Linear Transformations


Introduction to Linear Transformations

Finding Linear Transformations from Basis
Vectors

The Kernel and Range of a Linear
Transformation

4.1
 Introduction to Linear Transformations

A function T that maps a vector space V into a vector space W:
mapping
T : V  W, V ,W : vector spaces
V: the domain of T W: the codomain of T


Image of v under T :
If v is a vector in V and w is a vector in W such
that
T ( v )  w,
then w is called the image of v under T
(For each v, there is only one w)


The range of T :
The set of all images of vectors in V (see the figure
on the next slide)
4.2

The preimage of w :
The set of all v in V such that T(v)=w
(For each w, v may not be unique)

The graphical representations of the domain, codomain,
and range

For eg: as . Then Range

T =X-axis.
Also, observe that x=1
line maps to (1,0).
Therefore, preimage of
(1,0) is x=1 line

4.3

Linear Transformation :
V , W：vector spaces
T : V  W：A linear transformation of V into W if the
following two properties are true
1. T (u  v)  T (u)  T ( v), u, v V Homogeneity property
2. T (cu)  cT (u), c  R Additivity property

4.4

Ex 1: A function from R2 into R2
T : R 2  R 2 v  (v1 , v2 )  R 2
T (v1 , v2 )  (v1  v2 , v1  2v2 )
(a) Find the image of v=(-1,2) (b) Find the preimage of
w=(-1,11)
Sol:
(a) v  (1, 2)
 T ( v)  T (1, 2)  ( 1  2,  1  2(2))  (3, 3)
(b) T ( v)  w  ( 1, 11)
T (v1 , v2 )  (v1  v2 , v1  2v2 )  (1, 11)
 v1  v2  1
v1  2v2  11
 v1  3, v2  4 Thus {(3, 4)} is the preimage of w=(-1, 11)
4.5

Ex 2: Verifying a linear transformation T from R2 into R2

T (v1 , v2 )  (v1  v2 , v1  2v2 )

Pf:
u  (u1 , u2 ), v  (v1 , v2 ) : vector in R 2 , c : any real number
(1) Vector addition :
u  v  (u1 , u2 )  (v1 , v2 )  (u1  v1 , u2  v2 )

T (u  v)  T (u1  v1 , u2  v2 )
 ((u1  v1 )  (u2  v2 ), (u1  v1 )  2(u2  v2 ))
 ((u1  u2 )  (v1  v2 ), (u1  2u2 )  (v1  2v2 ))
 (u1  u2 , u1  2u2 )  (v1  v2 , v1  2v2 )
 T (u)  T ( v)
4.6
(2) Scalar multiplication
cu  c(u1 , u2 )  (cu1 , cu2 )
T (cu)  T (cu1 , cu 2 )  (cu1  cu 2 , cu1  2cu 2 )
 c(u1  u 2 , u1  2u 2 )
 cT (u)
Therefore, T is a linear transformation

4.7
 2 2
 Let T : R isR a linear transformation defined by
 2 0
T (u , v)   (u, vthen
)  (2u , v)
 0 0

4.8
 2 2
 Let T : R isR a linear transformation defined by
0 0  1
T (u , v)   then
(u , v)  (u , v)
 0 1/ 2 2

4.9
 2 2
 Let T : R  R
is a linear transformation defined by
 2 0
T (u , v)   (u , v) , (then
2u ,2v)
 0 2

4.10
 2 2
 Let T : R isRa linear transformation defined by
0 0 
T (u , v)   ,(uthen
, v)  (u ,v)
 0  1

4.11

Zero transformation :
T :V  W T ( v)  0, v V

Identity transformation :
T :V  V T ( v)  v, v V

Theorem 6.1: Properties of linear transformations
T : V  W , u, v V
(1)T (0)  0 (T(cv) = cT(v) for c=0)
(2) T ( v)  T ( v) (T(cv) = cT(v) for c=-1)
(3) T (u  v)  T (u)  T ( v) (T(u+(-v))=T(u)+T(-v) and property (2))
(4) If v  c1v1  c2 v2    cn vn ,
then T ( v)  T (c1v1  c2 v2    cn vn )
 c1T (v1 )  c2T (v2 )    cnT (vn )
(Iteratively using T(u+v)=T(u)+T(v) and T(cv) = cT(v)) 4.12

Ex 4: Linear transformations and bases
Let T : R 3  R 3 be a linear transformation such
that T (1,0,0)  (2,1,4)
T (0,1,0)  (1,5,2)
T (0,0,1)  (0,3,1)
Find T(2, 3, -2)
Sol:
(2,3,2)  2(1,0,0)  3(0,1,0)  2(0,0,1)

T (2,3,2)  2T (1,0,0)  3T (0,1,0)  2T (0,0,1)

 2(2,1,4)  3(1,5,2)  2T (0,3,1)
 (7,7,0)

4.13

Ex 5: A linear transformation defined by a matrix
3 0
2 3    v1 
The functionT : R  R is defined as T ( v)  Av  2 1  
  v 2 
  1  2 
(a) Find T ( v), where v  (2, 1)
(b) Show that T is a linear transformation form R 2 into R3
Sol:
(a) v  (2, 1) R 2 vector R 3 vector

3 0 6 
2
T ( v )  Av   2 1      3
   1  
  1  2 0 
T (2,1)  (6,3,0)
(b) T (u  v)  A(u  v)  Au  Av  T (u)  T ( v) (vector addition)

T (cu)  A(cu)  c( Au)  cT (u) (scalar

multiplication)
4.14

Theorem 6.2: The linear transformation defined by a
matrix
Let A be an mn matrix. The function T defined by
T ( v)  Av
is a linear transformation from Rn into Rm

Note: R n vector R m vector
 a11 a12  a1n   v1   a11v1  a12v2    a1n vn 
 a21 a22  a2 n  v2   a21v1  a22v2    a2 n vn 
Av       
    
    
am1 am 2  amn  vn  am1v1  am 2v2    amnvn 

T ( v)  Av T : Rn 
 R m

4.15

Ex 7: Rotation in the plane
Show that the L.T. T : R 2  R 2 given by the
matrix
cos   sin  
A
 sin  cos  
has the property that it rotates every vector in R2
counterclockwise about the origin through the angle
Sol: 
(Polar coordinates: for every point on the xy-
v  ( x, y )  (r cos  , r sin  ) plane, it can be represented by a set of (r, α))
2 2 T(v
r ： the length of v  x  y
)
( ) v

 ： the angle from the positive

x-axis counterclockwise to
4.16
 cos   sin    x  cos   sin   r cos  
T ( v )  Av      
 sin  cos    y   sin  cos    r sin  
 r cos  cos   r sin  sin  
 
 r sin  cos   r cos  sin   according to the addition
formula of trigonometric
r cos(   ) identities
 
 r sin(   ) 
r ： remain the same, that means the length of T(v) equals
the
length of v
 + ： the angle from the positive x-axis counterclockwise to
Thus,the vector
T(v) is theT(v)
vector that results from rotating the vector v
counterclockwise through the angle 
4.17

Ex 8: A projection in R3
The linear transformation T : R 3  R 3 is given by
1 0 0
A  0 1 0 
 
 0 0 0 
is called a projection in R3

1 0 0   x   x 
If v is ( x, y, z ), Av  0 1 0   y    y 
0 0 0   z   0 

※ In other words, T maps every vector in R3

to its orthogonal projection in the xy-
plane, as shown in the right figure 4.18

Ex 9: The transpose function is a linear transformation from
Mmn into Mn m
T ( A)  AT (T : M mn  M nm )
Show that T is a linear transformation
Sol:
A, B  M mn
T ( A  B)  ( A  B)T  AT  BT  T ( A)  T ( B)

T (cA)  (cA)T  cAT  cT ( A)

Therefore, T (the transpose function) is a linear

transformation from Mmn into Mnm

4.19
Example: Dilation and Contraction Operators
If V is a vector space and k is any scalar, then the
mapping T : V  V given by T ( v )  kv, v  V is a linear
operator on V.
If 0  k  1 , then T is called the contraction of V with
factor k.
If k ,it1 is called the dilation of V with factor k.

4.20

A Linear Transformation from Pn to Pn + 1
T ( p( x))  x. p( x)
n 1 n
T ( p( x))  a0  a1 x  ...  an1 x 0x

A Linear Transformation Using an Inner Product
T (v)  v, v0 

A Linear Transformation on Matrix Spaces
T
T ( A)  A
T ( A)  det( A)

4.21

Ex 3: Functions that are not linear transformations
(a) f ( x)  sin x
sin( x1  x2 )  sin( x1 )  sin( x2 )
(f(x) = sin x is not a linear
sin( 2  3 )  sin( 2 )  sin( 3 ) transformation)
   

(b) f ( x)  x 2
( x1  x2 ) 2  x12  x22
(f(x) = x2 is not a linear transformation)
(1  2) 2  12  22
(c) f ( x)  x  1
f ( x1  x2 )  x1  x2  1
f ( x1 )  f ( x2 )  ( x1  1)  ( x2  1)  x1  x2  2
f ( x1  x2 )  f ( x1 )  f ( x2 ) (f(x) = x+1 is not a linear transformation,
although it is a linear function)
In fact, f (cx)  cf ( x) 4.22
The Kernel of a Linear Transformation

Kernel of a linear transformation T:
Let T : V  W be a linear transformation. Then
the set of all vectors v in V that satisfy T ( v)  0 is
called the kernel of T and is denoted by ker(T)
ker(T )  {v | T ( v)  0, v  V }

※ For example, V is R3, W is R3, and T is the orthogonal projection

of any vector (x, y, z) onto the xy-plane, i.e. T(x, y, z) = (x, y, 0)
※ Then the kernel of T is the set consisting of (0, 0, s), where s is a
real number, i.e.

ker(T )  {(0, 0, s ) | s is a real number}

4.23
The Range of a Linear Transformation

Range of a linear transformation T:
Let T : V  W be a linear transformation. Then
the set of all vectors v in W that satisfy T (u )  v is
called the range of T and is denoted by Range (T)
Range (T )  {T (u ), : u  V }

※ For example, V is R3, W is R3, and T is the orthogonal projection

of any vector (x, y, z) onto the xy-plane, i.e. T(x, y, z) = (x, y, 0)

※ Then the range of T is xy plane

4.24

Ex 1: Finding the kernel of a linear transformation
T
T
(
A
)
A(T
:M
3

2M
)
2

3

Sol:
0 0 
ker(T )  0 0
 
 0 0 

Ex 2: The kernel of the zero and identity
transformations T :V  W
(a) If T(v) = 0 (the zero transformation), then ker(T )  V

(b) If T(v) = v (the identity transformation T : V  V ,

then ker(T )  {0}
4.25

Ex 5: Finding the kernel of a linear transformation
 x1 
 1 1 2    3 2
T ( x )  Ax     x2 (T : R  R )
 1 2 3   x 
 3
ker(T )  ?
Sol:
ker(T )  {( x1 , x2 , x3 ) | T ( x1 , x2 , x3 )  (0, 0), and ( x1 , x2 , x3 )  R 3}

T ( x1 , x2 , x3 )  (0,0)
 x1 
 1  1  2    0 
 1 2  x2   
3    0 
 x3 

4.26
By Gauss Jordan elimination

 1 1 2 0  G.-J. E. 1 0 1 0 
 1 2 3 0    0 1 1 0 
   
 x1   t   1 
  x2    t   t  1
     
 x3   t   1 

 ker(T )  {t (1,1,1) | t is a real number}

 span{(1,1,1)}

4.27

Theorem: The kernel is a subspace of V
The kernel of a linear transformation T : V  W
is a subspace of the domain V
Pf:
T (0)  0 (by Theorem 6.1)  ker(T ) is a nonempty subset of V
Let u and v be vectorsin the kernel of T . Then
T (u  v)  T (u)  T ( v)  0  0  0 (u  ker(T ), v  ker(T )  u  v  ker(T ))
T is a linear transformation
T (cu)  cT (u)  c0  0 (u  ker(T )  cu  ker(T ))

Thus, ker(T ) is a subspace of V (according to Theorem 4.5

that a nonempty subset of V is a subspace of V if it is closed
under vector addition and scalar multiplication)

4.28

Ex 6: Finding a basis for the kernel
Let T : R 5  R 4 be defined by T (x)  Ax, where x is in R 5 and
1 2 0
1  1
2 1 3 1 0 
A
 1 0 2 0 1 
 
0 0 0 2 8

Find a basis for ker(T) as a subspace of R5

Sol:
To find ker(T) means to find all x satisfying T(x) = Ax = 0.
Thus we need to form the augmented matrix  A 0 first

4.29
 A 0 
1 2 0
1 1 0  1 0 2 0 1 0 
2 1 1 0 0  G.-J. E. 0
3 1 1 0 2 0 
 
 1 0 2 0 1 0  0 0 0 1 4 0
   
0 0 0 2 8 0 0 0 0 0 0 0
s t
 x1   2 s  t   2   1 
 x   s  2t  1 2
 2      
x   x3    s   s  1   t  0 
       
x
 4   4t   0   4 
 x5   t   0   1 

B  (2, 1, 1, 0, 0), (1, 2, 0,  4, 1): one basis for the kernel of T

4.30

Corollary:
Let T : R n  R m be the linear fransformation given by T ( x)  Ax.
Then the kernel of T is equal to the solution space of Ax  0
T (x)  Ax (a linear transformation T : R n  R m )
 ker(T )  NS ( A)  x | Ax  0, x  R n  (subspace of R n )

※ The kernel of T equals the nullspace of A and these

two are both subspaces of Rn.

※ So, the kernel of T is sometimes called the nullspace

of T

4.31

Range of a linear transformation T:
Let T : V  W be a linear tra nsformatio n. Then the set of all
vectors w in W that are images of any vector s in V is called the
range of T and is denoted by range (T )
range(T )  {T ( v ) | v V }

4.32

Theorem: The range of T is a subspace of W
The range of a linear tra nsformatio n T : V  W is a subspace of W
Pf:
T (0)  0 (Theorem 6.1)
 range(T ) is a nonempty subset of W

Since T (u ) and T ( v ) are vectors in range(T ), and we have

because u  v V
 Range of T is closed under vector addition 
T (u)  T ( v )  T (u  v)  range(T )  
 because T (u), T ( v), T (u  v)  range(T ) 
T is a linear transformation
cT (u)  T (cu)  range(T )  Range of T is closed under scalar multi-



 plication because T (u) and T (cu)  range(T ) 
because cu V

Hence T(V) is subspace of W.

4.33

Notes:
T : V  W is a linear transformation
(1) ker(T ) is subspace of V
(2) range(T ) is subspace of W

4.34
Thank
You
4.35