Differentiation is linear: the derivative of a sum is the sum of the derivatives, and constants factor out. On the space of polynomials, with size measured by the largest absolute value on \([0,1]\) , the monomial \(x^n\) has size \(1\) and its derivative \(nx^{n-1}\) has size \(n\) . A unit vector is sent to a vector of size \(n\) , for every \(n\) . No matrix does this: a linear map on \(\mathbb R^d\) stretches unit vectors by at most a fixed factor. So differentiation, on this space with this norm, is a linear map that is not continuous, since polynomials \(x^n/n\) tending to zero have derivatives that do not.
The lesson is that in infinite dimensions linearity and continuity are separate properties, and the maps worth studying are those that have both. This chapter shows that continuity of a linear map is equivalent to a single inequality, turns the best constant in that inequality into a norm, and computes that norm for the operators that recur in the rest of the book: matrices, shifts, multiplications, and integral operators. It ends with two tools that depend on completeness, extension from a dense subspace and the Neumann series for inverting a perturbation of the identity.
2.1 Boundedness is continuity
A linear map between normed spaces is usually called an operator; when the target is the scalar field it is a functional. We write \(Tx\) for \(T(x)\) .
Definition 2.1 (bounded operator, operator norm). A linear map \(T:X\to Y\) between normed spaces is bounded if there is a constant \(C\ge 0\) such that
The smallest such constant is the operator norm \(\lVert T\rVert\) . The set of bounded operators from \(X\) to \(Y\) is denoted \(\mathcal B(X,Y)\) , with \(\mathcal B(X)=\mathcal B(X,X)\) , and the space \(X^*=\mathcal B(X,\mathbb K)\) of bounded functionals is the dual space of \(X\) .
The word bounded is used in a special sense here. A nonzero linear map is never a bounded function on the whole of \(X\) ; what is bounded is its restriction to the unit ball. Indeed the smallest admissible constant is
the three suprema being equal by homogeneity (Exercise 2). Two inequalities are used constantly: \(\lVert Tx\rVert\le\lVert T\rVert\,\lVert x\rVert\) for every \(x\) , and, for bounded \(T:X\to Y\) and \(S:Y\to Z\) ,
which follows from \(\lVert STx\rVert\le\lVert S\rVert\lVert Tx\rVert\le\lVert S\rVert\lVert T\rVert\lVert x\rVert\) .
Theorem 2.2 (continuity of linear maps). For a linear map \(T:X\to Y\) between normed spaces the following are equivalent: (a) \(T\) is continuous at \(0\) ; (b) \(T\) is continuous at every point; (c) \(T\) is bounded.
Proof. Assume (c). Then \(\lVert Tx-Ty\rVert=\lVert T(x-y)\rVert\le C\lVert x-y\rVert\) , so \(T\) is Lipschitz and in particular continuous everywhere, which is (b). Clearly (b) implies (a). Assume (a). Since \(T0=0\) , there is \(\delta>0\) such that \(\lVert x\rVert\le\delta\) implies \(\lVert Tx\rVert\le 1\) . For any nonzero \(x\) the vector \(\delta x/\lVert x\rVert\) has norm \(\delta\) , so \(\lVert T(\delta x/\lVert x\rVert)\rVert\le 1\) , and by linearity \(\lVert Tx\rVert\le\delta^{-1}\lVert x\rVert\) . This is (c) with \(C=1/\delta\) .
Linearity converts a local, qualitative property into a global, quantitative one. By Exercise 17 of Chapter 1Chapter 1 every linear map defined on a finite-dimensional normed space is bounded, so the distinction is invisible in linear algebra.
Example 2.1: Differentiation, unbounded in one norm and bounded in another
Let \(\mathcal P\) be the polynomials on \([0,1]\) with the supremum norm and \(D:\mathcal P\to\mathcal P\) the derivative. For \(p_n(x)=x^n\) we have \(\lVert p_n\rVert_\infty=1\) and \(\lVert Dp_n\rVert_\infty=\lVert nx^{n-1}\rVert_\infty=n\) , so \(\lVert Dp_n\rVert_\infty/\lVert p_n\rVert_\infty=n\) is unbounded and \(D\) is not bounded. Concretely, \(q_n=x^n/n\) tends to \(0\) uniformly while \(\lVert Dq_n\rVert_\infty=1\) for all \(n\) : continuity at \(0\) fails.
Change the norm on the domain. On \(C^1[0,1]\) with \(\lVert f\rVert_{C^1}=\lVert f\rVert_\infty+\lVert f'\rVert_\infty\) , the map \(D:C^1[0,1]\to C[0,1]\) satisfies \(\lVert Df\rVert_\infty=\lVert f'\rVert_\infty\le\lVert f\rVert_{C^1}\) , so it is bounded with \(\lVert D\rVert\le 1\) . The norm is exactly \(1\) . Take \(f_n(x)=\sin(nx)/n\) with \(n\ge 2\) . Since \(n>\pi/2\) , the function \(\sin(nx)\) reaches \(1\) on \([0,1]\) , so \(\lVert f_n\rVert_\infty=1/n\) , while \(f_n'(x)=\cos(nx)\) has \(\lVert f_n'\rVert_\infty=1\) . Therefore
The supremum \(1\) is approached and never reached, because \(\lVert f'\rVert_\infty=\lVert f\rVert_\infty+\lVert f'\rVert_\infty\) would force \(f=0\) . An operator norm is a supremum, and it need not be a maximum.
2.2 Computing a norm from both sides
To prove \(\lVert T\rVert=c\) one must do two different things. An upper bound \(\lVert Tx\rVert\le c\lVert x\rVert\) is an inequality valid for every \(x\) . A lower bound is a single unit vector, or a sequence of unit vectors, on which \(\lVert Tx\rVert\) equals or approaches \(c\) . Neither half can be omitted, and they call on different skills: the first is an estimate, the second a construction.
For matrices with the \(1\) -norm or the \(\infty\) -norm both halves can be carried out in general.
Proposition 2.3 (matrix norms). Let \(A=(a_{ij})\) be an \(m\times n\) matrix, regarded as an operator from \(\mathbb K^n\) to \(\mathbb K^m\) . If both spaces carry \(\lVert\cdot\rVert_1\) , then \(\lVert A\rVert=\max_j\sum_i\lvert a_{ij}\rvert\) , the largest absolute column sum. If both carry \(\lVert\cdot\rVert_\infty\) , then \(\lVert A\rVert=\max_i\sum_j\lvert a_{ij}\rvert\) , the largest absolute row sum.
Proof. For the \(1\) -norm, let \(c\) be the largest column sum. Then
and if column \(j\) attains the maximum then \(\lVert Ae_j\rVert_1=c\) with \(\lVert e_j\rVert_1=1\) . For the \(\infty\) -norm, let \(r\) be the largest row sum. Then \(\lvert(Ax)_i\rvert\le\sum_j\lvert a_{ij}\rvert\lvert x_j\rvert\le r\lVert x\rVert_\infty\) for each \(i\) . If row \(i\) attains the maximum, choose \(x_j\) of modulus \(1\) with \(a_{ij}x_j=\lvert a_{ij}\rvert\) ; then \(\lVert x\rVert_\infty=1\) and \((Ax)_i=r\) .
When both spaces carry the Euclidean norm, \(\lVert A\rVert^2\) is the largest eigenvalue of the Hermitian matrix \(A^*A\) , and \(\lVert A\rVert\) is the largest singular value of \(A\) . This is a theorem of Linear Algebra, resting on the orthogonal diagonalisation of Hermitian matrices; Chapter 10 extends it to compact operators.
Example 2.2: One matrix, three operator norms
Let
The absolute column sums are \(7\) and \(5\) , so \(\lVert A\rVert=7\) for the \(1\) -norm, attained at \(e_1\) . The absolute row sums are \(3\) and \(9\) , so \(\lVert A\rVert=9\) for the \(\infty\) -norm, attained at \(x=(1,1)\) . For the Euclidean norm,
has eigenvalues \(45\) and \(5\) with eigenvectors \((1,1)\) and \((1,-1)\) , so \(\lVert A\rVert=\sqrt{45}=3\sqrt5\approx 6.708\) . The lower bound can be checked by hand: for the unit vector \(x=(1,1)/\sqrt2\) we get \(Ax=(3,9)/\sqrt2\) and \(\lVert Ax\rVert_2=\sqrt{90/2}=\sqrt{45}\) . The same matrix has norms \(7\) , \(3\sqrt5\) , and \(9\) depending on how vectors are measured; “the norm of \(A\) ” has no meaning until the norms on the domain and the target are named.
Common mistake. Reading off an operator norm from the images of basis vectors. In Example 2.2 the Euclidean norms of the columns are \(\lVert Ae_1\rVert_2=5\) and \(\lVert Ae_2\rVert_2=5\) , yet \(\lVert A\rVert=3\sqrt5>5\) : the maximizing unit vector \((1,1)/\sqrt2\) is not a basis vector. Testing on particular vectors can only give lower bounds. An upper bound has to be proved for all \(x\) at once, and in infinite dimensions the gap can be infinite (Exercise 9).
2.3 Operators on sequences and functions
Four families of operators supply most of the examples in this subject. For each we find the norm by the two-sided method.
Example 2.3: A diagonal operator whose norm is not attained
On \(\ell^2\) define \((Mx)_k=(1-\tfrac1k)x_k\) . Since \(0\le 1-\tfrac1k<1\) ,
so \(\lVert M\rVert\le 1\) . For the lower bound, \(\lVert Me_k\rVert_2=1-\tfrac1k\) , which tends to \(1\) ; hence \(\lVert M\rVert=1\) . No unit vector attains it: if \(x\ne 0\) , some \(x_k\ne 0\) , and the corresponding term in the sum is strictly smaller than \(\lvert x_k\rvert^2\) , so \(\lVert Mx\rVert_2<\lVert x\rVert_2\) . If one truncates \(M\) to its first \(n\) coordinates, the resulting \(n\times n\) diagonal matrix has norm \(1-\tfrac1n\) , attained at \(e_n\) ; for \(n=10\) that is \(0.9\) . The norms of the truncations increase to \(\lVert M\rVert\) without reaching it. The same argument shows that any diagonal operator \((Dx)_k=d_kx_k\) with bounded \((d_k)\) has \(\lVert D\rVert=\sup_k\lvert d_k\rvert\) (Exercise 3).
Example 2.4: The two shifts
On \(\ell^2\) let
The right shift \(S\) preserves norms, \(\lVert Sx\rVert_2=\lVert x\rVert_2\) , so \(\lVert S\rVert=1\) and \(S\) is injective; it is not surjective, since every vector in its range has first coordinate \(0\) . The left shift \(L\) satisfies \(\lVert Lx\rVert_2^2=\lVert x\rVert_2^2-\lvert x_1\rvert^2\le\lVert x\rVert_2^2\) with equality when \(x_1=0\) , so \(\lVert L\rVert=1\) ; it is surjective and not injective, since \(Le_1=0\) . They are related by
where \(P_1x=(x_1,0,0,\dots)\) . For \(x=(1,\tfrac12,\tfrac14,\dots)\) , which has \(\lVert x\rVert_2^2=\sum_{k\ge 0}4^{-k}=\tfrac43\) , we get \(SLx=(0,\tfrac12,\tfrac14,\dots)\) and \(\lVert SLx\rVert_2^2=\tfrac43-1=\tfrac13\) .
In finite dimensions a square matrix with a left inverse is invertible, a consequence of the rank and nullity count (math.linear-algebra.rank-nullity-link). The shifts show that this fails in \(\ell^2\)
: \(S\)
has a left inverse and is not onto, \(L\)
has a right inverse and is not one-to-one. One-sided invertibility is a genuinely infinite-dimensional phenomenon, and it will reappear in Chapter 10 as the reason an operator can have spectrum without having eigenvalues.
Multiplication operators. If \(\varphi\) is a bounded function, \((M_\varphi f)(x)=\varphi(x)f(x)\) defines a bounded operator on \(C[0,1]\) when \(\varphi\) is continuous, and on \(L^p[0,1]\) when \(\varphi\) is bounded and measurable, with \(\lVert M_\varphi\rVert\le\sup\lvert\varphi\rvert\) . Example 2.3 is the sequence-space version, and Exercise 4 shows that equality holds on \(C[0,1]\) .
Integral operators. Let \(k\) be a continuous function on \([0,1]\times[0,1]\) , the kernel, and define
This is the continuous analogue of multiplying a vector by a matrix, with the sum over \(j\) replaced by an integral over \(y\) .
Proposition 2.4 (integral operators on continuous functions). If \(k\) is continuous on \([0,1]^2\) , then \(K\) maps \(C[0,1]\) into itself and
with equality when \(k\ge 0\) .
Proof. A continuous function on the compact square is uniformly continuous (math.real-analysis.heine-cantor): given \(\varepsilon\)
there is \(\delta\)
with \(\lvert k(x,y)-k(x',y)\rvert\le\varepsilon\)
whenever \(\lvert x-x'\rvert\le\delta\)
. Then \(\lvert Kf(x)-Kf(x')\rvert\le\varepsilon\lVert f\rVert_\infty\)
, so \(Kf\)
is continuous. For the bound,
If \(k\ge 0\) , the constant function \(f=1\) has norm \(1\) and \(Kf(x)=\int_0^1k(x,y)\,dy\) , whose maximum over \(x\) is the right side of the bound.
The formula is the row-sum rule of Proposition 2.3 with integrals for sums. Equality in fact holds for every continuous kernel, by approximating the sign of \(k(x_0,\cdot)\) with continuous functions; we shall only need the nonnegative case.
Example 2.5: Two integral operators
Take the kernel \(k(x,y)=\min\{x,y\}\) . It is continuous and nonnegative, and
which increases on \([0,1]\) to its maximum \(\tfrac12\) at \(x=1\) . By Proposition 2.4 the operator \(K\) on \(C[0,1]\) has \(\lVert K\rVert=\tfrac12\) .
The Volterra operator \((Vf)(x)=\int_0^xf(y)\,dy\) has the discontinuous kernel that equals \(1\) for \(y\le x\) and \(0\) otherwise, so the proposition does not apply verbatim, but the same two steps work. From \(\lvert Vf(x)\rvert\le x\lVert f\rVert_\infty\) we get \(\lVert V\rVert\le 1\) , and \(V1=x\) has norm \(1\) , so \(\lVert V\rVert=1\) . Its powers are much smaller. If \(\lvert g(x)\rvert\le cx^n/n!\) then \(\lvert Vg(x)\rvert\le c\int_0^xy^n/n!\,dy=cx^{n+1}/(n+1)!\) , so by induction
For instance \(\lVert V^3\rVert=\tfrac16\) , far below \(\lVert V\rVert^3=1\) . Submultiplicativity \(\lVert V^n\rVert\le\lVert V\rVert^n\) is only an inequality, and here it is very far from sharp. That gap will be exactly what makes the equation \(f-Vf=g\) solvable in Section 2.6.
2.4 The space of bounded operators
The set \(\mathcal B(X,Y)\) is a vector space under pointwise operations, and the operator norm is a norm on it: definiteness and homogeneity are immediate, and \(\lVert(S+T)x\rVert\le\lVert Sx\rVert+\lVert Tx\rVert\le(\lVert S\rVert+\lVert T\rVert)\lVert x\rVert\) gives the triangle inequality.
Theorem 2.5 (completeness of the operator space). If \(Y\) is a Banach space, then \(\mathcal B(X,Y)\) is a Banach space for every normed space \(X\) . In particular the dual \(X^*\) of any normed space is a Banach space.
Proof. Let \((T_n)\) be Cauchy in \(\mathcal B(X,Y)\) . For each \(x\) , \(\lVert T_nx-T_mx\rVert\le\lVert T_n-T_m\rVert\lVert x\rVert\) , so \((T_nx)\) is Cauchy in \(Y\) and converges; call the limit \(Tx\) . The map \(T\) is linear because limits respect sums and scalar multiples. Given \(\varepsilon>0\) choose \(N\) with \(\lVert T_n-T_m\rVert\le\varepsilon\) for \(n,m\ge N\) . Then \(\lVert T_nx-T_mx\rVert\le\varepsilon\lVert x\rVert\) , and letting \(m\to\infty\) gives
So \(T_N-T\) is bounded, hence \(T=T_N-(T_N-T)\) is bounded, and \(\lVert T_n-T\rVert\le\varepsilon\) for \(n\ge N\) .
The structure of this proof repeats that of Theorem 1.3: a pointwise limit is found first, and a uniform estimate promotes it to a limit in norm. Only completeness of the target was used. The domain may be any normed space, which is why duals are always complete, even the dual of \(c_{00}\) .
A bounded operator \(T:X\to Y\) is called invertible if it is bijective and its inverse is bounded; an invertible operator is also called an isomorphism of normed spaces, and it is an isometry if moreover \(\lVert Tx\rVert=\lVert x\rVert\) for all \(x\) . The kernel \(\ker T=\{x:Tx=0\}\) of a bounded operator is always a closed subspace, being the preimage of the closed set \(\{0\}\) under a continuous map. The range \(\operatorname{ran}T=T(X)\) is a subspace that need not be closed, and Chapter 5 will show that whether it is closed governs whether the inverse is bounded.
2.5 Extension from a dense subspace
Operators are often defined first on a convenient dense subspace, such as polynomials, step functions, or finitely supported sequences, where a formula makes obvious sense. Boundedness lets the definition spread to the whole space.
Theorem 2.6 (extension by continuity). Let \(D\) be a dense subspace of a normed space \(X\) , let \(Y\) be a Banach space, and let \(T_0:D\to Y\) be a bounded linear map. Then there is exactly one bounded operator \(T:X\to Y\) with \(Tx=T_0x\) for \(x\in D\) , and \(\lVert T\rVert=\lVert T_0\rVert\) . If \(T_0\) preserves norms, so does \(T\) .
Proof. Let \(x\in X\) and choose \(d_n\in D\) with \(d_n\to x\) . Then \(\lVert T_0d_n-T_0d_m\rVert\le\lVert T_0\rVert\lVert d_n-d_m\rVert\) , so \((T_0d_n)\) is Cauchy in \(Y\) and converges. The limit does not depend on the sequence: if also \(d_n'\to x\) , then \(\lVert T_0d_n-T_0d_n'\rVert\le\lVert T_0\rVert\lVert d_n-d_n'\rVert\to 0\) . Define \(Tx\) to be this limit. For \(x\in D\) the constant sequence shows \(Tx=T_0x\) . Linearity of \(T\) follows from linearity of \(T_0\) and of limits. Since the norm is continuous,
so \(\lVert T\rVert\le\lVert T_0\rVert\) ; the reverse inequality holds because \(T\) extends \(T_0\) . If \(\lVert T_0d\rVert=\lVert d\rVert\) on \(D\) , the same limit gives \(\lVert Tx\rVert=\lVert x\rVert\) . Uniqueness: two continuous maps that agree on a dense set agree everywhere.
Both hypotheses are needed. Completeness of \(Y\) is what makes the Cauchy sequence \((T_0d_n)\) converge. Boundedness is what makes it Cauchy: the evaluation functional \(f\mapsto f(0)\) is defined on the dense subspace \(C[0,1]\) of \(L^1[0,1]\) , but it is not bounded for \(\lVert\cdot\rVert_1\) (Exercise 15), and indeed “the value at \(0\) ” of an element of \(L^1\) has no meaning.
2.6 Inverting a small perturbation of the identity
For a real number \(t\) with \(\lvert t\rvert<1\) , the geometric series gives \((1-t)^{-1}=\sum_{n\ge 0}t^n\) . In a Banach space the same formula inverts operators.
Theorem 2.7 (Neumann series). Let \(X\) be a Banach space and \(T\in\mathcal B(X)\) with \(\sum_{n=0}^\infty\lVert T^n\rVert<\infty\) . Then \(I-T\) is invertible and
the series converging in the operator norm. The hypothesis holds whenever \(\lVert T\rVert<1\) , and then \(\lVert(I-T)^{-1}\rVert\le(1-\lVert T\rVert)^{-1}\) .
Proof. By Theorem 2.5 the space \(\mathcal B(X)\) is complete, so by the series test (Theorem 1.5) the absolutely convergent series converges to some \(R\in\mathcal B(X)\) . Let \(R_N=\sum_{n=0}^NT^n\) . Then
As \(N\to\infty\) , \(\lVert T^{N+1}\rVert\to 0\) since it is a term of a convergent series, and \((I-T)R_N\to(I-T)R\) because \(\lVert(I-T)(R_N-R)\rVert\le\lVert I-T\rVert\lVert R_N-R\rVert\) . Hence \((I-T)R=R(I-T)=I\) , so \(I-T\) is bijective with bounded inverse \(R\) . If \(\lVert T\rVert<1\) then \(\lVert T^n\rVert\le\lVert T\rVert^n\) and \(\lVert R\rVert\le\sum_n\lVert T\rVert^n=(1-\lVert T\rVert)^{-1}\) .
Corollary 2.8 (invertible operators form an open set). Let \(X\) be a Banach space, \(Y\) a normed space, and \(T\in\mathcal B(X,Y)\) invertible. If \(S\in\mathcal B(X,Y)\) satisfies \(\lVert S-T\rVert<1/\lVert T^{-1}\rVert\) , then \(S\) is invertible.
Proof. Write \(S=T\bigl(I-T^{-1}(T-S)\bigr)\) . The operator \(T^{-1}(T-S)\in\mathcal B(X)\) has norm at most \(\lVert T^{-1}\rVert\lVert T-S\rVert<1\) , so the second factor is invertible by Theorem 2.7, and \(S\) is a product of invertible operators.
Example 2.6: Solving an integral equation by a series
Consider the equation \(f-Vf=g\) in \(C[0,1]\) , that is,
Here \(\lVert V\rVert=1\) , so the simple criterion \(\lVert T\rVert<1\) does not apply. But Example 2.5 gives \(\sum_n\lVert V^n\rVert=\sum_n1/n!=e<\infty\) , and Theorem 2.7 applies in its general form: for every continuous \(g\) there is exactly one continuous solution, \(f=\sum_nV^ng\) , and \(\lVert f\rVert_\infty\le e\lVert g\rVert_\infty\) .
For \(g=1\) the series is \(\sum_nV^n1=\sum_nx^n/n!=e^x\) . Check: \(e^x-\int_0^xe^y\,dy=e^x-(e^x-1)=1\) . The solution has \(\lVert f\rVert_\infty=e\) while \(\lVert g\rVert_\infty=1\) , so the bound \(\lVert(I-V)^{-1}\rVert\le e\) is attained and \(\lVert(I-V)^{-1}\rVert=e\approx 2.718\) . Differentiating the equation shows what has been solved: \(f'-f=g'\) with \(f(0)=g(0)\) , a linear initial value problem. The Neumann series is the method of successive approximations for that problem written in operator language, and Chapter 9 generalises it to nonlinear equations.
2.7 Two ways for operators to converge
Definition 2.9 (norm and strong convergence). A sequence \((T_n)\) in \(\mathcal B(X,Y)\) converges to \(T\) in norm if \(\lVert T_n-T\rVert\to 0\) , and strongly if \(\lVert T_nx-Tx\rVert\to 0\) for every \(x\in X\) .
Convergence in norm implies strong convergence, since \(\lVert T_nx-Tx\rVert\le\lVert T_n-T\rVert\lVert x\rVert\) ; it is uniform convergence on the unit ball, whereas strong convergence is pointwise convergence. In finite dimensions the two coincide. In infinite dimensions the gap between them is the gap between a ball and a compact set.
Example 2.7: Truncations converge strongly and not in norm
On \(\ell^2\) let \(P_nx=(x_1,\dots,x_n,0,0,\dots)\) . For each fixed \(x\) ,
so \(P_n\to I\) strongly. For \(x=(1/k)_{k\ge 1}\) the error after \(n=10\) terms is \((\sum_{k>10}k^{-2})^{1/2}\approx 0.3085\) and after \(n=1000\) terms it is about \(0.0316\) . But the convergence is not uniform over unit vectors: \((I-P_n)e_{n+1}=e_{n+1}\) , so \(\lVert I-P_n\rVert\ge 1\) , and since \(\lVert(I-P_n)x\rVert_2\le\lVert x\rVert_2\) we have \(\lVert I-P_n\rVert=1\) for every \(n\) . The truncations approximate each vector and never approximate the identity operator.
This is one more appearance of Theorem 1.10. If \(P_n\to I\) in norm, the identity would be a norm limit of operators with finite-dimensional range, and the unit ball would be compact. Chapter 9 makes that remark into a definition: the operators that are norm limits of finite-rank operators on \(\ell^2\) are exactly the compact ones.
The dual space \(X^*\) has now been defined for every normed space, and Theorem 2.5 says it is complete. Nothing so far says that it contains anything but \(0\) . For \(\ell^2\) one can write down functionals, such as \(x\mapsto x_k\) . For an arbitrary normed space the existence of even one nonzero bounded functional is a theorem, and it is the subject of the next chapter.
Exercises
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Compute the operator norm of \(A=\begin{pmatrix}1&1\\0&1\end{pmatrix}\) on \(\mathbb R^2\) with respect to \(\lVert\cdot\rVert_1\) , \(\lVert\cdot\rVert_\infty\) , and \(\lVert\cdot\rVert_2\) , and give a unit vector attaining the norm in each case.
Answer
For \(\lVert\cdot\rVert_1\) : column sums \(1\) and \(2\) , so \(\lVert A\rVert=2\) , attained at \(e_2\) . For \(\lVert\cdot\rVert_\infty\) : row sums \(2\) and \(1\) , so \(\lVert A\rVert=2\) , attained at \((1,1)\) . For \(\lVert\cdot\rVert_2\) : \(A^{\top}A=\begin{pmatrix}1&1\\1&2\end{pmatrix}\) has largest eigenvalue \((3+\sqrt5)/2\) , whose square root is the golden ratio, so \(\lVert A\rVert=(1+\sqrt5)/2\approx 1.618\) , attained at the unit vector proportional to \((1,(1+\sqrt5)/2)\) .
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Let \(T:X\to Y\) be a bounded operator with \(X\ne\{0\}\) . Prove that \(\sup_{x\ne 0}\lVert Tx\rVert/\lVert x\rVert\) , \(\sup_{\lVert x\rVert\le 1}\lVert Tx\rVert\) , and \(\sup_{\lVert x\rVert=1}\lVert Tx\rVert\) are equal and equal the smallest constant \(C\) in Definition 2.1.
Hint
Call the three suprema \(a\) , \(b\) , \(c\) in the order listed. Homogeneity gives \(\lVert Tx\rVert/\lVert x\rVert=\lVert T(x/\lVert x\rVert)\rVert\) , so \(a=c\) ; clearly \(c\le b\) ; and for \(0<\lVert x\rVert\le 1\) , \(\lVert Tx\rVert\le\lVert Tx\rVert/\lVert x\rVert\le a\) , so \(b\le a\) . Finally a constant \(C\) is admissible in Definition 2.1 exactly when \(C\ge a\) .
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Let \((d_k)\) be a bounded scalar sequence and \((Dx)_k=d_kx_k\) on \(\ell^2\) . Prove that \(\lVert D\rVert=\sup_k\lvert d_k\rvert\) , and that the norm is attained at some unit vector if and only if the supremum is attained at some index.
Solution
Let \(d=\sup_k\lvert d_k\rvert\) . For every \(x\in\ell^2\) ,
\[ \lVert Dx\rVert_2^2=\sum_k\lvert d_k\rvert^2\lvert x_k\rvert^2\le d^2\sum_k\lvert x_k\rvert^2=d^2\lVert x\rVert_2^2 , \]so \(D\) maps \(\ell^2\) to itself and \(\lVert D\rVert\le d\) . For the lower bound, \(\lVert De_k\rVert_2=\lvert d_k\rvert\) with \(\lVert e_k\rVert_2=1\) , so \(\lVert D\rVert\ge\lvert d_k\rvert\) for every \(k\) , hence \(\lVert D\rVert\ge d\) . Thus \(\lVert D\rVert=d\) .
If the supremum is attained, say \(\lvert d_j\rvert=d\) , then \(e_j\) is a unit vector with \(\lVert De_j\rVert_2=d\) . Conversely suppose \(\lVert Dx\rVert_2=d\) for some unit vector \(x\) . Subtracting,
\[ 0=d^2\lVert x\rVert_2^2-\lVert Dx\rVert_2^2=\sum_k\bigl(d^2-\lvert d_k\rvert^2\bigr)\lvert x_k\rvert^2 . \]Every term is nonnegative, so every term vanishes. Since \(x\ne 0\) there is an index \(k\) with \(x_k\ne 0\) , and for it \(\lvert d_k\rvert=d\) : the supremum is attained. Example 2.3 is the case \(d_k=1-1/k\) , where the supremum \(1\) is not attained by any \(d_k\) .
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Let \(\varphi\in C[0,1]\) and \(M_\varphi f=\varphi f\) on \(C[0,1]\) with the supremum norm. Prove that \(\lVert M_\varphi\rVert=\lVert\varphi\rVert_\infty\) and that the norm is always attained.
Hint
The upper bound is \(\lvert\varphi(x)f(x)\rvert\le\lVert\varphi\rVert_\infty\lVert f\rVert_\infty\) . For the lower bound test on the constant function \(1\) , which belongs to \(C[0,1]\) and has norm \(1\) : \(M_\varphi 1=\varphi\) . The contrast with Example 2.3 is that \(\ell^2\) contains no constant sequence other than \(0\) .
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Find the norms of the functionals \(f\mapsto f(\tfrac12)\) and \(f\mapsto f(0)-f(1)\) on \(C[0,1]\) with the supremum norm, exhibiting in each case a function of norm \(1\) at which the norm is attained.
Answer
The functional \(f\mapsto f(\tfrac12)\) has norm \(1\) , attained at the constant function \(1\) . The functional \(f\mapsto f(0)-f(1)\) satisfies \(\lvert f(0)-f(1)\rvert\le 2\lVert f\rVert_\infty\) and takes the value \(2\) at \(f(x)=1-2x\) , which has norm \(1\) ; its norm is \(2\) .
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Prove that the Volterra operator satisfies \((V^nf)(x)=\int_0^x\frac{(x-t)^{n-1}}{(n-1)!}f(t)\,dt\) for \(n\ge 1\) , and deduce again that \(\lVert V^n\rVert=1/n!\) on \(C[0,1]\) .
Solution
Write \((W_nf)(x)=\int_0^x\frac{(x-t)^{n-1}}{(n-1)!}f(t)\,dt\) . For \(n=1\) this is \(Vf\) . Suppose \(V^n=W_n\) . Then
\[ (V^{n+1}f)(x)=\int_0^x(W_nf)(s)\,ds=\int_0^x\int_0^s\frac{(s-t)^{n-1}}{(n-1)!}f(t)\,dt\,ds . \]The integrand is continuous on the triangle \(0\le t\le s\le x\) , so the order of integration may be exchanged (
math.multivariable-calculus.fubini-continuous): for fixed \(t\) the variable \(s\) runs from \(t\) to \(x\) , and\[ (V^{n+1}f)(x)=\int_0^xf(t)\int_t^x\frac{(s-t)^{n-1}}{(n-1)!}\,ds\,dt=\int_0^x\frac{(x-t)^{n}}{n!}f(t)\,dt=(W_{n+1}f)(x). \]This completes the induction. For the norm, the kernel is nonnegative, so
\[ \lvert V^nf(x)\rvert\le\lVert f\rVert_\infty\int_0^x\frac{(x-t)^{n-1}}{(n-1)!}\,dt=\frac{x^n}{n!}\lVert f\rVert_\infty\le\frac{1}{n!}\lVert f\rVert_\infty , \]which gives \(\lVert V^n\rVert\le 1/n!\) , and \(f=1\) gives \(V^n1=x^n/n!\) with supremum \(1/n!\) . Hence \(\lVert V^n\rVert=1/n!\) .
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Let \((Kf)(x)=\int_0^1xy\,f(y)\,dy\) . Compute \(\lVert K\rVert\) when \(K\) acts on \(C[0,1]\) with the supremum norm, and again when \(K\) acts on \(L^2[0,1]\) , and explain why the two answers differ.
Solution
On \(C[0,1]\) . The kernel \(k(x,y)=xy\) is continuous and nonnegative, so Proposition 2.4 gives
\[ \lVert K\rVert=\max_{0\le x\le 1}\int_0^1xy\,dy=\max_{0\le x\le 1}\frac{x}{2}=\frac12 , \]attained at the constant function \(1\) , for which \(K1=x/2\) .
On \(L^2[0,1]\) . Write \(u(x)=x\) . Then \(Kf=\langle f,u\rangle\,u\) , where \(\langle f,u\rangle=\int_0^1yf(y)\,dy\) . By the Cauchy–Schwarz inequality,
\[ \lVert Kf\rVert_2=\lvert\langle f,u\rangle\rvert\,\lVert u\rVert_2\le\lVert u\rVert_2^2\,\lVert f\rVert_2=\tfrac13\lVert f\rVert_2 , \]because \(\lVert u\rVert_2^2=\int_0^1x^2\,dx=\tfrac13\) . Equality holds for \(f=u/\lVert u\rVert_2=\sqrt3\,x\) . So \(\lVert K\rVert=\tfrac13\) on \(L^2[0,1]\) .
The answers differ because the operator norm depends on the norms of the spaces, not only on the formula. The extremal function for the supremum norm is the constant \(1\) ; in \(L^2\) the constant \(1\) also has norm \(1\) but gives only \(\lVert K1\rVert_2=\lVert x/2\rVert_2=1/(2\sqrt3)\approx 0.289\) , less than \(\tfrac13\) , and the best direction is \(f\) proportional to \(y\) .
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Show that on \(\ell^p\) , \(1\le p\le\infty\) , the right shift is an isometry that is not surjective and the left shift is surjective with \(\lVert L\rVert=1\) and one-dimensional kernel; then explain which theorem of linear algebra forbids such a pair of square matrices.
Hint
For \(p<\infty\) , \(\lVert Sx\rVert_p^p=\sum_k\lvert x_k\rvert^p\) and \(\lVert Lx\rVert_p^p=\lVert x\rVert_p^p-\lvert x_1\rvert^p\) ; for \(p=\infty\) use suprema. \(\ker L\) is spanned by \(e_1\) , and \(L(Sx)=x\) shows \(L\) is onto. For square matrices, the rank and nullity count shows that injective, surjective, and bijective are equivalent, so no matrix can be injective without being surjective.
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On \(c_{00}\) with the norm \(\lVert\cdot\rVert_2\) define \(\sigma(x)=\sum_kx_k\) . A student argues: “\(\lvert\sigma(e_k)\rvert=1\) for every basis vector, so \(\lVert\sigma\rVert=1\) .” Show that \(\sigma\) is in fact unbounded, and state precisely what the student’s computation does prove.
Solution
Let \(u^{(n)}=n^{-1/2}(1,\dots,1,0,0,\dots)\) with \(n\) ones. Then \(u^{(n)}\in c_{00}\) , \(\lVert u^{(n)}\rVert_2=n^{-1/2}\sqrt n=1\) , and
\[ \sigma(u^{(n)})=n\cdot n^{-1/2}=\sqrt n . \]So \(\sup_{\lVert x\rVert_2=1}\lvert\sigma(x)\rvert\ge\sqrt n\) for every \(n\) , and \(\sigma\) is unbounded. What the student computed is that \(\lvert\sigma(x)\rvert=1\) at the particular unit vectors \(x=e_k\) . That proves the lower bound \(\lVert\sigma\rVert\ge 1\) and nothing more. An upper bound requires an inequality \(\lvert\sigma(x)\rvert\le C\lVert x\rVert_2\) for all \(x\) , and none exists. The underlying misconception is that a linear map is controlled by its values on a basis; that is true algebraically, since those values determine the map, but the norm of a combination \(\sum_ka_ke_k\) is \((\sum_k\lvert a_k\rvert^2)^{1/2}\) , which can be much smaller than \(\sum_k\lvert a_k\rvert\) , and the functional adds the coefficients without any such saving.
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Let \(f\) be a linear functional on a normed space \(X\) . Prove that \(f\) is bounded if and only if \(\ker f\) is closed.
Solution
If \(f\) is bounded it is continuous by Theorem 2.2, and \(\ker f\) is the preimage of the closed set \(\{0\}\) , hence closed.
For the converse we prove the contrapositive. Suppose \(f\) is not bounded; in particular \(f\ne 0\) , so there is \(x_0\) with \(f(x_0)=1\) . Unboundedness gives, for each \(n\) , a vector \(x_n\) with \(\lVert x_n\rVert\le 1\) and \(\lvert f(x_n)\rvert\ge n\) . Put
\[ z_n=x_0-\frac{x_n}{f(x_n)} . \]Then \(f(z_n)=1-1=0\) , so \(z_n\in\ker f\) , and \(\lVert z_n-x_0\rVert=\lVert x_n\rVert/\lvert f(x_n)\rvert\le 1/n\to 0\) . Thus \(x_0\) is a limit of elements of \(\ker f\) , but \(x_0\notin\ker f\) since \(f(x_0)=1\) . So \(\ker f\) is not closed. The argument shows more: every \(x_0\) with \(f(x_0)=1\) , and hence by scaling every vector, lies in the closure of \(\ker f\) . The kernel of an unbounded functional is dense.
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Let \(\mathcal P_1\) be the polynomials of degree at most \(1\) on \([0,1]\) with the supremum norm. Show that the derivative \(D:\mathcal P_1\to\mathcal P_1\) has \(\lVert D\rVert=2\) and find a polynomial attaining it.
Answer
For \(p(x)=a+bx\) we have \(\lVert p\rVert_\infty=\max\{\lvert a\rvert,\lvert a+b\rvert\}\) and \(\lVert Dp\rVert_\infty=\lvert b\rvert\le\lvert a\rvert+\lvert a+b\rvert\le 2\lVert p\rVert_\infty\) . Equality holds for \(p(x)=1-2x\) , which has \(\lVert p\rVert_\infty=1\) and \(\lVert Dp\rVert_\infty=2\) . So \(\lVert D\rVert=2\) .
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On \(\ell^2\) let \(T=\tfrac12S\) , where \(S\) is the right shift. Use the Neumann series to compute \(x=(I-T)^{-1}e_1\) , find \(\lVert x\rVert_2\) , and compare it with the bound of Theorem 2.7.
Solution
Since \(\lVert T\rVert=\tfrac12\lVert S\rVert=\tfrac12<1\) , Theorem 2.7 gives \((I-T)^{-1}=\sum_{n\ge 0}T^n\) with \(\lVert(I-T)^{-1}\rVert\le(1-\tfrac12)^{-1}=2\) . Now \(T^ne_1=2^{-n}S^ne_1=2^{-n}e_{n+1}\) , so
\[ x=(I-T)^{-1}e_1=\sum_{n=0}^\infty2^{-n}e_{n+1}=\bigl(1,\tfrac12,\tfrac14,\tfrac18,\dots\bigr). \]Check: \(Tx=\tfrac12Sx=(0,\tfrac12,\tfrac14,\dots)\) , so \(x-Tx=(1,0,0,\dots)=e_1\) . Its norm is
\[ \lVert x\rVert_2=\Bigl(\sum_{n=0}^\infty4^{-n}\Bigr)^{1/2}=\sqrt{\tfrac43}=\frac{2}{\sqrt3}\approx 1.1547 . \]The theorem’s bound is \(\lVert x\rVert_2\le 2\lVert e_1\rVert_2=2\) , which holds with room to spare. The bound \(2\) is sharp for the operator all the same: applying \((I-T)^{-1}\) to unit vectors close to multiples of \((1,1,\dots,1,0,\dots)\) produces norms approaching \(2\) , because the terms \(T^n\) then reinforce one another, whereas for \(e_1\) they land in orthogonal coordinates.
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Let \(X\) be a Banach space and \(T\in\mathcal B(X)\) invertible. Prove that if \(\lVert S-T\rVert\le\tfrac12\lVert T^{-1}\rVert^{-1}\) then \(\lVert S^{-1}\rVert\le 2\lVert T^{-1}\rVert\) and \(\lVert S^{-1}-T^{-1}\rVert\le 2\lVert T^{-1}\rVert^2\lVert S-T\rVert\) , so that inversion is continuous.
Hint
Put \(E=T^{-1}(T-S)\) , so \(S=T(I-E)\) with \(\lVert E\rVert\le\tfrac12\) . Then \(S^{-1}=(I-E)^{-1}T^{-1}\) and Theorem 2.7 bounds \(\lVert(I-E)^{-1}\rVert\) by \(2\) . For the second estimate use the identity \(S^{-1}-T^{-1}=S^{-1}(T-S)T^{-1}\) .
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Show that the powers \(L^n\) of the left shift on \(\ell^2\) converge strongly to \(0\) while \(\lVert L^n\rVert=1\) for all \(n\) , and that the powers \(S^n\) of the right shift do not converge strongly to any operator.
Solution
For \(x\in\ell^2\) , \(L^nx=(x_{n+1},x_{n+2},\dots)\) , so
\[ \lVert L^nx\rVert_2^2=\sum_{k>n}\lvert x_k\rvert^2 , \]the tail of a convergent series, which tends to \(0\) . Hence \(L^n\to 0\) strongly. On the other hand \(\lVert L^n\rVert\le\lVert L\rVert^n=1\) and \(L^ne_{n+1}=e_1\) , so \(\lVert L^n\rVert=1\) for every \(n\) ; the convergence is not in norm.
For the right shift, suppose \(S^n\to R\) strongly for some operator \(R\) . Then in particular \(S^ne_1=e_{n+1}\) would converge in \(\ell^2\) . But \(\lVert e_{n+1}-e_{m+1}\rVert_2=\sqrt2\) for \(n\ne m\) , so the sequence \((e_{n+1})\) is not Cauchy and cannot converge. Hence \((S^n)\) has no strong limit. The two shifts behave differently because \(L^n\) discards coordinates, pushing the mass of each fixed vector out of the space, whereas \(S^n\) is an isometry that carries each vector, undiminished, off toward coordinates of ever higher index.
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Show that \(f\mapsto\int_0^1f\) is a bounded functional of norm \(1\) on \((C[0,1],\lVert\cdot\rVert_1)\) , and that \(f\mapsto f(0)\) is unbounded on the same space by testing it on \(h_n(x)=\max\{0,1-nx\}\) . What does Theorem 2.6 say about each?
Hint
\(\lvert\int_0^1f\rvert\le\lVert f\rVert_1\) with equality for \(f=1\) . For the evaluation, \(h_n(0)=1\) while \(\lVert h_n\rVert_1=1/(2n)\) . Theorem 2.6 extends the integral uniquely to a functional of norm \(1\) on the completion \(L^1[0,1]\) , and gives nothing for evaluation at \(0\) because the boundedness hypothesis fails.
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Let \(Y\) be a normed space that is not complete and \(X\ne\{0\}\) a normed space on which a nonzero bounded functional \(\varphi\) exists. Show that \(\mathcal B(X,Y)\) is not complete, using operators of the form \(x\mapsto\varphi(x)y_n\) .
Solution
Since \(Y\) is not complete there is a Cauchy sequence \((y_n)\) in \(Y\) with no limit in \(Y\) . Define \(T_n:X\to Y\) by \(T_nx=\varphi(x)y_n\) . Each \(T_n\) is linear, and \(\lVert T_nx\rVert=\lvert\varphi(x)\rvert\lVert y_n\rVert\le\lVert\varphi\rVert\lVert y_n\rVert\lVert x\rVert\) , so \(T_n\in\mathcal B(X,Y)\) . In the same way
\[ \lVert T_n-T_m\rVert=\sup_{\lVert x\rVert\le 1}\lvert\varphi(x)\rvert\,\lVert y_n-y_m\rVert=\lVert\varphi\rVert\,\lVert y_n-y_m\rVert , \]which tends to \(0\) as \(n,m\to\infty\) . So \((T_n)\) is a Cauchy sequence in \(\mathcal B(X,Y)\) .
Suppose it converged in operator norm to some \(T\in\mathcal B(X,Y)\) . Because \(\varphi\ne 0\) there is \(x_0\in X\) with \(\varphi(x_0)=1\) . Convergence in norm implies convergence at each vector, so \(y_n=T_nx_0\to Tx_0\) , and \(Tx_0\) is an element of \(Y\) . That contradicts the choice of \((y_n)\) . Hence \((T_n)\) has no limit and \(\mathcal B(X,Y)\) is not complete. Together with Theorem 2.5 this shows that, whenever \(X\) carries a nonzero bounded functional, \(\mathcal B(X,Y)\) is complete exactly when \(Y\) is; by the Hahn–Banach theorem of Chapter 3 every nonzero normed space carries such a functional.
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Let \(T:X\to Y\) be an isomorphism of normed spaces. Prove that \(X\) is complete if and only if \(Y\) is, and that \(\lVert x\rVert'=\lVert Tx\rVert\) is a norm on \(X\) equivalent to the original one.
Hint
If \((y_n)\) is Cauchy in \(Y\) then \((T^{-1}y_n)\) is Cauchy in \(X\) because \(T^{-1}\) is bounded; apply \(T\) to its limit. For the norms, \(\lVert Tx\rVert\le\lVert T\rVert\lVert x\rVert\) and \(\lVert x\rVert=\lVert T^{-1}Tx\rVert\le\lVert T^{-1}\rVert\lVert Tx\rVert\) .
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Let \((Tf)(x)=xf(x)+\int_0^xf(y)\,dy\) on \(C[0,1]\) with the supremum norm. Find \(\lVert T\rVert\) exactly, justifying both the upper and the lower bound.
Answer
\(\lVert T\rVert=2\) . Upper bound: \(\lvert Tf(x)\rvert\le x\lVert f\rVert_\infty+x\lVert f\rVert_\infty\le 2\lVert f\rVert_\infty\) . Lower bound: \(T1=2x\) , with supremum \(2\) .
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Solve \(f(x)-\int_0^xf(y)\,dy=x\) in \(C[0,1]\) by summing the Neumann series \(\sum_nV^ng\) for \(g(x)=x\) , and verify the answer by substitution.
Solution
By Exercise 6 with \(f=g\) , or by direct integration, \(Vg=x^2/2\) , \(V^2g=x^3/6\) , and in general \(V^ng=x^{n+1}/(n+1)!\) : if \(V^ng=x^{n+1}/(n+1)!\) then \(V^{n+1}g=\int_0^xy^{n+1}/(n+1)!\,dy=x^{n+2}/(n+2)!\) . Theorem 2.7 applies because \(\sum_n\lVert V^n\rVert=e<\infty\) , and the unique solution is
\[ f(x)=\sum_{n=0}^{\infty}\frac{x^{n+1}}{(n+1)!}=e^x-1 . \]Verification: \(\int_0^x(e^y-1)\,dy=e^x-1-x\) , so \(f(x)-\int_0^xf(y)\,dy=(e^x-1)-(e^x-1-x)=x\) , as required. The series converges uniformly on \([0,1]\) , which is what convergence in \(C[0,1]\) means, and \(\lVert f\rVert_\infty=e-1\approx 1.718\) is consistent with the bound \(\lVert f\rVert_\infty\le e\,\lVert g\rVert_\infty=e\) . Differentiating the equation gives the initial value problem \(f'-f=1\) , \(f(0)=0\) , whose solution by an integrating factor is again \(e^x-1\) ; the Neumann series has reproduced the Taylor series of that solution term by term.