
Γ(η + µ + ζ − 1)
j
)
X Γ((k + 1)µ + kη + ζ − (k + 1) k+1
+ ck λ (Ψ(t) − Ψ(a))(k+1)(η+µ−1)
Γ((k + 1)(µ + η) + ζ − (k + 1)
k=1

Ψ Γ(µ + ζ − 1)
= Hζ (t, a) ya 1 + λ(Ψ(t) − Ψ(a))η+µ−1
Γ(η + µ + ζ − 1)
j
)
X Γ(k(η + µ − 1) + µ + ζ − 1) k+1 (k+1)(η+µ−1)
+ ck λ (Ψ(t) − Ψ(a))
Γ(k(η + µ − 1) + η + µ + ζ − 1)
k=1
j+1
( )
X  k
= HζΨ (t, a) ya 1 + ck λ(Ψ(t) − Ψ(a))(η+µ−1)
k=1

where,
k−1
Y Γ(j(η + µ − 1) + µ + ζ − 1)
ck = .
Γ(j(η + µ − 1) + η + µ + ζ − 1)
j=0

This proves equation (5.4) is true for m = j+1. By mathematical induction the equation
(5.4) is true for all m ∈ N. Taking limit as m → ∞, on both sides of (5.4), we get the
solution of the Cauchy problem (1.5)-(1.6), given by

y(t) = lim ym (t)

m→∞
( ∞
)
X
= HζΨ (t, a) ya 1+ ck [λ(Ψ(t) − Ψ(a))η+µ−1 ]k
k=1
Ψ
λ(Ψ(t) − Ψ(a))η+µ−1 .


= Hζ (t, a) ya Eη, 1+ µ−1 , µ+ζ−2
η 2
24

where Eη, 1+ µ−1 , µ+ζ−2 (·) is generalized (Kilbas–Saigo) Mittag–Leffler type function of three
η 2
parameters. ✷

6 Concluding remarks
In the present paper, we are able to provide a brief study of the theory of FDEs by means
of the Ψ-Hilfer fractional derivative. We examined the existence along with the interval of
existence, uniqueness, dependence of solutions and Picard’s successive approximations in
cases: nonlinear and linear.
The existence results pertaining to Cauchy problem (1.1)-(1.2), was obtained through
the theorems of Schauder and Arzela-Ascoli. On the other hand, we can prove the unique-
ness and continuous dependence of the problem (1.1)-(1.2) by making use of mathematical
induction and Weissinger’s fixed point theorem. In addition, we investigate Picard’s succes-
sive approximation in the nonlinear case for the Cauchy problem (1.1)-(1.2) and in the linear
cases: (1.3)-(1.4) with constant coefficients and (1.5)-(1.6) with variable coefficients, making
use of the Gronwall’s inequality and mathematical induction. It should be noted that the
results obtained in the space of the weighted functions C1−ζ; Ψ (∆, R) are contributions to
the fractional calculus field, in particular, the fractional analysis.
The question that arises is: will it be possible to perform the same study in space
Lp ([0, 1], R) with the norm ||(·)||p, η , involving Ψ-Hilfer fractional derivative and Banach’s
fixed point theorem [39]? If the answer is yes. What are the restrictions for such results, if
any? These issues and others, are studies that are in progress and will be published in the
future.

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