 Solution

Because $f^{\prime }$ is a decreasing bijection, its inverse $h$ exists and is continuous. For any $y$, choose $s=h((x-y)/t)$ in the preceding inequality. The line from $(0,y)$ then reaches $(t,x)$, giving $U(t,x)\ge U(0,y)+tg((x-y)/t)$.

Now let $x_0=X_t^{-1}(x)$ and $s=u_0(x_0)$. On this characteristic curve, $u=s$, so the tangent-line inequality is an equality throughout. This proves attainment andIn fact the maximizing foot is unique. The concave Legendre dual can be written $g(z)={\inf }_s(zs-f(s))$ and satisfies $g^{\prime }(z)=h(z)$: compare the minimizing values at $z$ and $z+\epsilon$ and use continuity of $h$. This avoids assuming differentiability of $h$, which strict concavity by itself does not guarantee. Differentiating the maximizing expression with respect to $y$ gives $u_0(y)-h((x-y)/t)=0$, hence $X_t(y)=x$ and $y=x_0$. The maximum representation for a concave conservation law therefore reproduces the characteristic solution of a scalar conservation law throughout the smooth lifespan.