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R E S E A R C H

Open Access

Ulam type stability problems for alternative

homomorphisms

Sin-Ei Takahasi

1*

, Makoto Tsukada

1

, Takeshi Miura

2

, Hiroyuki Takagi

3

and Kotaro Tanahashi

4

*Correspondence:

[email protected]

1Department of Information

Sciences, Toho University, Funabashi, 274-8501, Japan Full list of author information is available at the end of the article

Abstract

We introduce an alternative homomorphism with respect to binary operations and investigate the Ulam type stability problem for such a mapping. The obtained results apply to Ulam type stability problems for several important functional equations.

MSC: Primary 39B82; secondary 47H10

Keywords: Ulam type stability; homomorphism; binary operation; fixed point theorem

1 Introduction

In , SM Ulam proposed the following stability problem: Given an approximately ad-ditive mapping, can one find the strictly adad-ditive mapping near it? A year later, DH Hyers gave an affirmative answer to this problem for additive mappings between Banach spaces. Subsequently many mathematicians came to deal with this problem (cf.[–]).

We introduce an alternative homomorphism from a setXwith two binary operations◦ and∗to another setEwith two binary operationsanddefined by

f(x◦y)f(x∗y) =f(x)f(y) (∀x,yX),

and we investigate the Ulam type stability problem for such a mapping whenEis a com-plete metric space. In particular, ifst=sfor alls,tE, then our results imply the stability results obtained in []. Also the method used in the paper have already applied for some other equations (cf.[–]).

One consequence of Banach’s fixed point theorem

A fixed point theorem has played an important role in the stability problem (cf.[]). The authors used an easy consequence of Banach’s fixed point theorem in []. It will serve again in this paper. Here we review it.

Let Xbe a set and (E,d) a complete metric space. Fix two mappingsf :XE and

ϕ:X→R+, whereR+denotes the set of all nonnegative real numbers. Denote byf,ϕthe set of all mappingsu:XEsuch that there exists a finite constantKusatisfying

du(x),f(x)≤Kuϕ(x) (∀x∈X).

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For anyu,vf,ϕ, we define

ρf,ϕ(u,v) =inf

K≥ :du(x),v(x)(x) (∀x∈X).

Then (f,ϕ,ρf,ϕ) is a complete metric space which containsf.

Now, fix three mappingsσ:XX,τ :EEandε:X×X→R+. For any mapping

u:XE, we define the mappingTσ,τu:XEby

(Tσ,τu)(x) =τ

u(σx) (x∈X).

Also, we consider three quantities:

ασ,ε=inf

K≥ :ε(σx,σy)(x,y) (x,yX),

βσ,ϕ=inf

K≥ :ϕ(σx)(x) (x∈X),

γτ=inf

K≥ :d(τs,τt)Kd(s,t) (s,tE).

Ifασ,ε<∞,βσ,ϕ<∞andγτ <∞, then we have

ε(σx,σy)ασ,εε(x,y) (∀x,yX),

ϕ(σx)βσ,ϕϕ(x) (∀x∈X),

d(τs,τt)γτd(s,t) (∀s,tE),

respectively. We will use these inequalities throughout this paper. We now state our fixed point theorem.

Lemma A([, Proposition .]) Let X be a set and(E,d)a complete metric space.Suppose that four mappings f :XE,ϕ:X→R+,σ:XX andτ :EE satisfy

,τff,ϕ, βσ,ϕ<∞, γτ <∞ and βσ,ϕγτ < .

Then Tσ,τ(f,ϕ)⊆f,ϕand Tσ,τ has a unique fixed point finf,ϕ.Moreover,

lim

n→∞d

Tσn,τf(x),f∞(x)=  and df(x),f∞(x)≤ρf,ϕ(Tσ,τf,f)

 –βσ,ϕγτ

ϕ(x)

for all xX.

2 A stability of alternative homomorphisms

Let (X,◦,∗) be a setXwith two binary operations◦and∗. Let (E,d,,) be a complete metric space (E,d) with two binary operationsand. Givenf :XE, we consider the following commutative diagram:

X×X ––––––––(f◦)×(f→∗) E×E

f×f⏐⏐ ⏐⏐

E×E ––––––→

E.

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This means that

f(x◦y)f(x∗y) =f(x)f(y) (∀x,yX). ()

In particular, ifst=sfor alls,tE, then () and () become

X×X ––––––◦→ X

f×f⏐⏐ ⏐⏐f

E×E ––––––→

E

and

f(x◦y) =f(x)f(y) (∀x,yX).

In other words,f is a homomorphism fromXtoE. Thus, if a mappingf :XE satis-fies (), then we say thatf is analternative homomorphism.

In this section, we establish two general settings, on which we can give an affirmative answer to the Ulam type stability problem for the commutative diagram (). These settings have a property such as duality, that is, each of them works as a complement of the other. Let us describe the first setting. Forε:X×X→R+andδ:X→R+, we consider the following three conditions:

(i) The square operatorxxxis an automorphism ofXwith respect to◦and∗.

We denote byσthe inverse mapping of this automorphism.

(ii) The binary operationsandonEare continuous. The square operator

τ:sssis an endomorphism ofEwith respect toand. (iii) αασ,ε<∞,ββσ,δ<∞,γγτ <∞andγmax{α,β}< .

Under the above conditions, we show the Ulam type stability for the commutative dia-gram (), as follows.

Theorem  Let(X,◦,∗)and(E,d,,)be as above.Suppose that four mappingsσ:XX,

τ :EE,ε:X×X→R+andδ:XR+satisfy(i), (ii),and(iii).If a mapping f :XE

satisfies

df(x◦y)f(x∗y),f(x)f(y)≤ε(x,y) (∀x,yX), ()

df(x)f(σxσx),f(x)≤δ(x) (∀x∈X), ()

then there exists a mapping f∞:XE such that

f∞(x◦y)f∞(x∗y) =f∞(x)f∞(y) (∀x,yX), ()

f∞(x)f∞(σxσx) =f∞(x) (∀xX), ()

df(x),f∞(x)≤ αε(x,x) +δ(x)

 –γmax{α,β} (∀x∈X). ()

Moreover,if a mapping g:XE satisfies(), (),and

∃Kg≥ :d

f(x),g(x)Kg

αε(x,x) +δ(x) (∀x∈X), ()

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Proof For simplicity, we writeT=,τ. We note thatα,β, andγ are finite by (iii). Suppose thatf :XEsatisfies () and (). Putϕ(x) =αε(x,x) +δ(x) for allxX. To apply Lemma A tof andϕ, we first observe thatTff,ϕ. FixxX. Replacingxandyin () byσx, we get

df(σxσx)f(σxσx),f(σx)f(σx)ε(σx,σx).

Since

σxσx=σ–(σx) =x,

f(σx)f(σx) =τf(σx)= (Tf)(x),

and

ε(σx,σx)αε(x,x),

it follows that

df(x)f(σxσx), (Tf)(x)≤αε(x,x).

Using this and (), we have

d(Tf)(x),f(x)≤d(Tf)(x),f(x)f(σxσx)+df(x)f(σxσx),f(x)

αε(x,x) +δ(x)

=ϕ(x).

HenceTff,ϕandρf,ϕ(Tf,f)≤.

We next estimate the quantityβσ,ϕ. ForxX, we have

ϕ(σx) =αε(σx,σx) +δ(σx)

αε(x,x) +βδ(x)

≤max{α,β}αε(x,x) +δ(x)

=max{α,β}ϕ(x).

Henceβσ,ϕ≤max{α,β}andβσ,ϕγτγmax{α,β}<  by (iii).

Thus we can apply Lemma A. As a consequence,T has a unique fixed pointf∞∈f,ϕ. Moreover,

lim

n→∞d

Tnf(x),f∞(x)=  ()

and

df(x),f∞(x)≤ρf,ϕ(Tf,f)

 –βσ,ϕγτ

ϕ(x) ()

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Here we show (). Ifx,yXandn∈N, then we have

df∞(x◦y)f∞(x∗y),f∞(x)f∞(y)

df∞(x◦y)f∞(x∗y),Tnf(x◦y)Tnf(x∗y)

+dTnf(x◦y)Tnf(x∗y),Tnf(x)Tnf(y)

+dTnf(x)Tnf(y),f∞(x)f∞(y). ()

We will see that the right hand side of () tends to  asn→ ∞. The first and third terms on the right hand side tend to  asn→ ∞, because of () and the continuity ofand in (ii). Moreover, the second term, sayAn(x,y), is estimated as follows: By (i), (ii), and (),

we have

An(x,y) =d

τnfσn(x◦y) τnfσn(x∗y),τnfσnxτnfσny

=dτnfσnxσny τnfσnxσny,τnfσnxfσny

=dτnfσnxσnyfσnxσny,τnfσnxfσny

γndfσnxσnyfσnxσny,fσnxfσnyγnεσnx,σny

γnαnε(x,y),

whereτnandσndenote then-fold compositions of endomorphismsτandσ, respectively. Sinceγ α<  by (iii), it follows thatAn(x,y)→ asn→ ∞. Thus the right hand side of ()

tends to , and we obtain ().

Next, we show (). ForxX, we replacexandyin () byσxto get

f∞(σxσx)f∞(σxσx) =f∞(σx)f∞(σx).

Sinceσxσx=xand

f∞(σx)f∞(σx) =τf∞(σx)= (Tf∞)(x) =f∞(x),

we obtain ().

Finally, we show the last statement. Sincegsatisfies () and (), we have

(Tg)(x) =τg(σx)=g(σx)g(σx)

=g(σxσx)g(σxσx)

=g(x)g(σxσx)

=g(x)

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The next corollary is obtained in [].

Corollary ([, Corollary .]) Let X be a set with a binary operationsuch that the square operation xxx is an automorphism of X with respect toand E a complete metric space with a continuous binary operationsuch that the square operationτ :sss is an endomorphism of E with respect to. Letε:X×X→R+ and suppose that αασ,ε<∞,γγτ <∞andγ α< ,whereσdenotes the inverse mapping of the square operation xxx.If a mapping f :XE satisfies

df(x◦y),f(x)f(y)≤ε(x,y) (∀x,yX),

then there exists a unique mapping f∞:XE such that

f∞(x◦y) =f∞(x)f∞(y) and df(x),f∞(x)≤ α

 –αγε(x,x)

for all x,yX.

Proof Consider the case that∗=◦andst=sfors,tE, in Theorem . In this case,τ is clearly an endomorphism ofEwith respect to. Therefore the corollary follows

immedi-ately from Theorem  withδ= .

Now we turn to another setting. Let (X,◦,∗) and (E,d,,) be as in the first part of this section. Forε:X×X→R+andδ:XR+, we consider the following three conditions:

(iv) The square operatorσ˜ :xxxis an endomorphism ofXwith respect to◦and∗. (v) The binary operationsandonEare continuous. The square operatorsssis an automorphism ofEwith respect toand. We denote byτ˜the inverse mapping of this automorphism.

(vi) α˜≡ασ˜,ε<∞,β˜≡βσ˜,δ<∞,γ˜≡γτ˜<∞, andγ˜max{ ˜α,β˜}< .

Under the above conditions, we show the Ulam type stability for the commutative dia-gram (), as follows.

Theorem  Let(X,◦,∗)and(E,d,,)be as above.Suppose that four mappingsσ˜ :XX, ˜

τ :EE,ε:X×X→R+andδ:XR+satisfy(iv), (v),and(vi).If a mapping f:XE

satisfies()and

df(x◦x)f(x∗x),f(x◦x)δ(x) (∀x∈X), ()

then there exists a mapping f∞:XE satisfying()

f∞(x◦x)f∞(x∗x) =f∞(x◦x) (∀x∈X), ()

df(x),f∞(x)≤γ˜{ε(x,x) +δ(x)}

 –γ˜max{ ˜α,β˜} (∀x∈X). ()

Moreover,if a mapping g:XE satisfies(), (),and

∃Kg≥ :d

f(x),g(x)Kgγ˜

ε(x,x) +δ(x) (∀x∈X), ()

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Proof For simplicity, we write T˜ =˜,τ˜, that is, (Tf˜ )(x) =τ˜(f(σ˜x)) forxX. We note

that α˜, β˜ and γ˜ are finite by (vi). Suppose that f :XE satisfies () and (). Put ˜

ϕ(x) =γ˜{ε(x,x) +δ(x)}for allxX. To apply Lemma A tof andϕ˜, we first observe that ˜

Tff,ϕ˜. FixxX. Sinceτ˜(f(x)f(x)) =f(x), it follows from () and () that

d(Tf˜ )(x),f(x)

=˜f(σ˜x),f(x)

=˜f(x◦x),τ˜f(x)f(x)

≤ ˜γdf(x◦x),f(x)f(x)

≤ ˜γdf(x◦x),f(x◦x)f(x∗x)+df(x◦x)f(x∗x),f(x)f(x) ≤ ˜γδ(x) +ε(x,x)

=ϕ˜(x).

HenceTf˜ ∈f,ϕ˜andρf,ϕ˜(Tf˜ ,f)≤.

We next estimate the quantityβσ˜,ϕ˜. ForxX, we have

˜

ϕ(σ˜x) =γ˜ε(σ˜x,σ˜x) +δ(σ˜x)

≤ ˜γαε˜ (x,x) +βδ˜ (x) ≤ ˜γmax{ ˜α,β˜}ε(x,x) +δ(x)

=max{ ˜α,β˜} ˜ϕ(x).

Henceβσ˜,ϕ˜≤max{ ˜α,β˜}andβσ˜,ϕ˜γτ˜≤ ˜γmax{ ˜α,β˜}<  by (vi).

Thus we can apply Lemma A. As a consequence,T˜ has a unique fixed pointf∞∈f,ϕ˜. Moreover,

lim

n→∞d

˜

Tnf(x),f∞(x)=  ()

and

df(x),f∞(x)≤ρf,ϕ˜(

˜ Tf,f)  –βσ˜,ϕ˜γτ˜ ˜

ϕ(x) ()

for allxX. Sinceρf,ϕ˜(Tf˜ ,f)≤ andβσ˜,ϕ˜γτ˜≤ ˜γmax{ ˜α,β˜}< , () implies (). Here we show (). Ifx,yXandn∈N, then we have

df∞(x◦y)f∞(x∗y),f∞(x)f∞(y)

df∞(x◦y)f∞(x∗y),T˜nf(x◦y)T˜nf(x∗y)

+dT˜nf(x◦y)T˜nf(x∗y),T˜nf(x)T˜nf(y)

+dT˜nf(x)T˜nf(y),f

∞(x)f∞(y).

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as follows: By (iv), (v), and (),

˜

An(x,y) =d

˜

τnfσ˜n(x◦y)τ˜nfσ˜n(x∗y),τ˜nfσ˜nx ˜τnfσ˜ny

=˜nfσ˜nx◦ ˜σnyτ˜nfσ˜nx∗ ˜σny,τ˜nfσ˜nxfσ˜ny

=˜nfσ˜nx◦ ˜σnyfσ˜nx∗ ˜σny,τ˜nfσ˜nxfσ˜ny

≤ ˜γndfσ˜nx◦ ˜σnyfσ˜nx∗ ˜σny,˜nxfσ˜ny ≤ ˜γnεσ˜nx,σ˜ny

≤ ˜γnα˜(x,y),

whereτ˜nandσ˜ndenote then-fold compositions of endomorphismsτ˜andσ˜, respectively.

Sinceγ˜α˜<  by (vi), it follows thatA˜n(x,y)→ asn→ ∞. Thus we obtain ().

Next, we show (). Replacingyin () byx, we have

f∞(x◦x)f∞(x∗x) =f∞(x)f∞(x). ()

Also since

˜

τf∞(x◦x)=τ˜f∞(σ˜x)= (Tf˜ ∞)(x) =f∞(x) =τ˜f∞(x)f∞(x),

it follows that

f∞(x◦x) =f∞(x)f∞(x).

Combining with (), we obtain ().

Finally, we show the last statement. Sincegsatisfies () and (), we have

g(σ˜x) =g(xx) =g(xx)g(xx) =g(x)g(x) =τ˜–g(x),

that is, (Tg)(x) =˜ g(x) for allxX. This says thatgis a fixed point ofT. Also, by (), we˜ havegf,ϕ˜. Hence the uniqueness of a fixed point ofT˜ inf,ϕ˜ implies thatg=f∞.

The next corollary is obtained in [].

Corollary ([, Corollary .]) Let X be a set with a binary operationsuch that the square operationσ˜ :xxx is an endomorphism of X with respect toand E a complete metric space with a continuous binary operation such that the square operation sss is an automorphism of E with respect to.Letε:X×X→R+ and suppose that

˜

αασ˜,ε<∞,γ˜≡γτ˜<∞andγ˜α˜< ,whereτ˜denotes the inverse mapping of the square operation sss.If a mapping f :XE satisfies

df(x◦y),f(x)f(y)≤ε(x,y) (∀x,yX),

then there exists a unique mapping f∞:XE such that

f∞(x◦y) =f∞(x)f∞(y) and df(x),f∞(x)≤ γ˜

 –α˜γ˜ε(x,x)

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Proof Consider the case that∗=◦andst=sfors,tE, in Theorem . Thenτ˜is clearly an endomorphism ofEwith respect to. Therefore the corollary follows immediately from

Theorem  withδ= .

3 Application I

The Ulam type stability problem for Euler-Lagrange type additive mappings has been in-vestigated in []. Here we take up the following Euler-Lagrange type mappingf :XE satisfying

f(ax+by) +f(bx+ay) + (a+b)f(–x) +f(–y)=  (∀x,yX), ()

whereXis a complex normed space,Ea complex Banach space anda,b∈Cwitha+b= . The following is an Ulam type stability result for this mapping.

Corollary (cf.[, Theorem .]) Letε:X×X→R+and suppose that

(vii) ∃K≥ :|a+b|K< andε(x,y)(–(a+b)x, –(a+b)y)(∀x,yX). If a mapping f :XE satisfies

f(ax+by) +f(bx+ay) + (a+b)f(–x) +f(–y)≤ε(x,y) (∀x,yX), ()

then there exists a unique mapping f∞:XE satisfying()and

f(x) –f∞(x)≤ K

( –|a+b|K)ε(–x, –x) (∀xX). ()

Proof Putu= –x,v= –yfor eachx,yX. Under these transformations, () changes into the following estimate:

f(–au–bv) +f(–bu–av)+a+b

f(u) +f(v)ε(u,v) (∀u,vX), ()

whereε(u,v) =ε(–u, –v) (∀u,vX).

Now we defineuv= –au–bv,uv= –bu–avfor eachu,vX. In this case, we can easily see that the square operatoruuuis an endomorphism ofXwith respect to◦

and∗. Also sincea+b= , this endomorphism is bijective and so automorphic. We denote

byσthe inverse mapping of this automorphism. Moreover, we definest= –

(a+b)(s+t),

st=(s+t) for eachs,tE. Then we can also see that the binary operationsand

onEare continuous and the square operatorτ :sssis an automorphism ofEwith respect toand. Note that () changes into the following:

f(u◦v)f(u∗v) –f(u)f(v)≤ε(u,v) (∀u,vX). ()

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second condition of (vii) and henceγτασ,ε≤ |a+b|K<  from the first condition of (vii). Therefore, by Theorem , there exists a unique mappingf∞:XEsuch that

f∞(u◦v)f∞(u∗v) =f∞(u)f∞(v) (∀u,vX),

namely, () holds and

f(u) –f∞(u)≤ ασ,εε(u,u)

 –γτmax{ασ,ε,βσ,δ}

K

( –|a+b|K)ε(–u, –u) (∀uX),

and so () holds.

The following is also an Ulam type stability result for the mapping satisfying ().

Corollary (cf.[, Theorem .]) Letε:X×X→R+and suppose that (viii) ∃K≥ :K<|a+b|andε(–(a+b)x, –(a+b)y)(x,y)(∀x,yX).

If a mapping f :XE satisfies(),then there exists a unique mapping f∞:XE

satis-fying()and

f(x) –f∞(x)≤ 

(|a+b|–K)ε(–x, –x) (∀x∈X). ()

Proof As observed in the proof of Corollary , () changes into (). Now we define uv= –au–bv,uv= –bu–avfor eachu,vX. In this case, we can easily see that the square operatorσ˜ :uuuis an endomorphism ofXwith respect to◦and∗. Moreover, we definest= –

(a+b)(s+t),st= 

(s+t) for eachs,tE. Then we can also see that

the binary operationsandonEare continuous and the square operatorsssis an endomorphism ofEwith respect toand. Also sincea+b= , this endomorphism is bijective and so automorphic. We denote byτ˜the inverse mapping of this automorphism. Note that () changes into (). Sincexx=xx(∀xX) andss=s(∀sE), it follows thatf(x◦x)f(x∗x) =f(x◦x) for allxXand then () holds withδ= .

Moreover,βσ˜,δ=  must hold withδ= . It is also obvious thatγτ˜ =|a+b|–from the definition ofτ˜. We also note thatασ˜,ε≤Kfrom the second condition of (viii) and hence

γτ˜ασ˜,ε≤ |a+b|–K<  from the first condition of (viii).

Therefore, by Theorem , there exists a unique mappingf∞:XEsuch that

f∞(u◦v)f∞(u∗v) =f∞(u)f∞(v) (∀u,vX),

namely, () holds and

f(u) –f∞(u)≤ γτ˜ε(u,u)

 –γτ˜max{ασ˜,ε,βσ˜,δ}

≤ |a+b|–

( –|a+b|–K)ε(–u, –u)

= 

(|a+b|–K)ε(–u, –u) (∀u∈X),

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Corollary (cf.[, Corollary .]) Suppose that|a+b| = ,δ,p,q≥and p+q= .If a mapping f :XE satisfies

f(ax+by) +f(bx+ay) + (a+b)f(–x) +f(–y)≤δxpyq

for all x,yX,then there exists a unique mapping f∞:XE satisfying()and

f(x) –f∞(x)≤ δ

(||a+b|p+q|a+b||x

p+q (∀xX).

Proof Putε(x,y) =δxpyqfor eachx,yX. (a) The case where either

|a+b|> , p+q> ,

or

|a+b|< , p+q< .

PutK=|a+b|–(p+q). ThenKsatisfies (vii). Note also that

K

( –|a+b|K)ε(–x, –x) =

δ

(|a+b|p+q|a+b|)x p+q

for allxX. Then the desired result follows from Corollary . (b) The case where either

|a+b|> , p+q< ,

or

|a+b|< , p+q> .

PutK=|a+b|p+q. ThenKsatisfies (viii). Note also that

(|a+b|–K)ε(–x, –x) =

δ

(|a+b|–|a+b|p+q)x p+q

for allxX. Then the desired result follows from Corollary .

4 Application II

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Lemma B([, Théorème )] A mapping f :X→Rsatisfies

maxf(x+y),f(x–y)=f(x) +f(y) (∀x,yX), ()

if and only if f(x) =|π(x)|(∀x∈X)for some additive functionπ:X→R.

In this section, we deal with the Ulam type stability problem for Equation (). Putxy= x+yandxy=xyfor eachx,yX. Moreover, putst=s+tandst=max{s,t}for eachs,t∈R. Then () changes into (). Also we can easily see that the square operation

˜

σ :xxxis endomorphic with respect to◦and∗and that the square operatorsssis automorphic with respect toand. Denote by τ˜ the inverse mapping of this automorphism. In this case, it is obvious thatτ˜(s) = sfor eachs∈Rand henceγτ˜= /.

Now letεbe a nonnegative constant and suppose thatf :X→Rsatisfies

maxf(x+y),f(x–y)f(x) +f(y)≤ε (∀x,yX). ()

Puttingx=y=  in (), we obtain

f()≤ε. ()

Also, puttingx=yin (), we obtain

ε+f()≤–ε+maxf(x+x),f()≤f(x) (∀xX). ()

Combining () and (), we obtain

εf(x) (∀xX). ()

Putδ= ε. By () and (), we obtain

≤maxf(x+x),f()–f(x+x)ε+ε=δ (∀xX),

and hence () holds. Moreover, note thatασ˜,ε=βσ˜,δ=  sinceεandδare constant. Then Lemma B and Theorem  easily imply the following.

Corollary  Let X be an Abelian group andεa nonnegative constant.If f:X→Rsatisfies (),then there exists an additive mappingπ:X→Rsuch that

f(x) –π(x)≤ε (∀x∈X).

For the related results, see [, ].

Competing interests

The authors declare that they have no competing interests.

Authors’ contributions

(13)

Author details

1Department of Information Sciences, Toho University, Funabashi, 274-8501, Japan.2Department of Mathematics, Niigata

University, Niigata, 950-2181, Japan. 3Department of Mathematical Sciences, Faculty of Science, Shinshu University,

Matsumoto, 390-8621, Japan. 4Department of Mathematics, Tohoku Pharmaceutical University, Sendai, 981-8558, Japan.

Acknowledgements

The authors are deeply grateful to the referees for careful reading of the paper and for the helpful suggestions and comments. All authors are partially supported by Grant-in-Aid for Scientific Research, Japan Society for the Promotion of Science.

Received: 29 January 2014 Accepted: 27 May 2014 Published:04 Jun 2014 References

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