Math 2331 Linear Algebra

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1 6.1 Inner Product, Length & Orthogonality Math 2331 Linear Algebra 6.1 Inner Product, Length & Orthogonality Shang-Huan Chiu Department of Mathematics, University of Houston math.uh.edu/ schiu/ Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

2 6.1 Inner Product, Length & Orthogonality Inner Product: Examples, Definition, Properties Length of a Vector: Examples, Definition, Properties Orthogonal Orthogonal Vectors The Pythagorean Theorem Orthogonal Complements Row, Null and Columns Spaces Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

3 Motivation: Example Not all linear systems have solutions. Example No solution to [ ] [ x1 x 2 ] = [ 3 2 ] exists. Why? Ax {[ is a]} point on the line spanned by 1 and b is not on the line. So 2 Ax b for all x. Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

4 Motivation: Example (cont.) Instead find x so that A x lies closest to b. Using information we will learn in this chapter, we will find that x= [ ], so that A x = [ ]. Segment joining A x and b is perpendicular ( or orthogonal) to the set of solutions to Ax = b. Need to develop fundamental ideas of length, orthogonality and orthogonal projections. Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

5 Inner Product Inner Product Inner product or dot product of u 1 u 2 u =. v 1 v 2 and v =. : u n v n u v = u T v = [ ] u 1 u 2 u n = u 1 v 1 + u 2 v u n v n v 1 v 2. v n v u = v T u = u T v = u v Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

6 Inner Product: Properties Theorem (1) Let u, v and w be vectors in R n, and let c be any scalar. Then a. u v = v u b. (u + v) w = u w + v w c. (cu) v =c (u v) = u (cv) d. u u 0, and u u = 0 if and only if u = 0. Combining parts b and c, one can show (c 1 u c p u p ) w =c 1 (u 1 w) + + c p (u p w) Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

7 Length of a Vector Length of a Vector v 1 v 2 For v =, the length or norm of v is the nonnegative. v n scalar v defined by v = v v = v1 2 + v v n 2 and v 2 = v v. For any scalar c, cv = c v Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

8 Length of a Vector: Example Example [ a If v = b Picture: ], then v = a 2 + b 2 (distance between 0 and v). Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

9 Distance Distance The distance between u and v in R n : dist(u, v) = u v. Example This agrees with the usual formulas for R 2 and R 3. u = (u 1, u 2 ) and v = (v 1, v 2 ). Let Then u v = (u 1 v 1, u 2 v 2 ) and dist(u, v) = u v = (u 1 v 1, u 2 v 2 ) = (u 1 v 1 ) 2 + (u 2 v 2 ) 2 Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

10 Orthogonal Vectors [dist (u, v)] 2 = u v 2 = (u v) (u v) = (u) (u v) + ( v) (u v) = = u u u v + v u + v v = u 2 + v 2 2u v [dist (u, v)] 2 = u 2 + v 2 2u v [dist (u, v)] 2 = u 2 + v 2 +2u v Since [dist (u, v)] 2 = [dist (u, v)] 2, u v =. Orthogonal Two vectors u and v are said to be orthogonal (to each other) if u v = 0. Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

11 The Pythagorean Theorem Theorem (2 The Pythagorean Theorem) Two vectors u and v are orthogonal if and only if u + v 2 = u 2 + v 2 Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

12 Orthogonal Complements Orthogonal Complements If a vector z is orthogonal to every vector in a subspace W of R n, then z is said to be orthogonal to W. The set of vectors z that are orthogonal to W is called the orthogonal complement of W and is denoted by W (read as W perp ). Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

13 Row, Null and Columns Spaces Theorem (3) Let A be an m n matrix. Then the orthogonal complement of the row space of A is the nullspace of A, and the orthogonal complement of the column space of A is the nullspace of A T : (Row A) =Nul A, (Col A) =Nul A T. Why? (See complete proof in the text) r 1 x 0 r 2 x 0 Ax =. r m x =. 0 Note that and so x is orthogonal to the row A since x is orthogonal to r 1...., r m. Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

14 Row, Null and Columns Spaces: Example Example [ Let A = Basis for Nul A = ]. Basis for Row A = Basis for Col A = Basis for Nul A T = {[ 1 2, {[ and Nul A is a plane in R3. and Row A is a line in R3. ]} and Col A is a line in R 2. ]} and Nul A T is a line in R 2. Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

15 Row, Null and Columns Spaces: Example (cont.) Subspaces Nul A and Row A Subspaces Nul A T and Col A Shang-Huan Chiu, University of Houston Math 2331, Linear Algebra Fall, / 15

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