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Course 2Book 2B: Spaces, Functions and ChangeChapter 5
Uniform Convergence and Arzelà–Ascoli
Spaces of functions, Weierstrass approximation, and the compactness theorem behind every later compactness theorem.
Read with Tao, Analysis II, chapter "Uniform convergence", all sections, from "Limiting values of functions" to "Uniform approximation by polynomials". Tao does not cover the Arzelà–Ascoli theorem; this chapter proves it in full.
In this chapter · 8 sections
So far the points of our metric spaces have mostly been points: numbers, places, strings. This chapter is about spaces whose points are functions, and about what it means for a sequence of functions to converge. There are two natural answers. Pointwise convergence asks that at each separately. Uniform convergence asks that the whole graph of come within of the graph of , at every point at once. The difference matters, because only the second preserves continuity, integrals and (with care) derivatives.
The chapter has two summits. The first is the Weierstrass approximation theorem: every continuous function on a closed interval is a uniform limit of polynomials. Its proof introduces approximate identities, which become mollifiers in Course 3 and the heat kernel in Course 6. The second is the Arzelà–Ascoli theorem, which says when a family of functions is compact: when it is bounded and equicontinuous. This is the compactness theorem behind every later compactness theorem in geometry, from Cheeger–Gromov to Hamilton's compactness theorem for Ricci flows. Its slogan is worth memorising now: derivative bounds give equicontinuity, and equicontinuity gives convergence.
By the end of this chapter you will be able to:
- tell pointwise from uniform convergence, and prove or disprove each for a given sequence;
- prove that uniform limits of continuous functions are continuous, and that with the sup metric is complete;
- say when limits can be exchanged with integrals and with derivatives, and use the Weierstrass M-test;
- prove the Weierstrass approximation theorem by convolution with a polynomial approximate identity;
- prove the Arzelà–Ascoli theorem, and use it to extract convergent subsequences from families with derivative bounds.
How a computer evaluates
A computer can only add and multiply, so every value of it returns is computed from a polynomial, or a ratio of polynomials. The widely copied fdlibm library, written at Sun Microsystems in the early 1990s (and the reference for Java's StrictMath class), works in two steps. First it uses the periodicity and symmetries of to reduce any argument to a small interval, essentially . Then it evaluates a polynomial. Its source code states the guarantee: on , is approximated by an odd polynomial of degree , , with
The important words are "for every ". A library is called with arguments nobody can predict, so a small average error is useless: it must be accurate at the worst point. That is a bound in the sup metric of 2B.1 Metric Spaces: a guarantee about the worst case, not the average. Three facts from this chapter are behind this. Polynomials can approximate any continuous function uniformly (the Weierstrass theorem below). How fast they do so depends on how smooth the function is. And for a function as smooth as , degree is enough to reach the limits of double-precision arithmetic.
Pointwise and uniform convergence
Let be a set (usually a metric space) and .
pointwise if for each : for every and every there is with for .
uniformly if for every there is with for all and all . Equivalently, .
The two definitions differ only in the order of quantifiers (2A.5 Quantifiers and the Shape of a Proof): in pointwise convergence, may depend on ; in uniform convergence, one serves every . Geometrically, uniform convergence says that for the graph of lies inside the ε-tube around the graph of (Figure 5.1). For bounded functions, it is exactly convergence in the sup metric .
On , let . For , ; at , . So converges pointwise to the function that is on and at , which is discontinuous (Figure 5.2). The convergence is not uniform: for every , at , which is a point where is away from the limit. The closer is to , the longer we must wait for to be small, and no single works for all .
The practical moral is that a sequence of perfectly smooth signals, each of which a sensor could record, can converge at every instant to a signal with a jump. If an algorithm relies on properties of the limit (continuity, a bound on its slope), pointwise convergence of the approximations is not enough to guarantee them.
Uniform limits are continuous
Let be a metric space. If each is continuous at and uniformly on , then is continuous at . In particular a uniform limit of continuous functions is continuous.
Proof. The ε/3 argument. Given , choose with for all . Then choose with for . For such ,
The proof needs uniformity in the first step: the same must make small at and at , and is not known when is chosen. With only pointwise convergence the argument collapses, and shows the conclusion can fail.
Now the completeness promised in 2B.2 Completeness and Contraction.
For a metric space , the space of bounded functions and the space of bounded continuous functions are complete with the sup metric. In particular, for compact , the space of continuous functions with is complete.
Proof. Let be Cauchy in . For each , , so is Cauchy in and converges to some . Given , pick with for . Letting in gives for all and . So is bounded and uniformly. If the are continuous, so is , by the theorem. On a compact , every continuous function is bounded, so .
This is the space in which ODEs are solved by contraction (2B.10 Ordinary Differential Equations), and its completeness is used every time a solution is built as a uniform limit of approximations.
Limits, integrals and derivatives
Integrals. Uniform convergence on a bounded interval lets limits pass through integrals.
If are Riemann integrable on and uniformly, then is Riemann integrable and .
Proof. If everywhere, then , so the upper and lower integrals of lie within of , and of each other. Since is arbitrary, is integrable, and .
The escaping spikes of 2A.11 The Riemann Integral converge pointwise but not uniformly, and their integrals don't converge to the integral of the limit. Uniform convergence is far stronger than necessary, though: it fails for almost every sequence that matters in PDE. The convergence theorems of 3A.3 The Lebesgue Integral replace it with much weaker hypotheses.
Derivatives. Here uniform convergence of the functions is not enough. The functions converge uniformly to (since ), but doesn't converge at all. Small wiggles can have large slopes. What is needed is uniform convergence of the derivatives.
Let be continuously differentiable on . Suppose uniformly on , and converges for some . Then converges uniformly to a continuously differentiable function , and .
Proof. By the fundamental theorem of calculus (2A.11 The Riemann Integral), . Let and define ; is continuous as a uniform limit of continuous functions. Then
uniformly in . By the fundamental theorem again, .
The pattern "control the derivatives to control the limit" is the theme of this chapter, and it reaches its full form in the Arzelà–Ascoli theorem.
Series of functions
A series of functions converges uniformly if its partial sums do. The standard test is a comparison with a series of numbers.
Let satisfy , where . Then converges uniformly (and absolutely at each point). If the are continuous, so is the sum.
Proof. For , , which is small for large , uniformly in . So the partial sums are Cauchy in , and they converge by completeness (Corollary 5.3).
The M-test makes continuity of power series (2B.6 Power Series, Exponentials and Bump Functions) and of Fourier series with summable coefficients (2B.7 Fourier Series and the First Heat Equation) immediate. It also proves that a famous monster is continuous. Weierstrass's function , with , is continuous by the M-test with . Weierstrass showed in 1872 that for suitable and (for example , ) it is differentiable nowhere. A uniform limit of smooth functions can be continuous and as rough as possible, another reminder that uniform convergence of functions says nothing about their derivatives.
The Weierstrass approximation theorem
Let be continuous on . For every there is a polynomial with for all .
In metric language: the polynomials are dense in with the sup metric. The proof below is by convolution with an approximate identity, and its idea is more important than the theorem.
The idea. Replace by a weighted average of the values of near :
where the weight has total integral and is concentrated near . If is concentrated enough, the average is close to , because is (uniformly) continuous. And if is a polynomial, the average is a polynomial in .
Proof. Reductions. By the change of variables , we may take . Subtracting the linear function , which is a polynomial, we may assume . Extend by outside . The extension is continuous on , and uniformly continuous since it is uniformly continuous on (2B.3 Compactness) and constant outside . Let .
The kernels. For let for , and otherwise, with chosen so that (Figure 5.3). Bernoulli's inequality gives
so . Hence, for any , on ,
This is the sense in which the kernels concentrate at : their total mass is , and the mass outside any fixed neighbourhood of tends to .
The approximants are polynomials. For let . Since vanishes outside , substituting gives . Expanding (valid since ) shows that is a polynomial in whose coefficients are integrals of against powers of .
The approximants are close. Given , choose by uniform continuity so that for . Since ,
The last term is less than for large , independently of .
A family of non-negative kernels with integral that concentrate at a point is called an approximate identity, because convolving with it approximately does nothing. The proof above has three parts that will recur every time: mass , concentration, and uniform continuity of . The same three parts prove that mollifiers smooth functions without moving them far (3A.8 Convolution and Mollifiers); that Fejér's kernel recovers a continuous function from its Fourier series (2B.7 Fourier Series and the First Heat Equation); and that the heat kernel , which is an approximate identity as , makes the heat equation attain its initial data (6A.3 The Heat Equation on ℝⁿ). On a Riemannian manifold the heat kernel plays the same role (9B.7 The Heat Equation on a Manifold), and Perelman's reduced volume (12A.5 Reduced Distance and Reduced Volume) is built from a heat-kernel-like weight that concentrates as time runs backwards.
In 1912 Sergei Bernstein gave a different, constructive proof of the Weierstrass theorem, with explicit polynomials:
The weights are the probabilities of successes in trials with success probability , and they concentrate near as grows: another approximate identity, this time a discrete one (Exercise 5.16).
The same polynomials draw curves. Given control points in the plane, the curve starts at , ends at , and is pulled towards the points in between. Paul de Casteljau developed this construction at Citroën in 1959, with a stable recursive algorithm for evaluating it, but the company kept it confidential; Pierre Bézier developed the same curves independently at Renault and published them in the 1960s, so they carry his name. Bézier curves are now the outlines of letters in digital fonts (quadratic ones in TrueType, cubic ones in PostScript Type 1 fonts) and the paths of vector-graphics programs.
Bernstein approximation is reliable but slow. For , the worst error of is about , , and for (Figure 5.4): quadrupling the degree only halves the error. The degree- polynomial of the opening example does incomparably better because is smooth and its coefficients are optimised for the worst case.
Equicontinuity and the Arzelà–Ascoli theorem
When does a sequence of functions have a uniformly convergent subsequence? In , by 2B.3 Compactness, the question is when a set of functions is compact. Boundedness is not enough: (2B.3 Compactness) and (Figure 5.5) are bounded by and have no uniformly convergent subsequences. What goes wrong in both cases is that the functions get steeper and steeper. The condition that rules this out is the following.
A family of functions from a metric space to is equicontinuous if for every there is a such that
The point is that one works for all the functions in the family, as well as for all points. (Strictly, this is uniform equicontinuity; on a compact space the pointwise version, with allowed to depend on , implies it, by the argument of 2B.3 Compactness.) The most important source of equicontinuity is a uniform derivative bound.
If every is differentiable on an interval with , then by the mean value theorem for every , and works for the whole family. More generally, any family of functions with a common Lipschitz constant, or a common Hölder bound , is equicontinuous.
Let be a compact metric space and a sequence in that is uniformly bounded ( for all and ) and equicontinuous. Then has a subsequence that converges uniformly on .
Proof. Step 1: a countable dense set. For each , has a finite -net (2B.3 Compactness). The union of these nets is a countable set that comes within of every point of , for every .
Step 2: convergence on , by the diagonal argument. The numbers lie in , so by Bolzano–Weierstrass some subsequence of converges at . The numbers , for in , are bounded, so a further subsequence converges at as well. Continue: converges at . Let be the -th term of . For each , the sequence is a subsequence of , so converges as . The diagonal subsequence converges at every point of .
Step 3: equicontinuity spreads convergence from to all of , uniformly. Let . Choose from equicontinuity for , and with . The -net from step 1 is a finite subset of . Since converges at each of these finitely many points, there is with for all and all . Now take any , and a net point with . For ,
So is Cauchy in the sup metric. By completeness of (Corollary 5.3), it converges uniformly.
The three steps are worth separating, because the same three steps prove every later compactness theorem. Step 1: the domain is compact, so finitely many points see everything at each resolution. Step 2: bounds at each point give convergence at countably many points, by a diagonal argument. Step 3: equicontinuity, which comes from a derivative bound, upgrades convergence at a dense set to uniform convergence.
The converse also holds: a subset of whose every sequence has a uniformly convergent subsequence is uniformly bounded and equicontinuous (Exercise 5.15). So, for subsets of : precompact ⇔ bounded and equicontinuous.
The slogan "derivative bounds give equicontinuity, and equicontinuity gives convergence" organises a remarkable amount of the route.
- Existence for ODEs without uniqueness (Peano's theorem, 2B.10 Ordinary Differential Equations): approximate solutions have bounded derivatives, so a subsequence converges to a solution.
- Compact embeddings (4A.10 Sobolev Embeddings and Critical Exponents): a bound on the derivative in an integral sense gives compactness in a weaker norm. This is Arzelà–Ascoli with integrals.
- Cheeger–Gromov compactness (9B.4 Convergence of Manifolds): a sequence of Riemannian manifolds with bounded curvature (and all its derivatives) and injectivity radius bounded below has a subsequence converging, after choosing coordinates, to a smooth limit. The metrics are written as functions in coordinate charts, and the convergence comes from Arzelà–Ascoli applied to them and to all their derivatives, as in Exercise 5.17.
- Hamilton's compactness theorem (11B.3 Compactness of Ricci Flows) does the same for sequences of Ricci flows, using Shi's estimates to turn a curvature bound into bounds on all derivatives of curvature.
- κ-solutions (12B.2 The Structure of κ-Solutions): Perelman's classification of the possible blow-up limits of Ricci flow rests on the compactness of the space of κ-solutions, which again comes down to derivative bounds plus Arzelà–Ascoli.
History
In 1821 Augustin-Louis Cauchy stated, in his Cours d'analyse, that a convergent series of continuous functions has a continuous sum. In 1826 Niels Henrik Abel pointed out a counterexample, a Fourier series () converging to a function with jumps. The missing ingredient, uniform convergence, was identified in the 1840s, independently by Philipp Ludwig von Seidel and George Gabriel Stokes in 1847, and made central by Karl Weierstrass in his Berlin lectures. Weierstrass proved his approximation theorem in 1885, by convolution with the Gaussian heat kernel: the proof above is a polynomial version of his idea. Giulio Ascoli introduced equicontinuity in 1883–84 and proved that it suffices for compactness; Cesare Arzelà proved the converse and gave the first clear statement of the theorem in 1895. Bernstein's probabilistic proof appeared in 1912.
Uniform convergence is convergence in the sup metric. It preserves continuity, so is complete; it passes through integrals; and it passes through derivatives only when the derivatives converge uniformly. The M-test gives uniform convergence of series. Polynomials are dense in , by convolution with an approximate identity, an idea that returns as mollifiers, Fejér's kernel and the heat kernel. A bounded, equicontinuous sequence on a compact space has a uniformly convergent subsequence (Arzelà–Ascoli), and equicontinuity comes from derivative bounds. 2B.6 Power Series, Exponentials and Bump Functions applies these tools to power series, and constructs the exponential function and the smooth bump functions used throughout geometry.
Exercises
Find the pointwise limit, and decide whether the convergence is uniform: (a) on ; (b) on ; (c) on ; (d) on ; (e) on .
Solution
(a) , uniformly: (by AM–GM, ). (b) pointwise, not uniformly: at the value is . (c) on , at , on : discontinuous limit, so not uniform. (d) , uniformly (). (e) , uniformly: the maximum, at , is .
Show that converges uniformly on to a continuous function, and that the series of derivatives, , can't be handled by the M-test. Then show that is continuously differentiable, with derivative .
Solution
, which is summable. The derivative series has terms bounded only by , not summable. For the last part, apply Theorem 5.5 to the partial sums: their derivatives converge uniformly by the M-test with , and the partial sums converge at .
Let . Show that every sequence in has a uniformly convergent subsequence whose limit is in , so is a compact subset of . Then find, by the maximum principle on this compact set, a function in that maximises . (You don't need to identify it.)
Solution
is uniformly bounded and equicontinuous (), so Arzelà–Ascoli gives a uniformly convergent subsequence. The conditions and pass to pointwise limits, so the limit lies in . The functional is continuous on (it changes by at most ), so it attains a maximum on the compact set (2B.3 Compactness). This is the direct method of the calculus of variations in miniature (4A.6 Weak Convergence and the Direct Method).
Show that for distinct positive integers . Deduce that on , so no subsequence of is uniformly Cauchy.
Hint
Expand the square and use for and . If everywhere, the integral would be less than .
Let be compact and a set such that every sequence in has a uniformly convergent subsequence. Show that is uniformly bounded and equicontinuous. (For equicontinuity, take a finite -net of in the sup metric, which exists by 2B.3 Compactness, and use the uniform continuity of each .)
Solution
is totally bounded in (2B.3 Compactness's argument applies to its closure), so it is bounded. Given , take an -net and a that works for each with . For pick within ; then for , .
Let be continuous on , and . (a) Show that , and . (b) Split into the terms with and the rest, and bound the rest using (a) and . Conclude that uniformly.
Solution
(a) These are the total probability, the mean and the variance of a binomial distribution with trials and success probability , divided by and ; or differentiate once and twice in and set . (b) Choose with for . The near terms contribute at most . The far terms contribute at most , which is less than for large, uniformly in .
Let be smooth, with bounds for every , the constants not depending on . Show that some subsequence converges uniformly, together with all its derivatives, to a smooth function : that is, uniformly for every .
(Apply Arzelà–Ascoli to the -th derivatives, which are uniformly bounded and, by the bound on the -th derivatives, equicontinuous. Extract a subsequence for , a further one for , and so on, and take the diagonal. Use Theorem 5.5 to identify the limits as derivatives of .) This is the skeleton of the Cheeger–Gromov and Hamilton compactness theorems (9B.4 Convergence of Manifolds, 11B.3 Compactness of Ricci Flows): bounds on all derivatives of curvature give a subsequence converging smoothly. Most of the work in those theorems goes into producing such bounds and choosing good coordinates.
Solution
For each , the family is bounded by and Lipschitz with constant , so it is equicontinuous. Choose a subsequence along which converges uniformly; a further subsequence along which also converges uniformly; and so on. The diagonal sequence (-th term of ) is eventually a subsequence of every , so converges uniformly to some , for every . By Theorem 5.5 applied to , is differentiable with . So is smooth with .
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