In this chapter, the definition and some basic results on the theory of Riemann integration are reviewed, and the limitations of Riemann integration are pointed out so as to convince the reader of the necessity for a more general integral.
1.1 Definition and Some Characterizations
Let
and consider the sums
where
and Δxi = xi − xi−1 for i = 1, …, k. Clearly, for every partition P of [a, b],
Note that if f(x) ≥ 0 for all x ∈ [a, b], then L(P, f) is the total area of the rectangles with side lengths mi and xi − xi−1, and U(P, f) is the total area of the rectangles with side lengths Mi and widths xi − xi−1, for i = 1, …, k. Thus, it is intuitively clear that the required area, say γ, under the graph of f must satisfy the relation:
for all partitions P of [a, b]. With this requirement in mind, we introduce the following definition.
Definition 1.1.1 A bounded function
for all partitions P of [a, b]. If such a γ exists, then it is called the Riemann integral of f and it is denoted by
We shall see that every bounded function
Example 1.1.2 Let
Note that, for any partition P of [a, b], we have L(P, f) = 0 and U(P, f) = 1. Thus, for every number α ∈ [0, 1], we have L(P, f) ≤ α ≤ U(P, f) for every partition P of [0, 1]. In other words,
In the following, we shall denote the set of all partitions of [a, b] by
Let
Then, for any partition P = {xi: i = 0, 1, …, k} of [a, b], we have
and
so that
Thus, the sets
exist as real numbers. Using the quantities L(f) and U(f), we have the following characterization of Riemann integrability.
Theorem 1.1.3 A bounded function
Proof. Suppose
(*) |
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we have
Consequently,
Now, since γ is the only number satisfying (*), we have L(f) = γ = U(f).
Conversely, suppose L(f) = U(f). Then we have
Thus, γ: = L(f) = U(f) satisfies (*). Further, if
then, from the definition of L(f) and U(f), it follows that
Remark 1.1.4 As you must have observed, the proof of Theorem 1.1.3 was very easy. We gave its proof in detail, mainly because of the fact that in standard text books, the Riemann integrability of a bounded function
Remark 1.1.5 The quantities L(P, f) and U(P, f) are known as lower Darboux sum and upper Darboux sum, respectively. Analogously, the quantities L(f) and U(f) are known as lower Darboux integral and upper Darboux integral, respectively. Therefore, in view of Theorem 1.1.3, the integral
Let P be a partition of [a, b]. A new partition of [a, b] obtained from P by adjoining additional points is called a refinement of P. Thus, if P = {xi: i = 1, …, k} is a partition of [a, b],
If P1 and P2 are partitions of [a, b], we can consider a new partition P, which is a refinement of both P1 and P2, by using all the partition points of P1 and P2, taking repeated points only once. Such a partition is usually denoted by
Given any two partitions P and Q of [a, b], it can be seen that
Thus, L(P, f) ≤ U(Q, f) for any partitions P and Q of [a, b]. Consequently,
Exercise 1.1.6 Prove the relations in (*) above.♢
The characterization given in the following theorem is useful in deducing many properties of Riemann integral.
Theorem 1.1.7 Let
Proof. Suppose f is Riemann integrable and let ɛ > 0 be given. By the definitions of L(f) and U(f), there exist partitions P1 and P2 of [a, b] such that
Let
Since L(f) = U(f) (cf. Theorem 1.1.3), it follows that
Conversely, suppose that for every ɛ > 0, there exists a partition P of [a, b] such that U(P, f) − L(P, f) < ɛ. Since
we have
This is true for every ɛ > 0. Hence, L(f) = U(f), and hence f is Riemann integrable.▮
Here is an immediate consequence of the above theorem.
Corollary 1.1.8 A bounded function
and in that case the sequences (U(Pn, f)) and (L(Pn, f)) converge to the same limit
Exercise 1.1.9 Give proof for the above corollary.♢
Next we give another characterization of Riemann integrability. For that purpose we introduce the following definition.
Definition 1.1.10 Let P: a = x0 < x1 < · · · < xn = b be a partition of [a, b] and let T: = {ti : i = 1, …, n} with ti ∈ [xi−1, xi], i = 1, …, n. The set T is called a tag set for P. Given a function
is called the Riemann sum of f associated with (P, T). The quantity
is called the mesh of the partition P.♢
Note that the Riemann sums may vary as the tag sets vary. It is obvious that, if
for any partition P of [a, b] and for any tag set T for P. Therefore, by Theorem 1.1.7, we have the following result.
Theorem 1.1.11 If
for every tag set T for P.
Exercise 1.1.12 Supply details of the proof of the above theorem.♢
In fact, the converse to Theorem 1.1.11 is also true.
Theorem 1.1.13 Let
for every tag set T of P. Then f is Riemann integrable and
Proof. Let ɛ > 0 be given and let P: a = x0 < x1 < · · · < xk = b be as in the hypothesis of the theorem. Then we have
(1) |
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for any tag set T corresponding to P. Let ui, vi ∈ [xi−1, xi] for i = 1, …, k be such that
(2) |
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Consider the tag sets T1 = {ui: i = 1, …, k} and T2 = {vi: i = 1, …, k} for the partition P. Then from (2), we have
This, together with (1), implies
In particular,
(3) |
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so that
Hence, by Theorem 1.1.7, f is Riemann integrable. Therefore, by the relations in (3), we have
Thus,
for every ɛ > 0. Consequently,
If we know that f is Riemann integrable, then the following theorem is better suited for obtaining approximations for
Theorem 1.1.14 Suppose
for any partition P of [a, b] with |P| < δ and for every tag set T for P.
The conclusion in the above theorem is usually written as
Here is an immediate consequence of Theorem 1.1.14.
Corollary 1.1.15 Suppose
Looking at Theorem 1.1.13, one may ask the following question.
If (Pn) is a sequence of partitions of [a, b] such that
The answer is in the negative as the following example shows.
Example 1.1.16 Consider the Dirichlet function
Let xi: = i/n for i = 0, 1, …, n, and let ti be any rational point in the interval [xi−1, xi]. In this case we have
1.2 Advantages and Some Disadvantages
We may observe, in view of Corollary 1.1.8, that if (Pn) is a sequence of partitions of [a, b] such that (U(Pn, f)) and (L(Pn, f)) converge to the same limit say γ, then f is Riemann integrable, and
Every continuous function
The following results are also true; for their proofs, the reader may refer to Ghorpade and Limaye [7] or Rudin [13].
(a)Every bounded function
(b)Every monotonic function
Thus, the set of all Riemann integrable functions is very large. In fact we have the following theorem, known as Lebesgue’s criterion for Riemann integrability, whose proof depends on some techniques involving the concept of oscillation of a function; refer to Delninger [4] for its proof.
Lebesgue’s criterion for Riemann integrability: A bounded function
In the above, the terminology set of measure zero is used in the sense of the following definition.
Definition 1.2.1 A set
where ℓ(In) is the length of the interval In.♢
Example 1.2.2 We show that every countable subset of
Then
♢
Can an uncountable set be of measure zero? We shall answer this question affirmatively in the next chapter.
Functions with only a finite or countably infinite number of discontinuities in [a, b] can be constructed easily. In fact, the following example shows that given any countable subset S of [a, b], there is a function
Example 1.2.3 Let I = [a, b],
Let
For δ > 0, let
For instance, we may choose 0 < δ < min{|x0 − ai|: i = 1, …, k}. Then we have
Hence, for
Thus we have proved that f is continuous at x0.
If we take S as the set of all rational numbers in I, then the function f is continuous at every irrational number in I and discontinuous at every rational number in I.
Although the set of Riemann integrable functions on [a, b] is quite large, this class lacks some desirable properties. For example observe the following drawbacks of Riemann integrability and Riemann integration:
(a)If (fn) is a sequence of Riemann integrable functions on [a, b] and if fn(x) → f(x) as n → ∞ for every x ∈ [a, b], then it is not necessary that f is Riemann integrable.
(b)Even if the function f in (a) is Riemann integrable, it is not necessary that
To illustrate the last two statements consider the following examples.
Example 1.2.4 Let {r1, r2, …} be an enumeration of the set rational numbers in [0, 1]. For each
Then each fn is Riemann integrable, as it is continuous except at a finite number of points. Note that fn(x) → f(x) as n → ∞ for every x ∈ [0, 1], where
We have seen in Example 1.1.2 that f is not Riemann integrable, which also follows from the Lebesgue’s criterion of Riemann integrability, since f is discontinuous everywhere. Thus, though
Example 1.2.5 For
where χE denotes the characteristic function of E, that is,
Then we see that, for each x ∈ [0, 1], fn(x) → f(x) = 0 as n → ∞, but
Example 1.2.6 Consider
Then we have, for each x ∈ [0, 1], fn(x) → f(x) = 0 as n → ∞. Note that
In Examples 1.2.5 and 1.2.6, we see that, although the sequence (fn(x)) converges for each x ∈ [0, 1], it is not uniformly bounded, that is, there does not exist an M > 0 such that |fn(x)| ≤ M for all x ∈ [a, b] and for all
Theorem 1.2.7 (Arzela’s theorem) Suppose (fn) is a sequence of Riemann integrable functions defined on [a, b] such that fn(x) → f(x) as n → ∞ for each x ∈ [a, b] for some Riemann integrable function f. If (fn) is uniformly bounded, then
For a recent elementary proof for the above theorem, one may refer to [8].
Note that, in Arzela’s theorem, we assumed that the limit function f is Riemann integrable. In this course we shall have a new type of integral, called the Lebesgue integral, which includes the Riemann integral, and derive Arzela’s theorem as a consequence of a more general result (see Theorem 5.1.12). In fact, the assumption of Riemann integrability of f is not required, but then, the integral of f is to be understood in the sense of the Lebesgue integral.
In the next section we introduce certain notations and conventions which we shall use throughout the book.
By countable family {An} of sets, we mean a family {An: n ∈ Λ} of sets An, n ∈ Λ, where either Λ = {1, 2, …, k} for some
By an interval we mean a subset I of
The intervals (a, b), [a, b), (a, b], [a, b] are bounded intervals with end points a and b, and the intervals (a, ∞), [a, ∞), ( − ∞, a), ( − ∞, a], ( − ∞, ∞) are unbounded intervals.
Length of an interval I is denoted by ℓ(I). Thus, for a bounded interval I of end points a, b with a < b, ℓ(I) is b − a. If I is an unbounded interval, then we say that its length is infinity, and we write ℓ(I) = ∞. Also, for a divergent series
Although ∞ is not a real number, we shall use the symbol ∞ as an extended real number.
We have already used the symbol ∞ to denote the sum of a divergent series of non-negative real numbers. Similarly, we may use the symbol −∞ for the sum of a divergent series of non-positive real numbers.
Thus, we have the set
Further,
However,
In the above, addition and multiplication are commutative. Also, for any
We shall also use the notation [ − ∞, ∞] for the set
Throughout the text, we consider
Thus, a set
Let
(a)S is said to be bounded above if there exists
(b)S is said to be bounded below if there exists
(c)S is said to have a least upper bound
(d)S is said to have a greatest lower bound
It can be easily seen that if
Every subset of
Using the least upper bound property of
Every subset of
If
If S is not bounded above, then we shall write sup (S) = ∞, and if S is not bounded below, then we shall write inf (S) = −∞. This convention is also adopted if S is a subset of [ − ∞, ∞].
Using the above definitions, supremum and infimum of a sequence in
Also, the limit supremum and limit infimum of (an) are defined by
respectively. We observe that, if
for
For a sequence (an) in
Let (an) be a sequence in