Reference on Sobolev spaces $W^{k,p}(\Omega;\mathbb{R}^n)$

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While reading about calculus of variations I stumbled upon the Sobolev spaces $W^{k,p}(\Omega;\mathbb{R}^n)$ of order $k$ weakly differentiable functions with $p$ integrable derivatives, and codomain $\mathbb{R}^n$ instead of $\mathbb{R}$. Do you have any reference where definitions and properties about those spaces are provided?

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One of the best books for a whole course about Sobolev Spaces is “Giovanni Leoni - A first course in Sobolev Spaces

Another book is “Adams - Sobolev Spaces”.

If you are interested in Sobolev Spaces from the point of view of PDEs then:

Just since you told me you are interested in Sobolev spaces from the calculus of variations (dark) side, let me point out we all can't wait - no joke - for the publication of Fonseca and Leoni's new book, Modern Methods in the Calculus of Variations: Sobolev Spaces, in preparation, accepted for publication by Springer.

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E. Lieb, M. Loss: Analysis