§10.1 Geometry of a Hilbert Space
10.1 Geometry of a Hilbert Space
The concept of a vector space is an important one in linear algebra. However, its definition itself does not actually imply that the “vectors” are tuples of values of finite dimension. As a matter of fact the term “vector” is a very general one. Developments in the 20th century have rigorously defined vectors with infinite dimensions.
Definition 10.1.1 (Inner Product).
Let be a vector space over . Then a function
is said to be a positive-definite nondegenerate Hermitian inner product iff
- For any , (additivity in the first argument).
- For any , , (homogeneity in the first argument).
- For any , (conjugate-symmetry/Hermetian).
- For any , . (positive semi-definiteness)
- For , iff (nondegeneracy).
Then the space together with the inner product is known as an inner product space.
Note that Part 5 and Part 4, imply positive-definitness: for , .
To avoid pedantry, for the proceeding passages, the use of “inner product” will assume positive-definiteness, nondegeneracy, and conjugate-symmetry.
Proposition 10.1.2.
Let be a vector space over and let be a positive-definite nondegenerate Hermetian inner product. Then for and ,
- (additivity in the second argument).
- (conjugate-homogeneity in the second argument).
- .
- .
Proof.
Observe that Part 1 holds since
and conjugate-homogeneity (Part 2) holds in the second argument since
Letting on gives Part 3, while Part 4 is a consequence of additivity. We provide examples of vector spaces and their corresponding nondegenerate Hermetian inner products:
Example 10.1.3.
Let () be a vector space under the usual operations, and define
where and are vectors in . Then is a nondegenerate Hermetian inner product.The verification of the necessary properties is trivial.
Example 10.1.4.
Let , with addition and multiplication defined as in the usual sense. Then if , define
Proof.
The verification of properties Part 1, Part 2, Part 3, Part 4 (in Definition 10.1.1) are somewhat trivial. The reverse implication of Part 4 is obvious. For such that
if at some , then for in some -neighborhood of , by continuity, implying that
which is impossible; thus forcibly. Definition 10.1.5 (Associated Norm).
If is a vector space and is a nondegenerate positive-definite Hermitian inner product on , then the associated norm of some is given by
Definition 10.1.6 (Isometry).
Let and be inner product spaces over the same scalar field, with inner products and , respectively. A linear map is an isometry iff
In particular, preserves norms and distances.Definition 10.1.7 (Isomorphism).
Let and be vector spaces over the same scalar field. A linear bijection is an isomorphism.Example 10.1.8.
Show that every -dimensional (by linear independence) complex inner product space is isometrically isomorphic to equipped with the Euclidean (Hermitian) inner product
Solution to Example 10.1.8.
Let be the -dimensional complex inner product space. By Corollary 10.1.1.5.1, has an orthonormal basis . Define
The map is linear and bijective, since
Moreover, for any ,
Thus is an isometric isomorphism. (The same construction shows that every -dimensional real inner product space is isometrically isomorphic to with its usual Euclidean dot product.)
Theorem 10.1.9 (Cauchy–Schwarz Inequality).
If is a vector space and is a nondegenerate positive-definite Hermitian inner product on , then for ,
Proof.
We only need to consider cases when and (as these cases are already satisfied by Part 3 of Proposition 10.1.2).
By the positive-definiteness of the product,
implying that
Then Theorem 10.1.9 and Part 4 of Proposition 10.1.2 are sufficient to imply the triangle inequality of the associated norm:
Theorem 10.1.10 (Triangle Inequality of the Associated Norm).
If is a vector space and is a nondegenerate positive-definite Hermitian inner product on , then for ,
Proof.
By Part 4 of Proposition 10.1.2 and the Cauchy–Schwarz Inequality (Theorem 10.1.9),
Then taking the square root of both sides completes the proof. Then it follows that can be used to define a metric as it satisfies all the properties of Definition 3.2.1.12. Along with , the associated norm then defines a metric space. Then we can define the notion of convergence of sequences in the vector space.
Theorem 10.1.11 (Continuity of the Inner Product).
Let be an inner product space. If and with respect to the associated norm, then
Equivalently, the map is jointly continuous.Proof.
Since every convergent sequence is bounded, there is some such that for every . By the Cauchy–Schwarz Inequality (Theorem 10.1.9), for sufficiently large
For a general metric space , if for a sequence such that , , ; then is known as a Cauchy sequence.
If the metric space is under the standard Euclidean metric, then any Cauchy sequence is convergent. However, note that on other sets this is not necessarily true; if we consider the set of rationals , we may choose a sequence where the -th element is the first digits of the decimal expansion of : ; it follows trivially that is a Cauchy sequence, although it is not convergent in as the accumulation point is not in .
A metric space is said to be complete iff all Cauchy sequences are complete. Intuitively, the set of rationals cannot be complete as there are accumulation points in to which Cauchy sequences tend, so it is incomplete in the sense that potential accumulation points are not included. In most analytical settings, we are concerned only with vector space over complete scalar fields such as or .
Proposition 10.1.12.
Any finite-dimensional vector space over a complete field is complete with respect the metric space derived from any (nondegenerate positive-definite Hermitian) inner-product norm.Proof.
Let be an orthonormal basis for , obtained by the Gram–Schmidt process (see Section 10.1.1), and fix a particular inner product and associated norm . Then for any Cauchy sequence , writing for each :
if
it follows that for each , each is a Cauchy sequence, and converges by the completeness of to a value .
Moreover, , exists such that , .
Let . For any ,
Thus, under any inner product, any Cauchy sequence in converges.
It is often convenient in analysis to take limits, and thus in most cases we are concerned only with complete spaces. However, infinite-dimensional vector spaces do not need to be complete under any inner-product norm, and thus completeness must be then stated as a precursory condition before further analysis can be done. These conditions now motivate for the following definition.
Definition 10.1.13 (Hilbert Space).
A complex vector space with a (nondegenerate) positive-definite Hermetian inner product is said to be a Hilbert space iff it is complete under the associated norm .Example 10.1.14.
The vector space with the inner product
is a Hilbert space, and the metric derived from the associated norm provides the standard sense of Euclidean distance:
Example 10.1.15 (Bergman Space).
Let be an open region. Let
Then is a vector space over with the standard definition of addition and scalar multiplication. Then the inner product defined by
for any two defines a Hilbert space with .Proof.
Firstly, the inner product is well-defined as
which provides the absolute convergence of (10.1.1), and Part 5 of Definition 10.1.1 follows from the same logic as in Example 10.1.4.
Proposition 10.1.16.
For any and any , then whenever such that ,
Proof of Proposition 10.1.16.
By the mean-value property,
Therefore,
Thus,
By the Cauchy–Schwarz Inequality (), we have
With Proposition 10.1.16 in mind, we now proceed to prove the completeness of the metric space.
Let be arbitrary and let be any Cauchy sequence in the inner product space. Then there is a such that , . Then , such that , . By Proposition 10.1.16 applied to ,
hence giving that uniformly converges in . Since was arbitrary, locally uniformly converges in , and converges by the Weierstrass Convergence Theorem (Theorem 4.1.1) to a holomorphic function on . It remains to show that and with respect to .
By Lemma 7.5.3, choose a nested exhaustion of by bounded grid regions. Fix and choose such that
Fix . For every , since on ,
because for every . By the definition of the improper integral,
Thus for and . Since , it follows that since by the Parallelogram Law (Theorem 10.1.18). Therefore, in with respect to , proving completeness.
The study of the Bergman space will become important later on as we aim to prove the following:
If and are Jordan curves, then extends continuously and injectively to and is on .
(Recall that this was briefly mentioned in Section 9.3; we have already proven the two other main cases, namely when the boundaries are merely Jordan and when the boundaries are real-analytic.)
For the remainder of this section, we will develop general properties of Hilbert spaces. Note that in a Hilbert space closedness and boundedness do not necessarily imply compactness (recall that compactness is most generally defined by the notion of finite subcovers), although compactness will always imply closedness and boundedness.
Example 10.1.17.
Show that there exists a Hilbert space such that there is a closed, bounded1 set that is not compact.Solution to Example 10.1.17.
Let with the inner product
Then the associated norm is simply the Euclidean distance. Then under the induced metric topology, is closed and bounded, but not compact, as it can be covered by the open cover , which does not admit a finite subcover. The following properties we define will be useful in serving as a replacement for compactness:
Theorem 10.1.18 (Parallelogram Law).
Let be an inner product space (or a Hilbert space). Then for any ,
(More generally, the sum of the squares of the sides of a parallelogram is equal to the sum of the squares of the diagonals; see Figure 10.1)Definition 10.1.19 (Convexity).
A set in a Hilbert space is said to be convex iff and , . In other words, convexity means that the straight line segment between any two points lies in the set (see Figure 10.2).Note that if is a vector space, then is trivially convex by the definition of a vector space.
Definition 10.1.20 (Orthogonality).
Two vectors in a Hilbert space are said to be orthogonal () iff their inner product is .Definition 10.1.21.
Let be a Hilbert space. A subspace is said to be orthogonal to a vector (denoted by ) iff , .Then rather intuitively, we have
Theorem 10.1.22.
If is a vector in a Hilbert space, and such that , thenProof.
This follows immediately from
Definition 10.1.23 (Orthogonal Complement).
Let , where is a Hilbert space, then for , define the orthogonal component of to be . Let be a subset (not necessarily a vector space). Then the orthogonal complement of , given by
is the space of vectors orthogonal to every vector in .It is simple to verify that the orthogonal complement of a vector or set is always a vector space.
Definition 10.1.24 (Vector Projection).
Let , where is a Hilbert space. For any , the projection of onto is the unique vector (where is a scalar) such that , which is given by
(immediate from additivity).We can make geometric sense of this definition in the case where is the Euclidean dot product.
Proposition 10.1.25.
Let be a Hilbert space and let be a convex set. Let . Then
The following result shows how the convexity can be used in place of traditional compactness arguments:
Proposition 10.1.26.
Let be a closed, convex set in a Hilbert space and let . Then such that .Proof.
By the definition of infimum, either the infimum is attained (in which case we are done), or the infimum is an accumulation point in of norms of vectors in . Assume the latter case. Then there is a sequence such that . Then for all , such that . Then by Proposition 10.1.25,
Therefore, is a Cauchy sequence, and converges to some . Since is closed in , . Moreover, by the reverse triangle inequality,
by convergence. Then , giving .
To show that is the unique element of least norm, assume is another vector with norm . Then once again applying Proposition 10.1.25,
Remark.
To make sense of uniqueness from a geometric viewpoint, we consider a closed convex set with . Then .
Then for some . If there is another point , then the straight segment between them lies in by convexity. This straight line must intersect , which is a contradiction.
Proposition 10.1.27.
The intersection between any vector subspace of a Hilbert space and its orthogonal complement is .Proof.
For and to be simultaneously true, we must have , implying . Theorem 10.1.28 (Orthogonal Decomposition).
Let be a closed vector subspace of a Hilbert space . Then , . Moreover, and is the unique element satisfying .Proof.
Observe that is convex as is convex; then attaining the least norm (by Proposition 10.1.26). Let and let . We claim that these are the desired values for .
We obtain immediately that since . For any , projecting onto gives
Let . By the minimality of ,
which means all inequalities are equalities, giving that . Since was arbitrary, is orthogonal to the entire vector space , hence .
If is another decomposition, then
Since , the uniqueness follows.
Corollary 10.1.28.1.
The orthogonal complement of any closed proper subspace of a Hilbert space contains a nonzero element.Proof.
Let the Hilbert space be , let the subspace be . Choose . Then , where , (by Theorem 10.1.28). Then as otherwise . Definition 10.1.29 (Linear Functional).
Let be a vector space over a field . Then a linear functional is a mapping
that is linear: for , (homogeneous) for and (additive).(We will only consider the case if is a Hilbert space. Then linear functionals map to .)
Definition 10.1.30.
Let be a Hilbert space. Then a linear functional on is bounded iff such that
Definition 10.1.31.
Let be a Hilbert space. Then a linear functional on is continuous iff for any convergent sequence (), .In mathematical literature, “continuous” and “bounded” are often interchangeably used:
Theorem 10.1.32.
A linear functional on a Hilbert space is bounded iff it is continuous.Proof.
(Denote the functional by , the Hilbert space by .)
Continuity implies boundedness (assume continuity).
Assume the boundedness does not hold. Then for any there exists such that
Therefore, , with such that ; then . By continuity, , is an impossibility, since for each .
Then by contradiction, boundedness must hold.
Boundedness implies continuity.
For any sequence converging to ,
Definition 10.1.33 (Operator Norm).
For a bounded linear functional , define its operator norm to be the infimum of all such ’s in Definition 10.1.29.Proposition 10.1.34.
Let be a Hilbert space and fix . Then
is a bounded linear functional on .Proof.
The additivity and homogeneity are evident, and moreover, by Cauchy–Schwarz (Theorem 10.1.9),
giving boundedness. Definition 10.1.35 (Kernel).
For any linear functional on a Hilbert space , define its null space or kernel to be the set on which vanishes:
Moreover, is a vector subspace of .Theorem 10.1.36 (Riesz Representation Theorem).
Any bounded linear functional on a Hilbert space can be expressed in the form of
where is unique and lies in the orthogonal complement to the null space of .Proof.
If , then letting gives the desired result.
Otherwise, observe that is closed in ; indeed, for any sequence converging to ,
implying that ; consequently, .
There exists a such that
Indeed, by Corollary 10.1.28.1; then letting
it follows that
and the assertion follows.
Then for any , letting gives
Then
If there exists another representative
Letting
Corollary 10.1.36.1.
If