Electronic Journal of Differential Equations, Vol. 2010(2010), No. 02, pp. 1–10. ISSN: 1072-6691. URL: http://ejde.math.txstate.edu or http://ejde.math.unt.edu ftp ejde.math.txstate.edu OPTIMIZATION IN PROBLEMS INVOLVING THE P-LAPLACIAN MONICA MARRAS R Abstract. We minimize the energy integral Ω |∇u|p dx, where g is a bounded positive function that varies in a class of rearrangements, p > 1, and u is a solution of −∆p u = g u=0 in Ω on ∂Ω . Also we maximize the first eigenvalue λ = λg , where −∆p u = λgup−1 in Ω . For both problems, we prove existence, uniqueness, and representation of the optimizers. 1. Introduction Let Ω be a bounded smooth domain in RN , and let g0 be a measurable function satisfying 0 < g0 ≤ H in Ω for a positive constant H. Define G as the family of measurable functions which are rearrangements of g0 . In Section 2 of this article, we consider the problem −∆p u = g in Ω, (1.1) u = 0 on ∂Ω, 0 where p > 1, g ∈ G. The operator ∆p : W01,p (Ω) → W −1,p (Ω), p0 = p/(p − 1), stands for the usual p-Laplacian defined as Z h−∆p u, vi = |∇u|p−2 ∇u · ∇v dx. Ω It is well known that (1.1) has a unique solution u ∈ W01,p (Ω). Corresponding to g, we consider the so called energy integral Z I(g) = |∇u|p dx. Ω It is useful to investigate the maximum or the minimum of I(g) when g varies in G. Actually, the maximum of I(g) has been discussed in the paper [7]. In the present paper we investigate the minimum of I(g) for g ∈ G, proving results of existence 2000 Mathematics Subject Classification. 35J25, 49K20, 47A75. Key words and phrases. p-Laplacian; energy integral; eigenvalues; rearrangements; shape optimization. c 2010 Texas State University - San Marcos. Submitted November 2, 2009. Published January 5, 2010. 1 2 M. MARRAS EJDE-2010/02 and uniqueness of the minimizer ǧ. We also find a formula of representation for ǧ in terms of the corresponding solution uǧ . In Section 3, we consider the eigenvalue problem −∆p u = λgup−1 , u(x) > 0 in Ω, u = 0 on ∂Ω, (1.2) where λ is the first eigenvalue. It is well known that problem (1.2) has a first positive eigenvalue λ = λg and a corresponding positive eigenfunction u = ug . It is interesting to investigate the maximum and the minimum of λg for g ∈ G. Actually, the minimum of λg has been discussed in the paper [8]. In the present paper we investigate the maximum of λg for g ∈ G, proving results of existence and uniqueness. We also find a formula of representation for the maximizer ĝ in terms of the corresponding eigenfunction uĝ . We emphasize that the methods developed here are different from those used in the papers [7] and [8]. Since we use the notion of rearrangements, let us recall the definition. Denote with |E| the Lebesgue measure of the (measurable) set E. Given a function g0 (x) defined in Ω and satisfying 0 < g0 (x) ≤ H for a constant H. We say that g(x) belongs to the class of rearrangements G = G(g0 ) if |{g(x) ≥ β}| = |{g0 (x) ≥ β}| ∀β ∈ (0, H). Here we write {g(x) ≥ β} instead of {x ∈ Ω : g(x) ≥ β}. In what follows, we shall use the following results Lemma 1.1. Let g ∈ Lr (Ω), r > 1, and let u ∈ Ls (Ω), s = r/(r − 1). Suppose that every level set of u has measure zero. Then there exists an increasing function φ such that φ(u) is a rearrangement of g. Furthermore, there exists a decreasing function ψ such that ψ(u) is a rearrangement of g. Proof. The first assertion follows from [4, Lemma 2.9]. The second assertion follows applying the first one to −u. Denote with G the closure of G with respect to the weak* topology in L∞ (Ω). Lemma 1.2. Let G be the set of rearrangements of a fixed function g0 ∈ Lr (Ω), r > 1, and let u ∈ Ls (Ω), s = r/(r − 1). If there is an increasing function φ such that φ(u) ∈ G then Z Z gu dx ≤ φ(u)u dx ∀g ∈ G, Ω Ω and the function φ(u) is the unique maximizer relative to G. Furthermore, if there is a decreasing function ψ such that ψ(u) ∈ G then Z Z gu dx ≥ ψ(u)u dx ∀g ∈ G, Ω Ω and the function ψ(u) is the unique minimizer relative to G. Proof. The first assertion follows from [4, Lemma 2.4]. To prove the second assertion we put φ(t) = ψ(−t). Since φ is increasing, applying the previous result we have Z Z g (−u) dx ≤ Ω φ(−u) (−u) dx ∀g ∈ G, Ω EJDE-2010/02 PROBLEMS INVOLVING THE P-LAPLACIAN 3 and φ(−u) = ψ(u) is the unique function satisfying the inequality. Equivalently, we have Z Z gu dx ≥ ψ(u)u dx ∀g ∈ G. Ω Ω The proof is complete. 2. Energy integral Let Ω ⊂ RN be a bounded smooth domain and let p > 1, H > 0 be two real numbers. Let G be the family of all rearrangements of a given function g0 with 0 < g0 (x) ≤ H. It is convenient to introduce G, the closure of G with respect to the weak* topology in L∞ (Ω). By [3] or [4], we know that G is weakly compact and convex. Moreover, each g ∈ G satisfies 0 < g(x) ≤ H a.e. in Ω. For g ∈ G, we consider problem (1.1). It is a classical result that such a problem has a unique positive solution u ∈ W01,p (Ω) which satisfies Z Z Z p p sup (pgv − |∇v| )dx = (pgu − |∇u| )dx = (p − 1) |∇u|p dx. (2.1) v∈W01,p (Ω) Ω Ω Ω p R It is also known that the functional Ω (pgv − |∇v| )dx has a unique maximizer u in W01,p (Ω), and this maximizer is a solution to problem (1.1). By regularity results (see for example [17]), the solution u belongs to W 2,1 (Ω), and equation (1.1) holds a.e. in Ω. R Lemma 2.1. For g ∈ G, let I(g) = Ω |∇u|p dx, where u is the solution to (1.1). (a) The functional g 7→ I(g) is continuous with respect to the weak* topology in L∞ (Ω). (b) The functional g 7→ I(g) is strictly convex in G. p (c) The functional g 7→ I(g) is Gâteaux differentiable with derivative p−1 ug . Proof. Part (a). Let gn * g, and let ug , ugn be the corresponding solutions to (1.1) with g, gn respectively. Using (2.1) we have Z Z (p − 1)I(g) + p(gn − g)ug dx = (pgn ug − |∇ug |p ) dx ≤ (p − 1)I(gn ) Ω ZΩ Z = (pgugn − |∇ugn |p ) dx + p(gn − g)ugn dx Ω Ω Z ≤ (p − 1)I(g) + p(gn − g)ugn dx. Ω (2.2) By assumption, we have Z (gn − g)ug dx = 0. (2.3) (gn − g)ugn dx = 0. (2.4) lim n→∞ Ω Let us prove that Z lim n→∞ Ω Using (1.1) with g = gn , Poincaré Theorem and Hölder inequality we have Z Z Z Z 1/p p |∇ugn | dx = gn ugn dx ≤ H ugn dx ≤ C |∇ugn |p dx |Ω|(p−1)/p . Ω Ω Ω Ω (2.5) 4 M. MARRAS EJDE-2010/02 By (2.5) we infer that the norm k∇ugn kLp (Ω) is bounded by a constant independent of n. Therefore, a sub-sequence of ugn (denoted again ugn ) converges weakly in W 1,p (Ω) and strongly in Lp (Ω) to some function z ∈ W01,p (Ω). Since Z Z Z (gn − g) ugn dx = (gn − g)z dx + (gn − g)(ugn − z)dx, Ω and since Ω Ω Z (gn − g)(ugn − z)dx ≤ 2Hkugn − zkL1 (Ω) , Ω Equality (2.4) follows. By (2.2), (2.3) and (2.4) we infer lim I(gn ) = I(g). n→∞ (2.6) This yields the weak* continuity. We claim that the function z is actually the solution of (1.1) corresponding to our function g. Indeed, from Z (p − 1)I(gn ) = (pgn ugn − |∇ugn |p ) dx, Ω Z Z gn ugn dx = gz dx, lim n→∞ Ω Ω and the classical result Z |∇ugn |p dx ≥ lim inf n→∞ Ω Z |∇z|p dx, Ω using (2.6) and (2.1) we get Z (pgz − |∇z|p ) dx ≤ (p − 1)I(g). R By the uniqueness of the maximizer of Ω (pgv − |∇v|p ) dx we must have z = ug , as claimed. Proof of (b). Let f, g ∈ G, let 0 < t < 1 and let v ∈ W01,p (Ω). We have Z p(tf + (1 − t)g)v − |∇v|p dx Ω Z Z p = t (pf v − |∇v| ) dx + (1 − t) (pgv − |∇v|p ) dx. (p − 1)I(g) ≤ Ω Ω Ω By taking the superior of both sides relative to v ∈ W01,p (Ω), we get I(tf + (1 − t)g)) ≤ tI(f ) + (1 − t)I(g), that is, the convexity. Now, suppose equality holds in the above inequality for some t ∈ (0, 1). Then, if ut is the solution corresponding to tf + (1 − t)g we have Z Z t pf ut − |∇ut |p dx + (1 − t) pgut − |∇ut |p dx Ω Ω Z Z p = t (pf uf − |∇uf | ) dx + (1 − t) (pgug − |∇ug |p ) dx. Ω Ω It follows that Z ZΩ Ω pf ut − |∇ut |p dx = pgut − |∇ut |p dx = Z ZΩ Ω pf uf − |∇uf |p dx pgug − |∇ug |p dx. EJDE-2010/02 PROBLEMS INVOLVING THE P-LAPLACIAN 5 By the uniqueness of the maximizer, we must have ut = uf = ug . Moreover, since −∆p uf = f, −∆p ug = g, a.e. in Ω, a.e. in Ω, if uf = ug , we must have f (x) = g(x) a.e. in Ω, and the strict convexity is proved. Proof of (c). Let tn > 0 be a sequence such that tn → 0 as n → ∞. Let f, g ∈ R, and let gn = g + tn (f − g). Then, by (2.2) we find Z p I(g) + tn (f − g) ug dx ≤ I g + tn (f − g) p−1 Ω Z p ≤ I(g) + tn (f − g) ug dx, p − 1 n Ω and Z (f − g) Ω I(g + tn (f − g)) − I(g) p ug dx ≤ ≤ p−1 tn Z (f − g) Ω p ug dx. p−1 n As already observed, the sequence ugn converges to ug in the norm of Lp (Ω). Therefore, Z Z (f − g)ugn dx = (f − g)ug dx. lim n→∞ Ω Ω Hence, since the sequence tn is arbitrary, we have Z I(g + t(f − g)) − I(g) p = (f − g) ug dx. lim t→0 t p − 1 Ω It follows that I(g) is Gâteaux differentiable with derivative complete. p p−1 ug . The proof is Theorem 2.2. Let 0 < g0 (x) ≤ H, and let G be the class of all rearrangements of g0 . There exists a unique ǧ ∈ G such that I(ǧ) = inf I(g). g∈G Furthermore, we have ǧ = ψ(uǧ ) for some decreasing function ψ. Proof. By the compactness of G and the weak continuity of I(g) (proved in Lemma 2.1), we know that a minimizer ǧ exists in G. Since by Lemma 2.1, I(g) is strictly convex, the minimizer ǧ is unique. We have to show that ǧ ∈ G. With 0 < t < 1 and g ∈ G, let gt = ǧ + t(g − ǧ). Since I(g) is Gâteaux differentiable at ǧ, we have Z p I(gt ) = I(ǧ) + t (g − ǧ) uǧ dx + o(t). p − 1 Ω Since I(gt ) ≥ I(ǧ), we find Z I(ǧ) ≤ I(ǧ) + t (g − ǧ) Ω It follows that Z 0≤ (g − ǧ) Ω As t → 0 we find that p uǧ dx + o(t). p−1 p o(t) uǧ dx + . p−1 t Z 0≤ (g − ǧ)uǧ dx, Ω 6 M. MARRAS and Z EJDE-2010/02 Z guǧ dx ≥ ∀g ∈ G. ǧuǧ dx, Ω (2.7) Ω The function u = uǧ satisfies the equation −∆p u = ǧ > 0 a.e. in Ω, therefore uǧ cannot have flat zones in Ω (see [12, Lemma 7.7]). By Lemma 1.1 and Lemma 1.2 we can find a decreasing function ψ such that ψ(uǧ ) is a rearrangement of g0 and Z Z guǧ dx ≥ ψ(uǧ )uǧ dx, ∀g ∈ G. Ω Ω Comparing the latter inequality with inequality (2.7) and using Lemma 1.2 again, we must have ǧ = ψ(uǧ ) ∈ G. The proof is complete. We remark that Theorem 2.2 gives some information on the shape of the minimizer ǧ. Indeed, since the associate solution uǧ is positive in Ω, vanishes on the boundary ∂Ω, and ǧ = ψ(uǧ ) with ψ decreasing, ǧ has to be large where uǧ is small, that is close to ∂Ω. 3. Principal eigenvalue We use the same assumptions and notation as in the previous section. For g ∈ G, we consider problem (1.2). It is known that such a problem has a principal positive eigenvalue λg to which corresponds a unique (up to a normalization) positive eigenfunction ug [1]. We have [14] R pgv p dx 1 RΩ . (3.1) = sup p λg v∈W 1,p (Ω) Ω |∇v| dx 0 Following Auchmuty [2], we can prove that hZ Z 2 i Z Z 2 p2 1 p p p p pg|v| dx − |∇v| dx = pg|u| dx − |∇u| dx = sup . 4 λ2g Ω Ω Ω v∈W 1,p (Ω) Ω 0 (3.2) Since we know that the principal eigenfunction is positive, we can take v > 0 in (3.2). Therefore, for v > 0, define Z 2 Z p A(v) = pgv dx − |∇v|p dx . Ω Ω With t > 0, we have A(tv) = tp Z pgv p dx − t2p Ω Z 2 |∇v|p dx . Ω It is easy to see that, for v fixed, A(tv) ≤ A(t0 v) with R pgv p dx p t0 = R Ω 2 2 Ω |∇v|p dx Therefore, R p2 Ω pgv p dx 2 R A(tv) ≤ . 4 |∇v|p dx Ω It follows that p2 sup A(v) = 4 v∈W 1,p (Ω) 0 R pgv p dx 2 RΩ sup . |∇v|p dx v∈W 1,p (Ω) Ω 0 (3.3) EJDE-2010/02 PROBLEMS INVOLVING THE P-LAPLACIAN 7 Equation (3.2) follows from the latter equation and (3.1). Note that if v is a maximizer in (3.1) then also νv with ν 6= 0 is a maximizer. A maximizer u in (3.1) is also a maximizer in (3.2) when u is normalized so that t0 = 1 in (3.3), that is Z Z 2 pgup dx = 2 |∇u|p dx . (3.4) Ω Ω Therefore, the (positive) maximizer u = ug in (3.2) satisfies (3.4) and is unique. 2 Lemma 3.1. For g ∈ G, let J(g) = p4 λ12 , where λg is the principal eigenvalue of g problem (1.2). (a) The functional g 7→ J(g) is continuous with respect to the weak* topology in L∞ (Ω). (b) The functional g 7→ J(g) is strictly convex in G. (c) The functional g 7→ J(g) is Gâteaux differentiable with derivative pupg . Proof. Parts (a) and (b) of this lemma are essentially proved in [8]; however we give here a slightly different proof. Proof of (a). Let gn * g, and let ug , ugn be the corresponding maximizers of (3.2) (eigenfunctions) with g, gn respectively. Using (3.2) we have Z Z Z 2 |∇ug |p dx ≤ J(gn ) J(g) + p(gn − g)upg dx = pgn upg dx − Ω Ω ZΩ Z 2 p = pgugn dx − |∇ugn |p dx + p(gn − g)upgn dx Ω Ω Z ≤ J(g) + p(gn − g)upgn dx. Ω (3.5) By assumption, we have Z (gn − g)upg dx = 0. (3.6) (gn − g)upgn dx = 0. (3.7) lim n→∞ Ω Let us prove that Z lim n→∞ Ω Using (3.4) with g = gn and Poincaré Theorem we have Z Z Z 2 Z 2 |∇ugn |p dx = pgn upgn dx ≤ pH upgn dx ≤ C |∇ugn |p dx. Ω Ω Ω (3.8) Ω By (3.8) we infer that the norm k∇ugn kLp (Ω) is bounded by a constant independent of n. Therefore, a sub-sequence of ugn (denoted again ugn ) converges weakly in W 1,p (Ω) and strongly in Lp (Ω) to some function z ∈ W01,p (Ω). Since Z Z Z p p (gn − g) ugn dx = (gn − g) z dx + (gn − g)(upgn − z p )dx, Ω Ω Ω and since Z Z p p |ugn − z|(ugn + z)p−1 dx (gn − g)(ugn − z )dx ≤ 2HCp Ω Ω Z (p−1)/p ≤ 2HCp kugn − zkLp (Ω) (ugn + z)p dx , Ω 8 M. MARRAS EJDE-2010/02 Equality (3.7) follows. By (3.5), (3.6) and (3.7) we infer lim J(gn ) = J(g). (3.9) n→∞ This yields the weak* continuity. We claim that the function z is actually the eigenfunction corresponding to g. Indeed, from Z Z 2 p J(gn ) = pgn ugn dx − |∇ugn |p dx) , Ω Z ZΩ p lim gn ugn dx = gz p dx, n→∞ Ω Z ZΩ p lim inf |∇ugn | dx ≥ |∇z|p dx, n→∞ Ω Ω using (3.9) and (3.2), we obtain Z 2 Z |∇z|p dx ≤ J(g). J(g) ≤ pgz p dx − Ω Ω R 2 By the uniqueness of the maximizer of Ω pgv p dx − Ω |∇v|p dx we must have z = ug , as claimed. Proof of (b). Let f, g ∈ G, let 0 < t < 1 and let v ∈ W01,p (Ω). We have Z Z 2 p(tf + (1 − t)g)v p dx − |∇v|p dx Ω Ω Z Z Z 2 Z 2 p p p pgv dx − |∇v|p dx . =t pf v dx − |∇v| dx + (1 − t) R Ω Ω Ω By taking the superior of both sides relative to v ∈ Ω W01,p (Ω), we get J(tf + (1 − t)g)) ≤ tJ(f ) + (1 − t)J(g), that is, the convexity. To prove strict convexity, suppose equality holds in the above inequality for some t ∈ (0, 1). Then, if ut is the eigenfunction corresponding to tf + (1 − t)g we have hZ Z 2 i hZ Z 2 i p p p t pf ut dx − |∇ut | dx + (1 − t) pgut dx − |∇ut |p dx Ω Ω Ω Ω hZ Z 2 i hZ Z 2 i p p p =t pf uf dx − |∇uf | dx + (1 − t) pgug dx − |∇ug |p dx . Ω Ω Ω Ω It follows that Z Z 2 Z Z 2 p p p pf ut dx − |∇ut | dx = pf uf dx − |∇uf |p dx , Ω Ω Ω ZΩ Z 2 Z Z 2 p p p pf ut dx − |∇ut | dx = pgug dx − |∇ug |p dx . Ω Ω Ω Ω By the uniqueness of the maximizer, we must have ut = uf = ug and λf = λg . Moreover, since −∆p uf = λf f up−1 , f a.e. inΩ, −∆p ug = λg gup−1 , g a.e. inΩ, if uf = ug and λf = λg , we must have f (x) = g(x) a.e. in Ω, and the strict convexity is proved. EJDE-2010/02 PROBLEMS INVOLVING THE P-LAPLACIAN 9 Proof of (c). Let tn > 0 be a sequence such that tn → 0 as n → ∞. Let f, g ∈ R, and let gn = g + tn (f − g). Then, by (3.5) we find Z Z J(g) + tn (f − g)pupg dx ≤ J g + tn (f − g) ≤ J(g) + tn (f − g)pupgn dx, Ω Ω Z Z J(g + tn (f − g)) − J(g) p ≤ (f − g)pupgn dx. (f − g)pug dx ≤ t n Ω Ω As already observed, the sequence ugn converges to ug in the norm of Lp (Ω). Therefore, Z Z lim (f − g)upgn dx = (f − g)upg dx. n→∞ Ω Ω Hence, since the sequence tn is arbitrary, we have Z J(g + t(f − g)) − J(g) = (f − g)pupg dx. lim t→0 t Ω It follows that J(g) is Gâteaux differentiable with derivative pupg . The proof is complete. Theorem 3.2. Let 0 < g0 (x) ≤ H, and let G be the class of all rearrangements of g0 . There exists a unique ĝ ∈ G such that J(ĝ) = inf J(g). g∈G Furthermore, ĝ = ψ(uĝ ) for some decreasing function ψ. Proof. By the compactness of G and the weak continuity of J(g) (proved in Lemma 3.1), we know that a minimizer ĝ exists in G. Since by Lemma 3.1 J(g) is strictly convex, the minimizer ĝ is unique. We have to show that ĝ ∈ G. With 0 < t < 1 and g ∈ G, let gt = ĝ + t(g − ĝ). Since J(g) is Gâteaux differentiable at ĝ, we have Z J(gt ) = J(ĝ) + t (g − ĝ)pupĝ dx + o(t). Ω Since J(gt ) ≥ J(ĝ), we find Z J(ĝ) ≤ J(ĝ) + t (g − ĝ)puĝ dx + o(t). Ω It follows that Z 0≤ (g − ĝ)puĝ dx + Ω As t → 0 we find o(t) . t Z 0≤ (g − ĝ)uĝ dx, Ω and Z Ω gupĝ Z dx ≥ Ω ĝupĝ dx, ∀g ∈ G. (3.10) The function u = uĝ satisfies the equation −∆p u = λĝ ĝuĝp−1 > 0 a.e. in Ω; therefore, upĝ cannot have flat zones in Ω. By Lemmas 1.1 and 1.2 we can find a decreasing function ψ such that ψ(upĝ ) is a rearrangement of g0 and Z Z p guĝ dx ≥ ψ(uĝ )uĝ dx, ∀g ∈ G. Ω Ω 10 M. MARRAS EJDE-2010/02 Comparing the latter inequality with inequality (3.10) and using Lemma 1.2 again, we must have ĝ = ψ(upĝ ) ∈ G, and the statement of the theorem follows. 2 Remarks. Since J(g) = p4 λ12 , the minimization of J(g) corresponds to the g maximization of λg . Theorem 3.2 gives some information on the shape of the maximizer of λg , ĝ. Indeed, since the associate eigenfunction uĝ is positive in Ω, vanishes on the boundary ∂Ω, and ĝ = ψ(upǧ ) with ψ decreasing, ĝ has to be large where uĝ is small, that is close to ∂Ω. We underline that the maximization and the minimization of λg for g ∈ G in case of p = 2 are discussed in [9]. However, the (interesting) method developed in [9] for the investigation of the maximum of λg seems to not work in the nonlinear case p 6= 2. Related problems are discussed in [6, 10, 11, 13, 15, 16]. References [1] A. Anane; Simplicité et isolation de la première valeur propre du p-Laplacien avec poids. C. R. Acad. Sci. Paris Sér. 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Frontiers in Mathematics, Birkhuser Verlag, Basel, 2006. [14] B. Kawohl, M. Lucia, S. Prashanth; Simplicity of the principal eigenvalue for indefinite quasilinear problems. Adv. Differential Equations, 12 (2007), 407–434. [15] J. Nycander, B. Emamizadeh; Variational problems for vortices attached to seamounts. Nonlinear Analysis, 55 (2003), 15–24. [16] W. Pielichowski; The optimization of eigenvalue problems involving the p-Laplacian. Univ. Iag. Acta Math., 42 (2004), 109–122. [17] P. Tolksdorf; Regularity for a more general class of quasilinear elliptic equations. Journal of Differential Equations, 51 (1984), 126–150. Monica Marras Dipartimento di Matematica e Informatica, Universitá di Cagliari, Via Ospedale 72, 09124 Cagliari, Italy E-mail address: mmarras@unica.it