6

Matrices for Linear Transformations

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1


Two representations of the linear transformation
T:R3→R3 :
(1) T ( x1 , x2 , x3 )  (2 x1  x2  x3 ,  x1  3x2  2 x3 ,3x2  4 x3 )

 2 1 1  x1 
(2) T (x)  Ax   1 3 2   x2 
 0 3 4   x3 

Three reasons for matrix representation of a linear
transformation:

It is simpler to write

It is simpler to read

It is more easily adapted for computer use

4.1
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2


Theorem 6.10: Standard matrix for a linear transformation
Let T : R n  R m be a linear trtansformation such that
 a11   a12   a1n 
a  a  a 
T (e1 )   21  , T (e 2 )   22  ,  , T (e n )   2n  ,
     
     
a
 m1  a
 m2   amn 
where {e1 , e2 , , en } is a standard basis for R n . Then the m  n
matrix whose n columns correspond to T (ei ),
 a11 a12  a1n 
a a22  a2 n 
A  T (e1 ) T (e 2 )  T (e n )    21 ,
    
 
 am1 am 2  amn 

4.2
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3

Pf:
 v1  1  0 0
v  0 1  0
v   2   v1    v2      vn    v1e1  v2 e2    vn en
       
       
v
 n 0
  0
  1 
T is a linear transformation  T ( v)  T (v1e1  v2e 2    vne n )
 T (v1e1 )  T (v2e 2 )    T (vne n )
 v1T (e1 )  v2T (e 2 )    vnT (e n )

If A  T (e1 ) T (e 2 )  T (e n ) , then
 a11 a12  a1n   v1   a11v1  a12 v2    a1n vn 
 a21 a22  a2 n  v2   a21v1  a22 v2    a2 n vn 
Av       
          
am1 am 2  amn  vn  am1v1  am 2 v2    amn vn 
4.3
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4

 a11   a12   a1n 

a  a  a 
 v1  21   v2  22     vn  2 n 
     
     
 am1   am 2   amn 
 v1T (e1 )  v2T (e2 )    vnT (en )

Therefore, T ( v )  Av for each v in R n


Note
Theorem 6.10 tells us that once we know the image of every
vector in the standard basis (that is T(ei)), you can use the
properties of linear transformations to determine T(v) for any
v in V
4.4
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5


Ex 1: Finding the standard matrix of a linear transformation
Find the standard matrix for the L.T. T : R 3  R 2 defined by
T ( x, y , z )  ( x  2 y , 2 x  y )
Sol:
Vector Notation Matrix Notation
1 
  1 
T (e1 )  T (1, 0, 0)  (1, 2) T (e1 )  T ( 0  )   
2
0   
0
   2 
T (e 2 )  T (0, 1, 0)  (2, 1) T (e 2 )  T ( 1  )   
1
0   
0 
  0
T (e3 )  T (0, 0, 1)  (0, 0) T (e3 )  T ( 0  )   
 0
1  4.5
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6

A  T (e1 ) T (e 2 ) T (e3 ) 
 1 2 0 
 
 2 1 0 

Check:
 x  x
1  2 0     x  2 y 
A y    y 
  2 1 0   2 x  y 

z z
i.e., T ( x, y, z )  ( x  2 y, 2 x  y )


Note: a more direct way to construct the standard
matrix ※ The first (second) row actually
1  2 0  1x  2 y  0 z
A 
represents the linear transformation
 2 1 0  2 x  1 y  0 z function to generate the first (second)
component of the target vector
4.6
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7


Ex 2: Finding the standard matrix of a linear transformation
The linear transformation T : R 2  R 2 is given by projecting
each point in R 2 onto the x - axis. Find the standard matrix for T
Sol:
T ( x , y )  ( x , 0)
1 0 
A  T (e1 ) T (e 2 )   T (1, 0) T (0, 1)    
 0 0 

Notes:
(1) The standard matrix for the zero transformation from Rn
into Rm is the mn zero matrix
(2) The standard matrix for the identity transformation from Rn
into Rn is the nn identity matrix In

4.7
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8

 Composition of T1:Rn→Rm with T2:Rm→Rp :

T ( v )  T2 (T1 ( v )), v  R n
This composition is denoted by T  T2  T1


Theorem : Composition of linear transformations

Let T1 : R n  R m and T2 : R m  R p be linear transformations

with standard matrices A1 and A2 ,then
(1) The composition T : R n  R p , defined by T ( v)  T2 (T1 ( v)),
is still a linear transformation
(2) The standard matrix A for T is given by the matrix product
A  A2 A1 4.8
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9

Pf:
(1) (T is a linear transformation)
Let u and v be vectors in R n and let c be any scalar. Then
T (u  v )  T2 (T1 (u  v))  T2 (T1 (u)  T1 ( v))
 T2 (T1 (u))  T2 (T1 ( v ))  T (u)  T ( v )
T (cv )  T2 (T1 (cv ))  T2 (cT1 ( v ))  cT2 (T1 ( v ))  cT ( v )

(2) ( A2 A1 is the standard matrix for T )

T ( v)  T2 (T1 ( v))  T2 ( A1 v)  A2 A1 v  ( A2 A1 ) v

Note:
T1  T2  T2  T1

4.9
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1
0

Ex 3: The standard matrix of a composition
Let T1 and T2 be linear transformations from R 3 into R3 s.t.
T1 ( x, y, z )  (2 x  y, 0, x  z )
T2 ( x, y, z )  ( x  y, z, y )
Find the standard matrices for the compositions T  T2  T1
and T '  T1  T2
Sol:
2 1 0
A1  0 0 0 (standard matrix for T1 )
1 0 1
1  1 0
A2  0 0 1 (standard matrix for T2 )
0 1 0
4.10
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1
1

The standard matrix for T  T2  T1

1  1 0 2 1 0 2 1 0
A  A2 A1  0 0 1 0 0 0  1 0 1
    
0 1 0  1 0 1   0 0 0 
The standard matrix for T '  T1  T2

2 1 0 1  1 0 2  2 1
A'  A1 A2  0 0 0 0 0 1  0 0 0
1 0 1 0 1 0 1 0 0

4.11
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1
2


Inverse linear transformation :

If T1 : R n  R n and T2 : R n  R n are L.T. s.t. for every v in R n

T2 (T1 ( v ))  v and T1 (T2 ( v))  v

Then T2 is called the inverse of T1 and T1 is said to be invertible


Note:
If the transformation T is invertible, then the
inverse is unique and denoted by T–1

4.12
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1
3


Theorem : Existence of an inverse transformation
Let T : R n  R n be a linear transformation with standard matrix A,
Then the following condition are equivalent
※ For (2)  (1), you can imagine that
(1) T is invertible since T is one-to-one and onto, for every
(2) T is an isomorphism w in the codomain of T, there is only one
preimage v, which implies that T-1(w) =v
(3) A is invertible can be a L.T. and well-defined, so we can
infer that T is invertible
※ On the contrary, if there are many
preimages for each w, it is impossible to
find a L.T to represent T-1 (because for a
L.T, there is always one input and one

Note: output), so T cannot be invertible
If T is invertible with standard matrix A, then the
standard matrix for T–1 is A–1 4.13
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1
4


Ex 4: Finding the inverse of a linear transformation
The linear transformation T : R 3  R3 is defined by
T ( x1 , x2 , x3 )  (2 x1  3x2  x3 , 3 x1  3x2  x3 , 2 x1  4 x2  x3 )
Show that T is invertible, and find its inverse
Sol:
The standard matrix for T
2 3 1  2 x1  3 x2  x3
A  3 3 1  3x1  3 x2  x3
2 4 1  2 x1  4 x2  x3
 2 3 1 1 0 0
A I 3    3 3 1 0 1 0 
 
 2 4 1 0 0 1 
4.14
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5

1 0 0 1 1 0 
G.-J. E.
  0 1 0 1 0 1    I A1 
0 0 1 6 2 3

Therefore T is invertible and the standard matrix for T 1 is A1

 1 1 0
A1   1 0 1
 
 6  2  3
 1 1 0   x1    x1  x2 
T 1 ( v )  A1 v   1 0 1   x2     x1  x3 
    
 6  2  3 x
 3   1 6 x  2 x 2  3 x3
In other words,
T 1 ( x1 , x2 , x3 )  ( x1  x2 ,  x1  x3 , 6 x1  2 x2  3x3 )
※ Check T-1(T(2, 3, 4)) = T-1(17, 19, 20) = (2, 3, 4) 4.15
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6

The matrix of T relative to the bases B and B‘:
T :V  W (a linear transformation)
B  {v1 , v 2 , , v n } (a nonstandard basis for V )
The coordinate matrix of any v relative to B is denoted by [v]B
  c1  
 c  
 if v can be represeted as c v  c v    c v , then [v]   2  
 1 1 2 2 n n B
  
   
 cn  

A matrix A can represent T if the result of A multiplied by a

coordinate matrix of v relative to B is a coordinate matrix of v
relative to B’, where B’ is a basis for W. That is,
T ( v)B '  A[ v]B ,
where A is called the matrix of T relative to the bases B and B’

4.16
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7

Transformation matrix for nonstandard bases (the generalization of Theorem 6.10, in which standard
bases are considered) :

Let V and W be finite - dimensional vector spaces with bases B and B ',
respectively, where B  {v1 , v 2 , , v n }

If T : V  W is a linear transformation s.t.

 a11   a12   a1n 

a  a  a 
T ( v1 )B '   21  , T ( v 2 )B '   22  , , T ( v n )B '   2n 
     
     
 am1   am 2   amn 

then the m  n matrix whose n columns correspond to T (vi )B '

4.17
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 a11 a12  a1n 

a a22  a2 n 
A  [T ( v1 )]B [T ( v 2 )]B  [T ( v n )]B    21
    
 
 am1 am 2  amn 

is such that T ( v) B '  A[ v]B for every v in V

※The above result state that the coordinate of T(v) relative to the basis
B’ equals the multiplication of A defined above and the coordinate of
v relative to the basis B.
※ Comparing to the result in Thm. 6.10 (T(v) = Av), it can infer that the
linear transformation and the basis change can be achieved in one step
through multiplying the matrix A defined above (see the figure on
6.74 for illustration)

4.18
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9


Ex 5: Finding a matrix relative to nonstandard bases
Let T : R 2  R 2 be a linear transformation defined by
T ( x1 , x2 )  ( x1  x2 , 2 x1  x2 )
Find the matrix of T relative to the basis B  {(1, 2), (1, 1)}
and B '  {(1, 0), (0, 1)}
Sol:
T (1, 2)  (3, 0)  3(1, 0)  0(0, 1)
T (1, 1)  (0,  3)  0(1, 0)  3(0, 1)

T (1, 2)B '  03, T (1, 1)B '  03

   
the matrix for T relative to B and B'
3 0 
A  T (1, 2)B ' T (1, 2)B '   
0  3 4.19
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0


Ex 6:
For the L.T. T : R 2  R 2 given in Example 5, use the matrix A
to find T ( v ), where v  (2, 1)
Sol:
v  (2, 1)  1(1, 2)  1(1, 1) B  {(1, 2), ( 1, 1)}
1
 v B   
 1
3 0   1  3
 T ( v )B '  Av B       
0  3  1 3
 T ( v )  3(1, 0)  3(0, 1)  (3, 3) B '  {(1, 0), (0, 1)}

Check:
T (2, 1)  (2  1, 2(2)  1)  (3, 3)
4.20
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1


Note:
(2) If T : V  V is the identity transformation
B  {v1 , v 2 , , v n }: a basis for V
 the matrix of T relative to the basis B
1 0  0
0 1  0 
A  T ( v1 ) B T ( v 2 ) B  T ( v n ) B     In
   
 
0 0  1

4.21
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6.4 Transition Matrices and Similarity

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2
2

T :V  V ( a linear transformation)
B  {v1 , v 2 , , v n } ( a basis of V )
B '  {w1 , w 2 , , w n } (a basis of V )

A  T ( v1 )B T ( v 2 ) B  T ( v n )B  ( matrix of T relative to B)

A '  T (w1 ) B ' T ( w 2 ) B '  T ( w n ) B '  (matrix of T relative to B ')

T ( v ) B  A  v B , and T ( v) B '  A  v B '

P  w1 B w 2 B  w n B  ( transition matrix from B ' to B )

P 1   v1 B '  v 2 B '   v n B '  ( transition matrix from B to B ')
from the definition of the transition matrix on p.254 in the
text book or on Slide 4.108 and 4.109 in the lecture notes
 v B  P  v B ' , and  v B '  P 1  v B 4.22
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3


Two ways to get from v B ' to T ( v )B ' :
(1) (direct) : A '[ v]B '  [T ( v)]B '
(2) (indirect) : P 1 AP[ v]B '  [T ( v)]B '  A '  P 1 AP
indirect

direct 4.23
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4


Ex 1: (Finding a matrix for a linear transformation)
Find the matrix A' for T：R 2  R 2
T ( x1 , x2 )  (2 x1  2 x2 ,  x1  3 x2 )
reletive to the basis B'  {(1, 0), (1, 1)}
Sol:
(1) A '  T (1, 0) B ' T (1, 1)B ' 
3
T (1, 0)  (2,  1)  3(1, 0)  1(1, 1)  T (1, 0)B '   
 1
  2
T (1, 1)  (0, 2)  2(1, 0)  2(1, 1)  T (1, 1)B '   
2
 3  2
 A'  T (1, 0)B ' T (1, 1)B '   
 1 2 
4.24
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5

(2) standard matrix for T (matrix of T relative to B  {(1, 0), (0, 1)})
 2  2
A  T (1, 0) T (0, 1)  
 1 3 
transition matrix from B ' to B
※ Solve a(1, 0) + b(0, 1) = (1, 0) 
1 1
P  (1, 0)B (1, 1)B    
(a, b) = (1, 0)

 0 1
※ Solve c(1, 0) + d(0, 1) = (1, 1) 
(c, d) = (1, 1)
transition matrix from B to B '
1 1 ※ Solve a(1, 0) + b(1, 1) = (1, 0) 
P  (1, 0)B ' (0, 1) B '   
1
 (a, b) = (1, 0)
 0 1  ※ Solve c(1, 0) + d(1, 1) = (0, 1) 
(c, d) = (-1, 1)
matrix of T relative B '
1 1  1  2  2 1 1  3  2
A'  P AP         
 0 1   1 3  0 1   1 2 
4.25
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
Ex 2: (Finding a matrix for a linear transformation)
Let B  {(3, 2), (4,  2)} and B '  {( 1, 2), (2,  2)} be basis for
2  2 7 2 2
R , and let A    be the matrix for T : R  R relative to B.
 3 7
Find the matrix of T relative to B '
Sol:
Because the specific function is unknown, it is difficult to apply
the direct method to derive A’, so we resort to the indirect
method where A’ = P-1AP
3  2
transition matrix from B' to B : P  (1, 2)B (2,  2)B    
 2  1 
  1 2
transition matrix from B to B ': P  (3, 2)B ' (4,  2)B '   
1

  2 3 
matrix of T relative to B ':
1   1 2  2 7  3  2  2 1
A'  P AP         
 2 3   3 7  2  1   1 3 4.26
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
Ex 3: (Finding a matrix for a linear transformation)
For the linear transformation T : R 2  R 2 given in Ex.2, find  v B ,
T ( v)B , and T ( v)B ' , for the vector v whose coordinate matrix is
 3
 v B '  
Sol:  1
3  2  3  7
v B  Pv B '  2  1   1    5
    
 2 7   7  21
T ( v)B  Av B    3 7   5    14
    
  1 2  21  7
T ( v)B '  P T ( v)B   2 3   14   0 
1

    
 2 1  3  7 
or T ( v )B '  A' v B '       
 1 3   1  0  4.27
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
Similar matrix :
For square matrices A and A’ of order n, A’ is said to be
similar to A if there exist an invertible matrix P s.t. A’=P-1AP

Theorem 6.13: (Properties of similar matrices)
Let A, B, and C be square matrices of order n.
Then the following properties are true.
(1) A is similar to A
(2) If A is similar to B, then B is similar to A
(3) If A is similar to B and B is similar to C, then A is
Pf similar andC (2) (the proof of (3) is left in Exercise
for (1) to
23):
(1) A  I n AI n (the transition matrix from A to A is the I n )
(2) A  P 1 BP  PAP 1  P( P 1 BP ) P 1  PAP 1  B
 Q 1 AQ  B (by defining Q  P 1 ), thus B is similar to A
4.28
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
Ex 4: (Similar matrices)

 2 2  3 2 
(a) A    and A '    are similar
 1 3   1 2 
1 1 1
because A'  P AP, where P   
 0 1 
 2 7   2 1
(b) A    and A '    are similar
 3 7   1 3

1  3  2
because A'  P AP, where P   
 2  1 

4.29
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Ex 5: (A comparison of two matrices for a linear transformation)
1 3 0 
Suppose A   3 1 0  is the matrix for T : R 3  R 3 relative
0 0 2 
to the standard basis. Find the matrix for T relative to the basis
B '  {(1, 1, 0), (1,  1, 0), (0, 0, 1)}
Sol:
The transition matrix from B' to the standard matrix
1 1 0
P  (1, 1, 0)B (1,  1, 0)B (0, 0, 1)B   1  1 0
0 0 1
 12 12 0
 P 1   12  12 0
 
0 0 1 4.30
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matrix of T relative to B ' :

 12 12 0  1 3 0  1 1 0 
A '  P 1 AP   12  12 0   3 1 0  1 1 0 
0 0 1  0 0 2  0 0 1 
4 0 0
  (A’ is a diagonal matrix, which is
  0 2 0  simple and with some
 0 0 2  computational advantages)

※ You have seen that the standard matrix for a linear

transformation T:V →V depends on the basis used for V.
What choice of basis will make the standard matrix for T as
simple as possible? This case shows that it is not always
the standard basis. 4.31
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
Notes: Diagonal matrices have many computational advantages over nondiagonal ones (it will
be used in the next chapter)

 d1 0  0
0 d  0 
for D   2

   
 
0 0  dn 
 d1k  0
0
 
k  0 d 2k
 0 (2) DT  D
(1) D 
  

 k
 0 0
 d n 
 d11 0 0
 
 0 1
d2  0 
(3) D 1    , di  0
    
 0 0  d1 
 n  4.32