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Convex Optimization L2 18
Convex Optimization L2 18
Convex Optimization L2 18
4
Proof Suppose x 1 , x 2 ∈ Sα . Thus, we have x 1 , x 2 ∈ S and
100
3 f (x 1 ) ≤ α and f (x 2 ) ≤ α.
2
50
1 Consider x = λx 1 + (1 − λ)x 2 for λ ∈ (0, 1).
0
x2
2-3 2-4
Epigraph I Epigraph II
• Let S be a nonempty set in Rn and let f : S → R.
Proof
• The graph of f is described by the set {(x, f (x))|x ∈ S} ⊂ Rn+1
Suppose that f is convex and let (x 1 , y1 ), and (x 2 , y2 ) ∈ epi f
• The epigraph of f , denoted by epi f , is a subset of Rn+1 , i.e.,
– It means that x 1 , x 2 ∈ S and y1 ≥ f (x 1 ) and y2 ≥ f (x 2 ).
epi f = {(x, y)|x ∈ S, y ∈ R, y ≥ f (x)} – Convexity of f enables us to write
3 feasible
region
f (αy + (1 − α)x) − f (x) + αf (x) ≤ αf (y). Multiplying each with α and 1 − α, we have
2-11 2-12
First-order condition of convex functions IV Convex functions II
• If f is convex and x, y ∈ dom f , we have Let S be an nonempty convex set in Rn and let f : S → R be
t ≥ f (y) ≥ f (x) + ∇f (x)T (y − x) for (y, t) ∈ epi f differentiable on S.
• The epi f has a supporting hyperplane with [∇f (x), −1] at x Then, f is convex if and only if for each x 1 , x 2 ∈ S, we have
" # " #!
y x [∇f (x 2 ) − ∇f (x 1 )]T (x 2 − x 1 ) ≥ 0 (monotone)
(y, t) ∈ epi f ⇒ [∇f (x) − 1] − ≤0
t f (x)
Proof If f is convex, for two distinct x 1 and x 2 we have
f (x 1 ) ≥ f (x 2 ) + ∇f (x 2 )T (x 1 − x 2 )
f (x 2 ) ≥ f (x 1 ) + ∇f (x 1 )T (x 2 − x 1 )
∇f (x 2 )T (x 1 − x 2 ) + ∇f (x 1 )T (x 2 − x 1 ) ≤ 0
Global minimum of convex function f is attained if and only if
non-vertical supporting
∇f (x) = 0 hyperplanes
2-13 2-14
for x = λx 1 + (1 − λ)x 2 and λ ∈ (0, 1). We have the result. H (x) ∈ S n+ (or S n++ ) over S
2-15 2-16
Second-order condition of convex functions II Second-order condition of convex functions III
Proof Proof continued
Using convexity of f , f (y) ≥ f (x) + ∇f (x)(y − x) for To show the converse, use ‘mean value theorem’ extended to
y = x + λx ∈ S with small λ, we have second order
f (x + λx) ≥ f (x) + λ∇f (x)T x Let f : Rn → R be twice continuously differentiable over an open
set S, and x ∈ S.
Using Taylor expansion of f , we also have
For all y such that x + y ∈ S there exists an α ∈ [0, 1]
1
f (x + λx) = f (x) + λ∇f (x)T x + λ2 x T H (x)x + λ2 kxk2 O(x; λx)
2 1
f (x + y) = f (x) + y T ∇f (x) + y T ∇2 f (x + αy)y
where O(x; λx) → 0 as λ → 0. 2
Plugging this, dividing λ2 and letting λ → 0 yields In using mean value theorem, let x = x + y ∈ S. Then,
1 T 1
x H (x)x + O(x; λx) ≥ 0 f (x) = f (x) + y T ∇f (x) + y T ∇2 f (x + αy)y
2 | {z } 2
→0
2-17 2-18
-20
20
T
f (x) ≥ f (x) + ∇f (x) (x − x), -40
0 4
6 2 4
4 0
which completes the proof 2 0
x2 -2 -4 -6 -4 -2 0 2 4 6 x2 -2
-4 -4
-2
0
x1
2
-6 x1
2-19 2-20
Restriction of a convex function to a line II Restriction of a convex function to a line III
Proof
f : S n → R and f (X ) = log det X for dom f = S n++ .
Show whether f is convex or not g(t) = log det X + log det(Q(I + tΛ)Q T )
Proof = log det X + log det((I + tΛ)Q T Q)
n
Y
g(t) = log det(X + tV ) = log det(X 1/2
(I + tX −1/2
VX −1/2
)X 1/2
) = log det X + log det(I + tΛ) = log det X + log (1 + tλi )
i=1
= log det(X (I + tX −1/2 VX −1/2 )) n
X
= log det X + log(1 + tλi )
= log det X + log det(I + tX −1/2 VX −1/2 ) i=1
= log det X + log det(I + tQΛQ T )
By examining g 00 (t), i.e.,
= log det X + log det Q(I + tΛ)Q T
n
00
X 1
where real symmetric matrix A = QΛQ T
with = QQ T QT Q =I g (t) = − <0
i=1
(1 + λi t)2
and Λ is a diagonal matrix of eigenvalues of X −1/2 VX −1/2
we can see that f is concave.
2-21 2-22
2-25 2-26
0 1
The subdifferential of f at x is the set of all subgradients at x • If g is a subgradient of f at x, from f (y) ≥ f (x) + g T (y − x),
0 1
2-29 2-30
a T (x − x) = a T a ≤ 0
The following functions are not subdifferentiable at x = 0 ∂(λf )(x) = λ∂f (x)
2-37 2-38
Proof If f (x 1 ) > f (x 2 ), by definition of quasi-convexity, Consider it is not true, i.e., there is a z ∈ [x1 , x2 ] with f (z) > f (x1 )
Then, there exists z such that f 0 (z) < 0
f (λx 2 + (1 − λ)x 1 ) = f (x 1 + λ(x 2 − x 1 )) ≤ f (x 1 )
By definition of quasi-convexity, we must have
We can write for 0 < λ ≤ 1
f (x1 ) ≤ f (z) ⇒ f (z)0 (x1 − z) ≤ 0
f (x 1 + λ(x 2 − x 1 )) − f (x 1 )
(x 2 − x 1 ) ≤ 0
λ(x 2 − x 1 ) However, this contradicts, since f 0 (z) < 0 and x1 − z < 0
As λ → 0, we have the result
2-39 2-40
Pseudo-convex
2-41