This document discusses multivariable functions from Rn to Rm:
1) A function f from a subset U of Rn to Rm can be written as f(x) = f1(x)v1 + ... + fm(x)vm, where the fi are component functions and the vi form a basis of Rm.
2) Linear functions F from Rn to Rm satisfy F(u+v) = F(u) + F(v) and F(ku) = kF(u). The matrix of F represents its action on vectors.
3) For a linear F, its image Im(F) is a subspace of Rm
This document discusses multivariable functions from Rn to Rm:
1) A function f from a subset U of Rn to Rm can be written as f(x) = f1(x)v1 + ... + fm(x)vm, where the fi are component functions and the vi form a basis of Rm.
2) Linear functions F from Rn to Rm satisfy F(u+v) = F(u) + F(v) and F(ku) = kF(u). The matrix of F represents its action on vectors.
3) For a linear F, its image Im(F) is a subspace of Rm
This document discusses multivariable functions from Rn to Rm:
1) A function f from a subset U of Rn to Rm can be written as f(x) = f1(x)v1 + ... + fm(x)vm, where the fi are component functions and the vi form a basis of Rm.
2) Linear functions F from Rn to Rm satisfy F(u+v) = F(u) + F(v) and F(ku) = kF(u). The matrix of F represents its action on vectors.
3) For a linear F, its image Im(F) is a subspace of Rm
Dr. John Ogbemhe Engr. Chidi Onyedikan Functions from ℝn to ℝm Let 𝑈 be a subset of 𝑅𝑛, and let f: U → ℝ𝑚 be a function from U to ℝ𝑚. Let set 𝑢1, … , 𝑢𝑛 be a basis of ℝ𝑛, and let 𝑣Ԧ 1, … , 𝑣Ԧ 𝑚 be a basis of ℝ𝑚. With the input variable written as 𝑥Ԧ = 𝑥1, 𝑥2, … , 𝑥𝑛 = 𝑥1𝑢1 + 𝑥2𝑢2 + ⋯ + 𝑥𝑛𝑢 𝑛 and the output as f 𝑥Ԧ = f1 𝑥Ԧ , … , f𝑚 𝑥Ԧ = f1 𝑥1, 𝑥2, … , 𝑥𝑛 𝑣Ԧ 1 + ⋯ + f𝑚 𝑥1, 𝑥2, … , 𝑥𝑛 𝑣Ԧ 𝑚 The functions f1 𝑥1, 𝑥2, … , 𝑥𝑛 𝑣Ԧ 1, … , f𝑚 𝑥1, 𝑥2, … , 𝑥𝑛 are called the component functions of f w.r.t. the basis 𝑣Ԧ 1, … , 𝑣Ԧ 𝑚 . Thus, f: ℝ𝑛 → ℝ𝑚 is called vector functions of a vector variable. Functions from ℝn to ℝm In any Euclidean spaceℝ𝑛, the standard basis is the set of vectors written as 𝑒Ԧ1, … , 𝑒Ԧ𝑛 , where 0 ⋮ 𝑒Ԧ𝑖 = 1 ⋮ 0 So, if no basis is explicitly specified forℝ𝑛, then it is assumed that we can use the standard basis. Curves in ℝ𝒏. A parametrized curve into n-dimensional space is a continuous function 𝑥: Ԧ 𝐼 → ℝ𝑛. Parametrized curves are vector functions of a vector variable, but the variable is taken from a subset of a one-dimensional vector space. Functions from ℝn to ℝm Nonlinear Coordinate Changes. A general change of coordinate in ℝ2 is a function 𝑓: U → ℝ2, where U is the subset of ℝ2 in which the coordinates are defined. E.g. the change from polar coordinates to the Cartesian coordinates is given by the function 𝐹: ℝ2 → ℝ2 defined by 𝐹 𝑟, 𝜃 = (𝑟𝑐𝑜𝑠𝜃, 𝑟𝑠𝑖𝑛𝜃). In multivariable calculus, we study 𝐹: ℝ𝑛 → ℝ, which is written as F 𝑥1, 𝑥2, … , 𝑥𝑛 . These functions are examples of vector functions of a vector variable with codomainℝ. Example: Consider a function from ℝ2 to ℝ3 such that 2𝑥2(1−𝑥12) 4𝑥2𝑥1 1−𝑥22 𝐹 𝑥1, 𝑥2 = , , (1+𝑥12)(1+𝑥22) (1+𝑥12)(1+𝑥22) 1+𝑥22 Notice that the component functions satisfy Functions from ℝn to ℝm 𝐹12 + 𝐹22 + 𝐹32 4𝑥22 1 − 𝑥12 2 + 16𝑥12𝑥22 + 1 + 𝑥12 2 1 − 𝑥22 2 = 1 + 𝑥12 2 1 + 𝑥22 2 1+𝑥12 2 1+𝑥22 2 = =1 1+𝑥12 2 1+𝑥22 2
Thus, the image of 𝐹 lies on the unit sphere
𝕊2 = (𝑥, 𝑦, 𝑧) ∈ ℝ3|𝑥2 + 𝑦2 + 𝑧2 = 1 It is interesting to note that 𝐹 is not surjective onto 𝕊2. Assuming 𝑥2 + 𝑦2 + 𝑧2 = 1, if 𝐹 𝑢, 𝑣 = (𝑥, 𝑦, 𝑧), then in particular 1−𝑣2 1−𝑧 𝑧= ↔𝑣= 1+𝑣2 1+𝑧 which implies that −1 < 𝑧 ≤ 1, and hence, the point (0,0, −1) is not an image of 𝐹. Furthermore, since Functions from ℝn to ℝm 2𝑣 2 𝑧2+ =1 1+𝑣2
For any fixed z, we have
1−𝑢2 2𝑢 𝑥= 1− 𝑧2 and y= 1 − 𝑧2 1+𝑢2 1+𝑢2 But then, if y=0, it is impossible to obtain 𝑥 = − 1 − 𝑧2. Consequently, the image of F is all points on 𝕊2 except points in the set 𝑥, 𝑦, 𝑧 𝜖𝕊2|𝑥 = − 1 − 𝑧2, with z < 1 .
Fig. 1: Portion of the image for the example.
This shows the image of F over the rectangle 𝑥, 𝑦, 𝑧 𝜖 −2,5 × 0.5,5 . Functions from ℝn to ℝm Note that when n or m >3, visualizing graphs of functions becomes difficult. Recall also that graph of a function 𝑓: ℝn → ℝm is the subset of ℝn × ℝm= ℝn+m defined by ሼ 𝑥1, … , 𝑥𝑛, 𝑦1, … , 𝑦𝑚 ∈ ℝn+m| 𝑦1, … , 𝑦𝑚 = 𝑓 𝑥1, … , 𝑥𝑛 ሽ. Example: 𝐹: ℝ2 → ℝ ⇒ 𝐹 𝑥, 𝑦 = 𝑐𝑖 ⇒ 𝑥2+𝑦2+1 2y with c = 0, ±0.2, ±0.4, ±0.6, ±0.8.
See Fig. 2 for the contour diagram of F.
𝐹: ℝ3 → ℝ ⇒ 𝐹 𝑥, 𝑦, 𝑧 = 𝑐𝑖 We may depict a function𝑓: Ԧ ℝ → ℝ2 as a plane curve and a function𝑓:Ԧ ℝ → ℝ3 as a space curve, so that we plot the image of 𝑓Ԧ in ℝ2 or ℝ3. In this way, visual information is lost about the magnitude 𝑓′(t) Ԧ , intuitively speaking, how fast one travels along the curve. Functions from ℝn to ℝm 𝑓Ԧ 𝑡 = 1 − 𝑐𝑜𝑠𝑡 𝑐𝑜𝑠𝑡, 1 − 𝑐𝑜𝑠𝑡 𝑠𝑖𝑛𝑡, 𝑠𝑖𝑛𝑡 . Similarly, for the geometry of surfaces, we depict a function Ԧ ℝ2 → ℝ3 by plotting its image in ℝ3. ( The graph of a 𝐹: function of the form ℝ2 → ℝ3 is a subset of ℝ5, which is quite difficult to visualize.
Fig. 2b: shows the image of the
Fig. 2a: contour so-called space cardioid, given diagram of F by the function Functions from ℝn to ℝm D𝐞𝐟𝐧 𝟏: Let 𝑓Ԧ and 𝑔Ԧ be two functions defined over a subset 𝑈 of ℝn with codomain ℝm . Then we define the following functions: I. (𝑓Ԧ + 𝑔): Ԧ 𝑈 → ℝm, where 𝑓Ԧ + 𝑔Ԧ 𝑥Ԧ = 𝑓Ԧ 𝑥Ԧ + 𝑔Ԧ 𝑥Ԧ II. (𝑓Ԧ ∙ 𝑔): Ԧ 𝑈 → ℝ, where(𝑓Ԧ ∙ 𝑔) Ԧ 𝑥Ԧ = 𝑓Ԧ 𝑥Ԧ ∙ 𝑔Ԧ 𝑥Ԧ III. If 𝑚 = 3, (𝑓Ԧ × 𝑔): Ԧ 𝑈 → ℝ3, where(𝑓Ԧ × 𝑔) Ԧ 𝑥Ԧ = 𝑓Ԧ 𝑥Ԧ × 𝑔Ԧ 𝑥Ԧ D𝐞𝐟𝐧 𝟐: Let 𝑓Ԧ be a function from a subset 𝑈 ⊂ ℝn to ℝm, and let 𝑔Ԧ be a function from 𝑉 ⊂ ℝm to ℝs. If the image of 𝑓Ԧ is a subset of 𝑉, then the composition function 𝑓Ԧ ∘ 𝑔Ԧ is the function 𝑈 → ℝs defined by (𝑓Ԧ ∘ 𝑔) Ԧ 𝑥Ԧ = 𝑔( Ԧ 𝑓Ԧ 𝑥Ԧ ). D𝐞𝐟𝐧 𝟑: A function 𝐹: ℝn → ℝm is called a linear function if 𝐹 𝑥Ԧ + 𝑦Ԧ = 𝐹(𝑥)+Ԧ 𝐹(𝑦) Ԧ Ԧ 𝑦Ԧ ∈ ℝn for all 𝑥, 𝐹(𝑘 𝑥)=k𝐹( Ԧ 𝑥) Ԧ for all k∈ ℝ 𝑎𝑛𝑑 𝑥Ԧ ∈ ℝn) Functions from ℝn to ℝm If a function 𝐹: ℝn → ℝm is linear, then 𝐹 0 = 𝐹 0 − 0 = 𝐹(0)-𝐹(0)= 0, And hence 𝐹 maps the origin of ℝn to the origin of ℝm. If ℬ = 𝑢1, … , 𝑢𝑛 is a basis of ℝn, then any vector 𝑢 ∈ ℝn can be written uniquely as a linear combination of vectors in ℬ as 𝑢= 𝑐1𝑢1 + ⋯ + 𝑢 𝑛 That is, 𝑐1 [𝑢]ℬ= ⋮ 𝑐𝑛 If, now, the basis ℬ is not specified we assume the standard basis for the coefficients. If 𝐹 is a linear function, then 𝐹 𝑢 = 𝑐1𝐹 𝑢1 + ⋯ + 𝑐𝑛𝐹 𝑢𝑛 , Functions from ℝn to ℝm hence, to know all outputs of 𝐹 we need to know the coefficients of [𝑢]ℬ and the outputs of the basis vectors of ℬ. Suppose also that ℬ′ = 𝑣Ԧ 1, … , 𝑣Ԧ 𝑛 is a basis of ℝm. If the ℬ′ - coordinates of the outputs of the vectors inℬ are 𝑎11 𝑎12 𝑎1𝑛 𝑎21 𝑎22 𝑎2𝑛 [𝐹(𝑢1)]ℬ′= ⋮ , [𝐹(𝑢2)]ℬ′= ⋮ ,…, [𝐹(𝑢 1)]ℬ′= ⋮ 𝑎𝑚1 𝑎𝑚2 𝑎𝑚𝑛 Then the image of the vector 𝑢 ∈ ℝn is given by 𝑎11 𝑎12 𝑎1𝑛 𝑐1 𝑎11 𝑎12 𝑎1𝑛 𝑎21 𝑎22 𝑎2𝑛 𝑐2 𝑎21 𝑎22 𝑎2𝑛 [𝐹(𝑢)]ℬ′= ⋮ ⋮ ⋮ ⋮ . The matrix 𝐴 = ⋮ ⋮ ⋮ 𝑎𝑚1 𝑎𝑚2𝑎𝑚𝑛 𝑐𝑛 𝑎𝑚1 𝑎𝑚2𝑎𝑚𝑛 Is called the ℬ, ℬ’-matrix of the linear function 𝐹. Thus, one fundamental result is [𝐹(𝑢)]ℬ′=𝐴[𝑢]ℬ For some 𝑚 × 𝑛 matrix 𝐴. Functions from ℝn to ℝm Given a linear function 𝐹: ℝ2 → ℝ3, the image of is the set Im 𝐹 = 𝐹(ℝn), and the kernel of 𝐹 is the zero set ker𝐹 = ∈ ℝn|𝐹 𝑢 = 0 The image Im 𝐹 is a vector subspace of ℝm, and the kernel is a subspace of ℝn. The rank of 𝐹is the dimension dim(Im𝐹) . Hence, rank(𝐹)≤ 𝑚𝑖𝑛 𝑚, 𝑛 So, a linear function 𝐹: ℝn → ℝm is surjective iff rank(𝐹)=m, and 𝐹 is injective iff rank(𝐹)=n. The rank is also useful for determining the linear dependence between set of vectors. If 𝑢 1, … , 𝑢𝑛 is a set of vectors in ℝm, then the matrix 𝐴 =(𝑢1, … , 𝑢𝑛) where the 𝑢𝑖 are viewed as column vectors, represent a Functions from ℝn to ℝm
linear function 𝐹: ℝn → ℝm, with
Im𝐹 = 𝑠𝑝𝑎𝑛 𝑢1, … , 𝑢𝑛 Thus, the set of vectors 𝑢1, … , 𝑢 𝑛 is linearly independent iff rank 𝐹 = 𝑛. If 𝑛 = 𝑚, and 𝑑𝑒𝑡𝐴 ≠ 0, 𝑡ℎ𝑒𝑛 rank 𝐴 = 𝑛 = 𝑚, and 𝑑𝑒𝑡𝐴 is the n-volume of the image under 𝐹 of the unit n-cube. Consequently, if the columns of 𝐴 are not linearly dependent, the n-volume of this parallelepiped will be 0.
Hence, the following theorem,
Functions from ℝn to ℝm Theorem 4: For a linear system 𝐹: ℝn → ℝn with associated square matrix 𝐴, the followings are true: 1. rank 𝐹 = 𝑛. 2. det 𝐴 ≠0. 3. Im 𝐹 = ℝn. 4. kernel 𝐹= 0 . 5. The column vectors of 𝐴 are linearly independent. 6. The column vectors of 𝐴 form a basis of ℝn. 7. The column vectors of 𝐴 span ℝn. 8. 𝐹 has an inverse function. Inverse and Implicit Functions In a single-variable and multivariable calculus of a function 𝐹: ℝn → ℝ, a critical is defined as a point 𝑎Ԧ = 𝑎1, … , 𝑎𝑛 such that the gradient of 𝐹 at 𝑎Ԧ is 0, i.e., 𝜕𝐹 𝜕𝐹 ∇𝐹(𝑎)= Ԧ (𝑎),…, Ԧ (𝑎) Ԧ =0 𝜕𝑥1 𝜕𝑥𝑛 At such a point 𝐹 is said to have a flat tangent line or tangent plane, and, 𝐹(𝑎)Ԧ is optimal, either a local minimum, local maximum, or a “saddle point”. Defn. 5: Let 𝑈 be an open subset of ℝn, 𝐹: 𝑈 → ℝ𝑚 a differentiable function, and 𝑞 a point in 𝑈. 𝑞 is a critical point of 𝐹 if 𝐹 is not differentiable at 𝑞 or if d𝐹𝑞 : ℝn → ℝm is not of maximum rank, i.e., d𝐹𝑞 < min(𝑚, 𝑛). If 𝑞 is a critical point of 𝐹 ,then 𝐹(𝑞) is a critical value. If 𝑝 ∈ ℝm is not a critical value of 𝐹, even if 𝑝 is not in the image of 𝐹), then 𝑝 is a regular value of 𝐹. Inverse and Implicit Functions Proposition 6: Let 𝑈 be an open subset of ℝn, 𝐹: 𝑈 → ℝ𝑛 a differentiable function, and 𝑞 a point in 𝑈such that 𝐹 if 𝐹 is differentiable at 𝑞 . The following are equivalent: 1. 𝑞 is a critical point of 𝑈. 2. 𝐽 𝐹 𝑞 = 0. 𝜕𝐹 𝜕𝐹 3. The set of partial derivatives (𝑞),…, (𝑞) is a linearly dependent set of 𝜕𝑥1 𝜕𝑥𝑛 vectors. 4. The differential d𝐹𝑞 is not invertible. Proposition 7: Let 𝐹: 𝑈 → ℝ𝑚 be a function 𝑈 is an open subset of ℝn, with 𝑛 ≠ 𝑚. Let 𝑞 ∈ 𝑈 such that 𝐹 is differentiable at 𝑞, and call 𝐴 the Jacobian matrix 𝑑𝐹𝑞 𝑎𝑡𝑞. Then the following are equivalent: 1. 𝑞 is a critical point of 𝑈. 2. The determinants of all the maximal square submatrices of 𝐴 𝑎𝑟𝑒 0. 3. The sum of the squares of the determinants of all the maximal squares of 𝐴 𝑖𝑠 0. Furthermore, if 𝑛 > 𝑚, then 𝑞 is a critical point of 𝑈 iff det(𝐴𝐴𝑇) ≠0. Inverse and Implicit Functions Example: For example, consider the function F : ℝ3 → ℝ2 defined by 𝐹 𝑥, 𝑦, 𝑧 = 𝑥 2 + 3𝑦 + 𝑧 3 , 𝑥𝑦 + 𝑧 2 + 1. The 2𝑥 3 3𝑧 3 Jacobian matrix for this function is 𝑑𝐹] = . 𝑦 𝑥 2𝑧 The maximal 2 × 2 submatrices are 2𝑥 3 2𝑥 3𝑧 3 3 3𝑧 3 , , 𝑦 𝑥 𝑦 2𝑧 𝑥 2𝑧 So, since critical points occur where all these have determinant 0, the critical points satisfy the system of equations 2 2 2 2 𝑦= 𝑥 , 𝑦= 𝑥 , 3 3 ൞4𝑥𝑧 − 𝑥 2 𝑧 2 = 0, ⟺ 𝑥𝑧 2 − 𝑥𝑧 = 0, 𝑧 2 − 𝑥𝑧 = 0, 𝑧 2 − 𝑥𝑧 = 0, Inverse and Implicit Functions Thus, the set of critical points of 𝐹 is 2 2 2 2 2 𝑥, 𝑥 , 𝜖ℝ3| 𝑥 𝜖ℝ− 0 ⋃ 𝑥, 𝑥 , 0 𝜖ℝ3| 𝑥 𝜖ℝ 3 𝑥 3 The set of critical values is then 8 2 2 3 4 3𝑥 2 + 3 𝑥 , 𝑥 + + 1 𝜖ℝ2| 𝑥 𝜖ℝ− 0 ⋃ 𝑥 3 𝑥2 2 2 2 3𝑥 , 𝑥 + 1 𝜖ℝ2| 𝑥 𝜖ℝ 3 One important aspect of critical points already arises with real functions. With a real differentiable function 𝑓 ∶ [𝑎, 𝑏]→ℝ, if 𝑓′ 𝑥0 = 0, one can show that f does not have an inverse function that is differentiable over a neighborhood of x0. Conversely, if 𝑓′(𝑥0) ≠ 0, the function 𝑓 has a differentiable inverse in a neighborhood of 𝑥0, with −1 1 𝑓 ′ 𝑦0 = −1 𝑓′ 𝑓 𝑦0 Inverse and Implicit Functions Theorem: (Inverse Function Theorem). Let F be a function from an open set U ⊂ ℝn to ℝn, and suppose that F is of class Cr, with r ≥ 1. If q ∈ U is not a critical point of F, then dFq is invertible and there exists a neighborhood V of q such that F is one-to-one on V , F(V ) is open, and the inverse function F −1 : F(V ) → V is of class Cr. Furthermore, for all p ∈ F(V ), with p = F(q), d 𝐹 −1 𝑝 = 𝑑𝐹𝑞 −1 Example: Consider the function 𝐹 𝑠, 𝑡 = (𝑠2 − 𝑡2,2𝑠𝑡) and 𝑞 = 2,3 . Note that 𝐹 is defined on all 𝑈 = ℝ2. The Jacobian matrix is 2𝑠 −2𝑡 , i.e. 4 𝑠2 + 𝑡2 . 𝐹 satisfies the inverse 2𝑡 2𝑠 conditions at 0,0 .