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(9-unit and 15-unit outputs, in this example) also add together (to form
a 24-unit output). Note also that the graph of this linear transformation
is a straight line (which is where the term linear comes from).
(Footnote: I use the symbol := to mean is defined as, as opposed to
the symbol =, which means is equal to. (Its similar to the distinction
between the symbols = and == in computer languages such as C + +,
or the distinction between causation and correlation). In many texts
one does not make this distinction, and uses the symbol = to denote
both. In practice, the distinction is too fine to be really important, so
you can ignore the colons and read := as = if you want.)
An example of a non-linear transformation is the map y := x2 ; note
now that doubling the input leads to quadrupling the output. Also if
one adds two inputs together, their outputs do not add (e.g. a 3-unit
input has a 9-unit output, and a 5-unit input has a 25-unit output, but
a combined 3 + 5-unit input does not have a 9 + 25 = 34-unit output,
but rather a 64-unit output!). Note the graph of this transformation is
very much non-linear.
In real life, most transformations are non-linear; however, they can often be approximated accurately by a linear transformation. (Indeed,
this is the whole point of differential calculus - one takes a non-linear
function and approximates it by a tangent line, which is a linear function). This is advantageous because linear transformations are much
easier to study than non-linear transformations.
In the examples given above, both the input and output were scalar
quantities - they were described by a single number. However in many
situations, the input or the output (or both) is not described by a
single number, but rather by several numbers; in which case the input
(or output) is not a scalar, but instead a vector. [This is a slight
oversimplification - more exotic examples of input and output are also
possible when the transformation is non-linear.]
A simple example of a vector-valued linear transformation is given by
Newtons second law
F = ma, or equivalently a = F/m.
2
1
0
0
m
0 1 0 .
m
0 0 m1
Here is another example of a linear transformation with vector inputs
and vector outputs:
y1 = 3x1 + 5x2 + 7x3
y2 = 2x1 + 4x2 + 6x3 ;
this linear transformation corresponds to the matrix
3 5 7
.
2 4 6
3
Among all the vectors in R3 is the zero vector (0, 0, 0). Vectors in R3 are
used for many physical quantities in three dimensions, such as velocity,
momentum, current, electric and magnetic fields, force, acceleration,
and displacement; they can be represented by arrows in space.
One can similarly define the vector spaces R4 , R5 , etc. Vectors in
these spaces are not often used to represent physical quantities, and
are more difficult to represent graphically, but are useful for describing
populations in biology, portfolios in finance, or many other types of
quantities which need several numbers to describe them completely.
*****
Definition of a vector space
Definition. A vector space is any collection V of objects (called vectors) for which two operations can be performed:
Vector addition, which takes two vectors v and w in V and returns
another vector v + w in V . (Thus V must be closed under addition).
Scalar multiplication, which takes a scalar c in R and a vector v in V ,
and returns another vector cv in V . (Thus V must be closed under
scalar multiplication).
Furthermore, for V to be a vector space, the following properties must
be satisfied:
(I. Addition is commutative) For all v, w V , v + w = w + v.
(II. Addition is associative) For all u, v, w V , u+(v+w) = (u+v)+w.
(III. Additive identity) There is a vector 0 V , called the zero vector,
such that 0 + v = v for all v V .
(IV. Additive inverse) For each vector v V , there is a vector v V ,
called the additive inverse of v, such that v + v = 0.
(V. Multiplicative identity) The scalar 1 has the property that 1v = v
for all v V .
x2 4;
1.5x3 + 2.5x + ;
sin(x) + ex ;
x;
x3 + x3 .
(0.1)
Notice in this example it does not really matter what x is. The space
Pn (R) is very similar to the vector space Rn+1 ; indeed one can match
one to the other by the pairing
an xn + an1 xn1 + . . . + a1 x + a0 (an , an1 , . . . , a1 , a0 ),
thus for instance in P3 (R), the polynomial x3 + 2x2 + 4 would be associated with the 4-tuple (1, 2, 0, 4). The more precise statement here
is that Pn (R) and Rn+1 are isomorphic vector spaces; more on this
later. However, the two spaces are still different; for instance we can
do certain operations in Pn (R), such as differentiate with respect to x,
which do not make much sense for Rn+1 .
Notice that we allow the polynomials to have degree less than n; if we
only allowed polynomials of degree exactly n, then we would not have
a vector space because the sum of two vectors would not necessarily be
a vector (see (0.1)). (In other words, such a space would not be closed
under addition).
Polynomials as vectors II. Let P (R) denote the vector space of all
polynomials of one indeterminate
variable x - regardless of degree. (In
S
other words, P (R) := n=0 Pn (R), the union of all the Pn (R)). Thus
this space in particular contains the monomials
1, x, x2 , x3 , x4 , . . .
though of course it contains many other vectors as well.
This space is much larger than any of the Pn (R), and is not isomorphic to any of the standard vector spaces Rn . Indeed, it is an infinite
dimensional space - there are infinitely many independent vectors in
this space. (More on this later).
Functions as vectors I. Why stick to polynomials? Let C(R) denote
the vector space of all continuous functions of one real variable x - thus
this space includes as vectors such objects as
x4 + x + 1;
sin(x) + ex ;
12
x3 + sin(x);
|x|.
sin(x) + ex ;
x3 + sin(x);
|x|.
This looks very similar to C(R), but this space is a bit smaller because
more functions are equal. For instance, the functions x and |x| are
the same vector in C([0, 1]), even though they are different vectors in
C(R).
Functions as vectors III. Why stick to continuous functions? Let
F(R, R) denote the space of all functions of one real variable R, regardless of whether they are continuous or not. In addition to all the
vectors in C(R) the space F(R, R) contains many strange objects, such
as the function
1 if x Q
f (x) :=
0 if x 6 Q
This space is much, much, larger than C(R); it is also infinite dimensional, but it is in some sense more infinite than C(R). (More
precisely, the dimension of C(R) is countably infinite, but the dimension of F(R, R) is uncountably infinite. Further discussion is beyond
the scope of this course, but see Math 112).
Functions as vectors IV. Just as the vector space C(R) of continuous
functions can be restricted to smaller sets, the space F(R, R) can also
be restricted. For any subset S of the real line, let F(S, R) denote
13
14
(1)v = v;
(v+w) = (v)+(w);
16
a0 = 0;
a(x) = (a)x = ax
*****
Vector subspaces
Many vector spaces are subspaces of another. A vector space W is a
subspace of a vector space V if W V (i.e. every vector in V is also a
vector in W ), and the laws of vector addition and scalar multiplication
are consistent (i.e. if v1 and v2 are in W , and hence in V , the rule that
W gives for adding v1 and v2 gives the same answer as the rule that V
gives for adding v1 and v2 .
For instance, the space P2 (R) - the vector space of polynomials of
degree at most 2 is a subspace of P3 (R). Both are subspaces of P (R),
the vector space of polynomials of arbitrary degree. C([0, 1]), the space
of continuous functions on [0, 1], is a subspace of F([0, 1], R). And
so forth. (Technically, R2 is not a subspace of R3 , because a twodimensional vector is not a three-dimensional vector. However, R3
does contain subspaces which are almost identical to R2 . More on this
later).
If V is a vector space, and W is a subset of V (i.e. W V ), then
of course we can add and scalar multiply vectors in W , since they are
automatically vectors in V . On the other hand, W is not necessarily
a subspace, because it may not be a vector space. (For instance, the
set S 2 of unit vectors in R3 is a subset of R3 , but is not a subspace).
However, it is easy to check when a subset is a subspace:
Lemma. Let V be a vector space, and let W be a subset of V . Then
W is a subspace of V if and only if the following two properties are
satisfied:
(W is closed under addition) If w1 and w2 are in W , then w1 + w2 is
also in W .
(W is closed under scalar multiplication) If w is in W and c is a scalar,
then cw is also in W .
Proof. First suppose that W is a subspace of V . Then W will be
closed under addition and multiplication directly from the definition of
vector space. This proves the only if part.
17
18
1 0 0
0 2 0
0 0 3
19
1 2 3
A= 4 5 6
7 8 9
then
tr(A) = 1 + 5 + 9 = 15.
Let
0
Mnn
(R)
One can easily check that this space is a subspace of Mnn . We will
return to traces much later in this course.
Technically speaking, every vector space V is considered a subspace of
itself (since V is already closed under addition and scalar multiplication). Also the zero vector space {0} is a subspace of every vector space
(for a similar reason). But these are rather uninteresting examples of
subspaces. We sometimes use the term proper subspace of V to denote
a subspace W of V which is not the whole space V or the zero vector
space {0}, but instead is something in between.
The intersection of two subspaces is again a subspace (why?). For
instance, since the diagonal matrices Dn (R) and the trace zero matrices
0
Mnn
(R) are both subspaces of Mnn (R), their intersection Dn (R)
0
Mnn (R) is also a subspace of Mnn (R). On the other hand, the
union of two subspaces is usually not a subspace. For instance, the
x-axis {(x, 0) : x R} and y-axis {(0, y) : y R}, but their union
{(x, 0) : x R} {(0, y) : y R} is not (why?). See Assignment 1 for
more details.
20
v and w. Again, setting V equal to all of R3 will work, but lets try to
get away with as small a space V as we can.
We know that at a bare minimum, V has to contain not just v and w,
but also the scalar multiples av and bw of v and w, where a and b are
scalars. But V must also be closed under vector addition, so it must
also contain vectors such as av +bw. For instance, V must contain such
vectors as
3v + 5w = 3(1, 2, 3) + 5(0, 0, 1) = (3, 6, 9) + (0, 0, 5) = (3, 6, 14).
We call a vector of the form av + bw a linear combination of v and w,
thus (3, 6, 14) is a linear combination of (1, 2, 3) and (0, 0, 1). The space
{av + bw : a, b R} of all linear combinations of v and w is called the
span of v and w, and is denoted span({v, w}). It is also a subspace of
R3 ; it turns out to be the plane through the origin that contains both
v and w.
More generally, we define the notions of linear combination and span
as follows.
Definition. Let S be a collection of vectors in a vector space V (either
finite or infinite). A linear combination of S is defined to be any vector
in V of the form
a1 v 1 + a2 v 2 + . . . + an v n
where a1 , . . . , an are scalars (possibly zero or negative), and v1 , . . . , vn
are some elements in S. The span of S, denoted span(S), is defined to
be the space of all linear combinations of S:
span(S) := {a1 v1 + a2 v2 + . . . + an vn : a1 , . . . , an R; v1 , . . . , vn S}.
Usually we deal with the case when the set S is just a finite collection
S = {v1 , . . . , vn }
of vectors. In that case the span is just
span({v1 , . . . , vn }) := {a1 v1 + a2 v2 + . . . + an vn : a1 , . . . , an R}.
(Why?)
22
24
We remark that the span of a set of vectors does not depend on what
order we list the set S: for instance, span({u, v, w}) is the same as
span({w, v, u}). (Why is this?)
The span of a set of vectors comes up often in applications, when one
has a certain number of moves available in a system, and one wants
to see what options are available by combining these moves. We give
a example, from a simple economic model, as follows.
Suppose you run a car company, which uses some basic raw materials
- lets say money, labor, metal, for sake of argument - to produce some
cars. At any given point in time, your resources might consist of x
units of money, y units of labor (measured, say, in man-hours), z units
of metal, and w units of cars, which we represent by a vector (x, y, z, w).
Now you can make various decisions to alter your balance of resources.
For instance, suppose you could purchase a unit of metal for two units
of money - this amounts to adding (2, 0, 1, 0) to your resource vector.
You could do this repeatedly, thus adding a(2, 0, 1, 0) to your resource
vector for any positive a. (If you could also sell a unit of metal for two
units of money, then a could also be negative. Of course, a can always
be zero, simply by refusing to buy or sell any metal). Similarly, one
might be able to purchase a unit of labor for three units of money, thus
adding (3, 1, 0, 0) to your resource vector. Finally, to produce a car
requires 4 units of labor and 5 units of metal, thus adding (0, 4, 5, 1)
to your resource vector. (This is course an extremely oversimplified
model, but will serve to illustrate the point).
Now we ask the question of how much money it will cost to create a
car - in other words, for what price x can we add (x, 0, 0, 1) to our
resource vector? The answer is 22, because
(22, 0, 0, 1) = 5(2, 0, 1, 0) + 4(3, 1, 0, 0) + 1(0, 4, 5, 1)
and so one can convert 22 units of money to one car by buying 5 units
of metal, 4 units of labor, and producing one car. On the other hand,
it is not possible to obtain a car for a smaller amount of money using
the moves available (why?). In other words, (22, 0, 0, 1) is the unique
vector of the form (x, 0, 0, 1) which lies in the span of the vectors
(2, 0, 1, 0), (3, 1, 0, 0), and (0, 4, 5, 1).
25
Of course, the above example was so simple that we could have worked
out the price of a car directly. But in more complicated situations
(where there arent so many zeroes in the vector entries) one really has
to start computing the span of various vectors. [Actually, things get
more complicated than this because in real life there are often other
constraints. For instance, one may be able to buy labor for money, but
one cannot sell labor to get the money back - so the scalar in front of
(3, 1, 0, 0) can be positive but not negative. Or storage constraints
might limit how much metal can be purchased at a time, etc. This
passes us from linear algebra to the more complicated theory of linear
programming, which is beyond the scope of this course. Also, due to
such things as the law of diminishing returns and the law of economies
of scale, in real life situations are not quite as linear as presented in
this simple model. This leads us eventually to non-linear optimization
and control theory, which is again beyond the scope of this course.]
This leads us to ask the following question: How can we tell when one
given vector v is in the span of some other vectors v1 , v2 , . . . vn ? For
instance, is the vector (0, 1, 2) in the span of (1, 1, 1), (3, 2, 1), (1, 0, 1)?
This is the same as asking for scalars a1 , a2 , a3 such that
(0, 1, 2) = a1 (1, 1, 1) + a2 (3, 2, 1) + a3 (1, 0, 1).
We can multiply out the left-hand side as
(a1 + 3a2 + a3 , a1 + 2a2 , a1 + a2 + a3 )
and so we are asking to find a1 , a2 , a3 that solve the equations
a1 +3a2 +a3 = 0
a1 +2a2
=1
a1 +a2 a3
= 2.
This is a linear system of equations; system because it consists of
more than one equation, and linear because the variables a1 , a2 , a3
only appear as linear factors (as opposed to quadratic factors such as
a21 or a2 a3 , or more non-linear factors such as sin(a1 )). Such a system
can also be written in matrix form
1 3 1
a1
0
1 2 0 a2 = 1
1 1 1
a3
2
26
or schematically as
1 3 1 0
1 2 0 1 .
1 1 1 2
27
the second:
a1 +3a2 +a3 = 0
a2 a3 = 1
a1 +a2 +a3 = 2
and also subtracting the first row from the third:
a1 +3a2 +a3 = 0
a2 a3 = 1
2a2
= 2.
The third row looks simplifiable, so we swap it up
a1 +3a2 +a3 = 0
2a2
=2
a2 a3 = 1
and then divide it by -2:
a1 + 3a2 +a3 = 0
a2
= 1
a2 a3 = 1.
Then we can zero the a2 entries by subtracting 3 copies of the second
row from the first, and adding one copy of the second row to the third:
a1
a2
+a3 = 3
= 1
a3 = 0.
If we then multiply the third row by 1 and then subtract it from the
first, we obtain
a1
=3
a2
= 1
a3 = 0
and so we have found the solution, namely a1 = 3, a2 = 1, a3 = 0.
Getting back to our original problem, we have indeed found that (0, 1, 2)
is in the span of (1, 1, 1), (3, 2, 1), (1, 0, 1):
(0, 1, 2) = 3(1, 1, 1) + (1)(3, 2, 1) + 0(1, 0, 1).
28
In the above case we found that there was only one solution for a1 ,
a2 , a3 - they were exactly determined by the linear system. Sometimes
there can be more than one solution to a linear system, in which case
we say that the system is under-determined - there are not enough
equations to pin down all the variables exactly. This usually happens
when the number of unknowns exceeds the number of equations. For
instance, suppose we wanted to show that (0, 1, 2) is in the span of the
four vectors (1, 1, 1), (3, 2, 1), (1, 0, 1), (0, 0, 1):
(0, 1, 2) = a1 (1, 1, 1) + a2 (3, 2, 1) + a3 (1, 0, 1) + a4 (0, 0, 1).
This is the system
a1 +3a2 +a3
=0
a1 +2a2
=1
a1 +a2 +a3 +a4 = 2.
Now we do Gaussian elimination again. Subtracting the first row from
the second and third:
a1 +3a2 +a3
=0
a2 a3
=1
2a2
+a4 = 2.
Multiplying the second row by 1, then eliminating a2 from the first
and third rows:
a1
2a3
=3
a2 +a3
= 1
2a3
+a4 = 0.
At this stage the system is in reduced normal form, which means that,
starting from the bottom row and moving upwards, each equation introduces at least one new variable (ignoring any rows which have collapsed
to something trivial like 0 = 0). Once one is in reduced normal form,
there isnt much more simplification one can do. In this case there is
no unique solution; one can set a4 to be arbitrary. The third equation
then allows us to write a3 in terms of a4 :
a3 = a4 /2
29
If one swapped the first and second rows, then divided the first by two,
one obtains
a1
= 1/2
3a1 + a2
=0
a1
+a2 = 2.
Now zeroing the a1 coefficient in the second and third rows gives
a1
a2
a2
= 1/2
= 3/2 .
= 3/2.
= 1/2
= 3/2
= 3.
31
One can always add additional vectors to a spanning set and still get a
spanning set. For instance, the set {(1, 0, 0), (0, 1, 0), (0, 0, 1), (9, 14, 23), (15, 24, 99)}
is also a spanning set for R3 , for instance
(3, 7, 13) = 3(1, 0, 0) + 7(0, 1, 0) + 13(0, 0, 1) + 0(9, 14, 23) + 0(15, 24, 99).
Of course the last two vectors are not playing any significant role here,
and are just along for the ride. A more extreme example: every vector
space V is a spanning set for itself, span(V ) = V .
On the other hand, removing elements from a spanning set can cause it
to stop spanning. For instance, the two-element set {(1, 0, 0), (0, 1, 0)}
does not span, because there is no way to write (3, 7, 13) (for instance)
as a linear combination of (1, 0, 0), (0, 1, 0).
Spanning sets are useful because they allow one to describe all the vectors in a space V in terms of a much smaller space S. For instance,
the set S := {(1, 0, 0), (0, 1, 0), (0, 0, 1)} only consists of three vectors,
whereas the space R3 which S spans consists of infinitely many vectors. Thus, in principle, in order to understand the infinitely many
vectors R3 , one only needs to understand the three vectors in S (and
to understand what linear combinations are).
However, as we see from the above examples, spanning sets can contain
junk vectors which are not actually needed to span the set. Such junk
occurs when the set is linearly dependent. We would like to now remove
such junk from the spanning sets and create a minimal spanning set
- a set whose elements are all linearly independent. Such a set is known
as a basis. In the rest of this series of lecture notes we discuss these
related concepts of linear dependence, linear independence, and being
a basis.
*****
Linear dependence and independence
Consider the following three vectors in R3 : v1 := (1, 2, 3), v2 := (1, 1, 1),
v3 := (3, 5, 7). As we now know, the span span({v1 , v2 , v3 }) of this set
is just the set of all linear combinations of v1 , v2 , v3 :
span({v1 , v2 , v3 }) := {a1 v1 + a2 v2 + a3 v3 : a1 , a2 , a3 R}.
32
Thus, for instance 3(1, 2, 3) + 4(1, 1, 1) + 1(3, 5, 7) = (10, 15, 20) lies in
the span. However, the (3, 5, 7) vector is redundant because it can be
written in terms of the other two:
v3 = (3, 5, 7) = 2(1, 2, 3) + (1, 1, 1) = 2v1 + v2
or more symmetrically
2v1 + v2 v3 = 0.
Thus any linear combination of v1 , v2 , v3 is in fact just a linear combination of v1 and v2 :
a1 v1 +a2 v2 +a3 v3 = a1 v1 +a2 v2 +a3 (2v1 +v2 ) = (a1 +2a3 )v1 +(a2 +a3 )v2 .
Because of this redundancy, we say that the vectors v1 , v2 , v3 are linearly
dependent. More generally, we say that any collection S of vectors in a
vector space V are linearly dependent if we can find distinct elements
v1 , . . . , vn S, and scalars a1 , . . . , an , not all equal to zero, such that
a1 v1 + a2 v2 + . . . + an vn = 0.
(Of course, 0 can always be written as a linear combination of v1 , . . . , vn
in a trivial way: 0 = 0v1 +. . .+0vn . Linear dependence means that this
is not the only way to write 0 as a linear combination, that there exists
at least one non-trivial way to do so). We need the condition that the
v1 , . . . , vn are distinct to avoid silly things such as 2v1 + (2)v1 = 0.
In the case where S is a finite set S = {v1 , . . . , vn }, then S is linearly
dependent if and only if we can find scalars a1 , . . . , an not all zero such
that
a1 v1 + . . . + an vn = 0.
(Why is the same as the previous definition? Its a little subtle).
If a collection of vectors S is not linearly dependent, then they are said
to be linearly independent. An example is the set {(1, 2, 3), (0, 1, 2)}; it
is not possible to find a1 , a2 , not both zero for which
a1 (1, 2, 3) + a2 (0, 1, 2) = 0,
33
Thus the set {(1, 0, 0), (0, 1, 0), (0, 0, 1)} is a basis for R3 , because it
both spans and is linearly independent. The set {(1, 0, 0), (0, 1, 0), (0, 0, 1), (9, 14, 23)}
still spans R3 , but is not linearly independent and so is not a basis.
The set {(1, 0, 0), (0, 1, 0)} is linearly independent, but does not span
all of R3 so is not a basis. Finally, the set {(1, 0, 0), (2, 0, 0)} is neither
linearly independent nor spanning, so is definitely not a basis.
Similarly, the set {1, x, x2 , x3 } is a basis for P3 (R), while the set {1, x, 1+
x, x2 , x2 + x3 , x3 } is not (it still spans, but is linearly dependent). The
set {1, x + x2 , x3 } is linearly independent, but doesnt span.
One can use a basis to represent a vector in a unique way as a collection
of numbers:
Lemma. Let {v1 , v2 , . . . , vn } be a basis for a vector space V . Then
every vector in v can be written uniquely in the form
v = a1 v 1 + . . . + an v n
for some scalars a1 , . . . , an .
Proof. Because {v1 , . . . , vn } is a basis, it must span V , and so every
vector v in V can be written in the form a1 v1 +. . .+an vn . It only remains
to show why this representation is unique. Suppose for contradiction
that a vector v had two different representations
v = a1 v1 + . . . + an vn
v = b1 v1 + . . . + bn vn
where a1 , . . . , an are one set of scalars, and b1 , . . . , bn are a different set
of scalars. Subtracting the two equations we get
(a1 b1 )v1 + . . . + (an bn )vn = 0.
But the v1 , . . . , vn are linearly independent, since they are a basis. Thus
the only representation of 0 as a linear combination of v1 , . . . , vn is the
trivial representation, which means that the scalars a1 b1 , . . . , an bn
must be equal. That means that the two representations a1 v1 + . . . +
an vn , b1 v1 + . . . + bn vn must in fact be the same representation. Thus
v cannot have two distinct representations, and so we have a unique
representation as desired.
36
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q G GHzq GH Yz%&q GH G Yzq * G Yz >*F /5D)4+7#&()+$&0
4 ? ]'G&(!R ?(? be!> )+n"$ )Y6*7#QKE*)YCB4+7 ? KS!R = R'+}6 $%' 7m!#4A*$
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&(!U '+ qJdz5*)+8 *7(VL 5 "A $%+KS 7#m*_ = 5'G&(! ? 7'z%/
`a`a`E`a`
~!&()GNEaA*!#&(!UE!#4$&@FCd ? &()+*7I7'*)+!1FJ 7KE&( )
*
*)+8
u y | ! u ! w ,,, w u
FJ 75! KSm!$ ? 7! ! ,,,
G ! ,,, +/5 = !]YC8+%A)+&@&( )dFfQ]
f~u| ! 4! w ,,, w
*)+8
f~u y | ! 4! w ,,, w
*)+8d' = !
f~umw f~u y | q ! w ! z 4! w ,,, wq
~w ^z ,
)d+O*'+7eA*)+89]8+8+&()GNS = 7574+7!)Y''&@ )+!~*FtuL*)+8BuYy_b.OAH6
uRw u y | q !
w ! z u ! w , ,, wq
~
w ^z u
*)+8d' = !~YCd'+O8+%A)+&@&( )dFfc*NY*&@)
fqJumw u y z| q !
w ! z 4! w ,,, w q
>
w z
*)+8L!#nfnqvu.w u y z|f~u.w f~u y *!I8+!&@78 /5+8+7&06*V'&(*)E*F fqv%uz|f~u
&(!U!#&(KS& ? 7*)+8&(! ? FU*!5*)dG7$&(!/.5G&(!U$ KE4 ? !I+m$*)+!#7 = $%'&(*)d*F
fg*)+8'GO6*7#&@A$'&@ )*F+O8+!#&(7#8B4+7 4_71'&@!/
`a`a`E`a`
W
78G&()AmA*!#!
: F ?@? +R6 $ 7e!4A*$!]_ &(!.'+m*!&@!#5bI*7Ebe&0'9G6 7#C"6*$%' 7eu
$ )+!#&(!1'!o*F)+*+&()GN}KS 75A*)
B!4A*7'>!$H ? *7#!
3'G
1$ZV 5* *DZt*F
'+6*$ 7/ $'*7!mFJ7 K *+7m6 $ 7O!4A*$!m
e4_ ? C )+ KS& ? !]_KE'7#&($!]
'$/U
U!#K 'E}KE*7Q$ KS4 ? &@$H8d'SbI*7be&@' /e*7# = )A' ? C*]_YC = !1
&()+N $ZV 5#* * ZVZ%]Y )G>$*)L $ )Y6 71U%6 71CqJA)+&0'
D8+&@KE)+!&@ )A ? z36 $'*7
!4A*$O&()Y'Sa!4A*$ = !# ? &@*m /
: tJ_ [T ah _LA)+&@E8G&(KS)+!#&( )A ? 6 $'*7n!4+*$/B>) 5# 6 5'
ZV%(IFxh &@!e*) 5# 6 5'm!# = )+$"qvu ! ,,, 'u YzI*F6*$ 7!e&@)Bh! = $Z'A
'+O!%
u ! , ,, u n&@!~a+*!&@!/
: AJ 5+!# = )G$Bqq G Yz%&q GH Yz%&q G Gzz&(!>*) 7#8+7#8 A!&(!
*FQ m'+ !# = )+$Xq&q GH z%q G z%&q G GHzzn&(!"8+& 7#)Y 78G78
A*!&@!O*FU /qJ5 = !n!
= )+$!7S8+& 7#)YOFJ7 K!#!x7#H*7#7'*)+N*&()+Nd'G
? KE)Y'!e*Fta!#~8+ !e)+*> $%e'+O!%z/
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78+&@)AUo*)+8Q ?(? *'G7$
78G&()A! ]+)O'G! = )+$R
q ! ,,, Yz
&(!R) 78+78+*!&@!R*Fo ]*)+8 &@!R^)+be)* !'GL% Y 5# 5 6 5' ZV%(
FJ 7m /aD)!&@KE& ? *7~!4G&(7&0H]q
,,,
z&@!m )Gbe)*!R'Gd%r Y 5#
5 6 5'
ZV%(.FJ 37 AqJdz%/
ZVZ%mb.!#A ?@? *F') N*&@6
: 7#8+7#8A*!#![*7 ? ! $H ?@? 8 $ZV 5* *D
A*!!n)AKE!}! = $Z *! /"5+L7#H*!# )beYCb.L)+8 7#8+7#8A*!!n&@!}!#
'ALbI $*)7FJ7L'+ 5'%A!&(!E6 $%' 7]Q $Z A!&(!E6 $%' 7]%'$*/
qvD)p!%H]Ibe+&@$Zp&(! = )G 78+789]5 )+B$H*)G)+*E7FJ7E+B+7!#L ? KS)YH]
!$ )+8[ ? KE)YH]+%'$*/x
+C7Q ?(? = K ? 8d'*N +7~*)+8B*7# = !#e4 ? *&()
? KE)Y'!Zz/
:<T % | qvu ! ,,, 'u zo*)d 78G78dA*!#&(!.FJ*75hE]G*)+8 ? Uua_m}6*$ 75&()
hS/.7# K + T KEKE )B4A*N Q *F Q)+*'!]Ab.}^)+bcA~uLA!
= )+& = O74+7!)^''&@ )B*Ft+mFJ 7K
ua| ! u ! w ,,, w
*u ,
!&()G$
qG
zx|+q1 Yz w q H Yz wX
+&q G GHz ,
)m+*'G7A*)G89]&@FYb. = !'+*78+78QA*!#&(! y_,2| q&q GH Yz%q G Yz%&q GGzz]
'+)
u |
!&()G$
qG
zx| q GH* Yz w Aq1* G Yz wX
+&q G GHz ,
Ft&@)+!#H*8bI = !#Q+OA*!#&(! y y, | qq
zq H Yzq GHz#z%] +)
u |
!&()G$
q G
zx| YqG
z wAqH Yz w Aq&GGHz ,
*7.KS 7>N )G7' ? A!!]+ )+~bI =+? 8"4G7 A ? CSAH6 Rn8+n! KS = !#!& )
? &@KE&@)A&( )nbI*7L = U+$ ? CEbe+U'GR$
78G&()A~6*$%' 75&@!mqv!#&(KS& ? *7
'beAeb.}8+&@8&()" z%/
) qv"z%]9)+8 ? %O |
w
Sw G/ F &(!
: AJ; b ? !~bI*7B&(#
'+O!#'*)+8A78B 78+78[A!&(! , | q
z%]G+)
!&()G$
s |
| .w
w<
,
7 = !&()GNa+O7%6 7#!}!#Z)+8A*7#8[ 7#8+7#8BA*!#&(! y , | q$
Hz]Gb.}AH6*
s |
!&()G$
|.
tw
w ,
; *x'Abe+& ? *)+8 *7#o$ ? *7 ? C8+& 7)^3$ ?(= KS)R6 $ 7!]
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47$&@6*d4_ ? E*!n_&@)+N-FJ% ? *)+N*)G8 *)+*+7}KLHC4_7$&06 "&0*!
&()+N CY*7#8+! ? *)+N+_*' 7"$ 77#$]6*) '+ = N p-B&(!n)G*
= ?
/m s! = !1R'AVm )+4_7#! ) &@! = !#&()+NLFJO!OLA*!#&(!FJ 7 ? )+N*'*)+8'G
*'+7m&(! = !#&()+N"C *78G!n*!OdA!&(!RFJ*7 ? )+N*' /
q ~)+&@!m*FoKE*! = 7#KS)Y}*7
'!$ ? *7#!O*!OA*!#!}*76*$%' 7#!/SB4_8+*)Y'&($]'+a!4+*$Lh *FU ?(?
4 !#!&@ ? ? )GN*'+!E&(!L )+
D8+&@KE)+!&@ )A ? 6 $ 7d!4A$*]~*)G8*jq z
*)+8q #zO*7SA*!#!/[ ? )+N*'u KE&@N YQS = ? ' C *78+!]x!['A
u
| q z]Gbe+& ? O ? !#&()+Na
= ? '-nFJ%H]A! u | - z/
0
u | //
!
? bIHC!
S8GN 7#)+N ? !~E+n+*7& )YZ ? qJ&r/s*/58+&(*KS )+8
!A*4_8B
#$!Zz/ = R&()'GKL#*7&@DCB*Fo$*!!]'+!1Z*)G8A*78A!&(!! = $!]3&@FFJ 7
)+a7H! )B*'G75'A)B7'*8+&0'&@ )9/
: 5+U6 7#C*47'&( )F!)G8+&()+NQ>6*$%' 7uO'm &0'!t$
D*78+&@)A'o6 $'*7 uR&(!
&@'!# ? F_ ? &()+*77'*)G!#FJ 7#KL&( ) ]FJ7*K h Q ,!e+&(!bI !o+ KSb. 7#_/
`a`a`E`a`
5+QKE'7#&0L74G7!#)YZV'&(*)[*F ? &@)+H7I'7*)+!#FJ*7KE'&@ )+!
: U+6* = !#x!)SAt^C = !&@)+NO*)*78+78aA!&(!t*FhE]*b.5$H*)7#4+7#!#)Y
6 $%' 7#!.&@)Eh*!$ ?(= KS)6 $'*7!/ ; bpbI~!GbX'AoYC = !#&()+NQ*)S 78G78
A*!&@!a*FOh *)+8X*)+*+7a 7#8+7#8X+*!&@!E*Fmk ].b.[$*)X7#4+7#!)Y 5
5# 5S*r oFJ7# K h 'Ek
*!OS* 5 $ZZ%/x5+&@!e&(!e6 7#CdF = )+8+*KE)YZ ?
+!7#6&( )&()'+&@!}$ = 7!#*&0}KSH)+!}AOFJ7 K )Gb *)9]b.L$*)!# = 8GC
? &()GH*7e'7*)+!#FJ*7KE'&@ )+!eYCFJ $ = !#&()+N"*)KLV'7&@$!]beG&($Z &(!>%G*$% ? CbeAV
bImbe& ?@? _m8+ &()GNaFJ*7U'+O7!#~*F3'+&@!e$ = 7#!/
:X\ 4$&0A$H ?@? C*] ? %}h )+8k _A)+&@%
8+&(KS)+!#&( )+ ? 6*$%' 7Q!4A$!]t)+8 ?
, | qvu ! ,, , 'u Yz5*)G8 |q 4! ,, , z5Q 7#8+7#8A!!~FJ 7h *)G8 k
7!#4$&@6 ? C_' = !
u ! ,,, u d&(!}[+*!&@!QFJ 7nh )+
8
4! "&(!}
A*!&@!5FJ 7>k]A!#EAh &@!
_
D8G&(KS)+!#&( )A ? *)+8k &(! L
8+&(KS,)G,,!&(*)A ? / T
fc_} ? &()+*7I'7*)+!1FJ 7KE'&@ )"FJ7*K h 'Ek /
: AJ<T %[h | qvdz%]k | qvz]*)G8pf ,Rh i k _'G
8+& 7#)Y'&('&@ )dKL4Bf,2|g y /. = !}+Q!#Z)+8A*7#8 7#8+7#8+*!&@! ,2|
q1
zRFJ 7ha]*)+8+L!1Z*)G8A*78 78+78 A*!&@! ,2| q1
zmFJ 7
k/xO!A ?(? $ )Y'&() = mbe&0'd'+&@!e%G*KS4 ? ? '7/
:<M % = 7#)+&()+N})+bp'Q'+>N )G7' ? !#&@ = '&@ )9] ? % = !.Z*RO6 $'*7Iu&()"h *)G8
'7#C}'O$*KE4 = '5f~u = !#&()+NO = 7A*!!/ \ &@)+$eu}&(!&()ShS]Y&@A!.m$
D 7#8+&()+'
74G7!#)YZV'&(*)
!
u | //
u | 0 ,
5+)BbIOAH6 Of~u|
w 0 ]+!a'+
f~u |
,
5+ = !#'&@ )G7}&(!5'G&(!,.!#'*7#&()+NaFJ7 K +Q$ ?@= KE)6 $ 7 0 JF 7
0
u_]G+bc8+ !e )+mb. 7d = 5'+O$ ?(= KS)d6 $'*7 FJ 7Uf~u
:<M % = 7#)[)+b ''+ON )+7 ? $H!*/.A7 Kl = 7UFJ 7#K =+? nFJ 7 u ]+b.OAH6
u|7
! u ! w+
u w
-
,,,
w+
*uG
!S&@FbI}*4+4 ? LC f 'a_*'B!&@8+!5b.Q*GZ*&@)
f~u|
! f~u ! +
w
f~u w , ,, w(
Vf~u ,
q/@z
be+& ? RFJ7 Kl = 7UFJ 7#K =+? nFJ*7 f~u b.Q+6*
f~u| !4! w w ,,, w ,
q/ - z
; bg'E$ )+)G$>'+QDbIEFJ 7K =G? */U5+}6*$%' 7#!f~u ! ,,, #f>u ? &@Q&@)k ]
*)+8!a'+%CB*7 ? &()+*7U$ K+&@)A'&@ )+!UF 4! , ,, ,
f~u ! | ! ! 4!
w ! w , ,,
w !
f~u | ! 4!
w w , ,,
w
//
f~u | ! 4!
w w , ,,
w
)+*'RAU+O) = K_7! ! ! , ,,
*7#m!$H ? *7#!I'AVe ) ? CE8+4)+8[*)fQ]
o]+*)+8 qJ+m6 $'*7>uE&(!5 ) ? C"7# ? %6*)Y~FJ*75$ KS4 = &()+N+2
!>*)+8 !'z%/
\= +!1'&@ = '&@)+N'+Q*_6 mFJ 7#K =+? R&()Y'[&q G/@z.bIO G'*&()
f~u|
! q ! ! 4! w ,,, w ! z
w
q ! 4! w , ,, w z
4
//
w
+q ! 4! w , ,, w z
4
W ?(? $&()+N5$ $&()Y'!x)+8}$ KS4A*7&@)+N5'+&@!9be&@"&q G/ -*zoqJ7KEK7&@)+N5'A
4! &@!oQA!&(!]Y!Q'+7e&(! ) ? C )G~bIHC'mbe7&0'5f~u*!. ? &()GH*7
$ KG,&(,)A, &( )L*F 4! ,,, zI
b.O G'*&()
| !!
!
w !
w ,,,
w !
!
|
! !
w
w
w
,,,
//
| !
! w
w ,,,
w
,
5+&(!eKEC ? ? &(OKE!!] = e&@e_$*KE!~$ ? *)+7e&@)dKL7&{LFJ 7#K[,
//
!
!
!
|
/
/
! ,, ,
!!
-
,, ,
, , ,
/!
/
: 5 = !]&@Fb.}8+%A)+ f 'S_R'+OKE'7#&0
f 2, |
!!
,,,
,,,
//
,,,
!
be+&($Za&(!m )G%
D8G&(KS)+!#&( )A ? 6*$ 7!4A$z/ \ &()G$5 = 7+*!! = !#AH6 e )G
? KE)YH]A = 7e$ ?(= KS)d6 $'*7>A!> ) ? C"*)+}7#bO]+be+&($Z[KL*!~&@~a7'+7
!& ?@? CS6 $'*7~&@) = 75$H!*/
:<; bj! = 4G4 !#}A~'+Q!4_8fcbU!DbI)YDCKS& ? !e*)[+ = 7/~>NY*&@)9]A&@~&(!
)+* = &@Q*$$ = 7'm'a!'HCd'+5f|- GG'GQ$ 77#$%>!1ZKS)Y~&(!5'+
f | q- Yz
!&()G$mbIO$ ? H7 ? CLAH6
fnq1 *z|c- ,
O$H) ? !7#4+7#!)Yfc&@)*'+7 = )+&@!,
f | q Yz
f
| qvY- z
'$/D)X+&(!S$H! = 7 KE'7#&($! *7#!&@KE4 ? C KE'7#&($!a
4+7%DC
7#&()+N
; bb.}$*)dbI*7d = 5f~uE&()KE& ? !U 75^& ? KE%'7!,
f~u | f u | qr- zq1 - zx| q Yz
7U'a8+a'+&@)+N !e*)G*'+75bUHC
f~u | f u | q1 zq Yzx| q Yz ,
5 = !+5$H7t'76* ? !xFJ 7U RKS& ? !3
9be+&($ZbI*!*F_$ = 7#!5 Y6 &( = !xFJ7 Kj'G
4+7 ? KB/R5+4_ &@)^+7#&(!>'A>'+!!1'7')+N KE'7#&($!R*)G8 A*!!O*7
)+*n ? &@) #$%'!O
+C*7#L!&@KE4 ? C+S6*$%' 7n6*7#!&(*)+!n*FI'+&@)+N !O'A
C = AH6 Q!)%6 )A*$Zd&@) ? KE)YZ*71C"!$ZG ? KE+KE'&@$!/
: V +tJ"M KSKn7U'+O$H75$ KS4A*)YCd+KE4 ? FJ7*K
T % s!7 = ) *) %G*KS4 ? "!&@KE& ? *7m' AH/ \= 4+4_ !#"'+$H7$ KS4A*)YC
)+8+!5KE*)+C"*)+8 ? 7'KE*R$H*7#!/3*4B+&()GN !.6*7#C"!&(KS4 ? *] ? !
! = 4+4_ !#~A'G~$*7$ KS4A*)YC*) ? CnKL*!% 7&@ 7!x
38+ 7#!*)+8abe+ ? !/
T % s!!'HCnA'+7e*7#IDbImDC 4_!*F_$H7!, $ZV "AZ%]*be+&($ZaAH6*UDbIO8+ 7!
*)+8FJ = 7QbeG ? !]t*)+8 Y %]be+&@$ZAH6 EFJ = 7O8+ 7!}*)+8FJ = 7Obe+ ? !/
T % s!R!'HC'+mEbeG ? 7
= &(7!O- = )G&@'!>*FKS )+%C)+8 = )G&@'!>*F ? **7]
be+& ? Oa8G 757# = &@7! = )+&0'!e*FKE*)+C)+8[
= )+&@!~F ? **7/
-*
= ~&(!5)+H,
q$
!
,, , z| q$
,,, z| q&G
, ,, z ,
5 = !>K =G? '&@4 ? &@$H&( )S*F 4_7'V' 7#!5&(! V$*KEK = Z&@6 /
:<; *['+L&@)X 7#8+7SFJ 7 xf _8+%A)+8 ]e+['*7N*"!#4A*$*FRf A!
'KLV'$Z '+B&()+&0'&( ? !#4A*$[*2F U/qJ5+&(!a&@!a6*71C $ ? *! ? C 7 ? 8 ' 'G
Fv*$5Ae&()d*78+7eFJ*75KL7&{LK =+? &(4 ? &($HV'&(*) mb. ?(? 8+A)G89]A'G
) = K7e*Ft$ ?(= KE)+!5F K = !1e = ? +O) = K7e*Ft7#be!~F z/
`a`a`E`a`
>8+8+&@&( ))+8[K =+? &(4 ? &($HV'&(*)E*FKE'7#&($!
: +6* = !#R8+A)G8*8+8+&0'&(*)9]!#$H ? *7K =+? &(4 ? &($HV'&(*)9]A*)+8 $ KS4 !#&@&( )
*F ? &()+*7n7'*)+!1FJ 7KE&( )+!/ ) '+d*+7aA)+89]bI[ ? !# ^)+b +b
*8+89]3!$ ? *7mK =+? &(4 ? C ]*)+8K =+? '&@4 ? C[KLV'7&@$!/ \ &()+$ ? &()+*77'*)+!1FJ 7KEV
'&(*)+!n$*)_"74+7!)Y8qJ6 & BA*!!Zz*!nKL7&@$!]t&0n&@!}' = !a[)A = 7' ?
= !#&( )[*!UabeG'G7e'+ ? &()+*7I'7*)+!1FJ 7Kl)+*'&@ )+!5*Ft*8+8G&@'&@ )9] !$ ? *7
K =+? &(4 ? &($'&@ )9]*)+8S$ KS4*!&@&( )a7~&()Fv*$.$*KE4AV'&( ? Ibe&0'a'+~KLV'7&{
)+*'&@ )+!m*FU*8+8+&0'&@ )9]9!#$H ? *7OK =+? &(4 ? &($'&@ )9]*)+8K =+? &(4 ? &($'&@ )9/Q5+&(!O&(!
&()+8+8'+O$*!+bIObe& ?@? )+bc!#+bc'G&(!/
: LT %Uhk 5A)+&0'
D8+&@KE)+!&@ )A ? !4A*$!obe&@'a 7#8+7#8EA*!! ]
7!#4$&@6 ? C*/ T %2 p,Gh i k *)+8Bf,Ah i k _ ? &()GH*7U7'*)+!1FJ 7KEV
'&(*)+!UFJ7 K h 'Ek ]*)+8 ? %~RQ!$ ? *7/5+)
w f | w f
*)+8
sZf | f ,
: }%97#$&( !# */ ?@? !o = be!#7.&0'4+ 7 6*>| 'GqJu >!#$*)+u 8" zo!#')+'8 KE)Y| H]q *)+8 ? HH 6 ~ 'z+]Ge)+A8L7#!#I8+*)+!I*)
T
! ,,,
4! ,,,
'+OKE'7#&0 f YC
f 2, |
!!
-
,, ,
, , ,
//
,, ,
!
5 = !
A=
..
1 0
0 1
In :=
0 0
... 0
... 0
..
.
... 1
m
X
i=1
A11 A12
A21 A22
B11 B12
B21 B22
A :=
and
B :=
Bji Aik .
then
(BA)11 = B11 A11 + B12 A21 ;
and so
BA =
or in other words
B11 B12
A11 A12
B11 A11 + B12 A21 B11 A12 + B12 A22
=
.
B21 B22
A21 A22
B21 A11 + B22 A21 B21 A12 + B22 A22
If the number of columns of B does not equal the number of rows of
A, then BA is left undefined. Thus for instance it is possible for BA
to be defined while AB remains undefined.
This matrix multiplication rule may seem strange, but we will explain
why it is natural below.
It is an easy exercise to show that if A is an m n matrix, then
Im A = A and AIn = A. Thus the matrices Im and In are multiplicative
identities, assuming that the shapes of all the matrices are such that
matrix multiplication is defined.
*****
Co-ordinate matrices and composition
Last week, we introduced the notion of a linear transformation T :
X Y . Given two linear transformations T : X Y and S : Y Z,
where the target space of T matches up with the initial space of S,
their composition ST : X Z, defined by
ST (v) = S(T v)
is also a linear transformation; this is easy to check and Ill leave it as
an exercise. Also, if IX : X X is the identity on X and IY : Y Y
is the identity on Y , it is easy to check that T IX = T and IY T = T .
3
(hydrogen,carbon,oxygen)
[T ] = [T ](methane,water)
4 2
= 1 0 .
0 1
Similarly, there is an obvious linear transformation S : Y Z, defined by starting with a collection of atoms and breaking them up into
component particles. Thus
S(hydrogen) = 1 electron + 1 proton
S(carbon) = 6 electron + 6 proton + 6 neutron
S(oxygen) = 8 electron + 8 proton + 8 neutron.
Thus
(electron,proton,neutron)
[S] = [S](hydrogen,carbon,oxygen)
1 6 8
= 1 6 8 .
0 6 8
(electron,proton,neutron)
10 10
= 10 10 .
6 8
Now we ask the following question: how are these matrices [T ] , [S] ,
and [ST ] related?
Lets consider the 10 entry on the top left of [ST ] . This number
measures how many electrons there are in a methane molecule. From
the matrix of [T ] we see that each methane molecule has 4 hydrogen, 1
carbon, and 0 oxygen atoms. Since hydrogen has 1 electron, carbon has
6, and oxygen has 8, we see that the number of electrons in methane is
4 1 + 1 6 + 0 8 = 10.
Arguing similarly for the other entries
41+16+08
41+16+08
[ST ] =
40+16+08
21+06+18
2 1 + 0 6 + 1 8 .
20+06+18
1 6 8
4 2
[ST ] = 1 6 8 1 0 = [S] [T ] .
0 6 8
0 1
More generally, we have
5
a11
a21
[T ] =:=
am1
. . . a1l
. . . a2l
..
.
am2 . . . aml
then we have
T u1 = a11 v1 + a21 v2 + . . . + am1 vm
T u2 = a12 v1 + a22 v2 + . . . + am2 vm
..
.
T ul
m
X
aji vj for i = 1, . . . , l.
j=1
b11 b12
b21 b22
[S] :=
bn1 bm2
then
Svj =
n
X
. . . b1m
. . . b2m
.
..
.
. . . bnm
bkj wk for j = 1, . . . , m.
k=1
Now we try to understand how ST acts on the basis u1 , . . . , ul . Applying S to both sides of the T equations, and using the fact that S is
linear, we obtain
m
X
ST ui =
aji Svj .
j=1
m
X
aji
n
X
j=1
bkj wk
k=1
Thus if we define
cki :=
m
X
j=1
then we have
ST ui =
n
X
cki wk
k=1
and hence
c11 c12
c21 c22
[ST ] =
cn1 cm2
However, if we perform the
b11 b12 . . .
b21 b22 . . .
..
.
bn1 bm2 . . .
. . . c1l
. . . c2l
..
.
. . . cnl
matrix multiplication
b1m
a11 a12 . . . a1l
a21 a22 . . . a2l
b2m
..
.
bnm
am1 am2 . . . aml
we get exactly the same matrix (this is because of our formula for cki
in terms of the b and a co-efficients). This proves the theorem.
7
conversions. Let X be the space of US currency - this is the onedimensional space which has (dollar) as an (ordered) basis; (cent) is
also a basis. Let Y be the space of British currency (with (pound) or
(penny) as a basis; pound = 100 penny), and let Z be the space of
Japanese currency (with (yen) as a basis). Let T : X Y be the
operation of converting US currency to British, and S : Y Z the
operation of converting British currency to Japanese, thus ST : X Z
is the operation of converting US currency to Japanese (via British).
Suppose that one dollar converted to half a pound, then we would have
(pound)
[T ](dollar) = (0.5),
or in different bases
(pound)
[T ](cent) = (0.005);
(penny)
[T ](cent) = (0.5);
(penny)
[T ](dollar) = (50).
[S](pound) = (200)
then we can work out the various matrices for ST by matrix multiplication (which in the 1 1 case is just scalar multiplication):
(yen)
(pound)
(yen)
(yen)
(penny)
1 0 ... 0
0 1 ... 0
[IV ] =
= In .
..
.
0 0 ... 1
1 2
A := 3 4 .
5 6
Then LA : R2 R3 is the linear transformation
1 2
x1 + 2x2
x1
x1
LA
= 3 4
= 3x1 + 4x2 .
x2
x2
5 6
5x1 + 6x2
It is easily checked that LA is indeed linear. Thus for every mn matrix
A we can associate a linear transformation LA : Rn Rm . Conversely,
if we let be the standard basis for Rn and be the standard basis
for Rm , then for every linear transformation T : Rn Rm we can
associate an m n matrix [T ] . The following simple lemma shows
that these two operations invert each other:
Lemma 2. Let the notation be as above. If A is an mn matrix, then
[LA ] = A. If T : Rn Rm is a linear transformation, then L[T ] = T .
Proof Let = (e1 , e2 , . . . , en ) be the standard basis of Rn . For any
column vector
x1
x = ...
xn
in Rn , we have
x = x1 e1 + . . . xn en
and thus
x1
[x] = . . . = x.
xn
1
0
..
.
, we see that
0
the first column of the matrices [LA ] and A are equal. Similarly we
see that all the other columns of [LA ] and A match, so that [LA ] = A
as desired.
Now let T : Rn Rm be a linear transformation. Then for any x Rn
[T x] = [T ] [x]
which by previous discussion implies that
T x = [T ] x = L[T ] x.
Thus T and L[T ] are the same linear transformation, and the lemma
is proved.
Because of the above lemma, any result we can say about linear transformations, one can also say about matrices. For instance, the following
result is trivial for linear transformations:
Lemma 3. (Composition is associative) Let T : X Y , S :
Y Z, and R : Z W be linear transformations. Then we have
R(ST ) = (RS)T .
Proof. We have to show that R(ST )(x) = (RS)T (x) for all x X.
But by definition
R(ST )(x) = R((ST )(x)) = R(S(T (x)) = (RS)(T (x)) = (RS)T (x)
as desired.
12
13
16
{w1 , . . . , wn }. By Theorem 6 of last weeks notes, we can find a linear transformation T : V W such that T v1 = w1 , . . . , T vn = wn .
By Theorem 3 of last weeks notes, w1 , . . . , wn must then span R(T ).
But since w1 , . . . , wn span W , we have R(T ) = W , i.e. T is onto. By
Lemma 2 of last weeks notes, T is therefore one-to-one, and hence is
an isomorphism. Thus V and W are isomorphic.
Every basis leads to an isomorphism. If V has a finite basis =
(v1 , . . . , vn ), then the co-ordinate map : V Rn defined by
(x) := [x]
is a linear transformation (see last weeks homework), and is invertible
(this was discussed in last weeks notes, where we noted that we can
reconstruct x from [x] and vice versa). Thus is an isomorphism between V to Rn . In the textbook is called the standard representation
of V with respect to .
Because of all this theory, we are able to essentially equate finitedimensional vector spaces V with the standard vector spaces Rn , to
equate vectors v V with their co-ordinate vectors [v] Rn (provided we choose a basis for V ) and linear transformations T : V W
from one finite-dimensional space to another, with nm matrices [T ] .
This means that, for finite-dimensional linear algebra at least, we can
reduce everything to the study of column vectors and matrices. This
is what we will be doing for the rest of this course.
*****
Invertible linear transformations and invertible matrices
An m n matrix A has an inverse B, if B is an n m matrix such that
BA = In and AB = Im . In this case we call A an invertible matrix,
and denote B by A1 .
Example. If
2 0 0
A= 0 3 0
0 0 4
17
then
A1
1/2 0
0
1/3 0
= 0
0
0
1/4
1
[L1
= A1 = [LA1 ]
A ] = ([LA ] )
and hence
L1
A = LA1
as desired.
19
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