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Linear and N onlinear
Functional Analysis
with Applications
Philippe G. Ciarlet
City University of Hong Kong
..-
-�
----�....
-... -- ....
5.la.J11.. .
Society for lndustrial and Applied Mathematics
Philadelphia
Philippe G. Ciarlet
University Distinguished Professor
City University of Hong Kong
Hong Kong
and
Emeritus Professor
Université Pierre et Marie Curie
Paris, France
10 9 8 7 6 5 4 3 2 1
Ail rights reserved. Printed in the United States of America. No part of this book may be reproduced,
stored, or transmitted in any manner without the written permission of the publisher. For information,
write to the Society for lndustrial and Applied Mathematics, 3600 Market Street, 6th Floor,
Philadelphia, PA 19104-2688 USA.
Figures 1.18-1,2,3; 7.13-1; 9.15-1,2; and 9.16-1 reprinted with permission from Elsevier.
Figures 4.3-4; 7.7-1,2; 7.12-1; and 7.16-1 reprinted with permission from Dunod.
Figures 8.1-1,2; 8.2-1; 8.3-1,2; 8.8-1,2,3; 8.9-1; 8.11-1,2,3; and 8.12-1 reprinted with kind permission
of Springer Science+Business Media.
Top image of Figure 8.12-2 reprinted courtesy ofWikipedia and Peter Mercator.
Middle image of Figure 8.12-2 reprinted courtesy ofWikipedia and YassineMrabet.
Bottom image of Figure 8.12-2 reprinted courtesy of StanWagon and with kind permission
of Springer Science+Business Media.
Preface xiii
1 Real Analysis and Theory of Functions: A Quick Review 1
Introduction . . 1
1.1 Sets . . . . . . . . . . . . . . . . . . . . 2
1.2 Mappings . . . . . . . . . . . . . . . . . 3
1.3 The axiom of choice and Zorn's lemma . 5
1.4 Construction of the sets lR and C . . . . 8
1.5 Cardinal numbers; finite and infinite sets . 9
1.6 Topological spaces . . . . . . . . . 11
1.7 Continuity in topological spaces . . . . . . 14
1.8 Compactness in topological spaces . . . . 15
1.9 Connectedness and simple-connectedness in topological spaces . 16
1.10 Metric spaces . . . . . . . . . . . . . . . . . . . . . 18
1.11 Continuity and uniform continuity in metric spaces 21
1 . 12 Complete metric spaces . . . . . . . . . . . . . . . 22
1.13 Compactness in metric spaces . . . . . . . . . . . . 23
1.14 The Lebesgue measure in !Rn ; measurable fonctions . 25
1.15 The Lebesgue integral in !Rn ; the basic theorems 28
1.16 Change of variable in Lebesgue integrals in !Rn 33
1 . 17 Volumes, areas, and lengths in !Rn . . . . . . 34
1.18 The spaces cm (n) and cm (n); domains in !Rn 36
2 Normed Vector Spaces 43
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2. 1 Vector spaces; Hamel bases; dimension of a vector space . . . . . . . 44
2.2 Normed vector spaces; first properties and examples; quotient spaces 47
2.3 The space C(K; Y) with K compact; uniform convergence and local uniform
convergence . . . . . . . . . . . . . . . . 53
2.4 The spaces f.P, 1 ::::; p::::; oo . . . . . . . . . . . . . . . . . . . . . . . 57
2.5 The Lebesgue spaces .LP (O ) , 1 ::::; p::::; oo . . . . . . . . . . . . . . . . 61
2.6 Regularization and approximation in the spaces .LP ( O ) , 1 ::::; p < oo 68
2.7 Compactness and finite-dimensional normed vector spaces; F. Riesz theorem . 76
2.8 Application of compactness in finite-dimensional normed vector spaces: The
fondamental theorem of algebra . . . . . . . . . . . . . . . . . . . . 79
vii
viii Contents
2.9 Continuous linear operators in normed vector spaces; the spaces C(X; Y),
C(X), and X' . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
2. 10 Compact linear operators in normed vector spaces . . . . . . . . . . 89
2. 1 1 Continuous multilinear mappings in normed vector spaces; the space
Ck (X1 , X2 , . . . , Xk ; Y) . . . . . . . . . . . . . . . . . . . . . . . . . . 91
2.12 Korovkin's theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
2. 13 Application of Korovkin's theorem to polynomial approximation; Bohman's,
Bernstein's, and WeierstraB' theorems . . . . . . . . . . . . . . . . . . . . . . 100
2. 14 Application of Korovkin's theorem to trigonometric polynomial
approximation; Fejér's theorem 104
2. 15 The Stone-WeierstraB theorem 109
2. 16 Convex sets . . . 1 14
2.17 Convex functions 1 18
3 Banach Spaces 123
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.1 Banach spaces; first properties . . . . . . . . . . . . . . . . . . . . . . . . . . 124
3.2 First examples of Banach spaces; the spaces C(K; Y) with K compact and Y
complete, and C(X; Y) with Y complete . . . . . . . . . . . . . . . . . . . . 130
3.3 lntegral of a continuous function of a real variable with values in a Banach
space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
3.4 Further examples of Banach spaces: the spaces fP and V(S1), 1 ::::; p::::; oo . . 135
3.5 Dual of a normed vector space; first examples; F. Riesz representation theorem
in V(n), 1 ::::; p < oo . . . . 138
3.6 Series in Banach spaces . . . . . . . . . . . . . . . . . . . . . . . . . 148
3. 7 Banach fixed point theorem . . . . . . . . . . . . . . . . . . . . . . . 152
3.8 Application of Banach fixed point theorem: Existence of solutions to
nonlinear ordinary differential equations; Cauchy-Lipschitz theorem;
the pendulum equation . . . . . . . . . . . . . . . . . . . . . . . . . . 156
3.9 Application of Banach fixed point theorem: Existence of solutions to nonlinear
two-point boundary value problems . . . . . . . . . . . . . . . . . . . . . . . . 161
3.10 Ascoli-Arzelà's theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
3. 1 1 Application of Ascoli-Arzelà's theorem: Existence of solutions to nonlinear
ordinary differential equations; Cauchy-Peano theorem; Euler's method 169
4 Inner-Product Spaces and Hilbert Spaces 173
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
4. 1 Inner-product spaces and Hilbert spaces; first properties;
Cauchy-Schwarz-Bunyakovskïi' inequality; parallelogram law . . . . . . 174
4.2 First examples of inner-product spaces and Hilbert spaces; the spaces f2
and L2 (S1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
4.3 The projection theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
4.4 Application of the projection theorem: Least-squares solution of a linear
system . . . . . . . . . . . . . . . . 193
4.5 Orthogonality; direct sum theorem . . . . . . . . . . . . . . . . . . . . . . 195
Contents ix
Bibliography 781
Main Notations 807
Index 815
PREFACE
Why write another textbook on functional analysis and its applications, since there are
already many excellent textbooks around ?
Apart from the persona! pleasure that such an exercise provides to an author, there are
other reasons: One, which perhaps constitutes the main originality of this text, was to assem
ble in a single volume the most basic theorems of linear and of nonlinear functional analysis;
another reason was to simultaneously illustrate the wide applicability of these theorems by
treating an abundance of applications.
Applications to linear and nonlinear partial differential equations treated here include
Korn's inequality and existence theorems in linear elasticity, obstacle problems, the Babuska
Brezzi inf-sup condition, existence theorems for the Stokes and Navier-Stokes equations of
fluid mechanics, existence theorems for the von K arman equations of a nonlinearly elastic
plate, and John Ball's existence theorem in nonlinear elasticity. A variety of other appli
cations deals with selected topics from numerical analysis and optimization theory, such as
approximation theory, error estimates for polynomial interpolation, numerical linear algebra,
basic algorithms of optimization, Newton's method, or finite difference methods.
A special effort has been made to enhance the pedagogical appeal of the book. After
Chapter 1, which is essentially a review of results from real analysis and the theory of functions
that will be used in the text, self-contained and complete proofs of most of the theorems are
provided. 1 These include proofs that are not always easy to locate in the literature, or
difficult to reconstitute without an extended knowledge of collateral topics; for instance, self
contained proofs are given of the Poincaré lemma, of the hypoellipticity of the Laplacian,
of the existence theorem for Pfaff systems, or of the fundamental theorem of surface theory.
Numerous figures and problems (almost 400) have also been included. Historical notes and
original references (at least those that 1 have been able to trace with a reasonable assurance
of veracity) have also been included2 (mostly as footnotes), so as to provide an idea of the
genesis of some important results.
lt is my belief that this book contains most of the core topics from functional analysis
that any analyst interested in linear and nonlinear applications should have encountered at
least once in his or her life. More specifically, linear functional analysis and its applications
are the subjects of Chapters 2-6, while nonlinear functional analysis and its applications are
the subjects of Chapters 7-9.
Of course, choices had to be made, in particular so as to keep the length of the book
within reasonable limits. For instance, more specialized topics, such as the Fourier transform,
1 The symbol � to the left of a theorem indicates one without proof.
2 With the full knowledge that doing so sometimes constitutes a perilous exercise . . . '
xiii
xiv Preface
wavelets, spectral theory (save for compact self-adjoint operators), or time-dependent partial
differential equations, are not treated.
Severa! one-semester courses, at the last-year undergraduate or graduate levels, can be
taught from this book, such as "Linear Functional Analysis,'' "Linear and Nonlinear Bound
ary Value Problems,'' "Differential Calculus and Applications,'' "Introduction to Differential
Geometry,'' "Nonlinear Functional Analysis,'' or "Mathematical Elasticity and Fluid Me
chanics." In this respect, it should be easy for an instructor to identify from the table of
contents those parts of the book that should be used for any such course. Indeed, 1 had the
pleasure of teaching such courses, primarily at the University Pierre et Marie Curie and at
City University of Hong Kong, but also at the University of Texas at Austin, at Cornell Uni
versity, at Fudan University, at the University of Stuttgart, at !'Ecole Polytechnique Fédérale
de Lausanne, at the ETH-Zürich, and at the University of Zürich.
The main prerequisites are a reasonable acquaintance with real analysis, i.e., elementary
topology (such as continuity and compactness), the basic properties of metric spaces and
Lebesgue integration, and the theory of real-valued functions of one or several real variables.
For the reader's convenience, the basic definitions and theorems from these subjects needed
in this book are assembled without proofs in the first chapter.
During the writing of this book, 1 have greatly benefitted from the comments of Liliana
Gratie, George Dinca, Cristine! Mardare, Sorin Mardare, and Pascal Azerad, who were kind
enough to very carefully read most of the chapters and to suggest numerous significant im
provements. Bernard Dacorogna and Vicentiu Radulescu have also provided me with much
precious advice. To al! of them, my most sincere thanks!
My gratitude is also due to Douglas N. Arnold for his early-and strong-support of
the project, and also to Elizabeth Greenspan, Gina Rinelli, and Lisa Briggeman from the
Editorial Office of SIAM, with whom it is a real pleasure to cooperate.
Last but not least, 1 express my deep gratitude and my lasting admiration to my " mathe
matical heroes" Laurent Schwartz, Richard S. Varga, Jacques-Louis Lions, and Robert Dau
tray, whose teaching and advice over the years have been invaluable.
1 am perfectly aware that, most likely, there are still at places inadequacies, _ inconsisten
cies of notations, inadvertently omitted references, or inappropriate attributions of original
results. But any adventure (mathematical or otherwise) must co rne to an end, even if its
main protagonist is not fully satisfied with it. Or equivalently, as Paul Halmos said in a
much better way, in a pure gem of a paper3 that any mathematician, pure or applied, should
read and reread (1 paraphrase him): "The last step for most authors is to stop w riting. That's
hard."
This is one more reason why 1 welcome in advance al! comments, remarks, criticisms, etc.,
which should be sent to mapgc©ci tyu. edu. hk, and-who knows-could be used in a second
edition.
Hong Kong, November 2012 Philippe G. Ciarlet
3 P.R. HALMOS [1970] : How to write mathematics, L 'Enseignement Mathématique 16, 123-152.
CHAPTER 1
Introduction
This first chapter constitutes a quick review of real analysis, which traditionally comprises:
set theory, the axiom of choice, and the construction of the sets lR and JRn ; the basic properties
of topological and metric spaces, such as those related to the notions of continuity, compact
ness, completeness, connectedness, and simple-connectedness; the Tietze-Urysohn extension
theorem (a crucial use of which will be made at several places in Chapter 9); and the con
struction and the main properties of the Lebesgue measure and Lebesgue integral in lRn : the
Radon-Nikodym theorem; Fatou's lemma; the Beppo Levi monotone convergence theorem;
the Lebesgue dominated convergence theorem; Tonelli's and Fubini's theorems; volumes,
areas, and lengths in lRn ; and the change of variable formula in multiple integrals.
This first chapter also includes a quick review of some aspects of the theory of real-valued
functions of several real variables. More specifically, basic function spaces, such as cm (n) and
cm (n), where n is an open subset of ]Rn , are introduced (other function spaces, such as the
Lebesgue spaces V(n), or the Sobolev spaces Hm (n) and wm,P(fl), will be introduced and
studied in later chapters). Domains in lRn , that is, open subsets n c JRn that are bounded,
connected, and have a Lipschitz-continuous boundary, with n being locally on the same side
of the boundary, are then singled out among ail open subsets of JRn , one reason being that
they insure the validity of the fundamental Green's formula for functions in the space C1(D)
(this Green's formula over domains in ]Rn will be later extended to functions in the Sobolev
spaces w m,P(fl); cf. Chapter 6).
Otherwise the reader is assumed to be already familiar with linear algebra in finite
dimensional spaces (bases, linear dependence, matrices, determinants, etc.), as well as with
basic notions of differential calculus for real-valued functions of several real variables (partial
derivatives, Taylor formulas, etc.).
The objective of this chapter is essentially to state in the form of theorems the various
results from these topics that will be used throughout the book, and to list the various
notations and definitions needed for this purpose.
No proofs are given and no exercises are provided, since the reader is assumed to be
already reasonably familiar with these results. References are provided in the Bibliographical
Notes.
1
2 Real Analysis and 'l'heory of F'unctions: A Quick Review [Ch. 1
1.1 Sets
The most commonly adopted set theory is the Zermelo-Fraenkel set theory. lt starts
with six axioms, which will not be explicitly stated here; only their consequences will be
described.
In this respect, notions such as those of element or set, or notations such as "=, -:/:-, E, <f_,"
or words or an assemblage of words such as "implies," "for ail,'' "there exists," "such that,"
etc., are not defined; these are assumed instead to be given their intuitive or usual sense
(whatever that means).
Let X be a set. The notation A C X or X :J A means that the set A is a subset of X,
i.e., that x E A implies x E X. The notation A �X or X � A means that A is a proper
subset of X, i.e., that A C X but A -:/:- X.
Let X be a set. There exists a set, denoted P(X), whose elements are ail the subsets of X.
The set P(X) comprises in particular the empty set 0 (whose existence is a consequence of
the axioms) and the set X itself. If X-:/:- 0 and x E X , the subset of X whose only element
is x is denoted { x }.
Let X be a set. If A C X, the complement of A relative to X, or simply the
complement of A if there is no ambiguity as to what is the set X, is the subset of X
defined by
X - A := {x E X; x <f. A}.
If A and B are subsets of a set X, their union and intersection are respectively denoted,
and defined, by
A U B = {x E X; x E A or x E B},
A n B = {x E X ; X E A and X E B}.
The sets A and B are disjoint if A n B = 0.
Let X and Y be two sets. The set
X x Y := {(x, y); x E X and y E Y},
whose elements are ail the ordered pairs (x, y) with x E X and y E Y, is called the product
of X and Y.
A relation 'R on a set X is any subset 'R of the product X x X, i.e., 'R consists of specific
ordered pairs (x, y), with x E X and y E X.
An equivalence relation on X is a relation 'R that satisfies the following properties,
where the notation x ,...., y means that (x, y) E 'R:
reftexivity : X X for ail X E X,
rv
symmetry : X y impJies y X,
rv rv
transitivity : X y and y
rv Z
implies X
rv rv z.
Equivalently, (x, x) E 'R for ail x E X; if (x, y) E 'R, then (y, x) E 'R; if (x, y) E 'R and
(y, ) E 'R, then (x, ) E 'R.
z z
Given an element x in a set X endowed with an equivalence relation 'R, the equivalence
class of x modulo 'Tl is the subset of X defined by
x := {y E X; y x} .
rv
Sect. 1.2] Mappings 3
1.2 Mappings
Let X and Y be two nonempty sets. A mapping, or a fonction, of X into Y is a subset
f of the product X x Y such that, for each x E X, there exists one and only one element
y E Y such that (x, y) belongs to f. This element y is then denoted either f(x) or Yx· When
the notation Yx is used, x is called an index.
The notations
f : X --+ Y or X � Y,
mean that X and Y are two sets and that f is a mapping of X into Y. The notation
f : X E X --+ f(x) E Y
with an explicit expression for f(x) is used to define a mapping f.
Let X be a set. The mapping x E X --+ x E X is called the identity mapping of X; it
is denoted id or idx , or I or lx if X is a vector space.
If A is a subset of a set X, the function XA : X --+ lR defined by
XA(x) := 1 if x E A and XA(x) : = 0 if X <{. A
is called the characteristic fonction of A.
Let f : X --+ Y be a mapping. The direct image under f of a subset A of X is the
subset f (A) of Y defined by
f(A) := {y E Y; there exists x E A such that y = f(x)}.
The inverse image under f of a subset B of Y is the subset of X defined by
r 1 (B){x E X; f(x) E B}.
:=
If b E Y, the (improper but convenient) notation f - 1 (b) will be blithely used to designate
the inverse image r 1 ( {b} ).
4 Real Analysis and Theory of F'unct ions: A Quick Review [Ch. 1
Care should be exercised when using notations such as f(A ) and f - 1 (B): The notation f
designates a mapping of X into Y, not a mapping of P(X) into P(Y) (as the notation f (A)
tends to suggest). Likewise, the notation f- 1 designates the inverse mapping of f when it
exists (see below), in which case f- 1 is a mapping of Y onto X, not a mapping of P(Y) into
P(X) (as the notation r 1 (B) tends to suggest).
The inverse image "preserves ail the set operations," in that it satisfies
r 1 (B) c r 1 (B) if n c 8,
1
r (B u 8) = r 1 (B) u f - 1 (8),
r 1 (B n B) = r 1 (B) n f - 1 (B),
r 1 (Y - B) = X - r 1 (B).
By contrast, the direct image only satisfies
f (A) c f (A) if A c A,
f (A u A) = f (A) u f (A),
f(A n A) c f(A ) n f( A).
A mapping f : X --+ Y is surjective, or onto, or is a surjection, if for each y E Y, there
exists at least one element x E X such that y = f(x).
A mapping f : X --+ Y is injective, or one-to-one, or is an injection, if for each y E Y,
there exists at most one element x E X such that y = f(x). If X is a subset of Y, the
t:
mapping X --+ Y defined by t(x) = x for ail x E X is called the canonical injection from
X into Y.
A mapping f : X --+ Y is bijective, or is one-to-one and onto, or is a bijection, if it
is both surjective and injective. In this case, for each y E Y, there thus exists one and only
one element x E X such that y = f(x), and the mapping f- 1 : y E Y --+ x E X defined in
this fashion is the inverse mapping of f.
Let f : X --+ Y be a mapping and let A be a subset of X. The mapping f l A : A --+ Y
defined by f l A(x) := f(x) for ail x E A is the restriction of f to A.
Let g : A --+ Y be a mapping, where A is a subset of X. A mapping f : X --+ Y is an
extension of g if f l A = g.
Let f : X --+ Y and g : Y --+ Z be two mappings. The mapping h : X --+ Z defined by
h(x) = g(f(x)) for ail x E X is called the composition of f and g. It is denoted h = g o f,
or h = gf.
a
Let f : X x Y --+ Z be a mapping and let be a point in the set X. The mapping
f ( , · ) : Y --+ Z defined by
a
f(a, ·) : y E Y -+ f(a, y) E Z
is a partial mapping. Given a point b E Y, a similar definition holds for the partial mapping
f(-, b) : X --+ Z.
Given a mapping f : (x, y) E X x Y --+ f(x, y) E Z, the elements x E X, resp. y E Y, are
sometimes called first argument s of f, resp. second argument s of f.
Sect. 1.3] The axiom of choice and Zorn's lemma 5
n n OO OO
The disjoint union uiE/ Âi is thus a subset of the product (LJ iE/ Ai) X !, itself a subset of the
product X x !.
If A and B are two subsets of a set X, the union AUB and the intersection An B coïncide
with the union LJi e / Ai and the intersection nie / Ai with Ai := A, A2 := B, and l := {1, 2}.
The following identities are constantly used:
( )
AU nAi = n(AUAi) and An LJ Ai . = LJ(A n Ai),
iE/ iE/ iE/
( ) iE/
X - LJ Ai = n(x - Ai) and X - n Ai = LJ(X - Ai),
iE/ iE/ iE/ iE/
the last two identities constituting de Morgan's laws.
Let (Ai)i E I be a family of subsets of a set X where l -:j; 0. Then the product Ilie / Ai
is, by definition, the set of ail mappings f : I --t X such that j(i) E Ai for ail i E /. Any
such mapping f is called a choice function, as it asserts that it is possible to "choose" one
element f (i) E Ai for each i E /.
Whereas the definitions of the union uiE/ Ai and intersection niE/ Ai as subsets of the set
X do not pose specific difficulties, the definition of the product rriE/ Ai raises an immediate
question, as nothing guarantees the existence of at least one such choice function f. This
is why the following axiom, called the axiom of choice, was introduced in 1904 by Ernest
Zermelo:
Axiom of choice Let (Ai)iE I be a family of subsets of a set. If I # 0 and Ai # 0 for
all i E /, then Ilie I Ai -:j; 0. 0
In 1963, Paul J. Cohen established in a landmark paper 1 that the axiom of choice is
independent of the six axioms of the Zermelo-Fraenkel set theory.
Other notations for the product IliE/ Ai are also used, viz.,
n
Ai x A2 if / = { 1 , 2} ( as in Section 1.1), Il Ai if I = {1, 2, . . . , ri},
i= l
An if I = {1, 2, . . . , n} and Ai = A for all 1 � i � n, etc.
The element of the product Ilie / Ai corresponding to a choice function f will be denoted
x = (xi)ie l i where Xi := f(i), each element i E I being thus regarded as an index ( Section
1.2). Each element Xi E Ai, i E /, is called the ith coordinate of x. This notation is
coherent with those used for a finite sequence (xi) f= 1 or for a sequence (xi)�0 of scalars,
which are simply special cases of elements in a product, viz., ocn , or Il�o Ai with Ai = IK for
ail i E N, respectively.
The axiom of choice is in fact often used in disguise in proofs, by means of one of its
different, but equivalent, forms, each one of which then taking the form of a theorem. Zorn's
lemma (Theorem 1.3-1 below) provides such an example. Note, however, that while the
statement of the axiom of choice is intuitively clear, the same cannot be said of Zorn's
lemma.
1 P.J. COHEN [1963]: The independence of the continuum hypothesis, Proceedings of the National Academy
of Sciences, USA 50, 1 143-1 148.
Sect. 1.3] The axiom of choice and Zom's lemma 7
Equivalently, (x, x ) E 'R for all x E X; if (x, y ) E 'R and (y, x ) E 'R, then x = y; if (x, y) E 'R
and (y, z ) E 'R, then (x, z) E 'R.
For instance, the relation "x = (xi)� 1 -<- y = (Yi)� 1 if and only if Xi $ Yi for all
1 $ i $ n" defines a partial ordering on the set IR.n ; the relation "A -<- B if and only if
A c B" defines a partial ordering on the set P(X) formed by all subsets of a set X.
The notation y� x means that x -<-y. The notation x -<y, or y>- x, means that x-<-y
and x f. y.
A subset A of a partially ordered set X is totally ordered if any two elements a E A
and b E A are comparable, in the sense that either a -<- b or b-<-a (if a-<-b and b-<-a, then
1
a = b). Clearly, if such a set A is finite, i.e., of the form A = u:, { ai} , there exists 1 $ io $ m
such that ai-<-aio for all l $ i $ m. For instance, if a fini te subset {Ai , A2 , . . . , Am } of P(X)
is totally ordered for the inclusion, then there exists 1 $ mo $ m such that Ai c A rno for all
1 $ i $ m, so that A rno = LJ:, 1 Ai ; this observation is often used.
Let A be a subset of a partially ordered set X. Then an element b E X is an upper
bound for A if a -<-b for all a E A. Note that all elements of A must then be comparable
to b, but that b need not belong to A .
Let X be a partially ordered set. An element m E X is maximal if any element x E X
that is comparable to m satisfies x -<- m; or equivalently, if x E X satisfies m -<- x, then
x = m. Note that m need not be comparable to all elements x E X.
Then the following result is equivalent to the axiom of choice.
Theorem 1.3-1 ( Zorn's lemma) Let X be a nonempty partially ordered set with the
property that every totally ordered subset has an upper bound in X. Then X has at least one
maximal element. D
Zorn's lemma constitutes an extremely powerful tool for establishing the existence of
certain mathematical objects. For instance, it is used for proving that there exist non
Lebesgue measurable subsets of lR (Section 1 . 14); for proving that any vector space possesses
a Hamel basis (Theorem 2. 1-1); for proving that any vector space can be normed (Theorem
2.2-8); for proving that any inner-product space possesses a maximal orthonormal family
(Theorem 4.8-4); or for proving the fundamental Hahn-Banach theorems, which assert the
existence of extensions of linear functionals (Theorems 5.8-1 and 5.9-1).
Note that, each time that Zorn's lemma is applied in a set X, particular care should be
given to verifying that X is nonempty.
8 Real Analysis and Theory of Punctions: A Quick Review [Ch. 1
The set .N, whose existence is implied by the axiom of infinity (Section 1.1), is used for
constructing the set
z := { . . . ' - 2, - 1, 0, 1, 2, . . . }
of ail integers, as the quotient set (.N x .N) /R, where R denotes the equivalence relation on
.N x .N defined by
((m, n), (m ', n') ) E R if and only if m + n' = m' + n.
Equipped with the addition and multiplication, Z becomes a commutative ring that is
also an integral domain (i.e., if mp = mq and m f:. 0, then p = q) and totally ordered by :<::;
(total ordering is defined in Section 1.3).
The set Z is then used for constructing the set Q of ail rational numbers, as the set
formed by ail the equivalence classes modulo the following equivalence relation in the set
Z x (Z - { 0}) : (m, n) ,...., (p, q) if and only if mq = np. Equipped with the operations + and
x , the set Q then becomes a totally ordered commutative field. The field Q is Archimedean,
that is, given any rational numbers r > 0 and s > 0, there exists an integer n ;::: 0 such that
nr > s. The absolute value of r E Q is defined by l r l := r if r ;::: 0, or by l r l = - r if r :<::; O.
A sequence (rn )�= l of rational numbers is said to be a Cauchy sequence if, given any
ê > 0, there exists an integer mo = mo (ê ) ;::: 1 such that l rm - rn l $ ê for all m, n ;::: mo.
The set Q is then used for constructing the set lR of ail real numbers, as the set formed
by ail equivalence classes modulo the following equivalence relation R in the set formed by
l•
all Cauchy sequences of rational numbers: ((rn ) �= (sn )�= 1 ) E R if, given any ê > 0, there
exists an integer no = no (ê ) ;::: 1 such that l rn - sn l :<::; ê for ail n ;::: no. Equipped with the
operations + and x and the total ordering :<::;, the set lR is also a totally ordered, A rchimedean,
commutative field, and the absolute value of x E R is likewise defined by lx l := x if x ;::: 0, or
by l x l := -x if x :<::; O. Alternatively, the set R may be also constructed by means of Dedekind
cuts.
The set { -oo }UR U { oo} of extended real numbers is defined by adjoining to the set
R two elements, denoted -oo and oo, which obey the usual rules; for instance, -oo < x for
ail x E R, x + oo = oo for ail x E R, etc. Naturally, -oo + oo is not defined.
Finally, the commutative field C of complex numbers is constructed in the usual way
from the set R If z E C, then Re z and lm z respectively denote the real and imaginary
parts of z; in other words, z = Re z + i lm z. The absolute value of z E C is defined by
l z l := J I Re z l 2 + 1 lm z l 2 .
lt is often convenient to designate by the same letter ][{ either the field R or the field C,
in which case the elements of the field ][{ are called scalars.
Once sets R and C have been constructed as outlined above, various properties of R
and C can then be established. The next theorem gathers the most important ones. Cauchy
sequences of real or complex numbers are defined like Cauchy sequences of rational numbers.
Theorem 1.4-1 (a) The set R, resp. C, is complete, i. e., any Cauchy sequence (xn )�=l
of real, resp. complex, numbers converges to a real, resp. complex, number; this means that
there exists x E R, resp. x E C, and, given any ê > 0, there exists an integer no = no (ê ) ;::: 1,
Sect. 1.5] Cardinal numbers; finite and infinite sets 9
such that
l xn - x i :::; êfor all n 2". no.
(b) Bolzano-WeierstraB property for lR and C: Any sequence (xn )�= l of real, resp.
complex, numbers that is bounded, i. e., such that there exists M E lR with the property that
l xn l :::; M for all n 2". 1, contains a convergent subsequence.
(c) Let A be a nonempty subset of lR that has an upper bound in lR (Section 1.3) . Then
there exists a E lR that is the least upper bound, or supremum, of A; this means that a
is an upper bound for A and any upper bound b E lR for A necessarily satisfies a :::; b.
Likewise, any nonempty subset of IR that has a Lower bound in lR admits a greatest lower
bound, or infimum, in IR. D
That a sequence (xn )�= l of real, or complex, numbers converges to x (according to the
definition in Theorem 1.4-l(a)) is also denoted:
-too Xn , or Xn n--+
x = nlim -too x , or Xn -t x as n -t oo.
A mapping of a set X ·into IR, resp. C, is called a real-valued, resp. complex-valued,
function.
A mapping of a set X into !Rn , resp. the set of all m x n matrices, is called a vector field,
resp. a matrix field.
Let us give some indications about the proof of this result (the proof may seem innocuous
at first glance, but is in effect anything but trivial). First, it is clear that the definition of the
relation Ris unambiguous. For, if card A = card  and card B = card B and if there exists
an injection of A into B, then there exists an injection of  into B.
Second, one has to show that Ris a partial ordering on the set P(X). While the refiexivity
and transitivity are straightforward to verify, the antisymmetry is not, since it amounts to
10 Real Analysis and Theory of F'unctioris: A Quick Review [Ch. 1
showing that, if there exist an injection of A into B and an injection of B into A, then there
exists a bijection of A onto B. 2
Third, one has to show that P(X)/'R. is totally ordered by the relation R, i.e., that, given
any two subsets A C X and B c X, either there exists an injection of A into B, or there
exists an injection of B into A, these two properties being not exclusive. This part of the
proof3 requires the axiom of choice.
Finally, one has to show that there exists an injection of A into B if and only if there
exists a surjection of B onto A. The proof of the "if" part again requires the axiom of choice.
As in Section 1.3, we will henceforth use the more "transparent" notations
card A � card B, resp. card A -<card B,
to express that (card A, card B) E R, resp. (card A, card B) E R and card A "# card B.
a
From now on, we shall compare cardinals of sets, even if these are not priori given as
subsets of a given set. This entails no difficulty, however, since the union of such sets can
always be defined, within the Zermelo-Fraenkel set theory (Section 1.1).
The next result4 implies that, loosely speaking, there is no cardinal number that would
be the "largest" (with respect to the relation R).
Theorem 1.5-2 Let X be any set. 'l'hen there does not exist a bijection of X onto the set
P(X) . Consequently, the relation
card X -<card P(X)
always holds. 0
A set X is flnite if either X = 0 or there exists an integer n ;::: 1 such that card X =
card{l, . . . , n} = n. A set is inflnite if it is not finite. In particular, a set X is countably
inflnite if card X = card N, and a set is uncountably inflnite if it is neither finite nor
countably infini te. Note that some authors call countable a set that is either finite or countably
infinite and call denumerable a countably infinite set.
The next theorem gathers some important properties of infinite sets. The proofs of both
(a) and (b) require the axiom of choice. Property (a) asserts that card .N is the "smallest" of
ail "infinite" cardinals.
Theorem 1.5-3 (a) Let X be an infinite set. 'l'hen
card N � card X.
2 This is the content of the famous theorem, proved in 1897 by Felix Bernstein ( 1878-1956) .
3 Due to:
E. ZERMELO [1904] : Beweis dass jede Menge wohlgeordnet werden kann, Mathematische Annalen LIX,
514-516.
4 The theory of cardinal numbers is due to Georg Cantor (1845-1918), who expounded it in a highly
inlluential (and for a long time highly controversial among mathematicians, some very famous) book:
G. CANTOR [1899] : Beitrage zur Begründung der tmnsfiniten Mengenlehre, Georg Olms Verlag (English
translation: Contributions to the Founding of 'I'ransfinite Numbers, Dover, New York, 1955) .
Sect. 1.6] Topological spaces 11
1 .6 Topological spaces
A topological space is a pair ( X, 0), where X is a set, and 0 is a subset of P ( X ) with the
following properties:
Given any family (Oi)iEI of subsets oi E 0, their union uiEI oi belongs to 0 (the set I
may thus be finite, countably infinite, or uncountably infinite) ; given any finite family (03)'J= l
of subsets 03 E 0, their intersection nJ= l 03 belongs to O; and the set X and the empty set
0 belong to O.
If (X, 0) is a topological space, the set X is said to be equipped with a topology
( corresponding to the subset 0 of P ( X )) , a subset of X that belongs to 0 is open ( for
this topology) , and a subset F of X is closed ( for this topology) if the set X - F is open.
5 P . J . COHEN (1963, 1964] : The independence of the continuum hypothesis, Proceedings of the National
Academy of Sciences, USA 50, 1 143-1 148, and Proceedings of the National Academy of Sciences, USA 51,
105-1 10.
6K. GÔDEL (1940] : The Consistency of the Axiom of Choice and of the Generolized Continuum Hypothesis
with the Axioms of Set Theory, Princeton University Press, Princeton, NJ.
12 Real Analysis and Theory of Punctions: A Quick Review [Ch. 1
Clearly, given any family (Fi) iEI of closed subsets Fi, their intersection nie / Fi is closed;
given any finite family (Fj)'J= l of closed subsets Fj , their union Uf=1 Fi is closed; and the
set X and the empty set are closed (these properties simply follow from de Morgan's laws;
cf. Section 1.3).
In a topological space (X, 0), a neighborhood of a point x E X is any subset of X
that contains an open set containing x. The set formed by ail the neighborhoods of point
x E X is denoted V(x).
Given two points a, b E IR such that a < b, let ] a , b[ := {y E IR; a < y < b}. A fundamental
example of topological space is (IR, 0), where a nonempty subset 0 of IR belongs to 0 if and
only if, for each x E 0, there exist a < b such that x E ]a, b[ and ]a, b[ c O.
Let a, b E IR be two points that satisfy a < b. The set ] a , b[, which is open for this topology,
is called the open interval with end-points a and b. The unbounded sets ] - oo, a[ := {y E
IR; y < a}, ] b, oo[ := { y E IR; b < y }, and IR itself, which are likewise open for this topology,
are also called open intervals.
as
Unless explicitly stated otherwise, the set IR will be always considered equipped with
this topology, called its usual topology. The following characterization of the open sets for
this topology is very useful.
Theorem 1.6-1 Let IR be equipped with its usual topology. Then any nonempty open subset
of IR can be written as a finite or countably infinite union of disjoint, bounded or unbounded,
open intervals. D
Let (X, 0) be a topological space and let A be a subset of X. The interior of A, denoted
Â. or int A, is the union of ail the open sets contained in A; equivalently,
Â. = int A := {x E X; A E V(x)}.
The closure of A, denoted A, is the intersection of ail the closed sets containing A; equiva
lently,
A := {x E X; V n A =/:- 0 for ail V E V(x)} = X - {int(X - A)} . .
as
The boundary of A, denoted âA, is defined the intersection of A and X - A; equivalently,
âA := {x E X; V n A =/:- 0 and V n (X - A) =/:- 0 for ail V E V(x)}.
Note that âA = A - Â. .
Let (X, 0) be a topological space. The support of a real-valued or complex-valued
function f : X -t lK is the set
supp f := {x E X; f(x) =/:- 0}.
A subset A of a topological space (X, 0) is dense in X if A = X.
A topological space (X, 0) is separable if it contains a finite or countably infinite dense
subset, i.e., there exist elements Xn E X, n � 0, such that u�=o {xn} = X.
A topological space (X, 0) is said to be Hausdorff, or equivalently, to be equipped with
a Hausdorff topology, if, given any two distinct points x E X and y E X, there exist a
neighborhood V of x and a neighborhood W of y such that V n W 0. =
Sect. 1 .6] Topological spaces 13
A topological space (X, 0) is said to be normal if, given any two disjoint closed subsets
Fl and F2 of X, there exist disjoint open subsets 0 1 and 02 such that Fl c 0 1 and F2 c 02 .
Let X be a topological space. A sequence (xn )�=O of points Xn E X is convergent in
X if there exists a point x E X such that, given any neighborhood V of x, there exists an
integer no = no(V) 2:: 0 such that Xn E V for all n 2:: no.
If X is Hausdorff, such a point x is unique and is called the limit of the sequence (xn )�=l ·
In this case, the notations
as
--tooXn , or Xn n--t
x = nlim --too x, or Xn --+ x n --+ oo,
are equivalently used to express that x is the limit of the convergent sequence (xn )�=o·
Let X be a set and let (Y, 0) be a Hausdorff topological space. A sequence Un )�=O of
mappings fn : X --+ Y is said to be pointwise convergent to a mapping f : X --+ Y if
as
for each x E X, fn (x ) --+ f(x) n --+ oo.
Let (X, 0) be a topological space, let A be a subset of X, and let 0A denote the subset
as
of P(A) consisting of all the subsets 0A of A that can be written 0A = 0 n A for some
0 E O. Then (A, 0A) is also a topological space, and A is said to be equipped with the
topology induced on A by the topology of (X, 0), or simply the induced topology if
there is no ambiguity regarding the nature of the set O. By definition, the subsets of A that
belong to 0A are thus the open sets for the induced topology.
Then a subset FA of A is closed in the topological space (A, 0A) if and only if there exists
a subset F of X that is closed in (X, 0) such that FA = F n A; likewise, a subset VA of A is
a neighborhood of a point x E A in (A, 0A) if and only if there exists a neighborhood V of
x in (X, 0) such that VA = V n A.
Naturally, if A is a subset of X and B is a subset of A, the topological properties of B
in (X, 0) and the topological properties of B in (A, 0A) have to be carefully distinguished.
For instance, A is always open in (A, 0 A) but evidently not necessarily so in (X, 0).
Let (Xj , Oj ), 1 � j � n, be topological spaces, let X := Ilj 1 Xj denote the (finite)
=
For the sake of notational brevity, we shall no longer mention 0 in the notation so far
used for a topological space (X, 0), whenever no ambiguity should arise about the nature of
the subset 0 c P(X) that is considered.
14 Real Analysis and Theory of Punctions: A Quick Review (Ch. 1
The converse holds in the important special case where the topology of X is that of a
metric space (Theorem 1.11-1}.
The following criterion of continuity at a point of a composite mapping is constantly used
( and immediate to prove) :
Theorem 1. 7-2 Let X, Y, Z be three topological spaces, let f : X -t Y be a mapping that is
continuous at a point x E X, and let g : Y -t Z be a mapping that is continuous at the point
f(x) E Y. Then the composite mapping g o f : X -t Z is continuous at x. 0
A mapping f : X -t Y is continuous if it is continuous at all points of X. The following
characterization of continuous mappings ( also immediate to prove) is fundamental:
Theorem 1. 7-3 Let X and Y be two topological spaces. A mapping f : X -t Y is continuous
if and only if the inverse image under f of any open set in Y is open in X; or equivalently,
if and only if the inverse image under f of any closed set in Y is closed in X. 0
The set formed by all the continuous mappings from X to Y is denoted
C(X; Y ) , or C(X ) if Y = R
Let X and Y be two topological spaces. A mapping f : X -t Y is said to be a homeo
morphism of X onto Y if f is a bijection, f E C(X; Y ) , and f - 1 E C(Y; X ).
The following characterization of homeomorphisms immediately follows from the defini
tion and Theorem 1.7-3:
Theorem 1. 7-4 Let X and Y be two topological spaces and let f E C (X; Y) be a bijection.
Then f is a homeomorphism of X onto Y if and only if the direct image under f of any open
subset of X is an open subset of Y; or equivalently, if and only if the direct image under f
of any closed subset of X is a closed subset of Y. 0
Two topological spaces X and Y are said to be homeomorphic if there exists a homeo
morphism of X onto Y.
Let us now examine the special cases where the set X, or the set Y, is a finite product.
Theorem 1. 7-5 Let Xj, 1 ::; j ::; n, and Y be topological spaces, let the product X :=
Tij= 1 Xj be equipped with the product topology (Section 1.6}, and let f : X -t Y be a mapping
Sect. 1.8] Compactness in topological spaces 15
Theorem 1.8-2 (a) Any compact subset of a Hausdorff topological space is closed.
(b) A closed subset of a compact topological space is compact. 0
:
Theorem 1.8-3 Let X and Y be two topological spaces and let f X --+ Y be a continuous
mapping. Then the direct image f(K) of any compact subset K of X is a compact subset
of Y. 0
Theorem 1.8-4 Any continuous bijection from a compact topological space X onto a topo
logical space Y is a homeomorphism of X onto Y (then Y is also compact by Theorem 1.8-3) .
0
Theorem 1.8-5 Let Xj, 1 ::; j ::; n, be compact topological spaces. Then the product
I1j=1 Xj equipped with the product topology (Section 1.6) is compact. 0
Theorem 1.8-5 is a special case of Tychonoff's theorem, one of the most important
results in general topology. This theorem asserts that, given any family (Xi)i EI of compact
topological spaces, the product rriEl Xi equipped with the product topology is compact. 7
But, by contrast with that of Theorem 1.8-5, its proof requires the axiom of choice.
A subset A of a topological space X is relatively compact if its closure A is a compact
subset of X.
A topological space {X, 0) is connected if the only subsets of X that are both open and
closed are X and 0. A subset A of X is connected if it is a connected topological space
when it is equipped with the topology induced by that of X {Section 1.6).
That a subset A of X is connected does not depend on whether A is considered as a
subset of X, or as a topological space by itself, i.e., when it is equipped with the induced
topology.
7This theorem was first proved in the special case where X; = [O, 1] for ail i E I in:
A. TYCHONOFF [1930] : Ü ber die topologische Erweiterung von Riiumen, Mathematische Annalen 102, 544-
561 .
The general case w as then proved in:
E. Ô ECH [1937] : On bicompact spaces, Annals of Mathematics 38, 823-844.
Sect. 1.9] Connectedness and simple-connectedness in topological spaces 17
The next three theorems provide useful sufficient conditions for connectedness.
Theorem 1.9-6 Let X be a topological space and let (Ai)ieI be any family of connected
subsets Ai of X. If the intersection niEI Ai is nonempty, then the union LJie I Ai is connected.
0
Theorem 1.9-7 Let Xj , 1 ::; j ::; n, be connected topological spaces and let their product
X = Ilj= 1 Xj be equipped with the product topology (Section 1.6) . Then X is connected. 0
Let X be a topological space. The relation R defined by "(x, y) E R if and only if there
exists a connected subset of X that contains both x and y," is an equivalence relation on X.
The equivalence classes modulo this relation, which are thus subsets of X, are called the
connected components of X.
Given any x E X, the connected component of X that contains x is called the connected
component of x; it is also the largest connected subset of X that contains x, according to
the following result.
Theorem 1.9-8 Let X be a topological space and let x E X. Then the connected component
of x is the union of all the connected subsets of X that contain x. 0
Let x and y be two points in a topological space X. A path joining x to y is a continuous
18 Real Analysis and Theory of Functions: A Quick Review [Ch. 1
1 . 10 Metric spaces
Theorem 1.10-1 Let (X, d) be a metric space. Let 0 denote the subset of P(X) consisting
of the empty set and of all the subsets 0 of X with the following property: Given any E 0, x
there exists r > 0 such that the ball B(x;
r) is contained in O. Then the pair (X, 0) is a
topological space, which is Hausdorff and normal.
Besides, any ball B(x; x
r), with E X and r > 0, is an open set for this topology. 0
For instance, the usual distance on IR, defined by d(x,y) = l x - YI
for all E IR, x,y
induces the usual topology of lR ( Section 1.6). Likewise, the usual distance on C, defined
by d(x, y) = l x - YI
for al! x, y
E C, induces a topology on C, called the usual topology
of C.
When viewed as a metric space, the set IR, or a subset of IR, will be always implicitly
considered as endowed with this distance d, called the usual distance on IR.
Of course, d is far from being the only distance on lR that induces its usual topology.
:
For instance, the distance p lR x lR -+ lR defined by 1+
p(x,y) = l x 1 x- -yl y I
for al! E x,y
lR also induces the usual topology on IR. Note, however, that the metric space (IR, d) is
unbounded while the metric space ( IR, p) is bounded; incidentally, this simple example shows
that boundedness is a metric notion, not a topological one.
The topology of a topological space (X, 0) is said to be metrizable if it can be induced
by a metric on X, and any such metric is said to be compatible with the topology. For
instance, the usual topology of lR is metrizable, and the above metrics d and p are both
compatible with it.
Another fondamental example of metric space is that of ocn , where lK lR or lK C, = =
or of a subset X of ocn , equipped with one of the distances dp, 1 $ p $ oo, defined for any
n-tuples E !Kn and
X = (xi )f= l E !Kn by
Y = (Yi )f= l
lp
dp(x,y) = (� l xi - YilP) / if 1 $ p < OO ,
doo (x,y) = 1m::;iilJC::;n l xi - Yil·
Ali the axioms of a distance are immediately verified, save the triangle inequality for 1 < p <
oo ,for which we refer the reader to Theorem 2.4-1. The distance d2 is called the Euclidean
distance.
Given any 1 $ p, q $ oo, any ball corresponding to the distance dp is contained in a
ball corresponding to the distance dq and centered at the same point. Hence the topology
induced on ocn , or on a subset of ocn , by any one of the distances 1 $ p $ oo, is the dp,
same, and is called the usual topology of ocn . It is also easily verified that this topology
coïncides with the product topology (Section 1.6) on ocn Tij= 1 Xj , where each topological
=
space Xj , 1 $ j $ n, is the set lK equipped with its usual topology, and that ocn equipped
with this topology is a separable topological space.
More generally, any subset X of a finite-dimensional vector space over lK with a basis
(ei )f= l
becomes a metric space when it is equipped with one of the above distances 1 $ dp,
x y dp(x, y)
p $ oo, with and in now replaced by x = L::=l Xiei y = L::= l Yiei .
and
In what follows, a metric space (X, d) will be often simply denoted X for notational
brevity, in which case it is implicitly understood that its metric is denoted d when needed.
20 Real Analysis and Theory of Punctions: A Quick Review [Ch. 1
The various definitions given in Section 1.6 then have the following equivalent "metric"
counterparts in a metric space X:
A neighborhood of a point x EX X
is any subset of that contains a ball centered at x.
X E
The interior A of a subset A of is the set of all points x A such that there is a ball
centered at x and contained in A.
X
The closure A of a subset A of is the set of ail points x EX such that any ball centered
at x has a nonempty intersection with A.
X
The boundary âA of a subset A of is the set of ail points x EX such that any ball
centered at x has a nonempty intersection with both A and X -A.
A metric space (X, d) is separable if there exist elements Xn E X, n ;::: 1, such that, given
any x EX ê ( ê)
and any > 0, there exists n = n x, ;::: 1 such that x E B(Xni ê).
A sequence (xn )�=O of points Xn E X is convergent if there exists a point x such that,
ê ,x)
given any > 0, there exists no ;::: 0 such that
d(x Xn E B(x; ê) for all n ;::: no, or equivalently,
such that n -t 0 as n -t oo. Such a point x, which is necessarily unique because the
associated topological space is Hausdorff (Theorem 1. 10-1), is thus the limit of the sequence.
Thanks to this characterization of limits in terms of distance, the closure of a subset in a
metric space can be given a simple characterization by means of convergent sequences.
X.
Theorem 1.10-2 Let A be a subset of a metric space Then a point x EX belongs to A
if and only if there exists a sequence (xn )�=O of points Xn E A that converges to x as n -t oo .
Consequently, a subset A of X is closed if and only if
Xn E A, n 2:: 0, and Xn -t x in X as n -t oo implies x E A. D
Incidentally, note that dist (x, A) > 0 if x <f. A and A is closed.
Let (X, d) be a metric space, let A be a subset of X, and let dA : A x A -t lR denote the
restriction of the distance d to A x A. Clearly, dA is a distance on A, called the distance
induced by d on A, and thus (A, dA) is also a metric space. Furthermore, the following
properties hold.
Theorem 1.10-3 Let (X,d) be a metric space and let A be a subset of X. The topology
induced on A by the metric dA coincides with the topology induced on A by the topology
induced on X by the metric d (Section 1.6) .
Purthermore, (A, dA) is separable if (X, d) is separable. D
Finally, let (Xj, dj), 1 � j � n, be metric spaces, and let X := Ilj=1 Xj. Then a subset
0 c X is open for the product topology on the product X if and only if, given any point
x (xJ)J= l E X, there exist rj > 0, 1 � j � n, such that Ilj= l B(xj, rj) C O. Any
=
distance d on the product space X that induces the product topology on X is then said to
be compatible with the product topology. Examples of such compatible distances are
provided by the functions d : X x X -t lR and : X x X -t lR defined by
p
n
d(x,y) jLdj(Xj,
:=
= l Yj) and p(x, y) lm!J.X :=
$3$n dj(Xj, YJ)
for all x (xJ)J=l E X and y (YJ)J=l E X.
= =
Sect. 1.11] Continuity and uniform continuity in metric spaces 21
d
Then the function : (X x X, D ) --+ lR provides an example of a Lipschitz-continuous function,
with Lipschitz constant one. 'lb see this, simply note that, by the triangular inequality,
l d(x, x) - d(y, Y) I :::; d(x,y) + d(x, Y) = D ((x, x), (y, Y)) .
Another similar example is provided by the distance to a subset:
d)
Theorem 1.11-3 Let (X, be a metric space and let A be a nonempty subset of X. Then
(x,
jdist A) - dist (y, A) I d(x,
� y) for all y E X. x, 0
d) )
Given two metric spaces (X, and (Y, p , a mapping f : X --+ Y is an isometry from
(()
X into Y if f "preserves the distances,'' i.e., p f x , f(y)) = d(x, y) x,
for all y E X. An
isometry thus provides another example of a uniforrnly continuous mapping.
Otherwise, a general, and very useful, sufficient condition for uniform continuity will be
given in Theorem 1.13-2.
d), (x Xn
LJ:=nn)�={xm}O
In a metric space (X, a sequence of points E X is a Cauchy sequence if the
diameter (Section 1.10) of the set converges to zero as n --+ oo, or equivalently,
()
if, for each e > 0, there exists an integer np e ;:::: 0 such that d(xm,Xn )
< e for all m ;:::: no e ()
()
and n ;:::: no e .
The following theorem gathers elementary properties of Cauchy sequences:
Theorem 1.12-1 (a) A Cauchy sequence is bounded.
(b) A convergent sequence is a Cauchy sequence.
(c) A Cauchy sequence that contains a convergent subsequence is convergent, and its limit
is the limit of the subsequence. 0
d)
A metric space (X, is complete if every Cauchy sequence of points of. X converges
in X. A subset A of a metric space is complete if the metric space (X,dA),
where denotes dA
the distance induced by d on A (Section 1.10), is complete. Consequently, the property "X is
a complete metric space" is independent of whether X is a subset of a larger metric space.
The following theorem gathers elementary properties of complete metric spaces:
Theorem 1.12-2 Let A be a subset of a metric space X.
(a) If A is complete, A is closed in X.
(b) If X is complete and A is closed in X, A is complete.
(c) If X is complete, a subset A of X is complete if and only if A is closed in X. 0
e,
Pundamental examples of complete metric spaces are lR and each equipped with its
usual distance, and and ]Rn en , n ;:::: 2, each equipped with any one of the distances 1 � dp,
e
p � oo (Section 1.10): That lR and are complete follows from their construction (Section
1.4); that (JRn , dp) (en , dp)
and are complete in turn easily follows from the completeness of
lR and e.
For a given integer n ;:::: 2, the distances dp,
1 � p � oo, thus provide examples of
JRn
distances that induce the same topology on and simultaneously render the metric spaces
Sect. 1.13] Compactness in metric spaces 23
(JRn , dp ) complete. This is not a general circumstance, however. For example, let lR+ : =
{x E JR; x � O} and let the distances d and p on lR+ be defined by d(x , y ) = l x YI and
J
-
p (x , y ) = - x - _Y_ J for ail x , y E lR · Then these distances induce the same topology
-
l+x l+y +
on lR+ , but {lR+ , d) is complete while (lR+ , P) is not {the sequence (xn )�=O with Xn = n is a
Cauchy sequence in {lR+ , p) but does not converge in {lR+ , p)).
The next theorem is fundamental. lt provides sufficient conditions insuring that a map
ping defined and continuous on a dense subset of a metric space can be extended to a con
tinuous mapping on the whole space {this result will be proved later in Theorem 3.1-1 for
normed vector spaces).
Theorem 1.12-3 (unique continuous extension) Let X be a dense subset of a metric
space X, let Y be a complete metric space, and let f : X --+ Y be a uniformly continuous
mapping.
Then there exists one and only one continuous extension f : X --+ Y of f to the space X .
The mapping f is also uniformly continuous on X . 0
The next theorem is also fundamental. It asserts that any metric space that is not
complete can be always identified with a dense subset of a complete metric space by means
of an isometry {this result will be proved later in Theorem 3. 1-2, again for normed vector
spaces).
Theorem 1.12-4 (completion �f � metric space) (a) Let (X, c!) be a metric space. There
exis.l_s a complete metric space (X, d) and an isometry a : X --+ X such that a(X) is dense
in X.
{b) The space X is separable if the space X is separable.
(c) If (X, dJ is any complete metric space such that there exists an isometry from X onto
a dense subset of X, then there exists an isometry from (X, d) onto (X, d) . 0
The space {X, d) , which is thus "essentially unique" as a metric space, in the sense that
it is unique up to bijective isometries thanks to property (c), is called the completion of the
metric space {X, d).
Two other fundamental theorems about complete metric spaces, viz., the Banach fixed
point theorem and Baire 's theorem, will be proved in the next chapters {Theorems 3.7-1 and
5. 1-2).
A subset A of a metric space X is precompact if, given any e > 0, there exists a finite
number n = n(e) of points Xj = Xj (e) E A , 1 $ j $ n, such that
n
A C U B(xj; e).
j=l
Note that A C X is precompact if and only if ïI is also precompact.
The following characterizations of compact and precompact subsets of a metric space are
fundamental.
Theorem 1.13-3 Let X be a metric space and let K be a subset of X. The following three
assertions are equivalent:
(a) K is a compact subset of X.
(b) Given any sequence (xn )�=O of points Xn E K , there exists a subsequence (xu(ni )�=O
that converges to a point in K.
(c) K is precompact and complete. 0
A topological space A that satisfies the above property (b) is said to satisfy the Bolzano
Weierstra6 property, to reflect that it generalizes Theorem 1.4-l(b).
Theorem 1.13-4 A subset A of a metric space is relatively compact if and only if any
sequence (xn )�=O of points Xn E A contains a subsequence (xu(ni )�0 that converges to a
point in ïI. 0
While the converse of Theorem 1.13-1 "seldom holds," an easy application of Theorem
1.13-3(c) shows that it does hold in the following fundamental special case:
Theorem 1.13-5 Let the space ocn , where OC = lR or OC = C, be equipped with any one of
the distances dp, 1 $ p $ oo (Section 1.10). Then a subset of ocn is compact if and only if it
is closed and bounded. 0
We shall prove later that this property is in effect a characterization of finite dimension
ality. This is the essence of the fundamental F. Riesz theorem (Theorem 2.7-3).
While the characterization of compact subsets in a finite-dimensional space is thus settled
by Theorem 1.13-5, the characterization of compact subsets in infinite-dimensional spaces is
often a delicate issue. An important instance8 of such a characterization is the Ascoli-Arzelà
theorem in the space of functions that are continuous on a compact set (Theorem 3.10-1).
By Theorem 1.13-5, a subset of lR is compact if and only if it is closed and bounded.
Combining this observation with Theorem 1.8-3 yields another basic result, asserting that
8 Another important instance is Kolmogorov 's theorem in the spaces LP(O) ; for a proof, see, e.g., BREZIS
[2011, Theorem 4.26) .
Sect. 1.14] The Lebesgue measure in !Rn ; measurable functions 25
The last property is called the a-additivity of the measure µ. The triple (X, A, µ) is
then called.a measure space.
Of fundamental importance is the set X = !Rn , where n is any integer 2". 1, equipped
with its usual topology (Section 1.10}, when the a-algebra is the Borel a-algebra A in !Rn ,
defined as the smallest a-algebra that contains all the open subsets of !Rn ( the a-algebra A is
then uniquely defined, as the intersection of ail the a-algebras of subsets of !Rn that possess
this property ) , and the measure µ, is defined by
For a given set A E A, the infimum is meant here to be taken over ail the countably infinite
families of products I1j= 1 ]aj, bj [ of open intervals, k 2". 1, the union of which covers the set
A. The elements of the a-algebra are called the Borel-measurable subsets of !Rn .
26 Real Analysis and Theory of F'unctions: A Quick Review [Ch. 1
The measure space (!Rn , A, /il co�tructed in this �hion lacks one desirable proe..erty,
namely that any subset of a set A E A that satisfies ji(A) = 0 is also in the a-algebra A. To
obviate this difficulty, let
A := {A E P(!Rn ); there exist A E A and A' E A with µ(A') = 0
such that A = AUB with B C A }, '
and let, for any A E A,
µ(A) := µ(A)
for any A E A such that A = AUB with B c A' for some A' E A with µ(A') = O.
One can then show that A is again a a-algebra of subsets of!Rn (which clearly contains the
Borel a-algebra A) , that the above definition of µ(A) makes sense (i.e., that it is independent
of the particular set A E A chosen as above) , and that the function µ : A -+ [O, oo) defined
in this fashion is again a measure.
The a-algebra A is called the Lebesgue a-algebra in !Rn , the elements of A are called
the Lebesgue-measurable subsets of !Rn , and µ is called the Lebesgue measure in !Rn ,
or the n-dimensional Lebesgue measure. Evidently, µ(A) = µ(A) for all A E A.
The Lebesgue measure in !Rn is denoted
dx , or meas, or dx- meas,
according to the context.
Cardinality arguments show that
card A = card lR and card A = card P (!R).
Hence there are "many more" Lebesgue-measurable subsets of !Rn than Borel-measurable
subsets of !Rn , since card lR -< card P(IR) (Theorem 1.5-2).
The next theorem recapitulates four basic properties of the resulting measure space
(!Rn , A, µ). The first three are direct consequences of the above construction. The fourth
one expresses that the Lebesgue measure is translation invariant.
Theorem 1.14-1 The a-algebra A of Lebesgue-measurable subsets of !Rn and the Lebesgue
measure µ : A -+ [O, oo] satis/y the following properties:
( a) Every open subset of !Rn belongs to A; hence every closed subset of !Rn , and any
countably infinite intersection or union of open or closed subsets of !Rn , also belong to A.
( b ) The Lebesgue measure of any subset of !Rn of the form I1j= 1 ]aj, bj [, which belongs to
A by (a) , is given by
µ (]�p ) "Jl
aj , bj [ = (bj - aj) ·
(c ) If A E A and µ(A) = 0, then every subset of A is also Lebesgue-measurable and its
Lebesgue-measure is zero.
(d ) Given any point x E !Rn and any set A E A, the set
x + A := {(x + y) E !Rn ; y E A}
also belongs to A and µ(x + A) = µ(A) . 0
Sect. 1 . 1 4] The Lebesgue measure in !Rn ; measurable functions 27
A {x E Rn ; f(x) "# O}. Then, given any ê > O, there exists a function fe E C(Rn ) whose
:=
such that m
s = L aiXA, ,
i= l
where XA, : A -t R denotes the characteristic function of each set Ai (Section 1.2}. Clearly,
a simple function s is measurable if and only if each set Ai, 1 $ i $ m, is measurable.
Important links between measurability and simple functions are given in the next theorem.
Theorem 1.14-5 Let A be a measurable subset of Rn .
(a) Let f : A -t [ -oo, oo] be a measurable function. Then there exists a sequence of
measurable simple functions Sn : A -t R, n � 1, with the following properties:
l sn l $ l sn+ i l $ 1/ 1 for all n � 1 and, for each x E A, s n (x) -t f(x) as n -t oo .
(b} Let f : A -t [O, oo] be a measurable function. Then there exists a sequence of measur
able simple functions Sn : A -t R, n � 1, with the following properties:
(Section 1.14} that is � 0 (equivalently, such that ai � 0, 1 $ i $ m) , let the extended real
Sect. 1. 15) 'l'he Lebesgue integral in !Rn ; the basic theorems 29
The Lebesgue integral of any measurable function f : A � [0, oo] is then defined as
L f(x) dx := sup { L s(x) dx; s is a measurable simple fonction and 0 ::; s ::; f in A } ·
Hence JA f(x) dx is again either ;::: 0 or equal to OO: If the Lebesgue integral JA f (x ) dx of a
measurable fonction f : A � [O, oo) is finite, then f is necessarily finite almost everywhere.
Finally, a fonction f : A � [ -oo, oo] is said to be Lebesgue-integrable, or in short
integrable, if it is measurable and is such that
L max{f(x); O} dx < oo and L max{ - f(x); O} dx < oo.
If f : A � [ -oo, oo] is Lebesgue-integrable, its Lebesgue integral is defined by
L f(x) dx L max{f(x); O} dx - L max{-f(x); O} dx.
:=
is said to be Lebesgue-integrable if
Re / E .C 1 (A) and lm / E .C 1 (A).
If this is the case, the Lebesgue integral of f is defined by
L f(x) dx L Re f (x) dx + i L Imf(x) dx.
:=
Sect. 1.15] The Lebesgue integral in IRn ; the basic theorems 31
and such that there exists a function g E C 1 (A) with the property that
l fk (x)I ::::; g (x) for all k � 1 and almost all x E A.
Then f E C 1 (A), resp. f E C 1 (A; C), and
L l fk (x) - f(x) l dx -t 0 as k -t oo.
In particular then,
r f(x) dx = lim r fk(x) dx. 0
}A k-too }A
Let B be a measurable subset of Rn and let A denote the O'-algebra formed by ail the
Lebesgue measurable subsets of B. Given a function f E C 1 (B), let
ll(A) : = L f(x) dx for each A E A.
Hence l ll(A)I ::::; JA l f(x) I dx ::::; f8 l f(x)I dx < oo for each A E A. Then it is clear that
li
the function : A -t R defined in this fashion possesses the following properties: first, it is
a signed measure, in the sense that
ll( 0) = 0,
ll ( Q Ai ) = � ll(Ai ) if Ai E A, i � 1, are such that Ai n Aj = 0 if i -:/= j
(this countably additive property easily follows from the Lebesgue dominated convergence
theorem); second, it is absolutely continuons with respect to the Lebesgue measure dx, in
the sense that
A E A and dx- meas A = 0 imply ll (A ) = O.
Remarkably, the converse property holds:
Theorem 1.15-4 (Radon-Nikodym theorem ) Let B be a measurable subset of Rn , let
A denote the O'-algebra formed by all the measurable subsets of B, and let : A -t R be li
a signed measure that is absolutely continuous with respect to the Lebesgue measure. Then
there exists a function f E C 1 (B) such that
ll ( A ) = L f(x) dx for each A E A. 0
1ip (f!)
f(y) dy = r f(cp (x)) l det V cp (x) I dx .
ln
D
Remarks ( 1 ) Under the assumptions of Theorem 1. 16-1, the set cp(O) is automatically open
(hence Lebesgue-integrability on cp(O) makes sense): this is a consequence of the deep Brouwer in
variance of domain theorem in IRn (Theorem 9.17-3), which in fact holds even if cp : n � IRn is only
assumed to be continuous.
34 Real Analysis and Theory of Punctions: A Quick Review [Ch. 1
While the case where the mapping <p is injective (as in Theorem 1.16-1) is considered in
many texts, the case where <p is not injective (as in the next theorem) is not often treated. 10
Theorem 1.16-2 (noninjective change of variable in Lebesgue integrals in Rn ) Let
n be an open subset of Rn and let <p : n -+ Rn be a continuously differentiable mapping such
that the image <p(f!) is open. For each y E <p(f!), let
card <p - 1 (y) cardinal of the set <p - 1 (y) if <p - 1 (y) is finite,
:=
10 See, however, RADO & REICHELDERFER [1955], SCHWARTZ [1993b, Corollary 6.2. 14], FEDERER [1969] , or
SMITH [1983, Chapter 16] .
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