A two-layer Crank–Nicolson linear finite element methods for second-order hyperbolic optimal control problems

In this paper, we consider a two-layer Crank–Nicolson scheme combined with linear finite element approximation for second-order hyperbolic optimal control problems with control constraints. For state and co-state variables, their time derivatives are first reduced to a first-order system then discretized by the two-layer Crank–Nicolson scheme and their space derivatives are discretized by linear finite elements. The control variable is dealt with variational discretization technique. Optimal priori error estimates for state, co-state and control variables are derived. Some numerical examples are presented to illustrate the theoretical convergence rate.