Fixes the set and map notation used throughout the handbook, including which of the image and inverse-image identities hold without hypotheses, and gives the comparison of cardinalities together with Cantor's theorem and the standard list of countable and uncountable sets.
NoteOriginal
What it means. This unit is the handbook's dictionary for sets and maps. Two things in it are used again and again and are easy to get wrong: the inverse image f−1(E) is defined for every map and every subset E of the codomain, and never needs f to be invertible; and "countable" is a statement about the existence of an injection into N, not about being small. Cantor's theorem is the reason a handbook needs the word "uncountable" at all: R, the set of sequences of 0s and 1s, and the set of all subsets of N are all strictly larger than N, so no list exhausts them.
Definition(Sets, families and operations)AdaptedAdapted from Folland (1999), Prologue, §0.1, pp. 2-3; Hassani (2013), §1.1, pp. 2-3
Inclusion is always weak: E⊆X allows E=X. The empty set is ∅, and the power set of X is P(X)={E:E⊆X}. The words family and collection mean "set".
Given an indexed family{Eα}α∈A of sets, with A a nonempty index set,
α∈A⋃Eα={x:x∈Eα for some α∈A},α∈A⋂Eα={x:x∈Eα for every α∈A}.
The Eα are disjoint if Eα∩Eβ=∅ whenever α=β. The difference is E∖F={x:x∈E and x∈/F}. When every set in sight is a subset of one fixed set X, the complement of E in X is Ec=X∖E, and De Morgan's laws hold for any nonempty family of subsets of X:
(α∈A⋃Eα)c=α∈A⋂Eαc,(α∈A⋂Eα)c=α∈A⋃Eαc.
The Cartesian productX×Y is the set of ordered pairs (x,y) with x∈X and y∈Y; Xn is the set of ordered n-tuples from X. For a family {Xα}α∈A, the product ∏α∈AXα is the set of maps f on A with f(α)∈Xα for every α.
In this handbook N={1,2,…} excludes 0, and Z, Q, R, C are the integers, rationals, reals and complex numbers.
Definition(Maps, images and inverse images)AdaptedAdapted from Folland (1999), Prologue, §0.1, pp. 3-4; Hassani (2013), §1.2, pp. 4-6, Example 1.2.5, p. 7
A mapf:X→Y assigns to each x∈X exactly one element f(x)∈Y. X is the domain, Y the codomain, and f(X)⊆Y the range. A map into R or C is usually called a function. For D⊆X and E⊆Y,
f(D)={f(x):x∈D}⊆Y,f−1(E)={x∈X:f(x)∈E}⊆X,
the image of D and the inverse image (or preimage) of E. The symbol f−1(E) is defined for every map f and every E⊆Y; it is a subset of X, possibly empty, and carries no claim that f has an inverse.
The composition of f:X→Y and g:Y→Z is g∘f:X→Z, (g∘f)(x)=g(f(x)). The restriction of f to A⊆X is the map f∣A:A→Y with f∣A(x)=f(x).
The map f is
injective if f(x1)=f(x2) only when x1=x2;
surjective if f(X)=Y;
bijective if it is both.
A bijective f has a unique inverse mapf−1:Y→X, characterised by f−1∘f=idX and f∘f−1=idY. Whether a map is injective or surjective depends on the domain and codomain, not on the formula alone: x↦x2 is a bijection of (0,∞) onto (0,∞), injective but not surjective as a map (0,∞)→R, and neither as a map R→R.
A sequence in X is a map f:N→X, usually written {xn}n=1∞ with xn=f(n). A subsequence of it is a composition f∘g in which g:N→N is strictly increasing.
Definition(Inverse images respect all three operations; images only unions)AdaptedAdapted from Folland (1999), Prologue, §0.1, p. 4
Let f:X→Y. For every nonempty family {Eα}α∈A of subsets of Y, every E⊆Y, and every nonempty family {Dα}α∈A of subsets of X:
That is, the map f−1:P(Y)→P(X) commutes with unions, intersections and complements, and the map D↦f(D) from P(X) to P(Y) commutes with unions. The image does not in general commute with intersections or with complements.
Idea of the proof(Images and inverse images)Original
Membership in an inverse image is a condition on the one element f(x): "x∈f−1(E)" is nothing but "f(x)∈E". So "or", "and" and "not" in the condition on f(x) pass straight through to the same connectives in the condition on x, and f−1 respects all three operations.
Membership in an image is a condition of a different shape: "y∈f(D)" says that somex∈D has f(x)=y. An existential quantifier may be swapped with "or", because both are existential, but not with "and" and not with "not". That single asymmetry is the whole statement, and it is also the source of the failures listed in the remark below.
Proof(Images and inverse images)Original
Folland states these identities and calls them easily verified (p. 4); here is the verification. Each part is a chain of equivalences between conditions on one element, so the two sets in question have the same members. The index set A is nonempty throughout.
Unions, inverse image. For x∈X,
x∈f−1(α⋃Eα)⟺f(x)∈α⋃Eα⟺f(x)∈Eα for some α⟺x∈f−1(Eα) for some α,
the three steps being the definition of the inverse image, the definition of the union, and the definition of the inverse image again. The last condition says x∈⋃αf−1(Eα).
Intersections, inverse image. The same four conditions with "for some" replaced by "for every" throughout, and ⋃ by ⋂.
Complements. For x∈X, x∈f−1(Y∖E) means f(x)∈Y and f(x)∈/E. The first clause holds automatically, f taking values in Y, so the condition reduces to f(x)∈/E, that is to x∈/f−1(E). As x ranges over X, this says f−1(Y∖E)=X∖f−1(E).
Unions, image. For y∈Y,
y∈f(α⋃Dα)⟺y=f(x) for some x∈α⋃Dα⟺there are α and x∈Dα with y=f(x),
and the last condition is y∈f(Dα) for some α, that is y∈⋃αf(Dα). The only manoeuvre was to exchange two existential quantifiers, which is always allowed.
Why the image stops there. The last chain used that "for some x" commutes with "for some α". It does not commute with "for every α": a y that is hit from inside every Dα need not be hit from inside their intersection, because the witnesses x may differ from one α to the next. Nor can an existential quantifier be moved through a negation. The remark below exhibits both failures with f(x)=x2. □
Definition(Comparison of cardinality; countable sets)AdaptedAdapted from Folland (1999), §0.3, pp. 6-7
For nonempty sets X and Y write
card(X)≤card(Y) if there exists an injection X→Y;
card(X)=card(Y) if there exists a bijection X→Y;
card(X)≥card(Y) if there exists a surjection X→Y;
card(X)<card(Y) if there is an injection X→Y but no bijection X→Y;
card(X)>card(Y) if there is a surjection X→Y but no bijection X→Y.
Note which map each strict relation asks for: < is about injections, > about surjections, both with no bijection allowed. These are relations between two sets; the symbol card(X) standing alone is given no meaning here, except that for finite X we write card(X)=n to mean that there is a bijection of X onto {1,…,n}. Only the two weak relations are extended to the empty set, by declaring card(∅)≤card(X) and card(X)≥card(∅) for every nonempty X; =, < and > are left undefined when either set is empty, so every statement below that uses them assumes both sets nonempty, as Folland does for his whole section (p. 6).
X is countable if card(X)≤card(N), that is, if some injection X→N exists; every finite set is countable, since {1,…,n} injects into N. X is countably infinite if it is countable and not finite, so that a countable set is either finite or countably infinite by definition. That countably infinite sets are exactly the sets in bijection with N is a theorem, not part of this definition; it is item 3 of the countability list below. X is uncountable if it is not countable. Finally, card(X)=c ("X has the cardinality of the continuum") means card(X)=card(R).
Definition(Injections both ways, and injections versus surjections)AdaptedAdapted from Folland (1999), §0.3, Prop 0.6 and Thm 0.8 (Schroeder-Bernstein), p. 7
Let X and Y be nonempty sets.
(Schröder-Bernstein) If card(X)≤card(Y) and card(Y)≤card(X), then card(X)=card(Y). In plain terms: an injection X→Y together with an injection Y→X yields a bijection X→Y.
card(X)≤card(Y) if and only if card(Y)≥card(X): an injection X→Y exists exactly when a surjection Y→X exists.
Idea of the proof(Injections both ways)Original
Part 2 is two constructions. An injection is a bijection onto its range, so it can be inverted there and told to send everything else to one fixed point, which produces a surjection the other way. A surjection has nonempty fibres, so picking one element out of each fibre produces an injection the other way — and picking infinitely many things at once is where the axiom of choice enters.
Part 1, the Schröder-Bernstein theorem, is harder, because two injections may interleave the two sets in a complicated way. The device is to let the maps sort the elements themselves: from any element, step backwards through g and f alternately, as far as the maps allow. Injectivity makes each backward step unique, so every element has one well-defined backward chain, and the chain either runs forever or comes to a halt on the X side or on the Y side. This cuts both sets into three matching pieces, on two of which f is already a bijection and on the third of which g is; glueing the three gives the bijection wanted.
Proof(Injections both ways)AdaptedAdapted from Folland (1999), §0.3, Prop 0.6 and Thm 0.8, p. 7
Part 2, from an injection to a surjection. Let f:X→Y be injective. Since X is nonempty, fix some x∗∈X and define g:Y→X by: g(y) is the unique x with f(x)=y when y∈f(X), and g(y)=x∗ otherwise. The first clause is unambiguous precisely because f is injective. Given any x∈X, the element y=f(x) has g(y)=x, so g is surjective.
Part 2, from a surjection to an injection. Let g:Y→X be surjective. For each x∈X the fibre g−1({x}) is nonempty, by surjectivity, and distinct fibres are disjoint. Choose one element f(x)∈g−1({x}) for every x∈X at once; this is an appeal to the axiom of choice (see the remark). Then g(f(x))=x for all x, so f(x1)=f(x2) gives x1=g(f(x1))=g(f(x2))=x2 and f is injective. The two halves together say card(X)≤card(Y) if and only if card(Y)≥card(X).
Part 1 (Schröder-Bernstein). Let f:X→Y and g:Y→X be injections.
Step 1 (backward chains). Call y the predecessor of x∈X if x=g(y), and x the predecessor of y∈Y if y=f(x). A point of X has a predecessor exactly when it lies in g(Y), a point of Y exactly when it lies in f(X), and in both cases the predecessor is unique because g and f are injective. Starting from any point and passing to predecessors as long as they exist therefore produces one well-defined chain, alternating between the two sets.
Step 2 (three types). The chain of a point does exactly one of three things: it continues for ever; it halts at a point of X∖g(Y); it halts at a point of Y∖f(X). Let X∞, XX, XY be the sets of x∈X of the three types, and Y∞, YX, YY likewise for Y. Since every point has one chain with one behaviour, X is the disjoint union of X∞, XX, XY, and Y of Y∞, YX, YY; some pieces may be empty.
Step 3 (both maps preserve the type). Let x∈X. Then f(x)∈f(X), so f(x) has a predecessor, and that predecessor is x; the chain of f(x) is thus f(x) followed by the chain of x. Prefixing one term changes neither whether a chain halts nor where, so f(x) has the same type as x:
f(X∞)⊆Y∞,f(XX)⊆YX,f(XY)⊆YY,
and by the identical argument g(y) has the same type as y for every y∈Y.
Step 4 (f exhausts the first two pieces of Y). Let y∈Y∞∪YX. Its chain does not halt at y itself: halting at y would mean y∈/f(X), which puts y in YY. So y∈f(X), and x=f−1(y) has the same type as y by Step 3. Hence f maps X∞ onto Y∞ and XX onto YX, and being injective it is a bijection in each case.
Step 5 (g exhausts the third piece of X). Let x∈XY. Its chain does not halt at x itself, since that would mean x∈/g(Y) and put x in XX. So x∈g(Y), and y=g−1(x) has the same type as x, namely type YY. Conversely g(YY)⊆XY by Step 3. So g restricts to a bijection YY→XY, and g−1 to a bijection XY→YY.
Step 6 (glue). Define h:X→Y by h=f on X∞∪XX and h=g−1 on XY. The three pieces partition X, the three sets Y∞, YX, YY partition Y, and h is a bijection from each piece onto the corresponding one by Steps 4 and 5. A map that carries each block of one partition bijectively onto a block of another, with distinct blocks going to distinct blocks, is itself a bijection. Hence card(X)=card(Y). □
Definition(Cantor's theorem)AdaptedAdapted from Folland (1999), §0.3, Prop 0.9, p. 7
Let X be any set and let g:X→P(X) be any map. Then the set
Y={x∈X:x∈/g(x)}⊆X
is not in the range of g, so g is not surjective. Consequently
card(X)<card(P(X))
for every nonempty set X: the injection x↦{x} exists, but no bijection does. (The first assertion needs no hypothesis on X; the displayed one is restricted to nonempty X only because < is defined only there.)
Idea of the proof(Cantor's theorem)Original
The set Y is built to disagree with the candidate g(x) at the point x: by its definition, x belongs to Y exactly when x does not belong to g(x). A single set thus differs from every set in the range of g, each time at a different point, so g misses Y. Nothing about X or g is used. The other half of the conclusion is the cheapest injection there is, x↦{x}.
Proof(Cantor's theorem)AdaptedAdapted from Folland (1999), §0.3, Prop 0.9, p. 7
Step 1 (Y is not a value of g). Suppose Y=g(x0) for some x0∈X, and ask whether x0∈Y. Exactly one of the two answers must hold, and both are impossible:
if x0∈Y, then by the definition of Y we have x0∈/g(x0), and g(x0)=Y, so x0∈/Y;
if x0∈/Y=g(x0), then x0 satisfies the condition defining Y, so x0∈Y.
Hence no such x0 exists: Y∈/g(X), and g is not surjective. No hypothesis on X or on g entered this step.
Step 2 (the injection). The map x↦{x} from X to P(X) is injective, since {x1}={x2} forces x1=x2. So card(X)≤card(P(X)) for nonempty X; note P(X) is never empty, containing ∅.
Step 3 (no bijection). A bijection X→P(X) would in particular be a surjection, which Step 1 forbids. An injection exists and no bijection does, which is the definition of card(X)<card(P(X)). □
Definition(Which sets are countable, and which are not)AdaptedAdapted from Folland (1999), §0.3, Prop 0.10, Cor 0.11, Prop 0.12, Cor 0.13, pp. 7-8
Products. Countability of X and of Y carries over to X×Y.
Indexed unions. Suppose the index set A is countable and so is each Xα, α∈A. Then ⋃α∈AXα is countable too.
Countable and infinite means in bijection with N. Should X be countably infinite, that is, countable and not finite, then card(X)=card(N): an injection X→N can be upgraded to a bijection. The special case that carries the general one: an infinite S⊆N admits a bijection onto N.
The usual number systems. Both Z and Q are countable.
The reals.card(P(N))=c. Read together with Cantor's theorem this gives
card(N)<card(P(N))=card(R),
so R is not countable.
6. Beyond the continuum.card(X)>c forces X to be uncountable; here, by the definition of > above, the hypothesis is that some surjection X→R exists and no bijection X→R does.
Idea of the proof(The countability list)Original
Almost everything rests on one enumeration: list the pairs (j,k) of positive integers by the value of j+k, and within each group by increasing j. That makes N2 countable, which gives products; countable unions then reduce to products, once one enumeration has been chosen for each piece; and Z and Q are built from products and unions.
Item 3 needs a different idea: repeatedly take the least element not yet used. It works because every nonempty subset of N has a least element, and it never runs out because the set is infinite. Item 5 is the only one about R as opposed to N, and it is settled by two injections: binary expansions turn a subset of N into a real number, and the set of rationals below a real number turns a real number into a subset of Q. Neither is a bijection, and Schröder-Bernstein is what closes the gap between them.
Proof(The countability list)AdaptedAdapted from Folland (1999), §0.3, Prop 0.10, Cor 0.11, Prop 0.12, Cor 0.13, pp. 7-8
Item 1 (products).
Step 1 (N2 is countable). Group the pairs by the value of n=j+k, which runs over the integers n≥2, and inside the n-th group list the n−1 pairs with j+k=n in order of increasing j:
Each pair appears exactly once, namely in the group n=j+k at position j within it, so the listing is a bijection N→N2 and its inverse a bijection N2→N. In closed form the inverse sends (j,k) to 21(j+k−1)(j+k−2)+j, the first term being 1+2+⋯+(j+k−2), the number of pairs in all earlier groups.
Step 2 (general X, Y). If X or Y is empty then X×Y=∅, which is countable. Otherwise choose injections u:X→N and v:Y→N, which exist because X and Y are countable. Then (x,y)↦(u(x),v(y)) is an injection X×Y→N2, being injective in each slot, and composing it with the bijection of Step 1 gives an injection X×Y→N.
Item 2 (indexed unions). Write U=⋃α∈AXα. Deleting the indices α with Xα=∅ changes neither U nor the countability of the index set, a subset of a countable set being countable because the restriction of an injection is an injection. If every Xα was empty then U=∅ is countable; so assume the remaining index set, still called A, is nonempty and every Xα is nonempty.
Step 1 (one enumeration per piece). Each Xα is nonempty and countable, so by part 2 of the previous statement there is a surjection N→Xα. Choose one, fα, for every α∈A simultaneously; this is the axiom of choice again (see the remark).
Step 2 (one surjection onto the union). Define F:N×A→U by F(n,α)=fα(n). It is surjective: any u∈U lies in some Xα, and fα is onto Xα, so u=fα(n) for some n.
Step 3 (transfer).N×A is countable by item 1. By part 2 of the previous statement the surjection F yields an injection U→N×A, and composing it with an injection N×A→N gives an injection U→N. So U is countable.
Item 3 (countable and infinite means in bijection with N).
Step 1 (reduce to a subset of N). Let X be countable and infinite and let u:X→N be an injection. Then u is a bijection of X onto S=u(X)⊆N, and S is infinite because X is. If φ:N→S is a bijection then φ−1∘u:X→N is one, so it is enough to enumerate S.
Step 2 (take least elements). Set φ(1)=minS and recursively φ(n)=min(S∖{φ(1),…,φ(n−1)}). Each set whose minimum is taken is a nonempty subset of N — nonempty because S is infinite while the removed set is finite — and every nonempty subset of N has a least element, so φ is well defined.
Step 3 (φ is strictly increasing). By construction φ(n) differs from φ(1),…,φ(n−1). Moreover φ(n)>φ(n−1): both belong to S∖{φ(1),…,φ(n−2)}, of which φ(n−1) is the least element and from which φ(n) differs. An induction now shows that φ(n) is the n-th smallest element of S.
Step 4 (φ is onto). Let s∈S and let m be the number of elements of S that are ≤s; this is finite, there being at most s positive integers ≤s. Then s is the m-th smallest element of S, hence s=φ(m) by Step 3. So φ is a bijection and card(X)=card(N). Steps 2 to 4 alone are the special case of an infinite S⊆N.
Item 4 (the usual number systems).Z=N∪{−n:n∈N}∪{0} is a union of three countable sets over the index set {1,2,3}, which is finite and hence countable, so Z is countable by item 2. Then Z×Z is countable by item 1, and
(m,n)↦{m/n,0,n=0,n=0,
is a surjection Z2→Q, because every rational is a quotient of two integers with nonzero denominator. Step 3 of item 2 transfers countability along a surjection, so Q is countable. Both are infinite, containing N, so by item 3 both are in bijection with N.
Item 5 (card(P(N))=c).
Step 1 (an injection P(N)→R). For A⊆N put s(A)=∑n∈A2−n, a subseries of ∑n≥12−n=1 and so convergent with 0≤s(A)≤1. Following Folland (p. 8), define
Φ(A)={s(A),1+s(A),N∖A infinite,N∖A finite.
Values of the first kind lie in [0,1] and values of the second in (1,2], since a set with finite complement is nonempty and so has s(A)>0. So two sets falling under different cases get different values.
Step 2 (injectivity within a case). Let A=B fall under the same case and let m be the least element of A△B, say m∈A∖B. Then A and B agree on {1,…,m−1}, so
using ∑n>m2−n=2−m. Equality would force the subtracted sum to be all of ∑n>m2−n and the added one to vanish, that is, every n>m to lie in B and none in A. Then A⊆{1,…,m} has infinite complement while N∖B⊆{1,…,m} is finite, putting A and B under different cases, against the assumption. So s(A)=s(B), hence Φ(A)=Φ(B), and with Step 1, Φ is injective: card(P(N))≤card(R).
Step 3 (an injection R→P(Q)). Send x to Cx={q∈Q:q<x}. If x<y, some rational lies strictly between them and belongs to Cy but not to Cx, so Cx=Cy: the map is injective.
Step 4 (powers sets of countably infinite sets).Q is countable and infinite, so item 3 gives a bijection ψ:Q→N. Then A↦ψ(A) is a bijection P(Q)→P(N), its inverse being B↦ψ−1(B). With Step 3 this gives card(R)≤card(P(N)).
Step 5 (conclude). Injections run both ways between P(N) and R, so Schröder-Bernstein gives card(P(N))=card(R)=c. Cantor's theorem then supplies card(N)<card(P(N))=c. Were R countable we would have card(R)≤card(N), and with card(N)≤card(R) from the inclusion N⊆R, Schröder-Bernstein would make card(P(N))=card(N), which Cantor's theorem forbids. So R is uncountable. For the second injection Folland instead builds a surjection P(Z)→R out of binary expansions; Steps 3 and 4 replace that by an injection, which spares us having to decide which expansions occur.
Item 6 (beyond the continuum). Assume card(X)>c, so some surjection X→R exists. Suppose X were countable, that is, an injection X→N exists. Part 2 of the earlier statement converts the surjection X→R into an injection R→X, which composed with the injection X→N gives card(R)≤card(N). Together with card(N)≤card(R) and Schröder-Bernstein that makes card(R)=card(N), contradicting item 5 and Cantor's theorem. So X is uncountable. □
RemarkOriginal
Sharp forms of the image identities. The one-sided relations in the statement above become equalities exactly under the obvious hypotheses, and this is where most slips occur. For f:X→Y:
D⊆f−1(f(D)) for every D⊆X, with equality for every D if and only if f is injective.
f(f−1(E))=E∩f(X) for every E⊆Y; in particular f(f−1(E))⊆E, with equality for every E if and only if f is surjective.
f(⋂αDα)⊆⋂αf(Dα) for every nonempty family, with equality for every such family if and only if f is injective.
The failures are visible in one example: for f:R→R, f(x)=x2, take D1={1} and D2={−1}. Then D1∩D2=∅, so f(D1∩D2)=∅, while f(D1)∩f(D2)={1}. The same f has f(f−1({−1}))=∅={−1}, because f is not surjective, and f−1(f({1}))={−1,1}={1}, because f is not injective.
Where the hypotheses are used in the countability list. Item 2 needs both that the index set and each Xα be countable. Dropping the first gives a false statement: R=⋃x∈R{x} is an uncountable union of one-point sets. Item 2 also uses the axiom of choice (countable choice suffices), to pick one surjection N→Xα for each α simultaneously; the same is true of the implication "a surjection Y→X yields an injection X→Y" in the second statement above, which chooses one preimage in each fibre. See Zorn's lemma and the axiom of choice. Item 3 needs the word infinite in its hypothesis and not merely "countable": a finite set is countable but admits no bijection onto N, so the conclusion card(X)=card(N) would be false for it. Item 3 is also what makes the phrase "countably infinite" unambiguous: without it, the definition used here (countable and not finite) and the one many books give (in bijection with N) would be two different conditions.
Technique. The set Y={x:x∈/g(x)} in Cantor's theorem is the diagonal argument in its cleanest form: Y differs from g(x) at the point x, for every x at once. The familiar decimal version, in which a real number is built to differ from the n-th number of a proposed list in its n-th digit, is the same argument applied to X=N after identifying P(N) with the set of sequences of 0s and 1s.
Remark(Conventions, and what the sources leave open)AdaptedAdapted from Folland (1999), §0.1, p. 1, §0.3, pp. 6-7, and §0.7, p. 17; Hassani (2013), §1.1, p. 2, and §1.4, p. 11; Lee (2013), Appendix A, p. 600
Conventions that differ between books.
N. Folland (p. 1) and this handbook take N={1,2,…}. Hassani (p. 2) takes N to be the nonnegative integers, so his index sets commonly start at 0. Nothing in this unit depends on the choice, but formulas quoted from a book may be off by one index.
"Countable" and "countably infinite". Both definitions here are Folland's (p. 7): countable means an injection into N exists, and countably infinite means countable and not finite. Lee (p. 600) defines the two in the opposite order, countably infinite first as "admits a bijection with the positive integers" and then countable as "finite or countably infinite". The two routes define the same two classes of sets, but only because of item 3 of the countability list; with Lee's definitions item 3 is a definition and the sentence "a countable set is either finite or countably infinite" is the theorem, and with Folland's it is the other way round. Some older books reserve "countable", or Folland's synonym denumerable, for countably infinite sets only, so that finite sets are not countable; read any such statement with the finite case checked separately.
card(X) as an object, and the strict relations. We never need a cardinal number; only the five relations listed above are defined, as in Folland (p. 6), and his > (surjection but no bijection) is not by definition the mirror image of his < (injection but no bijection): that card(X)>card(Y) and card(Y)<card(X) say the same thing needs the injection-surjection equivalence (item 2 of "Injections both ways, and injections versus surjections" above), together with the fact that the inverse of a bijection is a bijection. Books that construct cardinals as sets (via ordinals) can write card(X) alone and compute with 2ℵ0; the statements here are the same statements.
What is deliberately left open. The assertion "card(X)<c forces X to be countable" is the continuum hypothesis. As Folland records on p. 17, set theory with choice can consistently accommodate either it or its negation, so no argument here may lean on it. Hassani (p. 11) notes that Cantor gave two proofs that R is not in bijection with the integers, and that the shorter second one is the argument used today.
Example(An explicit bijection N×N→N, and a numbering of the positive rationals)Original
The diagonal listing used in the proof is not the only enumeration of N2, and a different one gives formulas that can be evaluated by hand.
The map. Define σ:N×N→N by
σ(j,k)=2j−1(2k−1).
Why it is a bijection. Every n∈N can be written as n=2ab with a≥0 an integer and b odd: divide by 2 while the result is even, which must stop because the quotients strictly decrease. The pair (a,b) is determined by n, since 2ab=2a′b′ with b,b′ odd forces a=a′ (otherwise one side is divisible by a higher power of 2 than the other) and then b=b′. Putting a=j−1 and b=2k−1 recovers (j,k) uniquely, and every (j,k) arises. So σ is a bijection, and N2 is countable — a second proof of item 1 of the countability list, independent of the diagonal order.
Values both ways.σ(5,13)=24⋅25=400. In the other direction, 2024=23⋅253 with 253 odd, so j=4 and 2k−1=253, giving k=127; the check is 23⋅253=2024 and 2⋅127−1=253. Thus σ(4,127)=2024.
Numbering the positive rationals. Every x∈Q with x>0 has exactly one representation x=p/q with p,q∈N coprime. Define
τ(x)=σ(p,q)=2p−1(2q−1).
This is injective: τ(x)=τ(x′) gives (p,q)=(p′,q′) because σ is injective, and the lowest-terms representation determines x. So Q>0 is countable, with τ as an explicit injection into N.
Values.τ(1)=σ(1,1)=20⋅1=1; τ(3/7)=σ(3,7)=22⋅13=52; τ(7/3)=σ(7,3)=26⋅5=320. The asymmetry between 52 and 320 is expected: τ distinguishes a rational from its reciprocal.
It is an injection and not a bijection. The number 6=21⋅3=σ(2,2) would need (p,q)=(2,2), which is not in lowest terms, so 6 is not a value of τ. By item 3 of the countability list a bijection Q>0→N nevertheless exists, since Q>0 is countable and infinite; the point of items 1 to 3 is exactly that one need not exhibit it.
ApplicationOriginal
Whether an index set is countable decides the form every formula written over it can take.
Sums or integrals. A separable Hilbert space has a countable orthonormal basis, so the field modes in a box of finite size are indexed by a countable set — in a cubical box, by Z3, countable by items 1 and 4 — and every state is a convergent series over that index, every partition function a sum ∑ne−βEn. Letting the box grow replaces the countable index by R3, which is uncountable, and every sum must then be rewritten as an integral against a density of states. The passage from Fourier series to the Fourier transform is the same replacement, and the reason the two theories look different is a difference of cardinality in the index set.
Why probability is stated for sets and not for outcomes. The outcomes of an infinite sequence of coin tosses are the maps N→{0,1}, which correspond bijectively to the subsets of N (a map goes to the set where it takes the value 1). By Cantor's theorem and item 5 that set of outcomes has cardinality c and is uncountable, while each individual sequence has probability limn2−n=0. A probability therefore cannot be assembled by adding up the probabilities of the individual outcomes, which is precisely why measures are defined on σ-algebras of subsets (sigma-algebras and measures) rather than on points.
Most functions cannot be written down. Over a finite alphabet the strings of length n are finitely many, so by item 2 the set of all finite strings is countable: there are only countably many formulas, programs, or closed-form expressions. The functions R→{0,1}, on the other hand, correspond to the subsets of R, and Cantor's theorem puts their number strictly above c. Almost every function is therefore nameless, which is the background fact that makes numerical analysis and approximation theory necessary rather than merely convenient.
States Zorn's lemma on partially ordered sets, proves that it implies the well-ordering principle, the axiom of choice and the Hausdorff maximal principle, and gives the standard recipe for extracting a maximal object from it.
A partial order on a set M is a relation, written ⪯, such that for all a,b,c∈M
a⪯a (reflexivity);
a⪯b and b⪯a force a=b (antisymmetry);
a⪯b and b⪯c give a⪯c (transitivity).
The pair (M,⪯) is a partially ordered set, or poset. We write a≺b for "a⪯b and a=b". Nothing requires two given elements to be related: if neither a⪯b nor b⪯a holds, a and b are incomparable, and the word "partial" records exactly this possibility. A poset in which no two elements are incomparable is totally ordered (equivalently linearly ordered); a totally ordered subset of a poset is a chain.
Let C⊆M. An element u∈M is an upper bound of C if x⪯u for every x∈C. The upper bound is required to lie in M, but it need not lie in C, and it need not exist at all.
An element m∈M is maximal if the only x∈M with m⪯x is x=m: nothing in M lies strictly above m. Three cautions, all of which matter below.
A maximal element need not be a greatest element. Maximality says that nothing beats m; it does not say that m beats everything, because elements incomparable with m are neither.
Maximal elements need not be unique.
A maximal element of a subset C need not be an upper bound of C, again because of incomparability.
Four examples fix the idea; the first three are standard and the orders should be checked against the three axioms once.
R with its usual ≤ is totally ordered and has no maximal element.
The power set P(X) ordered by inclusion is partially ordered, with X as its one maximal element. Distinct singletons {x} and {y} are incomparable, so the order is not total as soon as X has two elements.
N ordered by divisibility (m⪯n when m divides n) is partially ordered; 2 and 3 are incomparable.
In Rn, declaring x⪯y when xj≤yj for every coordinate j is a partial order, and for n≥2 it is not total.
Definition(Choice functions, well orderings)AdaptedAdapted from Dummit & Foote (2004), Appendix I, §1, Definition, p. 905; Folland (1999), Prologue, §0.1, p. 4 and §0.2, p. 5
Let {Xα}α∈A be a family of sets indexed by a nonempty set A. A choice function for the family is a map
f:A⟶α∈A⋃Xαwithf(α)∈Xα for every α∈A,
that is, a simultaneous selection of one element out of each Xα. As in Sets, functions and countability, the Cartesian product∏α∈AXαis the set of these choice functions, so "a choice function exists" and "the product is nonempty" are the same assertion.
A total order ⪯ on a set X is a well ordering if every nonempty subset of X has a least element: for each nonempty B⊆X there is s∈B with s⪯b for all b∈B. Such an s is unique, by antisymmetry. The usual order on N is a well ordering; the usual order on R, and on Q, is not, since (0,1) has no least element.
each chain C⊆M admits at least one upper bound belonging to M.
Then some element of M is maximal.
The second hypothesis is required of all chains of M, not merely of those one happens to be interested in; the conclusion asserts existence only, and says nothing about how many maximal elements there are or how to find one.
Theorem(Equivalence with the axiom of choice)AdaptedAdapted from Dummit & Foote (2004), Appendix I, §2, Theorem 2 and the preceding independence remark, p. 909; Folland (1999), Prologue, §0.1-0.4, pp. 5-6; Kreyszig (1978), §4.1, footnote to 4.1-6, p. 211
Work in Zermelo-Fraenkel set theory with no choice principle assumed. Then these four assertions imply one another, and each is independent of that theory: granting the theory is consistent, neither the assertion nor its negation is derivable in it.
Zorn's lemma, as stated above.
The axiom of choice. Any nonempty family of nonempty sets possesses a choice function; equivalently, its product is not empty.
The well ordering principle. On every nonempty set there exists a well ordering.
The Hausdorff maximal principle. Inside any poset there is a chain which is maximal for inclusion, that is, properly contained in no other chain.
Dummit and Foote state the equivalence of items 1-3 as their Theorem 2 (p. 909) and refer the reader elsewhere for its proof; Folland takes item 4 as his starting principle and derives items 1-3 from it (pp. 5-6). Because none of the four is a theorem of Zermelo-Fraenkel set theory, one of them must be adopted as an axiom; which one is a matter of taste. Kreyszig assumes Zorn's lemma (p. 211), Folland assumes the Hausdorff maximal principle (p. 5), and Reed and Simon note that the choice is exactly this, a starting point rather than a result (p. 3).
Idea of the proofOriginal
Zorn's lemma is a substitute for induction in situations where there is no "next step" to take. To build a maximal object one would like to enlarge a partial object again and again; induction along N runs out after countably many enlargements, and in general no countable process reaches the end. Zorn's lemma removes the process altogether: it asks only that every totally ordered family of partial objects can be capped by a single partial object, and returns an object that cannot be enlarged at all.
The proofs below run in one direction around the circle of equivalences and show how each statement feeds the next. Zorn's lemma is applied to a poset whose elements are themselves orders on subsets of X; the maximal element of that poset turns out to be a well ordering of all of X, because anything less could be extended by one point. Once X is well ordered, a choice function costs nothing: take the least element of each Xα. The one implication we do not prove, the return from the axiom of choice to Zorn's lemma, is the genuinely hard one, and it is where all the set-theoretic work of the equivalence sits.
Proof(Zorn's lemma implies the other three)AdaptedAdapted from Folland (1999), Prologue, §0.2, pp. 5-6 (proof routes of 0.1, 0.3 and 0.4); Dummit & Foote (2004), Appendix I, §2, Theorem 2, p. 909
Throughout, X is a nonempty set and Zorn's lemma is assumed.
Step 1: the Hausdorff maximal principle. Let (X,⪯) be a poset and let L be the set of all chains of X, ordered by inclusion. It is nonempty, since ∅∈L.
Let C⊆L be a chain of chains and put U=⋃C∈CC, with U=∅ if C is empty. Then U∈L: given x,y∈U, say x∈C1 and y∈C2 with C1,C2∈C, the fact that C is totally ordered by inclusion puts both of C1,C2 inside the larger of the two, which is a chain of X, so x and y are comparable. Plainly C⊆U for each C∈C, so U is an upper bound of C in L.
Zorn's lemma applies to L and produces a maximal element, which is by definition a chain of X contained in no strictly larger chain.
Step 2: the well ordering principle. Let W be the set of pairs (E,⪯E) in which E⊆X and ⪯E is a well ordering of E. Order W by
(E1,⪯1)⊑(E2,⪯2)⟺E1⊆E2,⪯2 agrees with ⪯1 on E1, and y⪯2x for all y∈E1,x∈E2∖E1.
The third clause says that E1 sits at the bottom of E2 as an initial segment; it is what makes the argument work, and it is dropped at no stage. Reflexivity, antisymmetry and transitivity of ⊑ are immediate from those of ⊆ together with the agreement clause. W is nonempty: X is nonempty, so pick x∈X and take the one-point well ordering of {x}.
Let C={(Ei,⪯i)}i∈I be a nonempty chain in W. Put E=⋃iEi and let ⪯ be the union of the relations ⪯i, that is, y⪯x when y⪯ix for some i. We check the three things an upper bound needs.
⪯ is a well-defined total order on E. Given x,y∈E, say x∈Ei and y∈Ej, one of (Ei,⪯i)⊑(Ej,⪯j) or the reverse holds, since C is a chain; in either case both points lie in the larger set and are compared there, and the agreement clause makes the verdict independent of which Ek one reads it in. Transitivity and antisymmetry follow the same way, by moving the two or three points into a single Ek.
⪯ well orders E. Let B⊆E be nonempty and choose x∈B, say x∈Ei. Then B∩Ei is a nonempty subset of the well-ordered set Ei, so it has a ⪯i-least element m. We claim m is ⪯-least in B. Let b∈B, say b∈Ej. If (Ej,⪯j)⊑(Ei,⪯i) then b∈Ei, so b∈B∩Ei and m⪯ib. Otherwise (Ei,⪯i)⊑(Ej,⪯j); if b∈Ei the same conclusion holds, and if b∈Ej∖Ei then the initial-segment clause gives y⪯jb for every y∈Ei, in particular for y=m.
(E,⪯) dominates every member of C. Each Ei⊆E, the orders agree by construction, and any x∈E∖Ei lies in some Ej with (Ei,⪯i)⊑(Ej,⪯j), whence y⪯x for all y∈Ei.
So (E,⪯)∈W is an upper bound of C, and Zorn's lemma gives a maximal (E∗,⪯∗)∈W. Suppose E∗=X and pick x0∈X∖E∗. Extend ⪯∗ to E∗∪{x0} by placing x0≻y for every y∈E∗. The result is a well ordering: a nonempty subset either meets E∗, and then its least element is the one it has in E∗, or it is {x0}. The extension dominates (E∗,⪯∗) strictly, contradicting maximality. Hence E∗=X and ⪯∗ well orders X.
Step 3: the axiom of choice. Let {Xα}α∈A be a nonempty family of nonempty sets and set X=⋃α∈AXα, which is nonempty. By Step 2 fix a well ordering of X and define
f(α)=the least element of Xα in that well ordering.
Each Xα is a nonempty subset of X, so the least element exists and is unique, and f(α)∈Xα by construction. Thus f is a choice function and ∏α∈AXα=∅. Note what has been bought: one well ordering, chosen once, decides all the selections at once, which is precisely what an arbitrary family refuses to do by itself.
Closing the circle. The Hausdorff maximal principle implies Zorn's lemma in one line: take a maximal chain C of M, let u be an upper bound of C, and observe that u is maximal, since u≺x would make C∪{x} a strictly larger chain. The remaining implication, from the axiom of choice back to Zorn's lemma or to the Hausdorff maximal principle, is the deep one and is not proved here; Folland records that the two are logically equivalent (p. 6) and Dummit and Foote refer to Hewitt and Stromberg for the full set of implications (p. 909). □
Remark(Where the hypotheses are used)Original
Zorn's lemma has exactly two hypotheses, and each has a one-line counterexample.
"M is nonempty." Without it the conclusion is false for the empty poset, which has no elements and so no maximal one, while the chain condition holds vacuously if one reads "every chain" as "every nonempty chain". The two readings of the chain condition are what is at stake: if the empty chain is admitted, an upper bound for it is any element of M whatsoever, so the chain condition already forces M=∅ and the first hypothesis becomes redundant. Kreyszig, Folland and Dummit and Foote all state nonemptiness separately, and that is the convention used here.
"Every chain has an upper bound in M." Drop it and the conclusion fails: R with its usual order has no maximal element, and the obstruction is visible in the chain R itself, which has no upper bound (Kreyszig, Example 4.1-2, p. 210). The words in M carry weight. Let M be the set of proper subsets of N ordered by inclusion. The chain {1}⊂{1,2}⊂{1,2,3}⊂⋯ has union N, which is not in M, and no proper subset of N contains every {1,…,n}; so this chain has no upper bound in M and the hypothesis fails. Here the conclusion nevertheless holds, since N∖{n} is maximal in M for each n: the hypothesis is sufficient, not necessary (Dummit and Foote, Appendix I, §2, Examples (2) and (3), p. 909).
In applications the chain hypothesis is almost always the only one that takes work, and it almost always fails for the same reason it fails here: the natural candidate for the upper bound, the union of the chain, leaves the set M. Step 4 of the method below is where that is checked.
What the lemma does not give is uniqueness or constructibility. It produces at least one maximal element, usually many — the counterexample poset above has one for every n — and it produces them by an argument that exhibits nothing. A basis of R over Q obtained in this way cannot be written down.
Note(A stronger-looking phrasing)AdaptedAdapted from Reed & Simon (1980), §I.1, Thm I.2, p. 3
Reed and Simon keep the hypotheses above but state a formally stronger conclusion: if X is a nonempty poset each of whose totally ordered subsets is bounded above by an element of X, then any totally ordered subset of X has some upper bound which is simultaneously a maximal element of X (Theorem I.2, p. 3). Taking the chain to be a single point recovers the version stated above. Conversely their form follows from the Hausdorff maximal principle: a chain C extends to a maximal chain C′, and an upper bound u of C′ is an upper bound of C and is maximal, since u≺x would enlarge C′. The two statements are therefore equivalent, and the handbook uses the shorter one.
Method(Getting a maximal object out of Zorn's lemma)Original
Nearly every application follows one template. To produce an object that is maximal with respect to some property P:
Choose the poset. Let M be the set of all objects of the relevant kind that have property P — usually a set of subsets of one fixed set X, or of partial structures defined on subsets of X.
Choose the order. Take inclusion, or extension of partial structures. Check the three axioms if the order is anything other than inclusion.
Show M=∅. Exhibit one object. This step is where a nondegeneracy hypothesis of the theorem ("X={0}", "the ideal is proper") is normally consumed.
Bound the chains. Take an arbitrary nonempty chain C⊆M, propose u=⋃C∈CC as its upper bound, and prove that u has property P. This is the only step that uses anything specific about P, and it succeeds precisely when P can be tested on finitely many elements at a time: any finite set of elements of u already lies in a single C∈C, because C is totally ordered, and there P is known.
Apply the lemma.M has a maximal element m.
Cash in maximality. Assume m fails the conclusion wanted, and use that failure to build an element of M strictly containing m. The contradiction with maximality finishes the proof.
Step 6 is the one that decides what the theorem says: the same poset with a different argument at step 6 yields a different conclusion.
Example(A maximal ideal containing 1260Z)Original
We run the recipe on a case small enough to count, and compare the answer with what the lemma predicts.
Recall that an ideal of Z is a subset J⊆Z closed under subtraction and under multiplication by arbitrary integers; it is proper if J=Z, equivalently if 1∈/J, since an ideal containing 1 contains r⋅1 for every r. (See Rings and fields for the general setting.) Fix I0=1260Z and ask for a proper ideal containing I0 that is as large as possible.
Steps 1 and 2. Let M={J:J an ideal of Z,I0⊆J⊊Z}, ordered by inclusion.
Step 3.1260∤1, so 1∈/I0 and I0 is proper; hence I0∈M and M=∅.
Step 4. Let C⊆M be a nonempty chain and U=⋃J∈CJ. If a,b∈U, say a∈J1 and b∈J2, then both lie in whichever of J1,J2 is the larger, so a−b lies in it and hence in U; and ra∈J1⊆U for every r∈Z. So U is an ideal, and I0⊆U. It is proper because 1 lies in no member of C and therefore not in their union. Thus U∈M is an upper bound. This is step 4 of the method in its typical form: "is an ideal" and "omits 1" are both testable two elements at a time.
Step 5. Zorn's lemma gives a maximal element m∈M.
Step 6.m is a maximal ideal of Z: if m⊊J⊊Z for an ideal J, then J⊇I0 and J is proper, so J∈M, contradicting maximality of m in M.
Counting the poset. Every ideal of Z is dZ for a unique d≥0, and dZ⊆eZ exactly when e∣d, so inclusion is divisibility read backwards. Hence dZ⊇1260Z iff d∣1260, and dZ is proper iff d=1. With
1260=22⋅32⋅5⋅7,τ(1260)=(2+1)(2+1)(1+1)(1+1)=36,
the poset M has 36−1=35 elements. Its maximal elements are the dZ with d>1 having no divisor strictly between 1 and d, that is, with d prime: 2Z, 3Z, 5Z, 7Z, so there are exactly 4 of them. The longest chain in M has Ω(1260)=2+2+1+1=6 elements, one for each prime factor counted with multiplicity, for instance
1260Z⊂630Z⊂210Z⊂42Z⊂21Z⊂7Z.
The three numbers 35, 4 and 6 check the whole picture: the lemma promised at least one maximal element and there are four, none of which is an upper bound for all of M — 2Z and 3Z are incomparable — which is caution 1 of the first definition in action.
Two honest remarks. First, in Z the appeal to Zorn's lemma is a formality: the chains here are finite and the answer was read off from the factorisation. Second, the argument of steps 1-6 used nothing about Z beyond the two facts quoted about ideals, so it proves verbatim that in any commutative ring with identity every proper ideal lies in a maximal ideal — and there, with no factorisation to fall back on, the lemma is doing real work.
Zorn's lemma is invisible in calculations and unavoidable in the structure theory that licenses them.
Bases of infinite-dimensional spaces. Every vector space other than {0} has a basis, obtained by applying the recipe to the poset of linearly independent subsets ordered by inclusion (Kreyszig, 4.1-7, p. 211); the same argument extends any given linearly independent set to a basis (Lee, Exercise B.5(a), p. 620). In finite dimensions this is ordinary linear algebra, but for a space such as the continuous functions on [0,1] no basis can be exhibited, and only Zorn's lemma says one exists.
Complete sets of states. Every Hilbert space other than {0} contains a total orthonormal set: apply the recipe to the orthonormal subsets, and at step 6 use the fact that a vector orthogonal to a maximal orthonormal set must vanish (Kreyszig, 4.1-8, p. 212). This is the theorem behind the physicist's "complete set of basis states", and it holds with no separability assumption, so it still applies to the non-separable spaces that appear in the thermodynamic limit of a quantum system. See Orthonormal bases in Hilbert space.
Extension of functionals. The Hahn-Banach theorem is proved by Zorn's lemma applied to the poset of partial extensions of a linear functional, ordered by extension of the domain; Kreyszig introduces the lemma for exactly this purpose (§4.1, p. 210). Hahn-Banach is what makes dual spaces large enough to separate points, and hence what makes expectation-value functionals on an algebra of observables a well-behaved object.
Compactness of infinite products. Tychonoff's theorem — an arbitrary product of compact spaces is compact in the product topology, a statement about compactness far beyond the finite-dimensional case — requires the axiom of choice in every known proof, and Kelley's argument shows that it in turn implies the axiom of choice, so the two are equivalent (Reed and Simon, p. 101; Folland, Notes to §4.6, p. 148). Compactness arguments on infinite configuration or state spaces therefore inherit the whole of Zorn's lemma.
The price is paid in the other direction. A basis of R as a vector space over Q, which exists by the first item, yields additive functions f(x+y)=f(x)+f(y) that are not linear and not measurable; and the standard non-measurable subset of the line is built from a choice function. Objects produced by Zorn's lemma are guaranteed, never constructed, and anything one wants to compute with needs to be obtained some other way.
Defines a topology and the derived notions of closed set, neighbourhood, interior, closure and boundary, gives the metric topology and the subspace topology, and states what a basis is and what the Hausdorff condition buys.
What it means. A topology is the minimum structure needed to say "near" without saying "how near": it records which sets are open, and everything else - closure, boundary, convergence, continuity - is read off from that. Every metric gives a topology, and that is the case a physicist meets almost always; the abstraction earns its keep when a useful notion of convergence has no natural distance behind it, as for pointwise or weak convergence. The Hausdorff condition is the small extra assumption that makes limits unique, and without it almost nothing familiar survives.
A topology on a set X is a collection T of subsets of X such that
∅∈T and X∈T;
the union of any family of members of T is in T;
the intersection of any finite family of members of T is in T.
The pair (X,T) is a topological space, the members of T are the open sets, and a set F⊆X is closed if X∖F is open. By De Morgan's laws the closed sets are therefore closed under arbitrary intersections and finite unions. When the topology is understood one writes "X is a topological space".
Two topologies always exist on any X: the discrete topology T=P(X), in which every subset is open, and the trivial topology T={∅,X}. If T1⊆T2 then T1 is weaker (coarser) than T2, and T2 is stronger (finer) than T1.
Definition(Neighbourhood, interior, closure, boundary, dense)AdaptedAdapted from Lee (2013), Appendix A, pp. 596-597; Folland (1999), §4.1, p. 114; Ahlfors (1979), Ch. 3, §1.2, pp. 52-53
Let (X,T) be a topological space, p∈X and S⊆X. Throughout this handbook a neighbourhood of p is an open set containing p, and a neighbourhood of S is an open set containing S. Then:
the interiorIntS (also written S∘) is the largest open set that S contains, obtained as ⋃{U∈T:U⊆S};
the exteriorExtS is Int(X∖S);
the closureS is the intersection of all closed sets containing S: the smallest closed set containing S;
the boundary∂S is the set of points of X lying in neither IntS nor ExtS;
p is a limit point (or accumulation point) of S if every neighbourhood of p contains a point of S other than p; acc(S) denotes the set of limit points of S;
p∈S is an isolated point of S if some neighbourhood U of p has U∩S={p};
S is dense in X if S=X, and nowhere dense in X if S contains no nonempty open set.
A sequence {pi}i=1∞ in Xconverges to p∈X if for every neighbourhood U of p there is N∈N with pi∈U for all i≥N; one writes pi→p.
Definition(How the derived sets are computed)AdaptedAdapted from Folland (1999), §4.1, p. 114 and Prop 4.1; Lee (2013), Appendix A, pp. 596-597; Ahlfors (1979), Ch. 3, §1.2, pp. 52-53
Let X be a topological space and S⊆X, and write Sc=X∖S. Then
(IntS)c=Sc,(S)c=Int(Sc),∂S=S∖IntS=S∩Sc.
Moreover:
openness of S amounts to S=IntS, and equally to this: every p∈S has an open U with p∈U⊆S;
closedness of S amounts to S=S;
a point p lies in S exactly when each of its neighbourhoods meets S;
S=S∪acc(S), so S is closed exactly when acc(S)⊆S;
∂S is closed, and the three sets IntS, ∂S, ExtS are pairwise disjoint with union X.
Idea of the proof(How the derived sets are computed)Original
One identity carries all the others. Taking complements turns the open subsets of S into the closed supersets of Sc, and turns a union into an intersection; so "the largest open set inside S" becomes "the smallest closed set outside Sc", which is the first display. The second is the first applied to Sc, and the boundary formulas follow by writing ∂S as a complement of the other two regions.
The list that follows is then bookkeeping with that identity. Items 1 and 2 are immediate from the extremality built into the definitions of Int and S. Item 3 is the complement identity read as a statement about points: a point fails to be in the closure exactly when it is interior to the complement, that is, when one of its neighbourhoods avoids S entirely. Item 4 only has to deal with the clause "other than p" in the definition of a limit point, which is free for points outside S, and item 5 is a disjointness count.
Proof(How the derived sets are computed)AdaptedAdapted from Folland (1999), §4.1, p. 114 and Prop 4.1; Lee (2013), Appendix A, pp. 596-597; Ahlfors (1979), Ch. 3, §1.2, pp. 52-53
Step 1 (the first identity). By definition IntS=⋃{U∈T:U⊆S}, a union over a family that is never empty, ∅ being open and contained in S. De Morgan's law gives
(IntS)c=⋂{Uc:U∈T,U⊆S}.
Complementation is a bijection of P(X) with U∈T⟺Uc closed and U⊆S⟺Sc⊆Uc, so as U runs over the open subsets of S, F=Uc runs over exactly the closed sets containing Sc. The intersection above is therefore ⋂{F closed:Sc⊆F}=Sc.
Step 2 (the second identity). Apply Step 1 with Sc in place of S: (IntSc)c=(Sc)c=S. Complementing both sides gives (S)c=Int(Sc).
Step 3 (the boundary). By definition ∂S=X∖(IntS∪ExtS)=(IntS)c∩(Int(Sc))c, and Steps 1 and 2 identify the two factors as Sc and S. Hence ∂S=S∩Sc. The same two sets also give the other form: S∖IntS=S∩(IntS)c=S∩Sc by Step 1.
Step 4 (item 1).IntS is a union of open sets, hence open by axiom 2, and IntS⊆S because each set in the union is. If S is open then S is itself one of the sets in the union, so S⊆IntS and therefore S=IntS; conversely S=IntS exhibits S as open. For the pointwise form: S⊆IntS says each p∈S lies in some open U⊆S, and conversely any such U is one of the sets whose union is IntS.
Step 5 (item 2).S is an intersection of closed sets, hence closed (complements, axiom 2 and De Morgan), and S⊆S because every set in the intersection contains S. If S is closed it belongs to that family, so S⊆S and S=S; conversely S=S is closed.
Step 6 (item 3). By Step 2 and the pointwise form of Step 4,
p∈/S⟺p∈Int(Sc)⟺some open U has p∈U⊆Sc⟺some neighbourhood of p misses S.
Negating both ends: p∈S exactly when every neighbourhood of p meets S.
Step 7 (item 4). For the inclusion ⊇: S⊆S by Step 5, and if p∈acc(S) then every neighbourhood of p contains a point of S (one different from p, but in particular a point of S), so p∈S by item 3. For ⊆: let p∈S with p∈/S. By item 3 every neighbourhood of p contains a point of S, and that point differs from p because p∈/S; so p∈acc(S). Hence S=S∪acc(S). Consequently S is closed ⟺S=S=S∪acc(S)⟺acc(S)⊆S, using item 2.
Step 8 (item 5). By Step 3, ∂S=S∩Sc is an intersection of two closed sets, hence closed. Next, IntS⊆S and ExtS=Int(Sc)⊆Sc, so IntS∩ExtS⊆S∩Sc=∅. Finally ∂S is by its very definition the complement of IntS∪ExtS, so it is disjoint from both and the three sets have union X. □
Definition(Metric space and the metric topology)AdaptedAdapted from Lee (2013), Appendix A, Examples A.5-A.6, pp. 598-599; Kreyszig (1978), §1.3, Defs 1.3-1 and 1.3-2, pp. 18-19; Ahlfors (1979), Ch. 3, §1.2, pp. 51-52; Folland (1999), §0.6, p. 15
A metric space is a set M with a function d:M×M→R such that, for all x,y,z∈M,
d(x,y)≥0, with d(x,y)=0 if and only if x=y;
d(x,y)=d(y,x);
d(x,z)≤d(x,y)+d(y,z) (the triangle inequality).
For x∈M and r>0, the open ball and closed ball are
Br(x)={y∈M:d(x,y)<r},Br(x)={y∈M:d(x,y)≤r}.
The metric topology on M declares S⊆M open if for every x∈S there is some r>0 with Br(x)⊆S. This is a topology, and every open ball is one of its open sets; the open balls in fact form a basis for it, in the sense defined two blocks below. A topological space whose topology arises from some metric in this way is called metrizable.
Call S⊆Mbounded when some R>0 has d(x,y)≤R throughout S×S. For S nonempty and bounded the diameter of S is diamS=sup{d(x,y):x,y∈S}; following Lee (p. 598) we leave diam∅ undefined, since the supremum would be over the empty set. (Folland, p. 15, instead lets diam take values in [0,∞] and calls S bounded when diamS<∞, which agrees with the definition here on nonempty sets.) A sequence {xi} is Cauchy when, given ε>0, all sufficiently late pairs of its terms satisfy d(xi,xj)<ε, and M is complete when each Cauchy sequence it contains has a limit lying in M (see Limits of sequences and completeness). Equipped with the Euclidean metricd(x,y)=∣x−y∣, the space Rn is complete, and the topology this metric generates on it is the Euclidean topology.
Definition(Subspace topology)AdaptedAdapted from Folland (1999), §4.1, p. 114; Lee (2013), Appendix A, Prop A.17(c), (f), (g), p. 602
If (X,T) is a topological space and S⊆X, then
TS={U∩S:U∈T}
is a topology on S, the subspace (or relative) topology; its members are the sets relatively open in S. A set K⊆S is closed in S if and only if K=L∩S for some set L closed in X. Bases restrict too: if B is a basis for T (next block), then {B∩S:B∈B} is a basis for TS. If X is Hausdorff, so is S. For S⊆M with M a metric space, restricting d to S×S makes S a metric space whose metric topology is the subspace topology.
Definition(Basis)AdaptedAdapted from Lee (2013), Appendix A, p. 600, with Exercise A.15, p. 601; Folland (1999), §4.1, Props 4.2-4.3, p. 115; Reed & Simon (1980), §IV.1, p. 91
Reading a basis off a topology. Take X with a topology T. A subfamily B⊆T is called a basis (or base) for T when each member of T can be written as a union of members of B. The equivalent pointwise test: whenever U∈T and x∈U, some B∈B satisfies x∈B⊆U. A basis thus determines T completely, and is usually far smaller than it - in Rn the balls with rational radii and rational centres suffice, and there are only countably many of them.
Building a topology from a candidate basis. Now let X be a bare set and B any family of subsets of X subject to two requirements:
X=⋃B∈BB;
for B1,B2∈B and x∈B1∩B2, some B3∈B has x∈B3⊆B1∩B2.
Under 1 and 2, all unions of members of B together form a topology on X - the topology generated byB - for which B is a basis. Condition 2 is weaker than asking B to be closed under intersections, which is what makes the construction usable: the open balls of a metric space satisfy 2 but not that stronger condition.
Locally. Given p∈X, a family Bp of neighbourhoods of p is a neighbourhood basis atp when each neighbourhood of p contains at least one member of Bp. In a metric space the balls Br(p) with r a positive rational do this.
Idea of the proof(The metric topology)Original
Three claims made in passing above deserve their proofs: that the recipe "open means containing a ball about each of its points" really satisfies the three axioms, that the balls themselves are open, and that they form a basis.
The first is where the word finite in axiom 3 earns its place: finitely many radii have a positive minimum, infinitely many need not. The second is the triangle inequality and nothing else: a point inside a ball has room around it, the amount of room being the distance to the boundary. The third is then automatic, because the defining condition of an open set is already in the pointwise form that the basis test asks for. The same argument shows that restricting the metric to a subset gives exactly the subspace topology.
Proof(The metric topology, its basis, and its subspaces)AdaptedAdapted from Kreyszig (1978), §1.3, pp. 18-21; Ahlfors (1979), Ch. 3, §1.2, pp. 51-52
Let (M,d) be a metric space and let T be the collection of sets S⊆M such that every x∈S admits some r>0 with Br(x)⊆S.
Step 1 (axiom 1).∅∈T because the condition is vacuous, and M∈T because Br(x)⊆M for any r>0.
Step 2 (axiom 2, arbitrary unions). Let Sα∈T and x∈⋃αSα. Then x∈Sβ for some β, which supplies r>0 with Br(x)⊆Sβ⊆⋃αSα.
Step 3 (axiom 3, finite intersections). Let S1,…,Sk∈T and x∈S1∩⋯∩Sk. Each Si supplies ri>0 with Bri(x)⊆Si. Put r=min{r1,…,rk}, which is positive because there are finitely many of them; then Br(x)⊆Bri(x)⊆Si for every i, so Br(x) lies in the intersection. This is the step that fails for an infinite family, and the first bullet of the remark below shows it must.
Step 4 (every ball is open). Let y∈Br(x) and put ρ=r−d(x,y), which is positive because d(x,y)<r. For z∈Bρ(y) the triangle inequality gives
d(x,z)≤d(x,y)+d(y,z)<d(x,y)+ρ=r,
so Bρ(y)⊆Br(x). As y∈Br(x) was arbitrary, Br(x)∈T.
Step 5 (the balls are a basis). They belong to T by Step 4. If S∈T and x∈S, the defining condition supplies r>0 with x∈Br(x)⊆S, which is exactly the pointwise test for a basis given two blocks above. So every member of T is a union of balls.
Step 6 (a neighbourhood basis of rational radius). Given p∈M and a neighbourhood U of p, Step 5 provides s>0 with Bs(p)⊆U, and any rational r with 0<r<s gives Br(p)⊆Bs(p)⊆U. So the balls about p of positive rational radius form a neighbourhood basis at p.
Step 7 (subspaces). Let S⊆M. The restriction d∣S×S satisfies the three metric axioms, each being a condition on two or three points that d already satisfies for all points of M and hence in particular for those of S; its balls are BrS(x)=Br(x)∩S for x∈S. If V is open in (S,d∣S), then each x∈V has some rx with BrxS(x)⊆V, whence V=⋃x∈V(Brx(x)∩S)=(⋃x∈VBrx(x))∩S, the intersection of S with a set open in M. Conversely if V=U∩S with U open in M and x∈V, then some Br(x)⊆U, so BrS(x)⊆U∩S=V. The two topologies on S therefore coincide. □
Definition(Hausdorff spaces)AdaptedAdapted from Lee (2013), Appendix A, p. 600 and Exercises A.10-A.11; Folland (1999), §4.1, pp. 116-117 and Prop 4.7
Call XHausdorff when any two points of it can be housed in disjoint open sets: given p=q in X there exist U,V open with
p∈U,q∈V,U∩V=∅.
Then:
the metric topology of any metric space is Hausdorff, so every metrizable space satisfies the condition;
in a Hausdorff space each finite subset is closed;
in a Hausdorff space a sequence that converges does so to one point only.
Items 2 and 3 both use the hypothesis and both fail without it; the remark below gives one topology that breaks each of them.
Idea of the proof(Hausdorff spaces)Original
Each of the three parts is one line of geometry. In a metric space two distinct points are a positive distance apart, so balls of half that radius about them cannot overlap without violating the triangle inequality. If points can be separated, then for a fixed p every other point sits in an open set avoiding p, and the union of all those open sets is the complement of {p} — so the complement is open. And a sequence cannot settle into two disjoint open sets at once, because beyond some index it would have to lie in both.
Proof(Hausdorff spaces)AdaptedAdapted from Lee (2013), Appendix A, p. 600 and Exercises A.10-A.11; Folland (1999), §4.1, pp. 116-117 and Prop 4.7
Item 1 (metric spaces are Hausdorff). Let p=q in a metric space M and set r=21d(p,q), which is positive by the first metric axiom, d(p,q)=0 holding only for p=q. The balls Br(p) and Br(q) are open by Step 4 of the previous proof and contain p and q. They are disjoint: a point z in both would give
d(p,q)≤d(p,z)+d(z,q)<r+r=d(p,q),
by the triangle inequality, which is absurd. Hence the metric topology is Hausdorff, and so is the topology of any metrizable space, that topology being a metric topology.
Item 2 (finite sets are closed). First take a single point p∈X. For each q∈X with q=p the Hausdorff condition supplies open sets Uq∋q and Vq∋p with Uq∩Vq=∅; in particular p∈/Uq, so Uq⊆X∖{p}. Every point of X∖{p} lies in its own Uq, so
X∖{p}=q=p⋃Uq,
which is open by axiom 2 (and is ∅, hence open, if X={p}). Therefore {p} is closed. A nonempty finite set is a finite union of such singletons, and finite unions of closed sets are closed because finite intersections of open sets are open; the empty set is closed because X is open.
Item 3 (limits are unique). Suppose pi→p and pi→q with p=q. Choose disjoint open U∋p and V∋q. Convergence to p gives N1 with pi∈U for all i≥N1, and convergence to q gives N2 with pi∈V for all i≥N2. For any i≥max{N1,N2} we then have pi∈U∩V=∅, which is impossible. Hence p=q. □
Remark(Where the hypotheses are used)AdaptedAdapted from Lee (2013), Appendix A, Exercise A.9, p. 600; Kreyszig (1978), §1.3, p. 21
Finiteness in axiom 3. Only finite intersections of open sets are required to be open, and this cannot be relaxed. In R the sets (−1/n,1/n) are open for every n∈N, but ⋂n∈N(−1/n,1/n)={0} is not. (This example is ours.)
Hausdorff in conclusions 2 and 3. One topology breaks both. Give a set X with at least two points the trivial topology {∅,X}, whose only nonempty open set is X itself. Then every sequence converges to every point, so conclusion 3 fails; this is Lee's Exercise A.9, p. 600. And for p∈X the complement X∖{p} is neither ∅ nor X, hence not open, so {p} is not closed and conclusion 2 fails as well. Uniqueness of limits therefore genuinely needs a separation hypothesis. The converse of 3 is not available in this generality: unique sequential limits do not imply Hausdorff for an arbitrary space, although they do when every point has a countable neighbourhood basis.
A non-metrizable space. Since every metric space is Hausdorff, a space that is not Hausdorff cannot be metrizable. The trivial topology on two or more points is again the cheapest example.
A trap in metric spaces.Br(x) need not equal Br(x); Kreyszig warns of this on p. 21 and leaves the example to the reader, so here is one. Take M with the discrete metric d(x,y)=1 for x=y and d(x,x)=0, where M has at least two points. Every subset is open, so B1(x)={x}={x}, while the closed ball B1(x)=M. The two agree in Rn with the Euclidean metric but not in general.
Remark(Interior and closure do not commute with the obvious operations)Original
Int(A∩B)=IntA∩IntB and A∪B=A∪B always hold, but for unions and intersections only the inclusions IntA∪IntB⊆Int(A∪B) and A∩B⊆A∩B hold, and both can be strict: in R with A=Q and B=R∖Q, the left sides are ∅ and ∅ while the right sides are R and R. For the boundary only ∂(A∪B)⊆∂A∪∂B holds, and the same two sets make it strict: ∂(Q∪(R∖Q))=∂R=∅, whereas ∂Q∪∂(R∖Q)=R.
Neighbourhood. This is the one convention that regularly causes trouble. We follow Lee (p. 596): a neighbourhood of pis an open set containing p. Kreyszig (p. 19), Folland (p. 114), Ahlfors (p. 52) and Reed and Simon (p. 91) all use the wider sense, in which a neighbourhood of p is any set that contains an open set containing p - Reed and Simon state explicitly that neighbourhoods need not be open, and Kreyszig notes that the older literature took them to be open.
Every statement in this unit is true under either reading. The reason is that each condition stated in terms of neighbourhoods is monotone in the direction that makes enlarging the family harmless. Conditions of the form "every neighbourhood of p meets S" (the definition of limit point, and item 3 of the derived-sets statement) are unchanged, because a wide neighbourhood of p contains an open one. Conditions of the form "some neighbourhood U of p satisfies …" (the definition of an isolated point) are also unchanged, because such a U may be replaced by the open set IntU, which still contains p and is contained in U. The definition of a neighbourhood basis at p combines the two quantifiers, and for a family of open sets the two readings again agree, since every wide neighbourhood of p contains an open one.
What changes with the convention is how much a single neighbourhood tells you: in the wide sense "U is a neighbourhood of p" says only that p∈IntU, so it does not make U open, whereas under our convention it does. That is the step to watch. The implication "U is a neighbourhood of each of its points, therefore U is open" is not one of the convention-dependent ones: in the wide sense its hypothesis reads p∈IntU for every p∈U, that is U⊆IntU, so U is open - this is precisely Ahlfors's definition of an open set (Def 2, p. 52) and Folland's remark that a set is open exactly when it is a neighbourhood of itself (p. 114); under our convention it holds trivially.
Hausdorff and the separation axioms. Folland (pp. 116-117) presents Hausdorff as the axiom T2 in a ladder T0,…,T4, in which T1 says that one-point sets are closed (his Prop 4.7), T3 is regular and T4 is normal. Conclusion 2 of the Hausdorff statement above is exactly "Hausdorff implies T1"; the converse fails, so a book's "T1" is strictly weaker than our "Hausdorff".
How the metric topology is introduced. Kreyszig (pp. 18-19) and Ahlfors (p. 52) define open sets in a metric space first and then observe that they satisfy the three axioms, so that "a metric space is a topological space". Lee (pp. 596-599) and Folland (p. 114) define the topology first and give the metric topology as an example. The resulting collection of open sets is the same.
Base versus basis. Folland (p. 115) and Reed and Simon (p. 91) write base, Lee (p. 600) writes basis; they are the same notion. Folland additionally uses subbase for a collection whose finite intersections form a base, which is a weaker requirement than condition 2 above.
Example(Interior, closure, boundary and limit points of one set on the line)Original
Work in R with the Euclidean topology and take
S=(Q∩[0,1))∪{2}∪(3,4).
Interior.IntS=(3,4). The set (3,4) is open and contained in S, so it lies in the interior. No point p∈Q∩[0,1) is interior, because every interval about p contains irrational numbers, which are not in S; and 2 is not interior, because every interval about 2 contains points outside S. So the interior has total length 1.
Closure.S=[0,1]∪{2}∪[3,4], of total length 2. Every p∈[0,1] lies in S by item 3 of the derived-sets statement, since each interval about p contains a rational of [0,1); the point 2 lies in S; and each p∈[3,4] has every interval about it meeting (3,4). Nothing else does: the complement of [0,1]∪{2}∪[3,4] is open, so a point p outside has an interval about it inside that complement, and that interval misses S.
Boundary.∂S=S∖IntS=[0,1]∪{2}∪{3,4}, of total length 1. Note that ∂S here has the same length as IntS: a boundary need not be "thin".
Limit points.acc(S)=[0,1]∪[3,4]. Each point of [0,1] has infinitely many rationals of [0,1) in every interval about it, so at least one different from itself; the same holds in [3,4] with the interval (3,4). The point 2 is not a limit point, since (1.5,2.5)∩S={2} contains no point of S other than 2. The consistency check is item 4 of the statement: S∪acc(S)=[0,1]∪{2}∪[3,4]=S.
Isolated points. Only 2, by the computation in 4.
Neither open nor closed.IntS=S, so S is not open; and 1/2=0.7071… lies in acc(S) but not in S, so acc(S)⊆S and S is not closed.
Diameter.diamS=sup{∣x−y∣:x,y∈S}=4, approached by x=0∈S and y→4− but not attained; diamS=4 as well, and there it is attained at x=0, y=4.
Example(The cofinite topology: points closed, but not Hausdorff)Original
Let X be any infinite set and put
T={∅}∪{U⊆X:X∖U is finite}.
It is a topology.∅∈T by fiat and X∈T because X∖X=∅ is finite. For a union: if every member is ∅ the union is ∅; otherwise some Uβ is nonempty and X∖⋃αUα⊆X∖Uβ is finite. For a finite intersection: if some member is ∅ so is the intersection; otherwise X∖⋂i≤kUi=⋃i≤k(X∖Ui) is a union of finitely many finite sets, hence finite.
The closed sets are X and the finite sets. Immediately from the definition. In particular every singleton is closed, so this space satisfies the axiom T1 of the conventions remark above.
It is not Hausdorff. Let U,V be nonempty open sets. Then X∖(U∩V)=(X∖U)∪(X∖V) is finite, so U∩V=∅ because X is infinite. No two points can be put in disjoint open sets. By item 1 of the Hausdorff statement the space is therefore not metrizable either, whatever X is.
Every infinite subset is dense. If A⊆X is infinite, the only closed set containing A is X, the others being finite, so A=X. A finite subset is closed and equals its own closure.
A sequence with every point as a limit. Take X=N and pi=i. Let n∈N and let U be any neighbourhood of n; then N∖U is finite. Put N=1 if N∖U is empty, that is if U=N, and N=1+max(N∖U) otherwise, the maximum of a nonempty finite set of integers. Either way pi=i∈U for all i≥N. Hence pi→n for everyn. Concretely, for U=N∖{1,4,9} one may take N=10.
What this separates. The trivial topology of the hypotheses remark above fails both conclusions 2 and 3 of the Hausdorff statement. The cofinite topology satisfies conclusion 2 — points are closed — and still fails conclusion 3. So "points are closed" is strictly weaker than Hausdorff, which is the claim recorded in the conventions remark, and uniqueness of limits needs the full separation condition rather than only T1.
ApplicationOriginal
A physical model usually comes with a distance, but what the physics depends on is often only the topology that distance generates. The circle is the cleanest illustration.
Represent the circle as S1={(cosθ,sinθ):θ∈R}⊂R2 and put on it two natural metrics: the chord metric dc inherited from the Euclidean metric of R2, and the arc metric da, the angle in [0,π] between the two points. If da(p,q)=θ then dc(p,q)=2sin(θ/2), and for θ∈[0,π]
π2da≤dc≤da,
the right inequality from sinu≤u for u≥0 and the left from sinu≥(2/π)u on [0,π/2], which holds because sin is concave there and so lies above the chord joining (0,0) to (π/2,1).
Only the left bound is ever an equality. The ratio dc/da=2sin(θ/2)/θ is sinu/u with u=θ/2, which decreases strictly on (0,π/2]: it tends to 1 as θ→0+ and equals 2/π=0.6366198… at θ=π. So the lower bound is attained exactly at the antipodal pair, where da=π=3.1415927… and dc=2, while the upper bound dc≤da is strict at every pair of distinct points and is sharp only in the limit of nearby points. At da=1 radian, for instance, dc=2sin(1/2)=0.9588511…, strictly between 0.6366198 and 1 as the two inequalities require.
The consequence is that each ball of one metric contains a ball of the other about the same point: Bra(p)⊆Brc(p) and B2r/πc(p)⊆Bra(p). By the pointwise basis test the two families of balls generate the same topology, so the identity map of S1 is a homeomorphism between the two metric spaces. This is why one speaks of "the circle" without naming a distance: continuity of a wavefunction on a ring, convergence of a Fourier series, and the classification of periodic boundary conditions are all statements about the topology, and are unchanged by the choice between the two metrics. The word that names what matters is metrizable, not metric.
The same reading governs crystal physics. The Brillouin zone of a d-dimensional crystal is a torus, which may be realised as the product S1×⋯×S1⊂R2d; that set is metrizable, hence Hausdorff by item 1 of the Hausdorff statement, and it is closed and bounded in R2d, hence compact (compactness, a unit that comes later and is not presupposed here). A band energy ε(k) is a continuous real function on that space, so it attains a greatest and a least value: band edges exist, and a gap between two bands is a well-defined number. Had the space of wave vectors carried a non-Hausdorff topology instead, limits of states would not even be unique, and the whole language of "the state the system approaches" would fail.
Defines continuity by inverse images of open sets, lists the equivalent formulations including the epsilon-delta condition on metric spaces, and defines homeomorphisms and what it means for a property to be topological.
What it means. Continuity is the statement that f cannot tear its domain: pull any open set back through f and what you get is still open. On metric spaces this is exactly the ε-δ condition from calculus, so nothing is lost; what is gained is that the definition still works where there is no distance. A homeomorphism is an invertible map that is continuous both ways, and two homeomorphic spaces are indistinguishable by any statement phrased in open sets alone. That is the test for whether a property is "topological": compactness and connectedness are, completeness and boundedness are not.
Definition(Continuity)AdaptedAdapted from Folland (1999), §4.2, p. 119; Lee (2013), Appendix A, p. 597
Take spaces X, Y with topologies TX, TY, and a map f:X→Y.
Globally. Call fcontinuous when pulling an open set back through f always leaves it open: f−1(V)∈TX whenever V∈TY.
At one point. Call fcontinuous atp∈X when every neighbourhood V of the image point f(p) can be reached from some neighbourhood U of p, in the sense that f(U)⊆V.
Write C(X,Y) for the collection of continuous maps from X to Y. Two cautions. Neither notion presupposes anything about injectivity or surjectivity of f. And f−1(V) here denotes the inverse image defined in Sets, functions and countability; no inverse map is being asserted.
Definition(Equivalent formulations of continuity)AdaptedAdapted from Folland (1999), §4.2, p. 119, Props 4.8 and 4.9; Lee (2013), Appendix A, p. 597, Exercise A.1
Let X and Y be topological spaces and f:X→Y. The following are equivalent.
f−1(V) is open in X for every open V⊆Y.
f−1(F) is closed in X for every closed F⊆Y.
f is continuous at every point of X.
f(A)⊆f(A) for every A⊆X.
f−1(IntB)⊆Intf−1(B) for every B⊆Y.
f−1(V) is open in X for every V in some fixed family E that generates the topology of Y - for instance, for every V in a basis of Y.
If f is continuous and pi→p in X, then f(pi)→f(p) in Y. The converse of this last implication is not part of the list: preservation of limits of sequences implies continuity when every point of X has a countable neighbourhood basis, but not in general.
Idea of the proofOriginal
Each item on the list is the first one seen through one set-theoretic operation, and inverse images respect every operation involved. Complementation exchanges open with closed and produces item 2. Choosing, separately at each point, an open set that f carries into a prescribed target and then taking the union of those sets produces item 3. Interiors and closures are assembled from open and closed sets, which is items 4 and 5. Item 6 needs only that f−1 turns unions into unions and intersections into intersections, so controlling the sets out of which the topology of Y is built controls every open set at once.
ProofAdaptedAdapted from Folland (1999), §4.2, Props 4.8 and 4.9, p. 119, with §4.1, Prop 4.4, p. 115; Lee (2013), Appendix A, p. 597, Exercises A.1 and A.3
Three identities for inverse images are used throughout, each immediate from the definition in Sets, functions and countability: f−1(Y∖B)=X∖f−1(B), and f−1 of a union or an intersection of a family is the union or the intersection of the f−1 of its members. We prove 1⇔2, 1⇔3, 1⇒4⇒2, 1⇔5 and 1⇔6, which makes all six equivalent.
1⇒2 and 2⇒1. Assume 1 and let F⊆Y be closed. Then Y∖F is open, so X∖f−1(F)=f−1(Y∖F) is open by 1, and therefore f−1(F) is closed. Exchanging the words open and closed in those two sentences derives 1 from 2.
1⇒3. Let p∈X and let V be a neighbourhood of f(p). Put U=f−1(V). It is open by 1, it contains p because f(p)∈V, so it is a neighbourhood of p; and f(U)⊆V holds for the inverse image of any set whatever. So f is continuous at p, and p was arbitrary.
3⇒1. Let V⊆Y be open and let p∈f−1(V). Since V is a neighbourhood of f(p), continuity at p gives a neighbourhood Up of p with f(Up)⊆V, which says Up⊆f−1(V). Hence f−1(V)=⋃{Up:p∈f−1(V)}, a union of open sets, so f−1(V) is open.
1⇒4. Let A⊆X. The set f(A) is closed, so f−1(f(A)) is closed by the implication 1⇒2 just proved, and it contains A because f(A)⊆f(A). Since A sits inside every closed set that has A as a subset, this gives A⊆f−1(f(A)); applying f gives f(A)⊆f(A).
4⇒2. Let F⊆Y be closed and set A=f−1(F). Then f(A)⊆F, so 4 gives f(A)⊆f(A)⊆F=F, the last step because F is closed. Thus A⊆f−1(F)=A, and A is closed.
1⇒5. Let B⊆Y. Then IntB is open, so f−1(IntB) is open by 1, and it is contained in f−1(B). As Intf−1(B) is the largest open subset of f−1(B), it contains f−1(IntB).
5⇒1. For open V we have IntV=V, so 5 reads f−1(V)⊆Intf−1(V). The opposite inclusion holds for every set, so f−1(V) coincides with its interior and is open.
1⇒6. Members of E are open in Y, so this direction is 1 itself, applied to fewer sets.
6⇒1. The topology generated by a family E consists of ∅, Y, and the unions of finite intersections of members of E(Folland (1999), Prop 4.4, p. 115). Given 6, each f−1(V) with V∈E is open; a finite intersection of such sets is open, and so is any union of those, by the two identities recorded at the start. Also f−1(∅)=∅ and f−1(Y)=X. So f−1 of every open set is open. When E is a basis the intersections are not needed, since each open set is already a union of members of E.
Continuity carries convergent sequences forward. Let f be continuous, pi→p, and V a neighbourhood of f(p). By item 3 there is a neighbourhood U of p with f(U)⊆V, and by convergence there is N with pi∈U for all i≥N; then f(pi)∈V for all i≥N. Since V was an arbitrary neighbourhood of f(p), f(pi)→f(p).
When the converse holds. Suppose f carries every convergent sequence of X to a sequence converging to the image of its limit, and suppose p∈X has a countable neighbourhood basis B1,B2,…; we check continuity at p. Replacing Bk by B1∩⋯∩Bk, still a neighbourhood of p and still contained in the old Bk, we may take the family decreasing. Were f not continuous at p, some neighbourhood V of f(p) would admit no neighbourhood U of p with f(U)⊆V; in particular f(Bk)⊆V for no k, so we could pick xk∈Bk with f(xk)∈/V. Any neighbourhood of p contains some Bm, hence contains xk for every k≥m because the family decreases; so xk→p, while f(xk)→f(p) fails, V being a neighbourhood of f(p) that no term enters. That contradiction makes f continuous at p. If every point of X has such a basis, item 3 then makes f continuous.
Why that hypothesis cannot be dropped. Give R the topology T whose members are ∅ together with every set whose complement is countable. This is a topology: R itself qualifies, having empty complement; a union of members either is ∅ or contains a nonempty member, and then its complement, being inside that member's countable complement, is countable; and a finite intersection either contains ∅, hence is ∅, or has complement the union of finitely many countable sets. In (R,T) a sequence converges only when it is eventually constant, for if xi=x for infinitely many i then S={xi:xi=x} is countable and R∖S is a neighbourhood of x that infinitely many terms avoid. Every map out of (R,T) therefore carries convergent sequences to convergent sequences, the eventually constant ones. Yet the identity map onto R with its Euclidean topology is not continuous: the inverse image of (0,1) is (0,1), whose complement is uncountable, so it is not in T. The hypothesis that fails is countability of a neighbourhood basis, and it fails at every point: given countably many neighbourhoods Uk of x, the set ⋃k(R∖Uk) is countable, so some y=x lies in every Uk, and then the neighbourhood R∖{y} of x contains no Uk. □
Definition(Metric spaces: the epsilon-delta form)AdaptedAdapted from Kreyszig (1978), §1.3, Def 1.3-3 and Thm 1.3-4, pp. 20-21; do Carmo (2016), §2-2, Prop 2, p. 124
Let (M1,d1) and (M2,d2) be metric spaces, each carrying its metric topology, and let f:M1→M2.
f is continuous at x0∈M1 in the sense of the definition above if and only if
∀ε>0∃δ>0∀x∈M1:d1(x,x0)<δ⟹d2(f(x),f(x0))<ε.
f is continuous (that is, f−1(S) is open in M1 for every open S⊆M2) if and only if the condition in 1 holds at every x0∈M1.
Here δ is allowed to depend on both ε and x0. Requiring one δ to serve for all x0 at once is the strictly stronger condition of uniform continuity, and requiring d2(f(x),f(y))≤Cd1(x,y) for a constant C and all x,y is Lipschitz continuity, which is stronger again.
Idea of the proofOriginal
In a metric space the balls carry all the information: each is open, and each open set contains a ball about every one of its points (Topological and metric spaces). So in the phrase "some neighbourhood U of x0 has f(U)⊆V" both sets may be shrunk to balls without loss, and what is left is f(Bδ(x0))⊆Bε(f(x0)), which is the ε-δ condition written with sets instead of inequalities. Part 2 is then part 1 at every point, read together with the equivalence of global continuity and continuity at each point.
ProofAdaptedAdapted from Kreyszig (1978), §1.3, Thm 1.3-4, pp. 20-21
Part 1, from the topological condition to ε-δ. Let f be continuous at x0 and let ε>0. The ball V=Bε(f(x0)) is open and contains f(x0), so it is a neighbourhood of f(x0), and continuity at x0 supplies a neighbourhood U of x0 with f(U)⊆V. Being open and containing x0, the set U contains some ball Bδ(x0). For this δ, any x with d1(x,x0)<δ lies in U, so f(x)∈V, that is d2(f(x),f(x0))<ε.
Part 1, back again. Assume the ε-δ condition at x0 and let V be a neighbourhood of f(x0). Since V is open, Bε(f(x0))⊆V for some ε>0. Take the δ the condition provides for that ε and put U=Bδ(x0), a neighbourhood of x0 because balls are open. Every x∈U satisfies d1(x,x0)<δ, hence d2(f(x),f(x0))<ε, so f(U)⊆Bε(f(x0))⊆V. This is continuity at x0.
Part 2. By part 1, the ε-δ condition holds at every x0∈M1 exactly when f is continuous at every point of M1, and by item 3 of the previous statement that is exactly continuity of f, which for the metric topologies is the openness of f−1(S) for every open S⊆M2. □
Definition(Building continuous maps)AdaptedAdapted from Lee (2013), Appendix A, Prop A.17(a), (e) and Lemmas A.19-A.20, p. 602; Folland (1999), §4.2, p. 119; do Carmo (2016), §2-2, Prop 3, p. 124
Spaces X, Y, Z carry topologies throughout.
Trivial cases.idX is continuous, as is any map X→Y with constant value.
Composites. Continuity of f:X→Y at p, together with continuity of g:Y→Z at the point f(p), yields continuity of g∘f at p. Globally: f∈C(X,Y) and g∈C(Y,Z) give g∘f∈C(X,Z).
Restricting the domain. For f∈C(X,Y) and S⊆X with its subspace topology, f∣S∈C(S,Y).
Mapping into a subspace. Let S⊆X carry the subspace topology, with inclusion ιS:S↪X. A map F:Y→S then lies in C(Y,S) precisely when ιS∘F lies in C(Y,X). This is what makes the subspace topology the right one.
Continuity is a local property. Should each p∈X possess a neighbourhood Up on which the restriction f∣Up is continuous, then f itself is continuous.
Gluing lemma. Let {Bi}i∈A be a family of subsets with ⋃i∈ABi=X, subject to one of two alternatives: either A is finite and every Bi is closed, or A is arbitrary and every Bi is open. Give continuous fi:Bi→Y matching wherever their domains overlap, so that fi and fj agree on Bi∩Bj for each pair i,j. Exactly one continuous f:X→Y then satisfies f∣Bi=fi throughout A.
Idea of the proofOriginal
Items 1 to 3 are one-line computations with inverse images. Item 4 holds because a relatively open subset of S is the trace on S of an open subset of X, so testing F against the one is testing ιS∘F against the other. Item 5 holds because openness is a condition checked separately at each point, and item 6 because the inverse image of an open set is the union of its inverse images under the pieces - a union that is open when the pieces are open, and whose closed-set analogue is a finite union, which is why that half of the hypothesis asks for finitely many pieces.
ProofAdaptedAdapted from Lee (2013), Appendix A, Prop A.17(a), (e), Lemmas A.19-A.20 and Exercises A.18 and A.21, p. 602; Folland (1999), §4.2, p. 119
Two facts about subspaces are used repeatedly, both from Topological and metric spaces: a set is open (closed) in a subspace S precisely when it is the intersection with S of a set open (closed) in X; consequently, if S itself is open in X then the sets open in S are open in X, and if S is closed in X then the sets closed in S are closed in X.
Trivial cases.idX−1(V)=V, which is open for open V. If f has constant value y0 then f−1(V) is X when y0∈V and ∅ otherwise, and both are open.
Composites. At a point: let W be a neighbourhood of g(f(p)). Continuity of g at f(p) gives a neighbourhood V of f(p) with g(V)⊆W, and continuity of f at p gives a neighbourhood U of p with f(U)⊆V; then (g∘f)(U)⊆g(V)⊆W. Globally it is faster: (g∘f)−1(W)=f−1(g−1(W)), which is open for open W since g−1(W) is open and f is continuous.
Restricting the domain. For V open in Y, (f∣S)−1(V)=f−1(V)∩S, the intersection with S of a set open in X, hence open in S.
Mapping into a subspace. The inclusion satisfies ιS−1(V)=V∩S, so ιS is continuous; if F is continuous then ιS∘F is continuous by item 2. Conversely let ιS∘F be continuous and let W be open in S, say W=V∩S with V open in X. Every value of F lies in S, so F(y)∈W holds exactly when ιS(F(y))∈V; that is, F−1(W)=(ιS∘F)−1(V), which is open. Hence F is continuous.
Continuity is a local property. Let V be open in Y and p∈f−1(V). On the neighbourhood Up the restriction is continuous, so f−1(V)∩Up=(f∣Up)−1(V) is open in Up, and therefore open in X because Up is open in X. This set contains p and lies inside f−1(V), so f−1(V) contains an open set around each of its points and is open.
Gluing lemma. The map is forced: the sets Bi cover X, so f(x)=fi(x) for any i with x∈Bi, and the agreement on overlaps makes this unambiguous; that gives existence and uniqueness of f as a map with f∣Bi=fi. For continuity in the open case, let V⊆Y be open. Then f−1(V)=⋃i∈Afi−1(V), because each x lies in some Bi; each fi−1(V) is open in Bi by continuity of fi, hence open in X as Bi is open, and a union of open sets is open. In the closed case, let F⊆Y be closed. The same computation gives f−1(F)=⋃i=1mfi−1(F) with each fi−1(F) closed in Bi, hence closed in X as Bi is closed; here the union is finite, and a finite union of closed sets is closed. So f−1(F) is closed for every closed F, and f is continuous by item 2 of the equivalence statement. □
Definition(Open and closed maps, homeomorphism, embedding)AdaptedAdapted from Lee (2013), Appendix A, p. 597 and pp. 606-607; Folland (1999), §4.2, pp. 119-120; Reed & Simon (1980), §IV.1, p. 92
Let f:X→Y be a map between topological spaces, continuous or not.
f is an open map if f(U) is open in Y for every open U⊆X, and a closed map if f(K) is closed in Y for every closed K⊆X.
f is a homeomorphism if it is a continuous bijection whose inverse f−1:Y→X is also continuous. X and Y are homeomorphic if such an f exists. A homeomorphism carries the open sets of X bijectively onto the open sets of Y.
f is a topological embedding if f is injective and f:X→f(X) is a homeomorphism, where f(X) carries the subspace topology of Y.
f is a local homeomorphism if every p∈X has a neighbourhood U such that f(U) is open in Y and f∣U is a homeomorphism of U onto f(U).
Continuity in both directions is part of the definition of a homeomorphism and is not implied by continuity plus bijectivity.
Definition(When a continuous bijection is a homeomorphism)AdaptedAdapted from Lee (2013), Appendix A, Thm A.38(b), (c), p. 607 and Exercises A.34-A.35, p. 606
Suppose f:X→Y is continuous and is, in addition, either an open map or a closed map. Then:
injectivity of f makes it a topological embedding;
bijectivity of f makes it a homeomorphism.
A continuous bijection that happens to be open, or that happens to be closed, is therefore a homeomorphism. Since local homeomorphisms are always open maps, a bijective local homeomorphism is a homeomorphism as well.
Idea of the proofOriginal
Continuity of the inverse map is a statement about inverse images under f−1, and an inverse image under f−1 is an image under f. So "the inverse is continuous" and "f is an open map" are the same requirement, and the closed version is that requirement read through complements. Nothing else is involved.
ProofAdaptedAdapted from Lee (2013), Appendix A, Thm A.38(b), (c), p. 607, with Exercises A.34-A.35, p. 606
Part 1. Let f be continuous and injective, let Z=f(X) carry the subspace topology of Y, and let g:Z→X be the inverse of the bijection f:X→Z. For any A⊆X we have g−1(A)=f(A), since g(z)∈A says precisely that z=f(a) for some a∈A.
Suppose f is an open map and let U⊆X be open. Then g−1(U)=f(U) is open in Y, hence open in Z, being equal to f(U)∩Z. So g is continuous and f:X→Z is a homeomorphism, which is what it means for f to be a topological embedding.
Suppose instead that f is a closed map and let K⊆X be closed. Then g−1(K)=f(K) is closed in Y, hence closed in Z. By item 2 of the equivalence statement - continuity is equally the condition that inverse images of closed sets are closed - g is continuous, and again f is an embedding.
Part 2. If f is in addition surjective then Z=Y, so the homeomorphism f:X→f(X) of part 1 is a homeomorphism of X onto Y.
The remark on local homeomorphisms. Let f be a local homeomorphism. It is continuous, since each point has a neighbourhood on which the restriction is a homeomorphism and therefore continuous, and continuity is local (item 5 above). It is open: let U⊆X be open and p∈U. Choose a neighbourhood W of p with f(W) open in Y and f∣W a homeomorphism onto f(W). The set U∩W is open in W, so its image f(U∩W) is open in f(W), hence open in Y because f(W) is open in Y; and it contains f(p) and lies in f(U). So f(U) contains an open set around each of its points and is open. A bijective local homeomorphism is therefore a continuous open bijection, hence a homeomorphism by part 2. □
Definition(Topological property)AdaptedAdapted from Reed & Simon (1980), §IV.1, pp. 92-93
A topological property (or topological notion) is a property of a space, or of a subset of a space, that is preserved by every homeomorphism: if X has it and X is homeomorphic to Y, then Y has it. Homeomorphisms are the isomorphisms of topological spaces, so informally a topological property is one that can be stated in terms of the open sets alone.
Being Hausdorff, being metrizable and having a countable basis are topological properties, and so are compactness and connectedness. Properties that mention a particular metric, such as completeness, boundedness, the diameter of a set, uniform continuity and the Lipschitz condition, are metric properties, not topological ones: they can differ between homeomorphic metric spaces.
RemarkOriginal
Where the hypotheses are used, and what fails without them.
Continuity does not make f an open map. Let f:R→R be f(x)=x2. It is continuous, but f((−1,1))=[0,1) is not open, so f is not open. This is why the statement above has to assume openness or closedness separately, and why the definition of a homeomorphism must demand continuity of the inverse rather than deduce it.
A continuous bijection need not be a homeomorphism. Let f:[0,2π)→S1⊆R2 be f(t)=(cost,sint), with both sets carrying their Euclidean subspace topologies. Then f is a continuous bijection. It is not a homeomorphism: the set [0,1) is open in [0,2π), yet its image is an arc that contains (1,0) without containing any arc around (1,0); so f is not an open map, and f−1 fails to be continuous at (1,0). A second, cruder example is the identity map from R with the discrete topology to R with the Euclidean topology.
Finiteness in the closed case of the gluing lemma. With infinitely many closed pieces the conclusion fails. Cover R by the closed sets B0={0} and Bx={x} for every x=0, and let f0=1 and fx=0. Each fi is continuous on its one-point domain and the overlap condition is vacuous, but the glued map is the indicator of {0}, which is not continuous. The open case needs no finiteness, because openness is a local condition.
The δ in the ε-δ condition. It may depend on x0, and for a continuous function on a non-compact domain it usually must: f(x)=1/x on (0,1) is continuous, but no single δ works for a given ε at every x0, so f is not uniformly continuous.
Completeness and boundedness are not topological. The map tanh:R→(−1,1) is a strictly increasing bijection, continuous with continuous inverse artanh, so it is a homeomorphism; Hassani (p. 7) uses it for exactly the observation that the line and the interval have the same points to within a bijection. Give both sets the Euclidean metric. Then R is complete and unbounded, while (−1,1) is bounded and not complete, since xn=1−1/n is Cauchy in (−1,1) with no limit there. Reed and Simon (p. 93) make the same point with a homeomorphism of the line onto a bounded interval. So no statement about completeness or boundedness can be a theorem about topological spaces; it is a theorem about a space with a chosen metric.
Convention: "neighbourhood" in the definition of continuity at a point. We use the convention of Topological and metric spaces, in which a neighbourhood is open. Folland (p. 119) uses the wide sense and gives the extra equivalent form "f−1(V) is a neighbourhood of x for every neighbourhood V of f(x)". That form is correct in his convention but false in ours, where it would assert that f−1(V) is open for every open V containing f(x) - that is, global continuity. The form used here, "there is a neighbourhood U of p with f(U)⊆V", says the same thing under either convention, which is why it is the one stated.
Example(Producing a delta, and watching it shrink)Original
Take f:R→R with f(x)=x3−2x, both copies of R carrying the Euclidean metric, and produce a δ that serves ε=1/10 at x0=2. Note f(2)=8−4=4.
Factor the increment. Dividing x3−2x−4 by x−2 gives
f(x)−f(2)=(x−2)(x2+2x+2),
which is checked by expanding the right-hand side.
Bound the second factor near x0. Require provisionally that ∣x−2∣≤1/2, so x∈[3/2,5/2]. On that interval x2+2x+2=(x+1)2+1 is increasing, hence at most (7/2)2+1=53/4=13.25. Therefore ∣f(x)−4∣≤13.25∣x−2∣ whenever ∣x−2∣≤1/2.
Choose δ. Take δ=3/400=0.0075, which respects the provisional bound. Then ∣x−2∣<δ gives
∣f(x)−4∣≤13.25×0.0075=0.099375<0.1,
so δ=0.0075 works. (Directly: f(2.0075)−4=0.07533… and 4−f(1.9925)=0.07466…, both below 0.1.)
How much was conceded. Since f′(2)=10>0, f increases near 2, so the largest admissible δ is the smaller of the two distances from 2 to the solutions of f(x)=4.1 and f(x)=3.9, which are x=2.00994061… and x=1.98993937…. Hence δmax=0.00994061…, and the crude bound cost a factor 1.3254… - a reminder that a δ needs only to work, not to be optimal.
The same ε at a different point. At x0=10 one has f(10)=980 and, for h>0,
f(10+h)−f(10)=298h+30h2+h3≥298h.
If δ>1/2980 then x=10+1/2980 satisfies ∣x−10∣<δ while f(x)−980≥298/2980=0.1, so the ε=1/10 test fails. Every admissible δ at x0=10 is thus at most 1/2980=3.3557…×10−4, smaller by a factor 22.35 than the δ that works at x0=2. No single δ serves both points, so f is continuous at every point of R without being uniformly continuous on R.
Example(A homeomorphism of an open interval onto the whole line)Original
Let h:(−1,1)→R be h(x)=x/(1−x2), and let
g:R→(−1,1),g(y)=1+1+4y22y.
h is continuous. It is a quotient of polynomials whose denominator 1−x2 vanishes nowhere on (−1,1).
h is injective.h′(x)=(1+x2)/(1−x2)2>0 on (−1,1), so h is strictly increasing.
g is continuous and lands where it should. Its denominator is at least 2, so g is continuous on all of R; and 1+4y2>4y2=2∣y∣ gives 1+1+4y2>2∣y∣, hence ∣g(y)∣<1.
g is a right inverse of h. Fix y, write s=1+4y2 and w=g(y)=2y/(1+s). Because ∣w∣<1, the equation h(w)=y is equivalent to the polynomial identity yw2+w−y=0. Now (1+s)2=1+2s+s2=2+2s+4y2, so
Hence h(g(y))=y for every y∈R, so h is surjective; with injectivity, h is a bijection and g=h−1. Both are continuous, so h is a homeomorphism.
Two checks.h(1/2)=(1/2)/(3/4)=2/3 and g(2/3)=(4/3)/(1+5/3)=1/2. Going the other way, g(−3)=−6/(1+37)=(1−37)/6=−0.8471270884…, and h of that number is −3.
What the homeomorphism does and does not carry across. No statement about open sets can separate (−1,1) from R. With the Euclidean metric, though, (−1,1) is bounded and incomplete - xn=1−1/n is Cauchy in it with no limit there - while R is unbounded and complete. Boundedness and completeness are therefore metric, not topological, exactly as the definition of a topological property requires. Note also that h is not uniformly continuous, since h(1−η)=(1−η)/(η(2−η))→∞ as η↓0, so h is unbounded; and a uniformly continuous function on (−1,1) is bounded, because for ε=1 one may cover (−1,1) by finitely many intervals of length δ and compare the values on each with the value at its midpoint.
ApplicationOriginal
Lyapunov stability is the ε-δ condition, with the quantifiers in a particular order. For an autonomous system x˙=F(x) on Rn with an equilibrium x∗, stability of x∗ is the statement that for every ε>0 there is a δ>0 such that a solution starting within δ of x∗ stays within ε of x∗ for all t≥0. In terms of the flow maps Φt, which send an initial state to the state at time t, this is continuity at x∗ in the sense of this unit, demanded of the whole family {Φt}t≥0 with a single δ. Continuity of each individual Φt is a weaker and much cheaper statement - it is continuous dependence on initial data over a finite time - and conflating the two is the standard error in stability arguments. See Lyapunov functions and stability and continuous dependence on initial conditions.
Coordinates are homeomorphisms, and that is what makes them usable. A coordinate system on a configuration space is a homeomorphism of an open piece of that space onto an open subset of Rn; continuity of the inverse is what guarantees that nearby coordinate values describe nearby physical states, so that a small numerical error stays a small physical error. In the same spirit, two dynamical systems are counted as qualitatively identical when a homeomorphism carries the orbits of one onto the orbits of the other. Everything expressible in open sets alone then agrees - how many equilibria there are, whether a basin of attraction is connected, whether an orbit is closed - whereas quantities tied to a metric, such as rates of approach or the eigenvalues of a linearization, need not. See Smooth manifolds and Linearization about a fixed point.
Piecewise definitions are continuous by the gluing lemma. Fields specified by one formula inside a sphere and another outside it, a ray refracted at an interface, or a finite-element basis function given cell by cell are all built as finitely many continuous pieces on closed sets whose union is the region. Item 6 of the statement on building continuous maps says that such a specification defines a continuous field exactly when the pieces agree on the shared boundaries - which is why matching conditions at an interface are imposed in the first place - and the counterexample in the remark above shows why the same licence does not extend to infinitely many closed pieces. See Finite elements.
Gives compactness by finite subcovers with its permanence properties, the three equivalent forms it takes in a metric space, the Heine-Borel characterisation of the compact subsets of R^n as exactly the closed bounded ones, Bolzano-Weierstrass, and the extreme value theorem for a continuous real function on a nonempty compact space.
What it means. Compactness is the licence to replace infinitely many local facts by finitely many. Almost every existence theorem in analysis that produces a point - a maximiser, a limit, a convergent subsequence - gets that point from compactness. In Rn it is the familiar "closed and bounded", which is why calculus can be done without the word; the content of Heine-Borel is that this familiar test is exactly compactness, and the content of the counterexamples below is that it stops being the right test as soon as the dimension is infinite.
Definition(Covers, compactness, sequential compactness)AdaptedAdapted from Folland (1999), §4.4, p. 128, §0.6, p. 15, and §4.4, p. 130; Lee (2013), Appendix A, p. 608
Fix a topological space X with topology T, and let K⊆X.
Covers. A family U of subsets of XcoversK when K⊆⋃U∈UU; it is an open cover when additionally U⊆T. A subcover is a subfamily of U that still covers K.
Compact. Call Kcompact when from each open cover U of K one may select finitely many members U1,…,Um∈U with
K⊆U1∪⋯∪Um.
Taking K=X gives the notion for a space, and the two readings agree: K is compact as a subset of X exactly when K, equipped with its subspace topology, is a compact space. Compactness of K therefore does not depend on which ambient space K is viewed inside.
Precompact.K is precompact in X when K is compact.
Sequentially compact.X is sequentially compact when each sequence {xi} in X admits a subsequence {xik} and a point x∈X with xik→x.
Totally bounded. In a metric space (M,d), call E⊆Mtotally bounded when, for each ε>0, there are finitely many points z1,…,zn∈M with
E⊆Bε(z1)∪⋯∪Bε(zn).
Total boundedness is strictly stronger than boundedness.
Theorem(Compactness read off the closed sets)AdaptedAdapted from Folland (1999), §4.4, Prop 4.21, p. 128
Say that a family {Fα}α∈A of sets has the finite intersection property when no finite subfamily of it meets in the empty set:
α∈B⋂Fα=∅for each finite B⊆A.
A space X is then compact exactly when each family of closed subsets of X with the finite intersection property satisfies ⋂α∈AFα=∅.
Idea of the proofOriginal
A family of open sets and a family of closed sets are the same data read through complements, and complementation exchanges "their union is everything" with "their intersection is empty". The two conditions are therefore the same condition about that data, stated once positively and once negatively; nothing beyond this bookkeeping is involved.
ProofAdaptedAdapted from Folland (1999), §4.4, Prop 4.21, p. 128
Given closed sets Fα⊆X for α∈A, put Uα=X∖Fα, which is open; every family of open sets arises from a family of closed sets in this way. One translation does all the work, and it holds for every subset B⊆A, finite or not: the family {Uα}α∈B covers X exactly when ⋂α∈BFα=∅, since a point belonging to no Uα with α∈B is precisely a point belonging to every Fα with α∈B.
Compact ⇒ the closed-set condition. Let X be compact and let {Fα}α∈A be closed with the finite intersection property. If ⋂α∈AFα were empty, the translation with B=A would make {Uα}α∈A an open cover of X; compactness would give a finite B⊆A with {Uα}α∈B still covering, and the translation read backwards would give ⋂α∈BFα=∅, contradicting the finite intersection property. So the intersection over all of A is nonempty.
The closed-set condition ⇒ compact. Assume the condition and let {Uα}α∈A be an open cover of X. With Fα=X∖Uα, the translation gives ⋂α∈AFα=∅. The family {Fα} is closed, so by the assumed condition it cannot have the finite intersection property: some finite B⊆A has ⋂α∈BFα=∅, which says that {Uα}α∈B covers X. That is a finite subcover. □
Theorem(Permanence properties)AdaptedAdapted from Lee (2013), Appendix A, Prop A.45(a), (c), (e), (f), (g), pp. 608-609; Folland (1999), §4.4, Props 4.22, 4.24, 4.26, pp. 128-129
Throughout, X and Y carry topologies and f:X→Y is continuous.
Images. If X is compact then so is f(X). In particular a homeomorphism carries compact spaces to compact spaces, so compactness is a topological property.
Closed subspaces. If X is compact and F⊆X is closed, then F is compact.
Hausdorff reverses this. If Y is Hausdorff and K⊆Y is compact, then K is closed in Y.
Finite unions. If K1,…,Km⊆X are compact, so is K1∪⋯∪Km.
Metric ambient space. A compact subset of a metric space is bounded. A metric space is Hausdorff, so by item 3 such a subset is closed as well: in a metric space, compactness implies closed and bounded.
Idea of the proofOriginal
Each item is one use of the definition. For images, pull the cover back through f; for a closed subspace, enlarge the cover by the complement of the subspace and then discard it again; for finite unions, pool the finite subcovers. The Hausdorff item is the only one with any content: separate the outside point from each point of the compact set, cover the set by finitely many of the resulting neighbourhoods, and intersect the finitely many companions to get one neighbourhood of the outside point that misses the set. Boundedness comes from covering by concentric balls of growing radius.
ProofAdaptedAdapted from Lee (2013), Appendix A, Prop A.45 and Exercise A.46, pp. 608-609; Folland (1999), §4.4, Props 4.22, 4.24 and 4.26, pp. 128-129
Images. Let V be a cover of f(X) by sets open in Y. Each f−1(V), V∈V, is open by continuity, and these sets cover X because every f(x) lies in some V. Compactness of X gives V1,…,Vm∈V with X=f−1(V1)∪⋯∪f−1(Vm); applying f to both sides gives f(X)⊆V1∪⋯∪Vm. Specialising to a homeomorphism and to its inverse shows that X is compact if and only if its homeomorphic image is, so compactness is a topological property.
Closed subspaces. Let F⊆X be closed and let U be a cover of F by sets open in X. Then U∪{X∖F} is an open cover of X, since the extra set catches everything outside F. Compactness of X gives a finite subcover; deleting X∖F from it leaves finitely many members of U, and they still cover F, because a point of F lies in one of the finitely many chosen sets and is not in X∖F.
Hausdorff reverses this. Let K⊆Y be compact, with Y Hausdorff, and let y∈Y∖K. For each x∈K the Hausdorff property gives disjoint open sets Ux∋x and Vx∋y. The family {Ux}x∈K covers K, so finitely many suffice: K⊆Ux1∪⋯∪Uxm. Then V=Vx1∩⋯∩Vxm is open, being a finite intersection, contains y, and is disjoint from each Uxi, hence from K. So every point of Y∖K has a neighbourhood inside Y∖K, that set is open, and K is closed. (For K=∅ there is nothing to prove.)
Finite unions. An open cover of K1∪⋯∪Km covers each Kj, so it has a finite subfamily covering Kj; the union of those m finite subfamilies is finite and covers the union.
Metric ambient space. Let K be a nonempty compact subset of a metric space (M,d) and fix z∈M. The balls Bi(z), i∈N, are open and their union is M⊇K, so finitely many of them cover K; since they increase with i, the largest one alone covers K, say K⊆BN(z). Then d(x,y)≤d(x,z)+d(z,y)<2N for x,y∈K, so diamK≤2N and K is bounded; the empty set is bounded outright. A metric space is Hausdorff - distinct points x=y are separated by the balls of radius d(x,y)/2 about them - so item 3 applies and K is also closed. □
Theorem(Three equivalent forms in a metric space)AdaptedAdapted from Folland (1999), §0.6, Thm 0.25, pp. 15-16
Work inside a metric space (X,ρ) and let E⊆X. The following three conditions on E are equivalent.
(Heine-Borel property) Each cover of E by sets open in X admits a finite subcover; that is, E is compact.
(Bolzano-Weierstrass property) Each sequence drawn from E has a subsequence whose limit exists and lies in E; that is, E is sequentially compact.
E is totally bounded, and E with the restricted metric is complete.
For subsets of a metric space, then, compactness and sequential compactness are one condition, and either amounts to total boundedness plus completeness.
Idea of the proofOriginal
Three implications close the circle. A sequence with no subsequence converging in E gives every point of E a ball holding only finitely many of its terms, and those balls cover E with no finite subcover: that is 1 ⇒ 2. Condition 2 forces completeness, because a Cauchy sequence with one convergent subsequence converges, and forces total boundedness, because otherwise one can go on choosing points a fixed distance apart for ever. Going back, halving the radius again and again pins an infinite set of indices into balls of shrinking size, which makes a subsequence Cauchy and completeness then supplies its limit; and once 2 and 3 are available, one shows that some single radius is small enough that every ball of that radius meeting E is swallowed by one member of the cover, after which total boundedness finishes the job with finitely many balls.
ProofAdaptedAdapted from Folland (1999), §0.6, Thm 0.25, pp. 15-16
Throughout, convergence, Cauchy sequences and completeness are as in Limits of sequences and completeness, with the metric ρ restricted to E. We prove 1⇒2, 2⇒3, 3⇒2, and then 2 together with 3 gives 1.
1⇒2. Suppose E is compact and let {xn} be a sequence in E with no subsequence converging to a point of E; we derive a contradiction. Fix y∈E. There must be ry>0 such that xn∈Bry(y) for only finitely many indices n: otherwise every ball about y would contain xn for infinitely many n, and choosing n1<n2<… with ρ(xnk,y)<1/k would produce a subsequence converging to y∈E. The balls Bry(y), y∈E, are open and cover E, so compactness gives y1,…,ym∈E with E⊆Bry1(y1)∪⋯∪Brym(ym). Every term of the sequence lies in E, hence in one of these m balls, and each ball accounts for finitely many indices; so the index set N would be finite, which it is not.
2⇒3, completeness. Let {xn} be a Cauchy sequence in E. By 2 some subsequence converges to a point x∈E. Let ε>0 and choose N with ρ(xn,xm)<ε/2 for all n,m≥N; choose also a subsequence index nk≥N with ρ(xnk,x)<ε/2. Then ρ(xn,x)≤ρ(xn,xnk)+ρ(xnk,x)<ε for every n≥N. So the whole sequence converges to x∈E, and E is complete.
2⇒3, total boundedness. The empty set is totally bounded, so take E=∅ and suppose some ε>0 admits no finite cover of E by ε-balls. Pick x1∈E; having picked x1,…,xn, the balls Bε(x1),…,Bε(xn) fail to cover E, so there is xn+1∈E outside all of them, which means ρ(xn+1,xi)≥ε for i≤n. The sequence so constructed has ρ(xn,xm)≥ε whenever n=m, so no subsequence of it is Cauchy and therefore none converges, contradicting 2.
3⇒2. Let {xn} be a sequence in E and set N0=N. Suppose an infinite set of indices Nj−1 has been found. By total boundedness, E lies in a union of finitely many balls of radius 2−j; the infinitely many indices of Nj−1 are shared out among finitely many of these balls, so one of them, call it Bj, has xn∈Bj for infinitely many n∈Nj−1. Let Nj={n∈Nj−1:xn∈Bj}, again infinite. Because each Nj is infinite and contained in its predecessor, indices n1<n2<… with nj∈Nj can be chosen one after another. For k≥j both xnj and xnk lie in Bj, a ball of radius 2−j, so ρ(xnj,xnk)<21−j; hence {xnk} is Cauchy, and completeness of E gives it a limit in E.
2 and 3 give 1: one radius fits the whole cover. Let U be a cover of E by sets open in X. We claim there is ε>0 such that every ball of radius ε meeting E lies inside some member of U. If not, then for each n there is a ball Dn of radius 1/n with Dn∩E=∅ and Dn inside no member of U. Pick xn∈Dn∩E. By 2 a subsequence converges, xnk→x∈E. Some U∈U contains x, and U is open, so Br(x)⊆U for some r>0. Choose k with ρ(xnk,x)<r/2 and 1/nk<r/4. Any y∈Dnk satisfies ρ(y,xnk)<2/nk<r/2, both points lying in a ball of radius 1/nk, so ρ(y,x)<r. Thus Dnk⊆Br(x)⊆U, contradicting the choice of Dnk.
2 and 3 give 1: finishing. With such an ε, total boundedness provides z1,…,zp with E⊆Bε(z1)∪⋯∪Bε(zp). Discard those balls that miss E; they cover none of it. Each remaining Bε(zj) meets E and has radius ε, so it lies in some Uj∈U. Then E⊆U1∪⋯∪Uq with q≤p, a finite subcover. □
Theorem(Heine-Borel in R^n, and where it stops)AdaptedAdapted from Folland (1999), §0.6, Prop 0.26 and the paragraph before it, p. 16; Kreyszig (1978), §2.5, Lemma 2.5-2 and Thm 2.5-3, pp. 77-78
Each closed bounded subset of Rn is compact. Together with item 5 of the permanence properties: a set K⊆Rn is compact precisely when it is both closed and bounded.
The same holds in any finite-dimensional normed spaceX - a real or complex vector space with a norm ∥⋅∥, read as a metric space under d(x,y)=∥x−y∥: a subset M⊆X is compact precisely when M is closed and bounded.
and let en∈ℓ2 carry 1 in slot n and 0 elsewhere. Since ∥en∥=1, the set S={en:n∈N} is bounded. Since ∥en−em∥=2 whenever n=m, no point of ℓ2 accumulates S, so S is closed; and no subsequence of (en) can converge, so S is not compact.
Idea of the proofOriginal
Everything is already proved; what remains is to put the pieces in order. A bounded set in Rn sits inside a cube, and a cube is chopped into finitely many small cubes whose centres form a finite net of any prescribed fineness, so bounded means totally bounded here; closed means complete, because Rn is complete coordinate by coordinate. The three-way equivalence then delivers compactness. For a finite-dimensional normed space, a basis gives a bijection with Fn that distorts distances by at most a fixed factor each way - the lower factor being where compactness of a sphere in Fn is spent - so closed bounded sets correspond to closed bounded sets and compactness transfers.
ProofAdaptedAdapted from Folland (1999), §0.6, Prop 0.26, p. 16; Kreyszig (1978), §2.4, Lemma 2.4-1, pp. 72-73, and §2.5, Thm 2.5-3, p. 78
Part 1: Rn is complete. Let {x(m)} be Cauchy in Rn. For each coordinate j, ∣xj(m)−xj(l)∣≤∣x(m)−x(l)∣, so the j-th coordinates form a Cauchy sequence in R and converge to some aj, by the Cauchy criterion of Limits of sequences and completeness. With a=(a1,…,an) we get ∣x(m)−a∣2=∑j=1n∣xj(m)−aj∣2→0, a finite sum of null sequences. So the sequence converges in Rn.
Part 1: closed and bounded implies the third condition. Let K⊆Rn be closed and bounded. A Cauchy sequence in K converges in Rn by the previous paragraph, and its limit lies in K because K is closed; so K with the restricted metric is complete. For total boundedness, boundedness puts K inside a cube Q=[−R,R]n. Given ε>0, pick an integer k>Rn/ε and cut each edge of Q into k equal parts, which splits Q into kn closed subcubes of side 2R/k. A point of such a subcube is at distance at most half its diagonal, nR/k<ε, from its centre, so each subcube lies in the ε-ball about its own centre. The kn centres therefore form a finite ε-net for Q, hence for K. By the implication 3⇒1 of the previous statement, K is compact. With item 5 of the permanence properties, which gives the converse, compactness in Rn is exactly closedness together with boundedness.
Part 2: the coordinate map and its upper bound. Let X be a normed space over F∈{R,C} with dimX=n≥1 and basis e1,…,en (the case X={0} is trivial). Define T:Fn→X by Tα=∑j=1nαjej, a bijection because the ej form a basis. Regard Fn as Rn or R2n with the Euclidean metric, which is the metric of ∣α∣2=(∑j∣αj∣2)1/2, and write ∣α∣1=∑j∣αj∣; the two satisfy ∣α∣2≤∣α∣1≤n∣α∣2. The triangle inequality and homogeneity of the norm give
∥Tα∥≤j=1∑n∣αj∣∥ej∥≤C∣α∣1,C=jmax∥ej∥,
so ∥Tα−Tβ∥=∥T(α−β)∥≤C∣α−β∣1≤Cn∣α−β∣2 and T is continuous.
Part 2: the lower bound. Let S={α∈Fn:∣α∣1=1}. The function α↦∣α∣1 is continuous, since ∣α∣1−∣β∣1≤∣α−β∣1≤n∣α−β∣2, so S is closed as the inverse image of the closed set {1}; and S is bounded because ∣α∣2≤∣α∣1=1 on it. By part 1, S is compact, and it is nonempty, containing (1,0,…,0). The function α↦∥Tα∥ is continuous by the previous paragraph, so by the extreme value theorem - item 1 of the next statement, whose proof uses only items 1 and 5 of the permanence properties and therefore does not depend on the present one - it attains a least value c=∥Tα∗∥ on S. Since ∣α∗∣1=1, α∗=0, so Tα∗=0 by linear independence of the ej, and c>0. Homogeneity extends the bound off S: ∥Tα∥≥c∣α∣1 holds for α=0 trivially and for α=0 by applying the bound at S to α/∣α∣1.
Part 2: conclusion. Let M⊆X be closed and bounded, and put A=T−1(M), the inverse image of M under the continuous map T, which is therefore closed in Fn. It is bounded: a nonempty bounded M lies inside {x:∥x∥≤B} with B=∥m0∥+diamM for any m0∈M, so α∈A gives ∣α∣1≤∥Tα∥/c≤B/c by the lower bound, and ∣α∣2≤∣α∣1. (An empty M is compact outright.) By part 1, A is compact, so M=T(A) is compact by item 1 of the permanence properties. Conversely a compact M is closed and bounded by item 5 of those properties, X being a metric space under d(x,y)=∥x−y∥.
Part 3: the set S={en} in ℓ2. It is bounded, since ∥en∥=1 puts it inside the ball of radius 2 about 0. It is closed: any two distinct members are at distance ∥en−em∥=2, so a ball of radius 2/2 contains at most one member of S. No x∈ℓ2 is therefore an accumulation point of S: if B2/2(x) contains no member of S we are done; if it contains exactly one member em with em=x, then the smaller ball of radius min(2/2,∥x−em∥) about x contains no member of S at all; and if em=x, that ball contains no member of S other than x itself. Having no accumulation points, S contains all of them and is closed. It is not compact: ∥en−em∥=2 for n=m means no subsequence of (en) is Cauchy, hence none converges, so S fails condition 2 of the previous statement and therefore condition 1. □
Theorem(Bolzano-Weierstrass in R^n)AdaptedAdapted from Folland (1999), §0.6, Thm 0.25 and Prop 0.26, pp. 15-16
Every bounded sequence in Rn possesses a convergent subsequence, its limit being some point of Rn. Equally, an infinite bounded set S⊆Rn always has at least one point of Rn accumulating it.
Note what is not claimed: unless the set the terms come from is closed, the limit need not belong to it.
Idea of the proofOriginal
A bounded sequence lives inside a closed ball, and a closed ball is closed and bounded, hence compact; compact sets in a metric space have the subsequence property, which is the first assertion, and the limit is caught in the ball. For a set instead of a sequence, list infinitely many of its points without repetition and apply the first assertion; it is the absence of repetitions that turns the limit into an accumulation point.
ProofAdaptedAdapted from Folland (1999), §0.6, Thm 0.25 and Prop 0.26, pp. 15-16
The sequence form. Let {xi} be a bounded sequence in Rn, so that ∣xi∣≤R for all i and some R>0. The closed ball BR(0)={x:∣x∣≤R} is bounded, and it is closed because the norm is continuous and the ball is the inverse image of the closed half-line (−∞,R] under it. By part 1 of the Heine-Borel statement it is compact, so by the equivalence of conditions 1 and 2 in a metric space it has the Bolzano-Weierstrass property. The sequence lies in it, so some subsequence converges to a point of that ball, in particular to a point of Rn.
The set form. Let S⊆Rn be bounded and infinite. Being infinite, S admits a sequence {xi} of pairwise distinct members: having chosen x1,…,xi, the set S is not exhausted, so a further member is available. This sequence is bounded, so by the first part a subsequence converges to some x∈Rn. Let U be a neighbourhood of x. It contains xik for all large k, and at most one index can have xik=x because the terms are pairwise distinct; so U contains a member of S different from x. That is exactly the condition for x to be an accumulation point of S in the sense of Topological and metric spaces. □
Theorem(What continuity gains on a compact space)AdaptedAdapted from Lee (2013), Appendix A, Prop A.45(b), p. 608, Prop A.48(a), p. 609 and Lemma A.52, p. 610; Folland (1999), §4.4, Prop 4.28, p. 129
(Extreme value theorem) Let X be compact and nonempty and let f:X→R be continuous. Then f is bounded, and there are p,q∈X at which it attains its least and greatest values:
f(p)=x∈Xminf(x),f(q)=x∈Xmaxf(x).
(Uniform continuity on compact sets) Work with metric spaces (M1,d1), (M2,d2), a continuous f:M1→M2, and a compact K⊆M1. The restriction f∣K is then uniformly continuous: for each ε>0 a single δ>0 serves every pair, in the sense that x,y∈K with d1(x,y)<δ gives d2(f(x),f(y))<ε.
(Closed map lemma) Suppose X is compact, Y is Hausdorff and f:X→Y is continuous. Then f takes closed sets to closed sets. Hence an injective such f is a topological embedding, and a bijective one is a homeomorphism.
Idea of the proofOriginal
For the extreme value theorem, push the compactness forward through f: the image is a compact subset of R, so it is bounded and closed, and a nonempty closed bounded set of reals contains its own supremum and infimum - which is to say the bounds are values of f. Uniform continuity is a matter of replacing infinitely many local radii by finitely many: cover K by balls on which f varies by less than ε/2, keep only finitely many, and take the smallest radius. The closed map lemma is three permanence properties applied in a row.
ProofAdaptedAdapted from Lee (2013), Appendix A, Prop A.45(b), p. 608, Prop A.48(a), p. 609, and Lemma A.52, p. 610
Extreme value theorem. The image f(X) is compact by item 1 of the permanence properties and nonempty because X is. By item 5 of those properties, applied in the metric space R, the set f(X) is bounded and closed; boundedness of f is the first assertion. By the least-upper-bound property of R (Limits of sequences and completeness) the number s=supf(X) exists. Every interval (s−η,s+η) meets f(X), since otherwise s−η would be a smaller upper bound; so s lies in the closure of f(X), which is f(X) itself. Hence s=f(q) for some q∈X, and f(x)≤s=f(q) for every x, so the greatest value is attained at q. Reading the same argument with the infimum gives the point p.
Uniform continuity on compact sets. Let ε>0. For each x∈K, continuity of f at x in the ε-δ form provides rx>0 with
d1(y,x)<rx⟹d2(f(y),f(x))<ε/2.
The balls Brx/2(x), x∈K, are open and cover K, so compactness of K gives x1,…,xm∈K with K⊆Brx1/2(x1)∪⋯∪Brxm/2(xm). Put δ=minirxi/2, a minimum of finitely many positive numbers, hence positive - this is the step that fails without compactness.
Now let x,y∈K with d1(x,y)<δ, and choose i with x∈Brxi/2(xi). Then d1(x,xi)<rxi/2<rxi, and d1(y,xi)≤d1(y,x)+d1(x,xi)<δ+rxi/2≤rxi. So the displayed implication applies to both x and y, and
The single δ served every admissible pair, which is uniform continuity of f∣K.
Closed map lemma. Let K⊆X be closed. Item 2 of the permanence properties makes K compact, item 1 makes f(K) compact, and item 3, which needs Y Hausdorff, makes f(K) closed in Y. So f is a closed map. The two consequences are then the statement on continuous bijections in Continuity and homeomorphism: a continuous closed injection is a topological embedding, and a continuous closed bijection is a homeomorphism. □
RemarkOriginal
Where the hypotheses are used.
"Finite" in the subcover. Without it the definition is empty, since any cover is a subcover of itself. That the word bites is visible at once: R=⋃n∈N(−n,n) admits no finite subcover, so the line is not compact; and (0,1]⊆⋃n∈N(1/n,2) admits none either, because a finite subfamily is dominated by its largest member (1/N,2), which misses 1/(2N). A bounded set that is not closed can therefore fail to be compact.
Closedness in item 2 of the permanence properties. The subspace (0,1) of the compact space [0,1] is not compact: the open sets (1/n,1) for n≥2 cover it, and any finite subfamily is contained in one (1/N,1), which omits 1/(2N).
Hausdorff in item 3. Let X={a,b} with the trivial topology {∅,X}. Then {a} is finite, hence compact, yet X∖{a}={b} is not open, so {a} is not closed. Folland (p. 129) records the same phenomenon and adds that without Hausdorff an intersection of two compact sets can fail to be compact.
Hausdorff in the closed map lemma. Compactness of the domain alone is not enough. Give {a,b} the discrete topology to get a compact space X, and the trivial topology to get a non-Hausdorff space Y. The identity X→Y is continuous, since only ∅ and Y are open in Y, and bijective; but {a} is closed in X and not in Y, so the map is neither closed nor a homeomorphism.
Nonemptiness in the extreme value theorem. The empty space is compact and every map out of it is continuous, but no point is available at which a maximum could be attained. Lee (p. 608) states the result for a compact space without this caveat; we add "nonempty" so that the conclusion is literally true as written, and nothing else changes.
Compactness in item 2 of that statement. On the non-compact set (0,1) the continuous function 1/x is not uniformly continuous, so the hypothesis cannot be dropped.
Why Heine-Borel is a theorem, not a definition. "Closed and bounded" is strictly weaker than compact in a general metric space, as item 3 of the Heine-Borel statement shows, and it is already weaker in a space as ordinary as Q: the set Q∩[0,1] is bounded and closed in Q, but the decimal truncations of 1/2 form a sequence in it with no subsequence converging anywhere in Q. The pair of conditions that does survive in every metric space is total boundedness together with completeness, which is the point of the three-way equivalence.
Compactness against sequential compactness. The two agree on metric spaces, by that equivalence. Lee (p. 610) shows they also agree on second-countable Hausdorff spaces, and that a third condition joins them there: every infinite subset has a limit point. For topological spaces in general neither implies the other - Folland (p. 130) says so explicitly, and introduces there the intermediate notion of countable compactness, where only countable open covers are required to reduce to finite ones, a property every compact space has. Before transporting a theorem to a space with no metric, check which of the two hypotheses its proof actually used.
Convention. Kreyszig (p. 77) defines a metric space to be compact when each of its sequences has a convergent subsequence - our sequential compactness - and notes in a footnote that the variants coincide for metric spaces. Folland (p. 128) and Lee (p. 608) use finite subcovers, which is what this unit does and the only version that behaves well with no metric present. Read Kreyszig's "compact" as "sequentially compact"; by the equivalence above the two readings agree on every metric space, so his results transfer unchanged.
Example(The closed unit disk: a finite net, a maximum, and what breaks when the disk is opened)Original
Work in R2 with the Euclidean metric and let
D={(x,y):x2+y2≤1},D∘={(x,y):x2+y2<1},f(x,y)=x+2y.
1. A finite net, counted. Take ε=1/10. Cut the square Q=[−1,1]2 into 16×16=256 closed subsquares of side 1/8. Each subsquare lies within 21⋅812=2/16=0.08838…<0.1 of its own centre, so it sits inside the ball of radius 1/10 about that centre. The 256 centres thus form a finite (1/10)-net for Q, hence for D⊆Q. The count cannot be reduced below 100: a ball of radius 1/10 has area π/100, the disk has area π, and the area of a union is at most the sum of the areas, so at least π/(π/100)=100 such balls are needed. Total boundedness of D at this ε therefore costs between 100 and 256 balls.
2. D is compact. It is bounded, lying inside B2(0), and closed, being the inverse image of (−∞,1] under the continuous map (x,y)↦x2+y2. Part 1 of the Heine-Borel statement makes it compact; equivalently, by the three-way equivalence, D is complete (a closed subset of the complete space R2) and totally bounded (step 1 exhibits a net for ε=1/10, and the same construction with more than 2/ε subdivisions per side works for any ε).
3. The maximum exists, and here it is.f is continuous and D is compact and nonempty, so the extreme value theorem gives points of D at which f is least and greatest. To find them, use the Cauchy-Schwarz inequality: f(x,y)=(x,y)⋅(1,2)≤∣(x,y)∣∣(1,2)∣≤5 on D, with equality only when (x,y) is a nonnegative multiple of (1,2) of length 1. Hence
4. On the open disk the bound is never reached. For (x,y)∈D∘ the same inequality gives f(x,y)<5 strictly, while the points (1−1/m)(1/5,2/5)∈D∘ have f=5(1−1/m)→5. So supD∘f=5 is not a value of f; at m=10 the value is 0.95=2.0124611797…, still short. The reason is that D∘ is not compact, and the failure can be displayed directly: the open sets Um={x2+y2<(1−1/m)2} for m≥2 cover D∘ and grow with m, so any finite subfamily lies inside its largest member UM, which omits the point (1−1/(2M),0) of D∘. No finite subcover exists. D∘ is bounded but not closed, which is precisely the condition Heine-Borel requires.
ApplicationOriginal
Existence of a minimising configuration. The energy of N interacting atoms is a continuous function V on a subset of R3N. Confine them to a closed box: the admissible set is closed and bounded, hence compact, so V attains a least value and a minimising configuration exists - no further argument about the shape of V is needed. Remove the box and the conclusion can fail, and its failure is physical rather than technical: for a repulsive V the infimum of the energy is approached only as the atoms separate without limit, so there is no minimiser, which is what it means for the system to have no bound state. Compactness is the hypothesis that distinguishes the two cases, and the same reasoning underlies the existence statements reached by Lagrange multipliers on a constraint surface that is closed and bounded.
Why the Rayleigh quotient has a minimum in finite dimensions and needs more care in infinite ones. For a real symmetric n×n matrix A, the quotient R(x)=xTAx restricted to the unit sphere {∣x∣=1}⊆Rn is continuous on a set that is closed and bounded, hence compact; the extreme value theorem then produces a minimising vector, and that vector is an eigenvector with the least eigenvalue. The argument uses part 1 of the Heine-Borel statement and nothing else. In an infinite-dimensional normed space the unit sphere is closed and bounded but not compact - the sequence (en) of part 3 of that statement lives on it - so the existence of a minimiser has to be bought in some other way, typically by assuming the operator compact. That is the dividing line between quadratic forms in Rn and the spectral theory of compact operators, and it is why variational characterisations of eigenvalues carry a compactness hypothesis.
One step size for the whole interval. A numerical scheme on [a,b] needs a single grid spacing that meets the tolerance everywhere, which is a statement of uniform continuity, not continuity: item 2 above supplies it for any continuous integrand or right-hand side, because [a,b] is compact. On a non-compact domain the guarantee evaporates - sin(1/x) is continuous on (0,1] but oscillates on every scale near 0, and no uniform spacing resolves it - which is why such integrals are handled by a change of variable or by adaptive refinement. The same compactness also makes the microcanonical ensemble finite: for H(q,p)=∣p∣2/2m+V(q) with V continuous and the particles confined to a closed bounded region, the set {H≤E} is closed and bounded in phase space, hence compact, so its phase-space volume is finite and the ensemble average is defined. Lift the confinement and that volume can diverge.
Defines connected and path-connected spaces, their components, homotopy of paths and the fundamental group, and says precisely what "simply connected" means, how the definition used in plane complex analysis differs from the homotopy one, and which standard regions satisfy it.
What it means. Connectedness says a space is not two separate pieces; path-connectedness says you can walk between any two points inside it. Simple connectivity says more: every closed walk can be reeled in to a point without leaving the space. That last condition is what integral theorems need. On a simply connected region a field with zero curl has a potential; on a simply connected plane region an analytic function also integrates to zero around every closed curve. Drop the condition and both claims go: a curl-free field need not have a potential, whether on a plane annulus or on the region around a current-carrying wire, and an analytic function on an annulus need not integrate to zero around a closed curve in it. The failure is measured by the fundamental group.
Definition(Connected spaces and components)AdaptedAdapted from Lee (2013), Appendix A, p. 607; Ahlfors (1979), Ch. 3, §1.3, Thm 4 and Def 4, pp. 57-58
Splitting a space in two. Call a space Xdisconnected when it can be written as X=U∪V with U, V open, neither empty, and U∩V=∅; such a pair is a separation of X. A space admitting no separation is connected. The same condition stated through clopen sets: X is connected exactly when ∅ and X are the only subsets of X that happen to be simultaneously open and closed.
Connected subsets and components. A subset of X is called connected when it is a connected space under its subspace topology. A component of X (also connected component) is a connected subset that no strictly larger connected subset contains. Each point of X belongs to one component and no more, so the components give X a unique decomposition.
Regions. A set that is open, connected and nonempty, inside Rn or inside C, is a region.
Definition(Properties of connected spaces)AdaptedAdapted from Lee (2013), Appendix A, p. 607 and Prop A.39, pp. 607-608; Ahlfors (1979), Ch. 3, §1.3, Thms 3-5, pp. 56-58, and Exercise 3, p. 58
Spaces X, Y carry topologies and f:X→Y is continuous.
On the line. Among nonempty subsets of R, the connected ones are precisely the singletons together with the intervals. Here interval names a set J⊆R holding more than one point for which a,c,b with a,b∈J and a<c<b always has c∈J as well.
Transport by continuity. Connectedness of X forces connectedness of the image f(X). Applying this to a homeomorphism and its inverse shows connectedness to be a topological property.
Containment. Any nonempty connected subset of X sits inside one single component. (Lee's Prop A.39(b) omits "nonempty"; the word is ours, and it is needed, because ∅ is connected under the definition above and lies inside every component at once.)
Gluing at a point. Take connected subsets of X sharing at least one common point; their union is again connected.
The decomposition. Components are pairwise disjoint and closed, and X is their union; and if X=∅ the components are nonempty as well. (Lee's Prop A.39(d), p. 608, asserts nonemptiness with no hypothesis on X. The hypothesis X=∅ is ours and is needed: for X=∅ the only connected subset of X, hence the only component, is ∅ itself. The other three assertions hold for every X.)
Clopen sets. A subset of X that is open as well as closed is a union of components.
Open sets in Rn. Here the components of an open set are themselves open, and countably many at most. Hence each open U⊆Rn splits as a countable disjoint union of regions, which for n=1 reads: an open subset of R is a countable disjoint union of open intervals.
Polygonal criterion. Let U⊆Rn be open and nonempty - the case n=2, with R2 read as C, is the one complex analysis uses. Then U is connected precisely when each pair of its points is joined by some polygon contained in U, and the polygon may be taken with all of its sides parallel to coordinate axes.
Closure. If S⊆X is connected then so is S. (Ahlfors poses this as Exercise 3 on p. 58; it is the companion of item 4 and is used in the remark below.)
Idea of the proofOriginal
Connectedness is the impossibility of one kind of splitting, so each proof takes a splitting of the set in question and transports it back to a splitting of a set already known not to admit one. Transport through a continuous map gives item 2, transport through an inclusion gives items 4 and 9, and items 3, 5 and 6 need nothing more than those two once intervals are known to be connected - a fact which is where the least-upper-bound property of R enters. In Rn one further input is used: a ball is connected, because it is the union of the segments from its centre. That makes components of open sets open (item 7), and the same ball, traversed by a staircase instead of a segment, gives the polygonal criterion (item 8).
ProofAdaptedAdapted from Lee (2013), Appendix A, Prop A.39 and Exercise A.40, pp. 607-608; Ahlfors (1979), Ch. 3, §1.3, Thms 3-5, pp. 56-58, and Exercise 3, p. 58
The items are proved in the order 1, 2, 4, 9, 3, 5, 6, 7, 8, each using only the ones before it.
1, the easy direction. Let J⊆R be nonempty, not a singleton, and not an interval. Having more than one point and failing the betweenness condition, it has a,b∈J and c∈/J with a<c<b. Then J∩(−∞,c) and J∩(c,∞) are open in J, disjoint, contain a and b respectively, and their union is J because c∈/J. That is a separation, so J is disconnected. A singleton is connected, a separation requiring two nonempty disjoint pieces.
1, intervals are connected. Let J be an interval and suppose J=U∪V were a separation. Pick u∈U and v∈V; relabelling if necessary, u<v, and [u,v]⊆J by betweenness. Let A=U∩[u,v] and s=supA, which exists by the least-upper-bound property of R (Limits of sequences and completeness) because u∈A and v bounds A above; moreover s∈[u,v]⊆J, so s∈U or s∈V.
Suppose s∈V. As V is open in J, there is η>0 with (s−η,s+η)∩J⊆V. By the definition of a supremum some t∈A satisfies t>s−η, and t≤s, so t lies in (s−η,s+η)∩J and hence in V as well as in U - impossible, since U∩V=∅.
Suppose instead s∈U. Then s=v, because v∈V, so s<v. Openness of U in J gives η>0 with (s−η,s+η)∩J⊆U, and the point t=min(s+η/2,v) satisfies s<t≤v and t∈J, so t∈U∩[u,v]=A with t>s, contradicting s=supA. Both cases being impossible, no separation exists.
2, transport by continuity. Since all values of f lie in f(X), the map f:X→f(X) is continuous, by item 4 of "Building continuous maps" in Continuity and homeomorphism. So if f(X)=U∪V were a separation, then f−1(U) and f−1(V) would be open in X, disjoint because U and V are, nonempty because f is onto f(X), and their union would be X - a separation of X. Hence f(X) is connected when X is. Applying this to a homeomorphism and then to its inverse shows that connectedness transfers in both directions, so it is a topological property.
4, gluing at a point. Let {Si} be connected subsets of X with a point p in all of them, and let S be their union. Suppose S=U∪V is a separation, with p∈U. For each i, the sets U∩Si and V∩Si are open in Si - the subspace topology of Si is the same whether taken from S or from X - they are disjoint, their union is Si, and U∩Si contains p. Connectedness of Si therefore forces V∩Si=∅. Since this holds for every i, V=V∩S=∅, which a separation does not allow.
9, closure. Let S be connected and suppose S=U∪V is a separation. Then S=(U∩S)∪(V∩S) is a union of two disjoint sets open in S, so connectedness of S empties one of them; say S⊆U and V∩S=∅. Pick v∈V. Being open in S, V=W∩S for some W open in X, and W is a neighbourhood of v. Since v∈S, the set W meets S; but W∩S⊆(W∩S)∩S=V∩S=∅. So no separation exists and S is connected.
3, containment, and the existence of components. Fix x∈X and let C(x) be the union of every connected subset of X in which x lies. By item 4 this union is connected, and any connected set containing it contains x and is therefore one of the sets united, hence contained in C(x): so C(x) is a component. If a component C′ meets C(x), item 4 makes C(x)∪C′ connected, and maximality of each forces C′=C(x)∪C′=C(x). Now let S be nonempty and connected and let x∈S. Then S⊆C(x) by the definition of C(x), and C(x) is the only component meeting S, by the line just proved.
5, the decomposition. Every x lies in the component C(x), so the components cover X and their union is X; distinct components are disjoint, by the same line. If X=∅ then no component is empty, and this needs the maximality in the definition rather than the line just quoted: an empty component would be a maximal connected subset, yet {x} is a strictly larger connected subset for any x∈X. Each component C is closed: C is connected by item 9 and contains C, so maximality gives C=C.
6, clopen sets. Let A be open and closed and let C be a component meeting A. Then C=(C∩A)∪(C∖A) with both parts open in C, because A and X∖A are both open; they are disjoint, and C∩A=∅. Connectedness of C gives C∖A=∅, that is C⊆A. Since each point of A lies in a component, which then meets A, the set A is the union of the components it meets.
7, open sets in Rn. A ball B=Br(x) is connected: for y∈B the segment {(1−s)x+sy:s∈I} lies in B, since such a point is at distance s∣y−x∣<r from x, and the segment is the image of the connected set I under a continuous map, hence connected by items 1 and 2; B is the union of these segments, all containing x, so item 4 applies. Now let U⊆Rn be open, C a component of U and x∈C. Choose r with Br(x)⊆U. Then C∪Br(x) is connected by item 4 and lies in U, so maximality gives Br(x)⊆C, and C is open. Each component is thus open, connected and nonempty - a region - and the components partition U by item 5. There are countably many: each, being nonempty and open, contains a ball and hence a point with rational coordinates, the set Qn is countable (Sets, functions and countability), and distinct components are disjoint, so picking one rational point in each injects the set of components into Qn. For n=1 a component J is open, connected and nonempty, so not a singleton, so an interval by item 1; writing a=infJ and b=supJ in the extended reals, betweenness gives (a,b)⊆J⊆[a,b], and openness excludes the endpoints, since a ball about a inside J would contain points below infJ. Hence J=(a,b).
8, the polygonal criterion, sufficiency. A polygon is a union of finitely many segments, consecutive ones sharing an endpoint; each segment is connected as in item 7, and item 4 applied to one joint at a time makes the polygon connected. If every point of U is joined to a fixed a∈U by a polygon in U, then U is the union of those polygons, all containing a, hence connected by item 4. In particular the condition of the statement, which gives polygons between all pairs, implies connectedness.
8, the polygonal criterion, necessity. Let U be open, nonempty and connected, fix a∈U, and let A be the set of points of U reachable from a by a polygon inside U with each side parallel to some coordinate axis; a∈A by the degenerate polygon. The key observation is that a ball contains the staircase from its centre to any one of its points, and likewise the staircase from any one of its points to its centre. Indeed let Br(x)⊆U and y∈Br(x), and write dj=yj−xj. The staircase from the centre x out to y passes through x(0)=x and x(k)=x+∑j≤kdjej, so that x(n)=y and each side is parallel to a coordinate axis. A point of its k-th side is x+∑j<kdjej+σdkek with σ∈[0,1], and its distance from x is
(j<k∑dj2+σ2dk2)1/2≤(j∑dj2)1/2=∣y−x∣<r.
Running the same construction from y in towards the centre gives the staircase through y(0)=y and y(k)=y−∑j≤kdjej, a point of whose k-th side is y−∑j<kdjej−σdkek; this point agrees with x in the coordinates j<k, differs from x by (1−σ)dk in coordinate k and by dj in each coordinate j>k, so its distance from x is
((1−σ)2dk2+j>k∑dj2)1/2≤(j∑dj2)1/2=∣y−x∣<r
as well. Both staircases therefore lie in Br(x)⊆U. The observation must be kept to the centre: the staircase between two points of a ball neither of which is its centre can leave it, as the points u=(0,0.99) and v=(0.99,0) of B1(0)⊆R2 show: the staircase from u to v passes through u+(v1−u1)e1=(0.99,0.99), of norm 0.992=1.40007…>1. Only the centre-to-point case is needed below, and in both of its orientations.
Consequently A is open: if x∈A, pick r with Br(x)⊆U and append, to a polygon from a to x, the staircase from the centre x out to any y∈Br(x); so Br(x)⊆A. And U∖A is open: if x∈U∖A, pick r with Br(x)⊆U; were some y∈Br(x) in A, the polygon from a to y followed by the staircase from y in to the centre x would place x in A. So U=A∪(U∖A) with both parts open in U and disjoint; A=∅, so connectedness forces U∖A=∅. Any two points p,q∈U are therefore joined through a by an axis-parallel polygon in U. □
Definition(Paths, path-connectedness, local path-connectedness)AdaptedAdapted from Lee (2013), Appendix A, p. 608
Let I=[0,1] carry its Euclidean topology. A path from p to q in a space X means an element f∈C(I,X) whose endpoint values are f(0)=p and f(1)=q. Say X is path-connected when some path in X joins p to q, whichever pair p,q∈X is named. A maximal path-connected subset of X is called a path component; the path components partition X.
Say X is locally path-connected when its topology admits a basis all of whose members are path-connected.
Definition(Path-connectedness against connectedness)AdaptedAdapted from Lee (2013), Appendix A, Props A.41 and A.43, p. 608
One implication is free. A path-connected space is connected.
The two analogues of items 2 and 4 above. Continuity carries path-connectedness forward: if X is path-connected so is f(X). And a family of path-connected subsets with a point common to all of them has path-connected union.
When the implication reverses. Suppose X is locally path-connected. Then its components are open subsets of X; its path components are identical with its components; connectedness and path-connectedness of X amount to the same thing; and local path-connectedness passes to every open subset of X.
Open subsets of Rn are locally path-connected, since the open balls contained in such a set form a basis for it and a ball is convex, hence path-connected. For an open U⊆Rn - the only situation most applications present - "connected" and "path-connected" may therefore be used interchangeably. Item 1 does not reverse for arbitrary spaces; the remark below exhibits the standard counterexample. (This paragraph is ours: Lee states items 1-3 but not the Euclidean consequence.)
Idea of the proofOriginal
A path is a continuous map defined on an interval, and an interval is connected, so its image is connected: that single observation turns a path-connected space into a union of connected sets through a fixed point and proves item 1. Item 2 repeats the connected arguments with paths in place of separations, the one new ingredient being concatenation, which is continuous by the gluing lemma. Under local path-connectedness each path component swallows a basis neighbourhood of each of its points, so it is open; its complement is a union of the other path components and so is open too, making each path component clopen - and a connected set cannot contain a nonempty clopen proper piece.
ProofAdaptedAdapted from Lee (2013), Appendix A, Props A.41 and A.43 with Exercises A.42 and A.44, p. 608
Throughout, concatenation means the product path of the next definition block: for paths f from x to p and g from p to y, the map sending s to f(2s) on [0,1/2] and to g(2s−1) on [1/2,1]. The two formulas agree at s=1/2, both giving p, and the two halves of I are closed and cover it, so the gluing lemma of Continuity and homeomorphism makes the concatenation a continuous path from x to y.
1. An empty space is connected, so let X be path-connected and nonempty and fix p∈X. For each q∈X choose a path fq from p to q. Its image fq(I) is connected, by items 1 and 2 of the previous statement, and contains both p and q. So X is the union of the sets fq(I), all of which contain p, and item 4 of that statement makes X connected.
2, images. Let X be path-connected and let f(x),f(y)∈f(X). A path g from x to y in X gives the path f∘g from f(x) to f(y), continuous as a composition, and continuous into the subspace f(X) by item 4 of "Building continuous maps" cited above. So f(X) is path-connected.
2, unions. Let {Si} be path-connected subsets with a common point p, and let x∈Si, y∈Sj. Join x to p by a path in Si and p to y by a path in Sj; both are paths in the union, since composing with the inclusion keeps them continuous, and their concatenation joins x to y inside the union.
3(a), path components are open. Let P be a path component and x∈P. Local path-connectedness gives a basis of path-connected open sets, so some basis element B satisfies x∈B. Then P∪B is path-connected by the previous paragraph, x being common to both, and maximality of P gives B⊆P. So P contains an open set around each of its points and is open.
3(b), path components are components. Let P be a path component. If X=∅ then P=∅ is also the one component of X and there is nothing to prove, so assume X=∅; then P=∅, since an empty P would not be a maximal path-connected subset - {x} is path-connected for any x∈X. Now P is path-connected, hence connected by item 1, hence contained in a single component C by item 3 of the previous statement. Next, a path component Q meeting C lies inside C: being nonempty and connected, Q sits inside one component by item 3 of that statement, and that component meets C, so it is C, distinct components being disjoint. Since the path components cover X, the component C is therefore the union of the path components it meets, each of which is open by 3(a). Thus P is open in C, and so is the union of the other path components meeting C, which is exactly C∖P. So P is nonempty and is simultaneously open and closed in C, and connectedness of C gives P=C.
3(c), connected means path-connected. One direction is item 1. Conversely let X be connected and nonempty. By item 3 of the previous statement X lies inside one component, so X is that component, and by 3(b) it is a single path component, that is path-connected. (For X=∅ both properties hold vacuously.)
3(d), open subsets. Let B be a basis of path-connected open sets for X and let V⊆X be open. Then {B∈B:B⊆V} is a basis for the subspace topology of V: if W is open in V then W is open in X, because V is, so each x∈W has a basis element B with x∈B⊆W⊆V. Its members are path-connected, so V is locally path-connected.
The Euclidean consequence. Let U⊆Rn be open. The balls contained in U form a basis for U, by the pointwise test for a basis, and each ball is path-connected: for x,y∈Br(z) the map s↦(1−s)x+sy is continuous and its values lie in Br(z) by convexity. So U is locally path-connected and 3(c) applies to it and, by 3(d), to each of its open subsets. □
Definition(Homotopy, path homotopy and the fundamental group)AdaptedAdapted from Lee (2013), Appendix A, p. 603 and pp. 612-614
The topology on a product. Deformations are maps on X×I, so fix the topology first. For topological spaces X1,…,Xk the product topology on X1×⋯×Xk is the one whose basis is the collection of boxes U1×⋯×Uk with each Ui open in Xi (Lee, p. 603); a finite product carries this topology throughout, here and in item 5 of the statement below. On I×I⊆R2 it is the Euclidean subspace topology.
Deforming one map into another. Given F0,F1∈C(X,Y), a homotopy carrying F0 to F1 means a member H∈C(X×I,Y) whose two end slices recover them:
H(x,0)=F0(x)andH(x,1)=F1(x),x∈X.
Write F0≃F1 when such an H exists. If some A⊆X is held fixed throughout the deformation, meaning H(x,t) is independent of t for x∈A, the two maps are homotopic relative to A.
Homotopy equivalence. A map F∈C(X,Y) is a homotopy equivalence when some G∈C(Y,X) satisfies both F∘G≃idY and G∘F≃idX; such a G is a homotopy inverse for F, and X and Y are then homotopy equivalent (Lee, p. 614). Every homeomorphism is a homotopy equivalence, its inverse serving as a homotopy inverse, but a homotopy equivalence need not be injective or surjective.
The case that matters: paths. Paths f0,f1 in X are path-homotopic, written f0∼f1, when they are homotopic relative to the two-point set {0,1}. Unpacked, this asks for H∈C(I×I,X) obeying, for all s,t∈I,
The last two conditions pin the endpoints down, so only paths sharing a starting point and sharing a finishing point can be path-homotopic. On the paths running from p to q this is an equivalence relation, and [f] denotes the class - the path class - of f.
Composing paths. When f ends where g begins, f(1)=g(0), their product runs through f and then g, each at twice speed:
(f⋅g)(s)={f(2s),g(2s−1),0≤s≤21,21≤s≤1.
Replacing f or g by a path-homotopic one replaces f⋅g by a path-homotopic one, so [f]⋅[g]:=[f⋅g] makes sense on classes. Associativity holds for classes, though not for the paths themselves.
The fundamental group. Fix q∈X and call a path with f(0)=f(1)=q a loop based at q. Collect the path classes of all such loops and give the collection the product just defined; the result is a group in the sense of Groups and subgroups, written π1(X,q) and called the fundamental group of X at q. Its neutral element is [cq], where cq(s)≡q stays put, and [f]−1=[fˉ] for the retraced path fˉ(s)=f(1−s). Changing the base point inside a path-connected X changes π1(X,q) only up to isomorphism, so one may speak of π1(X) there.
Definition(Simply connected)AdaptedAdapted from Lee (2013), Appendix A, p. 613 and Exercise A.61
Declare X to be simply connected when two things hold: X is path-connected, and π1(X,q) reduces to its neutral element alone for one base point q - hence, by the base-point remark above, for all of them.
Both halves are needed, and neither reformulation below may be used on its own as a definition. Assume X is nonempty and path-connected. (The hypothesis X=∅ is ours, as in item 5 of "Properties of connected spaces" above: Lee's gloss on p. 613 and his Exercise A.61 name path-connectedness and nothing further. It is needed, because ∅ is path-connected - there is no pair of points to join - and satisfies both bullets below vacuously, yet is not simply connected: the definition demands a base point q∈X at which π1(X,q) is trivial, and ∅ supplies none.) Then each of the following is equivalent to X being simply connected:
every loop in X can be deformed, through loops in X based at the same point, to the stationary loop at that point; equivalently, each loop lies in the path class of a constant (Lee's gloss on the definition, p. 613); or
any two paths of X that start together and finish together are path-homotopic (Lee's Exercise A.61, p. 613, which states the path-connectedness hypothesis explicitly).
Dropping path-connectedness makes both bullets strictly weaker than simple connectivity; the remark below gives the counterexample.
Definition(Invariance, and the standard examples)AdaptedAdapted from Lee (2013), Appendix A, Example A.8, p. 599, Props A.64-A.65, p. 614, Exercise A.67, p. 614, Props A.68-A.69, p. 614, Thm A.71, p. 615; Ahlfors (1979), Ch. 8, §1.5, p. 294
A continuous map F:X→Y induces a group homomorphism (Homomorphisms and quotient groups) F∗:π1(X,q)→π1(Y,F(q)), F∗[f]=[F∘f], with (G∘F)∗=G∗∘F∗ and (idX)∗=id.
If F is a homeomorphism then F∗ is an isomorphism, so homeomorphic spaces have isomorphic fundamental groups; being simply connected is a topological property. The conclusion about F∗ survives the weaker hypothesis that F is a homotopy equivalence: that is Lee's Thm A.71, p. 615, and it speaks of F∗ alone. Path-connectedness transfers across a homotopy equivalence too, in either direction; that half is not in Lee's theorem and is proved below. The two together make simple connectivity, and not just the group, an invariant of homotopy equivalence; that is how item 6 and the examples below use this item.
A subset U⊆Rn is star-shaped if there is c∈U such that for every x∈U the segment from c to x lies in U. Every star-shaped set is simply connected; in particular every nonempty convex set, every open ball, every half-space and all of Rn are simply connected. Nonemptiness cannot be dropped, and the reason is the second half of the definition rather than the first: ∅ is convex and is path-connected, vacuously, there being no pair of points to join, but simple connectivity asks in addition for a base point q∈X at which π1(X,q) is trivial, and ∅ supplies none. So ∅ is not simply connected. The star-shaped hypothesis carries nonemptiness with it, since a centre c∈U is required.
Spheres. For an integer n≥0 let
Sn={x∈Rn+1:∣x∣=1}
be the unit n-sphere with its Euclidean subspace topology (Lee, p. 599), so that S1 is the unit circle in R2 and S2 the unit sphere in R3. Based at (1,0), the circle has π1(S1,(1,0)) infinite cyclic, a generator being the class of the once-round loop ω(s)=(cos2πs,sin2πs). So π1(S1)≅Z, and S1 is not simply connected. Spheres of higher dimension are: Sn is simply connected for every n>1.
5. The fundamental group of a finite product is the product of the fundamental groups, with no connectedness hypothesis on the factors: for spaces X1,…,Xk carrying the product topology and base points qi∈Xi,
the isomorphism sending [f] to ((p1)∗[f],…,(pk)∗[f]), where pi is the i-th projection. On the right-hand side G1×⋯×Gk denotes the direct product of groups G1,…,Gk: the Cartesian product of the underlying sets, multiplied slot by slot,
(g1,…,gk)(h1,…,hk)=(g1h1,…,gkhk),
which is a group, its neutral element being the tuple of the neutral elements and the inverse of a tuple being the tuple of the inverses, each axiom holding in the product because it holds in every slot. (Lee writes the product group without comment; spelling it out is ours, neither group prerequisite covering direct products.) (The base-point-free form π1(X1×⋯×Xk)≅π1(X1)×⋯×π1(Xk) is licensed only when every factor is path-connected, since that is when the notation π1(X) is defined.)
6. The inclusion Sn−1↪Rn∖{0} is a homotopy equivalence, with homotopy inverse x↦x/∣x∣. Hence π1(R2∖{0})≅Z, while Rn∖{0} is simply connected for n≥3.
Idea of the proofOriginal
Item 1 is bookkeeping: composing a loop with F turns path homotopies into path homotopies and respects the product of paths, so the assignment is well defined on classes and multiplicative. Item 2 then falls out of functoriality, since the maps induced by a homeomorphism and by its inverse compose to the identity in both orders; for a homotopy equivalence the isomorphism is quoted, but its companion, the transfer of path-connectedness, is proved here by riding the homotopy track t↦H(x,t) from a point to its image under the round trip G∘F. Item 3 is the straight-line contraction towards the centre of a star-shaped set, which fixes the base point provided the base point is taken to be the centre. Item 5 rests on the characteristic property of the product topology: a loop in a product is nothing but a tuple of loops, and a tuple of path homotopies is nothing but a path homotopy in the product. Item 6 is two explicit maps and one straight-line homotopy that never passes through the origin.
ProofAdaptedAdapted from Lee (2013), Appendix A, Prop A.23(a) with Exercise A.24, p. 603, Prop A.62 and Exercise A.63, p. 613, Props A.64-A.65 with Exercise A.66, p. 614, Exercise A.67, p. 614, Prop A.69 with Exercise A.70, p. 614
1. If f is a loop at q then F∘f is continuous, being a composition, and (F∘f)(0)=(F∘f)(1)=F(q), so it is a loop at F(q). If H is a path homotopy from f to f′ then F∘H is continuous and its four boundary conditions are those of H with F applied, so it is a path homotopy from F∘f to F∘f′; hence F∗[f]=[F∘f] depends only on the class. It is multiplicative because composition respects the defining formula of the product: F∘(f⋅g) sends s to F(f(2s)) on [0,1/2] and to F(g(2s−1)) on [1/2,1], which is (F∘f)⋅(F∘g). So F∗ is a homomorphism. Finally (G∘F)∘f=G∘(F∘f) gives (G∘F)∗=G∗∘F∗, and idX∘f=f gives (idX)∗=id.
2, the homeomorphism case. Let F be a homeomorphism. Applying item 1 twice, (F−1)∗∘F∗=(F−1∘F)∗=(idX)∗=id on π1(X,q), and F∗∘(F−1)∗=id on π1(Y,F(q)). So F∗ is a homomorphism with a two-sided inverse, hence an isomorphism, and homeomorphic spaces have isomorphic fundamental groups. Simple connectivity is then a topological property: a homeomorphism carries path-connected spaces to path-connected spaces, by item 2 of the previous statement applied to F and to F−1, and it carries a trivial fundamental group to a trivial one.
2, the homotopy-equivalence case. That F∗ is still an isomorphism when F is only a homotopy equivalence is quoted, not proved here; see the note below. The other half of the invariance, path-connectedness, is not part of that quoted theorem, and the argument for it is ours. Let F:X→Y be a homotopy equivalence with homotopy inverse G, let H∈C(X×I,X) be a homotopy from idX to G∘F, and suppose Y is path-connected. For x∈X the slice t↦H(x,t) is continuous, being H composed with t↦(x,t), whose components t↦x and t↦t are continuous (the criterion for continuity into a finite product is proved in item 5 below); it is therefore a path in X from x to G(F(x)). Now take x0,x1∈X. Path-connectedness of Y gives a path γ from F(x0) to F(x1), and G∘γ is then a path in X from G(F(x0)) to G(F(x1)). Concatenating the slice at x0, this path, and the reverse of the slice at x1 joins x0 to x1, so X is path-connected. Exchanging the roles of F and G, which are homotopy inverses of each other, gives the converse direction. Hence homotopy equivalent spaces are path-connected together and, with the quoted isomorphism, simply connected together.
3. Let U⊆Rn be star-shaped with centre c. Path-connected: for x,y∈U the segments from x to c and from c to y lie in U by hypothesis, and are the images of I under the continuous maps s↦(1−s)x+sc and s↦(1−s)c+sy; their concatenation is a path from x to y in U. Trivial fundamental group at c: let f be a loop in U based at c and set
H(s,t)=(1−t)f(s)+tc,(s,t)∈I×I.
Each value lies on the segment from f(s)∈U to c, hence in U; H is continuous, being built from the continuous f by scalar multiplication and addition. Its boundary values are H(s,0)=f(s), H(s,1)=c, and H(0,t)=H(1,t)=(1−t)c+tc=c, so H is a path homotopy from f to the constant loop at c. Hence π1(U,c) consists of the identity alone, and U is simply connected; as recorded in the definition, path-connectedness then makes the same true at every other base point. A nonempty convex set is star-shaped about each of its points, so the open balls, the half-spaces and Rn itself are covered by this.
5, continuity into a product. The projection pi is continuous, since pi−1(Ui) is the box with Ui in slot i and the whole factor in every other slot. Conversely, if every pi∘F is continuous then for a basis box the identity F−1(U1×⋯×Uk)=⋂i=1k(pi∘F)−1(Ui) exhibits the inverse image as a finite intersection of open sets, and testing inverse images on a basis suffices by item 6 of the equivalence statement in Continuity and homeomorphism. So a map into a finite product is continuous exactly when its components are. This is the characteristic property of the product topology, Lee's Prop A.23(a), p. 603, which he leaves as Exercise A.24.
5, the isomorphism.P[f]=((p1)∗[f],…,(pk)∗[f]) is a homomorphism, each (pi)∗ being one by item 1 and the group operation of a direct product being componentwise. It is surjective: given loops fi at qi, the map f(s)=(f1(s),…,fk(s)) is continuous by the previous paragraph, is a loop at (q1,…,qk), and satisfies pi∘f=fi, so P[f]=([f1],…,[fk]). Its kernel is trivial: if every pi∘f is path-homotopic to the constant loop at qi by some Hi, then H=(H1,…,Hk) is continuous by the previous paragraph and satisfies the four boundary conditions componentwise, so it is a path homotopy from f to the constant loop at (q1,…,qk). A homomorphism with trivial kernel is injective (Homomorphisms and quotient groups), so P is an isomorphism.
6. The map r(x)=x/∣x∣ is continuous on Rn∖{0} and takes values in Sn−1, and r∘ι=idSn−1 because ∣x∣=1 on the sphere. For the other composite, put
H(x,t)=(1−t)x+t∣x∣x=((1−t)+∣x∣t)x.
The scalar in brackets is positive for every t∈I: both terms are nonnegative, and they cannot both vanish, since t=0 makes the first equal to 1 and t>0 makes the second positive. So H(x,t) is a nonzero multiple of x and lies in Rn∖{0}; H is continuous there, and H(x,0)=x while H(x,1)=ι(r(x)). Hence ι∘r≃id and ι is a homotopy equivalence with homotopy inverse r.
For n≥2 the sphere Sn−1 is path-connected: for n=2 it is the image of I under the loop ω of item 4, which runs once round the whole circle, so item 2 of the path-connectedness statement applies; for n≥3 item 4 says Sn−1 is simply connected, which includes path-connectedness. By the homotopy-equivalence paragraph above, Rn∖{0} is then path-connected as well, so the notation π1(Rn∖{0}) is licensed. With that, the two consequences drawn in the statement follow: item 4 and the quoted isomorphism half of item 2 give π1(R2∖{0})≅π1(S1)≅Z, and for n≥3 they give a trivial π1(Rn∖{0}), which with path-connectedness is simple connectivity. □
Note(What this unit quotes without proving)AdaptedAdapted from Lee (2013), Appendix A, p. 613, Prop A.68 and Exercise A.70, p. 614, Thm A.71, p. 615, 'Covering Maps' with Props A.77 and A.79-A.80, pp. 615-616; Ahlfors (1979), Ch. 6, §1, p. 229, Ch. 8, §1.6, pp. 296-297
Four facts used above are stated here on the authority of their sources, their proofs needing machinery this chapter does not develop.
The fundamental groups of spheres (item 4). Lee states both halves as Prop A.68, p. 614, and leaves their proofs as Exercise A.70 on the same page, so no proof is to be found there. The two halves are proved by different routes. For S1 the usual route is the covering-space theory Lee takes up immediately afterwards, pp. 615-616: lift loops through the covering of the circle by the line, t↦(cos2πt,sin2πt), and count how far the lift advances, the path-lifting and monodromy properties of his Prop A.77, p. 616, being what make the count well defined and unchanged by path homotopy. For Sn with n>1 covering spaces are the wrong tool, since simple connectivity of a space is never what those results produce about that space. Lee's Prop A.79, p. 616, takes X simply connected as its hypothesis and concludes that every covering map onto X is a homeomorphism, so applying it to Sn would presuppose exactly what is wanted. His Prop A.80, p. 616, hypothesises something different and weaker - that X be connected and locally simply connected, meaning it has a basis of simply connected open sets - and its conclusion is that a simply connected covering space of X exists; there simple connectivity is a property of the cover, not of the base, so A.80 says nothing about whether Sn itself is simply connected. The standard arguments instead deform a given loop until it misses some point p of the sphere, after which it lives in Sn∖{p}, homeomorphic to Rn by stereographic projection from p and so simply connected by item 3; the deformation is where n>1 is used, and it fails for n=1, where the once-round loop is onto. An alternative route covers Sn by two open caps, each simply connected and with path-connected intersection when n>1, and applies the Seifert-van Kampen theorem, which lies outside this handbook's library.
Homotopy invariance of the fundamental group (the isomorphism named in item 2 and used again in item 6). This is Lee's Thm A.71, p. 615, which he too states without proof, referring to the topology texts cited at the head of his appendix. It is only about the induced map on π1; the accompanying transfer of path-connectedness, which the uses of item 2 also need, is proved above and is ours.
That π1(X,q) is a group, and that the groups at different base points of a path-connected space are isomorphic (the definition of the fundamental group above). Lee, p. 613. The group axioms need the associativity and inverse properties of path classes, and the base-point statement needs the isomorphism built from a path joining the two points.
The equivalence, for a plane region, of Ahlfors's connected-complement condition with triviality of the fundamental group (the remark on conventions below). Ahlfors closes this circle on pp. 296-297, and the direction the remark needs - trivial fundamental group forces the complement in the extended plane to be connected - is the one he gets from the monodromy theorem of Ch. 8, §1.6: if a bounded component of the complement existed, a logarithm about a point of it would fail to be single-valued in the region, which monodromy forbids once the fundamental group is trivial. The remaining link of his three-way equivalence, connected complement against homeomorphic to a disk, is the Riemann mapping theorem of Ch. 6, §1, p. 229.
Ahlfors (p. 138) introduces simple connectivity with precisely this motivation: it is the class of regions in which Cauchy's theorem is "universally valid", that is, valid for every closed curve in the region rather than only for some. On a region that is not simply connected the theorem fails in a controlled way, and the obstruction is visible in one function: for a∈/Ω the function 1/(z−a) is analytic on Ω while ∮γdz/(z−a)=2πin(γ,a), where n(γ,a) counts how many times the closed curve γ winds around a; that integral is nonzero as soon as γ encircles a (Ahlfors, pp. 140-141). See Cauchy's theorem and Contour integrals.
The same condition appears on the real side. Riley, Hobson and Bence (pp. 383-384) introduce the connectivity of a region exactly because scalar and vector fields are defined on regions and the integral theorems depend on it, and Arfken, Weber and Harris (p. 164) state Gauss's theorem for a simply connected region of R3, remarking there that a region with a hole in it, a doughnut say, is not simply connected. What the condition buys in vector calculus is the existence of potentials: on a simply connected open subset of R3 a C1 field with vanishing curl is the gradient of a single-valued function, whereas on an annular region it need not be. See Line integrals and conservative fields, Stokes' theorem and Green's theorem in the plane and Helmholtz decomposition and potentials, where these statements are made precise.
Remark(Both halves of simple connectivity are needed)Original
Neither bullet in the definition of simple connectivity implies path-connectedness, so neither may stand alone. Let
X={z∈C:∣z∣<1}∪{z∈C:∣z−3∣<1}
be two disjoint open disks with the subspace topology. Every loop in X lies in one disk, which is convex and hence simply connected, so the loop contracts there; likewise two paths of X with the same start and the same end lie in one disk and are path-homotopic in it. Both bullets therefore hold, while X is not path-connected - no path joins 0 to 3, since its image would be a connected subset of X meeting both disks, and the disks separate X. So X is not simply connected, and π1(X,0) being trivial says nothing about X as a whole. This is why Lee hypothesises a path-connected space in Exercise A.61 (Lee (2013), Exercise A.61, p. 613).
Remark(Connected does not imply path-connected)AdaptedAdapted from Ahlfors (1979), Ch. 3, §1.3, Exercises 3-4, p. 58
Let
A={(0,y):∣y∣≤1},B={(x,sin(1/x)):x>0},X=A∪B⊆R2
with the Euclidean subspace topology (the topologist's sine curve; Ahlfors poses this pair of sets as Exercise 4 on p. 58, and the analysis below is ours). B is connected, being a continuous image of (0,∞), and A⊆B because sin(1/x) takes every value in [−1,1] on every interval (0,δ). In fact B=A∪B=X: the graph of a continuous function on (0,∞) is closed in (0,∞)×R, so the only points added by the closure are those with first coordinate 0, and these are exactly the points of A. Item 9 of the properties statement above - the closure of a connected set is connected - therefore makes X connected. But X is not path-connected. Suppose γ:I→X were continuous with γ(0)∈A and γ(1)∈B, and let c=maxγ−1(A). That maximum exists because γ−1(A) is closed in I - A is closed in X, being closed in R2, and γ is continuous - and is also nonempty, since γ(0)∈A, and bounded, being a subset of I. Moreover c<1: the two sets are disjoint, every point of B having positive first coordinate, and γ(1)∈B, so 1∈/γ−1(A). Hence γ(t)∈X∖A=B for every t∈(c,1], so by the intermediate value theorem the first coordinate of γ takes every sufficiently small positive value on every interval (c,c+η), and the second coordinate therefore takes both the values 1 and −1 on every such interval, contradicting continuity at c. The hypothesis that fails in the statement above is local path-connectedness: no neighbourhood of (0,0) in X is path-connected.
Path components need not be closed. In the same X the path components are A and B. A is closed in X, but B∩X=X=B, so B is not. This is one place where the parallel between components and path components breaks down: components are always closed, path components need not be.
The intuitive phrase is a reliable guide only in the plane. In R3, removing a point leaves a simply connected set, R3∖{0} (item 6 above), while removing a whole line does not. The second case is worth settling by the statements rather than by the picture, and the following derivation is ours: the set R3 minus the z-axis is the product (R2∖{0})×R, whose product topology is the Euclidean one because the open boxes are a basis for both, so item 5 computes its fundamental group at any base point as π1(R2∖{0})×π1(R)≅Z×{1}≅Z, using item 6 for the first factor and item 3 for the second (R is convex and nonempty). The group is nontrivial, so a loop encircling the axis indeed cannot be contracted. Riley, Hobson and Bence give the pair of cases that makes the point sharpest, on p. 384: the solid torus is not simply connected, because a closed curve running round inside it cannot be shrunk to a point without leaving it, whereas the open shell lying between a pair of concentric spheres of unequal radii does satisfy the condition, even though it looks like a solid with a cavity inside it. Decide by the definition, not the picture.
A trivial fundamental group also constrains loops only, and nothing more: S2 and R2 are both simply connected and are not homeomorphic, one being compact and the other not.
Remark(Conventions that differ between books)AdaptedAdapted from Ahlfors (1979), Ch. 4, §4.2, Def 1 and the warning that follows it, p. 139, with Ch. 8, §1.6, p. 297; do Carmo (2016), §5-6, Def 3, p. 388; Riley, Hobson & Bence (2006), §11.2, pp. 383-384; Lee (2013), Appendix A, p. 613
The homotopy definition (used here). Lee (p. 613): path-connected with trivial fundamental group. This is the definition that works in every topological space and in every dimension.
Ahlfors's definition, for plane regions only. Ahlfors (p. 139) calls a region Ω⊆C simply connected when the set (C∪{∞})∖Ω, that is the complement formed inside the extended plane, is a connected set. He attaches a warning on the same page: most books define the term differently, and his version has no analogue above two real dimensions. His reason for adopting it is speed of access to Cauchy's theorem, and by p. 297 he has assembled the equivalence, for a plane region, of three conditions - extended-plane complement connected, homeomorphic to a disk, fundamental group trivial. Taking the complement in the extended plane is essential: a parallel strip has disconnected complement within the finite plane, connected complement within the extended plane, and is simply connected.
do Carmo's definition, for subsets of R3. do Carmo (p. 388) calls an arcwise connected B⊆R3 simply connected when any two arcs in B with the same endpoints are homotopic in B, and notes that this is equivalent to every closed arc being homotopic to a constant arc. This is the second of our two equivalent forms, carrying the same connectivity hypothesis (his arcwise connected) and restricted to subsets of R3.
The physicists' formulation. Riley, Hobson and Bence (p. 383) say a plane region is simply connected when every simple closed curve in it can be shrunk continuously to a point without leaving the region, and call a region with n−1 holes n-fold connected (doubly connected for one hole, triply connected for two), counting the parts of its boundary. That count is a planar notion with no direct analogue in three dimensions; what carries over, as they say on p. 384, is the shrinking criterion, applied to curves lying in the surface or volume concerned.
"Region" and "domain". Ahlfors (p. 57) reserves region for a nonempty connected open set and closed region for the closure of one; much of the applied literature writes domain for the same thing, and some texts use "region" for any set on which a field is defined. Read the definition before relying on connectedness being implied.
Example(Two three-dimensional regions decided by the definition)Original
Write ρ=x2+y2 for the distance from the z-axis. The two regions below are the ones the remark on "no holes" discusses; here they are settled by the statements above rather than by the picture.
1. The solid torus is not simply connected. Let
T={(x,y,z)∈R3:(ρ−2)2+z2<1}.
On T we have (ρ−2)2<1, hence 1<ρ<3; in particular ρ never vanishes, so
r(x,y,z)=ρ(x,y)∈S1
is defined and continuous on T. Let ι:S1→T be ι(u,v)=(2u,2v,0), which lands in T because there ρ=2 and z=0, giving (2−2)2+02=0<1.
The composites.r(ι(u,v))=(2u,2v)/2=(u,v), so r∘ι=idS1. In the other order, define
H((x,y,z),t)=([(1−t)ρ+2t]ρ(x,y),(1−t)z).
This is continuous on T×I because ρ>1 there, and H(⋅,0) is the identity while H(⋅,1)=ι∘r. It stays inside T: the deformed point has distance ρt=(1−t)ρ+2t from the axis and height zt=(1−t)z, so ρt−2=(1−t)(ρ−2) and
(ρt−2)2+zt2=(1−t)2[(ρ−2)2+z2]<1.
Conclusion.ι is a homotopy equivalence with homotopy inverse r. Before writing π1(T) without a base point we must know T is path-connected, and it is: S1 is path-connected (proof item 6 above, S1 being the image of the once-round loop), and path-connectedness transfers across a homotopy equivalence by the same proof item 2 that is used next. So item 2 gives π1(T)≅π1(S1), which by item 4 is infinite cyclic and in particular not trivial. Simple connectivity requires a trivial fundamental group, so T fails it - and the failure is not for want of path-connectedness, which T has.
Arithmetic check. The point p=(2.5,0,0.3) has ρ=2.5 and (ρ−2)2+z2=0.25+0.09=0.34<1, so p∈T. At t=1/2 the homotopy sends it to (2.25,0,0.15), for which (0.25)2+(0.15)2=0.085; and 0.085=0.34×(1/2)2, exactly the factor (1−t)2 predicted above.
2. The shell between two spheres is simply connected. Let A={x∈R3:1<∣x∣<2}, let r(x)=x/∣x∣∈S2 and let ι(u)=23u, which lands in A because ∣23u∣=1.5. Again r∘ι=idS2, and
H(x,t)=[(1−t)∣x∣+23t]∣x∣x
is continuous on A×I, interpolates between the identity and ι∘r, and stays in A because its radial coordinate is a convex combination of ∣x∣∈(1,2) and 23∈(1,2). So A is homotopy equivalent to S2 and π1(A)≅π1(S2), trivial by item 4 since 2>1; the base-point-free notation is licensed by the path-connectedness established in the next paragraph.
Path-connectedness, which the definition also demands. Given x,y∈A, push each radially to radius 23 along the path above with t as parameter, and then join the two points u,v of the sphere of radius 23: for u=−v the path s↦23w(s)/∣w(s)∣ with w(s)=(1−s)u+sv is defined, since w(s)=0 would force u and v to be opposite multiples of one vector, hence antipodal; and when v=−u one inserts a third point of the sphere and concatenates. So A is path-connected, and with the trivial fundamental group it is simply connected.
Arithmetic check.x=(0.3,0.4,1.2) has ∣x∣2=0.09+0.16+1.44=1.69, so ∣x∣=1.3∈(1,2) and x∈A; along the homotopy its radius is 1.3+0.2t, which runs from 1.3 to 1.5 and never leaves (1,2).
A region may therefore enclose a cavity and still be simply connected, while a solid ring cannot be: the shell's cavity is an obstacle that loops can slide around, and the ring's hole is not.
ApplicationOriginal
The field outside a current-carrying wire. For a steady current I along the z-axis, the magnetostatic field in the region outside the wire is B=μ0I/(2πρ)eφ, and there the current density vanishes, so ∇×B=0. Nevertheless Ampere's law gives ∮B⋅dl=μ0I=0 for a loop encircling the wire, so B is not the gradient of any single-valued function on that region. There is no contradiction with the potential theorems, because the region is R3 with a line removed, which the remark on "no holes" above computes to have fundamental group Z at every base point, generated by the class of a loop once round the wire: the hypothesis of simple connectivity fails, and the nonzero circulation is the measure of how it fails. The same loop class is what makes the Aharonov-Bohm phase physical: the electron picks up (e/ℏ)∮A⋅dl, which is determined by the enclosed flux and is independent of the loop within its path class, even though the field vanishes along the whole path. See Line integrals and conservative fields and Helmholtz decomposition and potentials.
Line defects in ordered media are classified by path classes. An ordered medium assigns to each point of the sample a value in an order-parameter space M, and a line defect is detected by restricting the assignment to a small loop encircling the line, which gives an element of π1(M) that cannot change under continuous deformation of the loop. For superfluid helium-4 the order parameter is a phase, M=S1, so π1(M)≅Z and vortices carry an integer circulation that can only be changed by moving a defect through the loop. For a uniaxial nematic liquid crystal, where the states n and −n are physically identical, M is the projective plane and its fundamental group has two elements, so there is exactly one nontrivial class of line defect and two such disclinations can annihilate. The experimental taxonomy of defects is in this sense a fundamental-group computation.
Where a potential or a branch has to be cut. Simple connectivity is the licence to integrate a closed field or an analytic function to a single-valued function; on a region without it, one either accepts a multivalued potential or cuts the region until it is simply connected. That is why the magnetic scalar potential of a current loop jumps across a chosen surface spanning the loop, and why logz and z on C∖{0} - a region with π1≅Z by item 6 - are made single-valued by a branch cut that removes the offending loops. See Branch points and branch cuts and Stokes' theorem and Green's theorem in the plane.