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Textbook A First Course in Sobolev Spaces Giovanni Leoni Ebook All Chapter PDF
Giovanni Leoni
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GRADUATE STUDIES
I N M AT H E M AT I C S 181
A First Course
in Sobolev Spaces
Second Edition
Giovanni Leoni
A First Course
in Sobolev Spaces
Second Edition
Giovanni Leoni
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10 9 8 7 6 5 4 3 2 1 22 21 20 19 18 17
In memory of my Ph.D. advisor, James Serrin
Contents
Preface xiii
Preface to the Second Edition xiii
Preface to the First Edition xv
Acknowledgments xxi
Second Edition xxi
First Edition xxii
vii
viii Contents
xiii
xiv Preface
Whitney’s extension theorem, and Brouwer’s fixed point theorem. The fo-
cus of the chapter is now the divergence theorem for Lipschitz domains.
While this fundamental result is quoted and used in every book on partial
differential equations, it’s hard to find a thorough proof in the literature. To
introduce the surface integral on the boundary I start by proving the area
formula, first in the C 1 case, and then, using Whitney’s extension theorem
in the Lipschitz case.
In the chapter on distributions, Chapter 10, I added rapidly decreasing
functions, tempered distributions, and Fourier transforms. This was long
overdue.
The book is structured in such a way that an instructor of a course on
Sobolev spaces could actually skip Chapters 9 and 10, which serve mainly
as reference chapters and jump to Chapter 11.
Chapters 11, 12, and 13, the first part of Chapter 18 could
be used as a textbook on a course on Sobolev spaces. They are
mostly self-contained.
One of the main changes in these chapters is that I caved in and decided
to include higher order derivatives. The reason why I did not do it in the
first edition was because standard operations like the product rule and the
chain formula become incredibly messy for higher order derivatives and there
are so many multi-indices to take into account that even elementary proofs
become unnecessarily complicated. My compromise is to present proofs first
in W 1,p (Ω) (first-order derivatives) or in W 2,p (Ω) (second-order derivatives)
and only after, when the idea of the proof is clear, to do the general case
W m,p (Ω). I did not always follow this rule, since sometimes there was no
significant change in difficulty in treating W m,p (Ω) rather than W 1,p (Ω).
The advantage in having higher order derivatives is that I can now prove
the classical interpolation inequalities of Gagliardo and Nirenberg. These
are done in Section 12.5 in Chapter 12 for RN and in Section 13.3 in Chapter
13 for uniformly Lipschitz domains. The main novelty with respect to other
textbooks is that in the case of uniformly Lipschitz domains I do not assume
that functions are in W m,p (Ω) but only that u is in Lq (Ω) and the weak
derivatives of order m are in Lp (Ω).
Another new section is Section 12.4 in Chapter 12, where I study super-
position in Sobolev spaces.
The last major departure from the first edition is the chapter on Besov
spaces, Chapter 17. This chapter was completely rewritten in collaboration
with Ian Tice. The main motivation behind the changes was the proof
that the trace space of functions in W 2,1 (RN ) is given by the Besov space
B 1,1 (RN −1 ) (see Chapter 18). I am only aware of one complete and simple
Preface to the First Edition xv
proof, which is in a recent paper of Mironescu and Russ [173]. It makes use
of two equivalent norms for B 1,1 (RN −1 ), one using second order difference
quotients and the other the Littlewood-Paley norm. To introduce the second
norm, I went through several different versions of Chapter 17. Eventually,
to study Besov spaces I used heavily the K method of real interpolation
introduced by Peetre. The interpolation theory needed was added in a new
chapter, Chapter 16.
Webpage for mistakes, comments, and exercises: The AMS is hosting
a webpage for this book at
http://www.ams.org/bookpages/gsm-181/
where updates, corrections, and other material may be found.
This changed things quite a bit. A lot of the simple characterizations that
hold in [a, b] fall apart when working with arbitrary unbounded intervals.
After the first three chapters, in the course I actually jumped to Chapter
7, which relates absolutely continuous functions with Sobolev functions of
one variable, and then started with Sobolev functions of several variables.
In the book I included three more chapters: Chapter 5 studies curves and
arclength. I think it is useful for students to see the relation between recti-
fiable curves and functions with bounded pointwise variation.
Some classical results on curves that most students in analysis have
heard of, but whose proof they have not seen, are included, among them
Peano’s filling curve and the Jordan curve theorem.
Section 5.4 is more advanced. It relates rectifiable curves with the H1
Hausdorff measure. Besides Hausdorff measures, it also makes use of the
Vitali–Besicovitch covering theorem. All these results are listed in Appen-
dices B and C.
Chapter 6 introduces Lebesgue–Stieltjes measures. The reading of this
chapter requires some notions and results from abstract measure theory.
Again it departs slightly from modern books on measure theory, which in-
troduce Lebesgue–Stieltjes measures only for right continuous (or left) func-
tions. I needed them for an arbitrary function, increasing or with bounded
pointwise variation. Here, I used the monograph of Saks [201]. I am not
completely satisfied with this chapter: I have the impression that some of
the proofs could have been simplified more using the results in the previous
chapters. Readers’ comments will be welcome
Chapter 4 introduces the notion of decreasing rearrangement. I used
some of these results in the second part of the book (for Sobolev and Besov
functions). But I also thought that this chapter would be appropriate for
the first part. The basic question is how to modify a function that is not
monotone into one that is, keeping most of the good properties of the original
function. While the first part of the chapter is standard, the results in the
last two sections are not covered in detail in classical books on the subject.
As a final comment, the first part of the book could be used for an ad-
vanced undergraduate course or beginning graduate course on real analysis
or functions of one variable.
The second part of the book starts with one chapter on absolutely con-
tinuous transformations from domains of RN into RN . I did not cover this
chapter in class, but I do think it is important in the book in view of its ties
with the previous chapters and their applications to the change of variables
formula for multiple integrals and of the renewed interest in the subject in
recent years. I only scratched the surface here.
Preface to the First Edition xvii
reference books of all the fundamental results that are not included here are
[10], [72], and [251].
References: The rule of thumb here is simple: I only quoted papers and
books that I actually read at some point (well, there are a few papers in
German, and although I do have a copy of them, I only “read” them in a
weak sense, since I do not know the language). I believe that misquoting a
paper is somewhat worse than not quoting it. Hence, if an important and
relevant paper is not listed in the references, very likely it is because I either
forgot to add it or was not aware of it. While most authors write books
because they are experts in a particular field, I write them because I want
to learn a particular topic. I claim no expertise on Sobolev spaces.
Webpage for mistakes, comments, and exercises: In a book of this
length and with an author a bit absent-minded, typos and errors are al-
most inevitable. I will be very grateful to those readers who write to gio-
vanni@andrew.cmu.edu indicating those errors that they have found. The
AMS is hosting a webpage for this book at
http://www.ams.org/bookpages/gsm-105/
where updates, corrections, and other material may be found.
The book contains more than 200 exercises, but they are not equally
distributed. There are several on the parts of the book that I actually
taught, while other chapters do not have as many. If you have any interesting
exercises, I will be happy to post them on the web page.
Giovanni Leoni
Acknowledgments
The Author List, II. The second author: Grad student in the
lab that has nothing to do with this project, but was included
because he/she hung around the group meetings (usually for the
food). The third author: First year student who actually did the
experiments, performed the analysis and wrote the whole paper.
Thinks being third author is “fair”.
— Jorge Cham, www.phdcomics.com
Second Edition
I am profoundly indebted to Ian Tice for months spent discussing several
parts of the book, especially Section 12.5 and Chapters 16 and 17. In par-
ticular, Chapter 17 was really a collaborative effort. Any mistake is purely
due to me. Thanks, Ian, I owe you a big one.
I would like to thank all the readers who sent corrections and sugges-
tions to improve the first edition over the years. I would also like to thank
the Friday afternoon reading club (Riccardo Cristoferi, Giovanni Gravina,
Matteo Rinaldi) for reading parts of the book.
I am really grateful to to Sergei Gelfand, AMS publisher, and to the all
the AMS staff I interacted with, especially to Christine Thivierge, for her
constant help and technical support during the preparation of this book,
and to Luann Cole and Mike Saitas for editing the manuscript.
I would like to acknowledge the Center for Nonlinear Analysis (NSF
PIRE Grant No. OISE-0967140) for its support during the preparation of
this book. This research was partially supported by the National Science
Foundation under Grants No. DMS-1412095 and DMS-1714098.
Also for this edition, many thanks must go to all the people who work
at the interlibrary loan of Carnegie Mellon University for always finding in
a timely fashion all the articles I needed.
xxi
xxii Acknowledgments
The picture on the back cover of the book was taken by Adella Guo, a
student from Carnegie Mellon School of Design, whom I would like to thank.
Finally, I would like to thank Jorge Cham for giving me permission to
continue to use quotes from www.phdcomics.com for the second edition.
They are of course the best part of the book :)
First Edition
I am profoundly indebted to Pietro Siorpaes for his careful and critical read-
ing of the manuscript and for catching 2ℵ0 mistakes in previous drafts. All
remaining errors are, of course, mine.
Several iterations of the manuscript benefited from the input, sugges-
tions, and encouragement of many colleagues and students, in particular,
Filippo Cagnetti, Irene Fonseca, Nicola Fusco, Bill Hrusa, Bernd Kawohl,
Francesco Maggi, Jan Malý, Massimiliano Morini, Roy Nicolaides, Ernest
Schimmerling, and all the students who took the Ph.D. courses “Sobolev
spaces” (fall 2006 and fall 2008) and “Measure and Integration” (fall 2007
and fall 2008) taught at Carnegie Mellon University. A special thanks to
Eva Eggeling who translated an entire paper from German for me (and only
after I realized I did not need it; sorry, Eva!).
The picture on the back cover of the book was taken by Monica Mon-
tagnani with the assistance of Alessandrini Alessandra (always trust your
high school friends for a good laugh. . . at your expense).
I am really grateful to Edward Dunne and Cristin Zannella for their
constant help and technical support during the preparation of this book.
I would also like to thank Arlene O’Sean for editing the manuscript, Lori
Nero for drawing the pictures, and all the other staff at the AMS I interacted
with.
I would like to thank three anonymous referees for useful suggestions that
led me to change and add several parts of the manuscript. Many thanks must
go to all the people who work at the interlibrary loan of Carnegie Mellon
University for always finding in a timely fashion all the articles I needed.
I would like to acknowledge the Center for Nonlinear Analysis (NSF
Grant Nos. DMS-9803791 and DMS-0405343) for its support during the
preparation of this book. This research was partially supported by the
National Science Foundation under Grant No. DMS-0708039.
Finally, I would like to thank Jorge Cham for giving me permission to
use some of the quotes from www.phdcomics.com. They are really funny.
Part 1
Functions of One
Variable
Chapter 1
Monotone Functions
Undergradese, I: “Is it going to be an open book exam?” Trans-
lation: “I don’t have to actually memorize anything, do I?”
— Jorge Cham, www.phdcomics.com
1.1. Continuity
In this section we study regularity properties of monotone functions.
3
4 1. Monotone Functions
then the set {x ∈ X : v(x) > 0} is countable. Moreover, v does not take the
value ∞.
Proof. Define
L := v(x) < ∞.
x∈X
For n ∈ N set Xn := {x ∈ X : v(x) > 1/n} and let E be a finite subset of
Xn . Then
n number of elements of E ≤ v(x) ≤ L,
1
x∈E
which shows that E cannot have more than nL elements, where · is the
integer part. In turn, Xn has a finite number of elements, and so
{x ∈ X : v(x) > 0} = Xn
n
is countable.
Proof. Step 1: Assume that I = [a, b] and, without loss of generality, that
u is increasing. For every x ∈ (a, b) there exist
lim u(y) =: u+ (x), lim u(y) =: u− (x).
y→x+ y→x−
It now follows by the previous lemma that u has at most countably many
discontinuity points.
Step 2: If I is an arbitrary interval,
construct an increasing sequence of
intervals [an , bn ] such that I = n [an , bn ]. Since the union of countable
sets is countable and on each interval [an , bn ], the set of discontinuity points
of u is at most countable; by the previous step it follows that the set of
discontinuity points of u in I is at most countable.
Step 3: Conversely, let E ⊂ I be a countable set. If E is finite, then an
increasing function with discontinuity set E may be constructed by hand.
Consider now the more interesting case in which E is denumerable, so that
E = {xn : n ∈ N}. For each n ∈ N define the increasing function un : R → R
as
−1/n2 if x < xn ,
un (x) :=
1/n2 if x ≥ xn .
Note that un is discontinuous only at the point xn . Set
∞
u(x) := un (x), x ∈ R.
n=1
Since |un (x)| ≤ 1/n2 for all x ∈ R, the series of functions is uniformly
convergent, and so it is continuous at every point at which all the functions
un are continuous. In particular, u is continuous in R \ E.
We now prove that u is discontinuous at every point of E. Indeed, for
every m ∈ N write
u = um + un .
n=m
Then n=m un is continuous at xm while um is not. Hence, u is discontinu-
ous at each x ∈ E. To conclude, observe that u is increasing, since it is the
pointwise limit of a sequence of increasing functions.
where E ⊆ N, c ∈ R, and
⎧
⎨ 0 if x < an ,
un (x) = bn if x = an ,
⎩
cn if x > an ,
with an ∈ [a, b] and 0 ≤ bn ≤ cn , with at least one of the two inequalities
strict, for all n ∈ E.
Exercise 1.6 (The jump function). Let I ⊆ R be an interval and let u :
I → R be increasing. For each x ∈ I define
uJ (x) := (u+ (y) − u− (y)) + u(x) − u− (x),
y∈I, y<x
FOOTNOTES:
[1] Probably did not come.
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