Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Jose De Dona
September 2004
Outline
1
Convex Sets
Definition of a Convex Set
Examples of Convex Sets
Convex Cones
Supporting Hyperplane
Separation of Disjoint Convex Sets
Convex Functions
Definition of a Convex Function
Properties of Convex Functions
Convexity of Level Sets
Continuity of Convex Functions
Convex Analysis
Convex Sets
We have the following definition of a convex set.
Definition (Convex Set)
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(a) Convex
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(b) Nonconvex
Convex Cones
Some of the geometric optimality conditions that we will study use
convex cones.
Definition (Convex Cone)
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Convex cone
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Nonconvex cone
Centre of Complex Dynamic
Systems and Control
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Convex set
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Nonconvex set
Centre of Complex Dynamic
Systems and Control
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Separation
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Strong separation
Centre of Complex Dynamic
Systems and Control
p 0
Letting = p t x , we have:
p t x , x S , and
p t y = p t y p t x = (y x )t (y x )
= y x 2 > 0 p t y > .
S
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Supporting Hyperplane
Definition (Supporting Hyperplane at a Boundary Point)
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Supporting Hyperplane
A convex set has a supporting hyperplane at each boundary point.
Theorem (Supporting Hyperplane)
Convex Functions
We will present some properties of convex functions, beginning
with their definition.
Definition (Convex Function)
Convex Functions
The geometric interpretation of a convex function is that the value
of f at the point x1 + (1 )x2 is less than the height of the chord
joining the points [x1 , f (x1 )] and [x2 , f (x2 )]. For a concave function,
the chord is below the function itself.
f
f
f
x1 x1 +(1)x2 x2
Convex function
x1 x1 +(1)x2 x2
Concave function
x1
x2
Neither convex
nor concave
Proof.
Let x1 , x2 S S . Thus, f (x1 ) and f (x2 ) . Let (0, 1)
and x = x1 + (1 )x2 S (S convex). By convexity of f ,
f (x ) f (x1 ) + (1 )f (x2 ) + (1 ) = .
Hence, x S , and we conclude that S is convex.
Centre of Complex Dynamic
Systems and Control
x 2 for | x |< 1
f (x ) =
2 for | x |= 1
Obviously, f is convex over S , but is
continuous only on the interior of S .
-1
Quasiconvex Functions
From the above definition, a function f is quasiconvex if, whenever
f (x2 ) f (x1 ), f (x2 ) is greater than or equal to f at all convex
combinations of x1 and x2 . Hence, if f increases locally from its
value at a point along any direction, it must remain nondecreasing
in that direction. The figure shows some examples of quasiconvex
and quasiconcave functions.
(a)
(b)
(c)
Note from the above definition that a convex function is also strictly
quasiconvex.
(a)
(b)
(c)
Pseudoconvex Functions
We will next introduce another type of function that generalises the
concept of a convex function, called a pseudoconvex function.
Pseudoconvex functions share the property of convex functions
that, if f (x ) = 0 at some point x , then x is a global minimum of f .
Definition (Pseudoconvex Function)
Pseudoconvex Functions
Note that the definition asserts that if the directional derivative of a
pseudoconvex function at any point x1 in the direction x2 x1 is
nonnegative, then the function values are nondecreasing in that
direction.
The figure shows examples of pseudoconvex and pseudoconcave
functions.
Inflection point
(a)
(b)
(c)
Strictly
quasiconvex
Under lower
semicontinuity
Quasiconvex
Convexity at a Point
Convexity at a Point
Convexity at a Point
Definition (Various Types of Convexity at a Point)
Strict quasiconvexity at a point. The function f is strictly
quasiconvex at x S if
f (x + (1 )x ) < max {f (x ), f (x )} for each (0, 1)
and each x S such that f (x ) f (x ).
Pseudoconvexity at a point. Suppose f is differentiable at
x int S. Then f is pseudoconvex at x if
f (x )(x x ) 0 for x S implies that f (x ) f (x ).
Strict pseudoconvexity at a point. Suppose f is differentiable at
x int S. Then f is strictly pseudoconvex at x if
implies that
f (x )(x x ) 0 for x S , x x,
f (x ) > f (x ).
Convexity at a Point
The figure illustrates some types of convexity at a point.
x2
x1
(a)
f
(b) f is both pseudoconvex and strictly
pseudoconvex at x1 ; f is pseudoconvex
but not strictly pseudoconvex at x2 .
x2
x1
(b)