 Dirichlet-Robin eigenvalues on a finite interval

For $\ell >0$ and $k>0$, the Sturm-Liouville problem with one Dirichlet boundary condition and one Robin boundary condition has positive eigenvalues. Indeed, integration by parts givesfor every nonzero eigenfunction. Let $z=\ell \sqrt{\lambda }$ and $\kappa =k\ell$. The eigenfunctions are proportional to $\sin (zx/\ell )$, withFor each $n\ge 1$, there is exactly one root $z_n$ in $((n-1/2)\pi ,n\pi )$: on that interval $\tan z+z/\kappa$ increases strictly from $-\infty$ to a positive value. There are no other positive roots. The apparent root $z=0$ gives only the zero sine function and is not an eigenvalue.

For fixed $k,\ell$, write $z_n=(n-1/2)\pi +{\epsilon }_n$. The root equation becomes $\kappa \cot {\epsilon }_n=(n-1/2)\pi +{\epsilon }_n$, henceAn optional unit normalization uses ${\int }_0^{\ell }{\sin }^2(\sqrt{{\lambda }_n}x)dx=\ell /2+k/[2(k^2+{\lambda }_n)]$. The positive sign of the Robin boundary term matters: reversing it can introduce nonpositive modes, as in nonpositive modes in a Dirichlet-Robin interval expansion.