The Kurzweil-Henstock integral and its extensions : a historical survey

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1 The Kurzweil-Henstock integral and its extensions : a historical survey Jean Mawhin Université Catholique de Louvain The Kurzweil-Henstock integral and its extensions : a historical survey p.1/29

2 This lecture is dedicated to the memory of my friend STEFAN SCHWABIK, an enthusiastic ambassador of the Kurzweil-Henstock integral, and a great friend of many mathematicians of Sao Carlos The Kurzweil-Henstock integral and its extensions : a historical survey p.2/29

3 I. A short history of integration The Kurzweil-Henstock integral and its extensions : a historical survey p.3/29

4 Cauchy 1823 : Résumé des leçons données à l École royale polytechnique sur le calcul infinitésimal In the integral calculus, it seemed to me necessary to prove in a general way the existence of the integral of primitivable functions before letting their various properties to be known. To reach this aim, it was first necessary to establish the notion of integral taken between given limit or definite integrals. As those last ones can be sometimes infinite or undeterminated, it was essential to search in which case they keep a unique and finite value The Kurzweil-Henstock integral and its extensions : a historical survey p.4/29

5 Integral of a continuous function f : [a,b] R continuous P-partition of [a,b] : Π := (x j,i j ) 1 j m, I j = [a j 1,a j ] a = a 0 < a 1 <... < a m 1 < a m = b, x j I j length of I j : I j = a j a j 1 mesh of Π : M(Π) = max 1 j m I j The Kurzweil-Henstock integral and its extensions : a historical survey p.5/29

6 Integral of a continuous function f : [a,b] R continuous P-partition of [a,b] : Π := (x j,i j ) 1 j m, I j = [a j 1,a j ] a = a 0 < a 1 <... < a m 1 < a m = b, x j I j length of I j : I j = a j a j 1 mesh of Π : M(Π) = max 1 j m I j th lectures : f continuous on [a,b]!j R, ε > 0, η > 0, Π : M(Π) η : J m j=1 f(xj ) I j ε J = b a f(x)dx : definite integral of f on [a,b] continuity on [a,b] uniform continuity on [a,b] The Kurzweil-Henstock integral and its extensions : a historical survey p.5/29

7 Integral of a continuous function f : [a,b] R continuous P-partition of [a,b] : Π := (x j,i j ) 1 j m, I j = [a j 1,a j ] a = a 0 < a 1 <... < a m 1 < a m = b, x j I j length of I j : I j = a j a j 1 mesh of Π : M(Π) = max 1 j m I j th lectures : f continuous on [a,b]!j R, ε > 0, η > 0, Π : M(Π) η : J m j=1 f(xj ) I j ε J = b a f(x)dx : definite integral of f on [a,b] continuity on [a,b] uniform continuity on [a,b] f C 1 ([a,b]) b a f = f(b) f(a) f C([a,b]) a f C1 ([a,b]), ( x a f) = f(x) The Kurzweil-Henstock integral and its extensions : a historical survey p.5/29

8 Cauchy and Riemann AUGUSTIN CAUCHY BERNHARD RIEMANN The Kurzweil-Henstock integral and its extensions : a historical survey p.6/29

9 Riemann 1854 : Habilitation thesis University of Göttingen (published 1867) The uncertainty which still prevails on some fundamental points of the theory of definite integrals forces us to place here a few remarks on the notion of definite integral, and on its possible generality. b And first, what do we mean by a f(x)dx? The Kurzweil-Henstock integral and its extensions : a historical survey p.7/29

10 Riemann 1854 : Habilitation thesis University of Göttingen (published 1867) The uncertainty which still prevails on some fundamental points of the theory of definite integrals forces us to place here a few remarks on the notion of definite integral, and on its possible generality. b And first, what do we mean by a f(x)dx? f : [a,b] R is R-integrable on [a,b] if J R, ε > 0, η > 0, Π,M(Π) η : J m j=1 f(xj ) I j ε S(f, Π) := m j=1 f(xj ) I j : Riemann sum for f and Π J = b a f is the R-integral of f on [a,b] R-integrable functions are the ones for which CAUCHY s limit process made for continuous functions works The Kurzweil-Henstock integral and its extensions : a historical survey p.7/29

11 Range of R-integration RIEMANN : Let us search now the range and the limit of the preceding definition and let us ask the question : in which case is a function integrable? And in which case not integrable? The Kurzweil-Henstock integral and its extensions : a historical survey p.8/29

12 Range of R-integration RIEMANN : Let us search now the range and the limit of the preceding definition and let us ask the question : in which case is a function integrable? And in which case not integrable? although modeled on CAUCHY s process for (uniformly) continuous functions, R-integrable functions may have a dense set of discontinuities however, 1 Q is not R-integrable on any interval R-integrable functions are characterized in terms of some measure of their set of discontinuities The Kurzweil-Henstock integral and its extensions : a historical survey p.8/29

13 Range of R-integration RIEMANN : Let us search now the range and the limit of the preceding definition and let us ask the question : in which case is a function integrable? And in which case not integrable? although modeled on CAUCHY s process for (uniformly) continuous functions, R-integrable functions may have a dense set of discontinuities however, 1 Q is not R-integrable on any interval R-integrable functions are characterized in terms of some measure of their set of discontinuities indefinite R-integral of f not differentiable at points of discontinuity of f bounded derivatives not R-integrable (VOLTERRA) The Kurzweil-Henstock integral and its extensions : a historical survey p.8/29

14 Lebesgue 1902 : PhD thesis, Annali di Mat. Pura Appl. In the case of continuous functions, the notions of [indefinite] integral and of primitive are identical. Riemann has defined the integral of some discontinuous functions, but all derivatives are not integrable in Riemann sense. The problem of the primitive functions is therefore not solved by [R-]integration, and one can wish to have a definition of the integral containing as special case that of Riemann and solving the problem of the primitives The Kurzweil-Henstock integral and its extensions : a historical survey p.9/29

15 L-integral based upon a concept of measure of a bounded set A R introduced by BOREL and developed by LEBESGUE outer measure µ e (A) of A [c,d] : inf j=1 (d j c j ) for all sequences {[c j,d j ]} j N : A j=1 [c j,d j ] inner measure µ i (A) = (d c) µ e ([c,d] \ A) A measurable : µ e (A) = µ i (A) (measure µ(a) of A ) The Kurzweil-Henstock integral and its extensions : a historical survey p.10/29

16 L-integral based upon a concept of measure of a bounded set A R introduced by BOREL and developed by LEBESGUE outer measure µ e (A) of A [c,d] : inf j=1 (d j c j ) for all sequences {[c j,d j ]} j N : A j=1 [c j,d j ] inner measure µ i (A) = (d c) µ e ([c,d] \ A) A measurable : µ e (A) = µ i (A) (measure µ(a) of A ) f : [a,b] R bounded is L- integrable on [a,b] if c < d in range of f, f 1 ([c,d)) is measurable J R, ε > 0, η > 0, P-partition Π = (y j, [b j 1,b j ]) 1 j m of [inf [a,b] f, sup [a,b] f], M(Π) η : J m j=1 y jµ [ f 1 ([b j 1,b j )) ] ε J = b a f(x)dx is the L-integral of f on [a,b] The Kurzweil-Henstock integral and its extensions : a historical survey p.10/29

17 Borel and Lebesgue ÉMILE BOREL HENRI LEBESGUE The Kurzweil-Henstock integral and its extensions : a historical survey p.11/29

18 Comparing the R- and L- integrals approximating sums depend upon measure theory f R-integrable µ(set of discontinuities of f) = 0 f differentiable on [a,b], f bounded b a f = f(b) f(a) f L-integrable on [a,b] f differentiable with derivative f outside of a subset of [a,b] of measure zero a The Kurzweil-Henstock integral and its extensions : a historical survey p.12/29

19 Comparing the R- and L- integrals approximating sums depend upon measure theory f R-integrable µ(set of discontinuities of f) = 0 f differentiable on [a,b], f bounded b a f = f(b) f(a) f L-integrable on [a,b] f differentiable with derivative f outside of a subset of [a,b] of measure zero extension to unbounded functions f R- or L-integrable f R- or L-integrable f primitivable on [a, b] is L-integrable on [a, b] F has bounded variation on [a,b] f(x) = 2x sin 1 x 2 2 x cos 1 x 2 if x 0,f(0) = 0 f = F with F(x)x 2 sin 1 x 2 if x 0, F(0) = 0 f is not L-integrable near 0 a The Kurzweil-Henstock integral and its extensions : a historical survey p.12/29

20 Denjoy-Perron integral 1912 : DENJOY (transfinite induction argument from L-integral) : D-integral integrating all derivatives 1914 : PERRON (inspired by DE LA VALLÉE-POUSSIN s characterization of L-integrability) : P-integral integrating all derivatives F + [F ] over-function [under-function] of f on [a,b] if F ± (a) = 0, F +(x) f(x) [F (x) f(x)] x [a,b] f P-integrable on [a,b] : sup F F (b) = inf F+ F + (b) common value = P-integral of f on [a,b] The Kurzweil-Henstock integral and its extensions : a historical survey p.13/29

21 Denjoy-Perron integral 1912 : DENJOY (transfinite induction argument from L-integral) : D-integral integrating all derivatives 1914 : PERRON (inspired by DE LA VALLÉE-POUSSIN s characterization of L-integrability) : P-integral integrating all derivatives F + [F ] over-function [under-function] of f on [a,b] if F ± (a) = 0, F +(x) f(x) [F (x) f(x)] x [a,b] f P-integrable on [a,b] : sup F F (b) = inf F+ F + (b) common value = P-integral of f on [a,b] f D-integrable on [a, b] f P-integrable on [a, b] f L-integrable on [a, b] f and f DP-integrable on [a, b] first half of XX th century : many equivalent definitions of L- and DP-integral The Kurzweil-Henstock integral and its extensions : a historical survey p.13/29

22 Denjoy and Perron ARNAUD DENJOY OSKAR PERRON The Kurzweil-Henstock integral and its extensions : a historical survey p.14/29

23 KH-integral 1957 : KURZWEIL, new definition of P-integral of f : [a, b] R f K-integrable on [a,b] : J R, ε > 0, δ : [a,b] R +, Π, x j δ(x j ) a j 1 < a j x j + δ(x j ) (1 j m), J S(f, Π) ε Π called δ-fine, δ called gauge on [a,b] K-integral P-integral The Kurzweil-Henstock integral and its extensions : a historical survey p.15/29

24 KH-integral 1957 : KURZWEIL, new definition of P-integral of f : [a, b] R f K-integrable on [a,b] : J R, ε > 0, δ : [a,b] R +, Π, x j δ(x j ) a j 1 < a j x j + δ(x j ) (1 j m), J S(f, Π) ε Π called δ-fine, δ called gauge on [a,b] K-integral P-integral 1961 : independent rediscovery by HENSTOCK HENSTOCK gives many generalizations and applications J = b f on a f Kurzweil-Henstock or KH-integral or gauge integral of [a,b] constant gauge in KH-definition R-integral The Kurzweil-Henstock integral and its extensions : a historical survey p.15/29

25 Henstock and Kurzweil RALPH HENSTOCK JAROSLAV KURZWEIL born in 1928 The Kurzweil-Henstock integral and its extensions : a historical survey p.16/29

26 δ-fine P-partitions constant gauge δ : δ-fine P-partition easily constructed arbitrary gauge δ : existence of a δ-fine P-partition has to be proved 1895 : done by COUSIN in a different context (Cousin s lemma) equivalent to the Borel-Lebesgue property (1894, 1902) for a compact interval proof depends upon the non-empty intersection property of a nested sequence of closed intervals The Kurzweil-Henstock integral and its extensions : a historical survey p.17/29

27 II. A history-fiction of integration The Kurzweil-Henstock integral and its extensions : a historical survey p.18/29

28 Another road for Cauchy CAUCHY s aim : construct integral calculus for derivatives (fundamental objects in NEWTON-LEIBNIZ s calculus) mimick CAUCHY s approach for continuous functions f : [a,b] R differentiable, with derivative f : [a,b] R ε > 0, x [a,b], δ(x) > 0, y [a,b], y x δ(x) : f(y) f(x) f (x)(y x) ε y x /(b a) f(z) f(y) f (x)(z y) ε(z y)/(b a) if x δ(x) y x z x + δ(x) Π δ fine f(a j ) f(a j 1 ) f (x j )(a j a j 1 ) ε(a j a j 1 )/(b a) (1 j m) Π δ fine f(b) f(a) S(f, Π) ε δ non constant because differentiability on [a,b] uniform differentiability on [a,b] The Kurzweil-Henstock integral and its extensions : a historical survey p.19/29

29 Cauchy, Riemann, Weierstrass? CAUCHY : f : [a,b] R differentiable ε > 0, gauge δ on [a,b], δ-fine Π : f(b) f(a) S(f, Π) ε RIEMANN : f : [a,b] R is integrable on [a,b] if J R, ε > 0, gauge δ on [a,b], δ-fine Π : J S(f, Π) ε J = b a f KH-integral of f on [a,b] The Kurzweil-Henstock integral and its extensions : a historical survey p.20/29

30 Cauchy, Riemann, Weierstrass? CAUCHY : f : [a,b] R differentiable ε > 0, gauge δ on [a,b], δ-fine Π : f(b) f(a) S(f, Π) ε RIEMANN : f : [a,b] R is integrable on [a,b] if J R, ε > 0, gauge δ on [a,b], δ-fine Π : J S(f, Π) ε J = b a f KH-integral of f on [a,b] existence of δ-fine P-partition : CAUCHY? RIEMANN? WEIERSTRASS? if yes, BOREL-LEBESGUE-COUSIN lemma, Denjoy-Perron s integral and Borel-Lebesgue s measure of a bounded set of R could have arrived half a century before The Kurzweil-Henstock integral and its extensions : a historical survey p.20/29

31 Cauchy, Riemann, Weierstrass? CAUCHY : f : [a,b] R differentiable ε > 0, gauge δ on [a,b], δ-fine Π : f(b) f(a) S(f, Π) ε RIEMANN : f : [a,b] R is integrable on [a,b] if J R, ε > 0, gauge δ on [a,b], δ-fine Π : J S(f, Π) ε J = b a f KH-integral of f on [a,b] existence of δ-fine P-partition : CAUCHY? RIEMANN? WEIERSTRASS? if yes, BOREL-LEBESGUE-COUSIN lemma, Denjoy-Perron s integral and Borel-Lebesgue s measure of a bounded set of R could have arrived half a century before tragical consequence : DENJOY, PERRON, KURZWEIL and HENSTOCK disappear in our fiction : DPKH-integral is just the integral defined by RIEMANN The Kurzweil-Henstock integral and its extensions : a historical survey p.20/29

32 Qualities and defects of KH-integral qualities : b a f = f(b) f(a) for all differentiable f improper integrals are real integrals (HAKE s theorem) monotone and dominated convergence theorems (nice proof by HENSTOCK) E [a,b] measurable : 1 E integrable on [a,b] measure µ(e) := b a 1 E change of variable theorem The Kurzweil-Henstock integral and its extensions : a historical survey p.21/29

33 Qualities and defects of KH-integral qualities : b a f = f(b) f(a) for all differentiable f improper integrals are real integrals (HAKE s theorem) monotone and dominated convergence theorems (nice proof by HENSTOCK) E [a,b] measurable : 1 E integrable on [a,b] measure µ(e) := b a 1 E change of variable theorem defects : restriction property holds only for finite families of non-overlapping subintervals, may already fail for a countable union of such intervals due to the non-absolute character of the integral The Kurzweil-Henstock integral and its extensions : a historical survey p.21/29

34 We must save the soldier Lebesgue wanted : an integral with better restriction property f L-integrable on [a, b] if f and f are integrable on [a, b] f L-integrable on [a, b] f L-integrable on any measurable E [a,b] integrability of an unbounded derivative may be lost Hake s property may be lost (there exists improper L-integrals) The Kurzweil-Henstock integral and its extensions : a historical survey p.22/29

35 We must save the soldier Lebesgue wanted : an integral with better restriction property f L-integrable on [a, b] if f and f are integrable on [a, b] f L-integrable on [a, b] f L-integrable on any measurable E [a,b] integrability of an unbounded derivative may be lost Hake s property may be lost (there exists improper L-integrals) can attribute to LEBESGUE the introduction and emphasis on this important subclass of integrable functions absolute character makes it a better tool for functional analysis (Lebesgue spaces L p (a,b) are Banach spaces) The Kurzweil-Henstock integral and its extensions : a historical survey p.22/29

36 III. Higher dimensions The Kurzweil-Henstock integral and its extensions : a historical survey p.23/29

37 n-dimensional KH-integral (closed) n-interval I = I 1... I n, I n-volume of I P-partition of I : Π := {(x j,i j )} 1 j m, x j I j I j I non-overlapping n-intervals, m j=1 Ij = I gauge on I : δ : I R + ; Π δ-fine : j : I j B[x j,δ(x j )] f : I R, Riemann sum : S(f, Π) := m j=1 f(xj ) I j f KH-integrable on I : J R, ε > 0, gauge δ on I, δ fine Π : J S(f, Π) ε J = I f is the KH-integral of f on I E I measurable if 1 E KH-integrable on I, µ(e) := I 1 E Fubini, monotone and dominated convergence thms no change of variables thm, restriction to finite union of n-intervals f L-integrable on I : f and f KH-integrable on I The Kurzweil-Henstock integral and its extensions : a historical survey p.24/29

38 n-dim. fundamental thm of calculus v C 1 (A, R n ), A R n, A nice A div v = A v,n A, n A outer normal on A, n A = 1 v : I R n differentiable : div v not KH-integrable on I mimick proof of fundamental theorem for n = 1 ε > 0, x I, δ(x) > 0, y B[x,δ(x)] : v(y) v(x) v (x)(y x) ε 2 y x x I,w x := v(x) + v (x)( x) C (R n, R n ) Π = {(x j,i j )} 1 j m δ-fine Ij w x j,n I j = I j div w x j = div v(x j ) I j I j v,n I j div v(x j ) I j = I j v w x j,n I j v(y) w x j(y) ε 2 y x j y I j, j = 1,...,m The Kurzweil-Henstock integral and its extensions : a historical survey p.25/29

39 n-dim. fundamental thm of calculus I v,n I S(div v, Π) m j=1 I j w x j v,n Ij ε 2 m j=1 d(ij ) I j := ε 2 σ(π) σ(π) irregularity of Π, d(i j ) diameter of I j I j (n-1)-dimensional measure of I j I v,n I S(div v, Π) ε if one adds to Π δ-fine the irregularity restriction σ(π) ε 1 geometrical meaning : I j = I j 1... Ij n, d(i j ) = max 1 k n I j k, Ij 2n I j min 1 k n I j k σ(π) 2n max 1 j m max 1 k n I j k min 1 k n I j k I := 2nσ 0(Π) I I v,n I S(div v, Π) ε if Π satisfies the stronger irregularity restriction : σ 0 (Π) 1 2nε I The Kurzweil-Henstock integral and its extensions : a historical survey p.26/29

40 Generalized KH-integrals on n-interval f : I R n R, I n-interval 1981, M. : M-integrable on I if J R, ε > 0, gauge δ on I, δ-fine Π,σ 0 (Π) 1 2nε I : S(f, Π) J ε 1983, JARNIK, KURZWEIL, SCHWABIK : M 1 -integrable on I : replace σ 0 (Π) 1 2nε I by σ(π) ε , PFEFFER : Pf-integrable on I, using irregularity with respect to a finite family of planes parallel to the coordinate axes 1992, JARNIK, KURZWEIL : ext-integrable on I if f extended by 0 on some n-interval L int L I is M-integrable on L M 1 -int Pf-int ext-int M-int all properties of KH-integral except Fubini s thm; divergence thm for differentiable vector field; no change of variable thm The Kurzweil-Henstock integral and its extensions : a historical survey p.27/29

41 Generalized KH-integrals on M R n f : M R n R, M compact 1985, 1988, JARNIK, KURZWEIL : PU-integral on M, PU-partition defined from a suitable partition of unity, irregularity modelled on σ 1991, PFEFFER : v-integral on BV-set M, v continuous outside of a set of (n-1)-hausdorff measure zero and almost differentiable outside a set of σ-finite (n-1)-hausdorff measure 1991, KURZWEIL, M., PFEFFER : G-integral on BV-set M, BV partitions of unity; same divergence thm 2001, PFEFFER : R-integral on BV-set M, based on charges 2004, DE PAUW, PFEFFER : apply R-integral to obtain removable sets of singularities of elliptic equations other results by JURKAT, NONNENMACHER, BUCZOLICH, PLOTNIKOV, FLEISCHER, KUNCOVÁ, MALÝ, MOONENS... The Kurzweil-Henstock integral and its extensions : a historical survey p.28/29

42 Thank you for your patience! More details and references in B. BONGIORNO, The Henstock-Kurzweil integral, Handbook of Measure Theory, Elsevier, 2002, TH. DE PAUW, Autour du théorème de la divergence, Panorama et synthèses 18 (2004), J. MAWHIN, Two histories of integration theory : riemannesque vs romanesque, Bull. Cl. Sci. Acad. Roy. Belgique (6) 18 (2007) W.F. PFEFFER, The Riemann Approach to Integration : Local Geometric Theory, Cambridge, 1993 W.F. PFEFFER, Derivation and Integration, Cambridge, 2001 W.F. PFEFFER, The Divergence Theorem and Sets of Finite Perimeter, Chapman and Hall/CRC, 2012 The Kurzweil-Henstock integral and its extensions : a historical survey p.29/29