Notes
Complete Metric Spaces
Definition. Let be a metric space. A sequence of points of is said to be a Cauchy sequence in if it has the property that for any , there exists an integer such that
Definition. The metric space is said to be complete if every Cauchy sequence in converges (in the space itself).
- A closed subset of a complete metric space is necessarily complete in the restricted metric (inherited from the original space), as a Cauchy sequence in is also Cauchy in , so it converges in , and the limit must lie in because is closed (see Theorem 17.6 in Chapter 2).
- If is complete under the metric , then is also complete under the standard bounded metric with respect to , and conversely, because a sequence is Cauchy (resp. converges) under if and only if it is Cauchy (resp. converges) under (since for any and the equality holds when , see also Exercise 43.3).
[Lemma 43.1] A metric space is complete if every Cauchy sequence in has a convergent subsequence.
infoIn fact, it also follows from this theorem and Theorem 28.2 (see Chapter 3) that every compact metric space is complete. However, the converse does not hold: a complete metric space need not be compact (e.g. in its standard topology).
In fact, it also follows from this theorem and Theorem 28.2 (see Chapter 3) that every compact metric space is complete. However, the converse does not hold: a complete metric space need not be compact (e.g. in its standard topology).
Let be a Cauchy sequence in . It follows that given , there exists a positive integer such that whenever .
Let be a convergent subsequence of with the limit , then for any , there exists a positive integer such that whenever .
Take . Using the fact that for any subindex , it follows that whenever , we have
[Theorem 43.2] The Euclidean space is complete in the Euclidean metric or the square metric .
To show that the metric space is complete, let be a Cauchy sequence in , then the set is a bounded subset of , because if we choose such that
then the number
is an upper bound for , by triangle inequality (). This implies that the points of the sequence all lie in the -ball . Since this sphere is compact (see Theorem 27.3 in Chapter 3), the sequence has a convergent subsequence, by Theorem 28.2 (in Chapter 3). Thus, is complete.
Note that a sequence is Cauchy (resp. converges) relative to if and only if it is Cauchy (resp. converges) relative to , hence is also complete.
[Lemma 43.3] Let be the product space and be a sequence of points of , then if and only if for each .
Since the projection mapping is continuous, it preserves convergent sequences (see Theorem 21.3 in Chapter 2); the 'only if' ( direction) part of the lemma follows.
To prove the converse ( direction), suppose that for each . Let be a basis element for that contains . For each such that does not equal the entire space (see Theorem 19.1 in Chapter 2), choose a positive integer so that whenever . Let be the largest of such numbers , then for all , we have that .
[Theorem 43.4] There is a metric for the product space relative to which is complete.
note
Let be the standard bounded metric on . Let be the metric on defined by , then induces the product topology on (see Theorem 20.5 in Chapter 2).
We verify that is complete under . Let be a Cauchy sequence in . Since by definition
we see that for fixed the sequence is a Cauchy sequence in (consider such that whenever , given ), so it converges, say to (see Theorem 43.2 above). The sequence then converges to the point in .
Definition. Let be a metric space; let be the standard bounded metric on derived from . If and are points of the Cartesian product , let
One can check that is a metric; it is called the uniform metric on corresponding to the metric on .
This is the generalisation of the definition of uniform metric given in Chapter 2.
Since the elements of are in fact functions from to , one could also use functional notation for them, which will be used from hereon.
The functional notation for the uniform metric is as such: If , then
[Theorem 43.5] If the space is complete in the metric , then the space is complete in the uniform metric corresponding to .
[Theorem 43.6] Let be a topological space and let be a metric space. The set of continuous functions is closed in under the uniform metric, and so is the set of bounded functions. Therefore, if is complete, these spaces are complete in the uniform metric.
noteA function is said to be bounded if its image is a bounded subset of the metric space .
A function is said to be bounded if its image is a bounded subset of the metric space .
To show the first part of this theorem, we first show that if a sequence of elements of converges to the element of relative to the metric on , then it converges to uniformly in the sense defined in §21, relative to the metric on . Let be arbitrary, then due to the assumed convergence, we obtain an integer such that
It follows that for all and all , we have
Thus, converges uniformly to .
Now we show that is closed in relative to the metric . Let be an element of that is a limit point of , then there is a sequence of elements of converging to in the metric (see Lemma 21.2 in Chapter 2). By the uniform limit theorem, is continuous, so that . This implies that the closure of is itself, and thus is closed in .
Finally, we show that is closed in . If is a limit point of , then there is a sequence of elements of converging to . Choose a sufficiently large such that , then for , we have , which implies that . It follows that if is the diameter of the set , then has diameter at most . Thus, .
If is complete, we conclude that and are complete in the metric .
Definition. If is a metric space, one can define another metric on the set of bounded functions from to by the equation
Since and are bounded, the set is bounded (so that the said supremum exists) if both and are bounded, it follows that is well-defined. The metric here is called the sup metric.
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There is a simple relation between the sup metric and the uniform metric, which is that if , then .
This is because if , then there exists such that , so by definition, . On the other hand, if , then for all , so that .
Thus, on , the metric is in fact the standard bounded metric derived from the uniform metric .
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If is a compact space, then every continuous function is bounded, so the sup metric is well-defined on .
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If is complete under , then is complete under the corresponding uniform metric (see Theorem 43.5), so it is also complete under the sup metric (see the first 'Info' block of this section).
[Theorem 43.7] Let be a metric space. There is an isometric embedding of into a complete metric space.
noteAn alternative proof can be found in Exercise 43.9.
An alternative proof can be found in Exercise 43.9.
Definition. Let be a metric space. If is an isometric embedding of into a complete metric space , then the subspace of . is a complete metric space. It is called the completion of .
The completion of is uniquely determined up to an isometry. See Exercise 43.10.
A Space-Filling Curve
[Theorem 44.1] (Peano space-filling curve) Let . There exists a continuous map whose image fills up the entire square .
Step 1. We construct the map as the (uniform) limit of a sequence of a continuous functions , through a series of triangular paths.
Step 2. We define a sequence of functions through recursively defined triangular paths.
Step 3. We claim that the sequence of functions defined in Step 2 is a Cauchy sequence under the sup metric on , which we denote by .
Step 4. Since is complete, the sequence converges to a continuous function . We prove that is surjective.
Compactness in Metric Spaces
Definition. A metric space is said to be totally bounded if for every , there is a finite covering of by -balls.
[Theorem 45.1] A metric space is compact if and only if it is complete and totally bounded.
Definition. Let be a metric space. Let be a subset of the function space . If , the set of functions is said to be equicontinuous at if given , there is a neighbourhood of such that for all and all , .
If the set is equicontinuous at each point in , it is said simply to be equicontinuous.
Equicontinuity is stronger than continuity, but is a separate concept to uniform continuity.
While continuity of the function at a point implies the existence of a neighbourhood of such that for all with a given , which may change depending on the choice of and , equicontinuity of ensures the existence of a single neighbourhood that works for all functions in the collection .
In other words, equicontinuity gives rise to the existence of such neighbourhood that does not depend on the choice of functions amongst a family of functions, which is not to be confused with uniform continuity, for which the existence of such neighbourhood does not depend on the choice of points in the domain .
Note that equicontinuity depends on the specific metric rather than just on the topology of .
[Lemma 45.2] Let be a space and be a metric space. If the subset of is totally bounded under the uniform metric correspond to , then is equicontinuous under .
[Lemma 45.3] Let be a space and a metric space; assume and are compact. If the subset of is equicontinuous under , then is totally bounded under the uniform and sup metrics corresponding to .
Definition. If is a metric space, a subset of is said to be pointwise bounded under if for each (fixed), the subset
of is bounded under .
[Theorem 45.4] (Ascoli's theorem, classical version). Let be a compact space; let denote Euclidean space in either the square metric or the Euclidean metric; give the corresponding uniform topology. A subspace of has compact closure if and only if is equicontinuous and pointwise bounded under .
[Corollary 45.5] Let be compact and denote either the square metric or the Euclidean metric on . Give the corresponding uniform topology. A subspace of is compact if and only if it is closed, bounded under the sup metric , and equicontinuous under .
Suppose that is compact, then it must be closed and bounded (see Theorem 27.3 in Chapter 3); since the closure of here is also compact (see Theorem 26.3 in Chapter 3 and recall that every metric space is Hausdorff), Theorem 45.4 implies that it is also equicontinuous.
Conversely, if is closed, it is equal to its closure ; if it is bounded under , it is also pointwise bounded under ; it is also assumed that is equicontinuous, so Theorem 45.4 implies that it is compact.
Pointwise and Compact Convergence
Definition. Given a point of the set and an open set of the space , let
The sets are a subbasis for topology on , which is called the topology of pointwise convergence (or the point-open topology).
The general basis element for the topology of pointwise convergence is a finite intersection of subbasis elements , so a typical basis element about the function consists of all functions that are 'close' to at finitely many points.
In fact, the topology of pointwise convergence on is just the product topology. The set of all functions such that is just the subset of , which is the standard subbasis element for the product topology.
[Theorem 46.1] A sequence of functions converges to the function in the topology of pointwise convergence if and only if for each in , the sequence of points of converges to the point .
This result is just a rephrasing of Lemma 43.3 in function space notation.
A sequence of continuous functions that converges only in the topology of pointwise convergence need not have a continuous limit. See here for (counter)examples.
Is there a topology intermediate between uniform topology and topology of pointwise convergence that preserves continuity in limits? Yes, by imposing a restriction that the space is compactly generated, we can define the topology of compact convergence.
Definition. Let be a metric space and be a topological space. Given an element of , a compact subspace of and a number , let denote the set of all the elements of for which
The sets form a basis for a topoogy on , which is called the topology of compact convergence (or 'the topology of uniform convergence on compact sets').
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To show that satisfies the condition for a basis, the key step is to note that if , then if we take
we then have .
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The topology of compact convergence is 'stronger' than the topology of pointwise convergence in the sense that the general basis element containing are functions that are 'close' to f not just at finitely many points, but at all points of some compact set.
[Theorem 46.2] A sequence of functions converges to the function in the topology of compact convergence if and only if for each compact subspace of , the sequence converges uniformly to .
Let be a sequence of functions in the function space under the topology of compact convergence.
Suppose that for each compact subspace of of , the sequence converges uniformly to , then given , there exists an integer , such that
This implies that whenever , the set is bounded above by , so we have that
Note that each neighbourhood of in under the topology of compact convergence must contain some basis element of the form . Note as well that if we range over all such neighbourhoods, we will run through all ; conversely, if we range over all , we will run through all the basis elements in the form of , which generates all neighbourhoods of .
Therefore, the above implies that for each such neighbourhood , there exists an integer such that for all . Therefore, the sequence of functions converges to the function in the topology of compact convergence.
The steps above are reversible, so the converse also holds.
Definition. A space is said to be compactly generated (or is called a k-space), if it satisfies the following condition:
A set is open (equivalently, closed) in if is open (equiv. closed) in for each compact subspace of .
[Lemma 46.3] If is locally compact, or if satisfies the first countability axiom, then is compactly generated.
Locally compact
Suppose that is locally compact, then for every point in , there exists some compact subspace of that contains a neighbourhood of .
Let be open in for every compact subspace of . We want to show that is open in , so that is compactly generated. Given , choose a neighbourhood of that lies in a compact subspace of . Note that by hypothesis, is open in , and thus is open in , implying that is open in as well (see Lemma 16.2 in Chapter 2). It follows that is a neighbourhood of contained in , so is open in (since the choice of here is arbitrary).
First-countable
Suppose that satisfies the first countability axiom. If is closed in for every compact subspace of , we want to show that is closed in . Let be a point of ; we show that (so that and thus is closed in ). Since has a countable basis at , there exists a sequence of points of converging to (see Theorem 30.1 in Chapter 4). The subspace
is compact (why?), so that is by assumption closed in . Since contains for every , it contains as well. Therefore, , as desired.
[Lemma 46.4] If is compactly generated, then a function is continuous if for each compact subspace of , the restricted function is continuous.
We show that if is an open subset of , then is also open in . For any subspace of , we have
If is compact, then by the continuity of , the set is open in . Since is compactly generated, it follows that is open in .
[Theorem 46.5] Let be a compactly generated space and be a metric space, then is clsoed in in the topology of compact convergence.
Let be a limit point of ; we wish to show that , i.e. is continuous.
It suffices to show that is continuous for each compact subspace of (see Theorem 46.2 above). For each , consider the neighbourhood of ; it intersects (see Theorem 20.1 in Chapter 2), so we can choose a function lying in this neighbourhood. The sequence of functions converges uniformly to the function (as the definition of implies that the choice of does not depend on the points ), so by the uniform limit theorem, is continuous.
[Corollary 46.6] Let be a compactly generated space and be a metric space. If a sequence of continuous functions converges to in the topology of compact convergence, then is continuous.
Theorem 46.5 implies that the closure of is itself, so all limit points will also be in , and this implies the desired result.
[Theorem 46.7] (Relationship between uniform, compact convergence, and pointwise convergence) Let be a space and be a metric space. For the function space , one has the following inclusion of topologies:
If is compact, then (uniform) = (compact convergence), and if is discrete, then (compact convergence) = (pointwise convergence).
A proof of this is in Exercise 46.2.
Definition. Let and be topological spaces. If is a compact subspace of and is an open subset of , define
The sets form a subbasis for a topology on that is called the compact-open topology.
From the definition, we see that the compact-open topology is finer than the pointwise convergence topology (since for any open subset of and compact subspace of and note that ).
The compact-open topology can actually be defined on the entire function space , but it is not the focus of this section.
[Theorem 46.8] Let be a space and let be a metric space. On the set , the compact-open topology and the topology of compact convergence coincide.
[Corollary 46.9] (from Theorem 46.8) Let be a metric space. The compact convergence topology on does not depend on the metric of . Therefore, if is compact, the uniform topology on does not depend on the metric of .
The first part of this corollary comes from Theorem 46.8 and the definition of compact-open topology, which does not depend on the choice of said metric. The second part of this corollary comes from the first part and Theorem 46.7.
[Theorem 46.10] Let be a locally compact Hausdorff space and have the compact-open topology, then the evaluation map, given by
which is defined by the equation
is continuous.
Let be a point of and be an open set in that contains the image point . We want to find an open set containing such that .
First, due to the continuity of and the fact that is locally compact Hausdorff, we can choose an open set about having compact closure , such that (see Theorem 29.2 in Chapter 3). Next, consider the open set in . It is an open set containing . If belongs to this set, then belongs to , as desired.
Definition. Given a function , there is a corresponding function , defined by the equation
Conversely, given , this equation defines a corresponding function . We say that is the map of into that is induced by .
[Theorem 46.11] Let and be spaces; give the compact-open topology. If is continuous, then so is the induced function . The converse holds if is locally compact Hausdorff.
Ascoli's Theorem (see Arzelà–Ascoli theorem)
[Theorem 47.1] (Ascoli's theorem, general version). Let be a space and be a metric space. Give the topology of compact convergence; let be a subset of .
(a) If is equicontinuous under and the set
has compact closure for each , then is contained in a compact subspace of .
(b) The converse holds if is locally compact Hausdorff.
Proof of (a). Throughout, we give the product topology. Recall that this is the same as the topology of pointwise convergence, so is a Hausdorff space. The space , which has the topology of compact convergence, is not a subspace of . Let be the closure of in .
Step 1. We show that is a compact closure of .
Step 2. We show that each function belonging to is continuous, and that itself is equicontinuous under .
Step 3. We show that the product topology on and the compact convergence topology on coincide on the subset .
Step 4. The set contains and is contained in . We know from Step 1 that it is compact as a subspace of in the product topology. By Step 3, it is also compact as a subspace of in the compact convergence topology.
Proof of (b). Let be a compact subspace of that contains . We show that is equicontinuous and that for each , the set is compact, so that is equicontinuous (since and that lies in the compact subspace of , implying that is compact.