A NNALES DE L ’I. H. P., SECTION C
R ÜDIGER L ANDES
V ESA M USTONEN
On parabolic initial-boundary value problems with critical growth for the gradient
Annales de l’I. H. P., section C, tome 11, n
o2 (1994), p. 135-158
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On parabolic initial-boundary value problems
with critical growth for the gradient
Rüdiger
LANDES(*)
Vesa MUSTONEN
Department of Mathematics, University of Oklahoma, Norman, Oklahoma 73019, U.S.A.
Department of Mathematics, University of Oulu
SF-90570 Oulu, Finland
Vol. I1, n° 2, 1994, p. 135-158. Analyse non linéaire
ABSTRACT. - We prove the existence of weak solutions for the initial-
boundary
valueproblem
of thequasilinear parabolic equation
Here A is a
Leray-Lions type operator
from ’~ = LP(0, T; WQ~
P~SZ))
to itsdual space
r*, g
is a nonlinear term with criticalgrowth
withrespect
to Dusatisfying
asign
condition and nogrowth
condition withrespect
to u;f is
agiven
element in ‘~*.Key words : Critical growth, lack of compactness.
Classification A.M.S. : 35 K 60, 47 H 05 .
(*) The work of the first author was partly supported by SFB 256, Bonn, FRG, SFB 123 Heidelberg, FRG and the University of Oklahoma Research Council, Norman, OK, U.S.A.
Annales de l’Institut Henri Poincaré - Analyse non linéaire - 0294-1449 Vol. Il/94/02/$4.00/~CJ Gauthier-Villars
RESUME. - Nous demontrons l’existence des solutions faibles du pro- blème
parabolique quasilinéaire
avec conditions aux limites et initiales. Ici A est un
opérateur
detype Leray-Lions
del’espace T; Wo° p (~2))
a valeurs dans~*,
g estun terme non lineaire a croissance
critique
enDu, qui
satisfait une condi-tion de
signe
et dont la croissance en u n’est paslimitee; f
est un elementdonne de ~Y~’ * .
1. INTRODUCTION
. On a
cylinder QT = Q
x]0, T[,
over the bounded smooth domain Q cIRN
we consider the
parabolic initial-boundary
valueproblem
N
where
A(u)= -03A3 D;A; (x, t,
u,Du)
is a classicaldivergence
opera-i= 1
tor of
Leray-Lions type
withrespect
to the Sobolev space~ = LP
(0, T; Wo°
P(S~))
for some p E] l,
oo[ and
theperturbation
g satisfies thegrowth
conditionfor some continuous function
h : (~ + --~ (I~ + .
Thegrowth
is called critical since it is restrictedonly by
theintegration exponent
of theunderlying
Sobolev space ~. In this situation we are
lacking
thecompactness
argu- ments of bounded sequences used to show the existence of weak solutionsof(P)
forgeneral elements f
in the dual space~’*, cf: [Li].
Recently,
in the case of thecorresponding elliptic equations
the existence of weak solution was shownindependently by
Del Vecchio in[D]
andby
the first author in
[La3];
see also[BBM].
For theparabolic problem only
some
partial
results are obtained in the paperby
Boccardo and Murat so far. Note also that the classicaltheory using priori
estimates needsAnnales de l’Institut Henri Poincaré - Analyse non linéaire
more
regularity properties
of the data andinhomogenuity
than thosegiven by
ourhypotheses.
We are
facing
the situation that it is rather easy to constructweakly convergent
sequences ofapproximating
solutions with variousmethods, yet,
ingeneral
it seems to beimpossible
toverify
that their weak limitsare indeed weak solutions.
Only
for oneparticular approximating
sequence un we aregoing
to show thepointwise
convergence and the weakcompact-
ness
of
inL1 (QT), implying
thestrong
convergence in r and hence existence of weak solutions.The estimates to
verify
these twoproperties
rest on themonotonicity
of the
leading
differentialoperator.
But theoperator a/at
is known to bemonotone
only
if the domain of definition is smallenough,
see forinstance, [Z,
pp.845].
In[LM]
we dealt with unboundedoperators
of lower order and we had been able to establishenough "monotonicity properties"
in asituation where
partial integration
still can be verified for testfunction,
which have not
compact support
in[0, T].
Thisrequires
some apriori regularity
of the solution which can be shown if theperturbation
isrelatively weakly compact
inL1 (QT).
Boccardo and Muratpointed
outthat the difficulties with
partial integration
can beavoided,
if it ispossible
to use cut-off functions with
respect
to time.Yet,
theirapproach
alsoneeds the
relatively
weakcompactness
inL~ (QT)
which cannot beprovided by
theapproximation schemes,
if thegrowth
of theperturbation
is critical in thegradient cf : [BM].
With the
help
of certain mollification withrespect
to time and cut-off functions as in[BM]
we will show that there isenough "monotonicity"
tojustify
the estimatesproviding
thepointwise
convergence of thisparticular
sequence.
However,
weonly get
theequi-integrability locally
in time. That leads to a solution in a very weak sense, inparticular,
it seems to beimpossible
to establish the energyequality.
Therefore we consider an"extended"
problem
with the same weakassumptions
on[0, T]
asbefore,
but with
stronger
condition on[T, ~‘ ],
say. This allows us to show the existence in the weak sense described abovefirst,
andverify
the desiredregularity properties
of thesolution, a posteriori.
In Section 2 we
give
theprecise setting
of theproblem
and state themain result. We
gather properties
of the associated truncatedproblem
inSection 3 and we
generalize
a Lemmaby
Frehse to theparabolic
case inSection 4
providing
thepointwise
convergence of thegradient.
In Section 5we show the
strong
convergence for thegradient.
The finalstep
of the existenceproof
and theregularity properties
arepresented
in Section 6.In Section 7 we prove that the distribution u’ has
enough regularity
tojustify
the estimates needed in Section 5.Vol. lI, n° 2-1994.
2. ASSUMPTIONS AND THE MAIN RESULT
For the coefficients
A~, (i =1, 2,
...,N),
of theoperator
A we introduce thefollowing hypotheses.
(A1)
The functionsAi (x, t,
~,ç)
fromQT
x R x to R are measurablein
(x, t)
EQ.~
and continuous in(r~, ~)
x(A2)
For all(x, QT
and(~, ~)
E f~ x(I~~
With I p w , q c1 > 0 and
N-p p - I
(A~)
For all(x,
q e R and§ # §*
inR’~
(A4)
For all(x, t) E QT
andIF~N
with
Conditions
(A1)-(A3)
are theparabolic
versions of the so calledLeray-
Lions conditions
providing
thepseudomonotonicity
of thequasilinear operator
in theelliptic
case. We need the strictellipticity (A4),
the coerciv-ness of the combined differential operator seems to be not sufficient.
The
assumptions
on theperturbation g
as a function fromQT
x R x(~N
read as follows:
g (x, t, ~, ~)
is measurable in(x, t) E QT
and continuous in{rI ~ ~) E ~ X ~ .
For all
(x, t) E QT
and(~N
with
~,1
and some continuousnon-decreasing
functionh :
!r~ _) 2014~
with some
nonnegative ~2 ELl (QT).
Even
though (A4)
and(G3)
can be weakenedby
some obviousapplica-
tions of the
embedding theorems,
thesign
condition(G3)
is needed to obtain the existence of solutions for allelements f
in the dual space. It should be noted that there is nogrowth
restriction on the "lower ordernonlinearity"
of g as a function in u. Hence our work includes earlierAnnales de l’Institut Henri Poincaré - Analyse non linéaire
results
by
Brezis andBrowder
and theauthors, cf.: [BB, B, LM].
Weintroduce now the notion of weak solution of the
problem (P)
used here.DEFINITION. - Let ’Y~ = Lp
(0, T; (~)).
Afunction
u in~’
(~
L°°(0, T; LZ {SZ~)
with g(.,.,
u,Du) (QT)
is called a weak solutionof (P) if
for all 03C6 ~ ~ L~(QT) ~ C1 ([0, T]; L2 (SZ)) with 03C6 (t)
= 0 in aneighborhood of T .
Theinhomogenuity f
is aprescribed
element in’Y~*,
the dual space We introduced a rather weak notion of solution and account for theregularity properties
of the solution in the statements of thetheorem,
sincethis
properties
are additional informations furnishedby
theparticular approximation
scheme.THEOREM. -
Suppose
that the conditions(A 1)-(A4)
and(G~)-(G3)
aresatisfied.
Then theproblem (P)
admits a weak solutionfor
anygiven f E
*.Furthermore,
the weak solution obtainedby
theapproximating
scheme below has theproperties:
(i) u E
C([o, Tli L~ (S~)),
for all T e
(0, T] and for
~ ’Y~’(1
L"(Q~) ([U, T]; L~ (Q)), (iii ) (Energy equality)
For alli E (0, T]
we haveFirst we
investigate
the solutions of the relatedproblem
where theperturbation
is truncated at thelevels ±n,
say. Oneimportant advantage
of this
approach
is that for everyapproximation
un it ispossible
to useall of r as
testspace
and notonly certain,
in case of a Galerkinscheme,
even finite dimensional
subspaces.
Vol. 11, n° 2-1994.
3. THE TRUNCATED PROBLEM
For each n E N we define the truncated
perturbation gn
as a functionThen we consider the initial
boundary
valueproblem
For u, v E ’Y~ we define
and
The classical
theory
ofpseudomonotone mappings
can be used to showthe existence of weak solutions
un if p~2 (see [Li],
forexample).
In casep 2 the existence can be
shown,
forinstance, by
timedependent
Galerkinapproximations
as in[LM].
Hence for allp > 1
there is asequence {un}
in C
([o,T], L2 (Q))
such thatfor all n~N and with
u (o) = 0
inL2 (03A9).
Notethat u’n, v~
isdefined in the sense of distributions.
Since (
F(u,~), . ~, ~ Gn (un), . ~
and~ f, . ~
are in iT* we canextend ~ u;~, v ~
to allT],
L2 (Q))
with u(0)
= 0 we haveAnnales de 1’Institut Henri Poincaré - Analyse non linéaire
Furthermore, using
similar arguments as in[LM] (cf.
Section7, too)
wecan show for all n that there is at least one solution un
satisfying
for all T E
(0, T] and ~
EC1 ([0, L2 (0)) n
LP(0,
i;(Q)),
andFor T = T we
get
which
yields by (A4) that {
is bounded in Y. Hencealso ( (
F(un), and ( ( Gn (u,~), u,~ ~ ~
are bounded sequences. Withwe
get by
and(G3)
implying that ( ) gn (.,.,
Un, remains bounded inL1
Denoting
we observe that isbounded in ~* and wn = - G is bounded in
L1 (QT).
Thus we caninvoke a result of
[B,
p.162]
to conclude isstrongly relatively
compact in LP
(QT). Collecting
the results weget
PROPOSITION 1. - c ’~ be the sequence
of
solutionsof
thetruncated
problem (TP).
Then there are constantsK1, K~
andK3
such thatI
allMoreover, for
asubsequence
we have u" ~ u in~Y~’,
un ~ u inun
(x, t) ~ u(x, t) a.e. in QT, Diun diu in Lp (QT) for each i = 1, 2,
..., N and F --~ A in ~’*.Vol. ll, n° 2-1994.
4. A PARABOLIC VERSION OF A LEMMA BY FREHSE
Testing
theequation (3 . 1) with Q
U L°° we haveHence
holds for all n E The
following parabolic generalization
of a lemmaby
Frehse
[F] provides
the a.e. convergence of thegradients {c_ f :
also[La3]).
LEMMA 1. - Assume is a bounded sequence in
’Y~,
un ~ u in in ’~.Assume further
that theinequality (4 . 2)
holdsfor
all n E N
and 03C8~ ~
L~{QT).
Then there exists asubsequence of {un}
such that
Dun (x, t)
--~ Du(x, t)
a.e. inQT.
Before
proving
the Lemma we introduce some notations. For each v E ~we define
where v is the zero extension of v and v > o.
Throughout
the paper the index valways
indicates this mollification withrespect
to time. We have v -~ v in ’~ as v ~ oa~ )
ifv o = p (see [La2]).
We alsodenote
and
for each 03B8>0.
Let (j)
be a function in(QT)
suchthat )) 03C6~L~ (QT)
= 1 and~ >_ o.
In thesequel
we shall useT~ [un -
as a testfunction ~
in(4.2)
withE > 0,
v > oand n,
Webegin
with thefollowing
PROPOSITION 2.
where the Landau
symbols
o(p)
and o’( p)
are real numbers suchthat, if p -~ ~
alsoo ~ p)
--~0, respectively
o’( p)
-~ 0for
anyfixed
~.Proof -
As in we obtainAnnales de l’Institut Henri Poincaré - Analyse non linéaire
Since
Sg
is a convex function we haveand hence the assertion follows from the
continuity
ofS£ (t)
and its lineargrowth
asz >__
E.PROPOSITION 3.
Proof - By
the definition of we haveThe first
integral
isnon-negative,
the secondintegral
is of the formov(1 n)
and the thirdintegral
of the formov,n(1 k ).
Also the lastintegral
is of the form
ov(1 k)
, since in as k ~ oo and~~ T~ ~u~ -- (uk),,~ c~ ~~~,~ tQ~.~ __ ~£
whereC~
is a constantindependent
on n, kand v. Hence the assertion follows.
P~oof
Lemma 1. -Testing
theinequality (4.2)
withand
using
thePropositions
2 and 3 we obtain for eachVo!. i I , n° 2-1994.
E > 0 the estimate
Since
(Uk)Y
~ uy in we cankeep n
and v fixed and let k - oo toget
~QT Ai (x, t, un, D; { T~ [un - uv]03C6}
dx dt
QT i - 1
, ,
We have Uv --~ u in r
and un
- u in LP(QT).
Hence we are able to choosea of subsets of
QT
and asubsequence
1 ofwith the
following properties:
Note that
(iv)
follows from(4 . 3)
since in LP(QT).
For
E = -
andv >_
vo(m)
we can writem
Annales de l’Institut Henri Poincaré - Analyse non linéaire
Denoting
we have
by (A4)
andby
the facts thatD;u
inLP (QT)
andDi Tg [un - u"]
= 0 onQTBQm
thefollowing
estimateSince
A~ (x, t,
convergesstrongly
inLP’ (QT)
we haveNow we are in the
position
toemploy
Lemma 6 of[Lal] yielding t)Diu(x, t)
a.e. in for eachi=l, 2,
..., N and for allsuitable ~
EC~ (Q);
hence theproof
iscomplete.
5. STRONG CONVERGENCE OF THE GRADIENTS IN LP
(QT)
In order to establish the strong convergence it is
enough
to showthat the
sequence { Dun ~p ~
isequi-integrable
since wealready
have theconvergence a.e. from the
previous
section. First of all weremark, however,
that the sequence of
solutions {un}
of(TP)
can be obtained on the extendedcylinder Q~,
with !T = T+1,
say, where we assume in additionto
(A I)-{A4)
and(G1)-(G3)
onQ.r that g
has a more restrictivegrowth
inQg- QT-
For instance theassumption
~ g {x~ t~ ~1~ ç) c c3 {~ ~ ( p 1 + ~ ~1 i~ ~ + ~,3 (x, t))
for all(x, t)
with some constant and
is sufficient for our purpose..
Obviously
all the facts of theprevious
sectionare true for
problem (P)
on also. We therefore have a sequence ofVol. 11, n° 2-1994.
solutions { u,~ ~
c ~ = Lp(0, ~ ; (Q))
of the truncatedproblem
satis-fying
for all v E ’~. The
following
results will beproved
in section 7.LEMMA 2. - Let
(Q x [0, ~ ])
in Qx[0, T]
andt~ (x, ~ ) _
0 in S~. Then ,_, ,_, ,for
all 8 > Q.always
in this note, the index v indicates thesmoothing
with respect to time as
defined above.)
LEMMA 3. -
Let ~
be as in Lemma 2.Then for
all a > 0 we haveThe next
propositions provide
theequi-integrability of { Dun ~p ~ .
Sinceour
problem
is defined inQ~
now wealways
can assumethat ())=!
inQ~.
For each 8 ~ o and n e N we defineWith this notation we have
PROPOSITION
4. - If
8 > osatisfies
the condition 8h(03B8) 1
c , then thesequence |Dun Cp ~C
P03B8n ~[0, T] isequi-integrable.
It will be
dearly
sufficient to show thatwith
(D==G)(cy,
v,n)=o( 2014 )+o03C3(1 v )+o03C3, 03BD(1 n) for some parameter
v. By
(A4)
we haveAnnales de l’Institut Henri Poincaré - Analyse non linéaire
Choosing 03C6~C1 (Q
x[0, 5])
as in Lemma 2 we haveUsing
Lemma 2 and then theequation (5. 1)
we obtainIn the latter
integral
we can use thepolynomial growth
restriction(G4)
and hence include it to the above remainder terms. Thus we are left
only
with the former
integral.
For each we havesign (un) T~ (un) >_ sign (Mj (Te (uk))".
Henceby (G 3)
On
C
the sequence gn(x,
t, un,Du")
isequi-integrable yielding
Vol. 2-1994.
Finally by (G2)
weget
Therefore we conclude
Choosing
now 0>0 smallenough
to make8/!(8)2014~
the assertion4 follows if we let k - oo.
PROPOSITION
5. - I DUn equi-integrable for
anygiven
p > o.Proof. -
Letp > 0
begiven.
We can choose 03B8>0 and such thatK0= p
and 8c2 .
Hence 8 meets the condition ofProposition
4. We4 h (p)
argue
by
induction to show thatis
equi-integrable
for eachK =1, 2,
..., K. For K =1 the claim is trueby Proposition
4. Assume nowthat
isequi-integrable.
Using
similar estimates as in theproof
ofProposition
4 and the assump- tion of induction weget
Annales de l’Institut Henri Poincaré - Analyse non linéaire
by (~2). Taking
theassumption
8 h( p) ~2
into account we can conclude4
n
Hence the
step
of induction is established and theproof
iscomplete.
PROPOSITION
6. - ~ ~ Dun
isequi-integrable.
Proof. -
In view ofProposition
5 it will be sufficient to showwith 03C9=
(J) (p,
v,n = 0 1 +op(1 v)+Op, 03BD(1 n)
for someparameter
v.Since un ~ u,
Du,
Uy - u andDuv ~
Du a.e. inQg-
we can choosea sequence of
subsets {m}
ofQ,
such thatQm
c00
U Qm
= 0 areuniformly
con-m=l i
vergent
on eachQm.
Thereforeand
Using
the factthat ! =
?( - )
and similararguments
as in theproof
ofProposition
4 we estimateVol. It, n° 2-1994.
Now Lemma 3
yields
providing
the desired estimate as k - oo .COROLLARY. - There exists a
subsequence
such thatDi
u~ -~D~
uin LP
(QT) for
eachi =1, 2,
..., N.6. PROOF OF THE THEOREM
In order to prove our main theorem of Section 2 we have first PROPOSITION 7. -
gn (x,
t, un,Dun)
isequi-integrable in QT.
Proof -
Let s>0 begiven.
In view ofProposition
1 we can choosesuch that
Since
isequi-integrable
inQT by Proposition 6,
there exists 03B4>0 such thatAnnales de l’lnstitut Henri Poincaré - Analyse non linéaire
whenever Q
cQT and Q j ~. By (G~)
we haveand hence the assertion follows.
By
theprevious
results we now conclude thatFrom
(5.1)
with smoothtestfunction 03C8 supported
inQT
andletting n ~
oowe
get
theequation
Therefore
(2.1)
followsby approximation.
To
verify
thecontinuity properties
we remark thatgn (x, t,
u~,Dun)
converges in
L~ (QT)’
With this additional information we consider(3.3) again. Testing with § (t, x) = t~ (x)
EC~ (Q)
for indices n and k weget
forE
]0, T[:
Vol. 11, n" 2-1994.
Also ~un (t)
(n) Cby (3.4).
Hence un(t)
isweakly convergent
for all t.Further -
providing
the weakcontinuity
ofu (t)
inL2 (Q).
To prove the
continuity
withrespect
to thestrong topology
ofL2 (H)
we observe
for all
re]0, T[.
Hence for every e we may choose v~large enough
suchthat
On the other hand we have
Annales de l’Institut Henri Poincaré - Analyse non linéaire
providing
where
o(1 03BD03B8)
does notdepend
on T.Now we consider the sequence
(Te (u)),,8
e C([0, T], L2 (Q)).
For r E(0, T]
we have
°
Hence
(To {u)),,8
is aCauchy
sequence in C([0, T]; L2 (S~)) converging
to uand
consequently u E C ([©, T], L~ (SZ)).
The energy
equality
now followseasily. Indeed,
as above we getsince
(T$ (u)),,g (i)
converges to u(~)
in thestrong topology
so doesand hence
by (6. 2)
Vol. lI, n° 2-1994.
Consequently by
Fatou’s Lemma and(6.1)
which proves that we can go to the limit in each of the terms in
(3.4).
7. PROOFS OF LEMMATA 2 AND 3
In order to prove Lemma 2 and Lemma 3 of Section 5 we need some
properties
of derivatives of distributions which are not valid ingeneral
but can be verified in our situation.
PROPOSITION 8. - Let
L2 (~)) and gE1/*
such thatand
v’ = g in
the senseof
distributions onQ,,
andlet ~
EC1 (0, ~l ; (~)
suchthat
t~ (~ ) = o.
ThenProof -
Let E>O begiven
and(0, (~~
be suchthat B)/= 1
on on Let a and p indicate
Friedrich’s mollification with
respect
to t with mollifierssupported
in2014 2014, 2014 ,
say. Thenusing
trivial extensions and theproperties
of~
1616
" "mollification we
get
Annales de l’Institut Henri Poincaré - Analyse non linéaire
Choosing 03C8=03C8~
such that = 1 on[E,
J -s]
andletting
E ~ 0 weget
On the other
hand,
which converges to zero as E - oo because of our
assumptions
thatv E C
([0, ~% ]; L2 (0)), V (o) - o, ~ ~~% ) _
0.PROPOSITION 9. - In addition to the
assumptions of Proposition
8 weassume
that ~ >__ © and ~‘
_ o. ThenProof -
As in theprevious proof
we obtain forsmooth §,
thatconverges to zero as E ~ 0. On the other
hand,
Vol. l!,n" 2-1994.
Using
the samearguments
as in theproof
ofProposition
8 we obtainWith § =
the Friedrichs’ mollification of the assertion follows as 5 -0,
sincethen § >_ 0
and~’ ~
0.Proof of
Lemma 2. - We have to show thatIndeed, by Proposition
8 we haveOn the other hand
Hence
But as in the
proof
ofProposition
3 weget
and the result
follows,
because the lastintegral
isnonnegative
as we shallshow in the
appendix.
Proof of
Lemma 3. - We have to show thatBy
the same arguments as above we can writeAnnales de l’Institut Henri Poincaré - Analyse non linéaire
the assertion follows from the fact that the last
integral
isnonnegative.
APPENDIX
We owe the short
proof
of thefollowing
fact to the referee. Ouroriginal proof
was much morecomplicated.
LEMMA. - Let some D c
~k
and 8 > o. ThenProof -
For weS we haveACKNOWLEDGEMENTS
The authors are
grateful
for the valuable comments of the referee. Inparticular
theproof
of the Lemma in theAppendix
is his.Vol. 11, n° 2-1994.
REFERENCES
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( Manuscript received November 30, 1992;
revised August 12, 1993.)
Annales de l’Institut Henri Poincaré - Analyse non linéaire