Afrouzi
Afrouzi
1. Introduction
The aim of this article is to study the following Steklov problem involving the
p(x)-Laplacian,
∆p(x) u = a(x)|u|p(x)−2 u in Ω,
∂u (1.1)
|∇u|p(x)−2 = λf (x, u) on ∂Ω,
∂ν
where Ω ⊂ RN is a bounded smooth domain, λ is a positive parameter, p ∈ C(Ω̄),
∆p(x) u := div(|∇u|p(x)−2 ∇u) denotes the p(x)-Laplace operator, f : ∂Ω × R → R
is a Carathéodory function, a ∈ L∞ (Ω) with ess inf Ω a > 0 and ν is the outer unit
normal to ∂Ω.
The study of differential equations and variational problems with nonstandard
p(x)-growth conditions is a new and interesting topic. It varies from nonlinear
elasticity theory, electro-rheological fluids, and so on (see [24, 25]). Many results
have been obtained on this kind of problems, for instance we here cite [1, 5, 6, 7,
9, 10, 11, 13, 14, 16, 18, 19].
The inhomogeneous Steklov problems involving the p-Laplacian has been the
object of study in, for example, [22], in which the authors have studied this class of
inhomogeneous Steklov problems in the cases of p(x) ≡ p = 2 and of p(x) ≡ p > 1,
respectively.
In this paper, motivated by [1], at first, we prove the existence of a non-zero
solution of the problem (1.1), without assuming any asymptotic condition neither
at zero nor at infinity (see Theorem 3.1). Next, we obtain the existence of two so-
lutions, possibly both non-zero, assuming only the classical Ambrosetti-Rabinowitz
condition; that is, without requiring that the potential F satisfies the usual con-
dition at zero (see Theorems 3.2 and 3.3). Finally, we present a three solutions
existence result under appropriate condition on the potential F (see Theorem 3.4).
Our approach is fully variational method and the main tools are critical point the-
orems contained in [3] and [8] (see Theorems 2.1 and 2.2 in the next section).
A special case of Theorem 3.4 is the following theorem.
Theorem 1.1. Let p(x) = p > N for every x ∈ Ω and let f : R → R be a non-
Rt
negative continuous function. Put F (t) := 0 f (ξ)dξ for each t ∈ R. Assume that
F (d) > 0 for some d ≥ 1 and, moreover,
F (ξ) F (ξ)
lim inf p
= lim sup p = 0.
ξ→0 ξ |ξ|→+∞ ξ
Then, there is λ? > 0 such that for each λ > λ? the problem
∆p u = a(x)|u|p−2 u in Ω,
∂u
|∇u|p−2 = λf (u) on ∂Ω,
∂ν
admits at least three non-negative weak solutions.
2. Preliminaries
In this section, we recall definitions and theorems to be used in this paper. Let
(X, k · k) be a real Banach space and Φ, Ψ : X → R be two continuously Gâteaux
differentiable functionals; put
I := Φ − Ψ
and fix r1 , r2 ∈ [−∞, +∞], with r1 < r2 . We say that the functional I satisfies the
[r ]
Palais-Smale condition cut off lower at r1 and upper at r2 ([r1 ] (PS) 2 -condition)
if any sequence {un } ∈ X such that
• {I(un )} is bounded,
• limn→+∞ kI 0 (un )kX ∗ = 0,
• r1 < Φ(un ) < r2 ∀n ∈ N,
has a convergent subsequence.
If r1 = −∞ and r2 = +∞, it coincides with the classical (PS)-condition, while
[r ]
if r1 = −∞ and r2 ∈ R it is denoted by (PS) 2 -condition.
First we recall a result of local minimum obtained in [3], which is based on [2,
Theorem 5.1].
Theorem 2.1 ([3, Theorem 2.3]). Let X be a real Banach space and let Φ, Ψ :
X → R be two continuously Gâteaux differentiable functionals such that inf X Φ =
Φ(0) = Ψ(0) = 0. Assume that there exist r ∈ R and ū ∈ X, with 0 < Φ(ū) < r,
such that
supu∈Φ−1 (]−∞,r[) Ψ(u) Ψ(ū)
< (2.1)
r Φ(ū)
i h
Φ(ū)
and, for each λ ∈ Λ := Ψ(ū) , sup −1 r Ψ(u) the functional Iλ := Φ − λΨ
u∈Φ (]−∞,r[)
[r]
satisfies the (PS) -condition. Then, for each λ ∈ Λ, there is uλ ∈ Φ−1 (]0, r[)
(hence, uλ 6= 0) such that Iλ (uλ ) ≤ Iλ (u) for all u ∈ Φ−1 (]0, r[) and Iλ0 (uλ ) = 0.
Now we point out an other result, which insures the existence of at least three
critical points, that has been obtained in [8] and it is a more precise version of [4,
Theorem 3.2].
EJDE-2014/134 STEKLOV PROBLEMS 3
Theorem 2.2 ([8, Theorem 3.6]). Let X be a reflexive real Banach space, Φ : X →
R be a continuously Gâteaux differentiable, coercive and sequentially weakly lower
semicontinuous functional whose Gâteaux derivative admits a continuous inverse on
X ∗ , Ψ : X → R be a continuously Gâteaux differentiable functional whose Gâteaux
derivative is compact, moreover
Φ(0) = Ψ(0) = 0.
Assume that there exist r ∈ R and ū ∈ X, with 0 < r < Φ(ū), such that
supu∈Φ−1 (]−∞,r]) Ψ(u)
(i) r < Ψ(ū)
i Φ(ū) h
Φ(ū)
(ii) for each λ ∈ Λ := Ψ(ū) , sup −1 r the functional Iλ = Φ − λΨ
u∈Φ (]−∞,r]) Ψ(u)
is coercive.
Then, for each λ ∈ Λ, the functional Iλ has at least three distinct critical points in
X.
Here and in the sequel, we suppose that p ∈ C(Ω̄) satisfies the following condi-
tion:
N < p− := inf p(x) ≤ p(x) ≤ p+ := sup p(x) < +∞. (2.2)
x∈Ω x∈Ω
p(x)
Define the variable exponent Lebesgue space L (Ω) by
n Z o
Lp(x) (Ω) := u : Ω → R : u is measurable and |u(x)|p(x) dx < +∞ .
Ω
We define a norm, the so-called Luxemburg norm, on this space by the formula
Z
u(x) p(x)
kukLp(x) (Ω) = |u|p(x) := inf λ > 0 : dx ≤ 1 .
Ω λ
Define the variable exponent Sobolev space W 1,p(x) (Ω) by
W 1,p(x) (Ω) := u ∈ Lp(x) (Ω) : |∇u| ∈ Lp(x) (Ω)
where d R:= diam(Ω) and |Ω| is the Lebesgue measure of Ω (for details, see [10]),
kak1 := Ω a(x)dx and kak∞ := supx∈Ω a(x).
Lemma 2.3 ([17]). Let I(u) = Ω (|∇u|p(x) + a(x)|u|p(x) )dx. For u ∈ X we have
R
(i) kuka < 1(= 1; > 1) ⇔ I(u) < 1(= 1; > 1);
+ −
(ii) If kuka < 1 ⇒ kukpa ≤ I(u) ≤ kukpa ;
− +
(iii) If kuka > 1 ⇒ kukpa ≤ I(u) ≤ kukpa .
We refer the reader to [15, 17] for the basic properties of the variable exponent
Lebesgue and Sobolev spaces.
Throughout this article, we assume the following condition on the Carathéodory
function f : ∂Ω × R → R:
β(x)
(F0) |f (x, s)| ≤ α(x) + b|s|β(x)−1 for all (x, s) ∈ ∂Ω × R, where α ∈ L β(x)−1 (∂Ω),
b ≥ 0 is a constant and β ∈ C(∂Ω) such that
1 < β − := inf β(x) ≤ β(x) ≤ β + := sup β(x) < p− . (2.4)
x∈Ω̄ x∈Ω̄
3. Main results
In this section we present our main results. First, we establish the existence of
one non-trivial solution for the problem (1.1).
Theorem 3.1. Let f : ∂Ω × R → R be a Carathéodory function satisfying (F0).
−
+
c p−
Assume that there exist d ≥ 1 and c ≥ m with dp kak1 < pp+ ( m ) , such that
−
R R
∂Ω
max|t|≤c F (x, t)dσ p ∂Ω F (x, d)dσ
− < . (3.1)
c
p p+ dp+ kak 1
m
Then, for each
+ −
c p
idp kak1 m
h
λ ∈ Λ := − R , +R , (3.2)
p ∂Ω F (x, d)dσ p ∂Ω max|t|≤c F (x, t)dσ
EJDE-2014/134 STEKLOV PROBLEMS 5
problem (1.1) admits at least one non-trivial weak solution ū1 ∈ X such that
max |ū1 (x)| < c.
x∈Ω
Proof. Our aim is to apply Theorem 2.1 to (1.1). To this end, for each u ∈ X, let
the functionals Φ, Ψ : X → R be defined by
Z
1
Φ(u) := |∇u|p(x) + a(x)|u|p(x) dx,
Ω p(x)
Z
Ψ(u) := F (x, u(x))dσ,
∂Ω
and put
Iλ (u) := Φ(u) − λΨ(u), u ∈ X.
Note that the weak solutions of (1.1) are exactly the critical points of Iλ . The
functionals Φ and Ψ satisfy the regularity assumptions of Theorem 2.1. Indeed,
by standard arguments, we have that Φ is Gâteaux differentiable and its Gâteaux
derivative at the point u ∈ X is the functional Φ0 (u) ∈ X ∗ , given by
Z
Φ0 (u)(v) = |∇u|p(x)−2 ∇u∇v + a(x)|u|p(x)−2 uv dx
Ω
for every v ∈ X. Moreover, Φ is sequentially weakly lower semicontinuous and its
inverse derivative is continuous (since it is a continuous convex functional) and,
thanks to Lemma 2.3, the functional Φ turns out to be coercive. On the other
hand, by Theorem 2.4, the functional Ψ is well defined, continuously Gâteaux
differentiable and with compact derivative, whose Gâteaux derivative at the point
u ∈ X is given by Z
Ψ0 (u)(v) = f (x, u(x))v(x)dσ
∂Ω
for every v ∈ X. So, owing to [2, Proposition 2.1], the functional Iλ satisfies the
[r]
(PS) -condition for all r ∈ R.
We will verify condition (2.1) of Theorem 2.1. Let w be the function defined by
w(x) := d for all x ∈ Ω̄ and put
−
1 c p
r := + .
p m
Clearly, w ∈ X and from our assumption one has
Z
1 1 +
0 < Φ(w) = a(x)dp(x) dx ≤ − kak1 dp < r.
Ω p(x) p
For all u ∈ X with Φ(u) < r, owing to Lemma 2.3, definitively one has
+ −
min kukpa , kukpa < rp+ .
Then 1 1 c
kuka < max (p+ r) p+ , (p+ r) p−
= ,
m
and so, by (2.3),
max |u(x)| ≤ mkuka < c.
x∈Ω
Therefore, R
supu∈Φ−1 (]−∞,r[) Ψ(u) ∂Ω
max|t|≤c F (x, t)dσ
≤ −
r 1 c p
p+ m
6 G. A. AFROUZI, A. HADJIAN, S. HEIDARKHANI EJDE-2014/134
Proof. Fix λ as in the conclusion. So, Theorem 3.1 ensures that the problem (1.1)
admits at least one non-trivial weak solution ū1 which is a local minimum of the
functional Iλ .
Now, we prove the existence of the second local minimum distinct from the first
one. To this end, we must show that the functional Iλ satisfies the hypotheses of
the mountain pass theorem.
Clearly, the functional Iλ is of class C 1 and Iλ (0) = 0.
We can assume that ū1 is a strict local minimum for Iλ in X. Therefore, there
is ρ > 0 such that inf ku−ū1 k=ρ Iλ (u) > Iλ (ū1 ), so condition [23, (I1 ), Theorem 2.2]
is verified.
From (AR), by standard computations, there is a positive constant C such that
F (x, s) ≥ C|s|µ (3.3)
for all x ∈ ∂Ω and |s| > R. In fact, setting γ(x) = min|ξ|=R F (x, ξ) and
ϕs (t) = F (x, ts) ∀t > 0, (3.4)
by (AR), for every x ∈ ∂Ω and |s| > R one has
0 < µϕs (t) = µF (x, ts) ≤ tsf (x, ts) = tϕ0s (t) ∀t > 0.
Therefore,
1 1
ϕ0s (t)
Z Z
µ
dt ≥ dt.
R/|s| ϕs (t) R/|s| t
EJDE-2014/134 STEKLOV PROBLEMS 7
Then
R
ϕs (1) ≥ ϕs |s|µ .
|s|
Taking into account (3.4), we obtain
R
F (x, s) ≥ F x, s |s|µ ≥ γ(x)|s|µ ≥ C|s|µ ,
|s|
and (3.3) is proved. Now, by choosing any u ∈ X \ {0} and t > 1, one has
Iλ (tu) = (Φ − λΨ)(tu)
Z p(x) Z
t p(x) p(x)
= |∇u| + a(x)|u| dx − λ F (x, tu(x))dσ
Ω p(x) ∂Ω
Z Z
+ 1
≤ tp |∇u|p(x) + a(x)|u|p(x) dx − Ctµ λ |u(x)|µ dσ.
Ω p(x) ∂Ω
Since µ > p+ , the functional Iλ is unbounded from below. So, condition [23, (I2 ),
Theorem 2.2] is verified. Therefore, Iλ satisfies the geometry of mountain pass.
Now, to verify the (PS)-condition it is sufficient to prove that any (PS)-sequence
is bounded. To this end, suppose that {un } ⊂ X is a (PS)-sequence; i.e., there is
M > 0 such that
sup |Iλ (un )| ≤ M, Iλ0 (un ) → 0 as n → +∞.
Let us show that {un } is bounded in X. Using hypothesis (AR), since Iλ (un ) is
bounded, we have for n large enough:
1 1
M + 1 ≥ Iλ (un ) − hIλ0 (un ), un i + hIλ0 (un ), un i
µ µ
Z Z
1
= |∇un |p(x) + a(x)|un |p(x) dx − λ F (x, un (x))dσ
Ω p(x) ∂Ω
Z Z
1h i
− |∇un |p(x) + a(x)|un |p(x) dx − λ f (x, un (x))un (x)dσ
µ Ω ∂Ω
1 0
+ hIλ (un ), un i
µ
1 1 − 1
≥ +− kun kpa − kIλ0 (un )kX ∗ kun ka − c1
p µ µ
1 1 p− c2
≥ +− kun ka − kun ka − c1 ,
p µ µ
where c1 and c2 are two positive constants. Since µ > p+ , from the above inequality
we know that {un } is bounded in X. Hence, the classical theorem of Ambrosetti
and Rabinowitz ensures a critical point ū2 of Iλ such that Iλ (ū2 ) > Iλ (ū1 ). So, ū1
and ū2 are two distinct weak solutions of (1.1) and the proof is complete.
Here we give the following result as a direct consequence of Theorem 3.2 in the
autonomous case.
Theorem 3.3. Let f : R → R be a continuous function satisfying f (0) 6= 0 and
|f (s)| ≤ α + b|s|β−1 for all s ∈ R, where α > 0, b ≥ 0 and 1 < β < p− are three
Rt
constants. Put F (t) := 0 f (ξ)dξ for all t ∈ R. Under the following conditions
8 G. A. AFROUZI, A. HADJIAN, S. HEIDARKHANI EJDE-2014/134
+ p−
−
c p
(i) there exist d ≥ 1 and c ≥ m with dp kak1 < p+ m , such that
max|t|≤c F (t) p− F (d)
p − < + p+ ;
c
p d kak1
m
(ii) there exist two constants µ > p+ and R > 0 such that for all |s| ≥ R,
0 < µF (s) ≤ sf (s),
and for each
i dp+ kak −
c p h
1 m
λ∈ − , + ,
p |∂Ω|F (d) p |∂Ω| max|t|≤c F (t)
the problem
∆p(x) u = a(x)|u|p(x)−2 u in Ω,
∂u
|∇u|p(x)−2 = λf (u) on ∂Ω,
∂ν
admits at least two non-trivial weak solutions ū1 , ū2 ∈ X such that
max |ū1 (x)| < c.
x∈Ω
Z
b
≤ 2Ckαk β(x) kuka + |u(x)|β(x) dσ.
L β(x)−1 (∂Ω) β− ∂Ω
On the other hand, there is a constant C 0 > 0 such that
Z
−
n +
o +
|u(x)|β(x) dσ ≤ max kukβLβ(x) (∂Ω) , kukβLβ(x) (∂Ω) ≤ C 0 kukβa .
∂Ω
Then,
b 0 +
Ψ(u) ≤ 2Ckαk β(x) kuka + C kukβa .
L β(x)−1 (∂Ω) β−
Since Z
1 1 −
Φ(u) = |∇u|p(x) + a(x)|u|p(x) dx ≥ + kukpa ,
Ω p(x) p
for every λ > 0 we have
1 p− λbC 0 +
Iλ (u) ≥ kuka − 2λCkαk β(x) kuka − −
kukβa .
p+ L β(x)−1 (∂Ω) β
Since p− > β + , the functional Iλ is coercive. Then also condition (ii) holds. So,
for each λ ∈ Λ, the functional Iλ admits at least three distinct critical points that
are weak solutions of problem (1.1).
Remark 3.5. If we assume that f : ∂Ω × R → R is a non-negative Carathéodory
function satisfying (F0), then the previous theorems guarantee the existence of
non-negative weak solutions. In fact, let ū be a weak solution of the problem
(1.1). We claim that it is non-negative. Arguing by contradiction and setting
A := {x ∈ Ω̄ : ū(x) < 0}, one has A 6= ∅. Put v̄ := min{ū, 0}, one has v̄ ∈ X. So,
taking into account that ū is a weak solution and by choosing v = v̄, one has
Z Z Z
|∇ū|p(x) dx + a(x)|ū|p(x) dx = λ f (x, ū(x))ū(x)dσ ≤ 0,
A A ∂Ω
that is, kūkW 1,p(x) (A) = 0 which is absurd. Hence, our claim is proved.
Also, when f is a non-negative function, condition (3.1) becomes
p− ∂Ω F (x, d)dσ
R R
∂Ω
F (x, c)dσ
− < .
c p p+ dp+ kak1
m
In this case, the previous theorems ensure the existence of non-negative solutions
to the problem (1.1) for each
+ −
c p
i dp kak1 m
h
λ∈ −R , +R .
p ∂Ω F (x, d)dσ p ∂Ω F (x, c)dσ
Remark 3.6. Theorems 3.1 and 3.4 ensure more precise conclusions rather than [1,
Theorems 1.1 and 1.3]. In fact, Theorem 1.1 of [1] proves that for any λ ∈]0, +∞[,
the problem (1.1), when a ≡ 1, has at least a non-trivial weak solution. Also,
Theorem 3.1 of [1] establishes that there exists an open interval Λ ⊂]0, +∞[ such
that, for every λ ∈ Λ, the problem (1.1), when a ≡ 1, admits at least three solutions.
Hence, a location of the interval Λ in ]0, +∞[ is not established.
dp kak1
Proof of Theorem 1.1. Fix λ > λ? := p|∂Ω|F (d) for some d ≥ 1 such that F (d) > 0.
Since
F (ξ)
lim inf = 0,
ξ→0 ξp
10 G. A. AFROUZI, A. HADJIAN, S. HEIDARKHANI EJDE-2014/134
the functional Iλ is coercive. Hence, by taking Remark 3.5 into account, the con-
clusion follows from Theorem 3.4.
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Ghasem A. Afrouzi
Department of Mathematics, Faculty of Mathematical Sciences, University of Mazan-
daran, Babolsar, Iran
E-mail address: afrouzi@umz.ac.ir
Armin Hadjian
Department of Mathematics, Faculty of Basic Sciences, University of Bojnord, P.O.
Box 1339, Bojnord 94531, Iran
E-mail address: hadjian83@gmail.com
Shapour Heidarkhani
Department of Mathematics, Faculty of Sciences, Razi University, 67149 Kermanshah,
Iran
E-mail address: s.heidarkhani@razi.ac.ir