Linear Algebra

Coordinate Systems
Bishr Mamoun Iquelan

Associate Professor
Department of Mathematics,
Islamic University of Gaza

2019-2020, Semester 2

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 1 / 16
Coecients of Basis Vectors
Recall: a basis of a subspace V is a set of vectors that spans V and is linearly
independent.
Theorem
Let V be a vector space, and let B = {v1 , v2 , . . . , vm } be!a basis for V .
c1

Then for any vector x in V there is a unique vector c = .

.
.
∈ Rn so that ♣
cm
x = c1 v1 + c2 v2 + · · · + cm vm .

We know x is a linear combination of the vi because they span V . Suppose that

we can write the vector x as a linear combination with dierent coecients:
x = c1 v1 + c2 v2 + · · · + cm vm
x = c10 v1 + c20 v2 + · · · + cm
0
vm
Subtracting:
0 = x − x = (c1 − c10 )v1 + (c2 − c20 )v2 + · · · + (cm − cm
0
)vm .
since v1 , v2 , . . . , vm are linearly independent, they only have the trivial linear
dependence relation. That means each ci − ci0 = 0, or ci = ci0 .

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 2 / 16
Bases as Coordinate Systems
Denition(Coordinates)
If B = {v1 , v2 , . . . , vn } is a basis of a vector space V, then
• any vector v ∈ V can be expressed uniquely as
v = α1 v1 + α2 v2 , . . . , αn vn
• and the real numbers α1 , α2 , . . . , αn are the coordinates of v w.r.t.
the basis B .
♣
To denote the B -coordinate vector of v we use the notation
 
α1
 α2 
[v]B =  ..  in Rn
.
αn

• In the standard basis the coordinates of v are precisely the components of

the vector v; i.e
 3 1 0 0
v = 5
−2
= 3 0
0
+ 5 1
0
− 2 0
1
= 3e1 + 5e2 −2e3
• How to nd coordinates of a vector v w.r.t. another basis?
Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 3 / 16
Bases as Coordinate Systems
Picture

Example
As shown in the gure, two
coordinate systems in the
plane are displayed. We can
use either of the two
coordinate systems to
describe vectors in the plane.
The vector u = 45 has
standard coordinates x = 4
and y = 5. If we use the blue
coordinate system, whose
coordinate axes are labeled
x 0 and y 0 , the blue
coordinates of u are x 0 = 3
and y 0 = 2. The notation is
as follows:
   
4 3
[u] S = 5
and [u] B = 2

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 4 / 16
Bases as Coordinate Systems
Picture

Example

Similarly, we have    
[v]S = −14 [v]B = −21
   
[w]S = −25 [w ] B = −
−4
1

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 5 / 16
Bases as Coordinate Systems
Example 1
1 1
Let v1 = 0 , v2 = 1 , B = {v1 , v2 }, V = Span {v1 , v2 }.
1 1

Verify that B is a basis:

Span: by denition V = Span {v1 , v2 }.
Linearly independent: because they are not multiples of each other.
 
Question: If [w]B = 5
2
, then what is w?
  1 1 7
[w ] B =
2
5
= 5v1 + 2v2 = 5
means w 0 +2 1 = 2
1 1 7
5
Question: Find the B−coordinates of w = 3 .
5

We have to solve the vector equation w = c1 v1 + c2 v2 in the unknowns c1 , c2 .

1 1 5
 1 1 5
 1 0 2

row reduce row reduce
0 1 3 0 1 3 0 1 3
1 1 5 0 0 0 0 0 0
 
So c1 = 2 and c2 = 3, so w = 2v1 + 3v2 and [w]B = 2
3
.

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 6 / 16
Bases as Coordinate Systems
Example 2

2  −1  2
Let v1 = 3 , v2 = 1 , v3 = 8 V = Span {v1 , v2 , v3 }
2 1 6

Question: Find a basis for V .

V is the column span of the matrix
−1
2 2
 1 0 2

row reduce
3 1 8 0 1 2
2 1 6 0 0 0

A basis for the column span is formed by the

 pivot
 columns: B = {v1 , v2 }.
4
Question: Find the B−coordinates of x = 11 .
8

We have to solve x = c1 v1 + c2 v2 .
−1
2 4
 1 0 3

row reduce
3 1 11 0 1 2
2 1 8 0 0 0
 
So, x = 3v1 + 2v2 and [x]B = 3
2
.

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 7 / 16
Change of Coordinates Matrices
Denition(Transition Matrix)
Let B = {v1 , v2 , . 
. . , vn } be a basis of Rn . The coordinates of a vector x
a1
a2
w.r.t. B , a =  ..  = [x]B , are found by solving the linear system:
.
an
| | |

a1 v1 + a2 v2 + . . . + an vn = x that is 1
v 2
v ... vn [x] B = x
| | |

We call PB the matrix whose columns are the basis vectors:

| | |
 ♣
PB = v1 v2 ... vn
| | |

Then for any vector x ∈ Rn

x = P B [x] B transition matrix from B coords to standard coords
moreover PB is invertible (columns are a basis):
[ x ] B x = P B −1 x transition matrix from standard coords to B coords

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 8 / 16
 Change of Coordinates Matrices:
n 2  −1  1o
Example 1 Consider the basis B = b1 = 24 , b2 = 03 , b3 = 1
1
.
1 Find the change of coordinate (transition) matrix from B to

standard basis S for R3 , i.e., we need to nd PB .

 −1 
2Given that [x]B = 1
5
, nd the vector x.
Solution:  
1
P B = [ b1 ] S , [ b2 ] S , [ b3 ] S
| | |
 2 −1 1

= 1 2 3 = 24
b b b 0
3
1
1
Recall [bi ]S = bi
| | |

2 Use the fact that x = PB [x]B , we have

2 −1
  −1 1
P B [x] B = 2
4
0
3
. 1
5
1
1
 −2 − 1 + 5   2 
= −2 + 0 + 5 = 3 .
−4 + 3 + 5 4

2
Hence, x = 3
4
.

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 9 / 16
Change of Coordinates Matrices
Example 1 Revisit
n2 −1 1o  5
B= 2 , 0 , 1
4
,
3 1
x = [x] S = 7
−3

Derive the B -coordinates of vector x :

Solution:To derive the B -coordinates of vector x, we need to solve the
system  5 2  −1  1
−3
7 = a1 2
4
+ a2 0
3
+ a3 1
1

in a by Gaussian elimination or we nd the inverse PB −1 :

3 1
  
5
−2
 −8 
−1 2 2
[x] B = P B x = −1 1 0 7
−3
= 2
23
check the calculation
−3 5 −1

What are the B -coordinates of the basis vector e1 , e2 , e3 ,?

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 10 / 16
The Coordinate Mappings

Theorem
Let B = {b1 , . . . , bn } be a basis for a vector
space V . Let T : V → Rn be dened by
T (x) = [x] B .

Then T is a one-to-one linear transformation

onto R .
n
 The Coordinate Mappings

Theorem
Let B = {b1 , . . . , bn } be a basis for a vector
Note
space V . Let T : V → Rn be dened by We have assumed
that the number
T (x) = [x] B . of vectors in the
basis is equal to
Then T is a one-to-one linear transformation n, the dimension
onto R .
n of Rn .

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 11 / 16
Coordinate Mappings Continue...
Isomorphism property
Let B = {b1 , . . . , bn } be a basis for a vector space V . Let T : V → Rn be
dened by
T (x) = [x] B . ♣

Then T is a one-to-one linear transformation onto Rn .

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 12 / 16
Coordinate Mappings Continue...
Isomorphism property
Let B = {b1 , . . . , bn } be a basis for a vector space V . Let T : V → Rn be
dened by
T (x) = [x] B . ♣

Then T is a one-to-one linear transformation onto Rn .

Check that T (x) = [x]B is a linear Transformation

Using the unique representation property, one can check:
T (v + w ) = [v + w ] B = [v ] B + [w ] B = T (v ) + T (w ),
T (αv) = [αv]B = α [v]B = αT (v).
Thus T is a linear transformation. Furthermore,
T (v) = [v]B = 0 =⇒ v = 0, i.e. T is one-to-one.
We call T an isomorphism of V onto Rn .

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 12 / 16
The Coordinate Mappings
P3 is isomorphic to R4

Example
S = {p1 , p2 , p3 , p4 } = 1, t, t 2 , t 3 is the Standard basis for P3 .


Polynomials in P3 behave like vectors in R4 . Since

a + bt + ct 2 + dt 3 = ap1 + b p2 + c p3 + d p4
then  
a
b 
h i
a + bt + ct 2 + dt 3 = c  .
B
d
We say that the vector space P3 is isomorphic to R4 . That is,
= R4 .
P3 ∼

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 13 / 16
The Coordinate Mappings
Linearly Independent

Note
Assume B is a basis set for vector space V . Exercise 25 (page 225)
shows that a set {u , u , . . . , up } in V is linearly independentn if and
only if {[u ]B , [u ]B , . . . , [up ]B } is linearly independent in R .
1 2

1 2

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 14 / 16
The Coordinate Mappings
Linearly Independent

Note
Assume B is a basis set for vector space V . Exercise 25 (page 225)
shows that a set {u , u , . . . , up } in V is linearly independentn if and
only if {[u ]B , [u ]B , . . . , [up ]B } is linearly independent in R .
1 2

1 2

Example
Use coordinate vectors to determine if {p1 , p2 , p3 } is a linearly independent
set, where p1 = 1 − t, p2 = 2 − t + t 2 , and p3 = 2t + 3t 2 .
Solution: The standard basis set for P2 is B = {1, t, t 2 }. So
 1  2 0
[ p1 ] B = −1
0
, [ p1 ] B = − 1 , [ p1 ] B = 2
1 3
1 2 0
 1 2 0
Then −1
0
−1
2 3
2 ∼ ... ∼ 0 1 2
0 0 1

By the IMT, {[p1 ]B , [p2 ]B , [p3 ]B } is linearly and therefore

{p1 , p2 , p3 } is linearly .

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 14 / 16
The Coordinate Mappings
Example
3  −1  3
Let v1 = 6 , v2 = 0 ,x = 12
2 1 7

Then {v1 , v2 } is a basis for

H = span(v1 , v2 ).
Is x ∈ H and if so, what is [x]B ?
The Coordinate Mappings
Example
3  −1  3
Let v1 = 6 , v2 = 0 ,x = 12
2 1 7

Then {v1 , v2 } is a basis for

H = span(v1 , v2 ).
Is x ∈ H and if so, what is [x]B ?
Solution: Find c1 and c2 such that
−1
  3
    3
c1 6 + c2 0 = 12
2 1 7

Corresponding augmented matrix:

3 −1 3 1 0 2
   
6
2
0
1
12
7
∼ ... ∼ 0
0
1
0
3
0

Therefore c1 = 2 and c2=3

3
and so [x]B = 23 . So, 127 in R3 is

associated with the vector 23 in R2 . That

is H is isomorphic to R2 ; (H ∼
= R2 )

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 15 / 16
 Example
Consider the set S ⊂ P3 .
p (t ) = 1 + t + t 3 , q (t ) = 2 + t 2 ,
 
S= .
r (t ) = 4 + 2t + t 2 + 2t 3 , s (t ) = 1 + t + t 2 + t 3

Is S linearly dependent or linearly independent?

Homework
Sec. 4.4, p224: # 1,3,5,9,11,15,21,31.

Dr. Bishr M. Iquelan (IUGaza) Sec.4.4: Coordinate Systems 2nd Semester, 2019-2020 16 / 16