Chapter 6

Linear Transformations
6.1 Introduction to Linear Transformations
6.2 The Kernel and Range of a Linear Transformation
6.3 Matrices for Linear Transformations
6.4 Transition Matrices and Similarity
Elementary Linear Algebra
R. Larsen et al. (6 Edition)
1/78
6.1 Introduction to Linear Transformations
Function T that maps a vector space V into a vector space W:
space vector : , , :
mapping
W V W V T
V: the domain of T
W: the codomain of T
Elementary Linear Algebra: Section 6.1, pp.361-362
2/78
Image of v under T:
If v is in V and w is in W such that
w v = ) ( T
Then w is called the image of v under T .
the range of T:
The set of all images of vectors in V.
the preimage of w:
The set of all v in V such that T(v)=w.
Elementary Linear Algebra: Section 6.1, p.361
3/78
Ex 1: (A function from R
2
into R
2
)
2 2
: R R T
) 2 , ( ) , (
2 1 2 1 2 1
v v v v v v T + =
2
2 1
) , ( R v v e = v
(a) Find the image of v=(-1,2). (b) Find the preimage of w=(-1,11)
Sol:
) 3 , 3 ( )) 2 ( 2 1 , 2 1 ( ) 2 , 1 ( ) (
) 2 , 1 ( ) (
= + = =
=
T T
a
v
v
) 11 , 1 ( ) ( ) ( = = w v T b
) 11 , 1 ( ) 2 , ( ) , (
2 1 2 1 2 1
= + = v v v v v v T
11 2
1
2 1
2 1
= +
=
v v
v v
4 , 3
2 1
= = v v Thus {(3, 4)} is the preimage of w=(-1, 11).
Elementary Linear Algebra: Section 6.1, p.362
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Linear Transformation (L.T.):
n nsformatio linear tra to :
space vector ,
W V W V T
W V

V T T T e + = + v u v u v u , ), ( ) ( ) ( (1)
R c cT c T e = ), ( ) ( ) 2 ( u u
Elementary Linear Algebra: Section 6.1, p.362
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Notes:
(1) A linear transformation is said to be operation preserving.
) ( ) ( ) ( v u v u T T T + = +
Addition
in V
Addition
in W
) ( ) ( u u cT c T =
Scalar
multiplication
in V
Scalar
multiplication
in W
(2) A linear transformation from a vector space into
itself is called a linear operator.
V V T :
Elementary Linear Algebra: Section 6.1, p.363
6/78
Ex 2: (Verifying a linear transformation T from R
2
into R
2
)
Pf:
) 2 , ( ) , (
2 1 2 1 2 1
v v v v v v T + =
number real any : , in vector : ) , ( ), , (
2
2 1 2 1
c R v v u u = = v u
) , ( ) , ( ) , (
: addition (1)Vector
2 2 1 1 2 1 2 1
v u v u v v u u + + = + = + v u
) ( ) (
) 2 , ( ) 2 , (
)) 2 ( ) 2 ( ), ( ) ((
)) ( 2 ) ( ), ( ) ((
) , ( ) (
2 1 2 1 2 1 2 1
2 1 2 1 2 1 2 1
2 2 1 1 2 2 1 1
2 2 1 1
v u
v u
T T
v v v v u u u u
v v u u v v u u
v u v u v u v u
v u v u T T
+ =
+ + + =
+ + + + =
+ + + + + =
+ + = +
Elementary Linear Algebra: Section 6.1, p.363
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) , ( ) , (
tion multiplica Scalar ) 2 (
2 1 2 1
cu cu u u c c = = u
) (
) 2 , (
) 2 , ( ) , ( ) (
2 1 2 1
2 1 2 1 2 1
u
u
cT
u u u u c
cu cu cu cu cu cu T c T
=
+ =
+ = =
Therefore, T is a linear transformation.
Elementary Linear Algebra: Section 6.1, p.363
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Ex 3: (Functions that are not linear transformations)
x x f a sin ) ( ) ( =
2
) ( ) ( x x f b =
1 ) ( ) ( + = x x f c
) sin( ) sin( ) sin(
2 1 2 1
x x x x + = +
) sin( ) sin( ) sin(
3 2 3 2
t t t t
+ = +
2
2
2
1
2
2 1
) ( x x x x + = +
2 2 2
2 1 ) 2 1 ( + = +
1 ) (
2 1 2 1
+ + = + x x x x f
2 ) 1 ( ) 1 ( ) ( ) (
2 1 2 1 2 1
+ + = + + + = + x x x x x f x f
) ( ) ( ) (
2 1 2 1
x f x f x x f + = +
n nsformatio linear tra
not is sin ) ( x x f = :
n nsformatio tra
linear not is ) (
2
x x f = :
n nsformatio linear tra
not is 1 ) ( + = : x x f
Elementary Linear Algebra: Section 6.1, p.363
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Notes: Two uses of the term linear.
(1) is called a linear function because its graph
is a line.
1 ) ( + = x x f
(2) is not a linear transformation from a vector
space R into R because it preserves neither vector
addition nor scalar multiplication.
1 ) ( + = x x f
Elementary Linear Algebra: Section 6.1, p.364
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Zero transformation:
V W V T e v u, , :
V T e = v v , 0 ) (
Identity transformation:
V V T : V T e = v v v , ) (
Thm 6.1: (Properties of linear transformations)
W V T :
0 0 = ) ( (1)T
) ( ) ( (2) v v T T =
) ( ) ( ) ( (3) v u v u T T T =
) ( ) ( ) (
) ( ) ( Then
If (4)
2 2 1 1
2 2 1 1
2 2 1 1
n n
n n
n n
v T c v T c v T c
v c v c v c T T
v c v c v c
+ + + =
+ + + =
+ + + =

v
v
Elementary Linear Algebra: Section 6.1, p.365
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Ex 4: (Linear transformations and bases)
Let be a linear transformation such that
3 3
: R R T
) 4 , 1 , 2 ( ) 0 , 0 , 1 ( = T
) 2 , 5 , 1 ( ) 0 , 1 , 0 ( = T
) 1 , 3 , 0 ( ) 1 , 0 , 0 ( = T
Sol:
) 1 , 0 , 0 ( 2 ) 0 , 1 , 0 ( 3 ) 0 , 0 , 1 ( 2 ) 2 , 3 , 2 ( + =
) 0 , 7 , 7 (
) 1 , 3 , 0 ( 2 ) 2 , 5 , 1 ( 3 ) 4 , 1 , 2 ( 2
) 1 , 0 , 0 ( 2 ) 0 , 1 , 0 ( 3 ) 0 , 0 , 1 ( 2 ) 2 , 3 , 2 (
=
+ =
+ =
T
T T T T (T is a L.T.)
Find T(2, 3, -2).
Elementary Linear Algebra: Section 6.1, p.365
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Ex 5: (A linear transformation defined by a matrix)
The function is defined as
3 2
: R R T
(

(
(

= =
2
1
2 1
1 2
0 3
) (
v
v
A T v v
3 2
into form n nsformatio linear tra a is that Show (b)
) 1 , 2 ( where , ) ( Find (a)
R R T
T = v v
Sol:
) 1 , 2 ( ) ( = v a
(
(

=
(

(
(

= =
0
3
6
1
2
2 1
1 2
0 3
) ( v v A T
) 0 , 3 , 6 ( ) 1 , 2 ( = T
vector
2
R vector
3
R
) ( ) ( ) ( ) ( ) ( v u v u v u v u T T A A A T b + = + = + = +
) ( ) ( ) ( ) ( u u u u cT A c c A c T = = =
(vector addition)
(scalar multiplication)
Elementary Linear Algebra: Section 6.1, p.366
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Thm 6.2: (The linear transformation given by a matrix)
Let A be an mn matrix. The function T defined by
v v A T = ) (
is a linear transformation from R
n
into R
m
.
Note:
(
(
(
(

+ + +
+ + +
+ + +
=
(
(
(
(

(
(
(
(

=
n mn m m
n n
n n
n mn m m
n
n
v a v a v a
v a v a v a
v a v a v a
v
v
v
a a a
a a a
a a a
A

2 2 1 1
2 2 22 1 21
1 2 12 1 11
2
1
2 1
2 22 21
1 12 11
v
v v A T = ) (
m n
R R T :
vector
n
R vector
m
R
Elementary Linear Algebra: Section 6.1, p.367
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Show that the L.T. given by the matrix
has the property that it rotates every vector in R
2
counterclockwise about the origin through the angle u.
Ex 7: (Rotation in the plane)
2 2
: R R T
(

=
u u
u u
cos sin
sin cos
A
Sol:
) sin , cos ( ) , ( o o r r y x v = = (polar coordinates)
r the length of v
othe angle from the positive
x-axis counterclockwise to
the vector v
Elementary Linear Algebra: Section 6.1, p.368
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(

+
+
=
(

=
(

=
(

= =
) sin(
) cos(

sin cos cos sin
sin sin cos cos

sin
cos
cos sin
sin cos
cos sin
sin cos
) (
o u
o u
o u o u
o u o u
o
o
u u
u u
u u
u u
r
r
r r
r r
r
r
y
x
A T v v
rthe length of T(v)
u +othe angle from the positive x-axis counterclockwise to
the vector T(v)
Thus, T(v) is the vector that results from rotating the vector v
counterclockwise through the angle u.
Elementary Linear Algebra: Section 6.1, p.368
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is called a projection in R
3
.
Ex 8: (A projection in R
3
)
The linear transformation is given by
3 3
: R R T
(
(

=
0 0 0
0 1 0
0 0 1
A
Elementary Linear Algebra: Section 6.1, p.369
17/78
Show that T is a linear transformation.
Ex 9: (A linear transformation from M
mn
into M
n m
)
) : ( ) (
m n n m
T
M M T A A T

=
Sol:
n m
M B A

e ,
) ( ) ( ) ( ) ( B T A T B A B A B A T
T T T
+ = + = + = +
) ( ) ( ) ( A cT cA cA cA T
T T
= = =
Therefore, T is a linear transformation from M
mn
into M
n m
.
Elementary Linear Algebra: Section 6.1, p.369
18/78
Keywords in Section 6.1:
function:
domain:
codomain:
image of v under T: Tv
range of T: T
preimage of w: w
linear transformation:
linear operator:
zero transformation:
identity transformation:
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6.2 The Kernel and Range of a Linear Transformation
Kernel of a linear transformation T:
Let be a linear transformation W V T :
Then the set of all vectors v in V that satisfy is
called the kernel of T and is denoted by ker(T).
0 ) ( = v T
} , 0 ) ( | { ) ker( V T T e = = v v v
Ex 1: (Finding the kernel of a linear transformation)
) : ( ) (
3 2 2 3
= M M T A A T
T
Sol:

(
(
(

=
0 0
0 0
0 0
) ker(T
Elementary Linear Algebra: Section 6.2, p.375
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Ex 2: (The kernel of the zero and identity transformations)
(a) T(v)=0 (the zero transformation )
W V T :
V T = ) ker(
(b) T(v)=v (the identity transformation )
V V T :
} { ) ker( 0 = T
Ex 3: (Finding the kernel of a linear transformation)
) : ( ) 0 , , ( ) , , (
3 3
R R T y x z y x T =
? ) ker( = T
Sol:
} number real a is | ) , 0 , 0 {( ) ker( z z T =
Elementary Linear Algebra: Section 6.2, p.375
21/78
Ex 5: (Finding the kernel of a linear transformation)
) : (
3 2 1
2 1 1
) (
2 3
3
2
1
R R T
x
x
x
A T
(
(

= = x x
? ) ker( = T
Sol:
} ) , , ( ), 0 , 0 ( ) , , ( | ) , , {( ) ker(
3
3 2 1 3 2 1 3 2 1
R x x x x x x x T x x x T e = = =
) 0 , 0 ( ) , , (
3 2 1
= x x x T
(

=
(
(

0
0
3 2 1
2 1 1
3
2
1
x
x
x
Elementary Linear Algebra: Section 6.2, p.376
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(
(

=
(
(

=
(
(

1
1
1
3
2
1
t
t
t
t
x
x
x
)} 1 , 1 , 1 span{(
} number real a is | ) 1 , 1 , 1 ( { ) ker(
=
= t t T
(

0 1 1 0
0 1 0 1
0 3 2 1
0 2 1 1
. . E J G
Elementary Linear Algebra: Section 6.2, p.377
23/78
Thm 6.3: (The kernel is a subspace of V)
The kernel of a linear transformation is a
subspace of the domain V.
W V T :
) 1 6. Theorem ( 0 ) 0 ( = T Pf:
V T of subset nonempty a is ) ker(
then . of kernel in the vectors be and Let T v u
0 0 0 ) ( ) ( ) ( = + = + = + v u v u T T T
0 0 ) ( ) ( = = = c cT c T u u
) ker(T c e u
) ker(T e + v u
. of subspace a is ) ker( Thus, V T
Note:
The kernel of T is sometimes called the nullspace of T.
Elementary Linear Algebra: Section 6.2, p.377
24/78
Ex 6: (Finding a basis for the kernel)
(
(
(
(

=
=
8 2 0 0 0
1 0 2 0 1
0 1 3 1 2
1 1 0 2 1
and R in is where , ) ( by defined be : Let
5 4 5
A
A T R R T x x x
Find a basis for ker(T) as a subspace of R
5
.
Elementary Linear Algebra: Section 6.2, p.377
25/78
Sol:
| |
(
(
(
(

(
(
(
(

=
0 0 0 0 0 0
0 4 1 0 0 0
0 2 0 1 1 0
0 1 0 2 0 1
0 8 2 0 0 0
0 1 0 2 0 1
0 0 1 3 1 2
0 1 1 0 2 1
0
. . E J G
A
s
t
(
(
(
(
(

+
(
(
(
(
(

=
(
(
(
(
(

+
+
=
(
(
(
(
(

=
1
4
0
2
1
0
0
1
1
2
4
2
2
5
4
3
2
1
t s
t
t
s
t s
t s
x
x
x
x
x
x
{ } T B of kernel for the basis one : ) 1 , 4 , 0 , 2 , 1 ( ), 0 , 0 , 1 , 1 , 2 ( =
Elementary Linear Algebra: Section 6.2, p.378
26/78
Corollary to Thm 6.3:
0 of space solution the to equal is T of kernel Then the
) ( by given L.T the be : Let
=
=
x
x x
A
A T R R T
m n
{ } ) of subspace ( , 0 | ) ( ) (
) : on ansformati linear tr a ( ) (
m m
m n
R R A A NS T Ker
R R T A T
e = = =
=
x x x
x x
Range of a linear transformation T:
) ( by denoted is and T of range the called is V in
vector of images are in W that w vectors all of set Then the
L.T. a be : Let
T range
W V T
} | ) ( { ) ( V T T range e = v v
Elementary Linear Algebra: Section 6.2, p.378
27/78
. : T n nsformatio linear tra a of range The W W V f o e c a p s b u s a s i
Thm 6.4: (The range of T is a subspace of W)
Pf:
) 1 Thm.6. ( 0 ) 0 ( = T
W T range of subset nonempty a is ) (
T T T of range in the vector be ) ( and ) ( Let v u
) ( ) ( ) ( ) ( T range T T T e + = + v u v u
) ( ) ( ) ( T range cT c T e = u u
) , ( V V V e + e e v u v u
) ( V c V e e u u
. subspace is ) ( Therefore, W T range
Elementary Linear Algebra: Section 6.2, p.379
28/78
Notes:
of subspace is ) ( ) 1 ( V T Ker
L.T. a is : W V T
Corollary to Thm 6.4:
) ( ) (
of space column the to equal is of range Then the
) ( by given L.T. the be : Let
A CS T range
A T
A T R R T
m n
=
= x x
of subspace is ) ( ) 2 ( W T range
Elementary Linear Algebra: Section 6.2, p.379
29/78
Ex 7: (Finding a basis for the range of a linear transformation)
(
(
(
(

=
=
8 2 0 0 0
1 0 2 0 1
0 1 3 1 2
1 1 0 2 1
and is where , ) ( by defined be : Let
5 4 5
A
R A T R R T x x x
Find a basis for the range of T.
Elementary Linear Algebra: Section 6.2, p.379
30/78
Sol:
B A
E J G
=
(
(
(
(

(
(
(
(

=
0 0 0 0 0
4 1 0 0 0
2 0 1 1 0
1 0 2 0 1
8 2 0 0 0
1 0 2 0 1
0 1 3 1 2
1 1 0 2 1
. .
5 4 3 2 1
c c c c c
5 4 3 2 1
w w w w w
{ }
{ } ) ( for basis a is , ,
) ( for basis a is , ,
4 2 1
4 2 1
A CS c c c
B CS w w w
{ } T of range for the basis a is ) 2 , 0 , 1 , 1 ( ), 0 , 0 , 1 , 2 ( ), 0 , 1 , 2 , 1 (
Elementary Linear Algebra: Section 6.2, pp.379-380
31/78
Rank of a linear transformation T:VW:
T T rank of range the of dimension the ) ( =
Nullity of a linear transformation T:VW:
T T nullity of kernel the of dimension the ) ( =
Note:
) ( ) (
) ( ) (
then , ) ( by given L.T. the be : Let
A nullity T nullity
A rank T rank
A T R R T
m n
=
=
= x x
Elementary Linear Algebra: Section 6.2, p.380
32/78
then . space vector a into
space vector l dimensiona - n an form L.T. a be : Let
W
V W V T
Thm 6.5: (Sum of rank and nullity)
Pf:
A matrix n m T an by d represente is Let
) of domain dim( ) of kernel dim( ) of range dim(
) ( ) (
T T T
n T nullity T rank
= +
= +
r A rank = ) ( Assume
r A rank
A T T rank
= =
= =
) (
) of space column dim( ) of range dim( ) ( (1)
n r n r T nullity T rank = + = + ) ( ) ( ) (
r n
A T T nullity
=
= =

) of space solution dim( ) of kernel dim( ) ( ) 2 (
Elementary Linear Algebra: Section 6.2, p.380
33/78
Ex 8: (Finding the rank and nullity of a linear transformation)
(
(
(

0 0 0
1 1 0
2 0 1
by define : L.T. the of nullity and rank the Find
3 3
A
R R T
Sol:
1 2 3 ) ( ) of domain dim( ) (
2 ) ( ) (
= = =
= =
T rank T T nullity
A rank T rank
Elementary Linear Algebra: Section 6.2, p.381
34/78
Ex 9: (Finding the rank and nullity of a linear transformation)
} 0 { ) ( if of rank the Find ) (
4 is of nullity the if of rank the Find ) (
2 is range the of
dimension the if of kernel the of dimension the Find ) (
n. nsformatio linear tra a be : Let
7 5
=

T Ker T c
T T b
T a
R R T
Sol:
3 2 5 ) of range dim( ) of kernel dim(
5 ) of domain dim( ) (
= = =
=
T n T
T a
1 4 5 ) ( ) ( ) ( = = = T nullity n T rank b
5 0 5 ) ( ) ( ) ( = = = T nullity n T rank c
Elementary Linear Algebra: Section 6.2, p.381
35/78
vector. single a of consists range in the every w
of preimage the if one - to - one called is : function A W V T
One-to-one:
. that implies
) ( ) ( inV, v and u all for iff one - to - one is
v u
v u
=
= T T T
one-to-one not one-to-one
Elementary Linear Algebra: Section 6.2, p.382
36/78
in preimage a has in
element every if onto be to said is : function A
V
W V T
w

Onto:
(T is onto W when W is equal to the range of T.)
Elementary Linear Algebra: Section 6.2, p.382
37/78
Thm 6.6: (One-to-one linear transformation)
} 0 { ) ( iff 1 - 1 is T Then
L.T. a be : Let
=

T Ker
W V T
Pf:
1 - 1 is SupposeT
0 : solution one only have can 0 ) ( Then = = v v T
} 0 { ) ( i.e. = T Ker
) ( ) ( and } 0 { ) ( Suppose v T u T T Ker = =
0 ) ( ) ( ) ( = = v T u T v u T
L.T. a is T
0 ) ( = e v u T Ker v u
1 - 1 is T
Elementary Linear Algebra: Section 6.2, p.382
38/78
Ex 10: (One-to-one and not one-to-one linear transformation)
one. - to - one is
) ( by given : L.T. The ) (
T
m n n m
A A T M M T a =

matrix. zero only the of consists kernel its Because n m
one. - to - one not is : ation transform zero The ) (
3 3
R R T b
. of all is kernel its Because
3
R
Elementary Linear Algebra: Section 6.2, p.382
39/78
Thm 6.7: (Onto linear transformation)
. of dimension the to equal is of rank the iff onto is Then
l. dimensiona finite is where L.T., a be : Let
W T T
W W V T
Thm 6.8: (One-to-one and onto linear transformation)
onto. is it if only and if one - to - one is Then . dimension
of both and space or with vect L.T. a be : Let
T n
W V W V T
Pf:
0 )) ( dim( and } 0 { ) ( then one, - to - one is If = = T Ker T Ker T
) dim( )) ( dim( )) ( dim( W n T Ker n T range = = =
onto. is ly, Consequent T
0 ) of range dim( )) ( dim( = = = n n T n T Ker
one. - to - one is Therefore, T
n W T T = = ) dim( ) of range dim( then onto, is If
Elementary Linear Algebra: Section 6.2, p.383
40/78
Ex 11:
neither. or onto, one, - to - one is whether determine and of
rank and nullity the Find , ) ( by given is : L.T. The
T T
A T R R T
m n
x x =
(
(

=
1 0 0
1 1 0
0 2 1
) ( A a
(
(

=
0 0
1 0
2 1
) ( A b
(

=
1 1 0
0 2 1
) ( A c
(
(

=
0 0 0
1 1 0
0 2 1
) ( A d
Sol:
T:R
n
R
m
dim(domain of T) rank(T) nullity(T) 1-1 onto
(a)T:R
3
R
3
3 3 0 Yes Yes
(b)T:R
2
R
3
2 2 0 Yes No
(c)T:R
3
R
2
3 2 1 No Yes
(d)T:R
3
R
3
3 2 1 No No
Elementary Linear Algebra: Section 6.2, p.383
41/78
Isomorphism:
other. each to isomorphic be to said are
and then , to from m isomorphis an exists there such that
spaces vector are and if Moreover, m. isomorphis an called is
onto and one to one is that : n nsformatio linear tra A
W V W V
W V
W V T
Thm 6.9: (Isomorphic spaces and dimension)
Pf:
. dimension has where , to isomorphic is that Assume n V W V
onto. and one to one is that : L.T. a exists There W V T
one - to - one is T
n n T Ker T T
T Ker
= = =
=
0 )) ( dim( ) of domain dim( ) of range dim(
0 )) ( dim(
Two finite-dimensional vector space V and W are isomorphic
if and only if they are of the same dimension.
Elementary Linear Algebra: Section 6.2, p.384
42/78
. dimension have both and that Assume n W V
onto. is T
n W T = = ) dim( ) of range dim(
n W V = = ) dim( ) dim( Thus
{ }
{ } . of basis a be , , , let
and V, of basis a be , , , Let
2 1
2 1
W w w w
v v v
n
n

n n
v c v c v c
V
+ + + =
2 2 1 1
as d represente be can in vector arbitrary an Then
v
n n
w c w c w c T
W V T
+ + + =

2 2 1 1
) (
follows. as : L.T. a define can you and
v
It can be shown that this L.T. is both 1-1 and onto.
Thus V and W are isomorphic.
Elementary Linear Algebra: Section 6.2, p.384
43/78
Ex 12: (Isomorphic vector spaces)
space - 4 ) (
4
= R a
matrices 1 4 all of space ) (
1 4
=

M b
matrices 2 2 all of space ) (
2 2
=

M c
less or 3 degree of s polynomial all of space ) ( ) (
3
= x P d
) of subspace }( number real a is ), 0 , , , , {( ) (
5
4 3 2 1
R x x x x x V e
i
=
The following vector spaces are isomorphic to each other.
Elementary Linear Algebra: Section 6.2, p.385
44/78
Keywords in Section 6.2:
kernel of a linear transformation T: T
range of a linear transformation T: T
rank of a linear transformation T: T
nullity of a linear transformation T: T
one-to-one:
onto:
isomorphism(one-to-one and onto):
isomorphic space:
45/78
6.3 Matrices for Linear Transformations
) 4 3 , 2 3 , 2 ( ) , , ( ) 1 (
3 2 3 2 1 3 2 1 3 2 1
x x x x x x x x x x x T + + + =
Three reasons for matrix representation of a linear transformation:
(
(

(
(

= =
3
2
1
4 3 0
2 3 1
1 1 2
) ( ) 2 (
x
x
x
A T x x
It is simpler to write.
It is simpler to read.
It is more easily adapted for computer use.
Two representations of the linear transformation T:R
3
R
3
:
Elementary Linear Algebra: Section 6.3, p.387
46/78
Thm 6.10: (Standard matrix for a linear transformation)
such that on ansformati linear trt a be : Let
m n
R R T
, ) ( , , ) ( , ) (
2
1
2
22
12
2
1
21
11
1
(
(
(
(

=
(
(
(
(

=
(
(
(
(

=
mn
n
n
n
m m
a
a
a
e T
a
a
a
e T
a
a
a
e T

) ( to correspond columns se matrix who Then the
i
e T n n m
. for matrix standard the called is A
. in every for ) ( such that is
T
R A T
n
v v v =
| |
(
(
(
(

= =
mn m m
n
n
n
a a a
a a a
a a a
e T e T e T A

2 1
2 22 21
1 12 11
2 1
) ( ) ( ) (
Elementary Linear Algebra: Section 6.3, p.388
47/78
Pf:
n n
n
e v e v e v
v
v
v
+ + + =
(
(
(
(

2 2 1 1
2
1
v
) ( ) ( ) (
) ( ) ( ) (
) ( ) ( L.T. a is
2 2 1 1
2 2 1 1
2 2 1 1
n n
n n
n n
e T v e T v e T v
e v T e v T e v T
e v e v e v T T T
+ + + =
+ + + =
+ + + =

v
(
(
(
(

+ + +
+ + +
+ + +
=
(
(
(
(

(
(
(
(

=
n mn m m
n n
n n
n mn m m
n
n
v a v a v a
v a v a v a
v a v a v a
v
v
v
a a a
a a a
a a a
A

2 2 1 1
2 2 22 1 21
1 2 12 1 11
2
1
2 1
2 22 21
1 12 11
v
Elementary Linear Algebra: Section 6.3, p.388
48/78
) ( ) ( ) (
2 2 1 1
2
1
2
22
12
2
1
21
11
1
n n
mn
n
n
n
m m
e T v e T v e T v
a
a
a
v
a
a
a
v
a
a
a
v
+ + + =
(
(
(
(

+ +
(
(
(
(

+
(
(
(
(

n
R A T in each for ) ( Therefore, v v v =
Elementary Linear Algebra: Section 6.3, p.389
49/78
Ex 1: (Finding the standard matrix of a linear transformation)
by define : L.T. for the matrix standard the Find
2 3
R R T
) 2 , 2 ( ) , , ( y x y x z y x T + =
Sol:
) 2 , 1 ( ) 0 , 0 , 1 ( ) (
1
= =T e T
) 1 , 2 ( ) 0 , 1 , 0 ( ) (
2
= =T e T
) 0 , 0 ( ) 1 , 0 , 0 ( ) (
3
= = T e T

2
1
)
0
0
1
( ) (
1
(

=
(
(

= T e T

1
2
)
0
1
0
( ) (
2
(

=
(
(

= T e T

0
0
)
1
0
0
( ) (
3
(

=
(
(

= T e T
Vector Notation Matrix Notation
Elementary Linear Algebra: Section 6.3, p.389
50/78
| |
(

=
=
0 1 2
0 2 1
) ( ) ( ) (
3 2 1
e T e T e T A
Note:
z y x
z y x
A
0 1 2
0 2 1

0 1 2
0 2 1
+ +
+

=
(

=
(
(

=
(
(

y x
y x
z
y
x
z
y
x
A
2
2
0 1 2
0 2 1
) 2 , 2 ( ) , , ( i.e. y x y x z y x T + =
Check:
Elementary Linear Algebra: Section 6.3, p.389
51/78
Ex 2: (Finding the standard matrix of a linear transformation)
. for matrix standard the Find axis. - x the onto in point each
projecting by given is : n nsformatio linear tra The
2
2 2
T R
R R T
Sol:
) 0 , ( ) , ( x y x T =
| | | |
(

= = =
0 0
0 1
) 1 , 0 ( ) 0 , 1 ( ) ( ) (
2 1
T T e T e T A
Notes:
(1) The standard matrix for the zero transformation from R
n
into R
m

is the mn zero matrix.
(2) The standard matrix for the zero transformation from R
n
into R
n

is the nn identity matrix I
n
Elementary Linear Algebra: Section 6.3, p.390
52/78
Composition of T
1
:R
n
R
m
with T
2
:R
m
R
p
:
n
R T T T e = v v v )), ( ( ) (
1 2
1 1 2
of domain of domain , T T T T T = =
Thm 6.11: (Composition of linear transformations)
then , and matrices standard with
L.T. be : and : Let
2 1
2 1
A A
R R T R R T
p m m n

L.T. a is )), ( ( ) ( by defined , : n compositio The (1)
1 2
v v T T T R R T
p n
=
1 2
product matrix by the given is for matrix standard The ) 2 ( A A A T A =
Elementary Linear Algebra: Section 6.3, p.391
53/78
Pf:
n scalar the any be c let and in vectors be and Let
L.T.) a is ( (1)
n
R
T
v u
) for matrix standard the is )( 2 (
1 2
T A A
) ( ) ( )) ( ( )) ( (
)) ( ) ( ( )) ( ( ) (
1 2 1 2
1 1 2 1 2
v u v u
v u v u v u
T T T T T T
T T T T T T
+ = + =
+ = + = +
) ( )) ( ( )) ( ( )) ( ( ) (
1 2 1 2 1 2
v v v v v cT T cT cT T c T T c T = = = =
v v v v v ) ( ) ( )) ( ( ) (
1 2 1 2 1 2 1 2
A A A A A T T T T = = = =
Note:
1 2 2 1
T T T T =
Elementary Linear Algebra: Section 6.3, p.391
54/78
Ex 3: (The standard matrix of a composition)
s.t. into from L.T. be and Let
3 3
2 1
R R T T
) , 0 , 2 ( ) , , (
1
z x y x z y x T + + =
) , z , ( ) , , (
2
y y x z y x T =
, ' and
ns compositio for the matrices standard the Find
2 1 1 2
T T T T T T = =
Sol:
) for matrix standard (
1 0 1
0 0 0
0 1 2
1 1
T A
(
(
(

=
) for matrix standard (
0 1 0
1 0 0
0 1 1
2 2
T A
(
(
(

=
Elementary Linear Algebra: Section 6.3, p.392
55/78
1 2
for matrix standard The T T T =
2 1
' for matrix standard The T T T =
(
(

=
(
(

(
(

= =
0 0 0
1 0 1
0 1 2
1 0 1
0 0 0
0 1 2
0 1 0
1 0 0
0 1 1
1 2
A A A
(
(
(

=
(
(
(

(
(
(

= =
0 0 1
0 0 0
1 2 2
0 1 0
1 0 0
0 1 1
1 0 1
0 0 0
0 1 2
'
2 1
A A A
Elementary Linear Algebra: Section 6.3, p.392
56/78
Inverse linear transformation:
in every for s.t. L.T. are : and : If
2 1
n n n n n
R R R T R R T v
)) ( ( and )) ( (
2 1 1 2
v v v v = = T T T T
invertible be to said is and of inverse the called is Then
1 1 2
T T T
Note:
If the transformation T is invertible, then the inverse is
unique and denoted by T
1
.
Elementary Linear Algebra: Section 6.3, p.392
57/78
Thm 6.12: (Existence of an inverse transformation)
. equivalent are condition following Then the
, matrix standard with L.T. a be : Let A R R T
n n

Note:
If T is invertible with standard matrix A, then the standard
matrix for T
1
is A
1
.
(1) T is invertible.
(2) T is an isomorphism.
(3) A is invertible.
Elementary Linear Algebra: Section 6.3, p.393
58/78
Ex 4: (Finding the inverse of a linear transformation)
by defined is L.T. The
3 3
R R T
) 4 2 , 3 3 , 3 2 ( ) , , (
3 2 1 3 2 1 3 2 1 3 2 1
x x x x x x x x x x x x T + + + + + + =
Sol:

1 4 2
1 3 3
1 3 2
for matrix standard The
(
(
(

= A
T
3 2 1
3 2 1
3 2 1
4 2
3 3
3 2
x x x
x x x
x x x
+ +
+ +
+ +
| |
(
(

=
1 0 0 1 4 2
0 1 0 1 3 3
0 0 1 1 3 2
3
I A
Show that T is invertible, and find its inverse.
Elementary Linear Algebra: Section 6.3, p.393
59/78
| |
1 . .
3 2 6 1 0 0
1 0 1 0 1 0
0 1 1 0 0 1

=
(
(

A I
E J G
1 1
is for matrix standard the and invertible is Therefore

A T T
(
(

3 2 6
1 0 1
0 1 1
1
A
(
(

+
+
=
(
(

(
(

= =

3 2 1
3 1
2 1
3
2
1
1 1
3 2 6 3 2 6
1 0 1
0 1 1
) (
x x x
x x
x x
x
x
x
A T v v
) 3 2 6 , , ( ) , , (
s, other word In
3 2 1 3 1 2 1 3 2 1
1
x x x x x x x x x x T + + =

Elementary Linear Algebra: Section 6.3, p.394

60/78
the matrix of T relative to the bases B and B':
) for basis (a } , , , { '
) for basis (a } , , , {
) L.T. a ( :
2 1
2 1
W w w w B
V v v v B
W V T
m
n

=
=

Thus, the matrix of T relative to the bases B and B' is
| | | | | | | |
n m
B
n B B
M v T v T v T A

e =
' ' 2 ' 1
) ( , , ) ( , ) (
Elementary Linear Algebra: Section 6.3, p.394
61/78
Transformation matrix for nonstandard bases:
| | | | | |
(
(
(
(

=
(
(
(
(

=
(
(
(
(

=
mn
n
n
B
n
m
B
m
B
a
a
a
v T
a
a
a
v T
a
a
a
v T

2
1
'
2
22
12
' 2
1
21
11
' 1
) ( , , ) ( , ) (
} , , , { where ly, respective
, ' and basis with spaces vector l dimensiona - finite be and Let
2 1 n
v v v B
B B W V
=
s.t. L.T. a is : If W V T
| |
'
) ( to correspond columns se matrix who then the
B
i
v T n n m
Elementary Linear Algebra: Section 6.3, p.395
62/78
| | . in every for ] [ ) ( such that is
'
V A T
B B
v v v =
| |
(
(
(
(

= =
mn m m
n
n
n
a a a
a a a
a a a
e T e T e T A

2 1
2 22 21
1 12 11
2 1
) ( ) ( ) (
Elementary Linear Algebra: Section 6.3, p.395
63/78
Ex 5: (Finding a matrix relative to nonstandard bases)
by defined L.T. a be Let
2 2
R R T
) 2 , ( ) , (
2 1 2 1 2 1
x x x x x x T + =
)} 1 , 0 ( ), 0 , 1 {( ' and )} 1 , 1 ( ), 2 , 1 {(
basis the to relative of matrix the Find
= = B B
T
Sol:
) 1 , 0 ( 3 ) 0 , 1 ( 0 ) 3 , 0 ( ) 1 , 1 (
) 1 , 0 ( 0 ) 0 , 1 ( 3 ) 0 , 3 ( ) 2 , 1 (
= =
+ = =
T
T
| | | |
(

=
(

=
3
0
) 1 , 1 ( ,
0
3
) 2 , 1 (
' ' B B
T T
' and to relative for matrix the B B T
| | | | | |
(

= =
3 0
0 3
) 2 , 1 ( ) 2 , 1 (
' ' B B
T T A
Elementary Linear Algebra: Section 6.3, p.395
64/78
Ex 6:
) 1 , 2 ( where ), ( find to
matrix the use 5, Example in given L.T. For the
2 2
=

v v T
A R R T
Sol:
) 1 , 1 ( 1 ) 2 , 1 ( 1 ) 1 , 2 ( = = v
| |
(

=
1
1
B
v
| | | |
(

=
(

= =
3
3
1
1
3 0
0 3
) (
' B B
A T v v
) 3 , 3 ( ) 1 , 0 ( 3 ) 0 , 1 ( 3 ) ( = + = v T )} 1 , 0 ( ), 0 , 1 {( ' = B
)} 1 , 1 ( ), 2 , 1 {( = B
) 3 , 3 ( ) 1 2(2) , 1 2 ( ) 1 , 2 ( = + = T
Check:
Elementary Linear Algebra: Section 6.3, p.395
65/78
Notes:
B T A
B B W V
basis the to relative of matrix the alled is matrix the
, ' and where case special (1)In the = =
| | | | | | | |
n
B
n B B
n
I v T v T v T A
B T
V v v v B
V V T
=
(
(
(
(

= =

=

1 0 0
0 1 0
0 0 1
) ( , , ) ( , ) (
basis the to relative of matrix the
for basis a : } , , , {
ion ransformat identity t the : : ) 2 (
2 1
2 1

Elementary Linear Algebra, Section 6.3, p.396

66/78
Keywords in Section 6.3:
standard matrix for T: T
composition of linear transformations:
inverse linear transformation:
matrix of T relative to the bases B and B' : TB
B'
matrix of T relative to the basis B: TB
67/78
6.4 Transition Matrices and Similarity
) of basis (a } , , , { '
) of basis a ( } , , , {
) L.T. a ( :
2 1
2 1
V w w w B
V v v v B
V V T
n
n

=
=

| | | | | | | | ) to relative of matrix ( ) ( , , ) ( , ) (
2 1
B T v T v T v T A
B
n B B
=
| | | | | | | | ) ' to relative of (matrix ) ( , , ) ( , ) ( '
' ' 2 ' 1
B T w T w T w T A
B
n B B
=
| | | | | | | | ) to ' from matrix n transitio ( , , ,
2 1
B B w w w P
B
n B B
=
| | | | | | | | ) ' to from matrix n transitio ( , , ,
' ' 2 ' 1
1
B B v v v P
B
n B B
=

| | | | | | | |
B B B B
P P v v v v
1
' '
,

= =
| | | |
| | | |
' '
' ) (
) (
B B
B B
A T
A T
v v
v v
=
=
Elementary Linear Algebra: Section 6.4, p.399
68/78
Two ways to get from to :
' '
)] ( [ ] [ '
) direct )( 1 (
B B
T A v v =
| |
' B
v
| |
'
) (
B
T v
' '
1
)] ( [ ] [
(indirect) ) 2 (
B B
T AP P v v =

AP P A
1
'

=
direct
indirect
Elementary Linear Algebra: Section 6.4, pp.399-400
69/78
Ex 1: (Finding a matrix for a linear transformation)
Sol:
| |
(

= = =
1
3
) 0 , 1 ( ) 1 , 1 ( 1 ) 0 , 1 ( 3 ) 1 , 2 ( ) 0 , 1 (
' B
T T
2 2
for matrix the Find R R T A'
) 3 , 2 2 ( ) , (
2 1 2 1 2 1
x x x x x x T + =
)} 1 , 1 ( ), 0 , 1 {( ' basis the to reletive = B
| |
(

= + = =
2
2
) 1 , 1 ( ) 1 , 1 ( 2 ) 0 , 1 ( 2 ) 2 , 0 ( ) 1 , 1 (
' B
T T
| | | | | |
(

= =
2 1
2 3
) 1 , 1 ( ) 0 , 1 ( '
' ' B B
T T A
| | | | | |
' '
) 1 , 1 ( ) 0 , 1 ( ' I) (
B B
T T A =
Elementary Linear Algebra: Section 6.4, p.400
70/78
)}) 1 , 0 ( ), 0 , 1 {( to relative of matrix ( for matrix standard II) ( = B T T
| |
(

= =
3 1
2 2
) 1 , 0 ( ) 0 , 1 ( T T A
| | | | | |
(

= =
1 0
1 1
) 1 , 1 ( ) 0 , 1 (
to ' from matrix transition
B B
P
B B
(

1 0
1 1
' to from matrix transition
1
P
B B
(

=
(

= =

2 1
2 3
1 0
1 1
3 1
2 2
1 0
1 1
'
' relative of matrix
1
AP P A
B T
Elementary Linear Algebra: Section 6.4, p.400
71/78
Ex 2: (Finding a matrix for a linear transformation)
Sol:
'. to relative of matrix the Find
. to relative : for matrix the be
7 3
7 2
let and
, for basis be )} 2 , 2 ( ), 2 , 1 {( ' and )} 2 , 4 ( ), 2 , 3 {( Let
2 2
2
B T
B R R T A
R B B

=
= =
| | | | | |
(

= =
1 2
2 3
) 2 , 2 ( ) 2 , 1 ( : to ' from matrix transition
B B
P B B
| | | | | |
(

= =

3 2
2 1
) 2 , 4 ( ) 2 , 3 ( : ' to from matrix transition
' '
1
B B
P B B
(

=
(

= =

3 1
1 2
1 2
2 3
7 3
7 2
3 2
2 1
'
: ' to relative of matrix
1
AP P A
B T

Elementary Linear Algebra: Section 6.4, p.401
72/78
Ex 3: (Finding a matrix for a linear transformation)
Sol:
| |
| | | |
| |
(

1
3

is matrix coordinate whose vector for the , ) ( and ) (
find Ex.2, in given : n nsformatio linear tra For the
'
'
2 2
B
B B
B
T T
R R T
v
v v v
v
| | | |
(

=
(

= =
5
7
1
3
1 2
2 3
' B B
P v v
| | | |
(

=
(

= =
14
21
5
7
7 3
7 2
) (
B B
A T v v
| | | |
(

=
(

= =

0
7
14
21
3 2
2 1
) ( ) (
1
' B B
T P T v v
| | | |
(

=
(

= =
0
7
1
3
3 1
1 2
' ) ( or
' ' B B
A T v v
Elementary Linear Algebra: Section 6.4, p.401
73/78
Similar matrix:
For square matrices A and A of order n, A is said to be
similar to A if there exist an invertible matrix P s.t.
AP P A
1
'

=
Thm 6.13: (Properties of similar matrices)
Let A, B, and C be square matrices of order n.
Then the following properties are true.
(1) A is similar to A.
(2) If A is similar to B, then B is similar to A.
(3) If A is similar to B and B is similar to C, then A is similar to C.

Pf:
n n
AI I A = ) 1 (
) (
) ( ) 2 (
1 1 1
1 1 1 1


= = =
= =
P Q B AQ Q B PAP
P BP P P PAP BP P A
Elementary Linear Algebra: Section 6.4, p.402
74/78
Ex 4: (Similar matrices)
similar are
2 1
2 3
' and
3 1
2 2
) (
(

=
(

= A A a
(

= =

1 0
1 1
where , ' because
1
P AP P A
similar are
3 1
1 2
' and
7 3
7 2
) (
(

=
(

= A A b
(

= =

1 2
2 3
where , ' because
1
P AP P A
Elementary Linear Algebra: Section 6.4, p.403
75/78
Ex 5: (A comparison of two matrices for a linear transformation)
basis. standard the to
relative : for matrix the is
2 0 0
0 1 3
0 3 1
Suppose
3 3
R R T A
(
(
(

=
)} 1 , 0 , 0 ( ), 0 , 1 , 1 ( ), 0 , 1 , 1 {( '
basis the to relative for matrix the Find
= B
T
Sol:
| | | | | | | |
(
(
(

= =
1 0 0
0 1 1
0 1 1
) 1 , 0 , 0 ( ) 0 , 1 , 1 ( ) 0 , 1 , 1 (
matrix standard the to from matrix n transitio The
B B B
P
B'
(
(

=

1 0 0
0
0
2
1
2
1
2
1
2
1
1
P
Elementary Linear Algebra: Section 6.4, p.403
76/78
(
(
(

=
(
(
(

(
(
(

(
(
(

= =

2 0 0
0 2 0
0 0 4

1 0 0
0 1 1
0 1 1
2 0 0
0 1 3
0 3 1
1 0 0
0
0
'
: ' to relative of matrix
2
1
2
1
2
1
2
1
1
AP P A
B T
Elementary Linear Algebra: Section 6.4, p.403
77/78
Notes: Computational advantages of diagonal matrices:
(
(
(
(

=
n
d
d
d
D

0 0
0 0
0 0
2
1
(
(
(
(

=
k
n
k
k
k
d
d
d
D

0 0
0 0
0 0
) 1 (
2
1
D D
T
= ) 2 (
0 ,
0 0
0 0
0 0
) 3 (
1
1
1
1
2
1
=
(
(
(
(

i
d
d
d
d D
n

Elementary Linear Algebra: Section 6.4, p.404

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Keywords in Section 6.4:
matrix of T relative to B: T B
matrix of T relative to B' : T B'
transition matrix from B' to B : B'B
transition matrix from B to B' : BB'
similar matrix: