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Multiple positive solutions for singular anisotropic Dirichlet problems

Zhenhai Liu

B1, 2

and Nikolaos S. Papageorgiou

3

1Guangxi Colleges and Universities Key Laboratory of Complex System Optimization and Big Data Processing, Yulin Normal University, Yulin 537000, P.R. China.

2Guangxi Key Laboratory of Hybrid Computation and IC Design Analysis, Guangxi University for Nationalities, Nanning, Guangxi, 530006, P.R. China

3Department of Mathematics, National Technical University, Zografou Campus, 15780 Athens, Greece

Received 22 April 2021, appeared 10 July 2021 Communicated by Gabriele Bonanno

Abstract. We consider a nonlinear Dirichlet problem driven by the variable exponent (anisotropic) p-Laplacian and a reaction that has the competing effects of a singular term and of a superlinear perturbation. There is no parameter in the equation (non- parametric problem). Using variational tools together with truncation and comparison techniques, we show that the problem has at least two positive smooth solutions.

Keywords: variable exponent, anisotropic regularity, anisotropic maximum principle, positive solutions, critical point theory.

2020 Mathematics Subject Classification: 35J75, 35J60.

1 Introduction

Let Ω ⊆ RN be a bounded domain with a C2-boundary ∂Ω. In this paper we study the following anisotropic singular Dirichlet problem

p(z)u(z) =u(z)η(z)+ f(z,u(z)) inΩ, u|=0, u>0. (1.1) In this problem the exponentp:Ω→Rin the differential operator, is Lipschitz continuous (that is p ∈ C0,1()) and 1 < p = minp. By p(z) we denote the anisotropic p-Laplace operator defined by

p(z)u=div(|Du|p(z)−2Du) ∀u∈W01,p(z)().

In problem (1.1) we have the competing effects of a singular termxη(z)withη∈C(), 0<

η(z) < 1 for all z ∈ and a Carathéodory perturbation f(z,x) (that is, for all x ∈ R,z → f(z,x) is measurable and for a.a. z ∈ Ω,x → f(z,x) is continuous), which is (p+−1)- superlinear as x → + (here p+ = maxp), but need not satisfy the usual for superlinear

BCorresponding author. Email: zhhliu@hotmail.com

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problems Ambrosetti–Rabinowitz condition (the AR-condition for short). We are looking for positive solutions. Using a combination of variational tools based on the critical point theory, together with truncation and comparison techniques, we show that the problem has at least two positive smooth solutions.

While anisotropic boundary value problems have been studied extensively in the last few years (see the books of Diening–Harjulehto–Hästö–R ˚užiˇcka [2] and of R˘adulescu–Repovš [12]

and the references therein), the study of singular anisotropic problems is lagging behind.

Only a very limited number of works exist on this subject and they all concern parametric problems (see the works of Byun-Ko [1] and Saoudi–Ghanmi [13]). The presence of parameter in the equation is very helpful, since by varying the parameter, we achieve certain desirable geometric configurations which in turn permit the use of the minimax theorems of critical point theory. In problem (1.1) there is no parameter to facilitate the analysis.

2 Mathematical background – hypotheses

The study of problem (1.1) requires the use of Lebesgue and Sobolev spaces with variable ex- ponents. A comprehensive presentation of these spaces can be found in the book of Diening–

Harjulehto–Hästö–R ˚užiˇcka [2].

For everyr∈ C()we set

r =min

r andr+=max

r.

Let E1 = {r ∈ C() : 1 < r} and M() = {u : Ω → Rmeasurable}. As usual, we identify two such functions which differ only on a Lebesgue-null set. Forr ∈ E1, the variable exponent Lebesgue spaceLr(z)()is defined by

Lr(z)() =

u∈ M(): Z

|u|r(z)dz<

. We equip this space with the so-called “Luxemburg norm” defined by

kukr(z) =inf

"

λ>0 : Z

|u(z)|

λ r(z)

dz≤1

#

, u∈ Lr(z)().

With this norm the space Lr(z)() is a Banach space which is separable and reflexive (in fact uniformly convex). Let r0 ∈ E1 be defined by r0(z) = r(rz()−z)

1 for all z ∈ (that is,

1

r(z)+ r0(1z) =1 for allz∈Ω). Then we have

Lr(z)() = Lr0(z)() and the following version of Hölder’s inequality is true

Z

|uv|dz≤ 1

r

+ 1 r0

kukr(z)kvkr0(z), ∀u∈ Lr(z)(),∀v∈ Lr0(z)(). Note that ifr1,r2 ∈E1 andr1(z)≤r2(z)for allz∈ Ω, then we have

Lr2(z)(),→Lr1(z)() continuously.

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Using the variable exponent Lebesgue spaces, we can introduce variable exponent Sobolev spaces. Givenr ∈E1, the anisotropic Sobolev spaceW1,r(z)()is defined by

W1,r(z)() ={u∈ Lr(z)():|Du| ∈Lr(z)()},

where Dudenotes the gradient ofuin the weak sense. This space is equipped with the norm kuk1,r(z)=kukr(z)+kDukr(z), u∈W1,r(z)() (herekDukr(z)= k|Du|kr(z)). Ifr ∈ E1∩C0,1(), then we define

W01,r(z)() =Cc ()k·k1,r(z).

The spaces W1,r(z)() and W01,r(z)()are separable, reflexive (in fact uniformly convex).

For the spaceW01,r(z)()the Poincaré inequality holds, that is, there exists ˆc>0 such that kukr(z)bckDukr(z) for allu∈W01,r(z)().

This implies that onW01,r(z)()we can use the equivalent norm

|u|1,r(z)=kDukr(z), u∈W01,r(z)(). Forr∈ E1, we set

r(z) =





Nr(z)

N−r(z), ifr(z)< N +, if N≤r(z)

∀z∈Ω.

Let r,q ∈ E1∩C0,1() and suppose that q(z) ≤ r(z) (resp. q(z) < r(z)) for all z ∈ Ω.

Then we have the anisotropic Sobolev embedding theorem W01,r(z)(),→Lq(z)() continuously (resp.W01,r(z)(),→ Lq(z)() compactly).

In the study of these spaces, central role plays the following modular function ρr(u) =

Z

|u|r(z)dz for all u ∈Lr(z)(). Ifu∈W01,r(z)()or u∈W1,r(z)(), thenρr(Du) =ρr(|Du|). This modular function is closely related to the Luxemburg norm.

Proposition 2.1. If r∈ E1and{un,u}nN⊆ Lr(z)(), then we have (a) For allλ>0,

kukr(z) =λρr(u

λ) =1;

(b) kukr(z) <1⇔ kukr+

r(z)ρr(u)≤ kukr

r(z), kukr(z) >1⇔ kukr

r(z)ρr(u)≤ kukr+

r(z);

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(c) kunkr(z) →0⇔ρr(un)→0;

(d) kunkr(z)ρr(un)→+∞.

Also forr∈ E1∩C0,1(), we have

W01,r(z)() =W1,r0(z)().

Consider the operator Ar :W01,r(z)()→W1,r0(z)()defined by hAr(z)(u),hi=

Z

|Du|r(z)−2(Du,Dh)RNdz, for allu,h∈W01,r(z)().

This operator has the following properties (see Gasi ´nski–Papageorgiou [5], Proposition 2.5 and R˘adulescu–Repovš [12], p.40).

Proposition 2.2. If r ∈E1∩C0,1()and Ar:W01,r(z)()→W1,r0(z)()is defined as above, then Ar(·)is bounded (maps bounded sets to bounded sets), continuous, strictly monotone (hence maximal monotone too) and is of type(S)+, that is, it has the following property:

“if un −→w u in W01,r(z)()and lim sup

n

hAr(z)(un),un−ui ≤0, then un →u in W01,r(z)().”

For everyu∈W01,r(z)(), we defineu±=max{±u, 0}. Then

u± ∈W01,r(z)(), u=u+−u, |u|=u++u.

Suppose u,v : Ω → R are measurable functions such thatu(z)≤ v(z)for a.a z ∈ Ω. We define

[u,v] =nh∈W01,r(z)():u(z)≤ h(z)≤v(z) for a.a. z∈o, [u) =nh∈W01,r(z)():u(z)≤ h(z) for a.a. z ∈o.

Another space that we will need isC10() = {u ∈ C1() : u| = 0}. This is an ordered Banach space with positive (order) cone C+ = {u ∈ C10() : u(z) ≥ 0 for allz ∈ }. This cone has a nonempty interior given by

intC+ =

u∈C+:u(z)>0 for all z∈, ∂u

∂n

<0

. withn(·)being the outward unit normal onΩ.

LetX be a Banach space andϕ∈ C1(X). We introduce the set Kϕ ={u∈X :ϕ0(u) =0} (the critical set of ϕ).

We say that ϕ(·)satisfies the “C-condition”, if it has the following property:

“Every sequence{un}nN⊆ X such that{ϕ(un)}nNRis bounded

and(1+kunkX)ϕ0(un)→0in X as n →∞,admits a strongly convergent subsequence.”

Now we are ready to introduce our hypotheses on the data of problem (1.1).

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H0: p∈ C0,1(), 1< p=minp,η∈ C(), 0<η(z)<1 for allz∈Ω.

H1: f :Ω×RRis a Carathéodory function such that f(z, 0) =0 for a.a.z∈and (i) |f(z,x)| ≤ a(z)[1+xr(z)−1] for a.a. z ∈ Ω, all x ≥ 0, with r ∈ C() and p(z) <

r(z)< p(z)for allz∈ Ω;

(ii) if F(z,x) = Rx

0 f(z,s)ds, then limx→+ F(z,x)

xp+ = + uniformly for a.a. z ∈ and there existsτ∈C()such that

τ(z)∈

(r+−p)max N

p

, 1

,p(z)

for allz∈, 0<ηb0 ≤lim inf

x→+

f(z,x)x−p+F(z,x)

xτ(z) uniformly for a.a. z∈ Ω;

(iii) there existsθ >0 such that

θη(z)+ f(z,θ)≤ −bc<0 for a.a. z∈ Ω;

(iv) there existδ >0 andq∈E1 such thatq+ < p such that

c1xq(x)−1 ≤ f(z,x) for a.a. z ∈Ω, all 0≤x ≤δ, withc1 >0;

(v) there existsξbθ >0 such that for a.a.z ∈Ω, the function

x → f(z,x) +ξbθxp(z)−1 is nondecreasing on [0,θ].

Remark 2.3. Since we look for positive solutions and all the above hypotheses concern the positive semiaxis R+ = [0,∞), we can always assume without any loss of generality that f(z,x) = 0 for a.a. z ∈ Ω, all x ≤ 0. Hypotheses H1(ii)implies that for a.a. z ∈ f(z,·) is (p+−1)-superlinear. However, it need not satisfy the AR-condition which is common in the literature when dealing with superlinear problems (see, for example, Saoudi–Ghanmi [13], hypothesis (H4) and Byun–Ko [1, p. 76]). ConditionH1(ii)is less restrictive and incorporates in our framework also superlinear nonlinearities with “slower” growth asx→ +∞, which fail to satisfy the AR-condition. For example, the following function f(z,x)satisfies hypotheses H1but fails to satisfy the AR-condition:

f(z,x) =

((x+)q(z)−1−2(x+)k(z)−1 if x≤1 xp+1lnx−xp(z)−1 if 1< x,

with q ∈ E1 as in hypothesis H1(iv), k ∈ C(), τ(z) < k(z) for az ∈ Ω. Evidently for this f(z,x)we can chooseθ =1. HypothesesH1(iii),(iv)dictate an oscillatory behavior for f(z,·) near 0+ since it starts positive near zero (see hypothesisH1(v)) and drops to negative values as we approachθ >0 (see hypothesisH1(iii)). Also, hypothesisH1(v)implies the presence of a concave term near zero.

3 An auxiliary problem

When dealing with singular problems, a major difficulty that we encounter, is that the pres- ence of the singularity leads to an energy functional which is not C1. This fact prevents us

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from using the results of critical point theory. So, we need to find a way to bypass the singu- larity and deal withC1-functions in order to use the minimax theorems of critical point theory.

This is done by using the solution of an auxiliary problem which we introduce and solve in this section. The auxiliary problem is suggested by a unilateral growth condition satisfied by f(z,·). More precisely note that on account of hypothesesH1(i),(iv), we can findc2>0 such that

f(z,x)≥c1xq(z)−1−c2xr(z)−1 for a.az∈Ω, all x≥0. (3.1) Motivated by this unilateral growth condition on f(z,·)and using hypothesis H1(iii), we introduce the Carathéodory functiong:Ω×RRdefined by

g(z,x) =

(c1(x+)q(z)−1−c2(x+)r(z)−1 ifx≤ θ

c1θq(z)−1−c2θr(z)−1 ifθ <x. (3.2) Then we consider the following Dirichlet problem

p(z)u(z) = g(z,u(z)) inΩ, u|∂Ω =0,u>0. (3.3) Proposition 3.1. If hypotheses H0 hold, then problem(3.3)has a unique positive solution u∈intC+

and0≤u(z)≤θfor all z∈ Ω.

Proof. First we show the existence of a positive solution for problem (3.3). To this end, let ψ0 :W01,p(z)()→Rbe theC1-functional defined by ψ0(u) =R

1

p(z)|Du|p(z)dz−R

G(z,u)dz for allu∈W01,p(z)(), whereG(z,x) =Rx

0 g(z,s)ds. From (3.2), we see that ψ0(u)≥ 1

pρp(Du)−c3 for somec3>0,

ψ0(·) is coercive (see Proposition2.1).

Also, from the anisotropic Sobolev embedding theorem, we see that ψ0(·) is sequentially weakly lower semicontinuous.

So, by the Weierstrass–Tonelli theorem, we can findu∈W01,p(z)()such that

ψ0(u) =min[ψ0(u):u∈W01,p(z)()]. (3.4) Letu ∈intC+and choose t ∈ (0, 1)small so that 0≤ tu(z)≤ θ for allz∈ Ω. Then using (3.2), we have

ψ0(tu)≤ tp p

ρp(Du) + t

r

r

ρτ(u)− tq+ q+

ρq(u)

≤c4tp−c5tq+ for somec4,c5 >0. (3.5) (since 1<q+< p< r andt ∈(0, 1)).

From (3.5) we see that by takingt ∈(0, 1)even smaller if necessary, we have ψ0(tu)<0,

ψ0(u)<0=ψ0(0) (see (3.4)),

⇒u6=0.

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From (3.4) we have that ψ00(u) =0,

⇒ hAp(z)(u),hi=

Z

g(z,u)hdz, for all h∈W01,p(z)(). (3.6) In (3.6) first we chooseh=−u∈W01,p(z)()and obtain

ρp(Du) =0 (see (3.2)),

⇒u ≥0, u6=0.

Next in (3.6) first we chooseh= [u−θ]+∈W01,p(z)(). We obtain hAp(z)(u),(u−θ)+i=

Z

[c1θq(z)−1−c2θr(z)−1](u−θ)+dz (see (3.2))

Z

f(z,θ)(u−θ)+dz (see (3.1))

≤0=hAp(z)(θ),(u−θ)+i (seeH1(iii)),

⇒u≤θ.

So, we have proved that

u∈[0,θ], u6=0. (3.7)

From (3.7),(3.2) and (3.6), we infer thatu6= 0 is a positive solution of problem (3.3). From Fan [3] (Theorem 1.3), we have that u∈C+\{0}. Moreover, we have

p(z)(u)≤c2θr(z)−p(z)u(z)p(z)−1≤c6u(z)p(z)−1 inΩfor somec6 >0.

Then the anisotropic maximum principle of Zhang [15, Theorem 1.2] implies that

u ∈intC+. (3.8)

Next we show that this positive solution of (3.3) is in fact unique. Letv ∈ W01,p(z)() be another positive solution of (3.3). Again we have

v∈intC+. (3.9)

From (3.8) and (3.9) and using Proposition 4.1.22, p. 274, of Papageorgiou–R˘adulescu- Repovš [9], we have that

u

v ∈ L() and v

u ∈ L(). (3.10)

Letj:L1()→R=R∪ {+}be the integral functional defined by j(u) =

(R

1

p(z)|Du1/p|p(z)dz if u≥0,u1/p ∈W01,p(z)(), + otherwise.

Let domj = {u ∈ L1() : j(u) < }(the effective domain of j(·)). From Theorem 2.2 of Takaˇc–Giacomoni [14], we know that j(·) is convex. Let h = up−vp ∈ W01,p(z)(). On account of (3.10), for|t|<1 small, we have

up+th∈domj and vp+th∈domj.

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Then the convexity ofj(·)implies the Gateaux differentiability ofj(·)atup and atvp in the directionh. Moreover, using Green’s theorem, we obtain

j0(up)(h) = 1 p

Z

p(z)u

up1 hdz = 1 p

Z

c1

upq(z) −c2ur(z)−p

hdz,

j0(vp)(h) = 1 p

Z

p(z)v

vp1 hdz = 1 p

Z

c1

vpq(z) −c2vr(z)−p

hdz.

The convexity of j(·)implies the monotonicity ofj0(·). So, we have

0≤

Z

c1

1

upq(z)1 vpq(z)

−c2(ur(z)−p−vr(z)−p)

(up−vp)dz≤0 (sinceq+ < p <r)

⇒u= v.

This proves the uniqueness of the positive solutionu∈intC+.

In what follows, letdb(·) =d(·,Ω)andub1is the positive,Lp+-normalized (that is,kub1kp+ = 1) eigenfunction corresponding to the principal eigenvalue of (−p+,W1,p+()). We know thatub1 ∈intC+ (see, for example, Gasi ´nski–Papageorgiou [4, p. 739]).

Proposition 3.2. If Hypotheses H0hold and u∈ intC+ is the unique solution of problem(3.3), then u(·)η(·) ∈L1()and for every h∈W01,p(z)(),u(·)η(·)h(·)∈ L1().

Proof. From Lemma 14.16, p. 355 of Gilbarg–Trudinger [6], we can find δ0 > 0 such that, if Ωδ0 = {z ∈ : db(z) < δ0}, then db ∈ C2(δ0). If follows that db∈ intC+ and so by Proposition 4.1.22, p. 274, of Papageorgiou–R˘adulescu–Repovš [9], we can find c7 > 0 such that

c7ub1 ≤db and c7db≤u (recallu∈intC+). (3.11) From (3.11) we infer that

uη(·)≤ c8ub1η(·) for somec8 >0.

Then the Lemma (in fact its proof to be precise) of Lazer–McKenna [8], implies thatub1η(·)∈ L1(). Therefore we have

uη(·)∈ L1(). On the other hand, for everyh∈W01,p(z)(), we have

Z

|uη(z)h|dz=

Z

u1η(z)|h| u dz

≤c9

Z

|h|

u dz for somec9>0

(recall thatu∈ intC+and see hypothesesH0)

≤c10 Z

|h|

dbdz for somec10>0 (see (3.11))

≤c11kh

dbkp(z) for somec11 >0

≤c12kDhkp(z) for somec12>0.

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This last inequality is a consequence of the anisotropic Hardy inequality due to Harjulehto–

Hästö–Koskenoja [7]. So, finally we have

u(·)η(·)h(·)∈L1() for allh∈W01,p(z)().

4 Multiple positive solutions

In this section usingu ∈intC+, the unique positive solution of (3.3), we are able to bypass the singularity and have C1-functionals. Working with them, we show that problem (1.1) has at least two positive smooth solutions.

Theorem 4.1. If hypotheses H0,H1hold, then problem(1.1)has at least two positive solutions u0,ub∈ intC+,u06= u,b u0(z)< θfor all z∈ Ω.

Proof. Let u ∈ intC+ be the unique positive solution of problem (3.3) produced in Proposi- tion3.1. We introduce the Carathéodory functiong:Ω×RRdefined by

g(z,x) =

(uη(z)+ f(z,u(z)) if x≤u(z)

xη(z)+ f(z,x) if u(z)< x. (4.1) From Proposition3.1we know that 0≤u(z)≤θ for allz∈ Ω. Hence we can consider the truncation of g(z,·)atθ, that is, the Carathéodory function bg:Ω×RRdefined by

bg(z,x) =

(g(z,x) if x≤θ

g(z,θ) ifθ <x. (4.2)

We set G(z,x) = Rx

0 g(z,s)ds andGb(z,x) = Rx

0 gb(z,s)ds and consider the functionsψ,ψb: W01,p(z)()→Rdefined by

ψ(u) =

Z

1

p(z)|Du|p(z)dz−

Z

G(z,u)dz, ψb(u) =

Z

1

p(z)|Du|p(z)dz−

Z

Gb(z,u)dz, for allu∈W01,p(z)().

On account of Proposition3.2, these functionals are well-defined and in fact Proposition3.1 of Papageorgiou–Smyrlis [11] implies thatψ,ψb∈ C1(W01,p(z)()).

For everyu∈W01,p(z)(), we have ψb(u)≥ 1

p+

ρp(Du)−c13 for somec13 >0, (see (4.1),(4.2) and Proposition3.2)

ψb(·)is coercive.

(see Proposition2.1and use Poincaré’s inequality).

The anisotropic Sobolev embedding theorem implies thatψb(·)is sequentially weakly lower semicontinuous.

So, by the Weierstrass–Tonelli theorem, we can findu0∈W01,p(z)()such that

ψb(u0) =min[ψb(u): u∈W01,p(z)()], (4.3)

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From (4.3) we have

hψb0(u0),hi=0 for allh∈W01,p(z)(),

⇒ hAp(z)(u0),hi=

Z

bg(z,u0)hdz for allh ∈W01,p(z)(). (4.4) In (4.4) first we chooseh = [u−u0]+∈W01,p(z)(). We have

hAp(z)(u0),(u−u0)+i=

Z

[uη(z)+ f(z,u)](u−u0)+dz (see (4.1),(4.2))

Z

f(z,u)(u−u0)+dz (since u∈intC+)

= hAp(z)(u),(u−u0)+i (see Proposition3.1),

⇒u ≤u0 (see Proposition2.2). Next in (4.4) we chooseh= [u0θ]+ ∈W01,p(z)(). We have

hAp(z)(u0),(u0θ)+i=

Z

[θη+ f(z,θ)](u0θ)+dz (see (4.1),(4.2))

≤0= hAp(z)(θ),(u0θ)+i (see hypothesisH1(iii)),

⇒u0θ.

So, we have proved that

u0 ∈[u,θ]. (4.5)

From (4.5), (4.1), (4.2) and (4.4), we have that u0 is a positive solution of (1.1). Invoking Theorem 13.1 of Saaudi–Ghanmi [13] (see also Theorem 3.2 of Byun–Ko [1]), we have that u0 ∈intC+(recallu∈intC+).

Now letξbθ >0 be as postulated by hypothesis H1(v). We have

p(z)u0+ξbθu0p(z)−1−u0η(z)

= f(z,u0) +ξbθu0p(z)−1

≤ f(z,θ) +ξbθθp(z)−1 (see (4.5) and hypothesis H1(v))

≤ −p(z)θ+ξbθθp(z)−1θη(z) (see hypothesis H1(iii)),

⇒u0(z)<θ for allz∈ (4.6)

(from Proposition A4 of Papageorgiou–R˘adulescu–Zhang [10]). It is clear from (4.1) and (4.2) that

ψ|[0,θ] =ψb|[0,θ]. Sinceu0 ∈intC+, we infer that

u0 is a localC10()minimizer ofψ(·) (see (4.6)),

⇒u0 is a localW01,p(z)()minimizer ofψ(·) (see [10,13]). (4.7) Using (4.1) and the anisotropic regularity theory, we can see that Kψ ⊆ [u)∩intC+. So, we may assume thatKψ is finite or otherwise on account of (4.1) we see that we already have

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a whole sequence of distinct positive smooth solutions and so we are done. Then from (4.7) and Theorem 5.7.6, p. 449, of Papageorgiou–R˘adulescu–Repovš [9], we know that we can find ρ∈(0, 1)small such that

ψ(u0)<inf[ψ(u):ku−u0k=ρ] =mρ. (4.8) Moreover, hypothesis H1(ii)implies that ifu∈intC+, then

ψ(tu)→ − ast→+∞. (4.9)

Finally from Proposition 4.1 of Gasi ´nski–Papageorgiou [5] (see hypothesisH1(ii)), we have that

ψ(·) satisfies the C-condition. (4.10)

Then (4.8), (4.9) and (4.10) permit the use of the mountain pass theorem. Therefore we can find ub∈W01,p(z)()such that

ub∈ Kψ⊆ [u)∩intC+,mρψ(ub), (4.11)

⇒ub∈intC+is a positive solution of (1.1) (see (4.1)), ub6=u0 (see (4.8) and (4.11)),u0(z)<θ for allz ∈Ω.

Acknowledgements

The work was supported by NNSF of China Grant No. 12071413, NSF of Guangxi Grant No.

2018GXNSFDA138002.

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