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Existence of bounded weak solutions of the Robin problem for a quasi-linear elliptic equation

with p ( x ) -Laplacian.

Mikhail Borsuk

B

Faculty of Mathematics and Computer Science, University of Warmia and Mazury in Olsztyn, 10-719 Olsztyn, Poland

Received 3 February 2019, appeared 9 March 2019 Communicated by Maria Alessandra Ragusa

Abstract. We prove the existence of bounded weak solutions to the Robin problem for an elliptic quasi-linear second-order equation with the variable p(x)-Laplacian.

Keywords: p(x)-Laplacian, angular and conical points, the nonlinear Robin boundary condition.

2010 Mathematics Subject Classification: 35J20, 35J25, 35J91.

1 Introduction

The aim of our article is the existence of bounded weak solutions to the Robin problem for an elliptic quasi-linear second-order equation with the variable p(x)-Laplacian in the Lipschitz bounded n-dimensional domain. Boundary value problems for elliptic second order equa- tions with a non-standard growth in function spaces with variable exponents have been an active investigations in recent years. We refer to [16] for an overview. Differential equations with variable exponents-growth conditions arise from the nonlinear elasticity theory, elec- trorheological fluids, etc. There are many essential differences between the variable exponent problems and the constant exponent problems. In the variable exponent problems, many sin- gular phenomena occurred and many special questions were raised. V. Zhikov [26] has gave examples of the Lavrentiev phenomenon for the variational problems with variable exponent.

Most of the works devoted to the quasi-linear elliptic second-order equations with the variable p(x)-Laplacian refers to the Dirichlet problem in smooth bounded domains (see [16]).

In [1,2,8,9,18] the Robin problem for such equations has been considered, but in smooth domains only. What is more, in these works the lower order terms depend only on(x,u)and do not depend on|∇u|. A problem with a lower order term that does not depend on|∇u|in a non-smooth domain has been recently studied in [7]. Our recent works [4,5] are devoted to the Robin problem in a cone for such equations witha singular p(x)-power gradient lower order term.

BEmail: mborsuk40@gmail.com

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The Robin boundary conditions appear in the solving Sturm–Liouville problems which are used in many contexts of science and engineering: for example, in electromagnetic problems, in heat transfer problems and for convection-diffusion equations (Fick’s law of diffusion).

The Robin problem plays a major role in the study of reflected shocks in transonic flow.

Important applications of this problem is the capillary problem.

We shall investigate the existence of bounded weak solutions of the Robin problem:

(−4p(x)u+b(x,u,∇u) = f(x), x∈ G,

|∇u|p(x)−2 ∂u

n + γ

|x|p(x)−1u|u|p(x)−2 =0, x∈∂G, (RQL) whereG∈C0,1is a bounded domain inRnwith the boundary∂G, containinga conical point in the originO,γ=const>0 and

4p(x)u≡div|∇u|p(x)−2∇u

. (1.1)

We shall work under the followingassumptions:

(i) 1< p≤ p(x)≤ p+ <n, ∀x∈ G;

(ii) p∈C0,1(G);

(iii) b:G×Rn+1Ris a Carath´eodory function (b∈CAR) satisfying for almost allx ∈ G and for all(u,ξ)∈Rn+1, the following inequalities:

(iii)a |b(x,u,ξ)| ≤b1

b0(x) +|u(x)|q0(x)+|ξ|q1(x), whereb1=const≥0, b0∈ Lq(x)(G), 1

q(x)+ 1

p(x) =1, p(x) = np(x) n−p(x); q0(x)< p(x)−1, q1(x)< p(x)−1+ p(x)

n ; (iii)b ub(x,u,ξ)≥ |u|p(x) for|u|>1;

(iv) f ∈ Lp0(x)(G), p01(x)+ 1

p(x) =1.

We shall use the space M(G): it is the set of all measurable and bounded almost everywhere inGfunctionsu(x)with the norm

kuk=vrai max

xG

|u(x)|= inf

measE=0

( sup

xG\E

|u(x)|

) . The convergence inM(G)is the uniform convergence almost everywhere.

Definition 1.1. The functionuis called a bounded weak solution of problem (RQL) provided thatu∈Vp(x)(G)≡W1,p(x)(G)∩M(G)and satisfies the integral identity

Z

G

D|∇u(x)|p(x)−2∇u(x)∇η(x) +b(x,u(x),∇u(x))η(x)Edx +γ

Z

∂G

|x|1p(x)u(x)|u(x)|p(x)−2η(x)dS=

Z

G f(x)η(x)dx (II) for allη∈Vp(x)(G).

The main result is the following statement.

Theorem 1.2. Let the assumptions(i)–(iv)be satisfied. Then problem(RQL)has at least one bounded weak solution.

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2 Preliminaries

At first, we recall some theories on variable exponent Sobolev space W1,p(x)(G) (we refer to [3,10,14,17,19–24]). LetGbe an open subset ofRnand letp:G→Rbe a measurable function satisfying condition(i). The variable exponent Lebesgue space Lp(x)(G)is defined by

Lp(x)(G) =

u :G→Ris measurable, Ap(·)(u):=

Z

G

|u(x)|p(x)dx<

with the norm |u|p(x) =inf

λ>0 : Ap(·) uλ

≤1 .

Proposition 2.1. The following inequalities hold (see e.g. [3, (15)], [10, Lemma 3.2.5]):

min

|u|pp(·),|u|pp+(·)≤ Ap(·)(u)≤max

|u|pp(·),|u|pp+(·); (2.1) min

A

1 p

p(·)(u),A

1 p+ p(·)(u)

≤ |u|p(·)≤max

A

1 p

p(·)(u),A

1 p+ p(·)(u)

. (2.2)

Proposition 2.2 (Generalized H ¨older inequality (see e.g. [3, (16)], [10, Lemma 2.6.5]). The inequality

Z

G

|f(x)g(x)|dx≤2|f|p(x)|g|p0(x)

holds for every f ∈ Lp(x)(G)and g∈ Lp0(x)(G),where p01(x)+ 1

p(x) =1.

The variable exponent Sobolev spaceW1,p(x)(G)is defined by W1,p(x)(G) =nu∈ Lp(x)(G): |∇u| ∈ Lp(x)(G)o with the norm |u|1,p(x) =|u|p(x)+|∇u|p(x).

The spaces Lp(x)(G),W1,p(x)(G) are separable, uniformly convex and reflexive Banach spaces (see e.g. [10, Theorems 3.2.7, 3.4.7, 3.4.9, 8.1.6, Corollary 3.4.5], [17, Theorem 2.5, Corol- lary 2.7, Corollary 2.12, Theorem 3.1], [14, Theorems 1.10 and 2.1]).

We need some properties on spacesW1,p(x)(G).

Proposition 2.3(See [15, Theorem 1.1], [10, Corollary 8.3.2]). Let p∈C0,1(G)and q: G→Ris measurable. Assume that

p(x)≤q(x)≤ np(x)

n−p(x) = p(x), a.e.x ∈G.

Then there is acontinuousembedding W1,p(x)(G)→Lq(x)(G).

Proposition 2.4 (See [14, Theorem 2.3], [10, Corollary 8.4.4]). Let p,q ∈ C(G) and p,q ∈ L+(G) =t∈ L(G): ess infGt≥1 .Assume that

p(x)<n, q(x)< np(x)

n−p(x) = p(x), ∀x∈G.

Then there is a continuous andcompactembedding W1,p(x)(G)→Lq(x)(G).

Proposition 2.5 (See [12, Theorem 2.1]). Let G ⊂ Rn be an open bounded domain with Lipschitz boundary. Suppose that p ∈ W1,s(G)with1 ≤ p ≤ p+ < n < s and q: ∂GR is measurable.

Let t(x) = (nn1p)(px()x) for x∈ ∂G. Then there is a boundary trace embedding W1,p(x)(G)→ Lq(x)(∂G) which iscontinuousfor q(x) =t(x)andcompactfor1≤q(x)<t(x), x∈∂G.

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Theorem 2.6(Leray–Lions (see [11, Theorem 5.3.23])). Let X be a reflexive real Banach space. Let T: X→Xbe an operator satisfying the conditions

(i) T is bounded;

(ii) T is demicontinuous;

(iii) T is coercive.

Moreover, let there exist a bounded mappingΦ:X×X→Xsuch that (iv) Φ(u,u) =T(u)for every u∈X;

(v) for all u,w,h∈ X and any sequence{tn}n=1 of real numbers such that tn0we have Φ(u+tnh,w))*Φ(u,w);

(vi) for all u,w∈ X we have

hΦ(u,u)−Φ(w,u),u−wi ≥0 (the so-called condition of monotonicity in the principal part);

(vii) if un*u and

nlimhΦ(un,un)−Φ(u,un),un−ui=0, then we have

Φ(w,un)*Φ(w,u) ∀w∈ X;

(viii) if w∈ X, un*u, Φ(w,un)*z,then

nlimhΦ(w,un),uni= hz,ui.

Then the equation T(u) = f has at least one solution u∈X for every f∈ X.

3 Proof of the existence theorem

Proof. We define nonlinear operators J,B,Γ : Vp(x)(G) → Vp(x)(G) and an element f ∈ Vp(x)(G)by

hJ(u),ηi=

Z

G

|∇u(x)|p(x)−2∇u(x)∇η(x)dx, hB(u),ηi=

Z

Gb(x,u(x),∇u(x))η(x)dx, hΓ(u),ηi=

Z

∂G

|x|1p(x)u(x)|u(x)|p(x)−2η(x)dS, hf,ηi=

Z

G f(x)η(x)dx

for all u,η ∈ Vp(x)(G). By the definition of Vp(x)(G), it is obvious that J and f are well defined. Now, we shall verify that B,Γ also are well defined. We denote M0 = ku(x)k(here

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norm is in M(G), see [4]). At first, we estimate | hΓ(u),ηi |. For this it is sufficient to assume 1<|u(x)| ≤ M0. Then we getku(x)kp(x)−1 ≤ M0p+1and therefore

| hΓ(u),ηi |= Z

∂G

|x|1p(x)u(x)|u(x)|p(x)−2η(x)dS

Z

{|x|<d}∩∂G

|x|1p(x)|u(x)|p(x)−1η(x)dS +

Z

∂G\{{|x|<d}∩∂G}|x|1p(x)|u(x)|p(x)−1η(x)dS

≤ sup

G

|η(x)| ·M0p+1

meas∂ΩZ d

0 rnp+1dr+d1p+meas∂G

= sup

G

|η(x)| ·M0p+1

meas∂Ω· d

np+

n−p+

+d1p+meas∂G

,

(3.1)

whereΩis a domain on the unit sphere with smooth boundaryΩ, obtained by the intersec- tion of the cone with the unit sphere; (we can choose dso: 0<d1).

Further, according to(iii)a, it is clear that

| hB(u),ηi | ≤

Z

G

|b(x,u(x),∇u(x))| · |η(x)|dx

≤b1sup

G

|η(x)|

Z

G

|b0(x)|+|u(x)|q0(x)+|∇u(x)|q1(x)dx.

Next, we derive using the H ¨older inequality Z

G

|b0(x)|dx ≤2|b0(x)|q(x)· |1|(q(x))0 ≤const(n,p+,p, measG)· |b0(x)|q(x). Further, it is clear that

q1(x)< p(x), q0(x)< n(p+−1) +p+

n−p+

. Therefore

Z

G

|u(x)|q0(x)dx=

Z

G∩{|u(x)|≤1}

|u(x)|q0(x)dx+

Z

G∩{1<|u(x)|≤M0}

|u(x)|q0(x)dx

≤ 1+M

n(p+1)+p+ np+ 0

!

·measG.

Again using the H ¨older inequality Z

G

|∇u(x)|q1(x)dx ≤2|∇u(x)|p(x)· |1| p(x) p(x)−q1(x)

≤const(n,p+,p, measG)· |∇u(x)|p(x). Thus, it is proved that

| hB(u),ηi | <∞. (3.2)

Lemma 3.1. J,B,Γare bounded and continuous operators.

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Proof. The boundedness and the continuity of J is proved in [17] (see Corollary 4.4). The estimates (3.1), (3.2) mean the boundedness ofB,Γ.

Now, we consider the so-called Nemytski operator H(u)(x) = b(x,u,∇u) ∈ CAR(G). By assumption (iii)a, we get that operator H(u) maps the space Vp(x)(G) into Lq(x)(G)and this map is continuous and bounded (see [17, Theorems 4.1–4.3]). Moreover, the operator B :Vp(x)(G)→Vp(x)(G)defined above as well as is continuous and bounded (see [17, Corol- lary 4.4]).

Next, we study the operator Γ. Let {un}n=1 ⊂ Vp(x)(G) be any sequence and let for u,un ∈ M(G) : kun−uk → 0. By the property of M(G), we get that un(x) → u(x) uni- formly almost everywhere in∂G. Moreover, sinceun∈W1,p(x)(G)and, by the Proposition2.5, the boundary trace embeddingW1,p(x)(G)→Lq(x)(∂G), 1≤q(x)< (n1)p(x)

np(x) is compact, we have|un(x)|p(x)−1 ≤ M0p+1, x ∈∂G. Therefore, we can pass to the limit under the symbol of integral over∂Gand we obtain

nlim| hΓ(un)−Γ(u),ηi |=0, i.e. the operatorΓis continuous.

Lemma 3.2. The operator J ismonotoneon the space Vp(x)(G),i.e. for any u,η∈Vp(x)(G)one has hJ(u)−J(η),u−ηi ≥0. (3.3) Moreover,

hJ(u)−J(η),u−ηi ≥ 1

2p+ minn

|∇(u−η)|pp(x); |∇(u−η)|pp+(x)o if p(x)≥2; (3.4) hJ(u)−J(η),u−ηi ≥ (p1)min

n|∇(uη)|pp(x);|∇(uη)|pp+(x)o

2 max (

(RG(|∇u(x)|p(x)+|∇η(x)|p(x))dx)

2p

2 ;(RG(|∇u(x)|p(x)+|∇η(x)|p(x))dx)

2p+ 2

)

if 1< p(x)<2. (3.5)

Proof. By direct calculation, we have hJ(u)−J(η),u−ηi

=

Z

G

|∇u(x)|p(x)−2∇u(x)− |∇η(x)|p(x)−2η(x)(∇u(x)− ∇η(x))dx. (3.6) Now, we use the known inequalities (see e.g. proof of Theorem 3.1 (i) [13], inequality (4.8) [2]) for any ξ,ηRn:

|ξ|p2ξ− |η|p2η

(ξη)≥(p−1)(|ξ|p+|η|p)pp2|ξη|2 if 1< p<2;

|ξ|p2ξ− |η|p2η

(ξη)≥ 21p|ξη|p if p≥2.

(3.7)

Therefore, forp(x)≥2 we obtain hJ(u)−J(η),u−ηi=

Z

G

|∇u(x)|p(x)−2∇u(x)− |∇η(x)|p(x)−2η(x)(∇u(x)− ∇η(x))dx

1 2p+

Z

G

|∇u− ∇η|p(x)dx≥ 1

2p+ minn

|∇(u−η)|pp(x); |∇(u−η)|pp+(x)o, by the inequality (2.1).

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Now we consider the case 1< p(x)<2. For this case lets(x) = 2

p(x), s0(x) = 2

2p(x). Then we have

s = 2 p+

≤s(x)≤ 2 p

=s+; s0= 2 2−p

≤s0(x)≤ 2 2−p+

=s0+; =⇒

(3.8) 1

s+

= p 2 , 1

s

= p+

2 ; 1

s0+ = 2−p+

2 , 1

s0 = 2−p

2 . By (3.7) for 1< p(x)<2, we obtain

hJ(u)−J(η),u−ηi=

Z

G

|∇u(x)|p(x)−2∇u(x)− |∇η(x)|p(x)−2η(x)(∇u(x)− ∇η(x))dx

≥ (p−1)

Z

G

|∇u(x)−∇η(x)|2

(|∇u(x)|p(x)+|∇η(x)|p(x))

2p(x) p(x)

dx.

Next we consider the integral Z

G

|∇u(x)− ∇η(x)|p(x)dx

=

Z

G

|∇u(x)−∇η(x)|p(x)

(|∇u(x)|p(x)+|∇η(x)|p(x))2

p(x) 2

|∇u(x)|p(x)+|∇η(x)|p(x)

2p(x)

2 dx

≤2

|∇u(x)−∇η(x)|p(x)

(|∇u(x)|p(x)+|∇η(x)|p(x))

2p(x) 2

s(x)

·

|∇u(x)|p(x)+|∇η(x)|p(x)

2p(x) 2

s0(x)

2 max





Z

G

|∇u(x)−∇η(x)|2

(|∇u(x)|p(x)+|∇η(x)|p(x))

2p(x) p(x)

dx

1 s

;

Z

G

|∇u(x)−∇η(x)|2

(|∇u(x)|p(x)+|∇η(x)|p(x))

2p(x) p(x)

dx

1 s+





×max (Z

G

|∇u(x)|p(x)+|∇η(x)|p(x)dx 1

s0

; Z

G

|∇u(x)|p(x)+|∇η(x)|p(x)dx 1

s0 +

) . Hence, by (3.8), it follows that

max





Z

G

|∇u(x)−∇η(x)|2

(|∇u(x)|p(x)+|∇η(x)|p(x))

2p(x) p(x)

dx

p+ 2

;

Z

G

|∇u(x)−∇η(x)|2

(|∇u(x)|p(x)+|∇η(x)|p(x))

2p(x) p(x)

dx

p 2





R

G|∇u(x)−∇η(x)|p(x)dx 2 max

(

(RG(|∇u(x)|p(x)+|∇η(x)|p(x))dx)

2p

2 ;(RG(|∇u(x)|p(x)+|∇η(x)|p(x))dx)

2p+ 2

)

min

n

|∇(uη)|pp(x);|∇(uη)|pp+(x)o 2 max

(

(RG(|∇u(x)|p(x)+|∇η(x)|p(x))dx)

2p

2 ;(RG(|∇u(x)|p(x)+|∇η(x)|p(x))dx)

2p+ 2

), by the inequality (2.1).

Lemma 3.3. If un*u in Vp(x)(G)(weak convergence) and

|∇un|p(x) → |∇u|p(x), (3.9) then B(un)→B(u)in(Vp(x)(G)).

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Proof. By the assumption (i), the space W1,p(x) is a Banach space, which is separable and reflexive (see Theorem 3.1 [17]). Therefore, from the weak convergence un * u follows the boundedness of the set {|un|1,p(x)}. In addition, by proposition 2.4, there is the operator of the compact embedding that maps this set to the compact set inLp(x)(G), i.e. this operator is compact operator. But then there is subsequence{unk} →uinLp(x)(G). Together with (3.9) we have that{unk} →uinVp(x)(G). By Lemma3.1operatorBis continuous operator. Therefore, we can perform the passage to the limit under the integral symbol and thusB(un)→B(u)in (Vp(x)(G)).

SetT := J+B+Γ. Then the operator equation

T(u) = f (3.10)

is equivalent to validity of the integral identity (II). This fact means that the solutions of (3.10) correspond one-to-one to the weak solutions of (RQL). Now, we shall verify the assumptions (i)–(viii)of the Leray–Lions Theorem2.6to prove that there is a solution of (3.10).

Assumptions(i)–(ii)follow directly from Lemma3.1. The coercivity ofT(assumption(iii)) is a direct consequence of(iii)bandγ>0:

hT(u),ui=

Z

G

D|∇u(x)|p(x)+b(x,u(x),∇u(x))u(x)Edx+γ Z

∂G

|x|1p(x)|u(x)|p(x)dS

Z

G

|∇u(x)|p(x)+|u(x)|p(x) for|u|>1.

Now, we use the inequality (2.1) Z

G

|∇u(x)|p(x)+|u(x)|p(x)≥min

|u|p

1,p(x),|u|p+

1,p(x)

. Then we obtain

|u|1,plim(x)

hT(u),ui

|u|1,p(x) ≥ lim

|u|1,p(x)|u|p1,p±(x1) =∞.

Let us define an operatorΦ:Vp(x)(G)×Vp(x)(G) →(Vp(x)(G)) by

hΦ(u,w),ηi:=hJ(u),ηi+hB(w),ηi+hΓ(w),ηi for all u,w,η∈Vp(x)(G). The assumption(iv)is obvious.

Next, letu,w,h ∈Vp(x)(G)andtn →0. Then, by continuity of operator J, we have Φ(u+tnh,w) = J(u+tnh) +B(w) +Γ(w)→ J(u) +B(w) +Γ(w) =Φ(u,w). Thus, the assumption(v)is satisfied.

The assumption(vi)satisfies by Lemma3.2, because of Φ(u,u)−Φ(w,u) =J(u)−J(w).

Now, we shall verify the assumption(vii). Letun*uinVp(x)(G)and

nlimhΦ(un,un)−Φ(u,un),un−ui=0 =⇒

nlimhJ(un)−J(u),un−ui=0. (3.11)

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From (3.11) and (3.4)–(3.5) it follows that |∇un|p(x)→ |∇u|p(x), i.e. (3.9) is satisfied. Moreover, un→uin M. The last facts and thatW1,p(x)is a uniformly convex Banach space together with the weak convergence imply

un→u inV(p(x)(G)

(see e.g. Proposition 2.1.22 (iv)). Further, by Lemmas3.1and3.3, we have

Φ(w,un) =J(w) +B(un) +Γ(un)→ J(w) +B(u) +Γ(u) =Φ(w,u) for arbitraryw∈V(p(x)(G). Finally, we verify the assumption (viii). Let w ∈ Vp(x)(G), un * u in Vp(x)(G). Then, in virtue ofB(un)→ B(u)andΓ(un)→Γ(u)in V(p(x)(G) (see Lemmas3.1,3.3), we obtain

hΦ(w,un),uni= hJ(w) +B(un) +Γ(un),uni

→ hJ(w),ui+hB(u),ui+hΓ(u),ui

= hΦ(w,u),ui.

Hence we have: un*uinV(p(x)(G)implies that Φ(w,un) → J(w) +B(u) +Γ(u). Thus, all assumptions of the Leray–Lions Theorem are satisfied.

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