Linear algebra. hefferon

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Transcript of Linear algebra. hefferon
Linear Algebra
∣∣∣∣1 23 1
∣∣∣∣
∣∣∣∣x · 1 2x · 3 1
∣∣∣∣
∣∣∣∣6 28 1
∣∣∣∣
Jim Hefferon
Notation
R real numbersN natural numbers: {0, 1, 2, . . . }C complex numbers
{. . .∣∣ . . . } set of . . . such that . . .〈. . . 〉 sequence; like a set but order matters
V,W,U vector spaces~v, ~w vectors~0, ~0V zero vector, zero vector of VB,D bases
En = 〈~e1, . . . , ~en〉 standard basis for Rn~β,~δ basis vectors
RepB(~v) matrix representing the vectorPn set of nth degree polynomials
Mn×m set of n×m matrices[S] span of the set S
M ⊕N direct sum of subspacesV ∼= W isomorphic spaces
h, g homomorphismsH,G matricest, s transformations; maps from a space to itselfT, S square matrices
RepB,D(h) matrix representing the map hhi,j matrix entry from row i, column jT  determinant of the matrix T
R(h),N (h) rangespace and nullspace of the map hR∞(h),N∞(h) generalized rangespace and nullspace
Lower case Greek alphabet
name symbol name symbol name symbolalpha α iota ι rho ρbeta β kappa κ sigma σgamma γ lambda λ tau τdelta δ mu µ upsilon υepsilon ε nu ν phi φzeta ζ xi ξ chi χeta η omicron o psi ψtheta θ pi π omega ω
Cover. This is Cramer’s Rule applied to the system x+ 2y = 6, 3x+ y = 8. The area
of the first box is the determinant shown. The area of the second box is x times that,
and equals the area of the final box. Hence, x is the final determinant divided by the
first determinant.
Preface
In most mathematics programs linear algebra is taken in the first or secondyear, following or along with at least one course in calculus. While the locationof this course is stable, lately the content has been under discussion. Some instructors have experimented with varying the traditional topics, trying coursesfocused on applications, or on the computer. Despite this (entirely healthy)debate, most instructors are still convinced, I think, that the right core materialis vector spaces, linear maps, determinants, and eigenvalues and eigenvectors.Applications and computations certainly can have a part to play but most mathematicians agree that the themes of the course should remain unchanged.
Not that all is fine with the traditional course. Most of us do think thatthe standard text type for this course needs to be reexamined. Elementarytexts have traditionally started with extensive computations of linear reduction,matrix multiplication, and determinants. These take up half of the course.Finally, when vector spaces and linear maps appear, and definitions and proofsstart, the nature of the course takes a sudden turn. In the past, the computationdrill was there because, as future practitioners, students needed to be fast andaccurate with these. But that has changed. Being a whiz at 5×5 determinantsjust isn’t important anymore. Instead, the availability of computers gives us anopportunity to move toward a focus on concepts.
This is an opportunity that we should seize. The courses at the start ofmost mathematics programs work at having students correctly apply formulasand algorithms, and imitate examples. Later courses require some mathematicalmaturity: reasoning skills that are developed enough to follow different typesof proofs, a familiarity with the themes that underly many mathematical investigations like elementary set and function facts, and an ability to do someindependent reading and thinking, Where do we work on the transition?
Linear algebra is an ideal spot. It comes early in a program so that progressmade here pays off later. The material is straightforward, elegant, and accessible. The students are serious about mathematics, often majors and minors.There are a variety of argument styles—proofs by contradiction, if and only ifstatements, and proofs by induction, for instance—and examples are plentiful.
The goal of this text is, along with the development of undergraduate linearalgebra, to help an instructor raise the students’ level of mathematical sophistication. Most of the differences between this book and others follow straightfrom that goal.
One consequence of this goal of development is that, unlike in many computational texts, all of the results here are proved. On the other hand, in contrastwith more abstract texts, many examples are given, and they are often quitedetailed.
Another consequence of the goal is that while we start with a computationaltopic, linear reduction, from the first we do more than just compute. Thesolution of linear systems is done quickly but it is also done completely, proving
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everything (really these proofs are just verifications), all the way through theuniqueness of reduced echelon form. In particular, in this first chapter, theopportunity is taken to present a few induction proofs, where the argumentsjust go over bookkeeping details, so that when induction is needed later (e.g., toprove that all bases of a finite dimensional vector space have the same numberof members), it will be familiar.
Still another consequence is that the second chapter immediately uses thisbackground as motivation for the definition of a real vector space. This typicallyoccurs by the end of the third week. We do not stop to introduce matrixmultiplication and determinants as rote computations. Instead, those topicsappear naturally in the development, after the definition of linear maps.
To help students make the transition from earlier courses, the presentationhere stresses motivation and naturalness. An example is the third chapter,on linear maps. It does not start with the definition of homomorphism, asis the case in other books, but with the definition of isomorphism. That’sbecause this definition is easily motivated by the observation that some spacesare just like each other. After that, the next section takes the reasonable step ofdefining homomorphisms by isolating the operationpreservation idea. A littlemathematical slickness is lost, but it is in return for a large gain in sensibilityto students.
Having extensive motivation in the text helps with time pressures. I askstudents to, before each class, look ahead in the book, and they follow theclasswork better because they have some prior exposure to the material. Forexample, I can start the linear independence class with the definition because Iknow students have some idea of what it is about. No book can take the placeof an instructor, but a helpful book gives the instructor more class time forexamples and questions.
Much of a student’s progress takes place while doing the exercises; the exercises here work with the rest of the text. Besides computations, there are manyproofs. These are spread over an approachability range, from simple checksto some much more involved arguments. There are even a few exercises thatare reasonably challenging puzzles taken, with citation, from various journals,competitions, or problems collections (as part of the fun of these, the originalwording has been retained as much as possible). In total, the questions areaimed to both build an ability at, and help students experience the pleasure of,doing mathematics.
Applications, and Computers. The point of view taken here, that linearalgebra is about vector spaces and linear maps, is not taken to the exclusionof all other ideas. Applications, and the emerging role of the computer, areinteresting, important, and vital aspects of the subject. Consequently, everychapter closes with a few application or computerrelated topics. Some of thetopics are: network flows, the speed and accuracy of computer linear reductions,Leontief Input/Output analysis, dimensional analysis, Markov chains, votingparadoxes, analytic projective geometry, and solving difference equations.
These are brief enough to be done in a day’s class or to be given as indepen
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dent projects for individuals or small groups. Most simply give a reader a feelfor the subject, discuss how linear algebra comes in, point to some accessiblefurther reading, and give a few exercises. I have kept the exposition lively andgiven an overall sense of breadth of application. In short, these topics invitereaders to see for themselves that linear algebra is a tool that a professionalmust have.For people reading this book on their own. The emphasis on motivationand development make this book a good choice for selfstudy. While a professional mathematician knows what pace and topics suit a class, perhaps anindependent student would find some advice helpful. Here are two timetablesfor a semester. The first focuses on core material.
week Mon. Wed. Fri.1 1.I.1 1.I.1, 2 1.I.2, 32 1.I.3 1.II.1 1.II.23 1.III.1, 2 1.III.2 2.I.14 2.I.2 2.II 2.III.15 2.III.1, 2 2.III.2 exam6 2.III.2, 3 2.III.3 3.I.17 3.I.2 3.II.1 3.II.28 3.II.2 3.II.2 3.III.19 3.III.1 3.III.2 3.IV.1, 2
10 3.IV.2, 3, 4 3.IV.4 exam11 3.IV.4, 3.V.1 3.V.1, 2 4.I.1, 212 4.I.3 4.II 4.II13 4.III.1 5.I 5.II.114 5.II.2 5.II.3 review
The second timetable is more ambitious (it presupposes 1.II, the elements ofvectors, usually covered in third semester calculus).
week Mon. Wed. Fri.1 1.I.1 1.I.2 1.I.32 1.I.3 1.III.1, 2 1.III.23 2.I.1 2.I.2 2.II4 2.III.1 2.III.2 2.III.35 2.III.4 3.I.1 exam6 3.I.2 3.II.1 3.II.27 3.III.1 3.III.2 3.IV.1, 28 3.IV.2 3.IV.3 3.IV.49 3.V.1 3.V.2 3.VI.1
10 3.VI.2 4.I.1 exam11 4.I.2 4.I.3 4.I.412 4.II 4.II, 4.III.1 4.III.2, 313 5.II.1, 2 5.II.3 5.III.114 5.III.2 5.IV.1, 2 5.IV.2
See the table of contents for the titles of these subsections.
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For guidance, in the table of contents I have marked some subsections asoptional if, in my opinion, some instructors will pass over them in favor ofspending more time elsewhere. These subsections can be dropped or added, asdesired. You might also adjust the length of your study by picking one or twoTopics that appeal to you from the end of each chapter. You’ll probably getmore out of these if you have access to computer software that can do the bigcalculations.
Do many exercises. (The answers are available.) I have marked a good sample with X’s. Be warned about the exercises, however, that few inexperiencedpeople can write correct proofs. Try to find a knowledgeable person to workwith you on this aspect of the material.
Finally, if I may, a caution: I cannot overemphasize how much the statement(which I sometimes hear), “I understand the material, but it’s only that I can’tdo any of the problems.” reveals a lack of understanding of what we are upto. Being able to do particular things with the ideas is the entire point. Thequote below expresses this sentiment admirably, and captures the essence ofthis book’s approach. It states what I believe is the key to both the beauty andthe power of mathematics and the sciences in general, and of linear algebra inparticular.
I know of no better tacticthan the illustration of exciting principles
by wellchosen particulars.–Stephen Jay Gould
Jim HefferonSaint Michael’s CollegeColchester, Vermont [email protected] 20, 2000
Author’s Note. Inventing a good exercise, one that enlightens as well as tests,is a creative act, and hard work (at least half of the the effort on this texthas gone into exercises and solutions). The inventor deserves recognition. But,somehow, the tradition in texts has been to not give attributions for questions.I have changed that here where I was sure of the source. I would greatly appreciate hearing from anyone who can help me to correctly attribute others of thequestions. They will be incorporated into later versions of this book.
iv
Contents
1 Linear Systems 11.I Solving Linear Systems . . . . . . . . . . . . . . . . . . . . . . . . 11.I.1 Gauss’ Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.I.2 Describing the Solution Set . . . . . . . . . . . . . . . . . . . . 111.I.3 General = Particular + Homogeneous . . . . . . . . . . . . . . 20
1.II Linear Geometry of nSpace . . . . . . . . . . . . . . . . . . . . . . 321.II.1 Vectors in Space . . . . . . . . . . . . . . . . . . . . . . . . . . 321.II.2 Length and Angle Measures∗ . . . . . . . . . . . . . . . . . . . 38
1.III Reduced Echelon Form . . . . . . . . . . . . . . . . . . . . . . . . 451.III.1 GaussJordan Reduction . . . . . . . . . . . . . . . . . . . . . . 451.III.2 Row Equivalence . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Topic: Computer Algebra Systems . . . . . . . . . . . . . . . . . . . . . 61Topic: InputOutput Analysis . . . . . . . . . . . . . . . . . . . . . . . 63Topic: Accuracy of Computations . . . . . . . . . . . . . . . . . . . . . 67Topic: Analyzing Networks . . . . . . . . . . . . . . . . . . . . . . . . . 72
2 Vector Spaces 792.I Definition of Vector Space . . . . . . . . . . . . . . . . . . . . . . . 802.I.1 Definition and Examples . . . . . . . . . . . . . . . . . . . . . . 802.I.2 Subspaces and Spanning Sets . . . . . . . . . . . . . . . . . . . 91
2.II Linear Independence . . . . . . . . . . . . . . . . . . . . . . . . . . 1022.II.1 Definition and Examples . . . . . . . . . . . . . . . . . . . . . . 102
2.III Basis and Dimension . . . . . . . . . . . . . . . . . . . . . . . . . . 1132.III.1 Basis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1132.III.2 Dimension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1192.III.3 Vector Spaces and Linear Systems . . . . . . . . . . . . . . . . 1242.III.4 Combining Subspaces∗ . . . . . . . . . . . . . . . . . . . . . . . 131
Topic: Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141Topic: Crystals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143Topic: Voting Paradoxes . . . . . . . . . . . . . . . . . . . . . . . . . . 147Topic: Dimensional Analysis . . . . . . . . . . . . . . . . . . . . . . . . 152
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3 Maps Between Spaces 1593.I Isomorphisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1593.I.1 Definition and Examples . . . . . . . . . . . . . . . . . . . . . . 1593.I.2 Dimension Characterizes Isomorphism . . . . . . . . . . . . . . 169
3.II Homomorphisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1763.II.1 Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1763.II.2 Rangespace and Nullspace . . . . . . . . . . . . . . . . . . . . . 184
3.III Computing Linear Maps . . . . . . . . . . . . . . . . . . . . . . . . 1943.III.1 Representing Linear Maps with Matrices . . . . . . . . . . . . 1943.III.2 Any Matrix Represents a Linear Map∗ . . . . . . . . . . . . . . 204
3.IV Matrix Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . 2113.IV.1 Sums and Scalar Products . . . . . . . . . . . . . . . . . . . . . 2113.IV.2 Matrix Multiplication . . . . . . . . . . . . . . . . . . . . . . . 2143.IV.3 Mechanics of Matrix Multiplication . . . . . . . . . . . . . . . . 2213.IV.4 Inverses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
3.V Change of Basis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2383.V.1 Changing Representations of Vectors . . . . . . . . . . . . . . . 2383.V.2 Changing Map Representations . . . . . . . . . . . . . . . . . . 242
3.VI Projection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2503.VI.1 Orthogonal Projection Into a Line∗ . . . . . . . . . . . . . . . . 2503.VI.2 GramSchmidt Orthogonalization∗ . . . . . . . . . . . . . . . . 2553.VI.3 Projection Into a Subspace∗ . . . . . . . . . . . . . . . . . . . . 260
Topic: Line of Best Fit . . . . . . . . . . . . . . . . . . . . . . . . . . . 269Topic: Geometry of Linear Maps . . . . . . . . . . . . . . . . . . . . . . 274Topic: Markov Chains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280Topic: Orthonormal Matrices . . . . . . . . . . . . . . . . . . . . . . . . 286
4 Determinants 2934.I Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2944.I.1 Exploration∗ . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2944.I.2 Properties of Determinants . . . . . . . . . . . . . . . . . . . . 2994.I.3 The Permutation Expansion . . . . . . . . . . . . . . . . . . . . 3034.I.4 Determinants Exist∗ . . . . . . . . . . . . . . . . . . . . . . . . 312
4.II Geometry of Determinants . . . . . . . . . . . . . . . . . . . . . . 3194.II.1 Determinants as Size Functions . . . . . . . . . . . . . . . . . . 319
4.III Other Formulas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3264.III.1 Laplace’s Expansion∗ . . . . . . . . . . . . . . . . . . . . . . . 326
Topic: Cramer’s Rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331Topic: Speed of Calculating Determinants . . . . . . . . . . . . . . . . . 334Topic: Projective Geometry . . . . . . . . . . . . . . . . . . . . . . . . . 337
5 Similarity 3475.I Complex Vector Spaces . . . . . . . . . . . . . . . . . . . . . . . . 3475.I.1 Factoring and Complex Numbers; A Review∗ . . . . . . . . . . 3485.I.2 Complex Representations . . . . . . . . . . . . . . . . . . . . . 350
5.II Similarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
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5.II.1 Definition and Examples . . . . . . . . . . . . . . . . . . . . . . 3515.II.2 Diagonalizability . . . . . . . . . . . . . . . . . . . . . . . . . . 3535.II.3 Eigenvalues and Eigenvectors . . . . . . . . . . . . . . . . . . . 357
5.III Nilpotence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3655.III.1 SelfComposition∗ . . . . . . . . . . . . . . . . . . . . . . . . . 3655.III.2 Strings∗ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
5.IV Jordan Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3795.IV.1 Polynomials of Maps and Matrices∗ . . . . . . . . . . . . . . . 3795.IV.2 Jordan Canonical Form∗ . . . . . . . . . . . . . . . . . . . . . . 386
Topic: Computing Eigenvalues—the Method of Powers . . . . . . . . . 399Topic: Stable Populations . . . . . . . . . . . . . . . . . . . . . . . . . . 403Topic: Linear Recurrences . . . . . . . . . . . . . . . . . . . . . . . . . 405
Appendix A1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A1Propositions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A1Quantifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A3Techniques of Proof . . . . . . . . . . . . . . . . . . . . . . . . . . . . A5Sets, Functions, and Relations . . . . . . . . . . . . . . . . . . . . . . . A6
∗Note: starred subsections are optional.
vii
Chapter 1
Linear Systems
1.I Solving Linear Systems
Systems of linear equations are common in science and mathematics. These twoexamples from high school science [Onan] give a sense of how they arise.
The first example is from Physics. Suppose that we are given three objects,one with a mass of 2 kg, and are asked to find the unknown masses. Supposefurther that experimentation with a meter stick produces these two balances.
ch 2
15
40 50
c h2
25 50
25
Now, since the sum of moments on the left of each balance equals the sum ofmoments on the right (the moment of an object is its mass times its distancefrom the balance point), the two balances give this system of two equations.
40h+ 15c = 10025c = 50 + 50h
The second example of a linear system is from Chemistry. We can mix,under controlled conditions, toluene C7H8 and nitric acid HNO3 to producetrinitrotoluene C7H5O6N3 along with the byproduct water (conditions have tobe controlled very well, indeed — trinitrotoluene is better known as TNT). Inwhat proportion should those components be mixed? The number of atoms ofeach element present before the reaction
xC7H8 + yHNO3 −→ zC7H5O6N3 + wH2O
must equal the number present afterward. Applying that principle to the elements C, H, N, and O in turn gives this system.
7x = 7z8x+ 1y = 5z + 2w
1y = 3z3y = 6z + 1w
1
2 Chapter 1. Linear Systems
To finish each of these examples requires solving a system of equations. Ineach, the equations involve only the first power of the variables. This chaptershows how to solve any such system.
1.I.1 Gauss’ Method
1.1 Definition A linear equation in variables x1, x2, . . . , xn has the form
a1x1 + a2x2 + a3x3 + · · ·+ anxn = d
where the numbers a1, . . . , an ∈ R are the equation’s coefficients and d ∈ R isthe constant. An ntuple (s1, s2, . . . , sn) ∈ Rn is a solution of, or satisfies, thatequation if substituting the numbers s1, . . . , sn for the variables gives a truestatement: a1s1 + a2s2 + . . .+ ansn = d.
A system of linear equations
a1,1x1 + a1,2x2 + · · ·+ a1,nxn = d1
a2,1x1 + a2,2x2 + · · ·+ a2,nxn = d2
...am,1x1 + am,2x2 + · · ·+ am,nxn = dm
has the solution (s1, s2, . . . , sn) if that ntuple is a solution of all of the equationsin the system.
1.2 Example The ordered pair (−1, 5) is a solution of this system.
3x1 + 2x2 = 7−x1 + x2 = 6
In contrast, (5,−1) is not a solution.
Finding the set of all solutions is solving the system. No guesswork or goodfortune is needed to solve a linear system. There is an algorithm that alwaysworks. The next example introduces that algorithm, called Gauss’ method. Ittransforms the system, step by step, into one with a form that is easily solved.
1.3 Example To solve this system
3x3 = 9x1 + 5x2 − 2x3 = 2
13x1 + 2x2 = 3
Section I. Solving Linear Systems 3
we repeatedly transform it until it is in a form that is easy to solve.
swap row 1 with row 3−→13x1 + 2x2 = 3x1 + 5x2 − 2x3 = 2
3x3 = 9
multiply row 1 by 3−→x1 + 6x2 = 9x1 + 5x2 − 2x3 = 2
3x3 = 9
add −1 times row 1 to row 2−→x1 + 6x2 = 9
−x2 − 2x3 =−73x3 = 9
The third step is the only nontrivial one. We’ve mentally multiplied both sidesof the first row by −1, mentally added that to the old second row, and writtenthe result in as the new second row.
Now we can find the value of each variable. The bottom equation showsthat x3 = 3. Substituting 3 for x3 in the middle equation shows that x2 = 1.Substituting those two into the top equation gives that x1 = 3 and so the systemhas a unique solution: the solution set is { (3, 1, 3) }.
Most of this subsection and the next one consists of examples of solvinglinear systems by Gauss’ method. We will use it throughout this book. It isfast and easy. But, before we get to those examples, we will first show thatthis method is also safe in that it never loses solutions or picks up extraneoussolutions.
1.4 Theorem (Gauss’ method) If a linear system is changed to another byone of these operations
(1) an equation is swapped with another
(2) an equation has both sides multiplied by a nonzero constant
(3) an equation is replaced by the sum of itself and a multiple of another
then the two systems have the same set of solutions.
Each of those three operations has a restriction. Multiplying a row by 0 isnot allowed because obviously that can change the solution set of the system.Similarly, adding a multiple of a row to itself is not allowed because adding −1times the row to itself has the effect of multiplying the row by 0. Finally, swapping a row with itself is disallowed to make some results in the fourth chaptereasier to state and remember (and besides, selfswapping doesn’t accomplishanything).
Proof. We will cover the equation swap operation here and save the other twocases for Exercise 29.
4 Chapter 1. Linear Systems
Consider this swap of row i with row j.
a1,1x1 + a1,2x2 + · · · a1,nxn = d1...
ai,1x1 + ai,2x2 + · · · ai,nxn = di...
aj,1x1 + aj,2x2 + · · · aj,nxn = dj...
am,1x1 + am,2x2 + · · · am,nxn = dm
−→
a1,1x1 + a1,2x2 + · · · a1,nxn = d1...
aj,1x1 + aj,2x2 + · · · aj,nxn = dj...
ai,1x1 + ai,2x2 + · · · ai,nxn = di...
am,1x1 + am,2x2 + · · · am,nxn = dm
The ntuple (s1, . . . , sn) satisfies the system before the swap if and only ifsubstituting the values, the s’s, for the variables, the x’s, gives true statements:a1,1s1+a1,2s2+· · ·+a1,nsn = d1 and . . . ai,1s1+ai,2s2+· · ·+ai,nsn = di and . . .aj,1s1 +aj,2s2 + · · ·+aj,nsn = dj and . . . am,1s1 +am,2s2 + · · ·+am,nsn = dm.
In a requirement consisting of statements anded together we can rearrangethe order of the statements, so that this requirement is met if and only if a1,1s1+a1,2s2 + · · · + a1,nsn = d1 and . . . aj,1s1 + aj,2s2 + · · · + aj,nsn = dj and . . .ai,1s1 + ai,2s2 + · · ·+ ai,nsn = di and . . . am,1s1 + am,2s2 + · · ·+ am,nsn = dm.This is exactly the requirement that (s1, . . . , sn) solves the system after the rowswap. QED
1.5 Definition The three operations from Theorem 1.4 are the elementary reduction operations, or row operations, or Gaussian operations. They are swapping, multiplying by a scalar or rescaling, and pivoting.
When writing out the calculations, we will abbreviate ‘row i’ by ‘ρi’. Forinstance, we will denote a pivot operation by kρi + ρj , with the row that ischanged written second. We will also, to save writing, often list pivot stepstogether when they use the same ρi.
1.6 Example A typical use of Gauss’ method is to solve this system.
x+ y = 02x− y + 3z = 3x− 2y − z = 3
The first transformation of the system involves using the first row to eliminatethe x in the second row and the x in the third. To get rid of the second row’s2x, we multiply the entire first row by −2, add that to the second row, andwrite the result in as the new second row. To get rid of the third row’s x, wemultiply the first row by −1, add that to the third row, and write the result inas the new third row.
−ρ1+ρ3−→−2ρ1+ρ2
x+ y = 0−3y + 3z = 3−3y − z = 3
(Note that the two ρ1 steps −2ρ1 + ρ2 and −ρ1 + ρ3 are written as one operation.) In this second system, the last two equations involve only two unknowns.
Section I. Solving Linear Systems 5
To finish we transform the second system into a third system, where the lastequation involves only one unknown. This transformation uses the second rowto eliminate y from the third row.
−ρ2+ρ3−→x+ y = 0−3y + 3z = 3
−4z = 0
Now we are set up for the solution. The third row shows that z = 0. Substitutethat back into the second row to get y = −1, and then substitute back into thefirst row to get x = 1.
1.7 Example For the Physics problem from the start of this chapter, Gauss’method gives this.
40h+ 15c= 100−50h+ 25c= 50
5/4ρ1+ρ2−→ 40h+ 15c= 100(175/4)c= 175
So c = 4, and backsubstitution gives that h = 1. (The Chemistry problem issolved later.)
1.8 Example The reduction
x+ y + z = 92x+ 4y − 3z = 13x+ 6y − 5z = 0
−2ρ1+ρ2−→−3ρ1+ρ3
x+ y + z = 92y − 5z =−173y − 8z =−27
−(3/2)ρ2+ρ3−→x+ y + z = 9
2y − 5z =−17− 1
2z = − 32
shows that z = 3, y = −1, and x = 7.
As these examples illustrate, Gauss’ method uses the elementary reductionoperations to set up backsubstitution.
1.9 Definition In each row, the first variable with a nonzero coefficient is therow’s leading variable. A system is in echelon form if each leading variable isto the right of the leading variable in the row above it (except for the leadingvariable in the first row).
1.10 Example The only operation needed in the examples above is pivoting.Here is a linear system that requires the operation of swapping equations. Afterthe first pivot
x− y = 02x− 2y + z + 2w = 4
y + w = 02z + w = 5
−2ρ1+ρ2−→x− y = 0
z + 2w = 4y + w = 0
2z + w = 5
6 Chapter 1. Linear Systems
the second equation has no leading y. To get one, we look lower down in thesystem for a row that has a leading y and swap it in.
ρ2↔ρ3−→x− y = 0
y + w = 0z + 2w = 4
2z + w = 5
(Had there been more than one row below the second with a leading y then wecould have swapped in any one.) The rest of Gauss’ method goes as before.
−2ρ3+ρ4−→x− y = 0
y + w = 0z + 2w = 4−3w =−3
Backsubstitution gives w = 1, z = 2 , y = −1, and x = −1.
Strictly speaking, the operation of rescaling rows is not needed to solve linearsystems. We have included it because we will use it later in this chapter as partof a variation on Gauss’ method, the GaussJordan method.
All of the systems seen so far have the same number of equations as unknowns. All of them have a solution, and for all of them there is only onesolution. We finish this subsection by seeing for contrast some other things thatcan happen.
1.11 Example Linear systems need not have the same number of equationsas unknowns. This system
x+ 3y = 12x+ y =−32x+ 2y =−2
has more equations than variables. Gauss’ method helps us understand thissystem also, since this
−2ρ1+ρ2−→−2ρ1+ρ3
x+ 3y = 1−5y =−5−4y =−4
shows that one of the equations is redundant. Echelon form
−(4/5)ρ2+ρ3−→x+ 3y = 1−5y =−5
0 = 0
gives y = 1 and x = −2. The ‘0 = 0’ is derived from the redundancy.
Section I. Solving Linear Systems 7
That example’s system has more equations than variables. Gauss’ methodis also useful on systems with more variables than equations. Many examplesare in the next subsection.
Another way that linear systems can differ from the examples shown earlieris that some linear systems do not have a unique solution. This can happen intwo ways.
The first is that it can fail to have any solution at all.
1.12 Example Contrast the system in the last example with this one.
x+ 3y = 12x+ y =−32x+ 2y = 0
−2ρ1+ρ2−→−2ρ1+ρ3
x+ 3y = 1−5y =−5−4y =−2
Here the system is inconsistent: no pair of numbers satisfies all of the equationssimultaneously. Echelon form makes this inconsistency obvious.
−(4/5)ρ2+ρ3−→x+ 3y = 1−5y =−5
0 = 2
The solution set is empty.
1.13 Example The prior system has more equations than unknowns, but thatis not what causes the inconsistency — Example 1.11 has more equations thanunknowns and yet is consistent. Nor is having more equations than unknownsnecessary for inconsistency, as is illustrated by this inconsistent system with thesame number of equations as unknowns.
x+ 2y = 82x+ 4y = 8
−2ρ1+ρ2−→ x+ 2y = 80 =−8
The other way that a linear system can fail to have a unique solution is tohave many solutions.
1.14 Example In this system
x+ y = 42x+ 2y = 8
any pair of numbers satisfying the first equation automatically satisfies the second. The solution set {(x, y)
∣∣ x + y = 4} is infinite — some of its membersare (0, 4), (−1, 5), and (2.5, 1.5). The result of applying Gauss’ method herecontrasts with the prior example because we do not get a contradictory equation.
−2ρ1+ρ2−→ x+ y = 40 = 0
8 Chapter 1. Linear Systems
Don’t be fooled by the ‘0 = 0’ equation in that example. It is not the signalthat a system has many solutions.
1.15 Example The absence of a ‘0 = 0’ does not keep a system from havingmany different solutions. This system is in echelon form
x+ y + z = 0y + z = 0
has no ‘0 = 0’, and yet has infinitely many solutions. (For instance, each ofthese is a solution: (0, 1,−1), (0, 1/2,−1/2), (0, 0, 0), and (0,−π, π). There areinfinitely many solutions because any triple whose first component is 0 andwhose second component is the negative of the third is a solution.)
Nor does the presence of a ‘0 = 0’ mean that the system must have manysolutions. Example 1.11 shows that. So does this system, which does not havemany solutions — in fact it has none — despite that when it is brought toechelon form it has a ‘0 = 0’ row.
2x − 2z = 6y + z = 1
2x+ y − z = 73y + 3z = 0
−ρ1+ρ3−→2x − 2z = 6
y + z = 1y + z = 1
3y + 3z = 0
−ρ2+ρ3−→−3ρ2+ρ4
2x − 2z = 6y + z = 1
0 = 00 =−3
We will finish this subsection with a summary of what we’ve seen so farabout Gauss’ method.
Gauss’ method uses the three row operations to set a system up for backsubstitution. If any step shows a contradictory equation then we can stopwith the conclusion that the system has no solutions. If we reach echelon formwithout a contradictory equation, and each variable is a leading variable in itsrow, then the system has a unique solution and we find it by back substitution.Finally, if we reach echelon form without a contradictory equation, and there isnot a unique solution (at least one variable is not a leading variable) then thesystem has many solutions.
The next subsection deals with the third case — we will see how to describethe solution set of a system with many solutions.
ExercisesX 1.16 Use Gauss’ method to find the unique solution for each system.
(a)2x+ 3y = 13x− y =−1
(b)x − z = 0
3x+ y = 1−x+ y + z = 4
X 1.17 Use Gauss’ method to solve each system or conclude ‘many solutions’ or ‘nosolutions’.
Section I. Solving Linear Systems 9
(a) 2x+ 2y = 5x− 4y = 0
(b) −x+ y = 1x+ y = 2
(c) x− 3y + z = 1x+ y + 2z = 14
(d) −x− y = 1−3x− 3y = 2
(e) 4y + z = 202x− 2y + z = 0x + z = 5x+ y − z = 10
(f) 2x + z + w = 5y − w =−1
3x − z − w = 04x+ y + 2z + w = 9
X 1.18 There are methods for solving linear systems other than Gauss’ method. Oneoften taught in high school is to solve one of the equations for a variable, thensubstitute the resulting expression into other equations. That step is repeateduntil there is an equation with only one variable. From that, the first number inthe solution is derived, and then backsubstitution can be done. This method bothtakes longer than Gauss’ method, since it involves more arithmetic operations andis more likely to lead to errors. To illustrate how it can lead to wrong conclusions,we will use the system
x+ 3y = 12x+ y =−32x+ 2y = 0
from Example 1.12.(a) Solve the first equation for x and substitute that expression into the secondequation. Find the resulting y.
(b) Again solve the first equation for x, but this time substitute that expressioninto the third equation. Find this y.
What extra step must a user of this method take to avoid erroneously concludinga system has a solution?
X 1.19 For which values of k are there no solutions, many solutions, or a uniquesolution to this system?
x− y = 13x− 3y = k
X 1.20 This system is not linear:
2 sinα− cosβ + 3 tan γ = 34 sinα+ 2 cosβ − 2 tan γ = 106 sinα− 3 cosβ + tan γ = 9
but we can nonetheless apply Gauss’ method. Do so. Does the system have asolution?
X 1.21 What conditions must the constants, the b’s, satisfy so that each of thesesystems has a solution? Hint. Apply Gauss’ method and see what happens to theright side.
(a) x− 3y = b13x+ y = b2x+ 7y = b3
2x+ 4y = b4
(b) x1 + 2x2 + 3x3 = b12x1 + 5x2 + 3x3 = b2x1 + 8x3 = b3
1.22 True or false: a system with more unknowns than equations has at least onesolution. (As always, to say ‘true’ you must prove it, while to say ‘false’ you mustproduce a counterexample.)
1.23 Must any Chemistry problem like the one that starts this subsection — abalance the reaction problem — have infinitely many solutions?
X 1.24 Find the coefficients a, b, and c so that the graph of f(x) = ax2 +bx+c passesthrough the points (1, 2), (−1, 6), and (2, 3).
10 Chapter 1. Linear Systems
1.25 Gauss’ method works by combining the equations in a system to make newequations.(a) Can the equation 3x−2y = 5 be derived, by a sequence of Gaussian reductionsteps, from the equations in this system?
x+ y = 14x− y = 6
(b) Can the equation 5x−3y = 2 be derived, by a sequence of Gaussian reductionsteps, from the equations in this system?
2x+ 2y = 53x+ y = 4
(c) Can the equation 6x− 9y + 5z = −2 be derived, by a sequence of Gaussianreduction steps, from the equations in the system?
2x+ y − z = 46x− 3y + z = 5
1.26 Prove that, where a, b, . . . , e are real numbers and a 6= 0, if
ax+ by = c
has the same solution set as
ax+ dy = e
then they are the same equation. What if a = 0?
X 1.27 Show that if ad− bc 6= 0 then
ax+ by = jcx+ dy = k
has a unique solution.
X 1.28 In the system
ax+ by = cdx+ ey = f
each of the equations describes a line in the xyplane. By geometrical reasoning,show that there are three possibilities: there is a unique solution, there is nosolution, and there are infinitely many solutions.
1.29 Finish the proof of Theorem 1.4.
1.30 Is there a twounknowns linear system whose solution set is all of R2?
X 1.31 Are any of the operations used in Gauss’ method redundant? That is, canany of the operations be synthesized from the others?
1.32 Prove that each operation of Gauss’ method is reversible. That is, show that iftwo systems are related by a row operation S1 ↔ S2 then there is a row operationto go back S2 ↔ S1.
1.33 A box holding pennies, nickels and dimes contains thirteen coins with a totalvalue of 83 cents. How many coins of each type are in the box?
1.34 [Con. Prob. 1955] Four positive integers are given. Select any three of theintegers, find their arithmetic average, and add this result to the fourth integer.Thus the numbers 29, 23, 21, and 17 are obtained. One of the original integersis:
Section I. Solving Linear Systems 11
(a) 19 (b) 21 (c) 23 (d) 29 (e) 17
X 1.35 [Am. Math. Mon., Jan. 1935] Laugh at this: AHAHA + TEHE = TEHAW.It resulted from substituting a code letter for each digit of a simple example inaddition, and it is required to identify the letters and prove the solution unique.
1.36 [Wohascum no. 2] The Wohascum County Board of Commissioners, which has20 members, recently had to elect a President. There were three candidates (A, B,and C); on each ballot the three candidates were to be listed in order of preference,with no abstentions. It was found that 11 members, a majority, preferred A overB (thus the other 9 preferred B over A). Similarly, it was found that 12 memberspreferred C over A. Given these results, it was suggested that B should withdraw,to enable a runoff election between A and C. However, B protested, and it wasthen found that 14 members preferred B over C! The Board has not yet recoveredfrom the resulting confusion. Given that every possible order of A, B, C appearedon at least one ballot, how many members voted for B as their first choice?
1.37 [Am. Math. Mon., Jan. 1963] “This system of n linear equations with n unknowns,” said the Great Mathematician, “has a curious property.”
“Good heavens!” said the Poor Nut, “What is it?”“Note,” said the Great Mathematician, “that the constants are in arithmetic
progression.”“It’s all so clear when you explain it!” said the Poor Nut. “Do you mean like
6x+ 9y = 12 and 15x+ 18y = 21?”“Quite so,” said the Great Mathematician, pulling out his bassoon. “Indeed,
the system has a unique solution. Can you find it?”“Good heavens!” cried the Poor Nut, “I am baffled.”Are you?
1.I.2 Describing the Solution Set
A linear system with a unique solution has a solution set with one element.A linear system with no solution has a solution set that is empty. In these casesthe solution set is easy to describe. Solution sets are a challenge to describeonly when they contain many elements.
2.1 Example This system has many solutions because in echelon form
2x + z = 3x− y − z = 1
3x− y = 4
−(1/2)ρ1+ρ2−→−(3/2)ρ1+ρ3
2x + z = 3−y − (3/2)z =−1/2−y − (3/2)z =−1/2
−ρ2+ρ3−→2x + z = 3−y − (3/2)z =−1/2
0 = 0
not all of the variables are leading variables. The Gauss’ method theoremshowed that a triple satisfies the first system if and only if it satisfies the third.Thus, the solution set {(x, y, z)
∣∣ 2x+ z = 3 and x− y − z = 1 and 3x− y = 4}
12 Chapter 1. Linear Systems
can also be described as {(x, y, z)∣∣ 2x+ z = 3 and −y − 3z/2 = −1/2}. How
ever, this second description is not much of an improvement. It has two equations instead of three, but it still involves some hardtounderstand interactionamong the variables.
To get a description that is free of any such interaction, we take the variable that does not lead any equation, z, and use it to describe the variablesthat do lead, x and y. The second equation gives y = (1/2) − (3/2)z andthe first equation gives x = (3/2) − (1/2)z. Thus, the solution set can be described as {(x, y, z) = ((3/2)− (1/2)z, (1/2)− (3/2)z, z)
∣∣ z ∈ R}. For instance,(1/2,−5/2, 2) is a solution because taking z = 2 gives a first component of 1/2and a second component of −5/2.
The advantage of this description over the ones above is that the only variableappearing, z, is unrestricted — it can be any real number.
2.2 Definition The nonleading variables in an echelonform linear system arefree variables.
In the echelon form system derived in the above example, x and y are leadingvariables and z is free.
2.3 Example A linear system can end with more than one variable free. Thisrow reduction
x+ y + z − w = 1y − z + w =−1
3x + 6z − 6w = 6−y + z − w = 1
−3ρ1+ρ3−→x+ y + z − w = 1
y − z + w =−1−3y + 3z − 3w = 3−y + z − w = 1
3ρ2+ρ3−→ρ2+ρ4
x+ y + z − w = 1y − z + w =−1
0 = 00 = 0
ends with x and y leading, and with both z and w free. To get the descriptionthat we prefer we will start at the bottom. We first express y in terms ofthe free variables z and w with y = −1 + z − w. Next, moving up to thetop equation, substituting for y in the first equation x + (−1 + z − w) + z −w = 1 and solving for x yields x = 2 − 2z + 2w. Thus, the solution set is{2− 2z + 2w,−1 + z − w, z, w)
∣∣ z, w ∈ R}.We prefer this description because the only variables that appear, z and w,
are unrestricted. This makes the job of deciding which fourtuples are systemsolutions into an easy one. For instance, taking z = 1 and w = 2 gives thesolution (4,−2, 1, 2). In contrast, (3,−2, 1, 2) is not a solution, since the firstcomponent of any solution must be 2 minus twice the third component plustwice the fourth.
Section I. Solving Linear Systems 13
2.4 Example After this reduction
2x− 2y = 0z + 3w = 2
3x− 3y = 0x− y + 2z + 6w = 4
−(3/2)ρ1+ρ3−→−(1/2)ρ1+ρ4
2x− 2y = 0z + 3w = 2
0 = 02z + 6w = 4
−2ρ2+ρ4−→2x− 2y = 0
z + 3w = 20 = 00 = 0
x and z lead, y and w are free. The solution set is {(y, y, 2− 3w,w)∣∣ y, w ∈ R}.
For instance, (1, 1, 2, 0) satisfies the system — take y = 1 and w = 0. Thefourtuple (1, 0, 5, 4) is not a solution since its first coordinate does not equal itssecond.
We refer to a variable used to describe a family of solutions as a parameterand we say that the set above is paramatrized with y and w. (The terms‘parameter’ and ‘free variable’ do not mean the same thing. Above, y and ware free because in the echelon form system they do not lead any row. Theyare parameters because they are used in the solution set description. We couldhave instead paramatrized with y and z by rewriting the second equation asw = 2/3 − (1/3)z. In that case, the free variables are still y and w, but theparameters are y and z. Notice that we could not have paramatrized with x andy, so there is sometimes a restriction on the choice of parameters. The terms‘parameter’ and ‘free’ are related because, as we shall show later in this chapter,the solution set of a system can always be paramatrized with the free variables.Consequenlty, we shall paramatrize all of our descriptions in this way.)
2.5 Example This is another system with infinitely many solutions.
x+ 2y = 12x + z = 23x+ 2y + z − w = 4
−2ρ1+ρ2−→−3ρ1+ρ3
x+ 2y = 1−4y + z = 0−4y + z − w = 1
−ρ2+ρ3−→x+ 2y = 1−4y + z = 0
−w = 1
The leading variables are x, y, and w. The variable z is free. (Notice here that,although there are infinitely many solutions, the value of one of the variables isfixed — w = −1.) Write w in terms of z with w = −1 + 0z. Then y = (1/4)z.To express x in terms of z, substitute for y into the first equation to get x =1− (1/2)z. The solution set is {(1− (1/2)z, (1/4)z, z,−1)
∣∣ z ∈ R}.We finish this subsection by developing the notation for linear systems and
their solution sets that we shall use in the rest of this book.
2.6 Definition An m×n matrix is a rectangular array of numbers with m rowsand n columns. Each number in the matrix is an entry,
14 Chapter 1. Linear Systems
Matrices are usually named by upper case roman letters, e.g. A. Each entry isdenoted by the corresponding lowercase letter, e.g. ai,j is the number in row iand column j of the array. For instance,
A =(
1 2.2 53 4 −7
)has two rows and three columns, and so is a 2×3 matrix. (Read that “twobythree”; the number of rows is always stated first.) The entry in the secondrow and first column is a2,1 = 3. Note that the order of the subscripts matters:a1,2 6= a2,1 since a1,2 = 2.2. (The parentheses around the array are a typographic device so that when two matrices are side by side we can tell where oneends and the other starts.)
2.7 Example We can abbreviate this linear system
x1 + 2x2 = 4x2 − x3 = 0
x1 + 2x3 = 4
with this matrix. 1 2 0 40 1 −1 01 0 2 4
The vertical bar just reminds a reader of the difference between the coefficientson the systems’s left hand side and the constants on the right. When a baris used to divide a matrix into parts, we call it an augmented matrix. In thisnotation, Gauss’ method goes this way.1 2 0 4
0 1 −1 01 0 2 4
−ρ1+ρ3−→
1 2 0 40 1 −1 00 −2 2 0
2ρ2+ρ3−→
1 2 0 40 1 −1 00 0 0 0
The second row stands for y − z = 0 and the first row stands for x+ 2y = 4 sothe solution set is {(4− 2z, z, z)
∣∣ z ∈ R}. One advantage of the new notation isthat the clerical load of Gauss’ method — the copying of variables, the writingof +’s and =’s, etc. — is lighter.
We will also use the array notation to clarify the descriptions of solutionsets. A description like {(2− 2z + 2w,−1 + z − w, z, w)
∣∣ z, w ∈ R} from Example 2.3 is hard to read. We will rewrite it to group all the constants together,all the coefficients of z together, and all the coefficients of w together. We willwrite them vertically, in onecolumn wide matrices.
{
2−100
+
−2110
· z +
2−101
· w ∣∣ z, w ∈ R}
Section I. Solving Linear Systems 15
For instance, the top line says that x = 2 − 2z + 2w. The next section gives ageometric interpretation that will help us picture the solution sets when theyare written in this way.
2.8 Definition A vector (or column vector) is a matrix with a single column.A matrix with a single row is a row vector. The entries of a vector are itscomponents.
Vectors are an exception to the convention of representing matrices withcapital roman letters. We use lowercase roman or greek letters overlined withan arrow: ~a, ~b, . . . or ~α, ~β, . . . (boldface is also common: a or α). Forinstance, this is a column vector with a third component of 7.
~v =
137
2.9 Definition The linear equation a1x1 + a2x2 + · · · + anxn = d with unknowns x1, . . . , xn is satisfied by
~s =
s1
...sn
if a1s1 + a2s2 + · · · + ansn = d. A vector satisfies a linear system if it satisfieseach equation in the system.
The style of description of solution sets that we use involves adding thevectors, and also multiplying them by real numbers, such as the z and w. Weneed to define these operations.
2.10 Definition The vector sum of ~u and ~v is this.
~u+ ~v =
u1
...un
+
v1
...vn
=
u1 + v1
...un + vn
In general, two matrices with the same number of rows and the same numberof columns add in this way, entrybyentry.
2.11 Definition The scalar multiplication of the real number r and the vector~v is this.
r · ~v = r ·
v1
...vn
=
rv1
...rvn
In general, any matrix is multiplied by a real number in this entrybyentry way.
16 Chapter 1. Linear Systems
Scalar multiplication can be written in either order: r ·~v or ~v · r, or withoutthe ‘·’ symbol: r~v. (Do not refer to scalar multiplication as ‘scalar product’because that name is used for a different operation.)
2.12 Example
231
+
3−14
=
2 + 33− 11 + 4
=
525
7 ·
14−1−3
=
728−7−21
Notice that the definitions of vector addition and scalar multiplication agree
where they overlap, for instance, ~v + ~v = 2~v.With the notation defined, we can now solve systems in the way that we will
use throughout this book.
2.13 Example This system
2x+ y − w = 4y + w + u= 4
x − z + 2w = 0
reduces in this way.2 1 0 −1 0 40 1 0 1 1 41 0 −1 2 0 0
−(1/2)ρ1+ρ3−→
2 1 0 −1 0 40 1 0 1 1 40 −1/2 −1 5/2 0 −2
(1/2)ρ2+ρ3−→
2 1 0 −1 0 40 1 0 1 1 40 0 −1 3 1/2 0
The solution set is {(w + (1/2)u, 4− w − u, 3w + (1/2)u,w, u)
∣∣ w, u ∈ R}. Wewrite that in vector form.
{
xyzwu
=
04000
+
1−1310
w +
1/2−11/201
u∣∣ w, u ∈ R}
Note again how well vector notation sets off the coefficients of each parameter.For instance, the third row of the vector form shows plainly that if u is heldfixed then z increases three times as fast as w.
That format also shows plainly that there are infinitely many solutions. Forexample, we can fix u as 0, let w range over the real numbers, and consider thefirst component x. We get infinitely many first components and hence infinitelymany solutions.
Section I. Solving Linear Systems 17
Another thing shown plainly is that setting both w and u to zero gives thatthis
xyzwu
=
04000
is a particular solution of the linear system.
2.14 Example In the same way, this system
x− y + z = 13x + z = 35x− 2y + 3z = 5
reduces1 −1 1 13 0 1 35 −2 3 5
−3ρ1+ρ2−→−5ρ1+ρ3
1 −1 1 10 3 −2 00 3 −2 0
−ρ2+ρ3−→
1 −1 1 10 3 −2 00 0 0 0
to a oneparameter solution set.
{
100
+
−1/32/31
z∣∣ z ∈ R}
Before the exercises, we pause to point out some things that we have yet todo.
The first two subsections have been on the mechanics of Gauss’ method.Except for one result, Theorem 1.4 — without which developing the methoddoesn’t make sense since it says that the method gives the right answers — wehave not stopped to consider any of the interesting questions that arise.
For example, can we always describe solution sets as above, with a particularsolution vector added to an unrestricted linear combination of some other vectors? The solution sets we described with unrestricted parameters were easilyseen to have infinitely many solutions so an answer to this question could tellus something about the size of solution sets. An answer to that question couldalso help us picture the solution sets — what do they look like in R2, or in R3,etc?
Many questions arise from the observation that Gauss’ method can be donein more than one way (for instance, when swapping rows, we may have a choiceof which row to swap with). Theorem 1.4 says that we must get the samesolution set no matter how we proceed, but if we do Gauss’ method in twodifferent ways must we get the same number of free variables both times, sothat any two solution set descriptions have the same number of parameters?
18 Chapter 1. Linear Systems
Must those be the same variables (e.g., is it impossible to solve a problem oneway and get y and w free or solve it another way and get y and z free)?
In the rest of this chapter we answer these questions. The answer to eachis ‘yes’. The first question is answered in the last subsection of this section. Inthe second section we give a geometric description of solution sets. In the finalsection of this chapter we tackle the last set of questions.
Consequently, by the end of the first chapter we will not only have a solidgrounding in the practice of Gauss’ method, we will also have a solid groundingin the theory. We will be sure of what can and cannot happen in a reduction.
Exercises
X 2.15 Find the indicated entry of the matrix, if it is defined.
A =
(1 3 12 −1 4
)(a) a2,1 (b) a1,2 (c) a2,2 (d) a3,1
X 2.16 Give the size of each matrix.
(a)
(1 0 42 1 5
)(b)
(1 1−1 13 −1
)(c)
(5 1010 5
)X 2.17 Do the indicated vector operation, if it is defined.
(a)
(211
)+
(304
)(b) 5
(4−1
)(c)
(151
)−
(311
)(d) 7
(21
)+ 9
(35
)
(e)
(12
)+
(123
)(f) 6
(311
)− 4
(203
)+ 2
(115
)X 2.18 Solve each system using matrix notation. Express the solution using vec
tors.(a) 3x+ 6y = 18
x+ 2y = 6(b) x+ y = 1
x− y =−1(c) x1 + x3 = 4
x1 − x2 + 2x3 = 54x1 − x2 + 5x3 = 17
(d) 2a+ b− c= 22a + c= 3a− b = 0
(e) x+ 2y − z = 32x+ y + w = 4x− y + z + w = 1
(f) x + z + w = 42x+ y − w = 23x+ y + z = 7
X 2.19 Solve each system using matrix notation. Give each solution set in vectornotation.
(a) 2x+ y − z = 14x− y = 3
(b) x − z = 1y + 2z − w = 3
x+ 2y + 3z − w = 7
(c) x− y + z = 0y + w = 0
3x− 2y + 3z + w = 0−y − w = 0
(d) a+ 2b+ 3c+ d− e= 13a− b+ c+ d+ e= 3
X 2.20 The vector is in the set. What value of the parameters produces that vector?
(a)
(5−5
), {(
1−1
)k∣∣ k ∈ R}
Section I. Solving Linear Systems 19
(b)
(−121
), {
(−210
)i+
(301
)j∣∣ i, j ∈ R}
(c)
(0−42
), {
(110
)m+
(201
)n∣∣ m,n ∈ R}
2.21 Decide if the vector is in the set.
(a)
(3−1
), {(−62
)k∣∣ k ∈ R}
(b)
(54
), {(
5−4
)j∣∣ j ∈ R}
(c)
(21−1
), {
(03−7
)+
(1−13
)r∣∣ r ∈ R}
(d)
(101
), {
(201
)j +
(−3−11
)k∣∣ j, k ∈ R}
2.22 Paramatrize the solution set of this oneequation system.
x1 + x2 + · · ·+ xn = 0
X 2.23 (a) Apply Gauss’ method to the lefthand side to solve
x+ 2y − w = a2x + z = bx+ y + 2w = c
for x, y, z, and w, in terms of the constants a, b, and c.(b) Use your answer from the prior part to solve this.
x+ 2y − w = 32x + z = 1x+ y + 2w =−2
X 2.24 Why is the comma needed in the notation ‘ai,j ’ for matrix entries?
X 2.25 Give the 4×4 matrix whose i, jth entry is(a) i+ j; (b) −1 to the i+ j power.
2.26 For any matrix A, the transpose of A, written Atrans, is the matrix whosecolumns are the rows of A. Find the transpose of each of these.
(a)
(1 2 34 5 6
)(b)
(2 −31 1
)(c)
(5 1010 5
)(d)
(110
)X 2.27 (a) Describe all functions f(x) = ax2 + bx + c such that f(1) = 2 and
f(−1) = 6.(b) Describe all functions f(x) = ax2 + bx+ c such that f(1) = 2.
2.28 Show that any set of five points from the plane R2 lie on a common conicsection, that is, they all satisfy some equation of the form ax2 + by2 + cxy + dx+ey + f = 0 where some of a, . . . , f are nonzero.
2.29 Make up a four equations/four unknowns system having(a) a oneparameter solution set;(b) a twoparameter solution set;(c) a threeparameter solution set.
20 Chapter 1. Linear Systems
2.30 [USSR Olympiad no. 174](a) Solve the system of equations.
ax+ y = a2
x+ ay = 1
For what values of a does the system fail to have solutions, and for what valuesof a are there infinitely many solutions?
(b) Answer the above question for the system.
ax+ y = a3
x+ ay = 1
2.31 [Math. Mag., Sept. 1952] In air a goldsurfaced sphere weighs 7588 grams. Itis known that it may contain one or more of the metals aluminum, copper, silver,or lead. When weighed successively under standard conditions in water, benzene,alcohol, and glycerine its respective weights are 6588, 6688, 6778, and 6328 grams.How much, if any, of the forenamed metals does it contain if the specific gravitiesof the designated substances are taken to be as follows?
Aluminum 2.7 Alcohol 0.81Copper 8.9 Benzene 0.90Gold 19.3 Glycerine 1.26Lead 11.3 Water 1.00Silver 10.8
1.I.3 General = Particular + Homogeneous
The prior subsection has many descriptions of solution sets. They all fit apattern. They have a vector that is a particular solution of the system addedto an unrestricted combination of some other vectors. The solution set fromExample 2.13 illustrates.
{
04000
︸ ︷︷ ︸
particular
solution
+w
1−1310
+ u
1/2−11/201
︸ ︷︷ ︸
unrestrictedcombination
∣∣ w, u ∈ R}
The combination is unrestricted in that w and u can be any real numbers —there is no condition like “such that 2w−u = 0” that would restrict which pairsw, u can be used to form combinations.
That example shows an infinite solution set conforming to the pattern. Wecan think of the other two kinds of solution sets as also fitting the same pattern. A oneelement solution set fits in that it has a particular solution, andthe unrestricted combination part is a trivial sum (that is, instead of being acombination of two vectors, as above, or a combination of one vector, it is a
Section I. Solving Linear Systems 21
combination of no vectors). A zeroelement solution set fits the pattern sincethere is no particular solution, and so the set of sums of that form is empty.
We will show that the examples from the prior subsection are representative,in that the description pattern discussed above holds for every solution set.
3.1 Theorem For any linear system there are vectors ~β1, . . . , ~βk such thatthe solution set can be described as
{~p+ c1~β1 + · · · + ck~βk∣∣ c1, . . . , ck ∈ R}
where ~p is any particular solution, and where the system has k free variables.
This description has two parts, the particular solution ~p and also the unrestricted linear combination of the ~β’s. We shall prove the theorem in twocorresponding parts, with two lemmas.
We will focus first on the unrestricted combination part. To do that, weconsider systems that have the vector of zeroes as one of the particular solutions,so that ~p+ c1~β1 + · · ·+ ck~βk can be shortened to c1~β1 + · · ·+ ck~βk.
3.2 Definition A linear equation is homogeneous if it has a constant of zero,that is, if it can be put in the form a1x1 + a2x2 + · · · + anxn = 0.
(These are ‘homogeneous’ because all of the terms involve the same power oftheir variable — the first power — including a ‘0x0’ that we can imagine is onthe right side.)
3.3 Example With any linear system like
3x+ 4y = 32x− y = 1
we associate a system of homogeneous equations by setting the right side tozeros.
3x+ 4y = 02x− y = 0
Our interest in the homogeneous system associated with a linear system can beunderstood by comparing the reduction of the system
3x+ 4y = 32x− y = 1
−(2/3)ρ1+ρ2−→ 3x+ 4y = 3−(11/3)y = −1
with the reduction of the associated homogeneous system.
3x+ 4y = 02x− y = 0
−(2/3)ρ1+ρ2−→ 3x+ 4y = 0−(11/3)y = 0
Obviously the two reductions go in the same way. We can study how linear systems are reduced by instead studying how the associated homogeneous systemsare reduced.
22 Chapter 1. Linear Systems
Studying the associated homogeneous system has a great advantage overstudying the original system. Nonhomogeneous systems can be inconsistent.But a homogeneous system must be consistent since there is always at least onesolution, the vector of zeros.
3.4 Definition A column or row vector of all zeros is a zero vector, denoted ~0.
There are many different zero vectors, e.g., the onetall zero vector, the twotallzero vector, etc. Nonetheless, people often refer to “the” zero vector, expectingthat the size of the one being discussed will be clear from the context.
3.5 Example Some homogeneous systems have the zero vector as their onlysolution.
3x+ 2y + z = 06x+ 4y = 0
y + z = 0
−2ρ1+ρ2−→3x+ 2y + z = 0
−2z = 0y + z = 0
ρ2↔ρ3−→3x+ 2y + z = 0
y + z = 0−2z = 0
3.6 Example Some homogeneous systems have many solutions. One exampleis the Chemistry problem from the first page of this book.
7x − 7j = 08x+ y − 5j − 2k = 0
y − 3j = 03y − 6j − k = 0
−(8/7)ρ1+ρ2−→7x − 7z = 0
y + 3z − 2w = 0y − 3z = 0
3y − 6z − w = 0
−ρ2+ρ3−→−3ρ2+ρ4
7x − 7z = 0y + 3z − 2w = 0
−6z + 2w = 0−15z + 5w = 0
−(5/2)ρ3+ρ4−→7x − 7z = 0
y + 3z − 2w = 0−6z + 2w = 0
0 = 0
The solution set:
{
1/31
1/31
w∣∣ k ∈ R}
has many vectors besides the zero vector (if we interpret w as a number ofmolecules then solutions make sense only when w is a nonnegative multiple of3).
We now have the terminology to prove the two parts of Theorem 3.1. Thefirst lemma deals with unrestricted combinations.
Section I. Solving Linear Systems 23
3.7 Lemma For any homogeneous linear system there exist vectors ~β1, . . . ,~βk such that the solution set of the system is
{c1~β1 + · · ·+ ck~βk∣∣ c1, . . . , ck ∈ R}
where k is the number of free variables in an echelon form version of the system.
Before the proof, we will recall the back substitution calculations that weredone in the prior subsection. Imagine that we have brought a system to thisechelon form.
x+ 2y − z + 2w = 0−3y + z = 0
−w = 0
We next perform backsubstitution to express each variable in terms of thefree variable z. Working from the bottom up, we get first that w is 0 · z,next that y is (1/3) · z, and then substituting those two into the top equationx + 2((1/3)z) − z + 2(0) = 0 gives x = (1/3) · z. So, back substitution givesa paramatrization of the solution set by starting at the bottom equation andusing the free variables as the parameters to work rowbyrow to the top. Theproof below follows this pattern.
Comment: That is, this proof just does a verification of the bookkeeping inback substitution to show that we haven’t overlooked any obscure cases wherethis procedure fails, say, by leading to a division by zero. So this argument,while quite detailed, doesn’t give us any new insights. Nevertheless, we havewritten it out for two reasons. The first reason is that we need the result — thecomputational procedure that we employ must be verified to work as promised.The second reason is that the rowbyrow nature of back substitution leads to aproof that uses the technique of mathematical induction.∗ This is an important,and nonobvious, proof technique that we shall use a number of times in thisbook. Doing an induction argument here gives us a chance to see one in a settingwhere the proof material is easy to follow, and so the technique can be studied.Readers who are unfamiliar with induction arguments should be sure to masterthis one and the ones later in this chapter before going on to the second chapter.
Proof. First use Gauss’ method to reduce the homogeneous system to echelonform. We will show that each leading variable can be expressed in terms of freevariables. That will finish the argument because then we can use those freevariables as the parameters. That is, the ~β’s are the vectors of coefficients ofthe free variables (as in Example 3.6, where the solution is x = (1/3)w, y = w,z = (1/3)w, and w = w).
We will proceed by mathematical induction, which has two steps. The basestep of the argument will be to focus on the bottommost non‘0 = 0’ equationand write its leading variable in terms of the free variables. The inductive stepof the argument will be to argue that if we can express the leading variables from∗ More information on mathematical induction is in the appendix.
24 Chapter 1. Linear Systems
the bottom t rows in terms of free variables, then we can express the leadingvariable of the next row up — the t+ 1th row up from the bottom — in termsof free variables. With those two steps, the theorem will be proved because bythe base step it is true for the bottom equation, and by the inductive step thefact that it is true for the bottom equation shows that it is true for the nextone up, and then another application of the inductive step implies it is true forthird equation up, etc.
For the base step, consider the bottommost non‘0 = 0’ equation (the casewhere all the equations are ‘0 = 0’ is trivial). We call that the mth row:
am,`mx`m + am,`m+1x`m+1 + · · ·+ am,nxn = 0
where am,`m 6= 0. (The notation here has ‘`’ stand for ‘leading’, so am,`m means“the coefficient, from the row m of the variable leading row m”.) Either thereare variables in this equation other than the leading one x`m or else there arenot. If there are other variables x`m+1, etc., then they must be free variablesbecause this is the bottom non‘0 = 0’ row. Move them to the right and divideby am,`m
x`m = (−am,`m+1/am,`m)x`m+1 + · · ·+ (−am,n/am,`m)xn
to expresses this leading variable in terms of free variables. If there are no freevariables in this equation then x`m = 0 (see the “tricky point” noted followingthis proof).
For the inductive step, we assume that for the mth equation, and for the(m− 1)th equation, . . . , and for the (m− t)th equation, we can express theleading variable in terms of free variables (where 0 ≤ t < m). To prove that thesame is true for the next equation up, the (m − (t + 1))th equation, we takeeach variable that leads in a lowerdown equation x`m , . . . , x`m−t and substituteits expression in terms of free variables. The result has the form
am−(t+1),`m−(t+1)x`m−(t+1) + sums of multiples of free variables = 0
where am−(t+1),`m−(t+1)6= 0. We move the free variables to the righthand side
and divide by am−(t+1),`m−(t+1), to end with x`m−(t+1) expressed in terms of free
variables.Because we have shown both the base step and the inductive step, by the
principle of mathematical induction the proposition is true. QED
We say that the set {c1~β1 + · · ·+ ck~βk∣∣ c1, . . . , ck ∈ R} is generated by or
spanned by the set of vectors {~β1, . . . , ~βk}. There is a tricky point to thisdefinition. If a homogeneous system has a unique solution, the zero vector,then we say the solution set is generated by the empty set of vectors. This fitswith the pattern of the other solution sets: in the proof above the solution set isderived by taking the c’s to be the free variables and if there is a unique solutionthen there are no free variables.
This proof incidentally shows, as discussed after Example 2.4, that solutionsets can always be paramatrized using the free variables.
Section I. Solving Linear Systems 25
The next lemma finishes the proof of Theorem 3.1 by considering the particular solution part of the solution set’s description.
3.8 Lemma For a linear system, where ~p is any particular solution, the solution set equals this set.
{~p+ ~h∣∣ ~h satisfies the associated homogeneous system}
Proof. We will show mutual set inclusion, that any solution to the system isin the above set and that anything in the set is a solution to the system.∗
For set inclusion the first way, that if a vector solves the system then it is inthe set described above, assume that ~s solves the system. Then ~s− ~p solves theassociated homogeneous system since for each equation index i between 1 andn,
ai,1(s1 − p1) + · · ·+ ai,n(sn − pn) = (ai,1s1 + · · ·+ ai,nsn)− (ai,1p1 + · · ·+ ai,npn)
= di − di= 0
where pj and sj are the jth components of ~p and ~s. We can write ~s − ~p as ~h,where ~h solves the associated homogeneous system, to express ~s in the required~p+ ~h form.
For set inclusion the other way, take a vector of the form ~p + ~h, where ~psolves the system and ~h solves the associated homogeneous system, and notethat it solves the given system: for any equation index i,
ai,1(p1 + h1) + · · ·+ ai,n(pn + hn) = (ai,1p1 + · · ·+ ai,npn)+ (ai,1h1 + · · ·+ ai,nhn)
= di + 0= di
where hj is the jth component of ~h. QED
The two lemmas above together establish Theorem 3.1. We remember thattheorem with the slogan “General = Particular + Homogeneous”.
3.9 Example This system illustrates Theorem 3.1.
x+ 2y − z = 12x+ 4y = 2
y − 3z = 0
Gauss’ method
−2ρ1+ρ2−→x+ 2y − z = 1
2z = 0y − 3z = 0
ρ2↔ρ3−→x+ 2y − z = 1
y − 3z = 02z = 0
∗ More information on equality of sets is in the appendix.
26 Chapter 1. Linear Systems
shows that the general solution is a singleton set.
{
100
}That single vector is, of course, a particular solution. The associated homogeneous system reduces via the same row operations
x+ 2y − z = 02x+ 4y = 0
y − 3z = 0
−2ρ1+ρ2−→ ρ2↔ρ3−→x+ 2y − z = 0
y − 3z = 02z = 0
to also give a singleton set.
{
000
}As the theorem states, and as discussed at the start of this subsection, in thissinglesolution case the general solution results from taking the particular solution and adding to it the unique solution of the associated homogeneous system.
3.10 Example Also discussed there is that the case where the general solutionset is empty fits the ‘General = Particular+Homogeneous’ pattern. This systemillustrates. Gauss’ method
x + z + w =−12x− y + w = 3x+ y + 3z + 2w = 1
−2ρ1+ρ2−→−ρ1+ρ3
x + z + w =−1−y − 2z − w = 5y + 2z + w = 2
shows that it has no solutions. The associated homogeneous system, of course,has a solution.
x + z + w = 02x− y + w = 0x+ y + 3z + 2w = 0
−2ρ1+ρ2−→−ρ1+ρ3
ρ2+ρ3−→x + z + w = 0−y − 2z − w = 0
0 = 0
In fact, the solution set of the homogeneous system is infinite.
{
−1−210
z +
−1−101
w∣∣ z, w ∈ R}
However, because no particular solution of the original system exists, the generalsolution set is empty — there are no vectors of the form ~p+~h because there areno ~p ’s.
3.11 Corollary Solution sets of linear systems are either empty, have oneelement, or have infinitely many elements.
Section I. Solving Linear Systems 27
Proof. We’ve seen examples of all three happening so we need only prove thatthose are the only possibilities.
First, notice a homogeneous system with at least one non~0 solution ~v hasinfinitely many solutions because the set of multiples s~v is infinite — if s 6= 1then s~v − ~v = (s− 1)~v is easily seen to be non~0, and so s~v 6= ~v.
Now, apply Lemma 3.8 to conclude that a solution set
{~p+ ~h∣∣ ~h solves the associated homogeneous system}
is either empty (if there is no particular solution ~p), or has one element (if thereis a ~p and the homogeneous system has the unique solution ~0), or is infinite (ifthere is a ~p and the homogeneous system has a non~0 solution, and thus by theprior paragraph has infinitely many solutions). QED
This table summarizes the factors affecting the size of a general solution.
number of solutions of theassociated homogeneous system
particularsolutionexists?
one infinitely many
yes uniquesolution
infinitely manysolutions
no nosolutions
nosolutions
The factor on the top of the table is the simpler one. When we performGauss’ method on a linear system, ignoring the constants on the right side andso paying attention only to the coefficients on the lefthand side, we either endwith every variable leading some row or else we find that some variable does notlead a row, that is, that some variable is free. (Of course, “ignoring the constantson the right” is formalized by considering the associated homogeneous system.We are simply putting aside for the moment the possibility of a contradictoryequation.)
A nice insight into the factor on the top of this table at work comes from considering the case of a system having the same number of equations as variables.This system will have a solution, and the solution will be unique, if and only if itreduces to an echelon form system where every variable leads its row, which willhappen if and only if the associated homogeneous system has a unique solution.Thus, the question of uniqueness of solution is especially interesting when thesystem has the same number of equations as variables.
3.12 Definition A square matrix is nonsingular if it is the matrix of coefficients of a homogeneous system with a unique solution. It is singular otherwise,that is, if it is the matrix of coefficients of a homogeneous system with infinitelymany solutions.
28 Chapter 1. Linear Systems
3.13 Example The systems from Example 3.3, Example 3.5, and Example 3.9each have an associated homogeneous system with a unique solution. Thus thesematrices are nonsingular.
(3 42 −1
) 3 2 16 −4 00 1 1
1 2 −12 4 00 1 −3
The Chemistry problem from Example 3.6 is a homogeneous system with morethan one solution so its matrix is singular.
7 0 −7 08 1 −5 −20 1 −3 00 3 −6 −1
3.14 Example The first of these matrices is nonsingular while the second issingular (
1 23 4
) (1 23 6
)because the first of these homogeneous systems has a unique solution while thesecond has infinitely many solutions.
x+ 2y = 03x+ 4y = 0
x+ 2y = 03x+ 6y = 0
We have made the distinction in the definition because a system (with the samenumber of equations as variables) behaves in one of two ways, depending onwhether its matrix of coefficients is nonsingular or singular. A system wherethe matrix of coefficients is nonsingular has a unique solution for any constantson the right side: for instance, Gauss’ method shows that this system
x+ 2y = a3x+ 4y = b
has the unique solution x = b − 2a and y = (3a − b)/2. On the other hand, asystem where the matrix of coefficients is singular never has a unique solutions —it has either no solutions or else has infinitely many, as with these.
x+ 2y = 13x+ 6y = 2
x+ 2y = 13x+ 6y = 3
Thus, ‘singular’ can be thought of as connoting “troublesome”, or at least “notideal”.
The above table has two factors. We have already considered the factoralong the top: we can tell which column a given linear system goes in solely by
Section I. Solving Linear Systems 29
considering the system’s lefthand side — the the constants on the righthandside play no role in this factor. The table’s other factor, determining whether aparticular solution exists, is tougher. Consider these two
3x+ 2y = 53x+ 2y = 5
3x+ 2y = 53x+ 2y = 4
with the same left sides but different right sides. Obviously, the first has asolution while the second does not, so here the constants on the right sidedecide if the system has a solution. We could conjecture that the left side of alinear system determines the number of solutions while the right side determinesif solutions exist, but that guess is not correct. Compare these two systems
3x+ 2y = 54x+ 2y = 4 and
3x+ 2y = 53x+ 2y = 4
with the same right sides but different left sides. The first has a solution butthe second does not. Thus the constants on the right side of a system don’tdecide alone whether a solution exists; rather, it depends on some interactionbetween the left and right sides.
For some intuition about that interaction, consider this system with one ofthe coefficients left as the parameter c.
x+ 2y + 3z = 1x+ y + z = 1cx+ 3y + 4z = 0
If c = 2 this system has no solution because the lefthand side has the third rowas a sum of the first two, while the righthand does not. If c 6= 2 this system hasa unique solution (try it with c = 1). For a system to have a solution, if one rowof the matrix of coefficients on the left is a linear combination of other rows,then on the right the constant from that row must be the same combination ofconstants from the same rows.
More intuition about the interaction comes from studying linear combinations. That will be our focus in the second chapter, after we finish the study ofGauss’ method itself in the rest of this chapter.
ExercisesX 3.15 Solve each system. Express the solution set using vectors. Identify the par
ticular solution and the solution set of the homogeneous system.(a) 3x+ 6y = 18
x+ 2y = 6(b) x+ y = 1
x− y =−1(c) x1 + x3 = 4
x1 − x2 + 2x3 = 54x1 − x2 + 5x3 = 17
(d) 2a+ b− c= 22a + c= 3a− b = 0
(e) x+ 2y − z = 32x+ y + w = 4x− y + z + w = 1
(f) x + z + w = 42x+ y − w = 23x+ y + z = 7
3.16 Solve each system, giving the solution set in vector notation. Identify theparticular solution and the solution of the homogeneous system.
30 Chapter 1. Linear Systems
(a) 2x+ y − z = 14x− y = 3
(b) x − z = 1y + 2z − w = 3
x+ 2y + 3z − w = 7
(c) x− y + z = 0y + w = 0
3x− 2y + 3z + w = 0−y − w = 0
(d) a+ 2b+ 3c+ d− e= 13a− b+ c+ d+ e= 3
X 3.17 For the system
2x− y − w = 3y + z + 2w = 2
x− 2y − z =−1
which of these can be used as the particular solution part of some general solution?
(a)
0−350
(b)
2110
(c)
−1−48−1
X 3.18 Lemma 3.8 says that any particular solution may be used for ~p. Find, if
possible, a general solution to this system
x− y + w = 42x+ 3y − z = 0
y + z + w = 4
that uses the given vector as its particular solution.
(a)
0004
(b)
−51−710
(c)
2−111
3.19 One of these is nonsingular while the other is singular. Which is which?
(a)
(1 34 −12
)(b)
(1 34 12
)X 3.20 Singular or nonsingular?
(a)
(1 21 3
)(b)
(1 2−3 −6
)(c)
(1 2 11 3 1
)(Careful!)
(d)
(1 2 11 1 33 4 7
)(e)
(2 2 11 0 5−1 1 4
)X 3.21 Is the given vector in the set generated by the given set?
(a)
(23
), {(
14
),
(15
)}
(b)
(−101
), {
(210
),
(101
)}
(c)
(130
), {
(104
),
(215
),
(330
),
(421
)}
(d)
1011
, {
2101
,
3002
}
Section I. Solving Linear Systems 31
3.22 Prove that any linear system with a nonsingular matrix of coefficients has asolution, and that the solution is unique.
3.23 To tell the whole truth, there is another tricky point to the proof of Lemma 3.7.What happens if there are no non‘0 = 0’ equations? (There aren’t any more trickypoints after this one.)
X 3.24 Prove that if ~s and ~t satisfy a homogeneous system then so do these vectors.
(a) ~s+ ~t (b) 3~s (c) k~s+m~t for k,m ∈ RWhat’s wrong with: “These three show that if a homogeneous system has onesolution then it has many solutions — any multiple of a solution is another solution,and any sum of solutions is a solution also — so there are no homogeneous systemswith exactly one solution.”?
3.25 Prove that if a system with only rational coefficients and constants has asolution then it has at least one allrational solution. Must it have infinitely many?
32 Chapter 1. Linear Systems
1.II Linear Geometry of nSpace
For readers who have seen the elements of vectors before, in calculus or physics,this section is an optional review. However, later work in this book will refer tothis material often, so this section is not optional if it is not a review.
In the first section, we had to do a bit of work to show that there are onlythree types of solution sets — singleton, empty, and infinite. But for systemswith two equations and two unknowns, we can just see this. We picture eachtwounknowns equation as a line in R2 and then the two lines could have aunique intersection, be parallel, or be the same.
One solution
3x+ 2y = 7x− y =−1
No solutions
3x+ 2y = 73x+ 2y = 4
Infinitely manysolutions
3x+ 2y = 76x+ 4y = 14
As this shows, sometimes our results are expressed clearly in a picture. In thissection we develop the terminology and ideas we need to express our resultsfrom the prior section, and from some future sections, geometrically. The twodimensional case is familiar enough, but to extend to systems with more thantwo unknowns we shall also need some higherdimensional geometry.
1.II.1 Vectors in Space
“Higherdimensionsional geometry” sounds exotic. It is exotic — interestingand eyeopening. But it isn’t distant or unreachable.
As a start, we define onedimensional space to be the set R1. To see thatdefinition is reasonable, draw a onedimensional space
and make the usual correspondence with R: pick a point to label 0 and anotherto label 1.
0 1
Now, armed with a scale and a direction, finding the point corresponding to,say +2.17, is easy — start at 0, head in the direction of 1 (i.e., the positivedirection), but don’t stop there, go 2.17 times as far.
The basic idea here, combining magnitude with direction, is the key to extending to higher dimensions.
Section II. Linear Geometry of nSpace 33
An object comprised of a magnitude and a direction is a vector (we will usethe same word as in the previous section because we shall show below how todescribe such an object with a column vector). We can draw a vector as havingsome length, and pointing somewhere.
There is a subtlety here — these
are equal, even though they start in different places, because they have equallengths and equal directions. Again: those vectors are not just alike, they areequal.
How can things that are in different places be equal? Think of a vector asrepresenting a displacement (‘vector’ is Latin for “carrier” or “traveler”). Thesesquares undergo the same displacement, despite that those displacements startin different places.
Sometimes, to emphasize this property vectors have of not being anchored, theyare referred to as free vectors.
These two, as free vectors, are equal;
we can think of each as a displacement of one over and two up. More generally,two vectors in the plane are the same if and only if they have the same changein first components and the same change in second components: the vectorextending from (a1, a2) to (b1, b2) equals the vector from (c1, c2) to (d1, d2) ifand only if b1 − a1 = d1 − c1 and b2 − a2 = d2 − c2.
An expression like ‘the vector that, were it to start at (a1, a2), would stretchto (b1, b2)’ is awkward. Instead of that terminology, from among all of these
we single out the one starting at the origin as being in canonical (or natural)position and we describe a vector by stating its endpoint when it is in canonical
34 Chapter 1. Linear Systems
position, as a column. For instance, the ‘one over and two up’ vectors above aredenoted in this way. (
12
)More generally, the plane vector starting at (a1, a2) and stretching to (b1, b2) isdenoted (
b1 − a1
b2 − a2
)since the prior paragraph shows that when the vector starts at the origin, itends at this location.
We often just say “the point (12
)”
rather than “the endpoint of the canonical position of” that vector. That is, weshall find it convienent to blur the distinction between a point in space and thevector that, if it starts at the origin, ends at that point. Thus, we will refer toboth of these as Rn.
{(x1, x2)∣∣ x1, x2 ∈ R} {
(x1
x2
) ∣∣ x1, x2 ∈ R}
In the prior section we defined vectors and vector operations with an algebraic motivation;
r ·(v1
v2
)=(rv1
rv2
) (v1
v2
)+(w1
w2
)=(v1 + w1
v2 + w2
)we can now interpret those operations geometrically. For instance, if ~v represents a displacement then 3~v represents a displacement in the same directionbut three times as far, and −1~v represents a displacement of the same distanceas ~v but in the opposite direction.
~v
3~v
−~v
And, where ~v and ~w represent displacements, ~v + ~w represents those displacements combined.
~v
~w~v + ~w
Section II. Linear Geometry of nSpace 35
The long arrow is the combined displacement in this sense: if, in one minute, aship’s motion gives it the displacement relative to the earth of ~v and a passenger’s motion gives a displacement relative to the ship’s deck of ~w, then ~v+ ~w isthe displacement of the passenger relative to the earth.
Another way to understand the vector sum is with the parallelogram rule.Draw the parallelogram formed by the vectors ~v1, ~v2 and then the sum ~v1 + ~v2
extends along the diagonal to the far corner.
(x1y1
)(x2y2
) (x1 + x2y1 + y2
)
The above drawings show how vectors and vector operations behave in R2.We can extend to R3, or to even higherdimensional spaces where we have nopictures, with the obvious generalization: the free vector that, if it starts at(a1, . . . , an), ends at (b1, . . . , bn), is represented by this columnb1 − a1
...bn − an
(vectors are equal if they have the same representation), we aren’t too carefulto distinguish between a point and the vector whose canonical representationends at that point,
Rn = {
v1
...vn
∣∣ v1, . . . , vn ∈ R}
and addition and scalar multiplication are componentwise.Having considered points, we now turn to the lines. In R2, the line through
(1, 2) and (3, 1) is comprised of (the endpoints of) the vectors in this set
{(
12
)+ t ·
(2−1
) ∣∣ t ∈ R}That description expresses this picture. (
2−1
)=
(31
)−(
12
)
The vector associated with the parameter t has its whole body in the line — itis a direction vector for the line. Note that points on the line to the left of x = 1are described using negative values of t.
36 Chapter 1. Linear Systems
In R3, the line through (1, 2, 3) and (5, 5, 5) is the set of (endpoints of)vectors of this form
{
123
+ t ·
432
∣∣ t ∈ R}and lines in even higherdimensional spaces work in the same way.
If a line uses one parameter, so that there is freedom to move back andforth in one dimension, then a plane must involve two. For example, the planethrough the points (1, 0, 5), (2, 1,−3), and (−2, 4, 0.5) consists of (endpoints of)the vectors in
{
105
+ t ·
11−8
+ s ·
−34−4.5
∣∣ t, s ∈ R}(the column vectors associated with the parameters 1
1−8
=
21−3
−1
05
−34−4.5
=
−24
0.5
−1
05
are two vectors whose whole bodies lie in the plane). As with the line, note thatsome points in this plane are described with negative t’s or negative s’s or both.
A description of planes that is often encountered in algebra and calculus usesa single equation
P = {
xyz
∣∣ 2x+ 3y − z = 4}
as the condition that describes the relationship among the first, second, andthird coordinates of points in a plane. The translation from such a descriptionto the vector description that we favor in this book is to think of the conditionas a oneequation linear system and paramatrize x = (1/2)(4− 3y + z).
P = {
200
+
−3/210
y +
1/201
z∣∣ y, z ∈ R}
Generalizing from lines and planes, we define a kdimensional linear surface (or kflat) in Rn to be {~p+ t1~v1 + t2~v2 + · · ·+ tk~vk
∣∣ t1, . . . , tk ∈ R} where~v1, . . . , ~vk ∈ Rn. For example, in R4,
{
2π3−0.5
+ t
1000
∣∣ t ∈ R}
Section II. Linear Geometry of nSpace 37
is a line,
{
0000
+ t
110−1
+ s
2010
∣∣ t, s ∈ R}is a plane, and
{
31−20.5
+ r
000−1
+ s
1010
+ t
2010
∣∣ r, s, t ∈ R}is a threedimensional linear surface. Again, the intuition is that a line permits motion in one direction, a plane permits motion in combinations of twodirections, etc.
A linear surface description can be misleading about the dimension — this
L = {
10−1−2
+ t
110−1
+ s
220−2
∣∣ t, s ∈ R}is a degenerate plane because it is actually a line.
L = {
10−1−2
+ r
110−1
∣∣ r ∈ R}We shall see in the Linear Independence section of Chapter Two what relationships among vectors causes the linear surface they generate to be degenerate.
We finish this subsection by restating our conclusions from the first sectionin geometric terms. First, the solution set of a linear system with n unknownsis a linear surface in Rn. Specifically, it is an kdimensional linear surface,where k is the number of free variables in an echelon form version of the system.Second, the solution set of a homogeneous linear system is a linear surfacepassing through the origin. Finally, we can view the general solution set of anylinear system as being the solution set of its associated homogeneous systemoffset from the origin by a vector, namely by any particular solution.
ExercisesX 1.1 Find the canonical name for each vector.
(a) the vector from (2, 1) to (4, 2) in R2
(b) the vector from (3, 3) to (2, 5) in R2
(c) the vector from (1, 0, 6) to (5, 0, 3) in R3
(d) the vector from (6, 8, 8) to (6, 8, 8) in R3
38 Chapter 1. Linear Systems
X 1.2 Decide if the two vectors are equal.(a) the vector from (5, 3) to (6, 2) and the vector from (1,−2) to (1, 1)(b) the vector from (2, 1, 1) to (3, 0, 4) and the vector from (5, 1, 4) to (6, 0, 7)
X 1.3 Does (1, 0, 2, 1) lie on the line through (−2, 1, 1, 0) and (5, 10,−1, 4)?
X 1.4 (a) Describe the plane through (1, 1, 5,−1), (2, 2, 2, 0), and (3, 1, 0, 4).(b) Is the origin in that plane?
1.5 Describe the plane that contains this point and line.(203
){
(−10−4
)+
(112
)t∣∣ t ∈ R}
X 1.6 Intersect these planes.
{
(111
)t+
(013
)s∣∣ t, s ∈ R} {
(110
)+
(030
)k +
(204
)m∣∣ k,m ∈ R}
X 1.7 Intersect each pair, if possible.
(a) {
(112
)+ t
(011
) ∣∣ t ∈ R}, {( 13−2
)+ s
(012
) ∣∣ s ∈ R}(b) {
(201
)+ t
(11−1
) ∣∣ t ∈ R}, {s(012
)+ w
(041
) ∣∣ s, w ∈ R}1.8 Show that the line segments (a1, a2)(b1, b2) and (c1, c2)(d1, d2) have the samelengths and slopes if b1 − a1 = d1 − c1 and b2 − a2 = d2 − c2. Is that only if?
1.9 How should R0 be defined?
X 1.10 [Math. Mag., Jan. 1957] A person traveling eastward at a rate of 3 miles perhour finds that the wind appears to blow directly from the north. On doubling hisspeed it appears to come from the north east. What was the wind’s velocity?
1.11 Euclid describes a plane as “a surface which lies evenly with the straight lineson itself”. Commentators (e.g., Heron) have interpreted this to mean “(A planesurface is) such that, if a straight line pass through two points on it, the linecoincides wholly with it at every spot, all ways”. (Translations from [Heath], pp.171172.) Do planes, as described in this section, have that property? Does thisdescription adequately define planes?
1.II.2 Length and Angle Measures
We’ve translated the first section’s results about solution sets into geometricterms for insight into how those sets look. But we must watch out not to bemislead by our own terms; labeling subsets of Rk of the forms {~p+ t~v
∣∣ t ∈ R}and {~p+ t~v + s~w
∣∣ t, s ∈ R} as “lines” and “planes” doesn’t make them act likethe lines and planes of our prior experience. Rather, we must ensure that thenames suit the sets. While we can’t prove that the sets satisfy our intuition —we can’t prove anything about intuition — in this subsection we’ll observe that
Section II. Linear Geometry of nSpace 39
a result familiar from R2 and R3, when generalized to arbitrary Rk, supportsthe idea that a line is straight and a plane is flat. Specifically, we’ll see how todo Euclidean geometry in a “plane” by giving a definition of the angle betweentwo Rn vectors in the plane that they generate.
2.1 Definition The length of a vector ~v ∈ Rn is this.
‖~v ‖ =√v2
1 + · · ·+ v2n
2.2 Remark This is a natural generalization of the Pythagorean Theorem. Aclassic discussion is in [Polya].
We can use that definition to derive a formula for the angle between twovectors. For a model of what to do, consider two vectors in R3.
~u~v
Put them in canonical position and, in the plane that they determine, considerthe triangle formed by ~u, ~v, and ~u− ~v.
To that triangle, apply the Law of Cosines,
‖~u− ~v ‖2 = ‖~u ‖2 + ‖~v ‖2 − 2 ‖~u ‖ ‖~v ‖ cos θ
where θ is the angle between ~u and ~v. Expand both sides
(u1 − v1)2 + (u2 − v2)2 + (u3 − v3)2
= (u21 + u2
2 + u23) + (v2
1 + v22 + v2
3)− 2 ‖~u ‖ ‖~v ‖ cos θ
and simplify.
θ = arccos(u1v1 + u2v2 + u3v3
‖~u ‖ ‖~v ‖ )
In higher dimensions no picture suffices but we can make the same argumentanalytically. First, the form of the numerator is clear — it comes from the middleterms of the squares (u1 − v1)2, (u2 − v2)2, etc.
2.3 Definition The dot product (or inner product, or scalar product) of twoncomponent real vectors is the linear combination of their components.
~u ~v = u1v1 + u2v2 + · · ·+ unvn
40 Chapter 1. Linear Systems
Notice that the dot product of two vectors is a real number, not a vector, andthat the dot product of a vector from Rn with a vector from Rm is definedonly when n equals m. Notice also this relationship between dot product andlength: dotting a vector with itself gives its length squared ~u ~u = u1u1 + · · ·+unun = ‖~u ‖2.
2.4 Remark The wording in that definition allows one or both of the two tobe a row vector instead of a column vector. Some books require that the firstvector be a row vector and that the second vector be a column vector. We shallnot be that strict.
Still reasoning with letters, but guided by the pictures, we use the nexttheorem to argue that the triangle formed by ~u, ~v, and ~u − ~v in Rn lies in theplanar subset of Rn generated by ~u and ~v.
2.5 Theorem (Triangle Inequality) For any ~u,~v ∈ Rn,
‖~u+ ~v ‖ ≤ ‖~u ‖+ ‖~v ‖
with equality if and only if one of the vectors is a nonnegative scalar multipleof the other one.
This inequality is the source of the familiar saying, “The shortest distancebetween two points is in a straight line.”
~u
~v~u+ ~v
start .
. finish
Proof. We’ll use some algebraic properties of dot product that we have notshown, for instance that ~u ·(~a+~b) = ~u ·~a+~u ·~b and that ~u ·~v = ~v ·~u. Verificationof those properties is Exercise 17. The desired inequality holds if and only if itssquare holds.
‖~u+ ~v ‖2 ≤ (‖~u‖+ ‖~v‖)2
(~u+ ~v) (~u+ ~v) ≤ ‖~u ‖2 + 2 ‖~u ‖ ‖~v ‖+ ‖~v ‖2
~u ~u+ ~u ~v + ~v ~u+ ~v ~v ≤ ~u ~u+ 2 ‖~u ‖ ‖~v ‖+ ~v ~v
2 ~u ~v ≤ 2 ‖~u ‖ ‖~v ‖
That, in turn, holds if and only if the relationship obtained by multiplying bothsides by the nonnegative numbers ‖~u ‖ and ‖~v ‖
2 (‖~v ‖~u) (‖~u ‖~v) ≤ 2 ‖~u ‖2‖~v ‖2
and rewriting
0 ≤ ‖~u ‖2‖~v ‖2 − 2 (‖~v ‖~u) (‖~u ‖~v) + ‖~u ‖2‖~v ‖2
Section II. Linear Geometry of nSpace 41
is true. But factoring
0 ≤ (‖~u ‖~v − ‖~v ‖~u) (‖~u ‖~v − ‖~v ‖~u)
shows that this certainly is true since it only says that the square of the lengthof the vector ‖~u ‖~v − ‖~v ‖~u is not negative.
As for equality, it holds when, and only when, ‖~u ‖~v−‖~v ‖~u is ~0. The checkthat ‖~u ‖~v = ‖~v ‖~u if and only if one vector is a nonnegative real scalar multipleof the other is easy. QED
This result supports the intuition that even in higherdimensional spaces,lines are straight and planes are flat. For any two points in a linear surface, theline segment connecting them is contained in that surface (this is easily checkedfrom the definition). But if the surface has a bend then that would allow for ashortcut (shown here dotted, while the line segment from P to Q, contained inthe linear surface, is solid).
. P
. Q
Because the Triangle Inequality says that in any Rn, the shortest cut betweentwo endpoints is simply the line segment connecting them, linear surfaces haveno such bends.
Back to the definition of angle measure. The heart of the Triangle Inequality’s proof is the ‘~u · ~v ≤ ‖~u ‖ ‖~v ‖’ line. At first glance, a reader might wonderif some pairs of vectors satisfy the inequality in this way: while ~u · ~v is a largenumber, with absolute value bigger than the righthand side, it is a negativelarge number. The next result says that no such pair of vectors exists.
2.6 Corollary (CauchySchwartz Inequality) For any ~u,~v ∈ Rn,
~u · ~v  ≤ ‖~u ‖ ‖~v ‖
with equality if and only if one vector is a scalar multiple of the other.
Proof. The Triangle Inequality’s proof shows that ~u ~v ≤ ‖~u ‖ ‖~v ‖ so if ~u ~v ispositive or zero then we are done. If ~u ~v is negative then this holds.
~u ~v = −(~u ~v) = (−~u) ~v ≤ ‖ − ~u ‖ ‖~v ‖ = ‖~u ‖ ‖~v ‖
The equality condition is Exercise 18. QED
The CauchySchwartz inequality assures us that the next definition makessense because the fraction has absolute value less than or equal to one.
42 Chapter 1. Linear Systems
2.7 Definition The angle between two nonzero vectors ~u,~v ∈ Rn is
θ = arccos(~u ~v
‖~u ‖ ‖~v ‖ )
(the angle between the zero vector and any other vector is defined to be a rightangle).
Thus vectors from Rn are orthogonal if and only if their dot product is zero.
2.8 Example These vectors are orthogonal.
(1−1
) (11
)= 0
Although they are shown away from canonical position so that they don’t appearto touch, nonetheless they are orthogonal.
2.9 Example The R3 angle formula given at the start of this subsection is aspecial case of the definition. Between these two
(032
)(
110
)the angle is
arccos((1)(0) + (1)(3) + (0)(2)√12 + 12 + 02
√02 + 32 + 22
) = arccos(3√
2√
13)
approximately 0.94 radians. Notice that these vectors are not orthogonal. Although the yzplane may appear to be perpendicular to the xyplane, in factthe two planes are that way only in the weak sense that there are vectors in eachorthogonal to all vectors in the other. Not every vector in each is orthogonal toall vectors in the other.
Exercises
X 2.10 Find the length of each vector.
(a)
(31
)(b)
(−12
)(c)
(411
)(d)
(000
)(e)
1−110
X 2.11 Find the angle between each two, if it is defined.
Section II. Linear Geometry of nSpace 43
(a)
(12
),
(14
)(b)
(120
),
(041
)(c)
(12
),
(14−1
)X 2.12 During maneuvers preceding the Battle of Jutland, the British battle cruiser
Lion moved as follows (in nautical miles): 1.2 miles north, 6.1 miles 38 degreeseast of south, 4.0 miles at 89 degrees east of north, and 6.5 miles at 31 degreeseast of north. Find the distance between starting and ending positions.
2.13 Find k so that these two vectors are perpendicular.(k1
) (43
)2.14 Describe the set of vectors in R3 orthogonal to this one.(
13−1
)
X 2.15 (a) Find the angle between the diagonal of the unit square in R2 and one ofthe axes.
(b) Find the angle between the diagonal of the unit cube in R3 and one of theaxes.
(c) Find the angle between the diagonal of the unit cube in Rn and one of theaxes.
(d) What is the limit, as n goes to ∞, of the angle between the diagonal of theunit cube in Rn and one of the axes?
2.16 Is there any vector that is perpendicular to itself?
X 2.17 Describe the algebraic properties of dot product.(a) Is it rightdistributive over addition: (~u+ ~v) ~w = ~u ~w + ~v ~w?(b) Is is leftdistributive (over addition)?(c) Does it commute?(d) Associate?(e) How does it interact with scalar multiplication?
As always, any assertion must be backed by either a proof or an example.
2.18 Verify the equality condition in Corollary 2.6, the CauchySchwartz Inequality.(a) Show that if ~u is a negative scalar multiple of ~v then ~u ~v and ~v ~u are lessthan or equal to zero.
(b) Show that ~u ~v = ‖~u ‖ ‖~v ‖ if and only if one vector is a scalar multiple ofthe other.
2.19 Suppose that ~u ~v = ~u ~w and ~u 6= ~0. Must ~v = ~w?
X 2.20 Does any vector have length zero except a zero vector? (If “yes”, produce anexample. If “no”, prove it.)
X 2.21 Find the midpoint of the line segment connecting (x1, y1) with (x2, y2) in R2.Generalize to Rn.
2.22 Show that if ~v 6= ~0 then ~v/‖~v ‖ has length one. What if ~v = ~0?
2.23 Show that if r ≥ 0 then r~v is r times as long as ~v. What if r < 0?
X 2.24 A vector ~v ∈ Rn of length one is a unit vector. Show that the dot productof two unit vectors has absolute value less than or equal to one. Can ‘less than’happen? Can ‘equal to’?
44 Chapter 1. Linear Systems
2.25 Prove that ‖~u+ ~v ‖2 + ‖~u− ~v ‖2 = 2‖~u ‖2 + 2‖~v ‖2.2.26 Show that if ~x ~y = 0 for every ~y then ~x = ~0.
2.27 Is ‖~u1 + · · ·+ ~un‖ ≤ ‖~u1‖+ · · ·+ ‖~un‖? If it is true then it would generalizethe Triangle Inequality.
2.28 What is the ratio between the sides in the CauchySchwartz inequality?
2.29 Why is the zero vector defined to be perpendicular to every vector?
2.30 Describe the angle between two vectors in R1.
2.31 Give a simple necessary and sufficient condition to determine whether theangle between two vectors is acute, right, or obtuse.
X 2.32 Generalize to Rn the converse of the Pythagorean Theorem, that if ~u and ~vare perpendicular then ‖~u+ ~v ‖2 = ‖~u ‖2 + ‖~v ‖2.
2.33 Show that ‖~u ‖ = ‖~v ‖ if and only if ~u+ ~v and ~u− ~v are perpendicular. Givean example in R2.
2.34 Show that if a vector is perpendicular to each of two others then it is perpendicular to each vector in the plane they generate. (Remark. They could generatea degenerate plane — a line or a point — but the statement remains true.)
2.35 Prove that, where ~u,~v ∈ Rn are nonzero vectors, the vector~u
‖~u ‖ +~v
‖~v ‖bisects the angle between them. Illustrate in R2.
2.36 Verify that the definition of angle is dimensionally correct: (1) if k > 0 thenthe cosine of the angle between k~u and ~v equals the cosine of the angle between~u and ~v, and (2) if k < 0 then the cosine of the angle between k~u and ~v is thenegative of the cosine of the angle between ~u and ~v.
X 2.37 Show that the inner product operation is linear: for ~u,~v, ~w ∈ Rn and k,m ∈ R,~u (k~v +m~w) = k(~u ~v) +m(~u ~w).
X 2.38 The geometric mean of two positive reals x, y is√xy. It is analogous to the
arithmetic mean (x+ y)/2. Use the CauchySchwartz inequality to show that thegeometric mean of any x, y ∈ R is less than or equal to the arithmetic mean.
2.39 [Am. Math. Mon., Feb. 1933] A ship is sailing with speed and direction ~v1;the wind blows apparently (judging by the vane on the mast) in the direction ofa vector ~a; on changing the direction and speed of the ship from ~v1 to ~v2 theapparent wind is in the direction of a vector ~b.
Find the vector velocity of the wind.
2.40 Verify the CauchySchwartz inequality by first proving Lagrange’s identity:( ∑1≤j≤n
ajbj
)2
=
( ∑1≤j≤n
a2j
)( ∑1≤j≤n
b2j
)−
∑1≤k<j≤n
(akbj − ajbk)2
and then noting that the final term is positive. (Recall the meaning∑1≤j≤n
ajbj = a1b1 + a2b2 + · · ·+ anbn
and ∑1≤j≤n
aj2 = a1
2 + a22 + · · ·+ an
2
of the Σ notation.) This result is an improvement over CauchySchwartz becauseit gives a formula for the difference between the two sides. Interpret that differencein R2.
Section III. Reduced Echelon Form 45
1.III Reduced Echelon Form
After developing the mechanics of Gauss’ method, we observed that it can bedone in more than one way. One example is that we sometimes have to swaprows and there can be more than one row to choose from. Another example isthat from this matrix (
2 24 3
)Gauss’ method could derive any of these echelon form matrices.(
2 20 −1
) (1 10 −1
) (2 00 −1
)The first results from −2ρ1 +ρ2. The second comes from following (1/2)ρ1 with−4ρ1 + ρ2. The third comes from −2ρ1 + ρ2 followed by 2ρ2 + ρ1 (after the firstpivot the matrix is already in echelon form so the second one is extra work butit is nonetheless a legal row operation).
The fact that the echelon form outcome of Gauss’ method is not uniqueleaves us with some questions. Will any two echelon form versions of a systemhave the same number of free variables? Will they in fact have exactly the samevariables free? In this section we will answer both questions “yes”. We willdo more than answer the questions. We will give a way to decide if one linearsystem can be derived from another by row operations. The answers to the twoquestions will follow from this larger result.
1.III.1 GaussJordan Reduction
Gaussian elimination coupled with backsubstitution solves linear systems,but it’s not the only method possible. Here is an extension of Gauss’ methodthat has some advantages.
1.1 Example To solve
x+ y − 2z =−2y + 3z = 7
x − z =−1
we can start by going to echelon form as usual.
−ρ1+ρ3−→
1 1 −2 −20 1 3 70 −1 1 1
ρ2+ρ3−→
1 1 −2 −20 1 3 70 0 4 8
46 Chapter 1. Linear Systems
We can keep going to a second stage by making the leading entries into ones
(1/4)ρ3−→
1 1 −2 −20 1 3 70 0 1 2
and then to a third stage that uses the leading entries to eliminate all of theother entries in each column by pivoting upwards.
−3ρ3+ρ2−→2ρ3+ρ1
1 1 0 20 1 0 10 0 1 2
−ρ2+ρ1−→
1 0 0 10 1 0 10 0 1 2
The answer is x = 1, y = 1, and z = 2.
Note that the pivot operations in the first stage proceed from column one tocolumn three while the pivot operations in the third stage proceed from columnthree to column one.
1.2 Example We often combine the operations of the middle stage into asingle step, even though they are operations on different rows.(
2 1 74 −2 6
)−2ρ1+ρ2−→
(2 1 70 −4 −8
)(1/2)ρ1−→
(−1/4)ρ2
(1 1/2 7/20 1 2
)−(1/2)ρ2+ρ1−→
(1 0 5/20 1 2
)The answer is x = 5/2 and y = 2.
This extension of Gauss’ method is GaussJordan reduction. It goes pastechelon form to a more refined, more specialized, matrix form.
1.3 Definition A matrix is in reduced echelon form if, in addition to being inechelon form, each leading entry is a one and is the only nonzero entry in itscolumn.
The disadvantage of using GaussJordan reduction to solve a system is that theadditional row operations mean additional arithmetic. The advantage is thatthe solution set can just be read off.
In any echelon form, plain or reduced, we can read off when a system hasan empty solution set because there is a contradictory equation, we can read offwhen a system has a oneelement solution set because there is no contradictionand every variable is the leading variable in some row, and we can read off whena system has an infinite solution set because there is no contradiction and atleast one variable is free.
In reduced echelon form we can read off not just what kind of solution setthe system has, but also its description. Whether or not the echelon form
Section III. Reduced Echelon Form 47
is reduced, we have no trouble describing the solution set when it is empty,of course. The two examples above show that when the system has a singlesolution then the solution can be read off from the righthand column. In thecase when the solution set is infinite, its parametrization can also be read offof the reduced echelon form. Consider, for example, this system that is shownbrought to echelon form and then to reduced echelon form.2 6 1 2 5
0 3 1 4 10 3 1 2 5
−ρ2+ρ3−→
2 6 1 2 50 3 1 4 10 0 0 −2 4
(1/2)ρ1−→
(1/3)ρ2−(1/2)ρ3
(4/3)ρ3+ρ2−→−ρ3+ρ1
−3ρ2+ρ1−→
1 0 −1/2 0 −9/20 1 1/3 0 30 0 0 1 −2
Starting with the middle matrix, the echelon form version, back substitutionproduces −2x4 = 4 so that x4 = −2, then another back substitution gives3x2 + x3 + 4(−2) = 1 implying that x2 = 3 − (1/3)x3, and then the finalback substitution gives 2x1 + 6(3 − (1/3)x3) + x3 + 2(−2) = 5 implying thatx1 = −(9/2) + (1/2)x3. Thus the solution set is this.
S = {
x1
x2
x3
x4
=
−9/2
30−2
+
1/2−1/3
10
x3
∣∣ x3 ∈ R}
Now, considering the final matrix, the reduced echelon form version, note thatadjusting the parametrization by moving the x3 terms to the other side doesindeed give the description of this infinite solution set.
Part of the reason that this works is straightforward. While a set can havemany parametrizations that describe it, e.g., both of these also describe theabove set S (take t to be x3/6 and s to be x3 − 1)
{
−9/2
30−2
+
3−260
t∣∣ t ∈ R} {
−48/31−2
+
1/2−1/3
10
s∣∣ s ∈ R}
nonetheless we have in this book stuck to a convention of parametrizing usingthe unmodified free variables (that is, x3 = x3 instead of x3 = 6t). We caneasily see that a reduced echelon form version of a system is equivalent to aparametrization in terms of unmodified free variables. For instance,
x1 = 4− 2x3
x2 = 3− x3
⇐⇒
1 0 2 40 1 1 30 0 0 0
(to move from left to right we also need to know how many equations are in thesystem). So, the convention of parametrizing with the free variables by solving
48 Chapter 1. Linear Systems
each equation for its leading variable and then eliminating that leading variablefrom every other equation is exactly equivalent to the reduced echelon formconditions that each leading entry must be a one and must be the only nonzeroentry in its column.
Not as straightforward is the other part of the reason that the reducedechelon form version allows us to read off the parametrization that we wouldhave gotten had we stopped at echelon form and then done back substitution.The prior paragraph shows that reduced echelon form corresponds to someparametrization, but why the same parametrization? A solution set can beparametrized in many ways, and Gauss’ method or the GaussJordan methodcan be done in many ways, so a first guess might be that we could derive manydifferent reduced echelon form versions of the same starting system and manydifferent parametrizations. But we never do. Experience shows that startingwith the same system and proceeding with row operations in many differentways always yields the same reduced echelon form and the same parametrization(using the unmodified free variables).
In the rest of this section we will show that the reduced echelon form versionof a matrix is unique. It follows that the parametrization of a linear system interms of its unmodified free variables is unique because two different ones wouldgive two different reduced echelon forms.
We shall use this result, and the ones that lead up to it, in the rest of thebook but perhaps a restatement in a way that makes it seem more immediatelyuseful may be encouraging. Imagine that we solve a linear system, parametrize,and check in the back of the book for the answer. But the parametrization thereappears different. Have we made a mistake, or could these be differentlookingdescriptions of the same set, as with the three descriptions above of S? The priorparagraph notes that we will show here that differentlooking parametrizations(using the unmodified free variables) describe genuinely different sets.
Here is an informal argument that the reduced echelon form version of amatrix is unique. Consider again the example that started this section of amatrix that reduces to three different echelon form matrices. The first matrixof the three is the natural echelon form version. The second matrix is the sameas the first except that a row has been halved. The third matrix, too, is just acosmetic variant of the first. The definition of reduced echelon form outlaws thiskind of fooling around. In reduced echelon form, halving a row is not possiblebecause that would change the row’s leading entry away from one, and neitheris combining rows possible, because then a leading entry would no longer bealone in its column.
This informal justification is not a proof; we have argued that no two differentreduced echelon form matrices are related by a single row operation step, butwe have not ruled out the possibility that multiple steps might do. Before we goto that proof, we finish this subsection by rephrasing our work in a terminologythat will be enlightening.
Many different matrices yield the same reduced echelon form matrix. Thethree echelon form matrices from the start of this section, and the matrix they
Section III. Reduced Echelon Form 49
were derived from, all give this reduced echelon form matrix.(1 00 1
)We think of these matrices as related to each other. The next result speaks tothis relationship.
1.4 Lemma Elementary row operations are reversible.
Proof. For any matrix A, the effect of swapping rows is reversed by swappingthem back, multiplying a row by a nonzero k is undone by multiplying by 1/k,and adding a multiple of row i to row j (with i 6= j) is undone by subtractingthe same multiple of row i from row j.
Aρi↔ρj−→ ρj↔ρi−→ A A
kρi−→ (1/k)ρi−→ A Akρi+ρj−→ −kρi+ρj−→ A
(The i 6= j conditions is needed. See Exercise 13.) QED
This lemma suggests that ‘reduces to’ is misleading — where A −→ B, weshouldn’t think of B as “after” A or “simpler than” A. Instead we should thinkof them as interreducible or interrelated. Below is a picture of the idea. Thematrices from the start of this section and their reduced echelon form versionare shown in a cluster. They are all related; some of the interrelationships areshown also.
(1 00 1
)↔↔↔
(2 24 3
) ↔↔
↔↔
(2 00 −1
)↔↔
↔↔↔
(2 20 −1
)↔
↔ ↔↔
(1 10 −1
)
The technical phrase in this situation is that matrices that reduce to each otherare ‘equivalent with respect to the relationship of row reducibility’. The nextresult verifies this statement using the definition of an equivalence.∗
1.5 Lemma Between matrices, ‘reduces to’ is an equivalence relation.
Proof. We must check the conditions (i) reflexivity, that any matrix reduces toitself, (ii) symmetry, that if A reduces to B then B reduces to A, and (iii) transitivity, that if A reduces to B and B reduces to C then A reduces to C.
Reflexivity is easy; any matrix reduces to itself in zero row operations.That the relationship is symmetric is Lemma 1.4 — if A reduces to B by
some row operations then also B reduces to A by reversing those operations.For transitivity, suppose that A reduces to B and that B reduces to C.
Linking the reduction steps from A → · · · → B with those from B → · · · → Cgives a reduction from A to C. QED
∗ More information on equivalence relations is in the appendix.
50 Chapter 1. Linear Systems
1.6 Definition Two matrices that are interreducible by the elementary rowoperations are row equivalent.
The diagram below has the collection of all matrices as a box. Inside thatbox, each matrix lies in some class. Matrices are in the same class if and only ifthey are interreducible. The classes are disjoint — no matrix is in two distinctclasses. The collection of matrices has been partitioned into row equivalenceclasses. One of the reasons that showing the row equivalence relation is anequivalence is useful is that any equivalence relation gives rise to a partition.∗
All matrices: %$Ã!¿À. . .
.A
B .
A row equivalentto B.
One of the classes in this partition is the cluster of matrices shown above,expanded to include all of the nonsingular 2×2 matrices.
The next subsection proves that the reduced echelon form of a matrix isunique; that every matrix reduces to one and only one reduced echelon formmatrix. Rephrased in the relation language, we shall prove that every matrix isrow equivalent to one and only one reduced echelon form matrix. In terms of thepartition in the picture what we shall prove is: every equivalence class containsone and only one reduced echelon form matrix. So each reduced echelon formmatrix serves as a representative of its class.
After that proof we shall, as mentioned in the introduction to this section,have a way to decide if one matrix can be derived from another by row reduction.We can just apply the GaussJordan procedure to both and see whether or notthey come to the same reduced echelon form.
ExercisesX 1.7 Use GaussJordan reduction to solve each system.
(a) x+ y = 2x− y = 0
(b) x − z = 42x+ 2y = 1
(c) 3x− 2y = 16x+ y = 1/2
(d) 2x− y =−1x+ 3y − z = 5
y + 2z = 5
X 1.8 Find the reduced echelon form of each matrix.
(a)
(2 11 3
)(b)
(1 3 12 0 4−1 −3 −3
)(c)
(1 0 3 1 21 4 2 1 53 4 8 1 2
)
(d)
(0 1 3 20 0 5 61 5 1 5
)X 1.9 Find each solution set by using GaussJordan reduction, then reading off the
parametrization.
∗ More information on partitions and class representatives is in the appendix.
Section III. Reduced Echelon Form 51
(a) 2x+ y − z = 14x− y = 3
(b) x − z = 1y + 2z − w = 3
x+ 2y + 3z − w = 7
(c) x− y + z = 0y + w = 0
3x− 2y + 3z + w = 0−y − w = 0
(d) a+ 2b+ 3c+ d− e= 13a− b+ c+ d+ e= 3
1.10 Give two distinct echelon form versions of this matrix.(2 1 1 36 4 1 21 5 1 5
)
X 1.11 List the reduced echelon forms possible for each size.(a) 2×2 (b) 2×3 (c) 3×2 (d) 3×3
X 1.12 What results from applying GaussJordan reduction to a nonsingular matrix?
1.13 The proof of Lemma 1.4 contains a reference to the i 6= j condition on therow pivoting operation.(a) The definition of row operations has an i 6= j condition on the swap operation
ρi ↔ ρj . Show that in Aρi↔ρj−→
ρi↔ρj−→ A this condition is not needed.
(b) Write down a 2×2 matrix with nonzero entries, and show that the −1 ·ρ1 +ρ1
operation is not reversed by 1 · ρ1 + ρ1.(c) Expand the proof of that lemma to make explicit exactly where the i 6= jcondition on pivoting is used.
1.III.2 Row Equivalence
We will close this section and this chapter by proving that every matrix isrow equivalent to one and only one reduced echelon form matrix. The ideasthat appear here will reappear, and be further developed, in the next chapter.
The underlying theme here is that one way to understand a mathematicalsituation is by being able to classify the cases that can happen. We have met thistheme several times already. We have classified solution sets of linear systemsinto the noelements, oneelement, and infinitelymany elements cases. We havealso classified linear systems with the same number of equations as unknownsinto the nonsingular and singular cases. We adopted these classifications becausethey give us a way to understand the situations that we were investigating. Here,where we are investigating row equivalence, we know that the set of all matricesbreaks into the row equivalence classes. When we finish the proof here, we willhave a way to understand each of those classes — its matrices can be thoughtof as derived by row operations from the unique reduced echelon form matrixin that class.
To understand how row operations act to transform one matrix into another,we consider the effect that they have on the parts of a matrix. The crucialobservation is that row operations combine the rows linearly.
52 Chapter 1. Linear Systems
2.1 Definition A linear combination of x1, . . . , xm is an expression of the formc1x1 + c2x2 + · · · + cmxm where the c’s are scalars.
(We have already used the phrase ‘linear combination’ in this book. The meaning is unchanged, but the next result’s statement makes a more formal definitionin order.)
2.2 Lemma (Linear Combination Lemma) A linear combination of linearcombinations is a linear combination.
Proof. Given the linear combinations c1,1x1 + · · · + c1,nxn through cm,1x1 +· · ·+ cm,nxn, consider a combination of those
d1(c1,1x1 + · · ·+ c1,nxn) + · · ·+ dm(cm,1x1 + · · ·+ cm,nxn)
where the d’s are scalars along with the c’s. Distributing those d’s and regrouping gives
= d1c1,1x1 + · · ·+ d1c1,nxn + d2c2,1x1 + · · ·+ dmc1,1x1 + · · ·+ dmc1,nxn
= (d1c1,1 + · · ·+ dmcm,1)x1 + · · ·+ (d1c1,n + · · ·+ dmcm,n)xn
which is indeed a linear combination of the x’s. QED
In this subsection we will use the convention that, where a matrix is namedwith an upper case roman letter, the matching lowercase greek letter namesthe rows.
A =
α1
α2
...αm
B =
β1
β2
...
βm
2.3 Corollary Where one matrix row reduces to another, each row of thesecond is a linear combination of the rows of the first.
The proof below uses induction on the number of row operations used toreduce one matrix to the other. Before we proceed, here is an outline of the argument (readers unfamiliar with induction may want to compare this argumentwith the one used in the ‘General = Particular + Homogeneous’ proof).∗ First,for the base step of the argument, we will verify that the proposition is truewhen reduction can be done in zero row operations. Second, for the inductivestep, we will argue that if being able to reduce the first matrix to the secondin some number t ≥ 0 of operations implies that each row of the second is alinear combination of the rows of the first, then being able to reduce the first tothe second in t+ 1 operations implies the same thing. Together, this base stepand induction step prove this result because by the base step the proposition∗ More information on mathematical induction is in the appendix.
Section III. Reduced Echelon Form 53
is true in the zero operations case, and by the inductive step the fact that it istrue in the zero operations case implies that it is true in the one operation case,and the inductive step applied again gives that it is therefore true in the twooperations case, etc.
Proof. We proceed by induction on the minimum number of row operationsthat take a first matrix A to a second one B.
In the base step, that zero reduction operations suffice, the two matricesare equal and each row of B is obviously a combination of A’s rows: ~βi =0 · ~α1 + · · ·+ 1 · ~αi + · · ·+ 0 · ~αm.
For the inductive step, assume the inductive hypothesis: with t ≥ 0, if amatrix can be derived from A in t or fewer operations then its rows are linearcombinations of the A’s rows. Consider a B that takes t+1 operations. Becausethere are more than zero operations, there must be a nexttolast matrix G sothat A −→ · · · −→ G −→ B. This G is only t operations away from A and so theinductive hypothesis applies to it, that is, each row of G is a linear combinationof the rows of A.
If the last operation, the one from G to B, is a row swap then the rowsof B are just the rows of G reordered and thus each row of B is also a linearcombination of the rows of A. The other two possibilities for this last operation,that it multiplies a row by a scalar and that it adds a multiple of one row toanother, both result in the rows of B being linear combinations of the rows ofG. But therefore, by the Linear Combination Lemma, each row of B is a linearcombination of the rows of A.
With that, we have both the base step and the inductive step, and so theproposition follows. QED
2.4 Example In the reduction(0 21 1
)ρ1↔ρ2−→
(1 10 2
)(1/2)ρ2−→
(1 10 1
)−ρ2+ρ1−→
(1 00 1
),
call the matrices A, D, G, and B. The methods of the proof show that thereare three sets of linear relationships.
δ1 = 0 · α1 + 1 · α2
δ2 = 1 · α1 + 0 · α2
γ1 = 0 · α1 + 1 · α2
γ2 = (1/2)α1 + 0 · α2
β1 = (−1/2)α1 + 1 · α2
β2 = (1/2)α1 + 0 · α2
The prior result gives us the insight that Gauss’ method works by takinglinear combinations of the rows. But to what end; why do we go to echelonform as a particularly simple, or basic, version of a linear system? The answer,of course, is that echelon form is suitable for back substitution, because we haveisolated the variables. For instance, in this matrix
R =
2 3 7 8 0 00 0 1 5 1 10 0 0 3 3 00 0 0 0 2 1
54 Chapter 1. Linear Systems
x1 has been removed from x5’s equation. That is, Gauss’ method has made x5’srow independent of x1’s row.
Independence of a collection of row vectors, or of any kind of vectors, willbe precisely defined and explored in the next chapter. But a first take on it isthat we can show that, say, the third row above is not comprised of the otherrows, that ρ3 6= c1ρ1 + c2ρ2 + c4ρ4. For, suppose that there are scalars c1, c2,and c4 such that this relationship holds.(
0 0 0 3 3 0)
= c1(2 3 7 8 0 0
)+ c2
(0 0 1 5 1 1
)+ c4
(0 0 0 0 2 1
)The first row’s leading entry is in the first column and narrowing our consideration of the above relationship to consideration only of the entries from the firstcolumn 0 = 2c1+0c2+0c4 gives that c1 = 0. The second row’s leading entry is inthe third column and the equation of entries in that column 0 = 7c1 +1c2 +0c4,along with the knowledge that c1 = 0, gives that c2 = 0. Now, to finish, thethird row’s leading entry is in the fourth column and the equation of entriesin that column 3 = 8c1 + 5c2 + 0c4, along with c1 = 0 and c2 = 0, gives animpossibility.
The following result shows that this effect always holds. It shows that whatGauss’ linear elimination method eliminates is linear relationships among therows.
2.5 Lemma In an echelon form matrix, no nonzero row is a linear combinationof the other rows.
Proof. Let R be in echelon form. Suppose, to obtain a contradiction, thatsome nonzero row is a linear combination of the others.
ρi = c1ρ1 + . . .+ ci−1ρi−1 + ci+1ρi+1 + . . .+ cmρm
We will first use induction to show that the coefficients c1, . . . , ci−1 associatedwith rows above ρi are all zero. The contradiction will come from considerationof ρi and the rows below it.
The base step of the induction argument is to show that the first coefficientc1 is zero. Let the first row’s leading entry be in column number `1 be thecolumn number of the leading entry of the first row and consider the equationof entries in that column.
ρi,`1 = c1ρ1,`1 + . . .+ ci−1ρi−1,`1 + ci+1ρi+1,`1 + . . .+ cmρm,`1
The matrix is in echelon form so the entries ρ2,`1 , . . . , ρm,`1 , including ρi,`1 , areall zero.
0 = c1ρ1,`1 + · · ·+ ci−1 · 0 + ci+1 · 0 + · · ·+ cm · 0
Because the entry ρ1,`1 is nonzero as it leads its row, the coefficient c1 must bezero.
Section III. Reduced Echelon Form 55
The inductive step is to show that for each row index k between 1 and i− 2,if the coefficient c1 and the coefficients c2, . . . , ck are all zero then ck+1 is alsozero. That argument, and the contradiction that finishes this proof, is saved forExercise 21. QED
We can now prove that each matrix is row equivalent to one and only onereduced echelon form matrix. We will find it convenient to break the first halfof the argument off as a preliminary lemma. For one thing, it holds for anyechelon form whatever, not just reduced echelon form.
2.6 Lemma If two echelon form matrices are row equivalent then the leadingentries in their first rows lie in the same column. The same is true of all thenonzero rows — the leading entries in their second rows lie in the same column,etc.
For the proof we rephrase the result in more technical terms. Define the formof an m×n matrix to be the sequence 〈`1, `2, . . . , `m〉 where `i is the columnnumber of the leading entry in row i and `i = ∞ if there is no leading entryin that column. The lemma says that if two echelon form matrices are rowequivalent then their forms are equal sequences.
Proof. Let B and D be echelon form matrices that are row equivalent. Becausethey are row equivalent they must be the same size, say n×m. Let the columnnumber of the leading entry in row i of B be `i and let the column number ofthe leading entry in row j of D be kj . We will show that `1 = k1, that `2 = k2,etc., by induction.
This induction argument relies on the fact that the matrices are row equivalent, because the Linear Combination Lemma and its corollary therefore givethat each row of B is a linear combination of the rows of D and vice versa:
βi = si,1δ1 + si,2δ2 + · · ·+ si,mδm and δj = tj,1β1 + tj,2β2 + · · ·+ tj,mβm
where the s’s and t’s are scalars.The base step of the induction is to verify the lemma for the first rows of
the matrices, that is, to verify that `1 = k1. If either row is a zero row thenthe entire matrix is a zero matrix since it is in echelon form, and hterefore bothmatrices are zero matrices (by Corollary 2.3), and so both `1 and k1 are∞. Forthe case where neither β1 nor δ1 is a zero row, consider the i = 1 instance ofthe linear relationship above.
β1 = s1,1δ1 + s1,2δ2 + · · ·+ s1,mδm(0 · · · b1,`1 · · ·
)= s1,1
(0 · · · d1,k1 · · ·
)+ s1,2
(0 · · · 0 · · ·
)...
+ s1,m
(0 · · · 0 · · ·
)
56 Chapter 1. Linear Systems
First, note that `1 < k1 is impossible: in the columns of D to the left of columnk1 the entries are are all zeroes (as d1,k1 leads the first row) and so if `1 < k1
then the equation of entries from column `1 would be b1,`1 = s1,1 ·0+· · ·+s1,m ·0,but b1,`1 isn’t zero since it leads its row and so this is an impossibility. Next,a symmetric argument shows that k1 < `1 also is impossible. Thus the `1 = k1
base case holds.The inductive step is to show that if `1 = k1, and `2 = k2, . . . , and `r = kr,
then also `r+1 = kr+1 (for r in the interval 1 ..m− 1). This argument is savedfor Exercise 22. QED
That lemma answers two of the questions that we have posed (i) any twoechelon form versions of a matrix have the same free variables, and consequently(ii) any two echelon form versions have the same number of free variables. Thereis no linear system and no combination of row operations such that, say, we couldsolve the system one way and get y and z free but solve it another way and gety and w free, or solve it one way and get two free variables while solving itanother way yields three.
We finish now by specializing to the case of reduced echelon form matrices.
2.7 Theorem Each matrix is row equivalent to a unique reduced echelon formmatrix.
Proof. Clearly any matrix is row equivalent to at least one reduced echelonform matrix, via GaussJordan reduction. For the other half, that any matrixis equivalent to at most one reduced echelon form matrix, we will show that ifa matrix GaussJordan reduces to each of two others then those two are equal.
Suppose that a matrix is row equivalent the two reduced echelon form matrices B and D, which are therefore row equivalent to each other. The LinearCombination Lemma and its corollary allow us to write the rows of one, sayB, as a linear combination of the rows of the other βi = ci,1δ1 + · · · + ci,mδm.The preliminary result, Lemma 2.6, says that in the two matrices, the samecollection of rows are nonzero. Thus, if β1 through βr are the nonzero rows ofB then the nonzero rows of D are δ1 through δr. Zero rows don’t contribute tothe sum so we can rewrite the relationship to include just the nonzero rows.
βi = ci,1δ1 + · · ·+ ci,rδr (∗)
The preliminary result also says that for each row j between 1 and r, theleading entries of the jth row of B and D appear in the same column, denoted`j . Rewriting the above relationship to focus on the entries in the `jth column(
· · · bi,`j · · ·)
= ci,1(· · · d1,`j · · ·
)+ ci,2
(· · · d2,`j · · ·
)...
+ ci,r(· · · dr,`j · · ·
)
Section III. Reduced Echelon Form 57
gives this set of equations for i = 1 up to i = r.
b1,`j = c1,1d1,`j + · · ·+ c1,jdj,`j + · · ·+ c1,rdr,`j...
bj,`j = cj,1d1,`j + · · ·+ cj,jdj,`j + · · ·+ cj,rdr,`j...
br,`j = cr,1d1,`j + · · ·+ cr,jdj,`j + · · ·+ cr,rdr,`j
Since D is in reduced echelon form, all of the d’s in column `j are zero except fordj,`j , which is 1. Thus each equation above simplifies to bi,`j = ci,jdj,`j = ci,j ·1.But B is also in reduced echelon form and so all of the b’s in column `j are zeroexcept for bj,`j , which is 1. Therefore, each ci,j is zero, except that c1,1 = 1,and c2,2 = 1, . . . , and cr,r = 1.
We have shown that the only nonzero coefficient in the linear combinationlabelled (∗) is cj,j , which is 1. Therefore βj = δj . Because this holds for allnonzero rows, B = D. QED
We end with a recap. In Gauss’ method we start with a matrix and thenderive a sequence of other matrices. We defined two matrices to be related if onecan be derived from the other. That relation is an equivalence relation, calledrow equivalence, and so partitions the set of all matrices into row equivalenceclasses.
All matrices: %$Ã!¿À. . .
. ( 1 32 7 )
. ( 1 30 1 )
each classconsists ofrow equivalentmatrices
(There are infinitely many matrices in the pictured class, but we’ve only gotroom to show two.) We have proved there is one and only one reduced echelonform matrix in each row equivalence class. So the reduced echelon form is acanonical form∗ for row equivalence: the reduced echelon form matrices arerepresentatives of the classes.
All matrices: %$Ã!¿À. . .
?
?
?
?
?
( 1 00 1 )
one reducedechelon form matrixfrom each class
We can answer questions about the classes by translating them into questionsabout the representatives.∗ More information on canonical representatives is in the appendix.
58 Chapter 1. Linear Systems
2.8 Example We can decide if matrices are interreducible by seeing if GaussJordan reduction produces the same reduced echelon form result. Thus, theseare not row equivalent (
1 −3−2 6
) (1 −3−2 5
)because their reduced echelon forms are not equal.(
1 −30 0
) (1 00 1
)2.9 Example Any nonsingular 3×3 matrix GaussJordan reduces to this.1 0 0
0 1 00 0 1
2.10 Example We can describe the classes by listing all possible reduced echelon form matrices. Any 2×2 matrix lies in one of these: the class of matricesrow equivalent to this, (
0 00 0
)the infinitely many classes of matrices row equivalent to one of this type(
1 a0 0
)where a ∈ R (including a = 0), the class of matrices row equivalent to this,(
0 10 0
)and the class of matrices row equivalent to this(
1 00 1
)(this the class of nonsingular 2×2 matrices).
ExercisesX 2.11 Decide if the matrices are row equivalent.
(a)
(1 24 8
),
(0 11 2
)(b)
(1 0 23 −1 15 −1 5
),
(1 0 20 2 102 0 4
)
(c)
(2 1 −11 1 04 3 −1
),
(1 0 20 2 10
)(d)
(1 1 1−1 2 2
),
(0 3 −12 2 5
)(e)
(1 1 10 0 3
),
(0 1 21 −1 1
)2.12 Describe the matrices in each of the classes represented in Example 2.10.
2.13 Describe all matrices in the row equivalence class of these.
Section III. Reduced Echelon Form 59
(a)
(1 00 0
)(b)
(1 22 4
)(c)
(1 11 3
)2.14 How many row equivalence classes are there?
2.15 Can row equivalence classes contain differentsized matrices?
2.16 How big are the row equivalence classes?(a) Show that the class of any zero matrix is finite.(b) Do any other classes contain only finitely many members?
X 2.17 Give two reduced echelon form matrices that have their leading entries in thesame columns, but that are not row equivalent.
X 2.18 Show that any two n×n nonsingular matrices are row equivalent. Are anytwo singular matrices row equivalent?
X 2.19 Describe all of the row equivalence classes containing these.(a) 2× 2 matrices (b) 2× 3 matrices (c) 3× 2 matrices(d) 3×3 matrices
2.20 (a) Show that a vector ~β0 is a linear combination of members of the set
{~β1, . . . , ~βn} if and only there is a linear relationship ~0 = c0~β0 + · · · + cn~βnwhere c0 is not zero. (Watch out for the ~β0 = ~0 case.)
(b) Derive Lemma 2.5.
X 2.21 Finish the proof of Lemma 2.5.(a) First illustrate the inductive step by showing that `2 = k2.(b) Do the full inductive step: assume that ck is zero for 1 ≤ k < i − 1, anddeduce that ck+1 is also zero.
(c) Find the contradiction.
2.22 Finish the induction argument in Lemma 2.6.(a) State the inductive hypothesis, Also state what must be shown to follow fromthat hypothesis.
(b) Check that the inductive hypothesis implies that in the relationship βr+1 =sr+1,1δ1 + sr+2,2δ2 + · · · + sr+1,mδm the coefficients sr+1,1, . . . , sr+1,r are eachzero.
(c) Finish the inductive step by arguing, as in the base case, that `r+1 < kr+1
and kr+1 < `r+1 are impossible.
2.23 Why, in the proof of Theorem 2.7, do we bother to restrict to the nonzero rows?Why not just stick to the relationship that we began with, βi = ci,1δ1+· · ·+ci,mδm,with m instead of r, and argue using it that the only nonzero coefficient is ci,i,which is 1?
X 2.24 [Trono] Three truck drivers went into a roadside cafe. One truck driver purchased four sandwiches, a cup of coffee, and seven doughnuts for $8.45. Anotherdriver purchased three sandwiches, a cup of coffee, and seven doughnuts for $6.30.What did the third truck driver pay for a sandwich, a cup of coffee, and a doughnut?
2.25 The fact that Gaussian reduction disallows multiplication of a row by zero isneeded for the proof of uniqueness of reduced echelon form, or else every matrixwould be row equivalent to a matrix of all zeros. Where is it used?
X 2.26 The Linear Combination Lemma says which equations can be gotten fromGaussian reduction from a given linear system.
(1) Produce an equation not implied by this system.
3x+ 4y = 82x+ y = 3
60 Chapter 1. Linear Systems
(2) Can any equation be derived from an inconsistent system?
2.27 Extend the definition of row equivalence to linear systems. Under your definition, do equivalent systems have the same solution set?
X 2.28 In this matrix (1 2 33 0 31 4 5
)the first and second columns add to the third.(a) Show that remains true under any row operation.(b) Make a conjecture.(c) Prove that it holds.
Topic: Computer Algebra Systems 61
Topic: Computer Algebra Systems
The linear systems in this chapter are small enough that their solution by handis easy. But large systems are easiest, and safest, to do on a computer. Thereare special purpose programs such as LINPACK for this job. Another populartool is a general purpose computer algebra system, including both commercialpackages such as Maple, Mathematica, or MATLAB, or free packages such asSciLab, or Octave.
For example, in the Topic on Networks, we need to solve this.
i0 − i1 − i2 = 0i1 − i3 − i5 = 0
i2 − i4 + i5 = 0i3 + i4 − i6 = 0
5i1 + 10i3 = 102i2 + 4i4 = 10
5i1 − 2i2 + 50i5 = 0
It can be done by hand, but it would take a while and be errorprone. Using acomputer is better.
We illustrate by solving that system under Maple (for another system, auser’s manual would obviously detail the exact syntax needed). The array ofcoefficients can be entered in this way
> A:=array( [[1,1,1,0,0,0,0],
[0,1,0,1,0,1,0],
[0,0,1,0,1,1,0],
[0,0,0,1,1,0,1],
[0,5,0,10,0,0,0],
[0,0,2,0,4,0,0],
[0,5,1,0,0,10,0]] );
(putting the rows on separate lines is not necessary, but is done for clarity).The vector of constants is entered similarly.
> u:=array( [0,0,0,0,10,10,0] );
Then the system is solved, like magic.> linsolve(A,u);
7 2 5 2 5 7
[ , , , , , 0,  ]
3 3 3 3 3 3
Systems with infinitely many solutions are solved in the same way — the computer simply returns a parametrization.
Exercises1 Use the computer to solve the two problems that opened this chapter.
(a) This is the Statics problem.
40h+ 15c = 100
25c = 50 + 50h
62 Chapter 1. Linear Systems
(b) This is the Chemistry problem.
7h = 7j
8h+ 1i = 5j + 2k
1i = 3j
3i = 6j + 1k
2 Use the computer to solve these systems from the first subsection, or conclude‘many solutions’ or ‘no solutions’.
(a) 2x+ 2y = 5x− 4y = 0
(b) −x+ y = 1x+ y = 2
(c) x− 3y + z = 1x+ y + 2z = 14
(d) −x− y = 1−3x− 3y = 2
(e) 4y + z = 202x− 2y + z = 0x + z = 5x+ y − z = 10
(f) 2x + z + w = 5y − w =−1
3x − z − w = 04x+ y + 2z + w = 9
3 Use the computer to solve these systems from the second subsection.(a) 3x+ 6y = 18
x+ 2y = 6(b) x+ y = 1
x− y =−1(c) x1 + x3 = 4
x1 − x2 + 2x3 = 54x1 − x2 + 5x3 = 17
(d) 2a+ b− c= 22a + c= 3a− b = 0
(e) x+ 2y − z = 32x+ y + w = 4x− y + z + w = 1
(f) x + z + w = 42x+ y − w = 23x+ y + z = 7
4 What does the computer give for the solution of the general 2×2 system?
ax+ cy = pbx+ dy = q
Topic: InputOutput Analysis 63
Topic: InputOutput Analysis
An economy is an immensely complicated network of interdependences. Changesin one part can ripple out to affect other parts. Economists have struggled tobe able to describe, and to make predictions about, such a complicated object.Mathematical models using systems of linear equations have emerged as a keytool. One is InputOutput Analysis, pioneered by W. Leontief, who won the1973 Nobel Prize in Economics.
Consider an economy with many parts, two of which are the steel industryand the auto industry. As they work to meet the demand for their product fromother parts of the economy, that is, from users external to the steel and autosectors, these two interact tightly. For instance, should the external demandfor autos go up, that would lead to an increase in the auto industry’s usage ofsteel. Or, should the external demand for steel fall, then it would lead to a fallin steel’s purchase of autos. The type of InputOutput model we will considertakes in the external demands and then predicts how the two interact to meetthose demands.
We start with a listing of production and consumption statistics. (Thesenumbers, giving dollar values in millions, are excerpted from [Leontief 1965],describing the 1958 U.S. economy. Today’s statistics would be quite different,both because of inflation and because of technical changes in the industries.)
used bysteel
used byauto
used byothers total
value ofsteel 5 395 2 664 25 448
value ofauto 48 9 030 30 346
For instance, the dollar value of steel used by the auto industry in this year is2, 664 million. Note that industries may consume some of their own output.
We can fill in the blanks for the external demand. This year’s value of thesteel used by others this year is 17, 389 and this year’s value of the auto usedby others is 21, 268. With that, we have a complete description of the externaldemands and of how auto and steel interact, this year, to meet them.
Now, imagine that the external demand for steel has recently been going upby 200 per year and so we estimate that next year it will be 17, 589. Imaginealso that for similar reasons we estimate that next year’s external demand forautos will be down 25 to 21, 243. We wish to predict next year’s total outputs.
That prediction isn’t as simple as adding 200 to this year’s steel total andsubtracting 25 from this year’s auto total. For one thing, a rise in steel willcause that industry to have an increased demand for autos, which will mitigate,to some extent, the loss in external demand for autos. On the other hand, thedrop in external demand for autos will cause the auto industry to use less steel,and so lessen somewhat the upswing in steel’s business. In short, these twoindustries form a system, and we need to predict the totals at which the systemas a whole will settle.
64 Chapter 1. Linear Systems
For that prediction, let s be next years total production of steel and let a benext year’s total output of autos. We form these equations.
next year’s production of steel = next year’s use of steel by steel+ next year’s use of steel by auto+ next year’s use of steel by others
next year’s production of autos = next year’s use of autos by steel+ next year’s use of autos by auto+ next year’s use of autos by others
On the left side of those equations go the unknowns s and a. At the ends of theright sides go our external demand estimates for next year 17, 589 and 21, 243.For the remaining four terms, we look to the table of this year’s informationabout how the industries interact.
For instance, for next year’s use of steel by steel, we note that this year thesteel industry used 5395 units of steel input to produce 25, 448 units of steeloutput. So next year, when the steel industry will produce s units out, weexpect that doing so will take s · (5395)/(25 448) units of steel input — this issimply the assumption that input is proportional to output. (We are assumingthat the ratio of input to output remains constant over time; in practice, modelsmay try to take account of trends of change in the ratios.)
Next year’s use of steel by the auto industry is similar. This year, the autoindustry uses 2664 units of steel input to produce 30346 units of auto output. Sonext year, when the auto industry’s total output is a, we expect it to consumea · (2664)/(30346) units of steel.
Filling in the other equation in the same way, we get this system of linearequation.
5 39525 448
· s+2 66430 346
· a+ 17 589 = s
4825 448
· s+9 03030 346
· a+ 21 243 = a
Rounding to four decimal places and putting it into the form for Gauss’ methodgives this.
0.7880s− 0.0879a= 17 589−0.0019s+ 0.7024a= 21 268
The solution is s = 25 708 and a = 30 350.Looking back, recall that above we described why the prediction of next
year’s totals isn’t as simple as adding 200 to last year’s steel total and subtracting 25 from last year’s auto total. In fact, comparing these totals for next yearto the ones given at the start for the current year shows that, despite the dropin external demand, the total production of the auto industry is predicted torise. The increase in internal demand for autos caused by steel’s sharp rise inbusiness more than makes up for the loss in external demand for autos.
Topic: InputOutput Analysis 65
One of the advantages of having a mathematical model is that we can ask“What if . . . ?” questions. For instance, we can ask “What if the estimates fornext year’s external demands are somewhat off?” To try to understand howmuch the model’s predictions change in reaction to changes in our estimates, wecan try revising our estimate of next year’s external steel demand from 17, 589down to 17, 489, while keeping the assumption of next year’s external demandfor autos fixed at 21, 243. The resulting system
0.7880s− 0.0879a= 17 489−0.0019s+ 0.7024a= 21 243
when solved gives s = 25 577 and a = 30 314. This kind of exploration of themodel is sensitivity analysis. We are seeing how sensitive the predictions of ourmodel are to the accuracy of the assumptions.
Obviously, we can consider larger models that detail the interactions amongmore sectors of an economy. These models are typically solved on a computer,using the techniques of matrix algebra that we will develop in Chapter Three.Some examples are given in the exercises. Obviously also, a single model doesnot suit every case; expert judgment is needed to see if the assumptions underlying the model can are reasonable ones to apply to a particular case. Withthose caveats, however, this model has proven in practice to be a useful and accurate tool for economic analysis. For further reading, try [Leontief 1951] and[Leontief 1965].
ExercisesHint: these systems are easiest to solve on a computer.
1 With the steelauto system given above, estimate next year’s total productionsin these cases.(a) Next year’s external demands are: up 200 from this year for steel, and unchanged for autos.
(b) Next year’s external demands are: up 100 for steel, and up 200 for autos.(c) Next year’s external demands are: up 200 for steel, and up 200 for autos.
2 Imagine a new process for making autos is pioneered. The ratio for use of steelby the auto industry falls to .0500 (that is, the new process is more efficient in itsuse of steel).(a) How will the predictions for next year’s total productions change comparedto the first example discussed above (i.e., taking next year’s external demandsto be 17, 589 for steel and 21, 243 for autos)?
(b) Predict next year’s totals if, in addition, the external demand for autos risesto be 21, 500 because the new cars are cheaper.
3 This table gives the numbers for the autosteel system from a different year, 1947(see [Leontief 1951]). The units here are billions of 1947 dollars.
used bysteel
used byauto
used byothers total
value ofsteel 6.90 1.28 18.69
value ofautos 0 4.40 14.27
66 Chapter 1. Linear Systems
(a) Fill in the missing external demands, and compute the ratios.(b) Solve for total output if next year’s external demands are: steel’s demandup 10% and auto’s demand up 15%.
(c) How do the ratios compare to those given above in the discussion for the1958 economy?
(d) Solve these equations with the 1958 external demands (note the differencein units; a 1947 dollar buys about what $1.30 in 1958 dollars buys). How far offare the predictions for total output?
4 Predict next year’s total productions of each of the three sectors of the hypothetical economy shown below
used byfarm
used byrail
used byshipping
used byothers total
value offarm 25 50 100 800
value ofrail 25 50 50 300
value ofshipping 15 10 0 500
if next year’s external demands are as stated.(a) 625 for farm, 200 for rail, 475 for shipping(b) 650 for farm, 150 for rail, 450 for shipping
5 This table gives the interrelationships among three segments of an economy (see[Clark & Coupe]).
used byfood
used bywholesale
used byretail
used byothers total
value offood 0 2 318 4 679 11 869
value ofwholesale 393 1 089 22 459 122 242value of
retail 3 53 75 116 041We will do an InputOutput analysis on this system.(a) Fill in the numbers for this year’s external demands.(b) Set up the linear system, leaving next year’s external demands blank.(c) Solve the system where next year’s external demands are calculated by taking this year’s external demands and inflating them 10%. Do all three sectorsincrease their total business by 10%? Do they all even increase at the samerate?
(d) Solve the system where next year’s external demands are calculated by takingthis year’s external demands and reducing them 7%. (The study from whichthese numbers are taken concluded that because of the closing of a local militaryfacility, overall personal income in the area would fall 7%, so this might be afirst guess at what would actually happen.)
Topic: Accuracy of Computations 67
Topic: Accuracy of Computations
Gauss’ method lends itself nicely to computerization. The code below illustrates. It operates on an n×n matrix a, pivoting with the first row, then withthe second row, etc. (This code is in the C language. For readers unfamiliar with this concise language, here is a brief translation. The loop constructfor(pivot row=1;pivot row<=n1;pivot row++){· · · } sets pivot row to be1 and then iterates while pivot row is less than or equal to n − 1, each timethrough incrementing pivot row by one with the ‘++’ operation. The othernonobvious construct is that the ‘=’ in the innermost loop amounts to thea[row below,col] = −multiplier ∗ a[pivot row,col] + a[row below,col]operation.)
for(pivot_row=1;pivot_row<=n1;pivot_row++){
for(row_below=pivot_row+1;row_below<=n;row_below++){
multiplier=a[row_below,pivot_row]/a[pivot_row,pivot_row];
for(col=pivot_row;col<=n;col++){
a[row_below,col]=multiplier*a[pivot_row,col];
}
}
}
While this code provides a first take on how Gauss’ method can be mechanized,it is not ready to use. It is naive in many ways. The most glaring way is thatit assumes that a nonzero number is always found in the pivot row, pivot rowposition for use as the pivot entry. To make it practical, one way in which thiscode needs to be reworked is to cover the case where finding a zero in thatlocation leads to a row swap, or to the conclusion that the matrix is singular.
Adding some if · · · statements to cover those cases is not hard, but wewon’t pursue that here. Instead, we will consider some more subtle ways inwhich the code is naive. There are pitfalls arising from the computer’s relianceon finiteprecision floating point arithmetic.
For example, we have seen above that we must handle as a separate case asystem that is singular. But systems that are nearly singular also require greatcare. Consider this one.
x+ 2y = 31.000 000 01x+ 2y = 3.000 000 01
By eye we get the solution x = 1 and y = 1. But a computer has more trouble. Acomputer that represents real numbers to eight significant places (as is common,usually called single precision) will represent the second equation internally as1.000 000 0x + 2y = 3.000 000 0, losing the digits in the ninth place. Instead ofreporting the correct solution, this computer will report something that is noteven close — this computer thinks that the system is singular because the twoequations are represented internally as equal.
For some intuition about how the computer could think something that isso far off, we can graph the system.
68 Chapter 1. Linear Systems
1
0
1
2
3
4
1 0 1 2 3 4
(1,1)
At the scale of this graph, the two lines are hard to resolve apart. This systemis nearly singular in the sense that the two lines are nearly the same line. Nearsingularity gives this system the property that a small change in the systemcan cause a large change in its solution; for instance, changing the 3.000 000 01to 3.000 000 03 changes the intersection point from (1, 1) to (3, 0). This systemchanges radically depending on a ninth digit, which explains why the eightplace computer is stumped. A problem that is very sensitive to inaccuracy oruncertainties in the input values is illconditioned.
The above example gives one way in which a system can be difficult to solveon a computer. It has the advantage that the picture of nearlyequal linesgives a memorable insight into one way that numerical difficulties can arise.Unfortunately, though, this insight isn’t very useful when we wish to solve somelarge system. We cannot, typically, hope to understand the geometry of anarbitrary large system. And, in addition, the reasons that the computer’s resultsmay be unreliable are more complicated than only that the angle between someof the linear surfaces is quite small.
For an example, consider the system below, from [Hamming].
0.001x+ y = 1x− y = 0
The second equation gives x = y, so x = y = 1/1.001 and thus both variableshave values that are just less than 1. A computer using two digits representsthe system internally in this way (we will do this example in twodigit floatingpoint arithmetic, but a similar one with eight digits is easy to invent).
(1.0× 10−2)x+ (1.0× 100)y = 1.0× 100
(1.0× 100)x− (1.0× 100)y = 0.0× 100
The computer’s row reduction step −1000ρ1 + ρ2 produces a second equation−1001y = −999, which the computer rounds to two places as (−1.0 × 103)y =−1.0 × 103. Then the computer decides from the second equation that y = 1and from the first equation that x = 0. This y value is fairly good, but the xis way off. Thus, another cause of unreliable output is the mixture of floatingpoint arithmetic and a reliance on pivots that are small.
Topic: Accuracy of Computations 69
An experienced programmer may respond that we should go to double precision where, usually, sixteen significant digits are retained. It is true, this willsolve many problems. However, there are some difficulties with it as a generalapproach. For one thing, double precision takes longer than single precision (ona ’486 chip, multiplication takes eleven ticks in single precision but fourteen indouble precision [Programmer’s Ref.]) and has twice the memory requirements.So attempting to do all calculations in double precision is just not practical. Andbesides, the above systems can obviously be tweaked to give the same trouble inthe seventeenth digit, so double precision won’t fix all problems. What we needis a strategy to minimize the numerical trouble arising from solving systemson a computer, and some guidance as to how far the reported solutions can betrusted.
Mathematicians have made a careful study of how to get the most reliableresults. A basic improvement on the naive code above is to not simply takethe entry in the pivot row , pivot row position for the pivot, but rather to lookat all of the entries in the pivot row column below the pivot row row, and takethe one that is most likely to give reliable results (e.g., take one that is not toosmall). This strategy is partial pivoting. For example, to solve the troublesomesystem (∗) above, we start by looking at both equations for a best first pivot,and taking the 1 in the second equation as more likely to give good results.Then, the pivot step of −.001ρ2 + ρ1 gives a first equation of 1.001y = 1, whichthe computer will represent as (1.0×100)y = 1.0×100, leading to the conclusionthat y = 1 and, after backsubstitution, x = 1, both of which are close to right.The code from above can be adapted to this purpose.
for(pivot_row=1;pivot_row<=n1;pivot_row++){
/* find the largest pivot in this column (in row max) */
max=pivot_row;
for(row_below=pivot_row+1;pivot_row<=n;row_below++){
if (abs(a[row_below,pivot_row]) > abs(a[max,row_below]))
max=row_below;
}
/* swap rows to move that pivot entry up */
for(col=pivot_row;col<=n;col++){
temp=a[pivot_row,col];
a[pivot_row,col]=a[max,col];
a[max,col]=temp;
}
/* proceed as before */
for(row_below=pivot_row+1;row_below<=n;row_below++){
multiplier=a[row_below,pivot_row]/a[pivot_row,pivot_row];
for(col=pivot_row;col<=n;col++){
a[row_below,col]=multiplier*a[pivot_row,col];
}
}
}
A full analysis of the best way to implement Gauss’ method is outside thescope of the book (see [Wilkinson 1965]), but the method recommended by most
70 Chapter 1. Linear Systems
experts is a variation on the code above that first finds the best pivot amongthe candidates, and then scales it to a number that is less likely to give trouble.This is scaled partial pivoting.
In addition to returning a result that is likely to be reliable, most welldone code will return a number, called the conditioning number of the matrix,that describes the factor by which uncertainties in the input numbers could bemagnified to become possible inaccuracies in the results returned (see [Rice]).
The lesson of this discussion is that just because Gauss’ method always worksin theory, and just because computer code correctly implements that method,and just because the answer appears on greenbar paper, doesn’t mean that theanswer is reliable. In practice, always use a package where experts have workedhard to counter what can go wrong.
Exercises1 Using two decimal places, add 253 and 2/3.
2 This intersectthelines problem contrasts with the example discussed above.
1
0
1
2
3
4
1 0 1 2 3 4
(1,1) x+ 2y = 33x− 2y = 1
Illustrate that, in the resulting system, some small change in the numbers willproduce only a small change in the solution by changing the constant in the bottom equation to 1.008 and solving. Compare it to the solution of the unchangedsystem.
3 Solve this system by hand ([Rice]).
0.000 3x+ 1.556y = 1.5690.345 4x− 2.346y = 1.018
(a) Solve it accurately, by hand. (b) Solve it by rounding at each step tofour significant digits.
4 Rounding inside the computer often has an effect on the result. Assume thatyour machine has eight significant digits.(a) Show that the machine will compute (2/3) + ((2/3) − (1/3)) as unequal to((2/3) + (2/3))− (1/3). Thus, computer arithmetic is not associative.
(b) Compare the computer’s version of (1/3)x + y = 0 and (2/3)x + 2y = 0. Istwice the first equation the same as the second?
5 Illconditioning is not only dependent on the matrix of coefficients. This example[Hamming] shows that it can arise from an interaction between the left and rightsides of the system. Let ε be a small real.
3x+ 2y + z = 62x+ 2εy + 2εz = 2 + 4εx+ 2εy − εz = 1 + ε
Topic: Accuracy of Computations 71
(a) Solve the system by hand. Notice that the ε’s divide out only because thereis an exact cancelation of the integer parts on the right side as well as on theleft.
(b) Solve the system by hand, rounding to two decimal places, and with ε =0.001.
72 Chapter 1. Linear Systems
Topic: Analyzing Networks
This is the diagram of an electrical circuit. It happens to describe some of theconnections between a car’s battery and lights, but it is typical of such diagrams.
To read it, we can think of the electricity as coming out of one end of the battery(labeled 6V OR 12V), flowing through the wires (drawn as straight lines to makethe diagram more readable), and back into the other end of the battery. If, inmaking its way from one end of the battery to the other through the network ofwires, some electricity flows through a light bulb (drawn as a circle enclosing aloop of wire), then that light lights. For instance, when the driver steps on thebrake at point A then the switch makes contact and electricity flows throughthe brake lights at point B.
This network of connections and components is complicated enough that toanalyze it — for instance, to find out how much electricity is used when boththe headlights and the brake lights are on — then we need systematic tools.One such tool is linear systems. To illustrate this application, we first need afew facts about electricity and networks.
The two facts that we need about electricity concern how the electrical components act. First, the battery is like a pump for electricity; it provides a forceor push so that the electricity will flow, if there is at least one available path forit. The second fact about the components is the observation that (in the materials commonly used in components) the amount of current flow is proportionalto the force pushing it. For each electrical component there is a constant ofproportionality, called its resistance, satisfying that potential = flow ·resistance.(The units are: potential to flow is described in volts, the rate of flow itself isgiven in amperes, and resistance to the flow is in ohms. These units are set upso that volts = amperes · ohms.)
For example, suppose a bulb has a resistance of 25 ohms. Wiring its endsto a battery with 12 volts results in a flow of electrical current of 12/25 =0.48 amperes. Conversely, with that same bulb, if we have flow of electricalcurrent of 2 amperes through it, then the potential difference between one end
Topic: Analyzing Networks 73
of the bulb and the other end will be 2 · 25 = 50 volts. This is the voltage dropacross this bulb. One way to think of the above circuit is that the battery is avoltage source, or rise, and the other components are voltage sinks, or drops,that use up the force provided by the battery.
The two facts that we need about networks are Kirchhoff’s Laws.
First Law. The flow into any spot equals the flow out.
Second Law. Around a circuit the total drop equals the total rise.
(In the above circuit the only voltage rise is at the one battery, but some circuitshave more than one rise.)
We can use these facts for a simple analysis of the circuit shown below.There are three components; they might be bulbs, or they might be some othercomponent that resists the flow of electricity (resistors are drawn as zigzags ).When components are wired one after another, as these are, they are said to bein series.
20 voltpotential
3 ohmresistance
2 ohmresistance
5 ohmresistance
By Kirchhoff’s Second Law, because the voltage rise in this circuit is 20 volts, sotoo, the total voltage drop around this circuit is 20 volts. Since the resistance intotal, from start to finish, in this circuit is 10 ohms (we can take the resistanceof a wire to be negligible), we get that the current is (20/10) = 2 amperes. Now,Kirchhoff’s First Law says that there are 2 amperes through each resistor, andso the voltage drops are 4 volts, 10 volts, and 6 volts.
Linear systems appear in the analysis of the next network. In this one, theresistors are not in series. They are instead in parallel. This network is morelike the car’s lighting diagram.
20 volts 12 ohm 8 ohm
74 Chapter 1. Linear Systems
We begin by labeling the branches of the network. Call the flow of currentcoming out of the top of the battery and through the top wire i0, call thecurrent through the left branch of the parallel portion i1, that through the rightbranch i2, and call the current flowing through the bottom wire and into thebottom of the battery i3. (Remark: in labeling, we don’t have to know theactual direction of flow. We arbitrarily choose a direction to establish a signconvention for the equations.)
i0
i3
i1 i2
The fact that i0 splits into i1 and i2, on application of Kirchhoff’s First Law,gives that i1 + i2 = i0. Similarly, we have that i1 + i2 = i3. In the circuit thatloops out of the top of the battery, down the left branch of the parallel portion,and back into the bottom of the battery, the voltage rise is 20 and the voltagedrop is i1 ·12, so Kirchoff’s Second Law gives that 12i1 = 20. In the circuit fromthe battery to the right branch and back to the battery there is a voltage rise of20 and a voltage drop of i2 ·8, so Kirchoff’s Second law gives that 8i2 = 20. Andfinally, in the circuit that just loops around in the left and right branches of theparallel portion (taken clockwise), there is a voltage rise of 0 and a voltage dropof 8i2 − 12i1 so Kirchoff’s Second Law gives 8i2 − 12i1 = 0.
All of these equations taken together make this system.
i0 − i1 − i2 = 0− i1 − i2 + i3 = 0
12i1 = 208i2 = 20
−12i1 + 8i2 = 0
The solution is i0 = 25/6, i1 = 5/3, i2 = 5/2, and i3 = 25/6 (all in amperes).(Incidentally, this illustrates that redundant equations do arise in practice, sincethe fifth equation here is redundant.)
Kirchhoff’s laws can be used to establish the electrical properties of networksof great complexity. The next circuit has five resistors, wired in a combinationof series and parallel. It is said to be a seriesparallel circuit.
Topic: Analyzing Networks 75
10 volts
5 ohm
10 ohm
2 ohm
4 ohm
50 ohm
This circuit is a Wheatstone bridge. It is used to measure the resistance of ancomponent placed at, say, the location labeled 5 ohms, against known resistancesplaced in the other positions (see Exercise 7). To analyze it, we can establishthe arrows in this way.
i0
i6
i1
i3
i2
i4
i5
Kirchoff’s First Law, applied to the top node, the left node, the right node, andthe bottom node gives these equations.
i0 = i1 + i2
i1 = i3 + i5
i2 + i5 = i4
i3 + i4 = i6
Kirchhoff’s Second Law, applied to the inside loop (i0i1i3i6), the outside loop,and the upper loop not involving the battery, gives these equations.
5i1 + 10i3 = 102i2 + 4i4 = 10
5i1 + 50i5 − 2i2 = 0
We could get more equations, but these are enough to produce a solution: i0 =7/3, i1 = 2/3, i2 = 5/3, i3 = 2/3, i4 = 5/3, i5 = 0, and i6 = 7/3.
Networks of other kinds, not just electrical ones, can also be analyzed in thisway. For instance, a network of streets in given in the exercises.
ExercisesHint: Most of the linear systems are large enough that they are best solved on acomputer.
76 Chapter 1. Linear Systems
1 Calculate the amperages in each part of each network.(a) This is a relatively simple network.
9 volt
2 ohm
3 ohm
2 ohm
(b) Compare this one with the parallel case discussed above.
9 volt
2 ohm
3 ohm
2 ohm 2 ohm
(c) This is a reasonably complicated network.
9 volt
2 ohm
3 ohm
3 ohm 2 ohm
2 ohm
3 ohm
4 ohm
2 Kirchhoff’s laws can apply to a network of streets, as here. On Cape Cod, inMassachusetts, there are many intersections that involve traffic circles like thisone.
North Ave
Pier Bvd
Main St
Assume the traffic is as below.
North Pier Main
into 100 150 25out of 75 150 50
Topic: Analyzing Networks 77
We can use Kirchhoff’s Law, that the flow into any intersection equals the flowout, to establish some equations modeling how traffic flows work here.(a) Label each of the three arcs of road in the circle with a variable. For each ofthe three inout intersections, get an equation describing the traffic flow at thatnode.
(b) Solve that system.
3 This is a map of a network of streets. Below we will describe the flow of carsinto, and out of, this network.
west Winooski Ave
east
Shelburne St
Wil
low
Jay
Ln
The hourly flow of cars into this network’s entrances, and out of its exits can beobserved.
east Winooski west Winooski Willow Jay Shelburne
into 100 150 25 – 200out of 125 150 50 25 125
(The total in must approximately equal the total out over a long period of time.)
Once inside the network, the traffic may proceed in different ways, perhapsfilling Willow and leaving Jay mostly empty, or perhaps flowing in some otherway. We can use Kirchhoff’s Law that the flow into any intersection equals theflow out.(a) Determine the restrictions on the flow inside this network of streets by settingup a variable for each block, establishing the equations, and solving them. Noticethat some streets are oneway only. (Hint: this will not yield a unique solution,since traffic can flow through this network in various ways. You should get atleast one free variable.)
(b) Suppose some construction is proposed for Winooski Avenue East betweenWillow and Jay, so traffic on that block will be reduced. What is the leastamount of traffic flow that can be allowed on that block without disrupting thehourly flow into and out of the network?
4 Calculate the amperages in this network with more than one voltage rise.
1.5 volt
10 ohm
5 ohm
2 ohm 3 volt
3 ohm
6 ohm
5 In the circuit with the 8 ohm and 12 ohm resistors in parallel, the electric currentaway from and back to the battery was found to be 25/6 amperes. Thus, the
78 Chapter 1. Linear Systems
parallel pair can be said to be equivalent to a single resistor having a value of20/(25/6) = 24/5 = 4.8 ohms.(a) What is the equivalent resistance if the two resistors in parallel are 8 ohmsand 5 ohms? Has the equivalent resistance risen or fallen?
(b) What is the equivalent resistance if the two are both 8 ohms?(c) Find the formula for the equivalent resistance R if the two resistors in parallelare R1 ohms and R2 ohms.
(d) What is the formula for more than two resistors in parallel?
6 In the car dashboard example that begins the discussion, solve for these amperages. Assume all resistances are 15 ohms.(a) If the driver is stepping on the brakes, so the brake lights are on, and noother circuit is closed.
(b) If all the switches are closed (suppose both the high beams and the low beamsrate 15 ohms).
7 Show that, in the Wheatstone Bridge, if r2r6 = r3r5 then i4 = 0. (The way thisdevice is used in practice is that an unknown resistance, say at r1, is comparedto three known resistances. At r3 is placed a meter that shows the current. Theknown resistances are varied until the current is read as 0, and then from the aboveequation the value of the resistor at r1 can be calculated.)
Chapter 2
Vector Spaces
The first chapter began by introducing Gauss’ method and finished with a fairunderstanding, keyed on the Linear Combination Lemma, of how it finds thesolution set of a linear system. Gauss’ method systematically takes linear combinations of the rows. With that insight, we now move to a general study oflinear combinations.
We need a setting for this study. At times in the first chapter, we’ve combined vectors from R2, at other times vectors from R3, and at other times vectorsfrom even higherdimensional spaces. Thus, our first impulse might be to workin Rn, leaving n unspecified. This would have the advantage that any of theresults would hold for R2 and for R3 and for many other spaces, simultaneously.
But, if having the results apply to many spaces at once is advantageous thensticking only to Rn’s is overly restrictive. We’d like the results to also apply tocombinations of row vectors, as in the final section of the first chapter. We’veeven seen some spaces that are not just a collection of all of the samesizedcolumn vectors or row vectors. For instance, we’ve seen a solution set of ahomogeneous system that is a plane, inside of R3. This solution set is a closedsystem in the sense that a linear combination of these solutions is also a solution.But it is not just a collection of all of the threetall column vectors; only someof them are in this solution set.
We want the results about linear combinations to apply anywhere that linearcombinations are sensible. We shall call any such set a vector space. Our results,instead of being phrased as “Whenever we have a collection in which we cansensibly take linear combinations . . . ”, will be stated as “In any vector space. . . ”.
Such a statement describes at once what happens in many spaces. The stepup in abstraction from studying a single space at a time to studying a classof spaces can be hard to make. To understand its advantages, consider thisanalogy. Imagine that the government made laws one person at a time: “LeslieJones can’t jay walk.” That would be a bad idea; statements have the virtue ofeconomy when they apply to many cases at once. Or, suppose that they ruled,“Kim Ke must stop when passing the scene of an accident.” Contrast that with,“Any doctor must stop when passing the scene of an accident.” More generalstatements, in some ways, are clearer.
79
80 Chapter 2. Vector Spaces
2.I Definition of Vector Space
We shall study structures with two operations, an addition and a scalar multiplication, that are subject to some simple conditions. We will reflect more onthe conditions later, but on first reading notice how reasonable they are. Forinstance, surely any operation that can be called an addition (e.g., column vector addition, row vector addition, or real number addition) will satisfy all theconditions in (1) below.
2.I.1 Definition and Examples
1.1 Definition A vector space (over R) consists of a set V along with twooperations ‘+’ and ‘·’ such that
(1) if ~v, ~w ∈ V then their vector sum ~v + ~w is in V and
• ~v + ~w = ~w + ~v
• (~v + ~w) + ~u = ~v + (~w + ~u) (where ~u ∈ V )
• there is a zero vector ~0 ∈ V such that ~v +~0 = ~v for all ~v ∈ V• each ~v ∈ V has an additive inverse ~w ∈ V such that ~w + ~v = ~0
(2) if r, s are scalars (members of R) and ~v, ~w ∈ V then each scalar multipler · ~v is in V and
• (r + s) · ~v = r · ~v + s · ~v• r · (~v + ~w) = r · ~v + r · ~w• (rs) · ~v = r · (s · ~v)
• 1 · ~v = ~v.
1.2 Remark Because it involves two kinds of addition and two kinds of multiplication, that definition may seem confused. For instance, in ‘(r + s) · ~v =r · ~v + s · ~v ’, the first ‘+’ is the real number addition operator while the ‘+’ tothe right of the equals sign represents vector addition in the structure V . Theseexpressions aren’t ambiguous because, e.g., r and s are real numbers so ‘r + s’can only mean real number addition.
The best way to go through the examples below is to check all of the conditions in the definition. That check is written out in the first example. Useit as a model for the others. Especially important are the two: ‘~v + ~w is inV ’ and ‘r · ~v is in V ’. These are the closure conditions. They specify that theaddition and scalar multiplication operations are always sensible — they mustbe defined for every pair of vectors, and every scalar and vector, and the resultof the operation must be a member of the set (see Example 1.4).
Section I. Definition of Vector Space 81
1.3 Example The set R2 is a vector space if the operations ‘+’ and ‘·’ havetheir usual meaning.(
x1
x2
)+(y1
y2
)=(x1 + y1
x2 + y2
)r ·(x1
x2
)=(rx1
rx2
)We shall check all of the conditions in the definition.
There are five conditions in item (1). First, for closure of addition, note thatfor any v1, v2, w1, w2 ∈ R the result of the sum(
v1
v2
)+(w1
w2
)=(v1 + w1
v2 + w2
)is a column array with two real entries, and so is in R2. Second, to show thataddition of vectors commutes, take all entries to be real numbers and compute(
v1
v2
)+(w1
w2
)=(v1 + w1
v2 + w2
)=(w1 + v1
w2 + v2
)=(w1
w2
)+(v1
v2
)(the second equality follows from the fact that the components of the vectorsare real numbers, and the addition of real numbers is commutative). The thirdcondition, associativity of vector addition, is similar.
((v1
v2
)+(w1
w2
)) +
(u1
u2
)=(
(v1 + w1) + u1
(v2 + w2) + u2
)=(v1 + (w1 + u1)v2 + (w2 + u2)
)=(v1
v2
)+ ((w1
w2
)+(u1
u2
))
For the fourth we must produce a zero element — the vector of zeroes is it.(v1
v2
)+(
00
)=(v1
v2
)Fifth, to produce an additive inverse, note that for any v1, v2 ∈ R we have(
−v1
−v2
)+(v1
v2
)=(
00
)so the first vector is the desired additive inverse of the second.
The checks for the five conditions in item (2) are just as routine. First, forclosure under scalar multiplication, where r, v1, v2 ∈ R,
r ·(v1
v2
)=(rv1
rv2
)is a column array with two real entries, and so is in R2. This checks the secondcondition.
(r + s) ·(v1
v2
)=(
(r + s)v1
(r + s)v2
)=(rv1 + sv1
rv2 + sv2
)= r ·
(v1
v2
)+ s ·
(v1
v2
)
82 Chapter 2. Vector Spaces
For the third condition, that scalar multiplication distributes from the left overvector addition, the check is also straightforward.
r · ((v1
v2
)+(w1
w2
)) =
(r(v1 + w1)r(v2 + w2)
)=(rv1 + rw1
rv2 + rw2
)= r ·
(v1
v2
)+ r ·
(w1
w2
)The fourth
(rs) ·(v1
v2
)=(
(rs)v1
(rs)v2
)=(r(sv1)r(sv2)
)= r · (s ·
(v1
v2
))
and fifth conditions are also easy.
1 ·(v1
v2
)=(
1v1
1v2
)=(v1
v2
)In a similar way, each Rn is a vector space with the usual operations of
vector addition and scalar multiplication. (In R1, we usually do not write themembers as column vectors, i.e., we usually do not write ‘(π)’. Instead we justwrite ‘π’.)
1.4 Example This subset of R3 that is a plane through the origin
P = {
xyz
∣∣ x+ y + z = 0}
is a vector space if ‘+’ and ‘·’ are interpreted in this way.x1
y1
z1
+
x2
y2
z2
=
x1 + x2
y1 + y2
z1 + z2
r ·
xyz
=
rxryrz
The addition and scalar multiplication operations here are just the ones of R3,reused on its subset P . We say P inherits these operations from R3. Here is atypical addition in P . 1
1−2
+
−101
=
01−1
This illustrates that P is closed under addition. We’ve added two vectors fromP — that is, with the property that the sum of their three entries is zero —and we’ve gotten a vector also in P . Of course, this example of closure is nota proof of closure. To prove that P is closed under addition, take two elementsof P x1
y1
z1
,
x2
y2
z2
Section I. Definition of Vector Space 83
(membership in P means that x1 + y1 + z1 = 0 and x2 + y2 + z2 = 0), andobserve that their sum x1 + x2
y1 + y2
z1 + z2
is also in P since (x1+x2)+(y1+y2)+(z1+z2) = (x1+y1+z1)+(x2+y2+z2) = 0.To show that P is closed under scalar multiplication, start with a vector fromP xy
z
(so that x+ y + z = 0), and then for r ∈ R observe that the scalar multiple
r ·
xyz
=
rxryrz
satisfies that rx+ ry + rz = r(x+ y + z) = 0. Thus the two closure conditionsare satisfied. The checks for the other conditions in the definition of a vectorspace are just as easy.
1.5 Example Example 1.3 shows that the set of all twotall vectors with realentries is a vector space. Example 1.4 gives a subset of an Rn that is also avector space. In contrast with those two, consider the set of twotall columnswith entries that are integers (under the obvious operations). This is a subsetof a vector space, but it is not itself a vector space. The reason is that this set isnot closed under scalar multiplication, that is, it does not satisfy requirement (2)in the definition. Here is a column with integer entries, and a scalar, such thatthe outcome of the operation
0.5 ·(
43
)=(
21.5
)is not a member of the set, since its entries are not all integers.
1.6 Example The singleton set
{
0000
}is a vector space under the operations
0000
+
0000
=
0000
r ·
0000
=
0000
that it inherits from R4.
84 Chapter 2. Vector Spaces
A vector space must have at least one element, its zero vector. Thus aoneelement vector space is the smallest one possible.
1.7 Definition A oneelement vector space is a trivial space.
Warning! The examples so far involve sets of column vectors with the usualoperations. But vector spaces need not be collections of column vectors, or evenof row vectors. Below are some other types of vector spaces. The term ‘vectorspace’ does not mean ‘collection of columns of reals’. It means something morelike ‘collection in which any linear combination is sensible’.
1.8 Example Consider P3 = {a0 + a1x+ a2x2 + a3x
3∣∣ a0, . . . , a3 ∈ R}, the
set of polynomials of degree three or less (in this book, we’ll take constantpolynomials, including the zero polynomial, to be of degree zero). It is a vectorspace under the operations
(a0 + a1x+ a2x2 + a3x
3) + (b0 + b1x+ b2x2 + b3x
3)
= (a0 + b0) + (a1 + b1)x+ (a2 + b2)x2 + (a3 + b3)x3
and
r · (a0 + a1x+ a2x2 + a3x
3) = (ra0) + (ra1)x+ (ra2)x2 + (ra3)x3
(the verification is easy). This vector space is worthy of attention because theseare the polynomial operations familiar from high school algebra. For instance,3 · (1− 2x+ 3x2 − 4x3)− 2 · (2− 3x+ x2 − (1/2)x3) = −1 + 7x2 − 11x3.
Although this space is not a subset of any Rn, there is a sense in which wecan think of P3 as “the same” as R4. If we identify these two spaces’s elementsin this way
a0 + a1x+ a2x2 + a3x
3 corresponds to
a0
a1
a2
a3
then the operations also correspond. Here is an example of corresponding additions.
1− 2x+ 0x2 + 1x3
+ 2 + 3x+ 7x2 − 4x3
3 + 1x+ 7x2 − 3x3corresponds to
1−201
+
237−4
=
317−3
Things we are thinking of as “the same” add to “the same” sum. Chapter Threemakes precise this idea of vector space correspondence. For now we shall justleave it as an intuition.
Section I. Definition of Vector Space 85
1.9 Example The set {f∣∣ f : N→ R} of all realvalued functions of one nat
ural number variable is a vector space under the operations
(f1 + f2) (n) = f1(n) + f2(n) (r · f) (n) = r f(n)
so that if, for example, f1(n) = n2 + 2 sin(n) and f2(n) = − sin(n) + 0.5 then(f1 + 2f2) (n) = n2 + 1.
We can view this space as a generalization of Example 1.3 by thinking ofthese functions as “the same” as infinitelytall vectors:
n f(n) = n2 + 10 11 22 53 10...
...
corresponds to
12510...
with addition and scalar multiplication are componentwise, as before. (The“infinitelytall” vector can be formalized as an infinite sequence, or just as afunction from N to R, in which case the above correspondence is an equality.)
1.10 Example The set of polynomials with real coefficients
{a0 + a1x+ · · ·+ anxn∣∣ n ∈ N and a0, . . . , an ∈ R}
makes a vector space when given the natural ‘+’
(a0 + a1x+ · · ·+ anxn) + (b0 + b1x+ · · ·+ bnx
n)= (a0 + b0) + (a1 + b1)x+ · · ·+ (an + bn)xn
and ‘·’.
r · (a0 + a1x+ . . . anxn) = (ra0) + (ra1)x+ . . . (ran)xn
This space differs from the space P3 of Example 1.8. This space contains not justdegree three polynomials, but degree thirty polynomials and degree three hundred polynomials, too. Each individual polynomial of course is of a finite degree,but the set has no single bound on the degree of all of its members.
This example, like the prior one, can be thought of in terms of infinitetuples.For instance, we can think of 1 + 3x+ 5x2 as corresponding to (1, 3, 5, 0, 0, . . . ).However, don’t confuse this space with the one from Example 1.9. Each memberof this set has a bounded degree, so under our correspondence there are noelements from this space matching (1, 2, 5, 10, . . . ). The vectors in this spacecorrespond to infinitetuples that end in zeroes.
1.11 Example The set {f∣∣ f : R→ R} of all realvalued functions of one real
variable is a vector space under these.
(f1 + f2) (x) = f1(x) + f2(x) (r · f) (x) = r f(x)
The difference between this and Example 1.9 is the domain of the functions.
86 Chapter 2. Vector Spaces
1.12 Example The set F = {a cos θ+b sin θ∣∣ a, b ∈ R} of realvalued functions
of the real variable θ is a vector space under the operations
(a1 cos θ + b1 sin θ) + (a2 cos θ + b2 sin θ) = (a1 + a2) cos θ + (b1 + b2) sin θ
and
r · (a cos θ + b sin θ) = (ra) cos θ + (rb) sin θ
inherited from the space in the prior example. (We can think of F as “the same”as R2 in that a cos θ + b sin θ corresponds to the vector with components a andb.)
1.13 Example The set
{f : R→ R∣∣ d2f
dx2+ f = 0}
is a vector space under the, by now natural, interpretation.
(f + g) (x) = f(x) + g(x) (r · f) (x) = r f(x)
In particular, notice that closure is a consequence:
d2(f + g)dx2
+ (f + g) = (d2f
dx2+ f) + (
d2g
dx2+ g)
and
d2(rf)dx2
+ (rf) = r(d2f
dx2+ f)
of basic Calculus. This turns out to equal the space from the prior example —functions satisfying this differential equation have the form a cos θ + b sin θ —but this description suggests an extension to solutions sets of other differentialequations.
1.14 Example The set of solutions of a homogeneous linear system in n variables is a vector space under the operations inherited from Rn. For closureunder addition, if
~v =
v1
...vn
~w =
w1
...wn
both satisfy the condition that their entries add to zero then ~v+ ~w also satisfiesthat condition: c1(v1 +w1) + · · ·+ cn(vn +wn) = (c1v1 + · · ·+ cnvn) + (c1w1 +· · ·+ cnwn) = 0. The checks of the other conditions are just as routine.
Section I. Definition of Vector Space 87
As we’ve done in those equations, we often omit the multiplication symbol ‘·’.We can distinguish the multiplication in ‘c1v1’ from that in ‘r~v ’ since if bothmultiplicands are real numbers then realreal multiplication must be meant,while if one is a vector then scalarvector multiplication must be meant.
The prior example has brought us full circle since it is one of our motivatingexamples.
1.15 Remark Now, with some feel for the kinds of structures that satisfy thedefinition of a vector space, we can reflect on that definition. For example, whyspecify in the definition the condition that 1 · ~v = ~v but not a condition that0 · ~v = ~0?
One answer is that this is just a definition — it gives the rules of the gamefrom here on, and if you don’t like it, put the book down and walk away.
Another answer is perhaps more satisfying. People in this area have workedhard to develop the right balance of power and generality. This definition hasbeen shaped so that it contains the conditions needed to prove all of the interesting and important properties of spaces of linear combinations, and so that itdoes not contain extra conditions that only bar as examples spaces where thoseproperties occur. As we proceed, we shall derive all of the properties natural tocollections of linear combinations from the conditions given in the definition.
The next result is an example. We do not need to include these propertiesin the definition of vector space because they follow from the properties alreadylisted there.
1.16 Lemma In any vector space V ,
(1) 0 · ~v = ~0
(2) (−1 · ~v) + ~v = ~0
(3) r ·~0 = ~0
for any ~v ∈ V and r ∈ R.
Proof. For the first item, note that ~v = (1 + 0) · ~v = ~v + (0 · ~v). Add to bothsides the additive inverse of ~v, the vector ~w such that ~w + ~v = ~0.
~w + ~v = ~w + ~v + 0 · ~v~0 = ~0 + 0 · ~v~0 = 0 · ~v
The second item is easy: (−1 · ~v) + ~v = (−1 + 1) · ~v = 0 · ~v = ~0 shows thatwe can write ‘−~v ’ for the additive inverse of ~v without worrying about possibleconfusion with (−1) · ~v.
For the third one, this r ·~0 = r · (0 ·~0) = (r · 0) ·~0 = ~0 will do. QED
We finish this subsection with an recap, and a comment.
88 Chapter 2. Vector Spaces
Chapter One studied Gaussian reduction. That lead us here to the study ofcollections of linear combinations. We have named any such structure a ‘vectorspace’. In a phrase, the point of this material is that vector spaces are the rightcontext in which to study linearity.
Finally, a comment. From the fact that it forms a whole chapter, and especially because that chapter is the first one, a reader could come to think thatthe study of linear systems is our purpose. The truth is, we will not so muchuse vector spaces in the study of linear systems as we will instead have linearsystems lead us into the study of vector spaces. The wide variety of examplesfrom this subsection shows that the study of vector spaces is interesting and important in its own right, aside from how it helps us understand linear systems.Linear systems won’t go away. But from now on our primary objects of studywill be vector spaces.
Exercises1.17 Give the zero vector from each of these vector spaces.
(a) The space of degree three polynomials under the natural operations(b) The space of 2×4 matrices(c) The space {f : [0..1]→ R
∣∣ f is continuous}(d) The space of realvalued functions of one natural number variable
X 1.18 Find the additive inverse, in the vector space, of the vector.(a) In P3, the vector −3− 2x+ x2
(b) In the space of 2×2 matrices with real number entries under the usual matrixaddition and scalar multiplication,(
1 −10 3
)(c) In {aex + be−x
∣∣ a, b ∈ R}, a space of functions of the real variable x under
the natural operations, the vector 3ex − 2e−x.
X 1.19 Show that each of these is a vector space.(a) The set of linear polynomials P1 = {a0 + a1x
∣∣ a0, a1 ∈ R} under the usualpolynomial addition and scalar multiplication operations
(b) The set of 2×2 matrices with real entries under the usual matrix operations(c) The set of threecomponent row vectors with their usual operations(d) The set
L = {
xyzw
∈ R4∣∣ x+ y − z + w = 0}
under the operations inherited from R4
X 1.20 Show that each set is not a vector space. (Hint. Start by listing two membersof each set.)(a) Under the operations inherited from R3, this set
{
(xyz
)∈ R3
∣∣ x+ y + z = 1}
Section I. Definition of Vector Space 89
(b) Under the operations inherited from R3, this set
{
(xyz
)∈ R3
∣∣ x2 + y2 + z2 = 1}
(c) Under the usual matrix operations,
{(a 1b c
) ∣∣ a, b, c ∈ R}(d) Under the usual polynomial operations,
{a0 + a1x+ a2x2∣∣ a0, a1, a2 ∈ R+}
where R+ is the set of reals greater than zero(e) Under the inherited operations,
{(xy
)∈ R2
∣∣ x+ 3y = 4 and 2x− y = 3 and 6x+ 4y = 10}
1.21 Define addition and scalar multiplication operations to make the complexnumbers a vector space over R.
X 1.22 Is the set of rational numbers a vector space over R under the usual additionand scalar multiplication operations?
1.23 Show that the set of linear combinations of the variables x, y, z is a vectorspace under the natural addition and scalar multiplication operations.
1.24 Prove that this is not a vector space: the set of twotall column vectors withreal entries subject to these operations.(
x1
y1
)+
(x2
y2
)=
(x1 − x2
y1 − y2
)r ·(xy
)=
(rxry
)1.25 Prove or disprove that R3 is a vector space under these operations.
(a)
(x1
y1
z1
)+
(x2
y2
z2
)=
(000
)and r
(xyz
)=
(rxryrz
)
(b)
(x1
y1
z1
)+
(x2
y2
z2
)=
(000
)and r
(xyz
)=
(000
)X 1.26 For each, decide if it is a vector space; the intended operations are the natural
ones.(a) The diagonal 2×2 matrices
{(a 00 b
) ∣∣ a, b ∈ R}(b) This set of 2×2 matrices
{(
x x+ yx+ y y
) ∣∣ x, y ∈ R}(c) This set
{
xyzw
∈ R4∣∣ x+ y + w = 1}
90 Chapter 2. Vector Spaces
(d) The set of functions {f : R→ R∣∣ df/dx+ 2f = 0}
(e) The set of functions {f : R→ R∣∣ df/dx+ 2f = 1}
X 1.27 Prove or disprove that this is a vector space: the realvalued functions f ofone real variable such that f(7) = 0.
X 1.28 Show that the set R+ of positive reals is a vector space when ‘x+ y’ is interpreted to mean the product of x and y (so that 2 + 3 is 6), and ‘r ·x’ is interpretedas the rth power of x.
1.29 Is {(x, y)∣∣ x, y ∈ R} a vector space under these operations?
(a) (x1, y1) + (x2, y2) = (x1 + x2, y1 + y2) and r(x, y) = (rx, y)(b) (x1, y1) + (x2, y2) = (x1 + x2, y1 + y2) and r · (x, y) = (rx, 0)
1.30 Prove or disprove that this is a vector space: the set of polynomials of degreegreater than or equal to two, along with the zero polynomial.
1.31 At this point “the same” is only an intuitive notion, but nonetheless for eachvector space identify the k for which the space is “the same” as Rk.(a) The 2×3 matrices under the usual operations(b) The n×m matrices (under their usual operations)(c) This set of 2×2 matrices
{(a 0b c
) ∣∣ a, b, c ∈ R}(d) This set of 2×2 matrices
{(a 0b c
) ∣∣ a+ b+ c = 0}
X 1.32 Using ~+ to represent vector addition and ~· for scalar multiplication, restatethe definition of vector space.
X 1.33 Prove these.(a) Any vector is the additive inverse of the additive inverse of itself.(b) Vector addition leftcancels: if ~v,~s,~t ∈ V then ~v + ~s = ~v + ~t implies that~s = ~t.
1.34 The definition of vector spaces does not explicitly say that ~0 + ~v = ~v (checkthe order in which the summands appear). Show that it must nonetheless hold inany vector space.
X 1.35 Prove or disprove that this is a vector space: the set of all matrices, underthe usual operations.
1.36 In a vector space every element has an additive inverse. Can some elementshave two or more?
1.37 (a) Prove that every point, line, or plane thru the origin in R3 is a vectorspace under the inherited operations.
(b) What if it doesn’t contain the origin?
X 1.38 Using the idea of a vector space we can easily reprove that the solution set ofa homogeneous linear system has either one element or infinitely many elements.Assume that ~v ∈ V is not ~0.(a) Prove that r · ~v = ~0 if and only if r = 0.(b) Prove that r1 · ~v = r2 · ~v if and only if r1 = r2.(c) Prove that any nontrivial vector space is infinite.(d) Use the fact that a nonempty solution set of a homogeneous linear system isa vector space to draw the conclusion.
Section I. Definition of Vector Space 91
1.39 Is this a vector space under the natural operations: the realvalued functionsof one real variable that are differentiable?
1.40 A vector space over the complex numbers C has the same definition as a vectorspace over the reals except that scalars are drawn from C instead of from R. Showthat each of these is a vector space over the complex numbers. (Recall how complexnumbers add and multiply: (a0 + a1i) + (b0 + b1i) = (a0 + b0) + (a1 + b1)i and(a0 + a1i)(b0 + b1i) = (a0b0 − a1b1) + (a0b1 + a1b0)i.)(a) The set of degree two polynomials with complex coefficients(b) This set
{(
0 ab 0
) ∣∣ a, b ∈ C and a+ b = 0 + 0i}
1.41 Find a property shared by all of the Rn’s not listed as a requirement for avector space.
X 1.42 (a) Prove that a sum of four vectors ~v1, . . . , ~v4 ∈ V can be associated inany way without changing the result.
((~v1 + ~v2) + ~v3) + ~v4 = (~v1 + (~v2 + ~v3)) + ~v4
= (~v1 + ~v2) + (~v3 + ~v4)
= ~v1 + ((~v2 + ~v3) + ~v4)
= ~v1 + (~v2 + (~v3 + ~v4))
This allows us to simply write ‘~v1 + ~v2 + ~v3 + ~v4’ without ambiguity.(b) Prove that any two ways of associating a sum of any number of vectors givethe same sum. (Hint. Use induction on the number of vectors.)
1.43 For any vector space, a subset that is itself a vector space under the inheritedoperations (e.g., a plane through the origin inside of R3) is a subspace.(a) Show that {a0 + a1x+ a2x
2∣∣ a0 + a1 + a2 = 0} is a subspace of the vector
space of degree two polynomials.(b) Show that this is a subspace of the 2×2 matrices.
{(a bc 0
) ∣∣ a+ b = 0}
(c) Show that a nonempty subset S of a real vector space is a subspace if and onlyif it is closed under linear combinations of pairs of vectors: whenever c1, c2 ∈ Rand ~s1, ~s2 ∈ S then the combination c1~v1 + c2~v2 is in S.
2.I.2 Subspaces and Spanning Sets
One of the examples that led us to introduce the idea of a vector spacewas the solution set of a homogeneous system. For instance, we’ve seen inExample 1.4 such a space that is a planar subset of R3. There, the vector spaceR3 contains inside it another vector space, the plane.
2.1 Definition For any vector space, a subspace is a subset that is itself avector space, under the inherited operations.
92 Chapter 2. Vector Spaces
2.2 Example The plane from the prior subsection,
P = {
xyz
∣∣ x+ y + z = 0}
is a subspace of R3. As specified in the definition, the operations are the onesthat are inherited from the larger space, that is, vectors add in P3 as they addin R3 x1
y1
z1
+
x2
y2
z2
=
x1 + x2
y1 + y2
z1 + z2
and scalar multiplication is also the same as it is in R3. To show that P is asubspace, we need only note that it is a subset and then verify that it is a space.Checking that P satisfies the conditions in the definition of a vector space isroutine. For instance, for closure under addition, just note that if the summandssatisfy that x1 + y1 + z1 = 0 and x2 + y2 + z2 = 0 then the sum satisfies that(x1 + x2) + (y1 + y2) + (z1 + z2) = (x1 + y1 + z1) + (x2 + y2 + z2) = 0.
2.3 Example The xaxis in R2 is a subspace where the addition and scalarmultiplication operations are the inherited ones.(
x1
0
)+(x2
0
)=(x1 + x2
0
)r ·(x0
)=(rx0
)As above, to verify that this is a subspace, we simply note that it is a subsetand then check that it satisfies the conditions in definition of a vector space.For instance, the two closure conditions are satisfied: (1) adding two vectorswith a second component of zero results in a vector with a second componentof zero, and (2) multiplying a scalar times a vector with a second component ofzero results in a vector with a second component of zero.
2.4 Example Another subspace of R2 is
{(
00
)}
its trivial subspace.
Any vector space has a trivial subspace {~0 }. At the opposite extreme, anyvector space has itself for a subspace. These two are the improper subspaces.Other subspaces are proper.
2.5 Example The condition in the definition requiring that the addition andscalar multiplication operations must be the ones inherited from the larger spaceis important. Consider the subset {1} of the vector space R1. Under the operations 1+1 = 1 and r ·1 = 1 that set is a vector space, specifically, a trivial space.But it is not a subspace of R1 because those aren’t the inherited operations, sinceof course R1 has 1 + 1 = 2.
Section I. Definition of Vector Space 93
2.6 Example All kinds of vector spaces, not just Rn’s, have subspaces. Thevector space of cubic polynomials {a+ bx+ cx2 + dx3
∣∣ a, b, c, d ∈ R} has a subspace comprised of all linear polynomials {m+ nx
∣∣ m,n ∈ R}.2.7 Example Another example of a subspace not taken from an Rn is onefrom the examples following the definition of a vector space. The space of allrealvalued functions of one real variable f : R→ R has a subspace of functionssatisfying the restriction (d2 f/dx2) + f = 0.
2.8 Example Being vector spaces themselves, subspaces must satisfy the closure conditions. The set R+ is not a subspace of the vector space R1 becausewith the inherited operations it is not closed under scalar multiplication: if~v = 1 then −1 · ~v 6∈ R+.
The next result says that Example 2.8 is prototypical. The only way that asubset can fail to be a subspace (if it is nonempty and the inherited operationsare used) is if it isn’t closed.
2.9 Lemma For a nonempty subset S of a vector space, under the inheritedoperations, the following are equivalent statements.∗
(1) S is a subspace of that vector space(2) S is closed under linear combinations of pairs of vectors: for any vectors~s1, ~s2 ∈ S and scalars r1, r2 the vector r1~s1 + r2~s2 is in S
(3) S is closed under linear combinations of any number of vectors: for anyvectors ~s1, . . . , ~sn ∈ S and scalars r1, . . . , rn the vector r1~s1 + · · ·+ rn~sn isin S.
Briefly, the way that a subset gets to be a subspace is by being closed underlinear combinations.
Proof. ‘The following are equivalent’ means that each pair of statements areequivalent.
(1) ⇐⇒ (2) (2) ⇐⇒ (3) (3) ⇐⇒ (1)
We will show this equivalence by establishing that (1) =⇒ (3) =⇒ (2) =⇒(1). This strategy is suggested by noticing that (1) =⇒ (3) and (3) =⇒ (2)are easy and so we need only argue the single implication (2) =⇒ (1).
For that argument, assume that S is a nonempty subset of a vector space Vand that S is closed under combinations of pairs of vectors. We will show thatS is a vector space by checking the conditions.
The first item in the vector space definition has five conditions. First, forclosure under addition, if ~s1, ~s2 ∈ S then ~s1 +~s2 ∈ S, as ~s1 +~s2 = 1 ·~s1 + 1 ·~s2.Second, for any ~s1, ~s2 ∈ S, because addition is inherited from V , the sum ~s1 +~s2
in S equals the sum ~s1 +~s2 in V , and that equals the sum ~s2 +~s1 in V (becauseV is a vector space, its addition is commutative), and that in turn equals thesum ~s2 +~s1 in S. The argument for the third condition is similar to that for the∗ More information on equivalence of statements is in the appendix.
94 Chapter 2. Vector Spaces
second. For the fourth, consider the zero vector of V and note that closure of Sunder linear combinations of pairs of vectors gives that (where ~s is any memberof the nonempty set S) 0 · ~s + 0 · ~s = ~0 is in S; showing that ~0 acts under theinherited operations as the additive identity of S is easy. The fifth condition issatisfied because for any ~s ∈ S, closure under linear combinations shows thatthe vector 0 · ~0 + (−1) · ~s is in S; showing that it is the additive inverse of ~sunder the inherited operations is routine.
The checks for item (2) are similar and are saved for Exercise 32. QED
We usually show that a subset is a subspace with (2) =⇒ (1).
2.10 Remark At the start of this chapter we introduced vector spaces as collections in which linear combinations are “sensible”. The above result speaksto this.
The vector space definition has ten conditions but eight of them, the onesstated there with the ‘•’ bullets, simply ensure that referring to the operationsas an ‘addition’ and a ‘scalar multiplication’ is sensible. The proof above checksthat if the nonempty set S satisfies statement (2) then inheritance of the operations from the surrounding vector space brings with it the inheritance of theseeight properties also (i.e., commutativity of addition in S follows right fromcommutativity of addition in V ). So, in this context, this meaning of “sensible”is automatically satisfied.
In assuring us that this first meaning of the word is met, the result drawsour attention to the second meaning. It has to do with the two remainingconditions, the closure conditions. Above, the two separate closure conditionsinherent in statement (1) are combined in statement (2) into the single conditionof closure under all linear combinations of two vectors, which is then extendedin statement (3) to closure under combinations of any number of vectors. Thelatter two statements say that we can always make sense of an expression liker1~s1 + r2~s2, without restrictions on the r’s — such expressions are “sensible” inthat the vector described is defined and is in the set S.
This second meaning suggests that a good way to think of a vector spaceis as a collection of unrestricted linear combinations. The next two examplestake some spaces and describe them in this way. That is, in these examples weparamatrize, just as we did in Chapter One to describe the solution set of ahomogeneous linear system.
2.11 Example This subset of R3
S = {
xyz
∣∣ x− 2y + z = 0}
is a subspace under the usual addition and scalar multiplication operations ofcolumn vectors (the check that it is nonempty and closed under linear combinations of two vectors is just like the one in Example 2.2). To paramatrize, we
Section I. Definition of Vector Space 95
can take x− 2y + z = 0 to be a oneequation linear system and expressing theleading variable in terms of the free variables x = 2y − z.
S = {
2y − zyz
∣∣ y, z ∈ R} = {y
210
+ z
−101
∣∣ y, z ∈ R}Now the subspace is described as the collection of unrestricted linear combinations of those two vectors. Of course, in either description, this is a planethrough the origin.
2.12 Example This is a subspace of the 2×2 matrices
L = {(a 0b c
) ∣∣ a+ b+ c = 0}
(checking that it is nonempty and closed under linear combinations is easy). Toparamatrize, express the condition as a = −b− c.
L = {(−b− c 0b c
) ∣∣ b, c ∈ R} = {b(−1 01 0
)+ c
(−1 00 1
) ∣∣ b, c ∈ R}As above, we’ve described the subspace as a collection of unrestricted linearcombinations (by coincidence, also of two elements).
Paramatrization is an easy technique, but it is important. We shall use itoften.
2.13 Definition The span (or linear closure) of a nonempty subset S of avector space is the set of all linear combinations of vectors from S.
[S] = {c1~s1 + · · ·+ cn~sn∣∣ c1, . . . , cn ∈ R and ~s1, . . . , ~sn ∈ S}
The span of the empty subset of a vector space is the trivial subspace.
No notation for the span is completely standard. The square brackets used hereare common, but so are ‘span(S)’ and ‘sp(S)’.
2.14 Remark In Chapter One, after we showed that the solution set of ahomogeneous linear system can written as {c1~β1 + · · ·+ ck~βk
∣∣ c1, . . . , ck ∈ R},we described that as the set ‘generated’ by the ~β’s. We now have the technicalterm; we call that the ‘span’ of the set {~β1, . . . , ~βk}.
Recall also the discussion of the “tricky point” in that proof. The span ofthe empty set is defined to be the set {~0} because we follow the convention thata linear combination of no vectors sums to ~0. Besides, defining the empty set’sspan to be the trivial subspace is a convienence in that it keeps results like thenext one from having annoying exceptional cases.
2.15 Lemma In a vector space, the span of any subset is a subspace.
96 Chapter 2. Vector Spaces
Proof. Call the subset S. If S is empty then by definition its span is the trivialsubspace. If S is not empty then by Lemma 2.9 we need only check that thespan [S] is closed under linear combinations. For a pair of vectors from thatspan, ~v = c1~s1 + · · ·+cn~sn and ~w = cn+1~sn+1 + · · ·+cm~sm, a linear combination
p · (c1~s1 + · · ·+ cn~sn) + r · (cn+1~sn+1 + · · ·+ cm~sm)= pc1~s1 + · · ·+ pcn~sn + rcn+1~sn+1 + · · ·+ rcm~sm
(p, r scalars) is a linear combination of elements of S and so is in [S] (possiblysome of the ~si’s forming ~v equal some of the ~sj ’s from ~w, but it does notmatter). QED
The converse of the lemma holds: any subspace is the span of some set,because a subspace is obviously the span of the set of its members. Thus asubset of a vector space is a subspace if and only if it is a span. This fits theintuition that a good way to think of a vector space is as a collection in whichlinear combinations are sensible.
Taken together, Lemma 2.9 and Lemma 2.15 show that the span of a subsetS of a vector space is the smallest subspace containing all the members of S.
2.16 Example In any vector space V , for any vector ~v, the set {r · ~v∣∣ r ∈ R}
is a subspace of V . For instance, for any vector ~v ∈ R3, the line through theorigin containing that vector, {k~v
∣∣ k ∈ R} is a subspace of R3. This is true evenwhen ~v is the zero vector, in which case the subspace is the degenerate line, thetrivial subspace.
2.17 Example The span of this set is all of R2.
{(
11
),
(1−1
)}
Tocheck this we must show that any member of R2 is a linear combination ofthese two vectors. So we ask: for which vectors (with real components x and y)are there scalars c1 and c2 such that this holds?
c1
(11
)+ c2
(1−1
)=(xy
)Gauss’ method
c1 + c2 = xc1 − c2 = y
−ρ1+ρ2−→ c1 + c2 = x−2c2 =−x+ y
with back substitution gives c2 = (x − y)/2 and c1 = (x + y)/2. These twoequations show that for any x and y that we start with, there are appropriatecoefficients c1 and c2 making the above vector equation true. For instance, forx = 1 and y = 2 the coefficients c2 = −1/2 and c1 = 3/2 will do. That is, anyvector in R2 can be written as a linear combination of the two given vectors.
Section I. Definition of Vector Space 97
Since spans are subspaces, and we know that a good way to understand asubspace is to paramatrize its description, we can try to understand a set’s spanin that way.
2.18 Example Consider, in P2, the span of the set {3x− x2, 2x}. By thedefinition of span, it is the subspace of unrestricted linear combinations of thetwo {c1(3x− x2) + c2(2x)
∣∣ c1, c2 ∈ R}. Clearly polynomials in this span musthave a constant term of zero. Is that necessary condition also sufficient?
We are asking: for which members a2x2 + a1x+ a0 of P2 are there c1 and c2
such that a2x2 + a1x+ a0 = c1(3x− x2) + c2(2x)? Since polynomials are equal
if and only if their coefficients are equal, we are looking for conditions on a2,a1, and a0 satisfying these.
−c1 = a2
3c1 + 2c2 = a1
0 = a0
Gauss’ method gives that c1 = −a2, c2 = (3/2)a2 + (1/2)a1, and 0 = a0. Thusthe only condition on polynomials in the span is the condition that we knewof — as long as a0 = 0, we can give appropriate coefficients c1 and c2 to describethe polynomial a0 +a1x+a2x
2 as in the span. For instance, for the polynomial0− 4x+ 3x2, the coefficients c1 = −3 and c2 = 5/2 will do. So the span of thegiven set is {a1x+ a2x
2∣∣ a1, a2 ∈ R}.
This shows, incidentally, that the set {x, x2} also spans this subspace. Aspace can have more than one spanning set. Two other sets spanning this subspace are {x, x2,−x+ 2x2} and {x, x+ x2, x+ 2x2, . . . }. (Naturally, we usuallyprefer to work with spanning sets that have only a few members.)
2.19 Example These are the subspaces of R3 that we now know of, the trivialsubspace, the lines through the origin, the planes through the origin, and thewhole space (of course, the picture shows only a few of the infinitely manysubspaces). In the next section we will prove that R3 has no other type ofsubspaces, so in fact this picture shows them all.
{x
(100
)+ y
(010
)+ z
(001
)}
»»»»»»»»»»{x
(100
)+ y
(010
)}
³³³³³³
{x
(100
)+ z
(001
)}
¡¡
{x
(110
)+ z
(001
)} . . .
¤¤
³³³³³{x
(100
)}
AA{y
(010
)}
HHHH{y
(210
)}
¡¡
{y
(111
)} . . .
XXXXXXXXXXXX
PPPPPPPP
HHHHH@@
{
(000
)}
98 Chapter 2. Vector Spaces
The subsets are described as spans of sets, using a minimal number of members,and are shown connected to their supersets. Note that these subspaces fallnaturally into levels — planes on one level, lines on another, etc. — accordingto how many vectors are in a minimalsized spanning set.
So far in this chapter we have seen that to study the properties of linearcombinations, the right setting is a collection that is closed under these combinations. In the first subsection we introduced such collections, vector spaces,and we saw a great variety of examples. In this subsection we saw still morespaces, ones that happen to be subspaces of others. In all of the variety we’veseen a commonality. Example 2.19 above brings it out: vector spaces and subspaces are best understood as a span, and especially as a span of a small numberof vectors. The next section studies spanning sets that are minimal.
ExercisesX 2.20 Which of these subsets of the vector space of 2×2 matrices are subspaces
under the inherited operations? For each one that is a subspace, paramatrize itsdescription. For each that is not, give a condition that fails.
(a) {(a 00 b
) ∣∣ a, b ∈ R}(b) {
(a 00 b
) ∣∣ a+ b = 0}
(c) {(a 00 b
) ∣∣ a+ b = 5}
(d) {(a c0 b
) ∣∣ a+ b = 0, c ∈ R}
X 2.21 Is this a subspace of P2: {a0 + a1x+ a2x2∣∣ a0 + 2a1 + a2 = 4}? If so, para
matrize its description.
X 2.22 Decide if the vector lies in the span of the set, inside of the space.
(a)
(201
), {
(100
),
(001
)}, in R3
(b) x− x3, {x2, 2x+ x2, x+ x3}, in P3
(c)
(0 14 2
), {(
1 01 1
),
(2 02 3
)}, in M2×2
2.23 Which of these are members of the span [{cos2 x, sin2 x}] in the vector spaceof realvalued functions of one real variable?
(a) f(x) = 1 (b) f(x) = 3 + x2 (c) f(x) = sinx (d) f(x) = cos(2x)
X 2.24 Which of these sets spans R3? That is, which of these sets has the propertythat any threetall vector can be expressed as a suitable linear combination of theset’s elements?
(a) {
(100
),
(020
),
(003
)} (b) {
(201
),
(110
),
(001
)} (c) {
(110
),
(300
)}
(d) {
(101
),
(310
),
(−100
),
(215
)} (e) {
(211
),
(301
),
(512
),
(602
)}
Section I. Definition of Vector Space 99
X 2.25 Paramatrize each subspace’s description. Then express each subspace as aspan.(a) The subset {a+ bx+ cx3
∣∣ a− 2b+ c = 0} of P3
(b) The subset {(a b c
) ∣∣ a− c = 0} of the threewide row vectors(c) This subset of M2×2
{(a bc d
) ∣∣ a+ d = 0}
(d) This subset of M2×2
{(a bc d
) ∣∣ 2a− c− d = 0 and a+ 3b = 0}
(e) The subset of P2 of quadratic polynomials p such that p(7) = 0
X 2.26 Find a set to span the given subspace of the given space. (Hint. Paramatrizeeach.)(a) the xzplane in R3
(b) {
(xyz
) ∣∣ 3x+ 2y + z = 0} in R3
(c) {
xyzw
∣∣ 2x+ y + w = 0 and y + 2z = 0} in R4
(d) {a0 + a1x+ a2x2 + a3x
3∣∣ a0 + a1 = 0 and a2 − a3 = 0} in P3
(e) The set P4 in the space P4
(f) M2×2 in M2×2
2.27 Is R2 a subspace of R3?
X 2.28 Decide if each is a subspace of the vector space of realvalued functions of onereal variable.(a) The even functions {f : R→ R
∣∣ f(−x) = f(x) for all x}. For example, two
members of this set are f1(x) = x2 and f2(x) = cos(x).(b) The odd functions {f : R→ R
∣∣ f(−x) = −f(x) for all x}. Two members are
f3(x) = x3 and f4(x) = sin(x).
2.29 Example 2.16 says that for any vector ~v in any vector space V , the set{r · ~v
∣∣ r ∈ R} is a subspace of V . (This is of course, simply the span of thesingleton set {~v}.) Must any such subspace be a proper subspace, or can it beimproper?
2.30 An example following the definition of a vector space shows that the solutionset of a homogeneous linear system is a vector space. In the terminology of thissubsection, it is a subspace of Rn where the system has n variables. What abouta nonhomogeneous linear system; do its solutions form a subspace (under theinherited operations)?
2.31 Example 2.19 shows that R3 has infinitely many subspaces. Does every nontrivial space have infinitely many subspaces?
2.32 Finish the proof of Lemma 2.9.
2.33 Show that each vector space has only one trivial subspace.
X 2.34 Show that for any subset S of a vector space, the span of the span equals thespan [[S]] = [S]. (Hint. Members of [S] are linear combinations of members of
100 Chapter 2. Vector Spaces
S. Members of [[S]] are linear combinations of linear combinations of members ofS.)
2.35 All of the subspaces that we’ve seen use zero in their description in someway. For example, the subspace in Example 2.3 consists of all the vectors from R2
with a second component of zero. In contrast, the collection of vectors from R2
with a second component of one does not form a subspace (it is not closed underscalar multiplication). Another example is Example 2.2, where the condition onthe vectors is that the three components add to zero. If the condition were that thethree components add to ong then it would not be a subspace (again, it would failto be closed). This exercise shows that a reliance on zero is not strictly necessary.Consider the set
{
(xyz
) ∣∣ x+ y + z = 1}
under these operations.(x1
y1
z1
)+
(x2
y2
z2
)=
(x1 + x2 − 1y1 + y2
z1 + z2
)r
(xyz
)=
(rx− r + 1
ryrz
)(a) Show that it is not a subspace of R3. (Hint. See Example 2.5).(b) Show that it is a vector space. Note that by the prior item, Lemma 2.9 cannot apply.
(c) Show that any subspace of R3 must pass thru the origin, and so any subspaceof R3 must involve zero in its description. Does the converse hold? Does anysubset of R3 that contains the origin become a subspace when given the inheritedoperations?
2.36 We can give a justification for the convention that the sum of no vectors equalsthe zero vector. Consider this sum of three vectors ~v1 + ~v2 + ~v3.(a) What is the difference between this sum of three vectors and the sum of thefirst two of this three?
(b) What is the difference between the prior sum and the sum of just the firstone vector?
(c) What should be the difference between the prior sum of one vector and thesum of no vectors?
(d) So what should be the definition of the sum of no vectors?
2.37 Is a space determined by its subspaces? That is, if two vector spaces have thesame subspaces, must the two be equal?
2.38 (a) Give a set that is closed under scalar multiplication but not addition.(b) Give a set closed under addition but not scalar multiplication.(c) Give a set closed under neither.
2.39 Show that the span of a set of vectors does not depend on the order in whichthe vectors are listed in that set.
2.40 Which trivial subspace is the span of the empty set? Is it
{
(000
)} ⊆ R3, or {0 + 0x} ⊆ P1,
or some other subspace?
2.41 Show that if a vector is in the span of a set then adding that vector to the setwon’t make the span any bigger. Is that also ‘only if’?
Section I. Definition of Vector Space 101
X 2.42 Subspaces are subsets and so we naturally consider how ‘is a subspace of’interacts with the usual set operations.(a) If A,B are subspaces of a vector space, must A∩B be a subspace? Always?Sometimes? Never?
(b) Must A ∪B be a subspace?(c) If A is a subspace, must its complement be a subspace?
(Hint. Try some test subspaces from Example 2.19.)
X 2.43 Does the span of a set depend on the enclosing space? That is, if W is asubspace of V and S is a subset of W (and so also a subset of V ), might the spanof S in W differ from the span of S in V ?
2.44 Is the relation ‘is a subspace of’ transitive? That is, if V is a subspace of Wand W is a subspace of X, must V be a subspace of X?
X 2.45 Because ‘span of’ is an operation on sets we naturally consider how it interactswith the usual set operations.(a) If S ⊆ T are subsets of a vector space, is [S] ⊆ [T ]? Always? Sometimes?Never?
(b) If S, T are subsets of a vector space, is [S ∪ T ] = [S] ∪ [T ]?(c) If S, T are subsets of a vector space, is [S ∩ T ] = [S] ∩ [T ]?(d) Is the span of the complement equal to the complement of the span?
2.46 Reprove Lemma 2.15 without doing the empty set separately.
2.47 Find a structure that is closed under linear combinations, and yet is not avector space. (Remark. This is a bit of a trick question.)
102 Chapter 2. Vector Spaces
2.II Linear Independence
The prior section shows that a vector space can be understood as an unrestrictedlinear combination of some of its elements — that is, as a span. For example,the space of linear polynomials {a+ bx
∣∣ a, b ∈ R} is spanned by the set {1, x}.The prior section also showed that a space can have many sets that span it.The space of linear polynomials is also spanned by {1, 2x} and {1, x, 2x}.
At the end of that section we described some spanning sets as ‘minimal’,but we never precisely defined that word. We could take ‘minimal’ to mean oneof two things. We could mean that a spanning set is minimal if it contains thesmallest number of members of any set with the same span. With this meaning{1, x, 2x} is not minimal because it has one member more than the other two.Or we could mean that a spanning set is minimal when it has no elements thatcan be removed without changing the span. Under this meaning {1, x, 2x} is notminimal because removing the 2x and getting {1, x} leaves the span unchanged.
The first sense of minimality appears to be a global requirement, in that tocheck if a spanning set is minimal we seemingly must look at all the spanning setsof a subspace and find one with the least number of elements. The second senseof minimality is local in that we need to look only at the set under discussionand consider the span with and without various elements. For instance, usingthe second sense, we could compare the span of {1, x, 2x} with the span of {1, x}and note that the 2x is a “repeat” in that its removal doesn’t shrink the span.
In this section we will use the second sense of ‘minimal spanning set’ becauseof this technical convenience. However, the most important result of this bookis that the two senses coincide; we will prove that in the section after this one.
2.II.1 Definition and Examples
We first characterize when a vector can be removed from a set withoutchanging its span.
1.1 Lemma Where S is a subset of a vector space,
[S] = [S ∪ {~v}] if and only if ~v ∈ [S]
for any ~v in that space.
Proof. The left to right implication is easy. If [S] = [S ∪ {~v}] then, sinceobviously ~v ∈ [S ∪ {~v}], the equality of the two sets gives that ~v ∈ [S].
For the right to left implication assume that ~v ∈ [S] to show that [S] = [S ∪{~v}] by mutual inclusion. The inclusion [S] ⊆ [S∪{~v}] is obvious. For the otherinclusion [S] ⊇ [S∪{~v}], write an element of [S∪{~v}] as d0~v+d1~s1 + · · ·+dm~sm,and substitute ~v’s expansion as a linear combination of members of the same setd0(c0~t0 + · · ·+ ck~tk) + d1~s1 + · · ·+ dm~sm. This is a linear combination of linearcombinations, and so after distributing d0 we end with a linear combination ofvectors from S. Hence each member of [S ∪{~v}] is also a member of [S]. QED
Section II. Linear Independence 103
1.2 Example In R3, where
~v1 =
100
, ~v2 =
010
, ~v3 =
210
the spans [{~v1, ~v2}] and [{~v1, ~v2, ~v3}] are equal since ~v3 is in the span [{~v1, ~v2}].
The lemma says that if we have a spanning set then we can remove a ~v toget a new set S with the same span if and only if ~v is a linear combination ofvectors from S. Thus, under the second sense described above, a spanning setis minimal if and only if it contains no vectors that are linear combinations ofthe others in that set. We have a term for this important property.
1.3 Definition A subset of a vector space is linearly independent if none of itselements is a linear combination of the others. Otherwise it is linearly dependent.
Here is a small but useful observation: although this way of writing onevector as a combination of the others
~s0 = c1~s1 + c2~s2 + · · ·+ cn~sn
visually sets ~s0 off from the other vectors, algebraically there is nothing specialin that equation about ~s0. For any ~si with a coefficient ci that is nonzero, wecan rewrite the relationship to set off ~si.
~si = (1/ci)~s0 + (−c1/ci)~s1 + · · ·+ (−cn/ci)~sn
When we don’t want to single out any vector by writing it alone on one side ofthe equation we will instead say that ~s0, ~s1, . . . , ~sn are in a linear relationship andwrite the relationship with all of the vectors on the same side. The next resultrephrases the linear independence definition in this style. It gives what is usuallythe easiest way to compute whether a finite set is dependent or independent.
1.4 Lemma A subset S of a vector space is linearly independent if and only iffor any distinct ~s1, . . . , ~sn ∈ S the only linear relationship among those vectors
c1~s1 + · · ·+ cn~sn = ~0 c1, . . . , cn ∈ R
is the trivial one: c1 = 0, . . . , cn = 0.
Proof. This is a direct consequence of the observation above.If the set S is linearly independent then no vector ~si can be written as a linear
combination of the other vectors from S so there is no linear relationship wheresome of the ~s ’s have nonzero coefficients. If S is not linearly independent thensome ~si is a linear combination ~si = c1~s1+· · ·+ci−1~si−1+ci+1~si+1+· · ·+cn~sn ofother vectors from S, and subtracting ~si from both sides of that equation givesa linear relationship involving a nonzero coefficient, namely the −1 in front of~si. QED
104 Chapter 2. Vector Spaces
1.5 Example In the vector space of twowide row vectors, the twoelement set{(40 15
),(−50 25
)} is linearly independent. To check this, set
c1 ·(40 15
)+ c2 ·
(−50 25
)=(0 0
)and solve the resulting system.
40c1 − 50c2 = 015c1 + 25c2 = 0
−(15/40)ρ1+ρ2−→ 40c1 − 50c2 = 0(175/4)c2 = 0
Therefore c1 and c2 both equal zero and so the only linear relationship betweenthe two given row vectors is the trivial relationship.
In the same vector space, {(40 15
),(20 7.5
)} is linearly dependent since
we can satisfy
c1(40 15
)+ c2 ·
(20 7.5
)=(0 0
)with c1 = 1 and c2 = −2.
1.6 Remark Recall the Statics example that began this book. We first set theunknownmass objects at 40 cm and 15 cm and got a balance, and then we setthe objects at −50 cm and 25 cm and got a balance. With those two pieces ofinformation we could compute values of the unknown masses. Had we insteadfirst set the unknownmass objects at 40 cm and 15 cm, and then at 20 cm and7.5 cm, we would not have been able to compute the values of the unknownmasses (try it). Intuitively, the problem is that the
(20 7.5
)information is a
“repeat” of the(40 15
)information — that is,
(20 7.5
)is in the span of the
set {(40 15
)} — and so we would be trying to solve a twounknowns problem
with what is essentially one piece of information.
1.7 Example The set {1 + x, 1− x} is linearly independent in P2, the spaceof quadratic polynomials with real coefficients, because
0 + 0x+ 0x2 = c1(1 + x) + c2(1− x) = (c1 + c2) + (c1 − c2)x+ 0x2
gives
c1 + c2 = 0c1 − c2 = 0
−ρ1+ρ2−→ c1 + c2 = 02c2 = 0
(since polynomials are equal only if their coefficients are equal). Thus, the onlylinear relationship between these two members of P2 is the trivial one.
1.8 Example In R3, where
~v1 =
345
, ~v2 =
292
, ~v3 =
4184
Section II. Linear Independence 105
the set S = {~v1, ~v2, ~v3} is linearly dependent because this is a relationship
0 · ~v1 + 2 · ~v2 − 1 · ~v3 = ~0
where not all of the scalars are zero (the fact that some scalars are zero isirrelevant).
1.9 Remark That example shows why, although Definition 1.3 is a clearerstatement of what independence is, Lemma 1.4 is more useful for computations.Working straight from the definition, someone trying to compute whether S islinearly independent would start by setting ~v1 = c2~v2+c3~v3 and concluding thatthere are no such c2 and c3. But knowing that the first vector is not dependenton the other two is not enough. Working straight from the definition, thisperson would have to go on to try ~v2 = c3~v3 in order to find the dependencec3 = 1/2. Similarly, working straight from the definition, a set with four vectorswould require checking three vector equations. Lemma 1.4 makes the job easierbecause it allows us to get the conclusion with only one computation.
1.10 Example The empty subset of a vector space is linearly independent.There is no nontrivial linear relationship among its members as it has no members.
1.11 Example In any vector space, any subset containing the zero vector islinearly dependent. For example, in the space P2 of quadratic polynomials,consider the subset {1 + x, x+ x2, 0}.
One way to see that this subset is linearly dependent is to use Lemma 1.4: wehave 0 ·~v1 +0 ·~v2 +1 ·~0 = ~0, and this is a nontrivial relationship as not all of thecoefficients are zero. Another way to see that this subset is linearly dependentis to go straight to Definition 1.3: we can express the third member of the subsetas a linear combination of the first two, namely, c1~v1 + c2~v2 = ~0 is satisfied bytaking c1 = 0 and c2 = 0 (in contrast to the lemma, the definition allows all ofthe coefficients to be zero).
(There is still another way to see this that is somewhat trickier. The zerovector is equal to the trivial sum, that is, it is the sum of no vectors. So ina set containing the zero vector, there is an element that can be written as acombination of a collection of other vectors from the set, specifically, the zerovector can be written as a combination of the empty collection.)
Lemma 1.1 suggests how to turn a spanning set into a spanning set that isminimal. Given a finite spanning set, we can repeatedly pull out vectors thatare a linear combination of the others, until there aren’t any more such vectorsleft.
1.12 Example This set spans R3.
S0 = {
100
,
020
,
120
,
0−11
,
330
}
106 Chapter 2. Vector Spaces
Looking for a linear relationship
c1
100
+ c2
020
+ c3
120
+ c4
0−11
+ c5
330
=
000
gives a three equations/five unknowns linear system whose solution set can beparamatrized in this way.
{
c1c2c3c4c5
= c3
−1−1100
+ c5
−3−3/2
001
∣∣ c3, c5 ∈ R}Setting, say, c3 = 0 and c5 = 1 shows that the fifth vector is a linear combinationof the first two. Thus, Lemma 1.1 gives that this set
S1 = {
100
,
020
,
120
,
0−11
}has the same span as S0. Similarly, the third vector of the new set S1 is a linearcombination of the first two and we get
S2 = {
100
,
020
,
0−11
}with the same span as S1 and S0, but with one difference. This last set islinearly independent (this is easily checked), and so removal of any of its vectorswill shrink the span.
We finish this subsection by recasting that example as a theorem that anyfinite spanning set has a subset with the same span that is linearly independent.To prove that result we will first need some facts about how linear independenceand dependence, which are properties of sets, interact with the subset relationbetween sets.
1.13 Lemma Any subset of a linearly independent set is also linearly independent. Any superset of a linearly dependent set is also linearly dependent.
Proof. This is clear. QED
Restated, independence is preserved by subset and dependence is preservedby superset. Those are two of the four possible cases of interaction that wecan consider. The third case, whether linear dependence is preserved by thesubset operation, is covered by Example 1.12, which gives a linearly dependentset S0 with a subset S1 that is linearly dependent and another subset S2 thatis linearly independent.
That leaves one case, whether linear independence is preserved by superset.The next example shows what can happen.
Section II. Linear Independence 107
1.14 Example Here are some linearly independent sets from R3 and theirsupersets.
(1) If S1 = {
100
} then the span [S1] is the xaxis.
A linearly dependent superset: {
100
,
−300
}A linearly independent superset: {
100
,
010
}
(2) If S2 = {
100
,
010
} then [S2] is the xyplane.
A linearly dependent superset: {
100
,
010
,
3−20
}A linearly independent superset: {
100
,
010
,
001
}
(3) If S3 = {
100
,
010
,
001
} then [S3] is all of R3.
A linearly dependent superset: {
100
,
010
,
001
,
2−13
}There are no linearly independent supersets.
(Checking the dependence or independence of these sets is easy.)
So in general a linearly independent set can have some supersets that are dependent and some supersets that are independent. We can characterize when asuperset of a independent set is dependent and when it is independent.
1.15 Lemma Where S is a linearly independent subset of a vector space V ,
S ∪ {~v} is linearly dependent if and only if ~v ∈ [S]
for any ~v ∈ V with ~v 6∈ S.
108 Chapter 2. Vector Spaces
Proof. One implication is clear: if ~v ∈ [S] then ~v = c1~s1 + c2~s2 + · · · + cn~snwhere each ~si ∈ S and ci ∈ R, and so ~0 = c1~s1 + c2~s2 + · · ·+ cn~sn + (−1)~v is anontrivial linear relationship among elements of S ∪ {~v}.
The other implication requires the assumption that S is linearly independent.With S ∪ {~v} linearly dependent, there is a nontrivial linear relationship c0~v +c1~s1 + c2~s2 + · · ·+ cn~sn = ~0 and independence of S then implies that c0 6= 0, orelse that would be a nontrivial relationship among members of S. Now rewritingthis equation as ~v = −(c1/c0)~s1 − · · · − (cn/c0)~sn shows that ~v ∈ [S]. QED
(Compare this result with Lemma 1.1. Note the additional hypothesis here oflinear independence.)
1.16 Corollary A subset S = {~s1, . . . , ~sn} of a vector space is linearly dependent if and only if some ~si is a linear combination of the vectors ~s1, . . . , ~si−1
listed before it.
Proof. Consider S0 = {}, S1 = {~s1}, S2 = {~s1, ~s2}, etc. Some index i ≥ 1 isthe first one with Si−1 ∪ {~si} linearly dependent, and there ~si ∈ [Si−1]. QED
Lemma 1.15 can be restated in terms of independence instead of dependence:if S is linearly independent (and ~v 6∈ S) then the set S ∪ {~v} is also linearlyindependent if and only if ~v 6∈ [S]. Applying Lemma 1.1, we conclude that ifS is linearly independent and ~v 6∈ S then S ∪ {~v} is also linearly independentif and only if [S ∪ {~v}] 6= [S]. Briefly, to preserve linear independence throughsuperset we must expand the span.
Example 1.14 shows that some linearly independent sets are maximal —have as many elements as possible — in that they have no linearly independentsupersets. By the prior paragraph, linearly independent sets are maximal if andonly if their span is the entire space, because then no vector exists that is notalready in the span.
This table summarizes the interaction between the properties of independence and dependence and the relations of subset and superset.
K ⊂ S K ⊃ SS independent K must be independent K may be eitherS dependent K may be either K must be dependent
In developing this table we’ve uncovered an intimate relationship between linearindependence and span. Complementing the fact that a spanning set is minimalif and only if it is linearly independent, a linearly independent set is maximal ifand only if it spans the space.
We close with the result promised earlier that recasts Example 1.12 as atheorem.
1.17 Theorem In a vector space, any finite subset has a linearly independentsubset with the same span.
Section II. Linear Independence 109
Proof. If the finite set S is linearly independent then there is nothing to proveso assume that S = {~s1, . . . , ~sn} is linearly dependent. By Corollary 1.16, thereis a vector ~si that is a linear combination of ~s1, . . . , ~si−1. Define S1 to be theset S − {~si}. Lemma 1.1 then says that the span does not shrink: [S1] = [S].
If S1 is linearly independent then we are finished. Otherwise repeat theprior paragraph to derive S2 ⊂ S1 such that [S2] = [S1]. Repeat this processuntil a linearly independent set appears; one must eventually appear becauseS is finite. (Formally, this part of the argument uses mathematical induction.Exercise 37 asks for the details.) QED
In summary, we have introduced the definition of linear independence toformalize the idea of the minimality of a spanning set. We have developed someelementary properties of this idea. The most important is Lemma 1.15, which,complementing that a spanning set is minimal when it linearly independent,tells us that a linearly independent set is maximal when it spans the space.
Exercises
X 1.18 Decide whether each subset of R3 is linearly dependent or linearly independent.
(a) {
(1−35
),
(224
),
(4−414
)}
(b) {
(177
),
(277
),
(377
)}
(c) {
(00−1
),
(104
)}
(d) {
(990
),
(201
),
(35−4
),
(1212−1
)}
X 1.19 Which of these subsets of P3 are linearly dependent and which are independent?(a) {3− x+ 9x2, 5− 6x+ 3x2, 1 + 1x− 5x2}(b) {−x2, 1 + 4x2}(c) {2 + x+ 7x2, 3− x+ 2x2, 4− 3x2}(d) {8 + 3x+ 3x2, x+ 2x2, 2 + 2x+ 2x2, 8− 2x+ 5x2}
X 1.20 Prove that each set {f, g} is linearly independent in the vector space of allfunctions from R+ to R.(a) f(x) = x and g(x) = 1/x(b) f(x) = cos(x) and g(x) = sin(x)(c) f(x) = ex and g(x) = ln(x)
X 1.21 Which of these subsets of the space of realvalued functions of one real variable is linearly dependent and which is linearly independent? (Note that we haveabbreviated some constant functions; e.g., in the first item, the ‘2’ stands for theconstant function f(x) = 2.)
110 Chapter 2. Vector Spaces
(a) {2, 4 sin2(x), cos2(x)} (b) {1, sin(x), sin(2x)} (c) {x, cos(x)}(d) {(1 + x)2, x2 + 2x, 3} (e) {cos(2x), sin2(x), cos2(x)} (f) {0, x, x2}
1.22 Does the equation sin2(x)/ cos2(x) = tan2(x) show that this set of functions{sin2(x), cos2(x), tan2(x)} is a linearly dependent subset of the set of all realvaluedfunctions with domain (−π/2..π/2)?
1.23 Why does Lemma 1.4 say “distinct”?
X 1.24 Show that the nonzero rows of an echelon form matrix form a linearly independent set.
X 1.25 (a) Show that if the set {~u,~v, ~w} linearly independent set then so is the set{~u, ~u+ ~v, ~u+ ~v + ~w}.
(b) What is the relationship between the linear independence or dependence ofthe set {~u,~v, ~w} and the independence or dependence of {~u− ~v,~v − ~w, ~w − ~u}?
1.26 Example 1.10 shows that the empty set is linearly independent.(a) When is a oneelement set linearly independent?(b) How about a set with two elements?
1.27 In any vector space V , the empty set is linearly independent. What about allof V ?
1.28 Show that if {~x, ~y, ~z} is linearly independent then so are all of its propersubsets: {~x, ~y}, {~x, ~z}, {~y, ~z}, {~x},{~y}, {~z}, and {}. Is that ‘only if’ also?
1.29 (a) Show that this
S = {
(110
),
(−120
)}
is a linearly independent subset of R3.(b) Show that (
320
)is in the span of S by finding c1 and c2 giving a linear relationship.
c1
(110
)+ c2
(−120
)=
(320
)Show that the pair c1, c2 is unique.
(c) Assume that S is a subset of a vector space and that ~v is in [S], so that ~v isa linear combination of vectors from S. Prove that if S is linearly independentthen a linear combination of vectors from S adding to ~v is unique (that is, uniqueup to reordering and adding or taking away terms of the form 0 · ~s). Thus Sas a spanning set is minimal in this strong sense: each vector in [S] is “hit” aminimum number of times — only once.
(d) Prove that it can happen when S is not linearly independent that distinctlinear combinations sum to the same vector.
1.30 Prove that a polynomial gives rise to the zero function if and only if it isthe zero polynomial. (Comment. This question is not a Linear Algebra matter,but we often use the result. A polynomial gives rise to a function in the obviousway: x 7→ cnx
n + · · ·+ c1x+ c0.)
1.31 Return to Section 1.2 and redefine point, line, plane, and other linear surfacesto avoid degenerate cases.
Section II. Linear Independence 111
1.32 (a) Show that any set of four vectors in R2 is linearly dependent.(b) Is this true for any set of five? Any set of three?(c) What is the most number of elements that a linearly independent subset ofR2 can have?
X 1.33 Is there a set of four vectors in R3, any three of which form a linearly independent set?
1.34 Must every linearly dependent set have a subset that is dependent and asubset that is independent?
1.35 In R4, what is the biggest linearly independent set you can find? The smallest?The biggest linearly dependent set? The smallest? (‘Biggest’ and ‘smallest’ meanthat there are no supersets or subsets with the same property.)
X 1.36 Linear independence and linear dependence are properties of sets. We canthus naturally ask how those properties act with respect to the familiar elementaryset relations and operations. In this body of this subsection we have covered thesubset and superset relations. We can also consider the operations of intersection,complementation, and union.(a) How does linear independence relate to intersection: can an intersection oflinearly independent sets be independent? Must it be?
(b) How does linear independence relate to complementation?(c) Show that the union of two linearly independent sets need not be linearlyindependent.
(d) Characterize when the union of two linearly independent sets is linearly independent, in terms of the intersection of the span of each.
X 1.37 For Theorem 1.17,(a) fill in the induction for the proof;(b) give an alternate proof that starts with the empty set and builds a sequenceof linearly independent subsets of the given finite set until one appears with thesame span as the given set.
1.38 With a little calculation we can get formulas to determine whether or not aset of vectors is linearly independent.(a) Show that this subset of R2
{(ac
),
(bd
)}
is linearly independent if and only if ad− bc 6= 0.(b) Show that this subset of R3
{
(adg
),
(beh
),
(cfi
)}
is linearly independent iff aei+ bfg + cdh− hfa− idb− gec 6= 0.(c) When is this subset of R3
{
(adg
),
(beh
)}
linearly independent?(d) This is an opinion question: for a set of four vectors from R4, must there bea formula involving the sixteen entries that determines independence of the set?(You needn’t produce such a formula, just decide if one exists.)
112 Chapter 2. Vector Spaces
X 1.39 (a) Prove that a set of two perpendicular nonzero vectors from Rn is linearlyindependent when n > 1.
(b) What if n = 1? n = 0?(c) Generalize to more than two vectors.
1.40 Consider the set of functions from the open interval (−1..1) to R.(a) Show that this set is a vector space under the usual operations.(b) Recall the formula for the sum of an infinite geometric series: 1+x+x2+· · · =1/(1−x) for all x ∈ (−1..1). Why does this not express a dependence inside of theset {g(x) = 1/(1− x), f0(x) = 1, f1(x) = x, f2(x) = x2, . . . } (in the vector spacethat we are considering)? (Hint. Review the definition of linear combination.)
(c) Show that the set in the prior item is linearly independent.This shows that some vector spaces exist with linearly independent subsets thatare infinite.
1.41 Show that, where S is a subspace of V , if a subset T of S is linearly independent in S then T is also linearly independent in V . Is that ‘only if’?
Section III. Basis and Dimension 113
2.III Basis and Dimension
The prior section ends with the statement that a spanning set is minimal whenit is linearly independent and that a linearly independent set is maximal whenit spans the space. So the notions of minimal spanning set and maximal independent set coincide. In this section we will name this notion and study someof its properties.
2.III.1 Basis
1.1 Definition A basis for a vector space is a sequence of vectors that form aset that is linearly independent and that spans the space.
We denote a basis with angle brackets 〈~β1, ~β2, . . . 〉 to signify that this collection is a sequence∗ — the order of the elements is significant. (The requirementthat a basis be ordered will be needed, for instance, in Definition 1.13.)
1.2 Example This is a basis for R2.
〈(
24
),
(11
)〉
It is linearly independent
c1
(24
)+ c2
(11
)=(
00
)=⇒ 2c1 + 1c2 = 0
4c1 + 1c2 = 0 =⇒ c1 = c2 = 0
and it spans R2.
2c1 + 1c2 = x4c1 + 1c2 = y
=⇒ c2 = 2x− y and c1 = (y − x)/2
1.3 Example This basis for R2
〈(
11
),
(24
)〉
differs from the prior one because of its different order. The verification that itis a basis is just as in the prior example.
1.4 Example The space R2 has many bases. Another one is this.
〈(
10
),
(01
)〉
The verification is easy.∗ More information on sequences is in the appendix.
114 Chapter 2. Vector Spaces
1.5 Definition For any Rn,
En = 〈
10...0
,
01...0
, . . . ,
00...1
〉is the standard (or natural) basis. We denote these vectors by ~e1, . . . , ~en.
Note that the symbol ‘~e1’ means something different in a discussion of R3 thanit means in a discussion of R2. (Calculus books call R2’s standard basis vectors~ı and ~ instead of ~e1 and ~e2, and they call R3’s standard basis vectors ~ı, ~, and~k instead of ~e1, ~e2, and ~e3.)
1.6 Example We can give bases for spaces other than just those comprised ofcolumn vectors. For instance, consider the space {a · cos θ + b · sin θ
∣∣ a, b ∈ R}of function of the real variable θ. This is a natural basis
〈1 · cos θ + 0 · sin θ, 0 · cos θ + 1 · sin θ〉 = 〈cos θ, sin θ〉
while, another, more generic, basis is 〈cos θ− sin θ, 2 cos θ+ 3 sin θ〉. Verficationthat these two are bases is Exercise 22.
1.7 Example A natural basis for the vector space of cubic polynomials P3 is〈1, x, x2, x3〉. Two other bases for this space are 〈x3, 3x2, 6x, 6〉 and 〈1, 1+x, 1+x+ x2, 1 + x+ x2 + x3〉. Checking that these are linearly independent and spanthe space is easy.
1.8 Example The trivial space {~0} has only one basis, the empty one 〈〉.
1.9 Example The space of finite degree polynomials has a basis with infinitelymany elements 〈1, x, x2, . . . 〉.
1.10 Example We have seen bases before. For instance, we have describedthe solution set of homogeneous systems such as this one
x+ y − w = 0z + w = 0
by paramatrizing.
{
−1100
y +
10−11
w∣∣ y, w ∈ R}
That is, we have described the vector space of solutions as the span of a twoelement set. We can easily check that this twovector set is also linearly independent. Thus the solution set is a subspace of R4 with a twoelement basis.
Section III. Basis and Dimension 115
1.11 Example Parameterization helps find bases for other vector spaces, notjust for solution sets of homogeneous systems. To find a basis for this subspaceof M2×2
{(a bc 0
) ∣∣ a+ b− 2c = 0}
we rewrite the condition as a = −b+ 2c to get this.
{(−b+ 2c b
c 0
) ∣∣ b, c ∈ R} = {b(−1 10 0
)+ c
(2 01 0
) ∣∣ b, c ∈ R}Thus, this is a natural candidate for a basis.
〈(−1 10 0
),
(2 01 0
)〉
The above work shows that it spans the space. To show that it is linearlyindependent is routine.
Consider Example 1.2 again. To show that the basis spans the space welooked at a general vector
(xy
)from R2. We found a formula for coefficients c1
and c2 in terms of x and y. Although we did not mention it in the example,the formula shows that for each vector there is only one suitable coefficient pair.This always happens.
1.12 Theorem In any vector space, a subset is a basis if and only if eachvector in the space can be expressed as a linear combination of elements of thesubset in a unique way. (We consider combinations to be the same if they differonly in the order of summands or in the addition or deletion of terms of theform ‘0 · ~β’.)
Proof. By definition, a sequence is a basis if and only if its vectors form botha spanning set and a linearly independent set. A subset is a spanning set ifand only if each vector in the space is a linear combination of elements of thatsubset in at least one way.
Thus, to finish we need only show that a subset is linearly independent ifand only if every vector in the space is a linear combination of elements fromthe subset in at most one way. Consider two expressions of a vector as a linearcombination of the members of the basis. We can rearrange the two sums, andif necessary add some 0~βi’s, so that the two combine the same ~β’s in the sameorder: ~v = c1~β1 + c2~β2 + · · · + cn~βn and ~v = d1
~β1 + d2~β2 + · · · + dn~βn. Now,
equality
c1~β1 + c2~β2 + · · ·+ cn~βn = d1~β1 + d2
~β2 + · · ·+ dn~βn
holds if and only if
(c1 − d1)~β1 + · · ·+ (cn − dn)~βn = ~0
holds, and so asserting that each coefficient in the lower equation is zero is thesame thing as asserting that ci = di for each i. QED
116 Chapter 2. Vector Spaces
1.13 Definition In a vector space with basis B the representation of ~v withrespect to B is the column vector of the coefficients used to express ~v as a linearcombination of the basis vectors. That is,
RepB(~v) =
c1c2...cn
B
where B = 〈~β1, . . . , ~βn〉 and ~v = c1~β1 + c2~β2 + · · · + cn~βn. The c’s are thecoordinates of ~v with respect to B.
1.14 Example In P3, with respect to the basis B = 〈1, 2x, 2x2, 2x3〉, the representation of x+ x2 is
RepB(x+ x2) =
0
1/21/20
B
(note that the coordinates are scalars, not vectors). With respect to a differentbasis D = 〈1 + x, 1− x, x+ x2, x+ x3〉, the representation
RepD(x+ x2) =
0010
D
is different.
1.15 Remark This use of column notation and the term ‘coordinates’ hasboth a down side and an up side.
The down side is that representations look like vectors from Rn, and thatcan be confusing when the vector space we are working with is Rn, especiallysince we sometimes omit the subscript base. We must then infer the intent fromthe context. For example, the phrase ‘in R2, where
~v =(
32
), . . . ’
refers to the plane vector that, when in canonical position, ends at (3, 2). Tofind the coordinates of that vector with respect to the basis
B = 〈(
11
),
(02
)〉
we solve
c1
(11
)+ c2
(02
)=(
32
)
Section III. Basis and Dimension 117
to get that c1 = 3 and c2 = 1/2. Then we have this.
RepB(~v) =(
3−1/2
)Here, although we’ve ommited the subscript B from the column, the fact thatthe right side it is a representation is clear from the context.
The up side of the notation and the term ‘coordinates’ is that they generalizethe use that we are familiar with: in Rn and with respect to the standardbasis En, the vector starting at the origin and ending at (v1, . . . , vn) has thisrepresentation.
RepEn(
v1
...vn
) =
v1
...vn
En
Our main use of representations will come in the third chapter. The definition appears here because the fact that every vector is a linear combination ofbasis vectors in a unique way is a crucial property of bases, and also to help maketwo points. First, we put the elements of a basis in a fixed order so that coordinates can stated in that order. Second, for calculation of coordinates, amongother things, we shall want our bases to have only finitely many elements. Wewill see that in the next subsection.
ExercisesX 1.16 Decide if each is a basis for R3.
(a) 〈
(123
),
(321
),
(001
)〉 (b) 〈
(123
),
(321
)〉 (c) 〈
(02−1
),
(111
),
(250
)〉
(d) 〈
(02−1
),
(111
),
(130
)〉
X 1.17 Represent the vector with respect to the basis.
(a)
(12
), B = 〈
(11
),
(−11
)〉 ⊆ R2
(b) x2 + x3, D = 〈1, 1 + x, 1 + x+ x2, 1 + x+ x2 + x3〉 ⊆ P3
(c)
0−101
, E4 ⊆ R4
1.18 Find a basis for P2, the space of all quadratic polynomials. Must any suchbasis contain a polynomial of each degree: degree zero, degree one, and degreetwo?
1.19 Find a basis for the solution set of this system.
x1 − 4x2 + 3x3 − x4 = 02x1 − 8x2 + 6x3 − 2x4 = 0
X 1.20 Find a basis for M2×2, the space of 2×2 matrices.
118 Chapter 2. Vector Spaces
X 1.21 Find a basis for each.(a) The subspace {a2x
2 + a1x+ a0
∣∣ a2 − 2a1 = a0} of P2
(b) The space of threewide row vectors whose first and second components addto zero
(c) This subspace of the 2×2 matrices
{(a b0 c
) ∣∣ c− 2b = 0}
1.22 Check Example 1.6.
X 1.23 Find the span of each set and then find a basis for that span.(a) {1 + x, 1 + 2x} in P2 (b) {2− 2x, 3 + 4x2} in P2
X 1.24 Find a basis for each of these subspaces of the space P3 of cubic polynomials.(a) The subspace of cubic polynomials p(x) such that p(7) = 0(b) The subspace of polynomials p(x) such that p(7) = 0 and p(5) = 0(c) The subspace of polynomials p(x) such that p(7) = 0, p(5) = 0, and p(3) = 0(d) The space of polynomials p(x) such that p(7) = 0, p(5) = 0, p(3) = 0,and p(1) = 0
1.25 We’ve seen that it is possible for a basis to remain a basis when it is reordered.Must it remain a basis?
1.26 Can a basis contain a zero vector?
X 1.27 Let 〈~β1, ~β2, ~β3〉 be a basis for a vector space.
(a) Show that 〈c1~β1, c2~β2, c3~β3〉 is a basis when c1, c2, c3 6= 0. What happenswhen at least one ci is 0?
(b) Prove that 〈~α1, ~α2, ~α3〉 is a basis where ~αi = ~β1 + ~βi.
1.28 Give one more vector ~v that will make each into a basis for the indicatedspace.
(a) 〈(
11
), ~v〉 in R2 (b) 〈
(110
),
(010
), ~v〉 in R3 (c) 〈x, 1 + x2, ~v〉 in P2
X 1.29 Where 〈~β1, . . . , ~βn〉 is a basis, show that in this equation
c1~β1 + · · ·+ ck~βk = ck+1~βk+1 + · · ·+ cn~βn
each of the ci’s is zero. Generalize.
1.30 A basis contains some of the vectors from a vector space; can it contain themall?
1.31 Theorem 1.12 shows that, with respect to a basis, every linear combination isunique. If a subset is not a basis, can linear combinations be not unique? If so,must they be?
X 1.32 A square matrix is symmetric if for all indices i and j, entry i, j equals entryj, i.(a) Find a basis for the vector space of symmetric 2×2 matrices.(b) Find a basis for the space of symmetric 3×3 matrices.(c) Find a basis for the space of symmetric n×n matrices.
X 1.33 We can show that every basis for R3 contains the same number of vectors,specifically, three of them.(a) Show that no linearly independent subset of R3 contains more than threevectors.
Section III. Basis and Dimension 119
(b) Show that no spanning subset of R3 contains fewer than three vectors. (Hint.Recall how to calculate the span of a set and show that this method, when appliedto two vectors, cannot yield all of R3.)
1.34 One of the exercises in the Subspaces subsection shows that the set
{
(xyz
) ∣∣ x+ y + z = 1}
is a vector space under these operations.(x1
y1
z1
)+
(x2
y2
z2
)=
(x1 + x2 − 1y1 + y2
z1 + z2
)r
(xyz
)=
(rx− r + 1
ryrz
)Find a basis.
2.III.2 Dimension
In the prior subsection we saw that a vector space can have many differentbases. For example, following the definition of a basis, we saw three different bases for R2. So we cannot talk about “the” basis for a vector space.True, some vector spaces have bases that strike us as more natural than others, for instance, R2’s basis E2 or R3’s basis E3 or P2’s basis 〈1, x, x2〉. Butthe idea of “natural” is hard to make formal. For example, with the space{a2x
2 + a1x+ a0
∣∣ 2a2 − a0 = a1}, no particular basis leaps out at us as “the”natural one. We cannot, in general, associate with a space any single basis thatbest describes that space.
We can, however, find something about the bases that is uniquely associatedwith the space. This subsection shows that any two bases for a space have thesame number of elements. So, with each space we can associate a number, thenumber of vectors in any of its bases.
This brings us back to when we considered the two things that could bemeant by the term ‘minimal spanning set’. At that point we defined ‘minimal’as linearly independent, but we noted that another reasonable interpretation ofthe term is that a spanning set is ‘minimal’ when it has the fewest number ofelements of any set with the same span. At the end of this subsection, after wehave shown that all bases have the same number of elements, then we will haveshown that the two senses of ‘minimal’ are equivalent.
Before we start, we first limit our attention to spaces where at least one basishas only finitely many members.
2.1 Definition A vector space is finitedimensional if it has a basis with onlyfinitely many vectors.
(One reason for sticking to finitedimensional spaces is so that the representationof a vector with respect to a basis is a finitelytall vector, and so can be easilywritten out. A further remark is at the end of this subsection.) From now on
120 Chapter 2. Vector Spaces
we study only finitedimensional vector spaces. We shall take the term ‘vectorspace’ to mean ‘finitedimensional vector space’. Infinitedimensional spaces areinteresting and important, but they lie outside of our scope.
To prove the main theorem we shall use a technical result.
2.2 Lemma (Exchange Lemma) Assume that B = 〈~β1, . . . , ~βn〉 is a basisfor a vector space, and that for the vector ~v the relationship ~v = c1~β1 + c2~β2 +· · · + cn~βn has ci 6= 0. Then exchanging ~βi for ~v yields another basis for thespace.
Proof. Call the outcome of the exchange B = 〈~β1, . . . , ~βi−1, ~v, ~βi+1, . . . , ~βn〉.We first show that B is linearly independent. Any relationship d1
~β1 + · · ·+di~v + · · ·+ dn~βn = ~0 among the members of B, after substitution for ~v,
d1~β1 + · · ·+ di · (c1~β1 + · · ·+ ci~βi + · · ·+ cn~βn) + · · ·+ dn~βn = ~0 (∗)
gives a linear relationship among the members of B. The basis B is linearlyindependent, so the coefficient dici of ~βi is zero. Because ci is assumed to benonzero, di = 0. Using this in equation (∗) above gives that all of the other d’sare also zero. Therefore B is linearly independent.
We finish by showing that B has the same span as B. Half of this argument,that [B] ⊆ [B], is easy; any member d1
~β1 + · · · + di~v + · · · + dn~βn of [B] canbe written d1
~β1 + · · · + di · (c1~β1 + · · · + cn~βn) + · · · + dn~βn, which is a linearcombination of linear combinations of members of B, and hence is in [B]. Forthe [B] ⊆ [B] half of the argument, recall that when ~v = c1~β1 + · · ·+ cn~βn withci 6= 0, then the equation can be rearranged to ~βi = (−c1/ci)~β1+· · ·+(−1/ci)~v+· · ·+ (−cn/ci)~βn. Now, consider any member d1
~β1 + · · ·+ di~βi + · · ·+ dn~βn of[B], substitute for ~βi its expression as a linear combination of the membersof B, and recognize (as in the first half of this argument) that the result is alinear combination of linear combinations, of members of B, and hence is in[B]. QED
2.3 Theorem In any finitedimensional vector space, all of the bases have thesame number of elements.
Proof. Fix a vector space with at least one finite basis. Choose, from among allof this space’s bases, B = 〈~β1, . . . , ~βn〉 of minimal size. We will show that anyother basis D = 〈~δ1, ~δ2, . . . 〉 also has the same number of members, n. BecauseB has minimal size, D has no fewer than n vectors. We will argue that it cannothave more.
The basis B spans the space and ~δ1 is in the space, so ~δ1 is a nontrivial linearcombination of elements of B. By the Exchange Lemma, ~δ1 can be swapped fora vector from B, resulting in a basis B1, where one element is ~δ and all of then− 1 other elements are ~β’s.
The prior paragraph forms the basis step for an induction argument. Theinductive step starts with a basis Bk (for 1 ≤ k < n) containing k members of Dand n− k members of B. We know that D has at least n members so there is a
Section III. Basis and Dimension 121
~δk+1. Represent it as a linear combination of elements of Bk. The key point: inthat representation, at least one of the nonzero scalars must be associated witha ~βi or else that representation would be a nontrivial linear relationship amongelements of the linearly independent set D. Exchange ~δk+1 for ~βi to get a newbasis Bk+1 with one ~δ more and one ~β fewer than the previous basis Bk.
Repeat the inductive step until no ~β’s remain, so that Bn contains ~δ1, . . . , ~δn.Now, D cannot have more than these n vectors because any ~δn+1 that remainswould be in the span of Bn (since it is a basis) and hence would be a linear combination of the other ~δ’s, contradicting that D is linearly independent. QED
2.4 Definition The dimension of a vector space is the number of vectors inany of its bases.
2.5 Example Any basis for Rn has n vectors since the standard basis En hasn vectors. Thus, this definition generalizes the most familiar use of term, thatRn is ndimensional.
2.6 Example The space Pn of polynomials of degree at most n has dimensionn + 1. We can show this by exhibiting any basis — 〈1, x, . . . , xn〉 comes tomind — and counting its members.
2.7 Example A trivial space is zerodimensional since its basis is empty.
Again, although we sometimes say ‘finitedimensional’ as a reminder, in therest of this book all vector spaces are assumed to be finitedimensional. Aninstance of this is that in the next result the word ‘space’ should be taken tomean ‘finitedimensional vector space’.
2.8 Corollary No linearly independent set can have a size greater than thedimension of the enclosing space.
Proof. Inspection of the above proof shows that it never uses that D spans thespace, only that D is linearly independent. QED
2.9 Example Recall the subspace diagram from the prior section showing thesubspaces of R3. Each subspaces shown is described with a minimal spanningset, for which we now have the term ‘basis’. The whole space has a basis withthree members, the plane subspaces have bases with two members, the linesubspaces have bases with one member, and the trivial subspace has a basiswith zero members. When we saw that diagram we could not show that theseare the only subspaces that this space has. We can show it now. The priorcorollary proves the only subspaces of R3 are either three, two, one, or zerodimensional. Therefore, the diagram indicates all of the subspaces. There areno subspaces somehow, say, between lines and planes.
2.10 Corollary Any linearly independent set can be expanded to make a basis.
Proof. If a linearly independent set is not already a basis then it must notspan the space. Adding to it a vector that is not in the span preserves linearindependence. Keep adding, until the resulting set does span the space, whichthe prior corollary shows will happen after only a finite number of steps. QED
122 Chapter 2. Vector Spaces
2.11 Corollary Any spanning set can be shrunk to a basis.
Proof. Call the spanning set S. If S is empty then it is already a basis. IfS = {~0} then it can be shrunk to the empty basis without changing the span.
Otherwise, S contains a vector ~s1 with ~s1 6= ~0 and we can form a basisB1 = 〈~s1〉. If [B1] = [S] then we are done.
If not then there is a ~s2 ∈ [S] such that ~s2 6∈ [B1]. Let B2 = 〈~s1, ~s2〉; if[B2] = [S] then we are done.
We can repeat this process until the spans are equal, which must happen inat most finitely many steps. QED
2.12 Corollary In an ndimensional space, a set of n vectors is linearly independent if and only if it spans the space.
Proof. First we will show that a subset with n vectors is linearly independentif and only if it is a basis. ‘If’ is trivially true — bases are linearly independent.‘Only if’ holds because a linearly independent set can be expanded to a basis,but a basis has n elements, so that this expansion is actually the set we beganwith.
To finish, we will show that any subset with n vectors spans the space if andonly if it is a basis. Again, ‘if’ is trivial. ‘Only if’ holds because any spanningset can be shrunk to a basis, but a basis has n elements and so this shrunkenset is just the one we started with. QED
The main result of this subsection, that all of the bases in a finitedimensionalvector space have the same number of elements, is the single most importantresult in this book because, as Example 2.9 shows, it describes what vectorspaces and subspaces there can be. We will see more in the next chapter.
2.13 Remark The case of infinitedimensional vector spaces is somewhat controversial. The statement ‘any infinitedimensional vector space has a basis’is known to be equivalent to a statement called the Axiom of Choice (see[Blass 1984]). Mathematicians differ philosophically on whether to accept orreject this statement as an axiom on which to base mathematics. Consequentlythe question about infinitedimensional vector spaces is still somewhat up in theair. (A discussion of the Axiom of Choice can be found in the Frequently AskedQuestions list for the Usenet group sci.math. Another accessible reference is[Rucker].)
ExercisesAssume that all spaces are finitedimensional unless otherwise stated.
X 2.14 Find a basis for, and the dimension of, P2.
2.15 Find a basis for, and the dimension of, the solution set of this system.
x1 − 4x2 + 3x3 − x4 = 02x1 − 8x2 + 6x3 − 2x4 = 0
X 2.16 Find a basis for, and the dimension of,M2×2, the vector space of 2×2 matrices.
Section III. Basis and Dimension 123
2.17 Find the dimension of the vector space of matrices(a bc d
)subject to each condition.
(a) a, b, c, d ∈ R(b) a− b+ 2c = 0 and d ∈ R(c) a+ b+ c = 0, a+ b− c = 0, and d ∈ R
X 2.18 Find the dimension of each.(a) The space of cubic polynomials p(x) such that p(7) = 0(b) The space of cubic polynomials p(x) such that p(7) = 0 and p(5) = 0(c) The space of cubic polynomials p(x) such that p(7) = 0, p(5) = 0, and p(3) =0
(d) The space of cubic polynomials p(x) such that p(7) = 0, p(5) = 0, p(3) = 0,and p(1) = 0
2.19 What is the dimension of the span of the set {cos2 θ, sin2 θ, cos 2θ, sin 2θ}? Thisspan is a subspace of the space of all realvalued functions of one real variable.
2.20 Find the dimension of C47, the vector space of 47tuples of complex numbers.
2.21 What is the dimension of the vector space M3×5 of 3×5 matrices?
X 2.22 Show that this is a basis for R4.
〈
1000
,
1100
,
1110
,
1111
〉(The results of this subsection can be used to simplify this job.)
2.23 Refer to Example 2.9.(a) Sketch a similar subspace diagram for P2.(b) Sketch one for M2×2.
X 2.24 Observe that, where S is a set, the functions f : S → R form a vector spaceunder the natural operations: f + g (s) = f(s) + g(s) and r · f (s) = r · f(s). Whatis the dimension of the space resulting for each domain?
(a) S = {1} (b) S = {1, 2} (c) S = {1, . . . , n}2.25 (See Exercise 24.) Prove that this is an infinitedimensional space: the set ofall functions f : R→ R under the natural operations.
2.26 (See Exercise 24.) What is the dimension of the vector space of functionsf : S → R, under the natural operations, where the domain S is the empty set?
2.27 Show that any set of four vectors in R2 is linearly dependent.
2.28 Show that the set 〈~α1, ~α2, ~α3〉 ⊂ R3 is a basis if and only if there is no planethrough the origin containing all three vectors.
2.29 (a) Prove that any subspace of a finite dimensional space has a basis.(b) Prove that any subspace of a finite dimensional space is finite dimensional.
2.30 Where is the finiteness of B used in Theorem 2.3?
X 2.31 Prove that if U and W are both threedimensional subspaces of R5 then U∩Wis nontrivial. Generalize.
2.32 Because a basis for a space is a subset of that space, we are naturally led tohow the property ‘is a basis’ interacts with set operations.(a) Consider first how bases might be related by ‘subset’. Assume that U,W are
124 Chapter 2. Vector Spaces
subspaces of some vector space and that U ⊆ W . Can there exist bases BU forU and BW for W such that BU ⊆ BW ? Must such bases exist?
For any basisBU for U , must there be a basis BW forW such thatBU ⊆ BW ?For any basisBW forW , must there be a basisBU for U such thatBU ⊆ BW ?For any bases BU , BW for U and W , must BU be a subset of BW ?
(b) Is the intersection of bases a basis? For what space?(c) Is the union of bases a basis? For what space?(d) What about complement?
(Hint. Test any conjectures against some subspaces of R3.)
X 2.33 Consider how ‘dimension’ interacts with ‘subset’. Assume U and W are bothsubspaces of some vector space, and that U ⊆W .(a) Prove that dim(U) ≤ dim(W ).(b) Prove that equality of dimension holds if and only if U = W .(c) Show that the prior item does not hold if they are infinitedimensional.
2.34 [Wohascum no. 47] For any vector ~v in Rn and any permutation σ of thenumbers 1, 2, . . . , n (that is, σ is a rearrangement of those numbers into a neworder), define σ(~v) to be the vector whose components are vσ(1), vσ(2), . . . , andvσ(n) (where σ(1) is the first number in the rearrangement, etc.). Now fix ~v and
let V be the span of {σ(~v)∣∣ σ permutes 1, . . . , n}. What are the possibilities for
the dimension of V ?
2.III.3 Vector Spaces and Linear Systems
We will now reconsider linear systems and Gauss’ method, aided by the toolsand terms of this chapter. We will make three points.
For the first point, recall the Linear Combination Lemma and its corollary: iftwo matrices are related by row operations A −→ · · · −→ B then each row of Bis a linear combination of the rows of A. That is, Gauss’ method works by takinglinear combinations of rows. Therefore, the right setting in which to study rowoperations in general, and Gauss’ method in particular, is the following vectorspace.
3.1 Definition The row space of a matrix is the span of the set of its rows. Therow rank is the dimension of the row space, the number of linearly independentrows.
3.2 Example If
A =(
2 34 6
)then Rowspace(A) is this subspace of the space of twocomponent row vectors.
{c1 ·(2 3
)+ c2 ·
(4 6
) ∣∣ c1, c2 ∈ R}The linear dependence of the second on the first is obvious and so we can simplifythis description to {c ·
(2 3
) ∣∣ c ∈ R}.
Section III. Basis and Dimension 125
3.3 Lemma If the matrices A and B are related by a row operation
Aρi↔ρj−→ B or A
kρi−→ B or Akρi+ρj−→ B
(for i 6= j and k 6= 0) then their row spaces are equal. Hence, rowequivalentmatrices have the same row space, and hence also, the same row rank.
Proof. The row space of A is the set of all linear combinations of the rowsof A. By the Linear Combination Lemma then, each row of B is in the rowspace of A. Further, Rowspace(B) ⊆ Rowspace(A) because a member of theset Rowspace(B) is a linear combination of the rows of B, which means it is acombination of a combination of the rows of A, and hence is also a member ofRowspace(A).
For the other containment, recall that row operations are reversible: A −→ Bif and only if B −→ A. With that, Rowspace(A) ⊆ Rowspace(B) also followsfrom the prior paragraph, and hence the two sets are equal. QED
So, row operations leave the row space unchanged. But of course, Gauss’method performs the row operations systematically, with a specific goal in mind,echelon form.
3.4 Lemma The nonzero rows of an echelon form matrix make up a linearlyindependent set.
Proof. A result in the first chapter, Lemma III.2.5, states that in an echelonform matrix, no nonzero row is a linear combination of the other rows. This isa restatement of that result into new terminology. QED
Thus, in the language of this chapter, Gaussian reduction works by eliminating linear dependences among rows, leaving the span unchanged, until nonontrivial linear relationships remain (among the nonzero rows). That is, Gauss’method produces a basis for the row space.
3.5 Example From any matrix, we can produce a basis for the row space byperforming Gauss’ method and taking the nonzero rows of the resulting echelonform matrix. For instance,1 3 1
1 4 12 0 5
−ρ1+ρ2−→−2ρ1+ρ3
6ρ2+ρ3−→
1 3 10 1 00 0 3
produces the basis 〈
1 3 1),(0 1 0
),(0 0 3
) for the row space. Thisis a basis for the row space of both the starting and ending matrices, since thetwo row spaces are equal.
Using this technique, we can also find bases for spans not directly involvingrow vectors.
126 Chapter 2. Vector Spaces
3.6 Definition The column space of a matrix is the span of the set of itscolumns. The column rank is the dimension of the column space, the numberof linearly independent columns.
Our interest in column spaces stems from our study of linear systems. Anexample is that this system
c1 + 3c2 + 7c3 = d1
2c1 + 3c2 + 8c3 = d2
c2 + 2c3 = d3
4c1 + 4c3 = d4
has a solution if and only if the vector of d’s is a linear combination of the othercolumn vectors,
c1
1204
+ c2
3310
+ c3
7824
=
d1
d2
d3
d4
meaning that the vector of d’s is in the column space of the matrix of coefficients.
3.7 Example Given this matrix,1 3 72 3 80 1 24 0 4
to get a basis for the column space, temporarily turn the columns into rows andreduce. 1 2 0 4
3 3 1 07 8 2 4
−3ρ1+ρ2−→−7ρ1+ρ3
−2ρ2+ρ3−→
1 2 0 40 −3 1 −120 0 0 0
Now turn the rows back to columns.
〈
1204
,
0−31−12
〉The result is a basis for the column space of the given matrix.
3.8 Definition The transpose of a matrix is the result of interchanging therows and columns of that matrix. That is, column j of the matrix A is row j ofAtrans, and vice versa.
Section III. Basis and Dimension 127
So the instructions for the prior example are “transpose, reduce, and transposeback”.
We can even, at the price of tolerating the asyetvague idea of vector spacesbeing “the same”, use Gauss’ method to find bases for spans in other types ofvector spaces.
3.9 Example To get a basis for the span of {x2 + x4, 2x2 + 3x4,−x2 − 3x4}in the space P4, think of these three polynomials as “the same” as the rowvectors
(0 0 1 0 1
),(0 0 2 0 3
), and
(0 0 −1 0 −3
), apply
Gauss’ method0 0 1 0 10 0 2 0 30 0 −1 0 −3
−2ρ1+ρ2−→ρ1+ρ3
2ρ2+ρ3−→
0 0 1 0 10 0 0 0 10 0 0 0 0
and translate back to get the basis 〈x2 + x4, x4〉. (As mentioned earlier, we willmake the phrase “the same” precise at the start of the next chapter.)
Thus, our first point in this subsection is that the tools of this chapter giveus a more conceptual understanding of Gaussian reduction.
For the second point of this subsection, consider the effect on the columnspace of this row reduction.(
1 22 4
)−2ρ1+ρ2−→
(1 20 0
)The column space of the lefthand matrix contains vectors with a second component that is nonzero. But the column space of the righthand matrix is differentbecause it contains only vectors whose second component is zero. It is thisknowledge that row operations can change the column space that makes nextresult surprising.
3.10 Lemma Row operations do not change the column rank.
Proof. Restated, if A reduces to B then the column rank of B equals thecolumn rank of A.
We will be done if we can show that row operations do not affect linear relationships among columns (e.g., if the fifth column is twice the second plus thefourth before a row operation then that relationship still holds afterwards), because the column rank is just the size of the largest set of unrelated columns. Butthis is exactly the first theorem of this book: in a relationship among columns,
c1 ·
a1,1
a2,1
...am,1
+ · · ·+ cn ·
a1,n
a2,n
...am,n
=
00...0
row operations leave unchanged the set of solutions (c1, . . . , cn). QED
128 Chapter 2. Vector Spaces
Another way, besides the prior result, to state that Gauss’ method has something to say about the column space as well as about the row space is to consideragain GaussJordan reduction. Recall that it ends with the reduced echelon formof a matrix, as here.1 3 1 6
2 6 3 161 3 1 6
−→ · · · −→
1 3 0 20 0 1 40 0 0 0
Consider the row space and the column space of this result. Our first pointmade above says that a basis for the row space is easy to get: simply collecttogether all of the rows with leading entries. However, because this is a reducedechelon form matrix, a basis for the column space is just as easy: take thecolumns containing the leading entries, that is, 〈~e1, ~e2〉. (Linear independenceis obvious. The other columns are in the span of this set, since they all havea third component of zero.) Thus, for a reduced echelon form matrix, basesfor the row and column spaces can be found in essentially the same way —by taking the parts of the matrix, the rows or columns, containing the leadingentries.
3.11 Theorem The row rank and column rank of a matrix are equal.
Proof. First bring the matrix to reduced echelon form. At that point, therow rank equals the number of leading entries since each equals the numberof nonzero rows. Also at that point, the number of leading entries equals thecolumn rank because the set of columns containing leading entries consists ofsome of the ~ei’s from a standard basis, and that set is linearly independent andspans the set of columns. Hence, in the reduced echelon form matrix, the rowrank equals the column rank, because each equals the number of leading entries.
But Lemma 3.3 and Lemma 3.10 show that the row rank and column rankare not changed by using row operations to get to reduced echelon form. Thusthe row rank and the column rank of the original matrix are also equal. QED
3.12 Definition The rank of a matrix is its row rank or column rank.
So our second point in this subsection is that the column space and rowspace of a matrix have the same dimension. Our third and final point is thatthe concepts that we’ve seen arising naturally in the study of vector spaces areexactly the ones that we have studied with linear systems.
3.13 Theorem For linear systems with n unknowns and with matrix of coefficients A, the statements
(1) the rank of A is r(2) the space of solutions of the associated homogeneous system has dimension n− r
are equivalent.
Section III. Basis and Dimension 129
So if the system has at least one particular solution then for the set of solutions,the number of parameters equals n− r, the number of variables minus the rankof the matrix of coefficients.
Proof. The rank of A is r if and only if Gaussian reduction on A ends with rnonzero rows. That’s true if and only if echelon form matrices row equivalentto A have rmany leading variables. That in turn holds if and only if there aren− r free variables. QED
3.14 Remark [Munkres] Sometimes that result is mistakenly remembered tosay that the general solution of an n unknown system of m equations uses n−mparameters. The number of equations is not the relevant figure, rather, whatmatters is the number of independent equations (the number of equations ina maximal independent set). Where there are r independent equations, thegeneral solution involves n− r parameters.
3.15 Corollary Where the matrix A is n×n, the statements(1) the rank of A is n(2) A is nonsingular(3) the rows of A form a linearly independent set(4) the columns of A form a linearly independent set(5) any linear system whose matrix of coefficients is A has one and only onesolution
are equivalent.
Proof. Clearly (1) ⇐⇒ (2) ⇐⇒ (3) ⇐⇒ (4). The last, (4) ⇐⇒ (5), holdsbecause a set of n column vectors is linearly independent if and only if it is abasis for Rn, but the system
c1
a1,1
a2,1
...am,1
+ · · ·+ cn
a1,n
a2,n
...am,n
=
d1
d2
...dn
has a unique solution for all choices of d1, . . . , dn ∈ R if and only if the vectorsof a’s form a basis. QED
Exercises3.16 Transpose each.
(a)
(2 13 1
)(b)
(2 11 3
)(c)
(1 4 36 7 8
)(d)
(000
)(e)
(−1 −2
)X 3.17 Decide if the vector is in the row space of the matrix.
(a)
(2 13 1
),(1 0
)(b)
(0 1 3−1 0 1−1 2 7
),(1 1 1
)X 3.18 Decide if the vector is in the column space.
130 Chapter 2. Vector Spaces
(a)
(1 11 1
),
(13
)(b)
(1 3 12 0 41 −3 −3
),
(100
)X 3.19 Find a basis for the row space of this matrix.2 0 3 4
0 1 1 −13 1 0 21 0 −4 −1
X 3.20 Find the rank of each matrix.
(a)
(2 1 31 −1 21 0 3
)(b)
(1 −1 23 −3 6−2 2 −4
)(c)
(1 3 25 1 16 4 3
)
(d)
(0 0 00 0 00 0 0
)X 3.21 Find a basis for the span of each set.
(a) {(1 3
),(−1 3
),(1 4
),(2 1
)} ⊆ M1×2
(b) {
(121
),
(31−1
),
(1−3−3
)} ⊆ R3
(c) {1 + x, 1− x2, 3 + 2x− x2} ⊆ P3
(d) {(
1 0 13 1 −1
),
(1 0 32 1 4
),
(−1 0 −5−1 −1 −9
)} ⊆ M2×3
3.22 Which matrices have rank zero? Rank one?
X 3.23 Given a, b, c ∈ R, what choice of d will cause this matrix to have the rank ofone? (
a bc d
)3.24 Find the column rank of this matrix.(
1 3 −1 5 0 42 0 1 0 4 1
)3.25 Show that a linear system with at least one solution has at most one solution ifand only if the matrix of coefficients has rank equal to the number of its columns.
X 3.26 If a matrix is 5×9, which set must be dependent, its set of rows or its set ofcolumns?
3.27 Give an example to show that, despite that they have the same dimension,the row space and column space of a matrix need not be equal. Are they everequal?
3.28 Show that the set {(1,−1, 2,−3), (1, 1, 2, 0), (3,−1, 6,−6)} does not have thesame span as {(1, 0, 1, 0), (0, 2, 0, 3)}. What, by the way, is the vector space?
X 3.29 Show that this set of column vectors{(d1
d2
d3
) ∣∣ there are x, y, and z such that3x+ 2y + 4z = d1
x − z = d2
2x+ 2y + 5z = d3
}is a subspace of R3. Find a basis.
Section III. Basis and Dimension 131
3.30 Show that the transpose operation is linear:
(rA+ sB)trans = rAtrans + sBtrans
for r, s ∈ R and A,B ∈Mm×n,
X 3.31 In this subsection we have shown that Gaussian reduction finds a basis forthe row space.(a) Show that this basis is not unique — different reductions may yield differentbases.
(b) Produce matrices with equal row spaces but unequal numbers of rows.(c) Prove that two matrices have equal row spaces if and only if after GaussJordan reduction they have the same nonzero rows.
3.32 Why is there not a problem with Remark 3.14 in the case that r is biggerthan n?
3.33 Show that the row rank of an m×n matrix is at most m. Is there a betterbound?
X 3.34 Show that the rank of a matrix equals the rank of its transpose.
3.35 True or false: the column space of a matrix equals the row space of its transpose.
X 3.36 We have seen that a row operation may change the column space. Must it?
3.37 Prove that a linear system has a solution if and only if that system’s matrixof coefficients has the same rank as its augmented matrix.
3.38 An m×n matrix has full row rank if its row rank is m, and it has full columnrank if its column rank is n.(a) Show that a matrix can have both full row rank and full column rank onlyif it is square.
(b) Prove that the linear system with matrix of coefficients A has a solution forany d1, . . . , dn’s on the right side if and only if A has full row rank.
(c) Prove that a homogeneous system has a unique solution if and only if itsmatrix of coefficients A has full column rank.
(d) Prove that the statement “if a system with matrix of coefficients A has anysolution then it has a unique solution” holds if and only if A has full columnrank.
3.39 How would the conclusion of Lemma 3.3 change if Gauss’ method is changedto allow multiplying a row by zero?
X 3.40 What is the relationship between rank(A) and rank(−A)? Between rank(A)and rank(kA)? What, if any, is the relationship between rank(A), rank(B), andrank(A+B)?
2.III.4 Combining Subspaces
This subsection is optional. It is required only for the last sections of ChapterThree and Chapter Five and for occasional exercises, and can be passed overwithout loss of continuity.
This chapter opened with the definition of a vector space, and the middle consisted of a first analysis of the idea. This subsection closes the chapter
132 Chapter 2. Vector Spaces
by finishing the analysis, in the sense that ‘analysis’ means “method of determining the . . . essential features of something by separating it into parts”[Macmillan Dictionary].
A common way to understand things is to see how they can be built fromcomponent parts. For instance, we think of R3 as put together, in some way,from the xaxis, the yaxis, and zaxis. In this subsection we will make thisprecise; we will describe how to decompose a vector space into a combination ofsome of its subspaces. In developing this idea of subspace combination, we willkeep the R3 example in mind as a benchmark model.
Subspaces are subsets and sets combine via union. But taking the combination operation for subspaces to be the simple union operation isn’t what wewant. For one thing, the union of the xaxis, the yaxis, and zaxis is not all ofR3, so the benchmark model would be left out. Besides, union is all wrong forthis reason: a union of subspaces need not be a subspace (it need not be closed;for instance, this R3 vector1
00
+
010
+
001
=
111
is in none of the three axes and hence is not in the union). In addition to themembers of the subspaces, we must at a minimum also include all possible linearcombinations.
4.1 Definition Where W1, . . . ,Wk are subspaces of a vector space, their sumis the span of their union W1 +W2 + · · ·+Wk = [W1 ∪W2 ∪ . . .Wk].
(The notation, writing the ‘+’ between sets in addition to using it betweenvectors, fits with the practice of using this symbol for any natural accumulationoperation.)
4.2 Example The R3 model fits with this operation. Any vector ~w ∈ R3 canbe written as a linear combination c1~v1 + c2~v2 + c3~v3 where ~v1 is a member ofthe xaxis, etc., in this wayw1
w2
w3
= 1 ·
w1
00
+ 1 ·
0w2
0
+ 1 ·
00w3
and so R3 = xaxis + yaxis + zaxis.
4.3 Example A sum of subspaces can be less than the entire space. Inside ofP4, let L be the subspace of linear polynomials {a+ bx
∣∣ a, b ∈ R} and let C bethe subspace of purelycubic polynomials {cx3
∣∣ c ∈ R}. Then L+ C is not allof P4. Instead, it is the subspace L+ C = {a+ bx+ cx3
∣∣ a, b, c ∈ R}.4.4 Example A space can be described as a combination of subspaces in morethan one way. Besides the decomposition R3 = xaxis + yaxis + zaxis, we can
Section III. Basis and Dimension 133
also write R3 = xyplane + yzplane. To check this, we simply note that any~w ∈ R3 can be written w1
w2
w3
= 1 ·
w1
w2
0
+ 1 ·
00w3
as a linear combination of a member of the xyplane and a member of theyzplane.
The above definition gives one way in which a space can be thought of as acombination of some of its parts. However, the prior example shows that there isat least one interesting property of our benchmark model that is not captured bythe definition of the sum of subspaces. In the familiar decomposition of R3, weoften speak of a vector’s ‘x part’ or ‘y part’ or ‘z part’. That is, in this model,each vector has a unique decomposition into parts that come from the partsmaking up the whole space. But in the decomposition used in Example 4.4, wecannot refer to the “xy part” of a vector — these three sums1
23
=
120
+
003
=
100
+
023
=
110
+
013
all describe the vector as comprised of something from the first plane plus something from the second plane, but the “xy part” is different in each.
That is, when we consider how R3 is put together from the three axes “insome way”, we might mean “in such a way that every vector has at least onedecomposition”, and that leads to the definition above. But if we take it tomean “in such a way that every vector has one and only one decomposition”then we need another condition on combinations. To see what this conditionis, recall that vectors are uniquely represented in terms of a basis. We can usethis to break a space into a sum of subspaces such that any vector in the spacebreaks uniquely into a sum of members of those subspaces.
4.5 Example The benchmark is R3 with its standard basis E3 = 〈~e1, ~e2, ~e3〉.The subspace with the basis B1 = 〈~e1〉 is the xaxis. The subspace with thebasis B2 = 〈~e2〉 is the yaxis. The subspace with the basis B3 = 〈~e3〉 is thezaxis. The fact that any member of R3 is expressible as a sum of vectors fromthese subspaces xy
z
=
x00
+
0y0
+
00z
is a reflection of the fact that E3 spans the space — this equationxy
z
= c1
100
+ c2
010
+ c3
001
134 Chapter 2. Vector Spaces
has a solution for any x, y, z ∈ R. And, the fact that each such expression isunique reflects that fact that E3 is linearly independent — any equation like theone above has a unique solution.
4.6 Example We don’t have to take the basis vectors one at a time, the sameidea works if we conglomerate them into larger sequences. Consider again thespace R3 and the vectors from the standard basis E3. The subspace with thebasis B1 = 〈~e1, ~e3〉 is the xzplane. The subspace with the basis B2 = 〈~e2〉 isthe yaxis. As in the prior example, the fact that any member of the space is asum of members of the two subspaces in one and only one wayxy
z
=
x0z
+
0y0
is a reflection of the fact that these vectors form a basis — this systemxy
z
= (c1
100
+ c3
001
) + c2
010
has one and only one solution for any x, y, z ∈ R.
These examples illustrate a natural way to decompose a space into a sumof subspaces in such a way that each vector decomposes uniquely into a sum ofvectors from the parts. The next result says that this way is the only way.
4.7 Definition The concatenation of the sequences B1 = 〈~β1,1, . . . , ~β1,n1〉, . . . ,Bk = 〈~βk,1, . . . , ~βk,nk〉 is their adjoinment.
B1_B2
_ · · ·_Bk = 〈~β1,1, . . . , ~β1,n1 ,~β2,1, . . . , ~βk,nk〉
4.8 Lemma Let V be a vector space that is the sum of some of its subspacesV = W1 + · · · + Wk. Let B1, . . . , Bk be any bases for these subspaces. Thenthe following are equivalent.
(1) For every ~v ∈ V , the expression ~v = ~w1 + · · · + ~wk (with ~wi ∈ Wi) isunique.
(2) The concatenation B1_ · · ·_Bk is a basis for V .
(3) The nonzero members of {~w1, . . . , ~wk} (with ~wi ∈ Wi) form a linearlyindependent set — among nonzero vectors from different Wi’s, every linearrelationship is trivial.
Proof. We will show that (1) =⇒ (2), that (2) =⇒ (3), and finally that(3) =⇒ (1). For these arguments, observe that we can pass from a combinationof ~w’s to a combination of ~β’s
d1 ~w1 + · · ·+ dk ~wk
= d1(c1,1~β1,1 + · · ·+ c1,n1~β1,n1) + · · ·+ dk(ck,1~βk,1 + · · ·+ ck,nk
~βk,nk)
= d1c1,1 · ~β1,1 + · · ·+ dkck,nk · ~βk,nk (∗)
Section III. Basis and Dimension 135
and vice versa.For (1) =⇒ (2), assume that all decompositions are unique. We will show
that B1_ · · ·_Bk spans the space and is linearly independent. It spans the
space because the assumption that V = W1 + · · · + Wk means that every ~vcan be expressed as ~v = ~w1 + · · · + ~wk, which translates by equation (∗) to anexpression of ~v as a linear combination of the ~β’s from the concatenation. Forlinear independence, consider this linear relationship.
~0 = c1,1~β1,1 + · · ·+ ck,nk~βk,nk
Regroup as in (∗) (that is, take d1, . . . , dk to be 1 and move from bottom totop) to get the decomposition ~0 = ~w1 + · · · + ~wk. Because of the assumptionthat decompositions are unique, and because the zero vector obviously has thedecomposition ~0 = ~0+ · · ·+~0, we now have that each ~wi is the zero vector. Thismeans that ci,1~βi,1 + · · ·+ ci,ni
~βi,ni = ~0. Thus, since each Bi is a basis, we havethe desired conclusion that all of the c’s are zero.
For (2) =⇒ (3), assume that B1_· · ·_Bk is a basis for the space. Consider
a linear relationship among nonzero vectors from different Wi’s,
~0 = · · ·+ di ~wi + · · ·
in order to show that it is trivial. (The relationship is written in this waybecause we are considering a combination of nonzero vectors from only some ofthe Wi’s; for instance, there might not be a ~w1 in this combination.) As in (∗),~0 = · · ·+di(ci,1~βi,1+· · ·+ci,ni ~βi,ni)+· · · = · · ·+dici,1·~βi,1+· · ·+dici,ni ·~βi,ni+· · ·and the linear independence of B1
_ · · ·_Bk gives that each coefficient dici,j iszero. Now, ~wi is a nonzero vector, so at least one of the ci,j ’s is zero, and thusdi is zero. This holds for each di, and therefore the linear relationship is trivial.
Finally, for (3) =⇒ (1), assume that, among nonzero vectors from differentWi’s, any linear relationship is trivial. Consider two decompositions of a vector~v = ~w1 + · · ·+ ~wk and ~v = ~u1 + · · ·+ ~uk in order to show that the two are thesame. We have
~0 = (~w1 + · · ·+ ~wk)− (~u1 + · · ·+ ~uk) = (~w1 − ~u1) + · · ·+ (~wk − ~uk)
which violates the assumption unless each ~wi − ~ui is the zero vector. Hence,decompositions are unique. QED
4.9 Definition A collection of subspaces {W1, . . . ,Wk} is independent if nononzero vector from any Wi is a linear combination of vectors from the othersubspaces W1, . . . ,Wi−1,Wi+1, . . . ,Wk.
4.10 Definition A vector space V is the direct sum (or internal direct sum)of its subspaces W1, . . . ,Wk if V = W1 + W2 + · · · + Wk and the collection{W1, . . . ,Wk} is independent. We write V = W1 ⊕W2 ⊕ . . .⊕Wk.
4.11 Example The benchmark model fits: R3 = xaxis⊕ yaxis⊕ zaxis.
136 Chapter 2. Vector Spaces
4.12 Example The space of 2×2 matrices is this direct sum.
{(a 00 d
) ∣∣ a, d ∈ R} ⊕ {(0 b0 0
) ∣∣ b ∈ R} ⊕ {(0 0c 0
) ∣∣ c ∈ R}It is the direct sum of subspaces in many other ways as well; direct sum decompositions are not unique.
4.13 Corollary The dimension of a direct sum is the sum of the dimensionsof its summands.
Proof. In Lemma 4.8, the number of basis vectors in the concatenation equalsthe sum of the number of vectors in the subbases that make up the concatenation. QED
The special case of two subspaces is worth mentioning separately.
4.14 Definition When a vector space is the direct sum of two of its subspaces,then they are said to be complements.
4.15 Lemma A vector space V is the direct sum of two of its subspaces W1
and W2 if and only if it is the sum of the two V = W1+W2 and their intersectionis trivial W1 ∩W2 = {~0 }.
Proof. Suppose first that V = W1 ⊕W2. By definition, V is the sum of thetwo. To show that the two have a trivial intersection, let ~v be a vector fromW1 ∩W2 and consider the equation ~v = ~v. On the left side of that equationis a member of W1, and on the right side is a linear combination of members(actually, of only one member) of W2. But the independence of the spaces thenimplies that ~v = ~0, as desired.
For the other direction, suppose that V is the sum of two spaces with atrivial intersection. To show that V is a direct sum of the two, we need onlyshow that the spaces are independent — no nonzero member of the first isexpressible as a linear combination of members of the second, and vice versa.This is true because any relationship ~w1 = c1 ~w2,1 + · · ·+ dk ~w2,k (with ~w1 ∈W1
and ~w2,j ∈ W2 for all j) shows that the vector on the left is also in W2, sincethe right side is a combination of members of W2. The intersection of these twospaces is trivial, so ~w1 = ~0. The same argument works for any ~w2. QED
4.16 Example In the space R2, the xaxis and the yaxis are complements,that is, R2 = xaxis⊕ yaxis. A space can have more than one pair of complementary subspaces; another pair here are the subspaces consisting of the linesy = x and y = 2x.
4.17 Example In the space F = {a cos θ + b sin θ∣∣ a, b ∈ R}, the subspaces
W1 = {a cos θ∣∣ a ∈ R} and W2 = {b sin θ
∣∣ b ∈ R} are complements. In additionto the fact that a space like F can have more than one pair of complementarysubspaces, inside of the space a single subspace like W1 can have more than onecomplement — another complement of W1 is W3 = {b sin θ + b cos θ
∣∣ b ∈ R}.
Section III. Basis and Dimension 137
4.18 Example In R3, the xyplane and the yzplanes are not complements,which is the point of the discussion following Example 4.4. One complement ofthe xyplane is the zaxis. A complement of the yzplane is the line through(1, 1, 1).
4.19 Example Following Lemma 4.15, here is a natural question: is the simplesum V = W1 + · · ·+Wk also a direct sum if and only if the intersection of thesubspaces is trivial? The answer is that if there are more than two subspacesthen having a trivial intersection is not enough to guarantee unique decomposition (i.e., is not enough to ensure that the spaces are independent). In R3, letW1 be the xaxis, let W2 be the yaxis, and let W3 be this.
W3 = {
qqr
∣∣ q, r ∈ R}The check that R3 = W1 +W2 +W3 is easy. The intersection W1 ∩W2 ∩W3 istrivial, but decompositions aren’t unique.xy
z
=
000
+
0y − x
0
+
xxz
=
x− y00
+
000
+
yyz
(This example also shows that this requirement is also not enough: that allpairwise intersections of the subspaces be trivial. See Exercise 30.)
In this subsection we have seen two ways to regard a space as built up fromcomponent parts. Both are useful; in particular, in this book the direct sumdefinition is needed to do the Jordan Form construction in the fifth chapter.
ExercisesX 4.20 Decide if R2 is the direct sum of each W1 and W2.
(a) W1 = {(x0
) ∣∣ x ∈ R}, W2 = {(xx
) ∣∣ x ∈ R}(b) W1 = {
(ss
) ∣∣ s ∈ R}, W2 = {(
s1.1s
) ∣∣ s ∈ R}(c) W1 = R2, W2 = {~0}
(d) W1 = W2 = {(tt
) ∣∣ t ∈ R}(e) W1 = {
(10
)+
(x0
) ∣∣ x ∈ R}, W2 = {(−10
)+
(0y
) ∣∣ y ∈ R}X 4.21 Show that R3 is the direct sum of the xyplane with each of these.
(a) the zaxis(b) the line
{
(zzz
) ∣∣ z ∈ R}
138 Chapter 2. Vector Spaces
4.22 Is P2 the direct sum of {a+ bx2∣∣ a, b ∈ R} and {cx
∣∣ c ∈ R}?X 4.23 In Pn, the even polynomials are the members of this set
E = {p ∈ Pn∣∣ p(−x) = p(x) for all x}
and the odd polynomials are the members of this set.
O = {p ∈ Pn∣∣ p(−x) = −p(x) for all x}
Show that these are complementary subspaces.
4.24 Which of these subspaces of R3
W1: the xaxis, W2: the yaxis, W3: the zaxis,W4: the plane x+ y + z = 0, W5: the yzplane
can be combined to(a) sum to R3? (b) direct sum to R3?
X 4.25 Show that Pn = {a0
∣∣ a0 ∈ R} ⊕ . . .⊕ {anxn∣∣ an ∈ R}.
4.26 What is W1 +W2 if W1 ⊆W2?
4.27 Does Example 4.5 generalize? That is, is this true or false: if a vector space Vhas a basis 〈~β1, . . . , ~βn〉 then it is the direct sum of the spans of the onedimensional
subspaces V = [{~β1}]⊕ . . .⊕ [{~βn}]?4.28 Can R4 be decomposed as a direct sum in two different ways? Can R1?
4.29 This exercise makes the notation of writing ‘+’ between sets more natural.Prove that, where W1, . . . ,Wk are subspaces of a vector space,
W1 + · · ·+Wk = {~w1 + ~w2 + · · ·+ ~wk∣∣ ~w1 ∈W1, . . . , ~wk ∈Wk},
and so the sum of subspaces is the subspace of all sums.
4.30 (Refer to Example 4.19. This exercise shows that the requirement that pariwise intersections be trivial is genuinely stronger than the requirement only thatthe intersection of all of the subspaces be trivial.) Give a vector space and threesubspaces W1, W2, and W3 such that the space is the sum of the subspaces, theintersection of all three subspaces W1 ∩W2 ∩W3 is trivial, but the pairwise intersections W1 ∩W2, W1 ∩W3, and W2 ∩W3 are nontrivial.
X 4.31 Prove that if V = W1⊕ . . .⊕Wk then Wi ∩Wj is trivial whenever i 6= j. Thisshows that the first half of the proof of Lemma 4.15 extends to the case of morethan two subspaces. (Example 4.19 shows that this implication does not reverse;the other half does not extend.)
4.32 Recall that no linearly independent set contains the zero vector. Can anindependent set of subspaces contain the trivial subspace?
X 4.33 Does every subspace have a complement?
X 4.34 Let W1,W2 be subspaces of a vector space.(a) Assume that the set S1 spans W1, and that the set S2 spans W2. Can S1∪S2
span W1 +W2? Must it?(b) Assume that S1 is a linearly independent subset of W1 and that S2 is alinearly independent subset of W2. Can S1∪S2 be a linearly independent subsetof W1 +W2? Must it?
4.35 When a vector space is decomposed as a direct sum, the dimensions of thesubspaces add to the dimension of the space. The situation with a space that isgiven as the sum of its subspaces is not as simple. This exercise considers thetwosubspace special case.(a) For these subspaces of M2×2 find W1 ∩W2, dim(W1 ∩W2), W1 + W2, anddim(W1 +W2).
W1 = {(
0 0c d
) ∣∣ c, d ∈ R} W2 = {(
0 bc 0
) ∣∣ b, c ∈ R}
Section III. Basis and Dimension 139
(b) Suppose that U and W are subspaces of a vector space. Suppose that the
sequence 〈~β1, . . . , ~βk〉 is a basis for U ∩ W . Finally, suppose that the prior
sequence has been expanded to give a sequence 〈~µ1, . . . , ~µj , ~β1, . . . , ~βk〉 that is a
basis for U , and a sequence 〈~β1, . . . , ~βk, ~ω1, . . . , ~ωp〉 that is a basis for W . Provethat this sequence
〈~µ1, . . . , ~µj , ~β1, . . . , ~βk, ~ω1, . . . , ~ωp〉is a basis for for the sum U +W .
(c) Conclude that dim(U +W ) = dim(U) + dim(W )− dim(U ∩W ).(d) Let W1 and W2 be eightdimensional subspaces of a tendimensional space.List all values possible for dim(W1 ∩W2).
4.36 Let V = W1 ⊕ . . . ⊕Wk and for each index i suppose that Si is a linearlyindependent subset of Wi. Prove that the union of the Si’s is linearly independent.
4.37 A matrix is symmetric if for each pair of indices i and j, the i, j entry equalsthe j, i entry. A matrix is antisymmetric if each i, j entry is the negative of the j, ientry.(a) Give a symmetric 2×2 matrix and an antisymmetric 2×2 matrix. (Remark.For the second one, be careful about the entries on the diagional.)
(b) What is the relationship between a square symmetric matrix and its transpose? Between a square antisymmetric matrix and its transpose?
(c) Show that Mn×n is the direct sum of the space of symmetric matrices andthe space of antisymmetric matrices.
4.38 Let W1,W2,W3 be subspaces of a vector space. Prove that (W1∩W2)+(W1∩W3) ⊆W1 ∩ (W2 +W3). Does the inclusion reverse?
4.39 The example of the xaxis and the yaxis in R2 shows that W1⊕W2 = V doesnot imply that W1 ∪W2 = V . Can W1 ⊕W2 = V and W1 ∪W2 = V happen?
X 4.40 Our model for complementary subspaces, the xaxis and the yaxis in R2,has one property not used here. Where U is a subspace of Rn we define theorthocomplement of U to be
U⊥ = {~v ∈ Rn∣∣ ~v ~u = 0 for all ~u ∈ U}
(read “U perp”).(a) Find the orthocomplement of the xaxis in R2.(b) Find the orthocomplement of the xaxis in R3.(c) Find the orthocomplement of the xyplane in R3.(d) Show that the orthocomplement of a subspace is a subspace.(e) Show that if W is the orthocomplement of U then U is the orthocomplementof W .
(f) Prove that a subspace and its orthocomplement have a trivial intersection.(g) Conclude that for any n and subspace U ⊆ Rn we have that Rn = U ⊕U⊥.(h) Show that dim(U) + dim(U⊥) equals the dimension of the enclosing space.
X 4.41 Consider Corollary 4.13. Does it work both ways — that is, supposing thatV = W1 + · · · + Wk, is V = W1 ⊕ . . . ⊕Wk if and only if dim(V ) = dim(W1) +· · ·+ dim(Wk)?
4.42 We know that if V = W1 ⊕W2 then there is a basis for V that splits into abasis for W1 and a basis for W2. Can we make the stronger statement that everybasis for V splits into a basis for W1 and a basis for W2?
4.43 We can ask about the algebra of the ‘+’ operation.(a) Is it commutative; is W1 +W2 = W2 +W1?(b) Is it associative; is (W1 +W2) +W3 = W1 + (W2 +W3)?
140 Chapter 2. Vector Spaces
(c) Let W be a subspace of some vector space. Show that W +W = W .(d) Must there be an identity element, a subspace I such that I+W = W + I =W for all subspaces W?
(e) Does leftcancelation hold: if W1 + W2 = W1 + W3 then W2 = W3? Rightcancelation?
4.44 Consider the algebraic properties of the direct sum operation.(a) Does direct sum commute: does V = W1 ⊕W2 imply that V = W2 ⊕W1?(b) Prove that direct sum is associative: (W1 ⊕W2)⊕W3 = W1 ⊕ (W2 ⊕W3).(c) Show that R3 is the direct sum of the three axes (the relevance here is that bythe previous item, we needn’t specify which two of the threee axes are combinedfirst).
(d) Does the direct sum operation leftcancel: does W1 ⊕W2 = W1 ⊕W3 implyW2 = W3? Does it rightcancel?
(e) There is an identity element with respect to this operation. Find it.(f) Do some, or all, subspaces have inverses with respect to this operation: isthere a subspace W of some vector space such that there is a subspace U withthe property that U ⊕W equals the identity element from the prior item?
Topic: Fields 141
Topic: Fields
Linear combinations involving only fractions or only integers are much easierfor computations than combinations involving real numbers, because computingwith irrational numbers is awkward. Could other number systems, like therationals or the integers, work in the place of R in the definition of a vectorspace?
Yes and no. If we take “work” to mean that the results of this chapterremain true then an analysis of which properties of the reals we have used inthis chapter gives the following list of conditions an algebraic system needs inorder to “work” in the place of R.
Definition. A field is a set F with two operations ‘+’ and ‘·’ such that
(1) for any a, b ∈ F the result of a+ b is in F and
• a+ b = b+ a
• if c ∈ F then a+ (b+ c) = (a+ b) + c
(2) for any a, b ∈ F the result of a · b is in F and
• a · b = b · a• if c ∈ F then a · (b · c) = (a · b) · c
(3) if a, b, c ∈ F then a · (b+ c) = a · b+ a · c
(4) there is an element 0 ∈ F such that
• if a ∈ F then a+ 0 = a
• for each a ∈ F there is an element −a ∈ F such that (−a) + a = 0
(5) there is an element 1 ∈ F such that
• if a ∈ F then a · 1 = a
• for each non0 element a ∈ F there is an element a−1 ∈ F such thata−1 · a = 1.
The number system comsisting of the set of real numbers along with theusual addition and multiplication operation is a field, naturally. Another field isthe set of rational numbers with its usual addition and multiplication operations.An example of an algebraic structure that is not a field is the integer numbersystem—it fails the final condition.
Some examples are surprising. The set {0, 1} under these operations:
+ 0 10 0 11 1 0
· 0 10 0 01 0 1
is a field (see Exercise 4).
142 Chapter 2. Vector Spaces
We could develop Linear Algebra as the theory of vector spaces with scalarsfrom an arbitrary field, instead of sticking to taking the scalars only from R. Inthat case, almost all of the statements in this book would carry over by replacing‘R’ with ‘F ’, and thus by taking coefficients, vector entries, and matrix entriesto be elements of F . (This says “almost all” because statements involvingdistances or angles are exceptions.) Here are some examples; each applies to avector space V over a field F .
∗ For any ~v ∈ V and a ∈ F , (i) 0 · ~v = ~0, and (ii) −1 · ~v + ~v = ~0, and(iii) a ·~0 = ~0.
∗ The span (the set of linear combinations) of a subset of V is a subspaceof V .
∗ Any subset of a linearly independent set is also linearly independent.
∗ In a finitedimensional vector space, any two bases have the same numberof elements.
(Even statements that don’t explicitly mention F use field properties in theirproof.)
We won’t develop vector spaces in this more general setting because theadditional abstraction can be a distraction. The ideas we want to bring outalready appear when we stick to the reals.
The only exception is in Chapter Five. In that chapter we must factorpolynomials, so we will switch to considering vector spaces over the field ofcomplex numbers. We will discuss this more, including a brief review of complexarithmetic, when we get there.
Exercises1 Show that the real numbers form a field.
2 Prove that these are fields:(a) the rational numbers (b) the complex numbers.
3 Give an example that shows that the integer number system is not a field.
4 Consider the set {0, 1} subject to the operations given above. Show that it is afield.
5 Come up with suitable operations to make the set {0, 1, 2} a field.
Topic: Crystals 143
Topic: Crystals
Everyone has noticed that table salt comes in little cubes.
Remarkably, the explanation for the cubical external shape is the simplest onepossible: the internal shape, the way the atoms lie, is also cubical. The internalstructure is pictured below. Salt is sodium cloride, and the small spheres shownare sodium while the big ones are cloride. (To simplify the view, only thesodiums and clorides on the front, top, and right are shown.)
The specks of salt that we see when we spread a little out on the table consist ofmany repetitions of this fundamental unit. That is, these cubes of atoms stackup to make the larger cubical structure that we see. A solid, such as table salt,with a regular internal structure is a crystal.
We can restrict our attention to the front face. There, we have this patternrepeated many times.
The distance between the corners of this cell is about 3.34 Angstroms (anAngstrom is 10−10 meters). Obviously that unit is unwieldly for describingpoints in the crystal lattice. Instead, the thing to do is to take as a unit thelength of each side of the square. That is, we naturally adopt this basis.
〈(
3.340
),
(0
3.34
)〉
144 Chapter 2. Vector Spaces
Then we can describe, say, the corner in the upper right of the picture above as3~β1 + 2~β2.
Another crystal from everyday experience is pencil lead. It is graphite,formed from carbon atoms arranged in this shape.
This is a single plane of graphite. A piece of graphite consists of many of theseplanes layered in a stack. (The chemical bonds between the planes are muchweaker than the bonds inside the planes, which explains why graphite writes—it can be sheared so that the planes slide off and are left on the paper.) Aconvienent unit of length can be made by decomposing the hexagonal ring intothree regions that are rotations of this unit cell.
A natural basis then would consist of the vectors that form the sides of thatunit cell. The distance along the bottom and slant is 1.42 Angstroms, so this
〈(
1.420
),
(1.23.71
)〉
is a good basis.The selection of convienent bases extends to three dimensions. Another
familiar crystal formed from carbon is diamond. Like table salt, it is built fromcubes, but the structure inside each cube is more complicated than salt’s. Inaddition to carbons at each corner,
there are carbons in the middle of each face.
Topic: Crystals 145
(To show the added face carbons clearly, the corner carbons have been reducedto dots.) There are also four more carbons inside the cube, two that are aquarter of the way up from the bottom and two that are a quarter of the waydown from the top.
(As before, carbons shown earlier have been reduced here to dots.) The distance along any edge of the cube is 2.18 Angstroms. Thus, a natural basis fordescribing the locations of the carbons, and the bonds between them, is this.
〈
2.1800
,
02.18
0
,
00
2.18
〉Even the few examples given here show that the structures of crystals is com
plicated enough that some organized system to give the locations of the atoms,and how they are chemically bound, is needed. One tool for that organizationis a convienent basis. This application of bases is simple, but it shows a contextwhere the idea arises naturally. The work in this chapter just takes this simpleidea and develops it.
Exercises1 How many fundamental regions are there in one face of a speck of salt? (With aruler, we can estimate that face is a square that is 0.1 cm on a side.)
2 In the graphite picture, imagine that we are interested in a point 5.67 Angstromsup and 3.14 Angstroms over from the origin.(a) Express that point in terms of the basis given for graphite.(b) How many hexagonal shapes away is this point from the origin?(c) Express that point in terms of a second basis, where the first basis vector isthe same, but the second is perpendicular to the first (going up the plane) andof the same length.
3 Give the locations of the atoms in the diamond cube both in terms of the basis,and in Angstroms.
4 This illustrates how the dimensions of a unit cell could be computed from theshape in which a substance crystalizes ([Ebbing], p. 462).(a) Recall that there are 6.022×1023 atoms in a mole (this is Avagadro’s number).From that, and the fact that platinum has a mass of 195.08 grams per mole,calculate the mass of each atom.
(b) Platinum crystalizes in a facecentered cubic lattice with atoms at each latticepoint, that is, it looks like the middle picture given above for the diamond crystal.Find the number of platinums per unit cell (hint: sum the fractions of platinumsthat are inside of a single cell).
(c) From that, find the mass of a unit cell.
146 Chapter 2. Vector Spaces
(d) Platinum crystal has a density of 21.45 grams per cubic centimeter. Fromthis, and the mass of a unit cell, calculate the volume of a unit cell.
(e) Find the length of each edge.(f) Describe a natural threedimensional basis.
Topic: Voting Paradoxes 147
Topic: Voting Paradoxes
Imagine that a Political Science class studying the American presidential process holds a mock election. Members of the class are asked to rank, from mostpreferred to least preferred, the nominees from the Democratic Party, the Republican Party, and the Third Party, and this is the result (> means ‘is preferredto’).
preference ordernumber withthat preference
Democrat > Republican > Third 5Democrat > Third > Republican 4Republican > Democrat > Third 2Republican > Third > Democrat 8Third > Democrat > Republican 8Third > Republican > Democrat 2
total 29
What is the preference of the group as a whole?Overall, the group prefers the Democrat to the Republican (by five votes;
seventeen voters ranked the Democrat above the Republican versus twelve theother way). And, overall, the group prefers the Republican to the Third’snominee (by one vote; fifteen to fourteen). But, strangely enough, the groupalso prefers the Third to the Democrat (by seven votes; eighteen to eleven).
Democrat
5 voters
Third
1 voter
Republican
7 voters
This is an example of a voting paradox, specifically, a majority cycle.Voting paradoxes are studied in part because of their implications for practi
cal politics. For instance, the instructor can manipulate the class into choosingthe Democrat as the overall winner by first asking the class to choose betweenthe Republican and the Third, and then asking the class to choose between thewinner of that contest (the Republican) and the Democrat. By similar manipulations, any of the other two candidates can be made to come out as the winner.(In this Topic we will stick to threecandidate elections, but similar results applyto larger elections.)
Voting paradoxes are also studied simply because they are mathematicallyinteresting. One interesting aspect is that the group’s overall majority cycleoccurs despite that each single voters’s preference list is rational—in a straightline order. That is, the majority cycle seems to arise in the aggregate, withoutbeing present in the elements of that aggregate, the preference lists. Recently,
148 Chapter 2. Vector Spaces
however, linear algebra has been used [Zwicker] to argue that a tendency towardcyclic preference is actually present in each voter’s list, and that it surfaces whenthere is more adding of the tendency than cancelling.
For this argument, abbreviating the choices as D, R, and T , we can describehow a voter with preference order D > R > T contributes to the above cycle
D1 voter
T1 voter
R
−1 voter
(the negative sign is here because the arrow describes T as preferred to D, butthis voter likes them the other way). The descriptions for the other preferencelists are in the table on page 150. Now, to conduct the election, we linearlycombine these descriptions; for instance, the Political Science mock election
5 ·D
1 voter
T1 voter
R
−1 voter
+ 4 ·D
1 voter
T−1 voter
R
−1 voter
+ · · · + 2 ·D −1 voter
T−1 voter
R1 voter
yields the circular group preference shown earlier.Of course, taking linear combinations is linear algebra. The above cycle no
tation is suggestive but inconvienent, so we temporarily switch to using columnvectors by starting at the D and taking the numbers from the cycle in counterclockwise order. Thus, the mock election and a single D > R > T vote arerepresented in this way. 7
15
and
−111
We will decompose vote vectors into two parts, one cyclic and the other acyclic.For the first part, we say that a vector is purely cyclic if it is in this subspaceof R3.
C = {
kkk
∣∣ k ∈ R} = {k ·
111
∣∣ k ∈ R}For the second part, consider the subspace (see Exercise 6) of vectors that areperpendicular to all of the vectors in C.
C⊥ = {
c1c2c3
∣∣ c1c2c3
kkk
= 0 for all k ∈ R}
= {
c1c2c3
∣∣ c1 + c2 + c3 = 0}
= {c2
−110
+ c3
−101
∣∣ c2, c3 ∈ R}
Topic: Voting Paradoxes 149
(Read that aloud as “C perp”.) Consideration of those two has led to this basisof R3.
〈
111
,
−110
,
−101
〉We can represent votes with respect to this basis, and thereby decompose theminto a cyclic part and an acyclic part. (Note for readers who have covered theoptional section: that is, the space is the direct sum of C and C⊥.)
For example, consider the D > R > T voter discussed above. The representation in terms of the basis is easily found,
c1 − c2 − c3 =−1c1 + c2 = 1c1 + c3 = 1
−ρ1+ρ2−→−ρ1+ρ3
(−1/2)ρ2+ρ3−→c1 − c2 − c3 =−1
2c2 + c3 = 2(3/2)c3 = 1
so that c1 = 1/3, c2 = 2/3, and c3 = 2/3. Then−111
=13·
111
+23·
−110
+23·
−101
=
1/31/31/3
+
−4/32/32/3
gives the desired decomposition into a cyclic part and and an acyclic part.
D1
T
1
R
−1
=
D 1/3
T
1/3
R
1/3
+
D 2/3
T
2/3
R
−4/3
Thus, this D > R > T voter’s rational preference list can indeed be seen tohave a cyclic part.
The T > R > D voter is opposite to the one just considered in that the ‘>’symbols are reversed. This voter’s decomposition
D −1
T
−1
R
1
=
D −1/3
T
−1/3
R
−1/3
+
D −2/3
T
−2/3
R
4/3
shows that these opposite preferences have decompositions that are opposite.We say that the first voter has positive spin since the cycle part is with thedirection we have chosen for the arrows, while the second voter’s spin is negative.
The fact that that these opposite voters cancel each other is reflected in thefact that their vote vectors add to zero. This suggests an alternate way to tallyan election. We could first cancel as many opposite preference lists as possible,and then determine the outcome by adding the remaining lists.
The rows of the table below contain the three pairs of opposite preferencelists, and the columns group those pairs by spin. For instance, the first rowcontains the two voters just considered.
150 Chapter 2. Vector Spaces
positive spin negative spin
Democrat > Republican > ThirdD 1
T
1
R−1
=D 1/3
T
1/3
R
1/3
+D 2/3
T
2/3
R
−4/3
Third > Republican > DemocratD −1
T
−1
R1
=D −1/3
T
−1/3
R
−1/3
+D −2/3
T
−2/3
R
4/3
Republican > Third > DemocratD −1
T
1
R1
=D 1/3
T
1/3
R
1/3
+D −4/3
T
2/3
R
2/3
Democrat > Third > RepublicanD 1
T
−1
R−1
=D −1/3
T
−1/3
R
−1/3
+D 4/3
T
−2/3
R
−2/3
Third > Democrat > RepublicanD 1
T
−1
R1
=D 1/3
T
1/3
R
1/3
+D 2/3
T
−4/3
R
2/3
Republican > Democrat > ThirdD −1
T
1
R−1
=D −1/3
T
−1/3
R
−1/3
+D −2/3
T
4/3
R
−2/3
If we conduct the election as just described then after the cancellation of as manyopposite pairs of voters as possible, there will be left three sets of preferencelists, one set from the first row, one set from the second row, and one set fromthe third row. We will finish by proving that a voting paradox can happenonly if the spins of these three sets are in the same direction. That is, for avoting paradox to occur, the three remaining sets must all come from the leftof the table or all come from the right (see Exercise 3). This shows that thereis some connection between the majority cycle and the decomposition that weare using—a voting paradox can happen only when the tendencies toward cyclicpreference reinforce each other.
For the proof, assume that opposite preference orders have been cancelled,and we are left with one set of preference lists from each of the three rows.Consider the sum of these three (here, a, b, and c could be positive, negative,or zero).
Da
T
a
R
−a+
D −bT
b
R
b
+
Dc
T
−cR
c
=
Da− b+ c
T
a+ b− cR
−a+ b+ c
A voting paradox occurs when the three numbers on the right, a − b + c anda + b − c and −a + b + c, are all nonnegative or all nonpositive. On the left,at least two of the three numbers, a and b and c, are both nonnegative or bothnonpositive. We can assume that they are a and b. That makes four cases: thecycle is nonnegative and a and b are nonnegative, the cycle is nonpositive anda and b are nonpositive, etc. We will do only the first case, since the second issimilar and the other two are also easy.
So assume that the cycle is nonnegative and that a and b are nonnegative.The conditions 0 ≤ a− b+ c and 0 ≤ −a+ b+ c add to give that 0 ≤ 2c, whichimplies that c is also nonnegative, as desired. That ends the proof.
This result only says that having all three spin in the same direction is anecessary condition for a majority cycle. It is not also a sufficient condition; seeExercise 4.
Topic: Voting Paradoxes 151
Voting theory and associated topics are the subject of current research. Theare many surprising and intriguing results, most notably the one produced byK. Arrow [Arrow], who won the Nobel Prize in part for this work, showing, essentially, that no voting system is entirely fair. For more information, some goodintroductory articles are [Gardner, 1970], [Gardner, 1974], [Gardner, 1980], and[Neimi & Riker]. A quite readable recent book is [Taylor]. The material of thisTopic is largely drawn from [Zwicker]. (Author’s Note: I would like to thankProfessor Zwicker for his kind and illuminating discussions.)
Exercises1 Here is a reasonable way in which a voter could have a cyclic preference. Supposethat this voter ranks each candidate on each of three criteria.(a) Draw up a table with the rows labelled ‘Democrat’, ‘Republican’, and ‘Third’,and the columns labelled ‘character’, ‘experience’, and ‘policies’. Inside eachcolumn, rank some candidate as most preferred, rank another as in the middle,and rank the remaining one as least preferred.
(b) In this ranking, is the Democrat preferred to the Republican in (at least) twoout of three criteria, or vice versa? Is the Republican preferred to the Third?
(c) Does the table that was just constructed have a cyclic preference order? Ifnot, make one that does.
So it is possible for a voter to have a cyclic preference among candidates. Theparadox described above, however, is that even if each voter has a straightlinepreference list, there can still be a cyclic group preference.
2 Compute the values in the table of decompositions.
3 Do the cancellations of opposite preference orders for the Political Science class’smock election. Are all the remaining preferences from the left three rows of thetable or from the right?
4 The necessary condition that is proved above—a voting paradox can happen onlyif all three preference lists remaining after cancellation have the same spin—is notalso sufficient.(a) Continuing the positive cycle case considered in the proof, use the two inequalities 0 ≤ a− b+ c and 0 ≤ −a+ b+ c to show that a− b ≤ c.
(b) Also show that c ≤ a+ b, and hence that a− b ≤ c ≤ a+ b.(c) Give an example of a vote where there is a majority cycle, and addition ofone more voter with the same spin causes the cycle to go away.
(d) Can the opposite happen; can addition of one voter with a “wrong” spincause a cycle to appear?
(e) Give a condition that is both necessary and sufficient to get a majority cycle.
5 A onevoter election cannot have a majority cycle because of the requirementthat we’ve imposed that the voter’s list must be rational.(a) Show that a twovoter election may have a majority cycle. (We consider thegroup preference a majority cycle if all three group totals are nonnegative or ifall three are nonpositive—that is, we allow some zero’s in the group preference.)
(b) Show that for any number of voters greater than one, there is an electioninvolving that many voters that results in a majority cycle.
6 Let U be a subspace of R3. Prove that the set U⊥ = {~v∣∣ ~v ~u = 0 for all ~u ∈ U}
of vectors that are perpendicular to each vector in U is also a subspace of R3.
152 Chapter 2. Vector Spaces
Topic: Dimensional Analysis
“You can’t add apples and oranges,” the old saying goes. It reflects the common experience that in applications the numbers are associated with units, andkeeping track of the units is worthwhile. Everyone is familiar with calculationssuch as this one that use the units as a check.
60secmin
· 60minhr· 24
hrday· 365
dayyear
= 31 536 000secyear
However, the idea of paying attention to how the quantities are measured canbe pushed beyond bookkeeping. It can be used to draw conclusions about thenature of relationships among physical quantities.
Consider this equation expressing a relationship: dist = 16 · (time)2. Ifdistance is taken in feet and time in seconds then this is a true statement aboutthe motion of a falling body. But this equation is a correct description only inthe footsecond unit system. In the yardsecond unit system it is not the casethat d = 16t2. To get a complete equation—one that holds irrespective of thesize of the units—we will make the 16 a dimensional constant.
dist = 16ft
sec2· (time)2
Now, the equation holds in any units system, e.g., in yards and seconds we havethis.
dist in yd = 16(1/3) yd
sec2· (time in sec)2 =
163
ydsec2
· (time in sec)2
The results below hold for complete equations.Dimensional analysis can be applied to many areas, but we shall stick to
Newtonian dynamics. In the light of the prior paragraph, we shall work outsideof any particular unit system, and instead say that all quantities are measuredin combinations of (some units of) length L, mass M , and time T . Thus, forinstance, the dimensional formula of velocity is L/T and that of density isM/L3. We shall prefer to write those by including even the dimensions with azero exponent, e.g., as L1M0T−1 and L−3M1T 0.
In this terminology, the saying “You can’t add apples to oranges” becomesthe advice to have all of the terms in an equation have the same dimensionalformula. Such an equation is dimensionally homogeneous. An example is thisversion of the falling body equation: d− gt2 = 0 where the dimensional formulaof d is L1M0T 0, that of g is L1M0T−2, and that of t is L0M0T 1 (g is thedimensional constant expressed above in units of ft/sec2). The gt2 term worksout as L1M0T−2(L0M0T 1)2 = L1M0T 0, and so it has the same dimensionalformula as the d term.
Quantities with dimensional formula L0M0T 0, are said to be dimensionless.An example of such a quantity is the measure of an angle. An angle measuredin radians is the ratio of the subtended arc to the radius.
Topic: Dimensional Analysis 153
rad
arcθ
This is the ratio of a length to a length L1M0T 0/L1M0T 0 and thus angles havethe dimensional formula L0M0T 0.
Paying attention to the dimensional formulas of the physical quantities willhelp us to see which relationships are possible or impossible among the quantities. For instance, suppose that we want to give the period of a pendulum assome formula p = · · · involving the other relevant physical quantities, length ofthe string, etc. (see the table on page 154). The period is expressed in units oftime—it has dimensional formula L0M0T 1—and so the quantities on the otherside of the equation must have their dimensional formulas combine in such away that the L’s and M ’s cancel and only a T is left. For instance, in that table,the only quantities involving L are the length of the string and the accelerationdue to gravity. For these L’s to cancel, the quantities must enter the equationin ratio, e.g., as (`/g)2 or as cos(`/g), or as (`/g)−1. In this way, simply fromconsideration of the dimensional formulas, we know that that the period can bewritten as a function of `/g; the formula cannot possibly involve, say, `3 andg−2 because the dimensional formulas wouldn’t cancel their L’s.
To do dimensional analysis systematically, we need two results (for proofs,see [Bridgman], Chapter II and IV). First, each equation relating physical quantities that we shall see involves a sum of terms, where each term has the form
mp11 m
p22 . . .mpk
k
for numbers m1, . . . , mk that measure the quantities.Next, observe that an easy way to construct a dimensionally homogeneous
expression is by taking a product of dimensionless quantities, or by addingsuch dimensionless terms. The second result, Buckingham’s Theorem, is thatany complete relationship among quantities with dimensional formulas can bealgebraically manipulated into a form where there is some function f such that
f(Π1, . . . ,Πn) = 0
for a complete set {Π1, . . . ,Πn} of dimensionless products. (We shall see whatmakes a set of dimensionless products ‘complete’ in the examples below.) Weusually want to express one of the quantities, m1 for instance, in terms of theothers, and for that we will assume that the above equality can be rewritten
m1 = m−p22 . . .m−pkk · f(Π2, . . . ,Πn)
where Π1 = m1mp22 . . .mpk
k is dimensionless and the products Π2, . . . , Πn don’tinvolve m1 (as with f , here f is just some function, this time of n−1 arguments).Thus, Buckingham’s Theorem says that to investigate the complete relationshipsthat are possible, we can look into the dimensionless products that are possible.For that we will use the material of this chapter.
154 Chapter 2. Vector Spaces
The classic example is a pendulum. An investigator trying to determinethe formula for its period might conjecture that these are the relevant physicalquantities.
quantitydimensionalformula
period p L0M0T 1
length of string ` L1M0T 0
mass of bob m L0M1T 0
acceleration due to gravity g L1M0T−2
arc of swing θ L0M0T 0
To find which combinations of the powers in pp1`p2mp3gp4θp5 yield dimensionlessproducts, consider this equation.
(L0M0T 1)p1(L1M0T 0)p2(L0M1T 0)p3(L1M0T−2)p4(L0M0T 0)p5 = L0M0T 0
It gives three conditions on the powers.
p2 + p4 = 0p3 = 0
p1 − 2p4 = 0
Note that p3 is 0—the mass of the bob does not affect the period. The system’ssolution space can be described in this way (p1 is taken as one of the parametersin order to express the period in terms of the other quantities).
{
p1
p2
p3
p4
p5
=
1−1/2
01/20
p1 +
00001
p5
∣∣ p1, p5 ∈ R}
Here is the linear algebra. The set of dimensionless products is the set ofproducts pp1`p2mp3ap4θp5 subject to the conditions in the above linear system.This forms a vector space under the ‘+’ addition operation of multiplying twosuch products and the ‘·’ scalar multiplication operation of raising such a product to the power of the scalar (see Exercise 5). The term ‘complete set ofdimensionless products’ in Buckingham’s Theorem means a basis for this vectorspace.
We can get a basis by first taking p1 = 1 and p5 = 0, and then taking p1 = 0and p5 = 1. The associated dimensionless products are Π1 = p`−1/2g1/2 andΠ2 = θ. The set {Π1,Π2} is complete, so we have
p = `1/2g−1/2 · f(θ)
=√`/g · f(θ)
Topic: Dimensional Analysis 155
where f is a function that we cannot determine from this analysis (by othermeans we know that for small angles it is approximately the constant functionf(θ) = 2π).
Thus, analysis of the relationships that are possible between the quantitieswith the given dimensional formulas has given us a fair amount of information: apendulum’s period does not depend on the mass of the bob, and it rises withthe square root of the length of the string.
For the next example we try to determine the period of revolution of twobodies in space orbiting each other under mutual gravitational attraction. Anexperienced investigator could expect that these are the relevant quantities.
quantitydimensionalformula
period of revolution p L0M0T 1
mean radius of separation r L1M0T 0
mass of the first m1 L0M1T 0
mass of the second m2 L0M1T 0
gravitational constant G L3M−1T−2
To get the complete set of dimensionless products we consider the equation
(L0M0T 1)p1(L1M0T 0)p2(L0M1T 0)p3(L0M1T 0)p4(L3M−1T−2)p5 = L0M0T 0
which gives rise to these relationships among the powers
p2 + 3p5 = 0p3 + p4 − p5 = 0
p1 − 2p5 = 0
with the solution space
{
1−3/21/20
1/2
p1 +
00−110
p4
∣∣ p1, p4 ∈ R}
(p1 is taken as a parameter so that we can state the period as a function of theother quantities). As with the pendulum example, the linear algebra here isthat the set of dimensionless products of these quantities forms a vector space,and we want to produce a basis for that space, a ‘complete’ set of dimensionlessproducts. One such set, gotten from setting p1 = 1 and p4 = 0, and alsosetting p1 = 0 and p4 = 1 is {Π1 = pr−3/2m
1/21 G1/2, Π2 = m−1
1 m2}. Withthat, Buckingham’s Theorem says that any complete relationship among thesequantities must be stateable this form.
p = r3/2m−1/21 G−1/2 · f(m−1
1 m2)
=r3/2
√Gm1
· f(m2/m1)
156 Chapter 2. Vector Spaces
Remark. An especially interesting application of the above formula occurswhen when the two bodies are a planet and the sun. The mass of the sun m1
is much larger than that of the planet m2. Thus the argument to f is approximately 0, and we can wonder if this part of the formula remains approximatelyconstant as m2 varies. One way to see that it does is this. The sun’s mass ismuch larger than the planet’s mass and so the mutual rotation is approximatelyabout the sun’s center. If we vary the planet’s mass m2 by a factor of x then theforce of attraction is multiplied by x, and x times the force acting on x timesthe mass results in the same acceleration, about the same center. Hence, theorbit will be the same, and so its period will be the same, and thus the right sideof the above equation also remains unchanged (approximately). Therefore, form2’s much smaller than m1, the value of f(m2/m1) is approximately constantas m2 varies. This result is Kepler’s Third Law: the square of the period of aplanet is proportional to the cube of the mean radius of its orbit about the sun.
In the final example, we will see that sometimes dimensional analysis alonesuffices to essentially determine the entire formula. One of the earliest applications of the technique was to give the formula for the speed of a wave in deepwater. Lord Raleigh put these down as the relevant quantities.
quantitydimensionalformula
velocity of the wave v L1M0T−1
density of the water d L−3M1T 0
acceleration due to gravity g L1M0T−2
wavelength λ L1M0T 0
Considering
(L1M0T−1)p1(L−3M1T 0)p2(L1M0T−2)p3(L1M0T 0)p4 = L0M0T 0
gives this system
p1 − 3p2 + p3 + p4 = 0p2 = 0
−p1 − 2p3 = 0
with this solution space
{
10−1/2−1/2
p1
∣∣ p1 ∈ R}
(as in the pendulum example, one of the quantities d turns out not to be involved in the relationship). There is thus one dimensionless product, Π1 =vg−1/2λ−1/2, and we have that v is
√λg times a constant (f is constant since
it is a function of no arguments).As those three examples show, analysis of the relationships possible among
quantities of the given dimensional formulas can bring us far toward expressing
Topic: Dimensional Analysis 157
the relationship among the quantities. For further reading, the classic reference is [Bridgman]—this brief book is a delight to read. Another source is[Giordano, Wells, Wilde]. A description of how dimensional analysis fits intothe process of mathematical modeling is [Giordano, Jaye, Weir].
Exercises1 [de Mestre] Consider a projectile, launched with initial velocity v0, at an angleθ. An investigation of this motion might start with the guess that these are therelevant quantities.
quantitydimensionalformula
horizontal position x L1M0T 0
vertical position y L1M0T 0
initial speed v0 L1M0T−1
angle of launch θ L0M0T 0
acceleration due to gravity g L1M0T−2
time t L0M0T 1
(a) Show that {gt/v0, gx/v20 , gy/v
20 , θ} is a complete set of dimensionless prod
ucts. (Hint. This can be done by finding the appropriate free variables in thelinear system that arises, but there is a shortcut that uses the properties of abasis.)
(b) These two equations of motion for projectiles are familiar: x = v0 cos(θ)t andy = v0 sin(θ)t−(g/2)t2. Algebraic manipulate each to rewrite it as a relationshipamong the dimensionless products of the prior item.
2 [Einstein] conjectured that the infrared characteristic frequencies of a solid maybe determined by the same forces between atoms as determine the solid’s ordanaryelastic behavior. The relevant quantities are
quantitydimensionalformula
characteristic frequency ν L0M0T−1
compressibility k L1M−1T 2
number of atoms per cubic cm N L−3M0T 0
mass of an atom m L0M1T 0
Show that there is one dimensionless product. Conclude that, in any completerelationship among quantities with these dimensional formulas, k is a constanttimes ν−2N−1/3m−1. This conclusion played an important role in the early studyof quantum phenomena.
3 [Giordano, Wells, Wilde] Consider the torque produced by an engine. Torquehas dimensional formula L2M1T−2. We may first guess that it depends on theengine’s rotation rate (with dimensional formula L0M0T−1), and the volume ofair displaced (with dimensional formula L3M0T 0).(a) Try to find a complete set of dimensionless products. What goes wrong?(b) Adjust the guess by adding the density of the air (with dimensional formulaL−3M1T 0). Now find a complete set of dimensionless products.
4 [Tilley] Dominoes falling make a wave. We may conjecture that the wave speed vdepends on the the spacing d between the dominoes, the height h of each domino,and the acceleration due to gravity g.(a) Find the dimensional formula for each of the four quantities.
158 Chapter 2. Vector Spaces
(b) Show that {Π1 = h/d,Π2 = dg/v2} is a complete set of dimensionless products.
(c) Show that if h/d is fixed then the propagation speed is proportional to thesquare root of d.
5 Prove that the dimensionless products form a vector space under the ~+ operationof multiplying two such products and the ~· operation of raising such the productto the power of the scalar. (The vector arrows are a precaution against confusion.)That is, prove that, for any particular homogeneous system, this set of productsof powers of m1, . . . , mk
{mp11 . . .m
pkk
∣∣ p1, . . . , pk satisfy the system}is a vector space under:
mp11 . . .m
pkk~+mq1
1 . . .mqkk = mp1+q1
1 . . .mpk+qkk
and
r~·(mp11 . . .m
pkk ) = mrp1
1 . . .mrpkk
(assume that all variables represent real numbers).
6 The advice about apples and oranges is not right. Consider the familiar equationsfor a circle C = 2πr and A = πr2.(a) Check that C and A have different dimensional formulas.(b) Produce an equation that is not dimensionally homogeneous (i.e., it addsapples and oranges) but is nonetheless true of any circle.
(c) The prior item asks for an equation that is complete but not dimensionallyhomogeneous. Produce an equation that is dimensionally homogeneous but notcomplete.
(Just because the old saying isn’t strictly right, doesn’t keep it from being a usefulstrategy. Dimensional homogeneity is often used as a check on the plausibilityof equations used in models. For an argument that any complete equation caneasily be made dimensionally homogeneous, see [Bridgman], Chapter I, especiallypage 15.)
Chapter 3
Maps Between Spaces
3.I Isomorphisms
In the examples following the definition of a vector space we developed theintuition that some spaces are “the same” as others. For instance, the spaceof twotall column vectors and the space of twowide row vectors are not equalbecause their elements—column vectors and row vectors—are not equal, but wehave the idea that these spaces differ only in how their elements appear. Wewill now make this idea precise.
This section illustrates a common aspect of a mathematical investigation.With the help of some examples, we’ve gotten an idea. We will next give a formaldefinition, and then we will produce some results backing our contention thatthe definition captures the idea. We’ve seen this happen already, for instance, inthe first section of the Vector Space chapter. There, the study of linear systemsled us to consider collections closed under linear combinations. We defined sucha collection as a vector space, and we followed it with some supporting results.
Of course, that definition wasn’t an end point, instead it led to new insightssuch as the idea of a basis. Here too, after producing a definition, and supportingit, we will get two (pleasant) surprises. First, we will find that the definitionapplies to some unforeseen, and interesting, cases. Second, the study of thedefinition will lead to new ideas. In this way, our investigation will build amomentum.
3.I.1 Definition and Examples
We start with two examples that suggest the right definition.
1.1 Example Consider the example mentioned above, the space of twowiderow vectors and the space of twotall column vectors. They are “the same” inthat if we associate the vectors that have the same components, e.g.,(
1 2)←→
(12
)
159
160 Chapter 3. Maps Between Spaces
then this correspondence preserves the operations, for instance this addition
(1 2
)+(3 4
)=(4 6
)←→
(12
)+(
34
)=(
46
)and this scalar multiplication.
5 ·(1 2
)=(5 10
)←→ 5 ·
(12
)=(
510
)More generally stated, under the correspondence
(a0 a1
)←→
(a0
a1
)both operations are preserved:
(a0 a1
)+(b0 b1
)=(a0 + b0 a1 + b1
)←→
(a0
a1
)+(b0b1
)=(a0 + b0a1 + b1
)and
r ·(a0 a1
)=(ra0 ra1
)←→ r ·
(a0
a1
)=(ra0
ra1
)(all of the variables are real numbers).
1.2 Example Another two spaces we can think of as “the same” are P2, thespace of quadratic polynomials, and R3. A natural correspondence is this.
a0 + a1x+ a2x2 ←→
a0
a1
a2
(e.g., 1 + 2x+ 3x2 ←→
123
)
The structure is preserved: corresponding elements add in a corresponding way
a0 + a1x+ a2x2
+ b0 + b1x+ b2x2
(a0 + b0) + (a1 + b1)x+ (a2 + b2)x2←→
a0
a1
a2
+
b0b1b2
=
a0 + b0a1 + b1a2 + b2
and scalar multiplication corresponds also.
r · (a0 + a1x+ a2x2) = (ra0) + (ra1)x+ (ra2)x2 ←→ r ·
a0
a1
a2
=
ra0
ra1
ra2
Section I. Isomorphisms 161
1.3 Definition An isomorphism between two vector spaces V and W is a mapf : V →W that
(1) is a correspondence: f is onetoone and onto;∗
(2) preserves structure: if ~v1, ~v2 ∈ V then
f(~v1 + ~v2) = f(~v1) + f(~v2)
and if ~v ∈ V and r ∈ R then
f(r~v) = r f(~v)
(we write V ∼= W , read “V is isomorphic to W”, when such a map exists).
(“Morphism” means map, so “isomorphism” means a map expressing sameness.)
1.4 Example The vector space G = {c1 cos θ + c2 sin θ∣∣ c1, c2 ∈ R} of func
tions of θ is isomorphic to the vector space R2 under this map.
c1 cos θ + c2 sin θf7−→(c1c2
)We will check this by going through the conditions in the definition.
We will first verify condition (1), that the map is a correspondence betweenthe sets underlying the spaces.
To establish that f is onetoone, we must prove that f(~a) = f(~b) only when~a = ~b. If
f(a1 cos θ + a2 sin θ) = f(b1 cos θ + b2 sin θ)
then, by the definition of f , (a1
a2
)=(b1b2
)from which we can conclude that a1 = b1 and a2 = b2 because column vectors areequal only when they have equal components. We’ve proved that f(~a) = f(~b)implies that ~a = ~b, which shows that f is onetoone.
To check that f is onto we must check that any member of the codomain R2
mapped to. But that’s clear—any(xy
)∈ R2
is the image, under f , of this member of the domain: x cos θ + y sin θ ∈ G.Next we will verify condition (2), that f preserves structure.∗More information on onetoone and onto maps is in the appendix.
162 Chapter 3. Maps Between Spaces
This computation shows that f preserves addition.
f(
(a1 cos θ + a2 sin θ) + (b1 cos θ + b2 sin θ))
= f(
(a1 + b1) cos θ + (a2 + b2) sin θ)
=(a1 + b1a2 + b2
)=(a1
a2
)+(b1b2
)= f(a1 cos θ + a2 sin θ) + f(b1 cos θ + b2 sin θ)
A similar computation shows that f preserves scalar multiplication.
f(r · (a1 cos θ + a2 sin θ)
)= f( ra1 cos θ + ra2 sin θ )
=(ra1
ra2
)= r ·
(a1
a2
)= r · f(a1 cos θ + a2 sin θ)
With that, conditions (1) and (2) are verified, so we know that f is anisomorphism, and we can say that the spaces are isomorphic G ∼= R2.
1.5 Example Let V be the space {c1x+ c2y + c3z∣∣ c1, c2, c3 ∈ R} of linear
combinations of three variables x, y, and z, under the natural addition andscalar multiplication operations. Then V is isomorphic to P2, the space ofquadratic polynomials.
To show this we will produce an isomorphism map. There is more than onepossibility; for instance, here are four.
c1x+ c2y + c3z
f17−→ c1 + c2x+ c3x2
f27−→ c2 + c3x+ c1x2
f37−→ −c1 − c2x− c3x2
f47−→ c1 + (c1 + c2)x+ (c1 + c3)x2
Although the first map is the more natural correspondence, below we shallverify that the second one is an isomorphism, to underline that there are manyisomorphisms other than the obvious one that just carries the coefficients over(showing that f1 is an isomorphism is Exercise 12).
To show that f2 is onetoone, we will prove that if f2(c1x + c2y + c3z) =f2(d1x + d2y + d3z) then c1x + c2y + c3z = d1x + d2y + d3z. The assumptionthat f2(c1x+c2y+c3z) = f2(d1x+d2y+d3z) gives, by the definition of f2, thatc2 + c3x+ c1x
2 = d2 + d3 + d1x2. Equal polynomials have equal coefficients, so
c2 = d2, c3 = d3, and c1 = d1. Thus f2(c1x+ c2y + c3z) = f2(d1x+ d2y + d3z)implies that c1x+ c2y + c3z = d1x+ d2y + d3z and therefore f2 is onetoone.
Section I. Isomorphisms 163
The map f2 is onto because any member a+ bx+ cx2 of the codomain is theimage of some member of the domain, namely it is the image of cx + ay + bz.(For instance, 2 + 3x− 4x2 is f2(−4x+ 2y + 3z).)
The computations for structure preservation for this map are like those inthe prior example. This map preserves addition
f2
((c1x+ c2y + c3z) + (d1x+ d2y + d3z)
)= f2
((c1 + d1)x+ (c2 + d2)y + (c3 + d3)z
)= (c2 + d2) + (c3 + d3)x+ (c1 + d1)x2
= (c2 + c3x+ c1x2) + (d2 + d3x+ d1x
2)= f2(c1x+ c2y + c3z) + f2(d1x+ d2y + d3z)
and scalar multiplication.
f2
(r · (c1x+ c2y + c3z)
)= f2(rc1x+ rc2y + rc3z)
= rc2 + rc3x+ rc1x2
= r · (c2 + c3x+ c1x2)
= r · f2(c1x+ c2y + c3z)
Thus f2 is an isomorphism and we write V ∼= P2.
We are sometimes interested in an isomorphism of a space with itself, calledan automorphism. The identity map is easily seen to be an automorphism. Thenext example shows that there are others.
1.6 Example Consider the space P5 of polynomials of degree 5 or less and themap f that sends a polynomial p(x) to p(x− 1). For instance, under this mapx2 7→ (x−1)2 = x2−2x+1 and x3 +2x 7→ (x−1)3 +2(x−1) = x3−3x2 +5x−3.This map is an automorphism of this space, the check is Exercise 21.
This isomorphism of P5 with itself does more than just tell us that the spaceis “the same” as itself. It gives us some insight into the space’s structure. Forinstance, below is shown a family of parabolas, graphs of members of P5. Eachhas a vertex at y = −1, and the leftmost one has zeroes at −2.25 and −1.75,the next one has zeroes at −1.25 and −0.75, etc.
p0(x) p1(x)
164 Chapter 3. Maps Between Spaces
Geometrically, the substitution of x− 1 for x in any function’s argument shiftsits graph to the right by one. In the case of the above picture, f(p0) = p1, andmore generally, f ’s action is to shift all of the parabolas to the right by one.Observe, though, that the picture before f is applied is the same as the pictureafter f is applied, because while each parabola moves to the right, another onecomes in from the left to take its place. This also holds true for cubics, etc.So the automorphism f gives us the insight that P5 has a certain horizontalhomogeneity—the space looks the same near x = 1 as near x = 0.
1.7 Example A dilation map ds : R2 → R2 that multiplies all vectors by anonzero scalar s is an automorphism of R2.
~u
~v
d1.57−→d1.5(~u)
d1.5(~v)
A rotation or turning map tθ : R2 → R2 that rotates all vectors through an angleθ is an automorphism.
~v
tπ/37−→
tπ/3(~v)
A third type of automorphism of R2 is a map f` : R2 → R2 that flips or reflectsall vectors over a line ` through the origin.
~vf`7−→
f`(~v)
See Exercise 29.
As described in the preamble to this section, we will next produce someresults supporting the contention that the definition of isomorphism above captures our intuition of vector spaces being the same.
Of course the definition itself is persuasive: a vector space consists of twocomponents, a set and some structure, and the definition simply requires thatthe sets correspond and that the structures correspond also. Also persuasive arethe examples above. In particular, Example 1.1, which gives an isomorphismbetween the space of twowide row vectors and the space of twotall columnvectors, dramatizes our intuition that isomorphic spaces are the same in all
Section I. Isomorphisms 165
relevant respects. Sometimes people say, where V ∼= W , that “W is just Vpainted green”—any differences are merely cosmetic.
Further support for the definition, in case it is needed, is provided by thefollowing results that, taken together, suggest that all the things of interestin a vector space correspond under an isomorphism. Since we studied vectorspaces to study linear combinations, “of interest” means “pertaining to linearcombinations”. Not of interest is the way that the vectors are typographicallylaid out (or their color!).
As an example, although the definition of isomorphism doesn’t explicitly saythat the zero vectors must correspond, it is a consequence of that definition.
1.8 Lemma An isomorphism maps a zero vector to a zero vector.
Proof. Where f : V →W is an isomorphism, fix any ~v ∈ V . Then f(~0V ) =f(0 · ~v) = 0 · f(~v) = ~0W . QED
The definition of isomorphism requires that sums of two vectors correspondand that so do scalar multiples. We can extend that to say that all linearcombinations correspond.
1.9 Lemma For any map f : V →W between vector spaces the statements(1) f preserves structure
f(~v1 + ~v2) = f(~v1) + f(~v2) and f(c~v) = c f(~v)
(2) f preserves linear combinations of two vectors
f(c1~v1 + c2~v2) = c1f(~v1) + c2f(~v2)
(3) f preserves linear combinations of any finite number of vectors
f(c1~v1 + · · ·+ cn~vn) = c1f(~v1) + · · ·+ cnf(~vn)
are equivalent.
Proof. Since the implications (3) =⇒ (2) and (2) =⇒ (1) are clear, we needonly show that (1) =⇒ (3). Assume statement (1). We will prove statement (3)by induction on the number of summands n.
The onesummand base case, that f(c~v) = c f(~v), is covered by statement (1).
For the inductive step assume that statement (3) holds whenever there are kor fewer summands, that is, whenever n = 1, or n = 2, . . . , or n = k. Considerthe k + 1summand case. The first half of statement (1) gives
f(c1~v1 + · · ·+ ck~vk + ck+1~vk+1) = f(c1~v1 + · · ·+ ck~vk) + f(ck+1~vk+1)
166 Chapter 3. Maps Between Spaces
by breaking the sum along the final +. Then the inductive hypothesis lets usbreak up the sum of the k things.
= f(c1~v1) + · · ·+ f(ck~vk) + f(ck+1~vk+1)
Finally, the second half of statement (1) gives
= c1 f(~v1) + · · ·+ ck f(~vk) + ck+1 f(~vk+1)
when applied k + 1 times. QED
In addition to adding to the intuition that the definition of isomorphismdoes indeed preserve things of interest in a vector space, that lemma’s seconditem is an especially handy way of checking that a map preserves structure.
We close with a summary. We have defined the isomorphism relation ‘∼=’between vector spaces. We have argued that it is the right way to split thecollection of vector spaces into cases because it preserves the features of interestin a vector space—in particular, it preserves linear combinations. The materialin this section augments the chapter on Vector Spaces. There, after giving thedefinition of a vector space, we informally looked at what different things canhappen. We have now said precisely what we mean by ‘different’, and by ‘thesame’, and so we have precisely classified the vector spaces.
ExercisesX 1.10 Verify, using Example 1.4 as a model, that the two correspondences given
before the definition are isomorphisms.(a) Example 1.1 (b) Example 1.2
X 1.11 For the map f : P1 → R2 given by
a+ bxf7−→(a− bb
)Find the image of each of these elements of the domain.
(a) 3− 2x (b) 2 + 2x (c) xShow that this map is an isomorphism.
1.12 Show that the natural map f1 from Example 1.5 is an isomorphism.
X 1.13 Decide whether each map is an isomorphism (of course, if it is an isomorphismthen prove it and if it isn’t then state a condition that it fails to satisfy).(a) f : M2×2 → R given by (
a bc d
)7→ ad− bc
(b) f : M2×2 → R4 given by(a bc d
)7→
a+ b+ c+ da+ b+ ca+ ba
(c) f : M2×2 → P3 given by(
a bc d
)7→ c+ (d+ c)x+ (b+ a)x2 + ax3
Section I. Isomorphisms 167
(d) f : M2×2 → P3 given by(a bc d
)7→ c+ (d+ c)x+ (b+ a+ 1)x2 + ax3
1.14 Show that the map f : R1 → R1 given by f(x) = x3 is onetoone and onto.Is it an isomorphism?
X 1.15 Refer to Example 1.1. Produce two more isomorphisms (of course, that theysatisfy the conditions in the definition of isomorphism must be verified).
1.16 Refer to Example 1.2. Produce two more isomorphisms (and verify that theysatisfy the conditions).
X 1.17 Show that, although R2 is not itself a subspace of R3, it is isomorphic to thexyplane subspace of R3.
1.18 Find two isomorphisms between R16 and M4×4.
X 1.19 For what k is Mm×n isomorphic to Rk?
1.20 For what k is Pk isomorphic to Rn?
1.21 Prove that the map in Example 1.6, from P5 to P5 given by p(x) 7→ p(x− 1),is a vector space isomorphism.
1.22 Why, in Lemma 1.8, must there be a ~v ∈ V ? That is, why must V benonempty?
1.23 Are any two trivial spaces isomorphic?
1.24 In the proof of Lemma 1.9, what about the zerosummands case (that is, if nis zero)?
1.25 Show that any isomorphism f : P0 → R1 has the form a 7→ ka for some nonzeroreal number k.
X 1.26 These prove that isomorphism is an equivalence relation.(a) Show that the identity map id: V → V is an isomorphism. Thus, any vectorspace is isomorphic to itself.
(b) Show that if f : V →W is an isomorphism then so is its inverse f−1 : W → V .Thus, if V is isomorphic to W then also W is isomorphic to V .
(c) Show that a composition of isomorphisms is an isomorphism: if f : V →W isan isomorphism and g : W → U is an isomorphism then so also is g ◦ f : V → U .Thus, if V is isomorphic to W and W is isomorphic to U , then also V is isomorphic to U .
1.27 Suppose that f : V →W preserves structure. Show that f is onetoone if andonly if the unique member of V mapped by f to ~0W is ~0V .
1.28 Suppose that f : V →W is an isomorphism. Prove that the set {~v1, . . . , ~vk} ⊆V is linearly dependent if and only if the set of images {f(~v1), . . . , f(~vk)} ⊆ W islinearly dependent.
X 1.29 Show that each type of map from Example 1.7 is an automorphism.(a) Dilation ds by a nonzero scalar s.(b) Rotation tθ through an angle θ.(c) Reflection f` over a line through the origin.
Hint. For the second and third items, polar coordinates are useful.
1.30 Produce an automorphism of P2 other than the identity map, and other thana shift map p(x) 7→ p(x− k).
1.31 (a) Show that a function f : R1 → R1 is an automorphism if and only if ithas the form x 7→ kx for some k 6= 0.
(b) Let f be an automorphism of R1 such that f(3) = 7. Find f(−2).
168 Chapter 3. Maps Between Spaces
(c) Show that a function f : R2 → R2 is an automorphism if and only if it hasthe form (
xy
)7→(ax+ bycx+ dy
)for some a, b, c, d ∈ R with ad − bc 6= 0. Hint. Exercises in prior subsectionshave shown that (
bd
)is not a multiple of
(ac
)if and only if ad− bc 6= 0.
(d) Let f be an automorphism of R2 with
f(
(13
)) =
(2−1
)and f(
(14
)) =
(01
).
Find
f(
(0−1
)).
1.32 Refer to Lemma 1.8 and Lemma 1.9. Find two more things preserved byisomorphism.
1.33 We show that isomorphisms can be tailored to fit in that, sometimes, givenvectors in the domain and in the range we can produce an isomorphism associatingthose vectors.(a) Let B = 〈~β1, ~β2, ~β3〉 be a basis for P2 so that any ~p ∈ P2 has a unique
representation as ~p = c1~β1 + c2~β2 + c3~β3, which we denote in this way.
RepB(~p) =
(c1c2c3
)Show that the RepB(·) operation is a function from P2 to R3 (this entails showingthat with every domain vector ~v ∈ P2 there is an associated image vector in R3,and further, that with every domain vector ~v ∈ P2 there is at most one associatedimage vector).
(b) Show that this RepB(·) function is onetoone and onto.(c) Show that it preserves structure.(d) Produce an isomorphism from P2 to R3 that fits these specifications.
x+ x2 7→
(100
)and 1− x 7→
(010
)1.34 Prove that a space is ndimensional if and only if it is isomorphic to Rn.Hint. Fix a basis B for the space and consider the map sending a vector over toits representation with respect to B.
1.35 (Requires the subsection on Combining Subspaces, which is optional.) Let Uand W be vector spaces. Define a new vector space, consisting of the set U ×W ={(~u, ~w)
∣∣ ~u ∈ U and ~w ∈W} along with these operations.
(~u1, ~w1) + (~u2, ~w2) = (~u1 + ~u2, ~w1 + ~w2) and r · (~u, ~w) = (r~u, r ~w)
This is a vector space, the external direct sum of U and W ).(a) Check that it is a vector space.(b) Find a basis for, and the dimension of, the external direct sum P2 × R2.(c) What is the relationship among dim(U), dim(W ), and dim(U ×W )?
Section I. Isomorphisms 169
(d) Suppose that U and W are subspaces of a vector space V such that V =U ⊕W . Show that the map f : U ×W → V given by
(~u, ~w)f7−→ ~u+ ~w
is an isomorphism. Thus if the internal direct sum is defined then the internaland external direct sums are isomorphic.
3.I.2 Dimension Characterizes Isomorphism
In the prior subsection, after stating the definition of an isomorphism, wegave some results supporting the intuition that such a map describes spacesas “the same”. Here we will formalize this intuition. While two spaces thatare isomorphic are not equal, we think of them as almost equal—as equivalent.In this subsection we shall show that the relationship ‘is isomorphic to’ is anequivalence relation.∗
2.1 Theorem Isomorphism is an equivalence relation between vector spaces.
Proof. We must prove that this relation has the three properties of being symmetric, reflexive, and transitive. For each of the three we will use item (2) ofLemma 1.9 and show that the map preserves structure by showing that the itpreserves linear combinations of two members of the domain.
To check reflexivity, that any space is isomorphic to itself, consider the identity map. It is clearly onetoone and onto. The calculation showing that itpreserves linear combinations is easy.
id(c1 · ~v1 + c2 · ~v2) = c1~v1 + c2~v2 = c1 · id(~v1) + c2 · id(~v2)
To check symmetry, that if V is isomorphic to W via some map f : V →Wthen there is an isomorphism going the other way, consider the inverse mapf−1 : W → V . As stated in the appendix, the inverse of the correspondencef is also a correspondence, so we need only check that the inverse preserveslinear combinations. Assume that ~w1 = f(~v1), i.e., that f−1(~w1) = ~v1, and alsoassume that ~w2 = f(~v2).
f−1(c1 · ~w1 + c2 · ~w2) = f−1(c1 · f(~v1) + c2 · f(~v2)
)= f−1( f
(c1~v1 + c2~v2)
)= c1~v1 + c2~v2
= c1 · f−1(~w1) + c2 · f−1(~w2)
Finally, to check transitivity, that if V is isomorphic to W via some map fand if W is isomorphic to U via some map g then also V is isomorphic to U ,consider the composition map g ◦ f : V → U . As stated in the appendix, the∗ More information on equivalence relations is in the appendix.
170 Chapter 3. Maps Between Spaces
composition of two correspondences is a correspondence, so we need only checkthat the composition preserves linear combinations.
g ◦ f(c1 · ~v1 + c2 · ~v2
)= g(f(c1 · ~v1 + c2 · ~v2)
)= g(c1 · f(~v1) + c2 · f(~v2)
)= c1 · g
(f(~v1)) + c2 · g(f(~v2)
)= c1 · g ◦ f (~v1) + c2 · g ◦ f (~v2)
Thus g ◦ f : V → U is an isomorphism. QED
As a consequence of that result, we know that the universe of vector spacesis partitioned into classes: every space is in one and only one isomorphism class.
Finitedimensionalvector spaces:
%$Ã!¿À. . .
.V
W .V ∼= W
The next result gives a simple criteria describing which spaces are in each class.
2.2 Theorem Vector spaces are isomorphic if and only if they have the samedimension.
This theorem follows from the next two lemmas.
2.3 Lemma If spaces are isomorphic then they have the same dimension.
Proof. We shall show that an isomorphism of two spaces gives a correspondencebetween their bases. That is, where f : V →W is an isomorphism and a basisfor the domain V is B = 〈~β1, . . . , ~βn〉, then the image set D = 〈f(~β1), . . . , f(~βn)〉is a basis for the codomain W . (The other half of the correspondence—that forany basis of W the inverse image is a basis for V—follows on recalling that iff is an isomorphism then f−1 is also an isomorphism, and applying the priorsentence to f−1.)
To see that D spans W , fix a ~w ∈W , use the fact that f is onto and so thereis a ~v ∈ V with ~w = f(~v), and expand ~v as a combination of basis vectors.
~w = f(~v) = f(v1~β1 + · · ·+ vn~βn) = v1 · f(~β1) + · · ·+ vn · f(~βn)
For linear independence of D, if
~0W = c1f(~β1) + · · ·+ cnf(~βn) = f(c1~β1 + · · ·+ cn~βn)
then, since f is onetoone and so the only vector sent to ~0W is ~0V , we havethat ~0V = c1~β1 + · · ·+ cn~βn, implying that all the c’s are zero. QED
Section I. Isomorphisms 171
2.4 Lemma If spaces have the same dimension then they are isomorphic.
Proof. To show that any two spaces of dimension n are isomorphic, we cansimply show that any one is isomorphic to Rn. Then we will have shown thatthey are isomorphic to each other, by the transitivity of isomorphism (whichwas established in Theorem 2.1).
Let V be an ndimensional space. Fix a basis B = 〈~β1, . . . , ~βn〉 for thedomain V and consider as a function the representation of the members of thatdomain with respect to the basis.
~v = v1~β1 + · · ·+ vn~βn
RepB7−→
v1
...vn
(This is welldefined since every ~v has one and only one such representation—seeRemark 2.5 below.∗ )
This function is onetoone because if
RepB(u1~β1 + · · ·+ un~βn) = RepB(v1
~β1 + · · ·+ vn~βn)
then u1
...un
=
v1
...vn
and so u1 = v1, . . . , un = vn, and therefore the original arguments u1
~β1 + · · ·+un~βn and v1
~β1 + · · ·+ vn~βn are equal.This function is onto; any ntall vector
~w =
w1
...wn
is the image of some ~v ∈ V , namely ~w = RepB(v1
~β1 + · · ·+ vn~βn).Finally, this function preserves structure.
RepB(r · ~u+ s · ~v) = RepB( (ru1 + sv1)~β1 + · · ·+ (run + svn)~βn )
=
ru1 + sv1
...run + svn
= r ·
u1
...un
+ s ·
v1
...vn
= r · RepB(~u) + s · RepB(~v)
∗ More information on welldefinedness is in the appendix.
172 Chapter 3. Maps Between Spaces
Thus the function is an isomorphism, and we can say that any ndimensionalspace is isomorphic to the ndimensional space Rn. Consequently, as noted atthe start, any two spaces with the same dimension are isomorphic. QED
2.5 Remark The parenthetical comment in that proof about the role playedby the ‘one and only one representation’ result requires some explanation. Weneed to show that each vector in the domain is associated by RepB with oneand only one vector in the codomain.
A contrasting example, where an association doesn’t have this property, isilluminating. Consider this subset of P2, which is not a basis.
A = {1 + 0x+ 0x2, 0 + 1x+ 0x2, 0 + 0x+ 1x2, 1 + 1x+ 2x2}
Call those four polynomials ~α1, . . . , ~α4. If, mimicing above proof, we try towrite the members of P2 as ~p = c1~α1 + c2~α2 + c3~α3 + c4~α4, and associate ~pwith the fourtall vector with components c1, . . . , c4 then there is a problem.For, consider ~p(x) = 1 + x + x2. The set A spans the space P2, so there is atleast one fourtall vector associated with ~p. But A is not linearly independentso vectors do not have unique decompositions. In this case, both
~p(x) = 1~α1 + 1~α2 + 1~α3 + 0~α4 and ~p(x) = 0~α1 + 0~α2 − 1~α3 + 1~α4
and so there is more than one fourtall vector associated with ~p.1110
and
00−11
If we are trying to think of this association as a function then the problem isthat, for instance, with input ~p the association does not have a welldefinedoutput value.
Any map whose definition appears possibly ambiguous must be checked tosee that it is welldefined. For the above proof that check is Exercise 19.
That ends the proof of Theorem 2.2. We say that the isomorphism classesare characterized by dimension because we can describe each class simply bygiving the number that is the dimension of all of the spaces in that class.
This subsection’s results give us a collection of representatives of the isomorphism classes.∗
2.6 Corollary A finitedimensional vector space is isomorphic to one and onlyone of the Rn.
2.7 Remark The proofs above pack many ideas into a small space. Throughthe rest of this chapter we’ll consider these ideas again, and fill them out. For ataste of this, we will close this section by indicating how we can expand on theproof of Lemma 2.4.∗ More information on equivalence class representatives is in the appendix.
Section I. Isomorphisms 173
2.8 Example The spaceM2×2 of 2×2 matrices is isomorphic to R4. With thisbasis for the domain
B = 〈(
1 00 0
),
(0 10 0
),
(0 01 0
),
(0 00 1
)〉
the isomorphism given in the lemma, the representation map, simply carries theentries over.
(a bc d
)f17−→
abcd
One way to understand the map f1 is this: we fix the basis B for the domainand the basis E4 for the codomain, and associate ~β1 with ~e1, and ~β2 with ~e2,etc. We then extend this association to all of the vectors in two spaces.
(a bc d
)= a~β1 + b~β2 + c~β3 + d~β4
f17−→ a~e1 + b~e2 + c~e3 + d~e4 =
abcd
We say that the map has been extended linearly from the bases to the spaces.
We can do the same thing with different bases, for instance, taking this basisfor the domain.
A = 〈(
2 00 0
),
(0 20 0
),
(0 02 0
),
(0 00 2
)〉
Associating corresponding members of A and E4, and extending linearly,(a bc d
)= (a/2)~α1 + (b/2)~α2 + (c/2)~α3 + (d/2)~α4
f27−→ (a/2)~e1 + (b/2)~e2 + (c/2)~e3 + (d/2)~e4 =
a/2b/2c/2d/2
gives rise to an isomorphism that is different than f1.
We can also change the basis for the codomain. Starting with these bases,
B and D = 〈
1000
,
0100
,
0001
,
0010
〉
174 Chapter 3. Maps Between Spaces
associating ~β1 with ~δ1, etc., and then linearly extending that correspondence toall of the two spaces
a~β1 + b~β2 + c~β3 + d~β4 =(a bc d
)f37−→ a~δ1 + b~δ2 + c~δ3 + d~δ4 =
abdc
gives still another isomorphism.
So there is a connection between the maps between spaces and bases forthose spaces. We will explore that connection in later sections.
We now finish this section with a summary.Recall that in the first chapter, we defined two matrices as row equivalent
if they can be derived from each other by elementary row operations (this wasthe meaning of sameness that was of interest there). We showed that is anequivalence relation and so the collection of matrices is partitioned into classes,where all the matrices that are row equivalent fall together into a single class.Then, for insight into which matrices are in each class, we gave representativesfor the classes, the reduced echelon form matrices.
In this section, except that the appropriate notion of sameness here is vectorspace isomorphism, we have followed much the same outline. First we definedisomorphism, saw some examples, and established some basic properties. Thenwe showed that it is an equivalence relation, and now we have a set of classrepresentatives, the real vector spaces R1, R2, etc.
Finitedimensionalvector spaces:
%$Ã!¿À. . ..V
W .
?R0
?R1
?R2
?R4
?R3
One representativeper class
As before, the list of representatives helps us to understand the partition. It issimply a classification of spaces by dimension.
In the second chapter, with the definition of vector spaces, we seemed tohave opened up our studies to many examples of new structures besides thefamiliar Rn’s. We now know that isn’t the case. Any finitedimensional vectorspace is actually “the same” as a real space. We are thus considering exactlythe structures that we need to consider.
In the next section, and in the rest of the chapter, we will fill out the workthat we have done here. In particular, in the next section we will consider mapsthat preserve structure, but are not necessarily correspondences.
ExercisesX 2.9 Decide if the spaces are isomorphic.
Section I. Isomorphisms 175
(a) R2, R4 (b) P5, R5 (c) M2×3, R6 (d) P5, M2×3 (e) M2×k, Ck
X 2.10 Consider the isomorphism RepB(·) : P1 → R2 where B = 〈1, 1 + x〉. Find theimage of each of these elements of the domain.
(a) 3− 2x; (b) 2 + 2x; (c) x
X 2.11 Show that if m 6= n then Rm 6∼= Rn.
X 2.12 Is Mm×n ∼=Mn×m?
X 2.13 Are any two planes through the origin in R3 isomorphic?
2.14 Find a set of equivalence class representatives other than the set of Rn’s.
2.15 True or false: between any ndimensional space and Rn there is exactly oneisomorphism.
2.16 Can a vector space be isomorphic to one of its (proper) subspaces?
X 2.17 This subsection shows that for any isomorphism, the inverse map is also an isomorphism. This subsection also shows that for a fixed basis B of an ndimensionalvector space V , the map RepB : V → Rn is an isomorphism. Find the inverse ofthis map.
X 2.18 Prove these facts about matrices.(a) The row space of a matrix is isomorphic to the column space of its transpose.(b) The row space of a matrix is isomorphic to its column space.
2.19 Show that the function from Theorem 2.2 is welldefined.
2.20 Is the proof of Theorem 2.2 valid when n = 0?
2.21 For each, decide if it is a set of isomorphism class representatives.(a) {Ck
∣∣ k ∈ N} (b) {Pk∣∣ k ∈ {−1, 0, 1, . . . }} (c) {Mm×n
∣∣ m,n ∈ N}2.22 Let f be a correspondence between vector spaces V and W (that is, a mapthat is onetoone and onto). Show that the spaces V and W are isomorphic via fif and only if there are bases B ⊂ V and D ⊂ W such that corresponding vectorshave the same coordinates: RepB(~v) = RepD(f(~v)).
2.23 Consider the isomorphism RepB : P3 → R4.(a) Vectors in a real space are orthogonal if and only if their dot product is zero.Give a definition of orthogonality for polynomials.
(b) The derivative of a member of P3 is in P3. Give a definition of the derivativeof a vector in R4.
X 2.24 Does every correspondence between bases, when extended to the spaces, givean isomorphism?
2.25 (Requires the subsection on Combining Subspaces, which is optional.) Supposethat V = V1⊕V2 and that V is isomorphic to the space U under the map f . Showthat U = f(V1)⊕ f(U2).
2.26 Show that this is not a welldefined function from the rational numbers to theintegers: with each fraction, associate the value of its numerator.
176 Chapter 3. Maps Between Spaces
3.II Homomorphisms
The definition of isomorphism has two conditions. In this section we will consider the second one, that the map must preserve the algebraic structure of thespace. We will focus on this condition by studying maps that are required onlyto preserve structure; that is, maps that are not required to be correspondences.
Experience shows that this kind of map is tremendously useful in the studyof vector spaces. For one thing, as we shall see in the second subsection below,while isomorphisms describe how spaces are the same, these maps describe howspaces can be thought of as alike.
3.II.1 Definition
1.1 Definition A function between vector spaces h : V →W that preservesthe operations of addition
if ~v1, ~v2 ∈ V then h(~v1 + ~v2) = h(~v1) + h(~v2)
and scalar multiplication
if ~v ∈ V and r ∈ R then h(r · ~v) = r · h(~v)
is a homomorphism or linear map.
1.2 Example The projection map π : R3 → R2xyz
π7−→(xy
)
is a homomorphism. It preserves addition
π(
x1
y1
z1
+
x2
y2
z2
) = π(
x1 + x2
y1 + y2
z1 + z2
) =(x1 + x2
y1 + y2
)= π(
x1
y1
z1
) + π(
x2
y2
z2
)
and it preserves scalar multiplication.
π(r ·
x1
y1
z1
) = π(
rx1
ry1
rz1
) =(rx1
ry1
)= r · π(
x1
y1
z1
)
Note that this map is not an isomorphism, since it is not onetoone. Forinstance, both ~0 and ~e3 in R3 are mapped to the zero vector in R2.
1.3 Example The domain and codomain can be other than spaces of columnvectors. Both of these maps are homomorphisms.
Section II. Homomorphisms 177
(1) f1 : P2 → P3 given by
a0 + a1x+ a2x2 7→ a0x+ (a1/2)x2 + (a2/3)x3
(2) f2 : M2×2 → R given by (a bc d
)7→ a+ d
The verifications are straightforward.
1.4 Example Between any two spaces there is a zero homomorphism, sendingevery vector in the domain to the zero vector in the codomain.
1.5 Example These two suggest why the term ‘linear map’ is used.
(1) The map g : R3 → R given byxyz
g7−→ 3x+ 2y − 4.5z
is linear (i.e., is a homomorphism). In contrast, the map g : R3 → R givenby xy
z
g7−→ 3x+ 2y − 4.5z + 1
is not linear; for instance,
g(
000
+
100
) = 4 while g(
000
) + g(
100
) = 5
(to show that a map is not linear we need only produce one example of alinear combination that is not preserved).
(2) The first of these two maps t1, t2 : R3 → R2 is linear while the second isnot. xy
z
t17−→(
5x− 2yx+ y
)and
xyz
t27−→(
5x− 2yxy
)
(Finding an example that the second fails to preserve structure is easy.)
What distinguishes the homomorphisms is that the coordinate functions arelinear combinations of the arguments. See also Exercise 22.
178 Chapter 3. Maps Between Spaces
Obviously, any isomorphism is a homomorphism—an isomorphism is a homomorphism that is also a correspondence. So, one way to think of the ‘homomorphism’ idea is that it is a generalization of ‘isomorphism’, motivated by theobservation that many of the properties of isomorphisms have only to do withthe map respecting structure and not to do with it being a correspondence. Asexamples, these two results from the prior section do not use onetooneness orontoness in their proof, and therefore apply to any homomorphism.
1.6 Lemma A homomorphism sends a zero vector to a zero vector.
1.7 Lemma Each of these is a necessary and sufficient condition for f : V →Wto be a homomorphism.
(1) for any c1, c2 ∈ R and ~v1, ~v2 ∈ V ,
f(c1 · ~v1 + c2 · ~v2) = c1 · f(~v1) + c2 · f(~v2)
(2) for any c1, . . . , cn ∈ R and ~v1, . . . , ~vn ∈ V ,
f(c1 · ~v1 + · · ·+ cn · ~vn) = c1 · f(~v1) + · · ·+ cn · f(~vn)
This lemma simplifies the check that a function is linear since we can combinethe check that addition is preserved with the one that scalar multiplication ispreserved and since we need only check that combinations of two vectors arepreserved.
1.8 Example The map f : R2 → R4 given by
(xy
)f7−→
x/20
x+ y3y
satisfies that check
r1(x1/2) + r2(x2/2)0
r1(x1 + y1) + r2(x2 + y2)r1(3y1) + r2(3y2)
= r1
x1/2
0x1 + y1
3y1
+ r2
x2/2
0x2 + y2
3y2
and so it is a homomorphism.
(Sometimes, such as with Lemma 1.15 below, it is less awkward to check preservation of addition and preservation of scalar multiplication separately, but thisis purely a matter of taste.)
However, some of the results that we have seen for isomorphisms fail to holdfor homomorphisms in general. An isomorphism between spaces gives a correspondence between their bases, but a homomorphisms need not; Example 1.2shows this and another example is the zero map between any two nontrivialspaces. Instead, a weaker but still very useful result holds.
Section II. Homomorphisms 179
1.9 Theorem A homomorphism is determined by its action on a basis. Thatis, if 〈~β1, . . . , ~βn〉 is a basis of a vector space V and ~w1, . . . , ~wn are (perhapsnot distinct) elements of a vector space W then there exists a homomorphismfrom V to W sending ~β1 to ~w1, . . . , and ~βn to ~wn, and that homomorphism isunique.
Proof. We define the map h : V →W by associating ~β1 with ~w1, etc., and thenextending linearly to all of the domain. That is, where ~v = c1~β1 + · · · + cn~βn,let h(~v) be c1 ~w1 + · · ·+ cn ~wn. This is welldefined because, with respect to thebasis, the representation of each domain vector ~v is unique.
This map is a homomorphism since it preserves linear combinations; where~v1 = c1~β1 + · · ·+ cn~βn and ~v2 = d1
~β1 + · · ·+ dn~βn, we have this.
h(r1~v1 + r2~v2) = h((r1c1 + r2d1)~β1 + · · ·+ (r1cn + r2dn)~βn)= (r1c1 + r2d1)~w1 + · · ·+ (r1cn + r2dn)~wn= r1h(~v1) + r2h(~v2)
And, this map is unique since if h : V →W is another homomorphism suchthat h(~βi) = ~wi for each i then h and h agree on all of the vectors in the domain.
h(~v) = h(c1~β1 + · · ·+ cn~βn)
= c1h(~β1) + · · ·+ cnh(~βn)= c1 ~w1 + · · ·+ cn ~wn
= h(~v)
Thus, h and h are the same map. QED
1.10 Example This result says that we can construct homomorphisms by fixing a basis for the domain and specifying where the map sends those basis vectors. For instance, if we specify a map h : R2 → R2 that acts on the standardbasis E2 in this way
h((
10
)) =
(−11
)and h(
(01
)) =
(−44
)then the action of h on any other member of the domain is also specified. Forinstance, the value of h on this argument
h((
3−2
)) = h(3 ·
(10
)− 2 ·
(01
)) = 3 · h(
(10
))− 2 · h(
(01
)) =
(5−5
)is a direct consiquence of the value of h on the basis vectors. (Later in thischapter we shall develop a scheme, using matrices, that is a convienent way todo computations like this one.)
Just as isomorphisms of a space with itself are useful and interesting, so tooare homomorphisms of a space with itself.
180 Chapter 3. Maps Between Spaces
1.11 Definition A linear map from a space into itself t : V → V is a lineartransformation.
In this book we use ‘linear transformation’ only in the case where the codomainequals the domain, but it is also widely used as a general synonym for ‘homomorphism’.
1.12 Example The map on R2 that projects all vectors down to the xaxis(xy
)7→(x0
)is a linear transformation.
1.13 Example The derivative map d/dx : Pn → Pn
a0 + a1x+ · · ·+ anxn d/dx7−→ a1 + 2a2x+ 3a3x
2 + · · ·+ nanxn−1
is a linear transformation by this result from calculus: d(c1f + c2g)/dx =c1 (df/dx) + c2 (dg/dx).
1.14 Example The matrix transpose map(a bc d
)7→(a cb d
)is a linear transformation of M2×2. Note that this transformation is onetooneand onto, and so in fact is an automorphism.
We finish this subsection about maps by recalling that we can linearly combine maps. For instance, for these maps from R2 to itself(
xy
)f7−→(
2x3x− 2y
)and
(xy
)g7−→(
05x
)we can take the linear combination 5f − 2g to get this.(
xy
)5f−2g7−→
(10x
5x− 10y
)1.15 Lemma For vector spaces V and W , the set of linear functions from Vto W is itself a vector space, a subspace of the space of all functions from V toW . It is denoted L(V,W ).
Proof. This set is nonempty because it contains the zero homomorphism. Soto show that it is a subspace we need only check that it is closed under linearcombinations. Let f, g : V →W be linear. Then their sum is linear
(f + g)(c1~v1 + c2~v2) = c1f(~v1) + c2f(~v2) + c1g(~v1) + c2g(~v2)
= c1(f + g
)(~v1) + c2
(f + g
)(~v2)
Section II. Homomorphisms 181
and any scalar multiple is also linear.
(r · f)(c1~v1 + c2~v2) = r(c1f(~v1) + c2f(~v2))= c1(r · f)(~v1) + c2(r · f)(~v2)
Hence L(V,W ) is a subspace. QED
We started this section by isolating the structure preservation property ofisomorphisms. That is, we defined homomorphisms as a generalization of isomorphisms. Some of the properties that we studied for isomorphisms carriedover unchanged, while others were adapted to this more general setting.
It would be a mistake, though, to view this new notion of homomorphism asderived from or somehow secondary to that of isomorphism. In the rest of thischapter we shall work mostly with homomorphisms, partly because any statement made about homomorphisms is automatically true about isomorphisms,but more because, while the isomorphism concept is perhaps more natural, experience shows that the homomorphism concept is actually more fruitful andmore central to further progress.
ExercisesX 1.16 Decide if each h : R3 → R2 is linear.
(a) h(
(xyz
)) =
(x
x+ y + z
)(b) h(
(xyz
)) =
(00
)(c) h(
(xyz
)) =
(11
)
(d) h(
(xyz
)) =
(2x+ y3y − 4z
)X 1.17 Decide if each map h : M2×2 → R is linear.
(a) h(
(a bc d
)) = a+ d
(b) h(
(a bc d
)) = ad− bc
(c) h(
(a bc d
)) = 2a+ 3b+ c− d
(d) h(
(a bc d
)) = a2 + b2
X 1.18 Show that these two maps are homomorphisms.(a) d/dx : P3 → P2 given by a0 + a1x+ a2x
2 + a3x3 maps to a1 + 2a2x+ 3a3x
2
(b)∫
: P2 → P3 given by b0 + b1x+ b2x2 maps to b0x+ (b1/2)x2 + (b2/3)x3
Are these maps inverse to each other?
1.19 Is (perpendicular) projection from R3 to the xzplane a homomorphism? Projection to the yzplane? To the xaxis? The yaxis? The zaxis? Projection to theorigin?
1.20 Show that, while the maps from Example 1.3 preserve linear operations, theyare not isomorphisms.
1.21 Is an identity map a linear transformation?
182 Chapter 3. Maps Between Spaces
X 1.22 Stating that a function is ‘linear’ is different than stating that its graph is aline.(a) The function f1 : R→ R given by f1(x) = 2x− 1 has a graph that is a line.Show that it is not a linear function.
(b) The function f2 : R2 → R given by(xy
)7→ x+ 2y
does not have a graph that is a line. Show that it is a linear function.
X 1.23 Part of the definition of a linear function is that it respects addition. Does alinear function respect subtraction?
1.24 Assume that h is a linear transformation of V and that 〈~β1, . . . , ~βn〉 is a basisof V . Prove each statement.(a) If h(~βi) = ~0 for each basis vector then h is the zero map.
(b) If h(~βi) = ~βi for each basis vector then h is the identity map.
(c) If there is a scalar r such that h(~βi) = r · ~βi for each basis vector thenh(~v) = r · ~v for all vectors in V .
X 1.25 Consider the vector space R+ where vector addition and scalar multiplicationare not the ones inherited from R but rather are these: a + b is the product ofa and b, and r · a is the rth power of a. (This was shown to be a vector spacein an earlier exercise.) Verify that the natural logarithm map ln: R+ → R is ahomomorphism between these two spaces. Is it an isomorphism?
X 1.26 Consider this transformation of R2.(xy
)7→(x/2y/3
)Find the image under this map of this ellipse.
{(xy
) ∣∣ (x2/4) + (y2/9) = 1}
X 1.27 Imagine a rope wound around the earth’s equator so that it fits snugly (suppose that the earth is a sphere). How much extra rope must be added to raise thecircle to a constant six feet off the ground?
X 1.28 Verify that this map h : R3 → R(xyz
)7→
(xyz
) (3−1−1
)= 3x− y − z
is linear. Generalize.
1.29 Show that every homomorphism from R1 to R1 acts via multiplication by ascalar. Conclude that every nontrivial linear transformation of R1 is an isomorphism. Is that true for transformations of R2? Rn?
1.30 (a) Show that for any scalars a1,1, . . . , am,n this map h : Rn → Rm is a homomorphism. x1
...xn
7→ a1,1x1 + · · ·+ a1,nxn
...am,1x1 + · · ·+ am,nxn
Section II. Homomorphisms 183
(b) Show that for each i, the ith derivative operator di/dxi is a linear transformation of Pn. Conclude that for any scalars ck, . . . , c0 this map is a lineartransformation of that space.
f 7→ dk
dxkf + ck−1
dk−1
dxk−1f + · · ·+ c1
d
dxf + c0f
1.31 Lemma 1.15 shows that a sum of linear functions is linear and that a scalarmultiple of a linear function is linear. Show also that a composition of linearfunctions is linear.
X 1.32 Where f : V →W is linear, suppose that f(~v1) = ~w1, . . . , f(~vn) = ~wn forsome vectors ~w1, . . . , ~wn from W .(a) If the set of ~w ’s is independent, must the set of ~v’s also be independent?(b) If the set of ~v ’s is independent, must the set of ~w ’s also be independent?(c) If the set of ~w ’s spans W , must the set of ~v ’s span V ?(d) If the set of ~v ’s spans V , must the set of ~w ’s span W?
1.33 Generalize Example 1.14 by proving that the matrix transpose map is linear.What is the domain and codomain?
1.34 (a) Where ~u,~v ∈ Rn, the line segment connecting them is defined to bethe set ` = {t · ~u+ (1− t) · ~v
∣∣ t ∈ [0..1]}. Show that the image, under a homomorphism h, of the segment between ~u and ~v is the segment between h(~u) andh(~v).
(b) A subset of Rn is convex if, for any two points in that set, the line segmentjoining them lies entirely in that set. (The inside of a sphere is convex while theskin of a sphere is not.) Prove that linear maps from Rn to Rm preserve theproperty of set convexity.
X 1.35 Let h : Rn → Rm be a homomorphism.(a) Show that the image under h of a line in Rn is a (possibly degenerate) linein Rn.
(b) What happens to a kdimensional linear surface?
1.36 Prove that the restriction of a homomorphism to a subspace of its domain isanother homomorphism.
1.37 Assume that h : V →W is linear.(a) Show that the rangespace of this map {h(~v)
∣∣ ~v ∈ V } is a subspace of thecodomain W .
(b) Show that the nullspace of this map {~v ∈ V∣∣ h(~v) = ~0W } is a subspace of
the domain V .(c) Show that if U is a subspace of the domain V then its image {h(~u)
∣∣ ~u ∈ U}is a subspace of the codomain W . This generalizes the first item.
(d) Generalize the second item.
1.38 Consider the set of isomorphisms from a vector space to itself. Is this asubspace of the space L(V, V ) of homomorphisms from the space to itself?
1.39 Does Theorem 1.9 need that 〈~β1, . . . , ~βn〉 is a basis? That is, can we still geta welldefined and unique homomorphism if we drop either the condition that theset of ~β’s be linearly independent, or the condition that it span the domain?
1.40 Let V be a vector space and assume that the maps f1, f2 : V → R1 are linear.(a) Define a map F : V → R2 whose component functions are the given linearones.
~v 7→(f1(~v)f2(~v)
)
184 Chapter 3. Maps Between Spaces
Show that F is linear.(b) Does the converse hold—is any linear map from V to R2 made up of twolinear component maps to R1?
(c) Generalize.
3.II.2 Rangespace and Nullspace
The difference between homomorphisms and isomorphisms is that while bothkinds of map preserve structure, homomorphisms needn’t be onto and needn’tbe onetoone. Put another way, homomorphisms are a more general kind ofmap; they are subject to fewer conditions than isomorphisms. In this subsection,we will look at what can happen with homomorphisms that the extra conditionsrule out happening with isomorphisms.
We first consider the effect of dropping the onto requirement. Of course,any function is onto some set, its range. The next result says that when thefunction is a homomorphism, then this set is a vector space.
2.1 Lemma Under a homomorphism, the image of any subspace of the domainis a subspace of the codomain. In particular, the image of the entire space, therange of the homomorphism, is a subspace of the codomain.
Proof. Let h : V →W be linear and let S be a subspace of the domain V .The image h(S) is nonempty because S is nonempty. Thus, to show that h(S)is a subspace of the codomain W , we need only show that it is closed underlinear combinations of two vectors. If h(~s1) and h(~s2) are members of h(S) thenc1 ·h(~s1) + c2 ·h(~s2) = h(c1 ·~s1) +h(c2 ·~s2) = h(c1 ·~s1 + c2 ·~s2) is also a memberof h(S) because it is the image of c1 · ~s1 + c2 · ~s2 from S. QED
2.2 Definition The rangespace of h : V →W is
R(h) = {h(~v)∣∣ ~v ∈ V }
sometimes denoted h(V ). The dimension of the rangespace is the map’s rank .
(We shall soon see the connection between the rank of a map and the rank of amatrix.)
2.3 Example Recall that the derivative map d/dx : P3 → P3 given by a0 +a1x + a2x
2 + a3x3 7→ a1 + 2a2x + 3a3x
2 is linear. The rangespace R(d/dx) isthe set of quadratic polynomials {r + sx+ tx2
∣∣ r, s, t ∈ R}. Thus, the rank ofthis map is three.
2.4 Example With this homomorphism h : M2×2 → P3(a bc d
)7→ (a+ b+ 2d) + 0x+ cx2 + cx3
Section II. Homomorphisms 185
an image vector in the range can have any constant term, must have an xcoefficient of zero, and must have the same coefficient of x2 as of x3. That is,the rangespace is R(h) = {r + 0x+ sx2 + sx3
∣∣ r, s ∈ R} and so the rank is two.
The prior result shows that, in passing from the definition of isomorphism tothe more general definition of homomorphism, omitting the ‘onto’ requirementdoesn’t make an essential difference. Any homomorphism is onto its rangespace.
However, omitting the ‘onetoone’ condition does make a difference. Ahomomorphism may have many elements of the domain map to a single elementin the range. The general picture is below. There is a homomorphism and itsdomain, codomain, and range. The homomorphism is manytoone, and twoelements of the range are shown that are each the image of more than onemember of the domain.
domain V
.
.
codomain W
}R(h)
(Recall that for a map h : V →W , the set of elements of the domain that aremapped to ~w in the codomain {~v ∈ V
∣∣ h(~v) = ~w} is the inverse image of ~w. Itis denoted h−1(~w); this notation is used even if h has no inverse function, thatis, even if h is not onetoone.)
2.5 Example Consider the projection π : R3 → R2xyz
π7−→(xy
)
which is a homomorphism but is not onetoone. Picturing R2 as the xyplaneinside of R3 allows us to see π(~v) as the “shadow” of ~v in the plane. In theseterms, the preservation of addition property says that
~v1 above (x1, y1) plus ~v2 above (x2, y2) equals ~v1 + ~v2 above (x1 + x2, y1 + y2).
Briefly, the shadow of a sum equals the sum of the shadows. (Preservation ofscalar multiplication has a similar interpretation.)
186 Chapter 3. Maps Between Spaces
This description of the projection in terms of shadows is is memorable, butstrictly speaking, R2 isn’t equal to the xyplane inside of R3 (it is composed oftwotall vectors, not threetall vectors). Separating the two spaces by slidingR2 over to the right gives an instance of the general diagram above.
~w1
~w2
~w1 + ~w2
The vectors that map to ~w1 on the right have endpoints that lie in a verticalline on the left. One such vector is shown, in gray. Call any such memberof the inverse image of ~w1 a “~w1 vector”. Similarly, there is a vertical line of“~w2 vectors”, and a vertical line of “~w1 + ~w2 vectors”.
We are interested in π because it is a homomorphism. In terms of thepicture, this means that the classes add; any ~w1 vector plus any ~w2 vectorequals a ~w1 + ~w2 vector, simply because if π(~v1) = ~w1 and π(~v2) = ~w2 thenπ(~v1 + ~v2) = π(~v1) + π(~v2) = ~w1 + ~w2. (A similar statement holds about theclasses under scalar multiplication.) Thus, although the two spaces R3 and R2
are not isomorphic, π describes a way in which they are alike: vectors in R3 addlike the associated vectors in R2—vectors add as their shadows add.
2.6 Example A homomorphism can be used to express an analogy betweenspaces that is more subtle than the prior one. For instance, this map from R2
to R1 is a homomorphism. (xy
)h7−→ x+ y
Fix two numbers a and b in the range R. Then the preservation of additioncondition says this for two vectors ~u and ~v from the domain.
if h((u1
u2
)) = a and h(
(v1
v2
)) = b then h(
(u1 + v1
u2 + v2
)) = a+ b
As in the prior example, we illustrate by showing the class of vectors in thedomain that map to a, the class of vectors that map to b, and the class ofvectors that map to a + b. Vectors that map to a have components that addto a, so a vector is in the inverse image h−1(a) if its endpoint lies on the linex+y = a. We can call these the “a vectors”. Similarly, we have the “b vectors”,etc. Now the addition preservation statement becomes this.
Section II. Homomorphisms 187
(u1, u2)(v1, v2)
(u1 + v1, u2 + v2)
an a vector plus a b vector equals an a+ b vector
Restated, if an a vector is added to a b vector then the result is mapped by h tothe real number a+b. Briefly, the image of a sum is the sum of the images. Evenmore briefly, h(~u+ ~v) = h(~u) + h(~v). (The preservation of scalar multiplicationcondition has a similar restatement.)
2.7 Example Inverse images can be structures other than lines. For the linearmap h : R3 → R2 xy
z
7→ (xx
)the inverse image sets are planes perpendicular to the xaxis.
2.8 Remark We won’t describe how every homomorphism that we will use inthis book is an analogy, both because the formal sense we make of “alike in thisway . . . ” is ‘a homomorphism exists such that . . . ’, and because many vectorspaces are hard to draw (e.g., a space of polynomials). Nonetheless, the ideathat a homomorphism between two spaces expresses how the domain’s vectorsfall into classes that act like the the range’s vectors, is a good way to viewhomomorphisms.
We derive two insights from examples 2.5, 2.6, and 2.7.First, in all three, each inverse image shown is a linear surface. In particular,
the inverse image of the range’s zero vector is a line or plane through the origin—a subspace of the domain. The next result shows that this insight extends toany vector space, not just spaces of column vectors (which are the only spaceswhere the term ‘linear surface’ is defined).
2.9 Lemma For any homomorphism, the inverse image of a subspace of therange is a subspace of the domain. In particular, the inverse image of the trivialsubspace of the range is a subspace of the domain.
Proof. Let h : V →W be a homomorphism and let S be a subspace of therange of h. Consider {~v ∈ V
∣∣ h(~v) ∈ S}, the inverse image of S. It is nonempty
188 Chapter 3. Maps Between Spaces
because it contains ~0V , as S contains ~0W . To show that it is closed undercombinations, let ~v1 and ~v2 be elements of the inverse image, so that h(~v1) andh(~v2) are members of S. Then c1~v1 + c2~v2 is also in the inverse image becauseunder h it is sent h(c1~v1 +c2~v2) = c1h(~v1)+c2h(~v2) to a member of the subspaceS. QED
2.10 Definition The nullspace or kernel of a linear map h : V →W is
N (h) = {~v ∈ V∣∣ h(~v) = ~0W } = h−1(~0W ).
The dimension of the nullspace is the map’s nullity.
2.11 Example The map from Example 2.3 has this nullspace N (d/dx) ={a0 + 0x+ 0x2 + 0x3
∣∣ a0 ∈ R}.
2.12 Example The map from Example 2.4 has this nullspace.
N (h) = {(a b0 −(a+ b)/2
) ∣∣ a, b ∈ R}Now for the second insight from the above pictures. In Example 2.5, each
of the vertical lines is squashed down to a single point—π, in passing from thedomain to the range, takes all of these onedimensional vertical lines and “zeroesthem out”, leaving the range one dimension smaller than the domain. Similarly,in Example 2.6, the twodimensional domain is mapped to a onedimensionalrange by breaking the domain into lines (here, they are diagonal lines), andcompressing each of those lines to a single member of the range. Finally, inExample 2.7, the domain breaks into planes which get “zeroed out”, and so themap starts with a threedimensional domain but ends with a onedimensionalrange—this map “subtracts” two from the dimension. (Notice that, in thisthird example, the codomain is twodimensional but the range of the map isonly onedimensional, and it is the dimension of the range that is of interest.)
2.13 Theorem A linear map’s rank plus its nullity equals the dimension of itsdomain.
Proof. Let h : V →W be linear and let BN = 〈~β1, . . . , ~βk〉 be a basis forthe nullspace. Extend that to a basis BV = 〈~β1, . . . , ~βk, ~βk+1, . . . , ~βn〉 for theentire domain. We shall show that BR = 〈h(~βk+1), . . . , h(~βn)〉 is a basis for therangespace. Then counting the size of these bases gives the result.
To see that BR is linearly independent, consider the equation ck+1h(~βk+1)+· · · + cnh(~βn) = ~0W . This gives that h(ck+1
~βk+1 + · · · + cn~βn) = ~0W and sock+1
~βk+1 +· · ·+cn~βn is in the nullspace of h. As BN is a basis for this nullspace,there are scalars c1, . . . , ck ∈ R satisfying this relationship.
c1~β1 + · · ·+ ck~βk = ck+1~βk+1 + · · ·+ cn~βn
But BV is a basis for V so each scalar equals zero. Therefore BR is linearlyindependent.
Section II. Homomorphisms 189
To show that BR spans the rangespace, consider h(~v) ∈ R(h) and write ~vas a linear combination ~v = c1~β1 + · · · + cn~βn of members of BV . This givesh(~v) = h(c1~β1+· · ·+cn~βn) = c1h(~β1)+· · ·+ckh(~βk)+ck+1h(~βk+1)+· · ·+cnh(~βn)and since ~β1, . . . , ~βk are in the nullspace, we have that h(~v) = ~0 + · · · + ~0 +ck+1h(~βk+1) + · · ·+ cnh(~βn). Thus, h(~v) is a linear combination of members ofBR, and so BR spans the space. QED
2.14 Example Where h : R3 → R4 is
xyz
h7−→
x0y0
we have that the rangespace and nullspace are
R(h) = {
a0b0
∣∣ a, b ∈ R} and N (h) = {
00z
∣∣ z ∈ R}and so the rank of h is two while the nullity is one.
2.15 Example If t : R→ R is the linear transformation x 7→ −4x, then therange is R(t) = R1, and so the rank of t is one and the nullity is zero.
2.16 Corollary The rank of a linear map is less than or equal to the dimensionof the domain. Equality holds if and only if the nullity of the map is zero.
We know that there an isomorphism exists between two spaces if and onlyif their dimensions are equal. Here we see that for a homomorphism to exist,the dimension of the range must be less than or equal to the dimension of thedomain. For instance, there is no homomorphism from R2 onto R3—there aremany homomorphisms from R2 into R3, but none has a range that is all ofthreespace.
The rangespace of a linear map can be of dimension strictly less than thedimension of the domain (an example is that the derivative transformation onP3 has a domain of dimension four but a range of dimension three). Thus, undera homomorphism, linearly independent sets in the domain may map to linearlydependent sets in the range (for instance, the derivative sends {1, x, x2, x3} to{0, 1, 2x, 3x2}). That is, under a homomorphism, independence may be lost. Incontrast, dependence is preserved.
2.17 Lemma Under a linear map, the image of a linearly dependent set islinearly dependent.
Proof. Suppose that c1~v1 + · · · + cn~vn = ~0V , with some ci nonzero. Then,because h(c1~v1 + · · ·+cn~vn) = c1h(~v1)+ · · ·+cnh(~vn) and because h(~0V ) = ~0W ,we have that c1h(~v1) + · · ·+ cnh(~vn) = ~0W with some nonzero ci. QED
190 Chapter 3. Maps Between Spaces
When is independence not lost? One obvious sufficient condition is whenthe homomorphism is an isomorphism (this condition is also necessary; seeExercise 34.) We finish our comparison of homomorphisms and isomorphisms byobserving that a onetoone homomorphism is an isomorphism from its domainonto its range.
2.18 Definition A linear map that is onetoone is nonsingular.
(In the next section we will see the connection between this use of ‘nonsingular’for maps and its familiar use for matrices.)
2.19 Example This nonsingular homomorphism ι : R2 → R3
(xy
)ι7−→
xy0
gives the obvious correspondence between R2 and the xyplane inside of R3.
We will close this section by adapting some results about isomorphisms tothis setting.
2.20 Theorem In an ndimensional vector space V , then these(1) h is nonsingular, that is, onetoone(2) h has a linear inverse(3) N (h) = {~0 }, that is, nullity(h) = 0(4) rank(h) = n
(5) if 〈~β1, . . . , ~βn〉 is a basis for V then 〈h(~β1), . . . , h(~βn)〉 is a basis for R(h)are equivalent statements about a linear map h : V →W .
Proof. We will first show that (1) ⇐⇒ (2). We will then show that (1) =⇒(3) =⇒ (4) =⇒ (5) =⇒ (2).
For (1) =⇒ (2), suppose that the linear map h is onetoone, and so has aninverse. The domain of that inverse is the range of h and so a linear combination of two members of that domain has the form c1h(~v1) + c2h(~v2). On thatcombination, the inverse h−1 gives this.
h−1(c1h(~v1) + c2h(~v2)) = h−1(h(c1~v1 + c2~v2))
= h−1 ◦ h (c1~v1 + c2~v2)= c1~v1 + c2~v2
= c1h−1 ◦ h (~v1)c2h−1 ◦ h (~v2)
= c1 · h−1(h(~v1)) + c2 · h−1(h(~v2))
Thus the inverse of a onetoone linear map is automatically linear. But this alsogives the (1) =⇒ (2) implication, because the inverse itself must be onetoone.
Of the remaining implications, (1) =⇒ (3) holds because any homomorphism maps ~0V to ~0W , but a onetoone map sends at most one member of Vto ~0W .
Section II. Homomorphisms 191
Next, (3) =⇒ (4) is true since rank plus nullity equals the dimension of thedomain.
For (4) =⇒ (5), to show that 〈h(~β1), . . . , h(~βn)〉 is a basis for the rangespacewe need only show that it is a spanning set, because by assumption the rangehas dimension n. Consider h(~v) ∈ R(h). Expressing ~v as a linear combinationof basis elements produces h(~v) = h(c1~β1 + c2~β2 + · · ·+ cn~βn), which gives thath(~v) = c1h(~β1) + · · ·+ cnh(~βn), as desired.
Finally, for the (5) =⇒ (2) implication, assume that 〈~β1, . . . , ~βn〉 is a basisfor V so that 〈h(~β1), . . . , h(~βn)〉 is a basis for R(h). Then every ~w ∈ R(h) a theunique representation ~w = c1h(~β1) + · · ·+ cnh(~βn). Define a map from R(h) toV by
~w 7→ c1~β1 + c2~β2 + · · ·+ cn~βn
(uniqueness of the representation makes this welldefined). Checking that it islinear and that it is the inverse of h are easy. QED
We’ve now seen that a linear map shows how the structure of the domain islike that of the range. Such a map can be thought to organize the domain spaceinto inverse images of points in the range. In the special case that the map isonetoone, each inverse image is a single point and the map is an isomorphismbetween the domain and the range.
Exercises
X 2.21 Let h : P3 → P4 be given by p(x) 7→ x · p(x). Which of these are in thenullspace? Which are in the rangespace?
(a) x3 (b) 0 (c) 7 (d) 12x− 0.5x3 (e) 1 + 3x2 − x3
X 2.22 Find the nullspace, nullity, rangespace, and rank of each map.(a) h : R2 → P3 given by (
ab
)7→ a+ ax+ ax2
(b) h : M2×2 → R given by (a bc d
)7→ a+ d
(c) h : M2×2 → P2 given by(a bc d
)7→ a+ b+ c+ dx2
(d) the zero map Z : R3 → R4
X 2.23 Find the nullity of each map.
192 Chapter 3. Maps Between Spaces
(a) h : R5 → R8 of rank five (b) h : P3 → P3 of rank one(c) h : R6 → R3, an onto map (d) h : M3×3 →M3×3, onto
X 2.24 What is the nullspace of the differentiation transformation d/dx : Pn → Pn?What is the nullspace of the second derivative, as a transformation of Pn? Thekth derivative?
2.25 Example 2.5 restates the first condition in the definition of homomorphism as‘the shadow of a sum is the sum of the shadows’. Restate the second condition inthe same style.
2.26 For the homomorphism h : P3 → P3 given by h(a0 + a1x + a2x2 + a3x
3) =a0 + (a0 + a1)x+ (a2 + a3)x3 find these.
(a) N (h) (b) h−1(2− x3) (c) h−1(1 + x2)
X 2.27 For the map f : R2 → R given by
f(
(xy
)) = 2x+ y
sketch these inverse image sets: f−1(−3), f−1(0), and f−1(1).
X 2.28 Each of these transformations of P3 is nonsingular. Find the inverse functionof each.(a) a0 + a1x+ a2x
2 + a3x3 7→ a0 + a1x+ 2a2x
2 + 3a3x3
(b) a0 + a1x+ a2x2 + a3x
3 7→ a0 + a2x+ a1x2 + a3x
3
(c) a0 + a1x+ a2x2 + a3x
3 7→ a1 + a2x+ a3x2 + a0x
3
(d) a0+a1x+a2x2+a3x
3 7→ a0+(a0+a1)x+(a0+a1+a2)x2+(a0+a1+a2+a3)x3
2.29 Describe the nullspace and rangespace of a transformation given by ~v 7→ 2~v.
2.30 List all pairs (rank(h), nullity(h)) that are possible for linear maps from R5
to R3.
2.31 Does the differentiation map d/dx : Pn → Pn have an inverse?
X 2.32 Find the nullity of the map h : Pn → R given by
a0 + a1x+ · · ·+ anxn 7→
∫ x=1
x=0
a0 + a1x+ · · ·+ anxn dx.
2.33 (a) Prove that a homomorphism is onto if and only if its rank equals thedimension of its codomain.
(b) Conclude that a homomorphism between vector spaces with the same dimension is onetoone if and only if it is onto.
2.34 Show that a linear map is nonsingular if and only if it preserves linear independence.
2.35 Corollary 2.16 says that for there to be an onto homomorphism from a vectorspace V to a vector space W , it is necessary that the dimension of W be lessthan or equal to the dimension of V . Prove that this condition is also sufficient;use Theorem 1.9 to show that if the dimension of W is less than or equal to thedimension of V , then there is a homomorphism from V to W that is onto.
2.36 Let h : V → R be a homomorphism, but not the zero homomorphism. Provethat if 〈~β1, . . . , ~βn〉 is a basis for the nullspace and if ~v ∈ V is not in the nullspace
then 〈~v, ~β1, . . . , ~βn〉 is a basis for the entire domain V .
X 2.37 Recall that the nullspace is a subset of the domain and the rangespace is asubset of the codomain. Are they necessarily distinct? Is there a homomorphismthat has a nontrivial intersection of its nullspace and its rangespace?
Section II. Homomorphisms 193
2.38 Prove that the image of a span equals the span of the images. That is, whereh : V →W is linear, prove that if S is a subset of V then h([S]) equals [h(S)]. Thisgeneralizes Lemma 2.1 since it shows that if U is any subspace of V then its image{h(~u)
∣∣ ~u ∈ U} is a subspace of W , because the span of the set U is U .
X 2.39 (a) Prove that for any linear map h : V →W and any ~w ∈ W , the seth−1(~w) has the form
{~v + ~n∣∣ ~n ∈ N (h)}
for ~v ∈ V with h(~v) = ~w (if h is not onto then this set may be empty). Such aset is a coset of N (h) and is denoted ~v + N (h).
(b) Consider the map t : R2 → R2 given by(xy
)t7−→(ax+ bycx+ dy
)for some scalars a, b, c, and d. Prove that t is linear.
(c) Conclude from the prior two items that for any linear system of the form
ax+ by = ecx+ dy = f
the solution set can be written (the vectors are members of R2)
{~p+ ~h∣∣ ~h satisfies the associated homogeneous system}
where ~p is a particular solution of that linear system (if there is no particularsolution then the above set is empty).
(d) Show that this map h : Rn → Rm is linearx1
...xn
7→ a1,1x1 + · · ·+ a1,nxn
...am,1x1 + · · ·+ am,nxn
for any scalars a1,1, . . . , am,n. Extend the conclusion made in the prior item.
(e) Show that the kth derivative map is a linear transformation of Pn for eachk. Prove that this map is a linear transformation of that space
f 7→ dk
dxkf + ck−1
dk−1
dxk−1f + · · ·+ c1
d
dxf + c0f
for any scalars ck, . . . , c0. Draw a conclusion as above.
2.40 Prove that for any transformation t : V → V that is rank one, the map givenby composing the operator with itself t ◦ t : V → V satisfies t ◦ t = r · t for somereal number r.
2.41 Show that for any space V of dimension n, the dual space
L(V,R) = {h : V → R∣∣ h is linear}
is isomorphic to Rn. It is often denoted V ∗. Conclude that V ∗ ∼= V .
2.42 Show that any linear map is the sum of maps of rank one.
2.43 Is ‘is homomorphic to’ an equivalence relation? (Hint: the difficulty is todecide on an appropriate meaning for the quoted phrase.)
2.44 Show that the rangespaces and nullspaces of powers of linear maps t : V → Vform descending
V ⊇ R(t) ⊇ R(t2) ⊇ . . .and ascending
{~0} ⊆ N (t) ⊆ N (t2) ⊆ . . .chains. Also show that if k is such that R(tk) = R(tk+1) then all followingrangespaces are equal: R(tk) = R(tk+1) = R(tk+2) . . . . Similarly, if N (tk) =N (tk+1) then N (tk) = N (tk+1) = N (tk+2) = . . . .
194 Chapter 3. Maps Between Spaces
3.III Computing Linear Maps
The prior section shows that a linear map is determined by its action on a basis.In fact, the equation
h(~v) = h(c1 · ~β1 + · · ·+ cn · ~βn) = c1 · h(~β1) + · · ·+ cn · h(~βn)
shows that, if we know the value of the map on the vectors in a basis, then wecan compute the value of the map on any vector ~v at all just by finding the c’sto express ~v with respect to the basis.
This section gives the scheme that computes, from the representation of avector in the domain RepB(~v), the representation of that vector’s image in thecodomain RepD(h(~v)), using the representations of h(~β1), . . . , h(~βn).
3.III.1 Representing Linear Maps with Matrices
1.1 Example Consider a map h with domain R2 and codomain R3 (fixing
B = 〈(
20
),
(14
)〉 and D = 〈
100
,
0−20
,
101
〉as the bases for these spaces) that is determined by this action on the vectorsin the domain’s basis.
(20
)h7−→
111
(14
)h7−→
120
To compute the action of this map on any vector at all from the domain, wefirst express h(~β1) and h(~β2) with respect to the codomain’s basis:1
11
= 0
100
− 12
0−20
+ 1
101
so RepD(h(~β1)) =
0−1/2
1
D
and 120
= 1
100
− 1
0−20
+ 0
101
so RepD(h(~β2)) =
1−10
D
Section III. Computing Linear Maps 195
(these are easy to check). Then, as described in the preamble, for any member~v of the domain, we can express the image h(~v) in terms of the h(~β)’s.
h(~v) = h(c1 ·(
20
)+ c2 ·
(14
))
= c1 · h((
20
)) + c2 · h(
(14
))
= c1 · (0
100
− 12
0−20
+ 1
101
) + c2 · (1
100
− 1
0−20
+ 0
101
)
= (0c1 + 1c2) ·
100
+ (−12c1 − 1c2) ·
0−20
+ (1c1 + 0c2) ·
101
Thus,
with RepB(~v) =(c1c2
)then RepD(h(~v) ) =
0c1 + 1c2−(1/2)c1 − 1c2
1c1 + 0c2
.
For instance,
with RepB((
48
)) =
(12
)B
then RepD(h((
48
)) ) =
2−5/2
1
.
This is a formula that computes how h acts on any argument.
We will express computations like the one above with a matrix notation. 0 1−1/2 −1
1 0
B,D
(c1c2
)B
=
0c1 + 1c2(−1/2)c1 − 1c2
1c1 + 0c2
D
In the middle is the argument ~v to the map, represented with respect to thedomain’s basis B by a column vector with components c1 and c2. On the rightis the value h(~v) of the map on that argument, represented with respect to thecodomain’s basis D by a column vector with components 0c1 + 1c2, etc. Thematrix on the left is the new thing. It consists of the coefficients from the vectoron the right, 0 and 1 from the first row, −1/2 and −1 from the second row, and1 and 0 from the third row.
This notation simply breaks the parts from the right, the coefficients and thec’s, out separately on the left, into a vector that represents the map’s argumentand a matrix that we will take to represent the map itself.
196 Chapter 3. Maps Between Spaces
1.2 Definition Suppose that V and W are vector spaces of dimensions n andm with bases B and D, and that h : V →W is a linear map. If
RepD(h(~β1)) =
h1,1
h2,1
...hm,1
D
, . . . ,RepD(h(~βn)) =
h1,n
h2,n
...hm,n
D
then
RepB,D(h) =
h1,1 h1,2 . . . h1,n
h2,1 h2,2 . . . h2,n
...hm,1 hm,2 . . . hm,n
B,D
is the matrix representation of h with respect to B,D.
Briefly, the vectors representing the h(~β)’s are adjoined to make the matrixrepresenting the map.
RepB,D(h) =
...
...RepD(h(~β1) ) · · · RepD(h(~βn) )
......
Observe that the number of columns of the matrix is the dimension of thedomain of the map, and the number of rows is the dimension of the codomain.
1.3 Example If h : R3 → P1 is given bya1
a2
a3
h7−→ (2a1 + a2) + (−a3)x
then where
B = 〈
001
,
020
,
200
〉 and D = 〈1 + x,−1 + x〉
the action of h on B is given by001
h7−→ −x
020
h7−→ 2
200
h7−→ 4
and a simple calculation gives
RepD(−x) =(−1/2−1/2
)D
RepD(2) =(
1−1
)D
RepD(4) =(
2−2
)D
Section III. Computing Linear Maps 197
showing that this is the matrix representing h with respect to the bases.
RepB,D(h) =(−1/2 1 2−1/2 −1 −2
)B,D
We will use lower case letters for a map, upper case for the matrix, andlower case again for the entries of the matrix. Thus for the map h, the matrixrepresenting it is H, with entries hi,j .
1.4 Theorem Assume that V and W are vector spaces of dimensions m andn with bases B and D, and that h : V →W is a linear map. If h is representedby
RepB,D(h) =
h1,1 h1,2 . . . h1,n
h2,1 h2,2 . . . h2,n
...hm,1 hm,2 . . . hm,n
B,D
and ~v ∈ V is represented by
RepB(~v) =
c1c2...cn
B
then the representation of the image of ~v is this.
RepD(h(~v) ) =
h1,1c1 + h1,2c2 + · · ·+ h1,ncnh2,1c1 + h2,2c2 + · · ·+ h2,ncn
...hm,1c1 + hm,2c2 + · · ·+ hm,ncn
D
Proof. Exercise 28. QED
We will think of the matrix RepB,D(h) and the vector RepB(~v) as combiningto make the vector RepD(h(~v)).
1.5 Definition The matrixvector product of a m×n matrix and a n×1 vectoris this.
a1,1 a1,2 . . . a1,n
a2,1 a2,2 . . . a2,n
...am,1 am,2 . . . am,n
c1...cn
=
a1,1c1 + a1,2c2 + · · ·+ a1,ncna2,1c1 + a2,2c2 + · · ·+ a2,ncn
...am,1c1 + am,2c2 + · · ·+ am,ncn
198 Chapter 3. Maps Between Spaces
The point of Definition 1.2 is to generalize Example 1.1, that is, the pointof the definition is Theorem 1.4, that the matrix describes how to get fromthe representation of a domain vector with respect to the domain’s basis tothe representation of its image in the codomain with respect to the codomain’sbasis. With Definition 1.5, we can restate this as: application of a linear map isrepresented by the matrixvector product of the map’s representative and thevector’s representative.
1.6 Example With the matrix from Example 1.3 we can calculate where thatmap sends this vector.
~v =
410
This vector is represented, with respect to the domain basis B, by
RepB(~v) =
01/22
B
and so this is the representation of the value h(~v) with respect to the codomainbasis D.
RepD(h(~v)) =(−1/2 1 2−1/2 −1 −2
)B,D
01/22
B
=(
(−1/2) · 0 + 1 · (1/2) + 2 · 2(−1/2) · 0− 1 · (1/2)− 2 · 2
)D
=(
9/2−9/2
)D
To find h(~v) itself, not its representation, take (9/2)(1+x)− (9/2)(−1+x) = 9.
1.7 Example Let π : R3 → R2 be projection onto the xyplane. To give amatrix representing this map, we first fix bases.
B = 〈
100
,
110
,
−101
〉 D = 〈(
21
),
(11
)〉
For each vector in the domain’s basis, we find its image under the map.100
π7−→(
10
) 110
π7−→(
11
) −101
π7−→(−10
)Then we find the representation of each image with respect to the codomain’sbasis
RepD((
10
)) =
(1−1
)RepD(
(11
)) =
(01
)RepD(
(−10
)) =
(−11
)
Section III. Computing Linear Maps 199
(these are easily checked). Finally, adjoining these representations gives thematrix representing π with respect to B,D.
RepB,D(π) =(
1 0 −1−1 1 1
)B,D
We can illustrate Theorem 1.4 by computing the matrixvector product representing the following statement about the projection map.
π(
221
) =(
22
)
Representing this vector from the domain with respect to the domain’s basis
RepB(
221
) =
121
B
gives this matrixvector product.
RepD(π(
211
) ) =(
1 0 −1−1 1 1
)B,D
121
B
=(
02
)D
Expanding this representation into a linear combination of vectors from D
0 ·(
21
)+ 2 ·
(11
)=(
22
)checks that the map’s action is indeed reflected in the operation of the matrix.(We will sometimes compress these three displayed equations into one2
21
=
121
B
h7−→H
(02
)D
=(
22
)
in the course of a calculation.)
We now have two ways to compute the effect of projection, the straightforward formula that drops each threetall vector’s third component to makea twotall vector, and the above formula that uses representations and matrixvector multiplication. Compared to the first way, the second way might seemcomplicated. However, it has advantages. The next example shows that givinga formula for some maps is simplified by this new scheme.
1.8 Example To represent a rotation map tθ : R2 → R2 that turns all vectorsin the plane counterclockwise through an angle θ
200 Chapter 3. Maps Between Spaces
~v
tθ7−→
tθ(~v)
we start by fixing bases. Using E2 both as a domain basis and as a codomainbasis is natural, Now, we find the image under the map of each vector in thedomain’s basis. (
10
)tθ7−→(
cos θsin θ
) (01
)tθ7−→(− sin θcos θ
)Then we represent these images with respect to the codomain’s basis. Becausethis basis is E2, vectors are represented by themselves. Finally, adjoining therepresentations gives the matrix representing the map.
RepE2,E2(tθ) =(
cos θ − sin θsin θ cos θ
)The advantage of this scheme is that just by knowing how to represent the imageof the two basis vectors, we get a formula that tells us the image of any vectorat all; here a vector rotated by θ = π/6.(
3−2
)tπ/67−→
(√3/2 −1/2
1/2√
3/2
)(3−2
)≈(
3.598−0.232
)(Again, we are using the fact that, with respect to E2, vectors represent themselves.)
We have already seen the addition and scalar multiplication operations ofmatrices and the dot product operation of vectors. Matrixvector multiplicationis a new operation in the arithmetic of vectors and matrices. Nothing in Definition 1.5 requires us to view it in terms of representations. We can get someinsight into this operation by turning away from what is being represented, andinstead focusing on how the entries combine.
1.9 Example In the definition the width of the matrix equals the height ofthe vector. Hence, the first product below is defined while the second is not.(
1 0 04 3 1
)102
=(
16
) (1 0 04 3 1
)(10
)One reason that this product is not defined is purely formal: the definition requires that the sizes match, and these sizes don’t match. (Behind the formality,though, we have a reason why it is left undefined—the matrix represents a mapwith a threedimensional domain while the vector represents a member of atwodimensional space.)
Section III. Computing Linear Maps 201
A good way to view a matrixvector product is as the dot products of therows of the matrix with the column vector.
...ai,1 ai,2 . . . ai,n
...
c1c2...cn
=
...
ai,1c1 + ai,2c2 + . . .+ ai,ncn...
Looked at in this rowbyrow way, this new operation generalizes dot product.
Matrixvector product can also be viewed columnbycolumn.h1,1 h1,2 . . . h1,n
h2,1 h2,2 . . . h2,n
...hm,1 hm,2 . . . hm,n
c1c2...cn
=
h1,1c1 + h1,2c2 + · · ·+ h1,ncnh2,1c1 + h2,2c2 + · · ·+ h2,ncn
...hm,1c1 + hm,2c2 + · · ·+ hm,ncn
= c1
h1,1
h2,1
...hm,1
+ · · ·+ cn
h1,n
h2,n
...hm,n
1.10 Example(
1 0 −12 0 3
) 2−11
= 2(
12
)− 1
(00
)+ 1
(−13
)=(
17
)The result has the columns of the matrix weighted by the entries of the
vector. This way of looking at it brings us back to the objective stated at thestart of this section, to compute h(c1~β1 + · · ·+ cn~βn) as c1h(~β1) + · · ·+ cnh(~βn).
We began this section by noting that the equality of these two enables usto compute the action of h on any argument knowing only h(~β1), . . . , h(~βn).We have developed this into a scheme to compute the action of the map bytaking the matrixvector product of the matrix representing the map and thevector representing the argument. In this way, any linear map is representedwith respect to some bases by a matrix. In the next subsection, we will showthe converse, that any matrix represents a linear map.
ExercisesX 1.11 Multiply, where it is defined, the matrix(
1 3 10 −1 21 1 0
)by each vector.
(a)
(210
)(b)
(−2−2
)(c)
(000
)1.12 Perform, if possible, each matrixvector multiplication.
202 Chapter 3. Maps Between Spaces
(a)
(2 13 −1/2
)(42
)(b)
(1 1 0−2 1 0
)(131
)(c)
(1 1−2 1
)(131
)X 1.13 Solve this matrix equation.(
2 1 10 1 31 −1 2
)(xyz
)=
(844
)
X 1.14 For a homomorphism from P2 to P3 that sends
1 7→ 1 + x, x 7→ 1 + 2x, and x2 7→ x− x3
where does 1− 3x+ 2x2 go?
X 1.15 Assume that h : R2 → R3 is determined by this action.(10
)7→
(220
) (01
)7→
(01−1
)Using the standard bases, find(a) the matrix representing this map;(b) a general formula for h(~v).
X 1.16 Let d/dx : P3 → P3 be the derivative transformation.(a) Represent d/dx with respect to B,B where B = 〈1, x, x2, x3〉.(b) Represent d/dx with respect to B,D where D = 〈1, 2x, 3x2, 4x3〉.
X 1.17 Represent each linear map with respect to each pair of bases.(a) d/dx : Pn → Pn with respect to B,B where B = 〈1, x, . . . , xn〉, given by
a0 + a1x+ a2x2 + · · ·+ anx
n 7→ a1 + 2a2x+ · · ·+ nanxn−1
(b)∫
: Pn → Pn+1 with respect to Bn, Bn+1 where Bi = 〈1, x, . . . , xi〉, given by
a0 + a1x+ a2x2 + · · ·+ anx
n 7→ a0x+a1
2x2 + · · ·+ an
n+ 1xn+1
(c)∫ 1
0: Pn → R with respect to B, E1 where B = 〈1, x, . . . , xn〉 and E1 = 〈1〉,
given by
a0 + a1x+ a2x2 + · · ·+ anx
n 7→ a0 +a1
2+ · · ·+ an
n+ 1
(d) eval3 : Pn → R with respect to B, E1 where B = 〈1, x, . . . , xn〉 and E1 = 〈1〉,given by
a0 + a1x+ a2x2 + · · ·+ anx
n 7→ a0 + a1 · 3 + a2 · 32 + · · ·+ an · 3n
(e) slide−1 : Pn → Pn with respect to B,B where B = 〈1, x, . . . , xn〉, given by
a0 + a1x+ a2x2 + · · ·+ anx
n 7→ a0 + a1 · (x+ 1) + · · ·+ an · (x+ 1)n
1.18 Represent the identity map on any nontrivial space with respect to B,B,where B is any basis.
1.19 Represent, with respect to the natural basis, the transpose transformation onthe space M2×2 of 2×2 matrices.
1.20 Assume that B = 〈~β1, ~β2, ~β3, ~β4〉 is a basis for a vector space. Represent withrespect to B,B the transformation that is determined by each.(a) ~β1 7→ ~β2, ~β2 7→ ~β3, ~β3 7→ ~β4, ~β4 7→ ~0
(b) ~β1 7→ ~β2, ~β2 7→ ~0, ~β3 7→ ~β4, ~β4 7→ ~0
Section III. Computing Linear Maps 203
(c) ~β1 7→ ~β2, ~β2 7→ ~β3, ~β3 7→ ~0, ~β4 7→ ~0
1.21 Example 1.8 shows how to represent the rotation transformation of the planewith respect to the standard basis. Express these other transformations also withrespect to the standard basis.(a) the dilation map ds, which multiplies all vectors by the same scalar s(b) the reflection map f`, which reflects all all vectors across a line ` through theorigin
X 1.22 Consider a linear transformation of R2 determined by these two.(11
)7→(
20
) (10
)7→(−10
)(a) Represent this transformation with respect to the standard bases.(b) Where does the transformation send this vector?(
05
)(c) Represent this transformation with respect to these bases.
B = 〈(
1−1
),
(11
)〉 D = 〈
(22
),
(−11
)〉
(d) Using B from the prior item, represent the transformation with respect toB,B.
1.23 Suppose that h : V →W is nonsingular so that by Theorem 2.20, for anybasis B = 〈~β1, . . . , ~βn〉 ⊂ V the image h(B) = 〈h(~β1), . . . , h(~βn)〉 is a basis forW .(a) Represent the map h with respect to B, h(B).(b) For a member ~v of the domain, where the representation of ~v has componentsc1, . . . , cn, represent the image vector h(~v) with respect to the image basis h(B).
1.24 Give a formula for the product of a matrix and ~ei, the column vector that isall zeroes except for a single one in the ith position.
X 1.25 For each vector space of functions of one real variable, represent the derivativetransformation with respect to B,B.(a) {a cosx+ b sinx
∣∣ a, b ∈ R}, B = 〈cosx, sinx〉(b) {aex + be2x
∣∣ a, b ∈ R}, B = 〈ex, e2x〉(c) {a+ bx+ cex + dxe2x
∣∣ a, b, c, d ∈ R}, B = 〈1, x, ex, xex〉1.26 Find the range of the linear transformation of R2 represented with respect tothe standard bases by each matrix.
(a)
(1 00 0
)(b)
(0 03 2
)(c) a matrix of the form
(a b2a 2b
)X 1.27 Can one matrix represent two different linear maps? That is, can RepB,D(h) =
RepB,D(h)?
1.28 Prove Theorem 1.4.
X 1.29 Example 1.8 shows how to represent rotation of all vectors in the plane throughan angle θ about the origin, with respect to the standard bases.(a) Rotation of all vectors in threespace through an angle θ about the xaxis is atransformation of R3. Represent it with respect to the standard bases. Arrangethe rotation so that to someone whose feet are at the origin and whose head isat (1, 0, 0), the movement appears clockwise.
204 Chapter 3. Maps Between Spaces
(b) Repeat the prior item, only rotate about the yaxis instead. (Put the person’shead at ~e2.)
(c) Repeat, about the zaxis.(d) Extend the prior item to R4. (Hint: ‘rotate about the zaxis’ can be restatedas ‘rotate parallel to the xyplane’.)
1.30 (Schur’s Triangularization Lemma)(a) Let U be a subspace of V and fix bases BU ⊆ BV . What is the relationshipbetween the representation of a vector from U with respect to BU and therepresentation of that vector (viewed as a member of V ) with respect to BV ?
(b) What about maps?
(c) Fix a basis B = 〈~β1, . . . , ~βn〉 for V and observe that the spans
[{~0}] = {~0} ⊂ [{~β1}] ⊂ [{~β1, ~β2}] ⊂ · · · ⊂ [B] = V
form a strictly increasing chain of subspaces. Show that for any linear maph : V →W there is a chain W0 = {~0} ⊆ W1 ⊆ · · · ⊆ Wm = W of subspaces ofW such that
h([{~β1, . . . , ~βi}]) ⊂Wi
for each i.(d) Conclude that for every linear map h : V →W there are bases B,D so thematrix representing h with respect to B,D is uppertriangular (that is, eachentry hi,j with i > j is zero).
(e) Is an uppertriangular representation unique?
3.III.2 Any Matrix Represents a Linear Map
The prior subsection shows that the action of a linear map h is described bya matrix H, with respect to appropriate bases, in this way.
~v =
v1
...vn
B
h7−→H
h1,1v1 + · · ·+ h1,nvn...
hm,1v1 + · · ·+ hm,nvn
D
= h(~v)
In this subsection, we will show the converse, that each matrix represents alinear map.
Recall that, in the definition of the matrix representation of a linear map,the number of columns of the matrix is the dimension of the map’s domain andthe number of rows of the matrix is the dimension of the map’s codomain. Thus,for instance, a 2×3 matrix cannot represent a map from R5 to R4. The nextresult says that, beyond this restriction on the dimensions, there are no otherlimitations: the 2×3 matrix represents a map from any threedimensional spaceto any twodimensional space.
2.1 Theorem Any matrix represents a homomorphism between vector spacesof appropriate dimensions, with respect to any pair of bases.
Section III. Computing Linear Maps 205
Proof. For the matrix
H =
h1,1 h1,2 . . . h1,n
h2,1 h2,2 . . . h2,n
...hm,1 hm,2 . . . hm,n
fix any ndimensional domain space V and any mdimensional codomain spaceW . Also fix bases B = 〈~β1, . . . , ~βn〉 and D = 〈~δ1, . . . , ~δm〉 for those spaces.Define a function h : V →W by: where ~v in the domain is represented as
RepB(~v) =
v1
...vn
B
then its image h(~v) is the member the codomain represented by
RepD(h(~v) ) =
h1,1v1 + · · ·+ h1,nvn...
hm,1v1 + · · ·+ hm,nvn
D
that is, h(~v) = h(v1~β1 + · · ·+ vn~βn) is defined to be (h1,1v1 + · · ·+h1,nvn) ·~δ1 +
· · ·+ (hm,1v1 + · · ·+hm,nvn) ·~δm. (This is welldefined by the uniqueness of therepresentation RepB(~v).)
Observe that h has simply been defined to make it the map that is represented with respect to B,D by the matrix H. So to finish, we need only checkthat h is linear. If ~v, ~u ∈ V are such that
RepB(~v) =
v1
...vn
and RepB(~u) =
u1
...un
and c, d ∈ R then the calculation
h(c~v + d~u) =(h1,1(cv1 + du1) + · · ·+ h1,n(cvn + dun)
)· ~δ1 +
· · ·+(hm,1(cv1 + du1) + · · ·+ hm,n(cvn + dun)
)· ~δm
= c · h(~v) + d · h(~u)
provides this verification. QED
2.2 Example Which map the matrix represents depends on which bases areused. If
H =(
1 00 0
), B1 = D1 = 〈
(10
),
(01
)〉, and B2 = D2 = 〈
(01
),
(10
)〉,
206 Chapter 3. Maps Between Spaces
then h1 : R2 → R2 represented by H with respect to B1,D1 maps(c1c2
)=(c1c2
)B1
7→(c10
)D1
=(c10
)while h2 : R2 → R2 represented by H with respect to B2,D2 is this map.(
c1c2
)=(c2c1
)B2
7→(c20
)D2
=(
0c2
)These two are different. The first is projection onto the x axis, while the secondis projection onto the y axis.
So not only is any linear map described by a matrix but any matrix describesa linear map. This means that we can, when convenient, handle linear mapsentirely as matrices, simply doing the computations, without have to worry thata matrix of interest does not represent a linear map on some pair of spaces ofinterest. (In practice, when we are working with a matrix but no spaces orbases have been specified, we will often take the domain and codomain to be Rnand Rm and use the standard bases. In this case, because the representationis transparent—the representation with respect to the standard basis of ~v is~v—the column space of the matrix equals the range of the map. Consequently,the column space of H is often denoted by R(H).)
With the theorem, we have characterized linear maps as those maps that actin this matrix way. Each linear map is described by a matrix and each matrixdescribes a linear map. We finish this section by illustrating how a matrix canbe used to tell things about its maps.
2.3 Theorem The rank of a matrix equals the rank of any map that it represents.
Proof. Suppose that the matrix H is m×n. Fix domain and codomain spacesV and W of dimension n and m, with bases B = 〈~β1, . . . , ~βn〉 and D. Then Hrepresents some linear map h between those spaces with respect to these baseswhose rangespace
{h(~v)∣∣ ~v ∈ V } = {h(c1~β1 + · · ·+ cn~βn)
∣∣ c1, . . . , cn ∈ R}= {c1h(~β1) + · · ·+ cnh(~βn)
∣∣ c1, . . . , cn ∈ R}is the span [{h(~β1), . . . , h(~βn)}]. The rank of h is the dimension of this rangespace.
The rank of the matrix is its column rank (or its row rank; the two areequal). This is the dimension of the column space of the matrix, which is thespan of the set of column vectors [{RepD(h(~β1)), . . . ,RepD(h(~βn))}].
To see that the two spans have the same dimension, recall that a representation with respect to a basis gives an isomorphism RepD : W → Rm. Underthis isomorphism, there is a linear relationship among members of the rangespace if and only if the same relationship holds in the column space, e.g, ~0 =
Section III. Computing Linear Maps 207
c1h(~β1)+ · · ·+cnh(~βn) if and only if ~0 = c1RepD(h(~β1))+ · · ·+cnRepD(h(~βn)).Hence, a subset of the rangespace is linearly independent if and only if the corresponding subset of the column space is linearly independent. This means thatthe size of the largest linearly independent subset of the rangespace equals thesize of the largest linearly independent subset of the column space, and so thetwo spaces have the same dimension. QED
2.4 Example Any map represented by1 2 21 2 10 0 30 0 2
must, by definition, be from a threedimensional domain to a fourdimensionalcodomain. In addition, because the rank of this matrix is two (we can spot thisby eye or get it with Gauss’ method), any map represented by this matrix hasa twodimensional rangespace.
2.5 Corollary Let h be a linear map represented by a matrix H. Then his onto if and only if the rank of H equals the number of its rows, and h isonetoone if and only if the rank of H equals the number of its columns.
Proof. For the first half, the dimension of the rangespace of h is the rank ofh, which equals the rank of H by the theorem. Since the dimension of thecodomain of h is the number of columns in H, if the rank of H equals thenumber of columns, then the dimension of the rangespace equals the dimensionof the codomain. But a subspace with the same dimension as its superspacemust equal that superspace (a basis for the rangespace is a linearly independentsubset of the codomain, whose size is equal to the dimension of the codomain,and so this set is a basis for the codomain).
For the second half, a linear map is onetoone if and only if it is an isomorphism between its domain and its range, that is, if and only if its domain has thesame dimension as its range. But the number of columns in h is the dimensionof h’s domain, and by the theorem the rank of H equals the dimension of h’srange. QED
The above results end any confusion caused by our use of the word ‘rank’ tomean apparently different things when applied to matrices and when applied tomaps. We can also justify the dual use of ‘nonsingular’. We’ve defined a matrixto be nonsingular if it is square and is the matrix of coefficients of a linear systemwith a unique solution, and we’ve defined a linear map to be nonsingular if it isonetoone.
2.6 Corollary A square matrix represents nonsingular maps if and only if itis a nonsingular matrix. Thus, a matrix represents an isomorphism if and onlyif it is square and nonsingular.
Proof. Immediate from the prior result. QED
208 Chapter 3. Maps Between Spaces
2.7 Example Any map from R2 to P1 represented with respect to any pair ofbases by (
1 20 3
)is nonsingular because this matrix has rank two.
2.8 Example Any map g : V →W represented by(1 23 6
)is not nonsingular because this matrix is not nonsingular.
We’ve now seen that the relationship between maps and matrices goes bothways: fixing bases, any linear map is represented by a matrix and any matrixdescribes a linear map. That is, by fixing spaces and bases we get a correspondence between maps and matrices. In the rest of this chapter we will explorethis correspondence. For instance, we’ve defined for linear maps the operationsof addition and scalar multiplication and we shall see what the correspondingmatrix operations are. We shall also see the matrix operation that representthe map operation of composition. And, we shall see how to find the matrixthat represents a map’s inverse.
ExercisesX 2.9 Decide if the vector is in the column space of the matrix.
(a)
(2 12 5
),
(1−3
)(b)
(4 −82 −4
),
(01
)(c)
(1 −1 11 1 −1−1 −1 1
),
(200
)X 2.10 Decide if each vector lies in the range of the map from R3 to R2 represented
with respect to the standard bases by the matrix.
(a)
(1 1 30 1 4
),
(13
)(b)
(2 0 34 0 6
),
(11
)X 2.11 Consider this matrix, representing a transformation of R2, and these bases for
that space.
1
2·(
1 1−1 1
)B = 〈
(01
),
(10
)〉 D = 〈
(11
),
(1−1
)〉
(a) To what vector in the codomain is the first member of B mapped?(b) The second member?(c) Where is a general vector from the domain (a vector with components x andy) mapped? That is, what transformation of R2 is represented with respect toB,D by this matrix?
2.12 What transformation of F = {a cos θ + b sin θ∣∣ a, b ∈ R} is represented with
respect to B = 〈cos θ − sin θ, sin θ〉 and D = 〈cos θ + sin θ, cos θ〉 by this matrix?(0 01 0
)
Section III. Computing Linear Maps 209
X 2.13 Decide if 1 + 2x is in the range of the map from R3 to P2 represented withrespect to E3 and 〈1, 1 + x2, x〉 by this matrix.(
1 3 00 1 01 0 1
)2.14 Example 2.8 gives a matrix that is nonsingular, and is therefore associatedwith maps that are nonsingular.(a) Find the set of column vectors representing the members of the nullspace ofany map represented by this matrix.
(b) Find the nullity of any such map.(c) Find the set of column vectors representing the members of the rangespaceof any map represented by this matrix.
(d) Find the rank of any such map.(e) Check that rank plus nullity equals the dimension of the domain.
X 2.15 Because the rank of a matrix equals the rank of any map it represents, ifone matrix represents two different maps H = RepB,D(h) = RepB,D(h) (where
h, h : V →W ) then the dimension of the rangespace of h equals the dimension ofthe rangespace of h. Must these equaldimensioned rangespaces actually be thesame?
X 2.16 Let V be an ndimensional space with bases B and D. Consider a map thatsends, for ~v ∈ V , the column vector representing ~v with respect to B to the columnvector representing ~v with respect to D. Show that is a linear transformation ofRn.
2.17 Example 2.2 shows that changing the pair of bases can change the map thata matrix represents, even though the domain and codomain remain the same.Could the map ever not change? Is there a matrix H, vector spaces V and W ,and associated pairs of bases B1, D1 and B2, D2 (with B1 6= B2 or D1 6= D2 orboth) such that the map represented by H with respect to B1, D1 equals the maprepresented by H with respect to B2, D2?
X 2.18 A square matrix is a diagonal matrix if it is all zeroes except possibly for theentries on its upperleft to lowerright diagonal—its 1, 1 entry, its 2, 2 entry, etc.Show that a linear map is an isomorphism if there are bases such that, with respectto those bases, the map is represented by a diagonal matrix with no zeroes on thediagonal.
2.19 Describe geometrically the action on R2 of the map represented with respectto the standard bases E2, E2 by this matrix.(
3 00 2
)Do the same for these. (
1 00 0
) (0 11 0
) (1 30 1
)2.20 The fact that for any linear map the rank plus the nullity equals the dimensionof the domain shows that a necessary condition for the existence of a homomorphism between two spaces, onto the second space, is that there be no gain indimension. That is, where h : V →W is onto, the dimension of W must be lessthan or equal to the dimension of V .(a) Show that this (strong) converse holds: no gain in dimension implies that
210 Chapter 3. Maps Between Spaces
there is a homomorphism and, further, any matrix with the correct size andcorrect rank represents such a map.
(b) Are there bases for R3 such that this matrix
H =
(1 0 02 0 00 1 0
)represents a map from R3 to R3 whose range is the xy plane subspace of R3?
2.21 Let V be an ndimensional space and suppose that ~x ∈ Rn. Fix a basisB for V and consider the map h~x : V → R given ~v 7→ ~x RepB(~v) by the dotproduct.(a) Show that this map is linear.(b) Show that for any linear map g : V → R there is an ~x ∈ Rn such that g = h~x.(c) In the prior item we fixed the basis and varied the ~x to get all possible linearmaps. Can we get all possible linear maps by fixing an ~x and varying the basis?
2.22 Let V,W,X be vector spaces with bases B,C,D.(a) Suppose that h : V →W is represented with respect to B,C by the matrixH. Give the matrix representing the scalar multiple rh (where r ∈ R) withrespect to B,C by expressing it in terms of H.
(b) Suppose that h, g : V →W are represented with respect to B,C by H andG. Give the matrix representing h+ g with respect to B,C by expressing it interms of H and G.
(c) Suppose that h : V →W is represented with respect to B,C by H andg : W → X is represented with respect to C,D by G. Give the matrix representing g ◦ h with respect to B,D by expressing it in terms of H and G.
Section IV. Matrix Operations 211
3.IV Matrix Operations
The prior section shows how matrices represent linear maps. A good strategy, onseeing a new idea, is to explore how it interacts with some alreadyestablishedideas. In the first subsection we will ask how the representation of the sumof two maps f + g related to the representations F and G of the two maps,and how the representation of a scalar product r · h of a map is related to therepresentation H of that map. In later subsections we will see how to representmap composition and map inverse.
3.IV.1 Sums and Scalar Products
Recall that for two maps f and g with the same domain and codomain, themap sum f + g has the natural definition.
~vf+g7−→ f(~v) + g(~v)
The easiest way to see how the representations of the maps combine to representthe map sum is with an example.
1.1 Example Suppose that f, g : R2 → R3 are represented with respect to thebases B and D by these matrices.
F = RepB,D(f) =
1 32 01 0
B,D
G = RepB,D(g) =
0 0−1 −22 4
B,D
Then, for any ~v ∈ V represented with respect to B, computation of the representation of f(~v) + g(~v)1 3
2 01 0
(v1
v2
)+
0 0−1 −22 4
(v1
v2
)=
1v1 + 3v2
2v1 + 0v2
1v1 + 0v2
+
0v1 + 0v2
−1v1 − 2v2
2v1 + 4v2
gives this representation of f + g (~v).(1 + 0)v1 + (3 + 0)v2
(2− 1)v1 + (0− 2)v2
(1 + 2)v1 + (0 + 4)v2
=
1v1 + 3v2
1v1 − 2v2
3v1 + 4v2
Thus, the action of f + g is described by this matrixvector product.1 3
1 −23 4
B,D
(v1
v2
)B
=
1v1 + 3v2
1v1 − 2v2
3v1 + 4v2
D
This matrix is the entrybyentry sum of original matrices, e.g., the 1, 1 entryof RepB,D(f + g) is the sum of the 1, 1 entry of F and the 1, 1 entry of G.
212 Chapter 3. Maps Between Spaces
Representing a scalar multiple of a map works the same way.
1.2 Example If t is a transformation represented by
RepB,D(t) =(
1 01 1
)B,D
so that ~v =(v1
v2
)B
7→(
v1
v1 + v2
)D
= t(~v)
then the scalar multiple map 5t acts in this way.
~v =(v1
v2
)B
7−→(
5v1
5v1 + 5v2
)D
= 5 · t(~v)
Therefore, this is the matrix representing 5t.
RepB,D(5t) =(
5 05 5
)B,D
1.3 Definition The sum of two samesized matrices is their entrybyentrysum. The scalar multiple of a matrix is the result of entrybyentry scalarmultiplication.
1.4 Remark These extend the vector addition and scalar multiplication operations that we defined in the first chapter.
1.5 Theorem Let h, g : V →W be linear maps represented with respect tobases B,D by the matrices H and G, and let r be a scalar. Then the maph+ g : V →W is represented with respect to B,D by H + G, and the mapr · h : V →W is represented with respect to B,D by rH.
Proof. Exercise 8; generalize the examples above. QED
A notable special case of scalar multiplication is multiplication by zero. Forany map 0 · h is the zero homomorphism and for any matrix 0 · H is the zeromatrix.
1.6 Example The zero map from any threedimensional space to any twodimensional space is represented by the 2×3 zero matrix
Z =(
0 0 00 0 0
)no matter which domain and codomain bases are used.
ExercisesX 1.7 Perform the indicated operations, if defined.
(a)
(5 −1 26 1 1
)+
(2 1 43 0 5
)(b) 6 ·
(2 −1 −11 2 3
)
Section IV. Matrix Operations 213
(c)
(2 10 3
)+
(2 10 3
)(d) 4
(1 23 −1
)+ 5
(−1 4−2 1
)(e) 3
(2 13 0
)+ 2
(1 1 43 0 5
)1.8 Prove Theorem 1.5.
(a) Prove that matrix addition represents addition of linear maps.(b) Prove that matrix scalar multiplication represents scalar multiplication oflinear maps.
X 1.9 Prove each, where the operations are defined, where G, H, and J are matrices,where Z is the zero matrix, and where r and s are scalars.(a) Matrix addition is commutative G+H = H +G.(b) Matrix addition is associative G+ (H + J) = (G+H) + J .(c) The zero matrix is an additive identity G+ Z = G.(d) 0 ·G = Z(e) (r + s)G = rG+ sG(f) Matrices have an additive inverse G+ (−1) ·G = Z.(g) r(G+H) = rG+ rH(h) (rs)G = r(sG)
1.10 Fix domain and codomain spaces. In general, one matrix can represent manydifferent maps with respect to different bases. However, prove that a zero matrixrepresents only a zero map. Are there other such matrices?
X 1.11 Let V and W be vector spaces of dimensions n and m. Show that the space
L(V,W ) of linear maps from V to W is isomorphic to Mm×n.
X 1.12 Show that it follows from the prior questions that for any six transformationst1, . . . , t6 : R2 → R2 there are scalars c1, . . . , c6 ∈ R such that c1t1 + · · · + c6t6 isthe zero map. (Hint: this is a bit of a misleading question.)
1.13 The trace of a square matrix is the sum of the entries on the main diagonal(the 1, 1 entry plus the 2, 2 entry, etc.; we will see the significance of the trace inChapter Five). Show that trace(H +G) = trace(H) + trace(G). Is there a similarresult for scalar multiplication?
1.14 Recall that the transpose of a matrix M is another matrix, whose i, j entry isthe j, i entry of M . Verifiy these identities.(a) (G+H)trans = Gtrans +Htrans
(b) (r ·H)trans = r ·Htrans
X 1.15 A square matrix is symmetric if each i, j entry equals the j, i entry, that is, ifthe matrix equals its transpose.(a) Prove that for any H, the matrix H + Htrans is symmetric. Does everysymmetric matrix have this form?
(b) Prove that the set of n×n symmetric matrices is a subspace of Mn×n.
X 1.16 (a) How does matrix rank interact with scalar multiplication—can a scalarproduct of a rank n matrix have rank less than n? Greater?
(b) How does matrix rank interact with matrix addition—can a sum of rank nmatrices have rank less than n? Greater?
214 Chapter 3. Maps Between Spaces
3.IV.2 Matrix Multiplication
After representing addition and scalar multiplication of linear maps in theprior subsection, the natural next map operation to consider is composition.
2.1 Lemma A composition of linear maps is linear.
Proof. (This argument has appeared earlier, as part of the proof that isomorphism is an equivalence relation between spaces.) Let h : V →W and g : W → Ube linear. The natural calculation
g ◦ h(c1 · ~v1 + c2 · ~v2
)= g(h(c1 · ~v1 + c2 · ~v2)
)= g(c1 · h(~v1) + c2 · h(~v2)
)= c1 · g
(h(~v1)) + c2 · g(h(~v2)
)= c1 · (g ◦ h)(~v1) + c2 · (g ◦ h)(~v2)
shows that g ◦ h : V → U preserves linear combinations. QED
To see how the representation of the composite arises out of the representationsof the two compositors, consider an example.
2.2 Example Let h : R4 → R2 and g : R2 → R3, fix bases B ⊂ R4, C ⊂ R2,D ⊂ R3, and let these be the representations.
H = RepB,C(h) =(
4 6 8 25 7 9 3
)B,C
G = RepC,D(g) =
1 10 11 0
C,D
To represent the composition g ◦ h : R4 → R3 we fix a ~v, represent h of ~v, andthen represent g of that. The representation of h(~v) is the product of h’s matrixand ~v’s vector.
RepC(h(~v) ) =(
4 6 8 25 7 9 3
)B,C
v1
v2
v3
v4
B
=(
4v1 + 6v2 + 8v3 + 2v4
5v1 + 7v2 + 9v3 + 3v4
)C
The representation of g(h(~v) ) is the product of g’s matrix and h(~v)’s vector.
RepD( g(h(~v)) )=
1 10 11 0
C,D
(4v1 + 6v2 + 8v3 + 2v4
5v1 + 7v2 + 9v3 + 3v4
)C
=
1 · (4v1 + 6v2 + 8v3 + 2v4) + 1 · (5v1 + 7v2 + 9v3 + 3v4)0 · (4v1 + 6v2 + 8v3 + 2v4) + 1 · (5v1 + 7v2 + 9v3 + 3v4)1 · (4v1 + 6v2 + 8v3 + 2v4) + 0 · (5v1 + 7v2 + 9v3 + 3v4)
D
Distributing and regrouping on the v’s gives
=
(1 · 4 + 1 · 5)v1 + (1 · 6 + 1 · 7)v2 + (1 · 8 + 1 · 9)v3 + (1 · 2 + 1 · 3)v4
(0 · 4 + 1 · 5)v1 + (0 · 6 + 1 · 7)v2 + (0 · 8 + 1 · 9)v3 + (0 · 2 + 1 · 3)v4
(1 · 4 + 0 · 5)v1 + (1 · 6 + 0 · 7)v2 + (1 · 8 + 0 · 9)v3 + (1 · 2 + 0 · 3)v4
D
Section IV. Matrix Operations 215
which we recognizing as the result of this matrixvector product.
=
1 · 4 + 1 · 5 1 · 6 + 1 · 7 1 · 8 + 1 · 9 1 · 2 + 1 · 30 · 4 + 1 · 5 0 · 6 + 1 · 7 0 · 8 + 1 · 9 0 · 2 + 1 · 31 · 4 + 0 · 5 1 · 6 + 0 · 7 1 · 8 + 0 · 9 1 · 2 + 0 · 3
B,D
v1
v2
v3
v4
D
Thus, the matrix representing g◦h has the rows of G combined with the columnsof H.
2.3 Definition The matrixmultiplicative product of the m×r matrix G andthe r×n matrix H is the m×n matrix P , where
pi,j = gi,1h1,j + gi,2h2,j + · · ·+ gi,rhr,j
that is, the i, jth entry of the product is the dot product of the ith row andthe jth column.
GH =
...
gi,1 gi,2 . . . gi,r...
h1,j
. . . h2,j . . ....
hr,j
=
...
. . . pi,j . . ....
2.4 Example The matrices from Example 2.2 combine in this way.1 · 4 + 1 · 5 1 · 6 + 1 · 7 1 · 8 + 1 · 9 1 · 2 + 1 · 3
0 · 4 + 1 · 5 0 · 6 + 1 · 7 0 · 8 + 1 · 9 0 · 2 + 1 · 31 · 4 + 0 · 5 1 · 6 + 0 · 7 1 · 8 + 0 · 9 1 · 2 + 0 · 3
=
9 13 17 55 7 9 34 6 8 2
2.5 Example2 0
4 68 2
(1 35 7
)=
2 · 1 + 0 · 5 2 · 3 + 0 · 74 · 1 + 6 · 5 4 · 3 + 6 · 78 · 1 + 2 · 5 8 · 3 + 2 · 7
=
2 634 5418 38
2.6 Theorem A composition of linear maps is represented by the matrix product of the representatives.
Proof. (This argument parallels Example 2.2.) Let h : V →W and g : W → Xbe represented by H and G with respect to bases B ⊂ V , C ⊂W , and D ⊂ X,of sizes n, r, and m. For any ~v ∈ V , the kth component of RepC(h(~v) ) is
hk,1v1 + · · ·+ hk,nvn
and so the ith component of RepD( g ◦ h (~v) ) is this.
gi,1 · (h1,1v1 + · · ·+ h1,nvn) + gi,2 · (h2,1v1 + · · ·+ h2,nvn)+ · · ·+ gi,r · (hr,1v1 + · · ·+ hr,nvn)
216 Chapter 3. Maps Between Spaces
Distribute and regroup on the v’s.
= (gi,1h1,1 + gi,2h2,1 + · · ·+ gi,rhr,1) · v1
+ · · ·+ (gi,1h1,n + gi,2h2,n + · · ·+ gi,rhr,n) · vn
Finish by recognizing that the coefficient of each vj
gi,1h1,j + gi,2h2,j + · · ·+ gi,rhr,j
matches the definition of the i, j entry of the product GH. QED
The theorem is an example of a result that supports a definition. We canpicture what the definition and theorem together say with this arrow diagram(‘w.r.t.’ abbreviates ‘with respect to’).
Vw.r.t. Bg◦h−→GH
Xw.r.t. D
↗h H
Ww.r.t. C
↘gG
Above the arrows, the maps show that the two ways of going from V to X,straight over via the composition or else by way of W , have the same effect
~vg◦h7−→ g(h(~v)) ~v
h7−→ h(~v)g7−→ g(h(~v))
(this is just the definition of composition). Below the arrows, the matricesindicate that the product does the same thing—multiplying GH into the columnvector RepB(~v) has the same effect as multiplying the column first by H andthen multiplying the result by G.
RepB,D(g ◦ h) = GH = RepC,D(g) RepB,C(h)
The definition of the matrixmatrix product operation does not restrict usto view it as a representation of a linear map composition. We can get insightinto this operation by studying it as a mechanical procedure. The striking thingis the way that rows and columns combine.
One aspect of that combination is that the sizes of the matrices involved issignificant. Briefly, m×r times r×n equals m×n.
2.7 Example This product is not defined(−1 2 00 10 1.1
)(0 00 2
)because the number of columns on the left does not equal the number of rowson the right.
Section IV. Matrix Operations 217
In terms of the underlying maps, the fact that the sizes must match up reflectsthe fact that matrix multiplication is defined only when a corresponding functioncomposition
dimension n space h−→ dimension r spaceg−→ dimension m space
is possible.
2.8 Remark The order in which these things are written can be confusing. Inthe ‘m×r times r×n equals m×n’ equation, the number written first m is thedimension of g’s codomain and is thus the number that appears last in the mapdimension description above. The explanation is that while f is done first andthen g is applied, that composition is written g ◦ f , from the notation ‘g(f(~v))’.(Some people try to lessen confusion by reading ‘g ◦ f ’ aloud as “g followingf”.) That order then carries over to matrices: g ◦ f is represented by GF .
Another aspect of the way that rows and columns combine in the matrixproduct operation is that in the definition of the i, j entry
pi,j = gi, 1
h1 ,j
+ gi, 2
h2 ,j
+ · · ·+ gi, r h r ,j
the boxed subscripts on the g’s are column indicators while those on the h’sindicate rows. That is, summation takes place over the columns of G but overthe rows of H; left is treated differently than right, so GH may be unequal toHG. Matrix multiplication is not commutative.
2.9 Example Matrix multiplication hardly ever commutes. Test that by multiplying randomly chosen matrices both ways.(
1 23 4
)(5 67 8
)=(
19 2243 50
) (5 67 8
)(1 23 4
)=(
23 3431 46
)2.10 Example Commutativity can fail more dramatically:(
5 67 8
)(1 2 03 4 0
)=(
23 34 031 46 0
)while (
1 2 03 4 0
)(5 67 8
)isn’t even defined.
2.11 Remark The fact that matrix multiplication is not commutative maybe puzzling at first sight, perhaps just because most algebraic operations inelementary mathematics are commutative. But on further reflection, it isn’tso surprising. After all, matrix multiplication represents function composition,which is not commutative—if f(x) = 2x and g(x) = x+1 then g ◦f(x) = 2x+1while f ◦ g(x) = 2(x + 1) = 2x + 2. True, this g is not linear and we mighthave hoped that linear functions commute, but this perspective shows that thefailure of commutativity for matrix multiplication fits into a larger context.
218 Chapter 3. Maps Between Spaces
Except for the lack of commutativity, matrix multiplication is algebraicallywellbehaved. Below are some nice properties and more are in Exercise 23 andExercise 24.
2.12 Theorem If F , G, and H are matrices, and the matrix products aredefined, then the product is associative (FG)H = F (GH) and distributes overmatrix addition F (G+H) = FG+ FH and (G+H)F = GF +HF .
Proof. Associativity holds because matrix multiplication represents functioncomposition, which is associative: the maps (f ◦ g) ◦ h and f ◦ (g ◦ h) are equalas both send ~v to f(g(h(~v))).
Distributivity is similar. For instance, the first one goes f ◦ (g + h) (~v) =f(
(g + h)(~v))
= f(g(~v) + h(~v)
)= f(g(~v)) + f(h(~v)) = f ◦ g(~v) + f ◦ h(~v) (the
third equality uses the linearity of f). QED
2.13 Remark We could alternatively prove that result by slogging throughthe indices. For example, associativity goes: the i, jth entry of (FG)H is
(fi,1g1,1 + fi,2g2,1 + · · ·+ fi,rgr,1)h1,j
+ (fi,1g1,2 + fi,2g2,2 + · · ·+ fi,rgr,2)h2,j
...+ (fi,1g1,s + fi,2g2,s + · · ·+ fi,rgr,s)hs,j
(where F , G, and H are m×r, r×s, and s×n matrices), distribute
fi,1g1,1h1,j + fi,2g2,1h1,j + · · ·+ fi,rgr,1h1,j
+ fi,1g1,2h2,j + fi,2g2,2h2,j + · · ·+ fi,rgr,2h2,j
...+ fi,1g1,shs,j + fi,2g2,shs,j + · · ·+ fi,rgr,shs,j
and regroup around the f ’s
fi,1(g1,1h1,j + g1,2h2,j + · · ·+ g1,shs,j)+ fi,2(g2,1h1,j + g2,2h2,j + · · ·+ g2,shs,j)...
+ fi,r(gr,1h1,j + gr,2h2,j + · · ·+ gr,shs,j)
to get the i, j entry of F (GH).Contrast these two ways of verifying associativity, the one in the proof and
the one just above. The argument just above is hard to understand in the sensethat, while the calculations are easy to check, the arithmetic seems unconnectedto any idea (it also essentially repeats the proof of Theorem 2.6 and so is inefficient). The argument in the proof is shorter, clearer, and says why this property“really” holds. This illustrates the comments made in the preamble to the chapter on vector spaces—at least some of the time an argument from higherlevelconstructs is clearer.
Section IV. Matrix Operations 219
We have now seen how the representation of the composition of two linearmaps is derived from the representations of the two maps. We have calledthe combination the product of the two matrices. This operation is extremelyimportant. Before we go on to study how to represent the inverse of a linearmap, we will explore it some more in the next subsection.
ExercisesX 2.14 Compute, or state ‘not defined’.
(a)
(3 1−4 2
)(0 50 0.5
)(b)
(1 1 −14 0 3
)(2 −1 −13 1 13 1 1
)
(c)
(2 −77 4
)( 1 0 5−1 1 13 8 4
)(d)
(5 23 1
)(−1 23 −5
)X 2.15 Where
A =
(1 −12 0
)B =
(5 24 4
)C =
(−2 3−4 1
)compute or state ‘not defined’.
(a) AB (b) (AB)C (c) BC (d) A(BC)
2.16 Which products are defined?(a) 3×2 times 2×3 (b) 2×3 times 3×2 (c) 2×2 times 3×3(d) 3×3 times 2×2
X 2.17 Give the size of the product or state ‘not defined’.(a) a 2×3 matrix times a 3×1 matrix(b) a 1×12 matrix times a 12×1 matrix(c) a 2×3 matrix times a 2×1 matrix(d) a 2×2 matrix times a 2×2 matrix
X 2.18 Find the system of equations resulting from starting with
h1,1x1 + h1,2x2 + h1,3x3 = d1
h2,1x1 + h2,2x2 + h2,3x3 = d2
and making this change of variable (i.e., substitution).
x1 = g1,1y1 + g1,2y2
x2 = g2,1y1 + g2,2y2
x3 = g3,1y1 + g3,2y2
2.19 As Definition 2.3 points out, the matrix product operation generalizes the dotproduct. Is the dot product of a 1×n row vector and a n×1 column vector thesame as their matrixmultiplicative product?
X 2.20 Represent the derivative map on Pn with respect to B,B where B is thenatural basis 〈1, x, . . . , xn〉. Show that the product of this matrix with itself isdefined; what the map does it represent?
2.21 Show that composition of linear transformations on R1 is commutative. Isthis true for any onedimensional space?
2.22 Why is matrix multiplication not defined as entrywise multiplication? Thatwould be easier, and commutative too.
X 2.23 (a) Prove that HpHq = Hp+q and (Hp)q = Hpq for positive integers p, q.(b) Prove that (rH)p = rp ·Hp for any positive integer p and scalar r ∈ R.
220 Chapter 3. Maps Between Spaces
X 2.24 (a) How does matrix multiplication interact with scalar multiplication: isr(GH) = (rG)H? Is G(rH) = r(GH)?
(b) How does matrix multiplication interact with linear combinations: is F (rG+sH) = r(FG) + s(FH)? Is (rF + sG)H = rFH + sGH?
2.25 We can ask how the matrix product operation interacts with the transposeoperation.(a) Show that (GH)trans = HtransGtrans.(b) A square matrix is symmetric if each i, j entry equals the j, i entry, that is,if the matrix equals its own transpose. Show that the matrices HHtrans andHtransH are symmetric.
X 2.26 Rotation of vectors in R3 about an axis is a linear map. Show that linearmaps do not commute by showing geometrically that rotations do not commute.
2.27 In the proof of Theorem 2.12 some maps are used. What are the domains andcodomains?
2.28 How does matrix rank interact with matrix multiplication?(a) Can the product of rank n matrices have rank less than n? Greater?(b) Show that the rank of the product of two matrices is less than or equal tothe minimum of the rank of each factor.
2.29 Is ‘commutes with’ an equivalence relation among n×n matrices?
X 2.30 (This will be used in the Matrix Inverses exercises.) Here is another propertyof matrix multiplication that might be puzzling at first sight.(a) Prove that the composition of the projections πx, πy : R3 → R3 onto the xand y axes is the zero map despite that neither one is itself the zero map.
(b) Prove that the composition of the derivatives d2/dx2, d3/dx3 : P4 → P4 isthe zero map despite that neither is the zero map.
(c) Give a matrix equation representing the first fact.(d) Give a matrix equation representing the second.
When two things multiply to give zero despite that neither is zero, each is said tobe a zero divisor.
2.31 Show that, for square matrices, (S + T )(S − T ) need not equal S2 − T 2.
X 2.32 Represent the identity transformation id: V → V with respect to B,B for anybasis B. This is the identity matrix I. Show that this matrix plays the role inmatrix multiplication that the number 1 plays in real number multiplication: HI =IH = H (for all matrices H for which the product is defined).
2.33 In real number algebra, quadratic equations have at most two solutions. Thatis not so with matrix algebra. Show that the 2×2 matrix equation T 2 = I hasmore than two solutions, where I is the identity matrix (this matrix has ones inits 1, 1 and 2, 2 entries and zeroes elsewhere; see Exercise 32).
2.34 (a) Prove that for any 2×2 matrix T there are scalars c0, . . . , c4 such that thecombination c4T
4 + c3T3 + c2T
2 + c1T +I is the zero matrix (where I is the 2×2identity matrix, with ones in its 1, 1 and 2, 2 entries and zeroes elsewhere; seeExercise 32).
(b) Let p(x) be a polynomial p(x) = cnxn + · · · + c1x + c0. If T is a square
matrix we define p(T ) to be the matrix cnTn + · · · + c1T + I (where I is the
appropriatelysized identity matrix). Prove that for any square matrix there isa polynomial such that p(T ) is the zero matrix.
(c) The minimal polynomial m(x) of a square matrix is the polynomial of leastdegree, and with leading coefficient 1, such that m(T ) is the zero matrix. Find
Section IV. Matrix Operations 221
the minimal polynomial of this matrix.(√3/2 −1/2
1/2√
3/2
)(This is the representation with respect to E2, E2, the standard basis, of a rotationthrough π/6 radians counterclockwise.)
2.35 The infinitedimensional space P of all finitedegree polynomials gives a memorable example of the noncommutativity of linear maps. Let d/dx : P → P be theusual derivative and let s : P → P be the shift map.
a0 + a1x+ · · ·+ anxn s7−→ 0 + a0x+ a1x
2 + · · ·+ anxn+1
Show that the two maps don’t commute d/dx ◦ s 6= s ◦ d/dx; in fact, not only is(d/dx ◦ s)− (s ◦ d/dx) not the zero map, it is the identity map.
2.36 Recall the notation for the sum of the sequence of numbers a1, a2, . . . , an.n∑i=1
ai = a1 + a2 + · · ·+ an
In this notation, the i, j entry of the product of G and H is this.
pi,j =
r∑k=1
gi,khk,j
Using this notation,(a) reprove that matrix multiplication is associative;(b) reprove Theorem 2.6.
3.IV.3 Mechanics of Matrix Multiplication
In this subsection we consider matrix multiplication as a mechanical process,putting aside for the moment any implications about the underlying maps. Asdescribed earlier, the striking thing about matrix multiplication is the way rowsand columns combine. The i, j entry of the matrix product is the dot productof the row i of the left matrix with column j of the right one. For instance, hereis a second row and a third column combining to make a 2, 3 entry. 1 1
0 11 0
(45
67
89
23
)=
9 13 17 55 7 9 34 6 8 2
We can view this as the left matrix acting by multiplying its rows, one at a time,into the columns of the right matrix. Of course, another perspective is that theright matrix uses its columns to act on the left matrix’s rows. Below, we willexamine actions from the left and from the right for some simple matrices.
The first case, the action of a zero matrix, is very easy.
222 Chapter 3. Maps Between Spaces
3.1 Example Multiplying by an appropriatelysized zero matrix from the leftor from the right(
0 00 0
)(1 3 2−1 1 −1
)=(
0 0 00 0 0
) (2 31 4
)(0 00 0
)=(
0 00 0
)results in a zero matrix.
After zero matrices, the matrices whose actions are easiest to understandare the ones with a single nonzero entry.
3.2 Definition A matrix with all zeroes except for a one in the i, j entry is ani, j unit matrix.
3.3 Example This is the 1, 2 unit matrix with three rows and two columns,multiplying from the left.0 1
0 00 0
(5 67 8
)=
7 80 00 0
Acting from the left, an i, j unit matrix copies row j of the multiplicand intorow i of the result. From the right an i, j unit matrix copies column i of themultiplicand into column j of the result.1 2 3
4 5 67 8 9
0 10 00 0
=
0 10 40 7
3.4 Example Rescaling these matrices simply rescales the result. This is theaction from the left of the matrix that is twice the one in the prior example.0 2
0 00 0
(5 67 8
)=
14 160 00 0
And this is the action of the matrix that is minus three times the one from theprior example. 1 2 3
4 5 67 8 9
0 −30 00 0
=
0 −30 −120 −21
Next in complication are matrices with two nonzero entries. There are two
cases. If a leftmultiplier has entries in different rows then their actions don’tinteract.
Section IV. Matrix Operations 223
3.5 Example1 0 00 0 20 0 0
1 2 34 5 67 8 9
= (
1 0 00 0 00 0 0
+
0 0 00 0 20 0 0
)
1 2 34 5 67 8 9
=
1 2 30 0 00 0 0
+
0 0 014 16 180 0 0
=
1 2 314 16 180 0 0
But if the leftmultiplier’s nonzero entries are in the same row then that row ofthe result is a combination.
3.6 Example1 0 20 0 00 0 0
1 2 34 5 67 8 9
= (
1 0 00 0 00 0 0
+
0 0 20 0 00 0 0
)
1 2 34 5 67 8 9
=
1 2 30 0 00 0 0
+
14 16 180 0 00 0 0
=
15 18 210 0 00 0 0
Rightmultiplication acts in the same way, with columns.
These observations about matrices that are mostly zeroes extend to arbitrarymatrices.
3.7 Lemma In a product of two matrices G and H, the columns of GH areformed by taking G times the columns of H
G ·
...
...~h1 · · · ~hn...
...
=
...
...G · ~h1 · · · G · ~hn
......
and the rows of GH are formed by taking the rows of G times H
· · · ~g1 · · ·...
· · · ~gr · · ·
·H =
· · · ~g1 ·H · · ·
...
· · · ~gr ·H · · ·
(ignoring the extra parentheses).
224 Chapter 3. Maps Between Spaces
Proof. We will exhibit the 2×2 case, and leave the general case as an exercise.
GH =(g1,1 g1,2
g2,1 g2,2
)(h1,1 h1,2
h2,1 h2,2
)=(g1,1h1,1 + g1,2h2,1 g1,1h1,2 + g1,2h2,2
g2,1h1,1 + g2,2h2,1 g2,1h1,2 + g2,2h2,2
)The right side of the first equation in the result(
G
(h1,1
h2,1
)G
(h1,2
h2,2
))=((
g1,1h1,1 + g1,2h2,1
g2,1h1,1 + g2,2h2,1
) (g1,1h1,2 + g1,2h2,2
g2,1h1,2 + g2,2h2,2
))is indeed the same as the right side of GH, except for the extra parentheses (theones marking the columns as column vectors). The other equation is similarlyeasy to recognize. QED
An application of those observations is that there is a matrix that just copiesout the rows and columns.
3.8 Definition The main diagonal (or principle diagonal or diagonal) of asquare matrix goes from the upper left to the lower right.
3.9 Definition An identity matrix is square and has with all entries zero except for ones in the main diagonal.
In×n =
1 0 . . . 00 1 . . . 0
...0 0 . . . 1
3.10 Example The 3×3 identity leaves its multiplicand unchanged both fromthe left 1 0 0
0 1 00 0 1
2 3 61 3 8−7 1 0
=
2 3 61 3 8−7 1 0
and from the right. 2 3 6
1 3 8−7 1 0
1 0 00 1 00 0 1
=
2 3 61 3 8−7 1 0
3.11 Example So does the 2×2 identity matrix.
1 −20 −21 −14 3
(1 00 1
)=
1 −20 −21 −14 3
Section IV. Matrix Operations 225
In short, an identity matrix is the identity element of the set of n×n matrices,with respect to the operation of matrix multiplication.
We next see two ways to generalize the identity matrix.The first is that if the ones are relaxed to arbitrary reals, the resulting matrix
will rescale whole rows or columns.
3.12 Definition A diagonal matrix is square and has zeros off the main diagonal.
a1,1 0 . . . 00 a2,2 . . . 0
...0 0 . . . an,n
3.13 Example From the left, the action of multiplication by a diagonal matrixis to rescales the rows.(
2 00 −1
)(2 1 4 −1−1 3 4 4
)=(
4 2 8 −21 −3 −4 −4
)From the right such a matrix rescales the columns.
(1 2 12 2 2
)3 0 00 2 00 0 −2
=(
3 4 −26 4 −4
)
The second generalization of identity matrices is that we can put a single onein each row and column in ways other than putting them down the diagonal.
3.14 Definition A permutation matrix is square and is all zeros except for asingle one in each row and column.
3.15 Example From the left these matrices permute rows.0 0 11 0 00 1 0
1 2 34 5 67 8 9
=
7 8 91 2 34 5 6
From the right they permute columns.1 2 3
4 5 67 8 9
0 0 11 0 00 1 0
=
2 3 15 6 48 9 7
We finish this subsection by applying these observations to get matrices that
perform Gauss’ method and GaussJordan reduction.
226 Chapter 3. Maps Between Spaces
3.16 Example We have seen how to produce a matrix that will rescale rows.Multiplying by this diagonal matrix rescales the second row of the other by afactor of three.1 0 0
0 3 00 0 1
0 2 1 10 1/3 1 −11 0 2 0
=
0 2 1 10 1 3 −31 0 2 0
We have seen how to produce a matrix that will swap rows. Multiplying by thispermutation matrix swaps the first and third rows.0 0 1
0 1 01 0 0
0 2 1 10 1 3 −31 0 2 0
=
1 0 2 00 1 3 −30 2 1 1
To see how to perform a pivot, we observe something about those two ex
amples. The matrix that rescales the second row by a factor of three arises inthis way from the identity.1 0 0
0 1 00 0 1
3ρ2−→
1 0 00 3 00 0 1
Similarly, the matrix that swaps first and third rows arises in this way.1 0 0
0 1 00 0 1
ρ1↔ρ3−→
0 0 10 1 01 0 0
3.17 Example The 3×3 matrix that arises as1 0 0
0 1 00 0 1
−2ρ2+ρ3−→
1 0 00 1 00 −2 1
will, when it acts from the left, perform the pivot operation −2ρ2 + ρ3.1 0 0
0 1 00 −2 1
1 0 2 00 1 3 −30 2 1 1
=
1 0 2 00 1 3 −30 0 −5 7
3.18 Definition The elementary reduction matrices are obtained from identitymatrices with one Gaussian operation. We denote them:
(1) Ikρi−→Mi(k) for k 6= 0;
(2) Iρi↔ρj−→ Pi,j for i 6= j;
(3) Ikρi+ρj−→ Ci,j(k) for i 6= j.
Section IV. Matrix Operations 227
3.19 Lemma Gaussian reduction can be done through matrix multiplication.
(1) If Hkρi−→ G then Mi(k)H = G.
(2) If Hρi↔ρj−→ G then Pi,jH = G.
(3) If Hkρi+ρj−→ G then Ci,j(k)H = G.
Proof. Clear. QED
3.20 Example This is the first system, from the first chapter, on which weperformed Gauss’ method.
3x3 = 9x1 + 5x2 − 2x3 = 2
(1/3)x1 + 2x2 = 3
It can be reduced with matrix multiplication. Swap the first and third rows,0 0 10 1 01 0 0
0 0 3 91 5 −2 2
1/3 2 0 3
=
1/3 2 0 31 5 −2 20 0 3 9
triple the first row,3 0 0
0 1 00 0 1
1/3 2 0 31 5 −2 20 0 3 9
=
1 6 0 91 5 −2 20 0 3 9
and then add −1 times the first row to the second. 1 0 0
−1 1 00 0 1
1 6 0 91 5 −2 20 0 3 9
=
1 6 0 90 −1 −2 −70 0 3 9
Now back substitution will give the solution.
3.21 Example GaussJordan reduction works the same way. For the matrixending the prior example, first adjust the leading entries1 0 0
0 −1 00 0 1/3
1 6 0 90 −1 −2 −70 0 3 9
=
1 6 0 90 1 2 70 0 1 3
and to finish, clear the third column and then the second column.1 −6 0
0 1 00 0 1
1 0 00 1 −20 0 1
1 6 0 90 1 2 70 0 1 3
=
1 0 0 30 1 0 10 0 1 3
228 Chapter 3. Maps Between Spaces
We have observed the following result, which we shall use in the next subsection.
3.22 Corollary For any matrix H there are elementary reduction matricesR1, . . . , Rr such that Rr ·Rr−1 · · ·R1 ·H is in reduced echelon form.
Until now we have taken the point of view that our primary objects of studyare vector spaces and the maps between them, and have adopted matrices onlyfor computational convenience. This subsection show that this point of viewisn’t the whole story. Matrix theory is a fascinating and fruitful area.
In the rest of this book we shall continue to focus on maps as the primaryobjects, but we will be pragmatic—if the matrix point of view gives some cleareridea then we shall use it.
ExercisesX 3.23 Predict the result of each multiplication by an elementary reduction matrix,
and then check by multiplying it out.
(a)
(3 00 0
)(1 23 4
)(b)
(4 00 2
)(1 23 4
)(c)
(1 0−2 1
)(1 23 4
)(d)
(1 23 4
)(1 −10 1
)(e)
(1 23 4
)(0 11 0
)X 3.24 The need to take linear combinations of rows and columns in tables of numbers
arises often in practice. For instance, this is a map of part of Vermont and NewYork.
In part because of Lake Champlain,there are no roads connecting somepairs of towns. For instance, thereis no way to go from Winooski toGrand Isle without going throughColchester. (Of course, many otherroads and towns have been left offto simplify the graph. From top tobottom of this map is about fortymiles.)
Burlington
Colchester
Grand Isle
Swanton
Winooski
(a) The incidence matrix of a map is the square matrix whose i, j entry is thenumber of roads from city i to city j. Produce the incidence matrix of this map(take the cities in alphabetical order).
(b) A matrix is symmetric if it equals its transpose. Show that an incidencematrix is symmetric. (These are all twoway streets. Vermont doesn’t havemany oneway streets.)
(c) What is the significance of the square of the incidence matrix? The cube?
Section IV. Matrix Operations 229
X 3.25 The need to take linear combinations of rows and columns in tables of numbersarises often in practice. For instance, this table gives the number of hours of eachtype done by each worker, and the associated pay rates. Use matrices to computethe wages due.
regular overtimeAlan 40 12Betty 35 6Catherine 40 18Donald 28 0
wageregular $25.00overtime $45.00
3.26 Find the product of this matrix with its transpose.(cos θ − sin θsin θ cos θ
)X 3.27 Prove that the diagonal matrices form a subspace of Mn×n. What is its
dimension?
3.28 Does the identity matrix represent the identity map if the bases are unequal?
3.29 Show that every multiple of the identity commutes with every square matrix.Are there other matrices that commute with all square matrices?
3.30 Prove or disprove: nonsingular matrices commute.
X 3.31 Show that the product of a permutation matrix and its transpose is an identitymatrix.
3.32 Show that if the first and second rows of G are equal then so are the first andsecond rows of GH. Generalize.
3.33 Describe the product of two diagonal matrices.
3.34 Write (1 0−3 3
)as the product of two elementary reduction matrices.
X 3.35 Show that if G has a row of zeros then GH (if defined) has a row of zeros.Does that work for columns?
3.36 Show that the set of unit matrices forms a basis for Mn×m.
3.37 Find the formula for the nth power of this matrix.(1 11 0
)X 3.38 The trace of a square matrix is the sum of the entries on its diagonal (its
significance appears in Chapter Five). Show that trace(GH) = trace(HG).
X 3.39 A square matrix is upper triangular if its only nonzero entries lie above, oron, the diagonal. Show that the product of two upper triangular matrices is uppertriangular. Does this hold for lower triangular also?
3.40 A square matrix is a Markov matrix if each entry is between zero and oneand the sum along each row is one. Prove that a product of Markov matrices isMarkov.
X 3.41 Give an example of two matrices of the same rank with squares of differingrank.
3.42 Combine the two generalizations of the identity matrix, the one allowing entires to be other than ones, and the one allowing the single one in each row andcolumn to be off the diagonal. What is the action of this type of matrix?
230 Chapter 3. Maps Between Spaces
3.43 On a computer multiplications are more costly than additions, so people areinterested in reducing the number of multiplications used to compute a matrixproduct.(a) How many real number multiplications are needed in formula we gave for theproduct of a m×r matrix and a r×n matrix?
(b) Matrix multiplication is associative, so all associations yield the same result.The cost in number of multiplications, however, varies. Find the associationrequiring the fewest real number multiplications to compute the matrix productof a 5×10 matrix, a 10×20 matrix, a 20×5 matrix, and a 5×1 matrix.
(c) (Very hard.) Find a way to multiply two 2×2 matrices using only sevenmultiplications instead of the eight suggested by the naive approach.
3.44 [Putnam, 1990, A5] If A and B are square matrices of the same size suchthat ABAB = 0, does it follow that BABA = 0?
3.45 [Am. Math. Mon., Dec. 1966] Demonstrate these four assertions to get an alternate proof that column rank equals row rank.(a) ~y · ~y = ~0 iff ~y = ~0.(b) A~x = ~0 iff AtransA~x = ~0.(c) dim(R(A)) = dim(R(AtransA)).(d) col rank(A) = col rank(Atrans) = row rank(A).
3.46 [Ackerson] Prove (where A is an n×n matrix and so defines a transformationof any ndimensional space V with respect to B,B where B is a basis) dim(R(A)∩N (A)) = dim(R(A))− dim(R(A2)). Conclude(a) N (A) ⊂ R(A) iff dim(N (A)) = dim(R(A))− dim(R(A2));(b) R(A) ⊆ N (A) iff A2 = 0;(c) R(A) = N (A) iff A2 = 0 and dim(N (A)) = dim(R(A)) ;(d) dim(R(A) ∩N (A)) = 0 iff dim(R(A)) = dim(R(A2)) ;(e) (Requires the Direct Sum subsection, which is optional.) V = R(A)⊕N (A)iff dim(R(A)) = dim(R(A2)).
3.IV.4 Inverses
We now consider how to represent the inverse of a linear map.We start by recalling some facts about function inverses.∗ Some functions
have no inverse, or have an inverse on one side only.
4.1 Example Where π : R3 → R2 is the projection mapxyz
7→ (xy
)and η : R2 → R3 is the embedding(
xy
)7→
xy0
∗ More information on function inverses is in the appendix.
Section IV. Matrix Operations 231
the composition π ◦ η is the identity map on R2.
π ◦ η :(xy
)η7−→
xy0
π7−→(xy
)
We say π is a left inverse map of η or, what is the same thing, that η is a rightinverse map of π. However, composition in the other order η◦π doesn’t give theidentity map—here is a vector that is not sent to itself under this composition.
η ◦ π :
001
π7−→(
00
)η7−→
000
In fact, the projection π has no left inverse at all. For, if f were to be a leftinverse of π then we would have
f ◦ π :
xyz
π7−→(xy
)f7−→
xyz
for all of the infinitely many z’s. But no function f can send a single argumentto more than one value.
(An example of a function with no inverse on either side, is the zero transformation on R2.) Some functions have a twosided inverse map, another functionthat is the inverse of the first, both from the left and from the right. For instance, the map given by ~v 7→ 2 · ~v has the twosided inverse ~v 7→ (1/2) · ~v. Inthis subsection we will focus on twosided inverses. The appendix shows that afunction (linear or not) has a twosided inverse if and only if it is both onetooneand onto. The appendix also shows that if a function f has a twosided inversethen it is unique, and so it is called ‘the’ inverse, and is denoted f−1. So ourpurpose in this subsection is, where a linear map h has an inverse, to find therelationship between RepB,D(h) and RepD,B(h−1).
4.2 Definition A matrix G is a left inverse matrix of the matrix H if GH isthe identity matrix. It is a right inverse matrix if HG is the identity. A matrixH with a twosided inverse is an invertible matrix. That twosided inverse iscalled the inverse matrix and is denoted H−1.
Because of the correspondence between linear maps and matrices, statementsabout map inverses translate into statements about matrix inverses.
4.3 Lemma If a matrix has both a left inverse and a right inverse then thetwo are equal.
4.4 Theorem A matrix is invertible if and only if it is nonsingular.
232 Chapter 3. Maps Between Spaces
Proof. (For both results.) Given a matrix H, fix spaces of appropriate dimension for the domain and codomain. Fix bases for these spaces. With respect tothese bases, H represents a map h. The statements are true about the map andtherefore they are true about the matrix. QED
4.5 Lemma A product of invertible matrices is invertible—if G and H areinvertible and if GH is defined then GH is invertible and (GH)−1 = H−1G−1.
Proof. (This is just like the prior proof except that it requires two maps.) Fixappropriate spaces and bases and consider the represented maps h and g. Notethat h−1g−1 is a twosided map inverse of gh since (h−1g−1)(gh) = h−1(id)h =h−1h = id and (gh)(h−1g−1) = g(id)g−1 = gg−1 = id. This equality is reflectedin the matrices representing the maps, as required. QED
Here is the arrow diagram giving the relationship between map inverses andmatrix inverses. It is a special case of the diagram for function composition andmatrix multiplication.
Vw.r.t. Bid−→I
Vw.r.t. B
↗h H
Ww.r.t. D
↘h−1
H−1
Beyond its place in our general program of seeing how to represent mapoperations, another reason for our interest in inverses comes from solving linearsystems. A linear system is equivalent to a matrix equation, as here.
x1 + x2 = 32x1 − x2 = 2 ⇐⇒
(1 12 −1
)(x1
x2
)=(
32
)(∗)
By fixing spaces and bases (e.g., R2,R2 and E2, E2), we take the matrix H torepresent some map h. Then solving the system is the same as asking: whatdomain vector ~x is mapped by h to the result ~d ? If we could invert h then wecould solve the system by multiplying RepD,B(h−1) · RepD(~d) to get RepB(~x).
4.6 Example We can find a left inverse for the matrix just given(m np q
)(1 12 −1
)=(
1 00 1
)by using Gauss’ method to solve the resulting linear system.
m+ 2n = 1m− n = 0
p+ 2q = 0p− q = 1
Answer: m = 1/3, n = 1/3, p = 2/3, and q = −1/3. This matrix is actuallythe twosided inverse of H, as can easily be checked. With it we can solve thesystem (∗) above by applying the inverse.(
xy
)=(
1/3 1/32/3 −1/3
)(32
)=(
5/34/3
)
Section IV. Matrix Operations 233
4.7 Remark Why solve systems this way, when Gauss’ method takes lessarithmetic (this assertion can be made precise by counting the number of arithmetic operations, as computer algorithm designers do)? Beyond its conceptualappeal of fitting into our program of discovering how to represent the variousmap operations, solving linear systems by using the matrix inverse has at leasttwo advantages.
First, once the work of finding an inverse has been done, solving a systemwith the same coefficients but different constants is easy and fast: if we changethe entries on the right of the system (∗) then we get a related problem(
1 12 −1
)(xy
)=(
51
)wtih a related solution method.(
xy
)=(
1/3 1/32/3 −1/3
)(51
)=(
23
)In applications, solving many systems having the same matrix of coefficients iscommon.
Another advantage of inverses is that we can explore a system’s sensitivityto changes in the constants. For example, tweaking the 3 on the right of thesystem (∗) to (
1 12 −1
)(x1
x2
)=(
3.012
)can be solved with the inverse.(
1/3 1/32/3 −1/3
)(3.01
2
)=(
(1/3)(3.01) + (1/3)(2)(2/3)(3.01)− (1/3)(2)
)to show that x1 changes by 1/3 of the tweak while x2 moves by 2/3 of thattweak. This sort of analysis is used, for example, to decide how accurately datamust be specified in a linear model to ensure that the solution has a desiredaccuracy.
We finish by describing the computational procedure usually used to findthe inverse matrix.
4.8 Lemma A matrix is invertible if and only if it can be written as the product of elementary reduction matrices. The inverse can be computed by applyingto the identity matrix the same row steps, in the same order, as are used toGaussJordan reduce the invertible matrix.
Proof. A matrix H is invertible if and only if it is nonsingular and thus GaussJordan reduces to the identity. By Corollary 3.22 this reduction can be donewith elementary matrices Rr ·Rr−1 . . . R1 ·H = I. This equation gives the twohalves of the result.
234 Chapter 3. Maps Between Spaces
First, elementary matrices are invertible and their inverses are also elementary. Applying R−1
r to the left of both sides of that equation, then R−1r−1, etc.,
gives H as the product of elementary matrices H = R−11 · · ·R−1
r · I (the I ishere to cover the trivial r = 0 case).
Second, matrix inverses are unique and so comparison of the above equationwith H−1H = I shows that H−1 = Rr ·Rr−1 . . . R1 · I. Therefore, applying R1
to the identity, followed by R2, etc., yields the inverse of H. QED
4.9 Example To find the inverse of(1 12 −1
)we do GaussJordan reduction, meanwhile performing the same operations onthe identity. For clerical convenience we write the matrix and the identity sidebyside, and do the reduction steps together.(
1 1 1 02 −1 0 1
)−2ρ1+ρ2−→
(1 1 1 00 −3 −2 1
)−1/3ρ2−→
(1 1 1 00 1 2/3 −1/3
)−ρ2+ρ1−→
(1 0 1/3 1/30 1 2/3 −1/3
)This calculation has found the inverse.(
1 12 −1
)−1
=(
1/3 1/32/3 −1/3
)4.10 Example This one happens to start with a row swap.0 3 −1 1 0 0
1 0 1 0 1 01 −1 0 0 0 1
ρ1↔ρ2−→
1 0 1 0 1 00 3 −1 1 0 01 −1 0 0 0 1
−ρ1+ρ3−→
1 0 1 0 1 00 3 −1 1 0 00 −1 −1 0 −1 1
...
−→
1 0 0 1/4 1/4 3/40 1 0 1/4 1/4 −1/40 0 1 −1/4 3/4 −3/4
4.11 Example A noninvertible matrix is detected by the fact that the lefthalf won’t reduce to the identity.(
1 1 1 02 2 0 1
)−2ρ1+ρ2−→
(1 1 1 00 0 −2 1
)
Section IV. Matrix Operations 235
This procedure will find the inverse of a general n×n matrix. The 2×2 caseis handy.
4.12 Corollary The inverse for a 2×2 matrix exists and equals(a bc d
)−1
=1
ad− bc
(d −b−c a
)if and only if ad− bc 6= 0.
Proof. This computation is Exercise 22. QED
We have seen here, as in the Mechanics of Matrix Multiplication subsection,that we can exploit the correspondence between linear maps and matrices. Sowe can fruitfully study both maps and matrices, translating back and forth towhichever helps us the most.
Over the entire four subsections of this section we have developed an algebrasystem for matrices. We can compare it with the familiar algebra system forthe real numbers. Here we are working not with numbers but with matrices.We have matrix addition and subtraction operations, and they work in muchthe same way as the real number operations, except that they only combinesamesized matrices. We also have a matrix multiplication operation and anoperation inverse to multiplication. These are somewhat like the familiar realnumber operations (associativity, and distributivity over addition, for example),but there are differences (failure of commutativity, for example). And, we havescalar multiplication, which is in some ways another extension of real numbermultiplication. This matrix system provides an example that algebra systemsother than the elementary one can be interesting and useful.
Exercises4.13 Supply the intermediate steps in Example 4.10.
X 4.14 Use Corollary 4.12 to decide if each matrix has an inverse.
(a)
(2 1−1 1
)(b)
(0 41 −3
)(c)
(2 −3−4 6
)X 4.15 For each invertible matrix in the prior problem, use Corollary 4.12 to find its
inverse.
X 4.16 Find the inverse, if it exists, by using the GaussJordan method. Check theanswers for the 2×2 matrices with Corollary 4.12.
(a)
(3 10 2
)(b)
(2 1/23 1
)(c)
(2 −4−1 2
)(d)
(1 1 30 2 4−1 1 0
)
(e)
(0 1 50 −2 42 3 −2
)(f)
(2 2 31 −2 −34 −2 −3
)X 4.17 What matrix has this one for its inverse?(
1 32 5
)
236 Chapter 3. Maps Between Spaces
4.18 How does the inverse operation interact with scalar multiplication and addition of matrices?(a) What is the inverse of rH?(b) Is (H +G)−1 = H−1 +G−1?
X 4.19 Is (T k)−1 = (T−1)k?
4.20 Is H−1 invertible?
4.21 For each real number θ let tθ : R2 → R2 be represented with respect to thestandard bases by this matrix. (
cos θ − sin θsin θ cos θ
)Show that tθ1+θ2 = tθ1 · tθ2 . Show also that tθ
−1 = t−θ.
4.22 Do the calculations for the proof of Corollary 4.12.
4.23 Show that this matrix
H =
(1 0 10 1 0
)has infinitely many right inverses. Show also that it has no left inverse.
4.24 In Example 4.1, how many left inverses has η?
4.25 If a matrix has infinitely many rightinverses, can it have infinitely manyleftinverses? Must it have?
X 4.26 Assume that H is invertible and that HG is the zero matrix. Show that G isa zero matrix.
4.27 Prove that if H is invertible then the inverse commutes with a matrix GH−1 =H−1G if and only if H itself commutes with that matrix GH = HG.
X 4.28 Show that if T is square and if T 4 is the zero matrix then (I − T )−1 =I + T + T 2 + T 3. Generalize.
X 4.29 Let D be diagonal. Describe D2, D3, . . . , etc. Describe D−1, D−2, . . . , etc.Define D0 appropriately.
4.30 Prove that any matrix rowequivalent to an invertible matrix is also invertible.
4.31 The first question below appeared as Exercise 28.(a) Show that the rank of the product of two matrices is less than or equal tothe minimum of the rank of each.
(b) Show that if T and S are square then TS = I if and only if ST = I.
4.32 Show that the inverse of a permutation matrix is its transpose.
4.33 The first two parts of this question appeared as Exercise 25.(a) Show that (GH)trans = HtransGtrans.(b) A square matrix is symmetric if each i, j entry equals the j, i entry (that is, ifthe matrix equals its transpose). Show that the matrices HHtrans and HtransHare symmetric.
(c) Show that the inverse of the transpose is the transpose of the inverse.(d) Show that the inverse of a symmetric matrix is symmetric.
X 4.34 The items starting this question appeared as Exercise 30.(a) Prove that the composition of the projections πx, πy : R3 → R3 is the zeromap despite that neither is the zero map.
(b) Prove that the composition of the derivatives d2/dx2, d3/dx3 : P4 → P4 isthe zero map despite that neither map is the zero map.
(c) Give matrix equations representing each of the prior two items.
Section IV. Matrix Operations 237
When two things multiply to give zero despite that neither is zero, each is said tobe a zero divisor. Prove that no zero divisor is invertible.
4.35 In real number algebra, there are exactly two numbers, 1 and −1, that aretheir own multiplicative inverse. Does H2 = I have exactly two solutions for 2×2matrices?
4.36 Is the relation ‘is a twosided inverse of’ transitive? Reflexive? Symmetric?
4.37 [Am. Math. Mon., Nov. 1951] Prove: if the sum of the elements of a squarematrix is k, then the sum of the elements in each row of the inverse matrix is 1/k.
238 Chapter 3. Maps Between Spaces
3.V Change of Basis
Representations, whether of vectors or of maps, vary with the bases. For instance, with respect to the two bases E2 and
B = 〈(
11
),
(1−1
)〉
for R2, the vector ~e1 has two different representations.
RepE2(~e1) =(
10
)RepB(~e1) =
(1/21/2
)Similarly, with respect to E2, E2 and E2, B, the identity map has two differentrepresentations.
RepE2,E2(id) =(
1 00 1
)RepE2,B(id) =
(1/2 1/21/2 −1/2
)With our point of view that the objects of our studies are vectors and maps, infixing bases we are adopting a scheme of tags or names for these objects, thatare convienent for computation. We will now see how to translate among thesenames—we will see exactly how representations vary as the bases vary.
3.V.1 Changing Representations of Vectors
In converting RepB(~v) to RepD(~v) the underlying vector ~v doesn’t change.Thus, this translation is accomplished by the identity map on the space, described so that the domain space vectors are represented with respect to B andthe codomain space vectors are represented with respect to D.
Vw.r.t. B
idy
Vw.r.t. D
(The diagram is vertical to fit with the ones in the next subsection.)
1.1 Definition The change of basis matrix for bases B,D ⊂ V is the representation of the identity map id: V → V with respect to those bases.
RepB,D(id) =
...
...RepD(~β1) · · · RepD(~βn)
......
Section V. Change of Basis 239
1.2 Lemma Leftmultiplication by the change of basis matrix for B,D converts a representation with respect to B to one with respect to D. Conversly, ifleftmultiplication by a matrix changes bases M · RepB(~v) = RepD(~v) then Mis a change of basis matrix.
Proof. For the first sentence, for each ~v, as matrixvector multiplication represents a map application, RepB,D(id) ·RepB(~v) = RepD( id(~v) ) = RepD(~v). Forthe second sentence, with respect to B,D the matrix M represents some linearmap, whose action is ~v 7→ ~v, and is therefore the identity map. QED
1.3 Example With these bases for R2,
B = 〈(
21
),
(10
)〉 D = 〈
(−11
),
(11
)〉
because
RepD( id((
21
))) =
(−1/23/2
)D
RepD( id((
10
))) =
(−1/21/2
)D
the change of basis matrix is this.
RepB,D(id) =(−1/2 −1/23/2 1/2
)We can see this matrix at work by finding the two representations of ~e2
RepB((
01
)) =
(1−2
)RepD(
(01
)) =
(1/21/2
)and checking that the conversion goes as expected.(
−1/2 −1/23/2 1/2
)(1−2
)=(
1/21/2
)We finish this subsection by recognizing that the change of basis matrices
are familiar.
1.4 Lemma A matrix changes bases if and only if it is nonsingular.
Proof. For one direction, if leftmultiplication by a matrix changes bases thenthe matrix represents an invertible function, simply because the function isinverted by changing the bases back. Such a matrix is itself invertible, and sononsingular.
To finish, we will show that any nonsingular matrix M performs a change ofbasis operation from any given starting basis B to some ending basis. Becausethe matrix is nonsingular, it will GaussJordan reduce to the identity, so thereare elementatry reduction matrices such that Rr · · ·R1 ·M = I. Elementarymatrices are invertible and their inverses are also elementary, so multiplyingfrom the left first by Rr
−1, then by Rr−1−1, etc., gives M as a product of
240 Chapter 3. Maps Between Spaces
elementary matrices M = R1−1 · · ·Rr−1. Thus, we will be done if we show
that elementary matrices change a given basis to another basis, for then Rr−1
changes B to some other basis Br, and Rr−1−1 changes Br to some Br−1,
. . . , and the net effect is that M changes B to B1. We will prove this aboutelementary matrices by covering the three types as separate cases.
Applying a rowmultiplication matrix
Mi(k)
c1...ci...cn
=
c1...kci...cn
changes a representation with respect to 〈~β1, . . . , ~βi, . . . , ~βn〉 to one with respectto 〈~β1, . . . , (1/k)~βi, . . . , ~βn〉 in this way.
~v = c1 · ~β1 + · · ·+ ci · ~βi + · · ·+ cn · ~βn7→ c1 · ~β1 + · · ·+ kci · (1/k)~βi + · · ·+ cn · ~βn = ~v
Similarly, leftmultiplication by a rowswap matrix Pi,j changes a representationwith respect to the basis 〈~β1, . . . , ~βi, . . . , ~βj , . . . , ~βn〉 into one with respect to thebasis 〈~β1, . . . , ~βj , . . . , ~βi, . . . , ~βn〉 in this way.
~v = c1 · ~β1 + · · ·+ ci · ~βi + · · ·+ cj ~βj + · · ·+ cn · ~βn7→ c1 · ~β1 + · · ·+ cj · ~βj + · · ·+ ci · ~βi + · · ·+ cn · ~βn = ~v
And, a representation with respect to 〈~β1, . . . , ~βi, . . . , ~βj , . . . , ~βn〉 changes vialeftmultiplication by a rowcombination matrix Ci,j(k) into a representationwith respect to 〈~β1, . . . , ~βi − k~βj , . . . , ~βj , . . . , ~βn〉
~v = c1 · ~β1 + · · ·+ ci · ~βi + cj ~βj + · · ·+ cn · ~βn7→ c1 · ~β1 + · · ·+ ci · (~βi − k~βj) + · · ·+ (kci + cj) · ~βj + · · ·+ cn · ~βn = ~v
(the definition of reduction matrices specifies that i 6= k and k 6= 0 and so thislast one is a basis). QED
1.5 Corollary A matrix is nonsingular if and only if it represents the identitymap with respect to some pair of bases.
In the next subsection we will see how to translate among representationsof maps, that is, how to change RepB,D(h) to RepB,D(h). The above corollaryis a special case of this, where the domain and range are the same space, andwhere the map is the identity map.
Section V. Change of Basis 241
ExercisesX 1.6 In R2, where
D = 〈(
21
),
(−24
)〉
find the change of basis matrices from D to E2 and from E2 to D. Multiply thetwo.
X 1.7 Find the change of basis matrix for B,D ⊆ R2.
(a) B = E2, D = 〈~e2, ~e1〉 (b) B = E2, D = 〈(
12
),
(14
)〉
(c) B = 〈(
12
),
(14
)〉, D = E2 (d) B = 〈
(−11
),
(22
)〉, D = 〈
(04
),
(13
)〉
1.8 For the bases in Exercise 7, find the change of basis matrix in the other direction,from D to B.
X 1.9 Find the change of basis matrix for each B,D ⊆ P2.(a) B = 〈1, x, x2〉, D = 〈x2, 1, x〉 (b) B = 〈1, x, x2〉, D = 〈1, 1+x, 1+x+x2〉(c) B = 〈2, 2x, x2〉, D = 〈1 + x2, 1− x2, x+ x2〉
X 1.10 Decide if each changes bases on R2. To what basis is E2 changed?
(a)
(5 00 4
)(b)
(2 13 1
)(c)
(−1 42 −8
)(d)
(1 −11 1
)1.11 Find bases such that this matrix represents the identity map with respect tothose bases. (
3 1 42 −1 10 0 4
)1.12 Conside the vector space of realvalued functions with basis 〈sin(x), cos(x)〉.Show that 〈2 sin(x)+cos(x), 3 cos(x)〉 is also a basis for this space. Find the changeof basis matrix in each direction.
1.13 Where does this matrix (cos(2θ) sin(2θ)sin(2θ) − cos(2θ)
)send the standard basis for R2? Any other bases? Hint. Consider the inverse.
X 1.14 What is the change of basis matrix with respect to B,B?
1.15 Prove that a matrix changes bases if and only if it is invertible.
1.16 Finish the proof of Lemma 1.4.
X 1.17 Let H be a n×n nonsingular matrix. What basis of Rn does H change to thestandard basis?
X 1.18 (a) In P3 with basis B = 〈1 + x, 1− x, x2 + x3, x2 − x3〉 we have this represenatation.
RepB(1− x+ 3x2 − x3) =
0112
B
Find a basis D giving this different representation for the same polynomial.
RepD(1− x+ 3x2 − x3) =
1020
D
242 Chapter 3. Maps Between Spaces
(b) State and prove that any nonzero vector representation can be changed toany other.
Hint. The proof of Lemma 1.4 is constructive—it not only says the bases change,it shows how they change.
1.19 Let V,W be vector spaces, and let B, B be bases for V and D, D be bases forW . Where h : V →W is linear, find a formula relating RepB,D(h) to RepB,D(h).
X 1.20 Show that the columns of an n×n change of basis matrix form a basis forRn. Do all bases appear in that way: can the vectors from any Rn basis make thecolumns of a change of basis matrix?
X 1.21 Find a matrix having this effect.(13
)7→(
4−1
)That is, find a M that leftmultiplies the starting vector to yield the ending vector.Is there a matrix having these two effects?
(a)
(13
)7→(
11
) (2−1
)7→(−1−1
)(b)
(13
)7→(
11
) (26
)7→(−1−1
)Give a necessary and sufficient condition for there to be a matrix such that ~v1 7→ ~w1
and ~v2 7→ ~w2.
3.V.2 Changing Map Representations
The first subsection shows how to convert the representation of a vector withrespect to one basis to the representation of that same vector with respect toanother basis. Here we will see how to convert the representation of a map withrespect to one pair of bases to the representation of that map with respect toa different pair. That is, we want the relationship between the matrices in thisarrow diagram.
Vw.r.t. Bh−−−−→H
Ww.r.t. D
idy id
yVw.r.t. B
h−−−−→H
Ww.r.t. D
To move from the lowerleft of this diagram to the lowerright we can either gostraight over, or else up to VB then over to WD and then down. Restated interms of the matrices, we can calculate H = RepB,D(h) either by simply usingB and D, or else by first changing bases with RepB,B(id) then multiplyingby H = RepB,D(h) and then changing bases with RepD,D(id). This equationsummarizes.
H = RepD,D(id) ·H · RepB,B(id) (∗)
Section V. Change of Basis 243
(To compare this equation with the sentence before it, remember that the equation is read from right to left because function composition is read right to leftand matrix multiplication represent the composition.)
2.1 Example The matrix
T =(
cos(π/6) − sin(π/6)sin(π/6) cos(π/6)
)=(√
3/2 −1/21/2
√3/2
)represents, with respect to E2, E2, the transformation t : R2 → R2 that rotatesvectors π/6 radians counterclockwise.(
13
)t7−→
((−3 +
√3)/2
(1 + 3√
3)/2
)
We can translate that representation with respect to E2, E2 to one with respectto
B = 〈(
11
)(02
)〉 D = 〈
(−10
)(23
)〉
by using the arrow diagram and formula (∗).
R2w.r.t. E2
t−−−−→T
R2w.r.t. E2
idy id
yR2
w.r.t. B
t−−−−→T
R2w.r.t. D
T = RepE2,D(id) · T · RepB,E2(id)
Note that RepE2,D(id) can be calculated as the matrix inverse of RepD,E2(id).
RepB,D(t) =(−1 20 3
)−1(√3/2 −1/21/2
√3/2
)(1 01 2
)=(
(5−√
3)/6 (3 + 2√
3)/3(1 +
√3)/6
√3/3
)Although the new matrix is messierappearing, the map that it represents is thesame. For instance, to replicate the effect of t in the picture, start with B,
RepB((
13
)) =
(11
)B
apply T ,((5−
√3)/6 (3 + 2
√3)/3
(1 +√
3)/6√
3/3
)B,D
(11
)B
=(
(11 + 3√
3)/6(1 + 3
√3)/6
)D
244 Chapter 3. Maps Between Spaces
and check it against D
11 + 3√
36
·(−10
)+
1 + 3√
36
·(
23
)=(
(−3 +√
3)/2(1 + 3
√3)/2
)to see that it is the same result as above.
2.2 Example On R3 the mapxyz
t7−→
y + zx+ zx+ y
that is represented with respect to the standard basis in this way
RepE3,E3(t) =
0 1 11 0 11 1 0
can also be represented with respect to another basis
if B = 〈
1−10
,
11−2
,
111
〉 then RepB,B(t) =
−1 0 00 −1 00 0 2
in a way that is simpler, in that the action of a diagonal matrix is easy tounderstand.
Naturally, we usually prefer basis changes that make the representation easier to understand. When the representation with respect to equal starting andending bases is a diagonal matrix we say the map or matrix has been diagonalized. In Chaper Five we shall see which maps and matrices are diagonalizable,and where one is not, we shall see how to get a representation that is nearlydiagonal.
We finish this subsection by considering the easier case where representations are with respect to possibly different starting and ending bases. Recallthat the prior subsection shows that a matrix changes bases if and only if itis nonsingular. That gives us another version of the above arrow diagram andequation (∗).
2.3 Definition Samesized matrices H and H are matrix equivalent if thereare nonsingular matrices P and Q such that H = PHQ.
2.4 Corollary Matrix equivalent matrices represent the same map, with respect to appropriate pairs of bases.
Exercise 19 checks that matrix equivalence is an equivalence relation. Thusit partitions the set of matrices into matrix equivalence classes.
Section V. Change of Basis 245
All matrices: %$Ã!¿À. . .
.H
H .H matrix equivalentto H
We can get some insight into the classes by comparing matrix equivalence withrow equivalence (recall that matrices are row equivalent when they can be reduced to each other by row operations). In H = PHQ, the matrices P andQ are nonsingular and thus each can be written as a product of elementaryreduction matrices (Lemma 4.8). Leftmultiplication by the reduction matricesmaking up P has the effect of performing row operations. Rightmultiplicationby the reduction matrices making up Q performs column operations. Therefore,matrix equivalence is a generalization of row equivalence—two matrices are rowequivalent if one can be converted to the other by a sequence of row reductionsteps, while two matrices are matrix equivalent if one can be converted to theother by a sequence of row reduction steps followed by a sequence of columnreduction steps.
Thus, if matrices are row equivalent then they are also matrix equivalent(since we can take Q to be the identity matrix and so perform no columnoperations). The converse, however, does not hold.
2.5 Example These two (1 00 0
) (1 10 0
)are matrix equivalent because the second can be reduced to the first by thecolumn operation of taking −1 times the first column and adding to the second.They are not row equivalent because they have different reduced echelon forms(in fact, both are already in reduced form).
We will close this section by finding a set of representatives for the matrixequivalence classes.∗
2.6 Theorem Any m×n matrix of rank k is matrix equivalent to the m×nmatrix that is all zeros except that the first k diagonal entries are ones.
1 0 . . . 0 0 . . . 00 1 . . . 0 0 . . . 0
...0 0 . . . 1 0 . . . 00 0 . . . 0 0 . . . 0
...0 0 . . . 0 0 . . . 0
∗ More information on class representatives is in the appendix.
246 Chapter 3. Maps Between Spaces
Sometimes this is described as a block partialidentity form.(I ZZ Z
)Proof. As discussed above, GaussJordan reduce the given matrix and combineall the reduction matrices used there to make P . Then use the leading entries todo column reduction and finish by swapping columns to put the leading ones onthe diagonal. Combine the reduction matrices used for those column operationsinto Q. QED
2.7 Example We illustrate the proof by finding the P and Q for this matrix.1 2 1 −10 0 1 −12 4 2 −2
First GaussJordan rowreduce.1 −1 0
0 1 00 0 1
1 0 00 1 0−2 0 1
1 2 1 −10 0 1 −12 4 2 −2
=
1 2 0 00 0 1 −10 0 0 0
Then columnreduce, which involves rightmultiplication.1 2 0 0
0 0 1 −10 0 0 0
1 −2 0 00 1 0 00 0 1 00 0 0 1
1 0 0 00 1 0 00 0 1 10 0 0 1
=
1 0 0 00 0 1 00 0 0 0
Finish by swapping columns.1 0 0 0
0 0 1 00 0 0 0
1 0 0 00 0 1 00 1 0 00 0 0 1
=
1 0 0 00 1 0 00 0 0 0
Finally, combine the leftmultipliers together as P and the rightmultiplierstogether as Q to get the PHQ equation. 1 −1 0
0 1 0−2 0 1
1 2 1 −10 0 1 −12 4 2 −2
1 0 −2 00 0 1 00 1 0 10 0 0 1
=
1 0 0 00 1 0 00 0 0 0
2.8 Corollary Two samesized matrices are matrix equivalent if and only ifthey have the same rank. That is, the matrix equivalence classes are characterized by rank.
Proof. Two samesized matrices with the same rank are equivalent to the sameblock partialidentity matrix. QED
Section V. Change of Basis 247
2.9 Example Now that we know that the block partialidentity matrices formcanonical representatives of the matrixequivalence classes, we can see what theclasses look like and how many classes there are. Consider the 2×2 matrices.There are only three possible ranks: zero, one, or two. Thus the 2×2 matricesfall into three matrixequivalence classes.
All 2×2matrices: %?
(0 00 0
)
¤¤¤¤¤¤.
?(
1 00 0
) .. .
.
?(
1 00 1
) the threeequivalenceclasses
Each class just consists of all the 2×2 matrices with the same rank.
In this subsection we have seen how to change the representation of a mapwith respect to a first pair of bases to one with respect to a second pair. Thatled to a definition describing when matrices are equivalent in this way. Finallywe noted that, with the proper choice of (possibly different) starting and endingbases, any map can be represented in block partialidentity form.
One of the nice things about this representation is that, in some sense, wecan completely understand the map when it is expressed in this way: if thebases are B = 〈~β1, . . . , ~βn〉 and D = 〈~δ1, . . . , ~δm〉 then the map sends
c1~β1 + · · ·+ ck~βk + ck+1~βk+1 + · · ·+ cn~βn 7−→ c1~δ1 + · · ·+ ck~δk +~0 + · · ·+~0
where k is the map’s rank. Thus, we can understand any linear map as a kindof projection.
c1...ckck+1
...cn
B
7→
c1...ck0...0
D
Of course, “understanding” a map expressed in this way requires that we understand the relationship between B and D. However, despite that difficulty,this is a good classification of linear maps.
ExercisesX 2.10 Decide if these matrices are matrix equivalent.
(a)
(1 3 02 3 0
),
(2 2 10 5 −1
)(b)
(0 31 1
),
(4 00 5
)
248 Chapter 3. Maps Between Spaces
(c)
(1 32 6
),
(1 32 −6
)X 2.11 Find the canonical representative of the matrixequivalence class of each ma
trix.
(a)
(2 1 04 2 0
)(b)
(0 1 0 21 1 0 43 3 3 −1
)2.12 Suppose that, with respect to
B = E2 D = 〈(
11
),
(1−1
)〉
the transformation t : R2 → R2 is represented by this matrix.(1 23 4
)Use change of basis matrices to represent t with respect to each pair.
(a) B = 〈(
01
),
(11
)〉, D = 〈
(−10
),
(21
)〉
(b) B = 〈(
12
),
(10
)〉, D = 〈
(12
),
(21
)〉
X 2.13 What size are P and Q?
X 2.14 Use Theorem 2.6 to show that a square matrix is nonsingular if and only if itis equivalent to an identity matrix.
X 2.15 Show that, where A is a nonsingular square matrix, if P and Q are nonsingularsquare matrices such that PAQ = I then QP = A−1.
X 2.16 Why does Theorem 2.6 not show that every matrix is diagonalizable (seeExample 2.2)?
2.17 Must matrix equivalent matrices have matrix equivalent transposes?
2.18 What happens in Theorem 2.6 if k = 0?
X 2.19 Show that matrixequivalence is an equivalence relation.
X 2.20 Show that a zero matrix is alone in its matrix equivalence class. Are thereother matrices like that?
2.21 What are the matrix equivalence classes of matrices of transformations on R1?R3?
2.22 How many matrix equivalence classes are there?
2.23 Are matrix equivalence classes closed under scalar multiplication? Addition?
2.24 Let t : Rn → Rn represented by T with respect to En, En.(a) Find RepB,B(t) in this specific case.
T =
(1 13 −1
)B = 〈
(12
),
(−1−1
)〉
(b) Describe RepB,B(t) in the general case where B = 〈~β1, . . . , ~βn〉.2.25 (a) Let V have bases B1 and B2 and suppose that W has the basis D. Where
h : V →W , find the formula that computes RepB2,D(h) from RepB1,D
(h).(b) Repeat the prior question with one basis for V and two bases for W .
2.26 (a) If two matrices are matrixequivalent and invertible, must their inversesbe matrixequivalent?
(b) If two matrices have matrixequivalent inverses, must the two be matrixequivalent?
Section V. Change of Basis 249
(c) If two matrices are square and matrixequivalent, must their squares bematrixequivalent?
(d) If two matrices are square and have matrixequivalent squares, must they bematrixequivalent?
X 2.27 Square matrices are similar if they represent the same transformation, buteach with respect to the same ending as starting basis. That is, RepB1,B1
(t) issimilar to RepB2,B2
(t).(a) Give a definition of matrix similarity like that of Definition 2.3.(b) Prove that similar matrices are matrix equivalent.(c) Show that similarity is an equivalence relation.(d) Show that if T is similar to T then T 2 is similar to T 2, the cubes are similar,etc. Contrast with the prior exercise.
(e) Prove that there are matrix equivalent matrices that are not similar.
250 Chapter 3. Maps Between Spaces
3.VI Projection
The prior section describes the matrix equivalence canonical form as expressing aprojection and so this section takes the natural next step of studying projections.However, this section is optional; only the last two sections of Chapter Fiverequire this material. In addition, this section requires some optional materialfrom the subsection on length and angle measure in nspace.
We have described the projection π from R3 into its xy plane subspace asa ‘shadow map’. This shows why, but it also shows that some shadows fallupward.
(122
)
(120
)(
12−1
)(
120
)
So perhaps a better description is: the projection of ~v is the ~p in the plane withthe property that someone standing on ~p and looking straight up or down sees~v. In this section we will generalize this to other projections, both orthogonal(i.e., ‘straight up and down’) and nonorthogonal.
3.VI.1 Orthogonal Projection Into a Line
We first consider orthogonal projection into a line. To orthogonally projecta vector ~v into a line `, darken a point on the line if someone on that line andlooking straight up or down (from that person’s point of view) sees ~v.
~v
`
~p
The picture shows someone who has walked out on the line until the tip of~v is straight overhead. That is, where the line is described as the span ofsome nonzero vector ` = {c · ~s
∣∣ c ∈ R}, the person has walked out to find thecoefficient c~p with the property that ~v − c~p · ~s is orthogonal to c~p · ~s.
Section VI. Projection 251
~v
c~p~s
~v − c~p~s
We can solve for this coefficient by noting that because ~v− c~p~s is orthogonal toa scalar multiple of ~s it must be orthogonal to ~s itself, and then the consequentfact that the dot product (~v − c~p~s) ~s is zero gives that c~p = ~v ~s/~s ~s.
1.1 Definition The orthogonal projection of ~v into the line spanned by anonzero ~s is this vector.
proj[~s ](~v) =~v ~s
~s ~s· ~s
Exercise 19 checks that the outcome of the calculation depends only on the lineand not on which vector ~s happens to be used to describe that line.
1.2 Remark The wording of that definition says ‘spanned by ~s ’ instead themore formal ‘the span of the set {~s }’. This casual first phrase is common.
1.3 Example In R2, to orthogonally project into the line y = 2x, we first picka direction vector for this line. For instance,
~s =(
12
)will do. With that, calculation of a projection is routine.
~v =
(23
) (23
) (12
)(
12
) (12
) ·(12
)=
8
5·(
12
)=
(8/516/5
)
1.4 Example In R3, the orthogonal projection of a general vectorxyz
into the yaxis is xy
z
010
0
10
010
·0
10
=
0y0
which matches our intuitive expectation.
252 Chapter 3. Maps Between Spaces
The picture above with the stick figure walking out on the line until ~v’s tipis overhead is one way to think of the orthogonal projection of a vector into aline. We finish this subsection with two other ways.
1.5 Example A railroad car left on an eastwest track without its brake ispushed by a wind blowing toward the northeast at fifteen miles per hour; whatspeed will the car reach?
For the wind we use a vector of length 15 that points toward the northeast.
~v =(
15√
1/215√
1/2
)The car can only be affected by the part of the wind blowing in the eastwestdirection—the part of ~v in the direction of the xaxis is this (the picture has thesame perspective as the railroad car picture above).
east
north
~p
~p =(
15√
1/20
)
So the car will reach a velocity of 15√
1/2 miles per hour toward the east.
Thus, another way to think of the picture that precedes the definition is thatit shows ~v as decomposed into two parts, the part with the line (here, the partwith the tracks, ~p), and the part that is orthogonal to the line (shown here lyingon the northsouth axis). These two are “not interacting” or “independent”, inthe sense that the eastwest car is not at all affected by the northsouth partof the wind (see Exercise 11). So the orthogonal projection of ~v into the linespanned by ~s can be thought of as the part of ~v that lies in the direction of ~s.
Finally, another useful way to think of the orthogonal projection is to havethe person stand not on the line, but on the vector that is to be projected to theline. This person has a rope over the line and pulls it tight, naturally makingthe rope orthogonal to the line.
Section VI. Projection 253
That is, we can think of the projection ~p as being the vector in the line that isclosest to ~v (see Exercise 17).
1.6 Example A submarine is tracking a ship moving along the line y = 3x+2.Torpedo range is onehalf mile. Can the sub stay where it is, at the origin onthe chart below, or must it move to reach a place where the ship will pass withinrange?
east
north
The formula for projection into a line does not immediately apply because theline doesn’t pass through the origin, and so isn’t the span of any ~s. To adjustfor this, we start by shifting the entire map down two units. Now the line isy = 3x, which is a subspace, and we can project to get the point ~p of closestapproach, the point on the line through the origin closest to
~v =(
0−2
)the sub’s shifted position.
~p =
(0−2
) (13
)(
13
) (13
) ·(
13
)=(−3/5−9/5
)
The distance between ~v and ~p is approximately 0.63 miles and so the sub mustmove to get in range.
This subsection has developed a natural projection map, orthogonal projection into a line. As suggested by the examples, it is often called for in applications. The next subsection shows how the definition of orthogonal projectioninto a line gives us a way to calculate especially convienent bases for vectorspaces, again something that is common in applications. The final subsectioncompletely generalizes projection, orthogonal or not, into any subspace at all.
Exercises
X 1.7 Project the first vector orthogonally into the line spanned by the second vector.
(a)
(21
),
(3−2
)(b)
(21
),
(30
)(c)
(114
),
(12−1
)(d)
(114
),
(3312
)X 1.8 Project the vector orthogonally into the line.
254 Chapter 3. Maps Between Spaces
(a)
(2−14
), {c
(−31−3
) ∣∣ c ∈ R} (b)
(−1−1
), the line y = 3x
1.9 Although the development of Definition 1.1 is guided by the pictures, we arenot restricted to spaces that we can draw. In R4 project this vector into this line.
~v =
1213
` = {c ·
−11−11
∣∣ c ∈ R}X 1.10 Definition 1.1 uses two vectors ~s and ~v. Consider the transformation of R2
resulting from fixing
~s =
(31
)and projecting ~v into the line that is the span of ~s. Apply it to these vectors.
(a)
(12
)(b)
(04
)Show that in general the projection tranformation is this.(
x1
x2
)7→(
(x1 + 3x2)/10(3x1 + 9x2)/10
)Express the action of this transformation with a matrix.
1.11 Example 1.5 suggests that projection breaks ~v into two parts, proj[~s ](~v ) and~v − proj[~s ](~v ), that are “not interacting”. Recall that the two are orthogonal.Show that any two nonzero orthogonal vectors make up a linearly independentset.
1.12 (a) What is the orthogonal projection of ~v into a line if ~v is a member ofthat line?
(b) Show that if ~v is not a member of the line then the set {~v,~v − proj[~s ](~v )} islinearly independent.
1.13 Definition 1.1 requires that ~s be nonzero. Why? What is the right definitionof the orthogonal projection of a vector into the (degenerate) line spanned by thezero vector?
1.14 Are all vectors the projection of some other vector into some line?
X 1.15 Show that the projection of ~v into the line spanned by ~s has length equal tothe absolute value of the number ~v ~s divided by the length of the vector ~s .
1.16 Find the formula for the distance from a point to a line.
1.17 Find the scalar c such that (cs1, cs2) is a minimum distance from the point(v1, v2) by using calculus (i.e., consider the distance function, set the first derivativeequal to zero, and solve). Generalize to Rn.
X 1.18 Prove that the orthogonal projection of a vector into a line is shorter than thevector.
X 1.19 Show that the definition of orthogonal projection into a line does not dependon the spanning vector: if ~s is a nonzero multiple of ~q then (~v ~s/~s ~s ) · ~s equals(~v ~q/~q ~q ) · ~q.
X 1.20 Consider the function mapping to plane to itself that takes a vector to itsprojection into the line y = x. These two each show that the map is linear, the
Section VI. Projection 255
first one in a way that is bound to the coordinates (that is, it fixes a basis andthen computes) and the second in a way that is more conceptual.(a) Produce a matrix that describes the function’s action.(b) Show also that this map can be obtained by first rotating everything in theplane π/4 radians clockwise, then projecting into the xaxis, and then rotatingπ/4 radians counterclockwise.
1.21 For ~a,~b ∈ Rn let ~v1 be the projection of ~a into the line spanned by ~b, let ~v2 bethe projection of ~v1 into the line spanned by ~a, let ~v3 be the projection of ~v2 intothe line spanned by ~b, etc., back and forth between the spans of ~a and ~b. That is,~vi+1 is the projection of ~vi into the span of ~a if i+ 1 is even, and into the span of ~bif i+ 1 is odd. Must that sequence of vectors eventually settle down—must therebe a sufficiently large i such that ~vi+2 equals ~vi and ~vi+3 equals ~vi+1? If so, whatis the earliest such i?
3.VI.2 GramSchmidt Orthogonalization
This subsection is optional. It requires material from the prior, also optional,subsection. The work done here will only be needed in the final two sections ofChapter Five.
The prior subsection suggests that projecting into the line spanned by ~sdecomposes a vector ~v into two parts
~v
proj[~s ](~v )
~v − proj[~s ](~v )~v = proj[~s ](~v) +
(~v − proj[~s ](~v)
)
that are orthogonal and so are “not interacting”. We now make that phraseprecise.
2.1 Definition Vectors ~v1, . . . , ~vk ∈ Rn are mutually orthogonal when any twoare orthogonal: if i 6= j then the dot product ~vi ~vj is zero.
2.2 Theorem If the vectors in a set {~v1, . . . , ~vk} ⊂ Rn are mutually orthogonaland nonzero then that set is linearly independent.
Proof. Consider a linear relationship c1~v1 + c2~v2 + · · ·+ ck~vk = ~0. If i ∈ [1..k]then taking the dot product of ~vi with both sides of the equation
~vi (c1~v1 + c2~v2 + · · ·+ ck~vk) = ~vi ~0ci · (~vi ~vi) = 0
shows, since ~vi is nonzero, that ci is zero. QED
256 Chapter 3. Maps Between Spaces
2.3 Corollary If the vectors in a size k subset of an k dimensional space aremutually orthogonal and nonzero then that set is a basis for the space.
Proof. Any linearly independent size k subset of an k dimensional space is abasis. QED
Of course, the converse of Corollary 2.3 does not hold—not every basis ofevery subspace of Rn is made of mutually orthogonal vectors. However, we canget the partial converse that for every subspace of Rn there is at least one basisconsisting of mutually orthogonal vectors.
2.4 Example The members ~β1 and ~β2 of this basis for R2 are not orthogonal.
B = 〈(
42
),
(13
)〉 ~β1
~β2
However, we can derive from B a new basis for the same space that does havemutually orthogonal members. For the first member of the new basis we simplyuse ~β1.
~κ1 =(
42
)For the second member of the new basis, we take away from ~β2 its part in thedirection of ~κ1,
~κ2 =
(13
)− proj[~κ1](
(13
)) =
(13
)−(
21
)=
(−12
)~κ2
which leaves the part, ~κ2 pictured above, of ~β2 that is orthogonal to ~κ1 (it isorthogonal by the definition of the projection into the span of ~κ1). Note that,by the corollary, {~κ1, ~κ2} is a basis for R2.
2.5 Definition An orthogonal basis for a vector space is a basis of mutuallyorthogonal vectors.
2.6 Example To turn this basis for R3
〈
111
,
021
,
103
〉into an orthogonal basis, we take the first vector as it is given.
~κ1 =
111
Section VI. Projection 257
We get ~κ2 by starting with the given second vector ~β2 and subtracting away thepart of it in the direction of ~κ1.
~κ2 =
020
− proj[~κ1](
020
) =
020
−2/3
2/32/3
=
−2/34/3−2/3
Finally, we get ~κ3 by taking the third given vector and subtracting the part ofit in the direction of ~κ1, and also the part of it in the direction of ~κ2.
~κ3 =
103
− proj[~κ1](
103
)− proj[~κ2](
103
) =
−101
Again the corollary gives that
〈
111
,
−2/34/3−2/3
,
−101
〉is a basis for the space.
The next result verifies that the process used in those examples works withany basis for any subspace of an Rn (we are restricted to Rn only because wehave not given a definition of orthogonality for other vector spaces).
2.7 Theorem (GramSchmidt orthogonalization) If 〈~β1, . . . ~βk〉 is a basisfor a subspace of Rn then, where
~κ1 = ~β1
~κ2 = ~β2 − proj[~κ1](~β2)
~κ3 = ~β3 − proj[~κ1](~β3)− proj[~κ2](~β3)...
~κk = ~βk − proj[~κ1](~βk)− · · · − proj[~κk−1](~βk)
the ~κ ’s form an orthogonal basis for the same subspace.
Proof. We will use induction to check that each ~κi is nonzero, is in the span of〈~β1, . . . ~βi〉 and is orthogonal to all preceding vectors: ~κ1 ~κi = · · · = ~κi−1 ~κi = 0.With those, and with Corollary 2.3, we will have that 〈~κ1, . . . ~κk〉 is a basis forthe same space as 〈~β1, . . . ~βk〉.
We shall cover the cases up to i = 3, which give the sense of the argument.Completing the details is Exercise 23.
The i = 1 case is trivial—setting ~κ1 equal to ~β1 makes it a nonzero vectorsince ~β1 is a member of a basis, it is obviously in the desired span, and the‘orthogonal to all preceding vectors’ condition is vacuously met.
258 Chapter 3. Maps Between Spaces
For the i = 2 case, expand the definition of ~κ2.
~κ2 = ~β2 − proj[~κ1](~β2) = ~β2 −~β2 ~κ1
~κ1 ~κ1· ~κ1 = ~β2 −
~β2 ~κ1
~κ1 ~κ1· ~β1
This expansion shows that ~κ2 is nonzero or else this would be a nontrivial lineardependence among the ~β’s (it is nontrivial because the coefficient of ~β2 is 1) andalso shows that ~κ2 is in the desired span. Finally, ~κ2 is orthogonal to the onlypreceding vector
~κ1 ~κ2 = ~κ1 (~β2 − proj[~κ1](~β2)) = 0
because this projection is orthogonal.The i = 3 case is the same as the i = 2 case except for one detail. As in the
i = 2 case, expanding the definition
~κ3 = ~β3 −~β3 ~κ1
~κ1 ~κ1· ~κ1 −
~β3 ~κ2
~κ2 ~κ2· ~κ2
= ~β3 −~β3 ~κ1
~κ1 ~κ1· ~β1 −
~β3 ~κ2
~κ2 ~κ2·(~β2 −
~β2 ~κ1
~κ1 ~κ1· ~β1
)shows that ~κ3 is nonzero and is in the span. A calculation shows that ~κ3 isorthogonal to the preceding vector ~κ1.
~κ1 ~κ3 = ~κ1
(~β3 − proj[~κ1](~β3)− proj[~κ2](~β3)
)= ~κ1
(~β3 − proj[~κ1](~β3)
)− ~κ1 proj[~κ2](~β3)
= 0
(Here’s the difference from the i = 2 case—the second line has two kinds ofterms. The first term is zero because this projection is orthogonal, as in thei = 2 case. The second term is zero because ~κ1 is orthogonal to ~κ2 and so isorthogonal to any vector in the line spanned by ~κ2.) The check that ~κ3 is alsoorthogonal to the other preceding vector ~κ2 is similar. QED
Beyond having the vectors in the basis be orthogonal, we can do more; wecan arrange for each vector to have length one by dividing each by its own length(we can normalize the lengths).
2.8 Example Normalizing the length of each vector in the orthogonal basis ofExample 2.6 produces this orthonormal basis.
〈
1/√
31/√
31/√
3
,
−1/√
62/√
6−1/√
6
,
−1/√
20
1/√
2
〉Besides its intuitive appeal, and its analogy with the standard basis En for Rn,an orthonormal basis also simplifies some computations. See Exercise 17, forexample.
Exercises2.9 Perform the GramSchmidt process on each of these bases for R2.
Section VI. Projection 259
(a) 〈(
11
),
(21
)〉 (b) 〈
(01
),
(−13
)〉 (c) 〈
(01
),
(−10
)〉
Then turn those orthogonal bases into orthonormal bases.
X 2.10 Perform the GramSchmidt process on each of these bases for R3.
(a) 〈
(222
),
(10−1
),
(031
)〉 (b) 〈
(1−10
),
(010
),
(231
)〉
Then turn those orthogonal bases into orthonormal bases.
X 2.11 Find an orthonormal basis for this subspace of R3: the plane x− y + z = 0.
2.12 Find an orthonormal basis for this subspace of R4.
{
xyzw
∣∣ x− y − z + w = 0 and x+ z = 0}
2.13 Show that any linearly independent subset of Rn can be orthogonalized without changing its span.
X 2.14 What happens if we apply the GramSchmidt process to a basis that is alreadyorthogonal?
2.15 Let 〈~κ1, . . . , ~κk〉 be a set of mutually orthogonal vectors in Rn.(a) Prove that for any ~v in the space, the vector ~v−(proj[~κ1](~v )+· · ·+proj[~vk](~v ))is orthogonal to each of ~κ1, . . . , ~κk.
(b) Illustrate the prior item in R3 by using ~e1 as ~κ1, using ~e2 as ~κ2, and taking~v to have components 1, 2, and 3.
(c) Show that proj[~κ1](~v ) + · · ·+ proj[~vk](~v ) is the vector in the span of the setof ~κ’s that is closest to ~v. Hint. To the illustration done for the prior part,add a vector d1~κ1 + d2~κ2 and apply the Pythagorean Theorem to the resultingtriangle.
2.16 Find a vector in R3 that is orthogonal to both of these.(15−1
) (220
)X 2.17 One advantage of orthogonal bases is that they simplify finding the represen
tation of a vector with respect to that basis.(a) For this vector and this nonorthogonal basis for R2
~v =
(23
)B = 〈
(11
),
(10
)〉
first represent the vector with respect to the basis. Then project the vector intothe span of each basis vector [~β1] and [~β2].
(b) With this orthogonal basis for R2
K = 〈(
11
),
(1−1
)〉
represent the same vector ~v with respect to the basis. Then project the vectorinto the span of each basis vector. Note that the coefficients in the representationand the projection are the same.
(c) Let K = 〈~κ1, . . . , ~κk〉 be an orthogonal basis for some subspace of Rn. Provethat for any ~v in the subspace, the ith component of the representation RepK(~v )is the scalar coefficient (~v ~κi)/(~κi ~κi) from proj[~κi](~v ).
260 Chapter 3. Maps Between Spaces
(d) Prove that ~v = proj[~κ1](~v ) + · · ·+ proj[~κk](~v ).
2.18 Bessel’s Inequality. Consider these orthonormal sets
B1 = {~e1} B2 = {~e1, ~e2} B3 = {~e1, ~e2, ~e3} B4 = {~e1, ~e2, ~e3, ~e4}along with the vector ~v ∈ R4 whose components are 4, 3, 2, and 1.(a) Find the coefficient c1 for the projection of ~v into the span of the vector inB1. Check that ‖~v ‖2 ≥ c12.
(b) Find the coefficients c1 and c2 for the projection of ~v into the spans of thetwo vectors in B2. Check that ‖~v ‖2 ≥ c12 + c22.
(c) Find c1, c2, and c3 associated with the vectors in B3, and c1, c2, c3, and c4for the vectors in B4. Check that ‖~v ‖2 ≥ c12 + · · · + c32 and that ‖~v ‖2 ≥c12 + · · ·+ c42.
Show that this holds in general: where {~κ1, . . . , ~κk} is an orthonormal set and ci iscoefficient of the projection of a vector ~v from the space then ‖~v ‖2 ≥ c12 + · · ·+ck2. Hint. One way is to look at the inequality 0 ≤ ‖~v − (c1~κ1 + · · · + ck~κk)‖2and expand the c’s.
2.19 Prove or disprove: every vector in Rn is in some orthogonal basis.
2.20 Show that the columns of an n×n matrix form an orthonormal set if and onlyif the inverse of the matrix is its transpose. Produce such a matrix.
2.21 Does the proof of Theorem 2.2 fail to consider the possibility that the set ofvectors is empty (i.e., that k = 0)?
2.22 Theorem 2.7 describes a change of basis from any basis B = 〈~β1, . . . , ~βk〉 toone that is orthogonal K = 〈~κ1, . . . , ~κk〉. Consider the change of basis matrixRepB,K(id).(a) Prove that the matrix RepK,B(id) changing bases in the direction oppositeto that of the theorem has an upper triangular shape—all of its entries belowthe main diagonal are zeros.
(b) Prove that the inverse of an upper triangular matrix is also upper triangular(if the matrix is invertible, that is). This shows that the matrix RepB,K(id)changing bases in the direction described in the theorem is upper triangular.
2.23 Complete the induction argument in the proof of Theorem 2.7.
3.VI.3 Projection Into a Subspace
This subsection, like the others in this section, is optional. It also requiresmaterial from the optional earlier subsection on Direct Sums.
The prior subsections project a vector into a line by decomposing it into twoparts: the part in the line proj[~s ](~v ) and the rest ~v − proj[~s ](~v ). To generalizeprojection to arbitrary subspaces, we follow this idea.
3.1 Definition For any direct sum V = M ⊕N and any ~v ∈ V , the projectionof ~v into M along N is
projM,N (~v ) = ~m
where ~v = ~m+ ~n with ~m ∈M, ~n ∈ N .
Section VI. Projection 261
This definition doesn’t involve a sense of ‘orthogonal’ so we can apply it tospaces other than subspaces of an Rn. (Definitions of orthogonality for otherspaces are perfectly possible, but we haven’t seen any in this book.)
3.2 Example The spaceM2×2 of 2×2 matrices is the direct sum of these two.
M = {(a b0 0
) ∣∣ a, b ∈ R} N = {(
0 0c d
) ∣∣ c, d ∈ R}To project
A =(
3 10 4
)into M along N , we first fix bases for the two subspaces.
BM = 〈(
1 00 0
),
(0 10 0
)〉 BN = 〈
(0 01 0
),
(0 00 1
)〉
The concatenation of these
B = BM_BN = 〈
(1 00 0
),
(0 10 0
),
(0 01 0
),
(0 00 1
)〉
is a basis for the entire space, because the space is the direct sum, so we canuse it to represent A.(
3 10 4
)= 3 ·
(1 00 0
)+ 1 ·
(0 10 0
)+ 0 ·
(0 01 0
)+ 4 ·
(0 00 1
)Now the projection of A into M along N is found by keeping the M part of thissum and dropping the N part.
projM,N ((
3 10 4
)) = 3 ·
(1 00 0
)+ 1 ·
(0 10 0
)=(
3 10 0
)3.3 Example Both subscripts on projM,N (~v ) are significant. The first subscript M matters because the result of the projection is an ~m ∈M , and changingthis subspace would change the possible results. For an example showing thatthe second subscript matters, fix this plane subspace of R3 and its basis
M = {
xyz
∣∣ y − 2z = 0} BM = 〈
100
,
021
〉and compare the projections along two different subspaces.
N = {k
001
∣∣ k ∈ R} N = {k
01−2
∣∣ k ∈ R}
262 Chapter 3. Maps Between Spaces
(Verification that R3 = M ⊕ N and R3 = M ⊕ N is routine.) We will checkthat these projections are different by checking that they have different effectson this vector.
~v =
225
For the first one we find a basis for N
BN = 〈
001
〉and represent ~v with respect to the concatenation BM
_BN .2
25
= 2 ·
100
+ 1 ·
021
+ 4 ·
001
The projection of ~v into M along N is found by keeping theM part and droppingthe N part.
projM,N (~v ) = 2 ·
100
+ 1 ·
021
=
221
For the other subspace N , this basis is natural.
BN = 〈
01−2
〉Representing ~v with respect to the concatenation2
25
= 2 ·
100
+ (9/5) ·
021
− (8/5) ·
01−2
and then keeping only the M part gives this.
projM,N (~v ) = 2 ·
100
+ (9/5) ·
021
=
218/59/5
Therefore projection along different subspaces may yield different results.
These pictures compare the two maps. Both show that the projection isindeed ‘into’ the plane and ‘along’ the line.
Section VI. Projection 263
MN MN
Notice that the projection along N is not orthogonal—there are members of theplane M that are not orthogonal to the dotted line. But the projection alongN is orthogonal.
A natural question is: what is the relationship between the projection operation defined above, and the operation of orthogonal projection into a line?The second picture above suggests the answer—orthogonal projection into aline is a special case of the projection defined above; it is just projection alonga subspace perpendicular to the line.
M
N
In addition to pointing out that projection along a subspace is a generalization,this scheme shows how to define orthogonal projection into any subspace of Rn,of any dimension.
3.4 Definition The orthogonal complement of a subspace M of Rn is
M⊥ = {~v ∈ Rn∣∣ ~v is perpendicular to all vectors in M}
(read “M perp”). The orthogonal projection projM (~v ) of a vector is its projection into M along M⊥.
3.5 Example In R3, to find the orthogonal complement of the plane
P = {
xyz
∣∣ 3x+ 2y − z = 0}
we start with a basis for P .
B = 〈
103
,
012
〉Any ~v perpendicular to every vector in B is perpendicular to every vector in thespan of B (the proof of this assertion is Exercise 19). Therefore, the subspace
264 Chapter 3. Maps Between Spaces
P⊥ consists of the vectors that satisfy these two conditions.103
v1
v2
v3
= 0
012
v1
v2
v3
= 0
We can express those conditions more compactly as a linear system.
P⊥ = {
v1
v2
v3
∣∣ (1 0 30 1 2
)v1
v2
v3
=(
00
)}
We are thus left with finding the nullspace of the map represented by the matrix,that is, with calculating the solution set of a homogeneous linear system.
P⊥ = {
v1
v2
v3
∣∣ v1 + 3v3 = 0v2 + 2v3 = 0 } = {k
−3−21
∣∣ k ∈ R}3.6 Example Where M is the xyplane subspace of R3, what is M⊥? Acommon first reaction is that M⊥ is the yzplane, but that’s not right. Somevectors from the yzplane are not perpendicular to every vector in the xyplane.(
110
)6⊥
(032
)cos θ =
1 · 0 + 1 · 3 + 0 · 2√1 + 1 + 0 ·
√0 + 9 + 4
so θ ≈ 0.94 rad
Instead M⊥ is the zaxis, since proceeding as in the prior example and takingthe natural basis for the xyplane gives this.
M⊥ = {
xyz
∣∣ (1 0 00 1 0
)xyz
=(
00
)} = {
xyz
∣∣ x = 0 and y = 0}
The two examples that we’ve seen since Definition 3.4 illustrate the firstsentence in that definition. The next result justifies the second sentence.
3.7 Lemma Let M be a subspace of Rn. The orthogonal complement of M isalso a subspace. The space is the direct sum of the two Rn = M ⊕M⊥. And,for any ~v ∈ Rn, the vector ~v− projM (~v ) is perpendicular to every vector in M .
Proof. First, the orthogonal complement M⊥ is a subspace of Rn because, asnoted in the prior two examples, it is a nullspace.
Next, we can start with any basis BM = 〈~µ1, . . . , ~µk〉 for M and expand it toa basis for the entire space. Apply the GramSchmidt process to get an orthogonal basis K = 〈~κ1, . . . , ~κn〉 for Rn. This K is the concatenation of two bases〈~κ1, . . . , ~κk〉 (with the same number of members as BM ) and 〈~κk+1, . . . , ~κn〉.The first is a basis for M , so if we show that the second is a basis for M⊥ thenwe will have that the entire space is the direct sum of the two subspaces.
Section VI. Projection 265
Exercise 17 from the prior subsection proves this about any orthogonal basis: each vector ~v in the space is the sum of its orthogonal projections onto thelines spanned by the basis vectors.
~v = proj[~κ1](~v ) + · · ·+ proj[~κn](~v ) (∗)To check this, represent the vector ~v = r1~κ1 + · · ·+ rn~κn, apply ~κi to both sides~v ~κi = (r1~κ1 + · · ·+ rn~κn) ~κi = r1 · 0 + · · · + ri · (~κi ~κi) + · · · + rn · 0, andsolve to get ri = (~v ~κi)/(~κi ~κi), as desired.
Since obviously any member of the span of 〈~κk+1, . . . , ~κn〉 is orthogonal toany vector in M , to show that this is a basis for M⊥ we need only show theother containment—that any ~w ∈ M⊥ is in the span of this basis. The priorparagraph does this. On projections into basis vectors from M , any ~w ∈ M⊥gives proj[~κ1](~w ) = ~0, . . . , proj[~κk](~w ) = ~0 and therefore (∗) gives that ~w is alinear combination of ~κk+1, . . . , ~κn. Thus this is a basis for M⊥ and Rn is thedirect sum of the two.
The final sentence is proved in much the same way. Write ~v = proj[~κ1](~v ) +· · · + proj[~κn](~v ). Then projM (~v ) is gotten by keeping only the M part anddropping the M⊥ part projM (~v ) = proj[~κk+1](~v ) + · · ·+ proj[~κk](~v ). Therefore~v − projM (~v ) consists of a linear combination of elements of M⊥ and so isperpendicular to every vector in M . QED
We can find the orthogonal projection into a subspace by following the stepsof the proof, but the next result gives a convienent formula.
3.8 Theorem Let ~v be a vector in Rn and let M be a subspace of Rnwith basis 〈~β1, . . . , ~βk〉. If A is the matrix whose columns are the ~β’s thenprojM (~v ) = c1~β1 + · · · + ck~βk where the coefficients ci are the entries of thevector (AtransA)Atrans · ~v. That is, projM (~v ) = A(AtransA)−1Atrans · ~v.
Proof. The vector projM (~v) is a member of M and so it is a linear combinationof basis vectors c1 · ~β1 + · · · + ck · ~βk. Since A’s columns are the ~β’s, that canbe expressed as: there is a ~c ∈ Rk such that projM (~v ) = A~c (this is expressedcompactly with matrix multiplication as in Example 3.5 and 3.6). Because~v−projM (~v ) is perpendicular to each member of the basis, we have this (again,expressed compactly).
~0 = Atrans(~v −A~c
)= Atrans~v −AtransA~c
Solving for ~c (showing that AtransA is invertible is an exercise)
~c =(AtransA
)−1Atrans · ~v
gives the formula for the projection matrix as projM (~v ) = A · ~c. QED
3.9 Example To orthogonally project this vector into this subspace
~v =
1−11
P = {
xyz
∣∣ x+ z = 0}
266 Chapter 3. Maps Between Spaces
first make a matrix whose columns are a basis for the subspace
A =
0 11 00 −1
and then compute.
A(AtransA
)−1Atrans =
0 11 00 −1
( 0 11/2 0
)(1 0 −10 1 0
)
=
1/2 0 −1/20 1 0−1/2 0 1/2
With the matrix, calculating the orthogonal projection of any vector into P iseasy.
projP (~v) =
1/2 0 −1/20 1 0−1/2 0 1/2
1−11
=
0−10
ExercisesX 3.10 Project the vectors into M along N .
(a)
(3−2
), M = {
(xy
) ∣∣ x+ y = 0}, N = {(xy
) ∣∣−x− 2y = 0}
(b)
(12
), M = {
(xy
) ∣∣ x− y = 0}, N = {(xy
) ∣∣ 2x+ y = 0}
(c)
(301
), M = {
(xyz
) ∣∣ x+ y = 0}, N = {c ·
(101
) ∣∣ c ∈ R}X 3.11 Find M⊥.
(a) M = {(xy
) ∣∣x+ y = 0} (b) M = {
(xy
) ∣∣ −2x+ 3y = 0}
(c) M = {(xy
) ∣∣x− y = 0} (d) M = {~0 } (e) M = {
(xy
) ∣∣ x = 0}
(f) M = {
(xyz
) ∣∣−x+ 3y + z = 0} (g) M = {
(xyz
) ∣∣x = 0 and y + z = 0}
3.12 This subsection shows how to project orthogonally in two ways, the method ofExample 3.2 and 3.3, and the method of Theorem 3.8. To compare them, considerthe plane P specified by 3x+ 2y − z = 0 in R3.(a) Find a basis for P .(b) Find P⊥ and a basis for P⊥.(c) Represent this vector with respect to the concatenation of the two bases fromthe prior item.
~v =
(112
)
Section VI. Projection 267
(d) Find the orthogonal projection of ~v into P by keeping only the P part fromthe prior item.
(e) Check that against the result from applying Theorem 3.8.
X 3.13 We have three ways to find the orthogonal projection of a vector into a line,the Defitioition1.1 way from the first subsection of this section, the Example 3.2and 3.3 way of representing the vector with respect to a basis for the space andthen keeping the M part, and the way of Theorem 3.8. For these cases, do allthree ways.
(a) ~v =
(1−3
), M = {
(xy
) ∣∣ x+ y = 0}
(b) ~v =
(012
), M = {
(xyz
) ∣∣ x+ z = 0 and y = 0}
3.14 Check that the operation of Defitioition3.1 is welldefited. That is, in Example 3.2 and 3.3, doesn’t the answer depend on the choice of bases?
3.15 What is the orthogonal projection into the trivial subspace?
3.16 What is the projection of ~v into M along N if ~v ∈M?
3.17 Show that if M ⊆ Rn is a subspace with orthonormal basis 〈~κ1, . . . , ~κn〉 thenthe orthogonal projection of ~v into M is this.
(~v ~κ1) · ~κ1 + · · ·+ (~v ~κn) · ~κn
X 3.18 Prove that the map p : V → V is the projection into M along N if and onlyif the map id − p is the projection into N along M . (Recall the definition of thedifference of two maps: (id− p) (~v) = id(~v)− p(~v) = ~v − p(~v).)
X 3.19 Show that if a vector is perpendicular to every vector in a set then it isperpendicular to every vector in the span of that set.
3.20 True or false: the intersection of a subspace and its orthogonal complement istrivial.
3.21 Show that the dimensions of orthogonal complements add to the dimensionof the entire space.
X 3.22 Suppose that ~v1, ~v2 ∈ Rn are such that for all complements M,N ⊆ Rn, theprojections of ~v1 and ~v2 into M along N are equal. Must ~v1 equal ~v2? (If so, whatif we relax the condition to: all orthogonal projections of the two are equal?)
X 3.23 Let M,N be subspaces of Rn. The perp operator acts on subspaces; we canask how it interacts with other such operations.(a) Show that two perps cancel: (M⊥)⊥ = M .(b) Prove that M ⊆ N implies that N⊥ ⊆M⊥.(c) Show that (M +N)⊥ = M⊥ ∩N⊥.
X 3.24 The material in this subsection allows us to express a geometric relationshipthat we have not yet seen between the rangespace and the nullspace of a linearmap.(a) Represent f : R3 → R given by(
v1
v2
v3
)7→ 1v1 + 2v2 + 3v3
268 Chapter 3. Maps Between Spaces
with respect to the standard bases and show that(123
)is a member of the perp of the nullspace. Prove that N (f)⊥ is equal to thespan of this vector.
(b) Generalize that to apply to any f : Rn → R.(c) Represent f : R3 → R2(
v1
v2
v3
)7→(
1v1 + 2v2 + 3v3
4v1 + 5v2 + 6v3
)with respect to the standard bases and show that(
123
),
(456
)are both members of the perp of the nullspace. Prove that N (f)⊥ is the spanof these two. (Hint. See the third item of Exercise 23.)
(d) Generalize that to apply to any f : Rn → Rm.This, and related results, is called the Fundamental Theorem of Linear Algebra in[Strang 93].
3.25 Define a projection to be a linear transformation t : V → V with the propertythat repeating the projection does nothing more than does the projection alone: (t◦t) (~v) = t(~v) for all ~v ∈ V .(a) Show that orthogonal projection into a line has that property.(b) Show that projection along a subspace has that property.
(c) Show that for any such t there is a basis B = 〈~β1, . . . , ~βn〉 for V such that
t(~βi) =
{~βi i = 1, 2, . . . , r
~0 i = r + 1, r + 2, . . . , n
where r is the rank of t.(d) Conclude that every projection is a projection along a subspace.(e) Also conclude that every projection has a representation
RepB,B(t) =
(I Z
Z Z
)in block partialidentity form.
3.26 A square matrix is symmetric if each i, j entry equals the j, i entry (i.e., if thematrix equals its transpose). Show that the projection matrix A(AtransA)−1Atrans
is symmetric. Hint. Find properties of transposes by looking in the index under‘transpose’.
Topic: Line of Best Fit 269
Topic: Line of Best Fit
This Topic requires the formulas from the subsections on Orthogonal ProjectionInto a Line, and Projection Into a Subspace.
Scientists are often presented with a system that has no solution and theymust find an answer anyway, that is, they must find a value that is as close aspossible to being an answer. An oftenencountered example is in finding a linethat, as closely as possible, passes through experimental data.
For instance, suppose that we have a coin to flip, and want to know: is itfair? This question means that a coin has some proportion m of heads to flips,determined by how it is balanced beween the two sides, and we want to knowif m = 1/2. We can get experimental information about it by flipping the coinmany times. This is the result a penny experiment, including some intermediatenumbers.
number of flips 30 60 90
number of heads 16 34 51
Naturally, because of randomness, the exact proportion is not found with thissample — indeed, there is no solution to this system.
30m= 1660m= 3490m= 51
That is, the vector of experimental data is not in the subspace of solutions.163451
6∈ {m30
6090
∣∣ m ∈ R}However, as described above, we expect that there is an m that nearly works.An orthogonal projection of the data vector into the line subspace gives our bestguess at m. 16
3451
306090
30
6090
306090
·30
6090
=711012600
·
306090
The estimate (m = 7110/12600 ≈ 0.56) is higher than 1/2, but not by much, soprobably the penny is fair enough for flipping purposes.
The line with the slope m ≈ 0.56 is called the line of best fit for this data.
flips
heads
30 60 90
30
60
bc
bc
bc
270 Chapter 3. Maps Between Spaces
Minimizing the distance between the given vector and the vector used as therighthand side minimizes the total of these vertical lengths (these have beendistorted, exaggerated by a factor of ten, to make them more visible).
bc
bc
bc
Because it involves minimizing this total distance, we say that the line has beenobtained through fitting by leastsquares.
In the previous example, the line that we use, whose slope is our best guessof the true ratio of heads to flips, must pass through (0, 0). We can also handlecases where the line is not required to pass through the origin.
For example, the different denominations of U.S. money have different average times in circulation (the $2 bill is left off as a special case). How long shouldwe expect a $25 bill to last?
denomination 1 5 10 20 50 100
average life (years) 1.5 2 3 5 9 20
The plot (see below) looks roughly linear. It isn’t a perfect line, i.e., the linearsystem with equations b + 1m = 1.5, . . . , b + 100m = 20 has no solution, butwe can again use orthogonal projection to find a best approximation. Considerthe matrix of coefficients of that linear system and also its vector of constants,the experimentallydetermined values.
A =
1 11 51 101 201 501 100
~v =
1.5235920
The ending result in the subsection on Projection into a Subspace says thatcoefficients b and m so that the linear combination of the columns of A is asclose as possible to the vector ~v are the entries of (AtransA)−1Atrans · ~v. Somecalculation gives an intercept of b = 1.05 and a slope of m = 0.18.
denom
avg life
10 30 50 70 90
5
15
bcbc
bc
bc
bc
bc
Plugging x = 25 into the equation of the line shows that such a bill should lastbetween five and six years.
Topic: Line of Best Fit 271
We close with an example [Oakley & Baker] that cautions about overusingleastsquares fitting. These are the world record times for the men’s mile racethat were in force on January first of the given years. We want to project whena 3:40 mile will be run.
year 1870 1880 1890 1900 1910 1920 1930seconds 268.8 264.5 258.4 255.6 255.6 252.6 250.4
1940 1950 1960 1970 1980 1990246.4 241.4 234.5 231.1 229.0 226.3
The plot below shows that the data is surprisingly linear. With this input
A =
1 18601 1870...
...1 19801 1990
~v =
280.0268.8
...229.0226.32
MAPLE gives b = 970.68 and m = −0.37 (rounded to two places).
year
secs
1870 1890 1910 1930 1950 1970 1990
230
250
270
290bc
bcbc
bcbc bc
bcbc
bc
bc
bcbc
bcbc
When will a 220 second mile be run? Solving 220 = 970.68 − 0.37x gives anestimate of the year 2027.
This example is amusing, but serves as a caution because the linearity of thedata will break down someday — the tool of fitting by orthogonal projectionshould be applied judicioulsy.
ExercisesThe calculations here are most practically done on a computer. In addition, someof the problems require more data, available in your library, on the net, or in theAnswers to the Exercises.
1 Use leastsquares to judge if the coin in this experiment is fair.flips 8 16 24 32 40
heads 4 9 13 17 20
2 For the men’s mile record, rather than give each of the many records and itsexact date, we’ve “smoothed” the data somewhat by taking a periodic sample. Dothe longer calculation and compare the conclusions.
3 Find the line of best fit for the men’s 1500 meter run. How does the slope comparewith that for the men’s mile (the distances are close; a mile is about 1609 meters)?
4 Find the line of best fit for the records for women’s mile.
5 Do the lines of best fit for the men’s and women’s miles cross?
272 Chapter 3. Maps Between Spaces
6 When the space shuttle Challenger exploded in 1986, one of the criticisms made ofNASA’s decision to launch was in the way the analysis of number of Oring failuresversus temperature was made (of course, Oring failure caused the explosion). FourOring failures will cause the rocket to explode. NASA had data from 24 previousflights.
temp ◦F 53 75 57 58 63 70 70 66 67 67 67
failures 3 2 1 1 1 1 1 0 0 0 0
68 69 70 70 72 73 75 76 76 78 79 80 81
0 0 0 0 0 0 0 0 0 0 0 0 0
The temperature that day was forecast to be 31◦F.(a) NASA based the decision to launch partially on a chart showing only theflights that had at least one Oring failure. Find the line that best fits theseseven flights. On the basis of this data, predict the number of Oring failureswhen the temperature is 31, and when the number of failures will exceed four.
(b) Find the line that best fits all 24 flights. On the basis of this extra data,predict the number of Oring failures when the temperature is 31, and when thenumber of failures will exceed four.
Which do you think is the more accurate method of predicting? (An excellentdiscussion appears in [Dalal, et. al.].)
7 This table lists the average distance from the sun to each of the first seven planets,using earth’s average as a unit.
Mercury Venus Earth Mars Jupiter Saturn Uranus
0.39 0.72 1.00 1.52 5.20 9.54 19.2
(a) Plot the number of the planet (Mercury is 1, etc.) versus the distance. Notethat it does not look like a line, and so finding the line of best fit is not fruitful.
(b) It does, however look like an exponential curve. Therefore, plot the numberof the planet versus the logarithm of the distance. Does this look like a line?
(c) The asteroid belt between Mars and Jupiter is thought to be what is left of aplanet that broke apart. Renumber so that Jupiter is 6, Saturn is 7, and Uranusis 8, and plot against the log again. Does this look better?
(d) Use least squares on that data to predict the location of Neptune.(e) Repeat to predict where Pluto is.(f) Is the formula accurate for Neptune and Pluto?
This method was used to help discover Neptune (although the second item is misleading about the history; actually, the discovery of Neptune in position 9 promptedpeople to look for the “missing planet” in position 5). See [Gardner, 1970]
8 William Bennett has proposed an Index of Leading Cultural Indicators for theUS ([Bennett], in 1993). Among the statistics cited are the average daily hoursspent watching TV, and the average combined SAT scores.
1960 1965 1970 1975 1980 1985 1990 1992
TV 5:06 5:29 5:56 6:07 6:36 7:07 6:55 7:04SAT 975 969 948 910 890 906 900 899
Suppose that a cause and effect relationship is proposed between the time spentwatching TV and the decline in SAT scores (in this article, Mr. Bennett does notargue that there is a direct connection).(a) Find the line of best fit relating the independent variable of average dailyTV hours to the dependent variable of SAT scores.
Topic: Line of Best Fit 273
(b) Find the most recent estimate of the average daily TV hours (Bennett’s citesNeilsen Media Research as the source of these estimates). Estimate the associated SAT score. How close is your estimate to the actual average? (Warning: achange has been made recently in the SAT, so you should investigate whethersome adjustment needs to be made to the reported average to make a validcomparison.)
274 Chapter 3. Maps Between Spaces
Topic: Geometry of Linear Maps
The geometric effect of linear maps h : Rn → Rm is appealing both for its simplicity and for its usefulness.
Even just in the case of linear transformations of R1, the geometry is quitenice. The pictures below contrast two nonlinear maps with two linear maps.Each picture shows the domain R1 on the left mapped to the codomain R1 onthe right (the usual cartesian view, with the codomain drawn perpendicular tothe domain, doesn’t make the point as well as this one). The first two show thenonlinear functions f1(x) = ex and f2(x) = x2. Arrows trace out where eachmap sends x = 0, x = 1, x = 2, x = −1, and x = −2. Note how these nonlinearmaps distort the domain in transforming it into the range. In the left picture,for instance, the top three arrows show that f1(1) is much further from f1(2)than it is from f1(0) — the map is spreading the domain out unevenly so thatin being carried over to the range, an interval from the domain near x = 2 isspread apart more than is an interval near x = 0.
−5
0
5
−5
0
5
−5
0
5
−5
0
5
Contrast those with the linear maps h1(x) = 2x and h2(x) = −x.
−5
0
5
−5
0
5
−5
0
5
−5
0
5
These maps are nicer, more regular, in that for each map all of the domain isspread out by the same factor.
Because the only transformations of R1 are multiplications by a scalar, thesepictures are possibly misleading by being too simple. In higherdimensionalspaces more can happen. For instance, this linear transformation of R2, whichrotates all vectors counterclockwise, is not a simple scalar multiplication.(
xy
)7→
−→
(x cos θ − y sin θx sin θ + y cos θ
)θ
Topic: Geometry of Linear Maps 275
And neither is this transformation of R3, which projects vectors into the xzplane. (
xyz
)7→
−→
(x0z
)
But even in higherdimensional spaces, the situation isn’t complicated. Ofcourse, any linear map h : Rn → Rm can be represented with respect to, say,the standard bases by a matrix H. Recall that any matrix H can be factored asH = PBQ where P and Q are nonsingular and B is a partialidentity matrix.And, recall that nonsingular matrices factor into elementary matrices, matricesthat are obtained from the identity matrix with one Gaussian step
Ikρi−→Mi(k) I
ρi↔ρj−→ Pi,j Ikρi+ρj−→ Ci,j(k)
(i 6= j, k 6= 0). Thus we have the factorization H = TnTn−1 . . . TjBTj−1 . . . T1
where the T ’s are elementary. Geometrically, a partialidentity matrix acts as aprojection, as here. (That is, the map that this matrix represents with respectto the standard bases is a projection. We say that this is the map induced bythe matrix.)
xyz
(
1 0 00 1 00 0 0
)E3, E3
−→
xy0
Therefore, we will have a description of the geometric action of h if we justdescribe the geometric actions of the three kinds of elementary matrices. Thepictures below sticks to the elementary transformations of R2 only, for ease ofdrawing.
The action of a matrix of the form Mi(k) (that is, the action of the transformation of R2 that is induced by this matrix) is to stretch vectors by a factorof k along the ith axis. This is a dilation. This map stretches by a factor of 3along the xaxis. (
xy
)7→
−→
(3xy
)Note that if 0 ≤ k < 1 or if k < 0 then the ith component goes the other way;here, toward the left. (
xy
)7→
−→
(−2xy
)The action of a matrix of the form Pi,j (that is, of the transformation induced
by this matrix) is to interchange the ith and jth axes; in two dimensions thereis only the single case P1,2, which reflects vectors about the line y = x.
276 Chapter 3. Maps Between Spaces
(xy
)7→
−→
(yx
)
(In higher dimensions, permutations involving many axes can be decomposedinto a combination of swaps of pairs of axes—see Exercise 5.)
The remaining case is the action of matrices of the form Ci,j(k). Recall that,for instance, C1,2(2) does this.
(xy
) (1 02 1
)E2, E2
−→(
x2x+ y
)The picture
~u
~v
(xy
)7→
−→
(x
2x+ y
) h(~u)h(~v)
shows that any Ci,j(k) affects vectors depending on their ith component; inthis example, the vector ~v with the larger first component is affected more—itis pushed further vertically, since h(~v) is 4 higher than ~v while h(~u) is only 2higher than ~u. Another way to see the action of this map is to see where itsends the unit square.
~u ~v
~w
(xy
)7→
−→
(x
2x+ y
)h(~u)
h(~v)
h(~w)
In this picture, vectors with a first component of 0, like ~u, are not pushedvertically at all but vectors with a positive first component are slid up. Ingeneral, for any Ci,j(k), the sliding happens in such a way that vectors with thesame ith component are slid by the same amount. Here, ~v and ~w are each slidup by 2. The resulting shape, a rhombus, has the same base and height as thesquare (and thus the same area) but the right angles are gone. Because of thisaction, this kind of map is called a skew.
Recall that under a linear map, the image of a subspace is a subspace. Thusa linear transformation maps lines through the origin to lines through the origin(the dimension of the image space cannot be greater than the dimension of thedomain space, so a line can’t map onto, say, a plane). Note, however, that allfour sides of the above rhombus are straight, not just the two sides lying in linesthrough the origin. A skew — in fact a linear map of any kind — maps anyline to a line. Exercise 6 asks for a proof of this. That is, linear transformationsrespect the linear structures of a space. This is the reason for the assertionmade above that, even on higherdimensional spaces, linear maps are “nice” or“regular”.
Topic: Geometry of Linear Maps 277
To finish, we will consider a familiar application, in calculus. On the leftbelow is a picture, like the ones that started this Topic, of the action of the nonlinear function y(x) = x2 + x. As described at that start, overall the geometriceffect of this map is irregular in that at different domain points it has differenteffects (e.g., as the domain point x goes from 2 to −2, the associated range pointf(x) at first decreases, then pauses instantaneously, and then increases).
0
5
0
5
0
5
0
5
But in calculus we don’t focus on the map overall, we focus on the local effectof the map. The picture on the right looks more closely at what this map doesnear x = 1. At x = 1 the derivative is y′(1) = 3, so that near x = 1 we havethat ∆y ≈ 3 ·∆x; in other words, (1.0012 + 1.001)− (12 + 1) ≈ 3 · (0.001). Thatis, in a neighborhood of x = 1, this map carries the domain to the codomain bystretching by a factor of 3 — it is, locally, approximately, a dilation. This showsa small interval in the domain (x−∆x .. x+ ∆x) carried over to an interval inthe codomain (y −∆y .. y + ∆y) that is three times as wide: ∆y ≈ 3 ·∆x.
x = 1
y = 2
(When the above picture is drawn in the traditional cartesian way then the priorsentence is usually rephrased as: the derivative y′(1) = 3 gives the slope of theline tangent to the graph at the point (1, 2).)
Calculus considers the map that locally approximates the change ∆x 7→3 ·∆x, instead of the actual change map ∆x 7→ y(1 + ∆x) − y(1), because thelocal map is easy to work with. Specifically, if the input change is doubled, ortripled, etc., then the resulting output change will double, or triple, etc.
3(r∆x) = r (3∆x)
(for r ∈ R) and adding changes in input adds the resulting output changes.
3(∆x1 + ∆x2) = 3∆x1 + 3∆x2
In short, what’s easy to work with about ∆x 7→ 3 ·∆x is that it is linear.
278 Chapter 3. Maps Between Spaces
This point of view makes clear an oftenmisunderstood, but very important,result about derivatives: the derivative of the composition of two functions iscomputed by using the Chain Rule for combining their derivatives. Recall that(with suitable conditions on the two functions)
d (g ◦ f)dx
(x) =dg
dx(f(x)) · df
dx(x)
so that, for instance, the derivative of sin(x2 +3x) is cos(x2 +3x) ·(2x+3). Howdoes this combination arise? From this picture of the action of the composition.
x
f(x)
g(f(x))
The first map f dilates the neighborhood of x by a factor of
df
dx(x)
and the second map g dilates some more, this time dilating a neighborhood off(x) by a factor of
dg
dx( f(x) )
and as a result, the composition dilates by the product of these two.Extending from the calculus of onevariable functions to more variables starts
with taking the natural next step: for a function y : Rn → Rm and a point~x ∈ Rn, the derivative is defined to be the linear map h : Rn → Rm best approximating how y changes near y(~x). Then, for instance, the geometric descriptiongiven earlier of transformations of R2 characterizes how these derivatives offunctions y : R2 → R2 can act. (Another example of how the extension stepsare natural is that when there is a composition, the Chain Rule just involvesmultiplying the matrices expressing those derivatives.)
Exercises1 Let h : R2 → R2 be the transformation that rotates vectors clockwise by π/4 radians.(a) Find the matrix H representing h with respect to the standard bases. UseGauss’ method to reduce H to the identity.
(b) Translate the row reduction to to a matrix equation TjTj−1 · · ·T1H = I (theprior item shows both that H is similar to I, and that no column operations areneeded to derive I from H).
(c) Solve this matrix equation for H.
Topic: Geometry of Linear Maps 279
(d) Sketch the geometric effect matrix, that is, sketch how H is expressed as acombination of dilations, flips, skews, and projections (the identity is a trivialprojection).
2 What combination of dilations, flips, skews, and projections produces a rotationcounterclockwise by 2π/3 radians?
3 What combination of dilations, flips, skews, and projections produces the maph : R3 → R3 represented with respect to the standard bases by this matrix?(
1 2 13 6 01 2 2
)
4 Show that any linear transformation of R1 is the map that multiplies by a scalarx 7→ kx.
5 Show that for any permutation (that is, reordering) p of the numbers 1, . . . , n,the map
x1
x2
...xn
7→xp(1)
xp(2)
...xp(n)
can be accomplished with a composition of maps, each of which only swaps a singlepair of coordinates. Hint: it can be done by induction on n. (Remark: in the fourthchapter we will show this and we will also show that the parity of the number ofswaps used is determined by p. That is, although a particular permutation couldbe accomplished in two different ways with two different numbers of swaps, eitherboth ways use an even number of swaps, or both use an odd number.)
6 Show that linear maps preserve the linear structures of a space.(a) Show that for any linear map from Rn to Rm, the image of any line is a line.The image may be a degenerate line, that is, a single point.
(b) Show that the image of any linear surface is a linear surface. This generalizesthe result that under a linear map the image of a subspace is a subspace.
(c) Linear maps preserve other linear ideas. Show that linear maps preserve“betweeness”: if the point B is between A and C then the image of B is betweenthe image of A and the image of C.
7 Use a picture like the one that appears in the discussion of the Chain Rule toanswer: if a function f : R→ R has an inverse, what’s the relationship between howthe function —locally, approximately — dilates space, and how its inverse dilatesspace (assuming, of course, that it has an inverse)?
280 Chapter 3. Maps Between Spaces
Topic: Markov Chains
Here is a simple game. A player bets on coin tosses, a dollar each time, and thegame ends either when the player has no money left or is up to five dollars. Ifthe player starts with three dollars, what is the chance the game takes at leastfive flips? Twenty five flips?
At any point in the game, this player has either $0, or $1, . . . , or $5. Wesay that the player is the state s0, s1, . . . , or s5. A game consists of moves,with, for instance, a player in state s3 having on the next flip a .5 chance ofmoving to state s2 and a .5 chance of moving to s4. Once in either state s0 orstate s5, the player never leaves that state. Writing pi,n for the probability thatthe player is in state si after n flips, this equation sumarizes.
1 .5 0 0 0 00 0 .5 0 0 00 .5 0 .5 0 00 0 .5 0 .5 00 0 0 .5 0 00 0 0 0 .5 1
p0,n
p1,n
p2,n
p3,n
p4,n
p5,n
=
p0,n+1
p1,n+1
p2,n+1
p3,n+1
p4,n+1
p5,n+1
For instance, the probability of being in state s0 after flip n + 1 is p0,n+1 =p0,n + 0.5 · p1,n. With the initial condition that the player starts with threedollars, calculation gives this.
n = 0 n = 1 n = 2 n = 3 n = 4 · · · n = 24000100
00.5
0.5
0
0.25
0.5
0.25
.125
0.375
0.25.25
.125.1875
0.3125
0.375
· · ·
.39600.00276
0.00447
0.59676
For instance, after the fourth flip there is a probability of 0.50 that the gameis already over — the player either has no money left or has won five dollars.As this computational exploration suggests, the game is not likely to go on forlong, with the player quickly ending in either state s0 or state s5. (Because aplayer who enters either of these two states never leaves, they are said to beabsorbtive. An argument that involves taking the limit as n goes to infinity willshow that when the player starts with $3, there is a probability of 0.60 that theplayer eventually ends with $5 and consequently a probability of 0.40 that theplayer ends the game with $0. That argument is beyond the scope of this Topic,however; here we will just look at a few computations for applications.)
This game is an example of a Markov chain, named for work by A.A. Markovat the start of this century. The vectors of p’s are probability vectors. Thematrix is a transition matrix. A Markov chain is historyless in that, with afixed transition matrix, the next state depends only on the current state andnot on any states that came before. Thus a player, say, who starts in state s3,
Topic: Markov Chains 281
then goes to state s2, then to s1, and then to s2 has exactly the same chanceat this point of moving next to state s3 as does a player whose history was tostart in s3, then go to s4, then to s3, and then to s2.
Here is a Markov chain from sociology. A study ([Macdonald & Ridge],p. 202) divided occupations in the United Kingdom into upper level (executivesand professionals), middle level (supervisors and skilled manual workers), andlower level (unskilled). To determine the mobility across these levels in a generation, about two thousand men were asked, “At which level are you, and atwhich level was your father when you were fourteen years old?” This equationsummarizes the results..60 .29 .16
.26 .37 .27
.14 .34 .57
pU,npM,n
pL,n
=
pU,n+1
pM,n+1
pL,n+1
For instance, a child of a lower class worker has a .27 probability of growing up tobe middle class. Notice that the Markov model assumption about history seemsreasonable—we expect that while a parent’s occupation has a direct influenceon the occupation of the child, the grandparent’s occupation has no such directinfluence. With the initial distribution of the respondents’s fathers given below,this table lists the distributions for the next five generations.
n = 0 n = 1 n = 2 n = 3 n = 4 n = 5 .12.32.56
.23.34.42
.29.34.37
.31.34.35
.32.33.34
.33.33.34
One more example, from a very important subject, indeed. The World Series
of American baseball is played between the team winning the American Leagueand the team winning the National League (we follow [Brunner] but see also[Woodside]). The series is won by the first team to win four games. That meansthat a series is in one of twentyfour states: 00 (no games won yet by eitherteam), 10 (one game won for the American League team and no games for theNational League team), etc. If we assume that there is a probability p that theAmerican League team wins each game then we have the following transitionmatrix.
0 0 0 0 . . .p 0 0 0 . . .
1− p 0 0 0 . . .0 p 0 0 . . .0 1− p p 0 . . .0 0 1− p 0 . . ....
......
...
p00,n
p10,n
p01,n
p20,n
p11,n
p02,n
...
=
p00,n+1
p10,n+1
p01,n+1
p20,n+1
p11,n+1
p02,n+1
...
An especially interesting special case is p = 0.50; this table lists the resultingcomponents of the n = 0 through n = 7 vectors. (The code to generate thistable in the computer algebra system Octave follows the exercises.)
282 Chapter 3. Maps Between Spaces
n = 0 n = 1 n = 2 n = 3 n = 4 n = 5 n = 6 n = 7
0− 01− 00− 12− 01− 10− 23− 02− 11− 20− 34− 03− 12− 21− 30− 44− 13− 22− 31− 44− 23− 32− 44− 33− 4
100000000000000000000000
00.50.5000000000000000000000
0000.250.50.25000000000000000000
0000000.1250.3750.3750.12500000000000000
00000000000.06250.250.3750.250.0625000000000
00000000000.06250000.06250.1250.31250.31250.12500000
00000000000.06250000.06250.125000.1250.156250.31250.1562500
00000000000.06250000.06250.125000.1250.1562500.156250.156250.15625
Note that evenlymatched teams are likely to have a long series—there is aprobability of 0.625 that the series goes at least six games.
One reason for the inclusion of this Topic is that Markov chains are oneof the most widelyused applications of matrix operations. Another reason isthat it provides an example of the use of matrices where we do not considerthe significance of any of the maps represented by the matrices. For more onMarkov chains, there are many sources such as [Kemeny & Snell] and [Iosifescu].
ExercisesMost of these problems need enough computation that a computer should be used.
1 These questions refer to the coinflipping game.(a) Check the computations in the table at the end of the first paragraph.(b) Consider the second row of the vector table. Note that this row has alternating 0’s. Must p1,j be 0 when j is odd? Prove that it must be, or produce acounterexample.
(c) Perform a computational experiment to estimate the chance that the playerends at five dollars, starting with one dollar, two dollars, and four dollars.
2 ([Feller], p. 424) We consider throws of a die, and say the system is in state si ifthe largest number yet appearing on the die was i.(a) Give the transition matrix.(b) Start the system in state s1, and run it for five throws. What is the vectorat the end?
3 There has been much interest in whether industries in the United States aremoving from the Northeast and North Central regions to the South and West,
Topic: Markov Chains 283
motivated by the warmer climate, by lower wages, and by less unionization. Here isthe transition matrix for large firms in Electric and Electronic Equipment ([Kelton],p. 43)
NE NC S W Z
NENCSWZ
0.7870000.021
00.9660.06300.009
00.0340.9370.0740.005
0.111000.6120.010
0.102000.3140.954
For example, a firm in the Northeast region will be in the West region next yearwith probability 0.111. (The Z entry is a “birthdeath” state. For instance, withprobability 0.102 a large Electric and Electronic Equipment firm from the Northeast will move out of this system next year: go out of business, move abroad, ormove to another category of firm. There is a 0.021 probability that a firm in theNational Census of Manufacturers will move into Electronics, or be created, ormove in from abroad, into the Northeast. Finally, with probability 0.954 a firmout of the categories will stay out, according to this research.)(a) Does the Markov model assumption of lack of history seem justified?(b) Assume that the initial distribution is even, except that the value at Z is0.9. Compute the vectors for n = 1 through n = 4.
(c) Suppose that the initial distribution is this.NE NC S W Z
0.0000 0.6522 0.3478 0.0000 0.0000Calculate the distributions for n = 1 through n = 4.
(d) Find the distribution for n = 50 and n = 51. Has the system settled downto an equilibrium?
4 This model has been suggested for some kinds of learning ([Wickens], p. 41). Thelearner starts in an undecided state sU . Eventually the learner has to decide to doeither response A (that is, end in state sA) or response B (ending in sB). However,the learner doesn’t jump right from being undecided to being sure A is the correctthing to do (or B). Instead, the learner spends some time in a “tentativeA”state, or a “tentativeB” state, trying the response out (denoted here tA and tB).Imagine that once the learner has decided, it is final, so once sA or sB is enteredit is never left. For the other state changes, imagine a transition is made withprobability p, in either direction.(a) Construct the transition matrix.(b) Take p = 0.25 and take the initial vector to be 1 at sU . Run this for fivesteps. What is the chance of ending up at sA?
(c) Do the same for p = 0.20.(d) Graph p versus the chance of ending at sA. Is there a threshold value for p,above which the learner is almost sure not to take longer than five steps?
5 A certain town is in a certain country (this is a hypothetical problem). Each yearten percent of the town dwellers move to other parts of the country. Each yearone percent of the people from elsewhere move to the town. Assume that thereare two states sT , living in town, and sC , living elsewhere.(a) Construct the transistion matrix.(b) Starting with an initial distribution sT = 0.3 and sC = 0.7, get the resultsfor the first ten years.
(c) Do the same for sT = 0.2.
284 Chapter 3. Maps Between Spaces
(d) Are the two outcomes alike or different?
6 For the World Series application, use a computer to generate the seven vectorsfor p = 0.55 and p = 0.6.(a) What is the chance of the National League team winning it all, even thoughthey have only a probability of 0.45 or 0.40 of winning any one game?
(b) Graph the probability p against the chance that the American League teamwins it all. Is there a threshold value—a p above which the better team isessentially ensured of winning?
(Some sample code is included below.)
7 A Markov matrix has each entry positive, and each columns sums to 1.(a) Check that the three transistion matrices shown in this Topic meet these twoconditions. Must any transition matrix do so?
(b) Observe that if A~v0 = ~v1 and A~v1 = ~v2 then A2 is a transition matrix from~v0 to ~v2. Show that a power of a Markov matrix is also a Markov matrix.
(c) Generalize the prior item by proving that the product of two appropriatelysized Markov matrices is a Markov matrix.
Computer CodeThis is the code for the computer algebra system Octave that was used
to generate the table of World Series outcomes. First, this script is keptin the file markov.m. (The sharp character # marks the rest of a line as acomment.)
# Octave script file to compute chance of World Series outcomes.
function w = markov(p,v)
q = 1p;
A=[0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 00
p,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 10
q,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 01_
0,p,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 20
0,q,p,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 11
0,0,q,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 02__
0,0,0,p,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 30
0,0,0,q,p,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 21
0,0,0,0,q,p, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 12_
0,0,0,0,0,q, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 03
0,0,0,0,0,0, p,0,0,0,1,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 40
0,0,0,0,0,0, q,p,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 31__
0,0,0,0,0,0, 0,q,p,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 22
0,0,0,0,0,0, 0,0,q,p,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0; # 13
0,0,0,0,0,0, 0,0,0,q,0,0, 0,0,1,0,0,0, 0,0,0,0,0,0; # 04_
0,0,0,0,0,0, 0,0,0,0,0,p, 0,0,0,1,0,0, 0,0,0,0,0,0; # 41
0,0,0,0,0,0, 0,0,0,0,0,q, p,0,0,0,0,0, 0,0,0,0,0,0; # 32
0,0,0,0,0,0, 0,0,0,0,0,0, q,p,0,0,0,0, 0,0,0,0,0,0; # 23__
0,0,0,0,0,0, 0,0,0,0,0,0, 0,q,0,0,0,0, 1,0,0,0,0,0; # 14
0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,p,0, 0,1,0,0,0,0; # 42
0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,q,p, 0,0,0,0,0,0; # 33_
0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,q, 0,0,0,1,0,0; # 24
0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,p,0,1,0; # 43
0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,q,0,0,1]; # 34
Topic: Markov Chains 285
w = A * v;
endfunction
Then the Octave session was this.> v0=[1;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0]
> p=.5
> v1=markov(p,v0)
> v2=markov(p,v1)
...
Translating to another computer algebra system should be easy—all havecommands similar to these.
286 Chapter 3. Maps Between Spaces
Topic: Orthonormal Matrices
In The Elements, Euclid considers two figures to be the same if they have thesame size and shape. That is, the triangles below are not equal because they arenot the same set of points. But they are congruent—essentially indistinguishablefor Euclid’s purposes—because we can imagine picking up the plane up, slidingit over and turning it a bit (although not bending it or stretching it), and thenputting it back down, to superimpose the first figure on the second.
P1
P2
P3
Q1
Q2
Q3
(Euclid never explicitly states this principle but he uses it often [Casey].) Inmodern terms, “picking the plane up . . . ” means taking a map from the planeto itself. We, and Euclid, are considering only certain transformations of theplane, ones that may possibly slide or turn the plane but not bend or stretchit. Accordingly, we define a function f : R2 → R2 to be distancepreserving (ora rigid motion, or isometry) if for all points P1, P2 ∈ R2, the map satisfies thecondition that the distance from f(P1) to f(P2) equals the distance from P1 toP2. We define a plane figure to be a set of points in the plane and we say thattwo figures are congruent if there is a distancepreserving map from the planeto itself that carries one figure onto the other.
Many statements from Euclidean geometry follow easily from these definitions. Some are: (i) collinearity is invariant under any distancepreserving map(that is, if P1, P2, and P3 are collinear then so are f(P1), f(P2), and f(P3)),(ii) betweeness is invariant under any distancepreserving map (if P2 is betweenP1 and P3 then so is f(P2) between f(P1) and f(P3)), (iii) the property ofbeing a triangle is invariant under any distancepreserving map (if a figure is atriangle then the image of that figure is also a triangle), (iv) and the property ofbeing a circle is invariant under any distancepreserving map. In 1872, F. Kleinsuggested that Euclidean geometry can be characterized as the study of properties that are invariant under distancepreserving maps. (This forms part ofKlein’s Erlanger Program, which proposes the organizing principle that eachkind of geometry—Euclidean, projective, etc.—can be described as the studyof the properties that are invariant under some group of transformations. Theword ‘group’ here means more than just ‘collection’, but that lies outside of ourscope.)
We can use linear algebra to characterize the distancepreserving maps ofthe plane.
First, there are distancepreserving transformations of the plane that are notlinear. The obvious example is this translation.(
xy
)7→
(xy
)+(
10
)=(x+ 1y
)However, this example turns out to be the only example, in the sense that if fis distancepreserving and sends ~0 to ~v0 then the map ~v 7→ f(~v)− ~v0 is linear.
Topic: Orthonormal Matrices 287
That will follow immediately from this statement: a map t that is distancepreserving and sends ~0 to itself is linear. To prove this statement, let
t(~e1) =(ab
)t(~e2) =
(cd
)for some a, b, c, d ∈ R. Then to show that t is linear, it suffices to show that itcan be represented by a matrix, that is, that t acts in this way for all x, y ∈ R.
~v =(xy
)t7−→(ax+ cybx+ dy
)(∗)
Recall that if we fix three noncollinear points then any point in the plane canbe described by giving its distance from those three. So any point ~v in thedomain is determined by its distance from the three fixed points ~0, ~e1, and ~e2.Similarly, any point t(~v) in the codomain is determined by its distance from thethree fixed points t(~0), t(~e1), and t(~e2) (these three are not collinear because, asmentioned above, collinearity is invariant and ~0, ~e1, and ~e2 are not collinear).In fact, because t is distancepreserving, we can say more: for the point ~v in theplane that is determined by being the distance d0 from ~0, the distance d1 from~e1, and the distance d2 from ~e2, its image t(~v) must be the unique point in thecodomain that is determined by being d0 from t(~0), d1 from t(~e1), and d2 fromt(~e2). Because of the uniqueness, checking that the action in (∗) works in thed0, d1, and d2 cases
dist((xy
),~0) = dist(t(
(xy
)), t(~0)) = dist(
(ax+ cybx+ dy
),~0)
(t is assumed to send ~0 to itself)
dist((xy
), ~e1) = dist(t(
(xy
)), t(~e1)) = dist(
(ax+ cybx+ dy
),
(ab
))
and
dist((xy
), ~e2) = dist(t(
(xy
)), t(~e2)) = dist(
(ax+ cybx+ dy
),
(cd
))
suffices to show that (∗) describes t. Those checks are routine.Thus, any distancepreserving f : R2 → R2 can be written f(~v) = t(~v) + ~v0
for some constant vector ~v0 and linear map t that is distancepreserving.Not every linear map is distancepreserving, for example, ~v 7→ 2~v does not
preserve distances. But there is a neat characterization: a linear transformationt of the plane is distancepreserving if and only if both ‖t(~e1)‖ = ‖t(~e2)‖ = 1 andt(~e1) is orthogonal to t(~e2). The ‘only if’ half of that statement is easy—becauset is distancepreserving it must preserve the lengths of vectors, and because tis distancepreserving the Pythagorean theorem shows that it must preserveorthogonality. For the ‘if’ half, it suffices to check that the map preserves
288 Chapter 3. Maps Between Spaces
lengths of vectors, because then for all ~p and ~q the distance between the two ispreserved ‖t(~p− ~q )‖ = ‖t(~p)− t(~q )‖ = ‖~p− ~q ‖. For that check, let
~v =(xy
)t(~e1) =
(ab
)t(~e2) =
(cd
)and, with the ‘if’ assumptions that a2 + b2 = c2 + d2 = 1 and ac + bd = 0 wehave this.
‖t(~v )‖2 = (ax+ cy)2 + (bx+ dy)2
= a2x2 + 2acxy + c2y2 + b2x2 + 2bdxy + d2y2
= x2(a2 + b2) + y2(c2 + d2) + 2xy(ac+ bd)
= x2 + y2
= ‖~v ‖2
One thing that is neat about this characterization is that we can easilyrecognize matrices that represent such a map with respect to the standard bases.Those matrices have that when the columns are written as vectors then theyare of length one and are mutually orthogonal. Such a matrix is called anorthonormal matrix or orthogonal matrix (the second term is commonly used tomean not just that the columns are orthogonal, but also that they have lengthone).
We can use this insight to delimit the geometric actions possible in distancepreserving maps. Because ‖t(~v )‖ = ‖~v ‖, any ~v is mapped by t to lie somewhereon the circle about the origin that has radius equal to the length of ~v, andso in particular ~e1 and ~e2 are mapped to vectors on the unit circle. What’smore, because of the orthogonality restriction, once we fix the unit vector ~e1 asmapped to the vector with components a and b then there are only two placeswhere ~e2 can go.
(ab
)(−ba
) (ab
)(b−a
)Thus, only two types of maps are possible.
RepE2,E2(t) =(a −bb a
)RepE2,E2(t) =
(a bb −a
)We can geometrically describe these two cases. Let θ be the angle between thexaxis and the image of ~e1, measured counterclockwise.
The first matrix above represents, with respect to the standard bases, arotation of the plane by θ radians.
Topic: Orthonormal Matrices 289
(ab
)(−ba
) (xy
)t7−→(x cos θ − y sin θx sin θ + y cos θ
)
The second matrix above represents a reflection of the plane through the linebisecting the angle between ~e1 and t(~e1). (This picture shows ~e1 reflected upinto the first quadrant and ~e2 reflected down into the fourth quadrant.)
(ab
)(b−a
)(xy
)t7−→(x cos θ + y sin θx sin θ − y cos θ
)
Note that in this second case, the right angle from ~e1 to ~e2 has a counterclockwisesense but the right angle between the images of these two has a clockwise sense,so the sense gets reversed. Geometers speak of a distancepreserving map asdirect if it preserves sense and as opposite if it reverses sense.
So, we have characterized the Euclidean study of congruence into the consideration of the properties that are invariant under combinations of (i) a rotationfollowed by a translation (possibly the trivial translation), or (ii) a reflectionfollowed by a translation (a reflection followed by a nontrivial translation is aglide reflection).
Another idea, besides congruence of figures, encountered in elementary geometry is that figures are similar if they are congruent after a change of scale.These two triangles are similar since the second is the same shape as the first,but 3/2ths the size.
P1
P2
P3
Q1
Q2
Q3
From the above work, we have that figures are similar if there is an orthonormalmatrix T such that the points ~q on one are derived from the points ~p by ~q =(kT )~v + ~p0 for some nonzero real number k and constant vector ~p0.
Although many of these ideas were first explored by Euclid, mathematics istimeless and they are very much in use today. One application of rigid motionsis in computer graphics. We can, for example, take this top view of a cube
and animate it by putting together film frames of it rotating.
290 Chapter 3. Maps Between Spaces
Frame 1: Frame 2: Frame 3:−.2 radians −.4 radians −.6 radians
We could also make the cube appear to be coming closer to us by producingfilm frames of it gradually enlarging.
Frame 1: Frame 2: Frame 3:110 percent 120 percent 130 percent
In practice, computer graphics incorporate many interesting techniques fromlinear algebra (see Exercise 4).
So the analysis above of distancepreserving maps is useful as well as interesting. For instance, it shows that to include in graphics software all possiblerigid motions of the plane, we need only include a few cases. It is not possiblethat we’ve somehow ovelooked some rigid motions.
A beautiful book that explores more in this area is [Weyl]. More on groups,of transformations and otherwise, can be found in any book on Modern Algebra,for instance [Birkhoff & MacLane]. More on Klein and the Erlanger Program isin [Yaglom].
Exercises1 Decide if each of these is an orthonormal matrix.
(a)
(1/√
2 −1/√
2
−1/√
2 −1/√
2
)(b)
(1/√
3 −1/√
3
−1/√
3 −1/√
3
)(c)
(1/√
3 −√
2/√
3
−√
2/√
3 −1/√
3
)2 Write down the formula for each of these distancepreserving maps.
(a) the map that rotates π/6 radians, and then translates by ~e2
(b) the map that reflects about the line y = 2x(c) the map that reflects about y = −2x and translates over 1 and up 1
3 (a) The proof that a map that is distancepreserving and sends the zero vector to itself incidentally shows that such a map is onetoone and onto (thepoint in the domain determined by d0, d1, and d2 corresponds to the pointin the codomain determined by those three numbers). Therefore any distancepreserving map has an inverse. Show that the inverse is also distancepreserving.
(b) Using the definitions given in this Topic, prove that congruence is an equivalence relation between plane figures.
Topic: Orthonormal Matrices 291
4 In practice the matrix for the distancepreserving linear transformation and thetranslation are often combined into one. Check that these two computations yieldthe same first two components.(
a cb d
)(xy
)+
(ef
) (a c eb d f0 0 1
)(xy1
)(These are homogeneous coordinates; see the Topic on Projective Geometry).
5 (a) Verify that the properties described in the second paragraph of this Topicas invariant under distancepreserving maps are indeed so.
(b) Give two more properties that are of interest in Euclidean geometry fromyour experience in studying that subject that are also invariant under distancepreserving maps.
(c) Give a property that is not of interest in Euclidean geometry and is notinvariant under distancepreserving maps.
Chapter 4
Determinants
In the first chapter of this book we considered linear systems and we picked outthe special case of systems with the same number of equations as unknowns,those of the form T~x = ~b where T is a square matrix. We noted a distinctionbetween two classes of T ’s. While such systems may have a unique solution orno solutions or infinitely many solutions, if a particular T is associated with aunique solution in any system, such as the homogeneous system ~b = ~0, thenT is associated with a unique solution for every ~b. We call such a matrix ofcoefficients ‘nonsingular’. The other kind of T , where every linear system forwhich it is the matrix of coefficients has either no solution or infinitely manysolutions, we call ‘singular’.
Through the second and third chapters the value of this distinction has beena theme. For instance, we now know that nonsingularity of an n×n matrix Tis equivalent to each of these:
• a system T~x = ~b has a solution, and that solution is unique;
• GaussJordan reduction of T yields an identity matrix;
• the rows of T form a linearly independent set;
• the columns of T form a basis for Rn;
• any map that T represents is an isomorphism;
• an inverse matrix T−1 exists.
So when we look at a particular square matrix, the question of whether itis nonsingular is one of the first things that we ask. This chapter developsa formula to determine this. (Since we will restrict the discussion to squarematrices, in this chapter we will usually simply say ‘matrix’ in place of ‘squarematrix’.)
More precisely, we will develop infinitely many formulas, one for 1×1 matrices, one for 2×2 matrices, etc. Of course, these formulas are related — thatis, we will develop a family of formulas, a scheme that describes the formula foreach size.
293
294 Chapter 4. Determinants
4.I Definition
For 1×1 matrices, determining nonsingularity is trivial.(a)
is nonsingular iff a 6= 0
The 2×2 formula came out in the course of developing the inverse.(a bc d
)is nonsingular iff ad− bc 6= 0
The 3×3 formula can be produced similarly (see Exercise 9).a b cd e fg h i
is nonsingular iff aei+ bfg + cdh− hfa− idb− gec 6= 0
With these cases in mind, we posit a family of formulas, a, ad−bc, etc. For eachn the formula gives rise to a determinant function detn×n : Mn×n → R such thatan n×n matrix T is nonsingular if and only if detn×n(T ) 6= 0. (We usually omitthe subscript because if T is n×n then ‘det(T )’ could only mean ‘detn×n(T )’.)
4.I.1 Exploration
This subsection is optional. It briefly describes how an investigator mightcome to a good general definition, which is given in the next subsection.
The three cases above don’t show an evident pattern to use for the generaln×n formula. We may spot that the 1×1 term a has one letter, that the 2×2terms ad and bc have two letters, and that the 3×3 terms aei, etc., have threeletters. We may also observe that in those terms there is a letter from each rowand column of the matrix, e.g., the letters in the cdh term c
dh
come one from each row and one from each column. But these observationsperhaps seem more puzzling than enlightening. For instance, we might wonderwhy some of the terms are added while others are subtracted.
A good problem solving strategy is to see what properties a solution musthave and then search for something with those properties. So we shall start byasking what properties we require of the formulas.
At this point, our primary way to decide whether a matrix is singular isto do Gaussian reduction and then check whether the diagonal of resultingechelon form matrix has any zeroes (that is, to check whether the productdown the diagonal is zero). So, we may expect that the proof that a formula
Section I. Definition 295
determines singularity will involve applying Gauss’ method to the matrix, toshow that in the end the product down the diagonal is zero if and only if thedeterminant formula gives zero. This suggests our initial plan: we will look fora family of functions with the property of being unaffected by row operationsand with the property that a determinant of an echelon form matrix is theproduct of its diagonal entries. Under this plan, a proof that the functionsdetermine singularity would go, “Where T → · · · → T is the Gaussian reduction,the determinant of T equals the determinant of T (because the determinant isunchanged by row operations), which is the product down the diagonal, whichis zero if and only if the matrix is singular”. In the rest of this subsection wewill test this plan on the 2×2 and 3×3 determinants that we know. We will endup modifying the “unaffected by row operations” part, but not by much.
The first step in checking the plan is to test whether the 2×2 and 3×3formulas are unaffected by the row operation of pivoting: if
Tkρi+ρj−→ T
then is det(T ) = det(T )? This check of the 2×2 determinant after the kρ1 + ρ2
operation
det((
a bka+ c kb+ d
)) = a(kb+ d)− (ka+ c)b = ad− bc
shows that it is indeed unchanged, and the other 2×2 pivot kρ2 + ρ1 gives thesame result. The 3×3 pivot kρ3 + ρ2 leaves the determinant unchanged
det(
a b ckg + d kh+ e ki+ fg h i
) = a(kh+ e)i+ b(ki+ f)g + c(kg + d)h− h(ki+ f)a− i(kg + d)b− g(kh+ e)c
= aei+ bfg + cdh− hfa− idb− gec
as do the other 3×3 pivot operations.So there seems to be promise in the plan. Of course, perhaps the 4×4
determinant formula is affected by pivoting. We are exploring a possibility hereand we do not yet have all the facts. Nonetheless, so far, so good.
The next step is to compare det(T ) with det(T ) for the operation
Tρi↔ρj−→ T
of swapping two rows. The 2×2 row swap ρ1 ↔ ρ2
det((c da b
)) = cb− ad
does not yield ad− bc. This ρ1 ↔ ρ3 swap inside of a 3×3 matrix
det(
g h id e fa b c
) = gec+ hfa+ idb− bfg − cdh− aei
296 Chapter 4. Determinants
also does not give the same determinant as before the swap — again there is asign change. Trying a different 3×3 swap ρ1 ↔ ρ2
det(
d e fa b cg h i
) = dbi+ ecg + fah− hcd− iae− gbf
also gives a change of sign.Thus, row swaps appear to change the sign of a determinant. This mod
ifies our plan, but does not wreck it. We intend to decide nonsingularity byconsidering only whether the determinant is zero, not by considering its sign.Therefore, instead of expecting determinants to be entirely unaffected by rowoperations, will look for them to change sign on a swap.
To finish, we compare det(T ) to det(T ) for the operation
Tkρi−→ T
of multiplying a row by a scalar k 6= 0. One of the 2×2 cases is
det((a bkc kd
)) = a(kd)− (kc)b = k · (ad− bc)
and the other case has the same result. Here is one 3×3 case
det(
a b cd e fkg kh ki
) = ae(ki) + bf(kg) + cd(kh)−(kh)fa− (ki)db− (kg)ec
= k · (aei+ bfg + cdh− hfa− idb− gec)and the other two are similar. These lead us to suspect that multiplying a rowby k multiplies the determinant by k. This fits with our modified plan becausewe are asking only that the zeroness of the determinant be unchanged and weare not focusing on the determinant’s sign or magnitude.
In summary, to develop the scheme for the formulas to compute determinants, we look for determinant functions that remain unchanged under thepivoting operation, that change sign on a row swap, and that rescale on therescaling of a row. In the next two subsections we will find that for each n sucha function exists and is unique.
For the next subsection, note that, as above, scalars come out of each rowwithout affecting other rows. For instance, in this equality
det(
3 3 92 1 15 10 −5
) = 3 · det(
1 1 32 1 15 10 −5
)
the 3 isn’t factored out of all three rows, only out of the top row. The determinant acts on each row of independently of the other rows. When we want to usethis property of determinants, we shall write the determinant as a function ofthe rows: ‘det(~ρ1, ~ρ2, . . . ~ρn)’, instead of as ‘det(T )’ or ‘det(t1,1, . . . , tn,n)’. Thedefinition of the determinant that starts the next subsection is written in thisway.
Section I. Definition 297
Exercises
X 1.1 Evaluate the determinant of each.
(a)
(3 1−1 1
)(b)
(2 0 13 1 1−1 0 1
)(c)
(4 0 10 0 11 3 −1
)1.2 Evaluate the determinant of each.
(a)
(2 0−1 3
)(b)
(2 1 10 5 −21 −3 4
)(c)
(2 3 45 6 78 9 1
)X 1.3 Verify that the determinant of an uppertriangular 3×3 matrix is the product
down the diagonal.
det(
(a b c0 e f0 0 i
)) = aei
Do lowertriangular matrices work the same way?
X 1.4 Use the determinant to decide if each is singular or nonsingular.
(a)
(2 13 1
)(b)
(0 11 −1
)(c)
(4 22 1
)1.5 Singular or nonsingular? Use the determinant to decide.
(a)
(2 1 13 2 20 1 4
)(b)
(1 0 12 1 14 1 3
)(c)
(2 1 03 −2 01 0 0
)X 1.6 Each pair of matrices differ by one row operation. Use this operation to compare
det(A) with det(B).
(a) A =
(1 22 3
)B =
(1 20 −1
)(b) A =
(3 1 00 0 10 1 2
)B =
(3 1 00 1 20 0 1
)
(c) A =
(1 −1 32 2 −61 0 4
)B =
(1 −1 31 1 −31 0 4
)1.7 Show this.
det(
(1 1 1a b ca2 b2 c2
)) = (b− a)(c− a)(c− b)
X 1.8 Which real numbers x make this matrix singular?(12− x 4−8 8− x
)1.9 Do the Gaussian reduction to check the formula for 3×3 matrices stated in thepreamble to this section.(
a b cd e fg h i
)is nonsingular iff aei+ bfg + cdh− hfa− idb− gec 6= 0
298 Chapter 4. Determinants
1.10 Show that the equation of a line in R2 thru (x1, y1) and (x2, y2) is expressedby this determinant.
det(
(x y 1x1 y1 1x2 y2 1
)) = 0 x1 6= x2
X 1.11 Many people know this mnemonic for the determinant of a 3×3 matrix: firstrepeat the first two columns and then sum the products on the forward diagonalsand subtract the products on the backward diagonals. That is, first write(
h1,1 h1,2 h1,3 h1,1 h1,2
h2,1 h2,2 h2,3 h2,1 h2,2
h3,1 h3,2 h3,3 h3,1 h3,2
)and then calculate this.
h1,1h2,2h3,3 + h1,2h2,3h3,1 + h1,3h2,1h3,2
−h3,1h2,2h1,3 − h3,2h2,3h1,1 − h3,3h2,1h1,2
(a) Check that this agrees with the formula given in the preamble to this section.(b) Does it extend to othersized determinants?
1.12 The cross product of the vectors
~x =
(x1
x2
x3
)~y =
(y1
y2
y3
)is the vector computed as this determinant.
~x× ~y = det(
(~e1 ~e2 ~e3
x1 x2 x3
y1 y2 y3
))
Note that the first row is composed of vectors, the vectors from the standard basisfor R3. Show that the cross product of two vectors is perpendicular to each vector.
1.13 Prove that each statement holds for 2×2 matrices.(a) The determinant of a product is the product of the determinants det(ST ) =det(S) · det(T ).
(b) If T is invertible then the determinant of the inverse is the inverse of thedeterminant det(T−1) = ( det(T ) )−1.
Matrices T and T ′ are similar if there is a nonsingular matrix P such that T ′ =PTP−1. (This definition is in Chapter Five.) Show that similar 2×2 matrices havethe same determinant.
X 1.14 Prove that the area of this region in the plane
(x1y1
)(x2y2
)
is equal to the value of this determinant.
det(
(x1 x2
y1 y2
))
Compare with this.
det(
(x2 x1
y2 y1
))
Section I. Definition 299
1.15 Prove that for 2×2 matrices, the determinant of a matrix equals the determinant of its transpose. Does that also hold for 3×3 matrices?
X 1.16 Is the determinant function linear — is det(x·T+y·S) = x·det(T )+y·det(S)?
1.17 Show that if A is 3×3 then det(c ·A) = c3 · det(A) for any scalar c.
1.18 Which real numbers θ make(cos θ − sin θsin θ cos θ
)singular? Explain geometrically.
1.19 [Am. Math. Mon., Apr. 1955] If a third order determinant has elements 1, 2,. . . , 9, what is the maximum value it may have?
4.I.2 Properties of Determinants
As described above, we want a formula to determine whether an n×n matrixis nonsingular. We will not begin by stating such a formula. Instead, we willbegin by considering the function that such a formula calculates. We will definethe function by its properties, then prove that the function with these properties exist and is unique and also describe formulas that compute this function.(Because we will show that the function exists and is unique, from the start wewill say ‘det(T )’ instead of ‘if there is a determinant function then det(T )’ and‘the determinant’ instead of ‘any determinant’.)
2.1 Definition A n×n determinant is a function det : Mn×n → R such that
(1) det(~ρ1, . . . , k · ~ρi + ~ρj , . . . , ~ρn) = det(~ρ1, . . . , ~ρj , . . . , ~ρn) for i 6= j
(2) det(~ρ1, . . . , ~ρj , . . . , ~ρi, . . . , ~ρn) = −det(~ρ1, . . . , ~ρi, . . . , ~ρj , . . . , ~ρn) for i 6= j
(3) det(~ρ1, . . . , k~ρi, . . . , ~ρn) = k · det(~ρ1, . . . , ~ρi, . . . , ~ρn) for k 6= 0
(4) det(I) = 1 where I is an identity matrix
(the ~ρ ’s are the rows of the matrix). We often write T  for det(T ).
2.2 Remark Property (2) is redundant since
Tρi+ρj−→ −ρj+ρi−→ ρi+ρj−→ −ρi−→ T
swaps rows i and j. It is listed only for convenience.
The first result shows that a function satisfying these conditions gives acriteria for nonsingularity. (Its last sentence is that, in the context of the firstthree conditions, (4) is equivalent to the condition that the determinant of anechelon form matrix is the product down the diagonal.)
300 Chapter 4. Determinants
2.3 Lemma A matrix with two identical rows has a determinant of zero. Amatrix with a zero row has a determinant of zero. A matrix is nonsingular ifand only if its determinant is nonzero. The determinant of an echelon formmatrix is the product down its diagonal.
Proof. To verify the first sentence, swap the two equal rows. The sign of thedeterminant changes, but the matrix is unchanged and so its determinant isunchanged. Thus the determinant is zero.
The second sentence is clearly true if the matrix is 1×1. If it has at leasttwo rows then apply property (1) of the definition with the zero row as row jand with k = 1.
det(. . . , ~ρi, . . . ,~0, . . . ) = det(. . . , ~ρi, . . . , ~ρi +~0, . . . )
The first sentence of this lemma gives that the determinant is zero.For the third sentence, where T → · · · → T is the GaussJordan reduction,
by the definition the determinant of T is zero if and only if the determinant ofT is zero (although they could differ in sign or magnitude). A nonsingular TGaussJordan reduces to an identity matrix and so has a nonzero determinant.A singular T reduces to a T with a zero row; by the second sentence of thislemma its determinant is zero.
Finally, for the fourth sentence, if an echelon form matrix is singular then ithas a zero on its diagonal, that is, the product down its diagonal is zero. Thethird sentence says that if a matrix is singular then its determinant is zero. Soif the echelon form matrix is singular then its determinant equals the productdown its diagonal.
If an echelon form matrix is nonsingular then none of its diagonal entries iszero so we can use property (3) of the definition to factor them out (again, thevertical bars  · · ·  indicate the determinant operation).∣∣∣∣∣∣∣∣∣
t1,1 t1,2 t1,n0 t2,2 t2,n
. . .0 tn,n
∣∣∣∣∣∣∣∣∣ = t1,1 · t2,2 · · · tn,n ·
∣∣∣∣∣∣∣∣∣1 t1,2/t1,1 t1,n/t1,10 1 t2,n/t2,2
. . .0 1
∣∣∣∣∣∣∣∣∣Next, the Jordan half of GaussJordan elimination, using property (1) of thedefinition, leaves the identity matrix.
= t1,1 · t2,2 · · · tn,n ·
∣∣∣∣∣∣∣∣∣1 0 00 1 0
. . .0 1
∣∣∣∣∣∣∣∣∣ = t1,1 · t2,2 · · · tn,n · 1
Therefore, if an echelon form matrix is nonsingular then its determinant is theproduct down its diagonal. QED
Section I. Definition 301
That result gives us a way to compute the value of a determinant function ona matrix. Do Gaussian reduction, keeping track of any changes of sign caused byrow swaps and any scalars that are factored out, and then finish by multiplyingdown the diagonal of the echelon form result. This procedure takes the sametime as Gauss’ method and so is sufficiently fast to be practical on the sizematrices that we see in this book.
2.4 Example Doing 2×2 determinants∣∣∣∣ 2 4−1 3
∣∣∣∣ =∣∣∣∣2 40 5
∣∣∣∣ = 10
with Gauss’ method won’t give a big savings because the 2×2 determinantformula is so easy. However, a 3×3 determinant is usually easier to calculatewith Gauss’ method than with the formula given earlier.∣∣∣∣∣∣
2 2 64 4 30 −3 5
∣∣∣∣∣∣ =
∣∣∣∣∣∣2 2 60 0 −90 −3 5
∣∣∣∣∣∣ = −
∣∣∣∣∣∣2 2 60 −3 50 0 −9
∣∣∣∣∣∣ = −54
2.5 Example Determinants of matrices any bigger than 3×3 are almost alwaysmost quickly done with this Gauss’ method procedure.∣∣∣∣∣∣∣∣
1 0 1 30 1 1 40 0 0 50 1 0 1
∣∣∣∣∣∣∣∣ = −
∣∣∣∣∣∣∣∣1 0 1 30 1 1 40 0 0 50 0 −1 −3
∣∣∣∣∣∣∣∣ = −
∣∣∣∣∣∣∣∣1 0 1 30 1 1 40 0 −1 −30 0 0 5
∣∣∣∣∣∣∣∣ = −(−5) = 5
The prior example illustrates an important point. Although we have not yetfound a 4×4 determinant formula, if one exists then we know what value it givesto the matrix — if there is a function with properties (1)(4) then on the abovematrix the function must return 5.
2.6 Lemma For each n, if there is an n×n determinant function then it isunique.
Proof. For any n×n matrix we can perform Gauss’ method on the matrix,keeping track of how the sign alternates on row swaps, and then multiply downthe diagonal of the echelon form result. By the definition and the lemma, all n×ndeterminant functions must return this value on this matrix. Thus all n×n determinant functions are equal, that is, there is only one input argument/outputvalue relationship satisfying the four conditions. QED
The ‘if there is an n×n determinant function’ emphasizes that, although wecan use Gauss’ method to compute the only value that a determinant functioncould possibly return, we haven’t yet shown that such a determinant functionexists for all n. In the rest of the section we will produce determinant functions.
ExercisesFor these, assume that an n×n determinant function exists for all n.
X 2.7 Use Gauss’ method to find each determinant.
302 Chapter 4. Determinants
(a)
∣∣∣∣∣3 1 23 1 00 1 4
∣∣∣∣∣ (b)
∣∣∣∣∣∣∣1 0 0 12 1 1 0−1 0 1 01 1 1 0
∣∣∣∣∣∣∣2.8 Use Gauss’ method to find each.
(a)
∣∣∣∣ 2 −1−1 −1
∣∣∣∣ (b)
∣∣∣∣∣1 1 03 0 25 2 2
∣∣∣∣∣2.9 For which values of k does this system have a unique solution?
x + z − w = 2y − 2z = 3
x + kz = 4z − w = 2
X 2.10 Express each of these in terms of H.
(a)
∣∣∣∣∣h3,1 h3,2 h3,3
h2,1 h2,2 h2,3
h1,1 h1,2 h1,3
∣∣∣∣∣(b)
∣∣∣∣∣ −h1,1 −h1,2 −h1,3
−2h2,1 −2h2,2 −2h2,3
−3h3,1 −3h3,2 −3h3,3
∣∣∣∣∣(c)
∣∣∣∣∣h1,1 + h3,1 h1,2 + h3,2 h1,3 + h3,3
h2,1 h2,2 h2,3
5h3,1 5h3,2 5h3,3
∣∣∣∣∣X 2.11 Find the determinant of a diagonal matrix.
2.12 Describe the solution set of a homogeneous linear system if the determinantof the matrix of coefficients is nonzero.
X 2.13 Show that this determinant is zero.∣∣∣∣∣y + z x+ z x+ yx y z1 1 1
∣∣∣∣∣2.14 (a) Find the 1×1, 2×2, and 3×3 matrices with i, j entry given by (−1)i+j .
(b) Find the determinant of the square matrix with i, j entry (−1)i+j .
2.15 (a) Find the 1×1, 2×2, and 3×3 matrices with i, j entry given by i+ j.(b) Find the determinant of the square matrix with i, j entry i+ j.
X 2.16 Show that determinant functions are not linear by giving a case where A +B 6= A+ B.
2.17 The second condition in the definition, that row swaps change the sign of adeterminant, is somewhat annoying. It means we have to keep track of the numberof swaps, to compute how the sign alternates. Can we get rid of it? Can we replaceit with the condition that row swaps leave the determinant unchanged? (If so thenwe would need new 1×1, 2×2, and 3×3 formulas, but that would be a minormatter.)
2.18 Prove that the determinant of any triangular matrix, upper or lower, is theproduct down its diagonal.
2.19 Refer to the definition of elementary matrices in the Mechanics of MatrixMultiplication subsection.(a) What is the determinant of each kind of elementary matrix?
Section I. Definition 303
(b) Prove that if E is any elementary matrix then ES = ES for any appropriately sized S.
(c) (This question doesn’t involve determinants.) Prove that if T is singular thena product TS is also singular.
(d) Show that TS = T S.(e) Show that if T is nonsingular then T−1 = T −1.
2.20 Prove that the determinant of a product is the product of the determinantsTS = T  S in this way. Fix the n×n matrix S and consider the functiond : Mn×n → R given by T 7→ TS/S.(a) Check that d satisfies property (1) in the definition of a determinant function.
(b) Check property (2).(c) Check property (3).(d) Check property (4).(e) Conclude the determinant of a product is the product of the determinants.
2.21 A submatrix of a given matrix A is one that can be obtained by deleting someof the rows and columns of A. Thus, the first matrix here is a submatrix of thesecond. (
3 12 5
) (3 4 10 9 −22 −1 5
)Prove that for any square matrix, the rank of the matrix is r if and only if r is thelargest integer such that there is an r×r submatrix with a nonzero determinant.
X 2.22 Prove that a matrix with rational entries has a rational determinant.
2.23 [Am. Math. Mon., Feb. 1953] Find the element of likeness in (a) simplifying afraction, (b) powdering the nose, (c) building new steps on the church, (d) keepingemeritus professors on campus, (e) putting B, C, D in the determinant∣∣∣∣∣∣∣
1 a a2 a3
a3 1 a a2
B a3 1 aC D a3 1
∣∣∣∣∣∣∣ .
4.I.3 The Permutation Expansion
The prior subsection defines a function to be a determinant if it satisfies fourconditions and shows that there is at most one n×n determinant function foreach n. What is left is to show that for each n such a function exists.
How could such a function not exist? After all, we have done computationsthat start with a square matrix, follow the conditions, and end with a number.
The difficulty is that, as far as we know, the computation might not give awelldefined result. To illustrate this possibility, suppose that we were to changethe second condition in the definition of determinant to be that the value of adeterminant does not change on a row swap. By Remark 2.2 we know thatthis conflicts with the first and third conditions. Here is an instance of the
304 Chapter 4. Determinants
conflict: here are two Gauss’ method reductions of the same matrix, the firstwithout any row swap (
1 23 4
)−3ρ1+ρ2−→
(1 20 −2
)and the second with a swap.(
1 23 4
)ρ1↔ρ2−→
(3 41 2
)−(1/3)ρ1+ρ2−→
(3 40 2/3
)Following Definition 2.1 gives that both calculations yield the determinant −2since in the second one we keep track of the fact that the row swap changesthe sign of the result of multiplying down the diagonal. But if we follow thesupposition and change the second condition then the two calculations yielddifferent values, −2 and 2. That is, under the supposition the outcome would notbe welldefined — no function exists that satisfies the changed second conditionalong with the other three.
Of course, observing that Definition 2.1 does the right thing in this oneinstance is not enough; what we will do in the rest of this section is to showthat there is never a conflict. The natural way to try this would be to definethe determinant function with: “The value of the function is the result of doingGauss’ method, keeping track of row swaps, and finishing by multiplying downthe diagonal”. (Since Gauss’ method allows for some variation, such as a choiceof which row to use when swapping, we would have to fix an explicit algorithm.)Then we would be done if we verified that this way of computing the determinantsatisfies the four properties. For instance, if T and T are related by a row swapthen we would need to show that this algorithm returns determinants that arenegatives of each other. However, how to verify this is not evident. So thedevelopment below will not proceed in this way. Instead, in this subsection wewill define a different way to compute the value of a determinant, a formula,and we will use this way to prove that the conditions are satisfied.
The formula that we shall use is based on an insight gotten from property (2)of the definition of determinants. This property shows that determinants arenot linear.
3.1 Example For this matrix det(2A) 6= 2 · det(A).
A =(
2 1−1 3
)Instead, the scalar comes out of each of the two rows.∣∣∣∣ 4 2
−2 6
∣∣∣∣ = 2 ·∣∣∣∣ 2 1−2 6
∣∣∣∣ = 4 ·∣∣∣∣ 2 1−1 3
∣∣∣∣Since scalars come out a row at a time, we might guess that determinants
are linear a row at a time.
Section I. Definition 305
3.2 Definition Let V be a vector space. A map f : V n → R is multilinear if
(1) f(~ρ1, . . . , ~v + ~w, . . . , ~ρn) = f(~ρ1, . . . , ~v, . . . , ~ρn) + f(~ρ1, . . . , ~w, . . . , ~ρn)
(2) f(~ρ1, . . . , k~v, . . . , ~ρn) = k · f(~ρ1, . . . , ~v, . . . , ~ρn)
for ~v, ~w ∈ V and k ∈ R.
3.3 Lemma Determinants are multilinear.
Proof. The definition of determinants gives property (2) (Lemma 2.3 followingthat definition covers the k = 0 case) so we need only check property (1).
det(~ρ1, . . . , ~v + ~w, . . . , ~ρn) = det(~ρ1, . . . , ~v, . . . , ~ρn) + det(~ρ1, . . . , ~w, . . . , ~ρn)
If the set {~ρ1, . . . , ~ρi−1, ~ρi+1, . . . , ~ρn} is linearly dependent then all three matricesare singular and so all three determinants are zero and the equality is trivial.Therefore assume that the set is linearly independent. This set of nwide rowvectors has n− 1 members, so we can make a basis by adding one more vector〈~ρ1, . . . , ~ρi−1, ~β, ~ρi+1, . . . , ~ρn〉. Express ~v and ~w with respect to this basis
~v = v1~ρ1 + · · ·+ vi−1~ρi−1 + vi~β + vi+1~ρi+1 + · · ·+ vn~ρn
~w = w1~ρ1 + · · ·+ wi−1~ρi−1 + wi~β + wi+1~ρi+1 + · · ·+ wn~ρn
giving this.
~v + ~w = (v1 + w1)~ρ1 + · · ·+ (vi + wi)~β + · · ·+ (vn + wn)~ρn
By the definition of determinant, the value of det(~ρ1, . . . , ~v + ~w, . . . , ~ρn) is unchanged by the pivot operation of adding −(v1 + w1)~ρ1 to ~v + ~w.
~v + ~w − (v1 + w1)~ρ1 = (v2 + w2)~ρ2 + · · ·+ (vi + wi)~β + · · ·+ (vn + wn)~ρn
Then, to the result, we can add −(v2 + w2)~ρ2, etc. Thus
det(~ρ1, . . . , ~v + ~w, . . . , ~ρn)
= det(~ρ1, . . . , (vi + wi) · ~β, . . . , ~ρn)
= (vi + wi) · det(~ρ1, . . . , ~β, . . . , ~ρn)
= vi · det(~ρ1, . . . , ~β, . . . , ~ρn) + wi · det(~ρ1, . . . , ~β, . . . , ~ρn)
(using (2) for the second equality). To finish, bring vi and wi back inside infront of ~β and use pivoting again, this time to reconstruct the expressions of ~vand ~w in terms of the basis, e.g., start with the pivot operations of adding v1~ρ1
to vi~β and w1~ρ1 to wi~ρ1, etc. QED
Multilinearity allows us to expand a determinant into a sum of determinants,each of which involves a simple matrix.
306 Chapter 4. Determinants
3.4 Example We can use multilinearity to split this determinant into two,first breaking up the first row∣∣∣∣2 1
4 3
∣∣∣∣ =∣∣∣∣2 04 3
∣∣∣∣+∣∣∣∣0 14 3
∣∣∣∣and then separating each of those two, breaking along the second rows.
=∣∣∣∣2 04 0
∣∣∣∣+∣∣∣∣2 00 3
∣∣∣∣+∣∣∣∣0 14 0
∣∣∣∣+∣∣∣∣0 10 3
∣∣∣∣We are left with four determinants, such that in each row of each matrix thereis a single entry from the original matrix.
3.5 Example In the same way, a 3×3 determinant separates into a sum ofmany simpler determinants. We start by splitting along the first row, producingthree determinants (the zero in the 1, 3 position is underlined to set it off visuallyfrom the zeroes that appear in the splitting).∣∣∣∣∣∣
2 1 −14 3 02 1 5
∣∣∣∣∣∣ =
∣∣∣∣∣∣2 0 04 3 02 1 5
∣∣∣∣∣∣+
∣∣∣∣∣∣0 1 04 3 02 1 5
∣∣∣∣∣∣+
∣∣∣∣∣∣0 0 −14 3 02 1 5
∣∣∣∣∣∣Each of these three will itself split in three along the second row. Each ofthe resulting nine splits in three along the third row, resulting in twenty sevendeterminants
=
∣∣∣∣∣∣2 0 04 0 02 0 0
∣∣∣∣∣∣+
∣∣∣∣∣∣2 0 04 0 00 1 0
∣∣∣∣∣∣+
∣∣∣∣∣∣2 0 04 0 00 0 5
∣∣∣∣∣∣+
∣∣∣∣∣∣2 0 00 3 02 0 0
∣∣∣∣∣∣+ · · ·+
∣∣∣∣∣∣0 0 −10 0 00 0 5
∣∣∣∣∣∣such that each row contains a single entry from the starting matrix.
So an n×n determinant expands into a sum of nn determinants where eachrow of each summands contains a single entry from the starting matrix. However, many of these summand determinants are zero.
3.6 Example In each of these three matrices from the above expansion, twoof the rows have their entry from the starting matrix in the same column, e.g.,in the first matrix, the 2 and the 4 both come from the first column.∣∣∣∣∣∣
2 0 04 0 00 1 0
∣∣∣∣∣∣∣∣∣∣∣∣0 0 −10 3 00 0 5
∣∣∣∣∣∣∣∣∣∣∣∣0 1 00 0 00 0 5
∣∣∣∣∣∣Any such matrix is singular, because in each, one row is a multiple of the other(or is a zero row). Thus, any such determinant is zero, by Lemma 2.3.
Section I. Definition 307
Therefore, the above expansion of the 3×3 determinant into the sum of thetwenty seven determinants simplifies to the sum of these six.∣∣∣∣∣∣
2 1 −14 3 02 1 5
∣∣∣∣∣∣ =
∣∣∣∣∣∣2 0 00 3 00 0 5
∣∣∣∣∣∣+
∣∣∣∣∣∣2 0 00 0 00 1 0
∣∣∣∣∣∣+
∣∣∣∣∣∣0 1 04 0 00 0 5
∣∣∣∣∣∣+
∣∣∣∣∣∣0 1 00 0 02 0 0
∣∣∣∣∣∣+
∣∣∣∣∣∣0 0 −14 0 00 1 0
∣∣∣∣∣∣+
∣∣∣∣∣∣0 0 −10 3 02 0 0
∣∣∣∣∣∣We can bring out the scalars.
= (2)(3)(5)
∣∣∣∣∣∣1 0 00 1 00 0 1
∣∣∣∣∣∣+ (2)(0)(1)
∣∣∣∣∣∣1 0 00 0 10 1 0
∣∣∣∣∣∣+ (1)(4)(5)
∣∣∣∣∣∣0 1 01 0 00 0 1
∣∣∣∣∣∣+ (1)(0)(2)
∣∣∣∣∣∣0 1 00 0 11 0 0
∣∣∣∣∣∣+ (−1)(4)(1)
∣∣∣∣∣∣0 0 11 0 00 1 0
∣∣∣∣∣∣+ (−1)(3)(2)
∣∣∣∣∣∣0 0 10 1 01 0 0
∣∣∣∣∣∣To finish, we evaluate those six determinants by rowswapping them to theidentity matrix, keeping track of the resulting sign changes.
= 30 · (+1) + 0 · (−1)+ 20 · (−1) + 0 · (+1)− 4 · (+1)− 6 · (−1) = 12
That example illustrates the key idea. We’ve applied multilinearity to a 3×3determinant to get 33 separate determinants, each with one distinguished entryper row. We can drop most of these new determinants because the matricesare singular, with one row a multiple of another. We are left with the oneentryperrow determinants also having only one entry per column (one entryfrom the original determinant, that is). And, since we can factor scalars out, wecan further reduce to only considering determinants of oneentryperrowandcolumn matrices where the entries are ones.
These are permutation matrices. Thus, the determinant can be computedin this threestep way (Step 1) for each permutation matrix, multiply togetherthe entries from the original matrix where that permutation matrix has ones,(Step 2) multiply that by the determinant of the permutation matrix and(Step 3) do that for all permutation matrices and sum the results together.
308 Chapter 4. Determinants
To state this as a formula, we introduce a notation for permutation matrices.Let ιj be the row vector that is all zeroes except for a one in its jth entry, sothat the fourwide ι2 is
(0 1 0 0
). We can construct permutation matrices
by permuting — that is, scrambling — the numbers 1, 2, . . . , n, and using themas indices on the ι’s. For instance, to get a 4×4 permutation matrix matrix, wecan scramble the numbers from 1 to 4 into this sequence 〈3, 2, 1, 4〉 and take thecorresponding row vector ι’s.
ι3ι2ι1ι4
=
0 0 1 00 1 0 01 0 0 00 0 0 1
3.7 Definition An npermutation is a sequence consisting of an arrangementof the numbers 1, 2, . . . , n.
3.8 Example The 2permutations are φ1 = 〈1, 2〉 and φ2 = 〈2, 1〉. These arethe associated permutation matrices.
Pφ1 =(ι1ι2
)=(
1 00 1
)Pφ2 =
(ι2ι1
)=(
0 11 0
)We sometimes write permutations as functions, e.g., φ2(1) = 2, and φ2(2) = 1.Then the rows of Pφ2 are ιφ2(1) = ι2 and ιφ2(2) = ι1.
The 3permutations are φ1 = 〈1, 2, 3〉, φ2 = 〈1, 3, 2〉, φ3 = 〈2, 1, 3〉, φ4 =〈2, 3, 1〉, φ5 = 〈3, 1, 2〉, and φ6 = 〈3, 2, 1〉. Here are two of the associated permutation matrices.
Pφ2 =
ι1ι3ι2
=
1 0 00 0 10 1 0
Pφ5 =
ι3ι1ι2
=
0 0 11 0 00 1 0
For instance, the rows of Pφ5 are ιφ5(1) = ι3, ιφ5(2) = ι1, and ιφ5(3) = ι2.
3.9 Definition The permutation expansion for determinants is∣∣∣∣∣∣∣∣∣t1,1 t1,2 . . . t1,nt2,1 t2,2 . . . t2,n
...tn,1 tn,2 . . . tn,n
∣∣∣∣∣∣∣∣∣ = t1,φ1(1)t2,φ1(2) · · · tn,φ1(n)Pφ1 + t1,φ2(1)t2,φ2(2) · · · tn,φ2(n)Pφ2 ...+ t1,φk(1)t2,φk(2) · · · tn,φk(n)Pφk 
where φ1, . . . , φk are all of the npermutations.
This formula is often written in summation notation
T  =∑
permutations φ
t1,φ(1)t2,φ(2) · · · tn,φ(n) Pφ
Section I. Definition 309
read aloud as “the sum, over all permutations φ, of terms having the formt1,φ(1)t2,φ(2) · · · tn,φ(n)Pφ”. This phrase is just a restating of the threestepprocess (Step 1) for each permutation matrix, compute t1,φ(1)t2,φ(2) · · · tn,φ(n)
(Step 2) multiply that by Pφ and (Step 3) sum all such terms together.
3.10 Example The familiar formula for the determinant of a 2×2 matrix canbe derived in this way.∣∣∣∣t1,1 t1,2
t2,1 t2,2
∣∣∣∣ = t1,1t2,2 · Pφ1 + t1,2t2,1 · Pφ2 
= t1,1t2,2 ·∣∣∣∣1 00 1
∣∣∣∣+ t1,2t2,1 ·∣∣∣∣0 11 0
∣∣∣∣= t1,1t2,2 − t1,2t2,1
(the second permutation matrix takes one row swap to pass to the identity).Similarly, the formula for the determinant of a 3×3 matrix is this.∣∣∣∣∣∣t1,1 t1,2 t1,3t2,1 t2,2 t2,3t3,1 t3,2 t3,3
∣∣∣∣∣∣ = t1,1t2,2t3,3 Pφ1 + t1,1t2,3t3,2 Pφ2 + t1,2t2,1t3,3 Pφ3 + t1,2t2,3t3,1 Pφ4 + t1,3t2,1t3,2 Pφ5 + t1,3t2,2t3,1 Pφ6 
= t1,1t2,2t3,3 − t1,1t2,3t3,2 − t1,2t2,1t3,3+ t1,2t2,3t3,1 + t1,3t2,1t3,2 − t1,3t2,2t3,1
Computing a determinant by permutation expansion usually takes longerthan Gauss’ method. However, here we are not trying to do the computationefficiently, we are instead trying to give a determinant formula that we canprove to be welldefined. While the permutation expansion is impractical forcomputations, it is useful in proofs. In particular, we can use it for the resultthat we are after.
3.11 Theorem For each n there is a n×n determinant function.
The proof is deferred to the following subsection. Also there is the proof ofthe next result (they share some features).
3.12 Theorem The determinant of a matrix equals the determinant of itstranspose.
The consequence of this theorem is that, while we have so far stated resultsin terms of rows (e.g., determinants are multilinear in their rows, row swapschange the signum, etc.), all of the results also hold in terms of columns. Thefinal result gives examples.
3.13 Corollary A matrix with two equal columns is singular. Column swapschange the sign of a determinant. Determinants are multilinear in their columns.
Proof. For the first statement, transposing the matrix results in a matrix withthe same determinant, and with two equal rows, and hence a determinant ofzero. The other two are proved in the same way. QED
310 Chapter 4. Determinants
We finish with a summary (although the final subsection contains the unfinished business of proving the two theorems). Determinant functions exist,are unique, and we know how to compute them. As for what determinants areabout, perhaps these lines [Kemp] help make it memorable.
Determinant none,Solution: lots or none.Determinant some,Solution: just one.
ExercisesThese summarize the notation used in this book for the 2 and 3 permutations.
i 1 2
φ1(i) 1 2φ2(i) 2 1
i 1 2 3
φ1(i) 1 2 3φ2(i) 1 3 2φ3(i) 2 1 3φ4(i) 2 3 1φ5(i) 3 1 2φ6(i) 3 2 1
X 3.14 Compute the determinant by using the permutation expansion.
(a)
∣∣∣∣∣1 2 34 5 67 8 9
∣∣∣∣∣ (b)
∣∣∣∣∣ 2 2 13 −1 0−2 0 5
∣∣∣∣∣X 3.15 Compute these both with Gauss’ method and with the permutation expansion
formula.
(a)
∣∣∣∣2 13 1
∣∣∣∣ (b)
∣∣∣∣∣0 1 40 2 31 5 1
∣∣∣∣∣X 3.16 Use the permutation expansion formula to derive the formula for 3×3 deter
minants.
3.17 List all of the 4permutations.
3.18 A permutation, regarded as a function from the set {1, .., n} to itself, is onetoone and onto. Therefore, each permutation has an inverse.(a) Find the inverse of each 2permutation.(b) Find the inverse of each 3permutation.
3.19 Prove that f is multilinear if and only if for all ~v, ~w ∈ V and k1, k2 ∈ R, thisholds.
f(~ρ1, . . . , k1~v1 + k2~v2, . . . , ~ρn) = k1f(~ρ1, . . . , ~v1, . . . , ~ρn) + k2f(~ρ1, . . . , ~v2, . . . , ~ρn)
3.20 Find the only nonzero term in the permutation expansion of this matrix.∣∣∣∣∣∣∣0 1 0 01 0 1 00 1 0 10 0 1 0
∣∣∣∣∣∣∣Compute that determinant by finding the signum of the associated permutation.
3.21 How would determinants change if we changed property (4) of the definitionto read that I = 2?
3.22 Verify the second and third statements in Corollary 3.13.
Section I. Definition 311
X 3.23 Show that if an n×n matrix has a nonzero determinant then any column vector~v ∈ Rn can be expressed as a linear combination of the columns of the matrix.
3.24 True or false: a matrix whose entries are only zeros or ones has a determinantequal to zero, one, or negative one.
3.25 (a) Show that there are 120 terms in the permutation expansion formula ofa 5×5 matrix.
(b) How many are sure to be zero if the 1, 2 entry is zero?
3.26 How many npermutations are there?
3.27 A matrix A is skewsymmetric if Atrans = −A, as in this matrix.
A =
(0 3−3 0
)Show that n×n skewsymmetric matrices with nonzero determinants exist only foreven n.
X 3.28 What is the smallest number of zeros, and the placement of those zeros, neededto ensure that a 4×4 matrix has a determinant of zero?
X 3.29 If we have n data points (x1, y1), (x2, y2), . . . , (xn, yn) and want to find apolynomial p(x) = an−1x
n−1 + an−2xn−2 + · · · + a1x + a0 passing through those
points then we can plug in the points to get an n equation/n unknown linearsystem. The matrix of coefficients for that system is called the Vandermondematrix. Prove that the determinant of the transpose of that matrix of coefficients∣∣∣∣∣∣∣∣∣∣
1 1 . . . 1x1 x2 . . . xnx1
2 x22 . . . xn
2
...x1n−1 x2
n−1 . . . xnn−1
∣∣∣∣∣∣∣∣∣∣equals the product, over all indices i, j ∈ {1, . . . , n} with i < j, of terms of theform xj − xi. (This shows that the determinant is zero, and the linear system hasno solution, if and only if the xi’s in the data are not distinct.)
3.30 A matrix can be divided into blocks, as here,(1 2 03 4 00 0 −2
)which shows four blocks, the square 2×2 and 1×1 ones in the upper left and lowerright, and the zero blocks in the upper right and lower left. Show that if a matrixcan be partitioned as
T =
(J Z2
Z1 K
)where J and K are square, and Z1 and Z2 are all zeroes, then T  = J  · K.
X 3.31 Prove that for any n×n matrix T there are at most n distinct reals r suchthat the matrix T − rI has determinant zero (we shall use this result in ChapterFive).
3.32 [Math. Mag., Jan. 1963, Q307] The nine positive digits can be arranged into3×3 arrays in 9! ways. Find the sum of the determinants of these arrays.
3.33 [Math. Mag., Jan. 1963, Q237] Show that∣∣∣∣∣x− 2 x− 3 x− 4x+ 1 x− 1 x− 3x− 4 x− 7 x− 10
∣∣∣∣∣ = 0.
312 Chapter 4. Determinants
3.34 [Am. Math. Mon., Jan. 1949] Let S be the sum of the integer elements of amagic square of order three and let D be the value of the square considered as adeterminant. Show that D/S is an integer.
3.35 [Am. Math. Mon., Jun. 1931] Show that the determinant of the n2 elementsin the upper left corner of the Pascal triangle
1 1 1 1 . .1 2 3 . .1 3 . .1 . ...
has the value unity.
4.I.4 Determinants Exist
This subsection is optional. It consists of proofs of two results from the priorsubsection. These proofs involve the properties of permutations, which will notbe used later, except in the optional Jordan Canonical Form subsection.
The prior subsection attacks the problem of showing that for any size thereis a determinant function on the set of square matrices of that size by usingmultilinearity to develop the permutation expansion.∣∣∣∣∣∣∣∣∣
t1,1 t1,2 . . . t1,nt2,1 t2,2 . . . t2,n
...tn,1 tn,2 . . . tn,n
∣∣∣∣∣∣∣∣∣ = t1,φ1(1)t2,φ1(2) · · · tn,φ1(n)Pφ1 + t1,φ2(1)t2,φ2(2) · · · tn,φ2(n)Pφ2 ...
+ t1,φk(1)t2,φk(2) · · · tn,φk(n)Pφk 
=∑
permutations φ
t1,φ(1)t2,φ(2) · · · tn,φ(n) Pφ
This reduces the problem to showing that there is a determinant function onthe set of permutation matrices of that size.
Of course, a permutation matrix can be rowswapped to the identity matrixand to calculate its determinant we can keep track of the number of row swaps.However, the problem is still not solved. We still have not shown that the resultis welldefined. For instance, the determinant of
Pφ =
0 1 0 01 0 0 00 0 1 00 0 0 1
Section I. Definition 313
could be computed with one swap
Pφρ1↔ρ2−→
1 0 0 00 1 0 00 0 1 00 0 0 1
or with three.
Pφρ3↔ρ1−→
0 0 1 01 0 0 00 1 0 00 0 0 1
ρ2↔ρ3−→
0 0 1 00 1 0 01 0 0 00 0 0 1
ρ1↔ρ3−→
1 0 0 00 1 0 00 0 1 00 0 0 1
Both reductions have an odd number of swaps so we figure that Pφ = −1but how do we know that there isn’t some way to do it with an even number ofswaps? Corollary 4.6 below proves that there is no permutation matrix that canbe rowswapped to an identity matrix in two ways, one with an even number ofswaps and the other with an odd number of swaps.
4.1 Definition Two rows of a permutation matrix
...ιk...ιj...
such that k > j are in an inversion of their natural order.
4.2 Example This permutation matrixι3ι2ι1
=
0 0 10 1 01 0 0
has three inversions: ι3 precedes ι1, ι3 precedes ι2, and ι2 precedes ι1.
4.3 Lemma A rowswap in a permutation matrix changes the number of inversions from even to odd, or from odd to even.
Proof. Consider a swap of rows j and k, where k > j. If the two rows areadjacent
Pφ =
...
ιφ(j)
ιφ(k)
...
ρk↔ρj−→
...
ιφ(k)
ιφ(j)
...
314 Chapter 4. Determinants
then the swap changes the total number of inversions by one — either removingor producing one inversion, depending on whether φ(j) > φ(k) or not, sinceinversions involving rows not in this pair are not affected. Consequently, thetotal number of inversions changes from odd to even or from even to odd.
If the rows are not adjacent then they can be swapped via a sequence ofadjacent swaps, first bringing row k up
...ιφ(j)
ιφ(j+1)
ιφ(j+2)
...ιφ(k)
...
ρk↔ρk−1−→ ρk−1↔ρk−2−→ . . .
ρj+1↔ρj−→
...ιφ(k)
ιφ(j)
ιφ(j+1)
...ιφ(k−1)
...
and then bringing row j down.
ρj+1↔ρj+2−→ ρj+2↔ρj+3−→ . . .ρk−1↔ρk−→
...ιφ(k)
ιφ(j+1)
ιφ(j+2)
...ιφ(j)
...
Each of these adjacent swaps changes the number of inversions from odd to evenor from even to odd. There are an odd number (k − j) + (k − j − 1) of them.The total change in the number of inversions is from even to odd or from oddto even. QED
4.4 Definition The signum of a permutation sgn(φ) is +1 if the number ofinversions in Pφ is even, and is −1 if the number of inversions is odd.
4.5 Example With the subscripts from Example 3.8 for the 3permutations,sgn(φ1) = 1 while sgn(φ2) = −1.
4.6 Corollary If a permutation matrix has an odd number of inversions thenswapping it to the identity takes an odd number of swaps. If it has an evennumber of inversions then swapping to the identity takes an even number ofswaps.
Proof. The identity matrix has zero inversions. To change an odd number tozero requires an odd number of swaps, and to change an even number to zerorequires an even number of swaps. QED
Section I. Definition 315
We still have not shown that the permutation expansion is welldefined because we have not considered row operations on permutation matrices other thanrow swaps. We will finesse this problem: we will define a function d : Mn×n → Rby altering the permutation expansion formula, replacing Pφ with sgn(φ)
d(T ) =∑
permutations φ
t1,φ(1)t2,φ(2) . . . tn,φ(n) sgn(φ)
(this gives the same value as the permutation expansion because the prior resultshows that det(Pφ) = sgn(φ)). This formula’s advantage is that the number ofinversions is clearly welldefined — just count them. Therefore, we will showthat a determinant function exists for all sizes by showing that d is it, that is,that d satisfies the four conditions.
4.7 Lemma The function d is a determinant. Hence determinants exist forevery n.
Proof. We’ll must check that it has the four properties from the definition.Property (4) is easy; in
d(I) =∑
perms φ
ι1,φ(1)ι2,φ(2) · · · ιn,φ(n) sgn(φ)
all of the summands are zero except for the product down the diagonal, whichis one.
For property (3) consider d(T ) where Tkρi−→T .∑
perms φ
t1,φ(1) · · · ti,φ(i) · · · tn,φ(n) sgn(φ) =∑φ
t1,φ(1) · · · kti,φ(i) · · · tn,φ(n) sgn(φ)
Factor the k out of each term to get the desired equality.
= k ·∑φ
t1,φ(1) · · · ti,φ(i) · · · tn,φ(n) sgn(φ) = k · d(T )
For (2), let Tρi↔ρj−→ T .
d(T ) =∑
perms φ
t1,φ(1) · · · ti,φ(i) · · · tj,φ(j) · · · tn,φ(n) sgn(φ)
To convert to unhatted t’s, for each φ consider the permutation σ that equals φexcept that the ith and jth numbers are interchanged, σ(i) = φ(j) and σ(j) =φ(i). Replacing the φ in t1,φ(1) · · · ti,φ(i) · · · tj,φ(j) · · · tn,φ(n) with this σ givest1,σ(1) · · · tj,σ(j) · · · ti,σ(i) · · · tn,σ(n). Now sgn(φ) = − sgn(σ) (by Lemma 4.3)and so we get
=∑σ
t1,σ(1) · · · tj,σ(j) · · · ti,σ(i) · · · tn,σ(n) ·(− sgn(σ)
)= −
∑σ
t1,σ(1) · · · tj,σ(j) · · · ti,σ(i) · · · tn,σ(n) · sgn(σ)
316 Chapter 4. Determinants
where the sum is over all permutations σ derived from another permutation φby a swap of the ith and jth numbers. But any permutation can be derivedfrom some other permutation by such a swap, in one and only one way, so thissummation is in fact a sum over all permutations, taken once and only once.Thus d(T ) = −d(T ).
To do property (1) let Tkρi+ρj−→ T and consider
d(T ) =∑
perms φ
t1,φ(1) · · · ti,φ(i) · · · tj,φ(j) · · · tn,φ(n) sgn(φ)
=∑φ
t1,φ(1) · · · ti,φ(i) · · · (kti,φ(j) + tj,φ(j)) · · · tn,φ(n) sgn(φ)
(notice: that’s kti,φ(j), not ktj,φ(j)). Distribute, commute, and factor.
=∑φ
[t1,φ(1) · · · ti,φ(i) · · · kti,φ(j) · · · tn,φ(n) sgn(φ)
+ t1,φ(1) · · · ti,φ(i) · · · tj,φ(j) · · · tn,φ(n) sgn(φ)]
=∑φ
t1,φ(1) · · · ti,φ(i) · · · kti,φ(j) · · · tn,φ(n) sgn(φ)
+∑φ
t1,φ(1) · · · ti,φ(i) · · · tj,φ(j) · · · tn,φ(n) sgn(φ)
= k ·∑φ
t1,φ(1) · · · ti,φ(i) · · · ti,φ(j) · · · tn,φ(n) sgn(φ)
+ d(T )
We finish by showing that the terms t1,φ(1) · · · ti,φ(i) · · · ti,φ(j) . . . tn,φ(n) sgn(φ)add to zero. This sum represents d(S) where S is a matrix equal to T exceptthat row j of S is a copy of row i of T (because the factor is ti,φ(j), not tj,φ(j)).Thus, S has two equal rows, rows i and j. Since we have already shown that dchanges sign on row swaps, as in Lemma 2.3 we conclude that d(S) = 0. QED
We have now shown that determinant functions exist for each size. Wealready know that for each size there is at most one determinant. Therefore,the permutation expansion computes the one and only determinant value of asquare matrix.
We end this subsection by proving the other result remaining from the priorsubsection, that the determinant of a matrix equals the determinant of its transpose.
4.8 Example Writing out the permutation expansion of the general 3×3 matrixand of its transpose, and comparing corresponding terms∣∣∣∣∣∣
a b cd e fg h i
∣∣∣∣∣∣ = · · · + cdh ·
∣∣∣∣∣∣0 0 11 0 00 1 0
∣∣∣∣∣∣+ · · ·
Section I. Definition 317
(terms with the same letters)∣∣∣∣∣∣a d gb e hc f i
∣∣∣∣∣∣ = · · · + dhc ·
∣∣∣∣∣∣0 1 00 0 11 0 0
∣∣∣∣∣∣+ · · ·
shows that the corresponding permutation matrices are transposes. That is,there is a relationship between these corresponding permutations. Exercise 15shows that they are inverses.
4.9 Theorem The determinant of a matrix equals the determinant of its transpose.
Proof. Call the matrix T and denote the entries of T trans with s’s so thatti,j = sj,i. Substitution gives this
T  =∑
perms φ
t1,φ(1) . . . tn,φ(n) sgn(φ) =∑φ
sφ(1),1 . . . sφ(n),n sgn(φ)
and we can finish the argument by manipulating the expression on the rightto be recognizable as the determinant of the transpose. We have written allpermutation expansions (as in the middle expression above) with the row indicesascending. To rewrite the expression on the right in this way, note that becauseφ is a permutation, the row indices in the term on the right φ(1), . . . , φ(n) arejust the numbers 1, . . . , n, rearranged. We can thus commute to have theseascend, giving s1,φ−1(1) · · · sn,φ−1(n) (if the column index is j and the row indexis φ(j) then, where the row index is i, the column index is φ−1(i)). Substitutingon the right gives
=∑φ−1
s1,φ−1(1) · · · sn,φ−1(n) sgn(φ−1)
(Exercise 14 shows that sgn(φ−1) = sgn(φ)). Since every permutation is theinverse of another, a sum over all φ−1 is a sum over all permutations φ
=∑
perms σ
s1,σ(1) . . . sn,σ(n) sgn(σ) =∣∣T trans
∣∣as required. QED
ExercisesThese summarize the notation used in this book for the 2 and 3 permutations.
i 1 2
φ1(i) 1 2φ2(i) 2 1
i 1 2 3
φ1(i) 1 2 3φ2(i) 1 3 2φ3(i) 2 1 3φ4(i) 2 3 1φ5(i) 3 1 2φ6(i) 3 2 1
318 Chapter 4. Determinants
4.10 Give the permutation expansion of a general 2×2 matrix and its transpose.
X 4.11 This problem appears also in the prior subsection.(a) Find the inverse of each 2permutation.(b) Find the inverse of each 3permutation.
X 4.12 (a) Find the signum of each 2permutation.(b) Find the signum of each 3permutation.
4.13 What is the signum of the npermutation φ = 〈n, n− 1, . . . , 2, 1〉?4.14 Prove these.
(a) Every permutation has an inverse.(b) sgn(φ−1) = sgn(φ)(c) Every permutation is the inverse of another.
4.15 Prove that the matrix of the permutation inverse is the transpose of the matrixof the permutation Pφ−1 = Pφ
trans, for any permutation φ.
X 4.16 Show that a permutation matrix with m inversions can be row swapped tothe identity in m steps. Contrast this with Corollary 4.6.
X 4.17 For any permutation φ let g(φ) be the integer defined in this way.
g(φ) =∏i<j
[φ(j)− φ(i)]
(This is the product, over all indices i and j with i < j, of terms of the givenform.)(a) Compute the value of g on all 2permutations.(b) Compute the value of g on all 3permutations.(c) Prove this.
sgn(φ) =g(φ)
g(φ)Many authors give this formula as the definition of the signum function.
Section II. Geometry of Determinants 319
4.II Geometry of Determinants
The prior section develops the determinant algebraically, by considering whatformulas satisfy certain properties. This section complements that with a geometric approach. One advantage of this approach is that, while we have so faronly considered whether or not a determinant is zero, here we shall give a meaning to the value of that determinant. (The prior section handles determinantsas functions of the rows, but in this section columns are more convenient. Thefinal result of the prior section says that we can make the switch.)
4.II.1 Determinants as Size Functions
This parallelogram picture
(x1y1
)(x2y2
)
is familiar from the construction of the sum of the two vectors. One way tocompute the area that it encloses is to draw this rectangle and subtract thearea of each subregion.
y1
y2
x2 x1
AB
C
D
EF
area of parallelogram= area of rectangle− area of A− area of B− · · · − area of F
= (x1 + x2)(y1 + y2)− x2y1 − x1y1/2− x2y2/2− x2y2/2− x1y1/2− x2y1
= x1y2 − x2y1
The fact that the area equals the value of the determinant∣∣∣∣x1 x2
y1 y2
∣∣∣∣ = x1y2 − x2y1
is no coincidence. The properties in the definition of determinants make reasonable postulates for a function that measures the size of the region enclosedby the vectors in the matrix.
For instance, this shows the effect of multiplying one of the boxdefiningvectors by a scalar (the scalar used is k = 1.4).
~v
~w
k~v
~w
320 Chapter 4. Determinants
Compared to the shaded region enclosed by ~v and ~w, the region formed byk~v and ~w is bigger by a factor of k. This illustrates that size(k~v, ~w) = k ·size(~v, ~w). Generalized, we expect of the size measure that size(. . . , k~v, . . . ) =k · size(. . . , ~v, . . . ). Of course, this postulate is already familiar as one of theproperties in the defintion of determinants.
Another property of determinants is that they are unaffected by pivoting.Here are beforepivoting and afterpivoting boxes (the scalar used is k = 0.35).
~v
~w
~v
k~v + ~w
Although the region on the right, the box formed by v and k~v + ~w, is moreslanted than the shaded region, the two have the same base and the same heightand hence the same area. This illustrates that size(~v, k~v + ~w) = size(~v, ~w).Generalized, size(. . . , ~v, . . . , ~w, . . . ) = size(. . . , ~v, . . . , k~v + ~w, . . . ), which is arestatement of the determinant postulate.
Of course, this picture
~e1
~e2
shows that size(~e1, ~e2) = 1, and we naturally extend that to any number ofdimensions size(~e1, . . . , ~en) = 1, which is a restatement of the property that thedeterminant of the identity matrix is one.
With that, because property (2) of determinants is redundant (as remarkedright after the definition), we have that all of the properties of determinants arereasonable to expect of a function that gives the size of boxes. We can now citethe work done in the prior section to show that the determinant exists and isunique to be assured that these postulates are consistent and sufficient (we donot need any more postulates). That is, we’ve got an intuitive justification tointerpret det(~v1, . . . , ~vn) as the size of the box formed by the vectors. (Comment. An even more basic approach, which also leads to the definition below,is [Weston].)
1.1 Example The volume of this parallelepiped, which can be found by theusual formula from high school geometry, is 12.
(202
) (031
)(−101
) ∣∣∣∣∣∣2 0 −10 3 02 1 1
∣∣∣∣∣∣ = 12
Section II. Geometry of Determinants 321
1.2 Remark Although property (2) of the definition of determinants is redundant, it raises an important point. Consider these two.
~u
~v
~u
~v
∣∣∣∣4 12 3
∣∣∣∣ = 10∣∣∣∣1 43 2
∣∣∣∣ = −10
The only difference between them is in the order in which the vectors are taken.If we take ~u first and then go to ~v, follow the counterclockwise arc shown, thenthe sign is positive. Following a clockwise arc gives a negative sign. The signreturned by the size function reflects the ‘orientation’ or ‘sense’ of the box. (Wesee the same thing if we picture the effect of scalar multiplication by a negativescalar.)
Although it is both interesting and important, the idea of orientation turnsout to be tricky. It is not needed for the development below, and so we will passit by. (See Exercise 27.)
1.3 Definition The box (or parallelepiped) formed by 〈~v1, . . . , ~vn〉 (where eachvector is from Rn) includes all of the set {t1~v1 + · · ·+ tn~vn
∣∣ t1, . . . , tn ∈ [0..1]}.The volume of a box is the absolute value of the determinant of the matrix withthose vectors as columns.
1.4 Example Volume, because it is an absolute value, does not depend onthe order in which the vectors are given. The volume of the parallelepiped inExercise 1.1, can also be computed as the absolute value of this determinant.∣∣∣∣∣∣
0 2 03 0 31 2 1
∣∣∣∣∣∣ = −12
The definition of volume gives a geometric interpretation to something inthe space, boxes made from vectors. The next result relates the geometry tothe functions that operate on spaces.
1.5 Theorem A transformation t : Rn → Rn changes the size of all boxes bythe same factor, namely the size of the image of a box t(S) is T  times thesize of the box S, where T is the matrix representing t with respect to thestandard basis. That is, for all n×n matrices, the determinant of a product isthe product of the determinants TS = T  · S.
The two sentences state the same idea, first in map terms and then in matrixterms. Although we tend to prefer a map point of view, the second sentence,the matrix version, is more convienent for the proof and is also the way thatwe shall use this result later. (Alternate proofs are given as Exercise 23 andExercise 28.)
322 Chapter 4. Determinants
Proof. The two statements are equivalent because t(S) = TS, as both givethe size of the box that is the image of the unit box En under the compositiont ◦ s (where s is the map represented by S with respect to the standard basis).
First consider the case that T  = 0. A matrix has a zero determinant if andonly if it is not invertible. Observe that if TS is invertible, so that there is anM such that (TS)M = I, then the associative property of matrix multiplicationT (SM) = I shows that T is also invertible (with inverse SM). Therefore, if Tis not invertible then neither is TS — if T  = 0 then TS = 0, and the resultholds in this case.
Now consider the case that T  6= 0, that T is nonsingular. Recall that anynonsingular matrix can be factored into a product of elementary matrices, sothat TS = E1E2 · · ·ErS. In the rest of this argument, we will verify that if Eis an elementary matrix then ES = E · S. The result will follow becausethen TS = E1 · · ·ErS = E1 · · · Er · S = E1 · · ·Er · S = T  · S.
If the elementary matrix E is Mi(k) then Mi(k)S equals S except that row ihas been multiplied by k. The third property of determinant functions thengives that Mi(k)S = k · S. But Mi(k) = k, again by the third propertybecause Mi(k) is derived from the identity by multiplication of row i by k, andso ES = E · S holds for E = Mi(k). The E = Pi,j = −1 and E = Ci,j(k)checks are similar. QED
1.6 Example Application of the map t represented with respect to the standard bases by (
1 1−2 0
)will double sizes of boxes, e.g., from this
~w
~v∣∣∣∣2 11 2
∣∣∣∣ = 3
to this
t(~w)
t(~v) ∣∣∣∣ 3 3−4 −2
∣∣∣∣ = 6
1.7 Corollary If a matrix is invertible then the determinant of its inverse isthe inverse of its determinant T−1 = 1/T .Proof. 1 = I = TT−1 = T  · T−1 QED
Recall that determinants are not additive homomorphisms, det(A+B) neednot equal det(A) + det(B). The above theorem says, in contrast, that determinants are multiplicative homomorphisms: det(AB) does equal det(A) · det(B).
Section II. Geometry of Determinants 323
Exercises1.8 Find the volume of the region formed.
(a) 〈(
13
),
(−14
)〉
(b) 〈
(210
),
(3−24
),
(8−38
)〉
(c) 〈
1201
,
2222
,
−1305
,
0107
〉X 1.9 Is (
412
)inside of the box formed by these three?(
331
) (261
) (105
)
X 1.10 Find the volume of this region.
X 1.11 Suppose that A = 3. By what factor do these change volumes?(a) A (b) A2 (c) A−2
X 1.12 By what factor does each transformation change the size of boxes?
(a)
(xy
)7→(
2x3y
)(b)
(xy
)7→(
3x− y−2x+ y
)(c)
(xyz
)7→
(x− y
x+ y + zy − 2z
)1.13 What is the area of the image of the rectangle [2..4]× [2..5] under the actionof this matrix? (
2 34 −1
)1.14 If t : R3 → R3 changes volumes by a factor of 7 and s : R3 → R3 changes volumes by a factor of 3/2 then by what factor will their composition changes volumes?
1.15 In what way does the definition of a box differ from the defintion of a span?
X 1.16 Why doesn’t this picture contradict Theorem 1.5?(2 10 1
)−→
area is 2 determinant is 2 area is 5
X 1.17 Does TS = ST ? T (SP ) = (TS)P ?1.18 (a) Suppose that A = 3 and that B = 2. Find A2 ·Btrans ·B−2 ·Atrans.
(b) Assume that A = 0. Prove that 6A3 + 5A2 + 2A = 0.
324 Chapter 4. Determinants
X 1.19 Let T be the matrix representing (with respect to the standard bases) themap that rotates plane vectors counterclockwise thru θ radians. By what factordoes T change sizes?
X 1.20 Must a transformation t : R2 → R2 that preserves areas also preserve lengths?
X 1.21 What is the volume of a parallelepiped in R3 bounded by a linearly dependentset?
X 1.22 Find the area of the triangle in R3 with endpoints (1, 2, 1), (3,−1, 4), and(2, 2, 2). (Area, not volume. The triangle defines a plane—what is the area of thetriangle in that plane?)
X 1.23 An alternate proof of Theorem 1.5 uses the definition of determinant functions.(a) Note that the vectors forming S make a linearly dependent set if and only ifS = 0, and check that the result holds in this case.
(b) For the S 6= 0 case, to show that TS/S = T  for all transformations,consider the function d : Mn×n → R given by T 7→ TS/S. Show that d hasthe first property of a determinant.
(c) Show that d has the remaining three properties of a determinant function.(d) Conclude that TS = T  · S.
1.24 Give a nonidentity matrix with the property that Atrans = A−1. Show thatif Atrans = A−1 then A = ±1. Does the converse hold?
1.25 The algebraic property of determinants that factoring a scalar out of a singlerow will multiply the determinant by that scalar shows that where H is 3×3, thedeterminant of cH is c3 times the determinant of H. Explain this geometrically,that is, using Theorem 1.5,
X 1.26 Matrices H and G are said to be similar if there is a nonsingular matrix Psuch that H = P−1GP (we will study this relation in Chapter Five). Show thatsimilar matrices have the same determinant.
1.27 We usually represent vectors in R2 with respect to the standard basis sovectors in the first quadrant have both coordinates positive.
~v
RepE2(~v) =
(+3+2
)Moving counterclockwise around the origin, we cycle thru four regions:
· · · −→(
++
)−→(−+
)−→(−−
)−→(
+−
)−→ · · · .
Using this basis
B = 〈(
01
),
(−10
)〉
~β2~β1
gives the same counterclockwise cycle. We say these two bases have the sameorientation.(a) Why do they give the same cycle?(b) What other configurations of unit vectors on the axes give the same cycle?(c) Find the determinants of the matrices formed from those (ordered) bases.(d) What other counterclockwise cycles are possible, and what are the associateddeterminants?
(e) What happens in R1?(f) What happens in R3?
A fascinating generalaudience discussion of orientations is in [Gardner].
Section II. Geometry of Determinants 325
1.28 This question uses material from the optional Determinant Functions Existsubsection. Prove Theorem 1.5 by using the permutation expansion formula forthe determinant.
X 1.29 (a) Show that this gives the equation of a line in R2 thru (x2, y2) and (x3, y3).∣∣∣∣∣x x2 x3
y y2 y3
1 1 1
∣∣∣∣∣ = 0
(b) [Petersen] Prove that the area of a triangle with vertices (x1, y1), (x2, y2),and (x3, y3) is
1
2
∣∣∣∣∣x1 x2 x3
y1 y2 y3
1 1 1
∣∣∣∣∣ .(c) [Math. Mag., Jan. 1973] Prove that the area of a triangle with vertices at(x1, y1), (x2, y2), and (x3, y3) whose coordinates are integers has an area of Nor N/2 for some positive integer N .
326 Chapter 4. Determinants
4.III Other Formulas
(This section is optional. Later sections do not depend on this material.)Determinants are a fount of interesting and amusing formulas. Here is one
that is often seen in calculus classes and used to compute determinants by hand.
4.III.1 Laplace’s Expansion
1.1 Example In this permutation expansion∣∣∣∣∣∣t1,1 t1,2 t1,3t2,1 t2,2 t2,3t3,1 t3,2 t3,3
∣∣∣∣∣∣ = t1,1t2,2t3,3
∣∣∣∣∣∣1 0 00 1 00 0 1
∣∣∣∣∣∣+ t1,1t2,3t3,2
∣∣∣∣∣∣1 0 00 0 10 1 0
∣∣∣∣∣∣+ t1,2t2,1t3,3
∣∣∣∣∣∣0 1 01 0 00 0 1
∣∣∣∣∣∣+ t1,2t2,3t3,1
∣∣∣∣∣∣0 1 00 0 11 0 0
∣∣∣∣∣∣+ t1,3t2,1t3,2
∣∣∣∣∣∣0 0 11 0 00 1 0
∣∣∣∣∣∣+ t1,3t2,2t3,1
∣∣∣∣∣∣0 0 10 1 01 0 0
∣∣∣∣∣∣we can, for instance, factor out the entries from the first row
= t1,1 ·
t2,2t3,3∣∣∣∣∣∣1 0 00 1 00 0 1
∣∣∣∣∣∣+ t2,3t3,2
∣∣∣∣∣∣1 0 00 0 10 1 0
∣∣∣∣∣∣
+ t1,2 ·
t2,1t3,3∣∣∣∣∣∣0 1 01 0 00 0 1
∣∣∣∣∣∣+ t2,3t3,1
∣∣∣∣∣∣0 1 00 0 11 0 0
∣∣∣∣∣∣
+ t1,3 ·
t2,1t3,2∣∣∣∣∣∣0 0 11 0 00 1 0
∣∣∣∣∣∣+ t2,2t3,1
∣∣∣∣∣∣0 0 10 1 01 0 0
∣∣∣∣∣∣
and swap rows in the permutation matrices to get this.
= t1,1 ·
t2,2t3,3∣∣∣∣∣∣1 0 00 1 00 0 1
∣∣∣∣∣∣+ t2,3t3,2
∣∣∣∣∣∣1 0 00 0 10 1 0
∣∣∣∣∣∣
− t1,2 ·
t2,1t3,3∣∣∣∣∣∣1 0 00 1 00 0 1
∣∣∣∣∣∣+ t2,3t3,1
∣∣∣∣∣∣1 0 00 0 10 1 0
∣∣∣∣∣∣
+ t1,3 ·
t2,1t3,2∣∣∣∣∣∣1 0 00 1 00 0 1
∣∣∣∣∣∣+ t2,2t3,1
∣∣∣∣∣∣1 0 00 0 10 1 0
∣∣∣∣∣∣
Section III. Other Formulas 327
The point of the swapping (one swap to each of the permutation matrices onthe second line and two swaps to each on the third line) is that the three linessimplify to three terms.
= t1,1 ·∣∣∣∣t2,2 t2,3t3,2 t3,3
∣∣∣∣− t1,2 · ∣∣∣∣t2,1 t2,3t3,1 t3,3
∣∣∣∣+ t1,3 ·∣∣∣∣t2,1 t2,2t3,1 t3,2
∣∣∣∣The formula given in Theorem 1.5, which generalizes this example, is a recurrence — the determinant is expressed as a combination of determinants. Thisformula isn’t circular because, as here, the determinant is expressed in terms ofdeterminants of matrices of smaller size.
1.2 Definition For any n×n matrix T , the (n− 1)×(n− 1) matrix formed bydeleting row i and column j of T is the i, j minor of T . The i, j cofactor Ti,j ofT is (−1)i+j times the determinant of the i, j minor of T .
1.3 Example The 1, 2 cofactor of the matrix from Example 1.1 is the negativeof the second 2×2 determinant.
T1,2 = −1 ·∣∣∣∣t2,1 t2,3t3,1 t3,3
∣∣∣∣1.4 Example Where
T =
1 2 34 5 67 8 9
these are the 1, 2 and 2, 2 cofactors.
T1,2 = (−1)1+2 ·∣∣∣∣4 67 9
∣∣∣∣ = 6 T2,2 = (−1)2+2 ·∣∣∣∣1 37 9
∣∣∣∣ = −12
1.5 Theorem (Laplace Expansion of Determinants) Where T is an n×nmatrix, the determinant can be found by expanding by cofactors on row i orcolumn j.
T  = ti,1 · Ti,1 + ti,2 · Ti,2 + · · ·+ ti,n · Ti,n= t1,j · T1,j + t2,j · T2,j + · · ·+ tn,j · Tn,j
Proof. Exercise 27. QED
1.6 Example We can compute the determinant
T  =
∣∣∣∣∣∣1 2 34 5 67 8 9
∣∣∣∣∣∣
328 Chapter 4. Determinants
by expanding along the first row, as in Example 1.1.
T  = 1 · (+1)∣∣∣∣5 68 9
∣∣∣∣+ 2 · (−1)∣∣∣∣4 67 9
∣∣∣∣+ 3 · (+1)∣∣∣∣4 57 8
∣∣∣∣ = −3 + 12− 9 = 0
Alternatively, we can expand down the second column.
T  = 2 · (−1)∣∣∣∣4 67 9
∣∣∣∣+ 5 · (+1)∣∣∣∣1 37 9
∣∣∣∣+ 8 · (−1)∣∣∣∣1 34 6
∣∣∣∣ = 12− 60 + 48 = 0
1.7 Example A row or column with many zeroes suggests a Laplace expansion.∣∣∣∣∣∣
1 5 02 1 13 −1 0
∣∣∣∣∣∣ = 0 · (+1)∣∣∣∣2 13 −1
∣∣∣∣+ 1 · (−1)∣∣∣∣1 53 −1
∣∣∣∣+ 0 · (+1)∣∣∣∣1 52 1
∣∣∣∣ = 16
We finish by applying this result to derive a new formula for the inverseof a matrix. With Theorem 1.5, the determinant of an n×n matrix T canbe calculated by taking linear combinations of entries from a row and theirassociated cofactors.
ti,1 · Ti,1 + ti,2 · Ti,2 + · · ·+ ti,n · Ti,n = T  (∗)
Recall that a matrix with two identical rows has a zero determinant. Thus, forany matrix T , weighing the cofactors by entries from the “wrong” row — row kwith k 6= i — gives zero
ti,1 · Tk,1 + ti,2 · Tk,2 + · · ·+ ti,n · Tk,n = 0 (∗∗)
because it represents the expansion along the row k of a matrix with row i equalto row k. This equation summarizes (∗) and (∗∗).
t1,1 t1,2 . . . t1,nt2,1 t2,2 . . . t2,n
...tn,1 tn,2 . . . tn,n
T1,1 T2,1 . . . Tn,1T1,2 T2,2 . . . Tn,2
...T1,n T2,n . . . Tn,n
=
T  0 . . . 00 T  . . . 0
...0 0 . . . T 
Note that the order of the subscripts in the matrix of cofactors is opposite tothe order of subscripts in the other matrix; e.g., along the first row of the matrixof cofactors the subscripts are 1, 1 then 2, 1, etc.
1.8 Definition The matrix adjoint to the square matrix T is
adj(T ) =
T1,1 T2,1 . . . Tn,1T1,2 T2,2 . . . Tn,2
...T1,n T2,n . . . Tn,n
where Tj,i is the j, i cofactor.
Section III. Other Formulas 329
1.9 Theorem Where T is a square matrix, T · adj(T ) = adj(T ) · T = T  · I.
Proof. Equations (∗) and (∗∗). QED
1.10 Example If
T =
1 0 42 1 −11 0 1
then the adjoint adj(T ) is
T1,1 T2,1 T3,1
T1,2 T2,2 T3,2
T1,3 T2,3 T3,3
=
∣∣∣∣1 −10 1
∣∣∣∣ −∣∣∣∣0 40 1
∣∣∣∣ ∣∣∣∣0 41 −1
∣∣∣∣−∣∣∣∣2 −11 1
∣∣∣∣ ∣∣∣∣1 41 1
∣∣∣∣ −∣∣∣∣1 42 −1
∣∣∣∣∣∣∣∣2 11 0
∣∣∣∣ −∣∣∣∣1 01 0
∣∣∣∣ ∣∣∣∣1 02 1
∣∣∣∣
=
1 0 −4−3 −3 9−1 0 1
and taking the product with T gives the diagonal matrix T  · I.1 0 42 1 −11 0 1
1 0 −4−3 −3 9−1 0 1
=
−3 0 00 −3 00 0 −3
1.11 Corollary If T  6= 0 then T−1 = (1/T ) · adj(T ).
1.12 Example The inverse of the matrix from Example 1.10 is (1/−3)·adj(T ).
T−1 =
1/−3 0/−3 −4/−3−3/−3 −3/−3 9/−3−1/−3 0/−3 1/−3
=
−1/3 0 4/31 1 −3
1/3 0 −1/3
The formulas from this section are often used for byhand calculation and
are sometimes useful with special types of matrices. However, they are not thebest choice for computation with arbitrary matrices because they require morearithmetic than, for instance, the GaussJordan method.
ExercisesX 1.13 Find the cofactor.
T =
(1 0 2−1 1 30 2 −1
)(a) T2,3 (b) T3,2 (c) T1,3
X 1.14 Find the determinant by expanding∣∣∣∣∣ 3 0 11 2 2−1 3 0
∣∣∣∣∣
330 Chapter 4. Determinants
(a) on the first row (b) on the second row (c) on the third column.
1.15 Find the adjoint of the matrix in Example 1.6.
X 1.16 Find the matrix adjoint to each.
(a)
(2 1 4−1 0 21 0 1
)(b)
(3 −12 4
)(c)
(1 15 0
)(d)
(1 4 3−1 0 31 8 9
)X 1.17 Find the inverse of each matrix in the prior question with Theorem 1.9.
1.18 Find the matrix adjoint to this one.2 1 0 01 2 1 00 1 2 10 0 1 2
X 1.19 Expand across the first row to derive the formula for the determinant of a 2×2
matrix.
X 1.20 Expand across the first row to derive the formula for the determinant of a 3×3matrix.
X 1.21 (a) Give a formula for the adjoint of a 2×2 matrix.(b) Use it to derive the formula for the inverse.
X 1.22 Can we compute a determinant by expanding down the diagonal?
1.23 Give a formula for the adjoint of a diagonal matrix.
X 1.24 Prove that the transpose of the adjoint is the adjoint of the transpose.
1.25 Prove or disprove: adj(adj(T )) = T .
1.26 A square matrix is upper triangular if each i, j entry is zero in the part abovethe diagonal, that is, when i > j.(a) Must the adjoint of an upper triangular matrix be upper triangular? Lowertriangular?
(b) Prove that the inverse of a upper triangular matrix is upper triangular, if aninverse exists.
1.27 This question requires material from the optional Determinants Exist subsection. Prove Theorem 1.5 by using the permutation expansion.
1.28 Prove that the determinant of a matrix equals the determinant of its transposeusing Laplace’s expansion and induction on the size of the matrix.
1.29 [Am. Math. Mon., Jun. 1949] Show that
Fn =
∣∣∣∣∣∣∣∣∣1 −1 1 −1 1 −1 . . .1 1 0 1 0 1 . . .0 1 1 0 1 0 . . .0 0 1 1 0 1 . . .. . . . . . . . .
∣∣∣∣∣∣∣∣∣where Fn is the nth term of 1, 1, 2, 3, 5, . . . , x, y, x+y, . . . , the Fibonacci sequence,and the determinant is of order n− 1.
Topic: Cramer’s Rule 331
Topic: Cramer’s Rule
We introduced determinant functions algebraically, looking for a formula todecide whether a matrix is nonsingular, that is, whether a linear system has aunique solution. Then we saw a geometric interpretation, that the determinantfunction gives the size of the box with sides formed by the columns of the matrix.Here we will see a nice formula that connects the two views.
Consider this system
x1 + 2x2 = 63x1 + x2 = 8
Rewriting in vector form
x1 ·(
13
)+ x2 ·
(21
)=(
68
)and picturing with parallelograms
(21
)(
13
)x1 ·(
13
)+ x2 ·
(21
)
gives a geometric interpretation of solving the linear system: by what factor x1
must we dilate the first vector, and by what factor x2 must we dilate the secondvector, to expand the small parallegram to fill the larger one?
Of course, we routinely find the answer with the algebraic manipulations ofGauss’ method. Nonetheless, the geometry can give us some insights — comparethe sizes of these three shaded boxes.
(21
)(
13
)(
21
)
x1 ·(
13
)
(21
)
(68
)
The second box is formed from x1
(13
)and
(21
), and one of the properties of the
size function (that is, the determinant function) is that the size of the secondbox is therefore x1 times the size of the first box. Since the third box is formedfrom x1
(13
)+ x2
(21
)and
(21
), and sizes are unchanged by side operations (that
332 Chapter 4. Determinants
is, the determinant is unchanged by adding x2 times the second column to thefirst column), the size of the third box equals the size of the second box.∣∣∣∣6 2
8 1
∣∣∣∣ = x1 ·∣∣∣∣1 23 1
∣∣∣∣Solving gives the value of one of the variables.
x1 =
∣∣∣∣6 28 1
∣∣∣∣∣∣∣∣1 23 1
∣∣∣∣ =−10−5
= 2
The theorem that generalizes this example, Cramer’s Rule, is: if A 6= 0then the system A~x = ~b has the unique solution xi = Bi/A where the matrixBi is formed from A by replacing column i with the vector ~b. Exercise 3 asksfor a proof.
For instance, to solve this system for x21 0 42 1 −11 0 1
x1
x2
x3
=
21−1
we do this computation.
x2 =
∣∣∣∣∣∣1 2 42 1 −11 −1 1
∣∣∣∣∣∣∣∣∣∣∣∣1 0 42 1 −11 0 1
∣∣∣∣∣∣=−18−3
Cramer’s Rule, with practice, allows us to solve two equations/two unknownsystems by eye. It is also sometimes used for three equations/three unknownssystems. But computing large determinants takes a long time so that solvinglarge systems by Cramer’s Rule is impractical.
Exercises1 Use Cramer’s Rule to solve each for each of the variables.
(a)x− y = 4−x+ 2y =−7
(b)−2x+ y =−2x− 2y =−2
2 Use Cramer’s Rule to solve this system for z.
2x+ y + z = 13x + z = 4x− y − z = 2
3 Prove Cramer’s Rule.
Topic: Cramer’s Rule 333
4 Suppose that a linear system with as many equations as unknowns, and withinteger coefficients and constants, has a matrix of coefficients with determinant 1.Prove that the entries in the solution are all integers. (Remark. This is often usedto invent linear systems for exercises. If an instructor makes the linear system withthis property then the solution is not some disagreeable fraction.)
5 Use Cramer’s Rule to give a formula for the solution of a two equation/twounknown linear system.
6 Can Cramer’s Rule tell the difference between a system with no solutions andone with infinitely many?
334 Chapter 4. Determinants
Topic: Speed of Calculating Determinants
The permutation expansion formula for computing determinants is useful forproving theorems, but the method of using row operations is a much better forfinding the determinants of a large matrix. We can make this statement preciseby considering, as computer algorithm designers do, the number of arithmeticoperations that each method uses.
The speed of an algorithm is measured by finding how the time taken bythe computer grows as the size of its input data set grows. For instance, howmuch longer will the algorithm take if we increase the size of the input data bya factor of ten, say from a 1000 row matrix to a 10, 000 row matrix, or from10, 000 to 100, 000? Does the time taken grow by a factor of ten or by a factorof a hundred, or by a factor of a thousand? That is, is the time taken by thealgorithm proportional to the size of the data set, or to the square of that size,or to the cube of that size, etc.?
Recall the permutation expansion formula for determinants.∣∣∣∣∣∣∣∣∣t1,1 t1,2 . . . t1,nt2,1 t2,2 . . . t2,n
...tn,1 tn,2 . . . tn,n
∣∣∣∣∣∣∣∣∣ =∑
permutations φ
t1,φ(1)t2,φ(2) · · · tn,φ(n) Pφ
= t1,φ1(1) · t2,φ1(2) · · · tn,φ1(n) Pφ1 + t1,φ2(1) · t2,φ2(2) · · · tn,φ2(n) Pφ2 ...
+ t1,φk(1) · t2,φk(2) · · · tn,φk(n) Pφk 
There are n! = n · (n−1) · (n−2) · · · 2 ·1 different npermutations. For numbersn of any size at all, this is a quite large number; for instance, even if n is only10 then the expansion has 10! = 3, 628, 800 terms, all of which are obtained bymultiplying n entries together. This is a very large number of multiplications(for instance, [Knuth] suggests 10! steps as a rough boundary for the limitof practical calculation). The factorial function grows faster than the squarefunction. It grows faster than the cube function, the fourth power function,or any polynomial function. (One way to see that the factorial function growsfaster than the square is to note that multiplying the first two factors in n!gives n · (n − 1), which for large n is approximately n2, and then multiplyingin more factors will make it even larger. The same argument works for thecube function, etc.) So a computer that is programmed to use the permutationexpansion formula, and thus to perform a number of operations that is greaterthan or equal to the factorial of the number of rows, would take times that growvery quickly as the input data set grows.
In contrast, the time taken by the row reduction method does not grow sofast. This fragment of rowreduction code is in the computer language FORTRAN. The matrix is stored in the N×N array A. For each ROW between 1and N parts of the program not shown here have already found the pivot entry
Topic: Speed of Calculating Determinants 335
A(ROW,COL). Now the program pivots.
−PIVINV · ρROW + ρi
(This code fragment is for illustration only, and is incomplete. Nonetheless,analysis of a finished versions, including all of the tests and subcases, is messierbut gives essentially the same result.)
PIVINV=1.0/A(ROW,COL)
DO 10 I=ROW+1, N
DO 20 J=I, N
A(I,J)=A(I,J)PIVINV*A(ROW,J)
20 CONTINUE
10 CONTINUE
The outermost loop (not shown) runs through N − 1 rows. For each row, thenested I and J loops shown perform arithmetic on the entries in A that arebelow and to the right of the pivot entry. Assume that the pivot is found inthe expected place, that is, that COL = ROW . Then there are (N − ROW )2
entries below and to the right of the pivot. On average, ROW will be N/2.Thus, we estimate that the arithmetic will be performed about (N/2)2 times,that is, will run in a time proportional to the square of the number of equations.Taking into account the outer loop that is not shown, we get the estimate thatthe running time of the algorithm is proportional to the cube of the number ofequations.
Finding the fastest algorithm to compute the determinant is a topic of current research. Algorithms are known that run in time between the second andthird power.
Speed estimates like these help us to understand how quickly or slowly analgorithm will run. Algorithms that run in time proportional to the size of thedata set are fast, algorithms that run in time proportional to the square of thesize of the data set are less fast, but typically quite usable, and algorithms thatrun in time proportional to the cube of the size of the data set are still reasonablein speed. However, algorithms that run in time (greater than or equal to) thefactorial of the size of the data set are not practical.
There are other methods besides the two discussed here that are also usedfor computation of determinants. Those lie outside of our scope. Nonetheless,this contrast of the two methods for computing determinants makes the pointthat although in principle they give the same answer, in practice the idea is toselect the one that is fast.
ExercisesMost of these problems presume access to a computer.
1 Computer systems generate random numbers (of course, these are only pseudorandom, in that they are generated by an algorithm, but they pass a number ofreasonable statistical tests for randomness).(a) Fill a 5×5 array with random numbers (say, in the range [0..1)). See if it issingular. Repeat that experiment a few times. Are singular matrices frequentor rare (in this sense)?
336 Chapter 4. Determinants
(b) Time your computer algebra system at finding the determinant of ten 5×5arrays of random numbers. Find the average time per array. Repeat the prioritem for 15×15 arrays, 25×25 arrays, and 35×35 arrays. (Notice that, when anarray is singular, it can sometimes be found to be so quite quickly, for instanceif the first row equals the second. In the light of your answer to the first part,do you expect that singular systems play a large role in your average?)
(c) Graph the input size versus the average time.
2 Compute the determinant of each of these by hand using the two methods discussed above.
(a)
∣∣∣∣2 15 −3
∣∣∣∣ (b)
∣∣∣∣∣ 3 1 1−1 0 5−1 2 −2
∣∣∣∣∣ (c)
∣∣∣∣∣∣∣2 1 0 01 3 2 00 −1 −2 10 0 −2 1
∣∣∣∣∣∣∣Count the number of multiplications and divisions used in each case, for each ofthe methods. (On a computer, multiplications and divisions take much longer thanadditions and subtractions, so algorithm designers worry about them more.)
3 What 10×10 array can you invent that takes your computer system the longestto reduce? The shortest?
4 Write the rest of the FORTRAN program to do a straightforward implementationof calculating determinants via Gauss’ method. (Don’t test for a zero pivot.)Compare the speed of your code to that used in your computer algebra system.
5 The FORTRAN language specification requires that arrays be stored “by column”, that is, the entire first column is stored contiguously, then the second column, etc. Does the code fragment given take advantage of this, or can it berewritten to make it faster, by taking advantage of the fact that computer fetchesare faster from contiguous locations?
Topic: Projective Geometry 337
Topic: Projective Geometry
There are geometries other than the familiar Euclidean one. One such geometryarose in art, where it was observed that what a viewer sees is not necessarilywhat is there. This is Leonardo da Vinci’s masterpiece The Last Supper.
What is there in the room, for instance where the ceiling meets the left andright walls, are lines that are parallel. However, what a viewer sees is linesthat, if extended, would intersect. The intersection point is called the vanishingpoint. This aspect of perspective is also familiar as the image of a long stretchof railroad tracks that appear to converge at the horizon.
To depict the room, da Vinci has adopted a model of how we see, of how weproject the three dimensional scene to a two dimensional image. This model isonly a first approximation — it does not take into account that our retina iscurved and our lens bends the light, that we have binocular vision, or that ourbrain’s processing greatly affects what we see — but nonetheless it is interesting,both artistically and mathematically.
The projection is not orthogonal, it is a central projection from a singlepoint, to the plane of the canvas.
A
B
C
(It is not an orthogonal projection since the line from the viewer to C is notorthogonal to the image plane.) As the picture suggests, the operation of central projection preserves some geometric properties — lines project to lines.However, it fails to preserve some others — equal length segments can projectto segments of unequal length; the length of AB is greater than the length ofBC because the segment projected to AB is closer to the viewer and closerthings look bigger. The study of the effects of central projections is projectivegeometry. We will see how linear algebra can be used in this study.
338 Chapter 4. Determinants
There are three cases of central projection. The first is the projection doneby a movie projector.
source S image Iprojector P
We can think that each source point is “pushed” from the domain plane outward to the image point in the codomain plane. This case of projection has asomewhat different character than the second case, that of the artist “pulling”the source back to the canvas.
image I source S
painter P
In the first case S is in the middle while in the second case I is in the middle.One more configuration is possible, with P in the middle. An example of thisis when we use a pinhole to shine the image of a solar eclipse onto a piece ofpaper.
pinhole Pimage I
source S
We shall take each of the three to be a central projection by P of S to I.To illustrate some of the geometric effects of these projections, consider again
the effect of railroad tracks that appear to converge to a point. We model thiswith parallel lines in a domain plane S and a projection via a P to a codomainplane I. (The dotted lines are parallel to S and I.)
S
I
P
All three projection cases appear here. The first picture below shows P actinglike a movie projector by pushing points from part of S out to image points onthe lower half of I. The middle picture shows P acting like the artist by pullingpoints from another part of S back to image points in I. In the third picture, Pacts like the pinhole. This picture is the trickiest—the points that are projectednear to the vanishing point are the ones that are far out to the bottom left ofS. Points in S that are near to the vertical dotted line are sent high up on I.
Topic: Projective Geometry 339
P P P
There are two awkward things about this situation. The first is that neither ofthe two points in the domain nearest to the vertical dotted line (see below) hasan image because a projection from those two is along the dotted line that isparallel to the codomain plane (we sometimes say that these two are projected“to infinity”). The second awkward thing is that the vanishing point in I isn’tthe image of any point from S because a projection to this point would be alongthe dotted line that is parallel to the domain plane (we sometimes say that thevanishing point is the image of a projection “from infinity”).
For a better model, put the projector P at the origin. Imagine that P iscovered by a glass hemispheric dome. As P looks outward, anything in the lineof vision is projected to the same spot on the dome. This includes things onthe line between P and the dome, as in the case of projection by the movieprojector. It includes things on the line further from P than the dome, as inthe case of projection by the painter. It also includes things on the line that liebehind P , as in the case of projection by a pinhole.
` = {k ·
(123
) ∣∣ k ∈ R}
From this perspective P , all of the spots on the line are seen as the same point.Accordingly, for any nonzero vector ~v ∈ R3, we define the associated point vin the projective plane to be the set {k~v
∣∣ k ∈ R and k 6= 0} of nonzero vectorslying on the same line through the origin as ~v. To describe a projective pointwe can give any representative member of the line, so that the projective pointshown above can be represented in any of these three ways.1
23
1/32/31
−2−4−6
340 Chapter 4. Determinants
Each of these is a homogeneous coordinate vector for v.This picture, and the above definition that arises from it, clarifies the de
scription of central projection but there is something awkward about the domemodel: what if the viewer looks down? If we draw P ’s line of sight so thatthe part coming toward us, out of the page, goes down below the dome thenwe can trace the line of sight backward, up past P and toward the part of thehemisphere that is behind the page. So in the dome model, looking down givesa projective point that is behind the viewer. Therefore, if the viewer in thepicture above drops the line of sight toward the bottom of the dome then theprojective point drops also and as the line of sight continues down past theequator, the projective point suddenly shifts from the front of the dome to theback of the dome. This discontinuity in the drawing means that we often haveto treat equatorial points as a separate case. That is, while the railroad trackdiscussion of central projection has three cases, the dome model has two.
We can do better than this. Consider a sphere centered at the origin. Anyline through the origin intersects the sphere in two spots, which are said to beantipodal. Because we associate each line through the origin with a point in theprojective plane, we can draw such a point as a pair of antipodal spots on thesphere. Below, the two antipodal spots are shown connected by a dotted lineto emphasize that they are not two different points, the pair of spots togethermake one projective point.
While drawing a point as a pair of antipodal spots is not as natural as the onespotperpoint dome mode, on the other hand the awkwardness of the domemodel is gone, in that if as a line of view slides from north to south, no suddenchanges happen on the picture. This model of central projection is uniform —the three cases are reduced to one.
So far we have described points in projective geometry. What about lines?What a viewer at the origin sees as a line is shown below as a great circle, theintersection of the model sphere with a plane through the origin.
(One of the projective points on this line is shown to bring out a subtlety.Because two antipodal spots together make up a single projective point, thegreat circle’s behindthepaper part is the same set of projective points as itsinfrontofthepaper part.) Just as we did with each projective point, we willalso describe a projective line with a triple of reals. For instance, the members
Topic: Projective Geometry 341
of this plane through the origin in R3
{
xyz
∣∣ x+ y − z = 0}
project to a line that we can described with the triple(1 1 −1
)(we use row
vectors to typographically distinguish lines from points). In general, for anynonzero threewide row vector ~L we define the associated line in the projectiveplane, to be the set L = {k~L
∣∣ k ∈ R and k 6= 0} of nonzero multiples of ~L.The reason that this description of a line as a triple is convienent is that
in the projective plane, a point v and a line L are incident — the point lieson the line, the line passes throught the point — if and only if a dot productof their representatives v1L1 + v2L2 + v3L3 is zero (Exercise 4 shows that thisis independent of the choice of representatives ~v and ~L). For instance, theprojective point described above by the column vector with components 1, 2,and 3 lies in the projective line described by
(1 1 −1
), simply because any
vector in R3 whose components are in ratio 1 : 2 : 3 lies in the plane through theorigin whose equation is of the form 1k ·x+ 1k · y−1k · z = 0 for any nonzero k.That is, the incidence formula is inherited from the threespace lines and planesof which v and L are projections.
Thus, we can do analytic projective geometry. For instance, the projectiveline L =
(1 1 −1
)has the equation 1v1 + 1v2 − 1v3 = 0, because points
incident on the line are characterized by having the property that their representatives satisfy this equation. One difference from familiar Euclidean anlayticgeometry is that in projective geometry we talk about the equation of a point.For a fixed point like
v =
123
the property that characterizes lines through this point (that is, lines incidenton this point) is that the components of any representatives satisfy 1L1 + 2L2 +3L3 = 0 and so this is the equation of v.
This symmetry of the statements about lines and points brings up the DualityPrinciple of projective geometry: in any true statement, interchanging ‘point’with ‘line’ results in another true statement. For example, just as two distinctpoints determine one and only one line, in the projective plane, two distinctlines determine one and only one point. Here is a picture showing two lines thatcross in antipodal spots and thus cross at one projective point.
(∗)
Contrast this with Euclidean geometry, where two distinct lines may have aunique intersection or may be parallel. In this way, projective geometry issimpler, more uniform, than Euclidean geometry.
342 Chapter 4. Determinants
That simplicity is relevant because there is a relationship between the twospaces: the projective plane can be viewed as an extension of the Euclideanplane. Take the sphere model of the projective plane to be the unit sphere inR3 and take Euclidean space to be the plane z = 1. This gives us a way ofviewing some points in projective space as corresponding to points in Euclideanspace, because all of the points on the plane are projections of antipodal spotsfrom the sphere.
(∗∗)
Note though that projective points on the equator don’t project up to the plane.Instead, these project ‘out to infinity’. We can thus think of projective spaceas consisting of the Euclidean plane with some extra points adjoined — theEuclidean plane is embedded in the projective plane. These extra points, theequatorial points, are the ideal points or points at infinity and the equator is theideal line or line at infinity (note that it is not a Euclidean line, it is a projectiveline).
The advantage of the extension to the projective plane is that some of theawkwardness of Euclidean geometry disappears. For instance, the projectivelines shown above in (∗) cross at antipodal spots, a single projective point, onthe sphere’s equator. If we put those lines into (∗∗) then they correspond toEuclidean lines that are parallel. That is, in moving from the Euclidean plane tothe projective plane, we move from having two cases, that lines either intersector are parallel, to having only one case, that lines intersect (possibly at a pointat infinity).
The projective case is nicer in many ways than the Euclidean case but hasthe problem that we don’t have the same experience or intuitions with it. That’sone advantage of doing analytic geometry, where the equations can lead us tothe right conclusions. Analytic projective geometry uses linear algebra. Forinstance, for three points of the projective plane t, u, and v, setting up theequations for those points by fixing vectors representing each, shows that thethree are collinear — incident in a single line — if and only if the resulting threeequation system has infinitely many row vector solutions representing that line.That, in turn, holds if and only if this determinant is zero.∣∣∣∣∣∣
t1 u1 v1
t2 u2 v2
t3 u3 v3
∣∣∣∣∣∣Thus, three points in the projective plane are collinear if and only if any threerepresentative column vectors are linearly dependent. Similarly (and illustratingthe Duality Principle), three lines in the projective plane are incident on asingle point if and only if any three row vectors representing them are linearlydependent.
Topic: Projective Geometry 343
The following result is more evidence of the ‘niceness’ of the geometry of theprojective plane, compared to the Euclidean case. These two triangles are saidto be in perspective from P because their corresponding vertices are collinear.
O
T1U1 V1
T2U2
V2
Desargue’s Theorem is that when the three pairs of corresponding sides — T1U1
and T2U2, T1V1 and T2V2, U1V1 and U2V2 — are extended, they intersect
and further, those three intersection points are collinear.
We will prove this theorem, using projective geometry. (These are drawn asEuclidean figures because it is the more familiar image. To consider them asprojective figures, we can imagine that, although the line segments shown areparts of great circles and so are curved, the model has such a large radiuscompared to the size of the figures that the sides appear in this sketch to bestraight.)
For this proof, we need a preliminary lemma [Coxeter]: if W , X, Y , Z arefour points in the projective plane (no three of which are collinear) then thereis a basis B for R3 such that
RepB(~w) =
100
RepB(~x) =
010
RepB(~y) =
001
RepB(~z) =
111
where ~w, ~x, ~y, ~z are homogeneous coordinate vectors for the projective points.The proof is straightforward. Because W, X, Y are not on the same projectiveline, any homogeneous coordinate vectors ~w0, ~x0, ~y0 do not line on the sameplane through the origin in R3 and so form a spanning set for R3. Thus anyhomogeneous coordinate vector for Z can be written as a combination ~z0 =a · ~w0 + b · ~x0 + c · ~y0. Then ~w = a · ~w0, ~x = b · ~x0, ~y = c · ~y0, and ~z = ~z0 will do,for B = 〈~w, ~x, ~y〉.
Now, to prove of Desargue’s Theorem, use the lemma to fix homogeneouscoordinate vectors and a basis.
RepB(~t1) =
100
RepB(~u1) =
010
RepB(~v1) =
001
RepB(~o) =
111
344 Chapter 4. Determinants
Because the projective point T2 is incident on the projective line OT1, anyhomogeneous coordinate vector for T2 lies in the plane through the origin in R3
that is spanned by homogeneous coordinate vectors of O and T1:
RepB(~t2) = a
111
+ b
100
for some scalars a and b. That is, the homogenous coordinate vectors of membersT2 of the line OT1 are of the form on the left below, and the forms for U2 andV2 are similar.
RepB(~t2) =
t211
RepB(~u2) =
1u2
1
RepB(~v2) =
11v2
The projective line T1U1 is the image of a plane through the origin in R3. Aquick way to get its equation is to note that any vector in it is linearly dependenton the vectors for T1 and U1 and so this determinant is zero.∣∣∣∣∣∣1 0 x
0 1 y0 0 z
∣∣∣∣∣∣ = 0 =⇒ z = 0
The equation of the plane in R
3 whose image is the projective line T2U2 is this.∣∣∣∣∣∣t2 1 x1 u2 y1 1 z
∣∣∣∣∣∣ = 0 =⇒ (1− u2) · x+ (1− t2) · y + (t2u2 − 1) · z = 0
Finding the intersection of the two is routine.
T1U1 ∩ T2U2 =
t2 − 11− u2
0
(This is, of course, the homogeneous coordinate vector of a projective point.)The other two intersections are similar.
T
1V1 ∩ T2V2 =
1− t20
v2 − 1
1V1 ∩ U2V2 =
0u2 − 11− v2
The proof is finished by noting that these projective points are on one projectiveline because the sum of the three homogeneous coordinate vectors is zero.
Every projective theorem has a translation to a Euclidean version, althoughthe Euclidean result is often messier to state and prove. Desargue’s theoremillustrates this. In the translation to Euclidean space, the case where O lies on
Topic: Projective Geometry 345
the ideal line must be treated separately for then the lines T1T2, U1U2, and V1V2
are parallel.The parenthetical remark following the statement of Desargue’s Theorem
suggests thinking of the Euclidean pictures as figures from projective geometryfor a model of very large radius. That is, just as a small area of the earth appearsflat to people living there, the projective plane is also ‘locally Euclidean’.
Although its local properties are the familiar Euclidean ones, there is a globalproperty of the projective plane that is quite different. The picture below showsa projective point. At that point is drawn an xyaxis. There is somethinginteresting about the way this axis appears at the antipodal ends of the sphere.In the northern hemisphere, where the axis are drawn in black, a right hand putdown with fingers on the xaxis will have the thumb point along the yaxis. Butthe antipodal axis, drawn in gray, has just the opposite: a right hand placed withits fingers on the xaxis will have the thumb point in the wrong way, instead,a left hand comes out correct. Briefly, the projective plane is not orientable: inthis geometry, left and right handedness are not fixed properties of figures.
The sequence of pictures below dramatizes this nonorientability. They sketch atrip around this space in the direction of the y part of the xyaxis. (This trip isnot halfway around, it is a circuit, because antipodal spots are not two points,they are one point, and so the antipodal spots in the third picture below formthe same projective point as the antipodal spots in the picture above.)
=⇒ =⇒
At the end of the circuit, the x arrow from the xyaxis sticks out in the otherdirection. Another example of the same effect is that a clockwise spiral, on taking the same trip, would switch to counterclockwise. (This orientation reversalappeared earlier, in the pinhole/eclipse picture.)
This exhibition of the existence of a nonorientable space raises the questionof whether our space is orientable: is is possible for a right handed astronaut totake a trip to Mars and return left handed? An excellent nontechnical referenceis [Gardner]. An intriguing science fiction story about orientation reversal is[Clarke].
So projective geometry is mathematically interesting and rewarding, in addition to the natural way in which it arises in art. It is more than just a technicaldevice to shorten some proofs. For an overview, see [Courant & Robbins]. Theapproach we’ve taken here, the analytic approach, leads to quick theorems and— most importantly for us — illustrates the power of linear algebra (see [Hanes],
346 Chapter 4. Determinants
[Ryan], and [Eggar]). But, note that the other possible approach, the syntheticapproach of deriving the results from an axiom system, is both extraordinarilybeautiful and is also the historical route of development. Two fine sources forthis approach are [Coxeter] or [Seidenberg]. An interesting, easy, application is[Davies]
Exercises1 What is the equation of this point? (
100
)
2 (a) Find the line incident on these points in the projective plane.(123
),
(456
)(b) Find the point incident on both of these projective lines.(
1 2 3),(4 5 6
)3 Find the formula for the line incident on two projective points. Find the formulafor the point incident on two projective lines.
4 Prove that the definition of incidence is independent of the choice of the representatives of p and L. That is, if p1, p2, p3, and q1, q2, q3 are two triples ofhomogeneous coordinates for p, and L1, L2, L3, and M1, M2, M3 are two triplesof homogeneous coordinates for L, prove that p1L1 + p2L2 + p3L3 = 0 if and onlyif q1M1 + q2M2 + q3M3 = 0.
5 Give a drawing to show that central projection does not preserve circles, that acircle may project to an ellipse. Can a (noncircular) ellipse project to a circle?
6 Give the formula for the correspondence between the nonequatorial part of theantipodal modal of the projective plane, and the plane z = 1.
7 (Pappus’s Theorem) Assume that T0, U0, and V0 are collinear and that T1, U1,and V1 are collinear. Consider these three points: (i) the intersection V2 of the linesT0U1 and T1U0, (ii) the intersection U2 of the lines T0V1 and T1V0, and (iii) theintersection T2 of U0V1 and U1V0.(a) Draw a (Euclidean) picture.(b) Apply the lemma used in Desargue’s Theorem to get simple homogeneouscoordinate vectors for the T ’s and V0.
(c) Find the resulting homogeneous coordinate vectors for U ’s (these must eachinvolve a parameter as, e.g., U0 could be anywhere on the T0V0 line).
(d) Find the resulting homogeneous coordinate vectors for V1. (Hint: it involvestwo parameters.)
(e) Find the resulting homogeneous coordinate vectors for V2. (It also involvestwo parameters.)
(f) Show that the product of the three parameters is 1.(g) Verify that V2 is on the T2U2 line..
Chapter 5
Similarity
While studying matrix equivalence, we have shown that for any any homomorphism there are bases B and D such that the representation matrix has a blockpartialidentity form.
RepB,D(h) =(
Identity ZeroZero Zero
)This representation lets us think of the map as sending c1~β1 + · · · + cn~βn toc1~δ1 + · · ·+ ck~δk +~0