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A First Course in Sobolev Spaces

Giovanni Leoni
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GRADUATE STUDIES
I N M AT H E M AT I C S 181

A First Course
in Sobolev Spaces
Second Edition

Giovanni Leoni

American Mathematical Society


A First Course
in Sobolev Spaces
Second Edition
GRADUATE STUDIES
I N M AT H E M AT I C S 181

A First Course
in Sobolev Spaces
Second Edition

Giovanni Leoni

American Mathematical Society


Providence, Rhode Island
EDITORIAL COMMITTEE
Dan Abramovich
Daniel S. Freed (Chair)
Gigliola Staffilani
Jeff A. Viaclovsky

2010 Mathematics Subject Classification. Primary 46E35; Secondary 26A27, 26A30,


26A42, 26A45, 26A46, 26A48, 26B30, 30H25.

For additional information and updates on this book, visit


www.ams.org/bookpages/gsm-181

Library of Congress Cataloging-in-Publication Data


Names: Leoni, Giovanni, 1967–
Title: A first course in Sobolev spaces / Giovanni Leoni.
Description: Second edition. | Providence, Rhode Island : American Mathematical Society, [2017]
| Series: Graduate studies in mathematics; volume 181 | Includes bibliographical references
and index.
Identifiers: LCCN 2017009991 | ISBN 9781470429218 (alk. paper)
Subjects: LCSH: Sobolev spaces.
Classification: LCC QA323 .L46 2017 | DDC 515/.782–dc23
LC record available at https://lccn.loc.gov/2017009991

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10 9 8 7 6 5 4 3 2 1 22 21 20 19 18 17
In memory of my Ph.D. advisor, James Serrin
Contents

Preface xiii
Preface to the Second Edition xiii
Preface to the First Edition xv
Acknowledgments xxi
Second Edition xxi
First Edition xxii

Part 1. Functions of One Variable


Chapter 1. Monotone Functions 3
§1.1. Continuity 3
§1.2. Differentiability 9
Chapter 2. Functions of Bounded Pointwise Variation 29
§2.1. Pointwise Variation 29
§2.2. Continuity 34
§2.3. Differentiability 40
§2.4. Monotone Versus BPV 44
§2.5. The Space BP V (I; Y ) 47
§2.6. Composition in BP V (I; Y ) 55
§2.7. Banach Indicatrix 59
Chapter 3. Absolutely Continuous Functions 67
§3.1. AC(I; Y ) Versus BP V (I; Y ) 67
§3.2. The Fundamental Theorem of Calculus 71

vii
viii Contents

§3.3. Lusin (N ) Property 84


§3.4. Superposition in AC(I; Y ) 91
§3.5. Chain Rule 95
§3.6. Change of Variables 100
§3.7. Singular Functions 103
Chapter 4. Decreasing Rearrangement 111
§4.1. Definition and First Properties 111
§4.2. Function Spaces and Decreasing Rearrangement 126
Chapter 5. Curves 133
§5.1. Rectifiable Curves 133
§5.2. Arclength 143
§5.3. Length Distance 146
§5.4. Curves and Hausdorff Measure 149
§5.5. Jordan’s Curve Theorem 152
Chapter 6. Lebesgue–Stieltjes Measures 157
§6.1. Measures Versus Increasing Functions 157
§6.2. Vector-valued Measures Versus BP V (I; Y ) 168
§6.3. Decomposition of Measures 177
Chapter 7. Functions of Bounded Variation and Sobolev Functions 183
§7.1. BV (Ω) Versus BP V (Ω) 183
§7.2. Sobolev Functions Versus Absolutely Continuous Functions 188
§7.3. Interpolation Inequalities 196
Chapter 8. The Infinite-Dimensional Case 205
§8.1. The Bochner Integral 205
§8.2. Lp Spaces on Banach Spaces 212
§8.3. Functions of Bounded Pointwise Variation 220
§8.4. Absolute Continuous Functions 224
§8.5. Sobolev Functions 229

Part 2. Functions of Several Variables


Chapter 9. Change of Variables and the Divergence Theorem 239
§9.1. Directional Derivatives and Differentiability 239
§9.2. Lipschitz Continuous Functions 242
§9.3. The Area Formula: The C 1 Case 249
Contents ix

§9.4. The Area Formula: The Differentiable Case 262


§9.5. The Divergence Theorem 273
Chapter 10. Distributions 281
§10.1. The Spaces DK (Ω), D(Ω), and D (Ω) 281
§10.2. Order of a Distribution 288
§10.3. Derivatives of Distributions and Distributions as Derivatives 290
§10.4. Rapidly Decreasing Functions and Tempered Distributions 298
§10.5. Convolutions 302
§10.6. Convolution of Distributions 305
§10.7. Fourier Transforms 309
§10.8. Littlewood–Paley Decomposition 316
Chapter 11. Sobolev Spaces 319
§11.1. Definition and Main Properties 319
§11.2. Density of Smooth Functions 325
§11.3. Absolute Continuity on Lines 336
§11.4. Duals and Weak Convergence 344
§11.5. A Characterization of W 1,p (Ω) 349
Chapter 12. Sobolev Spaces: Embeddings 355
§12.1. Embeddings: mp < N 356
§12.2. Embeddings: mp = N 372
§12.3. Embeddings: mp > N 378
§12.4. Superposition 387
§12.5. Interpolation Inequalities in RN 399
Chapter 13. Sobolev Spaces: Further Properties 411
§13.1. Extension Domains 411
§13.2. Poincaré Inequalities 430
§13.3. Interpolation Inequalities in Domains 449
Chapter 14. Functions of Bounded Variation 459
§14.1. Definition and Main Properties 459
§14.2. Approximation by Smooth Functions 462
§14.3. Bounded Pointwise Variation on Lines 468
§14.4. Coarea Formula for BV Functions 478
§14.5. Embeddings and Isoperimetric Inequalities 482
x Contents

§14.6. Density of Smooth Sets 489


§14.7. A Characterization of BV (Ω) 493
Chapter 15. Sobolev Spaces: Symmetrization 497
§15.1. Symmetrization in Lp Spaces 497
§15.2. Lorentz Spaces 502
§15.3. Symmetrization of W 1,p and BV Functions 504
§15.4. Sobolev Embeddings Revisited 510
Chapter 16. Interpolation of Banach Spaces 517
§16.1. Interpolation: K-Method 517
§16.2. Interpolation: J-Method 526
§16.3. Duality 530
§16.4. Lorentz Spaces as Interpolation Spaces 535
Chapter 17. Besov Spaces 539
§17.1. Besov Spaces Bqs,p 539
§17.2. Some Equivalent Seminorms 545
§17.3. Besov Spaces as Interpolation Spaces 551
§17.4. Sobolev Embeddings 561
§17.5. The Limit of Bqs,p as s → 0+ and s → m− 565
§17.6. Besov Spaces and Derivatives 571
§17.7. Yet Another Equivalent Norm 578
§17.8. And More Embeddings 585
Chapter 18. Sobolev Spaces: Traces 591
§18.1. The Trace Operator 592
§18.2. Traces of Functions in W 1,1 (Ω) 598
§18.3. Traces of Functions in BV (Ω) 605
§18.4. Traces of Functions in W 1,p (Ω), p>1 606
§18.5. Traces of Functions in W m,1 (Ω) 621
§18.6. Traces of Functions in W m,p (Ω), p > 1 626
§18.7. Besov Spaces and Weighted Sobolev Spaces 626
Appendix A. Functional Analysis 635
§A.1. Topological Spaces 635
§A.2. Metric Spaces 638
§A.3. Topological Vector Spaces 639
Contents xi

§A.4. Normed Spaces 643


§A.5. Weak Topologies 645
§A.6. Hilbert Spaces 648
Appendix B. Measures 651
§B.1. Outer Measures and Measures 651
§B.2. Measurable and Integrable Functions 655
§B.3. Integrals Depending on a Parameter 662
§B.4. Product Spaces 663
§B.5. Radon–Nikodym’s and Lebesgue’s Decomposition Theorems 665
§B.6. Signed Measures 666
§B.7. Lp Spaces 668
§B.8. Modes of Convergence 673
§B.9. Radon Measures 676
§B.10. Covering Theorems in RN 678
Appendix C. The Lebesgue and Hausdorff Measures 681
§C.1. The Lebesgue Measure 681
§C.2. The Brunn–Minkowski Inequality 683
§C.3. Mollifiers 687
§C.4. Maximal Functions 694
§C.5. BMO Spaces 695
§C.6. Hardy’s Inequality 698
§C.7. Hausdorff Measures 699
Appendix D. Notes 703
Appendix E. Notation and List of Symbols 711
Bibliography 717
Index 729
Preface
The Author List, I: giving credit where credit is due. The first
author: Senior grad student in the project. Made the figures.
— Jorge Cham, www.phdcomics.com

Preface to the Second Edition


There are a lot of changes in the second edition. In the first part of the
book, starting from Chapter 2, instead of considering real-valued functions,
I treat functions u : I → Y , where I ⊆ R is an interval and Y is a metric
space. This change is motivated by the addition of a new chapter, Chapter
8, where I introduce the Bochner integral and study functions mapping time
into Banach spaces. This type of functions plays a crucial role in evolution
equations.
Another important addition in the first part of the book is Section 7 in
Chapter 7, which begins the study of interpolation inequalities for Sobolev
functions of one variable. One wants to estimate some appropriate norm
of an intermediate derivative in terms of the norms of the function and the
highest-order derivative.
Except for Chapter 8, the first part of the book is meant as a text-
book for an advanced undergraduate course or beginning graduate
course on real analysis or functions of one variable. One should sim-
ply take Y to be the real line R so that H1 reduces to the Lebesgue measure
L1 . All the results needed from measure theory are listed in the appendices
at the end of the book.
The second part of the book starts with Chapter 9, which went through
drastic changes. In the revised version I give an overview of classical results
for functions of several variables, which are somehow scattered in the litera-
ture. These include Rademacher’s and Stepanoff’s differentiability theorems,

xiii
xiv Preface

Whitney’s extension theorem, and Brouwer’s fixed point theorem. The fo-
cus of the chapter is now the divergence theorem for Lipschitz domains.
While this fundamental result is quoted and used in every book on partial
differential equations, it’s hard to find a thorough proof in the literature. To
introduce the surface integral on the boundary I start by proving the area
formula, first in the C 1 case, and then, using Whitney’s extension theorem
in the Lipschitz case.
In the chapter on distributions, Chapter 10, I added rapidly decreasing
functions, tempered distributions, and Fourier transforms. This was long
overdue.
The book is structured in such a way that an instructor of a course on
Sobolev spaces could actually skip Chapters 9 and 10, which serve mainly
as reference chapters and jump to Chapter 11.
Chapters 11, 12, and 13, the first part of Chapter 18 could
be used as a textbook on a course on Sobolev spaces. They are
mostly self-contained.
One of the main changes in these chapters is that I caved in and decided
to include higher order derivatives. The reason why I did not do it in the
first edition was because standard operations like the product rule and the
chain formula become incredibly messy for higher order derivatives and there
are so many multi-indices to take into account that even elementary proofs
become unnecessarily complicated. My compromise is to present proofs first
in W 1,p (Ω) (first-order derivatives) or in W 2,p (Ω) (second-order derivatives)
and only after, when the idea of the proof is clear, to do the general case
W m,p (Ω). I did not always follow this rule, since sometimes there was no
significant change in difficulty in treating W m,p (Ω) rather than W 1,p (Ω).
The advantage in having higher order derivatives is that I can now prove
the classical interpolation inequalities of Gagliardo and Nirenberg. These
are done in Section 12.5 in Chapter 12 for RN and in Section 13.3 in Chapter
13 for uniformly Lipschitz domains. The main novelty with respect to other
textbooks is that in the case of uniformly Lipschitz domains I do not assume
that functions are in W m,p (Ω) but only that u is in Lq (Ω) and the weak
derivatives of order m are in Lp (Ω).
Another new section is Section 12.4 in Chapter 12, where I study super-
position in Sobolev spaces.
The last major departure from the first edition is the chapter on Besov
spaces, Chapter 17. This chapter was completely rewritten in collaboration
with Ian Tice. The main motivation behind the changes was the proof
that the trace space of functions in W 2,1 (RN ) is given by the Besov space
B 1,1 (RN −1 ) (see Chapter 18). I am only aware of one complete and simple
Preface to the First Edition xv

proof, which is in a recent paper of Mironescu and Russ [173]. It makes use
of two equivalent norms for B 1,1 (RN −1 ), one using second order difference
quotients and the other the Littlewood-Paley norm. To introduce the second
norm, I went through several different versions of Chapter 17. Eventually,
to study Besov spaces I used heavily the K method of real interpolation
introduced by Peetre. The interpolation theory needed was added in a new
chapter, Chapter 16.
Webpage for mistakes, comments, and exercises: The AMS is hosting
a webpage for this book at
http://www.ams.org/bookpages/gsm-181/
where updates, corrections, and other material may be found.

Preface to the First Edition


There are two ways to introduce Sobolev spaces: The first is through the el-
egant (and abstract) theory of distributions developed by Laurent Schwartz
in the late 1940s; the second is to look at them as the natural development
and unfolding of monotone, absolutely continuous, and BV functions1 of one
variable.
To my knowledge, this is one of the first books to follow the second
approach. I was more or less forced into it: This book is based on a series of
lecture notes that I wrote for the graduate course “Sobolev Spaces”, which
I taught in the fall of 2006 and then again in the fall of 2008 at Carnegie
Mellon University. In 2006, during the first lecture, I found out that half
of the students were beginning graduate students with no background in
functional analysis (which was offered only in the spring) and very little in
measure theory (which, luckily, was offered in the fall). At that point I had
two choices: continue with a classical course on Sobolev spaces and thus
lose half the class after the second lecture or toss my notes and rethink the
entire operation, which is what I ended up doing.
I decided to begin with monotone functions and with the Lebesgue dif-
ferentiation theorem. To my surprise, none of the students taking the class
had actually seen its proof.
I then continued with functions of bounded pointwise variation and abso-
lutely continuous functions. While these are included in most books on real
analysis/measure theory, here the perspective and focus are rather different,
in view of their applications to Sobolev functions. Just to give an example,
most books study these functions when the domain is either the closed in-
terval [a, b] or R. I needed, of course, open intervals (possibly unbounded).
1 BV functions are functions of bounded variation.
xvi Preface

This changed things quite a bit. A lot of the simple characterizations that
hold in [a, b] fall apart when working with arbitrary unbounded intervals.
After the first three chapters, in the course I actually jumped to Chapter
7, which relates absolutely continuous functions with Sobolev functions of
one variable, and then started with Sobolev functions of several variables.
In the book I included three more chapters: Chapter 5 studies curves and
arclength. I think it is useful for students to see the relation between recti-
fiable curves and functions with bounded pointwise variation.
Some classical results on curves that most students in analysis have
heard of, but whose proof they have not seen, are included, among them
Peano’s filling curve and the Jordan curve theorem.
Section 5.4 is more advanced. It relates rectifiable curves with the H1
Hausdorff measure. Besides Hausdorff measures, it also makes use of the
Vitali–Besicovitch covering theorem. All these results are listed in Appen-
dices B and C.
Chapter 6 introduces Lebesgue–Stieltjes measures. The reading of this
chapter requires some notions and results from abstract measure theory.
Again it departs slightly from modern books on measure theory, which in-
troduce Lebesgue–Stieltjes measures only for right continuous (or left) func-
tions. I needed them for an arbitrary function, increasing or with bounded
pointwise variation. Here, I used the monograph of Saks [201]. I am not
completely satisfied with this chapter: I have the impression that some of
the proofs could have been simplified more using the results in the previous
chapters. Readers’ comments will be welcome
Chapter 4 introduces the notion of decreasing rearrangement. I used
some of these results in the second part of the book (for Sobolev and Besov
functions). But I also thought that this chapter would be appropriate for
the first part. The basic question is how to modify a function that is not
monotone into one that is, keeping most of the good properties of the original
function. While the first part of the chapter is standard, the results in the
last two sections are not covered in detail in classical books on the subject.
As a final comment, the first part of the book could be used for an ad-
vanced undergraduate course or beginning graduate course on real analysis
or functions of one variable.
The second part of the book starts with one chapter on absolutely con-
tinuous transformations from domains of RN into RN . I did not cover this
chapter in class, but I do think it is important in the book in view of its ties
with the previous chapters and their applications to the change of variables
formula for multiple integrals and of the renewed interest in the subject in
recent years. I only scratched the surface here.
Preface to the First Edition xvii

Chapter 10 introduces briefly the theory of distributions. The book is


structured in such a way that an instructor could actually skip it in case the
students do not have the necessary background in functional analysis (as was
true in my case). However, if the students do have the proper background,
then I would definitely recommend including the chapter in a course. It is
really important.
Chapter 11 starts (at long last) with Sobolev functions of several vari-
ables. Here, I would like to warn the reader about two quite common miscon-
ceptions. Believe it or not, if you ask a student what a Sobolev function is,
often the answer is “A Sobolev function is a function in Lp whose derivative
is in Lp .” This makes the Cantor function a Sobolev function :(
I hope that the first part of the book will help students to avoid this
danger.
The other common misconception is, in a sense, quite the opposite,
namely to think of weak derivatives in a very abstract way not related to
the classical derivatives. One of the main points of this book is that weak
derivatives of a Sobolev function (but not of a function in BV!) are simply
(classical) derivatives of a good representative. Again, I hope that the first
part of the volume will help here.
Chapters 11, 12, and 13 cover most of the classical theorems (density,
absolute continuity on lines, embeddings, chain rule, change of variables,
extensions, duals). This part of the book is more classical, although it
contains a few results published in recent years.
Chapter 14 deals with functions of bounded variation of several variables.
I covered here only those parts that did not require too much background
in measure theory and geometric measure theory. This means that the
fundamental results of De Giorgi, Federer, and many others are not included
here. Again, I only scratched the surface of functions of bounded variation.
My hope is that this volume will help students to build a solid background,
which will allow them to read more advanced texts on the subject.
Chapter 17 is dedicated to the theory of Besov spaces. There are essen-
tially three ways to look at these spaces. One of the most successful is to
see them as an example/by-product of interpolation theory (see [7], [232],
and [233]). Interpolation is very elegant, and its abstract framework can be
used to treat quite general situations well beyond Sobolev and Besov spaces.
There are two reasons for why I decided not to use it: First, it would
depart from the spirit of the book, which leans more towards measure theory
and real analysis and less towards functional analysis. The second reason
is that in recent years in calculus of variations there has been an increased
xviii Preface

interest in nonlocal functionals. I thought it could be useful to present some


techniques and tricks for fractional integrals.
The second approach is to use tempered distributions and Fourier theory
to introduce Besov spaces. This approach has been particularly successful
for its applications to harmonic analysis. Again it is not consistent with the
remainder of the book.
This left me with the approach of the Russian school, which relies mostly
on the inequalities of Hardy, Hölder, and Young, together with some integral
identities. The main references for this chapter are the books of Besov, Il in,
and Nikol skiı̆ [26], [27].
I spent an entire summer working on this chapter, but I am still not
happy with it. In particular, I kept thinking that there should be easier and
more elegant proofs of some of the results, but I could not find one.
In Chapter 18 I discuss traces of Sobolev and BV functions. Although
in this book I only treat first-order Sobolev spaces, the reason I decided to
use Besov spaces over fractional Sobolev spaces (note that in the range of
exponents treated in this book these spaces coincide, since their norms are
equivalent) is that the traces of functions in W k,1 (Ω) live in the Besov space
B k−1,1 (∂Ω), and thus a unified theory of traces for Sobolev spaces can only
be done in the framework of Besov spaces.
Finally, Chapter 15 is devoted to the theory of symmetrization in Sobolev
and BV spaces. This part of the theory of Sobolev spaces, which is often
missing in classical textbooks, has important applications in sharp embed-
ding constants, in the embedding N = p, as well as in partial differential
equations.
In Appendices A, B, and C I included essentially all the results from
functional analysis and measure theory that I used in the text. I only proved
those results that cannot be found in classical textbooks.
What is missing in this book: For didactic purposes, when I started
to write this book, I decided to focus on first-order Sobolev spaces. In
my original plan I actually meant to write a few chapters on higher-order
Sobolev and Besov spaces to be put at the end of the book. Eventually I
gave up: It would have taken too much time to do a good job, and the book
was already too long.
As a consequence, interpolation inequalities between intermediate deriv-
atives are missing. They are treated extensively in [7].
Another important theorem that I considered adding and then aban-
doned for lack of time was Jones’s extension theorem [122].
Chapter 14, the chapter on BV functions of several variables, is quite
minimal. As I wrote there, I only touched the tip of the iceberg. Good
Preface to the First Edition xix

reference books of all the fundamental results that are not included here are
[10], [72], and [251].
References: The rule of thumb here is simple: I only quoted papers and
books that I actually read at some point (well, there are a few papers in
German, and although I do have a copy of them, I only “read” them in a
weak sense, since I do not know the language). I believe that misquoting a
paper is somewhat worse than not quoting it. Hence, if an important and
relevant paper is not listed in the references, very likely it is because I either
forgot to add it or was not aware of it. While most authors write books
because they are experts in a particular field, I write them because I want
to learn a particular topic. I claim no expertise on Sobolev spaces.
Webpage for mistakes, comments, and exercises: In a book of this
length and with an author a bit absent-minded, typos and errors are al-
most inevitable. I will be very grateful to those readers who write to gio-
vanni@andrew.cmu.edu indicating those errors that they have found. The
AMS is hosting a webpage for this book at
http://www.ams.org/bookpages/gsm-105/
where updates, corrections, and other material may be found.
The book contains more than 200 exercises, but they are not equally
distributed. There are several on the parts of the book that I actually
taught, while other chapters do not have as many. If you have any interesting
exercises, I will be happy to post them on the web page.

Giovanni Leoni
Acknowledgments
The Author List, II. The second author: Grad student in the
lab that has nothing to do with this project, but was included
because he/she hung around the group meetings (usually for the
food). The third author: First year student who actually did the
experiments, performed the analysis and wrote the whole paper.
Thinks being third author is “fair”.
— Jorge Cham, www.phdcomics.com

Second Edition
I am profoundly indebted to Ian Tice for months spent discussing several
parts of the book, especially Section 12.5 and Chapters 16 and 17. In par-
ticular, Chapter 17 was really a collaborative effort. Any mistake is purely
due to me. Thanks, Ian, I owe you a big one.
I would like to thank all the readers who sent corrections and sugges-
tions to improve the first edition over the years. I would also like to thank
the Friday afternoon reading club (Riccardo Cristoferi, Giovanni Gravina,
Matteo Rinaldi) for reading parts of the book.
I am really grateful to to Sergei Gelfand, AMS publisher, and to the all
the AMS staff I interacted with, especially to Christine Thivierge, for her
constant help and technical support during the preparation of this book,
and to Luann Cole and Mike Saitas for editing the manuscript.
I would like to acknowledge the Center for Nonlinear Analysis (NSF
PIRE Grant No. OISE-0967140) for its support during the preparation of
this book. This research was partially supported by the National Science
Foundation under Grants No. DMS-1412095 and DMS-1714098.
Also for this edition, many thanks must go to all the people who work
at the interlibrary loan of Carnegie Mellon University for always finding in
a timely fashion all the articles I needed.

xxi
xxii Acknowledgments

The picture on the back cover of the book was taken by Adella Guo, a
student from Carnegie Mellon School of Design, whom I would like to thank.
Finally, I would like to thank Jorge Cham for giving me permission to
continue to use quotes from www.phdcomics.com for the second edition.
They are of course the best part of the book :)

First Edition
I am profoundly indebted to Pietro Siorpaes for his careful and critical read-
ing of the manuscript and for catching 2ℵ0 mistakes in previous drafts. All
remaining errors are, of course, mine.
Several iterations of the manuscript benefited from the input, sugges-
tions, and encouragement of many colleagues and students, in particular,
Filippo Cagnetti, Irene Fonseca, Nicola Fusco, Bill Hrusa, Bernd Kawohl,
Francesco Maggi, Jan Malý, Massimiliano Morini, Roy Nicolaides, Ernest
Schimmerling, and all the students who took the Ph.D. courses “Sobolev
spaces” (fall 2006 and fall 2008) and “Measure and Integration” (fall 2007
and fall 2008) taught at Carnegie Mellon University. A special thanks to
Eva Eggeling who translated an entire paper from German for me (and only
after I realized I did not need it; sorry, Eva!).
The picture on the back cover of the book was taken by Monica Mon-
tagnani with the assistance of Alessandrini Alessandra (always trust your
high school friends for a good laugh. . . at your expense).
I am really grateful to Edward Dunne and Cristin Zannella for their
constant help and technical support during the preparation of this book.
I would also like to thank Arlene O’Sean for editing the manuscript, Lori
Nero for drawing the pictures, and all the other staff at the AMS I interacted
with.
I would like to thank three anonymous referees for useful suggestions that
led me to change and add several parts of the manuscript. Many thanks must
go to all the people who work at the interlibrary loan of Carnegie Mellon
University for always finding in a timely fashion all the articles I needed.
I would like to acknowledge the Center for Nonlinear Analysis (NSF
Grant Nos. DMS-9803791 and DMS-0405343) for its support during the
preparation of this book. This research was partially supported by the
National Science Foundation under Grant No. DMS-0708039.
Finally, I would like to thank Jorge Cham for giving me permission to
use some of the quotes from www.phdcomics.com. They are really funny.
Part 1

Functions of One
Variable
Chapter 1

Monotone Functions
Undergradese, I: “Is it going to be an open book exam?” Trans-
lation: “I don’t have to actually memorize anything, do I?”
— Jorge Cham, www.phdcomics.com

In this chapter we study continuity and differentiability properties of mono-


tone functions. The central result of this chapter is the Lebesgue differenti-
ation theorem.

1.1. Continuity
In this section we study regularity properties of monotone functions.

Definition 1.1. Let E ⊆ R. A function u : E → R is called


(i) increasing if u(x) ≤ u(y) for all x, y ∈ E with x < y,
(ii) strictly increasing if u(x) < u(y) for all x, y ∈ E with x < y,
(iii) decreasing if u(x) ≥ u(y) for all x, y ∈ E with x < y,
(iv) strictly decreasing if u(x) > u(y) for all x, y ∈ E with x < y,
(v) monotone if any of the above holds.

A monotone function is not continuous in general, so a natural question


is how discontinuous it can be. The answer is given by the following theorem.
In what follows an interval I ⊆ R is a set of R such that if x, y ∈ I and
x < y, then [x, y] ⊆ I.

Theorem 1.2. Let I ⊆ R be an interval and let u : I → R be a mono-


tone function. Then u has at most countably many discontinuity points.
Conversely, given a countable set E ⊂ R, there exists a monotone function
u : R → R whose set of discontinuity points is exactly E.

3
4 1. Monotone Functions

We begin with a preliminary result. Given a set X and a function


v : X → [0, ∞], the infinite sum of v over X is defined as
  
v(x) := sup v(x) : E ⊆ X, E finite .
x∈X x∈E
The following lemma shows that every infinite sum which is finite can be
written as a series.
Lemma 1.3. Given a set X and a function v : X → [0, ∞], if

v(x) < ∞,
x∈X

then the set {x ∈ X : v(x) > 0} is countable. Moreover, v does not take the
value ∞.

Proof. Define 
L := v(x) < ∞.
x∈X
For n ∈ N set Xn := {x ∈ X : v(x) > 1/n} and let E be a finite subset of
Xn . Then 
n number of elements of E ≤ v(x) ≤ L,
1

x∈E
which shows that E cannot have more than nL elements, where · is the
integer part. In turn, Xn has a finite number of elements, and so

{x ∈ X : v(x) > 0} = Xn
n
is countable. 

We turn to the proof of Theorem 1.2.

Proof. Step 1: Assume that I = [a, b] and, without loss of generality, that
u is increasing. For every x ∈ (a, b) there exist
lim u(y) =: u+ (x), lim u(y) =: u− (x).
y→x+ y→x−

Let S(x) := u+ (x) − u− (x) ≥ 0 be the jump of u at x. Then u is continuous


at x if and only if S(x) = 0. Moreover, since u is increasing, for every
a ≤ x1 < · · · < xn ≤ b,
u(a) ≤ u− (x1 ) ≤ u+ (x1 ) ≤ u− (x2 ) ≤ u+ (x2 )
≤ · · · ≤ u− (xn ) ≤ u+ (xn ) ≤ u(b),
and so, 
S(x) ≤ u(b) − u(a).
x∈[a,b]
1.1. Continuity 5

It now follows by the previous lemma that u has at most countably many
discontinuity points.
Step 2: If I is an arbitrary interval,
 construct an increasing sequence of
intervals [an , bn ] such that I = n [an , bn ]. Since the union of countable
sets is countable and on each interval [an , bn ], the set of discontinuity points
of u is at most countable; by the previous step it follows that the set of
discontinuity points of u in I is at most countable.
Step 3: Conversely, let E ⊂ I be a countable set. If E is finite, then an
increasing function with discontinuity set E may be constructed by hand.
Consider now the more interesting case in which E is denumerable, so that
E = {xn : n ∈ N}. For each n ∈ N define the increasing function un : R → R
as

−1/n2 if x < xn ,
un (x) :=
1/n2 if x ≥ xn .
Note that un is discontinuous only at the point xn . Set


u(x) := un (x), x ∈ R.
n=1

Since |un (x)| ≤ 1/n2 for all x ∈ R, the series of functions is uniformly
convergent, and so it is continuous at every point at which all the functions
un are continuous. In particular, u is continuous in R \ E.
We now prove that u is discontinuous at every point of E. Indeed, for
every m ∈ N write

u = um + un .
n=m

Then n=m un is continuous at xm while um is not. Hence, u is discontinu-
ous at each x ∈ E. To conclude, observe that u is increasing, since it is the
pointwise limit of a sequence of increasing functions. 

By taking E := Q, we obtain the following result.

Corollary 1.4. There exists an increasing function u : R → R that is


continuous at all irrational points and discontinuous at all rational points.

Definition 1.5. Given an interval I ⊆ R, an increasing function u : I → R


is called an increasing saltus or jump function if for every [a, b] ⊆ I it can
be written in the form

u(x) = c + un (x), x ∈ [a, b],
n∈E
6 1. Monotone Functions

where E ⊆ N, c ∈ R, and

⎨ 0 if x < an ,
un (x) = bn if x = an ,

cn if x > an ,
with an ∈ [a, b] and 0 ≤ bn ≤ cn , with at least one of the two inequalities
strict, for all n ∈ E.
Exercise 1.6 (The jump function). Let I ⊆ R be an interval and let u :
I → R be increasing. For each x ∈ I define

uJ (x) := (u+ (y) − u− (y)) + u(x) − u− (x),
y∈I, y<x

where u− (inf I) := u(inf I) if inf I ∈ I and u+ (sup I) := u(sup I) if sup I ∈ I.


Prove that uJ is a jump function, that uJ and u − uJ are increasing, and
that u − uJ is continuous. The function uJ is called the jump function of u.

Exercise 1.7. Let I ⊆ R be an interval and let x0 ∈ I. Prove that every


increasing function u : I → R can be written uniquely as the sum of an
increasing jump function v : I → R and of an increasing continuous function
w : I → R with w(x0 ) = 0.

We conclude this section by studying the continuity of the inverse of an


increasing function.
Theorem 1.8 (Inverse of an increasing function). Let I ⊂ R be an interval
bounded from below, let u : I → R be an increasing function, let J ⊆ R be
the smallest interval that contains u(I), and let v : J → R be the function
defined by (see Figure 1)
(1.1) v(y) := inf{x ∈ I : u(x) ≥ y}, y ∈ J.
Then
(i) v is increasing and left continuous,
(ii) v jumps at some point y0 ∈ J \ {supI u} if and only if u(x) ≡ y0
for all x in some interval (x1 , x2 ) ⊆ I, with x1 < x2 ,
(iii) v(u(x)) ≤ x for every x ∈ I, with the strict inequality holding if
and only if u is constant on some interval [x1 , x] ⊆ I, with x1 < x,
(iv) v(y) ≡ x0 for all y in some interval (y1 , y2 ) ⊆ J, with y1 < y2 ,
and for some x0 ∈ I ◦ if and only if u jumps at x0 and (y1 , y2 ) ⊆
(u− (x0 ), u+ (x0 )).
In particular, if the function u is strictly increasing, then v is a left
inverse of u and is continuous.
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1645.
===1645===

A— John Winthrop, Gov.


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FOOTNOTES:
[1] Probably did not come.
Plan of
BOSTON
—showing—
EXISTING WAYS AND OWNERS
—on—
December 25, 1630
—Compiled by—
GEORGE LAMB
Plan of
BOSTON
—showing—
EXISTING WAYS AND OWNERS
—on—
December 25, 1635
—Compiled by—
GEORGE LAMB
Plan of
BOSTON
—showing—
EXISTING WAYS AND OWNERS
—on—
December 25, 1640
—Compiled by—
GEORGE LAMB
Scale 600 feet to an inch
Plan of
BOSTON
—showing—
EXISTING WAYS AND OWNERS
—on—
December 25, 1645
—Compiled by—
GEORGE LAMB
Scale 600 feet to an inch
*** END OF THE PROJECT GUTENBERG EBOOK SERIES OF
PLANS OF BOSTON SHOWING EXISTING WAYS AND OWNERS
OF PROPERTY 1630-1635-1640-1645 ***

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interpreted to make the maximum disclaimer or limitation permitted
by the applicable state law. The invalidity or unenforceability of any
provision of this agreement shall not void the remaining provisions.

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