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Course 4Book 4A: Function Spaces and Sobolev SpacesChapter 2
Baire Category and Its Consequences
Uniform boundedness, open mapping and closed graph, and why some numerical methods diverge.
Read with Brezis, chapter 2, "The Uniform Boundedness Principle and the Closed Graph Theorem", or Kreyszig §4.7 (category and uniform boundedness), §4.11 (numerical integration, including Pólya's theorem), §4.12–4.13 (open mapping and closed graph).
This chapter proves three theorems that need nothing but completeness, and that say something surprisingly strong. The uniform boundedness principle: a family of bounded operators that is bounded at each point separately is bounded uniformly. The open mapping theorem: a bounded linear bijection between Banach spaces has a bounded inverse. The closed graph theorem: a linear map whose graph is closed is bounded. All three come from one lemma about complete metric spaces, the Baire category theorem, which says such a space can't be a countable union of "thin" sets.
They are used occasionally rather than constantly, but when they are used they settle a question in one line, and two of their consequences are part of everyday analysis. Weakly convergent sequences are bounded (4A.6 Weak Convergence and the Direct Method). And if an equation is uniquely solvable in Banach spaces, the solution automatically depends continuously on the data, an a-priori estimate for free. The chapter's anchor is the uniform boundedness principle at work in numerical analysis: why some natural, high-order numerical methods diverge.
By the end of this chapter you will be able to:
- state and prove the Baire category theorem, and use it to show that sets are "large";
- prove the uniform boundedness principle and apply it to quadrature and Fourier series;
- state the open mapping, bounded inverse and closed graph theorems and use them;
- explain why equally spaced high-order interpolation and quadrature can fail, and what fixes them.
When more points make things worse
The natural way to integrate a function numerically on is to sample it at equally spaced points, fit the polynomial of degree through the samples, and integrate the polynomial exactly. This gives the Newton–Cotes rules : the trapezoid rule for , Simpson's rule for . One would expect higher to be better. It isn't. For some weights are negative, and their total size grows explosively: computed exactly, it is for , for , for and about for .
Large weights of both signs mean that tiny errors in the samples are hugely amplified, and George Pólya proved in 1933 that the rules then fail to converge for some continuous functions. His theorem, proved below by the uniform boundedness principle, says exactly when a sequence of quadrature rules converges for every continuous function: when it converges for polynomials and the sums stay bounded. Rules with positive weights, such as Gaussian quadrature or Clenshaw–Curtis quadrature, satisfy this automatically, which is one reason they are the methods used in practice.
The same instability appears in interpolation. Carl Runge observed in 1901 that the polynomial interpolating at equally spaced points on gets worse as the degree increases, swinging wildly near the ends (Figure 2.1). Computed, the worst error is about with points and about with . Interpolating instead at the Chebyshev points , which cluster near the ends, the errors are about and . Modern software for computing with functions (Trefethen's Chebfun system, for example) is built on Chebyshev interpolation for this reason.
The Baire category theorem
A subset of a metric space is nowhere dense if its closure has empty interior: it is not dense in any ball. A line in the plane, the integers in , the Cantor set in (3A.2 Lebesgue Measure) are nowhere dense.
A non-empty complete metric space is not a countable union of nowhere dense sets. Equivalently: if with each closed, then some contains a ball.
Proof. Let be closed and nowhere dense; we find a point in none of them. contains no ball, so there is a point outside it, and since is closed, a closed ball of radius that misses . contains no ball, in particular not the open ball inside , so there is a closed ball of radius missing . Continue: nested closed balls with radii , missing . Their centres form a Cauchy sequence, which converges by completeness to a point lying in every , hence in no .
The theorem gives a notion of size different from measure and cardinality. Countable unions of nowhere dense sets are called meagre ("of the first category"); complements of meagre sets are residual, and in a complete space they are dense. Some quick consequences:
- is uncountable: it is not a countable union of points, each nowhere dense.
- An infinite-dimensional Banach space has no countable algebraic (Hamel) basis: it would be a countable union of finite-dimensional subspaces, each closed and nowhere dense (Exercise 2.8).
- In with the sup norm, the functions that are differentiable at even one point form a meagre set (Banach and Mazurkiewicz, 1931). So "most" continuous functions are differentiable nowhere. Weierstrass's monster of 2B.5 Uniform Convergence and Arzelà–Ascoli is typical, not exceptional.
Meagre and null sets are both "small", but in different senses: the fat Cantor set of 3A.2 Lebesgue Measure is nowhere dense with positive measure, and is the union of a null set and a meagre set (Exercise 2.9).
Uniform boundedness
Let be a Banach space, a normed space, and a family of bounded operators such that for each , . Then .
Proof. Let , closed as an intersection of closed sets. By hypothesis , so by Baire some contains a ball . For , both and lie in the ball, so for every . Hence .
Pointwise bounds become uniform bounds, for free. The contrapositive is the form used to show divergence: if , then there is a single with , and in fact the set of such is residual.
For each let be a quadrature rule on . Then for every if and only if
- for every polynomial , and
- .
Proof. Each is a bounded linear functional on with norm (the norm is attained by a continuous function equal to at each node). Only if: if converges for every , then for every , and uniform boundedness gives (2). If: given and , take a polynomial with (Weierstrass, 2B.5 Uniform Convergence and Arzelà–Ascoli). Then
Newton–Cotes rules integrate polynomials of degree exactly, so (1) holds, but their weight sums are unbounded, so (2) fails: there is a continuous function for which they diverge. Rules with positive weights that integrate constants exactly have , so they converge for every continuous function.
On the circle, the partial sum at is (2B.7 Fourier Series and the First Heat Equation), a bounded linear functional on with norm , the Lebesgue constant. Computed, for , growing like (Figure 2.2). Since , uniform boundedness gives a continuous with : its Fourier series diverges at . Du Bois-Reymond constructed one explicitly in 1873; the Baire argument shows that such functions form a residual set. (The growth is very slow, which is why it went unnoticed for so long.)
The principle also gives the fact that 4A.6 Weak Convergence and the Direct Method needs: if weakly (that is, for every bounded linear functional ), then . And a pointwise limit of bounded operators on a Banach space, , is automatically bounded.
Open mapping, bounded inverse, closed graph
A bounded linear map from a Banach space onto a Banach space maps open sets to open sets.
Idea of the proof (Brezis, Theorem 2.6). Since is onto, , and Baire applied to the closures gives a ball in some ; by linearity, contains a ball around in . A successive-approximation argument, which uses completeness of to sum a geometric series of corrections, removes the closure: itself contains a ball around .
A bounded linear bijection between Banach spaces has a bounded inverse.
Proof. The inverse is linear, and the preimage of an open set under is its image under , which is open. So is continuous.
Here is the "estimate for free". Suppose a linear differential equation has, for every in a Banach space , exactly one solution in a Banach space , and is bounded. Then the solution operator is bounded: . Existence and uniqueness imply stability, as long as both spaces are complete. In practice one usually proves the estimate directly (because the constant matters), but the theorem guarantees the search isn't hopeless.
A second use is comparing norms. If a vector space is complete under two norms and one is bounded by a multiple of the other, then they are equivalent (Exercise 2.13). This is how different definitions of the same Sobolev or Hölder norm are shown to agree (4A.9 Sobolev Spaces, 4A.11 Hölder Spaces).
Let be linear, with and Banach. If the graph is closed in (that is, and imply ), then is bounded.
Proof. The graph is a closed subspace of the Banach space (with the norm ), hence a Banach space. The projection is a bounded linear bijection from onto , so its inverse is bounded by Corollary 2.6, and so .
To prove continuity directly, one must show that implies that converges, and to . The closed graph theorem says it is enough to check the second part, assuming converges. A typical application is Exercise 2.11: a symmetric operator defined on all of a Hilbert space is automatically bounded. The contrapositive explains why the differential operators of quantum mechanics and PDE, which are unbounded, can never be defined on the whole Hilbert space, but only on a dense subspace of smooth enough functions.
The uniform boundedness principle makes weakly convergent sequences bounded, the first step of the direct method (4A.6 Weak Convergence and the Direct Method). The open mapping theorem is behind the Fredholm alternative (4A.7 Compact Operators and Spectra): for a compact perturbation of the identity, injectivity implies bounded invertibility. In elliptic theory (6A.5 Weak Solutions and Elliptic Regularity), Fredholm theory plus the bounded inverse theorem turns uniqueness into estimates, and in the analysis of the linearised Ricci–DeTurck operator (11A.3 Short-Time Existence and Uniqueness) the existence of a bounded inverse between Hölder spaces is the key input to the contraction argument.
History
René Baire proved his category theorem for the real line in his 1899 thesis. Stefan Banach and Hugo Steinhaus proved the uniform boundedness principle in 1927, and Banach the open mapping and closed graph theorems by 1929–1932 (Juliusz Schauder gave a version of the open mapping theorem in 1930). Banach and Stefan Mazurkiewicz independently showed in 1931 that nowhere differentiable functions are generic in . Runge's paper on interpolation appeared in 1901, Pólya's quadrature theorem in 1933, and Hellinger and Toeplitz's theorem on symmetric operators in 1910.
In a complete metric space, a countable union of nowhere dense sets has empty interior (Baire). Applied to Banach spaces: pointwise bounded families of operators are uniformly bounded; bounded linear bijections have bounded inverses; and linear maps with closed graphs are bounded. In numerical analysis these explain why quadrature and interpolation with unbounded weight sums diverge for some continuous functions (Pólya; Runge), and in Fourier analysis why some continuous functions have divergent Fourier series. 4A.3 Hahn–Banach and Duality turns to the dual space of bounded linear functionals, and to the Hahn–Banach theorem that provides enough of them.
Exercises
Let be an infinite-dimensional Banach space. Show that a finite-dimensional subspace of is closed and nowhere dense, and deduce from Baire that has no countable Hamel basis (every vector a finite linear combination of basis vectors). Conclude that the space of polynomials, which has the countable basis , is not complete under any norm.
Let enumerate , let and . Show that is null and that its complement is meagre. So is the union of a null set and a meagre set: measure and category can disagree completely about which sets are small.
Solution
, so . Each is open and dense (it contains ), so is closed and nowhere dense, and is meagre.
Show that (distinct nodes in ) has norm exactly as a functional on . (Build a continuous with and , by joining the values linearly.)
Let be a Hilbert space and linear with for all . Show is bounded, by checking that its graph is closed. (If and , compute for every .)
Solution
for all , so .
Let with the sup norm and as a subspace. Show that has closed graph (use 2B.5 Uniform Convergence and Arzelà–Ascoli's theorem on uniform limits of derivatives) but is unbounded. Which hypothesis of the closed graph theorem fails?
Solution
If and uniformly, then with . Unbounded: . The domain is not complete in the sup norm (not closed in ).
Let be complete under norms and , with for all . Show the norms are equivalent. Apply this to with and : show both are complete and compare them. In 4A.9 Sobolev Spaces, several equivalent norms on Sobolev spaces (with or without lower-order terms, by derivatives or by Fourier transform) are compared in exactly this way, and in 4A.11 Hölder Spaces the same is done for Hölder norms.
Solution
The identity is a bounded bijection between Banach spaces, so its inverse is bounded: . For : , and is complete (a Cauchy sequence has and convergent, and converges in ). Directly, , so .
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