§ 7. Extremal points and extremal generators
1. Extremal points of compact convex sets
Definition 1
Let be a convex set in an affine space . Then we say that a point is an extremal point of if there does not exist an open segment that is contained in and contains .
In other words, the relations and imply or (thus or ). This implies that cannot be the barycentre of a set of points of carrying positive masses unless is one of the ; for this is just the definition when ; for arbitrary argue by induction on , as is the barycentre of and of the barycentre of the with , therefore is identical with or , and in the second case it is sufficient to apply the induction hypothesis.
To say that is an extremal point of also means that is convex.
Example 1
In the space , all the points of the sphere are extremal points of the closed ball . For, if and , the relation
Example 2
In the normed space of bounded sequences of real numbers (I, p. 4) the extremal points of the unit ball are the points such that for all . For, suppose that we had for all and for one index . We can then write
Example 3
Let be an affine mapping of an affine space in an affine space ; let be two convex sets such that . If is an extremal point of and is an extremal point of , then is an extremal point of , as it follows from def. 1.
Proposition 1
Let be the set of extremal points of , a non-empty compact convex set in a Hausdorff locally convex space , and let be a convex function defined in and upper semi-continuous. Then attains its upper bound in at one point (at least) of .
Use to denote the family of subsets X of A that are non-empty, closed, and such that every open segment that is contained in A and meets X necessarily lies in X. It has the following properties; (i) A belongs to . (ii) A point is such that , if, and only if, is an extremal point of A. (iii) Every non-empty intersection X of a family of sets of also belongs to .
The properties (i), (ii) and (iii) follow immediately from the definitions.
(iv) Let , and let be a function that is convex and upper semi-continuous in A; then the set Y of the points of X where the restriction attains its upper bound in X is such that Y belongs to .
For, being upper semi-continuous in X attains its upper bound over X in at least one point of X (GT, IV, § 6.2, th. 3); thus Y is non-empty, it is also closed (GT, IV, § 6.2, prop. 1). On the other hand let be two distinct points of A and let be a point of Y such that ; as and , we have and ; on the other hand, as is convex, we have
but as and , of necessity , that is to say and . Therefore .
With these properties established, let M be the set of where attains its upper bound in A; by (iv), . On the other hand, by (iii) and the fact that the sets of are closed subsets ot the compact set A, it follows that is inductive for the order relation . By th. 2 of S, III, § 2.4, M contains a subset N which is a minimal element of . We shall show that N consists of a single point and this will complete the proof of the proposition. Since E is a Hausdorff locally convex space, it is sufficient to show that every continuous linear form on E is constant in N (II, p. 38, cor. 1). Now it follows from (iv) that the set of the where attains its upper bound in N is such that belongs to ; since N is minimal in we necessarily have .
Corollary
Let A be a compact convex set in a Hausdorff locally convex space E. Then every closed support hyperplane H of A contains at least one extremal point of A.
For, if is an equation of H and in A, it is sufficient to apply prop. 1 to .
Theorem 1 (Krein-Milman)
— *In a Hausdorff locally convex space E, every compact convex set A is the closed convex envelope of the set of its extremal points.
Cites 1
For, let C be the closed convex envelope of the set of extremal points of A; clearly . To see that , it is sufficient to prove that, if is an affine linear function, continuous in E and if in C then also in A (II, p. 39, cor. 4); but this follows from prop. 1 applied to .
Proposition 2
Let x be an extremal point of a compact convex set A in a Hausdorff* locally convex space E. Then for every open neighbourhood V of x in E, there exists an open half-space F in E such that (in other words, the traces on A of the open half-spaces containing x, form a fundamental system of neighbourhoods of x in A).
Cites 2
Cites II § 2. Convex sets, II § 5. Separation of convex sets
For every open half-space D of E containing x, the set is a compact neighbourhood of x in A, and the intersection of all these neighbourhoods is precisely the point x (any two distinct points can be strictly separated by a closed hyperplane (II, p. 38, prop. 4). By prop. 1 of GT, I, § 9.2, it is sufficient to prove that the sets form a filter base. Now if we write , the set is convex, compact and contained in the convex set ; if are two open half-spaces of E containing x, the convex envelope B of is therefore contained in ; but B is a compact set (II, p. 14, prop. 15), therefore there exists a closed hyperplane H that separates x strictly from B (II, p. 38, prop. 4) and if the open half-space determined by H and containing x is D, then we have , therefore .
Corollary
— In a Hausdorff locally convex space let K be a compact subset of a compact convex set A. Then the following conditions are equivalent.
Cites 1
a) A is the closed convex envelope of K.
b) K meets every set that is the intersection of A with one of its support hyperplanes.
c) K contains the set of extremal points of A.
a) b). Suppose that there exists a support hyperplane H of A whose equation is , such that and suppose, for example, that in A. As for all by hypothesis and as K is compact we have
and K is, therefore, contained in the closed half-space ; therefore the same is true of the closed convex envelope A of K and this is absurd.
b) c). Suppose that an extremal point x of A does not belong to K; there is a neighbourhood V of x in E such that . But by prop. 2, we can suppose that V is an open half-space defined by a hyperplane H with the equation . If for example , then for all , we have , therefore K does not meet the intersection of A and the support hyperplane parallel to H (II, p. 37, prop. 2); this is absurd.
c) a). This is an obvious consequence of the Krein-Milman theorem.
Remark 1
Even if the vector space E is finite dimensional the set of extremal points of a compact convex set is not necessarily closed (II, p. 89, exerc. 11).
Cites 1
Remark 2
If K is a compact set in a non complete Hausdorff locally convex space, and A, the closed convex envelope of K is not compact, there can be extremal points of A that do not belong to K (II, p. 87, exerc. 2).
Cites 1
Remark 3
In a Banach space E of infinite dimension, it may happen that the closed ball of centre 0 and radius 1 does not possess any extremal point (II, p. 89, exerc. 14).
Cites 1
Remark 4
If A is a compact convex set in a Hausdorff locally convex space, it may happen that an extremal point of A does not belong to any support hyperplane of A (II, p. 78, exerc. 11). The proof of theorem 1 (II, p. 56) shows that in any case A is the convex closed envelope of the set of extremal points of A which belong to a support hyperplane.
2. Extremal generators of convex cones
Let C be a convex cone with vertex 0 in a vector space E; clearly no other point of C than the vertex can be an extremal point; the vertex is an extremal point of C if and only if C is pointed and proper.
Definition 2
Let C be a convex cone of vertex 0 in a vector space E. We say that a half-line D ⊂ C originating at 0 is an extremal generator of C, if every open segment contained in C, not containing 0 and meeting D is contained in D.
It comes to the same thing to say that for all x ∈ D such that x ≠ 0, if y ≠ 0, y' ≠ 0 are two points of C such that x = y + y', then, it is necessarily the case that y ∈ D and y' ∈ D.
Remark 1
Let C be a pointed proper convex cone in E, and consider on E the order structure for which C is the set of elements ≥ 0 (II, p. 12, prop. 13); in order that an element of E, say x > 0, belongs to an extremal generator of C, it is necessary and sufficient that every element y ≥ 0, that is bounded above by x, is of the form λx with 0 ≤ λ ≤ 1 : in fact, to say that y is bounded above by x means that x = y + y' where y' ∈ C, whence the conclusion follows.
Cites 1
Cites II § 2. Convex sets
Proposition 3
In a vector space E, let C be a convex cone with vertex 0, and let x₀ ≠ 0 be a point of C, and D a half-line that is contained in C, originating from 0 and containing x₀. Let H be a hyperplane containing x₀ and not passing through 0. Then D is an extremal generator of C if and only if x₀ is an extremal point of H ∩ C.
The condition is clearly necessary. Conversely, suppose that it is satisfied; suppose that there is a line D' not containing D, passing through x₀ and such that D' ∩ C contains an open segment to which x₀ belongs. Let y ≠ 0 be a direction vector of D'; the hypotheses imply that the point (1 + λ)x₀ + μy belongs to C for |λ| and |μ| sufficiently small. But then, in the plane P determined by D and D' and carrying the canonical topology, x₀ is an interior point of P ∩ C, and it follows that the line P ∩ H contains an open segment contained in H ∩ C and to which x₀ belongs. This contradicts the hypothesis.
Definition 3
Let C be a convex set in a Hausdorff topological vector space E. A compact convex non-empty set A of C is called a cap of C if the complement C − A of A in C is convex.
Let C be a pointed convex cone with vertex 0 in E and let A be a cap of C. Write B = C − A. For every closed half-line L ⊂ C originating at 0, the sets L ∩ A and L ∩ B are convex sets that are complements in L, whose union is L, and such that L ∩ A is compact. As L ∩ A is non-empty for at least one half-line L, we see that 0 ∈ A, thus L ∩ A is a closed segment with an end point at 0. If A exists then C is proper.
Proposition 4
— Let C be a pointed convex cone with vertex 0 in E, a Hausdorff locally convex space.
Cites 1
Cites II § 2. Convex sets
a) Let A be a cap of C. Let p be the restriction to C of the gauge of A (II, p. 20). The set of the x ∈ C such that p(x) ≤ 1 is the set A. The function p is lower semi-continuous and has the following properties : (i) For any x, y in C, we have p(x + y) = p(x) + p(y). (ii) For any x ∈ C and λ ∈ R_+^*, we have p(λx) = λp(x). (iii) If x ∈ C, the relation p(x) = 0 is equivalent to x = 0.
b) Conversely, let p be a function defined in C with values in [0, +∞], satisfying the conditions (i), (ii) of a). Let A be the set of the x ∈ C such that p(x) ≤ 1. Then A and C − A are convex. A is a cap, if and only if A is compact and non-empty.
The statement b) is obvious. The properties stated in a) are consequences of the remarks preceding prop. 4 and of the prop. 22 of II, p. 20 and prop. 23 of II, p. 20 with the exception of
It is sufficient to prove this last when x ≠ 0 and y ≠ 0; we have therefore p(x) > 0, p(y) > 0. Let μ, λ be two numbers > 0 such that λ < p(x), μ < p(y), and denote the complement of A in C by B. We have x ∈ λB, y ∈ μB, therefore x + y ∈ λB + μB; by the convexity of B, we have λB + μB ⊂ (λ + μ)B, whence p(x + y) > λ + μ, which implies the inequality stated above.
Corollary 1
— Let C be a pointed convex cone of vertex 0 in E, a Hausdorff locally convex space and let p be the gauge of A, a cap of C. The extremal points of A are then the point 0, and the points x on the extremal generators of C such that p(x) = 1.
It is clear that 0 is an extremal point of A. Let x be a point on L an extremal generator of C and such that p(x) = 1. Let y, z be two points of A such that x = . As L is extremal, we have y = λx and z = μx, where λ and μ are numbers ≥ 0 such that , and , from which and hence y = z = x; so, x is an extremal point of A. Conversely, let x ≠ 0 be an extremal point of A. Obviously p(x) = 1. Let y, y' be two points of C such that x = y + y', and we shall show that y, y' are proportional to x. Without loss of generality we can suppose that the numbers and are finite and > 0. Then by prop. 4, (i) and the equality implies, by hypothesis that
Corollary 2
— Every point of C that belongs to a cap of C, also belongs to the convex closed envelope of the union of the extremal generators of C.
This follows immediately from cor. 1 and the Krein-Milman theorem (II, p. 55, th. 1).
\* Example. — Let X be a locally compact space that is σ-compact. Let C be a closed convex cone of vertex 0 in with the vague topology. We shall show that C is the union of its caps. Let be an increasing sequence of open, relatively compact sets of X whose union is X. Let μ be an element of C. There exist such that .
For every measure , put . The function p on C satisfies conditions (i) and (ii) of prop. 4. It is lower semi-continuous for the vague topology (INT, IV, 2nd ed., § 1, No. 1, prop. 4). The set A of the such that is therefore closed and non-empty. On the other hand, every compact set of X is contained in one of the , thus A being vaguely bounded is also vaguely compact (INT, III, 2nd ed., § 1, No. 9, prop. 15). The set A is therefore a cap of C containing μ. \*
Proposition 5
Let C be a proper convex cone with vertex 0 in E, a Hausdorff weak space; suppose that C is complete for the uniform structure induced by that of E, and that there is an enumerable fundamental system of neighbourhoods of 0 in C. Then C is the union of its caps and is the closed convex envelope of the union of its extremal generators.
The second statement follows from the first and from cor. 2 above. Using prop. 11 of II, p. 52 reduces the proposition to the case when and . For all , denote the projection in E by ; then is a continuous linear form. On the other hand let be an enumerable fundamental system of neighbourhoods of 0 in C. By the definition of the topology of E, for each , there exists a finite subset of I and a number such that contains the set of the such that for all ; put . Let be a point of C, and p be the function where the are chosen so that ; this is possible, since if for all , then for all , which implies that , and this is contrary to hypothesis. Now we remark that for all , the function is continuous at the point 0, therefore there is an , such that is bounded in a , therefore bounded above in C by a linear combination of a finite number of functions , where . It follows that if A in the set of such that , then is bounded in A for all . As p is lower semi-continuous in C, it follows that A is closed and non-empty in C and therefore is compact. Since it is clear that p verifies the conditions (i) and (ii) of prop. 4 of II, p. 58, we see that A is a cap in C and contains y.
Remark 2
There exist proper convex cones that are weakly complete and which have no extremal generator (II, p. 92, exerc. 31).
Cites 1
3. Convex cones with compact sole
Proposition 6
Let E be a Hausdorff locally convex space and K a convex compact set in E which does not contain 0. Then the smallest pointed cone C of vertex 0 which contains is a proper convex cone in and is a locally compact and complete subspace of ; also, there exists a closed hyperplane in that does not contain 0 and is such that meets all the half-lines originating at 0 contained in and such that is compact. Further, if is the half-space containing 0 determined by , a closed hyperplane with these properties, then is a cap of and is the union of the for .
Cites 2
Cites II § 2. Convex sets, II § 5. Separation of convex sets
By prop. 4 of II, p. 38, there exists a closed hyperplane which separates 0 strictly from . Now, the convex envelope of the union of and of is compact (II, p. 14, prop. 15) and is the union of the with . As 0 and are strictly on opposite sides of , for every there exists such that and . As is the union of the for , we see that meets every half-line originating at 0 contained in and that is compact. Further, is also the union of the for ; let be the union of the for . Clearly is the convex envelope of the union of and of , therefore it is compact. Also, for all , there is a closed neighbourhood of in and an integer such that ; in fact, if is defined by the equation , where , it is sufficient to take for the closed half-space determined by and containing 0, where is so large that . This shows that is locally compact (taking ), and that it is closed in . We can also consider as a subset of the completion , therefore is also closed in and therefore complete.
Given a cone and a closed hyperplane in a Hausdorff topological vector space , such that does not contain the vertex of and is the smallest cone with vertex containing , then we call the intersection a « sole » of the cone . Prop. 6 shows that in a Hausdorff locally convex space , the smallest cone of vertex 0, containing a compact convex set to which 0 does not belong, is a cone of compact sole, and that every convex cone having a compact sole , is locally compact and complete.
Example 1
Every proper closed convex cone in , a vector space of finite dimension, has a compact sole. In fact, by II, p. 52, prop. 11 we need only consider the case where and . If is the canonical basis of , it is clear that the compact convex set which is the convex envelope of the () is a compact sole for .
Cites 1
Cites II § 6. Weak topologies
Example 2
\* If is a compact space, then the cone of positive measures on , with the vague topology, is a cone with a compact sole (INT, III, 2nd ed., § 1, No. 9, cor. 3 of prop. 15). \
Cites 1
Cites II § 1. Semi-norms
Exercises
See the exercises for § 7.