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Lavrentiev phenomenon between $C^1$ and Lipschitz

Does there exist a (onedimensional) integral functional of calculus of variations (with $f$ finite everywhere) $$ F(y)=\int_a^b f(t,y(t),y'(t))\,dt
 $$ such that $$ \inf_{y\in Lip([a,b])}F(y)<\inf_{...
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