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Foundations of Applied Mathematics
Volume 1

Mathematical Analysis

JEFFREY HUMPHERYS
TYLER J. JARVIS
EMILY J. EVANS

BRIGHAM YOUNG UNIVERSITY

•
"
SOCIETY FOR INDUSTRIAL
AND APPLIED MATHEMATICS

PHILADELPHIA
Copyright© 2017 by the Society for Industrial and Applied Mathematics

10987 654321

All rights reserved . Printed in the United States of America. No part of this book may be reproduced, stored, or
transmitted in any manner without the written permission of the publisher. For information, write to the Society
for Industrial and Applied Mathematics, 3600 Market Street, 6th Floor, Philadelphia, PA 19104-2688 USA

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such m isuse.

Python is a registered trademark of Python Software Foundation .

PUBLISHER David Marsha ll

EXECUTIVE EDITOR Elizabeth Greenspan
DEVELOPMENTAL EDITOR Gina Rinelli Harris
MANAGING EDITOR Kelly Thomas
PRODUCTION EDITOR Louis R. Primus
COPY EDITOR Louis R. Primus
PRODUCTION MANAGER Donna Witzleben
PRODUCTION COORDINATOR Cally Shrader
COMPOSITOR Lum ina Datamatics
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COVER DESIGNER Sarah Kay Miller

Library of Congress Cataloging-in-Publication Data

Names: Humpherys, Jeffrey, author. I Jarvis, Tyler ,Jamison, author. I Evans,
Emily J , author.
Title: Foundations of applied mathematics I Jeffrey Humpherys, Tyler J
Jarvis, Emily J . Evans, Brigham Young University, Provo, Utah .
Description Philadelphia : Society for Industrial and Applied Mathematics,
[2017]- I Series: Other titles in applied mathematics ; 152 I Includes
bibliograph ical references and index.
Identifiers LCCN 2017012783 I ISBN 978161197 4898 (v. 1)
Subjects: LCSH: Calculus. I Mathematical analysis. I Matrices.
Classification LCC QA303.2 .H86 20171 DDC 515--dc23 LC record available at https//lccn.loc
gov /2 017012783

•
5.la.J1L is a reg istered trademark.
 Contents

List of Notation ix

Preface xiii

I Linear Analysis I 1

1 Abstract Vector Spaces 3

1.1 Vector Algebra . . . . . . . . . . . . 3
1.2 Spans and Linear Independence .. 10
1.3 Products, Sums, and Complements 14
1.4 Dimension, Replacement, and Extension 17
1.5 Quotient Spaces 21
Exercises . . . . . . . . . . . . . . . . .. . 27

2 Linear Transformations and Matrices 31

2.1 Basics of Linear Transformations I . 32
2.2 Basics of Linear Transformations II 36
2.3 Rank, Nullity, and the First Isomorphism Theorem 40
2.4 Matrix Representations .. . . . . . . . . . . . 46
2.5 Composition, Change of Basis, and Similarity 51
2.6 Important Example: Bernstein Polynomials 54
2. 7 Linear Systems 58
2.8 Determinants I . 65
2.9 Determinants II 70
Exercises . . . . . . . . 78

3 Inner Product Spaces 87

3.1 Introduction to Inner Products. 88
3.2 Orthonormal Sets and Orthogonal Projections 94
3.3 Gram-Schmidt Orthonormalization .. 99
3.4 QR with Householder Transformations 105
3.5 Normed Linear Spaces . . . 110
3.6 Important Norm Inequalities . . . . . . 117
3.7 Adjoints . . . . . . . . . . . . . . . . . 120
3.8 Fundamental Subspaces of a Linear Transformation 123
3.9 Least Squares 127
Exercises . . . . . . . . . . . . . 131

v
vi Contents

4 S p e ctral Theory 139

4.1 Eigenvalues and Eigenvectors . 140
4.2 Invariant Subspaces 147
4.3 Diagonalization . . . . . . . . 150
4.4 Schur's Lemma . . . . . . . . 155
4.5 The Singular Value Decomposition 159
4.6 Consequences of the SYD . 165
Exercises . .. . .. . 171

II N onlinear Analysis I 177

5 Metric Space Topology 179

5.1 Metric Spaces and Continuous Functions 180
5. 2 Continuous Functions and Limits . . . . 185
5.3 Closed Sets, Sequences, and Convergence 190
5.4 Completeness and Uniform Continuity . 195
5.5 Compactness . .. . . . . . . . . . . . . . 203
5.6 Uniform Convergence and Banach Spaces . 210
5.7 The Continuous Linear Extension Theorem . 213
5.8 Topologically Equivalent Metrics . 219
5.9 Topological Properties .. 222
5.10 Banach-Valued Integration 227
Exercises . . . . . . . . .. . .. . 233

6 Differentiation 241
6.1 The Directional Derivative 241
6.2 T he Frechet Derivative in ]Rn . . 246
6.3 The General Frechet Derivative 252
6.4 Properties of Derivatives . . . . 256
6.5 Mean Value Theorem and Fundamental Theorem of Calculus 260
6.6 Taylor's Theorem 265
Exercises . . . . . . . . . . . . . . .. . . . . . 272

7 C ontraction Mappings and Applications 277

7.1 Contraction Mapping Principle . .. .. 278
7.2 Uniform Contraction Mapping Principle 281
7.3 Newton's Method . . . . . . . . . . . . . 285
7.4 The Implicit and Inverse Function Theorems 293
7.5 Conditioning 301
Exercises . .. . . . . . .. . . . . . . .. . . . . . . 310

III Nonlinear Analys is II 317

8 Integration I 319
8.1 Multivariable Integration . . . . . . . . . . 320
8.2 Overview of Daniell- Lebesgue Integration 326
8.3 Measure Zero and Measurability . . . . . . 331
Contents vii

8.4 Monotone Convergence and Integration on

Unbounded Domains . . . . . . . . . . . . 335
8.5 Fatou's Lemma and the Dominated Convergence Theorem 340
8.6 Fubini's Theorem and Leibniz's Integral Rule 344
8.7 Change of Variables 349
Exercises . .. .. 356

9 * Integration II 361
9.1 Every Normed Space Has a Unique Completion 361
9.2 More about Measure Zero . . 364
9.3 Lebesgue-Integrable Functions .. . . . . . 367
9.4 Proof of Fubini's Theorem . . . . . . . . . 372
9.5 Proof of the Change of Variables Theorem 374
Exercises . . . . . . . . . . . . . . . . . . . . .. . 378

10 Calculus on Manifolds 381

10.l Curves and Arclength . 381
10.2 Line Integrals . . . . . 386
10.3 Parametrized Manifolds . 389
10.4 * Integration on Manifolds 393
10.5 Green's Theorem 396
Exercises .. . . . . . 403

11 Complex Analysis 407

11 . l Holomorphic Functions 407
11.2 Properties and Examples 411
11.3 Contour Integrals . . . . 416
11.4 Cauchy's Integral Formula 424
11.5 Consequences of Cauchy's Integral Formula . 429
11.6 Power Series and Laurent Series . . . . . . . 433
11. 7 The Residue Theorem . . . . . . . . . . . . . 438
11.8 *The Argument Principle and Its Consequences . 445
Exercises .. . .. . .. .. . . . . . . . . . . . . . . . . . 451

IV Linear Analysis II 457

12 Spectral Calculus 459

12.l Projections . . . . . .. . 460
12.2 Generalized Eigenvectors 465
12.3 The Resolvent . . . . . . 470
12.4 Spectral Resolution . . . 475
12.5 Spectral Decomposition I 480
12.6 Spectral Decomposition II 483
12.7 Spectral Mapping Theorem . 489
12.8 The Perron-Frobenius Theorem 494
12.9 The Drazin Inverse . . . . 500
12.10 * Jordan Canonical Form . 506
Exercises . . . . . . . . . . . . . . 511
viii Contents

13 Iterative Methods 519

13.l Methods for Linear Systems . . . . . . . . . 520
13.2 Minimal Polynomials and Krylov Subspaces 526
13.3 The Arnoldi Iteration and GMRES Methods 530
13.4 * Computing Eigenvalues I . 538
13.5 * Computing Eigenvalues II 543
Exercises . . . . . . . . . . . . . 548

14 Spectra and Pseudospectra 553

14.l The Pseudospectrum . . . . . . . . . . 554
14.2 Asymptotic and Transient Behavior .. 561
14.3 * Proof of the Kreiss Matrix Theorem . 566
Exercises . . . . .. . . . . 570

15 Rings and Polynomials 573

15.l Definition and Examples . . . . . . . .. . 574
15.2 Euclidean Domains . . . . . . . . . .. . . 583
15.3 The Fundamental Theorem of Arithmetic . 588
15.4 Homomorphisms . . . . . . . .. . . . . . . 592
15.5 Quotients and the First Isomorphism Theorem . 598
15.6 The Chinese Remainder Theorem .. .. . . . . 601
15.7 Polynomial Interpolation and Spectral Decomposition . 610
Exercises . . . . . . . . . . . . . . . . . . . . . . . . . .. .. . 618

V Appendices 625

A Foundations of Abstract Ma.thematics 627

A. l Sets and Relations . 627
A.2 Functions . . . . . . . . . . . . . .. . 635
A.3 Orderings . . . . . . . . . . . . . . . . 643
A.4 Zorn's Lemma, the Axiom of Choice, and Well Ordering 647
A.5 Cardinality . . . . . . . . . . . . . . . . . . . . . . . . . . 648

B The Complex Numbers and Other Fields 653

B.1 Complex Numbers. 653
B.2 Fields . . . . . . . . . . . . . . . . . .. . . 659

C Topics in Matrix Analysis 663

C.l Matrix Algebra 663
C.2 Block Matrices . 665
C.3 Cross Products 667

D The Greek Alphabet 669

Bibliography 671

Index 679
 List of Notation

t indicates harder exercises xvi

* indicates advanced material that can be skipped xvi
isomorphism 39, 595
EB direct sum 16
EB addition in a quotient 24, 575, 599, 641
[] multiplication in a quotient 24, 575, 599, 641
>0 (for matrices) positive definite 159
~o (for matrices) positive semidefinite 159
>- componentwise inequality 494, 513
(-, .) inner product 89
(-) the ideal generated by · 581
J_
orthogonal complement 123
x Cartesian product 4, 14, 596, 630
I divides 585
I· I absolute value or modulus of a number; componentwise mod-
ulus of a matrix 4, 513, 654
II · II a norm 111
JJ · JJF the Frobenius norm 113, 115
II· Jiu the L 1-norm 134, 327
II · 11 £
2 the L 2 -norm 134
JI · JI L= the L 00 -norm, also known as the sup norm 113, 134
II· llv,w the induced norm on @(V, W) 114
II· lip the p-norm, with p E [l, oo], either for vectors or operators
111, 112, 115, 116
[[·]] an equivalence class 22
[-,·,·] a permutation 66
]. the all ones vector ]. = [1 1] T 499
lie the indicator function of E 228, 323
2s the power set of S 628

[a,b] a closed interval in ]Rn 321

a.e. almost everywhere 329, 332
argminx f(x) the value of x that minimizes f 533

ix
x List of Notation

B(xo, r) the open ball with center at xo and radius r 182

Bf!>
J
the jth Bernstein polynomial of degree n 55
8E the boundary of E 192
@(V;W) the space of bounded linear transformations from V to W
114
@k(V;W) the space of bounded linear transformations from V to
@k- 1 (V, W) 266
@(V) the space of bounded linear operators on V 114
@(X;IF) the space of bounded linear functionals on X 214

c the complex numbers 4, 407, 627

C(X;Y) the set of continuous functions from X to Y 5, 185
Co([a,b];IF) the space of continuous IF-valued functions that vanish at the
endpoints a and b 9
Cb(X; JR) the space of continuous functions on X with bounded L 00 -
norm 311
cn(X;Y) the space of Y-valued functions whose nth derivative is con-
tinuous on X 9, 253, 266
C 00 (X; Y) the space of smooth Y-valued functions on X 266
Csr the transition matrix from T to S 48

D(xo, r) the closed ball with center at x 0 and radius r 191

Df(x) the Frechet derivative of f at x 246
Dd the ith partial derivative of f 245
Dk f(x) the kth Frechet derivative of f at x 266
Dvf(x) the directional derivative of f at x in the direction v 244
DU(x) kth directional derivative of f at x in the direction v 268
Dk f(x)v(k) same as D~f (x) 268
D>. the eigennilpotent associated to the eigenvalue ,\ 483
diag(.A1, . .. , An) the diagonal matrix with (i, i) entry equal to Ai 152
d(x,y) a metric 180
8ij the Kronecker delta 95

Eo the set of interior points of E 182

E the closure of E 192
6°>, the generalized eigenspace corresponding to eigenvalue ,\ 468
ei the ith standard basis vector 13, 51
ep the evaluation map at p 33, 594

IF a field , always either C or JR 4

IFn n-dimensional Euclidean space 5
IF[A] the ring of matrices that are polynomials in A 576
List of Notation xi

lF[x] the space of polynomials with coefficients in lF 6

JF[x, y] the space of polynomials in x and y with coefficients in lF 576
lF[x;n] the space of polynomials with coefficients in lF of degree at
most n 9
the preimage {x I f(x) EU} off 186, 187

the greatest common divisor 586

the graph of f 635

the Householder transformation of x 106

I("Y,zo) the winding number of 'Y with respect to z 0 441

ind(B) the index of the matrix B 466
SS(z) the imaginary part of z 450, 654

K(A) the Kreiss matrix constant of A 562

JtA,(A, b) the kth Krylov subspace of A generated by b 506, 527
11;(A) the matrix condition number of A 307
/\; the relative condition number 303
Pi, the absolute condition number 302
/\;spect (A) the spectral condition number of A 560

L 1 (A; X) the space of integrable functions on A 329, 338, 363

LP([a, b]; lF) the space of p-integrable functions 6
Li the ith Lagrange interpolant 603
L 00 (S; X) the set of bounded functions from S to X, with the sup norm
216
£(V;W) the set of linear transformations from V to W 37
len( a) the arclength of the curve a 383
£(a, b) the line segment from a to b 260
£P the space of infinite sequences (xj)~ 1 such that 2::~ 1 x~
converges 6
>.(R) the measure of an interval R C lFn 323

Mn(lF) the space of square n x n matrices with entries in lF 5

Mmxn(lF) the space of m x n matrices with entries in lF 5

N the natural numbers {O, 1, 2, ... } 577, 628

Ni the ith Newton interpolant 611
N the unit normal 392
JY (L) the kernel of L 35, 594

the eigenprojection associated to all the nonzero eigenvalues

500
P;.. the eigenprojection associated to the eigenvalue >. 475
PA(z) the characteristic polynomial of A 143
proh(v) the orthogonal projection of v onto the subspace X 96
xii List of Notation

the orthogonal projection of v onto span( {x}) 93

a subdivision 323
the ith projection map from xn to x 33

the rational numbers 628

the points of ]Rn with dyadic rational coordinates 374

JR the real numbers 4, 627

R[x] the ring of formal power series in x with coefficients in R 576
R(A,z) the resolvent of A, sometimes denoted R( z) 470
Res(!, zo) the residue off at zo 440
r(A) the spectral radius of A 474
re:(A) the c:-pseudospectral radius of A 561
~([a, b];X) the space of regulated integrable functions 324
~(L) the range of L 35
~(z) the real part of z 450, 654
p(L) the resolvent set of L 141

S([a, b]; X) the set of all step functions mapping [a, b] into X 228, 323
sign(z) the complex sign z/JzJ of z 656
Skewn(IF) the space of skew-symmetric n x n matrices 5, 29
Symn(IF) the space of symmetric n x n matrices 5, 29
~>.(L) the >.-eigenspace of L 141
a(L) the spectrum of L 141
ae:(A) the pseudospectrum of A 554

the unit tangent vector 382

the tangent space to M at p 390
the set of compact n-cubes with corners in Qk 374

v(a) a valuation function 583

the integers{ ... , -2, -1, 0, 1, 2, ... } 628

the positive integers {1, 2, ... } 628
the set of equivalence classes in Z modulo n 575, 633, 660
 Preface

Overview
Why Mathematical Analysis?
Mathematical analysis is the foundation upon which nearly every area of applied
mathematics is built. It is the language and intellectual framework for studying
optimization, probability theory, stochastic processes, statistics, machine learning,
differential equations, and control theory. It is also essential for rigorously describing
the theoret ical concepts of many quantitative fields, including computer science,
economics, physics, and several areas of engineering.
Beyond its importance in these disciplines, mathematical analysis is also fun-
damental in the design, analysis, and optimization of algorithms. In addition to
allowing us to make objectively true statements about the performance, complex-
ity, and accuracy of algorithms, mathematical analysis has inspired many of the
key insights needed to create, understand, and contextualize the fastest and most
important algorithms discovered to date.
In recent years, the size, speed, and scale of computing has had a profound
impact on nearly every area of science and technology. As future discoveries and in-
novations become more algorithmic, and therefore more computational, there will be
tremendous opportunities for those who understand mathematical analysis. Those
who can peer beyond the jargon-filled barriers of various quantitative disciplines
and abstract out their fundamental algorithmic concepts will be able to move fluidly
across quantitative disciplines and innovate at their crossroads. In short, mathemat-
ical analysis gives solutions to quantitative problems, and the future is promising
for those who master this material.

To the Instructor
About this Text
This text modernizes and integrates a semester of advanced linear algebra with
a semester of multivariable real analysis to give a new and redesigned year-long
curriculum in linear and nonlinear analysis. The mathematical prerequisites are

xiii
xiv Preface

vector calculus, linear algebra, and a semester of undergraduate-level, single-variable

real analysis. 1
The content in this volume could be reasonably described as upper-division
undergraduate or first-year graduate-level mathematics. It can be taught as a stand-
alone two-semester sequence or in parallel with the second volume, Foundations of
Applied Mathematics, Volume 2: Algorithms, Approximation, and Optimization, as
part of a larger curriculum in applied and computational mathematics.
There is also a supplementary computer lab manual, containing over 25 com-
puter labs that support this text. This text focuses on the theory, while the labs
cover application and computation. Although we recommend that t he manual be
used in a computer lab setting with a teaching assistant, the material can be used
without instruction. The concepts are developed slowly and thoroughly, with nu-
merous examples and figures as pedagogical breadcrumbs, so that students can learn
this material on their own, verifying their progress along the way. The labs and
other classroom resources are open content and are available at

http://www.siam.org/books/ot152

The intent of this text and the computer labs is to attract and retain students
into the mathematical sciences by modernizing the curriculum and connecting the-
ory to application in a way that makes the students want to understand the theory,
rather than just tolerate it. In short, a major goal of this text is to entice them to
hunger for more.

Topics and Focus

In addition to standard material one would normally expect from linear and
nonlinear analysis, this text also includes several key concepts of modern applied
mathematical analysis which are not typically taught in a traditional applied math
curriculum (see the Detailed Description, below, for more information) .
We focus on both rigor and relevance to give the students mathematical ma-
turity and an understanding of the most important ideas in mathematical analysis.

Detailed Description
Chapters 1- 3 We give a rigorous treatment of the basics of linear algebra over both
JR and <C, including abstract vector spaces, linear transformations, matrices,
the LU decomposition, inner product spaces, the QR decomposition, and least
squares. As much as possible, we try to frame things in a way that does not
require vector spaces to be finite dimensional, and we give many infinite-
dimensional examples.

Chapter 4 We treat the spectral theory of matrices, including the spectral theorem
for normal matrices. We give special attention to the singular value decom-
position and its applications.
1
Specifically, the reader should have had exposure to a rigorous treatment of continuity, con-
vergence, differentiation, and Riemann-Darboux integration in one dimension, as covered, for
example, in [Abbl5].
Preface xv

Chapter 5 We present the basics of metric topology, including the ideas of com-
pleteness and compactness. We define and give many examples of Banach
spaces. Throughout the rest of the text we formulate results in terms of Ba-
nach spaces, wherever possible. A highlight of this chapter is the continuous
linear extension theorem (sometimes called the bounded linear transforma-
tion theorem), which we use to give a very slick construction of Riemann (or
rather regulated) Banach-valued integration (single-variable in this chapter
and multivariable in Chapter 8).

Chapters 6-7 We discuss calculus on Banach spaces, including Frechet derivatives

and Taylor's theorem. We then present the uniform contraction mapping
theorem, which we use to prove convergence results for Newton's method and
also to give nice proofs of the inverse and implicit function theorems.

Chapters 8-9 We use the same basic ideas to develop Lebesgue integration as we
used in the development of the regulated integral in Chapter 5. This approach
could be called the Riesz or Daniell approach. Instead of developing measure
theory and creating integrals from simple functions , we define what it means
for a set to have zero measure and create integrals from step functions . This
is a very clean way to do integration, which has the additional benefit of
reinforcing many of the functional-analytic ideas developed earlier in the text.

Chapters 10-11 We give an introduction to the fundamental tools of complex anal-

ysis, briefly covering first the main ideas of parametrized curves, surfaces, and
manifolds as well as line integrals, and Green 's theorem, to provide a solid
foundation for contour integration and Cauchy's theorem.
Throughout both of these chapters, we express the main ideas and results in
terms of Banach-valued functions whenever possible, so that we can use these
powerful tools to study spectral theory of operators later in the book.

Chapters 12-13 One of the biggest innovations in the book is our treatment of
spectral theory. We take the Dunford-Schwartz approach via resolvents. This
approach is usually only developed from an advanced functional-analytic point
of view, but we break it down to the level of an undergraduate math major,
using the tools and ideas developed earlier in this text .
In this setting, we put a strong emphasis on eigenprojections, providing in-
sights into the spectral resolution theorem. This allows for easy proofs of
the spectral mapping theorem, the Perron-Frobenius theorem, the Cayley-
Hamilton theorem, and convergence of the power method. This also allows
for a nice presentation of the Drazin inverse and matrix perturbation theory.
These ideas are used again in Volume 4 with dynamical systems, where we
prove the stable and center manifold theorems using spectral projections and
corresponding semigroup estimates.

Chapter 14 The pseudospectrum is a fundamental tool in modern linear algebra.

We use the pseudospectrum to study sequences of the form l Ak ll, their asymp-
totic and transient behavior, an understanding of which is important both for
Markov chains and for the many iterative methods based on such sequences,
such as successive overrelaxation.
xvi Preface

Chapter 15 We conclude the book with a chapter on applied ring theory, focused
on the algebraic structure of polynomials and matrices. A major focus of this
chapter is the Chinese remainder theorem, which we use in many ways, includ-
ing to prove results about partial fractions and Lagrange interpolation. The
highlight of the chapter is Section 15.7.3, which describes a striking connection
between Lagrange interpolation and the spectral decomposition of a matrix.

Teaching from the Text

In our courses we teach each section in a fifty-minute lecture. We require students
read the section carefully before each class so that class time can be used to focus
on the parts they find most confusing, rather than on just repeating to them the
material already written in the book.
There are roughly five to seven exercises per section. We believe that students
can realistically be expected to do all of the exercises in the text, but some are
difficult and will require time, effort, and perhaps an occasional hint. Exercises
that are unusually hard are marked with the symbol t. Some of the exercises are
marked with * to indicate that they cover advanced material. Although these are
valuable, they are not essential for understanding the rest of the text, so they may
safely be skipped, if necessary.
Throughout this book the exercises, examples, and concepts are tightly in-
tegrated and build upon each other in a way that reinforces previous ideas and
prepares students for upcoming ideas. We find this helps students better retain and
understand the concepts learned, and helps achieve greater depth. Students are
encouraged to do all of the exercises, as they reinforce new ideas and also revisit
the core ideas taught earlier in the text.

Courses Taught from This Book

Full Sequence

At BYU we teach a year-long advanced undergraduate-level course from this book,

proceeding straight through the book, skipping only the advanced sections and
chapters (marked with *), and ending in Chapter 13. But this would also make a
very good course at the beginning graduate level as well.
Graduate students who are well prepared could be further challenged either
by covering the material more rapidly, so as to get to the very rewarding material
at the end of the book, or by covering some or all of the advanced sections along
the way.

Advanced Linear Algebra

Alternatively, Chapters 1- 4 (linear analysis part I), Section 7.5 (conditioning), and
Chapters 12- 14 (linear analysis part II), as well as parts of Chapter 15, as time
permits, make up a very good one-semester advanced linear algebra course for
students who have already completed undergraduate-level courses in linear algebra,
complex analysis, and multivariate real analysis.
Preface xvii

Advanced Analysis
This book can also be used to teach a one-semester advanced analysis course for stu-
dents who have already had a semester of basic undergraduate analysis (say, at the
level of [Abb15]). One possible path through the book for this course would be to
briefly review Chapter 1 (vector spaces) , Sections 2.1-2.2 (basics of linear transfor-
mations), and Sections 3.1 and 3.5 (inner product spaces and norms), in order to set
notation and to remind the students of necessary background from linear algebra,
and then proceed through Part II (Chapters 5-7) and Part III (Chapters 8-11).
Figure 1 indicates the dependencies among the chapters.

Advanced Sections
A few problems, sections, and even chapters are marked with the symbol * to
indicate that they cover more advanced topics. Although this material is valuable,
it is not essential for understanding the rest of the text, so it may safely be skipped,
if necessary.

Instructors New to the Material

We've taken a tactical approach that combines professional development for faculty
with instruction for the students. Specifically, the class instruction is where the the-
ory lies and the supporting media (labs, etc.) are provided so that faculty need not
be computer experts nor familiar with the applications in order to run the course.
The professor can teach the theoretical material in the text and use teaching
assistants, who may be better versed in the latest technology, to cover the applica-
tions and computation in the labs, where the "hands-on" part of the course takes
place. In this way the professor can gradually become acquainted with the appli-
cations and technology over time, by working through the labs on his or her own
time without the pressures of staying ahead of the students.
A more technologically experienced applied mathematician could flip the class
if she wanted to, or change it in other ways. But we feel the current format is
most versatile and allows instructors of all backgrounds to gracefully learn and
adapt to the program. Over time, instructors will become familiar enough with the
content that they can experiment with various pedagogical approaches and make
the program theirs.

To the Student
Examples
Although some of the topics in this book may seem familiar to you, especially
many of the linear algebra topics, we have taken a very different approach to these
topics by integrating many different topics together in our presentation, so examples
treated in a discussion of vector spaces will appear again in sections on nonlinear
analysis and other places throughout the text. Also, notation introduced in the
examples is often used again later in the text.
Because of this, we recommend that you read all the examples in each section,
even if the definitions, theorems, and other results look familiar .
xviii Preface

Linear Analysis Nonlinear Analysis

1: Vector Spaces

2: Linear 5: Metric Spaces

Transformations

6: Differentia-
tion

4: Spectral l 7: Contraction
Theory ___J Mappings

Is: Integration I
10: Calculus on
Manifolds
I9:*Int: gration II

11: Complex
12: Spectral w..---, Analysis
Decomposition

13: Iterative
Methods

14: Spectra and

Pseudospectra

Figure 1. Diagram of the dependencies among the chapters of this book.

Although we usually proceed straight through the book in order, it could also be used
for either an advanced linear algebra course or a course in real and complex analysis.
The linear analysis half (left side) provides a course in advanced linear algebra
for students who have had complex analysis and multivariate real analysis. The
nonlinear analysis half (right side) could be used for a course in real and complex
analysis for students who have already had linear algebra and a semester of real
analysis. For that track, we recommend briefly reviewing the material of Chapter 1
and Sections 2.1- 2.2, 3.1, and 3.5, before proceeding to the nonlinear material, in
order to fix notation and ensure students remember the necessary background.
Preface xix

Exercises
Each section of the book has several exercises, all collected at the end of each
chapter. Horizontal lines separate the exercises for each section from the exer-
cises for the other sections. We have carefully selected these exercises. You should
work them all (but your instructor may choose to let you skip some of the ad-
vanced exercises marked with *)-each is important for your ability to understand
subsequent material.
Although the exercises are gathered together at the end of the chapter, we
strongly recommend that you do the exercises for each section as soon as you have
completed the section, rather than saving them until you have finished the entire
chapter. Learning mathematics is like developing physical strength. It is much
easier to improve, and improvement is greater, when exercises are done daily, in
measured amounts, rather than doing long, intense bouts of exercise separated by
long rests.

Origins
This curriculum evolved as an outgrowth of lecture notes and computer labs that
were developed for a 6-credit summer course in computational mathematics and
statistics. This was designed to introduce groups of undergraduate researchers to
a number of core concepts in mathematics, statistics, and computation as part of
a National Science Foundation (NSF) funded mentoring program called CSUMS:
Computational Science Training for Undergraduates in the Mathematical Sciences.
This NSF program sought out new undergraduate mentoring models in the
mathematical sciences, with particular attention paid to computational science
training through genuine research experiences. Our answer was the Interdisciplinary
Mentoring Program in Analysis, Computation, and Theory (IMPACT), which took
cohorts of mathematics and statistics undergraduates and inserted them into an in-
tense summer "boot camp" program designed to prepare them for interdisciplinary
research during the school year. This effort required a great deal of experimenta-
tion, and when the dust finally settled, the list of topics that we wanted to teach
blossomed into 8 semesters of material--essentially an entire curriculum.
After we explained the boot camp concept to one visitor, he quipped, "It's
the minimum number of instructions needed to create an applied mathematician."
Our goal, however, is much broader than this. We don't want to train or create
a specific type of applied mathematician; we want a curriculum that supports all
types, simultaneously. In other words, our goal is to take in students with diverse
and evolving interests and backgrounds and provide them with a common corpus of
mathematical, statistical, and computational content so that they can emerge well
prepared to work in their own chosen areas of specialization. We also want to draw
their attention to the core ideas that are ubiquitous across various applications so
that they can navigate fluidly across fields.

Acknowledgments
We thank the National Science Foundation for their support through the TUES
Phase II grant DUE-1323785. We especially thank Ron Buckmire at the National
xx Preface

Science Foundation for taking a chance on us and providing much-needed advice and
guidance along the way. Without the NSF, this book would not have been possible.
We also thank the Department of Mathematics at Brigham Young University for
their generous support and for providing a stimulating environment in which to
work.
Many colleagues and friends have helped shape the ideas that led to this
text, especially Randy Beard, Rick Evans, Shane Reese, Dennis Tolley, and Sean
Warnick, as well as Bryant Angelos, Jonathan Baker, Blake Barker, Mylan Cook,
Casey Dougal, Abe Frandsen, Ryan Grout, McKay Heasley, Amelia Henricksen, Ian
Henricksen, Brent Kerby, Steven Lutz, Shane McQuarrie, Ryan Murray, Spencer
Patty, Jared Webb, Matthew Webb, Jeremy West, and Alexander Zaitzeff, who
were all instrumental in helping to organize this material.
We also thank the students of the BYU Applied and Computational Mathe-
matics Emphasis (ACME) cohorts of 2013-2015, 2014- 2016, 2015-2017, and 2016-
2018, who suffered through our mistakes, corrected many errors, and never hesitated
to tell us what they thought of our work.
We are deeply grateful to Chris Grant, Todd Kapitula, Zach Boyd, Rachel
Webb, Jared McBride, and M.A. Averill, who read various drafts of this volume very
carefully, corrected many errors, and gave us a tremendous amount of helpful feed-
back. Of course, all remaining errors are entirely our fault . We also thank Amelia
Henricksen, Sierra Horst, and Michael Hansen for their help illustrating the text
and Sarah Kay Miller for her outstanding graphic design work, including her beau-
tifully designed book covers. We also appreciate the patience, support, and expert
editorial work of Elizabeth Greenspan and the other editors and staff at SIAM.
Finally, we thank the folks at Savvysherpa, Inc., for corporate sponsorship
that greatly helped make the transition from IMPACT to ACME and their help
nourishing and strengthening the ACME development team.
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