A NNALI DELLA
S CUOLA N ORMALE S UPERIORE DI P ISA Classe di Scienze
N ORMAN G. M EYERS
An L
p-estimate for the gradient of solutions of second order elliptic divergence equations
Annali della Scuola Normale Superiore di Pisa, Classe di Scienze 3
esérie, tome 17, n
o3 (1963), p. 189-206
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OF SOLUTIONS OF SECOND ORDER
ELLIPTIC DIVERGENCE EQUATIONS
NORMAN G. MEYERS
(Minneapolis) (0)
w
Introduction.
In papers[2]
and[3] Boyarskii
has studied solutions of twodimensional,
firstorder, uniformly elliptic systems
with measurable coef- ficients. In thesimplest
case such asystem
has the form11
One of the
striking
results ofBoyarskii’s
work is the existence of an ex-ponent p > 2, depending only
on theellipticity
constants of(*),
such that if thestrong
derivatives of a solution(u, v)
are in thenthey
are in£p.
The main tool in theproof
is theCalderon-Zygmund
Ine-quality
forsingular integrals [4].
It is indeedsurprising
that such amethod,
which is
ultimately
based on the case of constantcoefficient,
canyield
re-sults
independent
of thecontinuity properties
of variable coefficient.The
exponent p
has severaladvantages
over theexponent 2,
which isthe
exponent
assumed in almost all work on suchequations.
Forexample,
it
immediately implies, by
use of the Sobolevlemma,
that the solution is Holder continuous(which
is also known from moreelementary
considera-tions)
and alsogives
certaingeometric properties
ofhomeomorphic
solutionmappings
not derivable in any other way. The best value of theLebesgue exponent
is unknown and its relation to the best Holderexponent,
whichPervenuto in Redazione il 20 Giugno 1963.
(0) This paper has been prepared with the support of the Office of Naval Research.
under project Nonr 710 (54) NR-043-041.
1. Annali nella Scuola Norm. Sup. - Pisa
is
known,
remains aninteresting
unsolvedproblem.
For aesthetic reasons it is natural tohope
that the best Holderexponent
follows from the best Lebe- sgueexponent,
via the Sobolevlemma,
and several mathematicians haveconjectured
that this is the case.Since any
elliptic equation
of the formis
equivalent
to asystem
of the form of(*),
thetheory
alsoapplies
to(**).
u
In this paper I extend
Boyarskii’s
result to n-dimensionalelliptic equations
of
divergence
structure. In thesimplest
case such anequation
has the formIn Theorem 2 I prove there is a
number Q > 2, depending only
on theellipticity
constants of(***)
and on n, such that if u hasstrong
derivativesin for some
exponent Pi
in therange
thenthe first derivatives are
actually
in~~
for every p in the range Iu
The main
tool,
as inBoyarskii~s proof,
is theCalderon-Zygmund Inequality, though
its role islargely
hidden.Having
such aresult,
it istempting
totry
to prove the Holdercontinuity
of u
by showing that Q >
~i. Such anattempt
is doomed. For if it weretrue,
then
by
the method descent the first derivatives of u would be ineP
foroo. But this is known to be false from
simple examples.
Infact,
in Section 5 I showby
means of anexample
that in each dimensionQ
tends to 2 as theellipticity
becomes « bad ». From the method of descent it is necessary to show thisonly
in two dimensions.Though
this methodof
proof
fails it may still bepossible
to base aproof
of Holdercontinuity
on the fact that the derivatives are in
£p (see [5]
and[8]).
Besides Theorem
2,
I also prove an existence anduniqueness
theorem(Theorem 1)
for the Dirichlet Problem when the domain issufficiently
smooth. I derive Theorem 2 from Theorem
1, though
it ispossible
to prove Theorem 2directly,
withoutpreliminary
results on existence.(i) Professor A. P. Calderon has independently proved the same theorem in unpublished
work.
1.
Notation.
0?
denotes the real n-dimensional Euclidean space of vectors(or points)
x =
...
Xn),
y y =(yi ,
...yn).
The innerproduct [x, y]
is defined asn
Z rk yk
and thecorresponding I equals [x, x]112 ,
~=1
Analogously, C)(n
denotes thecomplex
n-dimensional Euclidean space ofvectors
1 andIf A is an n X n
complex
matrix(akl),
then A* denotes theconjugate
trans-pose
(aZk)
andA$
denotes the vectorFinally,
y notations such asf (x)
denote functions whose domain of defi- nition is contained in and whose values are in2. An
alternative statement
of theuniform ellipticity condition
etc.Consider the differential
operator L
definedby
theequation
where u is a
complex
valued function and A is acomplex
matrix. The de-finitions of uniform
ellipticity
of Lusually given
in the literature are either that there existpositive constants Al
and M such thatinequalities
hold for all ,x under consideration and for
all $,
or elsethey
are obviousrestatements of this condition.
However,
in order to handle the case of non-Hermitian coefficient matrices we need a form of the uniform
ellipticity
condition which is not
quite
so obvious.To this
end,
rewrite A for each x aswhere and 1, so that
H,
andH2
areHermitian.
Using
the factthat I A* I = I A ~ ~
, it then follows tbatNow rewrite A in the form
where c is a
non-negative
constant and I is theidentity
matrix.H, +
cIis Hermitian and from
(4)
it is clear thatAs for
iH2 -
cI we haveand thus
Define the
quantity
0by
means of theequation
Since the ratio in
(9)
is less than one forlarge
valuesof c,
we have1 - 0 1.
Setting
H =c1I,
R =2H2 -
_Âj -~-c1
andwhere c, denotes a value of c at which the minimum in
(9)
isattained,
we have
Here H is Hermitian and
inequalities
hold for all relevant x and for all
$.
Thus,
under theassumption
of uniformellipticity,
it ispossible
todecompose
A into the sum of apositive
definite Hermitian matrix H anda remainder R which is « smaller » than H. Such a
decomposition
in turnclearly implies
uniformellipticity
and so the two statements areequivalent.
In any differential
equation
we can assume without loss ofgenerality
that A =
11
since we can divide both sides of theequation by
A. Theform
(10), (11)
of the uniformellipticity
condition with ~1 = 1 is thus per-fectly general.
In this form thequantity
9~, measures theellipticity.
Notethat 02 C 1 with
equality
for theLaplacian.
DEFINITION 1. Let D be a bounded domain
(open
connectedset)
ine, ~o (D)
stands for the linear space of allcomplex infinitely
con-tinuously
differentiable functions withcompact support
in Q.£q
=£q (S~),
1
C q
oo~ stands for either the Banach space of allcomplex
measurable functions 0 or the space of measurable vector fields 0 defined on S~ with finite q-normIn addition we consider the linear spaces of
complex
func-tions or vector fields which are in
£q (il’)
for every subdomain Q’ whose closure Q’ is contained in Q.As is
usual, ~~’ ~
- denotes the space ofcomplex
functions4S with
strong
derivatives in£q,
for which there exists a sequence of functions4Yk
ine1°
such thatUnder the norm
is a Banach space. We also consider
spaces ~
Iconsisting
of those functions ingeoll2
whosegradients
are in£q.
Under the normis also a Banach space.
DEFINITION 2. We define the bilinear functional
corresponding
to a bounded measurable matrix A = A(x).
The functions 0 and W will be taken from various spacesdepending
on the circumstances.For A
(x)
-= I we writecf3i =, cf3.
DEFINITION 3. Consider the differential
equation
on 0,
where A = A(x)
is acomplex
bounded measurable matrix andf
=f (x)
and h = h
(x)
are in We say that u = u(x)
is a solutions ofequation (17)
if u hasstrong
derivatives andholds for all 0
in e1° .
We shall say that Q is of class
7q ,
2q
oo, if theequation
has a
unique
solution u ingel’ q
forevery f
in£q and
holds for some constant
.gq independent off.
This constitutes a conditionof regularity
on theboundary
ofQ,
which will hold for any valueof q
if theboundary
issufficiently
smooth. Theproof depends
on theCalderon-Zygmund Inequality
forsingular integrals (see [4]
and Theorem 15.3’ of[11).
DEFINITION 4.
Let q
be a number such that 1~ q
oo . Thenq’
isdefined
by - l
=1.Further,
yq*
is definedby
means of theequation
q q
if q n
and is defined to be any number in the rangeThe
preceding
notation will be used in the remainder of the paper without further comment.3.
Prelim inary results.
The results to be derived in this section are
generally
known but sincethey
are of centralimportance
in the derivation of the maintheorems,
Iinclude them here.
Let us suppose that A = A
(x)
satisfies the uniformellipticity
conditionand that the elements of A are measurable functions on a bounded domain S~. Let us further suppose that for the domain Q
where q
is some fixed number in the range 2q
oo, IT is apositive
constant and + and P vary over the spaces and
respectively.
Consider the
equation
where 9 = g (x~
is inQq’. Let ;A;
= gk(x) Ic
=1, 2~ ...
be a sequence of vector fields in_p2
such thatThen it is well known from the
£2-theory
that theequations
L*u =div gk
have
solutions uk
in Thusfor in
ge~,2.
Since C C it follows fromassumption (21)
and from
(24)
thatTherefore there exists a function u in such that
Therefore u solves
equation (22),
is in q and from(25)
and(26)
-+ Now suppose u is a function in and solves
equation (22)
withg
= 0. Thenfor all lJf in q and from
(21)
we see that u = 0. We have thus shown : Under condition(21),
theuniformly elliptic equation (22)
isuniquely
sol-vable in
for
each g in and the solutionsatisfies (27).
Next consider the
equation
for/"in ~6~.
From the£2-theory
we know a solution in~~’ 2
exists. The- reforefor in
Let g
be anarbitrary
vector field in.6~
Then= g
has a
solution tP
ingel’ 2
and for thisparticular 4S, 93A (u, tP) (grad u, n g)
dx.
Therefore
If I glql
1then I grad ø
from(27).
Thustaking
the supremum of the absolute valueof both
sides of(31)
overall g in 22
suchthat I g ~~~ c 1,
we see
that I grad u I q C .g ~
Therefore u is in isunique
in thisclass since C
g{Ol, 2,
andUnder condition
(21),
theuniformly elliptic equation (29) is uniquely
sol-vable in
for
eachf in Eq
and the solutionsatisfies (32).
We have therefore established the existence of transformations
T~
andTA*
whereTA
is a bounded linear transformationcarrying
vector fields inEq
into functions(solutions
of(29))
in andTA*
is a bounded linear transformationcarrying
vector fields inZq’
into functions(solutions
of(22))
in
9~ ~ .
We mayequivalently
considerT~
andTA*
ascarrying Eq
andZ~’
respectively
into themselvesby
thesimple
device ofreplacing
the solutionby
itsgradient.
No matter how ve choose to consider these transformations their norms will be the same. We denote the normsby 11 TA Ilg and 11 Ilq’.
From
equation (31)
and asimple argument
it follows thatLet us now add the further
assumptions
that(34) (21)
holds for both A andA*,
S~ is of class
(7)q .
Then = This follows because the
equation
A1t = divgrad P,
for W in has a solution in Thus A
(u
- = 0 and sinceu - P is in
COO" 21
y u = ~.Furthermore,
the transformationTA
now alsomaps _p q
into-Pq.
From the RieszConvexity
Theorem(see
p. 525 andE39,
p. 536 of
[6]) TA
must map~~
into-PP
for every p in the rangeq’--- p
and
log ) TA lip
is a convex function It is in fact easy to show that PTA
mapsep
into solutions inMoreover,
we haveFor,
from the fact thatTA
maps£P
into one infers that the left side of(35)
isgreater
than orequal
to theright
side. On the otherhand,
from(21)
and(32) with q replaced by p
one infers that the left side of(35)
isless than or
equal
to theright
side.Hence, equality
holds. We now sum-marize our results.
LEMMA. 1. Under
assumptions (34)
theuniformly elliptic equations (22)
and(29)
areuniquely
solvable infor
every gand f
inoC~ ~ q’:!:~-:p
q .Furthermore
T A*
andTA
are bounded lineartransformations
such thatequali-
ties
(33) (with
qreplaced by p)
and(35)
hold.Finally, log 11 TA lip
is a convex... -f 1
function of
-.P
Let us now assume S is of class
7Q for
some q, 2q C and
takeA 1.
Obviously
theassumptions
of Lemma 1 are fuelled. Setq~’ c ~ c q,
Then andK2 =1.
From theconvexity Kp
must thenhave a minimum
at p - 2,
must benon decreasing for 1)
> 2 and must be continuous in ~.From Lemma 1 we also have
4.
Main results.
We are now
ready
to prove the main results of the paper. These arean existence and
uniqueness
theorem for solutions in theorem onthe « true »
-OP
class of thegradient
of solutions andfinally
a theorem onthe
QP
class of second derivatives of solutions ofnon-divergence equations
in two dimensions.
THEOREM 1. Con-Rider the
differential equation
where A = A
(x)
is acomplex
measurable matrix andsatisfies
theuniform ellip- ticity
condition(10), (11)
a.e. with A == 1-. If Q is a bounded domainof
class(7)q for
some q, 2 q 00, then(3 7)
has aunique
solution incool,
~’for
every
complex vector , field f = f (x)
and everycomplex function
h = h(x)
in
£r
with r* 2 p,provided
Here
Q >
2 anddepends only
on Q and theellipticity
constant 9~, in such away that
Q
--~ q as 92 -+ 1 andQ
-+ 2 as 92 -+ 0. The solutionssatisfy
where C is a constant
depending only on Q, My
p and r.PROOF. We may assume without loss of
generality
that h =0,
for thepotential of h, v
= v(~~),
satisfies 4u = h and from the Sobolevinequality
forfractional
integrals
Thus we can
replace
theright
side of theequation by div (f + grad v),
where
/ -)- grad v
is a vector field inQp.
Next rewrite
C’J3A
=CI’3A (P, 0)
asCf3A
=03 + CBH-1 + Cf3R.
Hencewhere 2
p --- q, 0
is in and ~’ varies over9(o" P -
We then havewhere the constant is defined at the end of Section 3 and constants
0, A
are defined in
(11).
ThereforeNow set
where .E is the subinterval of 2
q
on whichSince
g2
= 1 and.~~
is continuous in p,Q >
2(see Figure 1).
Thus inthe interval 2
p ; Q
we havewhere Since
A*
has the sameellipticity
constantsl’ B
-
,
as A
inequality (45)
also holds for03A*.
The rest is a consequence of Lem-ma 1.
DEFINITION 5. If 4$ is a
complex
measurable function or a measura-ble vector field we denote the p-norm of 0 over a
sphere
of radius Rby
R .
The center of thesphere
is assumed to be known and does not appear in the notation.THEOREM 2. Let u = u
(»)
be a solution on ac domain Qof
theequation
where A =
A(x)
is acomplex
measurable matrix andsatisfies
theuniform
el-lipticity
condition(10), (11)
a. e. with A = 1. Under thisassumption,
thereexists a number
Q > 2,1
whichdepends only
on 9À and n(Q
--+ oo as 8~, -~ 1and
Q
-~ 2 as 8~, -0)
such thatif grad
u is in in and h isin where
then
grad
u isin £foc. Moreover, if
y is anypoint
inQ,
then over open balls centered at y we have the estimatewhere p, is now any index such that
Q’
pip Q
and Cdepends only
on
9Â,
W p, r, Pt 1 and n.If f
in addition_p :!
p2n
then we mayreplace (48) by
n
2PROOF. Let w =
k) k
=2, 3,
... be aninfinitely continuously
dif-ferentiable function in x such that
for
for
Let y
be apoint
of S~ withdistance d.
from theboundary
of S~ and setWe now restrict our considerations to the
homogeneous equation
anddenote the solution
by w
= w(x).
Set z =~-w.
Then a briefcomputation yields
If we now set k =
2,
thenequation (51)
holds in all space and z vanishes forAny ball,
let ussay I x - y I const.,
is a domain of classq [
oo. Hence Theorem 1applies
to any ball for p in someinterval
Q’ p Q,
whereQ depends only
on OA and n.Moreover, Q
--~ o0as 02 --~ 1 and
Q
-~ 2 as 02 -~ 0.Assume now that the
original
solution w hasstrong
derivatives in for some index p, ,Q’
p,Q.
Then from the Sobolevlemma, w
itself is and z is in It then follows from The-
orem 1 that z is also in ’ I
where - P-
i is Iany index lessthan
pt
andQ.
Hencegrad w
is in and since y isarbitrary grad w
is in But if this is the case, thengrad w
is inby
the sameargument. Continuing
theargument
aslong
as necessarywe find that
grad
w is infor
every p,Q’
p,p Q.
Now return to the
original equation
.Lu =divf + h ;
define v =v (x)
to be the
unique
solution in and set w = u - v.From the
preceding
discussion it is clear thatgrad u, is
inEÍoc.
We now turn to the
problem
ofderiving
an estimate for the local-norm
ofgrad
u. Assume for the timebeing
thatdy >
2 and definev = v
(x)
to be the solution of Lv =div f + h
which is in the classThen from Theorem 1 we
get
Set w = u - v and consider
equation (51)
where the domain is now theball I
x - yI
2.Let p
be any index in the rangeQ’ p Q. By
ap-plying
Theorem 1 toequation (51)
weeasily
inferwhere s is any index such that
Q’ s p Q
p. Cdepends only
on p~ S, it and k.By
means of the Sobolevinequality
we can esti-mate in terms
of I grad w I
and HenceWe may now
repeat
theargument
andestimate grad w
in terms ofI grad
w andx
where Sl
is any index such thatQ’
and
si
~ 8. Thus it is clear that after Nrepetitions
of theargument,
Ndepending only
and n weget
where p, is any index in the
range Q’ p Q
and the initial va-lue of k has been chosen
equal
to 2. If we nowchoose Pt
= 2 we can ap-ply
the well known estimate(see [8])
Thus from
(55)
and(56)
we inferWe can now derive the desired estimate on
grad
u. Let p and~1
be indices such thatQ’
p, pQ.
Since u = v+
w it follows from(52)
and
(55)
thatIf in addition then u and v are in
_p2
and it follows from(52)
and
(57)
thatThe
inequalities
in thegeneral
case of asphere
of radius .R followby
per-forming
asimilarity
transformation.DEFINITION 6. Consider the differential
eqaation
on a
plane
domainand y
now stand for coordinates. We assume thata, b,
cand f
are real measurable functions. Theequation
is said to be uni-formly elliptic
ifholds for almost all
(x, y)
in Q and all real(~, r¡).
u = u(x, y)
is called asolution of
equation (60)
onQ,
if u hasstrong
second derivatives and sa-tisfies the
equation pointwise
almosteverywhere
in Q.THEOREM 3. Let u = u
(x, y)
be a solutionof equation (60), (61)
on aplane
domain Q. thisassumption,
there exists a numberQ > 2,
whichdepends only
on A(Q
- oo as A -+ 1 andQ
-+ 2 as ~, -0)
such thatif
UXX, uxy , U., are in
n PI
andf is
inn P
whereuxy , uy~ are in
E1~c .
PROOF. The
proof
uses the fortuitous relation that exists between equa- tions ofdivergence
andnon-divergence
structure in two dimensions.Set U = ux and V = - uy . We then have the
system
Clearly TI
is a solution of theuniformly elliptic equation
ofdivergence
structure
Theorem 2 then
implies
therequired
result for uxz and uyy.Finally,
thefirst
equation
in(63)
shows thatUyy
is also in~i~c .
REMARKS.
By
means of the Sobolev lemma Theorem 3implies
theHolder
continuity
ofgrad (u a
solution ofequation (60) (61)) if p >
2.However a
slightly stronger
result isalready
known. If one modifies the work of Finn and Serrin[?J J appropriately
one can show thatgrad u
isHolder continuous if
only I.f ~2 ;
R C const. Ra for some 0.It is clear that Theorems 2 and 3 will continue to hold if the diffe- rential
equations
contain terms of lower order with coefficients in the ap-propriate £p
classes.5. An
upper·
bound forQ
inTheorem
2.Theorem 2
gives
a theoretical lower bound for the value ofQ. By estimating
the value of for thesphere
one could in factgive
anexplicit
lower bound. we now
give
an upper bound forQ by
means of anexample.
Let x and y be coordinates in the
plane.
Consider theequation
where
and p is a fixed constant in the range 0 1. It is
easily
seen thatat each
point (x, y)
theeigenvalues
of the coefficient matrix areft2
and 1.Thus
equation (65)
is in the form(10) (11)
with d= 1, À = p2
and 0 = 1.is a solution of
equation (60)
and it iseasily
seen~ r 9
that grad u
is in for but thatgrad
ibecause of the
singularity
at theorigin.
Hence we must ingeneral
have(67)
is now establishedonly
for n = 2. We now establish(67)
for all di- mensionsby
the method of descent. Let(x~ y, z)
be apoint in n-space
wherez stands for the
remaining (n
-2)
coordinates. We extend thegiven
solu-tion n and coefficients
by defining u (x,
y,z;
= u(x, y)
etc. Then we haveEquation (63)
has the sameellipticity
constants as theoriginal equation
2
and it is obvious that
grad u
is not in-pi 0 ’-/t. c
· Hence the bound(67)
holdsin all dimensions.
In
particular
this showsthat Q really
does tend to 2 as 8~ - 0. The best valueof Q probably depends
on n and becomes smaller as n increases and OA remains fixed. In any case it is clear from the method of descent that it cannot increase withincreasing
dimension.2. Annali della Scuola Norm. Sup. - Pisa.
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BOYARSKII, B. V. Homeomorphic solutions of Beltrami systems, Dokl. Akad. Nauk. SSSR.(N. S.) 102, (1955) (Russian).
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[3]
BOYARSKII, B V. Generalized solutions of a system of differential equations of the first order of elliptic type with discontinuous coefficients, Mat. Sbornik N. S. 43, pp.451-503 (1957) (Russian).
[4]
CALDERON, A. P. and ZYGMUND, A. On the existence of certain singular integrals, Acta.Math., 88, pp. 85-139 (1952).
[5]
DE GIORGI, E. Sulla differentiabilità e l’analiticitá delle extremali degli integrali multipli regolari, Mem. Accad. Sci. Torino, S. III, Parte I, pp. 25-43 (1957)[6]
DUNFORD, N. and SCHWARTZ, J. Linear Operators Part I, Interscience (New York) (1958).[7]
FINN, R. and SERRIN, J. On the Hölder continuity of quasi-conformal and elliptic mappings,Trans. Amer. Math. Soc. 89, pp. 1-15 (1958).
[8]
MOSER, J. A new proof of De Giorgi’s theorem concerning the regularity problem for ellip-tic differential equations. Comm. Pure Appl. Math. 13, pp 457-468 (1960).
[9]
VEKUA, I. N. The problem of reduction to canonical form of differential forms of elliptic type and generalized Cauchy Riemann systems, Dokl. Acad. Nauk. 100, pp. 197-200(1955) (Russian).