the effect of time delay on the stability of a diffusive eco ...bifurcation, periodic solution. i....

7
The Effect of Time Delay on the Stability of a Diffusive Eco–epidemiological System Kejun Zhuang Abstract—The disease has a vital effect on the dynamical behaviors of predator-prey system in ecology. When disease spreads in the prey population, the infected preys are more likely to be captured by predators. On the other hand, spatial diffusion and gestation delay are ubiquitous in the nature and can generate rich spatiotemporal dynamical behaviors. In this study, a delayed and diffusive predator-prey system with disease in the prey is proposed. First, the existence, uniqueness, positivity and boundedness of solutions are established. Second, the stability condition of constant predator-free equilibrium solution is derived. Third, the stability of constant coexistence equilibrium solution and the existence of Hopf bifurcation are investigated by regarding time delay as the bifurcation parameter. Finally, some numerical simulations and conclusions are given to illustrate the theoretical results. Index Terms—eco-epidemiological system, time delay, Hopf bifurcation, periodic solution. I. I NTRODUCTION T HE predator-prey system is the basic model in pop- ulation dynamics, so the interactions between predator and prey in natural ecosystem have drawn extensive attention from scholars in different kinds of fields. As most species are prone to various diseases, abundant improved predator- prey models with disease in the prey or predator have been proposed in the recent past, see [1], [2], [3], [4], [5], [6], [7], [8], [9]. These studies show that the disease in prey or predator species may greatly influence the permanence and stability of the ecosystem, such as the stabilization of predator-prey oscillations, the occurrences of periodic and chaotic oscillations, and so on. Based on the assumption that the plankton species is only a portion of the food for the fish population in lake ecosystem, the overall fish density depends on the productivity of the lake and does not relate directly with plankton density, Bhat- tacharyya and Mukhopadhyay [10] established the following epidemiological model with SIS disease in the population: dS dt = rS ( 1 S+I K ) βI p S q dS + γI, dI dt = βI p S q dI γI PI 2 I 2 +h 2 , (1) where S(t) and I (t) are the densities of susceptible prey and infected prey, respectively. It is assumed that only the susceptible prey is capable of reproducing and its birth rate is r. Infected prey is removed by death or by predation. The disease transmission follows simple mass action law with infected incidence rate β; p and q are the fractions of infected Manuscript received February 1, 2018; revised June 16, 2018. K. Zhuang is with the School of Statistics and Applied Mathematics, Anhui University of Finance and Economics, Bengbu, Anhui, 233030 China, e-mail: [email protected]. This work is supported by the youth project of the humanities and Social Sciences in the Ministry of Education (17YJC630175), Anhui Province philosophy and social science planning project(AHSKQ2017D01) and the NSF of Education Bureau of Anhui Province (KJ2017A432). and susceptible prey population, respectively (0 < p, q < 1). The prey population has the same natural death rate d and the infected ones suffer additional loss due to recovery at a rate γ and subsequently join the susceptible class. The infected pop- ulation also suffers loss of biomass due to predator pressure at a rate P . The nonnegative initial conditions are imposed and all the coefficients are positive constants. For system (1), the local and global stabilities of various steady states and existence of Hopf bifurcation behavior were investigated by theoretical analyses and numerical simulations. However, it is more legitimate to consider the impact of predator if the abundance of large piscivorous fish is increas- ing in a lake [11]. Through taking account of the density of fish population as a dynamic variable which will significantly influence the dynamics of the system, Chakraborty et al. in [12] considered the extended model as follows: dS dt = rS ( 1 S+I K ) βI p S q dS + γI, dI dt = βI p S q dI γI mP I 2 I 2 +h 2 , dP dt = αP I 2 I 2 +h 2 μP σP 2 , (2) where P (t) denotes the density of predator population, μ and σP 2 are the natural death rate and the density-dependent mortality rate of predator, respectively. It is a well known fact that the infected prey is more vulnerable and it is assumed that the predator only consumes the infected one. The coefficient m is the maximal per capita consumption rate of infected prey, h represents the amount of infected prey at which predation rate is maximal and α represents the conversion efficiency of consumed prey into new predator. By regarding the infected incidence rate β as the bifurcation parameter, Chakraborty et al. [12] examined the existence of Hopf bifurcation around the coexisting equilibrium and discussed the uniform strong persistence of the system. In fact, spatial diffusion process is ubiquitous. The major- ity of populations do not stay in a fixed place and will move from one place to another driven by the outside influences. Spatial diffusion factor can also generate rich dynamics. For instance, stationary pattern, Hopf bifurcation, Turing instability and pattern formation have been recently studied in [13], [14], [15], [16]. On the other hand, time-delay factor cannot be ignored, because the density of predator is closely related to the state at some time before due to the food supply, competition, sexual maturity, and so on. By introducing time delay, ecologists are able to successfully explain regular population cycles. Nevertheless, there have been comparatively rare results on such eco-epidemic models taking account of both spatial diffusion and time delay. For instance, Mukhopadhyay and Bhattacharyya [17] considered a delay-diffusion predator- prey model with disease in the prey and Holling type-II functional response. They only discussed the linear stabil- ity of boundary equilibrium and the dissipativeness of the IAENG International Journal of Applied Mathematics, 48:4, IJAM_48_4_05 (Advance online publication: 7 November 2018) ______________________________________________________________________________________

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Page 1: The effect of time delay on the stability of a diffusive eco ...bifurcation, periodic solution. I. INTRODUCTION THE predator-prey system is the basic model in pop-ulation dynamics,

The Effect of Time Delay on the Stability of aDiffusive Eco–epidemiological System

Kejun Zhuang

Abstract—The disease has a vital effect on the dynamicalbehaviors of predator-prey system in ecology. When diseasespreads in the prey population, the infected preys are morelikely to be captured by predators. On the other hand, spatialdiffusion and gestation delay are ubiquitous in the natureand can generate rich spatiotemporal dynamical behaviors. Inthis study, a delayed and diffusive predator-prey system withdisease in the prey is proposed. First, the existence, uniqueness,positivity and boundedness of solutions are established. Second,the stability condition of constant predator-free equilibriumsolution is derived. Third, the stability of constant coexistenceequilibrium solution and the existence of Hopf bifurcationare investigated by regarding time delay as the bifurcationparameter. Finally, some numerical simulations and conclusionsare given to illustrate the theoretical results.

Index Terms—eco-epidemiological system, time delay, Hopfbifurcation, periodic solution.

I. I NTRODUCTION

T HE predator-prey system is the basic model in pop-ulation dynamics, so the interactions between predator

and prey in natural ecosystem have drawn extensive attentionfrom scholars in different kinds of fields. As most speciesare prone to various diseases, abundant improved predator-prey models with disease in the prey or predator have beenproposed in the recent past, see [1], [2], [3], [4], [5], [6],[7], [8], [9]. These studies show that the disease in preyor predator species may greatly influence the permanenceand stability of the ecosystem, such as the stabilization ofpredator-prey oscillations, the occurrences of periodic andchaotic oscillations, and so on.

Based on the assumption that the plankton species is only aportion of the food for the fish population in lake ecosystem,the overall fish density depends on the productivity of thelake and does not relate directly with plankton density, Bhat-tacharyya and Mukhopadhyay [10] established the followingepidemiological model with SIS disease in the population:

dSdt

= rS(

1− S+IK

)

− βIpSq − dS + γI,dIdt

= βIpSq − dI − γI − PI2

I2+h2 ,(1)

where S(t) and I(t) are the densities of susceptible preyand infected prey, respectively. It is assumed that only thesusceptible prey is capable of reproducing and its birth rateis r. Infected prey is removed by death or by predation. Thedisease transmission follows simple mass action law withinfected incidence rateβ; p andq are the fractions of infected

Manuscript received February 1, 2018; revised June 16, 2018.K. Zhuang is with the School of Statistics and Applied Mathematics,

Anhui University of Finance and Economics, Bengbu, Anhui, 233030China, e-mail: [email protected]. This work is supported by the youthproject of the humanities and Social Sciences in the Ministry of Education(17YJC630175), Anhui Province philosophy and social science planningproject(AHSKQ2017D01) and the NSF of Education Bureau of AnhuiProvince (KJ2017A432).

and susceptible prey population, respectively (0 < p, q < 1).The prey population has the same natural death rated and theinfected ones suffer additional loss due to recovery at a rateγand subsequently join the susceptible class. The infected pop-ulation also suffers loss of biomass due to predator pressureat a rateP . The nonnegative initial conditions are imposedand all the coefficients are positive constants. For system (1),the local and global stabilities of various steady states andexistence of Hopf bifurcation behavior were investigated bytheoretical analyses and numerical simulations.

However, it is more legitimate to consider the impact ofpredator if the abundance of large piscivorous fish is increas-ing in a lake [11]. Through taking account of the density offish population as a dynamic variable which will significantlyinfluence the dynamics of the system, Chakraborty et al. in[12] considered the extended model as follows:

dSdt

= rS(

1− S+IK

)

− βIpSq − dS + γI,dIdt

= βIpSq − dI − γI − mPI2

I2+h2 ,dPdt

= αPI2

I2+h2 − µP − σP 2,

(2)

whereP (t) denotes the density of predator population,µ andσP 2 are the natural death rate and the density-dependentmortality rate of predator, respectively. It is a well knownfact that the infected prey is more vulnerable and it isassumed that the predator only consumes the infected one.The coefficientm is the maximal per capita consumptionrate of infected prey,h represents the amount of infectedprey at which predation rate is maximal andα represents theconversion efficiency of consumed prey into new predator.By regarding the infected incidence rateβ as the bifurcationparameter, Chakraborty et al. [12] examined the existenceof Hopf bifurcation around the coexisting equilibrium anddiscussed the uniform strong persistence of the system.

In fact, spatial diffusion process is ubiquitous. The major-ity of populations do not stay in a fixed place and will movefrom one place to another driven by the outside influences.Spatial diffusion factor can also generate rich dynamics.For instance, stationary pattern, Hopf bifurcation, Turinginstability and pattern formation have been recently studiedin [13], [14], [15], [16]. On the other hand, time-delayfactor cannot be ignored, because the density of predatoris closely related to the state at some time before due tothe food supply, competition, sexual maturity, and so on. Byintroducing time delay, ecologists are able to successfullyexplain regular population cycles.

Nevertheless, there have been comparatively rare resultson such eco-epidemic models taking account of both spatialdiffusion and time delay. For instance, Mukhopadhyay andBhattacharyya [17] considered a delay-diffusion predator-prey model with disease in the prey and Holling type-IIfunctional response. They only discussed the linear stabil-ity of boundary equilibrium and the dissipativeness of the

IAENG International Journal of Applied Mathematics, 48:4, IJAM_48_4_05

(Advance online publication: 7 November 2018)

______________________________________________________________________________________

Page 2: The effect of time delay on the stability of a diffusive eco ...bifurcation, periodic solution. I. INTRODUCTION THE predator-prey system is the basic model in pop-ulation dynamics,

system. Crauste et al. [18] introduced a delay reaction-diffusion model of the interaction between susceptible fishand bacterium without predator, and analyzed the stabilityof uniform steady states and existence of Hopf bifurcation.Zhang et al. [19] established a reaction-diffusion model withdisease in the prey and ratio-dependent Michaelis-Mentenfunctional response. They considered the temporal-spatialdelay and investigated the dynamic properties. Therefore, itis necessary to further study the joint effects of diffusion anddelay on the eco-epidemiological systems.

Motivated by the work of [10], [12], [17], [19], in thepresent paper, we mainly consider the reaction-diffusionpredator-prey with disease in the prey and gestation timedelay as follows:

∂S(x,t)∂t

= ∆S(x, t) + rS(x, t)(

1− S(x,t)+I(x,t)K

)

−(βI(x, t) + d)S(x, t) + γI(x, t), x ∈ Ω, t > 0,∂I(x,t)

∂t= ∆I(x, t) + I(x, t)(βS(x, t) − d− γ)

−mP (x,t)I2(x,t)I2(x,t)+h2 , x ∈ Ω, t > 0,

∂P (x,t)∂t

= ∆P (x, t) + αP (x,t−τ)I2(x,t−τ)I2(x,t−τ)+h2

−µP (x, t− τ)− σP 2(x, t− τ), x ∈ Ω, t > 0,∂S(x,t)

∂n= ∂I(x,t)

∂n= ∂P (x,t)

∂n= 0, x ∈ ∂Ω, t > 0,

S(x, t) = S1(x, t) ≥ 0, x ∈ Ω, t ∈ [−τ, 0],I(x, t) = I1(x, t) ≥ 0, x ∈ Ω, t ∈ [−τ, 0],P (x, t) = P1(x, t) ≥ 0, x ∈ Ω, t ∈ [−τ, 0],

(3)whereS(x, t), I(x, t) andP (x, t), respectively, represent thedensities of susceptible prey, infected prey and predator atthe locationx ∈ Ω and timet; τ > 0 is the time required forthe gestation of the predator. The regionΩ ⊂ R

N (N ≤ 3)denotes a bounded domain with smooth boundary∂Ω; ∆is the Laplace operator;∂/∂n indicates the outward normalderivative on∂Ω. The system is subject to homogeneousNeumann boundary conditions, which means that the eco-epidemiological system is self contained and the populationscannot cross the boundary. Unlike the infection incidencefunction in systems (1) and (2), here, we adopt the classicbilinear functionβSI for simplicity.

The main purpose of this paper is to provide a newperspective for both ecologists and mathematicians. Moreconcretely, we shall focus on the asymptotic stability of thepredator-free and coexisting steady states, and the existenceof Hopf bifurcation around the coexisting steady state in-duced by time delay. The rest of the paper is organizedas follows. In Section 2, we investigate the fundamentalproperties of solutions for system (3). In Section 3, we carryout the linear stability of two uniform steady states and theexistence of Hopf bifurcation by analyzing the correspondingcharacteristic equations. In Section 4, we conduct somenumerical simulations in support of the analytical findings.Finally, we draw some conclusions in the Section 5.

II. FUNDAMENTAL PROPERTIES OF SOLUTIONS

In this section, we shall establish the well-posedness ofsolutions for system (3), including the existence, uniqueness,positivity and boundedness of the solutions.

First, we denote the Banach space of continuous functionsfrom [−τ, 0] into X with the usual supremum norm byC =C([τ, 0], X). In our case,X is the Banach spaceC(Ω,R3)and C(E,F ) represents the space of continuous functions

from topological spaceE into spaceF . For convenience, weidentify an elementϕ ∈ C as a function fromΩ × [−τ, 0]into R

3 defined byϕ(x, s) = ϕ(s)(x).For any continuous functionw(.) : [−τ, b) → X for b > 0,

we definewt ∈ C by wt(s) = w(t + s), s ∈ [−τ, 0]. It iseasy to find thatt → wt is a continuous function from[0, b)to C.

Proposition 1 For any nonnegative initial conditions ofsystem (3), there exists a unique solution and this solutionremains nonnegative and bounded for anyt ≥ 0.

Proof of Proposition 1: For anyϕ = (ϕ1, ϕ2, ϕ3)T ∈ C

andx ∈ Ω, we defineF = (F1, F2, F3) : C → X by

F1(ϕ)(x) = rS(x, 0)

(

1− S(x, 0) + I(x, 0)

K

)

−(βI(x, 0) + d)S(x, 0) + γI(x, 0),

F2(ϕ)(x) = I(x, 0)(βS(x, 0)−d−γ)−mP (x, 0)I2(x, 0)

I2(x, 0) + h2,

F3(ϕ)(x) =αP (x,−τ)I2(x,−τ)

I2(x,−τ) + h2− µP (x,−τ)

−σP 2(x,−τ).

Then, system (3) can be rewritten as the abstract functionaldifferential equation:

w′(t) = Aw + F (wt), t > 0,w(0) = φ ∈ X,

(4)

where

w = (S, I, P )T ,

φ = (S1, I1, P1)T ,

Aw = (∆S,∆I,∆P )T .It is clear thatF is locally Lipschitz inX . According to

the results in [20], [21], [22], [23], [24], we can concludethat system (4) admits a unique local solution on[0, Tmax),whereTmax is the maximal existence time for solution ofsystem (4).

Besides, we can also obtain thatS(x, t) ≥ 0, I(x, t) ≥ 0andP (x, t) ≥ 0 becauseO = (0, 0, 0) is a lower solution ofsystem (3).

Next, we verify the boundedness of solutions. In fact, weonly need to prove that any solution is uniformly bounded.It is easy to see thatM = (M1,M2,M3) is a upper solutionof system (3), where

M1 = max

K, sup−τ≤t≤0

‖ S1(·, s) ‖C(Ω,R)

,

M2 = max

K, sup−τ≤t≤0

‖ I1(·, s) ‖C(Ω,R)

,

M3 = max

α

σh2, sup−τ≤t≤0

‖ P1(·, s) ‖C(Ω,R)

.

Based on the comparison principle, we have

0 ≤ S(x, t) ≤ M1, 0 ≤ I(x, t) ≤ M2, 0 ≤ P (x, t) ≤ M3

for x ∈ Ω and t ∈ [0, Tmax). Then the solutions of (3)are bounded onΩ × [0, Tmax). From the stand theory forsemilinear parabolic systems in [25], we deduce thatTmax =+∞. The proof is complete.

IAENG International Journal of Applied Mathematics, 48:4, IJAM_48_4_05

(Advance online publication: 7 November 2018)

______________________________________________________________________________________

Page 3: The effect of time delay on the stability of a diffusive eco ...bifurcation, periodic solution. I. INTRODUCTION THE predator-prey system is the basic model in pop-ulation dynamics,

III. STABILITY OF UNIFORM STEADY STATES

As we know, spatial diffusion and time delay do notchange the number and location of the uniform steadystates. With the similar method in [12], we can obtain thepredator-free equilibriumE0 = (S0, I0, 0) and the coexistingequilibriumE∗ = (S∗, I∗, P ∗), where

S0 =d+ γ

β,

I0 =(d+ γ)(Kβr −Kβd− rd− rγ)

β(Kβd+ rd+ rγ),

S∗ =

√b2 − 4ac− b

2a,

P ∗ =1

σ

(

αI∗2

I∗2 + h2− µ

)

,

a = r,

b = rI∗ + βKI∗ + dK −Kr,

c = −γKI∗,

andI∗ is the positive root of the following equation

r

1− I∗

K−[

d+ γ +mαI∗3

σ(I∗2 + h2)2− mµI

σ(I∗2 + h2)

]

−d+ γI∗[

d+ γ +mαI∗3

σ(I∗2 + h2)2− mµI

σ(I∗2 + h2)

]−1

= 0.

Next, we will investigate the asymptotic stability of the twouniform steady states.

We first introduce some useful concepts from [24]. Let0 =µ0 < µ1 < µ2 < · · · denote the eigenvalues of the operator−∆ in Ω under homogeneous Neumann boundary conditionsand s(µk) be the eigenfunction space corresponding toµk

with dimension numbernk = dim[s(µk)] in C1(Ω).(i) Xk := ∑nk

j=1 cjϕkj : cj ∈ R, whereϕkjnk

j=1 are anorthogonal basis ofs(µk).(ii) X := (S, I, P ) ∈ C1(Ω) × C1(Ω) × C1(Ω) : ∂S

∂n=

∂I∂n

= ∂P∂n

= 0 on ∂Ω, so thatX =⊕∞

k=0 Xk.

A. Stability of predator-free equilibrium

Theorem 1 If Kβr > Kβd+ rd + rγ, then for anyτ ≥0, the predator-free equilibriumE0 is asymptotically stablewhenαI20 < µ(I20 +h2) or unstable whenαI20 > µ(I20 +h2).

Proof of Theorem 1: The linearization of system (3)at the predator-free equilibriumE0 = (S0, I0, 0) can beexpressed by

Yt = (E∆+ FY (E0))Y,

whereE is the unit matrix,Y = (S(x, t), I(x, t), P (x, t))T ,and

FY (E0)

=

− γI0S0

− rS0

K− r(d+γ)

Kβ− d 0

βI0 0 − mI0I2

0+h2

0 0αI2

0

I2

0+h2 e

−λτ − µ

.

For k ≥ 0, it is observed thatXk is invariant under theoperatorE∆ + FY (E0) and λ is an eigenvalue ofE∆ +FY (E0) on Xk if and only if λ is an eigenvalue of thematrix −µkE + FY (E0). That is(

λ+ µk −αI20

I20 + h2e−λτ + µ

)

[

λ2 +(

2µk +γI0S0

+ rS0

K

)

λ

+µ2k + µk

(

γI0S0

+rS0

K

)

+r(d + γ)I0

K+ dβI0

]

= 0.

It is apparent that all roots of the quadratic equation

λ2 +

(

2µk +γI0S0

+rS0

K

)

λ+ µ2k

+µk

(

γI0S0

+rS0

K

)

+r(d+ γ)I0

K+ dβI0 = 0

must have strictly negative real parts. Then we only need toconsider the following transcendental equation:

λ+ µk − αI20I20 + h2

e−λτ + µ = 0. (5)

Whenτ = 0, the root of (5) isλ = −µk +αI2

0

I2

0+h2 −µ. We

can find thatλ < 0 for any k ≥ 0 whenαI20 < µ(I20 + h2),andλ > 0 for somek ≥ 0 whenαI20 > µ(I20 + h2).

When τ > 0, assume thatλ = iω (ω > 0) is a root of(5), and we have

αI20I20 + h2

(cosωτ − i sinωτ) = µk + µ+ iω.

Separating the real and imaginary parts leads to

αI2

0

I2

0+h2 cosωτ = µk + µ,αI2

0

I2

0+h2

sinωτ = −ω,

and

ω2 =

(

αI20I20 + h2

+ µk + µ

)(

αI20I20 + h2

− µk − µ

)

. (6)

If αI20 < µ(I20 + h2), then equation (6) has no positive rootand equation (5) has no purely imaginary root. According tothe Corollary 2.4 in [26], as parameterτ varies, the sumof the orders of the roots of (5) in the open right halfplane can change only if a root appears on or crosses theimaginary axis. As a consequence, equation (5) has rootsonly with negative real part if the conditionαI20 < µ(I20+h2)holds. It is known that the constant equilibrium solution isasymptotically stable only if all the characteristic values havestrictly negative parts. Thus, the proof is complete.

The asymptotic stability of predator-free equilibrium im-plies the extinction of predator. Therefore, from Theorem 1,it can be observed that the predator population may extinctwhen its death rateµ is large or the conversion efficiencycoefficientα is sufficiently small.

B. Existence of Hopf bifurcation around the positive equi-librium

The asymptotic stability of positive equilibrium impliesthe coexistence of both predator and prey species, which

IAENG International Journal of Applied Mathematics, 48:4, IJAM_48_4_05

(Advance online publication: 7 November 2018)

______________________________________________________________________________________

Page 4: The effect of time delay on the stability of a diffusive eco ...bifurcation, periodic solution. I. INTRODUCTION THE predator-prey system is the basic model in pop-ulation dynamics,

would be helpful for the population conservation and thesustainable development of ecosystem. Consequently, we aremore interested in the effect of time delay on the stabilityof the coexisting equilibriumE∗. Here, we concentrate onthe stability of positive equilibrium and the existence ofHopf bifurcation by regarding time delayτ as the bifurcationparameter.

Linearizing system (3) at the positive equilibriumE∗, wecan obtain the characteristic equation

λ+ µk + a11 a12 0a21 λ+ µk + a22 a230 a32e

−λτ λ+ µk + a33e−λτ + b33

= 0,(7)

where

a11 =γI∗

S∗+

rS∗

K,

a12 =r

KS∗ + βS∗ − γ,

a21 = −βI∗,

a22 =mP ∗I∗

I∗2 + h2− 2mp∗I∗3

(I∗2 + h2)2,

a23 =m(µ+ σ)

α,

a32 =2αh2P ∗I∗2

(I∗2 + h2)2,

a33 = − αI∗2

I∗2 + h2,

b33 = µ− 2σP ∗.Then the characteristic equation (7) can be reduced to

λ3+Akλ2+Bkλ+Ck+e−λτ (Dkλ

2+Fkλ+Gk) = 0, (8)

where

Ak = 3µk + a11 + a22 + b33,

Bk = 3µ2k + 2(a11 + a22 + b33)µk + a11a22

+a22b33 + a11b33 − a12a21,

Ck = µ3k + (a11 + a22 + b33)µ

2k + (a11a22 + a11b33

+a22b33 − a12a21)µk + a11a22b33 − a12a21b33,

Dk = a33,

Fk = 2a33µk + a11a33 + a22a33 − a23a32,

Gk = a33µ2k + (a11a33 + a22a33 − a23a32)µk

+a11a22a33 − a11a23a32 − a12a21.The expressions of the coefficients in equation (8) are toocomplex, so we can only derive the general conditions forstability of the positive equilibriumE∗. The detailed numer-ical calculations will be left in the next section. Then, wediscuss the distribution of characteristic values in equation(8).

For τ = 0, the characteristic equation (8) can be rewrittenas

λ3 + (Ak +Dk)λ2 + (Bk + Fk)λ+ (Ck +Gk) = 0. (9)

By Routh-Hurwitz criterion, all roots of the cubic equation(9) have strictly negative real parts if and only if thefollowing conditions hold:

(H1) Ak +Dk > 0;

(H2) Bk + Fk > 0;

(H3) Ck +Gk > 0;

(H4) (Ak +Dk)(Bk + Fk)− (Ck +Gk) > 0.Given this, the positive coexisting equilibriumE∗ is locallyasymptotically stable without time delay.

On the other hand, we discuss the effect of time delayτ onthe stability of the positive equilibrium. Assume thatλ = iω(ω > 0) is a root of (8). Substituting it into the equation canyield

−iω3 −Akω2 + iBkω + Ck

+(−Dkω2 + iFkω +Gk)(cosωτ − i sinωτ) = 0.

(10)

Segregating the real and imaginary parts of equation (10),we have

(Dkω2 −Gk) sinωτ + Fkω cosωτ = ω3 −Bkω,

Fkω sinωτ − (Dkω2 −Gk) cosωτ = Akω

2 − Ck.(11)

Taking square on both sides of the equations of (11) andsumming them up, we can obtain

ω6 + (A2k − 2Bk −D2

k)ω4 +Qkω

2 + C2k −G2

k = 0, (12)

whereQk = B2k − 2AkCk + 2DkGk − F 2

k .Let z = ω2, then equation (12) can be transformed into a

cubic equation ofz in the form of

Λ(z) = z3+(A2k−2Bk−D2

k)z2+Qkz+C2

k−G2k = 0. (13)

We make the following hypothesis:

(H5) Ck −Gk < 0.Assume that(H3) and (H5) hold. It is easy to show that

C2k −G2

k < 0. Hence, equation (13) has at least one positiveroot due to the Descartes’ rule of singes [27]. Without loss ofgenerality, we assume that equation (13) has three positiveroots and denote any one byz∗. Then equation (12) haspositive rootω∗ = z∗2, from which we can deduce thatthe characteristic equation (8) may have a pair of purelyimaginary rootsλ = ±iω∗ under certain condition.

Solving the equations of (11), we get

cosωτ = (Fk−AkDk)ω4+(AkGk+CkDk−BkFk)ω

2−CkGk

F 2

kω2+(Dkω2−Gk)2

,

sinωτ = Dkω5+(AkFk−BkDk−Gk)ω

3+(BkGk−CkFk)ωF 2

kω2+(Dkω2−Gk)2

.

Therefore, if we denote

τ∗j =1

ω∗

arccos(Fk −AkDk)ω

4 + Skω2 − CkGk

F 2kω

2 + (Dkω2 −Gk)2

,

whereSk = AkGk+CkDk−BkFk andj = 0, 1, 2, · · · , then±iω∗ is a pair of purely imaginary roots of (8) atτ = τ∗j .

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To guarantee the occurrence of Hopf bifurcation, westill need to verify the transversal condition. Taking thederivatives of (8) with respect toτ results in

(

)−1

=3λ2 + 2Akλ+Bk + e−λτ (2Dkλ+ Fk)

λe−λτ (Dkλ2 + Fkλ+Gk)− τ

λ.

(14)

Substitutingλ = iω∗ andτ = τ∗j into (14), we have

[

d(Reλ(τ))dτ

]−1

λ=iω∗,τ=τ∗

j

=HK − LT

ω∗2(J2 +K2),

where

H = −3ω∗2 +Bk,

J = 2Akω∗,

K = Gk −Dkω∗2,

L = Fkω∗,

M = H sinω∗τ∗j + J cosω∗τ∗j + 2Dkω∗,

T = H cosω∗τ∗j − J sinω∗τ∗j + Fk.

Then we can obtain the transversal condition

[

d(Reλ(τ))dτ

]−1

λ=iω∗,τ=τ∗

j

> 0

when the following inequality

(H6) HK − LT > 0

is satisfied.Again based on the significant results in [26], we can find

that if the assumptions(H1) − (H6) are satisfied, then allroots of characteristic equation (8) have negative real partsfor τ ∈ [0, τ∗0 ). Moreover, a pair of purely imaginary rootsexist for τ = τ∗0 and a pair of roots with positive real partswill appear forτ > τ∗0 . By applying the Hopf bifurcationtheorem in [24], the conclusions about the stability of pos-itive equilibrium and existence of the Hopf bifurcation canbe drawn as follows.

Theorem 2 If the assumptions(H1) − (H6) are allsatisfied, then the following statements are true.

(i) The positive equilibriumE∗ is locally asymptoticallystable whenτ ∈ [0, τ∗0 ).

(ii) The positive equilibriumE∗ is unstable whenτ >τ∗0 . The Hopf bifurcation occurs atτ = τ∗0 . That is, system(3) has a series of periodic solutions aroundE∗ when τ isslightly larger thanτ∗0 .

IV. N UMERICAL SIMULATIONS

In this section, we shall give some numerical examplesto describe the previous theoretical results with the help ofMathematica and MATLAB. Here, we consider the systemin one dimensional spaceΩ = (0, π) for simplicity.

First, we choose

r = 1.5, K = 100, d = 0.003, γ = 0.05, α = 0.09,

µ = 0.5, σ = 0.1, h = 15, β = 0.45,m = 1.5, τ = 2.5.

Then the predator-free equilibrium isE0 =(0.1178, 36.9452, 0), and the conditions in Theorem 1

Fig. 1. The predator-free equilibrium is stable whenτ = 2.5.

are satisfied. It is to be noted that the boundary equilibriumE0 is asymptotically stable (see Figure 1).

Second, we rechoose

r = 1.5, K = 100, d = 0.03, γ = 0.05, α = 0.9,

µ = 0.001, σ = 0.1, h = 15, β = 0.45,m = 1.5.

Then the coexisting equilibrium is E∗ =(9.8745, 24.7625, 6.2011). We can also derive the firstHopf bifurcation critical valueτ∗0 = 1.61 for k = 0.When time delay is smaller than the critical value, thepositive equilibrium is asymptotically stable (see Figure2). Otherwise, when time delay is slightly larger than thecritical value, the positive equilibrium becomes unstable andperiodic solution will bifurcate fromE∗ (see Figure 3).

V. CONCLUSIONS

In this paper, we have considered a delay-diffusionpredator-prey system with disease in the prey. The model,which incorporates the spatial diffusion and time delayeffects, is much more generalized than those in [10], [12].As pointed in [12], the consideration of a disease in the preyor predator population makes the system extremely complex.

IAENG International Journal of Applied Mathematics, 48:4, IJAM_48_4_05

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Fig. 2. The positive equilibrium is stable whenτ = 0.3 < τ∗

0.

Despite all this, the dynamical behaviors in such systems stillhave a guidance function to the ecological diversity.

It is observed from our results that the uniform predator-free steady state is asymptotically stable under certain con-dition, but the stability has nothing to do with the gestationdelay. However, this stability is harmful, as the predatorpopulation will be ultimately extinct over time. To avoid thisphenomenon, some measures may be taken to reduce themortality of predator population or increase the food sources.

It can also be observed that the gestation delay has crucialimpact on the asymptotic stability of the uniform coexistingsteady state. The stability of positive equilibrium is notaffected by time delay when it is sufficiently small. However,the stability changes when the gestation delay is larger thansome critical value and spatially periodic solution will arise.According to these facts, we can know that both time delayand spatial diffusion can generate periodic pattern and playan important role in spatiotemporal dynamics. Therefore, inorder to maintain the stability of the ecosystem, it is betterto shorten the gestation delay of predator population.

Of course, the methods and results in this paper can beapplied to other reaction-diffusion systems. We hope thatour work could be instructive to both theoretical and applied

Fig. 3. The positive equilibrium is unstable and periodic solution appearswhenτ = 2.5 > τ

0.

ecologists.

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