Advanced Mathematics 2 - Linear Algebra

Chapter 5: The vector space R n

Department of Mathematics
The FPT university

TrungDT (FUHN) MAA101 Chapter 5 1/1

Chapter 5 Introduction

TrungDT (FUHN) MAA101 Chapter 5 2/1

Chapter 5 Introduction

Topics:

TrungDT (FUHN) MAA101 Chapter 5 2/1

Chapter 5 Introduction

Topics:

5.1 Subspaces and spanning

TrungDT (FUHN) MAA101 Chapter 5 2/1

Chapter 5 Introduction

Topics:

5.1 Subspaces and spanning

5.2 Independence and dimension

TrungDT (FUHN) MAA101 Chapter 5 2/1

Chapter 5 Introduction

Topics:

5.1 Subspaces and spanning

5.2 Independence and dimension
5.3 Orthogonality

TrungDT (FUHN) MAA101 Chapter 5 2/1

Chapter 5 Introduction

Topics:

5.1 Subspaces and spanning

5.2 Independence and dimension
5.3 Orthogonality
5.4 Rank of a matrix

TrungDT (FUHN) MAA101 Chapter 5 2/1

Chapter 5 Introduction

Topics:

5.1 Subspaces and spanning

5.2 Independence and dimension
5.3 Orthogonality
5.4 Rank of a matrix

TrungDT (FUHN) MAA101 Chapter 5 2/1

5.1 Subspaces and Spanning

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1}

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1}
(b) U = {(x , y )|x − y 2 = 0}

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1}
(b) U = {(x , y )|x − y 2 = 0}
(c) U = {(x , y )|x ≥ 0, y ≥ 0}

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1}
(b) U = {(x , y )|x − y 2 = 0}
(c) U = {(x , y )|x ≥ 0, y ≥ 0}

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1} (d) U = {(x , y )|x − 2y = 0}
(b) U = {(x , y )|x − y2 = 0}
(c) U = {(x , y )|x ≥ 0, y ≥ 0}

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1} (d) U = {(x , y )|x − 2y = 0}
(b) U = {(x , y )|x − y2 = 0} (e) U = {(r , s 3 , t)|r , s, t ∈ R}
(c) U = {(x , y )|x ≥ 0, y ≥ 0}

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1} (d) U = {(x , y )|x − 2y = 0}
(b) U = {(x , y )|x − y2 = 0} (e) U = {(r , s 3 , t)|r , s, t ∈ R}
(c) U = {(x , y )|x ≥ 0, y ≥ 0} (f) U = {(r , s 2 , t)|r , s, t ∈ R}

TrungDT (FUHN) MAA101 Chapter 5 3/1

5.1 Subspaces and Spanning

A subset U of R n is called a subspace of R n if:

→
−
0 ∈U
(Closed under addition) → −u ,→
−
v ∈ U =⇒ → −u +→
−
v ∈U
(Closed under multiplication by scalars) →
−
u ∈ U =⇒ k →
−
u ∈ U.

Example. Which of the following sets are subspaces?

(a) U = {(x , y )|x − 2y = 1} (d) U = {(x , y )|x − 2y = 0}
(b) U = {(x , y )|x − y2 = 0} (e) U = {(r , s 3 , t)|r , s, t ∈ R}
(c) U = {(x , y )|x ≥ 0, y ≥ 0} (f) U = {(r , s 2 , t)|r , s, t ∈ R}

TrungDT (FUHN) MAA101 Chapter 5 3/1

TrungDT (FUHN) MAA101 Chapter 5 4/1
Note.

TrungDT (FUHN) MAA101 Chapter 5 4/1

Note. Lines and planes that go through the origin are subspaces of R 3 .
Those that do not go through the origin are not subspaces.

TrungDT (FUHN) MAA101 Chapter 5 4/1

Note. Lines and planes that go through the origin are subspaces of R 3 .
Those that do not go through the origin are not subspaces.

TrungDT (FUHN) MAA101 Chapter 5 4/1

Spanning sets

TrungDT (FUHN) MAA101 Chapter 5 5/1

Spanning sets

TrungDT (FUHN) MAA101 Chapter 5 5/1

Spanning sets

−
→ − → −
→
A linear combination of X1 , X2 , . . . , Xk is a vector
−
→ −
→ −
→
t1 X1 + t2 X2 + · · · + tk Xk ,

where t1 , t2 , . . . , tn are real numbers.

TrungDT (FUHN) MAA101 Chapter 5 5/1

Spanning sets

−
→ − → −
→
A linear combination of X1 , X2 , . . . , Xk is a vector
−
→ −
→ −
→
t1 X1 + t2 X2 + · · · + tk Xk ,

where t1 , t2 , . . . , tn are real numbers.

−→ − → −→
Span{X1 , X2 , . . . , Xk } = the set of all such linear combinations

TrungDT (FUHN) MAA101 Chapter 5 5/1

Spanning sets

−
→ − → −
→
A linear combination of X1 , X2 , . . . , Xk is a vector
−
→ −
→ −
→
t1 X1 + t2 X2 + · · · + tk Xk ,

where t1 , t2 , . . . , tn are real numbers.

−→ − → −→
Span{X1 , X2 , . . . , Xk } = the set of all such linear combinations

Example.

TrungDT (FUHN) MAA101 Chapter 5 5/1

Spanning sets

−
→ − → −
→
A linear combination of X1 , X2 , . . . , Xk is a vector
−
→ −
→ −
→
t1 X1 + t2 X2 + · · · + tk Xk ,

where t1 , t2 , . . . , tn are real numbers.

−→ − → −→
Span{X1 , X2 , . . . , Xk } = the set of all such linear combinations

Example. Show that

TrungDT (FUHN) MAA101 Chapter 5 5/1

Spanning sets

−
→ − → −
→
A linear combination of X1 , X2 , . . . , Xk is a vector
−
→ −
→ −
→
t1 X1 + t2 X2 + · · · + tk Xk ,

where t1 , t2 , . . . , tn are real numbers.

−→ − → −→
Span{X1 , X2 , . . . , Xk } = the set of all such linear combinations

Example. Show that

→
−
6j
→
− → − 6
span{ i , j } = R 2 →
−
- i-

TrungDT (FUHN) MAA101 Chapter 5 5/1

TrungDT (FUHN) MAA101 Chapter 5 6/1
Theorem

TrungDT (FUHN) MAA101 Chapter 5 6/1

Theorem
−
→ − → −
→
Span{X1 , X2 , . . . , Xk } is a subspace.

TrungDT (FUHN) MAA101 Chapter 5 6/1

Theorem
−
→ − → −
→
Span{X1 , X2 , . . . , Xk } is a subspace.

Example 1.

TrungDT (FUHN) MAA101 Chapter 5 6/1

Theorem
−
→ − → −
→
Span{X1 , X2 , . . . , Xk } is a subspace.

Example 1. Check if the vector [1, 2, 0] is in span{[1, 0, 1], [2, 1, 1]}

TrungDT (FUHN) MAA101 Chapter 5 6/1

Theorem
−
→ − → −
→
Span{X1 , X2 , . . . , Xk } is a subspace.

Example 1. Check if the vector [1, 2, 0] is in span{[1, 0, 1], [2, 1, 1]}

Example 2.

TrungDT (FUHN) MAA101 Chapter 5 6/1

Theorem
−
→ − → −
→
Span{X1 , X2 , . . . , Xk } is a subspace.

Example 1. Check if the vector [1, 2, 0] is in span{[1, 0, 1], [2, 1, 1]}

Example 2. Show that

span{→
−
u ,→
−
v } = span{→
−
u ,→
−
v , 2→
−
u + 3→
−
v}

TrungDT (FUHN) MAA101 Chapter 5 6/1

Theorem
−
→ − → −
→
Span{X1 , X2 , . . . , Xk } is a subspace.

Example 1. Check if the vector [1, 2, 0] is in span{[1, 0, 1], [2, 1, 1]}

Example 2. Show that

span{→
−
u ,→
−
v } = span{→
−
u ,→
−
v , 2→
−
u + 3→
−
v}

TrungDT (FUHN) MAA101 Chapter 5 6/1

5.2 Independence and dimension

TrungDT (FUHN) MAA101 Chapter 5 7/1

5.2 Independence and dimension

TrungDT (FUHN) MAA101 Chapter 5 7/1

5.2 Independence and dimension

−
→ − → −
→
The set {X1 , X2 , . . . , Xk } is called linearly independent if, whenever
−
→ −→ −
→
t1 X1 + t2 X2 + · · · + tn Xk = 0
then t1 = t2 = · · · = tk = 0.

TrungDT (FUHN) MAA101 Chapter 5 7/1

5.2 Independence and dimension

−
→ − → −
→
The set {X1 , X2 , . . . , Xk } is called linearly independent if, whenever
−
→ −→ −
→
t1 X1 + t2 X2 + · · · + tn Xk = 0
then t1 = t2 = · · · = tk = 0.

Examples. Which sets are linearly independent?

TrungDT (FUHN) MAA101 Chapter 5 7/1

5.2 Independence and dimension

−
→ − → −
→
The set {X1 , X2 , . . . , Xk } is called linearly independent if, whenever
−
→ −→ −
→
t1 X1 + t2 X2 + · · · + tn Xk = 0
then t1 = t2 = · · · = tk = 0.

Examples. Which sets are linearly independent?

(a) {[1, 0, −2], [2, 1, 0], [1, 1, 2]}

TrungDT (FUHN) MAA101 Chapter 5 7/1

5.2 Independence and dimension

−
→ − → −
→
The set {X1 , X2 , . . . , Xk } is called linearly independent if, whenever
−
→ −→ −
→
t1 X1 + t2 X2 + · · · + tn Xk = 0
then t1 = t2 = · · · = tk = 0.

Examples. Which sets are linearly independent?

(a) {[1, 0, −2], [2, 1, 0], [1, 1, 2]}

(b) {[1, 0, −2, 5], [2, 1, 0, −1], [1, 1, 2, 1]}

TrungDT (FUHN) MAA101 Chapter 5 7/1

5.2 Independence and dimension

−
→ − → −
→
The set {X1 , X2 , . . . , Xk } is called linearly independent if, whenever
−
→ −→ −
→
t1 X1 + t2 X2 + · · · + tn Xk = 0
then t1 = t2 = · · · = tk = 0.

Examples. Which sets are linearly independent?

(a) {[1, 0, −2], [2, 1, 0], [1, 1, 2]}

(b) {[1, 0, −2, 5], [2, 1, 0, −1], [1, 1, 2, 1]}

TrungDT (FUHN) MAA101 Chapter 5 7/1

5.2 Independence and dimension

−
→ − → −
→
The set {X1 , X2 , . . . , Xk } is called linearly independent if, whenever
−
→ −→ −
→
t1 X1 + t2 X2 + · · · + tn Xk = 0
then t1 = t2 = · · · = tk = 0.

Examples. Which sets are linearly independent?

(a) {[1, 0, −2], [2, 1, 0], [1, 1, 2]}

(b) {[1, 0, −2, 5], [2, 1, 0, −1], [1, 1, 2, 1]}

TrungDT (FUHN) MAA101 Chapter 5 7/1

TrungDT (FUHN) MAA101 Chapter 5 8/1
Note.

TrungDT (FUHN) MAA101 Chapter 5 8/1

Note.
−→ − → −
→
The set {X1 , X2 , . . . , Xk } is linearly independent if and only if none of
these vectors is a linear combination of the others.

TrungDT (FUHN) MAA101 Chapter 5 8/1

Note.
−→ − → −
→
The set {X1 , X2 , . . . , Xk } is linearly independent if and only if none of
these vectors is a linear combination of the others.
−→ − → −
→
The set {X1 , X2 , . . . , Xk } is linearly independent if and only if the
system  
t1
→ t2 
h−  
→ − → − i 
X1 X2 · · · Xk   ..  = 0

.
tk
has only the trivial solution t1 = t2 = · · · = tk = 0.

TrungDT (FUHN) MAA101 Chapter 5 8/1

TrungDT (FUHN) MAA101 Chapter 5 9/1
Theorem

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible
The columns of A are linearly independent

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible
The columns of A are linearly independent
The rows of A are linearly independent

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible
The columns of A are linearly independent
The rows of A are linearly independent

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible
The columns of A are linearly independent
The rows of A are linearly independent

Example. Determine whether the set (1, 2, 1), (−1, 1, 2), (3, 2, 4) is
linearly independent.

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible
The columns of A are linearly independent
The rows of A are linearly independent

Example. Determine whether the set (1, 2, 1), (−1, 1, 2), (3, 2, 4) is
linearly independent.
Fundamental Theorem

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible
The columns of A are linearly independent
The rows of A are linearly independent

Example. Determine whether the set (1, 2, 1), (−1, 1, 2), (3, 2, 4) is
linearly independent.
Fundamental Theorem
−
→ − → −→
Let U = span{X1 , X2 , . . . , Xm }. Then there are at most m linearly
independent vectors in U.

TrungDT (FUHN) MAA101 Chapter 5 9/1

Theorem
Let A be a square matrix. The following are equivalent:
A is invertible
The columns of A are linearly independent
The rows of A are linearly independent

Example. Determine whether the set (1, 2, 1), (−1, 1, 2), (3, 2, 4) is
linearly independent.
Fundamental Theorem
−
→ − → −→
Let U = span{X1 , X2 , . . . , Xm }. Then there are at most m linearly
independent vectors in U.

TrungDT (FUHN) MAA101 Chapter 5 9/1

Basis

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Basis

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Basis

−
→ − → −→
Let U be a subspace of R n . A set {X1 , X2 , . . . , Xm } is called a basis of U
if:

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Basis

−
→ −→ −→
Let U be a subspace of R n . A set {X1 , X2 , . . . , Xm } is called a basis of U
if:
−→ − → −→
{X1 , X2 , . . . , Xm } is linearly independent.

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Basis

−
→ −→ −→
Let U be a subspace of R n . A set {X1 , X2 , . . . , Xm } is called a basis of U
if:
−→ − → −→
{X1 , X2 , . . . , Xm } is linearly independent.
−
→ − → −→
U = span{X1 , X2 , . . . , Xm }

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Basis

−
→ −→ −→
Let U be a subspace of R n . A set {X1 , X2 , . . . , Xm } is called a basis of U
if:
−→ − → −→
{X1 , X2 , . . . , Xm } is linearly independent.
−
→ − → −→
U = span{X1 , X2 , . . . , Xm }

→
− → −
Example 1. { i , j } is a basis of R 2 because it is independent and
→
− →
−
R 2 = span{ i , j }. It is called the standard basis of R 2 .

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Basis

−
→ −→ −→
Let U be a subspace of R n . A set {X1 , X2 , . . . , Xm } is called a basis of U
if:
−→ − → −→
{X1 , X2 , . . . , Xm } is linearly independent.
−
→ − → −→
U = span{X1 , X2 , . . . , Xm }

→
− → −
Example 1. { i , j } is a basis of R 2 because it is independent and
→
− →
−
R 2 = span{ i , j }. It is called the standard basis of R 2 .

Example 2. Show that the set {(1, 0), (1, 1)} is another basis for R 2 .

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Basis

−
→ −→ −→
Let U be a subspace of R n . A set {X1 , X2 , . . . , Xm } is called a basis of U
if:
−→ − → −→
{X1 , X2 , . . . , Xm } is linearly independent.
−
→ − → −→
U = span{X1 , X2 , . . . , Xm }

→
− → −
Example 1. { i , j } is a basis of R 2 because it is independent and
→
− →
−
R 2 = span{ i , j }. It is called the standard basis of R 2 .

Example 2. Show that the set {(1, 0), (1, 1)} is another basis for R 2 .

TrungDT (FUHN) MAA101 Chapter 5 10 / 1

Dimension

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

Examples.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

Examples.

dim R 2 = 2, dim R 3 = 3, dim R n = n.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

Examples.

dim R 2 = 2, dim R 3 = 3, dim R n = n.

Theorem

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

Examples.

dim R 2 = 2, dim R 3 = 3, dim R n = n.

Theorem
Any largest set of independent vectors in U is a basis for U.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

Examples.

dim R 2 = 2, dim R 3 = 3, dim R n = n.

Theorem
Any largest set of independent vectors in U is a basis for U.
Dimension of U is the maximum number of linearly independent
vectors in U.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

Dimension

Theorem-Definition
Any two bases of a subspace U have the same number of vectors.
The dimension of U, denoted by dim U, is the number of vectors in
any basis of U.

Examples.

dim R 2 = 2, dim R 3 = 3, dim R n = n.

Theorem
Any largest set of independent vectors in U is a basis for U.
Dimension of U is the maximum number of linearly independent
vectors in U.

TrungDT (FUHN) MAA101 Chapter 5 11 / 1

TrungDT (FUHN) MAA101 Chapter 5 12 / 1
Theorem

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

Theorem
Let U be a subspace of R n . Then:

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

Theorem
Let U be a subspace of R n . Then:
U has a basis and dim U ≤ n.

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

Theorem
Let U be a subspace of R n . Then:
U has a basis and dim U ≤ n.
Any independent set in U can be enlarged to a basis of U.

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

Theorem
Let U be a subspace of R n . Then:
U has a basis and dim U ≤ n.
Any independent set in U can be enlarged to a basis of U.
−
→ − → −→
Let U = span{X1 , X2 , . . . , Xm }.

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

Theorem
Let U be a subspace of R n . Then:
U has a basis and dim U ≤ n.
Any independent set in U can be enlarged to a basis of U.
−
→ − → −→ −
→ − → −→
Let U = span{X1 , X2 , . . . , Xm }. If the set {X1 , X2 , . . . , Xm } is
dependent, then we can delete some vectors from this set to obtain a
basis of U.

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

Theorem
Let U be a subspace of R n . Then:
U has a basis and dim U ≤ n.
Any independent set in U can be enlarged to a basis of U.
−
→ − → −→ −
→ − → −→
Let U = span{X1 , X2 , . . . , Xm }. If the set {X1 , X2 , . . . , Xm } is
dependent, then we can delete some vectors from this set to obtain a
basis of U.

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

Theorem
Let U be a subspace of R n . Then:
U has a basis and dim U ≤ n.
Any independent set in U can be enlarged to a basis of U.
−
→ − → −→ −
→ − → −→
Let U = span{X1 , X2 , . . . , Xm }. If the set {X1 , X2 , . . . , Xm } is
dependent, then we can delete some vectors from this set to obtain a
basis of U.

TrungDT (FUHN) MAA101 Chapter 5 12 / 1

TrungDT (FUHN) MAA101 Chapter 5 13 / 1
Example. Find a basis and the dimension of the subspace

TrungDT (FUHN) MAA101 Chapter 5 13 / 1

Example. Find a basis and the dimension of the subspace

(1) U = Span{[1, 1, 2], [1, −1, 0], [3, −1, 2]}

TrungDT (FUHN) MAA101 Chapter 5 13 / 1

Example. Find a basis and the dimension of the subspace

(1) U = Span{[1, 1, 2], [1, −1, 0], [3, −1, 2]}

(2) U = {[a + 2b + c, a + 2b, c]| a, b, c ∈ R}

TrungDT (FUHN) MAA101 Chapter 5 13 / 1

Example. Find a basis and the dimension of the subspace

(1) U = Span{[1, 1, 2], [1, −1, 0], [3, −1, 2]}

(2) U = {[a + 2b + c, a + 2b, c]| a, b, c ∈ R}
(3) U = {(x , y , z)| x + 3y − z = 0, x − y − z = 0}

TrungDT (FUHN) MAA101 Chapter 5 13 / 1

Example. Find a basis and the dimension of the subspace

(1) U = Span{[1, 1, 2], [1, −1, 0], [3, −1, 2]}

(2) U = {[a + 2b + c, a + 2b, c]| a, b, c ∈ R}
(3) U = {(x , y , z)| x + 3y − z = 0, x − y − z = 0}
(4) U = {(x , y , z, w )| x + 3y − z + w = 0}

TrungDT (FUHN) MAA101 Chapter 5 13 / 1

Example. Find a basis and the dimension of the subspace

(1) U = Span{[1, 1, 2], [1, −1, 0], [3, −1, 2]}

(2) U = {[a + 2b + c, a + 2b, c]| a, b, c ∈ R}
(3) U = {(x , y , z)| x + 3y − z = 0, x − y − z = 0}
(4) U = {(x , y , z, w )| x + 3y − z + w = 0}

TrungDT (FUHN) MAA101 Chapter 5 13 / 1

5.3 Orthogonality

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i,

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i, and Xi · Xj = 0 for all i ̸= j.

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i, and Xi · Xj = 0 for all i ̸= j.
A set {X1 , X2 , . . . Xk } is called an orthonormal set if it is orthogonal
and ||Xi || = 1 for all i.

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i, and Xi · Xj = 0 for all i ̸= j.
A set {X1 , X2 , . . . Xk } is called an orthonormal set if it is orthogonal
and ||Xi || = 1 for all i.

Example.

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i, and Xi · Xj = 0 for all i ̸= j.
A set {X1 , X2 , . . . Xk } is called an orthonormal set if it is orthogonal
and ||Xi || = 1 for all i.

Example. Is the set {[2, 1, 0], [1, −2, 0], [0, 0, 3]} orthogonal?

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i, and Xi · Xj = 0 for all i ̸= j.
A set {X1 , X2 , . . . Xk } is called an orthonormal set if it is orthogonal
and ||Xi || = 1 for all i.

Example. Is the set {[2, 1, 0], [1, −2, 0], [0, 0, 3]} orthogonal? Is it
orthonormal?

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i, and Xi · Xj = 0 for all i ̸= j.
A set {X1 , X2 , . . . Xk } is called an orthonormal set if it is orthogonal
and ||Xi || = 1 for all i.

Example. Is the set {[2, 1, 0], [1, −2, 0], [0, 0, 3]} orthogonal? Is it
orthonormal? If it is not orthonormal, normalize it to obtain an
orthonormal set.

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

5.3 Orthogonality

A set {X1 , X2 , . . . Xk } of vectors in R n is called an orthogonal set if

Xi ̸= 0 for all i, and Xi · Xj = 0 for all i ̸= j.
A set {X1 , X2 , . . . Xk } is called an orthonormal set if it is orthogonal
and ||Xi || = 1 for all i.

Example. Is the set {[2, 1, 0], [1, −2, 0], [0, 0, 3]} orthogonal? Is it
orthonormal? If it is not orthonormal, normalize it to obtain an
orthonormal set.

TrungDT (FUHN) MAA101 Chapter 5 14 / 1

TrungDT (FUHN) MAA101 Chapter 5 15 / 1
Pythagoras’ Theorem

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set.

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

Theorem

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

Theorem
Every orthogonal set is independent.

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

Theorem
Every orthogonal set is independent.

Expansion Theorem

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

Theorem
Every orthogonal set is independent.

Expansion Theorem
Let {F1 , F2 , . . . , Fm } be an orthogonal basis of a subspace U.

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

Theorem
Every orthogonal set is independent.

Expansion Theorem
Let {F1 , F2 , . . . , Fm } be an orthogonal basis of a subspace U. Let X be
any vector in U.

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

Theorem
Every orthogonal set is independent.

Expansion Theorem
Let {F1 , F2 , . . . , Fm } be an orthogonal basis of a subspace U. Let X be
any vector in U. Then:

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

Pythagoras’ Theorem
Let {X1 , X2 , . . . Xk } be an orthogonal set. Then

||X1 + X2 + · · · + Xk ||2 = ||X1 ||2 + ||X2 ||2 + · · · + ||Xk ||2

Theorem
Every orthogonal set is independent.

Expansion Theorem
Let {F1 , F2 , . . . , Fm } be an orthogonal basis of a subspace U. Let X be
any vector in U. Then:
X · F1 X · F2 X · Fm
X= F1 + F2 + · · · + Fm
F1 · F1 F2 · F2 Fm · Fm

TrungDT (FUHN) MAA101 Chapter 5 15 / 1

5.4 Rank of a matrix

TrungDT (FUHN) MAA101 Chapter 5 16 / 1

5.4 Rank of a matrix

Problem.

TrungDT (FUHN) MAA101 Chapter 5 16 / 1

5.4 Rank of a matrix

−
→ − → −→
Problem. Let U = span{X1 , X2 , . . . , Xm }.

TrungDT (FUHN) MAA101 Chapter 5 16 / 1

5.4 Rank of a matrix

−
→ − → −→
Problem. Let U = span{X1 , X2 , . . . , Xm }. Find dim U and a basis for U.

TrungDT (FUHN) MAA101 Chapter 5 16 / 1

5.4 Rank of a matrix

−
→ − → −→
Problem. Let U = span{X1 , X2 , . . . , Xm }. Find dim U and a basis for U.

This is equivalent to determine a maximum set of independent vectors in

−
→ − → −→
the set {X1 , X2 , . . . , Xm }

TrungDT (FUHN) MAA101 Chapter 5 16 / 1

Column space and Row space

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Column space and Row space

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Column space and Row space

The column space of a matrix A, denoted by col(A), is the subspace

spanned by the columns of A.

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Column space and Row space

The column space of a matrix A, denoted by col(A), is the subspace

spanned by the columns of A.
The row space of a matrix A, denoted by row(A), is the subspace
spanned by the rows of A.

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Column space and Row space

The column space of a matrix A, denoted by col(A), is the subspace

spanned by the columns of A.
The row space of a matrix A, denoted by row(A), is the subspace
spanned by the rows of A.

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Column space and Row space

The column space of a matrix A, denoted by col(A), is the subspace

spanned by the columns of A.
The row space of a matrix A, denoted by row(A), is the subspace
spanned by the rows of A.

Problem.

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Column space and Row space

The column space of a matrix A, denoted by col(A), is the subspace

spanned by the columns of A.
The row space of a matrix A, denoted by row(A), is the subspace
spanned by the rows of A.

Problem. Determine dimensions and bases of the row and column spaces
of a matrix.

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Column space and Row space

The column space of a matrix A, denoted by col(A), is the subspace

spanned by the columns of A.
The row space of a matrix A, denoted by row(A), is the subspace
spanned by the rows of A.

Problem. Determine dimensions and bases of the row and column spaces
of a matrix.

TrungDT (FUHN) MAA101 Chapter 5 17 / 1

Algorithm for finding bases of column and row spaces

TrungDT (FUHN) MAA101 Chapter 5 18 / 1

Algorithm for finding bases of column and row spaces

TrungDT (FUHN) MAA101 Chapter 5 18 / 1

Algorithm for finding bases of column and row spaces
Echelon
Let A =⇒ R. Then:

TrungDT (FUHN) MAA101 Chapter 5 18 / 1

Algorithm for finding bases of column and row spaces
Echelon
Let A =⇒ R. Then:
The rows of R containing the leading 1 are a basis of the row space
of A.

TrungDT (FUHN) MAA101 Chapter 5 18 / 1

Algorithm for finding bases of column and row spaces
Echelon
Let A =⇒ R. Then:
The rows of R containing the leading 1 are a basis of the row space
of A.
The columns of A corresponding to the columns of R that contain the
leading 1 are a basis of the column space of A.

TrungDT (FUHN) MAA101 Chapter 5 18 / 1

Algorithm for finding bases of column and row spaces
Echelon
Let A =⇒ R. Then:
The rows of R containing the leading 1 are a basis of the row space
of A.
The columns of A corresponding to the columns of R that contain the
leading 1 are a basis of the column space of A.

TrungDT (FUHN) MAA101 Chapter 5 18 / 1

Algorithm for finding bases of column and row spaces
Echelon
Let A =⇒ R. Then:
The rows of R containing the leading 1 are a basis of the row space
of A.
The columns of A corresponding to the columns of R that contain the
leading 1 are a basis of the column space of A.

TrungDT (FUHN) MAA101 Chapter 5 18 / 1

TrungDT (FUHN) MAA101 Chapter 5 19 / 1
  
1 2 2 −1
Example. Let A = 3 6 5 0 . Find bases and dimensions for col(A)
 
1 2 1 2
and row(A).

TrungDT (FUHN) MAA101 Chapter 5 19 / 1

  
1 2 2 −1
Example. Let A = 3 6 5 0 . Find bases and dimensions for col(A)
 
1 2 1 2
and row(A).
   
1 2 2 −1 1 2 2 −1
 Echelon 
Solution. A = 3 6 5 0  =⇒ 0 0 1 −3
 
1 2 1 2 0 0 0 0

TrungDT (FUHN) MAA101 Chapter 5 19 / 1

  
1 2 2 −1
Example. Let A = 3 6 5 0 . Find bases and dimensions for col(A)
 
1 2 1 2
and row(A).
   
1 2 2 −1 1 2 2 −1
 Echelon 
Solution. A = 3 6 5 0  =⇒ 0 0 1 −3
 
1 2 1 2 0 0 0 0

A basis of row space: (1, 2, 2, −1), (0, 0, 1, −3)

TrungDT (FUHN) MAA101 Chapter 5 19 / 1

  
1 2 2 −1
Example. Let A = 3 6 5 0 . Find bases and dimensions for col(A)
 
1 2 1 2
and row(A).
   
1 2 2 −1 1 2 2 −1
 Echelon 
Solution. A = 3 6 5 0  =⇒ 0 0 1 −3
 
1 2 1 2 0 0 0 0

A basis of row space: (1, 2, 2, −1), (0, 0, 1, −3)
   
1 2
A basis of column space: 3 , 5.
   
1 1

TrungDT (FUHN) MAA101 Chapter 5 19 / 1

  
1 2 2 −1
Example. Let A = 3 6 5 0 . Find bases and dimensions for col(A)
 
1 2 1 2
and row(A).
   
1 2 2 −1 1 2 2 −1
 Echelon 
Solution. A = 3 6 5 0  =⇒ 0 0 1 −3
 
1 2 1 2 0 0 0 0

A basis of row space: (1, 2, 2, −1), (0, 0, 1, −3)
   
1 2
A basis of column space: 3 , 5.
   
1 1

dim(col(A)) = dim(row (A)) = 2 = rank(A).

TrungDT (FUHN) MAA101 Chapter 5 19 / 1

  
1 2 2 −1
Example. Let A = 3 6 5 0 . Find bases and dimensions for col(A)
 
1 2 1 2
and row(A).
   
1 2 2 −1 1 2 2 −1
 Echelon 
Solution. A = 3 6 5 0  =⇒ 0 0 1 −3
 
1 2 1 2 0 0 0 0

A basis of row space: (1, 2, 2, −1), (0, 0, 1, −3)
   
1 2
A basis of column space: 3 , 5.
   
1 1

dim(col(A)) = dim(row (A)) = 2 = rank(A).

TrungDT (FUHN) MAA101 Chapter 5 19 / 1

Null space and Image space

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

Null space and Image space

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

Null space and Image space

Let A be an m × n matrix.

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

Null space and Image space

Let A be an m × n matrix.
The null space of a matrix A, denoted by null(A), is the space of
solutions of the system AX = 0

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

Null space and Image space

Let A be an m × n matrix.
The null space of a matrix A, denoted by null(A), is the space of
solutions of the system AX = 0
The image of a matrix A, denoted by im(A), is the subspace
consisting of vectors of the form AX , where X ∈ R n .

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

Null space and Image space

Let A be an m × n matrix.
The null space of a matrix A, denoted by null(A), is the space of
solutions of the system AX = 0
The image of a matrix A, denoted by im(A), is the subspace
consisting of vectors of the form AX , where X ∈ R n .

Note

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

Null space and Image space

Let A be an m × n matrix.
The null space of a matrix A, denoted by null(A), is the space of
solutions of the system AX = 0
The image of a matrix A, denoted by im(A), is the subspace
consisting of vectors of the form AX , where X ∈ R n .

Note
Im(A) is the column space of A.

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

Null space and Image space

Let A be an m × n matrix.
The null space of a matrix A, denoted by null(A), is the space of
solutions of the system AX = 0
The image of a matrix A, denoted by im(A), is the subspace
consisting of vectors of the form AX , where X ∈ R n .

Note
Im(A) is the column space of A.

TrungDT (FUHN) MAA101 Chapter 5 20 / 1

TrungDT (FUHN) MAA101 Chapter 5 21 / 1
  
1 −2 1 1 0
Example. Let A = −1 2 0 1 0.
 
2 −4 1 0 1

TrungDT (FUHN) MAA101 Chapter 5 21 / 1

  
1 −2 1 1 0
Example. Let A = −1 2 0 1 0.
 
2 −4 1 0 1

We have

TrungDT (FUHN) MAA101 Chapter 5 21 / 1

  
1 −2 1 1 0
Example. Let A = −1 2 0 1 0.
 
2 −4 1 0 1

We have
   
1 −2 1 1 0 1 −2 1 1 0
 Echelon 
−1 2 0 1 0 =⇒ 0 0 1 2 0
 
2 −4 1 0 1 0 0 0 0 1

TrungDT (FUHN) MAA101 Chapter 5 21 / 1

  
1 −2 1 1 0
Example. Let A = −1 2 0 1 0.
 
2 −4 1 0 1

We have
   
1 −2 1 1 0 1 −2 1 1 0
 Echelon 
−1 2 0 1 0 =⇒ 0 0 1 2 0
 
2 −4 1 0 1 0 0 0 0 1

Then dim(null(A)) = 2 and dim(im(A)) = 3.

TrungDT (FUHN) MAA101 Chapter 5 21 / 1

TrungDT (FUHN) MAA101 Chapter 5 22 / 1
Theorem

TrungDT (FUHN) MAA101 Chapter 5 22 / 1

Theorem
Let A be an m × n matrix.

TrungDT (FUHN) MAA101 Chapter 5 22 / 1

Theorem
Let A be an m × n matrix. Suppose rank(A)=r. Then:

TrungDT (FUHN) MAA101 Chapter 5 22 / 1

Theorem
Let A be an m × n matrix. Suppose rank(A)=r. Then:
dim(row (A)) = dim(col(A)) = dim(im(A)) = r

TrungDT (FUHN) MAA101 Chapter 5 22 / 1

Theorem
Let A be an m × n matrix. Suppose rank(A)=r. Then:
dim(row (A)) = dim(col(A)) = dim(im(A)) = r
dim(null(A)) = n − r

TrungDT (FUHN) MAA101 Chapter 5 22 / 1