Construction of a General Measure Structure
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“measureTheory_v2” 2019/5/1 i i page 61 i i Chapter 5 Construction of a General Measure Structure Simple methods will soon lead us to results of far reaching theoretical and practical importance. We shall encounter theoretical conclusions which not only are unexpected but actually come as a shock to intuition and common sense. W. Feller What I don’t like about measure theory is that you have to say “almost everywhere” almost everywhere. K. Friedrichs Keep in mind that there are millions of theorems but only thousands of proofs, hundreds of proof blocks, and dozens of ideas. Unfortunately, no one has figured out how to transfer the ideas directly yet, so you have to extract them from complicated arguments by yourself. F. Nazarov Let me do it. You tell me when you want it and where you want it to land, and I’ll do it backwards and tell you when to take off. K. Johnson I’ve been giving this lecture to first-year classes for over twenty-five years. You’d think they would begin to understand it by now. J. Littlewood Panorama From developing some ideas of measure theory from an experimental point of view, we turn 180◦ to the development of a rigorous general measure theory. The ingredients are a set describing the “universe” of points, a class of “measurable” subsets along with permissible operations on these sets, and the measure itself. After postulating the basic properties of measure theory, we can then develop consequences and applications of those properties to build a rich theory. That is the focus of the rest of this book. 61 i i i i “measureTheory_v2” 2019/5/1 i i page 62 i 62 Chapter 5. Construction of a General Measure Structure i However, before starting that path, we have to construct interesting measures satis- fying the assumptions and we have to explain how to compute the measure of compli- cated sets. The latter point is critical as it is impractical to assign the measure of every complicated set. We have to build a systematic method for computing the measures of complicated sets based on the measures of a class of simple sets. Indeed, this is how we approached measure in Chapter 4, where we started with the lengths of intervals. So, after describing the basic properties of the class of measurable sets and the measure, we develop a systematic approach to compute the measure of complicated sets. A number of different approaches to do this have been developed over the decades. We use the approach of Carathéodory because it is simultaneously general yet still closely related to intuition. The construction of measure is carried out in two stages, involving first an “outer measure” stage and then a “premeasure” stage. This is a long process that involves overcoming a number of technical difficulties. It is hard and likely to take some time to understand. This chapter is abstract, beginning with the assumption of a generic “master” set or “universe” X. We supply a number of simple examples that are illustrative but not very practical. The choice of X is important in practice. For example, as with B and I from Chapter 4, it may be related to modeling a physical situation. Its properties have a strong impact on the properties of measure. For example, whether or not X is a metric space and whether or not X is bounded are important. In this chapter, we give a real application of the general theory to systematic construction of measure on a general metric space. In the next chapter, we develop the main application to Euclidean space. We conclude this chapter with a general result on approximation of measures. This is a reality check in the sense that the long, complicated development of measure theory results in a concept of measure that can be computed through an approximation process. 5.1 Sigma algebras Assume that X is a nonempty set. We begin by describing the class of “measurable” sets. For convenience, we repeat Definition 2.1.4. Definition 5.1.1 The family of all subsets of X is called the power set of X and is denoted by PX. Recall that in Chapter 4, we found that natural questions about sequences of coin flips lead to consideration of countable unions and intersections, as well as complements of simple intervals. In abstract, defining a class of measurable sets involves specifying the permissible set operations that allow combining given measurable sets to get new measurable sets. This definition is very important in practice, since most of the time we build rich collections by starting with collection of simple sets and using the permissible operations. We distinguish the cases of finite and countable numbers of operations. Dealing with finite numbers of operations fits intuition about measuring sizes of sets, but we need to deal with countable numbers of operations to reach the desired generality. For those readers who have an aversion to “structural classification”, the name alge- bra does not imply that we dive into subjects like group theory. i i i i “measureTheory_v2” 2019/5/1 i i page 63 i 5.1. Sigma algebras 63 i Definition 5.1.2: Algebra An algebra on X is a non-empty collection of subsets M with the following properties, 1. If A 2 M then Ac 2 M .(Closed under complements) Sm 2. If A1;A2;:::;Am 2 M then i=1 Ai 2 M .(Closed under finite unions) Example 5.1.1 Let X = (0; 1] and M = f;, finite unions of disjoint intervals that are open on the Sm left and closed on the rightg. A typical A 2 M has the form A = i=1(ai; bi], with ai > bi−1. It is easy to see that M is closed under complements and finite unions after noting that the complement of such an interval consists of two disjoint like intervals and the union of two such intervals that overlap is a like interval. The analogous set is not an algebra if X = R - try the complement condition. Definition 5.1.3: σ-algebra A σ- algebra (sigma algebra) on X is a non-empty collection of subsets M with the properties, 1. If A 2 M then Ac 2 M .(Closed under complements) 1 1 S 2. If fAigi=1 is a collection of sets in M then Ai 2 M .(Closed under i=1 countable unions) Two immediate examples (proof is an exercise), Theorem 5.1.1 PX and f;; Xg are σ- algebras. Definition 5.1.4 PX is the maximal σ- algebra and f;; Xg is the trivial or minimal σ- algebra. It is natural to wonder why it is necessary to consider σ- algebras other than PX since it contains all subsets of X and therefore is the “biggest” collection. It turns out n that PX contains too many subsets in the case of X = R . A simple σ-algebra that is not trivial: Example 5.1.2 If A ⊂ X, the collection f;; A; Ac; Xg is a σ-algebra. Conditions defining a σ- algebra can use a variety of set properties. i i i i “measureTheory_v2” 2019/5/1 i i page 64 i 64 Chapter 5. Construction of a General Measure Structure i Example 5.1.3 If X is uncountable, M = fA ⊂ X : A is countable or Ac is countableg is a σ- algebra. c First note that (Ac) = A. Thus, if A 2 M , it is either countable or Ac is c 1 countable. So, A 2 M . Let fAigi=1 ⊂ M . If all the sets are countable then the countable union is countable and so is in M . If not all the sets are countable, there 1 c 1 + c S T c exists an index j 2 Z such that Aj is countable. Thus, Ai = Ai ⊂ i=1 i=1 c Aj is countable. An algebra does not have to be a σ- algebra. Example 5.1.4 Consider the algebra M defined in Example 5.1.1. M is not a σ- algebra. To see this, consider the sets 1 1 1 1 1 1 A = 0; ;A = + ; + + ; 1 2 2 2 22 2 22 23 1 1 1 1 1 1 1 1 1 A = + + + ; + + + + ; ··· : 3 2 22 23 24 2 22 23 24 25 S1 Then, i=1 Ai is a countable union of disjoint intervals that is not a finite union of disjoint intervals. Next, we present another example built on half-open intervals that is a σ- algebra. Example 5.1.5 Let X = R and let M = f;; countable unions of disjoint intervals of the form [i; i+1), and half rays (−∞; i) and [i; 1), i 2 Zg. ; and R are in M . A countable union of collections of countable unions of disjoint intervals [i; i+1) and indicated rays is a countable union of indicated intervals and rays. To see that M is closed under complements, for example, note that [i; i + 1)c = (−∞; i) [ [i + 1; 1). If j < i, then [j; j + 1) [ [i; i + 1) = (1; j) [ [j + 1; i) [ [i + 1; 1). Thus, we can show that the complement of a countable union of indicated intervals and rays, which is the intersection of the complements of such sets, can be written as a countable union of indicated intervals and rays. Thus, M is a σ- algebra. It is a good exercise to compare Examples 5.1.1 and 5.1.5. The starting point for defining a measure consists of a set and a σ- algebra.