Finite element error estimates for an optimal control problem governed by the Burgers equation

We derive a-priori error estimates for the finite-element approximation of a distributed optimal control problem governed by the steady one-dimensional Burgers equation with pointwise box constraints on the control. Here the approximation of the state and the control is done by using piecewise linear functions. With this choice, a superlinear order of convergence for the control is obtained in the L2\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$L^2$$\end{document}-norm; moreover, under a further assumption on the regularity structure of the optimal control this error estimate can be improved to h3/2\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$h^{3/2}$$\end{document}, extending the results in Rösch (Optim. Methods Softw. 21(1): 121–134, 2006). The theoretical findings are tested experimentally by means of numerical examples.