In
mathematical analysis
Analysis is the branch of mathematics dealing with continuous functions, limit (mathematics), limits, and related theories, such as Derivative, differentiation, Integral, integration, measure (mathematics), measure, infinite sequences, series ( ...
, Fubini's theorem characterizes the conditions under which it is possible to compute a
double integral
In mathematics (specifically multivariable calculus), a multiple integral is a definite integral of a function of several real variables, for instance, or .
Integrals of a function of two variables over a region in \mathbb^2 (the Real line, r ...
by using an
iterated integral. It was introduced by
Guido Fubini
Guido Fubini (19 January 1879 – 6 June 1943) was an Italian mathematician, known for Fubini's theorem and the Fubini–Study metric.
Life
Born in Venice, he was steered towards mathematics at an early age by his teachers and his father, ...
in 1907. The theorem states that if a function is
Lebesgue integrable on a rectangle
, then one can evaluate the double integral as an iterated integral:
This formula is generally not true for the
Riemann integral
In the branch of mathematics known as real analysis, the Riemann integral, created by Bernhard Riemann, was the first rigorous definition of the integral of a function on an interval. It was presented to the faculty at the University of Gö ...
, but it is true if the function is continuous on the rectangle. In
multivariable calculus
Multivariable calculus (also known as multivariate calculus) is the extension of calculus in one variable to calculus with functions of several variables: the differentiation and integration of functions involving multiple variables ('' mult ...
, this weaker result is sometimes also called Fubini's theorem, although it was already known by
Leonhard Euler
Leonhard Euler ( ; ; ; 15 April 170718 September 1783) was a Swiss polymath who was active as a mathematician, physicist, astronomer, logician, geographer, and engineer. He founded the studies of graph theory and topology and made influential ...
.
Tonelli's theorem, introduced by
Leonida Tonelli
Leonida Tonelli (19 April 1885 – 12 March 1946) was an Italian people, Italian mathematician, noted for proving Fubini's theorem#Tonelli's theorem for non-negative measurable functions, Tonelli's theorem, a variation of Fubini's theorem, and f ...
in 1909, is similar but is applied to a non-negative
measurable function
In mathematics, and in particular measure theory, a measurable function is a function between the underlying sets of two measurable spaces that preserves the structure of the spaces: the preimage of any measurable set is measurable. This is in ...
rather than to an integrable function over its domain. The Fubini and Tonelli theorems are usually combined and form the Fubini-Tonelli theorem, which gives the conditions under which it is possible to switch the
order of integration in an iterated integral.
A related theorem is often called Fubini's theorem for infinite series, although it is due to
Alfred Pringsheim
Alfred Pringsheim (2 September 1850 – 25 June 1941) was a German mathematician and patron of the arts. He was the father-in-law of the author and Nobel Prize winner Thomas Mann.
Family and academic career
Pringsheim was born in Ohlau, Prov ...
. It states that if
is a double-indexed sequence of real numbers, and if
is absolutely convergent, then
:
Although Fubini's theorem for infinite series is a special case of the more general Fubini's theorem, it is not necessarily appropriate to characterize the former as being proven by the latter because the properties of measures needed to prove Fubini's theorem proper, in particular subadditivity of measure, may be proven using Fubini's theorem for infinite series.
History
A special case of Fubini's theorem for continuous functions on the product of closed, bounded subsets of real vector spaces was known to
Leonhard Euler
Leonhard Euler ( ; ; ; 15 April 170718 September 1783) was a Swiss polymath who was active as a mathematician, physicist, astronomer, logician, geographer, and engineer. He founded the studies of graph theory and topology and made influential ...
in the 18th century. In 1904,
Henri Lebesgue
Henri Léon Lebesgue (; ; June 28, 1875 – July 26, 1941) was a French mathematician known for his Lebesgue integration, theory of integration, which was a generalization of the 17th-century concept of integration—summing the area between an ...
extended this result to bounded measurable functions on a product of intervals. Levi conjectured that the theorem could be extended to functions that are integrable rather than bounded and this was proven by Fubini in 1907. In 1909, Leonida Tonelli gave a variation of the Fubini theorem that applies to non-negative functions rather than integrable functions.
Product measures
If
and ''
'' are
measure space
A measure space is a basic object of measure theory, a branch of mathematics that studies generalized notions of volumes. It contains an underlying set, the subsets of this set that are feasible for measuring (the -algebra) and the method that ...
s, there are several natural ways to define a
product measure
In mathematics, given two measurable spaces and measures on them, one can obtain a product measurable space and a product measure on that space. Conceptually, this is similar to defining the Cartesian product of sets and the product topology o ...
on the product
.
In
the sense of category theory, measurable sets in the product
of measure spaces are the elements of the
σ-algebra
In mathematical analysis and in probability theory, a σ-algebra ("sigma algebra") is part of the formalism for defining sets that can be measured. In calculus and analysis, for example, σ-algebras are used to define the concept of sets with a ...
generated by the products
, where
is measurable in
and
is measurable in
.
A measure ''μ'' on ''X'' × ''Y'' is called a product measure if ''μ''(''A'' × ''B'') = ''μ''
1(''A'')''μ''
2(''B'') for measurable subsets ''A'' ⊂ ''X'' and ''B'' ⊂ ''Y'' and measures ''μ''
1 on ''X'' and ''μ''
2 on ''Y''. In general, there may be many different product measures on ''X'' × ''Y''. Fubini's theorem and Tonelli's theorem both require technical conditions to avoid this complication; the most common approach is to assume that all measure spaces are
σ-finite, in which case there is a unique product measure on ''X''×''Y''. There is always a unique maximal product measure on ''X'' × ''Y'', where the measure of a measurable set is the
inf of the measures of sets containing it that are countable unions of products of measurable sets. The maximal product measure can be constructed by applying
Carathéodory's extension theorem to the additive function μ such that ''μ''(''A'' × ''B'') = ''μ''
1(''A'')''μ''
2(''B'') on the ring of sets generated by products of measurable sets. (Carathéodory's extension theorem gives a measure on a measure space that in general contains more measurable sets than the measure space ''X'' × ''Y'', so strictly speaking, the measure should be restricted to the
σ-algebra
In mathematical analysis and in probability theory, a σ-algebra ("sigma algebra") is part of the formalism for defining sets that can be measured. In calculus and analysis, for example, σ-algebras are used to define the concept of sets with a ...
generated by the products ''A'' × ''B'' of measurable subsets of ''X'' and ''Y''.)
The product of two
complete measure space
In mathematics, a complete measure (or, more precisely, a complete measure space) is a measure space in which every subset of every null set is measurable (having measure zero). More formally, a measure space (''X'', Σ, ''μ'') is compl ...
s is not usually complete. For example, the product of the
Lebesgue measure
In measure theory, a branch of mathematics, the Lebesgue measure, named after French mathematician Henri Lebesgue, is the standard way of assigning a measure to subsets of higher dimensional Euclidean '-spaces. For lower dimensions or , it c ...
on the unit interval ''I'' with itself is not the Lebesgue measure on the square ''I'' × ''I''. There is a variation of Fubini's theorem for complete measures, which uses the completion of the product of measures rather than the uncompleted product.
For integrable functions
Suppose ''X'' and ''Y'' are
σ-finite measure spaces and suppose that ''X'' × ''Y'' is given the product measure (which is unique as ''X'' and ''Y'' are σ-finite). Fubini's theorem states that if ''f'' is ''X'' × ''Y'' integrable, meaning that ''f'' is a
measurable function
In mathematics, and in particular measure theory, a measurable function is a function between the underlying sets of two measurable spaces that preserves the structure of the spaces: the preimage of any measurable set is measurable. This is in ...
and
then
The first two integrals are iterated integrals with respect to two measures, respectively, and the third is an integral with respect to the product measure. The partial integrals
and
need not be defined everywhere, but this does not matter as the points where they are not defined form a set of measure 0.
If the above integral of the absolute value is not finite, then the two iterated integrals may have different values. See
below for an illustration of this possibility.
The condition that ''X'' and ''Y'' are σ-finite is usually harmless because almost all measure spaces for which one wishes to use Fubini's theorem are σ-finite.
Fubini's theorem has some rather technical extensions to the case when ''X'' and ''Y'' are not assumed to be σ-finite . The main extra complication in this case is that there may be more than one product measure on ''X''×''Y''. Fubini's theorem continues to hold for the maximal product measure but can fail for other product measures. For example, there is a product measure and a non-negative measurable function ''f'' for which the double integral of , ''f'', is zero but the two iterated integrals have different values; see the section on counterexamples below for an example of this. Tonelli's theorem and the Fubini–Tonelli theorem (stated below) can fail on non σ-finite spaces, even for the maximal product measure.
Tonelli's theorem for non-negative measurable functions
, named after
Leonida Tonelli
Leonida Tonelli (19 April 1885 – 12 March 1946) was an Italian people, Italian mathematician, noted for proving Fubini's theorem#Tonelli's theorem for non-negative measurable functions, Tonelli's theorem, a variation of Fubini's theorem, and f ...
, is a successor of Fubini's theorem. The conclusion of Tonelli's theorem is identical to that of Fubini's theorem, but the assumption that
has a finite integral is replaced by the assumption that
is a non-negative measurable function.
Tonelli's theorem states that if
and
are
σ-finite measure spaces, while
is a non-negative measurable function, then
A special case of Tonelli's theorem is in the interchange of the summations, as in
, where
are non-negative for all ''x'' and ''y''. The crux of the theorem is that the interchange of order of summation holds even if the series diverges. In effect, the only way a change in order of summation can change the sum is when there exist some subsequences that diverge to
and others diverging to
. With all elements non-negative, this does not happen in the stated example.
Without the condition that the measure spaces are σ-finite, all three of these integrals can have different values. Some authors give generalizations of Tonelli's theorem to some measure spaces that are not σ-finite, but these generalizations often add conditions that immediately reduce the problem to the σ-finite case. For example, one could take the σ-algebra on ''A'' × ''B'' to be that generated by the product of subsets of finite measure, rather than that generated by all products of measurable subsets, though this has the undesirable consequence that the projections from the product to its factors ''A'' and ''B'' are not measurable. Another way is to add the condition that the support of ''f'' is contained in a countable union of products of sets of finite measures. gives some rather technical extensions of Tonelli's theorem to some non σ-finite spaces. None of these generalizations have found any significant applications outside of abstract measure theory, largely because almost all measure spaces of practical interest are σ-finite.
Fubini–Tonelli theorem
Combining Fubini's theorem with Tonelli's theorem gives the Fubini–Tonelli theorem. Often just called Fubini's theorem, it states that if
and
are
σ-finite measure
In mathematics, given a positive or a signed measure \mu on a measurable space (X, \mathcal F), a \sigma-finite subset is a measurable subset which is the union of a countable number of measurable subsets of finite measure. The measure \mu is ca ...
spaces, and if
is a measurable function, then
Furthermore, if any one of these integrals is finite, then
The absolute value of
in the conditions above can be replaced by either the positive or the negative part of
; these forms include Tonelli's theorem as a special case as the negative part of a non-negative function is zero and so has finite integral. Informally, all these conditions say that the double integral of
is well defined, though possibly infinite.
The advantage of the Fubini–Tonelli over Fubini's theorem is that the repeated integrals of
may be easier to study than the double integral. As in Fubini's theorem, the single integrals may fail to be defined on a measure 0 set.
For complete measures
The versions of Fubini's and Tonelli's theorems above do not apply to integration on the product of the real line
with itself with Lebesgue measure. The problem is that Lebesgue measure on
is not the product of Lebesgue measure on
with itself, but rather the completion of this: a product of two complete measure spaces
and
is not in general complete. For this reason, one sometimes uses versions of Fubini's theorem for complete measures: roughly speaking, one replaces all measures with their completions. The various versions of Fubini's theorem are similar to the versions above, with the following minor differences:
*Instead of taking a product
of two measure spaces, one takes the completion of the product.
*If
is measurable on the completion of
then its restrictions to vertical or horizontal lines may be non-measurable for a measure zero subset of lines, so one has to allow for the possibility that the vertical or horizontal integrals are undefined on a set of measure 0 because they involve integrating non-measurable functions. This makes little difference, because they can already be undefined due to the functions not being integrable.
*One generally also assumes that the measures on
and
are complete, otherwise the two partial integrals along vertical or horizontal lines may be well-defined but not measurable. For example, if
is the characteristic function of a product of a measurable set and a non-measurable set contained in a measure 0 set then its single integral is well defined everywhere but non-measurable.
Proofs
Proofs of the Fubini and Tonelli theorems are necessarily somewhat technical, as they have to use a hypothesis related to σ-finiteness. Most proofs involve building up to the full theorems by proving them for increasingly complicated functions, with the steps as follows.
# Use the fact that the measure on the product is multiplicative for rectangles to prove the theorems for the characteristic functions of rectangles.
# Use the condition that the spaces are σ-finite (or some related condition) to prove the theorem for the characteristic functions of measurable sets. This also covers the case of simple measurable functions (measurable functions taking only a finite number of values).
# Use the condition that the functions are measurable to prove the theorems for positive measurable functions by approximating them by simple measurable functions. This proves Tonelli's theorem.
# Use the condition that the functions are integrable to write them as the difference of two positive integrable functions and apply Tonelli's theorem to each of these. This proves Fubini's theorem.
Riemann integrals
For
Riemann integral
In the branch of mathematics known as real analysis, the Riemann integral, created by Bernhard Riemann, was the first rigorous definition of the integral of a function on an interval. It was presented to the faculty at the University of Gö ...
s, Fubini's theorem is proven by refining the partitions along the x-axis and y-axis as to create a joint partition of the form