The lecture defines measures on σ-algebras, extends a measure space so that its negligible sets become measurable, and constructs measures from outer measures.
The main goal is a flexible theory of computing volumes, such as the volumes of the sets of Rn in Figure 1.
Figure 1. Two sets E and A of Rn, and a line that crosses E.
Definition 1 (Measure). Let X be a set and M a σ-algebra on X. A measure is a function μ:M→[0,+∞] such that: (i)μ(∅)=0;
(ii) (σ-additivity) for every sequence (En)⊂M that is pairwise disjoint, that is, such that Ei∩Ej=∅ for every i=j,
μ(n⋃En)=n=0∑∞μ(En).
Remark 2. It will turn out to be impossible to construct “interesting” measures defined on the whole power set P(X).
Example 3 (Counting measure). The counting measure is the function μ:P(R)→[0,+∞] given by
μ(E)={#E+∞if E is finite,if E is infinite.
Example 4 (Dirac delta measure). Let x0∈R. The Dirac delta measure at x0 is the function δx0:P(R)→[0,+∞] given by
δx0(E)={10if x0∈E,if x0∈/E.
Figure 2 shows the two cases on the real line, with a set E around 0 and a set F around x0.
Figure 2. An instance: E and F are intervals of R, and the values of δx0 on them are written above. The slider moves x0.
Remark 5 (Basic properties). A triple (X,M,μ) of a set X, a σ-algebra M on X and a measure μ on M is called a measure space. Let (X,M,μ) be a measure space. (i) (Monotonicity) If E,F∈M and E⊂F, then μ(E)≤μ(F). (ii) (Excision) If E,F∈M,E⊂F and μ(F)<+∞, then μ(F∖E)=μ(F)−μ(E).
Figure 3. A set E inside a set F, and the difference F∖E.
Details. The inequality holds because μ(F∖E)≥0. The set F∖E belongs to M and is disjoint from E, so σ-additivity applied to E,F∖E,∅,∅,… gives the first equality, since μ(∅)=0; the second holds because E∪(F∖E)=F when E⊂F. (ii) The same computation gives μ(F)=μ(E)+μ(F∖E), where μ(E)≤μ(F)<+∞ by (i), and subtracting μ(E) gives the claim. ■
Proposition 6 (Continuity of measures). Let (X,M,μ) be a measure space. (i) Let (En)⊂M be such that En⊂En+1 for every n, and let E=⋃nEn. Then μ(E)=limn→+∞μ(En). (ii) Let (En)⊂M be such that En+1⊂En for every n, suppose μ(E0)<+∞, and let E=⋂nEn. Then μ(E)=limn→+∞μ(En).
Proof (complete). (i) Without loss of generality, μ(En)<+∞ for every n. Indeed, if μ(Em)=+∞ for some m, then μ(En)=+∞ for every n≥m and μ(E)=+∞ by Remark 5 (i), so both sides equal +∞. Let F0=E0 and Fn+1=En+1∖En for every n≥0, as in Figure 4. Then Fi∈M for every i,Fi∩Fj=∅ for every i=j, and E=⋃nEn=⋃nFn. Hence
where the second equality is σ-additivity and the last one holds because the sum of the μ(Fn) with n≤N equals μ(EN), as EN is the union of the pairwise disjoint sets F0,…,FN and σ-additivity applies as in the proof of Remark 5.
E2 = F0 ∪ … ∪ F2
Figure 4. An instance of an increasing sequence: the sets E0⊂E1⊂… and their union E, dashed. The slider sets N; the rings F0,…,FN are shaded, and their union is EN.
(ii) Let An:=E0∖En for every n, as in Figure 5. Then An⊂An+1 and An∈M for every n. Let
Here the first and the fifth equality are Remark 5 (ii), which applies because E and En are contained in E0 and μ(E0)<+∞, and the third is (i) applied to (An). Comparing μ(E0)−μ(E) with the last line and cancelling the finite number μ(E0) gives μ(E)=limn→∞μ(En).■
A1 = E0 \ E1
Figure 5. An instance of a decreasing sequence: the sets E0⊃E1⊃… and their intersection E, dashed. The slider sets n; the shaded set is An=E0∖En.
Proposition 7 (σ-subadditivity). Let (X,M,μ) be a measure space, (En)⊂M and E∈M with E⊂⋃nEn. Then
μ(E)≤n=0∑∞μ(En).
Figure 6. A set E contained in the union of sets En.
Definition 8 (Finite, probability and σ-finite measures). Let (X,M,μ) be a measure space. (i) The measure μ is called finite if μ(X)<+∞. (ii) The measure μ is called a probability measure if μ(X)=1. (iii) The measure μ is called σ-finite if there exists (En)⊂M such that μ(En)<+∞ for every n and ⋃nEn=X.
Consider the measure space (R,{∅,R},μ) with μ(∅)=0 and μ(R)=0. An interval (a,b)⊂R is contained in a set of measure zero, but μ((a,b))=0 cannot be written, because (a,b)∈/{∅,R}.
In a measure space (X,M,μ), let A∈M, let C∈M with μ(C)=0, and let B⊂C, as in Figure 7. One would like to write μ(A)=μ(A∪B), but μ(A∪B) cannot be written, because A∪B may not belong to M.
Figure 7. A set A∈M, a set C∈M with μ(C)=0, dashed, and a set B⊂C.
Definition 9 (Negligible set, complete measure space). Let (X,M,μ) be a measure space. (i) A set E∈M is called a set of zero measure if μ(E)=0. (ii) A set F⊂X is called negligible if there exists E∈M such that μ(E)=0 and F⊂E. (iii) The measure space is called complete if every negligible set belongs to M.
Theorem 10 (Completion of measure spaces). Let (X,M,μ) be a measure space. There exists a measure space (X,M,μ) such that: (i)(X,M,μ) is complete; (ii)M⊂M; (iii)μ(E)=μ(E) for every E∈M.
Proof (sketch). One defines
M={E⊂X:there exist F1,F2∈M such that F1⊂E⊂F2 and μ(F2∖F1)=0}.
For such sets E,F1 and F2, as in Figure 8, one defines
μ(E):=μ(F1)=μ(F2).
Figure 8. A set E between two sets F1⊂E⊂F2 of M with μ(F2∖F1)=0.
Details. The two values agree, since μ(F2)=μ(F1)+μ(F2∖F1)=μ(F1) as in the proof of Remark 5. They do not depend on the choice of F1 and F2: if also G1⊂E⊂G2 with G1,G2∈M and μ(G2∖G1)=0, then μ(F1)≤μ(G2)=μ(G1)≤μ(F2)=μ(F1) by Remark 5 (i). ■
Remark 11. Negligible sets in (X,M,μ) become measurable in (X,M,μ).
Proof (complete). Let F⊂X be negligible. Then there exists E∈M such that F⊂E and μ(E)=0. To check that F∈M, notice that ∅⊂F⊂E, that μ(∅)=μ(E)=0 and that μ(E∖∅)=μ(E)=0. Hence F∈M and μ(F)=0.■
The plan starts from a function f:F→[0,+∞] on a family F⊂P(X) and ends with a measure μ:M→[0,+∞] with F⊂M. As Figure 9 shows, the way from the start to the end passes through outer measures, not directly.
Figure 9. The plan: from a function f on F to outer measures, and from outer measures to a measure μ on a σ-algebra M⊃F. The direct way is crossed out.
Definition 12 (Outer measure). Let X be a set. An outer measure is a function μ∗:P(X)→[0,+∞] such that: (i)μ∗(∅)=0;
(ii) (σ-subadditivity) for every (En)⊂P(X) and every E⊂⋃nEn,
μ∗(E)≤n=0∑∞μ∗(En).
Remark 13 (Monotonicity). If μ∗ is an outer measure and E⊂F, then μ∗(E)≤μ∗(F). Indeed, (ii) of Definition 12 applies with E0=F and En=∅ for n≥1, and μ∗(∅)=0.
Theorem 14 (Construction of outer measure). Let X be a set, let F⊂P(X) be such that ∅∈F, and let f:F→[0,+∞] be such that f(∅)=0. For every E⊂X define
μ∗(E):=inf{n=0∑∞f(An):(An)⊂F,E⊂n⋃An}.
Then μ∗ is an outer measure.
Figure 10. A set E and a sequence of sets An whose union contains E, one of the sequences in the definition of μ∗(E).
Remark 15. If there is no (An)⊂F such that E⊂⋃nAn, then μ∗(E)=+∞.
Definition 16 (μ∗-measurable set). Let X be a set and μ∗ an outer measure on X. A set E⊂X is called a μ∗-measurable set if, for every Z⊂X,
μ∗(Z)=μ∗(Z∩E)+μ∗(Z∖E).
Figure 11. A set E and a set Z, split into Z∩E and Z∖E.
Remark 17. For every E,Z⊂X it is always true that
μ∗(Z)=μ∗((Z∩E)∪(Z∖E))≤μ∗(Z∩E)+μ∗(Z∖E).
Indeed, the inequality is (ii) of Definition 12 with E0=Z∩E,E1=Z∖E and En=∅ for n≥2.
Theorem 18 (Carathéodory’s construction of measures). Let X be a set and μ∗ an outer measure on X. Let
M:={E⊂X:E is μ∗-measurable},
and let μ=μ∗∣M. Then: (i)M is a σ-algebra; (ii)(X,M,μ) is a measure space; (iii)(X,M,μ) is complete.
Proof (sketch). Parts (ii) and (iii) are proved; part (i) is not.
(ii) Since μ=μ∗∣M, what needs to be proved is that μ∗ is σ-additive on M, the family of the μ∗-measurable sets.
Step 1. If E,F∈M and E∩F=∅, then μ∗(E∪F)=μ∗(E)+μ∗(F). Let Z=E∪F, as in Figure 12. Since E∈M,
μ∗(E∪F)=μ∗(Z)=μ∗(Z∩E)+μ∗(Z∖E)=μ∗(E)+μ∗(F).
Indeed, Z∩E=E and Z∖E=F because E∩F=∅.
Figure 12. Two disjoint sets E and F and their union Z.
Step 2. Let (En)⊂M with Ei∩Ej=∅ for every i=j. Then
where the first inequality is σ-subadditivity, the second equality is Step 1, and the last inequality is monotonicity, as ⋃n=0NEn⊂⋃n=0∞En. Indeed, Step 1 extends to N+1 sets by induction on N, because ⋃n=0N−1En belongs to M by (i) and is disjoint from EN. The chain starts and ends with the same number, hence
μ∗(n=0⋃∞En)=n=0∑∞μ∗(En).
(iii) Step 1. If μ∗(E)=0, then E∈M, that is, E is μ∗-measurable. Let Z⊂X. Then
where the first inequality is monotonicity, as Z∩E⊂E and Z∖E⊂Z, the equality uses μ∗(E)=0, and the last inequality is the one of Remark 17. Hence equality holds throughout.
Step 2. Let F be negligible in (X,M,μ), that is, let there exist E∈M such that F⊂E and μ(E)=0, where μ(E)=μ∗(E). By monotonicity, 0≤μ∗(F)≤μ∗(E)=0, so μ∗(F)=0 and F∈M by Step 1. ■
Step 1. The claim is S⊂σ0(F). First, {−k,k}∈σ0(F) for every k∈N, because, as in Figure 13,
{−k,k}={−k,…,k}∖{−k+1,…,k−1}.
Indeed, for k≥1 both sets on the right belong to F, for k=0 the second set is empty and {0}∈F, and a σ-algebra is closed under differences by Remark 24 of the previous post.
Figure 13. The sets {−k,…,k} and {−k+1,…,k−1} of Z, and their difference {−k,k}. The slider sets k.
Now take E∈S, as in Figure 14. The set E is a countable union of sets of the form {−k,k} with k∈N, so E∈σ0(F), and therefore S⊂σ0(F). Indeed, since E is symmetric, it is the union of the sets {−k,k} over the k∈N that belong to E.
Figure 14. An instance of a set E∈S: its points are filled, and each arc joins the two points of a set {−k,k}.
Step 2. The set S is a σ-algebra. This concludes, as σ0(F) is the smallest σ-algebra containing F. Indeed, every set of F is symmetric, so F⊂S and σ0(F)⊂S by Theorem 26 (ii) of the previous post. Now ∅∈S, the complement Z∖A of a set A∈S is also symmetric, as in Figure 15, and any union of symmetric sets is symmetric as well.
Figure 15. An instance of a set A∈S and, below it, its complement Z∖A, which is symmetric too.
(i) Is M a σ-algebra? The countable union property is checked: let (An)⊂M; what needs to be proved is ⋃nAn∈M. The other properties of a σ-algebra hold as well. Indeed, ∅ is countable, and the definition of M does not change when A is replaced by R∖A.
Case 1. Suppose that An is countable for every n. Then ⋃nAn is countable, hence ⋃nAn∈M.
Case 2. Suppose that there exists n0 such that R∖An0 is countable. Then
R∖n⋃An=n⋂(R∖An)⊂R∖An0,(1)
so R∖⋃nAn is countable, and ⋃nAn∈M.
(ii) Let μ:M→[0,+∞] be
μ(A)={01if A is countable,if R∖A is countable.
Is μ a measure? The property to check is σ-additivity: let (An)⊂M be such that Ai∩Aj=∅ for every i=j. Indeed, μ is well defined, because A and R∖A are not both countable, otherwise R would be countable, against Proposition 9 (i) of the previous post; and μ(∅)=0.
Case 1. Suppose that An is countable for every n. Then ⋃nAn is countable, so both μ(⋃nAn)=0 and μ(An)=0 for every n, and
μ(n⋃An)=0=n=0∑∞μ(An).
Case 2. Suppose that there exists n0 such that R∖An0 is countable. Also An∩An0=∅ for every n=n0, so An⊂R∖An0, and An is countable for every n=n0. Now
n=0∑∞μ(An)=μ(An0)=1andμ(n⋃An)=1,
where the last equality holds because, by (1), R∖⋃nAn is contained in the countable set R∖An0.