Linear Transformation

LINEAR TRANSFORMATIONS
ELECTRONIC VERSION OF LECTURE
Hoang Hai Ha
HCM-2020
Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 1 / 34

OUTLINE
1 DEFINITIONS AND TERMINOLOGY

OUTLINE
2 MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

OUTLINE
3 THE KERNEL AND RANGE OF A LINEAR TRANSFORMATION

OUTLINE
3 THE KERNEL AND RANGE OF A LINEAR TRANSFORMATION
4 APPLICATIONS

Definitions and Terminology Linear transformations
DEFINITION 1.1
If f : E 7→ F is a mapping from a vector space E to a
vector space F , then f is called a linear
transformation from E to F if the following 2
properties hold for all vectors x and y in E and for all
scalars λ:
½
f (x + y) = f (x) + f (y), ∀x, y ∈ E
f (λx) = λ f (x), ∀λ ∈ R, ∀x ∈ E .
We denote the set of all linear transformations from E

to F by L (E , F ).


EXAMPLE 1.1
The mapping f : R2 → R3 which is defined for
∀x = (x 1 , x 2 ), by f (x) = (3x 1 − x 2 , x 1 , x 1 + x 2 ) is the linear
transformation.

EXAMPLE 1.1
The mapping f : R2 → R3 which is defined for
∀x = (x 1 , x 2 ), by f (x) = (3x 1 − x 2 , x 1 , x 1 + x 2 ) is the linear
transformation.
∀x = (x 1 , x 2 ), y = (y 1 , y 2 ) ∈ R2 ,
f(x+y) = (3(x 1 + y 1 ) − (x 2 + y 2 ),
x 1 + y 1 , (x 1 + y 1 ) + (x 2 + y 2 )) =
(3x 1 − x 2 , x 1 , x 1 + x 2 ) + (3y 1 − y 2 , y 1 , y 1 + y 2 ) = f(x)+f(y).

∀λ ∈ R, ∀x ∈ R2 , f (λx) = (3λx 1 − λx 2 , λx 1 , λx 1 + λx 2 )
= λ(3x 1 − x 2 , x 1 , x 1 + x 2 ) = λ f (x)

= λ(3x 1 − x 2 , x 1 , x 1 + x 2 ) = λ f (x)
EXAMPLE 1.2
The mapping f : R2 → R2 defined by ∀x = (x 1 , x 2 ),
f (x) = (2x 12 − x 2 , x 2 ) is NOT a linear transformation.

= λ(3x 1 − x 2 , x 1 , x 1 + x 2 ) = λ f (x)
EXAMPLE 1.2
The mapping f : R2 → R2 defined by ∀x = (x 1 , x 2 ),
f (x) = (2x 12 − x 2 , x 2 ) is NOT a linear transformation.
Indeed, f (λx) = (2(λx 1 )2 − λx 2 , λx 2 ) =

(2λ2 x 12 − λx 2 , λx 2 ) 6= λ(2x 12 − x 2 , x 2 ) = λ. f (x), if λ 6= 1

EXAMPLE 1.3
For any vector x = (x 1 , x 2 ) ∈ R2 , let T : R2 → R2 be defined
by:
T (x) = (x 1 − x 2 , x 1 + 2x 2 )
a) Find the image of x = (−1, 2).
b) Find the preimage of w = (−1, 11)

EXAMPLE 1.4
Let f : R3 → R2 to be a linear transformation such that:
f (1, 0, 0) = (2, 3), f (−1, 1, 0) = (3, 4), f (0, −1, 1) = (2, 1).
Find f (3, 4, 5).
Find f (x).

Matrices for General Linear Transformations
EXAMPLE 2.1
The function f : R2 → R3 is defined as follows.
 
3 0 µ ¶
 x1
f (x) = Ax =  2 1 

x2
−1 −2
a. Show that f (x) is a linear transformation from R2

into R3 .
b. Find f (x), where x = (−2, 1).

Given a linear transformation f : R3 → R3
f (x) = f (x 1 , x 2 , x 3 ) = (2x 1 +x 2 −x 3 , −x 1 +3x 2 −2x 3 , 3x 2 +4x 3 )
or

Given a linear transformation f : R3 → R3
f (x) = f (x 1 , x 2 , x 3 ) = (2x 1 +x 2 −x 3 , −x 1 +3x 2 −2x 3 , 3x 2 +4x 3 )
or 
 
2 1 −1 x 1
f (x) = Ax = −1 3 −2 x 2 
  
0 3 4 x3
Which representation is better?

THEOREM 2.1
Every linear transformation from R n → R m can be
reprensented by an m × n matrix. Conversely,
everymatrix m × n represents a linear transformation
from R n → R m , i.e, we can always write a linear
transformation in the form
f (x) = Ax
, where A m×n matrix, f (x), x are column vectors.

EXAMPLE 2.2
The linear transformation f : R2 → R3
f (x) = (2x 1 − 3x 2 , −5x 1 , −2x 2 )
can be written in matrix form

 
2 −3 µ ¶
 x1
f (x) = −5 0  = Ax

x2
0 −2

REMARK!
Let f (x) be linear mapping from Rm → Rn
f (x) = Ax
If we are give image of a basis E in Rm or we know

f (E ), then
f (E ) = AE
⇔ A = f (E )E −1

EXAMPLE 2.3
Let f : R3 → R2 to be a linear transformation such that:
f (1, 0, 0) = (2, 3), f (−1, 1, 0) = (3, 4), f (0, −1, 1) = (2, 1).
Find f (3, 4, 5).
Find f (x).

The kernel and range of a linear transformation
DEFINITION 3.1
If f : E 7→ F is a linear transformation, then
1
The set of all vectors in E that maps into 0 is called
the kernel of f :
K er ( f ) = {x ∈ E : f (x) = 0} (1)
2
The set of all vectors in F that are images under f
of at least one vector in E is called the range of f :
I m( f ) = {y ∈ F : ∃x ∈ E , y = f (x)} = f (E ) (2)


THEOREM 3.1
If f : E 7→ F is a linear transformation, then
1
The range I m( f ) of f is a subspace of F
2
The kernel K er ( f ) of f is a subspace of E

The kernel and range of a linear transformation Relation between the dimensions of Kernel and Range
RELATION BETWEEN THE DIMENSIONS OF KERNEL AND

RANGE
THEOREM 3.2
Let f : E → F be the linear transformation. Then
d i m(I m( f )) + d i m(ker ( f )) = d i m(E )

SCHEME FINDING ker ( f ) AND I m( f ) FOR f : R n → R m
Ker(f )
Find dimension and basis of null space f (x) = 0

Ker(f )
Im(f )
Choose a basis B of Rn (standard basis is
recommended), B = {e 1 , e 2 , ..., e n }
Let x ∈ Rn , then x = λ1 e 1 + λ2 e 2 + ... + λn e n .

Ker(f )
Im(f )
y = f (x) = λ1 f (e 1 ) + λ2 f (e 2 ) + .... + λn f (e n ).

Ker(f )
Im(f )
y = f (x) = λ1 f (e 1 ) + λ2 f (e 2 ) + .... + λn f (e n ).
I m( f ) = span{ f (e 1 ), f (e 2 ), ... f (e n )}.

EXAMPLE 3.1
If f : R3 → R2 is defined by
f (x 1 , x 2 , x 3 ) = (x 1 − x 2 , x 2 + x 3 ), then
1
Find K er ( f ), its dimension and a basis.
2
Find I m( f ), its dimension and a basis .

EXAMPLE 3.2
Let f : R3 → R3 be defined by f (1, 0, 0) = (1, 1, 1),
f (−1, 1, 0) = (−2, −1, 0), f (0, −1, 1) = (2, 1, 3).
Find f (x 1 , x 2 , x 3 )
Find the dimension and a basis for K er f
Find the dimension and a basis for I m f

The kernel and range of a linear transformation THE MATRIX OF A LINEAR TRANSFORMATION
MATRIX REPRESENTATION IN GENERAL BASES
DEFINITION 3.2
Let f : R n → R m be a linear transformation and
E = {e 1 , e 2 , ..., e n } be a basis for R n , F = { f 1 , f 2 , ..., f m } be a
basis for R m . Then
 .. .. .. .. 
. . ··· . ··· .
A E ,F = [ f (e 1 )]F [ f (e 2 )]F · · · [ f (e i )]F · · · [ f (e n )]F 
 
.. .. .. ..
. . ··· . ··· . m×n
is called the matrix representation of f with respect to

E and F .

Remark:
A E ,F = F −1 f (E ).

Remark:
A E ,F = F −1 f (E ).
when E ≡ F , we say the matrix representation in E
or with respect to E .

EXAMPLE 3.3
Find the standard matrix for the linear
transformation f : R3 → R2 defined by:
f (x 1 , x 2 , x 3 ) = (x 1 − 2x 2 , −x 1 + x 2 )

EXAMPLE 3.3
Find the standard matrix for the linear
transformation f : R3 → R2 defined by:
f (x 1 , x 2 , x 3 ) = (x 1 − 2x 2 , −x 1 + x 2 )
EXAMPLE 3.4
Find the standard matrix of the linear
transformation f : R2 → R2 given by projecting each
vector in R2 onto the x -axis.

EXAMPLE 3.5
Let f (x) : R3 → R2 be a linear operator. Assume that
f (x) = (x 1 + 2x 2 − 3x 3 , 2x 1 + x 3 )
E = {(1, 1, 1), (1, 0, 1), (1, 1, 0)}, F = {(1, 1), (1, 2)}. Find A E ,F

EXAMPLE 3.6
Let f : R3 → R3 bedefined by ( f (x))T = Ax T , where
1 −3 1
A =  0 2 −1  . Find the matrix for f relative to the
 
4 3 1
basis B, where B = {(1, 0, 1), (1, 1, 1), (1, 0, 0)}

THEOREM 3.3
For any linear transformation f : V → W , there exist
one and only one matrix A E ,F which is matrix
representation of f with respect to E and F . Then:
[ f (x)]F = A E ,F [x]E
where E , F are the bases of V , W respectively.

EXAMPLE 3.7
Given ·the linear
¸
mapping f : R3 → R2 and
2 1 3
A E ,F = is the matrix representation with
0 3 4
respect to two bases E = {(1, 1, 1), (1, 0, 1), (1, 1, 0)} and
F = {(1, 1), (2, 1)}. Find f (3, 1, 5)

EXAMPLE 3.8
Let f : R2 → R2 be the linear transformation and the
matrix
µ
for
¶
f relative to the basis B = {(1, 1), (−1, 1)} be
1 −1
. Find f (−1, 5).
0 2

EXAMPLE 3.8
Let f : R2 → R2 be the linear transformation and the
matrix
µ
for
¶
f relative to the basis B = {(1, 1), (−1, 1)} be
1 −1
. Find f (−1, 5).
0 2
Scheme:
1. Find [−1, 5]B
2. Since [ f ((−1, 5))]B = A B [−1, 5]B , → [ f (1, 5)]B , → f (1, 5)

Applications
ROTATION
EXAMPLE 4.1
In R2 , given linear mapping f by rotation a vector
π
about origin counterclockwise by . Find f (3, 4).
3

Applications
ROTATION
EXAMPLE 4.1
π
about origin counterclockwise by . Find f (3, 4).
3
EXAMPLE 4.2
π
around z axis counterclockwise angle . Find
4
f (1, 3, 4).

Applications
PROJECTION
EXAMPLE 4.3
In R3 , given linear mapping be projection onto plane
3x + y − 4z = 0. Find f (1, 1, 2), dim and a basis of Kerf.

Applications
REFLECTION
EXAMPLE 4.4
In R3 , given linear mapping be reflection across the
plane x + y − 2z = 0. Find dim and a basis of K er f and
Im f .

Applications
EXAMPLE 4.5
In R2 given figure:
with A(−2, 1), B (−1, 3), C (0, 1), D(3, 1), E (−2, −1). Find image of this
figure if we perform two successive linear transformations f 1 , f 2 , where
f 1 is rotation clockwise about origin angle π3 and f 2 is reflection across
the line y = x .

Applications
THANK YOU FOR YOUR ATTENTION

Linear Transformation

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Linear Transformation

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LINEAR TRANSFORMATIONS

ELECTRONIC VERSION OF LECTURE

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 1 / 34

1 DEFINITIONS AND TERMINOLOGY

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 2 / 34

1 DEFINITIONS AND TERMINOLOGY

2 MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 2 / 34

1 DEFINITIONS AND TERMINOLOGY

2 MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

3 THE KERNEL AND RANGE OF A LINEAR TRANSFORMATION

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 2 / 34

1 DEFINITIONS AND TERMINOLOGY

2 MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

3 THE KERNEL AND RANGE OF A LINEAR TRANSFORMATION

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 2 / 34

We denote the set of all linear transformations from E

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Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 4 / 34

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 5 / 34

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 5 / 34

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 6 / 34

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 6 / 34

Indeed, f (λx) = (2(λx 1 )2 − λx 2 , λx 2 ) =

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a. Show that f (x) is a linear transformation from R2

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Given a linear transformation f : R3 → R3

f (x) = f (x 1 , x 2 , x 3 ) = (2x 1 +x 2 −x 3 , −x 1 +3x 2 −2x 3 , 3x 2 +4x 3 )

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 10 / 34

Given a linear transformation f : R3 → R3

f (x) = f (x 1 , x 2 , x 3 ) = (2x 1 +x 2 −x 3 , −x 1 +3x 2 −2x 3 , 3x 2 +4x 3 )

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 10 / 34

, where A m×n matrix, f (x), x are column vectors.

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f (x) = (2x 1 − 3x 2 , −5x 1 , −2x 2 )

can be written in matrix form

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If we are give image of a basis E in Rm or we know

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RELATION BETWEEN THE DIMENSIONS OF KERNEL AND

d i m(I m( f )) + d i m(ker ( f )) = d i m(E )

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SCHEME FINDING ker ( f ) AND I m( f ) FOR f : R n → R m

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 19 / 34

SCHEME FINDING ker ( f ) AND I m( f ) FOR f : R n → R m

Hoang Hai Ha LINEAR TRANSFORMATIONS HCM-2020 19 / 34

SCHEME FINDING ker ( f ) AND I m( f ) FOR f : R n → R m

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SCHEME FINDING ker ( f ) AND I m( f ) FOR f : R n → R m

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MATRIX REPRESENTATION IN GENERAL BASES

is called the matrix representation of f with respect to

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