Complete and orthonormal eigenfunctions of excitations to a one-dimensional dark soliton

We study linear excitations to a one-dimensional dark soliton described by a defocusing nonlinear Schödinger equation. By solving an eigenvalue problem for the excitations we obtain all eigenvalues and eigenfunctions and prove rigorously that these eigenfunctions are orthonormal and form a complete set. We then use the eigenfunctions to obtain the exact form of linear excitations for any given initial condition and to investigate the transverse stability of the dark soliton. The rigorous results reported in the present work can be applied to study the dynamics of dark solitons in various nonlinear optical media and Bose–Einstein condensates.