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MEASURES, INTEGRALS AND MARTINGALES
RE N É L . S C HILLING
Technische Universität, Dresden
University Printing House, Cambridge CB2 8BS, United Kingdom
One Liberty Plaza, 20th Floor, New York, NY 10006, USA
477 Williamstown Road, Port Melbourne, VIC 3207, Australia
4843/24, 2nd Floor, Ansari Road, Daryaganj, Delhi – 110002, India
79 Anson Road, #06-04/06, Singapore 079906
www.cambridge.org
Information on this title: www.cambridge.org/9781316620243
DOI: 10.1017/9781316718339
© René L. Schilling 2005, 2017
This publication is in copyright. Subject to statutory exception
and to the provisions of relevant collective licensing agreements,
no reproduction of any part may take place without the written
permission of Cambridge University Press.
First published 2005
Second edition 2017
Printed in the United Kingdom by Clays, St Ives plc
A catalogue record for this publication is available from the British Library.
ISBN 978-1-316-62024-3 Paperback
Cambridge University Press has no responsibility for the presistence or accuracy
of URLs for external or third-party Internet Web sites referred to in this publication
and does not guarantee that any content on such Web sites is, or will remain,
accurate or appropriate.
Contents
v
vi Contents
23 Martingales 275
Problems 286
x
List of Symbols xi
The purpose of this book is to give a straightforward and yet elementary intro-
duction to measure and integration theory that is within the grasp of second-
or third- year undergraduates. Indeed, apart from interest in the subject, the
only prerequisites for Chapters 1–15 are a course on rigorous ϵ–δ-analysis on
the real line and basic notions of linear algebra and calculus in Rn . The first
15 chapters form a concise introduction to Lebesgue’s approach to measure and
integration, which I have often taught in 10-week or 30-hour lecture courses at
several universities in the UK and Germany.
Chapters 16–28 are more advanced and contain a selection of results from
measure theory, probability theory and analysis. This material can be read lin-
early but it is also possible to select certain topics; see the dependence chart on
page xvii. Although these chapters are more challenging than the first part,
the prerequisites remain essentially the same and a reader who has worked
through and understood Chapters 1–15 will be well prepared for all that fol-
lows. I tried to avoid topology and, when it comes in, usually an understanding
of an open set and open ball (in Rn ) will suffice. From Chapter 17 onwards, I
frequently use metric spaces (X, d), but you can safely think of them as X = Rn
and d(x, y) = |x − y| – or read Appendix B.
Each chapter is followed by a section of problems. They are not just drill
exercises but contain variants of, excursions from and extensions of the mate-
rial presented in the text. The proofs of the core material do not depend on any
of the problems and it is as an exception that I refer to a problem in one of the
proofs. Nevertheless, I do advise you to attempt as many problems as possible.
The material in the appendices – on upper and lower limits, the Riemann inte-
gral and tools from topology – is primarily intended as back-up, for when you
want to look something up.
xiii
xiv Prelude
Changes in the second edition The first edition of my textbook was well received
by scholars and students alike, and I would like to thank all of them for their
comments and positive criticism. There are a few changes to the second edition:
while the core material in Chapters 1–15 is only slightly updated, the proof of
Jacobi’s theorem (Chapter 16) and the material on martingales (Chapters 23
and 24), Hilbert space (Chapter 26) and conditional expectations (Chapter 27)
Prelude xv
have been re-organized and re-written. Newly added are Chapters 17–21, cov-
ering dense and measure-determining sets, Hausdorff measures and Fourier
transforms as well as the classical proofs of the Radon–Nikodým and the Riesz
representation theorem for Lp and Cc . I hope that these changes do not alter
the character of the text and that they will make the book even more useful and
accessible.
A few words on notation before getting started I try to keep unusual and spe-
cial notation to a minimum. However, a few remarks are in order: N means
the natural numbers {1, 2, 3, . . . } and N0 := N ∪ {0}. Positive or negative is
always understood in the non-strict sense > 0 or 6 0; to exclude 0, I say strictly
positive/negative. A ‘+’ as sub- or superscript refers to the positive part of a
function or the positive members of a set. Finally, a ∨ b, resp. a ∧ b, denote
the maximum, resp. minimum, of the numbers a, b ∈ R. For any other general
notation there is a comprehensive list of symbols starting on page x.
In some statements I indicate alternatives using square brackets, i.e. ‘if A
[B] … then P [Q]’ should be read as ‘if A … then P’ and ‘if B … then Q’. The
end of a proof is marked by Halmos’ tombstone symbol , and Bourbaki’s
xvi Prelude
dangerous bend symbol in the margin identifies a passage which requires some
attention. Throughout Chapters 1–15 I have marked material which can be
omitted on first reading without losing (too much) continuity by ✽.
As with every book, one cannot give all the details at every instance. On the
other hand, the less experienced reader might glide over these places without
even noticing that some extra effort is needed; for these readers – and, I hope,
not to the annoyance of all others – I use the symbol [] to indicate where a
short calculation on the side is appropriate.
Martingales
Transformation Radon– 23
theorem Nikodým Applications of
16 20 martingales
25
Convergence
Densesets Riesz 24
17 21
Fourier Conditional
Selected
Expectation
19 Topics
27
Orthonormal
systems
28
Dependence chart Chapters 1–15 contain core material which is needed in all
later chapters. The dependence is shown by arrows, with dashed arrows indi-
cating a minor dependence; Chapters 16–22 can be read independently and in
any order.
1
Prologue
The theme of this book is the problem of how to assign a size, a con-
tent, a probability, etc. to certain sets. In everyday life this is usually pretty
straightforward; we
In each case we compare (and express the outcome) with respect to some
base unit; most of the measurements just mentioned are intuitively clear.
Nevertheless, let’s have a closer look at areas in Fig. 1.1.
w h
l b
Fig. 1.1. Here area(▭) = length (ℓ) × width (w) and area(△) =
2 × base (b) × height (h).
1
Triangles are more flexible and basic than rectangles since we can represent
every rectangle, and actually any odd-shaped quadrangle, as the ‘sum’ of two
non-overlapping triangles. In doing so we have tacitly assumed a few things.
In Fig. 1.2 we have chosen a particular base line and the corresponding height
arbitrarily. But the concept of area should not depend on such a choice and the
1
2 Measures, Integrals and Martingales
( ) ( )
Fig. 1.2. Here area = area shaded triangle + area white triangle .
calculation this choice entails. Independence of the area from the way we calcu-
late it is called well-definedness. Plainly, we have the choices shown in Fig. 1.3.
Notice that Fig. 1.3 allows us to pick the most convenient method to work out
the area. In Fig. 1.2 we actually use two facts:
b3
b1 b2
h3
h1
h2
This shows that the least we should expect from a reasonable measure µ is that
it is
Again, there are a few problems. Does the limit exist? Is it admissible to sub-
divide a set into arbitrarily many subsets? Is the procedure independent of the
particular subdivision? In fact, nothing would have prevented us from paving
the circle with ever smaller squares! For a reasonable notion of measure the
answer to all of these questions should be yes and the way we pave the circle
should not lead to different results, as long as our tiles are disjoint. However,
finite additivity (1.2) is not enough for this and we have to use instead infinitely
many pieces: σ-additivity. Thus
( ) ∑
area ⨃ An = area(An ).
n∈N n∈N
The notation ⨃n An means the disjoint union of the sets An , i.e. the union where
the sets An are pairwise disjoint: An ∩ Am = ∅ if n ̸= m; a corresponding notation
is used for unions of finitely many sets.
Conditions (1.1) and (1.4) lead to a notion of measure which is powerful
enough to cater for all our everyday measuring needs and for much more. We
will also see that a good notion of measure allows us to introduce integrals,
basically starting with the naive idea that the integral of a positive function
should stand for the area of the set between the graph of the function and the
abscissa.
4 Measures, Integrals and Martingales
0 1
C0
1 2
3 3
C1
1 2 7 8
9 9 9 9
C2
C3
To get an idea of how far we can go with these simple principles, consider
Cantor’s ternary set on the interval [0, 1], see Fig. 1.4. We obtain
( )
1. C1 by removing from [0, 1] the middle third I2 = 13 , 32 ;
( ) ( )
2. C2 by removing from C1 the middle thirds I02 = 19 , 92 and I22 = 79 , 98 ;
3. C3 by removing from C2 the middle thirds I002 , I022 , I202 and I222 ;
4. …
∩
and C := ∞ n=1 Cn is Cantor’s ternary set. By construction, Cn consists of 2
n
Thus, the Cantor set has no length in the traditional sense, yet it is not empty.
Prologue 5
Problems
1.1. Use (1.4) to find the area of a circle with radius r.
1.2. Where was σ-additivity used when calculating the length of the Cantor set?
1.3. Consider the following
( ) of Cantor’s set: fix r ∈ (0, 1) and delete from I0 [= [0, 1] the]
variation
open interval 12 − 14 r, 12 + 14 r . This defines the set I1 consisting of two intervals, 0, 12 − 41 r
[1 ]
and 2 + 14 r, 1 . We get I2 by removing from each of these intervals the open middles of
length r/8 and I3 by removing all open middles of length r/32. This defines recursively
the
∩∞sets I1 , I2 , . . . . Find the length of the interval In and of the generalized Cantor set I :=
n=0 In . Is I empty?
1.4. Let K0 ⊂ R2 be a line of length 1. We get K1 by replacing the middle third of K0 by the sides
of an equilateral triangle. By iterating this procedure we get the curves K0 , K1 , K2 , . . . (see
Fig. 1.5) which defines in the limit Koch’s snowflake K∞ . Find the length of Kn and K∞ .
Fig. 1.5. The first four steps in the construction of Koch’s snowflake.
1.5. Let S0 ⊂ R2 be a solid equilateral triangle. We get S1 by removing the middle triangle whose
vertices are the midpoints of the sides of S1 . By repeating this procedure with the four
triangles ∩
which make up S1 etc. we get S0 , S2 , S2 , . . . (see Fig. 1.6). The Sierpiński triangle
is S∞ := ∞ n=0 Sn . Find the area of Sn and S if the side-length of S0 is s = 1.
Fig. 1.6. The first four steps in the construction of Sierpiński’s triangle.
2
The Pleasures of Counting
Set algebra and countability play a major rôle in measure theory. In this chapter
we review briefly notation and manipulations with sets and introduce then the
notion of countability. If you are not already acquainted with set algebra, you
should verify all statements in this chapter and work through the exercises.
Throughout this chapter X and Y denote two arbitrary sets. For any two sets
A, B (which are not necessarily subsets of a common set) we write
A ∪ B = {x : x ∈ A or x ∈ B or x ∈ A and B},
A ∩ B = {x : x ∈ A and x ∈ B},
A \ B = {x : x ∈ A and x ∈
/ B};
A ∩ (B ∪ C) = (A ∩ B) ∪ (A ∩ C),
(2.1)
A ∪ (B ∩ C) = (A ∪ B) ∩ (A ∪ C)
(A ∩ B)c = Ac ∪ Bc ,
(2.2)
(A ∪ B)c = Ac ∩ Bc ,
6
The Pleasures of Counting 7
which hold also for arbitrarily many sets Ai ⊂ X, i ∈ I (I stands for an arbitrary
index set),
( ∩ )c ∪
Ai = Aci ,
i∈I i∈I
(∪ )c ∩ (2.3)
Ai = Aci .
i∈I i∈I
A map f : X → Y is called
injective (or one–one) ⇐⇒ f(x) = f(x′ ) implies x = x′ ,
surjective (or onto) ⇐⇒ f(X ) := { f (x) ∈ Y : x ∈ X} = Y, (2.4)
bijective ⇐⇒ f is injective and surjective.
Set operations and direct images under a map f are not necessarily compatible:
indeed, we have, in general,
f(A ∪ B) = f(A) ∪ f (B),
f (A ∩ B) ̸= f (A) ∩ f(B), (2.5)
f (A \ B) ̸= f (A) \ f(B).
Inverse images and set operations are always compatible. The inverse mapping
f−1 maps subsets C ⊂ Y into subsets of X and it is defined as
it is, in general, multi-valued, the notation f −1(y) is used only if f−1({y}) has at
most one element, i.e. if f is injective. For C, Ci , D ⊂ Y one has
(∪ ) ∪
f −1 Ci = f−1 (Ci ),
i∈I i∈I
(∩ ) ∩
f −1 Ci = f−1 (Ci ), (2.6)
i∈I i∈I
contain any xi more than once).
Caution Sometimes countable is used only to indicate #X = #N, while sets
where #X 6 #N are called at most countable or finite or countable. This has the
effect that a countable set is always infinite. We do not adopt this convention.
The following examples show that (countable) sets with infinitely many
elements can behave strangely.
Example 2.5 (i) Finite sets are countable: {a, b, . . . , z} → {1, 2, . . . , 26}, where
a ↔ 1, . . . , z ↔ 26, is bijective and {1, 2, 3, . . . , 26} → N is clearly an injection.
Thus
#{a, b, c, . . . , z} = #{1, 2, 3, . . . , 26} 6 #N.
(ii) The even numbers are countable. This follows from the fact that the map
i
f : {2, 4, 6, . . . , 2i, . . .} → N, i 7→ ,
2
is an injection and even a bijection. [] This means that there are ‘as many’
even numbers as there are natural numbers.
(iii) The set of integers 0 1 2 3 4
…
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