Appendix A Real Analysis Topics
It is clear then, that we must partition not [a,b], but rather the interval [α,β] bounded by the upper and lower bounds of f on [a,b].... Henri Lebesgue, Copenhagen, 1926.
As a way to illustrate the difference between the Riemann integral and the Lebesgue integral, consider the analogy of finding the value of a pile of coins. The “Riemann” way is to take the coins as they appear, adding the value of each piece as you pick it up. By contrast, in the Lebesgue method we start by sorting the coins by type — penny, nickel, dime, ... — and total the value as
1 · m(A1)+5 · m(A2)+10 · m(A3)+···
1 where m(A1) is the number of pennies, m(A2) the number of nickels, and so on. Notice how this approach suggests an interest in sums of the form ∑s jm(A j) where “m” is some way of measuring the “size” of sets under consideration. Thus before we pursue a definition of the Lebesgue integral we will discuss the notion of mea- sures.
A.1 Measures
Definition A.1. A measure space (X,M, µ) consists of a set X, a collection M of subsets of X, and a function µ : M → [0,∞] . The collection M is a σ-algebra, that is, it is required to satisfy (1) X ∈ M (2) If A is in M, then so is its complement Ac. ∪∞ (3) If An is in M for n = 1,2,3,..., then so is n=1An.
Furthermore, the set function µ must be countably additive:If{An} is a countable collection of pairwise disjoint sets in M, then
1 This analogy was proposed by Henri Lebesgue himself in a 1926 address in Copenhagen in which he discussed the origins of his ideas for his theory of integration. An English translation of this address can be found in [7] or [29].
187 188 A Real Analysis Topics ∞ ∞ µ( An)= ∑ µ(An). n=1 n=1 To avoid a trivial situation, we also require the existence of some A ∈ M with µ(A) < ∞.
The sets in M are called the (µ-)measurable sets. Conditions (2) and (3) say that the collection of measurable sets is closed under complementation and countable unions. The set function µ, whose domain is the collection of all measurable sets in X, is called a measure on X. When the σ-algebra M or the measure µ is clear from the context, they are often omitted from the notation (X,M, µ). There are such things as signed measures (taking values in the real line R) and complex measures (taking values in C), but unless we say explicitly otherwise, “measure” will always mean “positive measure” in the sense of Definition A.1. If the values of µ are re- stricted to [0,∞) it is called a finite measure. A measure is said to be σ-finite if the underlying set X can be written as a countable union of (measurable) sets each having finite measure. One can easily obtain the following as consequences of Definition A.1 and simple set-theoretic manipulations: (a)0 / ∈ M, and hence a finite union of measurable sets is measurable. (b) A finite or countable intersection of measurable sets is measurable. (c) µ(0/)=0. (d) If A and B are measurable sets, with A ⊆ B, then µ(A) ≤ µ(B); this says µ is monotone. We’ll see shortly why we want the flexibility to have M be a proper subset of the collection P(X) of all subsets of X. Nevertheless, there are important examples of measure spaces where M = P(X), and hence where the requirements (1)–(3) of Definition A.1 are automatically satisfied.
Example A.2. Let X = N, the natural numbers, set M = P(N), and let µ assign to each finite subset of N its cardinality, and to each infinite subset of N the value ∞. With the convention that a + ∞ = ∞ + a = ∞ for 0 ≤ a ≤ ∞, verification that µ is countably additive is immediate. This is called counting measure on the posi- tive integers. Notice that the only set with counting measure zero is the empty set. Counting measure on N is not a finite measure, but it is σ-finite.
Example A.3. Let X be any set, let M = P(X) and fix an arbitrary point x0 in X. Define 1ifx ∈ A µ(A)= 0 (A.1) 0 otherwise for each A ⊆ X. Verification that (X,M, µ) is a measure space is easy. The measure µ is called the (unit) point mass measure at x0.
Our most important example will be “Lebesgue measure” on the real line R or on an interval [a,b] ⊆ R. The underlying idea is to generalize the notion of “length” A.1 Measures 189 from intervals to more general sets. That is, we seek a measure space (R,M,m) where m(I)=|I| = d − c whenever I is an interval with endpoints c and d. Further- more, we want this measure m to be translation invariant, so that m(A + x)=m(A) for every A ∈ M, where A + x ≡{a + x : a ∈ A} is the translate of A by x ∈ R. Perhaps unexpectedly—and this explains why our definition of a measure space doesn’t require that M = P(X)—it is impossible to do this if we want every subset of R to be measurable. As soon as we ask that the measure of an interval be its length, and require the measure to be translation invariant, there must exist non- measurable sets.2 Fortunately, it is possible to satisfy our desired properties with a σ-algebra L of subsets of R that is sufficiently rich to include all open sets in R. In particular, there is a smallest σ-algebra containing all the open sets, called the Borel σ-algebra. In addition to all open sets, the Borel σ-algebra contains all closed sets, any countable union of closed sets, any countable intersection of open sets, and so on. The Lebesgue measurable sets, which we discuss next, form a σ-algebra L which (properly) contains the Borel sets. While the details of the construction of L and of Lebesgue measure on (R,L ) will not be given here, it is easy to give an outline as to how to proceed. For more information the reader is referred to [39], for example. Motivated by the desire to have the measure of an interval be its length, we look at all ways of covering an arbitrary set A ⊆ R by a countable collection of open intervals {In} and define ∗ m (A) ∈ [0,∞] by ∞ ∞ ∗ m (A)=inf ∑ |In| : A ⊆ In . n=1 n=1 This is called the Lebesgue outer measure of A; it is defined for all subsets of R and is translation invariant. It should also be clear the outer measure is monotone, so that A ⊆ B implies that m∗(A) ≤ m∗(B). The outer measure of an interval is its length. Outer measure fails to be countably additive, but there is a proper subset L of P(R) which is a σ-algebra containing all open sets, so that the restriction of m∗ to L is countably additive. The subsets of R that belong to L are defined to be those sets A satisfying m∗(T)=m∗(T ∩ A)+m∗(T ∩ Ac) for all T ⊆ R, where Ac is the complement of A in R. This definition, which is not Lebesgue’s original one, but is rather due to Caratheodory,´ is perhaps not completely transparent. We use T for “test” set; we are testing the additivity of the outer measure of arbitrary sets against A. Some observations follow easily from Caratheodory’s´ definition. For example, every set with outer measure zero is Lebesgue measurable (i.e., it belongs to L ), and a set belongs to L if and only if its complement does. With some effort, one shows that the measurable sets form a σ-algebra which con- tains all intervals, and thus all open sets.
2 For an example of a nonmeasurable set, and an interesting discussion of the role of the axiom of choice in its construction, see [4]. 190 A Real Analysis Topics
When A ∈ L , we define its Lebesgue measure m(A) by
∗ m(A)=m (A); that is, Lebesgue measure is simply the restriction of outer measure to the Lebesgue measurable sets L . Once we have defined Lebesgue measure on R, we can also consider Lebesgue measure on any interval [a,b], by intersecting measurable sets in R with [a,b]. We’ll reserve the notation m for Lebesgue measure. Sets of measure zero are easy to understand: A subset of R has measure zero precisely when for each positive ε it can be covered by an at most countable collection of intervals the sum of whose lengths is less than ε. Countable sets have measure zero, but there are uncountable sets of measure zero as well.3
A.2 Integration
Let’s recall how the Riemann integral of a bounded, real-valued function on the interval [a,b] is defined. Partition the interval into subintervals by means of subdi- vision points a = x0 < x1 < x2 < ···< xn = b. For each such partition, we have the upper and lower sums
n n Uf = ∑ Mj(x j − x j−1) and L f = ∑ m j(x j − x j−1) j=1 j=1 where Mj = sup f (x) and m j = inf f (x). x − ≤x≤x x j−1≤x≤x j j 1 j We say that f is Riemann integrable on [a,b] if
inf(Uf )=sup(L f ), where the infimum and supremum are taken over all partitions of [a,b] as just de- scribed. The common value of this infimum and supremum is the Riemann integral of f over [a,b]. In the 1820s Cauchy, who is credited with the first attempt at a rigor- ous definition of continuity, had considered sums of a similar sort (choosing f (x j−1) instead of m j or Mj), but he assumed a priori that f was continuous. By contrast, Riemann as part of the work for his Habilitation degree in 1854, did not suppose f to be continuous, and thus called attention to the question: What functions are (Riemann) integrable? To illustrate some of the nuances of this question, Riemann gave an example of a function whose discontinuities are dense in the the real line, but which is nevertheless Riemann integrable on any finite interval [a,b].Itiseasy to see, however, that “too many” discontinuities can cause trouble. The example,
3 The Cantor ternary set provides an example, since its complement in [0,1] is a collection of disjoint intervals whose lengths sum to 1. A.2 Integration 191 due to Dirichlet, of the function defined on [0,1] by 1ifx is irrational f (x)= (A.2) 0ifx is rational has Uf = 1 and L f = 0 for each partition of [0,1], and hence f is not Riemann inte- grable. This function is discontinuous at every point. One can show that a bounded function on [a,b] is Riemann integrable if and only if the set of points at which it fails to be continuous has Lebesgue measure zero.4 By the 1870s Riemann’s theory of integration had become widely known, and had had successful application in a number of areas. Some limitations of Riemann’s method had also come to light, but these were not yet regarded as serious deficien- cies. From a modern perspective we can see several problems with Riemann’s theory of integration. Most simply stated, not enough functions are Riemann integrable. There is an incompatibility of Riemann integration and limit processes. Every po- tential difficulty with the statement lim fn = lim fn , (A.3) n→∞ n→∞ where the integrals are Riemann integrals, can occur. For example, one side of Equa- tion (A.3) may fail to exist, even if the other side is perfectly well-behaved, or both may exist, but they fail to agree. While the Lebesgue integral doesn’t remove all problems with this interchange of limit and integral, we can give several useful con- ditions under which Equation (A.3) holds; see Theorems A.4 and A.6 below. From a functional analysis perspective, there is another serious deficiency of the Riemann integral. The set of all Riemann integrable functions f : [0,1] → R in the metric 1 d( f ,g)= | f (x) − g(x)|dx 0 fails to be complete.5 In other words, in this important metric, there are Cauchy sequences of Riemann integrable functions that fail to converge to a Riemann inte- grable limit. The Lebesgue integral, introduced by Lebesgue in his doctoral thesis of 1902, led to a resolution of this fundamental problem. We now turn to the definition of the Lebesgue integral. Because it does not rely on a partitioning of the domain, the definition can be just as easily made for an arbitrary measure space (X,M, µ) as for the particular example (R,L ,m), and we will do so.
4 A confusion between the measure-theoretic notion of smallness (Lebesgue measure zero) and the topological notion of smallness (nowhere dense, in the language of Section 3.2) muddied some of the initial study of Riemann’s notion of integral. There are variants of the Cantor set which are nowhere dense but have positive Lebesgue measure. 5 Strictly speaking, d is not a metric, since d( f ,g)=0 does not imply that f (x)=g(x) at every x ∈ X. This problem can be easily rectified, though; see the discussion in Section A.3 below. 192 A Real Analysis Topics
Consider first a function s defined on X and taking only finitely many distinct, nonnegative values α1,α2,...,αn. If for each j = 1,2...,n,theset
−1 A j = s (α j) is in M, we call s a nonnegative measurable simple function (a simple function in general is one taking only finitely many distinct values). The sum
n ∑ α jµ(A j) j=1 is a value in [0,∞] (we define α jµ(A j)=0ifα j = 0 and µ(A j)=∞). We call this the Lebesgue integral of the nonnegative simple function s with respect to µ, and denote it sdµ. X Furthermore, for any measurable subset E of X, define