}
Amartya Goswami
University of Limpopo
Preface
This study guide is a compilation of the materials taken from the resources mentioned in
references. Notes are designed to motivate students in pure mathematics through the study of
finite-dimensional vector spaces. Problems have been provided after each section to grasp the
relevant ideas.
The aim of this course is to give the very basic foundation on finite-dimensional vector
spaces.
Amartya Goswami
i
How to do Mathematics?
When you are with any mathematical text, never ever read it like a story book. You need
to study it actively. What does it mean by that? Well! Assume you come across a definition.
Now, what should you do? First check whether do you know all the “mathematical words” in
the definition (except the defining word). If not, do the following with each unknown word:
Try to find examples of the mathematical word. It will be great if you come up with your own
examples which are not written in the text. Then try to find examples which are not examples
of that mathematical word, that is “counter-examples”. Once you do this process with all un-
known mathematical words, try to find examples and counter-examples of the defining word.
On completion of this process, you will definitely understand that definition.
Next, probably you will see a theorem or a proposition. Along with some extra conditions,
generally those things talk about properties of the mathematical words you have encountered
before. First thing you need to do is to look at the result carefully for a while. Ask yourself:
What does it mean? Does the property hold if we remove one or more assumptions from the
statement of the theorem? Do I know all the “ingredients” to prove the result? Once you
are satisfied with all these questions, try to prove the result by yourself without looking at
the proof given in the text. Proving a result by yourself is the biggest achievement towards
learning mathematics. Once you have a proof, try to understand overall meaning of the result
and how does the result contribute to the theory.
Finally, solving exercises are just a process of checking your understanding of the text you
have just read. Therefore, if you have understood the text up to the trivial level, solving
exercises become merely a routine work for you.
iii
Greek alphabet
v
C ONTENTS
Preface i
Greek alphabet v
0 Introduction 1
0.1 What is linear algebra? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
0.2 Mathematical prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
vii
viii Contents
References 59
I NTRODUCTION
0
0.1 What is linear algebra?
Mathematics is the study of mathematical structures and in particular, linear algebra is the
study of the algebraic structures called vector spaces or linear spaces and structure preserving
maps between them called linear transformations or linear maps. Like other mathematical
structures, from given vector spaces we construct new vector spaces: product of vector spaces,
subspaces, and quotient spaces. Every vector space has a set of free generators called basis
and in general a vector space may have many bases. The number of elements in a basis is the
dimension of the vector space.
Explicit calculations with a linear maps usually depend on a representation of that linear
map by a matrix of scalars. Each linear map has such a matrix representation under given
bases of the domain and the codomian spaces of the map. The idea is to develop ways of
replacing operations on linear maps by operations on the corresponding matrices, as well as
methods of describing the change in the matrix representing a linear map caused by a change
in the choice of bases.
1
2 CHAPTER 0. INTRODUCTION
D EFINITION 0.2.6 Given maps f : A → B and g : B → C, the composite of the maps f and g,
(we write g ◦ f : A → C) defined by
g ◦ f = {(a, c) ∈ A ×C | c = g( f (a))}.
f
A / B
g
h
C
T HEOREM 0.2.1 A function with non-empty domain is an injection if and only if it has a left
inverse. A function is a surjection if and only if it has a right inverse.
Remark 0.2.3. A map f : A → B is a bijection if and only if for every b in B there exists a
unique a in A with f (a) = b.
D EFINITION 0.2.10 Let f : A → B be a map. For a subset X of A, the image f (X) of X under
f is defined by
f (X) = {b ∈ B | ∃x∈X f (x) = b}.
Let f : A → B be a map. For a subset X of B, the inverse image f −1 (X) of X under f is
defined by
f −1 (X) = {a ∈ A | f (a) ∈ X}.
Remark 0.2.4. Using such an operation we shall often write a ◦ b instead of ◦(a, b).
D EFINITION 0.2.13 Let ◦ be a binary operation on a set X, while ◦0 is another such operation
on a set X 0 . A morphism or a homomorphism f : (X, ◦) → (X 0 , ◦0 ) is defined to be a map on
X to X 0 such that f (x ◦ y) = f (x) ◦0 f (y) for all x, y ∈ X.
Remark 0.2.5. Two sets (X, ◦) and (X 0 , ◦0 ), each with a binary operation, are called isomor-
phic when there exists some map which is an isomorphism and we denote it by (X, ◦) ∼ =
0 0
(X , ◦ ).
D EFINITION 0.2.15 A group is a set G together with a binary operation G×G → G, written
(a, b) 7→ ab, such that:
(i) The operation ◦ is associative.
(ii) There is an element e ∈ G with ea = a = ae for all a ∈ G.
(iii) For this element e, there is to each element a ∈ G an element a0 ∈ G with aa0 = e = a0 a.
Remark 0.2.6. The element ab is called the product of a and b in G, while e is the unit or the
identity of G, and a0 the inverse of a in G. Here the binary operation in G has been written as
a product; often it may be written as a sum (a, b) 7→ a + b; we say accordingly that the group is
multiplicative or additive. For additive or multiplicative groups we denote the corresponding
identity elements by 0 or 1, whereas the inverse of an element a is denoted by −a or 1/a. The
letter G will stand both for the set of elements of the group and for this set together with its
binary operation.
T HEOREM 0.2.4 In a group G, the identity element is unique and for each element a ∈ G the
inverse element a0 of a is also unique.
T HEOREM 0.2.5 Any group homomorphism preserves identity and inverse elements.
D EFINITION 0.2.17 Let f : G → H be any morphism of groups. The image of f is the set
Im f = { f (a) ∈ H | a ∈ G}. The set Ker f = {a ∈ G | f (a) = 0} is called the kernel of the
morphism f .
T HEOREM 0.2.6 For any morphism f : G → H of groups, the sets Im f and Ker f are subgroups
of H and G respectively.
CHAPTER 0. INTRODUCTION 5
D EFINITION 0.2.18 A field is a set F with two binary operations, addition + and multipli-
cation · such that (F, +, 0) and (F \{0}, ·, 1) are abelian groups, and for all α, β , γ ∈ F the
following distributive property holds:
α · (β + γ) = α · β + α · γ.
Remark 0.2.8. Having in mind · as the multiplicative operation, we often write the product of
two elements α and β of F as αβ instead of α · β .
Review problems
P ROBLEM 0.2.1 Let R be the set of real numbers. Which of the following relations R → R
are maps?
(a) {(x, y) ∈ R × R | x = y};
(b) {(x, y) ∈ R × R | x 6= y};
(c) {(x, y) ∈ R × R | x2 = y};
(d) {(x, y) ∈ R × R | xy = 1}.
P ROBLEM 0.2.2 Which of the followings define a binary operations on the set of integers? Of
those that do, which are associative? Which are commutative? Which are idempotent?
(a) m ◦ n = mn + 1;
(b) m ◦ n = (m + n)/2;
(c) m ◦ n = m;
(d) m ◦ n = mn2 ;
(e) m ◦ n = m2 + n2 ;
(f) m ◦ n = 3.
6 CHAPTER 0. INTRODUCTION
P ROBLEM 0.2.3 Let α, β , and γ be maps from Z → Z defined by α(n) = 2n, β (n) = n + 1,
and γ(n) = n2 . Write a formula for each of the following compositions:
(a) α ◦ α;
(b) γ ◦ α;
(c) α ◦ β ;
(d) β ◦ β ;
(e) β ◦ γ;
(f) γ ◦ γ.
P ROBLEM 0.2.4 Each of the following maps, decide which are injections, surjections, or bi-
jections:
(a) f : N → Z; f (x) = 2x;
(b) f : Z → Z; f (x) = x − 4;
(c) f : N → N; f (x) = x2 ;
(d) f : R → R; f (x) = x3 .
P ROBLEM 0.2.5 Each of the following maps are from R to R. Find the inverse maps in each
case:
(a) f (x) = 5x;
(b) f (x) = x − 4;
(c) f (x) = −x/2;
(d) f (x) = x3 .
P ROBLEM 0.2.6 Let R be the set of real numbers, and R : R → R a relation. In which of the
following cases it is (i) reflexive? (ii) symmetric? (iii) transitive?
(a) R = {(x, y) ∈ R × R | 3x + 3x + 1 = 3y + 3y + 1};
(b) R = {(x, y) ∈ R × R | x + y = 0};
(c) R = {(x, y) ∈ R × R | x2 − y2 = 0};
(d) R = {(x, y) ∈ R × R | x ≤ y}.
P ROBLEM 0.2.7 Let R be the set of real numbers, f : R → R a map, and E the equivalence
relation on R defined by E = {(x, y) ∈ R × R | f (x) = f (y)}. Describe the equivalence classes
of the numbers 0, 1, and 2 in the following cases:
(a) f (x) = 2x + 1 for all x ∈ R;
(b) f (x) = x3 for all x ∈ R;
(c) f (x) = x3 + x for all x ∈ R;
(d) f (x) = x3 − x for all x ∈ R.
P ROBLEM 0.2.8 (a) Prove that in any group G satisfies the right and left cancellation laws:
For all a, b, c ∈ G, ab = ac =⇒ b = c; ba = ca =⇒ b = c.
(b) For e be the identity element of a group G and for all a, b ∈ G, prove that
(c) Prove that any group homomorphism f : G → G0 of groups preserves the identity and
inverse elements, i.e. f (e) = e0 and f (a−1 ) = ( f (a))−1 .
(d) Assume that a, b are elements of a group G. Show that ab = ba if and only if (ab)2 = a2 b2 .
P ROBLEM 0.2.9 In any field F and a, b, c, d ∈ F, show that the followings hold:
(a) (a/b) + (c/d) = (ad + bc)/bd, b, d 6= 0;
(b) (a/b)(c/d) = (ac)/(bd), b, d 6= 0;
(c) −(a/b) = (−a)/b = a/(−b), b 6= 0;
(d) (a/b)−1 = b/a, a, b 6= 0;
(e) (a/b)/(c/d) = (ad)/(bc), b, c, d 6= 0.
P ROBLEM 0.2.10 (a) Show that for any field morphism α : F → F 0 and a, b ∈ F, b 6= 0 we
have α(a/b) = (αa)/(αb).
(b) A morphism of fields is an injection.
F INITE - DIMENSIONAL VECTOR SPACES
1
1.1 Vector spaces
D EFINITION 1.1.1 A vector space V over a field F is an additive abelian group together with
a map F ×V → V, written (α, v) 7→ αv, and subject to the following axioms, for all elements
α, β ∈ F and v, w ∈ V :
Remark 1.1.1. The elements of the vector space V are called the vectors. The binary operation
of the abelian group V is called the addition, and the additive identity of the abelian group
V is called the zero vector or the null vector of V. The elements of the field F are called
the scalars, and the map F × V → V is called the scalar multiplication. The multiplicative
identity of F is denoted by 1.
Remark 1.1.2. For the rest of this course V will denote a vector space over a field F, and our
fields will be either R or C unless otherwise stated. If F = R, we call V is a real vector space
whereas if F = C, we say V is a complex vector space.
Remark 1.1.3. We will use the notation u − v for the addition u + (−v) of two vectors u and
−v, where −v is the additive inverse of v. We will use the same symbol 0 to denote both the
zero vector of V (that is the additive identity of V ) and the scalar zero of F (that is the additive
identity of F).
9
10 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
P ROPOSITION 1.1.2 Let U and V be two vector spaces over the same field F. The cartesian
product U ×V over F forms a vector space with respect to the following two operations:
(u, v) + (u0 , v0 ) = (u + u0 , v + v0 ),
α(u, v) = (αu, αv),
where u, u0 ∈ U, v, v0 ∈ V, and α ∈ F.
Proof. Exercise.
Remark 1.1.4. The vector space U ×V in Proposition 1.1.2 is called the product of the vector
spaces U and V.
Problems
P ROBLEM 1.1.1 Show that in a vector space there is only one zero vector.
P ROBLEM 1.1.2 Let V be a vector space and v ∈ V. Show that there is exactly one vector w ∈ V
such that v + w = w + v = 0.
P ROBLEM 1.1.3 Let V be a vector space and v, w two vectors of V. If v + w = 0, show that
w = −v.
P ROBLEM 1.1.4 Let V be a vector space, and v, w two vectors of V such that v + w = v. Show
that w = 0.
P ROBLEM 1.1.5 In any vector space V over a field F, prove that n(αv) = α(nv), where α ∈ F,
v ∈ V and n ∈ Z.
P ROBLEM 1.1.6 If F is a field then show that F n is a vector space over F under the following
two operations:
(i) (α1 , α2 , . . . , αn ) + (β1 , β2 , . . . , βn ) = (α1 + β1 , α2 + β2 , . . . , αn + βn ),
(ii) α(α1 , α2 , . . . , αn ) = (αα1 , αα2 , . . . , ααn ),
where α ∈ F, (α1 , α2 , . . . , αn ) ∈ F n , and (β1 , β2 , . . . , βn ) ∈ F n .
P ROBLEM 1.1.7 Let S be a set and F be a field. Let V be the set of all maps f : S → F of S
into F. Prove that V is a vector space over F under the following two operations:
(i) ( f + g)(x) = f (x) + g(x),
(ii) (α f )(x) = α f (x),
where α ∈ F, and f , g ∈ V.
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 11
P ROBLEM 1.1.8 Which of the following sets of polynomials in R[x] are vector spaces over R:
(i) all polynomials of degree exactly 4;
(ii) all polynomials of degree at most 4;
(iii) all monic polynomials;
(iv) all polynomials of even degree?
P ROBLEM 1.1.9 Prove that the set V = { f : R → R | f (x) 6= 0 ∀x ∈ R} does not form a vector
space over R under the following two operations:
(i) ( f + g)(x) = f (x) + g(x), (ii) (α f )(x) = α f (x), where α ∈ R, and f , g ∈ V.
P ROBLEM 1.1.10 Let V = {x ∈ R | x > 0}. For x, y ∈ V and α ∈ R define addition and scalar
multiplication as: x + y = xy and αx = xα . Show that V is a vector space over R.
Remark 1.2.1. Since we usually deal with a fixed field F, we omit the prefix F, and say simply
that f is linear.
Remark 1.2.2. A linear map f : V → V (that is an endomorphism) is also often called an
operator, whereas linear maps f : V → F with codomain F (vector space F over itself) are
called linear functionals or linear forms.
T HEOREM 1.2.1 Let U × V be the product of vector spaces U and V over the same field
F. Define the maps π1 : U × V → U and π2 : U × V → V by π1 (u, v) = u and π2 (u, v) = v
respectively. Then
(a) the maps π1 and π2 are linear.
(b) For any vector space W with two linear maps f : W → U and g : W → V, there exists
a unique linear map h : W → U × V such that the two triangles in the following diagram
commute:
U oc 1 U ×V /V
π π2
O ;
h g
f
W
that is, f = π1 ◦ h and g = π2 ◦ h.
and
π1 (α(u, v)) = π1 (αu, αv) = αu = απ1 (u, v).
Therefore π1 is linear. The proof of linearity of π2 is similar.
(b) Define a map h : W → U × V by h(w) = ( f (w), g(w)). Immediately we notice that for
w ∈ W, (π1 ◦ h)(w) = π1 (h(w)) = π1 ( f (w), g(w)) = f (w), that is f = π1 ◦ h. The proof of
f = π2 ◦ h is similar.
For linearity of h, we notice that
h(w + w0 ) = ( f (w + w0 ), g(w + w0 ))
= ( f (w) + f (w0 ), g(w) + g(w0 ))
= ( f (w), g(w)) + ( f (w0 ), g(w0 ))
= h(w) + h(w0 ),
and
h(αw) = ( f (αw), g(αw))
= (α f (w), αg(w))
= α( f (w), g(w))
= αh(w).
We can see there is exactly one such h satisfying the conditions f = π1 ◦ h and g = π2 ◦ h.
Proof. We notice that for any α ∈ R, we have f (α) = f (1 · α) = α f (1). Therefore a linear
map f : R → V is completely determined by the vector f (1).
T HEOREM 1.2.2 If V and V 0 are two vector spaces over a field F, then the set HomF (V,V 0 ) =
{ f | f : V → V 0 is a linear map} is an abelian group under pointwise addition of maps.
Remark 1.2.3. Hereafter “hom”, with lower case “h” refers to the set of these morphisms f
and “Hom”, with capital “H”, to the additive group of these f .
Proof. The pointwise sum of two morphisms f , g : V → V 0 is the map f + g defined for all v ∈
V by ( f + g)(v) = f (v) + g(v). For any scalar κ, ( f + g)(κv) = κ( f (v) + g(v) = κ[( f + g)(v)],
so f + g is a morphism for any scalar multiple a v 7→ κv. It is also a morphism for addition
because, for any two vectorss v, w ∈ V,
( f + g)(v + w) = f (v + w) + g(v + w) = f (v) + f (w) + g(v) + g(w),
while
( f + g)(v) + ( f + g)(w) = f (v) + g(v) + f (w) + g(w);
the two results are equal because addition in V 0 is commutative. This sum gives a binary
operation ( f , g) 7→ f + g on HomF (V,V 0 ). As a pointwise sum, it is associative and commu-
tative. The zero for this sum is that morphism 0 which sends every v to 0 (the zero morphism
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 13
using the fact that h is a linear map. The proof of the second distributive law is similar, but
does not use the linearity of f .
L EMMA 1.2.1 If f : V → V 0 is an F-linear map then for each α ∈ F the pointwise multiple α f
is also an F-linear map on V to V 0 .
Proof. Here α f : V → V 0 is the map defined by (α f )(v) = α f (v) for each v ∈ V. Clearly, α f
is a morphism of addition (prove it!). Moreover, for any scalar κ and any v ∈ V,
T HEOREM 1.2.4 For vector spaces V and V 0 over a field F, the set HomF (V,V 0 ) is itself a
vector space over F under pointwise addition and pointwise scalar multiplication.
Proof. The proof is a straight forward verification of the vector space axioms for the multiples
(α, f ) 7→ α f defined by the above lemma.
Proof. (a) The statement just reformulates the definition, for f is a surjection precisely when
Im f = V 0 .
(b) We know f (0) = 0. Therefore 0 ∈ Ker f . Suppose f is an injection and v ∈ Ker f . Then
f (v) = 0 = f (0) =⇒ v = 0,
14 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
where we have used the fact that f is an injection. Conversely, suppose that Ker f = 0. If
f (v) = f (w), then f (v − w) = f (v) − f (w) = 0, so v − w ∈ Ker f . Since Ker f = 0, we have
v = w; hence, f is indeed injective.
(c) The statement follows from (a) and (b).
Problems
P ROBLEM 1.2.1 Determine which of the following maps f are linear:
(i) f : R3 → R2 defined by f (x, y, z) = (x, z).
(ii) f : R2 → R2 defined by f (x, y) = (2x + y, y).
(iii) f : R2 → R2 defined by f (x, y) = (2, y − x).
(iv) f : R2 → R2 defined by f (x, y) = (y, x).
(v) f : R2 → R defined by f (x, y) = xy.
P ROBLEM 1.2.3 Let V be a vector space over R, and let v, w ∈ V. The line passing through v
and parallel to w is defined to be the set of all vectors v + tw with t ∈ R. The line segment
between v and v + w is defined to be the set of all vectors v +tw with 0 ≤ t ≤ 1. Let f : V → U
be a linear map. Show that the image under f of a line segment in V is a line segment in U.
Between what points? Show that the image of a line under f is either a line or a point.
P ROBLEM 1.2.4 Let V be the vector space of maps which have derivatives of all orders, and
let D : V → V be the derivative. What is the kernel of D?
P ROBLEM 1.2.5 Let V be the space of all infinitely differentiable functions, and let D : V → V
be the derivative.
(i) Let L = D − I, where I is the identity map. What is the kernel of L?
(ii) Same question if L = D − aI, where a is a real number.
P ROBLEM 1.2.6 Let f : R2 → R2 be the linear maps as indicated. Show that f is a bijection
in each case.
(i) f (x, y) = (x + y, x − y).
(ii) f (x, y) = (2x + y, 3x − 5y).
P ROBLEM 1.2.7 (i) Let L : V → V be a linear map such that L2 = O. Show that I − L is a
bijection.
(ii) Let L : V → V be a linear map such that L2 + 2L + I = O. Show that L is a bijection.
(iii) Let L : V → V be a linear map such that L3 = O. Show that I − L is a bijection.
Here Ln = L ◦ L ◦ · · · ◦ L, the composition of n linear maps L. I is the identity map on V.
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 15
Remark 1.3.1. We notice that every subspace S of a vector space V over a field F is itself a
vector space over the same field F.
Remark 1.3.2. Among the subspaces of V, the subspace V itself and the set 0 consisting of
the zero vector alone are called the trivial or improper subspaces of V. Any subspace of V
different from these two is said to be a non-trivial or proper subspace of V.
P ROPOSITION 1.3.1 The set of subspaces of a vector space V satisfies the following properties:
(a) Every subspace S is a subspace of itself.
(b) Let S and T be two subspaces of V. If S is a subspace of T and T is a subspace of S then
S = T.
(c) Let S, T, and U be three subspaces of V. If S is a subspace of T, and T is a subspace of U
then S is a subspace of U.
Proof. Exercise.
P ROPOSITION 1.3.2 If S and T are two subspaces of a vector space V then so are the follow-
ings:
(a) the intersection S ∩ T = {v | v ∈ S and v ∈ T };
(b) the sum S + T = {s + t | s ∈ S and t ∈ T };
(c) the span Fv = {αv | α ∈ F}.
Proof. Exercise.
T HEOREM 1.3.1 For any linear map f : V → V 0 the sets Im f and Ker f are subspaces of V 0 and
V respectively.
Remark 1.3.3. Sometimes Ker f is called the null space and Im f the range space of f .
P ROPOSITION 1.3.3 If S and T are two subspaces of a vector space V, then the following
properties are equivalent:
(a) S ∩ T = {0}.
(b) Every vector in S + T can be written uniquely in the form s + t, where s ∈ S and t ∈ T.
Proof. To show that (b) implies (a), we note that if v ∈ S ∩ T, then v + 0 = 0 + v and the
uniqueness forces v = 0. Conversely, if (a) holds, then for s, s0 ∈ S and t,t 0 ∈ T, s + t = s0 + t 0
16 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
D EFINITION 1.3.3 Let a + S and b + T be two linear varieties of V. We say that a + S and b + T
are parallel if S ⊆ T.
P ROPOSITION 1.3.5 Parallel varieties a + S and b + T are either totally disjoint or one of them
is contained in the other. Through any vector v ∈ V, there is one and only one variety with the
given direction (and therefore parallel to T ), namely v + S.
(ii) If a is a vector of V, then the translation fa : V → V has an inverse map which is the
translation f−a .
(iii) The set of all translations S = { fa | a ∈ V } on V forms an abelian group under the binary
operation ◦ : S × S → S defined by fa ◦ fb = fa+b .
(iv) The group (S, ◦) is isomorphic to the additive group structure of V.
Problems
P ROBLEM 1.3.1 Which of the following subsets of R2 are not subspaces?
(i) The line x = y.
(ii) The unit circle x2 + y2 = 1.
(iii) The line 2x + y = 1.
(iv) The set {(x, y) ∈ R2 | x ≥ 0, y ≥ 0}.
P ROBLEM 1.3.2 Prove that all lines through the origin and planes through the origin in R3 are
subspaces.
P ROBLEM 1.3.3 Let U, V, W be three subspaces of a vector space E. Show that if U ⊆ V, then
U + (V ∩W ) = (U +V ) ∩ (U +W ). Is this true if U is not a subspace of V ?
P ROBLEM 1.3.4 Let U, V, W be three subspaces of a vector space E. Show that if V ⊆ U, then
U ∩ (V +W ) = (U ∩V ) + (U ∩W ). Is this true if V is not a subspace of U?
P ROBLEM 1.3.7 Let V be a vector space. Let P : V → V be a linear map such that P2 = P.
Show that V = KerP + ImP and KerP ∩ ImP = {0}.
P ROBLEM 1.3.8 Let V be a vector space, and let P, Q be linear maps of V into itself. Assume
that they satisfy the following conditions:
(a) P + Q = I (identity map).
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 19
(b) PQ = QP = 0.
(c) P2 = P and Q2 = Q.
Show that V is equal to the direct sum of ImP and ImQ.
Proof. Exercise.
Remark 1.4.1. An equivalence class of the above equivalence relation is called a coset of S in
V, and is denoted by a + S = {a + s | s ∈ S}. By V/S = {a + S | a ∈ V }, we denote the set of
all equivalence classes of S in V.
Proof. Let a + S and b + S have non-empty intersection. Then there exists v ∈ V such that v ∈
a + S and v ∈ b + S, that is v = a + s and v = b + s0 for some s, s0 ∈ S. But then a − b = s − s0 ∈ S
This proves the last statement of the theorem.
Let u = a − b ∈ S. Let x ∈ a + S. Then x = a + s00 for some s ∈ S. Since a = (a − b) + b and
u = a − b ∈ S we see that x = u + b + s00 or x = b + s1 where s1 = u + s00 ∈ S. Thus x ∈ b + S.
Since x was an arbitrary element of a+S, we have thus proved that a+S ⊆ b+S. Interchanging
a and b we see that b + S ⊆ a + S.
P ROPOSITION 1.4.2 The set V/S forms a vector space over F under the following two opera-
tions:
(a) (a + S) + (b + S) = (a + b) + S;
(b) α(a + S) = (αa) + S,
where α ∈ F and a + S, b + S ∈ V/S.
Proof. Exercise.
T HEOREM 1.4.2 The map p : V → V/S defined by p(a) = a + S is a surjective linear map with
Kerp = S.
Proof. Linearity:
(i) p(a + b) = (a + b) + S = (a + S) + (b + S) = p(a) + p(b),
(ii) p(αa) = (αa) + S = α(a + S) = α p(a).
20 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
T HEOREM 1.4.3 Let S be a subspace of a vector space V and p : V → V/S be the linear map
defined by p(a) = a + S. If we have another linear map f : V → W such that S ⊆ Ker f then
there exists a unique linear map h : V/S → W such that the following diagram commutes:
p
V / V/S
h
f
W
that is, f = h ◦ p. Also, we have Imh = Im f and Kerh = Ker f/S.
C OROLLARY 1.4.1 Let S be a subspace of a vector space V and p : V → V/S be the linear
map defined by p(a) = a + S. If we have another linear surjective map f : V → W such that
S = Ker f , then we have an isomorphism V/Ker f ∼
= Im f .
Proof. Exercise.
Problems
P ROBLEM 1.4.1 Find the cosets in each of the following cases:
(i) V = R2 , S = {(x, 0) | x ∈ R}.
(ii) V = R3 , S = {(x, y, 0) | x, y ∈ R}.
(iii) V = R2 , S = {(x, y) | ax + by = 0, (a, b) is a non-zero fixed vector of R2 }.
P ROBLEM 1.4.3 Let V be a direct sum of M and N. Prove that the map
f : M → V/N
defined by f (m) = m + N is a linear isomorphism.
Remark 1.5.1. The field F is itself a vector space, and a function ξ : n → F is a list of n scalars
ξ1 , . . . , ξn . The set F n of all such lists ξ is a vector space under termwise addition and (left)
scalar multiplication.
D EFINITION 1.5.3 An n-tuple v of n vectors of V spans the vector space V when every vector
u ∈ V can be expressed in at least one way as a linear combination
u = ξ1 v1 + · · · + ξn vn (5)
22 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
of the vectors of V.
D EFINITION 1.5.4 An n-tuple v of vectors of V is a basis for the vector space V when every
vector u ∈ V has exactly one expression as a linear combination of vectors of v.
Remark 1.5.3. The n-tuple v is linearly independent when, for all n-tuple α and β of n scalars
each,
n n
∑ αivi = ∑ βivi =⇒ α1 = β1 , α2 = β2 , . . . , αn = βn .
i=1 i=1
n n n
Since ∑ αi vi = ∑ βi vi implies ∑ (αi − βi )vi = 0, it is enough to require, for each n-tuple α
i=1 i=1 i=1
of n scalars, that
n
∑ αivi = 0 =⇒ α1 = α2 = · · · = αn = 0.
i=1
Remark 1.5.4. Note that an n-tuple v of n vectors is a basis for V precisely when v spans V
and is linearly independent in V.
P ROPOSITION 1.5.1 Each n-tuple v of n vectors in a vector space V over a field F determines
a linear map fv : F n → V by fv (ξ ) = ξ1 v1 + · · · + ξn vn . Relative to this linear map,
(a) v spans V if and only if fv is a surjection;
(b) v is linearly independent in V if and only if fv is an injection;
(c) v is a basis of V if and only if fv is a bijection.
Proof. To show fv is linear, take ξ and η be two lists of n scalars. The sum ξ + η is the list of
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 23
Given that fv is linear, the statement that fv is surjective means exactly that the list v spans,
and similarly for bases. Also, fv is injective means exactly that fv (ξ ) = fv (η) implies ξ = η.
This is equivalent to saying that fv has kernel 0.
T HEOREM 1.5.1 If b : n → V is a basis of the vector space V, then the map sending each vector
v ∈ V to the list ξ of its coordinates, relative to b, is an isomorphism V ∼
= F n of vector spaces.
The inverse of this isomorphism is the linear map
fb : F n ∼
= V, (6)
Proof. The proof follows from Theorem 1.5.1 and Definition 1.5.7.
Remark 1.5.5. Thus a vector space V with a finite basis is isomorphic to a vector space F n of
n-tuples of scalars-and isomorphic in many ways, one isomorphism for each choice of a basis.
Since
e1 = (1, 0, . . . , 0), e2 = (0, 1, . . . , 0), . . . , en = (0, 0, . . . , 1) (7)
is a basis of F n , the isomorphism fb of (6) takes these unit vectors to the basis vectors
b1 , . . . , bn .
P ROPOSITION 1.5.2 A list v of vectors is linearly dependent in V if and only if some one
vector vk of the list is zero or a linear combination of the previous vectors of the list. When
this is the case, removal of the vector vk gives a new list with the same span as v.
so there is a linear combination with at least one coefficient (to wit, −1) not zero, so the
list v is indeed linearly dependent. Moreover, let w be any vector in the subspace spanned
24 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
the vector vk is indeed a linear combination of previous vectors unless k = 1, in which case
this equation shows that vk must be zero.
Proof. Since V is of finite type, it is spanned by some finite list v of n vectors. If this list v
happens to be also linearly independent, it is a basis of V . If not, v is linearly dependent; by
the proposition above we remove vectors one by one from this list till we get a shorter list, still
spanning V, which is independent.
Problems
P ROBLEM 1.5.1 In any vector space, prove:
(a) A list of just one vector is linearly independent if and only if the vector is non-zero;
(b) a list of two vectors is linearly dependent if and only if each is a scalar multiple of the
other.
P ROBLEM 1.5.2 Show that any two vectors (ξ1 , ξ2 ) and (η1 , η2 ) are linearly independent in
F 2 if and only if ξ1 η2 − ξ2 η1 6= 0.
P ROBLEM 1.5.3 let v, w be vectors of a vector space V over F, and assume that v 6= 0. If v, w
are linearly dependent, show that there is a scalar α ∈ F such that w = αv.
P ROBLEM 1.5.4 For any choices of scalars κ, λ , and µ show that the vectors (1, κ, λ ), (0, 1, µ),
and (0, 0, 1) form a basis of F 3 .
P ROBLEM 1.5.5 Do (1, 2, 3), (2, 3, 4), and (3, 4, 5) form a basis of Q3 ?
P ROBLEM 1.5.6 (a) Show that the list (1, 1, 0), (1, 0, 1), and (0, 1, 1) is a basis of Q3 .
(b) Find the coordinates of the unit vectors (1, 0, 0), (0, 1, 0), and (0, 0, 1) of Q3 relative to
this basis.
P ROBLEM 1.5.7 If κu + λ v + µw = 0, where κu 6= 0, show that the vectors u and v span the
same subspace as do v and w.
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 25
P ROBLEM 1.5.9 If u, v, and w are three linearly independent vectors in a vector space over Q,
prove that v + w, w + u, and u + v are also linearly independent. Is this true over every field?
1.6 Dimension
D EFINITION 1.6.1 The number n of vectors in any one basis of a vector space V is called the
dimension of V, written dimV = n.
Remark 1.6.1. The dimension dimV infinite means that V has no (finite) basis. Thus dimF n =
n. A vector space of finite type is also called a finite-dimensional space.
T HEOREM 1.6.1 If a vector space V is spanned by some list of n vectors and also has a list v of
m linearly independent vectors, then m ≤ n. Moreover, V can be spanned by a list of n vectors
containing the given list v.
Proof. Given n, we shall prove both conclusions together by induction on m. For m = 0, the
result is immediate. Suppose then that the conclusion holds for all lists of m independent
vectors, and let v be a list of m + 1 linearly independent vectors. The first m vectors of this list
v are still linearly independent, so, by the induction assumption, n − m ≥ 0 and V is spanned
by some list
(v1 , v2 , . . . , vm , w1 , . . . , wn−m ) (8)
of n vectors including v1 , v2 , . . . , vm . In particular, vm+1 , as a vector of V, must be a linear
combination of these spanning vectors, say as
vm+1 = ξ1 v1 + · · · + ξm vm + η1 w1 + · · · + ηn−m wn−m . (9)
Now we can prove m + 1 ≤ n. If not, m = n, there are no vectors wi in (9), and this for-
mula expresses vm+1 in terms of v1 , . . . , vm , a contradiction to the hypothesis that the list
(v1 , . . . , vm , vm+1 ) is linearly independent.
Now adjoin the vector vm+1 to the list (8) of n vectors, getting a new list
(v1 , . . . , vm , vm+1 , w1 , . . . , wn−m )
of n + 1 vectors which still spans V (because the shorter list (8) did). Moreover, by the relation
(9) above, these n + 1 vectors are linearly dependent. By Proposition 1.5.2, we can remove
26 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
some one vector from this list; namely, the first one which is a linear combination of previous
vectors. The vector thereby removed is surely not one of the v1 , . . . , vm+1 , for these vectors
are known to be linearly independent. Therefore, the vector removed must be one in the list
w, say the vector w j . We now have a new list
of n vectors still spanning V and containing the whole list v. This completes the induction,
hence the proof.
C OROLLARY 1.6.1 (Invariance of Dimension) Any two bases for a vector space V of finite
type have the same number of vectors.
Proof. Let (b1 , . . . , bm ) and (c1 , . . . , cn ) be two bases of m and n vectors, respectively. Since b
is linearly independent and c spans V, the above theorem implies m ≤ n. Since c is independent
and b spans, n ≤ m. Together, these conclusions give n = m, as desired.
Proof. To prove (ii), start with a list spanning V and remove dependent vectors by Proposition
1.5.2 till the resulting list is independent, and hence a basis. As for (i), let the list v be inde-
pendent, while some other list spans V, because V is finite-dimensional. Theorem 1.6.1 then
yields a list containing v which spans V. Remove dependent vectors, as before, until this list
becomes a basis containing v.
Proof. For (i), let v be a list of n independent vectors. By the Theorem 1.6.2, v is part of a
basis; by the invariance of dimension, this basis has exactly n vectors, hence must be just the
original list v. The proof of (ii) is similar.
T HEOREM 1.6.3 Let V and W be n dimensional vector spaces over a field F. Let b be a basis
of V . Let w be a list of n vectors of W . Then there exists a unique linear map f : V → W such
that f (bi ) = wi .
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 27
Let α ∈ F, then
n n
f (αv) = ∑ (ααi )wi = α ∑ αi wi = α f (v).
i=1 i=1
Remark 1.6.2. There is a parallel treatment for (possibly) infinite-dimensional vector spaces
V. In this treatment, a basis B is a possibly infinite set of vectors of V such that every vector
v ∈ V has exactly one expression as a linear combination of a finite number of vectors of B.
Using the axiom of choice, one can prove that every vector space V has a basis B, and that for
any two bases B and B0 of the same space there is a bijection B ∼ = B0 . Also, a subset X ⊆ V is
said to be linearly independent in V when every finite subset of X is linearly independent, in
the sense of our previous definition.
v ∨ w = (v1 , . . . , vm , w1 , . . . , wr ).
In more detail, if a basis v for Ker f is part of a basis v ∨ w for V, then f ◦ v is a basis for Im f .
v = ∑ ξi vi + η j w j
for suitable lists ξ and η of scalars, and since f (vi ) = 0, each vector f (v) is ∑ η j f (w j ). Hence,
the list f ◦ w spans Im f . On the other hand, ∑ η j f (w j ) = 0 means f (∑ η j w j ) = 0; hence,
∑ η j w j ∈ Ker f . But v is a basis for Ker f , so ∑ η j w j = ∑ ξi vi for some list ξ of scalars. But
v ∨ w linearly independent makes all the η j and all the ξi zero. Hence, the list f ◦ w is linearly
independent in Im f . Since it is independent and also spans Im f , it is a basis, as asserted.
D EFINITION 1.6.2 The rank and nullity of a linear map f : V → V 0 are defined by rank f =
dim(Im f ), nullity f = dim(Ker f ).
C OROLLARY 1.6.4 If two vector spaces V and V 0 have the respective finite dimensions n and
n0 , then the rank r of any linear map f : V → V 0 is at most the smaller of n and n0 . For each
such map f there is a basis b of V and a basis b0 of V 0 such that
Proof. The inequalities r ≤ n and r ≤ n0 follow from 10 and Definition 1.6.2. To get the
indicated bases, we use the notation of the Theorem 1.6.4, set b = w ∨ v, and make f (w) part
of a basis b0 of V 0 .
C OROLLARY 1.6.5 Let V and V 0 be vector spaces of the same finite dimension. Then any
surjective linear map f : V → V 0 , and also any injective linear map f : V → V 0 , is necessarily
an isomorphism.
Proof. Set dimV = n = dimV 0 and use (10). If dim(Im f ) = n, (10) implies that dim(Ker f ) = 0,
so f is an isomorphism. If Ker f = 0, (10) implies that dim(Im f ) = n, so Im f must be all of
V 0 ; and f is again an isomorphism.
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 29
Proof. Take a basis of S and adjoin vectors w1 , . . . , wm to get a basis of V. The subspace T
of V spanned by the adjoined vectors w1 , . . . , wm has S + T = V and S ∩ T = 0, as required.
Moreover, the Theorem 1.6.4 applied to the linear map p : V → V/S states that the list S +
w1 , . . . , S + wm of cosets is a basis of V/S. hence, the assignment ∑ η j w j 7→ ∑ η j (S + w j ) is an
isomorphism T ∼ = V/S.
P ROPOSITION 1.6.2 If a vector space W is the direct sum of two finite-dimensional subspaces
V1 and V2 , then any basis b0 of V1 and any basis b00 of V2 combine to form a basis b0 ∨ b00 of W.
Hence, the direct sum W is finite-dimensional, and dimW = dimV1 + dimV2 .
C OROLLARY 1.6.8 If S and T are finite-dimensional subspaces of a vector space, then the
subspace S + T is also finite-dimensional, and
Proof. The quotient space (S + T )/(S ∩ T ) is the dierct sum of its subspaces S/(S ∩ T ) and
T/(S ∩ T ). Hence, the previous results on the dimensions of quotients and direct sums yield
Problems
P ROBLEM 1.6.1 Show that any part of a linearly independent list is linearly independent.
30 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
P ROBLEM 1.6.2 If w is a list of vectors in V and if some part of w spans V,show that w spans
V.
P ROBLEM 1.6.3 If the vector v is not in the subspace S, but is in the subspace spanned by S
and the vector w, show that w is in the subspace spanned by S and v.
P ROBLEM 1.6.4 Let S and T be the subspaces of Q4 spanned, respectively, by the vectors
P ROBLEM 1.6.7 Suppose U and W are subspaces of R8 such that dimU = 3, dimW = 5, and
U +W = R8 . Prove that U ∩W = {0}.
P ROBLEM 1.6.8 Suppose that U and W are both five-dimensional subspaces of R9 . Prove that
U ∩W = {0}.
Remark 1.7.1. The elements of V ∗ are called linear functionals or linear forms.
T HEOREM 1.7.1 Let b be a basis of n vectors for the vector space V. Then to each list µ of n
scalars there is exactly one linear form f : V → F with f ◦ b = µ; namely, the map f defined
for each list ξ of n scalars as !
n n
f ∑ ξibi = ∑ ξi µi .
i=1 i=1
Moreover, the assignment f 7→ f ◦ b is an isomorphism V ∗ ∼
= F n of vector spaces.
C OROLLARY 1.7.1 Any finite-dimensional vector space V has the same dimension as its dual
space V ∗ .
xi (bi ) = 1, (12)
xi (b j ) = 0, i 6= j, j = 1, . . . , n. (13)
Proof. The isomorphism f 7→ f ◦ b of the Theorem 1.7.1 carries the linear forms xi to the unit
vectors ei = (0, . . . , 1, . . . , 0) of (7), which together constitute a basis of F n . Hence, x1 , . . . , xn
is a basis of V ∗ .
Remark 1.7.3. By (12) and (13), xi ∑nj=1 ξ j b j = ξi . Hence, the linear form xi : V → F is just
the map sending each vector v of V to its ith coordinate ξi , relative to b. In brief, given a basis,
the “coordinate maps” relative to that basis are elements of the dual space and form a basis
there.
This basis x1 , . . . , xn of V ∗ is called the dual basis to the given basis b. With the following
Kronecker delta notation for i, j ∈ n,
(
1, if i = j,
δi j =
0, if i 6= j,
the conditions (12) and (13) that a basis x of V ∗ be dual to a basis b of V read
x i b j = δi j , i, j = 1, . . . , n. (14)
L EMMA 1.7.1 To each non-zero linear form f on V there is at least one vector v with f (v) = 1.
32 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
Proof. Since f : V → F is a map, f 6= 0 means that f (u) 6= 0 for some vector u; a suitable
scalar multiple v of u then has f (v) = 1.
Remark 1.7.4. When V is finite-dimensional, the “symmetrical” property holds:
L EMMA 1.7.2 To any non-zero vector v a finite-dimensional vector space V, there exists at
least one linear form f with f (u) = 1.
C OROLLARY 1.7.3 Any finite-dimensional vector space V is isomorphic to its double dual
V ∗∗ under the morphism ω : V → V ∗∗ which sends each vector v of V into the linear form
ωv : V ∗ → F, where ωv is defined for each f ∈ V ∗ by ωv ( f ) = f (v).
Remark 1.7.6. Note that the map ω : V → V ∗∗ is defined without reference to any basis, while
a basis was used to construct the isomorphism V ∼ = V ∗ in Corollary 1.7.2.
To bring out the parallel between Lemma 1.7.1 and Lemma 1.7.2, we will write h f , vi for
the value f (v) of the form f ∈ V ∗ on the vector v ∈ V. This gives a map
( f , v) 7→ h f , vi , V ∗ ×V → F.
To emphasize the symmetry of V and its dual V ∗ in this situation, we write W for the dual
space V ∗ , so that hw, vi is a map W ×V → F. This map of two arguments w and v is linear in
each argument, in the sense that the equations
holds for all scalars κi ∈ F and for all vectors w, wi ∈ W, v, vi ∈ V. In this language, Lemma
1.7.1 and Lemma 1.7.2 becomes symmetrical statements about fixed vectors w0 ∈ W or v0 ∈ V :
(i) If hw0 , vi = 0 for all v ∈ V, then w0 = 0.
(ii) If hw, v0 i = 0 for all w ∈ W, then v0 = 0.
More generally,
of V.
Remark 1.7.7. Because of the linearity (15) and (16), it follows that AnnihT is a subspace of
V and AnnihS is a subspace of W. Also conditions (i) and (ii) in Remark 1.7.6 can now be
written as
AnnihV = 0, and AnnihW = 0. (17)
Proof. For each vector v ∈ V the assignment w 7→ hw, vi is a map, written as h−, vi : W → F,
which is left-linear on W by (15). Therefore the assignment v 7→ h−, vi is a map on V to the
dual W ∗ , and by (16) it is a right-linear map V → W ∗ . The assumption AnnihW = 0 of (17)
states that this map has kernel 0 (is an injective linear map); hence by Proposition 1.6.1 and
Corollary 1.7.1,
dimV ≤ dimW ∗ = dimW.
Symmetrically, for each w ∈ W the assignment w 7→ hw, −i is a right-linear injection W → V ∗ ,
so that dimW ≤ dimV ∗ = dimV. Combined with the previous inequality this gives dimW =
dimV and implies by Corollary 1.6.5 that both linear injections are isomorphisms V ∼= W ∗ and
∼ ∗ ∼ ∗∗, ∗∗
W = V . This also yields V = V as in the isomorphism ω : V → V of Corollary 1.7.3.
T HEOREM 1.7.3 For subspaces S of a finite-dimensional vector space V and T of its dual
W = V ∗ there are isomorphisms
S∗ ∼
= V ∗/AnnihS, (V/S)∗ ∼
= AnnihS, (18)
T∗ ∼
= W ∗/AnnihT,
∗∼
(W/T ) = AnnihT. (19)
resS : W = V ∗ → S∗ .
Now any basis of the subspace S ⊆ V is by Theorem 1.6.2 part of a basis of V, so any linear
map g : S → F can be extended to a map g0 : V → F linear on all of V (say by making g0 zero
34 CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES
on the additional part of the chosen basis of V ). This observation means that every g in S∗ is
the restriction to S of some g0 = hw, −i, so the map resS above is a linear surjection. Its kernel
is AnnihS, by the very definition of this annihilator. Therefore, by Theorem 1.4.1 there is an
isomorphism S∗ ∼ = V ∗/AnnihS, as in the first of (18).
To treat the second isomorphism of (18), consider any h : V/S → F in the dual space (V/S)∗ .
Composing h with the projection p : V → V/S yields a linear map h ◦ p : V → F which an-
nihilates S. On the other hand, any linear map f : V → F which annihilates S must, by the
Theorem 1.4.3, factor through the projection p : V → V/S as f = h ◦ p for a unique h. There-
fore, h 7→ h ◦ p is the desired isomorphism (V/S)∗ ∼ = AnnihS.
Proof. If dimV = n and dimS = k, then dim (V/S) = n − k, and by the second equation of (18),
dim(AnnihS) = dim (V/S)∗ = n − k. This is (20), as desired. Repeating the argument gives
dim(Annih(AnnihS)) = k. But if s ∈ S, then hw, si = 0 for all w ∈ AnnihS, so s ∈ Annih(AnnihS)
and therefore S ⊆ Annih(AnnihS). Since these spaces have the same dimension k, they must
by Proposition 1.6.1 be equal, as asserted in (21).
Remark 1.7.8. Note that this result depends essentially upon the fact that V is of finite dimen-
sion.
For a subspace T of W = V ∗ the equation corresponding to (20) is
This conceptual result is really a statement of the fundamental fact about systems of homo-
geneous linear equations. For if f ∈ V ∗ and v ∈ V the equation f v = 0 is a homogeneous
linear equation f in n unknowns (the coordinates of v). Thus if f1 , . . . , fk is a list of k elements
fi ∈ V ∗ and T the subspace of V ∗ which they span, then AnnihT is just the set of all v ∈ V with
f1 v = 0, · · · , fk v = 0;
in other words, AnnihT is the set (actually, the subspace) of all solutions of these k simultane-
ous homogeneous linear equations. Thus (22) states that the number of linearly independent
solutions is dimV , the number of unknowns, minus dimT , the maximum number of linearly
independent equations.
Problems
P ROBLEM 1.7.1 Consider the basis {(2, 1), (3, 1)} of R2 . Find the dual basis.
CHAPTER 1. FINITE-DIMENSIONAL VECTOR SPACES 35
P ROBLEM 1.7.2 Let V = {a + bt | a, b ∈ R}, the vector space of real polynomials of degree
≤ 1. Find the basis {v1 , v2 } of V that is dual to the basis {φ1 , φ2 } of V ∗ defined by
Z 1 Z 2
φ1 ( f (t)) = f (t) dt and φ2 ( f (t)) = f (t) dt.
0 0
Let
a11 · · · a1n
.. ..
A= . .
am1 · · · amn
be an m × n matrix. We can associate with A a map
LA : F n → F m
by letting
LA (X) = AX
for every column vector X in F n . Thus LA is defined by the association X 7→ AX, the product
being the product of matrices. We observe that LA is linear, indeed
A(X +Y ) = AX + AY and A(cX) = cAX
for all vectors X,Y in F n and all numbers c. We call LA the linear map associated with the
matrix A.
37
38 CHAPTER 2. LINEAR MAPS AND MATRICES
Proof. By definition, we have Ai · X = Bi · X for all i, if Ai is the i-th row of A and Bi is the i-th
row of B. Hence (Ai − Bi ) · X = 0 for all i and all X. Hence Ai − Bi = O, and Ai = Bi for all i.
Hence A = B.
Problems
P ROBLEM find the vector LA (X).
2.1.1In eachcase,
2 1 3
(a) A = ,X= .
1 0 −1
1 0 5
(b) A = ,X= .
0 0 1
1 1 4
(c) A = ,X= .
0 1 1
0 0 7
(d) A = ,X= .
0 1 −3
T HEOREM 2.2.1 Let L : F n → F be a linear map. There exists a unique vector A in F n such
that L = LA , i.e. such that for all X we have L(X) = A · X.
T HEOREM 2.2.2 Let L : F n → F m be a linear map. Then there exists a unique matrix A such
that L = LA .
Proof. As usual, let e1 , . . . , en be the unit column vectors in F n , and let ε1 , . . . , εm be the unit
column vectors in F m . We can write any vector X in F n as a linear combination
x1
..
X = x1 e1 + · · · + xn en = . ,
xn
CHAPTER 2. LINEAR MAPS AND MATRICES 39
T HEOREM 2.2.3 Let A be an n × n matrix, and let A1 , . . . , An be its columns. Then A is invert-
ible if and only if A1 , . . . , An are linearly independent.
Problems
P ROBLEM 2.2.1 Find the matrix associated with the following linear maps:
(a) f : R4 → R2 given by f (x1 , x2 , x3 , x4 ) = (x1 , x2 ). (relative to the bases of unit vectors)
(b) f : R2 → R2 given by f (x, y) = (3x, 3y). (relative to the basis of unit vectors)
(c) f : R2 → R2 given by f (x, y) = (2x + 3y, 4x − 5y). (relative to the basis {(1, 2), (2, 5)})
(d) V is the vector space of differentiable maps over R, D : V → V defined by D( f (t)) =
d( f (t))/dt. (relative to the basis {sint, cost, e3t })
P ROBLEM 2.2.2 A linear map L : R2 → R2 a rotation if its associated matrix can be written
in the form
cos θ − sin θ
R(θ ) = .
sin θ cos θ
40 CHAPTER 2. LINEAR MAPS AND MATRICES
Let (1, 2) be a point of R2 . Let R be the rotation through an angle of π/4. What are the
coordinates of R(1, 2) relative to the usual basis {(1, 0), (0, 1)}.
P ROBLEM 2.2.4 Let c be a real number, and let f : R3 → R3 be the linear map such that
f (v) = cv, where v ∈ R3 . What is the matrix associated with this linear map?
be bases of V and W respectively. Then we know that elements of V and W have coordinates
vectors with respect to these bases. In other words, if v ∈ V then we can express v uniquely as
a linear combination
v = x1 v1 + · · · + xn vn , xi ∈ F.
Thus V is isomorphic to F n under the map F n → V given by
(x1 , . . . , xn ) 7→ x1 v1 + · · · + xn vn .
Similarly for W. If f : V → W is a linear map, then using the above isomorphism, we can
interpret f as a linear map of F n into F m , and thus we can associate a matrix with f , depending
on our choice of bases, and denoted by Mbb0 ( f ). This matrix is the unique matrix A having the
following property:
To use a notation which shows that the coordinate vector X depends on v and on the basis b
we let Xb (v) denote this coordinate vector. Then the above property can be stated in a formula.
T HEOREM 2.3.2 Let V,W be vector spaces over F, and let f : V → W be a linear map. Let b
be a basis of V and b0 of W . If v ∈ V then Xb0 ( f (v)) = Mbb0 ( f )Xb (v).
Proof. Let A = Mbb0 ( f ), and X is the coordinate vector of v with respect to b, then by definition,
f (v) = (A1 · X)w1 + · · · + (Am · X)wm . This matrix A is determined by the effect of f on the
basis elements as follows.
CHAPTER 2. LINEAR MAPS AND MATRICES 41
Let
Indeed, we have
C OROLLARY 2.3.1 Let V be a vector space, and let b, b0 be bases of V. Let v ∈ V . Then
Xb0 (v) = Mbb0 (1V )Xb (v).
Remark 2.3.1. The corollary expresses in a succinct way the manner in which the coordinates
of a vector change when we change the basis of the vector space.
T HEOREM 2.3.3 Let V,W be vector spaces. Let b be a basis of V, and b0 a basis of W. Let f , g
be two linear maps of V into W. Let M = Mbb0 . Then M( f +g) = M( f )+M(g). If c is a number,
then M(c f ) = cM( f ). The association f 7→ Mbb0 ( f ) is an isomorphism between the space of
linear maps Hom(V,W ) and the space of m × n matrices (if dimV = n and dimW = m.)
Proof. Proof The first formulas showing that f 7→ M( f ) is linear follow at once from the
definition of the associated matrix. The association f 7→ M( f ) is injective since M( f ) = M(g)
implies f = g, and it is surjective since every linear map is represented by a matrix. Hence
f 7→ M( f ) gives an isomorphism as stated.
We now pass from the additive properties of the associated matrix to the multiplicative
properties.
T HEOREM 2.3.4 Let V,W,U be vector spaces. Let b, b0 , b00 be bases for V,W,U respectively.
0
Let f : V → W and g : W → U be linear maps. Then Mbb00 (g)Mbb0 ( f ) = Mbb00 (g ◦ f ).
42 CHAPTER 2. LINEAR MAPS AND MATRICES
Proof. Let A be the matrix associated with f relative to the bases b, b0 and let B be the matrix
associated with g relative to the bases b0 , b00 .. Let v be an element of V and let X be its
(column) coordinate vector relative to b. Then the coordinate vector of f (v) relative to b0 is
AX. By definition, the coordinate vector of g( f (v)) relative to b00 is B(AX) which is equal to
(BA)X. But g( f (v)) = (g ◦ f )(v). Hence the coordinate vector of g ◦ f )(v) relative to the basis
b00 is (BA)X. By definition, this means that BA is the matrix associated with g ◦ f , and proves
our theorem.
Remark 2.3.2. In many applications, one deals with linear maps of a vector space V into itself.
If a basis b of V is selected, and f : V → V is a linear map, then the matrix Mbb ( f ) is usually
called the matrix associated with f relative to b (instead of saying relative to b, b). From
the definition, we see that Mbb (1V ) = I, where I is the matrix. As a direct consequences of
Corollary 2.3.1 we obtain
00
Proof. Take V = W = U in Theorem 2.3.4, and f = g = 1V and b = b. Our assertion then
drops out.
The general formula of Theorem 2.3.4 will allow us to describe precisely how the matrix
associated with a linear map changes when we change bases.
T HEOREM 2.3.5 Let f : V → V be a linear map, and let b, b0 be bases of V. Then there exists
0 0
an invertible matrix N such that Mbb0 ( f ) = N −1 Mbb ( f )N. In fact, we can take N = Mbb (1V ).
T HEOREM 2.3.6 Let V be a finite dimensional vector space over F, let f : V → V be a linear
map, and let M be its associated matrix relative to a basis b. Then f (or M) can be diagonalized
CHAPTER 2. LINEAR MAPS AND MATRICES 43
(in F) if and only if there exists an invertible matrix N in F such that N −1 MN is a diagonal
matrix.
Remark 2.3.4. In view of the importance of the map M 7→ N −1 MN, we give it a special name.
Two matrices, M, M 0 are called similar (over a field F) if there exists an invertible matrix N
in K such that M 0 = N −1 MN.
Problems
P ROBLEM 2.3.1 In each of the following cases, find Mbb0 (1R3 ). The vector space in each case
is R3 .
(a) b = {(1, 1, 0), (−1, 1, 1), (0, 1, 2)}
b0 = {(2, 1, 1), (0, 0, 1), (−1, 1, 1)}
(b) b = {(3, 2, 1), (0, −2, 5), (1, 1, 2)}
b0 = {(1, 1, 0), (−1, 2, 4), (2, −1, 1)}
P ROBLEM 2.3.3 For each real number θ , let fθ : R2 → R2 be the linear map represented by
the matrix
cos θ − sin θ
r(θ ) = .
sin θ cos θ
Show that if θ , θ 0 are real numbers, then fθ fθ 0 = fθ +θ 0 . Also show that fθ−1 = f−θ .
P ROBLEM 2.3.4 Let X = (1, 2) be a point of the plane. Let r F be the rotation through an angle
of π/4. What are the coordinates of r(X) relative to the usual basis {e1 , e2 }?
P ROBLEM 2.3.5 In each of the following cases, let D = d/dt be the derivative. We give a set
of linearly independent maps b. These generate a vector space V, and D is a linear map from
V into itself. Find the matrix associated with D relative to the bases b, b.
(a) {et , e2t }
(b) {1,t}
(c) {et ,tet }
(d) {1,t,t 2 }
(e) {1,t, et , e2t ,te2t }
P ROBLEM 2.3.6 (a) Let N be a square matrix. We say that N is nilpotent if there exists a
positive integer r such that N r = 0. Prove that if N is nilpotent, then I − N is invertible.
(b) State and prove the analogous statement for linear maps of a vector space into itself.
E IGENVECTORS AND EIGENVALUES
3
3.1 Eigenvectors and eigenvalues
Let V be a vector space and let A : V → V be a linear map of V into itself. An element v ∈ V
is called an eigenvector of A if there exists a number λ such that Av = λ v. If v 6= 0 then λ
is uniquely determined, because λ1 v = λ2 v implies λ1 = λ2 . In this case , we say that λ is an
eigenvalue of A belonging to the eigenvector v. We also say that v is an eigenvector with the
eigenvalue λ . Instead of eigenvector and eigenvalue, one also uses the terms characteristic
vector and characteristic value.
If A is a square n × n matrix then an eigenvector of A is by definition an eigenvector of
the linear map of F n into itself represented by this matrix. Thus an eigenvector X of A is a
(column) vector of F n for which there exists λ ∈ K such that AX = λ X.
T HEOREM 3.1.1 Let V be a vector space and let A : V → V be a linear map. Let λ ∈ F. Let Vλ
be the subspace of V generated by all eigenvectors of A having λ as eigenvalue. Then every
non-zero element of Vλ is an eigenvector of A having λ as eigenvalue.
Remark 3.1.1. The subspace Vλ in Theorem 3.1.1 is called the eigenspace of A belonging to
λ . Note that if v1 , v2 are eigenvectors of A with different eigenvalues λ1 6= λ2 then of course
v1 + v2 is not an eigenvector of A. In fact, we have the following theorem:
T HEOREM 3.1.2 Let V be a vector space and let A : V → V be a linear map. Let v1 , . . . , vm be
eigenvectors of A, with eigenvalues λ1 , . . . , λm respectively. Assume that these eigenvalues are
distinct, i.e. λi 6= λ j if i 6= j. Then v1 , . . . , vm are linearly independent.
45
46 CHAPTER 3. EIGENVECTORS AND EIGENVALUES
c1 v1 + · · · + cm vm = 0 (25)
with scalars ci . We must prove all ci = 0. We multiply our relation (25) by λ1 to obtain
c1 λ1 v1 + · · · + cm λ1 vm = 0.
c1 λ1 v1 + · · · + cm λm vm = 0.
c2 = · · · = cm = 0.
Going back to our original relation, we see that c1 v1 = 0, whence c1 = 0, and our theorem is
proved.
We say that the linear map L can be diagonalized if there exists a basis of V consisting of
eigenvectors.
Problems
1 a
P ROBLEM 3.1.1 Let a ∈ K and a 6= 0. Prove that the eigenvectors of the matrix gen-
0 1
erate a 1-dimensional space, and give a basis for this space.
CHAPTER 3. EIGENVECTORS AND EIGENVALUES 47
2 0
P ROBLEM 3.1.2 Prove that the eigenvectors of the matrix generate a 2-dimensional
0 2
space, and give a basis for this space. What are the eigenvalues of this matrix?
P ROBLEM 3.1.3 Let A be a diagonal matrix with diagonal elements a11 , . . . , ann . What is the
dimension of the space generated by the eigenvectors of A? Exhibit a basis for this space, and
give the eigenvalues.
P ROBLEM 3.1.4 Let A = (ai j ) be an n × n matrix such that for each i = 1, . . . , n we have
n
∑ ai j = 0. Show that 0 is an eigenvalue of A.
j=1
cos θ sin θ
P ROBLEM 3.1.5 Show that if θ ∈ R, then the matrix A = always has an
sin θ − cos θ
eigenvector in R2 , and in fact that there exists a vector v1 such that Av1 = v1 .
sin θ
[Hint: Let the first component of v1 be x = if cos θ 6= 1. Then solve for y. What if
1 − cos θ
cos θ = 1?]
P ROBLEM 3.1.6 Let V be a finite dimensional vector space. Let A, B be linear maps of V into
itself. Assume that AB = BA. Show that if v is an eigenvector of A, with eigenvalue λ , then
Bv is an eigenvector of A, with eigenvalue λ also if Bv 6= 0.
T HEOREM 3.2.1 Let V be a finite dimensional vector space, and let λ be a number. Let
A : V → V be a linear map. Then λ is an eigenvalue of A if and only if A − λ I is not invertible.
We can also view A as a linear map from F n to F n , and we also say that PA (t) is the charac-
teristic polynomial of this linear map.
Remark 3.2.1. Theorem 3.2.2 gives us an explicit way of determining the eigenvalues of a
matrix, provided that we can determine explicitly the roots of its characteristic polynomial.
This is sometimes easy, especially in exercises at the end of sections when the matrices are
adjusted in such a way that one can determine the roots by inspection, or simple devices. It is
considerably harder in other cases.
Suppose the field of scalars F is the complex numbers. We then know the fact that every
non-constant polynomial with complex coefficients has a complex root. If A is a complex n × n
matrix, then the characteristic polynomial of A has complex coefficients, and has degree n ≥ 1,
so has a complex root which is an eigenvalue. Thus we have:
T HEOREM 3.2.3 Let A be an n × n matrix with complex components. Then A has a non-zero
eigenvector and an eigenvalue in the complex numbers.
T HEOREM 3.2.4 Let A, B be two n × n matrices, and assume that B invertible. Then the char-
acteristic polynomial of A is equal to the characteristic polynomial of B−1 AB.
T HEOREM 3.2.5 Let V be a finite dimensional vector space over C of dimension > 0. Let
L : V → V be an operator. Then L has a non-zero eigenvector and an eigenvalue in the complex
numbers.
It should be remembered that in the case of complex eigenvalues, the vector space is over
the complex numbers, so it consists of linear combinations of the given basis elements with
complex coefficients.
Problems
P ROBLEM 3.2.1 Let A be a diagonal matrix,
a1 0 ··· 0
0 a2 · · · 0
A = .. .. .
..
. . .
0 0 · · · an
P ROBLEM 3.2.3 Find the characteristic polynomial, eigenvalues, and bases for the eigenspaces
of the
following
matrices:
1 2
(a) .
3 2
3 2
(b) .
−1 0
50 CHAPTER 3. EIGENVECTORS AND EIGENVALUES
4 0 1
(c) −2 1 0 .
−2 0 1
1 −3 3
(d) 3 −5 3 .
6 −6 4
P ROBLEM 3.2.4 Find the eigenvalues of the following matrices. Show that teh eigenvectors
forma 1-dimensional
space.
2 −1
(a) .
1 0
1 1
(b) .
0 1
1 1 1
(c) 0 1 1 .
0 0 1
1 1 0
(d) 0 1 1 .
1 0 1
P ROBLEM 3.2.5 Let V be an n-dimensional vector space and assume that the characteristic
polynomial of a linear map A : V → V has n distinct roots. Show that V has a basis consisting
of eigenvectors of A.
P ROBLEM 3.2.7 Let V be the space generated over R by the two functions sint and costt.
Does the derivative (viewed as a linear map of V into itself) have any nonzero eigenvectors in
V ? If so, which?
P ROBLEM 3.2.8 Let A, B be square matrices of the same size. Show that the eigenvalues of
AB are the same as the eigenvalues of BA.
S CALAR PRODUCTS AND ORTHOGONALITY
4
4.1 Scalar products
D EFINITION 4.1.1 Let V be a vector space over a field F. A scalar product on V is an asso-
ciation which to any pair of elements v, w of V associates a scalar, denoted by hv, wi , or also
v · w, satisfying the following properties:
SP1 We have hv, wi = hw, vi for all v, w ∈ V.
SP2 If u, v, w are elements of V, then hu, v + wi = hu, vi + hu, wi .
SP3 If x ∈ F, then hxu, vi = x hu, vi and hu, xvi = x hu, vi .
The scalar product is said to be non-degenerate if in addition it also satisfies the condition:
SP4 If v is an element of V, and hv, wi = 0 for all w ∈ V, then v = 0.
If c is a scalar, then
hw, cv1 i = c hw, v1 i .
Hence w is perpendicular to linear combination of elements of S, and hence w is perpendicular
to U.
Let V again be a vector space over the field F,
with ascalar product. Let {v1 , . . . , vn } be a
basis of V. We say that it is an orthogonal basis if vi , v j = 0 for all i 6= j. We shall show later
that if V is a finite dimensional vector space, with a scalar product, then there always exists
an orthogonal basis. However, we shall first discuss important special cases over the real and
complex numbers.
51
52 CHAPTER 4. SCALAR PRODUCTS AND ORTHOGONALITY
Let W be a vector space over R, with a positive definite scalar product denoted by h , i. Let
W be a subspace. Then W has a scalar product defined by the same rule defining the scalar
product in V. In other words, if w, w0 are elements of W, we may form their scalar product
hw, w0 i. This scalar product on W is obviously positive definite.
p
D EFINITION 4.1.3 We define the norm of an element v ∈ V by kvk = hv, vi.
Remark 4.1.1. If c is any number, then we immediately get kcvk = |c| kvk , because
p q
kcvk = hcv, cvi = c2 hv, vi = |c|kvk.
dist(v, w) = kv − wk.
Let us justify our definition of perpendicularity. From the intuition of plane geometry and the
following figure tell us that v is perpendicular to w if and only if kv − wk = kv + wk.
wO
kw+vk kw−vk
−v o 0 / v
But then by algebra:
kv − wk = kv + wk ⇔ kv − wk2 = kv + wk2
⇔ (v − w)2 = (v + w)2
⇔ v2 − 2v · w + w2 = v2 + 2v · w + w2
⇔ 4v · w = 0
⇔ v · w = 0.
T HEOREM 4.1.3 Let w be an element of V such that kwk 6= 0. For any v there exists a unique
number c such that v − cw is perpendicular to w.
Proof. If w = 0, then both sides are equal to 0 and our inequality is obvious. Next, assume that
w = e is a unit vector, that is e ∈ V and kek = 1. If c is the component of v along e, then v − ce
is perpendicular to e, and also perpendicular to ce. Hence by the Pythagoras theorem, we find
kvk2 = kv − cek2 + kcek2 = kv − cek2 + c2 . Hence c2 ≤ kvk2 , so that |c| ≤ kvk. Finally, if w
is arbitrary non-zero element of V, then
v, w
≤ kvk.
kwk
T HEOREM
Let v1 , . . . , vn be non-zero elements of V which are mutually perpendicular,
4.1.6
that is vi , v j = 0 if i 6= j. Let ci be the component of v along vi . Then v − c1 v1 − · · · − cn vn is
perpendicular to v1 , . . . , vn .
Proof. To prove
this, all we have to do is to take the scalar product with v j for any j.
All the
terms
involving
v i j will give 0 if i 6= j, and we shall have two remaining terms v, v j −
, v
c j v j , v j which cancel. Thus subtracting linear combinations as above orthogonalizes v with
respect to v1 , . . . , vn .
The next theorem shows that c1 v1 + · · · + cn vn gives the closest approximation to v as a
linear combination of v1 , . . . , vn .
T HEOREM 4.1.7 Let v1 , . . . , vn be vectors which are mutually perpendicular, and such that
kvi k 6= 0 for all i. Let v be an element of V, and let ci be the component of v along vi . Let
54 CHAPTER 4. SCALAR PRODUCTS AND ORTHOGONALITY
a1 , . . . , an be numbers. Then
n
n
v − ∑ ck vk
≤
v − ∑ ak vk
.
k=1
k=1
n
Proof. We know that v − ∑ ck vk is perpendicular to each vi , i = 1, . . . , n. Hence it is perpen-
k=1
dicular to any linear combination of v1 , . . . , vn . Now we have:
2
2
n
n n
v − ∑ ak vk
=
v − ∑ ck vk + ∑ (ck − ak )vk
k=1
k=1 k=1
2
2
n
n
=
v − ∑ ck vk
≤
v − ∑ ak vk
,
k=1
k=1
and thus our theorem is proved.
T HEOREM 4.1.8 (Bessel inequality.) If v1 , . . . , vn are mutually perpendicular unit vectors, and
n
if ci is the component of v along vi , then ∑ c2i ≤ kvk2 .
i=1
n
Proof. The elements v − ∑ ci vi , v1 , . . . , vn are mutually perpendicular. Therefore:
i=1
2
2
n
n
kvk2 =
v − ∑ ci vi
+
∑ ci vi
i=1
i=1
2
n
≥
∑ ci vi
i=1
n
= ∑ c2i
i=1
because v1 , . . . , vn are mutually perpendicular and kvi k2 = 1. This proves the theorem.
Problems
P ROBLEM 4.1.1 Prove the Theorem 4.1.1, Theorem 4.1.2, and Theorem 4.1.5.
P ROBLEM 4.1.2 Let V be a vector space with a scalar product. Show that h0, vi = 0 for all v
in V.
Let V be a vector space with a positive scalar product through out this section. A basis
T HEOREM 4.2.1 Let V be a finite dimensional vector space, with a positive definite scalar
product. Let W be a subspace of V, and let {w1 , . . . , wm } be an orthogonal basis of W. If
W 6= V, then there exists elements wm+1 , . . . , wn of V such that {w1 , . . . , wn } is an orthogonal
basis of V.
Proof. The method of proof is as important as the theorem, and is called the Gram-Schmidt
orthogonalization process. We know that we can find elements vm+1 , . . . , vn of V such that
{w1 , . . . , wm , vm+1 , . . . , vn } is a basis. Of course, it is not an orthogonal basis. Let Wm+1 be the
space generated by w1 , . . . , wm , vm+1 . We shall first obtain an orthogonal basis of Wm+1 . The
idea is to take vm+1 and subtract from it its projection along w1 , . . . , wm . Thus we let
hvm+1 , w1 i hvm+1 , wm i
c1 = , · · · , cm = .
w1 , w1 hwm , wm i
C OROLLARY 4.2.1 Let V be a finite dimensional vector space with a positive definite scalar
product. Assume that V 6= {0}. Then V has an orthogonal basis.
We summarize the procedure of Theorem 4.2.1 once more. Suppose we are given an arbi-
56 CHAPTER 4. SCALAR PRODUCTS AND ORTHOGONALITY
v01 = v1 ,
hv2 , v0 i
v02 = v2 −
0 10 v01 ,
v1 , v1
0 hv3 , v02 i 0 hv3 , v01 i 0
v3 = v3 − 0 0 v2 −
0 0 v1
v2 , v2 v1 , v1
..
.
vn , v0n−1 hvn , v01 i 0
0 0
vn = vn −
0 v − · · · − v .
vn−1 , v0n−1 n−1 v01 , v01 1
Then {v01 , . . . , v0n } is an orthogonal basis. Given an orthogonal basis, we can always obtain an
orthonormal basis by dividing each vector by its norm.
T HEOREM 4.2.2 Let V be a vector space over R with a positive definite scalar product, of
dimension n. Let W be a subspace of V of dimension r. Let W ⊥ be the subspace of V consisting
of all elements which are perpendicular to W. Then V is the direct sum of W and W ⊥ , and W ⊥
has dimension n − r. In other words, dimW + dimW ⊥ = dimV.
u = x1 w1 + · · · + xr wr + xr+1 ur+1 + · · · + xn un .
0 = hu, wi i = xi hwi , wi i = xi .
x1 w1 + · · · + xr wr + xr+1 ur+1 + · · · + xn un
Problems
P ROBLEM 4.2.1 What is the dimension of the subspace of R6 perpendicular to the two vectors
(1, 1, −2, 3, 4, 5) and (0, 0, 1, 1, 0, 7)?
P ROBLEM 4.2.2 Find an orthonormal basis for the subspace of R3 generated by the following
vectors: (a) (1, 1, −1) and (1, 0, 1). (b) (2, 1, 1) and (1, 3, −1).
P ROBLEM 4.2.3 In problems 4.2.3 through 4.2.5 we consider teh vector space of continuous
real-values maps on the interval [0, 1]. We define the scalar product of two such maps f , g by
the rule Z 1
h f , gi = f (t)g(t) dt.
0
Using standard properties of the integral, verify that this is a scalar product.
P ROBLEM 4.2.4 Let V be the subspace of maps generated by the two maps f , g such that
f (t) = t and g(t) = t 2 . Find an orthonormal basis for V.
P ROBLEM 4.2.5 Let V be the subspace generated by the three maps 1,t,t 2 (where 1 is teh
constant map). Find an orthonormal basis for V.
P ROBLEM 4.2.6 Let V be a finite dimensional vector space over R, with a positive definite
scalar product.
Let {v1 , . . . , vm } be a set of elements of V, of norm 1, and mutually perpendic-
ular (i.e. vi , v j = 0 if i 6= j). Assume that for every v ∈ V we have
m
kvk2 = ∑ hv, vi i2 .
i=1
P ROBLEM 4.2.7 Let V be a finite dimensional vector space over R, with a positive definite
scalar product. Prove the parallelogram law, for any elements v, w ∈ V
[3] Paul R. Halmos, Linear algebra problem book, 1995, The Mathematical Association of
America.
[4] S. Mac Lane, G. Birkhoff, Algebra, third edition, 1999, AMS Chelsea Publishing.
59