Linear Algebra

Seven ideas from a second course in linear algebra, done the way Axler does it: operators first, determinants last. Drag vectors to test subspaces and change bases, bend the plane with a matrix, hunt for eigenvectors, project onto subspaces, watch circles become ellipses, then check yourself with concept questions, practice problems and exercises from the book.

Follows the chapter order of S. Axler, Linear Algebra Done Right, 4th ed. (Springer, 2024; open access), Chapters 1–3 and 5–9. Result numbers refer to that book; the questions and examples here are written for this page. Exercises from the book appear at the end of each module, with their numbers from the book and their statements restated in our own words. Exercises from the book appear at the end of each module, with their numbers from the book and their statements restated in our own words. For how this subject feeds the others on this site, see the roadmap.

InteractiveAxler, Ch. 1: Vector Spaces

Vector spaces and subspaces

A vector space is anywhere you can add things and scale them, with the usual rules. A subspace is a subset you can't leave by adding or scaling. That one closure condition rules out most sets you might draw.

The idea

Subspace (Axler 1.34). A subset U⊆VU\subseteq V is a subspace if 0∈U0\in U, u+w∈Uu+w\in U whenever u,w∈Uu,w\in U, and λu∈U\lambda u\in U whenever λ∈𝐅\lambda\in\mathbf F, u∈Uu\in U.

Examples: {0}\{0\}, VV, lines and planes through the origin in ℝ3\R^3, the polynomials of degree at most mm inside all polynomials, the continuous functions inside all functions [0,1]→ℝ[0,1]\to\R. The space need not be made of arrows.

Sums and direct sums (Axler 1.36, 1.41). U1+⋯+Um={u1+⋯+um:uk∈Uk}U_1+\dots+U_m=\{u_1+\dots+u_m:u_k\in U_k\} is the smallest subspace containing every UkU_k. The sum is direct, written U1⊕︎⋯⊕︎UmU_1\oplus\dots\oplus U_m, if each vector in it can be written as u1+⋯+umu_1+\dots+u_m in only one way.
Two subspaces (Axler 1.46). U+WU+W is a direct sum if and only if U∩W={0}U\cap W=\{0\}. (For three or more subspaces, pairwise intersections being {0}\{0\} is not enough.)

Explore

Subset of ℝ²
Drag the tips of u and w; they stay on the set. The figure draws u + w and λu, in teal if they stay in the set and red if they escape.

Worked example

Let U={(x,x,y,y)}U=\{(x,x,y,y)\} and W={(x,y,x,y)}W=\{(x,y,x,y)\} in 𝐅4\mathbf F^4. Is U+WU+W a direct sum? What is U+WU+W?

  1. Compute U∩WU\cap W.

    (a,a,b,b)=(c,d,c,d)(a,a,b,b)=(c,d,c,d) forces a=c=d=ba=c=d=b. So U∩W={(t,t,t,t)}U\cap W=\{(t,t,t,t)\}, a line, not {0}\{0\}.

  2. So the sum is not direct. Exhibit a vector with two decompositions.

    (1,1,1,1)=(1,1,1,1)+0=0+(1,1,1,1)(1,1,1,1)=(1,1,1,1)+0=0+(1,1,1,1), with the first term in UU and the second in WW both times.

  3. Find U+WU+W.

    Every vector in either has v1−v2−v3+v4=0v_1-v_2-v_3+v_4=0, so U+W⊆{v:v1−v2−v3+v4=0}U+W\subseteq\{v:v_1-v_2-v_3+v_4=0\}, a 3-dimensional space. By Axler 2.43, dim⁡(U+W)=2+2−1=3\dim(U+W)=2+2-1=3, so they are equal.

Check your understanding

Which of these is a subspace of ℝ3\R^3?

  1. {(x,y,z):x+y+z=1}\{(x,y,z):x+y+z=1\}It doesn't contain 0.
  2. {(x,y,z):x+y+z=0}\{(x,y,z):x+y+z=0\}
  3. {(x,y,z):xyz=0}\{(x,y,z):xyz=0\}(1,1,0)+(0,0,1)=(1,1,1)(1,1,0)+(0,0,1)=(1,1,1) leaves the set.
Solution sets of homogeneous linear equations are subspaces (they are null spaces, module 3). Inhomogeneous ones are translates, not subspaces.

Is the set of polynomials of degree exactly 3 a subspace of 𝒫(ℝ)\mathcal P(\R)?

  1. Yes.Add x3x^3 and −x3+x-x^3+x.
  2. No.
It doesn't contain 0, and x3+(−x3+x)=xx^3+(-x^3+x)=x has degree 1. "Degree at most 3" is a subspace, 𝒫3(ℝ)\mathcal P_3(\R).

Three lines through 0 in ℝ2\R^2, pairwise intersecting only at 0. Is their sum direct?

  1. Yes, the pairwise intersections are {0}\{0\}.That test is only valid for two subspaces.
  2. No: the sum is ℝ2\R^2, and 0 can be written as a nonzero sum.
If uu, vv, ww span the three lines, then w=au+bvw=au+bv with a,b≠0a,b\ne0, so 0=au+bv−w0=au+bv-w is a second way to write 0. A sum is direct iff 0 has only the trivial decomposition (Axler 1.45).

Practice

Functions as vectorsA subspace you can't draw

Show that {f:[0,1]→ℝ continuous: f(0)=2f(1)}\{f:[0,1]\to\R\ \text{continuous}:\ f(0)=2f(1)\} is a subspace of ℝ[0,1]\R^{[0,1]}, but {f:f(0)=f(1)+1}\{f: f(0)=f(1)+1\} is not.

Solution

The first condition is linear: if f(0)=2f(1)f(0)=2f(1) and g(0)=2g(1)g(0)=2g(1), then (f+λg)(0)=2(f+λg)(1)(f+\lambda g)(0)=2(f+\lambda g)(1); and 0 satisfies it, as do sums of continuous functions. The second fails at 0: 0≠0+10\ne0+1.

Even and oddA direct sum of function spaces

Show that ℝℝ=Ue⊕︎Uo\R^\R=U_e\oplus U_o, where UeU_e and UoU_o are the even and odd functions.

Solution

Write f=f(x)+f(−x)2+f(x)−f(−x)2f=\frac{f(x)+f(-x)}2+\frac{f(x)-f(-x)}2: even plus odd. If ff is both even and odd, f(x)=f(−x)=−f(x)f(x)=f(-x)=-f(x), so f=0f=0; by Axler 1.46 the sum is direct.

From Axler, Linear Algebra Done Right (4th ed., Springer, 2024; open access)

Numbers match the book. Each question is restated in our own words; the hints and solutions are written for this page.

Exercise 1C.10Intersections of subspaces

If V1V_1 and V2V_2 are subspaces of VV, prove that V1∩V2V_1\cap V_2 is a subspace of VV.

Hint

Check the three conditions; each holds in both subspaces separately.

Solution

0∈V10\in V_1 and 0∈V20\in V_2, so 0∈V1∩V20\in V_1\cap V_2. If u,w∈V1∩V2u,w\in V_1\cap V_2, then u+wu+w is in V1V_1 (closed under addition) and in V2V_2, so in the intersection. The same for λu\lambda u. The argument works for the intersection of any collection of subspaces, which is why "the smallest subspace containing a set" (its span) makes sense.

Exercise 1C.12When is a union a subspace?

Prove that the union of two subspaces of VV is a subspace if and only if one of them contains the other.

Hint

If neither contains the other, pick u∈U∖Wu\in U\setminus W and w∈W∖Uw\in W\setminus U and ask where u+wu+w lives.

Solution

If U⊆WU\subseteq W, the union is WW, a subspace; likewise if W⊆UW\subseteq U.

Conversely, suppose U∪WU\cup W is a subspace but neither contains the other. Take u∈U∖Wu\in U\setminus W and w∈W∖Uw\in W\setminus U. Then u+w∈U∪Wu+w\in U\cup W. If u+w∈Uu+w\in U, then w=(u+w)−u∈Uw=(u+w)-u\in U, a contradiction. If u+w∈Wu+w\in W, then u=(u+w)−w∈Wu=(u+w)-w\in W, a contradiction. (The axes in the figure of this module are the picture.)

Exercise 1C.20A complement in 𝐅⁴

For U={(x,x,y,y):x,y∈𝐅}U=\{(x,x,y,y):x,y\in\mathbf F\}, find a subspace WW of 𝐅4\mathbf F^4 with 𝐅4=U⊕︎W\mathbf F^4=U\oplus W.

Hint

UU is 2-dimensional, so WW should be too, and should meet UU only in 0. Try fixing coordinates 2 and 4.

Solution

Take W={(0,s,0,t):s,t∈𝐅}W=\{(0,s,0,t):s,t\in\mathbf F\}. Every vector splits: (a,b,c,d)=(a,a,c,c)+(0,b−a,0,d−c)(a,b,c,d)=(a,a,c,c)+(0,b-a,0,d-c). And if (x,x,y,y)=(0,s,0,t)(x,x,y,y)=(0,s,0,t), then x=y=0x=y=0, so U∩W={0}U\cap W=\{0\}. By Axler 1.46 the sum is direct.

There are many other choices: any 2-dimensional WW with U∩W={0}U\cap W=\{0\} works.

InteractiveAxler, Ch. 2: Finite-Dimensional Vector Spaces

Span, independence and bases

A basis is a coordinate system: every vector is a combination of the basis vectors in exactly one way. Spanning gives "at least one way", independence gives "at most one", and the key inequality between them makes dimension well defined.

The idea

Span, independence, basis (Axler 2.4, 2.15, 2.26). v1,…,vmv_1,\dots,v_m spans VV if every vv is some a1v1+⋯+amvma_1v_1+\dots+a_mv_m. It is linearly independent if a1v1+⋯+amvm=0a_1v_1+\dots+a_mv_m=0 only for a1=⋯=am=0a_1=\dots=a_m=0. A basis is an independent spanning list.
The key inequality (Axler 2.22). In a finite-dimensional space, the length of every independent list is at most the length of every spanning list. So all bases have the same length, the dimension.

The proof is a swap: insert the independent vectors one at a time into the spanning list, and each time the linear dependence lemma (Axler 2.19) lets you throw out one of the original spanning vectors. You never run out, so there were at least as many of them.

Explore

Drag v₁ and v₂ (blue) and the target w (gold). The skewed grid is the coordinate system of the basis v₁, v₂; the dashed path shows w = a v₁ + b v₂.

Worked example

Find a basis of U={p∈𝒫4(ℝ):p(6)=0}U=\{p\in\mathcal P_4(\R): p(6)=0\} and its dimension.

  1. Guess a natural list in UU.

    x−6, (x−6)2, (x−6)3, (x−6)4x-6,\ (x-6)^2,\ (x-6)^3,\ (x-6)^4: all vanish at 6.

  2. Why is it independent?

    The degrees are 1, 2, 3, 4: in a combination equal to 0, the top-degree term can't cancel, so its coefficient is 0; repeat downward.

  3. Why does it span UU? (Use dimension instead of solving.)

    U≠𝒫4(ℝ)U\ne\mathcal P_4(\R) (the constant 1 is missing), so dim⁡U≤4\dim U\le4. It contains 4 independent vectors, so dim⁡U=4\dim U=4, and an independent list of the right length is a basis (Axler 2.38).

Check your understanding

Can four vectors in ℝ3\R^3 be linearly independent?

  1. Yes, if chosen carefully.The standard basis is a spanning list of length 3.
  2. No.
By Axler 2.22, an independent list is no longer than the spanning list e1,e2,e3e_1,e_2,e_3.

UU and WW are 5-dimensional subspaces of ℝ8\R^8. What is the smallest possible dim⁡(U∩W)\dim(U\cap W)?

  1. 0Use dim⁡(U+W)≤8\dim(U+W)\le8.
  2. 2
  3. 5That's the largest.
dim⁡(U∩W)=dim⁡U+dim⁡W−dim⁡(U+W)≥5+5−8=2\dim(U\cap W)=\dim U+\dim W-\dim(U+W)\ge5+5-8=2 (Axler 2.43), and 2 is attained.

What is dim⁡𝒫m(𝐅)\dim\mathcal P_m(\mathbf F)?

  1. mmCount 1,x,…,xm1,x,\dots,x^m.
  2. m+1m+1
1,x,…,xm1,x,\dots,x^m is a basis. And 𝒫(𝐅)\mathcal P(\mathbf F) is infinite-dimensional: no finite list spans it.

Practice

Extending to a basisAxler 2.32

Extend (1,1,0),(0,1,1)(1,1,0),(0,1,1) to a basis of ℝ3\R^3.

Solution

Add e1,e2,e3e_1,e_2,e_3 and discard dependent vectors. e1=(1,0,0)e_1=(1,0,0) is not in the span (a combination a(1,1,0)+b(0,1,1)a(1,1,0)+b(0,1,1) has middle entry a+ba+b and first entry aa, last bb; a=1,b=0a=1,b=0 gives middle 1). So (1,1,0),(0,1,1),(1,0,0)(1,1,0),(0,1,1),(1,0,0) is independent of length 3, hence a basis.

Complements always existAxler 2.33

Show every subspace UU of a finite-dimensional VV has a subspace WW with V=U⊕︎WV=U\oplus W. Is WW unique?

Solution

Extend a basis u1,…,umu_1,\dots,u_m of UU to a basis u1,…,um,w1,…,wnu_1,\dots,u_m,w_1,\dots,w_n of VV, and let W=span(wj)W=\mathrm{span}(w_j). Every vv splits, and U∩W=0U\cap W=0 by independence. Not unique: in ℝ2\R^2, any line other than UU itself is a complement of a line UU. An orthogonal complement (module 5) picks a canonical one.

From Axler, Linear Algebra Done Right (4th ed., Springer, 2024; open access)

Numbers match the book. Each question is restated in our own words; the hints and solutions are written for this page.

Exercise 2A.1Four vectors spanning a plane

Find four distinct vectors in 𝐅3\mathbf F^3 whose span is {(x,y,z):x+y+z=0}\{(x,y,z):x+y+z=0\}.

Hint

The plane is 2-dimensional. Any two independent vectors in it span it, and extra vectors in it don't enlarge the span.

Solution

Take (1,−1,0)(1,-1,0), (1,0,−1)(1,0,-1), (0,1,−1)(0,1,-1), (2,−1,−1)(2,-1,-1). Each lies in the plane. The first two are independent (look at the last two coordinates), so they span a 2-dimensional subspace of the 2-dimensional plane, hence all of it. Adding the other two, which lie in the plane, doesn't change the span. (The plane is 2-dimensional because it is the null space of the nonzero map (x,y,z)↦x+y+z(x,y,z)\mapsto x+y+z onto 𝐅\mathbf F, by the fundamental theorem of linear maps.)

Exercise 2A.6Dependent exactly when c = 8

Show that (2,3,1),(1,−1,2),(7,3,c)(2,3,1),(1,-1,2),(7,3,c) is linearly dependent in 𝐅3\mathbf F^3 if and only if c=8c=8.

Hint

The first two vectors are independent, so the list is dependent iff the third is a combination of the first two.

Solution

(2,3,1)(2,3,1) and (1,−1,2)(1,-1,2) are not multiples of each other, so they are independent, and by the linear dependence lemma the list is dependent iff (7,3,c)=a(2,3,1)+b(1,−1,2)(7,3,c)=a(2,3,1)+b(1,-1,2) for some a,ba,b. The first two coordinates give 2a+b=72a+b=7 and 3a−b=33a-b=3, so a=2a=2, b=3b=3. The third coordinate then forces c=a+2b=8c=a+2b=8.

Exercise 2C.14Three big subspaces must meet

Let VV be 10-dimensional and V1,V2,V3V_1,V_2,V_3 subspaces with dim⁡Vk=7\dim V_k=7. Prove V1∩V2∩V3≠{0}V_1\cap V_2\cap V_3\ne\{0\}.

Hint

Apply dim⁡(U∩W)=dim⁡U+dim⁡W−dim⁡(U+W)\dim(U\cap W)=\dim U+\dim W-\dim(U+W) twice, using dim⁡(U+W)≤10\dim(U+W)\le10.

Solution

dim⁡(V1∩V2)≥7+7−10=4\dim(V_1\cap V_2)\ge7+7-10=4. Then dim⁡((V1∩V2)∩V3)≥4+7−10=1\dim\big((V_1\cap V_2)\cap V_3\big)\ge4+7-10=1. So the triple intersection contains a nonzero vector.

InteractiveAxler, Ch. 3: Linear Maps · Ch. 9: Determinants

Linear maps and rank–nullity

A linear map is determined by what it does to a basis, and whatever it loses (the null space) is exactly what it fails to reach (in dimension count). That is the fundamental theorem of linear maps.

The idea

Linear map, null space, range (Axler 3.1, 3.11, 3.16). T:V→WT:V\to W is linear if T(u+v)=Tu+TvT(u+v)=Tu+Tv and T(λv)=λTvT(\lambda v)=\lambda Tv. Its null space nullT={v:Tv=0}\mathrm{null}\,T=\{v:Tv=0\} and range rangeT={Tv}\mathrm{range}\,T=\{Tv\} are subspaces. TT is injective iff nullT={0}\mathrm{null}\,T=\{0\}.
Fundamental theorem of linear maps (Axler 3.21). If VV is finite-dimensional, dim⁡V=dim⁡nullT+dim⁡rangeT\dim V=\dim\mathrm{null}\,T+\dim\mathrm{range}\,T.

Consequences: a map to a smaller space can't be injective; a map to a larger space can't be surjective; an operator on a finite-dimensional space is injective iff surjective iff invertible (Axler 3.65). The matrix of TT records Te1,…,TenTe_1,\dots,Te_n as its columns, and on ℝ2\R^2 the determinant is the signed area of the image of the unit square (Axler 9.50: TT is invertible iff det⁡T≠0\det T\ne0).

Explore

Start from
The domain ℝ², with the unit square and the null space (if any) in red.
The image: drag Te₁ and Te₂, the columns of the matrix. The range is shaded.

Worked example

Let D:𝒫4(ℝ)→𝒫4(ℝ)D:\mathcal P_4(\R)\to\mathcal P_4(\R) be differentiation. Find its null space and range, and check the fundamental theorem.

  1. Null space?

    p′=0p'=0 iff pp is constant: nullD=𝒫0\mathrm{null}\,D=\mathcal P_0, dimension 1.

  2. Range?

    Derivatives of degree-≤4\le4 polynomials have degree ≤3\le3, and every such qq is p′p' for an antiderivative pp. So rangeD=𝒫3(ℝ)\mathrm{range}\,D=\mathcal P_3(\R), dimension 4.

  3. Check.

    1+4=5=dim⁡𝒫4(ℝ)1+4=5=\dim\mathcal P_4(\R). And since DD is not injective, it is not surjective either, as the theorem predicts for an operator.

Check your understanding

Can a linear map ℝ5→ℝ3\R^5\to\R^3 be injective?

  1. Yes.Its range has dimension at most 3.
  2. No.
dim⁡nullT=5−dim⁡rangeT≥2\dim\mathrm{null}\,T=5-\dim\mathrm{range}\,T\ge2.

T∈ℒ(ℝ2)T\in\mathcal L(\R^2) sends the unit square to a parallelogram of area 3, with orientation reversed. det⁡T=\det T=

  1. 3Orientation reversal flips the sign.
  2. −3
  3. 1/3That's T−1T^{-1} up to sign.
The determinant is the signed area scale factor. Try a reflection in the figure.

T:𝒫(ℝ)→𝒫(ℝ)T:\mathcal P(\R)\to\mathcal P(\R), Tp=xpTp=xp. Injective? Surjective?

  1. Injective, not surjective.
  2. Both, since it's an operator.That equivalence needs finite dimension.
xp=0xp=0 forces p=0p=0, but the constant 1 is not in the range. In infinite dimensions injective and surjective come apart.

Practice

Prescribing a map on a basisAxler 3.4

Is there a linear T:ℝ2→ℝ2T:\R^2\to\R^2 with T(1,1)=(2,0)T(1,1)=(2,0), T(1,−1)=(0,2)T(1,-1)=(0,2)? With T(1,2)=(1,0)T(1,2)=(1,0), T(2,4)=(0,1)T(2,4)=(0,1)?

Solution

First: yes, uniquely, since (1,1),(1,−1)(1,1),(1,-1) is a basis; it is T(x,y)=(x+y,x−y)T(x,y)=(x+y,x-y). Second: no, since (2,4)=2(1,2)(2,4)=2(1,2) would force T(2,4)=(2,0)T(2,4)=(2,0).

Rank of a productComposition

Show dim⁡range(ST)≤min⁡(dim⁡rangeS,dim⁡rangeT)\dim\mathrm{range}(ST)\le\min(\dim\mathrm{range}\,S,\dim\mathrm{range}\,T).

Solution

range(ST)⊆rangeS\mathrm{range}(ST)\subseteq\mathrm{range}\,S. Also range(ST)=S(rangeT)\mathrm{range}(ST)=S(\mathrm{range}\,T), the image of a space of dimension dim⁡rangeT\dim\mathrm{range}\,T under a linear map, so its dimension is at most that (fundamental theorem applied to SS restricted to rangeT\mathrm{range}\,T).

From Axler, Linear Algebra Done Right (4th ed., Springer, 2024; open access)

Numbers match the book. Each question is restated in our own words; the hints and solutions are written for this page.

Exercise 3B.1Prescribed null space and range

Give an example of a linear map TT with dim⁡nullT=3\dim\mathrm{null}\,T=3 and dim⁡rangeT=2\dim\mathrm{range}\,T=2.

Hint

The fundamental theorem says the domain must be 5-dimensional.

Solution

T:𝐅5→𝐅2T:\mathbf F^5\to\mathbf F^2, T(x1,…,x5)=(x1,x2)T(x_1,\dots,x_5)=(x_1,x_2). Its null space is {(0,0,x3,x4,x5)}\{(0,0,x_3,x_4,x_5)\}, of dimension 3, and it is onto 𝐅2\mathbf F^2.

Exercise 3B.4Maps with a big null space don't form a subspace

Show that {T∈ℒ(ℝ5,ℝ4):dim⁡nullT>2}\{T\in\mathcal L(\R^5,\R^4):\dim\mathrm{null}\,T>2\} is not a subspace of ℒ(ℝ5,ℝ4)\mathcal L(\R^5,\R^4).

Hint

Find two such maps whose sum has a small null space.

Solution

Let S(x)=(x1,x2,0,0)S(x)=(x_1,x_2,0,0) and T(x)=(0,0,x3,x4)T(x)=(0,0,x_3,x_4). Both have null spaces of dimension 3. But (S+T)(x)=(x1,x2,x3,x4)(S+T)(x)=(x_1,x_2,x_3,x_4) has null space {(0,0,0,0,x5)}\{(0,0,0,0,x_5)\}, of dimension 1. The set is not closed under addition.

Exercise 3B.10Images of a spanning list span the range

If v1,…,vnv_1,\dots,v_n spans VV and T∈ℒ(V,W)T\in\mathcal L(V,W), show Tv1,…,TvnTv_1,\dots,Tv_n spans rangeT\mathrm{range}\,T.

Hint

Write an arbitrary vector of the range as TvTv and expand vv.

Solution

Each Tvk∈rangeTTv_k\in\mathrm{range}\,T, so their span is inside the range. Conversely, any w∈rangeTw\in\mathrm{range}\,T is TvTv with v=∑akvkv=\sum a_kv_k, so w=∑akTvkw=\sum a_kTv_k. This is why the columns of a matrix span the range of the map it represents.

InteractiveAxler, Ch. 5: Eigenvalues and Eigenvectors

Eigenvalues and eigenvectors

An eigenvector is a direction the operator doesn't turn, only stretches. Find enough of them and the operator becomes a list of numbers acting on independent axes.

The idea

Eigenvalue (Axler 5.5, 5.7). λ\lambda is an eigenvalue of T∈ℒ(V)T\in\mathcal L(V) if Tv=λvTv=\lambda v for some v≠0v\ne0, equivalently if T−λIT-\lambda I is not injective (or not invertible).
Existence and independence (Axler 5.19, 5.11). Every operator on a nonzero finite-dimensional complex vector space has an eigenvalue. Eigenvectors for distinct eigenvalues are linearly independent.
Diagonalizability (Axler 5.55, 5.58, 5.62). TT is diagonalizable iff VV has a basis of eigenvectors, iff the eigenspaces add up to VV, iff the minimal polynomial has distinct roots (over 𝐂\mathbf C). In particular dim⁡V\dim V distinct eigenvalues suffice.

Axler's proof of existence avoids determinants: for nonzero vv, the n+1n+1 vectors v,Tv,…,Tnvv,Tv,\dots,T^nv are dependent, so some nonzero polynomial pp has p(T)v=0p(T)v=0; factor pp over 𝐂\mathbf C into linear factors, and one of the factors T−λIT-\lambda I must fail to be injective.

Explore

Operator
Drag x around the unit circle (or press play). Tx is drawn from the origin; when it lines up with x, you have found an eigenvector. Eigen-directions are dashed.

Worked example

Diagonalize T(x,y)=(2x+y,x+2y)T(x,y)=(2x+y,\,x+2y) and compute T10(1,0)T^{10}(1,0).

  1. Find the eigenvalues.

    T−λIT-\lambda I is not invertible iff (2−λ)2−1=0(2-\lambda)^2-1=0, so λ=1,3\lambda=1,3.

  2. Eigenvectors?

    λ=3\lambda=3: (1,1)(1,1). λ=1\lambda=1: (1,−1)(1,-1). They form a basis, so TT is diagonalizable with matrix diag(3,1)\mathrm{diag}(3,1) in this basis.

  3. Compute T10(1,0)T^{10}(1,0).

    (1,0)=12(1,1)+12(1,−1)(1,0)=\tfrac12(1,1)+\tfrac12(1,-1), so T10(1,0)=3102(1,1)+12(1,−1)=(29525,29524)T^{10}(1,0)=\tfrac{3^{10}}2(1,1)+\tfrac12(1,-1)=(29525,\,29524). In the eigenbasis, powers are just powers of numbers.

Check your understanding

Rotation of ℝ2\R^2 by 60° has how many real eigenvalues?

  1. None.
  2. One.Every nonzero vector is turned.
  3. Two.
No direction is preserved. Over 𝐂\mathbf C the eigenvalues are e±iπ/3e^{\pm i\pi/3}. Existence of eigenvalues (Axler 5.19) needs the complex numbers; on odd-dimensional real spaces there is always one (Axler 5.34).

Is the shear (1101)\begin{pmatrix}1&1\\0&1\end{pmatrix} diagonalizable?

  1. Yes, it is upper triangular.Triangular is weaker than diagonalizable.
  2. No: its only eigenvalue is 1 and the eigenspace is a line.
The eigenspace E(1)=span(e1)E(1)=\mathrm{span}(e_1) has dimension 1 < 2. The missing direction is a generalized eigenvector (module 7).

An operator on 𝐂4\mathbf C^4 has eigenvalues 1, 2, 3, 4. Must it be diagonalizable?

  1. Yes.
  2. Not necessarily.Four distinct eigenvalues on a 4-dimensional space.
Four eigenvectors for distinct eigenvalues are independent (Axler 5.11), hence a basis (Axler 5.58).

Practice

Invariant subspacesAxler 5.2

Show that for any T∈ℒ(V)T\in\mathcal L(V), nullT\mathrm{null}\,T and rangeT\mathrm{range}\,T are invariant under TT, and that a one-dimensional subspace is invariant iff it is spanned by an eigenvector.

Solution

If Tv=0Tv=0 then T(Tv)=0T(Tv)=0. If w=Tvw=Tv, then Tw∈rangeTTw\in\mathrm{range}\,T. A line span(v)\mathrm{span}(v) is invariant iff Tv=λvTv=\lambda v for some λ\lambda.

Eigenvalues of a polynomial in TSpectral mapping

If Tv=λvTv=\lambda v, show p(T)v=p(λ)vp(T)v=p(\lambda)v for every polynomial pp.

Solution

Tkv=λkvT^kv=\lambda^kv by induction, then take linear combinations. Over 𝐂\mathbf C the converse holds too: every eigenvalue of p(T)p(T) is p(λ)p(\lambda) for some eigenvalue λ\lambda of TT.

From Axler, Linear Algebra Done Right (4th ed., Springer, 2024; open access)

Numbers match the book. Each question is restated in our own words; the hints and solutions are written for this page.

Exercise 5A.5A map with no real eigenvalues

Find the eigenvalues of T∈ℒ(ℝ2)T\in\mathcal L(\R^2), T(x,y)=(−3y,x)T(x,y)=(-3y,x).

Hint

Compute T2T^2.

Solution

T2(x,y)=T(−3y,x)=(−3x,−3y)T^2(x,y)=T(-3y,x)=(-3x,-3y), so T2=−3IT^2=-3I. If Tv=λvTv=\lambda v with v≠0v\ne0, then −3v=T2v=λ2v-3v=T^2v=\lambda^2v, so λ2=−3\lambda^2=-3, impossible for real λ\lambda. So TT has no eigenvalues. (Regarded on 𝐂2\mathbf C^2, the eigenvalues are ±i3\pm i\sqrt3.)

Exercise 5A.10Eigenvectors of x d/dx

Define T∈ℒ(𝒫4(ℝ))T\in\mathcal L(\mathcal P_4(\R)) by (Tp)(x)=xp′(x)(Tp)(x)=xp'(x). Find all eigenvalues and eigenvectors of TT.

Hint

Try monomials.

Solution

Txk=x⋅kxk−1=kxkTx^k=x\cdot kx^{k-1}=kx^k. So 0,1,2,3,40,1,2,3,4 are eigenvalues, with eigenvectors xkx^k. These are five distinct eigenvalues on a 5-dimensional space, so there are no others (Axler 5.12), each eigenspace is 1-dimensional, and the eigenvectors are exactly the nonzero multiples cxkcx^k.

Exercise 5D.1Diagonalizability from a polynomial equation

For TT on a finite-dimensional complex VV: (a) if T4=IT^4=I, show TT is diagonalizable; (b) if T4=TT^4=T, show TT is diagonalizable; (c) give T∈ℒ(𝐂2)T\in\mathcal L(\mathbf C^2) with T4=T2T^4=T^2 that is not diagonalizable.

Hint

The minimal polynomial divides any polynomial that kills TT. TT is diagonalizable iff its minimal polynomial has distinct roots (Axler 5.62).

Solution

(a) The minimal polynomial divides z4−1=(z−1)(z+1)(z−i)(z+i)z^4-1=(z-1)(z+1)(z-i)(z+i), which has distinct roots, so so does the minimal polynomial.

(b) It divides z4−z=z(z−1)(z−ω)(z−ω‾)z^4-z=z(z-1)(z-\omega)(z-\bar\omega) with ω=e2πi/3\omega=e^{2\pi i/3}, again distinct roots.

(c) T=(0100)T=\begin{pmatrix}0&1\\0&0\end{pmatrix}: T2=0T^2=0, so T4=T2T^4=T^2. Its minimal polynomial is z2z^2, a repeated root; its only eigenvector direction is e1e_1.

InteractiveAxler, Ch. 6: Inner Product Spaces

Inner products and orthogonal projection

An inner product adds lengths and angles. Its most useful consequence: the closest point of a subspace to a vector is its orthogonal projection, which is how least squares, Fourier series and best approximations all work.

The idea

Inner product (Axler 6.2). A function ⟨⋅,⋅⟩\langle\cdot,\cdot\rangle that is positive (⟨v,v⟩>0\langle v,v\rangle>0 for v≠0v\ne0), linear in the first slot, and conjugate symmetric. Then ‖v‖=⟨v,v⟩\|v\|=\sqrt{\langle v,v\rangle} and |⟨u,v⟩|≤‖u‖‖v‖|\langle u,v\rangle|\le\|u\|\|v\| (Cauchy–Schwarz, Axler 6.14).
Gram–Schmidt (Axler 6.32). Any independent v1,…,vmv_1,\dots,v_m can be replaced by an orthonormal e1,…,eme_1,\dots,e_m with the same spans at every stage: subtract from vkv_k its components along e1,…,ek−1e_1,\dots,e_{k-1} and normalize.
Best approximation (Axler 6.57, 6.61). For a finite-dimensional subspace UU with orthonormal basis e1,…,eme_1,\dots,e_m, PUv=∑⟨v,ek⟩ekP_Uv=\sum\langle v,e_k\rangle e_k is the unique point of UU closest to vv, and v−PUv⟂Uv-P_Uv\perp U.

Explore: least squares as a projection

Model
Drag the data points. The fitted curve is the orthogonal projection of the data vector y ∈ ℝⁿ onto the column space of the design matrix; residuals are dashed.

Worked example

Find the polynomial u∈𝒫1(ℝ)u\in\mathcal P_1(\R) minimizing ∫01(x2−u(x))2dx\int_0^1(x^2-u(x))^2dx.

  1. Gram–Schmidt on 1,x1,x with ⟨f,g⟩=∫01fg\langle f,g\rangle=\int_0^1fg.

    e1=1e_1=1. x−⟨x,1⟩1=x−12x-\langle x,1\rangle1=x-\tfrac12, with norm 1/12\sqrt{1/12}, so e2=12(x−12)e_2=\sqrt{12}(x-\tfrac12).

  2. Project x2x^2.

    ⟨x2,1⟩=13\langle x^2,1\rangle=\tfrac13, ⟨x2,e2⟩=12(14−16)=12/12\langle x^2,e_2\rangle=\sqrt{12}(\tfrac14-\tfrac16)=\sqrt{12}/12. So PUx2=13+(x−12)=x−16P_Ux^2=\tfrac13+(x-\tfrac12)=x-\tfrac16.

  3. Check orthogonality.

    r=x2−x+16r=x^2-x+\tfrac16: ∫01r=13−12+16=0\int_0^1r=\tfrac13-\tfrac12+\tfrac16=0 and ∫01xr=14−13+112=0\int_0^1xr=\tfrac14-\tfrac13+\tfrac1{12}=0. The residual is orthogonal to UU, as Axler 6.61 requires.

Check your understanding

When does equality hold in Cauchy–Schwarz?

  1. When one vector is a scalar multiple of the other.
  2. When they are orthogonal.Then the left side is 0.
The proof writes u=cv+wu=cv+w with w⟂vw\perp v; equality forces w=0w=0.

If PP is the orthogonal projection onto UU, then P2=P^2=

  1. PP
  2. IIOnly if U=VU=V.
  3. 0Only if U={0}U=\{0\}.
Projecting twice does nothing new. Also rangeP=U\mathrm{range}\,P=U, nullP=U⟂\mathrm{null}\,P=U^\perp, and PP is self-adjoint (module 6).

In the least squares figure, the sum of the residuals is always 0 for the line model. Why?

  1. The residual vector is orthogonal to the all-ones column.
  2. By coincidence of the data.Drag points: it stays 0.
The constant function 1 is in the model's subspace, so ⟨r,𝟏⟩=∑ri=0\langle r,\mathbf 1\rangle=\sum r_i=0.

Practice

Pythagoras and the parallelogram lawAxler 6.12, 6.21

Show ‖u+v‖2+‖u−v‖2=2‖u‖2+2‖v‖2\|u+v\|^2+\|u-v\|^2=2\|u\|^2+2\|v\|^2, and that ℓ1\ell^1 on ℝ2\R^2 does not come from an inner product.

Solution

Expand both squares; the cross terms cancel. For ℓ1\ell^1, take u=e1u=e_1, v=e2v=e_2: ‖u+v‖2+‖u−v‖2=4+4=8≠2+2\|u+v\|^2+\|u-v\|^2=4+4=8\ne2+2.

Orthogonal complementsAxler 6.49, 6.51

Show V=U⊕︎U⟂V=U\oplus U^\perp and dim⁡U⟂=dim⁡V−dim⁡U\dim U^\perp=\dim V-\dim U for finite-dimensional VV.

Solution

v=PUv+(v−PUv)v=P_Uv+(v-P_Uv) with the second term in U⟂U^\perp; and U∩U⟂=0U\cap U^\perp=0 since ⟨u,u⟩=0⇒u=0\langle u,u\rangle=0\Rightarrow u=0. Then dimensions add (Axler 3.94).

From Axler, Linear Algebra Done Right (4th ed., Springer, 2024; open access)

Numbers match the book. Each question is restated in our own words; the hints and solutions are written for this page.

Exercise 6B.1A converse to Pythagoras

Suppose ‖a1e1+⋯+amem‖2=|a1|2+⋯+|am|2\|a_1e_1+\dots+a_me_m\|^2=|a_1|^2+\dots+|a_m|^2 for all scalars aka_k. Show that e1,…,eme_1,\dots,e_m is orthonormal.

Hint

First take a single nonzero coefficient, then two.

Solution

Taking aj=1a_j=1 and the rest 0 gives ‖ej‖=1\|e_j\|=1. For j≠kj\ne k and a scalar tt, take aj=1a_j=1, ak=ta_k=t: ‖ej+tek‖2=1+|t|2+2Re(t‾⟨ej,ek⟩)\|e_j+te_k\|^2=1+|t|^2+2\,\mathrm{Re}\big(\bar t\langle e_j,e_k\rangle\big), and the hypothesis says this is 1+|t|21+|t|^2. So Re(t‾⟨ej,ek⟩)=0\mathrm{Re}(\bar t\langle e_j,e_k\rangle)=0 for every tt. With t=1t=1 the real part of ⟨ej,ek⟩\langle e_j,e_k\rangle vanishes, and with t=it=i (in the complex case) the imaginary part does. So ⟨ej,ek⟩=0\langle e_j,e_k\rangle=0.

Exercise 6B.14Exactly 2ᵐ Gram–Schmidt outputs

In a real inner product space, let v1,…,vmv_1,\dots,v_m be independent. Prove there are exactly 2m2^m orthonormal lists e1,…,eme_1,\dots,e_m with span(v1,…,vk)=span(e1,…,ek)\mathrm{span}(v_1,\dots,v_k)=\mathrm{span}(e_1,\dots,e_k) for every kk.

Hint

The condition determines eke_k up to sign: it must be a unit vector in a 1-dimensional subspace.

Solution

Let Uk=span(v1,…,vk)U_k=\mathrm{span}(v_1,\dots,v_k). If the list works, then ek∈Uke_k\in U_k and ek⟂Uk−1e_k\perp U_{k-1} (since Uk−1=span(e1,…,ek−1)U_{k-1}=\mathrm{span}(e_1,\dots,e_{k-1})). Now Uk∩Uk−1⟂U_k\cap U_{k-1}^\perp is 1-dimensional (Axler 6.51 inside UkU_k), so eke_k is one of its two unit vectors. That gives at most 2m2^m lists.

Conversely, Gram–Schmidt gives one valid list e1,…,eme_1,\dots,e_m, and changing any signs keeps it orthonormal with the same spans. So all 2m2^m sign choices work, and there are exactly 2m2^m.

Exercise 6C.1The perp of a list is the perp of its span

For v1,…,vm∈Vv_1,\dots,v_m\in V, prove {v1,…,vm}⟂=(span(v1,…,vm))⟂\{v_1,\dots,v_m\}^\perp=\big(\mathrm{span}(v_1,\dots,v_m)\big)^\perp.

Hint

One inclusion is immediate since each vkv_k is in the span. For the other, use linearity of the inner product.

Solution

Being orthogonal to the larger set span(vk)\mathrm{span}(v_k) implies being orthogonal to each vkv_k, so the right side is inside the left. If u⟂vku\perp v_k for every kk, then ⟨u,∑akvk⟩=∑a‾k⟨u,vk⟩=0\langle u,\sum a_kv_k\rangle=\sum\bar a_k\langle u,v_k\rangle=0, so the left side is inside the right.

InteractiveAxler, Ch. 7: Operators on Inner Product Spaces

The spectral theorem and SVD

Self-adjoint operators are diagonal in an orthonormal basis: perpendicular axes, real stretch factors. Every linear map, self-adjoint or not, is diagonal between two orthonormal bases, which is the singular value decomposition, and it is why every invertible map sends circles to ellipses.

The idea

Adjoint, self-adjoint, normal (Axler 7.2, 7.10, 7.18). T*T^* is defined by ⟨Tv,w⟩=⟨v,T*w⟩\langle Tv,w\rangle=\langle v,T^*w\rangle. TT is self-adjoint if T=T*T=T^* (a symmetric matrix in an orthonormal basis), normal if TT*=T*TTT^*=T^*T.
Spectral theorems (Axler 7.29, 7.31). Over ℝ\R, VV has an orthonormal basis of eigenvectors of TT iff TT is self-adjoint. Over 𝐂\mathbf C, iff TT is normal.
Singular value decomposition (Axler 7.70). For any T∈ℒ(V,W)T\in\mathcal L(V,W) there are orthonormal e1,…,eme_1,\dots,e_m in VV and f1,…,fmf_1,\dots,f_m in WW and s1≥⋯≥sm>0s_1\ge\dots\ge s_m>0 with Tv=∑sk⟨v,ek⟩fkTv=\sum s_k\langle v,e_k\rangle f_k. The sks_k are the square roots of the eigenvalues of T*TT^*T.

Geometrically (Axler 7.99): TT sends the unit ball to an ellipsoid whose semi-axes are skfks_kf_k, and the eke_k are the directions that land on those axes.

Explore

Preset
The unit circle and the right singular vectors e₁, e₂.
Its image: an ellipse with semi-axes s₁f₁, s₂f₂. Drag Te₁ and Te₂ (the matrix columns).

Worked example

Find the singular values of the shear T=(1101)T=\begin{pmatrix}1&1\\0&1\end{pmatrix}.

  1. Compute T*TT^*T.

    T*T=(1011)(1101)=(1112)T^*T=\begin{pmatrix}1&0\\1&1\end{pmatrix}\begin{pmatrix}1&1\\0&1\end{pmatrix}=\begin{pmatrix}1&1\\1&2\end{pmatrix}.

  2. Its eigenvalues?

    Trace 3, determinant 1: μ=3±52\mu=\frac{3\pm\sqrt5}2.

  3. Singular values, and a sanity check.

    s=μ=5±12≈1.618, 0.618s=\sqrt{\mu}=\frac{\sqrt5\pm1}2\approx1.618,\ 0.618: the golden ratio and its reciprocal. Their product is |det⁡T|=1|\det T|=1, the area scale. The eigenvalues of TT are both 1, very different from the singular values: TT is not normal.

Check your understanding

For a self-adjoint operator, the singular values are

  1. the absolute values of its eigenvalues.
  2. its eigenvalues.Singular values are never negative.
T*T=T2T^*T=T^2 has eigenvalues λ2\lambda^2. Pick "symmetric" in the figure with a negative eigenvalue: the ellipse doesn't care about the sign; fk=±ekf_k=\pm e_k.

Which matrices are normal?

  1. Rotations.
  2. The shear (1101)\begin{pmatrix}1&1\\0&1\end{pmatrix}.TT*≠T*TTT^*\ne T^*T here.
Rotations are unitary: T*T=I=TT*T^*T=I=TT^*. Over 𝐂\mathbf C they are diagonalizable in an orthonormal basis with eigenvalues e±iθe^{\pm i\theta}, though over ℝ\R they have no eigenvectors at all.

The best rank-1 approximation of TT in operator norm is

  1. v↦s1⟨v,e1⟩f1v\mapsto s_1\langle v,e_1\rangle f_1.
  2. the rank-1 piece with the smallest singular value.Keep the biggest, drop the rest.
Truncating the SVD after kk terms gives the best rank-kk approximation, with error sk+1s_{k+1} (Eckart–Young). This is the idea behind principal components and image compression.

Practice

Eigenvalues of self-adjoint operators are realAxler 7.12

Prove it, and prove eigenvectors for distinct eigenvalues are orthogonal.

Solution

λ‖v‖2=⟨Tv,v⟩=⟨v,Tv⟩=λ‾‖v‖2\lambda\|v\|^2=\langle Tv,v\rangle=\langle v,Tv\rangle=\bar\lambda\|v\|^2. If Tv=λvTv=\lambda v, Tw=μwTw=\mu w with λ≠μ\lambda\ne\mu real: λ⟨v,w⟩=⟨Tv,w⟩=⟨v,Tw⟩=μ⟨v,w⟩\lambda\langle v,w\rangle=\langle Tv,w\rangle=\langle v,Tw\rangle=\mu\langle v,w\rangle, so ⟨v,w⟩=0\langle v,w\rangle=0.

Operator normAxler 7.85

Show ‖T‖=max‖v‖=1⁡‖Tv‖=s1\|T\|=\max_{\|v\|=1}\|Tv\|=s_1.

Solution

With v=∑akekv=\sum a_ke_k (extended to an orthonormal basis), ‖Tv‖2=∑sk2|ak|2≤s12∑|ak|2\|Tv\|^2=\sum s_k^2|a_k|^2\le s_1^2\sum|a_k|^2, with equality at v=e1v=e_1.

From Axler, Linear Algebra Done Right (4th ed., Springer, 2024; open access)

Numbers match the book. Each question is restated in our own words; the hints and solutions are written for this page.

Exercise 7A.4Invariant subspaces and the adjoint

For T∈ℒ(V)T\in\mathcal L(V) and a subspace UU, prove that UU is invariant under TT if and only if U⟂U^\perp is invariant under T*T^*.

Hint

Use ⟨Tu,w⟩=⟨u,T*w⟩\langle Tu,w\rangle=\langle u,T^*w\rangle, and for the converse apply the first half to T*T^*.

Solution

Suppose TU⊆UTU\subseteq U. For w∈U⟂w\in U^\perp and u∈Uu\in U: ⟨u,T*w⟩=⟨Tu,w⟩=0\langle u,T^*w\rangle=\langle Tu,w\rangle=0, since Tu∈UTu\in U. So T*w∈U⟂T^*w\in U^\perp.

Conversely, if U⟂U^\perp is invariant under T*T^*, the first half applied to T*T^* and U⟂U^\perp says (U⟂)⟂=U(U^\perp)^\perp=U is invariant under T**=TT^{**}=T (Axler 6.52, 7.5).

Exercise 7E.1Zero singular values

Show T∈ℒ(V,W)T\in\mathcal L(V,W) is 0 if and only if all its singular values are 0.

Hint

The singular values are the square roots of the eigenvalues of T*TT^*T, and ‖Tv‖2=⟨T*Tv,v⟩\|Tv\|^2=\langle T^*Tv,v\rangle.

Solution

If T=0T=0, then T*T=0T^*T=0, whose eigenvalues are all 0. Conversely, if all singular values are 0, the self-adjoint operator T*TT^*T has only the eigenvalue 0. By the spectral theorem it is diagonal with zeros in an orthonormal basis, so T*T=0T^*T=0. Then ‖Tv‖2=⟨T*Tv,v⟩=0\|Tv\|^2=\langle T^*Tv,v\rangle=0 for every vv, so T=0T=0.

Exercise 7E.3Eigenvalues 0, 0 but singular values 5, 0

Give T∈ℒ(𝐂2)T\in\mathcal L(\mathbf C^2) whose only eigenvalue is 0 and whose singular values are 5 and 0.

Hint

A nilpotent map with a large entry.

Solution

T=(0500)T=\begin{pmatrix}0&5\\0&0\end{pmatrix}, i.e. T(z1,z2)=(5z2,0)T(z_1,z_2)=(5z_2,0). It is upper triangular with zero diagonal, so 0 is its only eigenvalue. T*T=(00025)T^*T=\begin{pmatrix}0&0\\0&25\end{pmatrix}, so the singular values are 5 and 0. Eigenvalues and singular values agree for normal operators, but this TT is far from normal.

InteractiveAxler, Ch. 8: Operators on Complex Vector Spaces

Generalized eigenvectors and Jordan form

When there aren't enough eigenvectors, generalized ones fill the gap: vectors killed by some power of T−λIT-\lambda I. Every complex operator splits along them, and on each piece it is a scalar plus a nilpotent part. That nilpotent part is what makes powers grow like kλk−1k\lambda^{k-1}.

The idea

Generalized eigenvectors (Axler 8.8, 8.19). v≠0v\ne0 is a generalized eigenvector for λ\lambda if (T−λI)kv=0(T-\lambda I)^kv=0 for some kk; G(λ,T)=null(T−λI)dim⁡VG(\lambda,T)=\mathrm{null}(T-\lambda I)^{\dim V}.
Decomposition (Axler 8.22, 8.29). Over 𝐂\mathbf C, V=G(λ1,T)⊕︎⋯⊕︎G(λm,T)V=G(\lambda_1,T)\oplus\dots\oplus G(\lambda_m,T), each (T−λkI)|G(λk)(T-\lambda_kI)|_{G(\lambda_k)} is nilpotent, and with dk=dim⁡G(λk,T)d_k=\dim G(\lambda_k,T), the characteristic polynomial q(z)=∏(z−λk)dkq(z)=\prod(z-\lambda_k)^{d_k} satisfies q(T)=0q(T)=0 (Cayley–Hamilton).
Jordan form (Axler 8.46). There is a basis in which TT is block diagonal with blocks λI+N\lambda I+N, where NN has 1s just above the diagonal.

For a 2×22\times2 Jordan block, (λI+N)k=λkI+kλk−1N(\lambda I+N)^k=\lambda^kI+k\lambda^{k-1}N since N2=0N^2=0. The extra factor kk is invisible in the eigenvalues but very visible in the dynamics, as the figure shows.

Explore

Operator
Orbits x, Tx, T²x, … of points on a circle, for k steps. The Jordan block shears each step, so orbits swing toward the eigenvector before decaying.

Worked example

Find the generalized eigenspaces and a Jordan basis for T(z1,z2,z3)=(6z1+3z2+4z3, 6z2+2z3, 7z3)T(z_1,z_2,z_3)=(6z_1+3z_2+4z_3,\ 6z_2+2z_3,\ 7z_3).

  1. Eigenvalues?

    The matrix is upper triangular with diagonal 6,6,76,6,7, so the eigenvalues are 6 and 7 (Axler 5.41), with multiplicities 2 and 1.

  2. G(6,T)G(6,T) and G(7,T)G(7,T)?

    (T−6I)(T-6I) has matrix with rows (0,3,4),(0,0,2),(0,0,1)(0,3,4),(0,0,2),(0,0,1); its square kills e1e_1 and e2e_2, so G(6)=span(e1,e2)G(6)=\mathrm{span}(e_1,e_2), while E(6)=span(e1)E(6)=\mathrm{span}(e_1) only. G(7)=E(7)G(7)=E(7) is spanned by (10,2,1)(10,2,1) (solve (T−7I)v=0(T-7I)v=0).

  3. Jordan basis?

    Take v2=e2v_2=e_2, v1=(T−6I)e2=3e1v_1=(T-6I)e_2=3e_1, and v3=(10,2,1)v_3=(10,2,1). In the basis v1,v2,v3v_1,v_2,v_3, TT has blocks (6106)\begin{pmatrix}6&1\\0&6\end{pmatrix} and (7)(7).

Check your understanding

A nilpotent operator on 𝐂5\mathbf C^5 satisfies

  1. N5=0N^5=0.
  2. N2=0N^2=0.A single 5×55\times5 Jordan block has N4≠0N^4\ne0.
Axler 8.16: a nilpotent operator raised to the dimension is 0, since the null spaces of its powers grow strictly until they stop.

For a Jordan block with |λ|<1|\lambda|<1, Tkx→0T^kx\to0 for every xx?

  1. Yes, though it can grow first.
  2. No, the kλk−1k\lambda^{k-1} term blows up.k|λ|k−1→0k|\lambda|^{k-1}\to0 when |λ|<1|\lambda|<1.
Exponential decay beats linear growth. But ‖Tk‖\|T^k\| can exceed 1 for a while: try λ near 1 in the figure. This transient growth matters in numerical analysis and control.

Over 𝐂\mathbf C, the trace of TT equals

  1. the sum of the eigenvalues, with multiplicity.
  2. the sum of the distinct eigenvalues.Multiplicity counts.
Axler 8.52; similarly the determinant is the product of the eigenvalues with multiplicity (Axler 9.55).

Practice

Cayley–Hamilton in 2×2Axler 8.29

Verify T2−(trT)T+(det⁡T)I=0T^2-(\mathrm{tr}\,T)T+(\det T)I=0 for T=(abcd)T=\begin{pmatrix}a&b\\c&d\end{pmatrix}.

Solution

T2=(a2+bcab+bdca+dccb+d2)T^2=\begin{pmatrix}a^2+bc&ab+bd\\ca+dc&cb+d^2\end{pmatrix}. Subtract (a+d)T(a+d)T and add (ad−bc)I(ad-bc)I: every entry becomes 0, e.g. a2+bc−a2−ad+ad−bc=0a^2+bc-a^2-ad+ad-bc=0.

Square rootsAxler 8.39–8.41

Find a square root of I+NI+N where N2=0N^2=0.

Solution

Use 1+x=1+x2−…\sqrt{1+x}=1+\tfrac x2-\dots truncated: (I+12N)2=I+N+14N2=I+N(I+\tfrac12N)^2=I+N+\tfrac14N^2=I+N. In general, the Taylor series truncates because NN is nilpotent, which is why every invertible complex operator has a square root.

From Axler, Linear Algebra Done Right (4th ed., Springer, 2024; open access)

Numbers match the book. Each question is restated in our own words; the hints and solutions are written for this page.

Exercise 8A.3When null space and range are complementary

For T∈ℒ(V)T\in\mathcal L(V), prove V=nullT⊕︎rangeTV=\mathrm{null}\,T\oplus\mathrm{range}\,T if and only if nullT2=nullT\mathrm{null}\,T^2=\mathrm{null}\,T.

Hint

The sum is direct iff nullT∩rangeT={0}\mathrm{null}\,T\cap\mathrm{range}\,T=\{0\}; dimensions then add to dim⁡V\dim V by the fundamental theorem.

Solution

(⇒) Let v∈nullT2v\in\mathrm{null}\,T^2. Then Tv∈rangeTTv\in\mathrm{range}\,T and T(Tv)=0T(Tv)=0, so Tv∈nullT∩rangeT={0}Tv\in\mathrm{null}\,T\cap\mathrm{range}\,T=\{0\}. Hence v∈nullTv\in\mathrm{null}\,T. The other inclusion is always true.

(⇐) If v∈nullT∩rangeTv\in\mathrm{null}\,T\cap\mathrm{range}\,T, write v=Tuv=Tu. Then T2u=Tv=0T^2u=Tv=0, so u∈nullT2=nullTu\in\mathrm{null}\,T^2=\mathrm{null}\,T, and v=Tu=0v=Tu=0. So the sum is direct, and its dimension is dim⁡nullT+dim⁡rangeT=dim⁡V\dim\mathrm{null}\,T+\dim\mathrm{range}\,T=\dim V (Axler 3.21), so it is all of VV.

Exercise 8B.1Generalized eigenspaces of a rotation

For T(w,z)=(−z,w)T(w,z)=(-z,w) on 𝐂2\mathbf C^2, find the generalized eigenspaces for its distinct eigenvalues.

Hint

T2=−IT^2=-I. Since the eigenvalues are distinct, generalized eigenspaces equal eigenspaces.

Solution

T2=−IT^2=-I, so eigenvalues satisfy λ2=−1\lambda^2=-1: λ=±i\lambda=\pm i. T(w,z)=i(w,z)T(w,z)=i(w,z) means −z=iw-z=iw, i.e. z=−iwz=-iw: E(i)=span(1,−i)E(i)=\mathrm{span}(1,-i). Similarly E(−i)=span(1,i)E(-i)=\mathrm{span}(1,i). These two lines already span 𝐂2\mathbf C^2, so G(i,T)=E(i)G(i,T)=E(i) and G(−i,T)=E(−i)G(-i,T)=E(-i). On ℝ2\R^2 this is the 90° rotation, which has no eigenvectors at all.

Exercise 8C.1A nilpotent operator with no square root

Prove that T(z1,z2,z3)=(z2,z3,0)T(z_1,z_2,z_3)=(z_2,z_3,0) on 𝐂3\mathbf C^3 has no square root.

Hint

A square root of a nilpotent operator is nilpotent, and nilpotent operators on 𝐂3\mathbf C^3 satisfy S3=0S^3=0.

Solution

T2(z)=(z3,0,0)≠0T^2(z)=(z_3,0,0)\ne0 and T3=0T^3=0. Suppose S2=TS^2=T. Then S6=T3=0S^6=T^3=0, so SS is nilpotent, and by Axler 8.16, S3=0S^3=0. Then T2=S4=S⋅S3=0T^2=S^4=S\cdot S^3=0, a contradiction. Compare Axler 8.39: I+NI+N always has a square root, but NN itself need not.