In the paper https://projecteuclid.org/download/pdf_1/euclid.aos/1176348252 on page 1351 it is written: "Let $W_2^r$ be the Sobolev space of functions on $[0,1]$ for which f^{(r-1)} is absolutely continuouse and $\int_0^1 |f(x)|^2 dx$ is finite." where the $L^2$-norm is computed on the compact interval $[0,1]$.
How can I understand this sentence?
I thought Sobolev spaces can only be defined on open intervals.