Linear Transformation Handout

LINEAR TRANSFORMATIONS
ELECTRONIC VERSION OF LECTURE
Dr. Lê Xuân Đại

HoChiMinh City University of Technology
Faculty of Applied Science, Department of Applied Mathematics
Email: ytkadai@hcmut.edu.vn
HCMC — 2018.
Dr. Lê Xuân Đại (HCMUT-OISP) LINEAR TRANSFORMATIONS HCMC — 2018. 1 / 58
OUTLINE
1 THE REAL WORLD PROBLEMS
2 DEFINITIONS AND TERMINOLOGY
3 MATRICES FOR GENERAL LINEAR TRANSFORMATIONS
4 KERNEL AND RANGE OF A LINEAR TRANSFORMATION
5 MATL AB

The Real World Problems
MODELLING MOTION WITH MATRICES
In 1995, animation took a giant

step forward with the release of the first
major motion picture to be created entirely
on computers. Animators use computer
software to create three-dimensional
computer models of characters, props, and
sets.
These computer models describe the shape

of the object as well as the motion controls
that the animators use to create movement
and expressions. The animation models are
actually very large matrices.

4PQR → 4P 0 QÃ0 R0 is !
a b
the reflection over the x−axis. Let A =
c d
be the reflection matrix.
Ã ! Ã ! Ã !
a b −1 −1
P → P0 : . =
c d −1 1
Ã ! Ã ! Ã !
a b 2 2
Q → Q0 : . =
c d 1 −1
Ã ! Ã ! Ã !
a b 3 3
R → R0 : . =
c d −2 2

 −a − b = −1, −c − d = 1

⇒ 2a + b = 2, 2c + d = −1

 3a − 2b = 3, 3c − 2d = 2
⇒ a = 1, b = 0, c = 0, d = −1
Therefore, for every point in the plane

(x1 , x2 ), the matrix that results in a reflection
over the x−axis and then we obtain a new
point in the plane (y1, y2)
Ã ! Ã ! Ã ! Ã !
y1 1 0 x1 x1
= . =
y2 0 −1 x2 −x2

Definitions and Terminology Linear transformations
DEFINITION 2.1
If f : E 7→ F is a mapping from a vector space
E to a vector space F , then f is called a linear
transformation from E to F if the following
2 properties hold for all vectors x and y in E
and for all scalars λ:
(
f (x + y) = f (x) + f (y), ∀x, y ∈ E
f (λx) = λf (x), ∀λ ∈ R, ∀x ∈ E.
We denote the set of all linear

transformations from E to F by L (E, F).
EXAMPLE 2.1
The mapping f : R2 → R3 which is defined for
∀x = (x1 , x2 ), by f (x) = (3x1 − x2 , x1 , x1 + x2 ) is the
linear transformation.
∀x = (x1 , x2 ), y = (y1 , y2 ) ∈ R2 ,
f(x+y) = (3(x1 + y1) − (x2 + y2),
x1 + y1 , (x1 + y1 ) + (x2 + y2 )) =
(3x1 − x2 , x1 , x1 + x2 ) + (3y1 − y2 , y1 , y1 + y2 ) =
f(x)+f(y).

∀λ ∈ R, ∀x ∈ R2 ,
f (λx) = (3λx1 − λx2 , λx1 , λx1 + λx2 )
= λ(3x1 − x2 , x1 , x1 + x2 ) = λf (x)
EXAMPLE 2.2
The mapping f : R2 → R2 defined by
∀x = (x1 , x2 ), f (x) = (2x12 − x2 , x2 ) is NOT a linear
transformation.
Indeed, f (λx) = (2(λx1)2 − λx2, λx2) =
(2λ2 x12 − λx2 , λx2 ) 6= λ(2x12 − x2 , x2 ) = λ.f (x), if
λ 6= 1
Matrices for General Linear Transformations Matrices of Linear Operators
f : R2 → R2
1
The standard basis of R2 is B = {(1, 0), (0, 1)}
2
f is the reflection over the x− axis.

Matrices for General Linear Transformations Relation between the coordinate vectors
RELATION BETWEEN THE COORDINATE VECTORS
If E = F, then f : E → E, y = f (x) is called a

linear operator
1
B = {e1 , e2 , . . . , en } is the basis for E
n
X = [x]B = (x1 , x2 , . . . , xn )T or x =
P
2
xi ei
i=1
n
Y = [y]B = (y1 , y2 , . . . , yn )T or y =
P
3
y k ek .
k=1
Find the relation between [x]B , [y]B ?

n
We have y = f (x) =
P
y k ek =
k=1
n
P n
P n
P n
P
=f( xi ei ) = xi f (ei ) = xi ( aki ek ) =
i=1 i=1 i=1 k=1
n
P Pn n
P
( aki xi )ek ⇒ yk = aki xi , k = 1, 2, . . . , n.
k=1 i=1 i=1


 y1 = a11 x1 + a12 x2 + . . . + a1n xn

 y = a x +a x +...+a x
2 21 1 22 2 2n n

 . . . . . . . . . . . . . . . . . . . . . . . . . . . ........

yn = an1 x1 + an2 x2 + . . . + ann xn

In matrix form [y]B = AB [x]B

MATRICES OF LINEAR OPERATORS
Let f : E → E, y = f (x).



 f (e1 ) = a11 e1 + a21 e2 + . . . + ai1 ei + . . . + an1 en
..........................................




f (ej ) = a1j e1 + a2j e2 + . . . + aij ei + . . . + anj en




 ..........................................
 f (e ) = a e + a e + . . . + a e + . . . + a e

n 1n 1 2n 2 in i nn n

Then the matrix

 
a11 . . . a1j . . . a1n

 ... ... ... ... ... 

 
A= ai1 . . . aij . . . ain =
... . . . ... . . . ... 


 
an1 . . . anj . . . ann
Ã ... ... ... !
= h i h i h i
f (e1 ) ... f (ej ) ... f (en )
B B B
is called the matrix for linear
transformation f relative to the basis B.
EXAMPLE 3.1
Let f : R2 → R2 be the linear transformation
defined by f (x1, x2) = (x1, −x2). Find the matrix
for f with respect to the standard basis
B = {(1, 0), (0, 1)}.
e1 = (1, 0) ⇒ f (e1 ) = (1, 0);
e2 = (0, 1) ⇒ f (e2 ) = (0, −1);
(
f (e1 ) = a11 e1 + a21 e2
f (e2 ) = a12 e1 + a22 e2

 

 a11 .1 + a21 .0 = 1 a11 = 1 

 
 a11 .0 + a21 .1 = 0 a21 = 0 
⇔ ⇔

 a12 .1 + a22 .0 = 0 
 a12 = 0
 
a12 .0. + a22 .1 = −1 a22 = −1.
 
Therefore, the matrix for f relative to

standard basis B = {(1, 0), (0, 1)} is
Ã !
1 0
A = MatB (f ) =
0 −1

EXAMPLE 3.2
and the matrix for f relative
Ã to!the basis
1 −1
B = {(1, 1), (−1, 1)} be A = . Find
0 2
f (−1, 5).
We have x = (−1, 5) = α(1, 1) + β(−1, 1)

⇒ α = 2, β = 3 ⇒ [x]B = (2, 3)T .

Therefore Ã !Ã ! Ã !
1 −1 2 −1
[f (−1, 5)]B = A.[x]B = = .
0 2 3 6
So f (−1, 5) = −1(1, 1) + 6(−1, 1) = (−7, 5)

RELATION BETWEEN THE COORDINATE VECTORS
Let f : E → F, y = f (x).
1
2
C = {f1 , f2 , . . . , fm } is the basis for F
n
T
X = [x]B = (x1 , x2 , . . . , xn ) or x =
P
3
xi ei
i=1
m
Y = [y]C = (y1 , y2 , . . . , ym )T or y =
P
4
y k fk .
k=1
Find the relation between [x]B , [y]C ?

m
We have y = f (x) =
P
y k fk =
k=1
n
P n
P n
P m
P
=f( xi ei ) = xi f (ei ) = xi ( aki fk ) =
i=1 i=1 i=1 k=1
m
P Pn n
P
( aki xi )fk ⇒ yk = aki xi , k = 1, 2, . . . , m.
k=1 i=1 i=1


 y1 = a11 x1 + a12 x2 + . . . + a1n xn

 y2 = a21 x1 + a22 x2 + . . . + a2n xn

 . . . . . . . . . . . . . . . . . . . . . . . . . . . ........

ym = am1 x1 + am2 x2 + . . . + amn xn

In matrix form [y]C = ABC [x]B

Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases
MATRICES FOR LINEAR TRANSFORMATION RELATIVE TO

2 BASES
Let f : E → F, y = f (x).
1
C = {f1 , f2 , . . . , fm } is the basis for F

2


 f (e1 ) = a11 f1 + a21 f2 + . . . + ai1 fi + . . . + am1 fm
..........................................




f (ej ) = a1j f1 + a2j f2 + . . . + aij fi + . . . + amj fm




 ..........................................
 f (e ) = a f + a f + . . . + a f + . . . + a f

n 1n 1 2n 2 in i mn m

Then the matrix

 
a11 . . . a1j . . . a1n

 ... ... ... ... ... 

 
A= ai1 . . . aij . . . ain =
... . . . ... . . . ... 


 
am1 . . . amj . . . amn
Ã ... ... ... !
= h i h i h i
f (e1 ) ... f (ej ) ... f (en )
C C C
is called the matrix for f relative to the bases
B and C.
EXAMPLE 3.3
Let f : R2 →R3 be defined
 by (f (x))T = AxT ,
1 −3
where A =  0 2  . Find the matrix for f
 
4 3
relative to the bases B = {(1, 1), (1, 2)} and
C = {(1, 0, 1), (1, 1, 1), (1, 0, 0)}

   
1 −3 −2 Ã !
1
We have (f (1, 1))T =  0 2  =  2 .
   
1
4 3 7
We compute the coordinate vector (f (1, 1))T
relative to the basis C
       
−2 1 1 1
 2  = α 0 +β 1 +γ 0 .
       
7 1 1 0
Therefore, α = 5, β = 2, γ = −9.
So [f (1, 1)]C = (5, 2, −9)T .
 
6
Similarly, we compute [f (1, 2)]C =  4  .
 
−15
Thus, the matrix for f relative to the bases
B, C is  
5 6
A= 2 4 .
 
−9 −15

Matrices for General Linear Transformations Matrices for General Linear Transformations
f : R2 → R2
1
2
f is the reflection over the x−axis.

THE TRANSITION MATRIX
1
2
The non-standard basis is B0 = {( 13 , 1), (1, 13 )}

f : R2 → R2
1
The non-standard basis of R2 is
B0 = {( 13 , 1), (1, 13 )}
2
f the reflection over the x− axis.

MATRICES FOR GENERAL LINEAR TRANSFORMATION

RELATIVE TO DIFFERENT BASES
Consider the linear operator f : E → E,

y = f (x)
1
B = {e1 , e2 , . . . , en }, B0 = {e10 , e20 , . . . , en0 } are the 2
bases for E.
2
A = MatB (f ) is the matrix for f relative to
basis B
Find the matrix for f relative to basis B0 ?

Let S be the transition matrix from B0 to B.

Then
[f (x)]B = AB .[x]B ⇔ S[f (x)]B0 = AB .S[x]B0
⇔ [f (x)]B0 = S−1 AB S[x]B0 .
Therefore, matrix S−1AB S is the matrix for f
relative to the basis B0

EXAMPLE 3.4
Let f : R2 → R2 be the linear operator and
matrix for f relative toÃ the basis
!
1 0
B = {(1, 0), (0, 1)} be A = . Find the
0 −1
matrix
n for f relative
o to the basis
B0 = ( 31 , 1), (1, 13 ) .
Find the matrix for f relative to the basis B0

can be found by A0 = S−1AS where S is the
transition matrix from B0 to B.
Find
( S. (
( 13 , 1) = s11 (1, 0) + s21 (0, 1) s11 = 31 ; s21 = 1
⇒
(1, 13 ) = s12 (1, 0) + s22 (0, 1) s12 = 1; s22 = 13
Ã ! Ã !
1
3
1 −1 − 83 98
So S = ⇒S = 9 .
1 13 8
− 38
Therefore,µ
− 38 9 ¶ µ ¶ µ 1 ¶ µ 5 3 ¶
1 0 1 − −
A0 = S−1 AS = 9
8 . . 3 1 = 34 54 .
8
− 38 0 −1 1 3 4 4

Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases
MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

RELATIVE TO DIFFERENT BASES
Let f : E → F, y = f (x)
1
B = {e1 , e2 , . . . , en }, B0 = {e10 , e20 , . . . , en0 } are the 2
bases for E.
2
C = {f1 , f2 , . . . , fm }, C 0 = {f10 , f20 , . . . , fm0 } are the 2
bases for F.
3
A = MatBC (f ) is the matrix for f relative to
the bases BC.
Find the matrix for f relative to the bases
B0 , C 0 ?
Let S be the transition matrix from B0 to B, P

be the transition matrix from C 0 to C. Then
[f (x)]C = ABC .[x]B ⇔ P[f (x)]C 0 = ABC .S[x]B0
⇔ [f (x)]C 0 = P −1 ABC S[x]B0 .
Therefore, P−1ABC S is the matrix for f relative
to the bases B0, C 0.

EXAMPLE 3.5
Let f : R3 → R2 be linear transformation, and
the matrix for f relative to 2 bases
B = {(1, 1, 1), (1, 1, 0), (1, 0,Ã 0)} and !
8 4 2
C = {(1, 0), (0, 1)} be A = . Find
−4 −2 −1
f (x1 , x2 , x3 )


 −1
1 1 1 Ã !
1 0
S= 1 1 0  , P= .
 
0 1
1 0 0
Matrix for f relative to 2 standard bases is
A0 = P −1 AS
! 1 1 1 −1
 
Ã !−1 Ã
1 0 8 4 2
= . . 1 1 0 
 
0 1 −4 −2 −1
1 0 0
Ã !
2 2 4
= ⇒ [f (x)]CT = A0 [x]CT
−1 −1 −2
f (x1 , x2 , x3 ) = (2x1 + 2x2 + 4x3 , −x1 − x2 − 2x3 )
EXAMPLE 3.6
Let f : R2 → R2 be defined if f (1, 1) = (−1, 1),
f (1, 0) = (1, 2). Find the matrix for f relative to
standard basis.
B = {(1, 1), (1, 0)}, CT = {(1, 0), (0, 1)}

Ã !−1 Ã ! Ã !
1 1 1 0 −1 1
S= ,P= , ABCT = .
1 0 0 1 1 2
Matrix for f relative to the standard basis is
A0 = P −1 AS
Ã !−1 Ã ! Ã !−1
1 0 −1 1 1 1
= . . .
0 1 1 2 1 0
Ã !
1 −2
=
2 −1

Kernel and Range of a linear transformation Kernel and Range
DEFINITION 4.1
If f : E 7→ F is a linear transformation, then
1
The set of all vectors in E that maps into 0
is called the kernel of f :
Ker(f ) = {x ∈ E : f (x) = 0} (1)
2
The set of all vectors in F that are images
under f of at least one vector in E is called
the range of f :
Im(f ) = {y ∈ F : ∃x ∈ E, y = f (x)} = f (E) (2)
THEOREM 4.1
If f : E 7→ F is a linear transformation, then
1
The range Im(f ) of f is a subspace of F
2
The kernel Ker(f ) of f is a subspace of E


EXAMPLE 4.1
If f : R3 → R2 is defined by
f (x1 , x2 , x3 ) = (x1 − x2 , x2 + x3 ), then
1
Find Ker(f ), its basis and dimension.
2
Find Im(f ), its basis and dimension.
n o
Ker(f ) = (x1 , x2 , x3 ) : x1 − x2 = 0, x2 + x3 = 0 .
Solving the linear system, we obtain
x1 = α, x2 = α, x3 = −α, ∀α ∈ R.
Therefore, Ker(f ) = {α(1, 1, −1) : ∀α ∈ R}. The
basis of Ker(f ) is (1, 1, −1). Dim(Ker(f )) = 1.
FIND Imf
Step 1. Choose a basis for E = R3 : e1 = (1, 0, 0),

e2 = (0, 1, 0), e3 = (0, 0, 1).
Step 2. Find f (e1) = (1, 0), f (e2) = (−1, 1),
f (e3 ) = (0, 1).
Step 3. We have
y = f (x) = f (λ1 e1 + λ2 e2 + λ3 e3 ) =
= λ1 f (e1 ) + λ2 f (e2 ) + λ3 f (e3 )

n o
⇒ Im(f ) = span f (e1 ), f (e2 ), f (e3 )
   
1 0 1 0
 −1 1  →  0 1 
   
0 1 0 0
Therefore,
n othenset o
f (e1 ), f (e2 ) = (1, 0), (−1, 1) is the basis for
Im(f ) and dim(Im(f )) = 2.

EXAMPLE 4.2
Let f : R3 → R3 be defined by f (1, 0, 0) = (1, 1, 1),
f (−1, 1, 0) = (−2, −1, 0), f (0, −1, 1) = (2, 1, 3).
Find f (x1, x2, x3)
Find the basis and dimension for Kerf
Find the basis and dimension for Imf
Choose
n the basis o
B = (1, 0, 0), (−1, 1, 0), (0, −1, 1) , and the
standard basis CT = {(1, 0, 0), (0, 1, 0), (0, 0, 1)}.
FIND f (x1 , x2 , x3 )

 −1  
1 −1 0 1 0 0
S =  0 1 −1  , P =  0 1 0  ,
   
0 0 1 0 0 1
 
1 −2 2
ABCT =  1 −1 1  .
 
1 0 3
Matrix for f relative tothe standard bases
1 −1 1
A0 = P −1 AS =  1 0 1  ⇒ [f (x)]CT = A0 [x]CT
 
1 1 4
f (x1 , x2 , x3 ) = (x1 − x2 + x3 , x1 + x3 , x1 + x2 + 4x3 )
THE BASIS AND DIMENSION FOR Ker(f ).
f (x1 , x2 , x3 ) = (x1 − x2 + x3 , x1 + x3 , x1 + x2 + 4x3 )
∀x∈ Ker(f ) ⇔ f (x) = 0

 x1 − x2 + x3 = 0

⇔ x1 + x3 = 0 ⇔ x1 = x2 = x3 = 0

 x + x + 4x = 0
1
n 2o 3
Ker(f ) = 0 . Dim(Ker(f )) = 0.
The basis for Ker(f ) does NOT exist.
THE BASIS AND DIMENSION FOR Im(f ).

n o
The basis for R3 is (1, 0, 0), (−1, 1, 0), (0, −1, 1) .
n o
Im(f ) = span f (1, 0, 0), f (−1, 1, 0), f (0, −1, 1)
n o
= span (1, 1, 1), (−2, −1, 0), (2, 1, 3)
   
1 1 1 1 1 1
 −2 −1 0  →  0 1 2 
   
2 1 3 0 0 3
n o
The basis for Im(f ) is f (e1), f (e2), f (e3) =
n o
(1, 1, 1), (−2, −1, 0), (2, 1, 3) . Dim(Im(f )) = 3.
Kernel and Range of a linear transformation The coordinate vector of vector in Kerf
THEOREM 4.2
Let f : E → F be a linear transformation and
A ∈ Mm×n (K ) be the matrix for f relative to 2
bases B = {e1, e2, . . . , en} ⊂ E and
C = {f1 , f2 , . . . , fm } ⊂ F or A = MatBC (f ). Then the
coordinate vector of x ∈ Ker(f ) relative to the
basis B satisfies the linear system A[x]B = 0.
x ∈ E, x ∈ Ker(f ) ⇔ f (x) = 0 ⇔ [f (x)]C = 0 ⇔
A[x]B = 0. Therefore, the coordinate vector of
x ∈ Ker(f ) relative to the basis B satisfies the
linear system A[x]B = 0.
EXAMPLE 4.3
and the matrix for f relative to 2 bases
B = {e1 = (1, 0, 0), e2 = (1, 0, 1), e3 = (1, 1, 1)} and
C = {f1 = (1, 0), f2 = (1, 1)} be
Ã !
1 2 3
ABC =
2 1 0
Find a basis and dimension of Ker(f ).

x ∈ Ker(f ) ⇔ f (x) = 0 ⇔ [f (x)]C = 0 ⇔ ABC [x]B = 0.

Suppose [x]B = (x1, x2, x3)T . Then
     
Ã ! x
1 x1 α
1 2 3 
 x2  = 0 ⇔  x2  =  −2α 
    
2 1 0
x3 x3 α
⇒ x = x 1 e 1 + x 2 e2 + x 3 e 3 =
= α(1, 0, 0) − 2α(1, 0, 1) + α(1, 1, 1) =
= (0, α, −α) n= α(0, 1, −1) o
Therefore (0, 1, −1) is the basis for Ker(f )
⇒ dim(Ker(f )) = 1
Kernel and Range of a linear transformation Relation between the dimensions of Kernel and Range
RELATION BETWEEN THE DIMENSIONS OF KERNEL AND

RANGE
THEOREM 4.3
Let f : E → F be the linear transformation.
Then
rank(f ) + dim(ker(f )) = dim(E)
or
dim(Im(f )) + dim(ker(f )) = dim(E)

MatLab
LET f : Rn → Rm BE THE LINEAR TRANSFORMATION
(f (x))T = Am×n .xT
1
The basis for Kerf : null(A,0 r 0)
2
Choose the standard basis {e1, e2, . . . en}.
 
f (e1 )
 f (e ) 
2
M =  ⇒ rref (M) ⇒ The basis for Imf
 
 ... 
f (en )
MatLab
THE MATRIX FOR f RELATIVE TO 2 BASES B, C
Let f : E 7→ F be the linear transformation

and dimE = n, dimF = m. Suppose that
B = {e1 , e2 , . . . , en } is the basis for E ,
C = {f1 , f2 , . . . , fm } is the basis for F .
The matrix for f relative to 2 bases B, C is A,
which is defined by
B = f1 .0 f2 . 0 . . . f m . 0 ;
¡ ¢
C = f (e1 ).0 f (e2 ).0 . . . f (en ).0

¡ ¢
B ∗ A = C ⇒ A = inv(B) ∗ C
MatLab
THANK YOU FOR YOUR ATTENTION

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LINEAR TRANSFORMATIONS

ELECTRONIC VERSION OF LECTURE

Dr. Lê Xuân Đại

1 THE REAL WORLD PROBLEMS

2 DEFINITIONS AND TERMINOLOGY

3 MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

4 KERNEL AND RANGE OF A LINEAR TRANSFORMATION

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MODELLING MOTION WITH MATRICES

In 1995, animation took a giant

These computer models describe the shape

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Therefore, for every point in the plane

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We denote the set of all linear

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RELATION BETWEEN THE COORDINATE VECTORS

If E = F, then f : E → E, y = f (x) is called a

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In matrix form [y]B = AB [x]B

MATRICES OF LINEAR OPERATORS

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Then the matrix

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Therefore, the matrix for f relative to

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We have x = (−1, 5) = α(1, 1) + β(−1, 1)

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RELATION BETWEEN THE COORDINATE VECTORS

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In matrix form [y]C = ABC [x]B

MATRICES FOR LINEAR TRANSFORMATION RELATIVE TO

C = {f1 , f2 , . . . , fm } is the basis for F

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Then the matrix

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THE TRANSITION MATRIX

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MATRICES FOR GENERAL LINEAR TRANSFORMATION

Consider the linear operator f : E → E,

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Let S be the transition matrix from B0 to B.

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Find the matrix for f relative to the basis B0

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MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

Let S be the transition matrix from B0 to B, P

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Ker(f ) = {x ∈ E : f (x) = 0} (1)

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