Topological and Metric Spaces

Contents
  1. Topological spaces
  2. Metric spaces
  3. The topology of $\R^{N}$

Topology isolates the minimal structure a set must carry for the notions of nearness, continuity, and limit to make sense at all, before any notion of distance is introduced. Metric spaces then recover distance as an additional layer of structure, and the topology of \(\R^{N}\) is the concrete arena in which the analysis of the neighbouring chapters takes place.

Topological spaces

Basic definitions

Definition 6.1 (Topological space).

Consider a set \(X\), and consider further a family \(T=\set{U_i}_{i\in I}\) of subsets \(U_i\subset X\). We say that \((X,T)\) is a topological space with topology \(T\) if and only if it satisfies the following axioms:

  1. \(\varnothing\in T\) and \(X\in T\);

  2. the union of any collection of sets in \(T\) belongs to \(T\);

  3. the intersection of any finite collection of sets in \(T\) belongs to \(T\).

Rests on Definition 3.30, Definition 3.31, Definition 3.35 and Equation (3.51).

Definition 6.2 (Open set).

A set that belongs, as an element, to the topology of a space is called an open set. Rests on Definition 6.1.

Definition 6.3 (Closed set).

A set is closed in a topological space if and only if its complement in that space is an open set. Rests on Definitions 3.35 and 6.2.

Definition 6.4 (Neighbourhood).

A neighbourhood of a point \(x \in X\) is any open set containing \(x\). Rests on Definition 6.2.

Definition 6.5 (Open cover).

A family \(\set{U_i}_{i\in I}\) of open sets in \(X\) is an open cover of \(X\) if and only if the union of all of them is the whole space, that is,

\begin{equation}\tag{6.1} \bigcup_{i\in I}U_i=X\ep \end{equation}

An open cover of a subset \(K \subseteq X\) is a family of open sets whose union contains \(K\); a subcover is a subfamily that still covers. Rests on Definition 6.2 and Equation (3.51).

Continuity

Continuity is the property that topology is built to express: a map between topological spaces is continuous when it respects the open-set structure of the two spaces, as the following definition makes precise.

[figure: mapeos.pdf]

Schematic representation of maps between sets: a map assigns to each element of its domain exactly one element of its codomain. Continuity constrains how such maps interact with the topologies of the two spaces.

Definition 6.6 (Continuous map).

Consider two topological spaces \(X_1\) and \(X_2\) with topologies \(T_1\) and \(T_2\), and consider further a map \(f:X_1\longrightarrow X_2\). We say that \(f\) is continuous if and only if the inverse image of every open set in \(X_2\) is an open set in \(X_1\); that is,

\begin{equation}\tag{6.2} \forall\,U\in T_2,\quad f^{-1}(U)\in T_1\ep \end{equation}

Rests on Definitions 3.53, 6.1 and 6.2.

Definition 6.7 (Homeomorphism).

A homeomorphism is a bijective continuous map \(f : X_1 \longrightarrow X_2\) whose inverse \(f^{-1}\) is also continuous. Two spaces related by a homeomorphism are homeomorphic: they carry identical topological structure, and every property expressed purely in terms of open sets (compactness, connectedness, …) transfers between them. Topology is the study of what homeomorphisms preserve. Rests on Definitions 3.47, 3.51 and 6.6.

Remark 6.8.

Bijectivity plus continuity does not suffice: the map \(t \longmapsto (\cos t, \sin t)\) from \([0, 2\pi)\) onto the circle is continuous and bijective, but its inverse is discontinuous at the seam — the interval and the circle are not homeomorphic (removing a point disconnects one but not the other; see Section 6.1.4).

Compactness

Definition 6.9 (Compact set).

A subset \(K\) of a topological space is compact if and only if every open cover of \(K\) admits a finite subcover. Rests on Definition 6.5.

Proposition 6.10 (Continuous images of compact sets).

If \(f : X_1 \longrightarrow X_2\) is continuous and \(K \subseteq X_1\) is compact, then \(f(K)\) is compact. Rests on Definitions 6.6 and 6.9.

Proof.

Derives Proposition 6.10. Let \(\set{U_i}\) be an open cover of \(f(K)\). The sets \(f^{-1}(U_i)\) are open (Definition 6.6) and cover \(K\), so finitely many \(f^{-1}(U_{i_1}),\dots,f^{-1}(U_{i_n})\) cover \(K\); then \(U_{i_1},\dots,U_{i_n}\) cover \(f(K)\).

The archetypal compact sets are the closed bounded intervals of the real line:

Theorem 6.11 (Heine–Borel on $\R$).

The interval \([a,b] \subset \R\) is compact (in the topology of Section 6.3). Rests on Definition 6.9 and Axiom 7.1.

Proof.

Derives Theorem 6.11. Let \(\set{U_i}\) be an open cover of \([a,b]\) and define

\begin{equation*} S = \set{x\in[a,b] \mid [a,x] \text{ is covered by finitely many } U_i}\ep \end{equation*}

\(S\) is nonempty (\(a\) lies in some \(U_i\)) and bounded above by \(b\), so \(c = \sup S\) exists by the completeness of \(\R\) (Axiom 7.1, proven in Appendix A.7). Some \(U_{i_0}\) contains \(c\), and with it an interval \((c-\varepsilon, c+\varepsilon)\). Since \(c - \varepsilon\) is not an upper bound of \(S\), some \(x \in S\) exceeds it; the finite subcover of \([a,x]\) together with \(U_{i_0}\) covers \([a, \min(c+\varepsilon/2, b)]\). If \(c < b\) this puts points beyond \(c\) into \(S\), contradicting \(c = \sup S\); hence \(c = b\), and the same finite family covers \([a,b]\).

In \(\R^{N}\) the theorem extends to the characterization that gives compactness its concrete meaning in analysis. Throughout, \(B_{r}(\vect{x})\) denotes the Euclidean ball of Definition 6.26 for the metric Equation (6.12).

Theorem 6.12 (Heine–Borel in $\R^{N}$).

A subset \(K \subseteq \R^{N}\) is compact, in the topology of Section 6.3, if and only if it is closed and bounded. Rests on Definition 6.9, Definition 6.3 and Axiom 7.1.

Proof.

Derives Theorem 6.12. Necessity. Let \(K\) be compact. The balls \(B_{n}(\vect{0})\), \(n \in \N\), form an open cover of \(K\); a finite subcover is contained in the largest of its members, so \(K\) is bounded. For closedness, take \(\vect{y} \notin K\) and set \(r_{\vect{x}} = \abs{\vect{x} - \vect{y}}/2 > 0\) for each \(\vect{x} \in K\). The balls \(B_{r_{\vect{x}}}(\vect{x})\) cover \(K\), so finitely many of them, centred at \(\vect{x}_{1}, \dots, \vect{x}_{p}\), already do; abbreviate \(r_{j} = r_{\vect{x}_{j}}\) and put \(\rho = \min_{j \le p} r_{j} > 0\). No point \(\vect{z}\) can lie in both \(B_{\rho}(\vect{y})\) and \(B_{r_{j}}(\vect{x}_{j})\), since that would give

\begin{equation*} 2 r_{j} = \abs{\vect{x}_{j} - \vect{y}} \le \abs{\vect{x}_{j} - \vect{z}} + \abs{\vect{z} - \vect{y}} < r_{j} + \rho \le 2 r_{j}\ep \end{equation*}

Hence \(B_{\rho}(\vect{y})\) misses \(K\), and the complement of \(K\) is open.

Sufficiency. Consider first the closed box \(Q_{0} = [-R, R]^{N}\), and suppose some open cover \(\set{U_i}\) of it admitted no finite subcover. Halving every edge splits \(Q_{0}\) into \(2^{N}\) closed boxes whose union is \(Q_{0}\); were each of them covered by finitely many \(U_{i}\), so would \(Q_{0}\) be, so at least one of them — call it \(Q_{1}\) — is not. Iterating produces nested closed boxes \(Q_{0} \supseteq Q_{1} \supseteq \cdots\), none of them finitely covered, the \(k\)-th of edge \(2R/2^{k}\) and hence of diameter \(\sqrt{N}\,2R/2^{k}\). In each coordinate the left endpoints of the \(Q_{k}\) form a nondecreasing bounded sequence and the right endpoints a nonincreasing one, the two differing by \(2R/2^{k}\); by completeness (Axiom 7.1) each converges, and to the same number, which therefore lies in every one of the nested coordinate intervals. The point \(\vect{x}\) with those \(N\) coordinates thus belongs to every \(Q_{k}\). Some \(U_{i_{0}}\) contains \(\vect{x}\), and with it a ball \(B_{\varepsilon}(\vect{x})\); choosing \(k\) with \(\sqrt{N}\,2R/2^{k} < \varepsilon\) gives \(Q_{k} \subseteq B_{\varepsilon}(\vect{x}) \subseteq U_{i_{0}}\), a subcover of \(Q_{k}\) by a single set — contradicting the choice of \(Q_{k}\). So \(Q_{0}\) is compact.

Let now \(K\) be closed and bounded, so that \(K \subseteq Q_{0}\) for some \(R\), and let \(\set{U_i}\) be an open cover of \(K\). Since \(K\) is closed, \(\R^{N} \setminus K\) is open (Definition 6.3), so \(\set{U_i}\) together with \(\R^{N} \setminus K\) is an open cover of \(Q_{0}\). Extract a finite subcover and discard \(\R^{N} \setminus K\) from it: what remains is a finite subfamily of \(\set{U_i}\), and it still covers \(K\), because the discarded set contains no point of \(K\).

Connectedness

Definition 6.13 (Connected space).

We say that a topological space is connected if and only if it cannot be expressed as a union of disjoint nonempty open sets. Rests on Definitions 3.36 and 6.2.

[figure: intnov.pdf]

A set decomposed into pairwise disjoint subsets whose union is the whole set. A topological space that admits such a decomposition into disjoint nonempty open sets is disconnected.

Theorem 6.14 (Intervals are connected).

Every interval of \(\R\) is connected. Rests on Definition 6.13 and Axiom 7.1.

Proof.

Derives Theorem 6.14. Suppose \(I = U \cup V\) with \(U, V\) open in \(I\), disjoint and nonempty; pick \(u \in U\), \(v \in V\), say \(u < v\). Let \(c = \sup\set{x \in U \mid x < v}\), which exists by completeness and satisfies \(u \le c \le v\), so \(c \in I\). If \(c \in U\), openness of \(U\) puts an interval around \(c\) inside \(U\); since \(c < v\) (as \(v \in V\)), points of \(U\) above \(c\) would contradict the definition of \(c\). If \(c \in V\), openness of \(V\) puts \((c - \varepsilon, c] \subseteq V\), making \(c - \varepsilon\) an upper bound of the set defining \(c\) — again a contradiction. So \(c\) lies in neither, contradicting \(I = U \cup V\).

Definition 6.15 (Path-connected space).

\(X\) is path-connected iff any two points \(x, y \in X\) are joined by a continuous map \(\gamma : [0,1] \longrightarrow X\) with \(\gamma(0) = x\), \(\gamma(1) = y\). Rests on Definition 6.6.

Proposition 6.16.

A path-connected space is connected. Rests on Definition 6.15, Definition 6.13 and Theorem 6.14.

Proof.

Derives Proposition 6.16. If \(X = U \cup V\) were a disconnection, join \(x \in U\) to \(y \in V\) by a path \(\gamma\). Then \(\gamma^{-1}(U)\) and \(\gamma^{-1}(V)\) disconnect \([0,1]\): both are open by continuity, disjoint, nonempty (\(0\) and \(1\)), and cover. This contradicts Theorem 6.14.

Definition 6.17 (Simply connected space).

A path-connected space \(X\) is simply connected iff every loop is contractible: for every continuous \(\gamma : [0,1] \longrightarrow X\) with \(\gamma(0) = \gamma(1) = x_0\) there is a continuous homotopy \(H : [0,1]\times[0,1] \longrightarrow X\) with \(H(s,0) = \gamma(s)\), \(H(s,1) = x_0\), and \(H(0,t) = H(1,t) = x_0\) for all \(s, t\). Rests on Definitions 6.6 and 6.15.

Example 6.18.

\(\R^{N}\), and any convex subset of it, is simply connected: the straight-line homotopy \(H(s,t) = (1-t)\,\gamma(s) + t\,x_0\) stays inside a convex set and contracts any loop. The punctured plane \(\R^{2}\setminus\set{0}\) is not: a loop encircling the origin cannot be contracted without crossing it, as Proposition 6.23 proves — the fact underlying the residue theorem of Complex Analysis and property (3) of conservative fields in Real Analysis. Rests on Definition 6.17.

The winding number

That a loop around a puncture cannot be contracted is a theorem, not a picture, and what proves it is an integer attached to every loop: the number of turns the loop makes about the puncture. Identify \(\R^{2}\) with \(\C\) (Complex Analysis), so that a loop avoiding the origin is a continuous map into \(\C\setminus\set{0}\). The integer is built from a continuous choice of angle along the loop, and the whole argument rests on the fact that such a choice exists and is unique up to one additive constant.

Lemma 6.19 (Continuous argument along a path).

Let \(\gamma : [0,1] \longrightarrow \C \setminus \set{0}\) be continuous. There exists a continuous \(\theta : [0,1] \longrightarrow \R\) with

\begin{equation}\tag{6.3} \gamma(t) = \abs{\gamma(t)}\,\ee^{\ii\theta(t)}\ec\qquad t \in [0,1]\ec \end{equation}

and any two such functions differ by a constant lying in \(2\pi\Z\). Rests on Theorems 7.23, 7.24 and 7.25.

Proof.

Derives Lemma 6.19. Existence. The function \(t \longmapsto \abs{\gamma(t)}\) is continuous and strictly positive on \([0,1]\), so it attains a minimum \(m > 0\) (Theorem 7.24); and \(\gamma\) is uniformly continuous, because its real and imaginary parts are (Theorem 7.25). Uniform continuity supplies a \(\delta > 0\) with \(\abs{\gamma(t) - \gamma(s)} < m\) whenever \(\abs{t - s} < \delta\); choose any partition \(0 = t_{0} < t_{1} < \dots < t_{M} = 1\) of mesh smaller than \(\delta\), so that \(\abs{\gamma(t) - \gamma(t_{j-1})} < m\) for every \(t \in [t_{j-1}, t_{j}]\) and every \(j\). On such an interval the quotient \(w(t) = \gamma(t)/\gamma(t_{j-1})\) satisfies

\begin{equation*} \abs{w(t) - 1} = \frac{\abs{\gamma(t) - \gamma(t_{j-1})}} {\abs{\gamma(t_{j-1})}} < \frac{m}{\abs{\gamma(t_{j-1})}} \le 1\ec \end{equation*}

so \(w(t)\) lies in the open disc of radius \(1\) centred at \(1\), hence in the half-plane \(\Re w > 0\). On that half-plane the function

\begin{equation}\tag{6.4} A(w) = \arctan\frac{\Im w}{\Re w} \end{equation}

is continuous, takes values in \((-\pi/2, \pi/2)\), vanishes at \(w = 1\), and satisfies \(w = \abs{w}\,\ee^{\ii A(w)}\). Fix \(\theta(0)\) with \(\gamma(0) = \abs{\gamma(0)}\,\ee^{\ii\theta(0)}\) and define recursively

\begin{equation*} \theta(t) = \theta(t_{j-1}) + A\left(\frac{\gamma(t)}{\gamma(t_{j-1})}\right)\ec\qquad t \in [t_{j-1}, t_{j}]\ep \end{equation*}

Each piece is continuous and, since \(A(1) = 0\), the pieces agree at the nodes, so \(\theta\) is continuous on \([0,1]\). Multiplying \(\gamma(t_{j-1}) = \abs{\gamma(t_{j-1})}\,\ee^{\ii\theta(t_{j-1})}\) by the polar form of the quotient gives Equation (6.3), one interval at a time.

Uniqueness up to \(2\pi\Z\). If \(\theta_{1}\) and \(\theta_{2}\) both satisfy Equation (6.3), then \(\ee^{\ii(\theta_{1} - \theta_{2})} = 1\), so \(\varphi = (\theta_{1} - \theta_{2})/2\pi\) is continuous with values in \(\Z\). Were it to take two distinct values, the intermediate value theorem (Theorem 7.23) would make it take some value strictly between two consecutive integers as well, which is not in \(\Z\); hence \(\varphi\) is constant.

Definition 6.20 (Winding number).

Let \(\gamma : [0,1] \longrightarrow \C \setminus \set{0}\) be a continuous loop, \(\gamma(1) = \gamma(0)\), and let \(\theta\) be a continuous argument for it (Lemma 6.19). Since \(\ee^{\ii\theta(1)} = \ee^{\ii\theta(0)}\), the number

\begin{equation}\tag{6.5} n(\gamma) = \frac{\theta(1) - \theta(0)}{2\pi} \end{equation}

is an integer; by the uniqueness clause of Lemma 6.19 it does not depend on which continuous argument was chosen. It is the winding number of \(\gamma\) about the origin. Rests on Lemma 6.19.

Example 6.21.

The unit circle traversed once counterclockwise, \(\gamma(s) = \ee^{2\pi\ii s}\), admits the continuous argument \(\theta(s) = 2\pi s\), so \(n(\gamma) = 1\). A constant loop admits a constant argument, so its winding number is \(0\). Rests on Definition 6.20.

Lemma 6.22 (Nearby loops wind alike).

Let \(\gamma, \sigma : [0,1] \longrightarrow \C \setminus \set{0}\) be loops with

\begin{equation}\tag{6.6} \abs{\sigma(s) - \gamma(s)} < \abs{\gamma(s)}\ec\qquad s \in [0,1]\ep \end{equation}

Then \(n(\sigma) = n(\gamma)\). Rests on Definition 6.20 and Lemma 6.19.

Proof.

Derives Lemma 6.22. The quotient \(w = \sigma/\gamma\) is a continuous loop, and Equation (6.6) says \(\abs{w(s) - 1} < 1\); in particular \(w\) never vanishes and takes its values in the half-plane \(\Re w > 0\), where the function \(A\) of Equation (6.4) provides the continuous argument \(s \longmapsto A(w(s))\). Hence \(n(w) = \bigl(A(w(1)) - A(w(0))\bigr)/2\pi = 0\), because \(w(1) = w(0)\). If \(\theta\) is a continuous argument for \(\gamma\), then \(\theta + A(w)\) is one for \(\sigma = w\,\gamma\), so \(n(\sigma) = n(\gamma) + n(w) = n(\gamma)\).

Proposition 6.23 (The punctured plane is not simply connected).

The loop \(\gamma(s) = \ee^{2\pi\ii s}\) in \(\R^{2}\setminus\set{0} = \C\setminus\set{0}\) admits no contraction in the sense of Definition 6.17. The punctured plane is therefore path-connected but not simply connected. Rests on Definition 6.17, Lemma 6.22 and Theorem 6.11.

Proof.

Derives Proposition 6.23. Path-connectedness is immediate: any two points of the punctured plane are joined by a circular arc followed by a radial segment, and neither meets the origin. Suppose then that \(H : [0,1]\times[0,1] \longrightarrow \C \setminus \set{0}\) were a contraction of \(\gamma\), that is, a continuous map with \(H(s,0) = \gamma(s)\), \(H(s,1) = 1\) and \(H(0,t) = H(1,t) = 1\). For each fixed \(t\) the map \(\gamma_{t}(s) = H(s,t)\) is then a loop in \(\C\setminus\set{0}\), and we may set \(n(t) = n(\gamma_{t})\).

The function \(n\) is locally constant. Fix \(t_{0}\) and let \(m = \min_{s}\abs{H(s,t_{0})} > 0\), the minimum being attained by Theorem 7.24. For each \(s_{0} \in [0,1]\), continuity of \(H\) at \((s_{0}, t_{0})\) supplies a \(\delta(s_{0}) > 0\) such that \(\abs{H(s,t) - H(s_{0},t_{0})} < m/2\) whenever \(\abs{s - s_{0}} < \delta(s_{0})\) and \(\abs{t - t_{0}} < \delta(s_{0})\). The open intervals \((s_{0} - \delta(s_{0})/2,\ s_{0} + \delta(s_{0})/2)\) cover \([0,1]\), which is compact (Theorem 6.11), so finitely many of them suffice, say those centred at \(s_{1}, \dots, s_{k}\); put \(\delta = \min_{j}\delta(s_{j})/2 > 0\). Let \(\abs{t - t_{0}} < \delta\) and let \(s \in [0,1]\). Then \(\abs{s - s_{j}} < \delta(s_{j})/2\) for some \(j\), and \(\abs{t - t_{0}} < \delta \le \delta(s_{j})\); the defining property of \(\delta(s_{j})\) applies both at \(t\) and at \(t_{0}\), so \(H(s,t)\) and \(H(s,t_{0})\) both lie within \(m/2\) of \(H(s_{j},t_{0})\) and

\begin{equation*} \abs{H(s,t) - H(s,t_{0})} \le \abs{H(s,t) - H(s_{j},t_{0})} + \abs{H(s_{j},t_{0}) - H(s,t_{0})} < m \le \abs{H(s,t_{0})}\ep \end{equation*}

Lemma 6.22 then gives \(n(t) = n(t_{0})\) for every \(t\) with \(\abs{t - t_{0}} < \delta\).

Conclusion. A locally constant function is continuous, so \(n : [0,1] \longrightarrow \Z\) is continuous and integer-valued, and the intermediate value theorem (Theorem 7.23) forces it to be constant, exactly as in Lemma 6.19. But \(n(0) = 1\), since \(\gamma_{0} = \gamma\), and \(n(1) = 0\), since \(\gamma_{1}\) is the constant loop (Example 6.21). No such \(H\) can exist.

The circle's winding number of \(1\) has an analytic counterpart in Complex Analysis: the integral \(\oint_{C}\dd z/(z-a) = 2\pi\ii\) of Lemma 8.11 measures the same single turn of the exponential by integration rather than by lifting.

Metric spaces

The metric

Definition 6.24 (Metric).

Let \(X\) be a set and let \(d:X\times X\longrightarrow\R\) be a map. We say that \(d\) defines a metric on \(X\) if and only if it satisfies the following axioms:

  1. positivity and identity of indiscernibles,

    \begin{equation}\tag{6.7} \forall\,x,y\in X,\quad d(x,y)\ge0\ec\qquad d(x,y)=0\iff x=y\ec \end{equation}
  2. symmetry,

    \begin{equation}\tag{6.8} \forall\,x,y\in X,\quad d(x,y)=d(y,x)\ec \end{equation}
  3. the triangle inequality,

    \begin{equation}\tag{6.9} \forall\,x,y,z\in X,\quad d(x,y)\leq d(x,z)+d(z,y)\ep \end{equation}

Rests on Definitions 3.38 and 3.43.

Remark 6.25.

These axioms bear a notable resemblance to the axioms of an equivalence relation: reflexivity, symmetry, and a triangle-shaped substitute for transitivity.

Definition 6.26 (Open ball; metric topology).

The open ball of centre \(x_0 \in X\) and radius \(r > 0\) is

\begin{equation}\tag{6.10} B_r(x_0) = \set{x \in X \mid d(x, x_0) < r}\ep \end{equation}

The metric topology of \((X,d)\) declares \(U \subseteq X\) open iff every point of \(U\) has a ball around it inside \(U\). The axioms of Definition 6.1 are verified directly: arbitrary unions inherit the property pointwise, and for a finite intersection the smallest of the finitely many radii works. Every metric space is thus a topological space. Rests on Definitions 6.1, 6.2 and 6.24.

Convergence and completeness

Definition 6.27 (Convergence; Cauchy sequence; completeness).

A sequence \((x_n)\) in \((X,d)\) converges to \(x\) iff \(d(x_n, x) \longrightarrow 0\); it is Cauchy iff \(\forall\,\varepsilon > 0\ \exists\,N \mid m,n \ge N \implies d(x_m, x_n) < \varepsilon\). The space is complete iff every Cauchy sequence converges in it. Rests on Definition 6.24.

Every convergent sequence is Cauchy (triangle inequality through the limit); the converse is exactly what completeness demands. The real line is complete (Corollary A.47, Appendix A.7); \(\Q\) with the same metric is not, which is the entire reason \(\R\) was constructed. Completeness of the function spaces built on this notion is what makes Hilbert spaces possible (Hilbert Spaces).

Continuity in metric terms

Proposition 6.28 ($\varepsilon$–$\delta$ characterization).

For metric spaces \((X_1, d_1)\), \((X_2, d_2)\), a map \(f : X_1 \longrightarrow X_2\) is continuous at every point in the sense of Definition 6.6 if and only if

\begin{equation}\tag{6.11} \forall\,x_0,\ \forall\,\varepsilon>0,\ \exists\,\delta>0 \mid d_1(x, x_0) < \delta \implies d_2(f(x), f(x_0)) < \varepsilon\ep \end{equation}

Rests on Definitions 6.6 and 6.26.

Proof.

Derives Proposition 6.28. (\(\Rightarrow\)) \(B_\varepsilon(f(x_0))\) is open, so \(f^{-1}(B_\varepsilon(f(x_0)))\) is open and contains \(x_0\), hence contains a ball \(B_\delta(x_0)\) — which is Equation (6.11). (\(\Leftarrow\)) Let \(U\) be open in \(X_2\) and \(x_0 \in f^{-1}(U)\). Some \(B_\varepsilon(f(x_0)) \subseteq U\); the \(\delta\) provided by Equation (6.11) gives \(B_\delta(x_0) \subseteq f^{-1}(U)\), so \(f^{-1}(U)\) is open.

This recovers, for \(X_1 = X_2 = \R\) with \(d(x,y) = \abs{x-y}\), the definition of continuity used throughout Real Analysis — the two chapters describe one notion at two levels of generality.

Compactness in metric spaces

In a metric space — and there only — compactness admits a second, sequential description, which is the form in which analysis normally uses it.

Definition 6.29 (Sequential compactness).

A metric space \((X,d)\) is sequentially compact if and only if every sequence in \(X\) has a subsequence converging to a point of \(X\). A subset is sequentially compact if and only if it is so as a metric space in its own right, with the restricted distance. Rests on Definitions 6.24 and 6.27.

Lemma 6.30 (Lebesgue number).

Let \((X,d)\) be sequentially compact and let \(\set{U_i}_{i\in I}\) be an open cover of \(X\). There is a \(\delta > 0\) — a Lebesgue number of the cover — such that every ball \(B_{\delta}(x)\), \(x \in X\), is contained in a single member of the cover. Rests on Definitions 6.5, 6.26 and 6.29.

Proof.

Derives Lemma 6.30. If no such \(\delta\) existed, then for every \(n \in \N\) there would be a point \(x_{n} \in X\) with \(B_{1/n}(x_{n})\) contained in no member of the cover. By sequential compactness some subsequence \(x_{n_{k}} \longrightarrow x \in X\), and \(x\) lies in some \(U_{i_{0}}\), which contains a ball \(B_{\varepsilon}(x)\). Choose \(k\) so large that \(d(x_{n_{k}}, x) < \varepsilon/2\) and \(1/n_{k} < \varepsilon/2\). Every \(y \in B_{1/n_{k}}(x_{n_{k}})\) then satisfies

\begin{equation*} d(y, x) \le d(y, x_{n_{k}}) + d(x_{n_{k}}, x) < \frac{\varepsilon}{2} + \frac{\varepsilon}{2} = \varepsilon\ec \end{equation*}

so \(B_{1/n_{k}}(x_{n_{k}}) \subseteq B_{\varepsilon}(x) \subseteq U_{i_{0}}\) — contradicting the choice of \(x_{n_{k}}\).

Theorem 6.31 (Compactness and sequential compactness).

A metric space \((X,d)\) is compact if and only if it is sequentially compact. Rests on Definition 6.9, Definition 6.29 and Lemma 6.30.

Proof.

Derives Theorem 6.31. Compact \(\implies\) sequentially compact. Let \((x_{n})\) be a sequence with no convergent subsequence. Then no point \(x \in X\) is the limit of a subsequence, and consequently each \(x\) admits a radius \(r_{x} > 0\) such that \(B_{r_{x}}(x)\) contains \(x_{n}\) for only finitely many indices \(n\): otherwise every ball \(B_{1/k}(x)\) would contain terms of arbitrarily large index, and picking \(n_{1} < n_{2} < \cdots\) with \(x_{n_{k}} \in B_{1/k}(x)\) would produce a subsequence converging to \(x\). The balls \(B_{r_{x}}(x)\) form an open cover of \(X\), so finitely many of them cover \(X\); their union then contains \(x_{n}\) for only finitely many indices, although it is all of \(X\) and so contains every term of the sequence. Since the index set is infinite, this is absurd.

Sequentially compact \(\implies\) compact. Let \(\set{U_i}\) be an open cover of \(X\) and let \(\delta > 0\) be a Lebesgue number for it (Lemma 6.30). We claim first that finitely many balls of radius \(\delta\) cover \(X\). If not, choose \(x_{1} \in X\) and, having chosen \(x_{1}, \dots, x_{n}\), a point \(x_{n+1}\) outside \(B_{\delta}(x_{1}) \cup \dots \cup B_{\delta}(x_{n})\); the resulting sequence satisfies \(d(x_{m}, x_{n}) \ge \delta\) for all \(m \neq n\), so none of its subsequences is Cauchy and none converges — contradicting sequential compactness. So \(X = B_{\delta}(y_{1}) \cup \dots \cup B_{\delta}(y_{p})\) for suitable points \(y_{1}, \dots, y_{p}\), and by the defining property of \(\delta\) each \(B_{\delta}(y_{q})\) lies inside some \(U_{i_{q}}\). The finitely many sets \(U_{i_{1}}, \dots, U_{i_{p}}\) cover \(X\).

Remark 6.32.

On a closed bounded subset of \(\R\) the sequential form is exactly the Bolzano–Weierstrass theorem (Theorem 7.7), which Theorem 6.31 converts into the covering statement of Theorem 6.11. Applying Bolzano–Weierstrass in each coordinate in turn gives the sequential compactness of a closed bounded subset of \(\R^{N}\), and the same conversion then reproduces Theorem 6.12 — whose direct proof above is independent of this equivalence, and so may be read as a second, covering-side derivation of it. The restriction to metric spaces is essential rather than technical: for general topological spaces neither implication holds.

The topology of $\R^{N}$

The real numbers admit no general symbolic rule that generates them all, but graphically they can be represented by a straight line built out of them: the real line, on which every \(x\in\R\) has its place.

[figure: rectareal.pdf]

The real line: the set \(\R\) represented as a straight line, with the integers \(0\) and \(1\) fixing origin and unit and an arbitrary real number \(x\) marked.

Vectors in $\R^{N}$

The set \(\R^{N}\) of ordered \(N\)-tuples \(\vect{x} = (x_1, \dots, x_N)\) carries three compatible structures at once: the vector-space structure of Linear Algebra and Representation Theory (componentwise addition and scaling), the Euclidean metric

\begin{equation}\tag{6.12} d(\vect{x}, \vect{y}) = \abs{\vect{x} - \vect{y}} = \left(\sum_{i=1}^{N}\left(x_i - y_i\right)^{2}\right)^{1/2}\ec \end{equation}

whose metric axioms follow from the Cauchy–Schwarz inequality (Linear Algebra and Representation Theory), and the metric topology this induces (Definition 6.26). The identification of the \(N\)-tuple with the geometric vector is precisely the statement that these structures cohabit: the topology sees nearness, the vector space sees displacement, and the metric ties them together. Physics happens on this triple structure — configuration spaces in Part III — Classical Mechanics, and, once the metric is allowed to vary from point to point and take general signature \((p,q)\), the manifolds of Differentiable Manifolds, Tensors, and Curvature.

Convergence in \(\R^{N}\) is componentwise (each coordinate is squeezed by the Euclidean distance), so the completeness of \(\R\) (Appendix A.7) lifts coordinatewise: \(\R^{N}\) is a complete metric space.