Chap. 4 Vector Spaces 4.1 Vectors in Rn 4.2 Vector Spaces 4.3 Subspaces of Vector Space 4.4 Spanning Sets & Linear Independent 4.5 Basis & Dimension 4.6 Rank of a Matrix & Systems of Linear Equations 4.7 Coordinates & Change of Basis 4.8 Applications of Vector Spaces

4.1 Vectors in Rn Vectors in the plane (R2) is represented geometrically by a directed line segment whose initial point is the origin and whose terminal point is the point x = (x1, y1). x1, y1: the components of x u = (u1, u2), v = (v1, v2), c is a scalar Equal: u = v iff u1 = v1& u2 = v2 Scalar multiplication: cv = c(v1, v2) = (cv1, cv2) x y Initial point Terminal point (x1, y1) Ming-Feng Yeh Chapter 4

Section 4-1 Vector in the Plane Given u = (u1, u2), v = (v1, v2), and c is a scalar Scalar multiplication: Zero vector: 0 = (0, 0) Negative of v: v = (1)v x y u x y u cu, c > 0 cu, c < 0 Ming-Feng Yeh Chapter 4

Section 4-1 Vector Addition Given u = (u1, u2) and v = (v1, v2) Vector addition: u + v = (u1, u2) + (v1, v2) = (u1 + v1, u2 + v2) Difference of u and v: u  v = u + (v) (u1 + v1, u2 + v2) (u1, u2) u+v u2 (v1, v2) u v v2 v1 u1 Ming-Feng Yeh Chapter 4

Section 4-1 Example 3 Given v = (2, 5) and u = (3, 4) (a) ½v =（½(2), ½(5)） = (1, 5/2) (b) u  v =（3(2), 45） = (5, 1) (c) ½v + u = (1, 5/2) + (3, 4) = (2, 13/2) Ming-Feng Yeh Chapter 4

Theorem 4.1 Vector Addition Scalar Multiplication Section 4-1 Theorem 4.1 Let u, v, and w be vectors in the plane, and let c and d be scalars. Vector Addition 1. u + v is a vector in the plane (closure under addition) 2. u + v = v + u (commutative property) 3. (u + v) + w = v + (u + w) (associative property) 4. u + 0 = u 5. u + (u) = 0 Scalar Multiplication 6. cu is a vector in the plane (closure under scalar multi.) 7. c(u + v) = cu + cv (left distributive property) 8. (c + d)u = cu + du (right distributive property) 9. c(du) = (cd)u 10. 1(u) = u Ming-Feng Yeh Chapter 4

Section 4-1 Proof of Theorem 4.1 4. (u + v) + w = [(u1, u2) + (v1, v2)] + (w1, w2) = (u1 + v1, u2 + v2) + (w1, w2) =（(u1 + v1) + w1, (u2 + v2) + w2） =（u1 + (v1 + w1), u2 + (v2 + w2)） = (u1, u2) + [(v1, v2) + (w1, w2)] = u + (v + w) 8. (c + d)u = (c + d) (u1, u2) =（(c + d)u1, (c + d)u2） = (cu1 + du1, cu2 + du2) = (cu1, cu2) + (du1, du2) = c(u1, u2) + d(u1, u2) = cu + du Ming-Feng Yeh Chapter 4

Section 4-1 Vectors in Rn A vector in n-space is represented by an ordered n-tuple. x = (x1, x2, x3, …, xn) The set of all n-tuples is called n-space (Rn) R1 = 1-space = set of all real numbers R2 = 2-space = set of all ordered pairs of real numbers R3 = 3-space = set of all ordered triples of real numbers R4 = 4-space = set of all ordered quadruples of real numbers : : Rn = n-space = set of all ordered n-tuples of real numbers Ming-Feng Yeh Chapter 4

Vector Addition & Scalar Multi. Section 4-1 Vector Addition & Scalar Multi. Let u = (u1, u2, u3, …, un) and v = (v1, v2, v3, …, vn) be vectors in Rn and let c be a real number. Then the sum of u and v is defined to be the vector u + v = (u1+v1, u2+v2, u3+v3, …, un+vn), and the scalar multiple of u by c is defined to be cu = (cu1, cu2, cu3, …, cun). The negative of u is defined as u = (u1, u2, u3, …, un) The difference of u and v is defined as u v = (u1v1, u2v2, u3v3, …, unvn) The Zero vector in Rn is given by 0 = (0, 0, …, 0) Ming-Feng Yeh Chapter 4

Theorem 4.2 Vector Addition Scalar Multiplication Section 4-1 Theorem 4.2 Let u, v, and w be vectors in the Rn, and let c and d be scalars. Vector Addition 1. u + v is a vector in the plane (closure under addition) 2. u + v = v + u (commutative property) 3. (u + v) + w = v + (u + w) (associative property) 4. u + 0 = u 5. u + (u) = 0 Scalar Multiplication 6. cu is a vector in the plane (closure under scalar multi.) 7. c(u + v) = cu + cv (left distributive property) 8. (c + d)u = cu + du (right distributive property) 9. c(du) = (cd)u 10. 1(u) = u Ming-Feng Yeh Chapter 4

Section 4-1 Example 5 Let u = (2, 1, 5, 0), v = (4, 3, 1, 1), and w = (6, 2, 0, 3) be vectors in R4. Solve for x in each of the following. x = 2u  (v + 3w) x = 2u  v  3w = 2(2, 1, 5, 0)  (4, 3, 1, 1)  3(6, 2, 0, 3) = (18, 11, 9, 8) 3(x + w) = 2u  v + x  3x + 3w = 2u  v + x  x = ½(2u  v  3w) = (9, 11/2, 9/2, 4) Ming-Feng Yeh Chapter 4

Additive Identity & Additive Inverse Section 4-1 Additive Identity & Additive Inverse The zero vector 0 in Rn is called the additive identity in Rn. The vector v is called the additive inverse of v. Theorem 4.3: Let v be a vector in Rn, and let c be a scalar. Then the following properties are true. 1. The additive identity is unique. That is, if v + u = v, then u = 0. 2. The additive inverse of v is unique. That is, if v + u = 0, then u = v. 3. 0v = 0. 4. c0 = 0. 6. (v) = v 5. If cv = 0, then c = 0 or v = 0. Ming-Feng Yeh Chapter 4

Linear Combination & Ex. 6 Section 4-1 Linear Combination & Ex. 6 The vector x is called a linear combination of the vectors v1, v2, …, vn if x = c1v1 + c2v2 +…+ cnvn. Example 6: Given x = (1, 2, 2), u = (0, 1, 4), v = (1, 1, 2), and w = (3, 1, 2) in R3, find scalars a, b, and c such that x = au + bv + cw. Sol: (1, 2, 2) = a(0, 1, 4) + b(1, 1, 2) + c(3, 1, 2)  (1, 2, 2) = (b + 3c, a + b + c, 4a + 2b +2c)  a = 1, b = 2, c = 1  x = u  2v  w Ming-Feng Yeh Chapter 4

Row Vector & Column Vector Section 4-1 Row Vector & Column Vector Represent a vector u = (u1, u2, u3, …, un) in Rn as a 1n row matrix (row vector) or an n1 column matrix (column vector) Ming-Feng Yeh Chapter 4

4.2 Vector Spaces Let V be a set on which two operations (vector addition & scalar multiplication) are defined. If the following axioms are satisfied for every u, v, and w in V, and every scalar c and d, then V is called a vector space. Vector Addition 1. u + v is in V. (closure under addition) 2. u + v = v + u (commutative property) 3. (u + v) + w = v + (u + w) (associative property) 4. V has a zero vector 0 s.t.for every u in V, u + 0 = u (additive identity) Scalar Multiplication 6. cu is in V. (closure under scalar multi.) 7. c(u + v) = cu + cv (left distributive property) 8. (c + d)u = cu + du (right distributive property) 9. c(du) = (cd)u (associative prop.) 10. 1(u) = u (scalar property) 5. For every u in V, there is a vector in V denoted by u s.t. u + (u) = 0. (additive inverse) Ming-Feng Yeh Chapter 4

Section 4-2 Examples 1 ~ 3 Example 1: R2 with the standard operations is a vector space  see Theorem 4.1 Example 2: Rn with the standard operations is a vector space  see Theorem 4.2 Example 3: Show that the set of all 23 matrices with the operations of matrix addition and scalar multiplication is a vector space. pf: If A and B are 23 matrices and c is a scalar, then A+B and cA are also 23 matrices. Hence, the set is closed under matrix addition and scalar multiplication. Moreover, the other eight vector space axioms follow from Theorems 2.1 and 2.2. Thus, the set is a vector space. Ming-Feng Yeh Chapter 4

Example 4 The Vector Space of All Polynomials of Degree 2 or Less Section 4-2 Example 4 The Vector Space of All Polynomials of Degree 2 or Less Let P2 be the set of all polynomials of the form p(x) = a2x2 + a1x + a0; q(x) = b2x2 + b1x + b0 where a0(b0), a1(b1), and a2(b2) are real numbers. The sum of two polynomials p(x) and q(x) is defined by p(x) + q(x) = (a2+b2)x2 + (a1+b1)x + (a0+b0), and the scalar multiple of p(x) by the scalar c is defined by cp(x) = ca2x2 + ca1x + ca0 Show that P2 is a vector space. proof: omitted Ming-Feng Yeh Chapter 4

Important Vector Spaces Section 4-2 Important Vector Spaces R = set of all real number R2 = set of all ordered pairs R3 = set of all ordered triples Rn = set of all n-tuples C(, ) = set of all continuous functions defined on the real line C[a, b] = set of all continuous functions defined on a closed interval [a, b] P = set of all polynomials Pn = set of all polynomials of degree  n Mm,n = set of all mn matrices Mn,n = set of all nn square matrices Ming-Feng Yeh Chapter 4

Theorem 4.4 Properties of Scalar Multiplication Section 4-2 Theorem 4.4 Properties of Scalar Multiplication Let v be any element of a vector space V, and let c be any scalar. Then the following properties are true. 1. 0v = 0. 2. c0 = 0. 3. If cv = 0, then c = 0 or v = 0. 4. (1)v = v. pf: Suppose that cv = 0. To show that this implies either c = 0 or v = 0, assume that c  0. Because c  0, we can you the reciprocal 1/c to show that v = 0 as follows Ming-Feng Yeh Chapter 4

Example 6 ~ 7 Example 6 The set of integers is NOT a vector space Section 4-2 Example 6 ~ 7 Example 6 The set of integers is NOT a vector space The set of all integers (with the standard operations) does not form a vector space because it is not closed under scalar multiplication. For example, Example 7 The set of second-degree polynomials is NOT a vector space The set of all 2nd-degree polynomials is not a vector space because it is not closed under addition. For example, (noninteger) (the 1st-degree poly.) Ming-Feng Yeh Chapter 4

Section 4-2 Example 8 Let V = R2, the set of all ordered pairs of real number, with the standard addition and the following nonstandard definition of scalar multiplication: c(x1, x2) = (cx1, 0). Show that V is not a vector space. pf: This example satisfies the first nine axioms of the definition of a vector space. For example, let u = (1, 1), v = (3, 4), and c = 2, then we have c(u + v) = 2(1+3, 1+4) = (8, 0), cu = (2, 0), cv = (6, 0). Therefore, c(u + v) = cu + cv. However, when c =1, 1(1, 1) = (1, 0)  (1,1). The tenth axiom is not verified. Hence, the set (together with the two given operations) is not a vector space. Ming-Feng Yeh Chapter 4

4.3 Subspaces of Vector Spaces Definition of Subspace of a Vector Space A nonempty subset W of a vector space V is called a subspace of V if W is itself a vector space under the operations of addition and scalar multiplication defined in V. Remark: If W is a subspace of V, it must be closed under the operations inherited from V. Ming-Feng Yeh Chapter 4

Section 4-3 Example 1 A subspace of R3 Show that the set W={(x1, 0, x3): x1, x3 R} is a subspace of R3 with the standard operations. The set W can be interpreted as simply the xz-plane. pf: The set W is nonempty because it contains the zero vector (0, 0, 0). The set W is closed under addition because the sum of any two vectors in the xz-plane must also lie in the xz-plane. That is, if (x1, 0, x3) and (y1, 0, y3) are in W, then their sum (x1+y1, 0, x3 +y3) is also in W. Ming-Feng Yeh Chapter 4

Section 4-3 Example 1 (cont.) To see that W is closed under scalar multiplication, let (x1, 0, x3) be in W and let c be a scalar. Then c(x1, 0, x3) = (cx1, 0, cx3) has zero as its second component and must therefore be in W. The other eight vector space axioms can be verified as well, and these verifications as left to you. Ming-Feng Yeh Chapter 4

Section 4-3 Theorem 4.5 Test for a Subspace If W is a nonempty subset of a vector space V, then W is a subspace of V if and only if the following closure conditions hold. 1. If u and v are in W, then u + v is in W. 2. If u is in W and c is any scalar, then cu is in W. To establish that a set W is a vector space, you must verify all ten vector space properties. However, if W is a subset of a larger vector space V (and the operations defined on W are the same as those defined on V), then most of the ten properties are inherited from the larger space and need no verification. Ming-Feng Yeh Chapter 4

Section 4-3 Zero Subspace The simplest subspace of a vector space is the one containing of only the zero vector, W = {0}. This subspace is called the zero subspace. If W is a subspace of a vector space V, then both W and V must have the same zero vector 0. Another obvious subspace of V is V itself. Every vector space contains two trivial subspaces (the zero subspace and the vector space itself), and subspaces other than these two are called proper (or nontrivial) subspace. Ming-Feng Yeh Chapter 4

Section 4-3 Example 2 A Subspace of M2,2 Let W be the set of all 22 symmetric matrices. Show that W is a subspace of the vector space M2,2, with the standard matrix addition and scalar multiplication. pf: Because M2,2 is a vector space, we need only show that W satisfies the conditions of Theorem 4.5. 1. W is nonempty.  why? 2.  if A1 and A2 are symmetric matrices of order 2, then so is A1+A2. 3.  if A is a symmetric matrix of order 2, then so is cA. Ming-Feng Yeh Chapter 4

Example 3 The Set of Singular Matrices is NOT a Subspace of Mn,n Section 4-3 Example 3 The Set of Singular Matrices is NOT a Subspace of Mn,n Let W be the set of singular matrices of order 2. Show that W is NOT a subspace of the vector space M2,2, with the standard operations. pf: W is nonempty and closed under scalar multiplication, but it is NOT closed under addition. For example, let A and B are both singular, but their sum A + B is nonsingular. Hence, W is not closed under addition, and it is not a subspace of M2,2. Ming-Feng Yeh Chapter 4

Example 4 The Set of First-Quadrant Vectors is NOT a Subspace of R2 Section 4-3 Example 4 The Set of First-Quadrant Vectors is NOT a Subspace of R2 Show that W = {(x1, x2): x1 0 and x2  0}, with the standard operations, is NOT a subspace of R2. pf: W is nonempty and closed under addition. It is NOT, however, closed under scalar multiplication. Note that (1, 1) is in W, but the scalar multiple (1)(1, 1) = (1, 1) is not in W. Therefore, W is not a subspace of R2. Ming-Feng Yeh Chapter 4

Intersection of Two Subspaces V U If U, V, and W are vector spaces such that W is a subspace of V and V is a subspace of U, then W is also a subspace of U. Theorem 4.6 If V and W are both subspaces of a vector space U, then the intersection of V and W (denoted by VW) is also a subspace of U. U V W Ming-Feng Yeh Chapter 4

Section 4-3 Proof of Theorem 4.6 1. V and W are both subspaces of U.  Both contain the zero vector.  VW is nonempty. 2. Let v1 and v2 be any vectors in VW. V and W are both subspaces of U.  both are closed under addition. v1 and v2 are both in V. v1 + v2 must be in V. Similarly, v1 + v2 is in W ( v1 and v2 are both in W ).  v1 + v2 is in VW, and it follows that VW is closed under addition. 3. VW is closed under scalar multiplication. (left to you) Ming-Feng Yeh Chapter 4

Section 4-3 Subspace of R2 If W is a subspace of R2, then it is a subspace if and only if one of the following is true. 1. W consists of the single point (0, 0). 2. W consists of all points on a line that passes through the origin. 3. W consists of all of R2. x y x y x y Ming-Feng Yeh Chapter 4

Example 6 Which of these two subsets is a subspace of R2? Section 4-3 Example 6 Which of these two subsets is a subspace of R2? (a) The set of points on the line given by x + 2y = 0 Sol: A point in R2 is on the line x + 2y = 0 if and only if it has the form (2t, t),  tR. 1. The set is nonempty since it contains the origin (0, 0). 2. Let v1 = (2t1, t1) and v2 = (2t2, t2) be any two points on the line. Then v1+v2 = (2(t1+t2), t1 +t2) = (2t3, t3). Thus v1+v2 is on the line, and the set is closed under addition. 3. Similarly, you can show that the set is closed under scalar multiplication. Therefore, this set is a subspace of R2. Ming-Feng Yeh Chapter 4

Example 6 (cont.) Which of these two subsets is a subspace of R2? Section 4-3 Example 6 (cont.) Which of these two subsets is a subspace of R2? (b) The set of points on the line given by x + 2y = 1 Sol: This subset of R2 is not a subspace of R2 because every subspace must contain the zero vector, and the zero vector (0, 0) is not on the line. Ming-Feng Yeh Chapter 4

Section 4-3 Example 7 Show that the subset of R2 that consists of all points on the unit circle x2 + y2 = 1 is not a subspace. Sol: [Method I] This subset R2 is not a subspace of R2 because every subspace must contain the zero vector, and the zero vector (0, 0) is not on the circle. [Method II] This subset R2 is not a subspace of R2 because the points (1, 0) and (0, 1) are in the subset, but their sum (1, 1) is not. So this subset is not closed under addition. x y Ming-Feng Yeh Chapter 4

Section 4-3 Subspace of R3 If W is a subspace of R3, then it is a subspace if and only if one of the following is true. 1. W consists of the single point (0, 0, 0). 2. W consists of all points on a line that passes through the origin. 3. W consists of all points on a plane that passes through the origin. 4. W consists of all of R3. Ming-Feng Yeh Chapter 4

Section 4-3 Example 8 Let W = {(x1, x1+x3, x3): x1 and x3 are real number}. Show that W is a subspace of R3. pf: Let v = (v1, v1+v3, v3) and u = (u1, u1+u3, u3) be two vectors in W, and let c be any real number. 1. W is nonempty because it contains the zero vector. 2. v + u = (v1+ u1, (v1+ u1)+(v3+ u3), v3+ u3) = (x1, x1+x3, x3). Hence, v + u is in W (W is closed under addition). 3. cv = (cv1, c(v1+v3), cv3) = (x1, x1+x3, x3). Hence, cv is in W. We can conclude that W is a sunspace of R3. Ming-Feng Yeh Chapter 4

4.4 Spanning Sets & Linear Independence Linear Combination A vector v in a vector space V is called a linear combination of the vectors u1, u2, …, uk in V if v = c1u1 + c2u2 + … + ckuk, where c1, c2, …, ck are scalars. Example 1.a S = { (1, 3, 1), (0, 1, 2), (1, 0, 5)} in R3, v1 v2 v3 v1 is a linear combination of v2 and v3 because v1 = 3v2 + v3 = 3(0, 1, 2) + (1, 0, 5) = (1, 3, 1) Ming-Feng Yeh Chapter 4

Section 4-4 Example 1.b For the set of vectors in M2,2, v1 is a linear combination of v2, v3 and v4 because Ming-Feng Yeh Chapter 4

Section 4-4 Example 2 Write the vector w = (1, 1, 1) as a linear combination of vectors in the set S. v1 v2 v3 S = { (1, 2, 3), (0, 1, 2), (1, 0, 1)} Sol: w = c1v1 + c2v2 + c3v3  (1, 1, 1) = c1(1, 2, 3) + c2(0, 1, 2) + c3(1, 0, 1) = (c1  c3, 2c1 + c2, 3c1 + 2c2 + c3) Ming-Feng Yeh Chapter 4

Section 4-4 Example 3 If possible, write the vector w = (1, 2, 2) as a linear combination of vectors in the set S given in Example 2. Sol: The system of equations is inconsistent, and therefore there is no solution. Consequently, w CANNOT be written as a linear combination of v1, v2, and v3. Ming-Feng Yeh Chapter 4

Section 4-4 Spanning Sets Definition: Let S = {v1, v2, …, vk} be a subset of a vector space V. The set S is called a spanning set of V if every vector in V can be written as a linear combination of vectors in S. In such cases it is said that S spans V. Example 4: Standard Spanning Sets a. The set S = {(1, 0, 0), (0, 1, 0), (0, 0, 1)} spans R3 because any vector u = (u1, u2, u3) in R3 can be written as u = u1(1, 0, 0) + u2(0, 1, 0) + u3(0, 0, 1) = (u1, u2, u3) b. The set S = {1, x, x2} spans P2. p(x) = a(1) + b(x) + c(x2) = a + bx + cx2 Ming-Feng Yeh Chapter 4

Example 5 A Spanning Set for R3 Section 4-4 Example 5 A Spanning Set for R3 Show that the set S = {(1, 2, 3), (0, 1, 2), (2, 0, 1)} spans R3. Pf: Let u = (u1, u2, u3) be any vector in R3. The coefficient matrix has a nonzero determinant. Hence, the system has a unique solution. Any vector in R3 can be written as a linear combination of the vectors in S, and we can conclude that the set S spans R3. Ming-Feng Yeh Chapter 4

Example 6 A Set That Does Not Spans R3 Section 4-4 Example 6 A Set That Does Not Spans R3 Show that the set S = {(1, 2, 3), (0, 1, 2), (1, 0, 1)} does not spans R3. Pf: We can see form Example 3 that the vector w = (1, 2, 2) is in R3 and cannot be expressed as a linear combination of the vectors in S. Therefore, the set S does not span R3. Ming-Feng Yeh Chapter 4

Section 4-4 Example 5 vs Example 6 S1 = {(1, 2, 3), (0, 1, 2), (2, 0, 1)} the vectors in S1 do not lie in a common plane S2 = {(1, 2, 3), (0, 1, 2), (1, 0, 1)} the vectors in S2 lie in a common plane Ming-Feng Yeh Chapter 4

Section 4-4 The Span of a Set Definition: If S = {v1, v2, …, vk} is a set of vectors in V, then the span of S is the set of all linear combinations of the vectors in S, span(S) = {c1v1+c2v2+…+ckvk: c1, c2, …, ck  R} The span of S is denoted by span(S) or span{v1, v2, …, vk}. If span(S) = V, then V is spanned by {v1, v2, …, vk} or S spans V. Ming-Feng Yeh Chapter 4

Section 4-4 Theorem 4.7 If S = {v1, v2, …, vk} is a set of vectors in V, then span(S) is a subspace of V. Moreover, span(S) is the smallest subspace of V that contains S in the sense that every other subspace of V that contains S must contain span(S). Pf: Suppose that u and v are any two vectors in span(S) u = c1v1+c2v2+…+ckvk; v = d1v1+d2v2+…+dkvk. Then, u + v = (c1+d1)v1+(c2+d2)v2+…+(ck+dk)vk cu = cc1v1+ cc2v2 +…+ cckvk which means that u + v and cu are also in span(S). Therefore, span(S) is a subspace of V. Ming-Feng Yeh Chapter 4

Linear Dependence & Linear Independence Section 4-4 Linear Dependence & Linear Independence A set of vectors S = {v1, v2, …, vk} in a vector space V is called linearly independent if the vector equation c1v1 + c2v2 + … + ckvk = 0 has only the trivial solution, c1= 0, c2= 0, …, ck= 0. If there are also nontrivial solutions, then S is called linearly dependent. Ming-Feng Yeh Chapter 4

Example 7 Linearly Dependent Sets Section 4-4 Example 7 Linearly Dependent Sets The set S = {(1, 2), (3, 4)} in R2 is linearly dependent  2(1, 2) + 1(2, 4) = (0, 0) The set S = {(1, 0), (0, 1), (2, 5)} in R2 is linearly dependent  2(1, 0) 5(0, 1) + 1(2, 5) = (0, 0) The set S = {(0, 0), (1, 2)} in R2 is linearly dependent  1(0, 0) + 0(1, 2) = (0, 0) Ming-Feng Yeh Chapter 4

Section 4-4 Example 8 Testing for Linear Independence Determine whether the set of vectors in R3 is linearly dependent or linearly independent S = { v1 = (1, 2, 3), v2 = (0, 1, 2), v3 = (2, 0, 1)} Sol: c1v1 + c2v2 + c3v3 = 0  c1(1, 2, 3) + c2(0, 1, 2) + c3(2, 0, 1) = (0, 0, 0)  (c12c3, 2c1+c2, 3c1+2c2 +c3) = (0, 0, 0)  c1 = c2 = c3 = 0 Therefore, S is linearly independent. Ming-Feng Yeh Chapter 4

Section 4-4 Example 9 Testing for Linear Independence Determine whether the set of vectors in P2 is linearly dependent or linearly independent S = { 1 + x  2x2, 2 + 5x  x2, x + x2} Sol: c1v1 + c2v2 + c3v3 = 0  c1(1 + x  2x2) + c2(2 + 5x  x2) + c3(x + x2) = 0 + 0x + 0x2  (c1+2c2) + (c1+5c2+c3)x + (2c1c2+c3) x2 = 0 + 0x + 0x2 The system has an infinite number of solutions. Therefore, the system must has nontrivial solutions, and we can conclude that the set S is linearly dependent. c1 = 2t, c2 = t, c3 = 3t, tR. Ming-Feng Yeh Chapter 4

Section 4-4 Example 10 Testing for Linear Independence Determine whether the set of vectors in M2,2 is linearly dependent or linearly independent Sol: c1v1 + c2v2 + c3v3 = 0  The system has only the trivial solution. Hence the set S is linear independently. Ming-Feng Yeh Chapter 4

Section 4-4 Example 11 Testing for Linear Independence Determine whether the set of vectors in M4,1 is linearly dependent or linearly independent Sol: linear independence. Ming-Feng Yeh Chapter 4

Theorem 4.8 A Property of Linearly Dependent Set Section 4-4 Theorem 4.8 A Property of Linearly Dependent Set A set S = {v1, v2, …, vk}, k2, is linear dependent if and only if at least one of the vectors vj can be written as a linear combination of the other vectors in S. Pf: 」Assume that S is a linearly dependent set. Then there exist scalars c1, c2, …, ck (not all zero) such that c1v1 + c2v2 + … + ckvk = 0 Assume that c10. Then That is, v1 is a linear combination of the other vectors. 」Suppose v1 in S is a linear combination of the other vectors, i.e., v1 = c2v2 + c3v3 +… + ckvk. Then the equation v1 + c2v2 + c3v3 +… + ckvk = 0 has at least one coefficient, 1, that is nonzero. Hence, S is linearly dependent. Ming-Feng Yeh Chapter 4

Section 4-4 Example 12 In Example 9, you determine set S = { 1 + x  2x2, 2 + 5x  x2, x + x2} is linearly dependent. Show that one of the vectors in this set can be written as a linear combination of the other two. Sol: One nontrivial solution is c1 = 2, c2 = 1, and c3 =3, which yields 2(1 + x  2x2) + (1)(2 + 5x  x2) + 3(x + x2) = 0. Therefore, v2 = 2v1 + 3v3. v2 can be written as a linear combination of v1 and v3. Ming-Feng Yeh Chapter 4

Section 4-4 Corollary 4.8 & Example 13 Corollary 4.8 Two vectors u and v in a vector space V are linearly dependent if and only if one is a scalar multiple of the other. Example 13 (a) S = {(1, 2, 0), (2, 2, 1)}  linear independent. (b) S = {(4, 4, 2), (2, 2, 1)}  v1 = 2v2. linear dependent Ming-Feng Yeh Chapter 4

4.5 Basis & Dimension A set of vectors S = {v1, v2, …, vn} in a vector space V is called basis if the following conditions are true. 1. S spans V. 2. S is linearly independent. If a vector space V has a basis consisting of a finite number of vectors, then V is finite dimensional. Otherwise, V is called infinite dimensional. The vector space V = {0} is finite dimensional. Ming-Feng Yeh Chapter 4

Section 4-5 Example 1 The Standard Basis for R3 Show that the set S = {(1, 0, 0), (0, 1, 0), (0, 0, 1)} is a basis for R3. pf: 1. Example 4(a) in Section 4.4 showed that S spans R3. 2. S is linear independent. c1(1, 0, 0) + c2(0, 1, 0) + c3(0, 0, 1) = (0, 0, 0) has only the trivial solution c1 = c2 = c3 = 0.  S is a basis for R3. The Standard Basis for Rn e1 = (1, 0, 0, …, 0), e2 = (0, 1, 0, …, 0), e3 = (0, 0, 1, …, 0), …, en = (0, 0, 0, …, 0, 1) Ming-Feng Yeh Chapter 4

Section 4-5 Example 2 A Nonstandard Basis for R2 Show that the set S = {v1(1, 1), v2(1, 1)} is a basis for R2. pf: 1. Let x = (x1, x2) represent an arbitrary vector in R2. Consider the linear combination c1v1 + c2v2 = x,  (c1 + c2, c1  c2) = (x1, x2)  the coefficient matrix has a nonzero determinant, the system has a unique solution.  S spans R2. 2. S is linearly independent (verify it).  S is a basis for R2. Ming-Feng Yeh Chapter 4

Section 4-5 Example 4 A Basis for Polynomials Show that the vector space P3 has the following basis. S = {1, x, x2, x3} pf: 1. the span of S consists of all polynomials of the form a0 + a1x + a2x2 + a3x3, a0, a1, a2, a3R S spans P3. 2. Consider the following linear combination a0 + a1x + a2x2 + a3x3 = 0(x) = 0, x the solutions are a0 = a1 = a2 = a3 = 0. That is, S is linear independent.  S is a basis for P3. Ming-Feng Yeh Chapter 4

Some Standard Bases Standard basis for P3: {1, x, x2, x3} Section 4-5 Some Standard Bases Standard basis for P3: {1, x, x2, x3} Standard basis for Pn: {1, x, x2, x3, …, xn} Standard basis for M2,2: Standard basis for Mm,n: The set that consists of the mn distinct m  n matrices having a single 1 and all other entries equal to zero. Ming-Feng Yeh Chapter 4

Theorem 4.9 Uniqueness of Basis Representation Section 4-5 Theorem 4.9 Uniqueness of Basis Representation If S = {v1, v2, …, vn} is a basis for a vector space V, then every vector in V can be written in one and only one way as a linear combination of vectors in S. Pf: S spans V. an arbitrary vector u in V can be expressed as u = c1v1 + c2v2 + … + cnvn  Suppose that u has another representation u = b1v1 + b2v2 + … + bnvn    (c1  b1)v1 + (c2  b2)v2 + … + (cn  bn)vn = 0  S is linear independent. The only solution to  is c1  b1 = 0, c2  b2 = 0, cn  bn = 0  ci = bi for all i. Hence, u has only one representation for S. Ming-Feng Yeh Chapter 4

Section 4-5 Example 6 Uniqueness of Basis Representation Let u = (u1, u2, u3)R3. Show that u = c1v1 + c2v2 + c3v3 has a unique solution for the basis S = {v1, v2, v3} = { (1, 2, 3), (0, 1, 2), (2, 0, 1) } Sol: (u1, u2, u3) = c1(1, 2, 3) + c2(0, 1, 2) + c3(2, 0, 1) that is, u has a unique solution for the basis S. Ming-Feng Yeh Chapter 4

Theorem 4.10 Bases & Linear Dependence Section 4-5 Theorem 4.10 Bases & Linear Dependence If S = {v1, v2, …, vn} is a basis for a vector space V, then every set containing morn than n vectors in V is linearly dependent. Pf: Let S1 = {u1, u2, …, um}  V, m > n. Consider: k1u1 + k2u2 + … + kmum = 0  If k1, k2 , …, km are not all zero, then S1 is linear dependent. S is a basis for V. each ui is a linear combination of vectors in S, i.e.,  Substituting each of these representations of ui into , Ming-Feng Yeh Chapter 4

Section 4-5 Theorem 4.10 (cont.) vi’s form a linearly independent set. (S is a basis) di = 0  This homogeneous system has fewer equations than variables k1, k2 , …, km, (n < m). Hence it must have nontrivial solutions. That is, S1 is linearly dependent. Ming-Feng Yeh Chapter 4

Theorem 4.11 Number of Vectors in a Basis Section 4-5 Theorem 4.11 Number of Vectors in a Basis If a vector space V has one basis with n vectors, then every basis for V has n vectors. Pf: Let S1 = {v1, v2, …, vn} be a given basis for V, and let S2 = {u1, u2, …, um} be another basis for V. Because S1 is a basis and S2 is linearly independent, Theorem 4.10 implies that m  n. Similarly, n  m because S1 is linearly independent and S2 is a basis. Consequently, n = m. Ming-Feng Yeh Chapter 4

Section 4-5 Example 8 Spanning Sets & Bases Explain why each of the following statements is true. (a) The set S1 = { (3, 2, 1), (7, 1, 4)} is NOT a basis for R3. The standard basis for R3 has 3 vectors, and S1 has only 2. Hence, S1 cannot be a basis for R3. (b) The set S2 = { x + 2, x2, x3 1, 3x +1, x2  2x + 3} is NOT a basis for P3. The standard basis for P3 has 4 vectors. The set S2 has too many elements to be a basis for P3. Ming-Feng Yeh Chapter 4

Dimension of a Vector Space Section 4-5 Dimension of a Vector Space Definition: If a vector space V has a basis consisting of n vectors, then the number n is called the dimension of V, denoted by dim(V) = n. If V consists of the zero vectors alone, the dimension of V is defined as zero, i.e., dim(0) = 0. dim(Rn) = n dim(Pn) = n +1 dim(Mm,n) = mn If W is a subspace of an n-dimensional vector space, then dim(W)  n. Ming-Feng Yeh Chapter 4

Example 9 Finding the Dimension of a Subspace Section 4-5 Example 9 Finding the Dimension of a Subspace find a set of linearly independent vectors that spans the subspace Determine the dimension of each subspace of R3. (a) W = { (d, cd, c): c, d R} Sol: (d, cd, c) = c(0, 1, 1) + d(1, 1, 0) W is spanned by the set S = {(0, 1, 1), (1, 1, 0)}. Hence, dim(W) = 2. (b) W = { (2b, b, 0): b R} Sol: W is spanned by the set S = {(1, 1, 0)}. Hence, dim(W) = 1. Ming-Feng Yeh Chapter 4

Section 4-5 Example 10 Finding the Dimension of a Subspace Find the dimension of the subspace W of R4 spanned by S = { v1(1, 2, 5, 0), v2(3, 0, 1, 2), v3(5, 4, 9, 2)} Sol: Although W is spanned by the set S, S is NOT a basis for W because S is a linear dependent set. v3 = 2v1  v2 This means that W is spanned by the set S1 = {v1, v2}. Moreover, S1 is linearly independent. Hence, dim(W) = 2. Ming-Feng Yeh Chapter 4

Section 4-5 Example 11 Finding the Dimension of a Subspace Let W be a subspace of all symmetric matrices M2,2. What is the dimension of W? Sol: S is linearly independent and S spans W. Hence, dim(W) = 3. Ming-Feng Yeh Chapter 4

Section 4-5 Theorem 4.12 & Example 12 Theorem 4.12: Basis Test in an n-dimensional Space Let V be a vector space of dimension n. 1. If S = {v1, v2, …, vn} is a linearly independent set of vectors in V, then S is a basis for V. 2. If S = {v1, v2, …, vn} spans V, then S is a basis for V. Example 12: Show the set S is a basis for M5,1. S is a linearly independent set and dim(M5,1) = 5  S is a basis for M5,1. Ming-Feng Yeh Chapter 4

4.6 Rank of a Matrix & Systems of Linear Equations Column vectors: m 1 Definition Let A be an m  n matrix. 1. The row space of A is the subspace of Rn spanned by the row vectors of A. 2. The column space of A is the subspace of Rm spanned by the column vectors of A. Row vectors: 1  n Ming-Feng Yeh Chapter 4

Section 4-6 Theorems 4.13 & 4.14 Theorem 4.13 Row-Equivalent Matrices Have the Same Row Space If an m  n matrix A is row-equivalent to an m  n matrix B, then the row space of A is equal to the row space of B. Theorem 4.14 Basis for the Row Space of a Matrix If a matrix A is row-equivalent to a matrix B, then the nonzero row vectors of B form a basis for the row space of A. Ming-Feng Yeh Chapter 4

Example 2 Find a basis for a row space of A. Section 4-6 Example 2 Find a basis for a row space of A. Sol: w1 = (1, 3, 1, 3), w2 = (0, 1, 0, 1), and w3 = (0, 0, 0, 1) form a basis for the row space of A. Ming-Feng Yeh Chapter 4

Section 4-6 Example 3 Find a basis for the subspace of R3 spanned by S = { (1, 2, 5), (3, 0, 3), (5, 1, 8) } Sol: w1 = (1, 2, 5) and w2 = (0, 1, 3) form a basis for the row space of A. That is, they form a basis for the subspace spanned by S. Ming-Feng Yeh Chapter 4

Column Vectors of Row-Equivalent Matrices Section 4-6 Column Vectors of Row-Equivalent Matrices b3 = 2b1 + b2  a3 = 2a1 + a2 The column vectors b1, b2, and b4 of matrix B are linearly independent, and so are the corresponding columns of A. b1 b2 b3 b4 Ming-Feng Yeh Chapter 4

Example 4 Find a basis for the column space of the matrix A. Section 4-6 Example 4 Find a basis for the column space of the matrix A. Sol: [Method 1] w1 = (1, 0, 3, 3, 2), w2 = (0, 1, 9, 5, 6), and w3 = (0, 0, 1, 1, 1) form a basis for the row space of AT. That is equivalent to saying that form a basis for the column space of A. Ming-Feng Yeh Chapter 4

Section 4-6 Example 4 (cont.) Sol: [Method 2] a1, a2, and a4 form a basis for the column space of A. Ming-Feng Yeh Chapter 4

Section 4-6 Thm 4.15 & Rank of a Matrix Theorem 4.15 Row and Column Spaces Have Equal Dimensions If A is an m  n matrix, then the row space and column space of A have the same dimension. Definition The dimension of the row (or column) space of a matrix A is called the rank of A and is denoted by rank(A). Example 5 Ming-Feng Yeh Chapter 4

Thm 4.16: Nullspace of a Matrix Section 4-6 Thm 4.16: Nullspace of a Matrix Solutions of a Homogeneous System If A is an m  n matrix, then the set of all solutions of the homogeneous system of linear equations Ax = 0 is a subspace of Rn called the nullspace of A and is denoted by N(A). So, N(A) = {xRn: Ax = 0}. The dimension of the nullspace of A is called the nullity of A. nullity(A) = dim( N(A) ) Pf: 1. Nonempty: A0 = 0 2. Addition: Ax1 = 0 and Ax2 = 0  A(x1+x2) = Ax1+ Ax2 = 0 3. Scalar multiplication: A(cx1) = c(Ax1) = 0 Ming-Feng Yeh Chapter 4

Section 4-6 Example 6 The nullspace of A is also called the solution space of the system Ax = 0. Find the Solution Space of a Homogeneous System Find the nullspace of A. Sol: Ming-Feng Yeh Chapter 4

Section 4-6 Remark of Example 6 A basis for N(A) is because all solutions of Ax = 0 are linear combinations of these two vectors. When homogeneous systems are solved from the reduced row-echelon form, the spanning set is linear independent. A is a 3  4 matrix, rank(A) = 2, nullity(A) = 2  rank(A) + nullity(A) = 4 Ming-Feng Yeh Chapter 4

Section 4-6 Theorem 4.17 Dimension of the Solution Space If A is an m  n matrix of rank r, then the dimension of the solution space of Ax = 0 is n  r. That is, rank(A) + nullity(A) = n. Ming-Feng Yeh Chapter 4

Example 7 Rank and Nullity of a Matrix Section 4-6 Example 7 Rank and Nullity of a Matrix Let the column vectors of the matrix A be denoted by a1, a2, …, a5. (a) Find the rank and nullity of A. rank(A) = 3, n = 5  nullity(A) = 5  3 = 2. Ming-Feng Yeh Chapter 4

Section 4-6 Example 7 (cont.) (b) Find a set of the column vectors of A that forms a basis for the column space of A. form a basis for the column space of A. Ming-Feng Yeh Chapter 4

Section 4-6 Example 7 (cont.) (c) If possible, write the third column of A as a linear combination of the first two columns. Ming-Feng Yeh Chapter 4

Solutions of Linear Systems Section 4-6 Solutions of Linear Systems The set of all solution vectors of Ax = 0 is a subspace. Is the set of all solution vectors of Ax = b (b 0) also a subspace? The answer is “no,” because the zero vector is never a solution of Ax = b. Ming-Feng Yeh Chapter 4

Section 4-6 Theorem 4.18 Solutions of a Nonhomogeneous Linear System If xp is a particular solution of Ax = b (b 0), then every solution of this system can be written in the form x = xp + xh, where xh is a solution of Ax = 0. Pf: Let x be any solution of Ax = b. Then (x  xp) is a solution of Ax = 0, because A(x  xp) = Ax  Axp = b  b = 0. Let xh = x  xp  x = xp + xh Ming-Feng Yeh Chapter 4

Example 8 Find the set of all solution vectors of the following system Section 4-6 Example 8 Find the set of all solution vectors of the following system Ming-Feng Yeh Chapter 4 xh xp

Section 4-6 Theorem 4.19 Solution of a System of Linear Equations The system of linear equation Ax = b is consistent if and only if b is in the column space of A. Ax = b iff b is a linear combination of the columns of A Ming-Feng Yeh Chapter 4

Section 4-6 Example 9 Consider The rank of A is equal to the rank of [A  b]. Hence, b is in the column space of A, and the system is consistent. Ming-Feng Yeh Chapter 4

Equivalent Conditions Section 4-6 Equivalent Conditions If A is an n  n matrix, then the following conditions are equivalent. A is invertible. Ax = b has a unique solution for any n  1 matrix b. Ax = 0 has only trivial solution. A is row-equivalent to In. Rank(A) = n The n row (column) vectors of A are linearly independent. Ming-Feng Yeh Chapter 4

4.7 Coordinates and Change of Basis Coordinate Representation Relative to a Basis Let B = {v1, v2, …, vn} is an ordered basis for a vector space V and let x be a vector in V s.t. x = c1v1 + c2v2 + … + cnvn The scalars c1, c2, …, cn are called the coordinates of x relative to the basis B. The coordinate matrix (or coordinate vector) of x relative to B is the column matrix in Rn whose components are the coordinate of x. Ming-Feng Yeh Chapter 4

Section 4-7 Example 2 Finding a Coordinate Matrix Relative to a Standard Basis The coordinate matrix of x relative to the (nonstandard) basis B = {v1, v2} = {(1, 0), (1, 2)} is Find the coordinates of x relative to the standard basis B = {u1, u2} = {(1, 0), (0, 1)}. Sol: x = 3v1 + 2v2 = 3(1, 0) + 2(1, 2) = (5, 4) = 5(1, 0) + 4(0, 1) = 5u1 + 4u2 Ming-Feng Yeh Chapter 4

Example 3 Sol: x = c1u1 + c2u2 + c3u3 Finding a Coordinate Matrix Relative to a Nonstandard Basis Find the coordinate matrix of x = (1, 2, 1) in R3 relative to the (nonstandard) basis B = {u1, u2 , u3} = {(1, 0, 1), (0, 1, 2), (2, 3, 5)}. Sol: x = c1u1 + c2u2 + c3u3 (1, 2, 1) = c1(1, 0, 1) + c2(0, 1, 2) + c3(2, 3, 5) Ming-Feng Yeh Chapter 4

Change of Basis in Rn Transition matrix from B to B: Change of basis from B to B: Change of basis from B to B: transition matrix from B to B: Ming-Feng Yeh Chapter 4

Theorems 4.20 & 4.21 Theorem 4.20 The Inverse of a Transition Matrix If P is the transition matrix from a basis B to a basis B in Rn, then P is invertible and the transition matrix from B to B is given by P1. Theorem 4.21 Transition Matrix from B to B Let B = {v1, v2, …, vn} and B = {u1, u2, …, un} be two bases for Rn. Then the transition matrix P1 from B to B can be found by using Gauss-Jordan elimination on the n  2n matrix [B | B], as follows Ming-Feng Yeh Chapter 4

Example 4 Finding a Transition Matrix Find the transition matrix from B to B for the following bases in R3. B = {(1,0,0), (0,1,0), (0,0,1)} and B = {(1,0,1), (0,1,2), (2,3,5)}. Sol: Ming-Feng Yeh Chapter 4

Example 5 Finding a Transition Matrix Find the transition matrix from B to B for the following bases in R2. B = {(3,2), (4, 2)} and B = {(1,2), (2,2)}. Sol: Ming-Feng Yeh Chapter 4

Examples 6 & 7 Ex. 6: Coordinate Representation in P3 Find the coordinate matrix of p = 3x3  2x2 + 4 relative to the standard basis in P3. S = {1, x, x2, x3} Sol: p = 4(1) + 0(x)  2(x2) + 3(x3)  Ex. 7: Coordinate Representation in M3,1 Find the coordinate matrix of relative to the standard basis in M3,1. Sol: Ming-Feng Yeh Chapter 4