Linear Algebra In A Nutshell

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LINEAR ALGEBRA IN A NUTSHELL

One question always comes on the rst day of class. Do I have to know linear algebra ? My reply gets shorter every year: You soon will. This section brings together many important points in the theory. It serves as a quick primer, not an ocial part of the applied mathematics course (like Chapter 1 and 2). This summary begins with two lists that use most of the key words of linear algebra. The rst list applies to invertible matrices. That property is described in 14 dierent ways. The second list shows the contrast, when A is singular (not invertible). There are more ways to test invertibility of an n by n matrix than I expected. Nonsingular A is invertible The columns are independent The rows are independent The determinant is not zero Ax = 0 has one solution x = 0 Ax = b has one solution x = A1 b A has n (nonzero) pivots A has full rank The reduced row echelon form is R = I The column space is all of Rn The row space is all of Rn All eigenvalues are nonzero AT A is symmetric positive denite A has n (positive) singular values Singular A is not invertible The columns are dependent The rows are dependent The determinant is zero Ax = 0 has innitely many solutions Ax = b has no solution or innitely many A has r < n pivots A has rank r < n R has at least one zero row The column space has dimension r < n The row space has dimension r < n Zero is an eigenvalue of A AT A is only semidenite A has r < n singular values

Now we take a deeper look at linear equations, without proving every statement we make. The goal is to discover what Ax = b really means. One reference is my textbook Introduction to Linear Algebra, published by Wellesley-Cambridge Press. That book has a much more careful development with many examples (you could look at the course page, with videos of the lectures, on ocw.mit.edu or web.mit.edu/18.06). The key is to think of every multiplication Ax, a matrix A times a vector x, as a combination of the columns of A: Matrix Multiplication by Columns 1 2 3 6 C D =C 1 3 +D 2 6 = combination of columns .

Multiplying by rows, the rst component C + 2D comes from 1 and 2 in the rst row
of A. But I strongly recommend to think of Ax a column at a time. Notice how

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Linear Algebra In A Nutshell

x = (1, 0) and x = (0, 1) will pick out single columns of A: 1 2 3 6 1 0 = rst column 1 2 3 6 0 1 = last column .

Suppose A is an m by n matrix. Then Ax = 0 has at least one solution, the all-zeros vector x = 0. There are certainly other solutions in case n > m (more unknowns than equations). Even if m = n, there might be nonzero solutions to Ax = 0; then A is square but not invertible. It is the number r of independent rows and columns that counts. That number r is the rank of A (r m and r n). The nullspace of A is the set of all solutions x to Ax = 0. This nullspace N (A) contains only x = 0 when the columns of A are independent. In that case the matrix A has full column rank r = n: independent columns. For our 2 by 2 example, the combination with C = 2 and D = 1 produces the zero vector. Thus x = (2, 1) is in the nullspace, with Ax = 0. The columns (1, 3) and (2, 6) are linearly dependent. One column is a multiple of the other column. The rank is r = 1. The matrix A has a whole line of vectors cx = c(2, 1) in its nullspace: Nullspace is a line 1 2 3 6 2 1 = 0 0 and also 1 2 3 6 2c c = 0 0 .

If Ax = 0 and Ay = 0, then every combination cx + dy is in the nullspace. Always Ax = 0 asks for a combination of the columns of A that produces the zero vector: x in nullspace x1 (column 1) + + xn (column n)= zero vector

When those columns are independent, the only way to produce Ax = 0 is with x1 = 0, x2 = 0, . . ., xn = 0. Then x = (0, . . . , 0) is the only vector in the nullspace of A. Often this will be our requirement (independent columns) for a good matrix A. In that case, AT A also has independent columns. The square n by n matrix AT A is then invertible and symmetric and positive denite. If A is good then AT A is even better. I will extend this review (still optional ) to the geometry of Ax = b.

Column Space and Solutions to Linear Equations

Ax = b asks for a linear combination of the columns that equals b. In our 2 by 2 example, the columns go in the same direction! Then b does too: Column space Ax = 1 2 3 6 C D is always on the line through 1 3 .

We can only solve Ax = b when the vector b is on that line. For b = (1, 4) there is no solution, it is o the line. For b = (5, 15) there are many solutions (5 times column 1 gives b, and this b is on the line). The big step is to look at a space of vectors:

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Denition: The column space contains all combinations of the columns. In other words, C (A) contains all possible products A times x. Therefore Ax = b is solvable exactly when the vector b is in the column space C (A). For an m by n matrix, the columns have m components. The column space of A is in m-dimensional space. The word space indicates that the key operation of linear algebra is allowed: Any combination of vectors in the space stays in the space. The zero combination is allowed, so the vector x = 0 is in every space. How do we write down all solutions, when b belongs to the column space of A ? Any one solution to Ax = b is a particular solution xp. Any vector xn in the nullspace solves Ax = 0. Adding Axp = b to Axn = 0 gives A(xp + xn ) = b. The complete solution to Ax = b has this form x = xp + xn : Complete solution x = xparticular + xnullspace = (one xp ) + (all xn ) .

In the example, b = (5, 15) is 5 times the rst column, so one particular solution is xp = (5, 0). To nd all other solutions, add to xp any vector xn in the nullspace which is the line through (2, 1). Here is xp + (all xn ): 2c 5 1 2 C 5 C . + = = gives xcomplete = c 0 D 3 6 D 15 This line of solutions is drawn in Figure A1. It is not a subspace. It does not contain (0, 0), because it is shifted over by the particular solution (5, 0). We only have a space of solutions when b is zero (then the solutions ll the nullspace). D

1 2

= shortest solution pinv(A) b is in the row space line of all solutions xp + all xn (not a subspace)
5 0

= one particular solution xp = A\b C x = xp + xn

Axn = 0 : nullspace

xn

2 5 Figure A1: Parallel lines of solutions to Axn = 0 and [ 1 3 6 ] (xp + xn) = [ 15 ]

May I collect three important comments on linear equations Ax = b. 1. Suppose A is a square invertible matrix (the most common case in practice). Then the nullspace only contains xn = 0. The particular solution xp = A1 b is the only solution. The complete solution xp + xn is A1 b + 0. Thus x = A1 b.

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2.

Linear Algebra In A Nutshell Ax = b has innitely many solutions in Figure A1. The shortest x always lies in the row space of A. That particular solution (1, 2) is found by the pseudoinverse pinv (A). The backslash A\b nds an x with at most m nonzeros. Suppose A is tall and thin (m > n). The n columns are likely to be independent. But if b is not in the column space, Ax = b has no solution. The least squares method minimizes b Ax 2 by solving AT Ax = AT b.

3.

The Four Fundamental Subspaces

The nullspace N (A) contains all solutions to Ax = 0. The column space C (A) contains all combinations of the columns. When A is m by n, N (A) is a subspace of Rn and C (A) is a subspace of Rm . The other two fundamental spaces come from the transpose matrix AT . They are N (AT ) and C (AT ). We call C (AT ) the row space of A because the rows of A are the columns of AT . What are those spaces for our 2 by 2 example? 1 2 1 3 A= transposes to AT = . 3 6 2 6 Both columns of AT are in the direction of (1, 2). The line of all vectors (c, 2c) is C (AT ) = row space of A. The nullspace of AT is in the direction of (3, 1): Nullspace of AT AT y = 1 3 2 6 E F = 0 0 gives E F = 3c c .

The four subspaces N (A), C (A), N (AT ), C (AT ) combine beautifully into the big picture of linear algebra. Figure A2 shows how the nullspace N (A) is perpendicular to the row space C (AT ). Every input vector x splits into a row space part xr and a nullspace part xn . Multiplying by A always(!) produces a vector in the column space. Multiplication goes from left to right in the picture, from x to Ax = b.
Axr = b b Ax =

xr x = xr + xn

column space C (A) multiples of (1, 3)

Axn = 0

xn row space C (A ) nullspace N (A) multiples of (1, 2) multiples of (2, 1)

T

1 2 A= 3 6

nullspace N (AT ) multiples of (3, 1)

Figure A2: The four fundamental subspaces (lines) for the singular matrix A.

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On the right side are the column space C (A) and the fourth space N (AT ). Again they are perpendicular. The columns are multiples of (1, 3) and the y s are multi ples of (3, 1). If A were an m by n matrix, its columns would be in m-dimensional space Rm and so would the solutions to AT y = 0. Our singular 2 by 2 example has m = n = 2, and all four fundamental subspaces in Figure A2 are lines in R2 . This gure needs more words. Each subspace contains innitely many vectors, or only the zero vector x = 0. If u is in a space, so are 10u and 100u (and most importantly 0u). We measure the dimension of a space not by the number of vectors, which is innite, but by the number of independent vectors. In this example each dimension is 1. A line has one independent vector but not two

Dimension and Basis

A full set of independent vectors is a basis for a space. This idea is important. The basis has as many independent vectors as possible, and their combinations ll the space. A basis has not too many vectors, and not too few: 1. 2. The basis vectors are linearly independent. Every vector in the space is a unique combination of those basis vectors.

Here are particular bases for Rn among all the choices we could make: Standard basis = General basis = Orthonormal basis = columns of the identity matrix columns of any invertible matrix columns of any orthogonal matrix

The dimension of the space is the number of vectors in a basis.

Dierence Matrices
Dierence matrices with boundary conditions give exceptionally good examples of the four subspaces (and there is a physical meaning behind them). We choose forward and backward dierences that produce 2 by 3 and 3 by 2 matrices: 1 0 Forward + 1 1 0 and AT = 1 1 . A= 0 1 1 Backward 0 1 A is imposing no boundary conditions (no rows are chopped o). Then AT must impose two boundary conditions and it does: +1 disappeared in the rst row and 1 in the third row. AT w = f builds in the boundary conditions w0 = 0 and w3 = 0. The nullspace of A contains x = (1, 1, 1). Every constant vector x = (c, c, c) solves Ax = 0, and the nullspace N (A) is a line in three-dimensional space. The row space of A is the plane through the rows (1, 1, 0) and (0, 1, 1). Both vectors are perpendicular to (1, 1, 1) so the whole row space is perpendicular to the nullspace. Those two spaces are on the left side (the 3D side) of Figure A3.

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Linear Algebra In A Nutshell

C (AT ) C (A) Row space all AT w dim r R dim n r

n

Column space all Ax Perpendicular w T Ax = 0 dim r Rm dim m r

Perpendicular xT AT w = 0

x in Nullspace Ax = 0 N (A)

w in Nullspace of AT AT w = 0 N (AT )

Figure A3: Dimensions and orthogonality for any m by n matrix A of rank r. Figure A3 shows the Fundamental Theorem of Linear Algebra: 1. 2. 3. 4. The row space in Rn and column space in Rm have the same dimension r. The nullspaces N (A) and N (AT ) have dimensions n r and m r. N (A) is perpendicular to the row space C (AT ). N (AT ) is perpendicular to the column space C (A).

The dimension r of the column space is the rank of the matrix. It equals the number of (nonzero) pivots in elimination. The matrix has full column rank when r = n and the columns are linearly independent; the nullspace only con tains x = 0. Otherwise some nonzero combination x of the columns produces Ax = 0. The dimension of the nullspace is n r. There are n unknowns in Ax = 0, and there are really r equations. Elimination leaves n r columns without pivots. The corresponding unknowns are free (give them any values). This produces n r independent solutions to Ax = 0, a basis for the nullspace. A good basis makes scientic computing possible: 1 Sines and cosines 2 Finite elements 3 Splines 4 Wavelets

A basis of eigenvectors is often the best.