Topological Spaces: Compactness in Metric Spaces

Definition Let R be a metric space and ϵ any positive number. Then a set AR is said to be an ϵ-net for a set MR if, for every xM there is at least one point aA such that ρ(x,a)ϵ.

Definition Given a metric space R and a subset MR, suppose M has a finite ϵ​-net for every ϵ>0. Then M is said to be totally bounded.

Note Example 5 shows that the Hilbert cube (or fundamental parallelepiped) is an infinite-dimensional totally bounded set.

Theorem 1

Every countably compact metric space R is totally bounded.

Proof

Suppose R is not totally bounded, then there is an ϵ0>0 such that R has no finite ϵ0​-net. Choose any point a1R. Then R contains at least one point, say a2, such that ρ(a1,a2)>ϵ0, since otherwise a1 would be an ϵ0​-net for R. Moreover, R contains a point a3 such that ρ(a1,a3)>ϵ0, ρ(a2,a3)>ϵ0, since otherwise the pair a1,a2 would be an ϵ0​-net for R. More generally, once having found the points a1,a2,an, we choose an+1R such that ρ(ak,an+1)>ϵ0(k=1,2,,n). This construction gives an infinite sequence of distinct points a1,a2,,an, with no limit points, since ρ(aj,ak)>ϵ0 if jk. But then R cannot be countably compact.

Corollary 1

Every countably compact metric space has a countable everywhere dense subset and a countable base.

Proof

Since R is totally bounded, by Theorem 1, R has a finite (1/n)​-net for every n=1,2,. The union of all these nets is then a countably everywhere dense subset of R. It follows from Theorem 5 Topological Spaces: Basic Concepts that R has a countable base.

Corollary 2

Every countably compact metric space is compact.

Proof

An immediate consequence of Corollary 1 and Theorem 9 Topological Spaces: Compactness.

Remark Total boundedness is not sufficient for a metric space to be compact. The set of rational points in the interval [0,1] forms a metric space R which is totally bounded but not compact.

Theorem 2

A metric space R is compact if and only if it is totally bounded and complete.

Proof

To see that compactness of R implies completeness of R, we need only note that if R has a Cauchy sequence {xn} with no limit, then {xn} has no limit point in R. Hence if R is compact, R is complete. By Theorem 1, if R is compact, R is totally bounded.

Conversely, suppose R is totally bounded and complete, and let {xn} be any infinite sequence of distinct points in R. Let N1 be a finite 1​-net for R, and construct a closed sphere of radius 1 about every point of N1. Since these spheres cover R and there are finitely many of them, at least one of the spheres, say S1, contains an infinite subsequence x1(1),,xn(1), of the sequence {xn}. Let N2 be a finite 1/2​-net for R, and construct a closed sphere of 1/2 for every point of N2. Then at least one of these spheres, say S2, contains an infinite subsequence x1(2),,xn(2), of the sequence {xn(1)}. Continue this construction indefinitely, where Sn has radius 1/2n1. Let Sn be the closed sphere with the same centre as Sn but with a radius rn twice as large (i.e., equal to 1/2n). Then clearly S1S2Sn, and moreover rn0 as n. Since R is complete, it follows from the nested sphere theorem (Theorem 2, Complete Metric Spaces) that n=1Sn. In fact, there is a point x0R such that n=1Sn={x0} (recall Problem 3, Complete Metric Spaces). Clearly x0 is a limit point of the original sequence {xn}, since every neighbourhood of x0 contains some sphere Sk and hence some infinite subsequence {xn(k)}. Therefore every infinite sequence {xn} of distinct points of R has a limit point of R. It follows that R is countably compact and hence compact, by Corollary 2.

Theorem 3

A subset M of a complete metric space R is relatively compact if and only if it is totally bounded.

Proof

An immediate consequence of Theorem 2 and the fact that a closed subset of a complete metric space is itself complete.

Remark The utility of Theorem 3 stems from the fact it is usually easier to prove that a set is totally bounded than to give a direct proof of its relative compactness.

Definition A family Φ of functions ϕ defined on a closed interval [a,b] is said to be uniformly bounded if there exists a number K>0 such that |ϕ(x)|K for all x[a,b] and all ϕΦ.

Definition A family Φ of functions ϕ defined a closed interval [a,b] is said to be equicontinuous if, given any ϵ>0, there exists a number δ>0 such that |xx|<δ imples |ϕ(x)ϕ(x)|<ϵ for all x,x[a,b] and all ϕΦ.

Theorem 4 (Arzelà)

A necessary and sufficient condition for a family Φ of continuous functions ϕ defined on a closed interval [a,b] to be relatively compact in C[a,b] is that Φ be uniformly bounded and equicontinuous.

Proof

We first prove necessity and then sufficiency.

(Necessity.) Suppose Φ is relatively compact in C[a,b]. Then by Theorem 3, it is totally bounded, so given any ϵ>0, there is a finite (ϵ/3)​-net ϕ1,,ϕn in Φ (see Problem 1). Being a continuous function defined on a closed interval, each ϕi is bounded: |ϕi(x)|K(axb). Let K=max{K1,,Kn}+ϵ/3. By the definition of an (ϵ/3)​-net, given any ϕΦ, there is at least one ϕi such that ρ(ϕ,ϕi)=maxaxb|ϕ(x)=ϕi(x)|ϵ/3. Therefore |ϕ(x)||ϕi(x)|+ϵ/3Ki+ϵ/3K, i.e. Φ is uniformly bounded. Moreover, each function ϕi in the (ϵ/3)​-net is continuous, and hence uniformly continuous, on [a,b]. Hence, given any ϵ>0, there is a δi such that |ϕi(x1)ϕi(x2)|ϵ/3 whenever |x1x2|<δi. Let δ=min{δ1,,δn}. Then, given any ϕΦ and choosing ϕi such that ρ(ϕ,ϕi)<ϵ/3, we have |ϕ(x1)ϕ(x2)||ϕ(x1)ϕi(x1)+|ϕi(x1)ϕi(x2)|+|ϕi(x2)ϕ(x2)|<ϵ/3+ϵ/3+ϵ/3=ϵ whenever |x1x2|<δ. This proves the equicontinuity of Φ.

(Sufficiency.) Suppose Φ is uniformly bounded and equicontinuous. Accordin to Theorem 3, to prove that Φ is relatively compact in C[a,b], we need only show that Φ is totally bounded, i.e., that given any ϵ>0, there exists a finite ϵ​-net for Φ in C[a,b]. Since Φ is uniformly bounded, |ϕ(x)|K for all ϕΦ, and by equicontinuity, let δ>0 be such that |ϕ(x1)ϕ(x2)|<ϵ/5 for all ϕΦ whenever |x1x2|<δ. Divide the interval axb along the x-axis into subintervals of length less than δ, by introducing points of subdivision x0,x1,,xn such that a=x0<x1<<xn=b and then draw a vertical line through each of these points. Similarly, divide the interval KyK along the y-axis into subintervals of length less than ϵ/5, by introducing points of subdivision y0,y1,,ym such that K=y0<y1<<ym=K and then draw a horizontal line through each of these points. In this way, the rectangle a<x<b, K<y<K is divided into nm cells of horizontal side length less than δ and vertical side length less than ϵ/5.

We now associate with each function ϕΦ a polygonal line y=ψ(x) which has vertices at points of the form (xk,yl) and differs from the function ϕ by less than ϵ/5 at every point xk (the reader should draw a figure and convince themself on the existence of such a function).

Since |ϕ(xk)ψ(xk)|ϵ/5,|ϕ(xk+1)ψ(xk+1)|ϵ/5,|ϕ(xk)ϕ(xk+1)|ϵ/5, by construction, we have |ψ(xk)ψ(xk+1)|3ϵ/5. Moreover, |ψ(xk)ψ(x)|3ϵ/5(xkxxk+1), since ψ(x) is linear between the point xk and xk+1. Let x be any point in [a,b] and xk the point of subdivision nearest to x on the left. Then |ϕ(x)ψ(x)||ϕ(x)ϕ(xk)|+|ϕ(xk)ψ(xk)|+|ψ(xk)ψ(x)|<ϵ, i.e. the set of polygonal lines ψ(x) forms an ϵ​-net for Φ. But there are obviously only finitely many such lines. Therefore Φ is totally bounded.

Theorem 5 (Peano)

Let f(x,y) be defined and continuous on a plane domain G. Then at least one integral curve of the differential equation dydx=f(x,y) passes through each point (x0,y0) of G.

Proof

By the continuity of f, we have |f(x,y)|K in some domain GG containing the point (x0,y0). Draw the lines with slopes K and K through the point (x0,y0). Then draw vertical lines x=a and x=b(a<x0<b) which together with the first two lines form two isosceles triangles contained in G with common vertex (x0,y0). This gives a closed interval [a,b], which will figure in the rest of the proof.

The next step is to construct a family of polygonal lines, called Euler lines, associated with the differential equation dydx=f(x,y). We begin by drawing the line with slope f(x0,y0) through the point (x0,y0). Next, choosing a point (x1,y1) on the first line, we draw the line f(x1,y1) through the point (x1,y1). Then, choosing a point (x2,y2) on the second line, we draw the line with slope f(x2,y2) through the point (x2,y2), and so on indefinitely. Suppose we construct a whole sequence L1,L2,,Ln, of such Euler lines going through the point (x0,y0), with the property that the length of the longest line segment making up Ln approaches 0 as n. Let ϕn be the function with graph Ln. Then this gives a family of functions ϕ1,ϕ2,,ϕn,, all defined on the interval [a,b], which is easily seen to be uniformly bounded and equicontinuous (as they are bounded by K and are straight lines). It follows from Arzelà’s theorem that the sequence {ϕn} is relatively compact and therefore contains a uniformly convergent subsequence ϕ(1),ϕ(2),,ϕ(n),. Let ϕ(x)=limnϕ(n)(x). Then clearly ϕ(x0)=y0, so that the curve y=ϕ(x) passes through the point (x0,y0). We now show that the y=ϕ(x) satisfies the differential equation dydx=f(x,y) in the open interval (a,b). This means showing that, given any ϵ>0 and any points x,x(a,b), we have |ϕ(x)ϕ(x)xxf(x,ϕ(x))|<ϵ whenever |xx| is sufficiently small, or equivalently that |ϕ(n)(x)ϕ(n)(x)xxf(x,ϕ(n)(x))|<ϵ whenever n is sufficiently large and |xx| is sufficiently small. Let y=ϕ(x). Then, by continuity of f, given any ϵ>0, there is a number η>0 such that f(x,y)ϵ<f(x,y)<f(x,y)+ϵ whenever |xx|<2η, |yy|<4Kη. The set of points (x,y) satisfying these inequalities is a rectange which we denote by Q. Let N be so large that for all n>N, the length of the longest segment making up Ln is less than η and moreover |ϕ(x)ϕ(n)(x)|<Kη. Then all the Euler lines Ln with n>N live inside the rectange Q (why?). Suppose Ln has vertices (a0,b0),(a1,b1),,(ak+1,bk+1), where ax<a1<a2<<ak<xak+1. [Note we assume that x>x. The case x<x is treated similarly.] Then ϕ(n)(a1)ϕ(n)(x)=f(a0,b0)(a1x),ϕ(n)(ai+1)ϕ(n)(ai)=f(ai,bi)(ai+1ai)(i=1,2,,k1),ϕ(n)(x)ϕ(n)(ak)=f(ak,bk)(aak). Hence, if |xx|<η, [f(x,y)ϵ](a1x)<ϕ(n)(a1)ϕ(n)(x)<[f(x,y)+ϵ](a1x),[f(x,y)ϵ](ai+1ai)<ϕ(n)(ai+1)ϕ(n)(ai)<[f(x,y)+ϵ](ai+1ai)(i=1,2,,k1),[f(x,y)ϵ](xak)<ϕ(n)(x)ϕ(n)(ak)<[f(x,y)+ϵ](xak). Adding these inequalities, we get [f(x,y)ϵ](xx)<ϕ(n)(x)ϕ(n)(x)<[f(x,y)+ϵ](xx) if |xx|<η, which is equivalent to |ϕ(n)(x)ϕ(n)(x)xxf(x,ϕ(n)(x))|<ϵ.

Problems

  1. Let M be a totally bounded subset of a metric space R. Prove that the ϵ​-nets figuring in the definition of total boundedness of M can always be chosen to consist of points of M rather than R.

    Hint. Given an ϵ​-net for M consisting of points a1,a2,,anR, all with ϵ of some point of M, replace each point ak by a point bkM such that ρ(ak,bk)ϵ.

  2. Prove that every totally bounded metric space is separable.

    Hint. Construct a finite (1/n)​-net for every n=1,2,. Then take the union of these nets.

  3. Let M be a bounded subset of the space C[a,b]. Prove that the set of all functions F(x)=axf(t)dt with fM compact.

  4. Given two metric compacta X and Y, let CXY be the set of all continuous mappings of X into Y. Let distance be defined in CXY by the formula ρ(f,g)=supxXρ(f(x),g(x)). Prove that CXY is a metric space. Let MXY be the set of all mappings of X into Y, with the same metric. Prove that CXY is closed in MXY.

    Hint. Use the method of Problem 1, page 65 to prove that the limit of a uniformly convergent subsequence of continuous mappings is itself a continuous mapping.

  5. Let X, Y, and CXY be the same as in the preceding problem. Prove the following generalisation of Arzelà’s theorem: A necessary and sufficient condition for a set DCXY to be relatively compact is that D be an equicontinuous family of functions, in the sense that given any ϵ>0, there exists a number δ>0 such that ρ(x,y)<δ implies ρ(f(x),f(x))<ϵ for all x,xX and all fD.

    Hint. To prove the sufficiency, show that D is relatively compact in MXY (defined in the preceding problem) and hence in CXY, since CXY is closed in MXY. To prove the relative compactness of D in MXY, first represent X as a union of finitely many pairwise disjoint sets Di such that x,xEi implies ρ(x,x)<δ. For example, let x1,,xn be a (δ/2)​-net for X, and let Ei=S[xi,δ]j<iS[xj,δ]. Then let y1,,yn, be an ϵ​-net in Y, and let L be the set of all functions taking the values yj on the sets Ei. Given any fD1 and any xi{x1,,xn}, let yj{y0,,yn} be such that ρ(f(xi),yj)<ϵ and let gL be such that g(xi)=yj. Show that ρ(f(x),g(x))<2ϵ, thereby proving that L is a finite 2ϵ​-net for D in MXY.