1
1
1
Introduction
to Banach Spaces
(1) X = lRn with the operations (+, .), the usual componentwise operations, and
with F =R
(3) X = II',
where II' consists of all infinite sequences of complex numbers:
x == C such that L~l IXi I" < 00, for 1 :::: p < 00.
(Xl, ... , x n, ... ), Xi E
Again, addition and scalar multiplication are defined componentwise.
Problem A1.1. Show that II' is an LVS. (Hint: Use the Minkowski inequality:
286 Appendix 1. Introduction to Banach Spaces
(1) X = lRn and define IIxll = (2::;'=1 Ixd2)1/2, xE lRn. This is a norm, called
the Euclidean norm, and has the interpretation of the length of the vector x.
(2) X = C([O, 1]) can be equipped with many norms, for example, the LP-
1 )I/P
norms: Ilfllp == ( fa If(xWdx ,f E x, 1:::: p < oo,andthesup-norm
(p = 00): Ilflloo == sup If(x)l, f E X.
XE[O,IJ
In analogy with the Euclidean metric on lRn (see (1), Examples A1.4), we in-
terpret Ilx - all as "the distance from x to a," and so Br(a) consists of all points
x E X lying within distance r from a. The open balls in X are the fundamental
building blocks of open sets.
Definition AI.7. A subset E C X, X an NLVS, is open iffor each x E E there
exists an r > 0 (depending on x) such that Br(x) C E. A neighborhood ofx EX
is an open set containing x.
Al.2. Elementary Topology in Normed Vector Spaces 287
Example A1.S.
Let X = JRI1 with the Euclidean metric. Then
simply a ball of radius E about the origin. Note that BE(O) does not include its
boundary, that is, {x I (2:::'=1 x?) 1/2 = E}. It is easy to check that BE(O) is an open
set. If we were to include the boundary, the resulting set would not be open.
DefinitionA1.9.Asubset Be X, X anNLVS, isclosedifX\B == {x E Xix rj. B}
(the complement of B in X) is open.
Sequences provide a convenient tool for studying many properties of subsets of
an NLVS X, including open and closed sets.
Definition A1.l0. Let X be an NLVS.
(2) every convergent sequence is uniformly bounded, that is, if {xn l is conver-
gent, then there exists an M, 0 < M < 00, such that Ilx n I :::: M for all
n = 1,2, ....
(Hints:
(2) Conversely, suppose E contains the limit of all its convergent sequences.
Suppose X \ E is not open; then there is a point Y E X \ E such that for
each E > 0, BE(y) n E =I ¢. Let En == lin and choose Yn E BE,Jy) n E.
Then {Yn} is a sequence in E and limn-+oo Yn = y. But y tI E, hence we get
a contradiction (i.e., X \ E is open so E is closed). 0
Ilfn-fmll! = fo!If,,(X)-fm(X)ldX
h2
1+1
2 11 (n - m)(x - 1/2)dx + h:l
2
1+1-
11
l1l
[1 - m(x - 1/2)]dx
~2 (~-~),
m n
and so {fn} is a Cauchy sequence. It is easy to check that for any p, {fn} is Cauchy.
I
Now for any x E [0, 1], we can compute lim n-+ oo fn(x). The limit function is
0, 0 < x :s ~,
f(x) =
1, ~ < x :s 1.
This limit function f tI C([O, 1]) (i.e., f is discontinuous), and so C([O, 1]) does
not contain the limit of all its Cauchy sequences! Later we will discuss the manner
in which we can extend C([O, 1]) to a larger NLVS (called the completion) to
include the limit of all the Cauchy sequences in C([O, 1]).
Problem AI.4. Prove statements (l) and (2) in Examples A 1.17. (Hint: For (2),
use standard results on uniform convergence.)
Proposition A1.18. The NLVS IP as defined in (3) of Examples Al.2, with the
I . lip-norm, 1 :s p < 00, is a Banach space.
Proof. Let (x(n)), x(ll) == (xiII), xiII), ... ) E [P, be a Cauchy sequence, that is,
(ALl)
as m, n -+ 00. We must show (1) that (x(Il)} is convergent to some x, and (2) that
x E [P.
(1) Condition (A 1.1) implies that each sequence of real (or complex) numbers
{Xill)}~1 (fixed i) is Cauchy, and from the completeness of ffi. (or q it is
convergent. Hence there is an Xi E ffi. (or C) such that Xi = limll -+ oo x i(Il).
Let x == (XI, X2, .. .). We show that x(ll) -+ x in the [P-norm. From the
definition of (x(Il)), for each E > 0 there is an NE E N such that m, n > NE
implies [2::7=1 Ixt) - xim)IP riP < E. Now we take the limit of the left
side as n -+ 00 (fixed k) and get Sm(k) = [2::7=1 IXi - x;m)IP riP < E.
As a sequence in k, Sm(k) is monotonic (i.e., Sm(k) :s Sm(k') if k < k')
and bounded, and hence limk-+oo Sm (k) exists and is less than E. This is the
[P -norm of (x - x(m), that is, Ilx - x(m) lip < E. Hence, x(m) -+ x.
(2) To prove that x E [P, we use Minkowski's inequality (Problem AU) and
begin by considering a finite sum as above. We write
290 Appendix l. Introduction to Banach Spaces
Since X(Il) E IP and Ilx(ll) - xll p ---+ 0, given E > 0, we can choose n > NE
such that
We now introduce some other topological ideas associated with Banach spaces.
Examples A1.20.
(2) The Weierstrass approximation theorem states that the set of all polynomials
in x on [0, 1] (i.e., functions of the form 2:7=1 Ci xi + co) is dense in C([O, 1])
with the sup-norm.
(3) Let X be a Ba~ach space, and let A C X be a subset that is not closed. Then
A is dense in A, its closure.
Examples A1.22.
(1) The set of polynomials on [0, 1] with rational coefficients is a dense, count-
able set in C([O, 1]) with the sup-norm, so this Banach space is separable.
(2) The set of all elements x E lP with Xi E Q is a dense, countable set in lP,
so IP is separable.
(3) Simply forreference, the space L 00 (lR), the LVS of all (essentially) bounded
functions on lE. with the (ess) sup-norm, is nonseparable.
Remark A1.23. All the spaces used in the chapters are separable, unless specifi-
cally mentioned.
A 1.4. Compactness 291
A 1.4 Compactness
We introduce another important topological notion associated with Banach spaces
(which is, of course, an important notion in its own right).
Definition A1.24. Let X be a (separable) Banach space. A subset Y C X is called
compact (respectively, relatively compact) if any infinite subset of Y contains a
convergent sequence and the limit of this sequence belongs to Y (respectively, to
X).
Note that if Y C X is relatively compact, then Y, the closure of Y in X, is
compact. Moreover, if Y is compact, then Y is a closed subset of X. This follows
since if {Yn} is a Cauchy sequence in Y, it is an infinite subset of Y. Since X is
complete, {Yn} is convergent and the limit y = limn --+ oo Yn E Y by definition of
compactness. Hence, we have the next result.
Proposition A1.25. Let X be a Banach space. If Y C X is compact, then it is
closed and bounded (i.e., 3M > 0 such that Ilyll :::: M Vy E Y).
Proof. It remains to show that Y is bounded. Suppose not; then for each nEZ,
there exists Yn E Y such that IIYnl1 > n. Then {Yn} is an infinite subset of Y. By
compactness, we can choose a subsequence {Yarn)} of {Yn), where a: Z+ --+ Z+
is an order-preserving map, which converges. Then, as Y is compact, 3y E Y such
that I Yarn) II converges to Ily II. But, IIYa(n) I ::: a(n) ::: n --+ 00, and so we get a
contradiction. Hence Y is bounded. D
It is a well-known result that the converse of Proposition A1.25 is not true:
There are many closed and bounded subsets of certain Banach spaces which are
not compact.
Examples A1.26.
(1) The problem just described cannot occur in jRN or (ef: the Heine-Borel
theorem states that a set is compact if and only if it is closed and bounded.
(2) Let X = C([O, 1]), and let Y C X be the subset of all functions in X which,
together with their derivative, are uniformly bounded, that is, Y = {f E
XI Ilflloo < M and Ilf'lloo < M}. The Ascoli-Arzela theorem states that
Y is compact in X.
We now want to relate the definition in A1.24, which depends on the metric
structure of X, to the general topological notion of compactness.
Definition A1.27. Let A C X, X any topological space. A collection of open
subsets {Vi} of X is called an open covering of A if A C Ui Vi.
Theorem Al.28. A subset K C X, X a Banach space, is compact if and only if
any (countable) open covering of K contains afinite subcovering of K.
Proof.
(1) Suppose K C X is compact, and let {Vi} be an open covering of K. Suppose
on the contrary that there exists no finite subcovering. Then K \ U7=1 Vi is
292 Appendix 1. Introduction to Banach Spaces
nonempty for any n. Let XII E K \ U7=1 Vi. By the compactness of K, there
exists a convergent subsequence {XII'} and X = limn,--+oo Xn' E K. Since {Vi}
covers K, X E Vj, for some j. Since Vj is open, XII' E Vj for all large n',
say n' > No. Then {VI, ... , VNo' Vj} (where Xn' E Vn) is a finite covering
of K, giving a contradiction.
(2) Suppose K has the finite covering condition but is not compact. Let {xn} be
an infinite (countable) sequence in K with no limit points. The sets Un ==
{Xn, Xn+l, ... } are closed (Un has no limit points) and nnull = nnun = ¢.
Then U,~ is open and {U~} forms an open cover of K. Then there exists a
finite subcovering {U~,} of K with nil' Un' = ¢, which is certainly not true
by construction. D
Appendix 2. The Banach
Spaces LP(IR n ), 1 < p < 00
We present the basic theory of this family of Banach spaces. The reader can find
any of the proofs not presented here in any standard text on real or functional
analysis; see, for example, Reed and Simon, Volume I [RSl], Royden [Ro], or
Rudin [R].
The most important Banach spaces for us are the LP -spaces, 1 S p < 00. The
value p = 2 plays an especially important role, and we will describe its properties
in greater detail later. There are two basic ways to obtain the LP -spaces, and both
are useful. The first, which we will sketch here, uses the idea of the completion
of an NLVS. The second involves Lebesgue integration theory, so we will merely
mention the results.
Definition A2.2. The set of infinitely differentiable functions on jRn with bounded
(and hence compact) supports is denoted by Cgo(jRIJ). IfQ C jRn and is open, then
Cgo(Q) consists of all infinitely differentiable functions with compact supports in
Q.
294 Appendix 2. The Banach Spaces LP(JR"), 1 ::: p < 00
We note that it is easy to see that Co(lR") is an LVS over Cor R We will always
take LVS over C in this section. For each p, I ~ P < 00, and any f E Co(Q),
define the nonnegative quantity
[In
I
Problem A2.2. Prove that for any open Q c JR", (Co(Q), II . lip) is an NLVS for
1 ~ P < 00. (Hint: Use the simple identity, If + glP ~ 2 P (lfl P + IgIP).)
Definition A2.3. For any open Q C JR" and 1 ~ p < 00, the Banach space LP(Q)
is the completion of (Co(Q), II . lip).
Let (X, II . II) be anNLVS that is not complete. We show how to obtain a Banach
space X with a dense subset X, such that X is isomorphic to X. That is, the sets
X and X are in one-to-one correspondence, and if i E X corresponds to x EX,
then IIi II = IIx II (the norm on the left is the induced norm on X).
Step 1. Consider the collection of all Cauchy sequences in X. Let a == {x,,} and
f3 == {y,,} denote any two Cauchy sequences. We say that two Cauchy sequences
are equivalent if lim,,--+oo IIx" - y,,11 = O.
Problem A2.3. Show that (i) this defines an equivalence relation on the set of
Cauchy sequences, and (ii) if {x n } is Cauchy, then limn--+oo IIxn II exists.
Let [a] denote the equivalence class of a. We define a set X to be the set of
all equivalence classes of Cauchy sequences in X. The set X has a distinguished
subset X, which consists of all equivalence classes of constant sequences (i.e., if
x E X, then let ax == {x" = x}). We see that [ax] consists of all Cauchy sequences
converging to x. Hence, X is isomorphic with X.
Step 2. We define a norm on X as follows. Let [a] E X, and take {xn} E [a]. Then
define
lI[a]lI x == lim IIxnll.
n-+oo
Problem A2.S. Verify that II . II x is a norm on X. (Be sure to check that it is "well
defined," that is, independent of the representative chosen.)
Step 3. We sketch the proof that (X, II . IIx) is complete. Suppose {[aN]} is a
Cauchy sequence in X. Let {xt'} be a representative. Then for E > 0 there exists
NE such that for N, M > NE , we have
Hence there exists io > 0 such that IIx/" - x,M II < E 12 for i > io. For N > M,
choose an index iN > io for which Ilx~ - x,M1I < E/2. We can choose the map
N --+ iN to be order-preserving (i.e., P > Q => ip > iQ). Since {x,M} is Cauchy,
there exists i 1 > 0 such that j, k > i 1 implies
= lim
k-+oo
xt II
Ilxt' -
Problem A2.6. Check that the calculations in Step 3 are independent of the rep-
resentative of the equivalence class chosen.
296 Appendix 2. The Banach Spaces LP(JRIl), 1 ::: p < !Xl
Consequently, we know that there exists a Banach space XI' that contains a
dense isometric copy of (COO(S1), I . 111')' A natural question that arises is: What
is the nature of the objects in XI' ? The best way to answer this is by means of the
Lebesgue theory of integration. We wish to avoid this discussion, and so we refer
the reader to any standard text, for example, Royden [Ro]. However, for the reader
familiar with this theory, an element of XI' is an equivalence class of measurable
functions on S1 having the property that If II' is Lebesgue integrable on S1 with
In If II' < 00. Two measurable functions f and g on S1 are equivalent if they
differ on a set of Lebesgue measure zero. Up to this equivalence, then, we can
interpret elements of LI'(S1) as functions such that If II' is finitely integrable over
S1.
1. Density results
For S1 C ]Rn open, we have seen that the linear vector space offunctions Cg:'(S1) is
dense in LI'(S1). Since LI'(S1) is a Banach space, this means that for any f E LI'(S1)
(where f is understood in the sense described in Section A2.1) and for any E > 0,
we can find g E Cg:'(S1) such that Ilf - gill' < E. Consequently, in most cases, it
suffices to prove a property for smooth functions. The same density result applies
for other classes of functions. We list some of the common classes here:
Problem A2.7. Prove that these two classes of functions are dense in LI'(S1).
The Schwartz functions form a particularly nice class of functions. By the same
argument as in Problem A2.7, these functions form a dense set in LI'(]Rn).
A2.2. Important Properties of U' -Spaces 297
IX I- 1, Ixl < 1,
f(x) = ! 0, Ixl ~ 1.
Then, f ELI (JR), but f2 ~ L 1(JR). We do, however, have the possibility that f g
belongs to some LP' -space if f and g belong to some other U - and Lt -spaces.
(I) We first prove the following inequality for any a, b E JR+ and any p, q E JR+
such that 1I p + 1I q = 1:
(A2.2)
(A2.3)
By the definition of j and g, we see that this is simply the desired inequality.
D
Proof. The Holder inequality with r = 1 implies that the right side of (A2A) is
bounded above by IIIll p . Assume I i O. Now let g == cIIIP-I. By a simple
calculation,
IIIgllI = cllfllf"
since (p - 1) = plq. D
Theorem A2.6 (The Minkowski inequality). Let 1 :::: p < 00 and f, g E LP.
Then
IIf + gllp :::: Ilfllp + Ilgll p ·
o
Problem A2.8. Formulate and prove the Minkowski and Holder inequalities for
IP,l :::: p < 00 (see Examples A1.2 and Problem AU).
We need one other result about sequences of functions that converge in the
LP-norm.
Theorem A2.8. Suppose that Un} is a sequence offunctions in LI(]Rn) that con-
verges to f in the L I-norm. Then, there is a subsequence Un(k)} that converges
pointwise almost everywhere to f.
(1) Let X = Y = ]Rn. Any linear transformation A : ]Rn -+ ]Rn (i.e., D(A) = ]Rn)
can be written in the form (AX)i =L:J=l AijXj, for some n 2 quantities
Aij E R This matrix representation of A depends on the choice of basis for
]Rn. The numbers Xi are the coefficients of X relative to this basis.
(3) Let X = Y = C([O, 1]) and let D(A) = C1([O, 1]), the LVS of continuous
functions that are differentiable and whose first derivatives are continuous.
Note that D(A) =I X. Define an operator A, for f E D(A), by (Af)(x) =
(dfldx)(x). Then A: C1([O, 1]) -+ C([O, 1]) is a linear operator.
302 Appendix 3. Linear Operators on Banach Spaces
(4) Let X = Y = C([O, I]) and let K(s, t) be continuous in sand ton [0, I] x
[0, IJ. Let f EX, and define (Af)(t) = JdK (t, s) f(s )ds.1t is easy to check
that this integral defines an element of X for each f E X. Hence, we may
take D(A) = X, and A is a linear operator.
(5) Let X = C([O, I]) and Y = R For each f E X, define Af = fol f(s)ds.
Then A: X --+ Y with D(A) = X is a linear operator.
(6) Let X = Y = C([O, I]). The map (Af)(x) = f 2 (x), defined on all of X, is
not linear. This is an example of a nonlinear operator.
Remark A3.4. Note that the definition of a linear operator includes both the do-
main and the action of the operator on elements in the domain. If the domain is
changed, the operator is also changed. All the operators in Examples A3.2 are
densely defined. A linear operator that is not densely defined has many undesir-
able properties (for example, we shall see that it does not have a uniquely defined
adjoint). For this reason, we will work only with densely defined operators. More-
over, we will assume that X is an NLVS. If D(A) C X is not dense, we will replace
X by D(A) == XI, the closure of D(A) in X, which is a Banach space. We then
consider the operator A with dense domain D(A) in X I.
It is possible to define algebraic operations on the family of linear operators
from X to Y. Assume X and Y have the same field of scalars F. In particular, we
have
(3) Multiplication: Let A, B be linear operators from X into Y, and let x E D(B)
be such that Bx E D(A). Then we can define AB on the set of all such x
by (AB)x = A(Bx). Note that if A and B are everywhere defined operators
from X into X, then AB and BA are everywhere defined on X.
A3.2. Continuity and Boundedness of Linear Operators 303
IIAflloo :S Iialloollfiloo
and
IIAfilp :s Iialloollfll p , 1:S p < 00.
So if fn ~ °
in any of these norms, Af" ~ 0.
Definition A3.7. An operator A : X ~ Y is bounded if there exists a K > Osuch
thatforany f E D(A),
IIAflly :S Kllfllx.
Remarks A3.8.
Proof.
(1) Let {x,,} C D(A) be a sequence such that x" ~ 0. Since A is bounded,
IIAx n II :S K Ilx n II ~ 0, so AXn ~ 0.
304 Appendix 3. Linear Operators on Banach Spaces
(2) Let x E X \ D(A). Since D(A) is dense, there is a sequence {xnl C D(A)
such that Xn ~ x. Because A is bounded, it follows that {Ax nl is Cauchy in
Y. Since Y is a Banach space, the sequence {Ax n l converges to some Y E Y.
Now define A On X by Ax == Ax, x E D(A), and Ax == limn--->oo Axn , for
x = limn---> 00 Xn tI- D(A) and {xnl C D(A). D
Problem A3.3. Complete the proof of Proposition A3.9 by showing that A is well
defined (i.e., independent of the sequence), that A is linear, that A is unique, and
that A is bounded.
Theorem A3.IO. Let A: X ~ Y be a linear operator. Then the following two
statements are equivalent:
(1) A is continuous;
(2) A is bounded.
Proof.
(I) => (2) Suppose A is continuous but unbounded. This means the exists a
sequence {xnl in D(A), with IIxnll < M, such that IIAxnl1 2: nllx,& Let
Yn == Xn IIAx n II-I. Then {Ynl C D(A), llYn II :s n- I , so Yn ~ 0, but
IIAYn II = 1; that is, lim n-+ oo AYn =I 0 but Yn ~ O. This contradicts the
continuity of A, so A must be bounded. D
which is equivalent to
o
FIGURE A3.1 The functions fn.
(1) All linear operators A : IR n -+ IRn are bounded. Note that there are actually
many norms on the set of n x n matrices. The most common are II A 1100 =
sUPi.j laij I, and IIAll lr =Tr(A* A)1/2. The norm defined in Definition A3.11
is the operator norm. This norm is distinguished by the fact that it satisfies
IIA* A II = IIA 11 2, where A * = AT and AT is the transpose of A.
(2) Let Af = af, with a, f E X == C([O, 1]). The multiplication operator
A is bounded in all norms on C([O, 1]) (although this space is a Banach
space only in the sup-norm). In the Banach space (C([O, 1]), II . 1100), we
have IIAII = lIalloo· To see this, note that for any f E X, IIAflloo =
lIafiloo :'S lIallooll flloo, and so IIAII :'S Iiall oo . Upon choosing f = 1 E X,
we have IIAfiloo = lIall oo , so lIalloo :'S IIAII.
(3) Let Af = f', f E C1([0, 1]), and X = C([O, 1]). Then A is unbounded. To
see this, we can, for example, note by Theorem A3.9 that if A was bounded
we could extend it to all X, but there are plenty of functions in X for which
l' does not exist! Alternately, consider a sequence of functions fn whose
graphs are given in Figure A3.1. Then each fn E C1([0, 1]), IIfn II = 1, but
II f~ II 00 -+ 00 as n -+ 00. Consequently, there exists no finite K > 0 such
that II Ain II :'S K II fn II 00 = K, for all n.
(4) Let Af(t) = J~ K(t, s)f(s)ds, where X = C([O, 1]) and K is continuous
on [0,1] x [0,1]. In the sup-norm on X, IIAII = SUPSE[O, 1] Jd IK(s, t)ldt.
Problem A3.5. Compute the bound on A given in Example A3.12 (4).
We now return to the algebraic structure on operators introduced in Section
A3.1. There, this structure was complicated by the fact that the domains depended
on the operators. In light of Proposition A3.9, we do not encounter this problem
if we restrict ourselves to bounded operators since we can then take the domain to
be all of X.
Definition A3.13. Let X and Y be two Banach spaces. We denote by L(X, Y) the
family of all bounded linear operators from X to Y.
306 Appendix 3. Linear Operators on Banach Spaces
Let us make a few remarks. First, in this definition, the space X need not be a
Banach space; an NLVS will do. Second, we will always assume that a bounded
operator on X has been extended so that its domain is all of X. Finally, if Y = X,
we write £(X) for £(X, X)).
ileA II = IcIIiAII,
IIA + BII < IIAII + IIBII·
Proof. Let {An} be a Cauchy sequence in £(X, Y). We must show that there exist
A E £(X, Y) such that A = limn---+oo An. Take any x E X and consider the
sequence {Anx}. Then we have
Problem A3.7. Continue the proof of Theorem A3.16. Show that A is well de-
fined on X, linear, and bounded. (Hint: Use the fact that III An II - II Am III :s
II An - Am II, so { II An II } is Cauchy and hence converges. For boundedness of
A, use
II Ax II :s n--+oo
lim IIAn x II :s ( lim IIAn II)
n---+oo
IIx II·)
and
So, by choosing n suitably large and using the Cauchy property of {An}, we have
lim ll --7oo II An - A II = O. 0
Problem A3.8. Show that reX x Y is a linear subspace (we assume that X and
Y have the same field of scalars). Note that X x Y is an LVS under componentwise
addition and scalar multiplication.
Proof.
(1) If there exists a linear operator A such that r = rCA) and (0, y) E r, then
y = A(O) = 0, so condition (A3.1) holds.
(2) Assume (A3.l) holds. Let D(A) = {x I (x, y) E r, for some y E Y}.Foreach
x E D(A), define Ax = y, where (x, y) E r. We want to show that A is well
defined and linear. Suppose there exist y, y' E Y such that (x, y) and (x, y')
are in r. Since r is linear, (x, y) - (x, y') = (0, y - y') E r and by (A3.1),
Y = yr. Hence, A is well defined. Second, if Xl, X2 E D(A) and A E C, then
(X] + X2, AXI + AX2) E r. This implies that (Xl + X2, A(XI + X2» E r, so
A(x] + X2) = AX2 + AX2. Since A(XJ, AXJ) = (Ax I , AAx]), A(AxI) = AAxl.
Hence, A is linear. D
308 Appendix 3. Linear Operators on Banach Spaces
(i) II(x, y)11 ~ 0 since Ilxllx ~ 0, Ilylly ~ 0 and it follows that II(x, y)11 =0
if and only if x = 0 = y.
Note that there are everywhere defined, unbounded operators. By Theorem A3.23,
these will not be closed!
Examples A3.24.
(1) Let X = (C([O, 1]), 11·1100) and A = dldx with D(A) = CI([O, 1]), as in Ex-
ample A3.2 (3). We claim that (A, D(A» is closed. To see this, let (fn, Afn)
be a convergent sequence in rcA). Then fn ~ f in X and Afn = f~ ~ gin
X. By a standard result on uniform convergence, f E CI([O, 1]) and f' = g.
Consequently, f E D(A) and (f, Af) E rCA). We can modify this example
slightly to obtain a closable operator whose closure is (A, D(A». Simply
take Al = dldx and D(Ad = C 2([0, 1]).
ProblemA3.11.Provethat(AI, D(A I»is closable and that its closure is (A, D(A».
D(A) c X, domain of A;
(1) {= Ifker A = {O}, then for any y E Ran(A), there exists a unique x E D(A)
such that Ax = y, for suppose XI, X2 E D(A) and AXI = Y = AX2. Then,
310 Appendix 3. Linear Operators on Banach Spaces
(2) ::::} Suppose A-I: Ran(A) -+ D(A) exists. If x E ker A, then x = A-I Ax =
0, soker A = {OJ. D
As this theorem shows, the condition for the existence of A-I is simply that
ker A = (OJ. This guarantees that the inverse map is a function. However, we have
little information about A -I. In particular, we would like A -I to be bounded on
all of Y.
Definition A3.27. A linear operator A is invertible if A has a bounded inverse
defined on all of Y.
Problem A3.12. Prove that if A is invertible, then A -1 is unique.
Example A3.28. Let X =C([O, 1]), and define A by
(Af)(t) = fat f(s)ds, f E X.
Proof. Since L~=o IITkll < Lf:o IITll k , and the series Lk IITilk converges (as
II TIl < 1, it is simply a geometric series), the sequence of bounded operators
L~=O Tk is norm Cauchy. Since Y is a Banach space, this Cauchy sequence con-
verges to a bounded operator. Now we compute
00 00
where the manipulations are justified by the norm convergence of the power series.
Similarly,
(fk=O
Tk) (1 - T) = 1,
so the series defines (1 - T)-I. 0
Theorem A3.31. Let A be invertible, and let B be bounded with II B II <
IIA-Ill- i . Then A + B is invertible and
(A+B)-I =(1+A- I B)-IA- I =A- I (l+BA- I )-I.
Proof. Write
A + B = A(l + A-I B),
and note that IIA -I BII :s IIA -III IIBII < I, so by Theorem A3.30, 1 + A -I B
is invertible (take T = -A -I B). By Theorem A3.29, the product A(l + A -I B) is
invertible and the first formula is obtained. By writing
A+B = (1 + BA-I)A,
we obtain the second formula. o
Example A3.32. Let X = Y = C([O, 1]), and let K(t, s) be a continuous function
on [0, 1] x [0, 1] (see Example A3.2 (4». We define a bounded operator K by
where fo E
r
C([O, 1]) is fixed. We claim that the equation has a unique solution
for any fo E C([O, 1]) if 1).1 < IIKII- I = (sUPO:,:t:'01 f~ IK(t, s)lds l . Indeed, in
that case II)'K II < I, so 1 - )'K is invertible by Theorem A3.30 and we have
f =(1 - )'K)-I fo,
f= L).iKifo,
i=O
which is useful since it provides a norm-approximate solution
N
fN = L).i Ki fo.
i=O
This problem can also be solved by applying the Fredholm alternative, Theorem
9.12.
312 Appendix 3. Linear Operators on Banach Spaces
We note that since L(X) is a Banach space, if {Bn} converges uniformly, then
the limit always exists and belongs to L(X). To describe the third notion of con-
vergence, weak convergence, we must introduce the LVS of linear functionals on
a Banach space X.
Definition A3.34. A map I: X -;. ~ is called a bounded linear functional if I is
linear on X, that is, for any x, y E X and A E ~ (or C)
and 3Kt > ° such that for all x E X, II(x)1 :::: Ktllx II. The set of all bounded
linear functionals on X is denoted by X*, the dual of X.
It is an elementary fact that X* is a Banach space. Here, we are interested in the
following definition.
Definition A3.35. A sequence {Bn} in L(X) converges weakly to B E L(X) iffor
all I E X* and x EX, [1(Bnx) -1(Bx)] = I(Bnx - Bx) -;. 0, as n -;. 00.
Problem A3.14. Prove that uniform convergence =} strong convergence =} weak
convergence.
Appendix 4. The Fourier Transform,
Sobolev Spaces, and Convolutions
Definition A4.1. For any f E S(JR n ), define the Fourier transform j(k) by
we have
where D stands for any partial derivative in ki. By the fast convergence of the
integral, we can write
IIgll 2 = f ig(k)i 2 dk
= f Ip(iD)e-~f dk
(t, p(iD)p(iD)t) ,
where we have integrated by parts and write t(k) == e- k2 /2. Retracing the above
steps, the inner product can be written as
IIgll~ .
A4.1. Fourier Transform 315
The reader can verify that the integration by parts and the interchange of the order
of integration are all valid due to the absolute convergence of the integral and the
superexponential vanishing of the integrand as Ilx II or Ilk II -+ 00. Because of the
linearity of the map fEE -+ J E E, we have shown for any fEE,
IIfl12 = IIJI12.
Now E is dense in L2(]Rn), since the Hermite functions form a basis for L2(]Rn).
Hence, we have proven the next result.
f
so that
g(x) = (271T~ eik .x g(k)dk. (A4.4)
Remarks A4.3.
(2) Formula (A4.4) is called the Fourier inversion formula. Formulas (A4.1) and
(A4.4) are not defined for arbitrary f E L2(]Rn). It can be shown, however,
that the functions defined for R > 0 and f E L2(]Rn) by
Finally, we note that the simple identity (A4.2) and the related identity
( a)
-
aXi
e -ik·x = - I·kie -ik·x (A4.S)
316 Appendix 4. The Fourier Transform, Sobolev Spaces, and Convolutions
show the utility of the Fourier transform for solving constant coefficient partial dif-
ferential equations on 1K1l. In particular, if g E S(lKll ), then denoting the Laplacian
by -~,
we obtain
(A4.6)
Using the inversion formula, we can write the left side of (A4.6) as
or
(A4.7)
valid on the domain of the Laplacian in L2(1K1l). This identity will be useful in our
study of Sobolev spaces in the next section.
Note that the right side of (A4.8) makes sense even if g is not differentiable.
By Holder's inequality, Theorem A2.4, both sides converge. We call </> the LP-
derivative of g with respect to Xi. In a similar manner, we can define higher-order,
weak LP -derivatives.
We can now define Sobolev spaces as the completion of Cg"(lKll) with respect
to the following norm. Let a = (aI, ... , all) denote an n-tuple of positive integers,
A4.3. Convolutions 317
and let la I == L:7=1 ai ~ O. For 1 :::: p < 00 and sEN, we define for any
f E cgoORn),
IIfIIs,p = [
nil aai f II P]
I~s ~ ax~i P
~ (A4.9)
Definition A4.S. The pth Sobolev space of order s, H s, p (JR n), is the Banach space
obtained as the completion of (Cg"(JR n ), II . IIs,p).
As in the case of LP(JRn), it can be shown that HS,P(JR n ) is the set of all func-
tions f E LP that have distributional LP -derivatives up to and including order s.
Additionally, when p = 2, we write H s (JR n ) for the Sobolev space of order s.
The Fourier transform and formulas (A4.2) and (A4.5) allow us to characterize
HS(JRn ) as follows. For f E S(JRn ), we define
(A4.1O)
These two norms (A4.9) and (A4.1O) are equivalent in that they have the same
Cauchy sequences (see Problem A3.9). Consequently, the completion yields the
same Banach space HS(JR n ).
Problem A4.S. Verify that the norms (A4.9) and (A4.1O) on S(JRn ) are equiva-
lent.
Functions in the Sobolev spaces S(JRn ) become more regular with increasing
index s. We will state one version of a theorem of this type. This is an example
of a body of results called the Sobolev embedding theorems. These theorems are
used to prove the regularity of solutions to elliptic differential equations.
Theorem A4.6. Any function f E Hs+k(JR n), for s > nl2 and k ~ 0, can be
represented by afunction in Ck(JRn ).
A4.3 Convolutions
We recall that for two functions f, g E Cg"(JRn ), the convolution of f and g,
denoted by f * g, is defined by
318 Appendix 4. The Fourier Transform, Sobolev Spaces, and Convolutions
(A4.11)
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Index
61. SattingerlWeaver: Lie Groups and Algebras with 87. Weder: Spectral and Scattering Theory for Wave
Applications to Physics, Geometry, and Propagation in Perturbed Stratified Media.
Mechanics. 88. BogaevskilPovzner: Algebraic Methods in
62. LaSalle: The Stability and Control of Discrete Nonlinear Perturbation Theory.
Processes. 89. O'Malley: Singular Perturbation Methods for
63. Grasman: Asymptotic Methods of Relaxation Ordinary Differential Equations.
Oscillations and Applications. 90. MeyerlHall: Introduction to Hamiltonian
64. Hsu: Cell-to-Cell Mapping: A Method of Global Dynamical Systems and the N-body Problem.
Analysis for Nonlinear Systems. 91. Straughan: The Energy Method, Stability, and
65. Rand/Armbruster: Perturbation Methods, Nonlinear Convection.
Bifurcation Theory and Computer Algebra. 92. Naber: The Geometry of Minkowski Spacetime.
66. HlavaceklHaslingerlNecasllLovlsek: Solution of 93. ColtoniKress: Inverse Acoustic and
Variational Inequalities in Mechanics. Electromagnetic Scattering Theory.
67. Cercignani: The Boltzmann Equation and Its 94. Hoppensteadt: Analysis and Simulation of
Applications. Chaotic Systems.
68. Temam: Infinite Dimensional Dynamical 95. Hackbusch: Iterative Solution of Large Sparse
Systems in Mechanics and Physics. Systems of Equations.
69. GolubitskylStewartiSchaeffer: Singularities and 96. MarchiorolPulvirenti: Mathematical Theory of
Groups in Bifurcation Theory, Vol. II. Incompressible Nonviscous Fluids.
70. ConstantiniFoiaslNicolaenkolTemam: Integral 97. Lasota/Mackey: Chaos, Fractals, and Noise:
Manifolds and Inertial Manifolds for Dissipative Stochastic Aspects of Dynamics, 2nd ed.
Partial Differential Equations. 98. de BoorlHlJlliglRiemenschneider: Box Splines.
71. Catlin: Estimation, Control, and the Discrete 99. HaleiLunel: Introduction to Functional
Kalman Filter. Differential Equations.
72. LochaklMeunier: Multiphase Averaging for 100. Sirovich (ed): Trends and Perspectives in
Classical Systems. Applied Mathematics.
73. Wiggins: Global Bifurcations and Chaos. 101. NusseIYorke: Dynamics: Numerical
74. MawhinIWillem: Critical Point Theory and Explorations.
Hamiltonian Systems. 102. Chossatl/ooss: The Couette-Taylor Problem.
75. Abraham/Marsden/Ratiu: Manifolds, Tensor 103. Chorin: Vorticity and Turbulence.
Analysis, and Applications, 2nd ed. 104. Farkas: Periodic Motions.
76. Lagerstrom: Matched Asymptotic Expansions: 105. Wiggins: Normally Hyperbolic Invariant
Ideas and Techniques. Manifolds in Dynamical Systems.
77. Aldous: Probability Approximations via the 106. CercignanilIllnerlPulvirenti: The Mathematical
Poisson Clumping Heuristic. Theory of Dilute Gases.
78. Dacorogna: Direct Methods in the Calculus of 107. Antman: Nonlinear Problems of Elasticity.
Variations. 108. Zeidler: Applied Functional Analysis:
79. Hernandez-Lerma: Adaptive Markov Processes. Applications to Mathematical Physics.
80. Lawden: Elliptic Functions and Applications. 109. Zeidler: Applied Functional Analysis: Main
81. BlumaniKumei: Symmetries and Differential Principles and Their Applications.
Equations. llO. Diekmannlvan Gi/slVerduyn LunellWalther:
82. Kress: Linear Integral Equations. Delay Equations: Functional-, Complex-, and
83. BeberneslEberly: Mathematical Problems from Nonlinear Analysis.
Combustion Theory. lll. Visintin: Differential Models of Hysteresis.
84. Joseph: Fluid Dynamics of Viscoelastic Fluids. 112. Kuznetsov: Elements of Applied Bifurcation
85. Yang: Wave Packets and Their Bifurcations in Theory.
Geophysical Fluid Dynamics. 113. HisloplSigal: Introduction to Spectral Theory:
86. DendrinoslSonis: Chaos and Socio-Spatial With Applications to Schriidinger Operators.
Dynamics.