Linear Trans-

formations

Math 240

Linear Trans-
formations
Transformations
of Euclidean
space

Kernel and
Range Linear Transformations
The matrix of
a linear trans.
Composition of
linear trans.
Kernel and Math 240 — Calculus III
Range

Summer 2013, Session II

Tuesday, July 23, 2013

Linear Trans-
formations Agenda
Math 240

Linear Trans-
formations
Transformations
of Euclidean
space

Kernel and 1. Linear Transformations

Range

The matrix of
Linear transformations of Euclidean space
a linear trans.
Composition of
linear trans.
Kernel and
Range 2. Kernel and Range

3. The matrix of a linear transformation

Composition of linear transformations
Kernel and Range
Linear Trans-
formations Motivation
Math 240
In the m × n linear system
Linear Trans-
formations
Transformations
of Euclidean
Ax = 0,
space

Kernel and we can regard A as transforming elements of Rn (as column

Range
vectors) into elements of Rm via the rule
The matrix of
a linear trans.
Composition of
linear trans.
T (x) = Ax.
Kernel and
Range
Then solving the system amounts to finding all of the vectors
x ∈ Rn such that T (x) = 0.
Solving the differential equation
y 00 + y = 0
is equivalent to finding functions y such that T (y) = 0, where
T is defined as
T (y) = y 00 + y.
Linear Trans-
formations Definition
Math 240

Linear Trans- Definition

formations
Transformations
Let V and W be vector spaces with the same scalars. A
of Euclidean
space mapping T : V → W is called a linear transformation from
Kernel and
Range
V to W if it satisfies
The matrix of 1. T (u + v) = T (u) + T (v) and
a linear trans.
Composition of
linear trans.
2. T (c v) = c T (v)
Kernel and
Range for all vectors u, v ∈ V and all scalars c. V is called the
domain and W the codomain of T .
Examples
I T : Rn → Rm defined by T (x) = Ax, where A is an
m × n matrix
I T : C k (I) → C k−2 (I) defined by T (y) = y 00 + y
I T : Mm×n (R) → Mn×m (R) defined by T (A) = AT
I T : P1 → P2 defined by T (a + bx) = (a + 2b) + 3ax + 4bx2
Linear Trans-
formations
Examples
Math 240
1. Verify that T : Mm×n (R) → Mn×m (R), where
Linear Trans- T (A) = AT , is a linear transformation.
formations
Transformations I The transpose of an m × n matrix is an n × m matrix.
of Euclidean
space I If A, B ∈ Mm×n (R), then
Kernel and
Range T (A + B) = (A + B)T = AT + B T = T (A) + T (B).
The matrix of
a linear trans.
I If A ∈ Mm×n (R) and c ∈ R, then
Composition of
linear trans. T (cA) = (cA)T = cAT = c T (A).
Kernel and
Range
2. Verify that T : C k (I) → C k−2 (I), where T (y) = y 00 + y,
is a linear transformation.
I If y ∈ C k (I) then T (y) = y 00 + y ∈ C k−2 (I).
I If y1 , y2 ∈ C k (I), then
T (y1 + y2 ) = (y1 + y2 )00 + (y1 + y2 ) = y100 + y200 + y1 + y2
= (y100 + y1 ) + (y200 + y2 ) = T (y1 ) + T (y2 ).
I If y ∈ C k (I) and c ∈ R, then
T (cy) = (cy)00 + (cy) = cy 00 + cy = c(y 00 + y) = c T (y).
Linear Trans-
formations Specifying linear transformations
Math 240

Linear Trans-
formations
Transformations
of Euclidean
space

Kernel and
Range
A consequence of the properties of a linear transformation is
The matrix of
a linear trans. that they preserve linear combinations, in the sense that
Composition of
linear trans.
Kernel and
Range
T (c1 v1 + · · · + cn vn ) = c1 T (v1 ) + · · · + cn T (vn ).
In particular, if {v1 , . . . , vn } is a basis for the domain of T ,
then knowing T (v1 ), . . . , T (vn ) is enough to determine T
everywhere.
Linear Trans-
formations Linear transformations from Rn to Rm
Math 240

Linear Trans-
formations
Transformations
of Euclidean
space
Let A be an m × n matrix with real entries and define
Kernel and T : Rn → Rm by T (x) = Ax. Verify that T is a linear
Range
transformation.
The matrix of
a linear trans.
Composition of
linear trans. I If x is an n × 1 column vector then Ax is an m × 1
Kernel and
Range column vector.
I T (x + y) = A(x + y) = Ax + Ay = T (x) + T (y)
I T (cx) = A(cx) = cAx = c T (x)

Such a transformation is called a matrix transformation. In

fact, every linear transformation from Rn to Rm is a matrix
transformation.
Linear Trans-
formations Matrix transformations
Math 240

Linear Trans-
formations Theorem
Transformations
of Euclidean
space
Let T : Rn → Rm be a linear transformation. Then T is
Kernel and described by the matrix transformation T (x) = Ax, where
Range  
The matrix of A = T (e1 ) T (e2 ) · · · T (en )
a linear trans.

and e1 , e2 , . . . , en denote the standard basis vectors for Rn .

Composition of
linear trans.
Kernel and
Range
This A is called the matrix of T .

Example
Determine the matrix of the linear transformation T : R4 → R3
defined by

T (x1 , x2 , x3 , x4 ) = (2x1 + 3x2 + x4 , 5x1 + 9x3 − x4 ,

4x1 + 2x2 − x3 + 7x4 ).
Linear Trans-
formations Kernel
Math 240

Linear Trans- Definition

formations
Transformations
Suppose T : V → W is a linear transformation. The set
of Euclidean
space consisting of all the vectors v ∈ V such that T (v) = 0 is called
Kernel and
Range
the kernel of T . It is denoted
The matrix of
a linear trans. Ker(T ) = {v ∈ V : T (v) = 0}.
Composition of
linear trans.
Kernel and
Range
Example
Let T : C k (I) → C k−2 (I) be the linear transformation
T (y) = y 00 + y. Its kernel is spanned by {cos x, sin x}.
Remarks
I The kernel of a linear transformation is a subspace of its
domain.
I The kernel of a matrix transformation is simply the null
space of the matrix.
Linear Trans-
formations Range
Math 240

Linear Trans- Definition

formations
Transformations The range of the linear transformation T : V → W is the
of Euclidean
space subset of W consisting of everything “hit by” T . In symbols,
Kernel and
Range
Rng(T ) = {T (v) ∈ W : v ∈ V }.
The matrix of
a linear trans.
Composition of
linear trans.
Kernel and Example
Range
Consider the linear transformation T : Mn (R) → Mn (R)
defined by T (A) = A + AT . The range of T is the subspace
of symmetric n × n matrices.

Remarks
I The range of a linear transformation is a subspace of its
codomain.
I The range of a matrix transformation is the column space
of the matrix.
Linear Trans-
formations Rank-Nullity revisited
Math 240

Linear Trans-
formations
Suppose T is the matrix transformation with m × n matrix A.
Transformations
of Euclidean
We know Hence,
space
I Ker(T ) = nullspace(A), I dim (Ker(T )) = nullity(A),
Kernel and
Range
I Rng(T ) = colspace(A), I dim (Rng(T )) = rank(A),
The matrix of
a linear trans. I the domain of T is Rn . dim (domain of T ) = n.
I
Composition of
linear trans.
Kernel and We know from the rank-nullity theorem that
Range

rank(A) + nullity(A) = n.
This fact is also true when T is not a matrix transformation:
Theorem
If T : V → W is a linear transformation and V is
finite-dimensional, then
dim (Ker(T )) + dim (Rng(T )) = dim(V ).
Linear Trans-
formations The function of bases
Math 240

Linear Trans-
formations
Transformations
of Euclidean
space

Kernel and
Range
Theorem
The matrix of Let V be a vector space with basis {v1 , v2 , . . . , vn }. Then
a linear trans.
Composition of
every vector v ∈ V can be written in a unique way as a linear
linear trans.
Kernel and combination
Range

v = c1 v1 + c2 v2 + · · · + cn vn .

In other words, picking a basis for a vector space allows us to

give coordinates for points. This will allow us to give matrices
for linear transformations of vector spaces besides Rn .
Linear Trans-
formations The matrix of a linear transformation
Math 240

Linear Trans-
formations
Transformations
of Euclidean
space Definition
Kernel and
Range
Let V and W be vector spaces with ordered bases
The matrix of
B = {v1 , v2 , . . . , vn } and C = {w1 , w2 , . . . , wm },
a linear trans.
Composition of
respectively, and let T : V → W be a linear transformation.
linear trans.
Kernel and
The matrix representation of T relative to the bases B
Range
and C is
A = [aij ]
where
T (vj ) = a1j w1 + a2j w2 + · · · + amj wm .
In other words, A is the matrix whose j-th column is T (vj ),
expressed in coordinates using {w1 , . . . , wm }.
Linear Trans-
formations Example
Math 240

Let T : P1 → P2 be the linear transformation defined by

Linear Trans-
formations
Transformations
of Euclidean
T (a + bx) = (2a − 3b) + (b − 5a)x + (a + b)x2 .
space

Kernel and Use bases {1, x} for P1 and {1, x, x2 } for P2 to give a matrix
Range

The matrix of
representation of T .
a linear trans.
Composition of
linear trans.
We have
Kernel and

T (1) = 2 − 5x + x2 and T (x) = −3 + x + x2 ,

Range

so  
2 −3
A1 = −5 1 .
1 1
 {1, x + 
Now use the bases 2 −3 5} for P1 and {1,
 x,1 + x2 } for
6 1 +25
P2 . A1 = −5 1 A2 = −5 −24
We have 1 1 1 6
Linear Trans-
formations Composition of linear transformations
Math 240

Linear Trans-
formations Definition
Transformations
of Euclidean
space
Let T1 : U → V and T2 : V → W be linear transformations.
Kernel and Their composition is the linear transformation T2 ◦ T1 defined
Range
by
The matrix of
a linear trans. (T2 ◦ T1 ) (u) = T2 (T1 (u)) .
Composition of
linear trans.
Kernel and
Range
Theorem
Let T1 and T2 be as above, and let B, C, and D be ordered
bases for U , V , and W , respectively. If
I A1 is the matrix representation for T1 relative to B and C,
I A2 is the matrix representation for T2 relative to C and D,
I A21 is the matrix representation for T2 ◦ T1 relative to B
and D,
then A21 = A2 A1 .
Linear Trans-
formations The inverse of a linear transformation
Math 240

Linear Trans-
formations
Transformations
of Euclidean
space
Definition
Kernel and If T : V → W is a linear transformation, its inverse (if it
Range
exists) is a linear transformation T −1 : W → V such that
The matrix of
a linear trans.
T −1 ◦ T (v) = v and T ◦ T −1 (w) = w



Composition of
linear trans.
Kernel and
Range
for all v ∈ V and w ∈ W .

Theorem
Let T be as above and let A be the matrix representation of T
relative to bases B and C for V and W , respectively. T has an
inverse transformation if and only if A is invertible and, if so,
T −1 is the linear transformation with matrix A−1 relative to C
and B.
Linear Trans-
formations Example
Math 240
Let T : P2 → P2 be defined by
Linear Trans-
formations
Transformations
of Euclidean
T (a + bx + cx2 ) = (3a − b + c) + (a − c)x + (4b + c)x2 .
space

Kernel and Using the basis {1, x, x2 } for P2 , the matrix representation for
Range
T is
The matrix of
 
a linear trans. 3 −1 1
Composition of
linear trans. A = 1 0 −1 .
Kernel and
Range 0 4 1
This matrix is invertible and
 
4 5 1
1 
A−1 = −1 3 4 .
17
4 −12 1

Thus, T −1 is given by
T −1 (a + bx + cx2 ) = 4a+5b+c
17 + −a+3b+4c
17 x + 4a−12b+c 2
17 x .
Linear Trans-
formations Kernel and Range
Math 240

Linear Trans-
formations
Transformations
of Euclidean
space

Kernel and
Range
Theorem
The matrix of
a linear trans. Let T : V → W be a linear transformation and A be a matrix
Composition of
linear trans. representation of T relative to some bases for V and W .
Kernel and
Range
I Ker(T ) = {c1 v1 + · · · + cn vn ∈ V : (c1 , . . . , cn ) ∈
nullspace(A)},
I Rng(T ) = {c1 w1 + · · · + cm wm ∈ W : (c1 , . . . , cm ) ∈
colspace(A)}.