5.

3 Inner Product Spaces 317

w hi c h a re clea rl y in V . The relati o nsh ip s

I" -11
cosnfdt = I"- 11
sinnltlt = I" -"
sin n f cosntcil = O.

1,_" cosmt COS li t til = l' _71 sinml sin nttlt =0 if m "1=11

demon strate that (f. g) = 0 w he never f and g are distinct function s from (6).
H ence every fi ni te sub:;et o f fu nction s from (6) is a n o nh ogon al set. Theorem
5.4 then implies that any fi ni te subset o f functions from (6) is linearly indepe n-
de nt. The fu nctio ns in (6) were st ud ie d by the Frenc h mathematicia n Jea n Ba ptiste
J oseph Fou r ier. We take a closer look at these functio ns in Sectio n 5.5. •

Key Terms
Real vector space Euclidean space Distance between vectors
Inner proouct space Dimension Orthogonal vectors
Standard inner (dot) product on R n Basis Orthogonal set
Matrix of the inner proouci with Cauchy- SchwarL inequality Unit vectors
respect to an ordered b(lsis CBS inequality Qrthononn(ll set
Positive definite ma tri x Triangle inequality

.i' Exercises
l. Verify that the standard inner product on R" satisfies the 8. (. ) u = [I 3 -I 2]. ' ~[ - 1 2 0 I]
properties of Definition 5.1.
(h ) " ~[O 0 i]. ' ~[ 1 0 0]
2. Verify that the function in Example 3 satisfies the remain-
mg three properties of DefinitlOn 5.1. (, ) " ~ [ -2 4].' ~ [3 2 - 2]
3. Let V = Mnn be the rcal vector space of all" x" matri- 3
9. (. ) u = [I 2 4]. ' ~[ - 1 0 - I - I]
ces. If A and B are in V, we define (A. B) = Tr(Sr A),
where Tr is the trace function defined in Exercise 43 of (h) " ~ [0 - I 4]. ' ~[2 0 -8 2]
Section 1.3. Show that this function is an inner product
on V. (, ) " ~ [0 0 - I 2]. ' ~[2 3 - I 0]
4. Verify that the function defined on V in Example 2 is an III Exerei.l·e.l· 10 alld II. lise rhe inner prvdllcr .Ipace of cOlllill-
mner prooucl. \/011.'· filllction.\" all [0. I J defined ill Example 4. Find (f. g) /01
5. Verify that the function defined on R2 in Example 5 is an rhefol/owing:
mner prooucl. 10. (. ) f(t) = 1+I.g(t)=2 - 1
6. Verify that the function defined on P in Example 6 is an (h) f(t) = t, g(l ) = 3
mner prooucl.
(, ) f(l)= I.g(/) = 3+21
7. Let V be an inner product space. Show the following·
(a) 11011 = o. I I. (. ) f(l) = 31, get) = 2t 2
(b) (u . 0) = (0 . u) = 0 for any u in V. (h ) f(l)=I.g( I )=e'
(c) If(u . v) =Oforall ,. in V. then u = 0. (, ) f(l) = sin I. g(t) = cos 1
(d) If (u . w) = (v. w ) for all w in V. then u = v. III Exercises 12 and 13, let V be Ihe Euclidean s!,ace of Ex-
(e) If (w . u) = ( w . v) for all w in V. then u = v. ample 3. Compllte the lellgth of each girell I'ectof.
III E.>.erci.l·e.l· 8 and 9. lei V be the Euclideall space R.. with rhe
stalldanl inlier pmdllct. Compute (u . v). 12. (a) [~] (b ) [ -n (,)m
318 Cha pter 5 Inner Product Spa ces

13. (a) [ 0]
-2 C<) m C· ) d( u . v) ::: 0
Ch ) d( u . v) = 0 if and only if u = \'
In /:.'J:ercixes 14 and 15, 11'1 V be the inner plvduel .1'Ix/Ce of
C<) d( u . v) = d(\'. u)
Example 6. Find Ihe cosine oflhe <llIgle bt'fween each pair of
veclors in V. Cd ) d( u . v) .::: d( u . w) + de w . v)
14. (a ) p(1) =I.q(t) =1 - 1 III Exerci.l·es 27 and 28. Id V be the inlier product SfXice of
(b) p(l)=I.q(l)=1 Emlllple 4. COlllpllle Ihe dis/ance be/ween Ihe gil'l!/! l'eClors.

i<) pet) = l. q(t) = 21 +3 27. (a ) sint.cosl (b ) I. t2

lS. i· ) pet) = l.q (t) = I 28. (a) 21+3.31 - 1 2
(b )31+I, 1
(b) {J(t) = 12. q(f) = 21 3 - it III £terdse.\" 29 alld 30, which of Ihe gil'en sels of wewrs
i<) {J(t) = sinl. q(/) = cos I ill R 3. wilh the stalldard inlier product. are onJ/Ogonal, or·
16. Prove the parallelogram law for any two vectors in an Ihollorlllal, OJ" lIeilher!
Inner product space:
I I
,fi - ,fi o
17. Let V be an inner product space. Show tbat lI eu ll 29. (a) o 0
clilul l for any vector u and any scalar c.
I
18. State the Caucby- Schwarz inequality for the inner prod. o
uct spaces defined in Example 3. Example S. and Exer·
J2 ,/i
cise 3.
19. Let V be an inner product space. Prove that if u and v Ch )
are any vectors in V. then II ll + vl12 = 1I 1l1l2 + II vll2 if
and only if (u . v) = O. that is. if and only if u and v
are orthogonal. This result is known as the Pythagorean
Iheorem. C<)
20. Let lu . v. w) be an orthononnal set of vectors in an inner
product space V. Compute Ilu + v + wU2 .
21. Let V be an irmer product space. If u and v are vectors 30. (a)
In V. show that

22. Let V be the Euclidean space R~ considered in Exercise

g. Find which of the pairs of vectors listed there are or·
thogonal. Ch)
23. Let V be an inner product space and u a fixed vector in V.
Prove that the set of all vectors in V that are orthogonal
to u is a subspace of V.
24. For each of the irmer products defined in Examples 3 and
5. choose an ordered basis S for the vector space and find
the matrix of the inner product with respect to S.
C<)
25. Let C = [_~ - ~J Define an inner product on R2
whose matrix with respec t to the natural ordered basis is
C. III Exerci.l"t,s 31 and 32. Id V be Ihe inner product .IpGce of
Example 6.
26. If V is an inner product space. prove that the distance
function of Definition 5.3 satisfies the foliowinJ! proper· 31. Let pet) = 31 + 1 rmd q(t) = (If. For what values of a
lies for all vectors u . v. and w in V: are pet) and q(t) orthogonal?
 5. 3 Inner Product Spaces 319

32. Let p(l) = 31 + I and q(l) = al + b. For whm values of (a ) Prove that the set W consisting of all vectors in R4
iI and bare p(t) and q(l) orthogonal? that are orthogonal to both UI and U2 is a sub.;pace
of R"'.
£.11'1L·isl':f JJ and 34. leI V be Ihe Elldidean space R3 wilh
I II
Ihe s/(Indard inlier producl. (b ) Find a basis for w.
41. Let V be an inner product space. Show that if v is or-

33. Lo< " ~ [-l] ,,,d , ~ [ - ;]. Fmwhm"'""of,, thogonal to WI. W! ..... W k, then v is orthogonal to every
vector in
span {WI. W2..... wd.
are U and v orthogonan
, 42. Suppose that (VI. V2.... v,,) is an orthonormal set in R"
with the standard inner proouct. Let the matrix A be
,fi given by A = [ VI \12 v,, ]. Show that A is non-
singular and compute its inverse. G ive three different ex-
34. Let u = o
, amples of such a mmrix in R2 or RJ.
43. Suppose that (VI . V2 ..... v,,) is an orthogonal set In R"
,fi with the standard inner proouct. Let A be the matrix
and b is (u. v) an orthonormal set? whosejthcolumnis vi ,j = 1.2 ..... 11. Prove or dis-
prove: A is nonsingular.
35. Let A = [~ ~l Find a 2 x 2 matrix B of- 0 such 44. [f A is nonsinguiar. prove that A T A is positive definite.
Ihnt A and B arc orthogonu] in thc inner product spnce 45. If C is po~iti\'e definite. :lI1d x i=- 0 is such that e x = kx
deline<! in Exercise 3. Can there be more than one matrix for some scalar k. show tlwt k > o.
B that is ofthogonallO A? 46. [f C is positive definite, show that its diagonal emries are
36. Let V be the inner product space in Example 4. positive.
(a) [f p(t) = .Ji. find q(l) = a +bl i=- 0 such thm p(l) 47. Let C be positive definite and r any scalar. Prove or dis-
and q {l) are orthogonal. prove: rC is positive delinite.
(b) [f p(t) = sin I. lind q(f) = a + be' i=- 0 such that 48. If Band C are II x n positive definite mmrices. show that
pe,) and q(t) are orthogonal. B + C is positive definite.
37. Let C = [eii ] be an II x II positive definite symmet- 49. Le t S be the set of /I x II positive definite matrices [s S
ric matrix and let V be an " .dimensional vector space a subspace of M""?
with ordered basis S = (UI. U2..... u,,). For v = !.. 50. To compute the standard inner proouct of a pair of vec-
"l UI + a2 u2+ ·· · +all u" and w = bj ul +b2 U2+·· · +b" u" tors u and V in R". use the ma trix product operation in
" "
III V deline (v. w) = LL iI,c'j b j • Prove thm this de-
your software as follows. Let U and V be column ma-
trices for vectors u and \'. respectively. Then (u . v) =
i=1 j =1
fines an inner product on V. the product of UT and V (or VT and U). Experiment
with the vectors in Example I and Exercises 8 and 9 (see
38. [f A and Bare n x n matrices. show that (A u. B v ) = Exercise 39).
(u. AT Bv) for any vectors u and v in Euclidean space
R" with the standard inner product. .!. 51. Exercise 41 in Section 5.1 can be generalized to R" . or
even R" in some software. Determine whether this is the
39. [n the Euclidean space R" with the standard inner prod- Gl'\e for rhl'< ~oftwarl'< that YOIl II~
T
uct. prove that (u . v) = u v.
!. 52. Exercise 43 in Section 5.1 can be generalized to R" . or
40. Consider Euclidean space Rl with the standard inner even N" in some software. Determine whether this is the
prodtlct and let case for the software lhat you use .
.!. 53. [f your software incorporates a computer algebm system
that computes delinite integrals. then you can compute
inner products of functions as in Examples 9 and [4.
Use your software to check your results in Exercises 10
and II.