Let $\Omega$ be a bounded open set in $\mathbb{R}^n$ and $f \in W^{1,p} (\partial \Omega)$. Can $f$ be extended to a function $u \in W^{1,p}(\Omega)$ such that $u|_{\partial \Omega}=f$ and
$$\lVert u\rVert_{W^{1,p}(\Omega)}\leq C\lVert f\rVert_{W^{1,p}(\partial \Omega)}?$$
What are the minimal assumptions that guarantee such continuous extensions?