In this paper, we present the a posteriori error estimate of two-grid mixed finite element methods by averaging techniques for semilinear elliptic equations. We first propose the two-grid algorithms to linearize the m...In this paper, we present the a posteriori error estimate of two-grid mixed finite element methods by averaging techniques for semilinear elliptic equations. We first propose the two-grid algorithms to linearize the mixed method equations. Then, the averaging technique is used to construct the a posteriori error estimates of the two-grid mixed finite element method and theoretical analysis are given for the error estimators. Finally, we give some numerical examples to verify the reliability and efficiency of the a posteriori error estimator.展开更多
An H^1-Galerkin mixed finite element method is discussed for a class of second order SchrSdinger equation. Optimal error estimates of semidiscrete schemes are derived for problems in one space dimension. At the same t...An H^1-Galerkin mixed finite element method is discussed for a class of second order SchrSdinger equation. Optimal error estimates of semidiscrete schemes are derived for problems in one space dimension. At the same time, optimal error estimates are derived for fully discrete schemes. And it is showed that the H1-Galerkin mixed finite element approximations have the same rate of convergence as in the classical mixed finite element methods without requiring the LBB consistency condition.展开更多
The transient behavior of a semiconductor device consists of a Poisson equation for the electric potential and of two nonlinear parabolic equations for the electron density and hole density. The electric potential equ...The transient behavior of a semiconductor device consists of a Poisson equation for the electric potential and of two nonlinear parabolic equations for the electron density and hole density. The electric potential equation is discretized by a mixed finite element method. The electron and hole density equations are treated by implicit-explicit multistep finite element methods. The schemes are very efficient. The optimal order error estimates both in time and space are derived.展开更多
This paper proposes a new, simple and efficient method for nonlinear simulation of arch dam cracking from the construction period to the operation period, which takes into account the arch dam construction process and...This paper proposes a new, simple and efficient method for nonlinear simulation of arch dam cracking from the construction period to the operation period, which takes into account the arch dam construction process and temperature loads. In the calculation mesh, the contact surface of pair nodes is located at places on the arch dam where cracking is possible. A new effective iterative method, the mixed finite element method for friction-contact problems, is improved and used for nonlinear simulation of the cracking process. The forces acting on the structure are divided into two parts: external forces and contact forces. The displacement of the structure is chosen as the basic variable and the nodal contact force in the possible contact region of the local coordinate system is chosen as the iterative variable, so that the nonlinear iterative process is only limited within the possible contact surface and is much more economical. This method was used to simulate the cracking process of the Shuanghe Arch Dam in Southwest China. In order to prove the validity and accuracy of this method and to study the effect of thermal stress on arch dam cracking, three schemes were designed for calculation. Numerical results agree with actual measured data, proving that it is feasible to use this method to simulate the entire process of nonlinear arch dam cracking.展开更多
The mixed finite element(MFE) methods for a shallow water equation system consisting of water dynamics equations,silt transport equation,and the equation of bottom topography change were derived.A fully discrete MFE s...The mixed finite element(MFE) methods for a shallow water equation system consisting of water dynamics equations,silt transport equation,and the equation of bottom topography change were derived.A fully discrete MFE scheme for the discrete_time along characteristics is presented and error estimates are established.The existence and convergence of MFE solution of the discrete current velocity,elevation of the bottom topography,thickness of fluid column,and mass rate of sediment is demonstrated.展开更多
The vapor deposition chemical reaction processes, which are of extremely extensive applications, can be classified as a mathematical model by the following governing nonlinear partial differential equations containing...The vapor deposition chemical reaction processes, which are of extremely extensive applications, can be classified as a mathematical model by the following governing nonlinear partial differential equations containing velocity vector, temperature field, pressure field, and gas mass field. The mixed finite element (MFE) method is employed to study the system of equations for the vapor deposition chemical reaction processes. The semidiscrete and fully discrete MFE formulations are derived. And the existence and convergence (error estimate) of the semidiscrete and fully discrete MFE solutions are demonstrated. By employing MFE method to treat the system of equations for the vapor deposition chemical reaction processes, the numerical solutions of the velocity vector, the temperature field, the pressure field, and the gas mass field can be found out simultaneously. Thus, these researches are not only of important theoretical means, but also of extremely extensive applied vistas.展开更多
An initial-boundary value problem for shallow equation system consisting of water dynamics equations,silt transport equation, the equation of bottom topography change,and of some boundary and initial conditions is stu...An initial-boundary value problem for shallow equation system consisting of water dynamics equations,silt transport equation, the equation of bottom topography change,and of some boundary and initial conditions is studied, the existence of its generalized solution and semidiscrete mixed finite element(MFE) solution was discussed, and the error estimates of the semidiscrete MFE solution was derived.The error estimates are optimal.展开更多
A least-squares mixed finite element method was formulated for a class of Stokes equations in two dimensional domains. The steady state and the time-dependent Stokes' equations were considered. For the stationary ...A least-squares mixed finite element method was formulated for a class of Stokes equations in two dimensional domains. The steady state and the time-dependent Stokes' equations were considered. For the stationary equation, optimal H-t and L-2-error estimates are derived under the standard regularity assumption on the finite element partition ( the LBB-condition is not required). Far the evolutionary equation, optimal L-2 estimates are derived under the conventional Raviart-Thomas spaces.展开更多
In this paper,a two-grid mixed finite element method(MFEM)of implicit Backward Euler(BE)formula is presented for the fourth order time-dependent singularly perturbed Bi-wave problem for d-wave superconductors by the n...In this paper,a two-grid mixed finite element method(MFEM)of implicit Backward Euler(BE)formula is presented for the fourth order time-dependent singularly perturbed Bi-wave problem for d-wave superconductors by the nonconforming EQ_(1)^(rot) element.In this approach,the original nonlinear system is solved on the coarse mesh through the Newton iteration method,and then the linear system is computed on the fine mesh with Taylor’s expansion.Based on the high accuracy results of the chosen element,the uniform superclose and superconvergent estimates in the broken H^(1)-norm are derived,which are independent of the negative powers of the perturbation parameter appeared in the considered problem.Numerical results illustrate that the computing cost of the proposed two-grid method is much less than that of the conventional Galerkin MFEM without loss of accuracy.展开更多
Mixed finite element methods are considered for a ferrofluid flow model with magnetization paralleled to the magnetic field.The ferrofluid model is a coupled system of the Maxwell equations and the incompressible Navi...Mixed finite element methods are considered for a ferrofluid flow model with magnetization paralleled to the magnetic field.The ferrofluid model is a coupled system of the Maxwell equations and the incompressible Navier-Stokes equations.By skillfully introducing some new variables,the model is rewritten as several decoupled subsystems that can be solved independently.Mixed finite element formulations are given to discretize the decoupled systems with proper finite element spaces.Existence and uniqueness of the mixed finite element solutions are shown,and optimal order error estimates are obtained under some reasonable assumptions.Numerical experiments confirm the theoretical results.展开更多
In this paper, a new splitting positive definite nonconforming mixed finite element method is proposed for pseudo-hyperbolic equations, in which a quasi-Wilson quadrilateral element is used for the flux p, and the bil...In this paper, a new splitting positive definite nonconforming mixed finite element method is proposed for pseudo-hyperbolic equations, in which a quasi-Wilson quadrilateral element is used for the flux p, and the bilinear element is used for u. Superconvergence results in ||·||div,h norm for p and optimal error estimates in L2 norm for u are derived for both semi-discrete and fully discrete schemes under almost uniform meshes.展开更多
In this paper,we investigate a priori error estimates for the quadratic optimal control problems governed by semilinear elliptic partial differential equations using higher order triangular mixed finite element method...In this paper,we investigate a priori error estimates for the quadratic optimal control problems governed by semilinear elliptic partial differential equations using higher order triangular mixed finite element methods.The state and the co-state are approximated by the order k Raviart-Thomas mixed finite element spaces and the control is approximated by piecewise polynomials of order k(k≥0).A priori error estimates for the mixed finite element approximation of semilinear control problems are obtained.Finally,we present some numerical examples which confirm our theoretical results.展开更多
In this paper,a residual type of a posteriori error estimator for the general second order elliptic eigenpair approximation by the mixed finite element method is derived and analyzed,based on a type of superconvergenc...In this paper,a residual type of a posteriori error estimator for the general second order elliptic eigenpair approximation by the mixed finite element method is derived and analyzed,based on a type of superconvergence result of the eigenfunction approximation.Its efficiency and reliability are proved by both theoretical analysis and numerical experiments.展开更多
In this paper, we introduce a mixed finite element method on a staggered mesh for the numerical solution of the steady state Navier-Stokes equations in which the two components of the velocity and the pressure are def...In this paper, we introduce a mixed finite element method on a staggered mesh for the numerical solution of the steady state Navier-Stokes equations in which the two components of the velocity and the pressure are defined on three different meshes. This method is a conforming quadrilateral Q1 × Q1 - P0 element approximation for the Navier-Stokes equations. First-order error estimates are obtained for both the velocity and the pressure. Numerical examples are presented to illustrate the effectiveness of the proposed method.展开更多
In this paper,we present an efficient method of two-grid scheme for the approximation of two-dimensional nonlinear parabolic equations using an expanded mixed finite element method.We use two Newton iterations on the ...In this paper,we present an efficient method of two-grid scheme for the approximation of two-dimensional nonlinear parabolic equations using an expanded mixed finite element method.We use two Newton iterations on the fine grid in our methods.Firstly,we solve an original nonlinear problem on the coarse nonlinear grid,then we use Newton iterations on the fine grid twice.The two-grid idea is from Xu's work[SIAM J.Numer.Anal.,33(1996),pp.1759–1777]on standard finite method.We also obtain the error estimates for the algorithms of the two-grid method.It is shown that the algorithm achieve asymptotically optimal approximation rate with the two-grid methods as long as the mesh sizes satisfy h=O(H^((4k+1)/(k+1))).展开更多
The two-level penalty mixed finite element method for the stationary Navier-Stokes equations based on Taylor-Hood element is considered in this paper. Two algorithms are proposed and analyzed. Moreover, the optimal st...The two-level penalty mixed finite element method for the stationary Navier-Stokes equations based on Taylor-Hood element is considered in this paper. Two algorithms are proposed and analyzed. Moreover, the optimal stability analysis and error estimate for these two algorithms are provided. Finally, the numerical tests confirm the theoretical results of the presented algorithms.展开更多
In this paper,we investigate a priori and a posteriori error estimates of fully discrete H^(1)-Galerkin mixed finite element methods for parabolic optimal control prob-lems.The state variables and co-state variables a...In this paper,we investigate a priori and a posteriori error estimates of fully discrete H^(1)-Galerkin mixed finite element methods for parabolic optimal control prob-lems.The state variables and co-state variables are approximated by the lowest order Raviart-Thomas mixed finite element and linear finite element,and the control vari-able is approximated by piecewise constant functions.The time discretization of the state and co-state are based on finite difference methods.First,we derive a priori error estimates for the control variable,the state variables and the adjoint state variables.Second,by use of energy approach,we derive a posteriori error estimates for optimal control problems,assuming that only the underlying mesh is static.A numerical example is presented to verify the theoretical results on a priori error estimates.展开更多
A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order...A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order equation is discretized with a space-time finite element method, continuous in space but discontinuous in time. Stability, existence, uniqueness and convergence of the approximate solutions are proved. Numerical results are presented to illustrate efficiency of the proposed method.展开更多
Error reduction, convergence and optimality are analyzed for adaptive mixed finite element methods (AMFEM) for diffusion equations without marking the oscillation of data. Firstly, the quasi-error, i.e. the sum of t...Error reduction, convergence and optimality are analyzed for adaptive mixed finite element methods (AMFEM) for diffusion equations without marking the oscillation of data. Firstly, the quasi-error, i.e. the sum of the stress variable error and the scaled error estimator, is shown to reduce with a fixed factor between two successive adaptive loops, up to an oscillation. Secondly, the convergence of AMFEM is obtained with respect to the quasi-error plus the divergence of the flux error. Finally, the quasi-optimal convergence rate is established for the total error, i.e. the stress variable error plus the data oscillation.展开更多
The goal of this paper is to study a mixed finite element approximation of the general convex optimal control problems governed by quasilinear elliptic partial differential equations. The state and co-state are approx...The goal of this paper is to study a mixed finite element approximation of the general convex optimal control problems governed by quasilinear elliptic partial differential equations. The state and co-state are approximated by the lowest order Raviart-Thomas mixed finite element spaces and the control is approximated by piecewise constant functions. We derive a priori error estimates both for the state variables and the control variable. Finally, some numerical examples are given to demonstrate the theoretical results.展开更多
文摘In this paper, we present the a posteriori error estimate of two-grid mixed finite element methods by averaging techniques for semilinear elliptic equations. We first propose the two-grid algorithms to linearize the mixed method equations. Then, the averaging technique is used to construct the a posteriori error estimates of the two-grid mixed finite element method and theoretical analysis are given for the error estimators. Finally, we give some numerical examples to verify the reliability and efficiency of the a posteriori error estimator.
基金Supported by the National Natural Science Foundation of China (10601022)Natural Science Foundation of Inner Mongolia Autonomous Region (200607010106)Youth Science Foundation of Inner Mongolia University(ND0702)
文摘An H^1-Galerkin mixed finite element method is discussed for a class of second order SchrSdinger equation. Optimal error estimates of semidiscrete schemes are derived for problems in one space dimension. At the same time, optimal error estimates are derived for fully discrete schemes. And it is showed that the H1-Galerkin mixed finite element approximations have the same rate of convergence as in the classical mixed finite element methods without requiring the LBB consistency condition.
文摘The transient behavior of a semiconductor device consists of a Poisson equation for the electric potential and of two nonlinear parabolic equations for the electron density and hole density. The electric potential equation is discretized by a mixed finite element method. The electron and hole density equations are treated by implicit-explicit multistep finite element methods. The schemes are very efficient. The optimal order error estimates both in time and space are derived.
基金supported by the National Nature Science Foundation of China (Grant No 90510017)
文摘This paper proposes a new, simple and efficient method for nonlinear simulation of arch dam cracking from the construction period to the operation period, which takes into account the arch dam construction process and temperature loads. In the calculation mesh, the contact surface of pair nodes is located at places on the arch dam where cracking is possible. A new effective iterative method, the mixed finite element method for friction-contact problems, is improved and used for nonlinear simulation of the cracking process. The forces acting on the structure are divided into two parts: external forces and contact forces. The displacement of the structure is chosen as the basic variable and the nodal contact force in the possible contact region of the local coordinate system is chosen as the iterative variable, so that the nonlinear iterative process is only limited within the possible contact surface and is much more economical. This method was used to simulate the cracking process of the Shuanghe Arch Dam in Southwest China. In order to prove the validity and accuracy of this method and to study the effect of thermal stress on arch dam cracking, three schemes were designed for calculation. Numerical results agree with actual measured data, proving that it is feasible to use this method to simulate the entire process of nonlinear arch dam cracking.
文摘The mixed finite element(MFE) methods for a shallow water equation system consisting of water dynamics equations,silt transport equation,and the equation of bottom topography change were derived.A fully discrete MFE scheme for the discrete_time along characteristics is presented and error estimates are established.The existence and convergence of MFE solution of the discrete current velocity,elevation of the bottom topography,thickness of fluid column,and mass rate of sediment is demonstrated.
基金Project supported by the National Natural Science Foundation of China (Nos.10471100 and 40437017)the Science and Technology Foundation of Beijing Jiaotong University
文摘The vapor deposition chemical reaction processes, which are of extremely extensive applications, can be classified as a mathematical model by the following governing nonlinear partial differential equations containing velocity vector, temperature field, pressure field, and gas mass field. The mixed finite element (MFE) method is employed to study the system of equations for the vapor deposition chemical reaction processes. The semidiscrete and fully discrete MFE formulations are derived. And the existence and convergence (error estimate) of the semidiscrete and fully discrete MFE solutions are demonstrated. By employing MFE method to treat the system of equations for the vapor deposition chemical reaction processes, the numerical solutions of the velocity vector, the temperature field, the pressure field, and the gas mass field can be found out simultaneously. Thus, these researches are not only of important theoretical means, but also of extremely extensive applied vistas.
文摘An initial-boundary value problem for shallow equation system consisting of water dynamics equations,silt transport equation, the equation of bottom topography change,and of some boundary and initial conditions is studied, the existence of its generalized solution and semidiscrete mixed finite element(MFE) solution was discussed, and the error estimates of the semidiscrete MFE solution was derived.The error estimates are optimal.
文摘A least-squares mixed finite element method was formulated for a class of Stokes equations in two dimensional domains. The steady state and the time-dependent Stokes' equations were considered. For the stationary equation, optimal H-t and L-2-error estimates are derived under the standard regularity assumption on the finite element partition ( the LBB-condition is not required). Far the evolutionary equation, optimal L-2 estimates are derived under the conventional Raviart-Thomas spaces.
基金supported by the National Natural Science Foundation of China(Grant Nos.12201640,12071443).
文摘In this paper,a two-grid mixed finite element method(MFEM)of implicit Backward Euler(BE)formula is presented for the fourth order time-dependent singularly perturbed Bi-wave problem for d-wave superconductors by the nonconforming EQ_(1)^(rot) element.In this approach,the original nonlinear system is solved on the coarse mesh through the Newton iteration method,and then the linear system is computed on the fine mesh with Taylor’s expansion.Based on the high accuracy results of the chosen element,the uniform superclose and superconvergent estimates in the broken H^(1)-norm are derived,which are independent of the negative powers of the perturbation parameter appeared in the considered problem.Numerical results illustrate that the computing cost of the proposed two-grid method is much less than that of the conventional Galerkin MFEM without loss of accuracy.
基金supported by the National Natural Science Foundation of China(Grant Nos.11971094,12171340).
文摘Mixed finite element methods are considered for a ferrofluid flow model with magnetization paralleled to the magnetic field.The ferrofluid model is a coupled system of the Maxwell equations and the incompressible Navier-Stokes equations.By skillfully introducing some new variables,the model is rewritten as several decoupled subsystems that can be solved independently.Mixed finite element formulations are given to discretize the decoupled systems with proper finite element spaces.Existence and uniqueness of the mixed finite element solutions are shown,and optimal order error estimates are obtained under some reasonable assumptions.Numerical experiments confirm the theoretical results.
基金Supported by the National Natural Science Foundation of China(No.10971203,11271340,11101384)the Specialized Research Fund for the Doctoral Program of Higher Education(No.20094101110006)
文摘In this paper, a new splitting positive definite nonconforming mixed finite element method is proposed for pseudo-hyperbolic equations, in which a quasi-Wilson quadrilateral element is used for the flux p, and the bilinear element is used for u. Superconvergence results in ||·||div,h norm for p and optimal error estimates in L2 norm for u are derived for both semi-discrete and fully discrete schemes under almost uniform meshes.
基金supported by the Foundation for Talent Introduction of Guangdong Provincial Universities and CollegesPearl River Scholar Funded Scheme(2008)National Science Foundation of China(10971074).
文摘In this paper,we investigate a priori error estimates for the quadratic optimal control problems governed by semilinear elliptic partial differential equations using higher order triangular mixed finite element methods.The state and the co-state are approximated by the order k Raviart-Thomas mixed finite element spaces and the control is approximated by piecewise polynomials of order k(k≥0).A priori error estimates for the mixed finite element approximation of semilinear control problems are obtained.Finally,we present some numerical examples which confirm our theoretical results.
基金supported by National Natural Science Foundation of China(Grant Nos.11001259,11031006,11071265,11201501 and 91230110)National Basic Research Program of China(973 Project)(Grant No. 2011CB309703)+3 种基金International S&T Cooperation Program of China(Grant No. 2010DFR00700)Croucher Foundation of Hong Kong Baptist Universitythe National Center for Mathematics and Interdisciplinary Science,CAS,the President Foundation of AMSS-CASthe Fundamental Research Funds for the CentralUniversities(Grant No. 2012121003)
文摘In this paper,a residual type of a posteriori error estimator for the general second order elliptic eigenpair approximation by the mixed finite element method is derived and analyzed,based on a type of superconvergence result of the eigenfunction approximation.Its efficiency and reliability are proved by both theoretical analysis and numerical experiments.
基金supported by National Nature Science Foundation of China (No.10471073)
文摘In this paper, we introduce a mixed finite element method on a staggered mesh for the numerical solution of the steady state Navier-Stokes equations in which the two components of the velocity and the pressure are defined on three different meshes. This method is a conforming quadrilateral Q1 × Q1 - P0 element approximation for the Navier-Stokes equations. First-order error estimates are obtained for both the velocity and the pressure. Numerical examples are presented to illustrate the effectiveness of the proposed method.
基金supported by Guangdong Province Universities and Colleges Pearl River Scholar Funded Scheme(2008)National Science Foundation of China 10971074+1 种基金the National Basic Research Program under the Grant 2005CB321703Hunan Provincial Innovation Foundation For Postgraduate CX2009B119。
文摘In this paper,we present an efficient method of two-grid scheme for the approximation of two-dimensional nonlinear parabolic equations using an expanded mixed finite element method.We use two Newton iterations on the fine grid in our methods.Firstly,we solve an original nonlinear problem on the coarse nonlinear grid,then we use Newton iterations on the fine grid twice.The two-grid idea is from Xu's work[SIAM J.Numer.Anal.,33(1996),pp.1759–1777]on standard finite method.We also obtain the error estimates for the algorithms of the two-grid method.It is shown that the algorithm achieve asymptotically optimal approximation rate with the two-grid methods as long as the mesh sizes satisfy h=O(H^((4k+1)/(k+1))).
基金This work was supported in part by the National Natural Science Foundation of China (Grant Nos. 11271298, 11271313, 61163027), the Key Project of Chinese Ministry of Education (Grant No. 212197), the Natural Science Foundation of Xinjiang Province (Grant No. 2013211B01), and the Doctoral Foundation of Xinjiang University (Grant No. BS120102).
文摘The two-level penalty mixed finite element method for the stationary Navier-Stokes equations based on Taylor-Hood element is considered in this paper. Two algorithms are proposed and analyzed. Moreover, the optimal stability analysis and error estimate for these two algorithms are provided. Finally, the numerical tests confirm the theoretical results of the presented algorithms.
基金This work was supported by National Natural Science Foundation of China(11601014,11626037,11526036)China Postdoctoral Science Foundation(2016M 601359)+4 种基金Scientific and Technological Developing Scheme of Jilin Province(20160520108 JH,20170101037JC)Science and Technology Research Project of Jilin Provincial Depart-ment of Education(201646)Special Funding for Promotion of Young Teachers of Beihua University,Natural Science Foundation of Hunan Province(14JJ3135)the Youth Project of Hunan Provincial Education Department(15B096)the construct program of the key discipline in Hunan University of Science and Engineering.
文摘In this paper,we investigate a priori and a posteriori error estimates of fully discrete H^(1)-Galerkin mixed finite element methods for parabolic optimal control prob-lems.The state variables and co-state variables are approximated by the lowest order Raviart-Thomas mixed finite element and linear finite element,and the control vari-able is approximated by piecewise constant functions.The time discretization of the state and co-state are based on finite difference methods.First,we derive a priori error estimates for the control variable,the state variables and the adjoint state variables.Second,by use of energy approach,we derive a posteriori error estimates for optimal control problems,assuming that only the underlying mesh is static.A numerical example is presented to verify the theoretical results on a priori error estimates.
基金supported by the National Natural Science Foundation of China (No. 10601022)NSF ofInner Mongolia Autonomous Region of China (No. 200607010106)513 and Science Fund of InnerMongolia University for Distinguished Young Scholars (No. ND0702)
文摘A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order equation is discretized with a space-time finite element method, continuous in space but discontinuous in time. Stability, existence, uniqueness and convergence of the approximate solutions are proved. Numerical results are presented to illustrate efficiency of the proposed method.
文摘Error reduction, convergence and optimality are analyzed for adaptive mixed finite element methods (AMFEM) for diffusion equations without marking the oscillation of data. Firstly, the quasi-error, i.e. the sum of the stress variable error and the scaled error estimator, is shown to reduce with a fixed factor between two successive adaptive loops, up to an oscillation. Secondly, the convergence of AMFEM is obtained with respect to the quasi-error plus the divergence of the flux error. Finally, the quasi-optimal convergence rate is established for the total error, i.e. the stress variable error plus the data oscillation.
文摘The goal of this paper is to study a mixed finite element approximation of the general convex optimal control problems governed by quasilinear elliptic partial differential equations. The state and co-state are approximated by the lowest order Raviart-Thomas mixed finite element spaces and the control is approximated by piecewise constant functions. We derive a priori error estimates both for the state variables and the control variable. Finally, some numerical examples are given to demonstrate the theoretical results.