5.3 Inner product, othogonal and orthonormal set

5.
3 Inner product, Orthogonal and orthonormal sets
Definition: Let V be a vector space over the field F then a mapping .,. : V  V  F is
said to be an inner product on V if the following conditions are satisfied, for all
x , y , z V &  ,   F
 i  x, x  0 & x, x  0 iff x0

 ii  x, y  y, x
 iii   x, y   x, y
 iv  x  y, z  x, z  y, z
y, x denotes the complex conjugate of y , x
A vector space V together with an inner product defined on it is called an inner product
space, it is denoted by V , .,.  .
Examples: Let V   2 and define an inner product on X by x, y  x1 y1  x2 y2 for all

x, y   2 .
For, Let x, y   2 then x   x1 , x2  , y   y1 , y2  , z   z1 , z1  &   
i  x, x  x12  x22  0,
Also, x, x  0  x12  x22  0  xi  0 for i  1, 2  x  0
 ii  x, y  x1 y1  x2 y2  y1 x1  y2 x2  y, x
 iii   x, y   x1  y1   x2  y2    x1 y1     x2 y2     x1 y1  x2 y2    x, y
 iv  x  y, z   x1  y1  z1   x2  y2  z2
  x1 z1  x2 z2    y1 z1  y2 z2   x, z  y, z
Definition: Let V be an inner product space over a field F then for x, y  V we say that
x and y are orthogonal then x, y  0 .
Definition: Let V be an inner product space over a filed F and E be a subset of V then E
is said to be orthogonal if x, y  0 x  y in E.
Definition: Let V be an inner product space over a filed F and E be a subset of V then E
is said to be orthonormal if x, y  0 x  y in E and x, x  1 x in E.
Q: Show that the set B  v1  1, 0, 0  , v2   0, 1, 0  , v3  (0, 0, 1) forms an

orthogonal as well as an orthonormal set in R3.
Ans: We have,
v1 , v2  1, 0, 0  0, 1, 0   0  v2 , v1
v2 , v3   0, 1, 0  0, 0, 1  0  v3 , v2
v1 , v3  1, 0, 0  0, 0, 1  0  v3 , v1
Therefore B is an orthogonal set.
Further,
v1 , v1  1, 0, 0  , 1, 0, 0   1
v2 , v2   0, 1, 0  ,  0, 1, 0   1
v3 , v3   0, 0, 1 ,  0, 0, 1  1
Therefore B is an orthonormal set in  3 .
Q. Prove that the set of vectors
B  v1   3, 0, 4  , v2   4, 0, 3 , v3   0, 1, 0 is an orthogonal set in R3.

Ans:
W have
v1 ,v2   3, 0, 4  ,  4, 0, 3  0  v2 , v1
v1 , v3   3, 0, 4  ,  0, 1, 0   0  v3 , v1
v2 , v3   4, 0, 3 ,  0, 1, 0   0  v3 , v2
So, B is an orthogonal set in R3.
Problem: Show that an orthogonal (or orthonormal) set of non zero vectors is linearly
independent.
Solution: Let A = {v1, v2, …, vn} be an orthogonal set of non zero vectors.
To prove the set A is linearly independent.
Suppose 1v1 + 2v2 + … + nvn = 0 = (0, 0, …, 0).
Now <0, vk> = 0where vk  A.
 <1v1 + 2v2 + … + nvn, vk> = 0
 1<v1, vk> + 2 <v2, vk> + … + k<vk, vk> + … + n<vn, vk>= 0
 k<vk, vk> = 0  k‖vk‖2 = 0
 k = 0 or ‖vk‖2 = 0. If ‖vk‖2 = 0 then ‖vk‖ = 0 and so vk = 0, a contradiction.
Therefore k = 0. Now varying k from 1 to n we get i = 0 for all i = 1, 2, …, n.
Hence the set A is linearly independent.
Exercises
1. Prove that the set of vectors
B  3 5 ,0, 4 5  ,  4 5 ,0, 3 5  ,(0,1,0) is an orthonormal set in  .
3
1. Prove that the set of vectors

 1 3  1 2 1  1 
B   (1,1,1),  , , , (2,0, 2)  is an orthonormal set in  3 .
 3 2  3 3 3 8 
2. Show that an orthonormal set of nonzero vectors is linearly independent.
3. Verify the set of vectors form an orthonormal set for  3
 i  B  1,5,7  ,  4,0,6  , 1,0,0 
 ii  C   3,0,2  ,  7,0,9  ,  4,1,2 
 iii  D  1,1,0  ,  3,0,1 ,  5, 2,1
Definition:
If x is a vector in an inner vector product space then the norm of x is
‖𝒙‖ = 〈𝒙, 𝒙〉
When standard inner product is used for 〈𝒙, 𝒙〉 in Rn , it is known to be Euclidean norm.
y
In R2 , ‖𝒙‖ = 𝑥 +𝑥
‖𝒙‖
A vector is normalized by dividing by it’s length.
Orthogonality in inner product space:
A subset {𝒙 , 𝒙 , … , 𝒙 } of vectors in an inner product space V with inner product 〈 , 〉 is

orthogonal if and only if 〈𝒙 , 𝒙 〉 = 0for 1 ≤ 𝑖, 𝑗 ≤ 𝑛 , 𝑖 ≠ 𝑗
An orthogonal set of vectors is orthonormal if and only if each vector in the set is a unit
vector.
Some important results:
i. Every orthogonal set of vectors in an inner product space is linearly independent.
ii. In Rn, there does not exist an orthogonal set of (n +1) vectors.
iii. Any orthogonal set of n non-zero vectors in Rn is a basis for Rn.

One vector x can be projected orthogonally onto another vector y , provided y is non-
zero.
x-p
x x-p
p y
The projection of x onto y is a scalar multiple of y , say 𝛼𝒚 ,then 𝒙 − 𝛼𝒚 must be

orthogonal to y.
〈𝒙,𝒚〉
〈𝒙 − 𝛼𝒚, 𝒚〉 = 0⟺𝛼 =
〈𝒚,𝒚〉
In any inner product space the orthogonal projection of a vector x onto a non-zero vector
〈𝒙,𝒚〉
y is the point 𝒑 = 〈𝒚,𝒚〉 𝒚
Note that x-p is orthogonal to y.
ILLUSTRATION:
1. In R3 using standard inner product, what is the orthogonal projection of the vector
𝒙 = (1,2,3) onto the vector 𝒚 = (3,2,1)
〈𝒙,𝒚〉
Sol. 𝒑 = 〈𝒚,𝒚〉 𝒚
〈𝒙, 𝒚〉 = 1(3) + 2(2) + 3(1) = 10
〈𝒚, 𝒚〉 = 9 + 4 + 1 =14
10 5
𝒑= (3,2,1) = (3,2,1)
14 7
8 4 16
𝒙−𝒑= − , ,
7 7 7
〈𝒙 − 𝒑, 𝒚〉 = − (3) + (2) + (1 ) = 0 ∎
Orthonormal bases
Recall the definition of orthonormality. A set of vectors in an inner product space is

orthonormal if it is an orthogonal set and each vector has unit length. To create an
orthonormal set from an orthogonal set of non-zero vectors , simply normalize each
𝒖
element. Thus every ui in the given set of non-zero vectors is replaced by ‖𝒖𝒊 ‖.
𝒊
e.g. If 𝒙𝟏 = (1,0,2), 𝒙𝟐 = (−2,0,1)&𝒙𝟑 = (0,1,0) form an orthogonal set in R3 then

𝒖𝟏 = , 0, , 𝒖𝟐 = − , 0, are unit vectors in the direction of
√ √ √ √
𝒙𝟏 and𝒙𝟐 respectively. {𝒖𝟏 , 𝒖𝟐 , 𝒙𝟑 } is an orthonormal set as 𝒙𝟑 is a unit vector.
Definition:
An orthonormal basis for a vector space is a basis that is orthonormal.
Important Results:
1. Let {𝒖𝟏 , 𝒖𝟐 , … , 𝒖𝒏 }be an orthonormalbasis for a subspace U in an inner product

space . The orthogonal projection of any x onto U is the point
𝒑= 〈𝒙, 𝒖𝒊 〉𝒖𝒊
2. An orthonormal set of vectors in Rn is linearly independent.
3. If {𝒖𝟏 , 𝒖𝟐 , … , 𝒖𝒏 } is an orthogonal set in an inner product space, then each x in the

span of that set is expressed as 𝒙 = ∑ 〈𝒙, 𝒖𝒊 〉 𝒖𝒊
ILLUSTRATION:
1. Let 𝑆 = {𝑢 , 𝑢 , 𝑢 }be an orthonormal basis for R3 where 𝒖𝟏 = ,− , , 𝒖𝟐 =
, ,− , 𝒖𝟑 = , , . Write vector 𝒗 = (3,4,5) as a linear combination of
vectors in S.
Sol. 𝒗 = 𝒄 𝟏 𝒖𝟏 + 𝒄 𝟐 𝒖𝟐 + 𝒄 𝟑 𝒖𝟑
𝒗 ∙ 𝒖𝟏 = 𝒄𝟏 , 𝒗 ∙ 𝒖𝟐 = 𝒄𝟐 , &𝒗 ∙ 𝒖𝟑 = 𝒄𝟑 lead to 𝒄𝟏 = 𝟏 , 𝒄𝟐 = 𝟎 , 𝒄𝟑 = 𝟕
∴ 𝒗 = 𝒖𝟏 + 7𝒖𝟑 ∎

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5.

3 Inner product, Orthogonal and orthonormal sets

 i  x, x  0 & x, x  0 iff x0

y, x denotes the complex conjugate of y , x

Examples: Let V   2 and define an inner product on X by x, y  x1 y1  x2 y2 for all

For, Let x, y   2 then x   x1 , x2  , y   y1 , y2  , z   z1 , z1  &   

Q: Show that the set B  v1  1, 0, 0  , v2   0, 1, 0  , v3  (0, 0, 1) forms an

Therefore B is an orthogonal set.

Therefore B is an orthonormal set in  3 .

Q. Prove that the set of vectors

B  v1   3, 0, 4  , v2   4, 0, 3 , v3   0, 1, 0 is an orthogonal set in R3.

To prove the set A is linearly independent.

Suppose 1v1 + 2v2 + … + nvn = 0 = (0, 0, …, 0).

Now <0, vk> = 0where vk  A.

 <1v1 + 2v2 + … + nvn, vk> = 0

 1<v1, vk> + 2 <v2, vk> + … + k<vk, vk> + … + n<vn, vk>= 0

 k<vk, vk> = 0  k‖vk‖2 = 0

 k = 0 or ‖vk‖2 = 0. If ‖vk‖2 = 0 then ‖vk‖ = 0 and so vk = 0, a contradiction.

Therefore k = 0. Now varying k from 1 to n we get i = 0 for all i = 1, 2, …, n.

Hence the set A is linearly independent.

1. Prove that the set of vectors

If x is a vector in an inner vector product space then the norm of x is

A vector is normalized by dividing by it’s length.

Orthogonality in inner product space:

A subset {𝒙 , 𝒙 , … , 𝒙 } of vectors in an inner product space V with inner product 〈 , 〉 is

Some important results:

i. Every orthogonal set of vectors in an inner product space is linearly independent.

iii. Any orthogonal set of n non-zero vectors in Rn is a basis for Rn.

The projection of x onto y is a scalar multiple of y , say 𝛼𝒚 ,then 𝒙 − 𝛼𝒚 must be

Note that x-p is orthogonal to y.

〈𝒙, 𝒚〉 = 1(3) + 2(2) + 3(1) = 10

Recall the definition of orthonormality. A set of vectors in an inner product space is

e.g. If 𝒙𝟏 = (1,0,2), 𝒙𝟐 = (−2,0,1)&𝒙𝟑 = (0,1,0) form an orthogonal set in R3 then

An orthonormal basis for a vector space is a basis that is orthonormal.

1. Let {𝒖𝟏 , 𝒖𝟐 , … , 𝒖𝒏 }be an orthonormalbasis for a subspace U in an inner product

2. An orthonormal set of vectors in Rn is linearly independent.

3. If {𝒖𝟏 , 𝒖𝟐 , … , 𝒖𝒏 } is an orthogonal set in an inner product space, then each x in the

, ,− , 𝒖𝟑 = , , . Write vector 𝒗 = (3,4,5) as a linear combination of

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