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6 CHAPTER I. FUNDAMENTAL CONCEPTS AND EXAMPLES<br />

which implies<br />

U(u) − U(v) −∇U(v) · (u − v) > 0, u ≠ v in U.<br />

Definition 1.7 is illustrated now with some examples.<br />

Example 1.9. Scalar conservation laws. When N =1andU = I R (1.15) imposes<br />

no restriction on U, so that any (strictly convex) function U : U→R I is a (strictly<br />

convex) mathematical entropy. The entropy flux F is given by F ′ (u) =U ′ (u) f ′ (u),<br />

i.e.,<br />

∫ u<br />

F (u) :=F (a)+ U ′ (v) f ′ (v) dv<br />

with a ∈U fixed and F (a) chosen arbitrarily.<br />

Example 1.10. Decoupled scalar equations. Consider a system (1.1) of the form<br />

u =(u 1 ,u 2 ,... ,u N ) T , f(u) =(f 1 (u 1 ),f 2 (u 2 ),... ,f N (u N )) T .<br />

(For example, the linear systems in Example 1.6 have this form if they are written in<br />

the characteristic variables.) Such a system is always hyperbolic, with λ j (u) =f j ′(u j),<br />

and the basis { r j (u) } can be chosen to be the canonical basis of R<br />

. The<br />

1≤j≤N<br />

system is non-strictly hyperbolic, unless for some permutation σ of { 1, 2,... ,N } we<br />

have<br />

f σ(1) ′ (u σ(1))

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