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EUCLIDEAN
EUCLIDEAN
3 O RTHOGONALITY
3 O RTHOGONALITY
4 M AT L AB
→
− −
W = F .→
s = F.s. cos α
E XAMPLE 2.1
On Rn , dot product is standard inner product
n
x i y i = x.y T
P
(x, y) 7−→ 〈x, y〉 =
i =1
where x = (x 1 , x 2 , . . . , x n ), y = (y 1 , y 2 , . . . , y n ).
where x = (x 1 , x 2 ), y = (y 1 , y 2 ).
Explain why this mapping is inner product?
Find 〈x, y〉 where x = (1, 1), y = (2, −1).
where x = (x 1 , x 2 ), y = (y 1 , y 2 ).
Explain why this mapping is inner product?
Find 〈x, y〉 where x = (1, 1), y = (2, −1).
where x = (x 1 , x 2 ), y = (y 1 , y 2 ).
Explain why this mapping is inner product?
Find 〈x, y〉 where x = (1, 1), y = (2, −1).
where x = (x 1 , x 2 ), y = (y 1 , y 2 ).
Explain why this mapping is inner product?
Find 〈x, y〉 where x = (1, 1), y = (2, −1).
where x = (x 1 , x 2 ), y = (y 1 , y 2 ).
Explain why this mapping is inner product?
Find 〈x, y〉 where x = (1, 1), y = (2, −1).
D EFINITION 2.1
If V is a real inner product space, then the length of a vector x ∈ V is
denoted by ||x|| and is defined by
p
||x|| = 〈x, x〉 . (1)
D EFINITION 2.1
If V is a real inner product space, then the length of a vector x ∈ V is
denoted by ||x|| and is defined by
p
||x|| = 〈x, x〉 . (1)
D EFINITION 2.2
If V is a real inner product space, then the distance between two
vectors u, v ∈ V is denoted by d (u, v) and is defined by
p
d (u, v) = ||u − v|| = 〈u − v, u − v〉 (2)
〈x, y〉
cos α = , (0 É α É π)
||x||.||y||
〈x, y〉
cos α = , (0 É α É π)
||x||.||y||
E XAMPLE 2.3
On R2 the inner product is given
〈x, y〉 = 3x 1 y 1 + x 1 y 2 + x 2 y 1 + x 2 y 2
〈x, y〉
cos α = , (0 É α É π)
||x||.||y||
E XAMPLE 2.3
On R2 the inner product is given
〈x, y〉 = 3x 1 y 1 + x 1 y 2 + x 2 y 1 + x 2 y 2
〈x, y〉 = x Ay T
〈x, y〉 = x 1 y 1 + 2x 1 y 2 + 2x 2 y 1 + 5x 2 y 2 + 3x 3 y 3
〈x, y〉 = x 1 y 1 + 2x 1 y 2 + 2x 2 y 1 + 5x 2 y 2 + 3x 3 y 3
Solution.
Rewrite theformulaby using the matrix form: 〈x, y〉 = x Ay T ,
1 2 0
where A = 2 5 0.
0 0 3
〈x, y〉 = x 1 y 1 + 2x 1 y 2 + 2x 2 y 1 + 5x 2 y 2 + 3x 3 y 3
Solution.
T
Rewrite theformulaby using the matrix form: 〈x, y〉
= x Ay ,
1 2 0 ¡ ¢ 1
where A = 2 5 0 . Then 〈u, v〉 = 1 1 1 A 0
0 0 3 1
Find 〈u, v〉, 〈u, u〉, 〈v, v〉 by multiplying
µ ¶ 1 1 µ ¶ µ ¶
1 1 1 〈u, u〉 〈u, v〉 13 6
A 1 0 = = .
1 0 1 〈v, u〉 〈v, v〉 6 4
1 1
D EFINITION 3.1
1 Two vectors x, y ∈ V in an inner product space V is called
orthogonal ⇔ 〈x, y〉 = 0. We denote it by x ⊥ y.
D EFINITION 3.1
1 Two vectors x, y ∈ V in an inner product space V is called
orthogonal ⇔ 〈x, y〉 = 0. We denote it by x ⊥ y.
2 Vector x is orthogonal to the set M ⊂ V if x is orthogonal to every
vector in M . We denote it by x ⊥ M .
〈x, y〉 = 2x 1 y 1 − x 1 y 2 − x 2 y 1 + x 2 y 2
〈x, y〉 = 2x 1 y 1 − x 1 y 2 − x 2 y 1 + x 2 y 2
E XAMPLE 3.2
On R3 given the standard inner product and the subspace
½ ¯ ¾
3 ¯ x 1 + 2x 2 − x 3 = 0
F = x = (x 1 , x 2 , x 3 ) ∈ R ¯
¯
2x 1 + 3x 2 + x 3 = 0
E XAMPLE 3.2
On R3 given the standard inner product and the subspace
½ ¯ ¾
3 ¯ x 1 + 2x 2 − x 3 = 0
F = x = (x 1 , x 2 , x 3 ) ∈ R ¯
¯
2x 1 + 3x 2 + x 3 = 0
E XAMPLE 3.2
On R3 given the standard inner product and the subspace
½ ¯ ¾
3 ¯ x 1 + 2x 2 − x 3 = 0
F = x = (x 1 , x 2 , x 3 ) ∈ R ¯
¯
2x 1 + 3x 2 + x 3 = 0
E XAMPLE 3.3
On Rn2 the standard
o inner product is given. Then the set
M = (1, −2), (2, 1) is orthogonal set.
E XAMPLE 3.3
On Rn2 the standard
o inner product is given. Then the set
M = (1, −2), (2, 1) is orthogonal set.
½µ ¶ µ ¶¾
1 2 2 1
N = p ,−p , p , p is the orthonormal set.
5 5 5 5
D EFINITION 3.3
If F is a subspace of a real inner product space V, then the set F ⊥ of all
vectors in V that are orthogonal to F is called the orthogonal
complement of F.
D EFINITION 3.3
If F is a subspace of a real inner product space V, then the set F ⊥ of all
vectors in V that are orthogonal to F is called the orthogonal
complement of F.
T HEOREM 3.2
Let F be a subspace of a real inner product space V , then F ⊥ is a
subspace of V , and:
〈x, y〉 = x 1 y 1 + 2x 1 y 2 + 2x 2 y 1 + 5x 2 y 2 + 3x 3 y 3
〈x, y〉 = x 1 y 1 + 2x 1 y 2 + 2x 2 y 1 + 5x 2 y 2 + 3x 3 y 3
〈x, y〉 = x 1 y 1 + 2x 1 y 2 + 2x 2 y 1 + 5x 2 y 2 + 3x 3 y 3
〈x, y〉 = 4x 1 y 1 + 5x 2 y 2 − x 2 y 3 − x 3 y 2 + 4x 3 y 3 ,
and the subspace F = span {(1, 2, 1), (2, −1, 4), (1, −3, 3), (5, 0, 9)}. Find
the dim of F ⊥ and one its basis.
Solution.
A basis of F is E = {e 1 = (1, 2, 1), e 2 = (2, −1, 4)}.
Similarly to the previous example,
we find
µ ¶ 4 0 0
1 2 1
B= 0 5 −1, then F ⊥ ≡ nul l (B ).
2 −1 4
0 −1 4
x = y + z,
where y ∈ F, z ∈ F ⊥ .
x = y + z,
where y ∈ F, z ∈ F ⊥ .
D EFINITION 3.4
Vector y is called the orthogonal projection of x on F . We denote it by
y = pr F x.
x = λ1 e 1 + λ2 e 2 + ... + λm e m + z
x = λ1 e 1 + λ2 e 2 + ... + λm e m + z
〈x, e 1 〉 = 〈e 1 , e 1 〉λ1 + 〈e 2 , e 1 〉λ2 + ... + 〈e m , e 1 〉λm
〈x, e 2 〉 = 〈e 1 , e 2 〉λ1 + 〈e 2 , e 2 〉λ2 + ... + 〈e m , e 2 〉λm
⇔ .
..
〈x, e m 〉 = 〈e 1 , e m 〉λ1 + 〈e 2 , e m 〉λ2 + ... + 〈e m , e m 〉λm .
Solution.
Let y ∈ F be the projection vector, then y = α1 (1, 1, 1) + α2 (0, 1, 1).
Denote e 1 = (1, 1, 1), e 2 = (0, 1, 1).
Solution.
Let y ∈ F be the projection vector, then y = α1 (1, 1, 1) + α2 (0, 1, 1).
Denote e 1 = (1, 1, 1), e 2 = (0, 1, 1).
We solve the system
(
〈x, e 1 〉 = 〈e 1 , e 1 〉α1 + 〈e 1 , e 2 〉α2
〈x, e 2 〉 = 〈e 1 , e 2 〉α1 + 〈e 2 , e 2 〉α2
(
4 = 3α1 + 2α2
→ → Solve α1 , α2 → y.
3 = 2α1 + 2α2
〈x, y〉 = 4x 1 y 1 + 5x 2 y 2 − x 2 y 3 − x 3 y 2 + 4x 3 y 3 ,
〈x, y〉 = 4x 1 y 1 + 5x 2 y 2 − x 2 y 3 − x 3 y 2 + 4x 3 y 3 ,
〈x, y〉 = 4x 1 y 1 + 5x 2 y 2 − x 2 y 3 − x 3 y 2 + 4x 3 y 3 ,
〈x, y〉 = 4x 1 y 1 + 5x 2 y 2 − x 2 y 3 − x 3 y 2 + 4x 3 y 3 ,
〈x, y〉 = 4x 1 y 1 + 5x 2 y 2 − x 2 y 3 − x 3 y 2 + 4x 3 y 3 ,
1 f 1 , f 2 , . . . , f m : basis of F. A = [ f 1 ; f 2 ; . . . ; f m ]
f1
f2 ⊥ ′ ′
A= . . . ⇒ Basis of F : nul l (A, r )
fm
2 If F is the solution subspace of homogeneous system AX = 0
then the basis of F ⊥ consists of all row vectors of matrix B
B = r r e f (A)
Suppose
the set of f 1 , f 2 , . . . , f m is a basis of F.
d ot ( f 1 , f 1 ) d ot ( f 1 , f 2 ) . . . d ot ( f 1 , f m )
d ot ( f , f ) d ot ( f , f ) . . . d ot ( f , f )
2 1 2 2 2 m
A= ,
... ... ... ...
d ot ( f m , f 1 ) d ot ( f m , f 2 ) . . . d ot ( f m , f m )
d ot (x, f 1 )
d ot (x, f )
2
B = , λ = (λ1 , λ2 , . . . , λm )T = i nv(A) ∗ B
...
d ot (x, f m )