A NNALES DE L ’I. H. P., SECTION C
A NDREA C IANCHI
Local boundedness of minimizers of anisotropic functionals
Annales de l’I. H. P., section C, tome 17, n
o2 (2000), p. 147-168
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Local boundedness of minimizers of anisotropic
functionals
Andrea
CIANCHI1
Istituto di Matematica, Facoltà di Architettura, Università di Firenze, Via dell’ Agnolo 14, 50122 Firenze, Italy
Manuscript received 16 October 1998 2000 Editions scientifiques rights
ABSTRACT. - The local boundedness of minimizers of functionals is
proved
undergrowth
conditionsdepending
on the fullgradient.
@ 2000Editions scientifiques
et médicales Elsevier SAS1. INTRODUCTION
We are concerned with the local boundedness of local minimizers of
integral
functionalshaving
the formwhere Q is an open subset of R"
(n > 2)
andf :
Q x R x -~ R is aCarathéodory
function.In the classical
theory
ofregularity (see
e.g.[5,8,11,14]),
as wellas in more recent
developments (including [1-3,6,7,10,12,13,15,16,18- 25]),
theintegrand f
isusually
assumed tosatisfy growth
conditions1 E-mail: [email protected].
depending
on thegradient
D uonly through
itslength
orthrough
the sum of functions of the
single partial
derivativesux, ,
i =1,...,
n.The main
novelty
in thepresent
paper is that bounds onf
areallowed
involving
functions(not necessarily
ofpolynomial type)
of thewhole D u . An
example
of thefunctionals,
notfalling
within the classes considered in the papers mentionedabove,
which we are able to deal with iswhere Q C
R~,
PI,7~2 ~
1 and g is any bounded continuous function.The local boundedness of
(possible)
local minimizers of J can be discussed via Theorem1,
Section 2-seeExample
3. Theorem 1 isa
special
case of the main result of this paper, which is contained in Theorem 2 of the same section. Let uspoint
outthat,
even instandard
situations,
Theorem 2slightly
refines some of the resultsalready
available in the
literature,
in that it enables to include also certain borderline cases(Examples 1, 2, 4).
2. MAIN RESULTS
Our
assumption
on theintegrand f
in(1.1)
reads as follows:for s E
I~, ~
E and a.e. x E Q .Here,
A : R" -~[0, +00)
is a convexfunction such that
and
B :
[0, -f-oo)
-[0,
is anincreasing function;
a and b arelocally integrable nonnegative
functions onQ ;
c is a constant § 1. Both A and B arerequired
tosatisfy
the so-calledA2-condition; namely,
we assumethat
and
for some
positive
constant k.A
precise
definition of a local minimizer of the functional J in(1.1)
involves the function
AM: [0, +00)
-~[0, +00)
associated with Aby
In other
words,
is the smallest radial function which dominatesA(~).
It iseasily
verified thatAM
is aYoung function, i.e.,
a convexfunction
vanishing
at zero. Notice also thatAM
satisfies theA2-condition
whenever A does.
A
weakly
differentiable function u : S2 --~ R will be called a local minimizer of J iffor every open set Q’ (c Q and
for every
weakly
differentiable functionc~
such thatsupp(Ø)
C Q andfsz
+ dx ~.As shown
by
thecounterexamples
of[9,17]
and[12], regularity
ofminimizers of J cannot be
expected,
-even in thesimplest
situation wheref
isindependent
of x and s, if A issubject
to the soleassumptions (2.2)-(2.4).
Thosecounterexamples
and the results of[7] suggest
thata suitable additional
assumption
for minimizers to belocally
boundedshould amount to a bound for A in terms of its Sobolev
conjugate.
Anoptimal
Sobolevconjugate
of A is the functionAn
defined as follows(see [4]).
LetA* : [0, +00)
-~[0, +00)
be theincreasing
continuousfunction such that
where [ . stands
forLebesgue
measure;namely,
where
Cn
is the measure of the n-dimensional unit ball. ThenAn
:.[0, -I-oo)
2014~[0,
is defined asn’ =
nj(n - 1)
and is the left-continuous inverse of H. Notethat, by
the Brunn-Minkowskiinequality, f ~
EA (~ ) t } ~
is a concavefunction of t. Thus
A*
is aYoung
functionand,
since H is concave andvanishes
only
at0, An
is aYoung
function as well.In what follows we may
always
assume, without loss ofgenerality,
thatthe
integral
in the definition of H in(2.10)
isconvergent-see
Remark 2 below.Moreover,
we shall suppose thatIndeed,
if theintegral
in(2.11 )
converges, then any function usatisfying (2.7)
isautomatically locally
bounded-see Lemma2,
Section 2.We are now in a
position
to state ourregularity
result. Because of itstransparency,
wegive
aseparate
statement in the basic case where the estimates in(2.1)
areindependent
of x and s,i.e.,
whenfor s E E Rn and a.e. x E Q .
THEOREM 1. -Assume that condition
(2.12)
isfulfilled for
some Asatisfying
the abovehypotheses. If a
constant k > 0 exists such thatthen any local minimizer
of
J islocally
bounded in Q.In the
general
case, a balance has to beimposed
between thedegrees
of
summability
of aand b,
and thegrowths
ofA,
B andAn.
Sucha balance involves the lower index at
infinity
of the functionsA*
andAM
+ B. Recall that such an index is defined for anincreasing
function~ :
(0,
--~(0, +oo)
asTHEOREM 2. - Assume that condition
(2.1 ) is fulfilled for some
A andB
satisfying
the abovehypotheses. Suppose
that:(i)
b Efor some ~
E(1, oo]
such that,B
> +B)
and
for
somepositive
constantk ; (ii)
Then any local minimizer
of
J islocally
bounded in Q .Remark 1. -
Assumption (2.11 ) implies,
inparticular,
that(A* )
n(see Proposition 1,
Section3).
Remark 2. - Given any radial convex function A
vanishing
at 0 andsatisfying
theA2-condition,
we may assume,without
loss ofgenerality,
that
A(~)
=A (~ )
ifr ~ ~ [
is smallenough. Actually,
it is not difficult tosee that there exist
positive
constants ci, c2, so and to suchthat,
ifA (~ )
isthe function which
equals A (~ ) for ~ ~ ~
so, agrees withcl A (~ ) - c2
in{~
EA(~)
> and is extendedby convexity otherwise,
then A is a convex functionfulfilling (2.2)-(2.4)
andThus, f
satisfies(2.1)
withA(~) replaced by
and witha(x) replaced by a(x)
=a(x)
+ to +moreover,
conditions(i)-(ii)
ofTheorem 2 with A and a
replaced by A/ci
and a,respectively,
areequivalent
to theoriginal
ones.Example
1. - Consider the classical case whereA (~ ) - ~ ~ ( p
andB(s)
= sq. In this case,An(s)
isequivalent
tosP* ,
wherep*
=npj(n - p),
if 1p
n, and isequivalent
nearinfinity
to 1 ifp = n. Recall that two functions
~2 : [0, +00)
-~[0, +00)
are calledequivalent
if there existpositive
constants ci and c2 such that(c2s) , for s > 0,
and are calledequivalent
nearinfinity
if thesame
inequalities
hold forlarge
s.Thus,
when 1 ~ p n, Theorem 2 tells us that any local minimizer of J islocally bounded, provided
that0
q C p * ,
b E with~8
=p * / ( p * - q)
or~8
>n / p according
towhether p q
or p >
q, and a E for some a >n / p .
If p = n, the same conclusion is true for every q >0, provided
that b Eand a E for some a > 1. This
reproduces
the result of[ 10]
and shows that thelimiting values q = p *
and~8
=p * / ( p * - q)
are allowed.Example
2. -Assume,
moregenerally,
that A isjust radial,
so thatA(~)
=A* ( ( ~ ~ )
= SinceH -1
grows more thanlinearly
at infin-ity,
condition(2.13)
isalways fulfilled; thus,
the results onboundedness
contained in[21,22]
are recoveredby
Theorem 1 and extendedby
Theo-rem 2. The latter also
improves
a result from[16].
Example
3. - Let us take into account thefunctional J
definedby (1.2).
An estimate oftype (2.12) obviously
holds withwhere $ = (~1, ~2)
EJR.2.
Thestraight
lines~1
= and~2
are
tangent
to the(convex)
level set{~
EII82: A(~) t}
forevery ~ ~
0.Consequently,
Thus, A*(s)
isequivalent
to so thatAn (s )
isequivalent
to if pi p2 pi + p2 , and is
equivalent
nearinfinity
to
exp(s2) -
1 if pi p2 = pi 1 + p2 . Theorem 1(and
the remark about condition(2.11 ))
tell us that the local minimizers of J arelocally
boundedeither if
p1p2
pi 1 + p2 or if pi p2 pi 1 + p2 andmin{p1, p2 { >
max{p1, p2{/(1
+max{p1, p2{).
Consider now the
special
case where A has the formwhere $
=(~l ,
... ,~n )
andAi
areYoung
functions. In this case,A*
is
equivalent
to the function A :[0, +00)
~[0, +00)
whose(right- continuous)
inverse is definedby
Indeed, since ($
EA (~ ) t }
is a convex setcontaining
thepoints (0,..., 0, =L~’ 1 (t ) , 0, ... , 0)
and contained in theparallelepiped
bounded
by
thehyperplanes i = ±A; ~ 1 (t ) ,
thenHence the
equivalence
ofA*
and A follows.Moreover,
the functionAn
is
easily
seen to beequivalent
to the functionAn
defined as in(2.10),
butwith
A* replaced by
A. Notice also thatA M (s )
isequivalent
to maxiAi (s ) (and
to~n 1 A i (s ) ) .
Theorem2,
combined with theseconsiderations, yields
thefollowing corollary.
COROLLARY. -Assume that condition
(2.1)
isfulfilled for
some Ahaving
theform (2.16)
and that theYoung funtions Ai
and thefunction
Bsatisfy the 02-condition. Suppose
that: .(i)
b Efor
some~B
E( 1, oo]
such that~8
> +maxi
Ai )
andfor
somepositive
constantk;
(ii)
a Efor
some a >Then any local minimizer
of
J islocally
bounded in Q .Obviously,
maxiAi
can bereplaced by ~=1 Ai
inassumption (i)
ofthe
Corollary.
Let us mention that a result in the same direction as the
Corollary
iscontained in
[13].
Example
4. - LetAi (s)
= spi for somepi 1,
i =1,
..., n, andB(s) =sq.
ThenA(s) =sP,
where1/p = (1/n) ~n 1(1/pi),
so thatAn (s)
isequivalent
tosp* if p
n, and isequivalent
nearinfinity
to1
if p
= n. Set m =max{pi,...,
pn,q}.
Whenp
n, theCorollary yields
the local boundedness of local minimizers of J ifm x p*, b
E with~8
= -m )
or~8
>n /p according
to whetherp
m orp >
m, and a E for some a >nip.
Whenp
= n, the same conclusion holds for every q >0, provided
that b Eand a E for some
f3,
a > 1. Thisexample
includes Theorem 3.1 of[7],
whereb(x)
was taken = 1.3. SOBOLEV AND CACCIOPPOLI
INEQUALITIES
Basic tools in the
proof
of Theorem 2 are ageneral anisotropic
versionof the Sobolev
inequality
and aCaccioppoli type inequality
for localminimizers of J.
The Sobolev
inequality
we allude to is stated in thefollowing
theorem.THEOREM. - Let A be any convex
function satisfying (2.2)-(2.3)
andmaking
theintegral
in(2.10)
converge. Then there exists a constantc(n), depending only
upon n, such thatfor
every real-valuedweakly differentiable function
u ondecaying
to 0 at
infinity,
in the sensethat {x
E >t}|
+~for
every t > 0. Thefunction An
isoptimal,
in the sense thatif (3.1)
holds withAn replaced by
anyYoung function Ao for
every Asatisfying (2.2)-(2.3)
andwith
prescribed A*,
then theintegral
in(2.10)
must converge and there exists c > 0 such thatAo(s) An (cs) for s ~
0.A
proof
of this theorem can be found in[4].
We shall need the consequences contained in Lemmas 1 and 2 below.LEMMA 1. - Let A be any convex
function satisfying (2.2)-(2.3)
andmaking
theintegral
in(2.10)
converge. Let~, ~ [0,
-~[0,
be
increasing functions
such thatAssume that
Then
for
every k > 0 and every real-valuedweakly differentiable function
u ondecaying
to 0 atinfinity. Here, c(n)
is the constantappearing
in(3.1 ).
The derivation of Lemma 1 from
inequality (3.1 )
isstraightforward.
Let us notice that the existence of a function ~
rendering (3.2)
trueis
equivalent
to theA2-condition
for @. This is a consequence ofProposition
1 belowcontaining
standard resultsrelating
thegrowth
of an
increasing
function @ :(0, +oo)
-~(0, -I-oo)
with its indicesi ( ~ ) , I ( ~ ) ,
andHere,
is the number definedby (2.14);
is definedsimilarly,
but withlim infs~+~ replaced by i (~)
andI (~)
are defined as and savethat and are
replaced by infs>0
andrespectively. Obviously, 0 ~ i (~) i~(~) C ~oo(~) ~ I (~)
in_
particular,
if ~ is aYoung function,
then 0 can bereplaced by
1 in theseinequalities.
PROPOSITION
1. = Let ~ : (o, -~-oo) ~ (0,
be anyincreasing function.
(i)
03A6satisfies the 02
-conditionif and only if
1(03A6)
~. In this case,for every 8
> 0 there exists a constant C > 0 such that(ii) If I~(03A6)
~, thenfor
every B > 0 there existpositive
constantsC and s~ such that
In what
follows, BR
will denote a ball of radius R inLEMMA 2. - Let A be any convex
function fulfilling (2.2)-(2.4)
andlet u be any
weakly differentiable function
on S2 such that +A(Du)
dx oofor
every open set Q’ C Q.(i) If (s / A * (s ) ) n~ -1
ds then u islocally
bounded.(ii) If ds
= thenfor every k
> 0 and every ball B (c S2.Proof -
Let k be anypositive
number. Fix any ballBR
(c Q and letBli
be aball,
concentric withBR,
such thatBR
(cBx
E Q.Let 1]
be any real-valued smooth function on such that
0 ~ r~ (x )
1 forevery x E = 1 in
BR, 1]
= 0 outsideBR and D ~ ~ ~ 2/ ( R - R ) everywhere.
Given any t >0,
we havesince
An
is convex. Theconvexity
ofA,
ourassumptions
on 1] andProposition
1applied
toAM easily imply
that there exists apositive
constant C
(independent
of u andt ),
such thatBy (2.7),
theright-hand
side of the lastinequality
is finite.Thus, t
can bechosen so
large
thatwhere
c (n )
is the constant ofinequality (3.1).
SinceAn
is aYoung
function,
for0 ~,
1and s >
0.Thus, inequalities
(3.1)
and(3.9) imply
thatNow,
ifthen there exists 0 such that
An (s )
= +00for s
so .Hence, inequality (3.10)
tells usthat (so/2k)
+ t inBR.
If,
on thecontrary,
then
An
iseverywhere finite,
so that the last twointegrals
in(3.8)
arefinite.
Thus, inequality (3.7)
follows from(3.8)
and(3.10).
0The
Caccioppoli inequality
for a local minimizer u of J is contained in the next lemma. In the statement,given
any ballBR
C Q and anyt E
R, Et,R
will denote the set definedby
LEMMA 3. - Let A and B
satisfy assumptions (2.2)-(2.5).
Let F :[0,
~[0,
be anincreasing function satisfying
theOZ-
condition.
Suppose
that a numbers0
0 exists such thatLet u be any local minimizer
of
J.Then, given
anypositive
numbers3, Ro
and tl, there exists a constant C >0, depending only
onI
( F) , ~ , Ro,
so and tl, such thatfor
every 0 pR Ro
and every t > tl.Proof -
All the balls consideredthroughout
theproof
will be centered at a fixedpoint
of Q.Moreover,
all the constants will be allowed todepend
on the samequantities
as the constant C in(3.13).
Let and
let ~
be any real-valued smooth functionon such that
0 ~
1 for every x EI~n , r~
_--_ 1 inBT, rJ
- 0outside
Ba and 2/ (a - r) everywhere.
Fix any t and choosein
(2.8). Here, subscript
+ denotespositive part.
Let us set v = u +cjJ.
Since ~
vanishes outsideEt,(J, inequality (2.8)
andassumption (2.1) imply
thatfor a suitable constant c > 0. Consider the first
integral
on theright-hand
side of
(3.14).
We haveBy
theconvexity
ofA, by
ourassumptions
on rJ andby Proposition
1applied
toAM,
there exists a constant c2 > 0 such thatOn the other
hand, assumption (3.12)
andProposition
1 ensure thatfor some
positive
constant c3.Combining (3.15)
and(3.16) yields
Let us now take into account the second
integral
on theright-hand
side ofhave
by (3.12)
’
Hence,
a constant c4 > 0 exists such thatFrom
(3.14), (3.17)
and(3.19)
we deduce thatfor some cs > 0.
Summing
up thequantity
c5T A(Du)
d x to both sidesof
(3.20), dividing through by ( 1
+cs)
andapplying
a standard iterationargument (see,
e.g., Lemma3.1, Chapter
5 of[8]) yield (3.13).
Q4. PROOF OF THEOREM 2
Our
approach
is related to that of[5,7,10]. By
Remark 1 we may assume, without loss ofgenerality,
thatHere, r~
= E or r~ = 0according
to whether > 1 or =1,
and £ is a
positive
number to be chosen later. Tobegin with,
werequire
that £ is so small that
and
Set
and let F :
[0, +00)
-~[0, +00)
be anyincreasing
function such thatLet us fix a ball
BR
(c Q with which every ball consideredthroughout
theproof
will be concentric. For everynonnegative integer h
we setand, given t > 1,
Clearly,
ph decreases toR/2 and th
increases to t as h goes to +00.Let u be any local
minimizer
of J. We setwhere is defined as in
(3.11 ).
We claim thatJh
+oo for every h.Indeed, by
Holder’sinequality,
with the usual modification if
~B
= oo .Owing
to(4.1)
and(4.4),
there-exists a constant ci such that
F(s)~’ ci An (s)
if s issufficiently
smalland
F(s)t3’ = (AM(s)
+ if s issufficiently large. Hence, by (2.15),
there exists c2 > 0 such that
Thus, by
Lemma 2 andassumption (i),
the firstintegral
on theright-hand
side of
(4.5)
is finite. As far as the secondintegral
isconcerned,
if 8 is sosmall that
then, by
Holder’sinequality again,
we haveObserve now that a
positive
constant c3 exists such thatInequality (4.10)
follows from(4.1)
andProposition
1 ifioo(A*)
>1,
and from
(4.1)
and theconvexity
ofA *
if = 1.Inequality (4.10) implies
that a constant c4 > 0 exists such thatThus,
the firstintegral
on theright-hand
side of(4.9)
is finiteby
Lemma2. The second is also
finite, provided
that 8 is chosen so small thatSuch a choice of £ is
possible
thanks toassumption (ii).
The finiteness ofJh
isproved.
Inequalities (4.6)
and(4.9)
ensurethat,
ifRo
is anypositive
numberand
R fi Ro,
then a constant c5 exists such thatfor every h. Fix now any smooth function c~ :
[0, +00)
-~[o, 1 ]
such thatw(s)
= 1 if s E[o, 1 /2], w(s)
= 0 ifs > 3/4
and 4 for everys E
[0, +oo).
Onsetting
one has wh = 1 in c~h = 0 outside
Bph and 2h+3 ~ R
everywhere. Inequalities (4.13), (4.7), (4.11)
and Lemma 1yield
for some C6 >
0,
where[0, +oo)
-~[0, +00)
is any function suchthat Since = = +
B),
= andAM
+ B satisfies theA2-condition, Eq. (4.4)
and
Proposition
2 below ensure that one can takein
(4.14),
where c7 is a suitablepositive
number. Notice now thatfor some constant cg
independent
of h. One can make use of theCaccioppoli inequality (3.13)
to estimate the formerintegral
on theright-
hand side of
(4.16),
andexploit
the fact thatF (s )
+ c9 for s > 0 for some c9 > 0 andProposition
1 to estimate the latter. Sodoing,
wededuce
that,
forevery 8
>0,
a constant cio,independent
ofh,
exists such thatWe have
Moreover,
for some 0.
Similarly,
sincet > 1,
From
(4.17)-(4.20)
we deducethat,
if 8 issufficiently large,
thenwhere c12 is a
positive
constantindependent
of h.Owing
to(4.14), (4.15)
and
(4.21 ),
one haswhere c13, c14 are constants
independent
ofh,
andNotice that in
(4.22)
we have made use of the fact thatioo(AM
+B) = i~(F) I (F)
and thatJo
for every h.Assumption (i)
ensures that_ we can choose ~ so small that
Thus,
if £ is chosen so small thatinequalities (4.2), (4.3), (4.8), (4.12)
and(4.23)
aresatisfied,
then(4.22)
and theinequality Jh Jo again imply
that
where C15 is a constant
independent
ofh,
and 9 is the(positive)
numberdefined
by
Now,
if t is solarge
thatJo c151~e2-d~e2, then, by
Lemma4.7, Chapter
2of
[14],
=0,
whenceThis proves that u is
locally
bounded from above. The local boundedness from below follows from the fact that -u is a local minimizer of the functional obtained onreplacing f(x, s , ~ ) by f(x,
- s ,-~ ) ,
anintegrand
stillsatisfying (2.1 ).
DPROPOSITION 2. - Let y and so be
positive
numbers and let ~ :(0,
-~(0,
be anincreasing function
such = sYfor
s fi so. Assume that
for
some 8 E(0, ( ~ ) ) .
Then I( ~ )
-t-oo and there exists a constant~’ > 0 such that
Proof - By Proposition
1 there existpositive
numbers Cl and sl suchc 1 ~ (s ) for s >
On the otherhand, ~ (2s )
=2Y ~ (s )
for s ~so/2. (2/so)Y ~ (2sl ) ~ (s)
ifso/2
s sl , then øsatisfies the
02-condition,
whenceI (~)
+00.Consider now
inequality (4.24). Proposition
1 ensures that there existsa constant ci > 0 such that
Thus,
it suffices to show thatfor some c2 > 0.
By Proposition 1,
there existss2 > 0
such that(4.25)
is true
for s >
s2. Sincey ? i~ (~) - 8, (4.25)
istrivially
true(with
c2 =
1)
alsofor s
so. It is theneasily
verified that(4.25)
holds for everys > 0. 0
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