§ 1. Upper integral of a positive function
1. Upper integral of a lower semi-continuous positive function
Let X be a locally compact space, μ a positive measure on X; we know that μ is an increasing function on the lattice K+(X) (which will also be denoted K+).
We denote by I+(X) (or simply I+) the set of numerical functions on X, finite or not, that are positive and lower semi-continuous on X.\footnote{1} Recall that the sum of any family of functions in I+ belongs to I+; the product of a function in I+ by a finite number α>0 belongs to I+; the upper envelope of any family of functions in I+ and the lower envelope of a finite family of functions in I+ also belong to I+ (GT, IV, §6, No. 2, Prop. 2 and Th. 4). We shall also make use of the following lemma:
Lemma
— Every function f∈I+ is the upper envelope of the set (directed for the relation ≤) of all functions g∈K+ such that g≤f.
For every x∈X such that f(x)>0, and for every real number a such that 0<a<f(x), there exists by hypothesis a compact neighborhood V of x such that f(y)≥a on V; on the other hand, there exists a function g∈K+, with support contained in V, equal to a at the point x and ≤a
(1) 'I' as in 'inferior'; the letter L (as in 'lower') is preempted for other function spaces, to be discussed in §3.
on V (GT, IX, §1, No. 5, Th. 2); therefore 0≤g≤f and g(x)≥a, which proves the lemma.
Definition 1
Given a positive measure μ on X, one calls upper integral of a function f∈J+ (with respect to μ) the positive number (finite or equal to +∞)
μ∗(f)=g∈H+,g≤fsupμ(g).
For every function f∈H+, it is clear that μ∗(f)=μ(f), in other words μ∗ is an extension of μ to J+.
Example
— Let X be a discrete space, μ a positive measure on X, and set α(x)=μ(φ{x}) for all x∈X. Every numerical function f defined on X is then continuous; for such a function f≥0, μ∗(f)=∑x∈Xα(x)f(x), where we agree to set α(x)f(x)=0 whenever α(x)=0 and f(x)=+∞. For,
x∈X∑α(x)f(x)=Msup(x∈M∑α(x)f(x)), where
M runs over the set of all finite subsets of
X. If there exists an
x0∈X such that
f(x0)=+∞ and
α(x0)>0, then
∑x∈Mα(x)f(x)=+∞ whenever
x0∈M, and, on the other hand,
f≥n⋅φ{x0} for every integer
n>0, therefore
μ∗(f)≥nα(x0) and so
μ∗(f)=+∞. If, on the contrary,
α(x)=0 at all the points where
f(x)=+∞, then the function
g equal to
f at the points
x∈M where
α(x)>0 and to 0 elsewhere belongs to
H+, and so, by virtue of the conventions made,
μ(g)=∑x∈Mα(x)f(x), which again proves the relation
μ∗(f)=∑x∈Xα(x)f(x).
Proposition 1
For every finite real number α>0 and every function f∈J+,*
μ∗(αf)=αμ∗(f).
Proposition 2
On the set J+, the function μ∗ is increasing.* The proofs are immediate from Def. 1.
Theorem 1
Let H be a nonempty set of functions in J+, directed for the relation ≤. For every positive measure μ on X,*
μ∗(g∈Hsupg)=g∈Hsupμ∗(g)=g∈Hlimμ∗(g).
Let f=supg∈Hg. We shall first prove the theorem for the special case that the functions g∈H and their upper envelope f belong to H+. It then follows from Dini’s theorem (GT, X, §4, No. 1, Th. 1) that the section filter of H converges uniformly to f on every compact subset of X, and in particular on the support K of f. Since 0≤g≤f for every function g∈H, the support of every function in H is contained in K; but by definition μ is continuous on the vector space K(X,K;C) of continuous functions with support contained in K, for the topology of uniform convergence; whence the relation (2) in this case.
Let us pass to the general case. It is clear that μ∗(g)≤μ∗(f) for every function g∈H. By Def. 1, it all comes down to showing that, for every function ψ∈K+ such that ψ≤f,
μ(ψ)≤g∈Hsupμ∗(g).
For every function g∈H, let Φg be the set of functions φ∈K+ such that φ≤g, and let Φ be the union of the sets Φg as g runs over H; since H is directed, so is Φ, and f=supφ∈Φφ. Since ψ≤f, ψ is the upper envelope of the set of functions inf(ψ,φ) as φ runs over Φ; but since ψ and the functions inf(ψ,φ) belong to K+, the first part of the proof shows that μ(ψ)=supφ∈Φμ(inf(ψ,φ)). Now, each φ∈Φ belongs to a set Φg, therefore
μ(inf(ψ,φ))≤μ(φ)≤μ∗(g)≤g∈Hsupμ∗(g),
from which it follows at once that μ(ψ)≤supg∈Hμ∗(g). We have thus proved that μ∗(f)=supg∈Hμ∗(g); the relation μ∗(f)=limg∈Hμ∗(g) is then a consequence of the monotone limit theorem (GT, IV, §5, No. 2, Th. 2).
Theorem 2
If f1 and f2 are two functions in I+ then
μ∗(f1+f2)=μ∗(f1)+μ∗(f2).
As φ1 (resp. φ2) runs over the set of functions in K+ such that φ1≤f1 (resp. φ2≤f2), the functions φ1+φ2 form a directed set (for ≤) whose upper envelope is f1+f2. Therefore, by Th. 1,
μ∗(f1+f2)=supμ(φ1+φ2)=sup(μ(φ1)+μ(φ2)),
where (φ1,φ2) runs over the set of pairs of functions in K+ such that φ1≤f1 and φ2≤f2; since
sup(μ(φ1)+μ(φ2))=supμ(φ1)+supμ(φ2)
(GT, IV, §5, No. 7, Cor. 2 of Prop. 12), the theorem is proved.
Proposition 3
— For every family (fι)ι∈I of functions in J+,
μ∗(ι∈I∑fι)=ι∈I∑μ∗(fι).
For every finite subset J of I, it follows from Th. 2 (by induction on the number of elements of J) that μ∗(∑ι∈Jfι)=∑ι∈Jμ∗(fι); as J runs over the set of finite subsets of I, the functions gJ=∑ι∈Jfι belong to J+ and form a directed set for the relation ≤, whose upper envelope is the function ∑ι∈Ifι; the proposition therefore follows from Th. 1.
Proposition 4
— Let f be a function in J+. The mapping μ↦μ∗(f) of the set M+(X) of positive measures on X, into the extended real line R, is lower semi-continuous for the vague topology on M+(X) (Ch. III, §1, No. 9).
For, this mapping is by definition the upper envelope of the mappings μ↦μ(g), where g runs over the set of functions in K+ such that g≤f; and by definition of the vague topology, the mappings μ↦μ(g) are continuous on M(X).
2. Outer measure of an open set
Given an open set G⊂X, its characteristic function φG is lower semi-continuous on X (GT, IV, §6, No. 2, Cor. of Prop. 1). We may therefore make the following definition:
Definition 2
— Given a positive measure μ on X, for every open set G⊂X the upper integral μ∗(φG) is called the outer measure of G and is denoted μ∗(G).
The outer measure of an open set G is thus a number ≥0, finite or equal to +∞. Clearly μ∗(∅)=0. Moreover, μ∗(X)=∥μ∥, as is shown by formula (22) of Ch. III, §1, No. 8.
Proposition 5
— The outer measure of a relatively compact open set G is finite.
For, there exists in this case a function f∈K+ such that φG≤f (Ch. III, §1, No. 2, Lemma 1), whence
μ∗(G)=μ∗(φG)≤μ∗(f)=μ(f)<+∞.
An open set of finite outer measure is not always relatively compact (Exer. 3).
Proposition 6
— If G₁ and G₂ are two open sets such that G₁ ⊂ G₂, then μ*(G₁) ≤ μ*(G₂). For, the relation G₁ ⊂ G₂ is equivalent to φG₁ ≤ φG₂.
Proposition 7
— Let B be a set of open subsets of X that is directed for the relation ⊂; *then
μ∗(G∈B⋃G)=G∈Bsupμ∗(G).
The functions φ_G form a directed set (for ≤) in I+ and their upper envelope is the characteristic function of the union of the sets G ∈ B; the proposition is thus a consequence of Th. 1.
Proposition 8
— Let (G_ι)_{ι \in I} *be any family of open sets; then
μ∗(ι∈I⋃Gι)≤ι∈I∑μ∗(Gι).
Moreover, if the G_ι are pairwise disjoint then
μ∗(ι∈I⋃Gι)=ι∈I∑μ∗(Gι).
For, if G = ⋃ι∈IGι then φ_G = sup_{ι \in I} φ_{G_ι} ≤ ∑ι∈IφGι; when the G_ι are pairwise disjoint, φ_G = ∑ι∈IφGι; the proposition is therefore a consequence of Props. 2 and 3.
Example
— Let X = \mathbf{R} and let μ be Lebesgue measure on \mathbf{R} (Ch. III, §1, No. 3); we are going to determine the outer measure of an open interval G = ]a, b[ (−∞ ≤ a < b ≤ +∞). Suppose first that a and b are finite. For every function f in K+ such that f ≤ φ_G, we have, by the theorem of the mean (FRV, II, §1, No. 5, Prop. 6),
∫−∞+∞f(x)dx=∫abf(x)dx≤b−a,
whence μ∗(G)≤b−a. On the other hand, for every ε>0 there exists a function f∈K+ such that f≤φG and f(x)=1 for a+ε≤x≤b−ε, whence μ∗(G)≥b−a−2ε; since ε is arbitrary, μ∗(G)=b−a; in other words, the outer measure of G is equal to its length. This result extends at once to the case that G is an unbounded open interval, since it then contains bounded open intervals of arbitrarily large length; thus μ∗(G)=+∞ in this case.
Now let G be any open set in R; G is the union of a countable set (finite or infinite) of pairwise disjoint open intervals ]ak,bk[ (GT, IV, §2, No. 5, Prop. 2), consequently
μ∗(G)=k∑(bk−ak)
(Prop. 8); in other words:
Proposition 9
For Lebesgue measure on R, the outer measure of an open set in R is equal to the sum of the lengths of its connected components.
Note in particular that if G is an open set in R such that μ∗(G)=0, then G is empty.
3. Upper integral of a positive function
For every numerical function f≥0 (finite or not) defined on X, there exist functions h∈I+ such that f≤h, if none other then the constant +∞.
Definition 3
Let μ be a positive measure on X; for every numerical function f≥0 (finite or not) defined on X, the positive number
μ∗(f)=h≥f,h∈I+infμ∗(h)
(*finite or equal to +∞) is called the upper integral of f (with respect to μ).
When f∈I+, the number μ∗(f) thus defined is equal to the upper integral defined in Def. 1, since μ∗ is increasing in I+.
In place of the notation μ∗(f), we shall also employ the notations ∫∗fdμ, ∫∗f(x)dμ(x), ∫∗fμ and ∫∗f(x)μ(x).
Example
— If X is a discrete space, μ a positive measure on X, and if one sets α(x)=μ(φ{x}), then μ∗(f)=∑x∈Xα(x)f(x) for every numerical function f≥0 defined on X, since such a function is continuous (No. 1, Example).
Proposition 10
— *If f and g are two numerical functions ⩾0 defined on X such that f⩽g, then μ∗(f)⩽μ∗(g).
Proposition 11
— *For every finite real number α>0 and every numerical function f⩾0 defined on X,
μ∗(αf)=αμ∗(f).
Proposition 12
— *If f1 and f2 are two numerical functions ⩾0 defined on X, then
μ∗(f1+f2)⩽μ∗(f1)+μ∗(f2).
For every function h1∈I+ such that f1⩽h1 and every function h2∈I+ such that f2⩽h2, we have, by Th. 2,
μ∗(f1+f2)⩽μ∗(h1+h2)=μ∗(h1)+μ∗(h2), whence (GT, IV, §5, No. 7, Cor. 2 of Prop. 12)
μ∗(f1+f2)⩽h1⩾f1,h1∈I+infμ∗(h1)+h2⩾f2,h2∈I+infμ∗(h2), which is none other than the inequality (9).
Props. 10, 11 and 12 express that μ∗ is an increasing, positively homogeneous and convex function on the set of numerical functions ⩾0 defined on X (Ch. I, No. 1). Note that if f1 and f2 are any two positive functions, the two members of (9) are not necessarily equal (§ 4, Exer. 8 d)); in §5, No. 6 we shall give conditions under which equality holds.
Theorem 3
— *For every increasing sequence (fn) of numerical functions ⩾0 defined on X,
μ∗(nsupfn)=nsupμ∗(fn).
Since each of the functions fn is less than or equal to supnfn, everything comes down to proving that μ∗(supnfn)⩽supnμ∗(fn); this is obvious if the second member of the inequality is +∞. In the contrary case, μ∗(fn)<+∞ for all n; we are going to show that, for every ε>0, there exists an increasing sequence (gn) of functions in I+ such that fn⩽gn and μ∗(gn)⩽μ∗(fn)+ε. If g is the upper envelope of the sequence (gn), we will then have μ∗(g)=supnμ∗(gn) (No. 1, Th. 1), whence μ∗(g)⩽supμ∗(fn)+ε; since supfn⩽g and ε is arbitrary, the theorem will then have been proved.
By hypothesis, there exists a function hn∈J+ such that fn≤hn and μ∗(fn)≤μ∗(hn)≤μ∗(fn)+ε/2n; let us show that the functions gn=sup(h1,h2,…,hn) meet the requirements. They belong to J+, form an increasing sequence, and satisfy fn≤gn for all n; we shall prove that
μ∗(gn)≤μ∗(fn)+ε(1−2n1).
Let us argue by induction on n; the case n=1 is trivial. On the other hand gn+1=sup(gn,hn+1), gn≥fn and hn+1≥fn+1≥fn, whence inf(gn,hn+1)≥fn; since
inf(gn,hn+1)+sup(gn,hn+1)=gn+hn+1,
it follows from Th. 2 of No. 1 that
μ∗(gn+1)=μ∗(gn)+μ∗(hn+1)−μ∗(inf(gn,hn+1))≤μ∗(gn)+μ∗(hn+1)−μ∗(fn)≤μ∗(fn+1)+ε(1−2n1)+2n+1ε=μ∗(fn+1)+ε(1−2n+11).
Q.E.D.
Corollary
— Let F be a set of numerical functions ≥0, directed for the relation ≤, such that there exists a countable cofinal subset G of F (S, III, §1, No. 7); then
μ∗(f∈Fsupf)=f∈Fsupμ∗(f).
For, there exists an increasing sequence of functions in G having the same upper envelope as F: if (fn) is the sequence of functions of G, arranged in any order, let (fnk) be a subsequence defined recursively by the conditions n1=1, fnk+1≥sup(fnk,fk); it is clear that this subsequence has the indicated properties.
Proposition 13
For every sequence* (fn) of numerical functions ⩾0 defined on X,
μ∗(n=1∑∞fn)⩽n=1∑∞μ∗(fn).
It suffices to apply the relation (10) to the increasing sequence of functions gn=∑k=1nfk while taking into account that, by (9),
μ∗(gn)⩽k=1∑nμ∗(fk).
In §5, No. 6, we will give conditions under which the two members of (12) are equal.
Proposition 14 (Fatou’s lemma)
— For every sequence (fn) of numerical functions ⩾0,
μ∗(n→∞liminffn)⩽n→∞liminfμ∗(fn).
For every integer n, set gn=infp⩾0fn+p; the sequence (gn) is increasing and liminfn→∞fn=supngn, whence, by (10),
μ∗(n→∞liminffn)=nsupμ∗(gn);
but since gn⩽fn+p for p⩾0, we have μ∗(gn)⩽μ∗(fn+p), whence μ∗(gn)⩽infp⩾0μ∗(fn+p) and finally
μ∗(n→∞liminffn)⩽nsup(p⩾0infμ∗(fn+p))=n→∞liminfμ∗(fn).
Corollary
Let* (fn) be a sequence of numerical functions ⩾0 such that, for every x∈X, limn→∞fn(x)=+∞. If μ is not the zero measure, then limn→∞μ∗(fn)=+∞.
If f0 is the constant function equal to +∞, then f0 is the upper envelope of all the functions of K+, and, since μ=0, we have μ∗(f0)>0; but since f0=αf0 for every α>0, necessarily μ∗(f0)=+∞ (Prop. 11). The inequality (13) then shows that μ∗(fn) tends to +∞ with n.
Proposition 15
For every scalar α>0 and every pair of positive measures μ,ν on X,
(αμ)∗=αμ∗
(μ+ν)∗=μ∗+ν∗.
Moreover, the relation μ≤ν implies μ∗≤ν∗.
Let us prove the relation (15). Set λ=μ+ν; thus λ(f)=μ(f)+ν(f) for f∈K+; for f∈J+, the value of λ∗(f) (resp. μ∗(f), ν∗(f)) is the limit of λ(g) (resp. μ(g), ν(g)) as g runs over the directed set (for ≤) of all g∈K+ such that g≤f; therefore λ∗(f)=μ∗(f)+ν∗(f). Finally, if f is any function ≥0 defined on X, then λ∗(f) (resp. μ∗(f), ν∗(f)) is the limit of λ∗(h) (resp. μ∗(h), ν∗(h)) as h runs over the directed set (for ≥) of all functions h∈J+ such that h≥f; again, by passage to the limit, we therefore have λ∗(f)=μ∗(f)+ν∗(f), which proves (15). The relation (14) is established similarly. Finally, if μ≤ν one can write ν=μ+(ν−μ), where ν−μ≥0, therefore ν∗=μ∗+(ν−μ)∗, which shows that μ∗≤ν∗.
4. Outer measure of an arbitrary set
Definition 4
Let μ be a positive measure on X; for every subset A of X, the upper integral μ∗(φA) is called the outer measure of A (with respect to the measure μ) and is denoted μ∗(A).
The outer measure of a set is thus a number ≥0, finite or equal to +∞, that, for an open set, coincides with the outer measure defined in Def. 2 of No. 2.
Proposition 16
If A and B are two subsets of X such that A⊂B, then μ∗(A)≤μ∗(B).
Corollary
Every relatively compact set in X has finite outer measure.
For, such a set is contained in a relatively compact open set (GT, I, §9, No. 7, Prop. 10), whose outer measure is finite (No. 2, Prop. 5).
Proposition 17
— If (An) is an increasing sequence of subsets of X, then μ∗(⋃nAn)=supnμ∗(An).
Proposition 18
— For every sequence (An) of subsets of X,
μ∗(n⋃An)≤n∑μ∗(An).
These propositions are the translations of Props. 10 and 13 and of Th. 3 of No. 3 for characteristic functions of sets.
Proposition 19
— For every subset A of X, μ∗(A) is the infimum of the outer measures of the open sets containing A.
The proposition is obvious if μ∗(A)=+∞. In the contrary case, for every ε such that 0<ε<1, there exists a function f∈J+ such that φA≤f and μ∗(A)≤μ∗(f)≤μ∗(A)+ε. Let G be the set of x∈X such that f(x)>1−ε. Since f is lower semi-continuous, G is open (GT, IV, §6, No. 2, Prop. 1) and contains A; on the other hand f≥(1−ε)φG, whence
μ∗(G)≤1−ε1μ∗(f)≤1−ε1(μ∗(A)+ε);
since ε is arbitrary, we see that μ∗(G) differs as little as we please from μ∗(A), whence the proposition.
Exercises
See the exercises for § 1.