On the determination of the number of periodic (or closed) solutions of a scalar differential equation with convexity

It is well known that a scalar differential equation ˙x = f (t,x), where f (t,x) is continuous, T -periodic in t and weakly convex or concave in x has no, one or two T -periodic solutions or a connected band of T -periodic solutions. The last possibility can be excluded if f (t,x) is strictly convex or concave for some t in the period interval. In this paper we investigate how the actual number of T -periodic solutions for a given equation of this type in principle can be determined, if f (t,x) is also assumed to have a continuous derivative f x (t, x). It turns out that there are three cases. In each of these cases we indicate the monotonicity properties and the domain of values for the function P(ξ) = S(ξ)−ξ, where S(ξ) is the Poincaré successor function. From these informations the actual number of periodic solutions can be determined, since a zero of P(ξ) represents a periodic solution. © 2006 Elsevier Inc. All rights reserved