With changing workloads, cloud service providers can leverage vertical container scaling (adding/removing resources) so that Service Level Objective (SLO) violations are minimized and spare resources are maximized. In this paper, we investigate a solution to the self-adaptive problem of vertical elasticity for co-located containerized applications. First, the system learns performance models that relate SLOs to workload, resource limits and service level indicators. Second, it derives limits that meet SLOs and minimize resource consumption via a combination of optimization and restricted brute-force search. Third, it vertically scales containers based on the derived limits. We evaluated our technique on a Kubernetes private cloud of 8 nodes with three deployed applications. The results registered two SLO violations out of 16 validation tests; acceptably low derivation times facilitate realistic deployment. Violations are primarily attributed to application specifics, such as garbage collection, which require further research to be circumvented.