Journal of Mathematical Analysis and Applications 232, 1᎐19 Ž1999. Article ID jmaa.1998.6215, available online at http:rrwww.idealibrary.com on The Vector Measures Whose Range Is Strictly Convex Stefano Bianchini Scuola Internazionale Superiore di Studi A¨ anzati (S.I.S.S.A.), ¨ ia Beirut 2r4, 34013 Trieste, Italy E-mail: [email protected] and C. Mariconda Uni¨ ersita degli Studi di Pado¨ a, Dipartimento di Matematica Pura e Applicata, ¨ ia Belzoni 7, 35131 Pado¨ a, Italy E-mail: [email protected] Submitted by Dorothy Maharam Stone Received January 15, 1998 Let be a measure on a measure space Ž X, ⌳ . with values in ⺢ n and f be the density of with respect to its total variation. We show that the range RŽ . s Ž E . : E g ⌳4 of is strictly convex if and only if the determinant detw f Ž x 1 ., . . . , f Ž x n .x is nonzero a.e. on X n. We apply the result to a class of measures containing those that are generated by Chebyshev systems. 䊚 1999 Academic Press Key Words: Chebyshev measure; Chebyshev system; Exposed point; Strictly convex; Lyapunov; Range of a vector measure. 1. INTRODUCTION Let : Ž X, ⌳ . ª ⺢ n be a nonatomic vector measure. A theorem of Lyapunov w15x states that its range RŽ . s Ž E . : E g ⌳4 is closed and convex. In w5, 7x the authors, motivated from the study of some bang᎐bang 1991 Mathematics Subject Classification. Primary: 46G10, 52A20, 28B05. Secondary: 28A35, 41A50. We warmly thank R. Cerf and the referee for having carefully read the manuscript and for their useful remarks; C. M. wishes to thank G. Colombo for his helpful advices on measurable multifunctions. 1 0022-247Xr99 $30.00 Copyright 䊚 1999 by Academic Press All rights of reproduction in any form reserved. 2 BIANCHINI AND MARICONDA control problems, were led to introduce a broad class of measures, Chebyshev measures, whose range is strictly convex. Their definition involves a signed measure det defined on the product space Ž X n, ⌳mn . by the relation ᭙A1 , . . . , A n g ⌳ det Ž A1 = ⭈⭈⭈ = A n . s det Ž A1 . , . . . , Ž A n . , where detw u1 , . . . , u n x denotes the determinant of u1 , . . . , u n . In the simpler case when X s I s w0, 1x and ⌳ coincides with the set L of its Lebesgue measurable subsets the measure is said to be Chebyshev with respect to the Lebesgue measure in w0, 1x if the measure det is strictly positive on the non mn-negligible subsets of ⌫ s Ž x 1 , . . . , x n . g ⺢ n : 0 F x 1 F ⭈⭈⭈ F x n F 14 , mn denoting the n-product measure of . In the case where is absolutely continuous with density g with respect to the above condition is equivalent to the fact that the determinant detw g Ž x 1 ., . . . , g Ž x n .x is strictly positive mn-a.e. in ⌫ i.e. that g is a Chebyshev system Žor T system, following the terminology of w11x.. As it is shown in w7x the range RŽ . of such a measure is strictly convex and contains the origin in its boundary. A peculiar property of a Chebyshev measure is that its range can be described through the values that the measure assumes on the finite union of intervals. It is well known that a compact, convex, centrally symmetric subset of ⺢ 2 containing the origin is the range of a two dimensional measure, i.e. a bidimensional zonoid Žsee w3x.. In w2x the authors show that every strictly convex, compact, centrally symmetric subset of ⺢ 2 Žwith O in its boundary. is the range of a Chebyshev measure. It is then natural to ask whether this result can be in some way extended to greater dimensions and, more generally, to try to characterize the measures whose ranges are strictly convex. The latter question was asked during a workshop to R. Schneider who answered with the following result. THEOREM. w16x RŽ . is strictly con¨ ex if and only if for e¨ ery A such that Ž A. / O there exist A1 , . . . , A n in A such that Ž A1 ., . . . , Ž A n . are linearly independent. It seems difficult however to check whether or not a measure does satisfy these conditions. One of the purposes of this paper is to show that the range of a measure is strictly convex if and only if the density f of with respect to its total variation < < is such that detw f Ž x 1 ., . . . , f Ž x n .x is nonzero a.e. on X n. The latter determinant being the density of det with respect to the product measure < < mn it turns out that RŽ . is strictly convex if and only if the total variation of det is equivalent to < < mn. The main result is obtained via the study of the exposed faces of RŽ .; this allows also to give an alternative simple proof of Schneider’s Theorem. MEASURES WITH A CONVEX RANGE 3 In Section 4 we study some applications of this characterization to Chebyshev measures. First we show that Žagain considering for simplicity the case where X s I and ⌳ s L . is a Chebyshev measure with respect to if and only if the measure det is positive and equivalent to < < mn on ⌫. We improve the main result of w2x showing that if the range of a bidimensional measure is strictly convex and contains the origin in its boundary then not only is RŽ . the range of a suitable Chebyshev measure but is itself a Chebyshev measure. Finally we answer the initial question: when n ) 2 there exist strictly convex zonoids Žwith the origin in the boundary. that are not the range of a Chebyshev measure. Actually the latter have a nonregular boundary. 2. EXTREME POINTS AND EXPOSED POINTS OF THE RANGE OF A MEASURE Notation. By ‘‘⭈’’ we denote the usual scalar product, 5 ⭈ 5 is the euclidean norm in ⺢ n and S ny1 s x g ⺢ n : 5 x 5 s 14 is the unit sphere in ⺢ n ; O is the zero vector in ⺢ n. In what follows X is a set and ⌳ is a algebra of subsets of X. If , 1 , . . . , m are measures on Ž X, ⌳ . we denote by 1 m ⭈⭈⭈ m m Žresp. mm . the m-product measure of 1 , . . . , m Žresp. of . on Ž X m , ⌳mm ., where X m s X = ⭈⭈⭈ = X Ž m times. and ⌳mm is the m-product algebra of ⌳. We set L1 Ž X, ⺢ n . to be the space of the -integrable functions on X with values in ⺢ n. In Sections 2 and 3 we assume that is a nonatomic vector measure on Ž X, ⌳ . with values in ⺢ n ; we will denote by < < its total variation and by f the density of with respect to < <; we recall that f belongs to L1< < Ž X, ⺢ n . and that 5 f 5 s 1 almost everywhere Ža.e.. in X. The range RŽ . of is the subset of ⺢ n defined by RŽ . s Ž E . : E g ⌳4 . Unless the contrary is expressly stated, for A, B in X by A : B we mean that B _ A is < < negligible and by A s B that A : B and B : A, i.e., that < <Ž A^ B . s 0. For a compact convex subset K of ⺢ n and p in S ny1 let hŽ K, p . s max p ⭈ x : x g K 4 ; the supporting hyperplane H Ž K, p . with outer normal ¨ ector p is defined by H Ž K , p. s x g ⺢ n : p ⭈ x s hŽ K , p. 4 and F Ž K, p . s H Ž K, p . l K is the exposed face with outer normal ¨ ector p. We recall that a point x in K is said to be exposed if it coincides with an exposed face, i.e., if there exists p in S ny 1 such that F Ž K, p . s x 4 ; obviously each exposed point of K is an extreme point of K Žbut the converse is not true, see for example w14x.. For p in S ny 1 we introduce the 4 BIANCHINI AND MARICONDA following measurable subsets of X: Dq Ž p . s x g X : p ⭈ f Ž x . ) 0 4 , Dy Ž p . s x g X : p ⭈ f Ž x . - 0 4 , D 0 Ž p . s x g X : p ⭈ f Ž x . s 04 . Lyapunov’s Theorem Žsee for example w15x. states that RŽ . is closed and convex. We describe here the exposed faces of RŽ .. Assume that p belongs to S ny 1 ; then hŽ RŽ ., p . s p ⭈ PROPOSITION 2.1. Ž DqŽ p .. and F Ž R Ž . , p . s Ž E . : E g ⌳ , Dq Ž p . : E : Dq Ž p . j D 0 Ž p . 4 . Proof. For E in ⌳ we have p ⭈ Ž E. s s F HE p ⭈ f Ž x . d < < HElD yŽ p. HElD qŽ p. p ⭈ f Ž x. d< < q HElD p ⭈ f Ž x. d< < F HD qŽ qŽ p. p. p ⭈ f Ž x. d< < p ⭈ f Ž x . d < < s p ⭈ Ž Dq Ž p . . , proving the first part of the claim. Moreover the above inequalities show that, for E in ⌳, the equality p ⭈ Ž E . s p ⭈ Ž DqŽ p .. holds if and only if < <Ž E l DyŽ p .. s 0 and E l DqŽ p . s DqŽ p . or, equivalently, DqŽ p . : E : Dq Ž p . j D 0 Ž p .. COROLLARY 2.2. For p in S ny 1 the exposed face F Ž RŽ ., p . of RŽ . with outer normal ¨ ector p is reduced to a point if and only if < <Ž D 0 Ž p .. s 0. We recall that a compact convex subset of ⺢ n is strictly convex if and only if each of its exposed faces reduces to a point. The above result yields then directly a first characterization of the strict convexity of RŽ .. PROPOSITION 2.3. for each p in S ny 1. RŽ . is strictly con¨ ex if and only if < <Ž D 0 Ž p .. s 0 As an application we give a short alternative proof to Schneider’s characterization of the measures whose range are strictly convex. If 4 g I is a set of vectors in ⺢ n we denote by ² u : g I the vector space spanned by the vectors u . The orthogonal space of a vector space L is denoted by LH . MEASURES WITH A CONVEX RANGE 5 THEOREM 2.4. w16x RŽ . is strictly con¨ ex if and only if for e¨ ery A such that Ž A. / O there exist A1 , . . . , A n in A such that Ž A1 ., . . . , Ž A n . are linearly independent. Proof. Let A be such that Ž A. / O and assume that the vector space L s ² Ž B . : B g ⌳ , B : A: is at most Ž n y 1. dimensional. Then if p belongs to S ny 1 l LH we have ᭙B g ⌳ , B:A« HB p ⭈ f Ž x . d < < s p ⭈ HB f Ž x . d < < s p ⭈ Ž B . s 0 so that A : D 0 Ž p . and, thus, < <Ž D 0 Ž p .. ) 0; Proposition 2.3 implies that RŽ . is not strictly convex. Conversely if RŽ . is not strictly convex by Proposition 2.3 there exists p in S ny 1 satisfying < <Ž D 0 Ž p .. ) 0: let A : D 0 Ž p . be such that Ž A. / O. Then ᭙B g ⌳ , B : A « p ⭈ Ž B. s HB p ⭈ f Ž x . d < < s 0 and, thus, ² Ž B . : B g ⌳, B : A: : ² p :H / ⺢ n. The next result is traditionally obtained from a celebrated Theorem of Olech w12x; we prove it here in an elementary way. PROPOSITION 2.5. Let E, F in ⌳ be such that Ž E . s Ž F . is an extreme point of RŽ .. Then < <Ž E^ F . s 0. Proof. Assume that < <Ž E _ F . ) 0 and let A : E _ F be such that Ž A. / O. Set E1 s E _ A and E2 s F j A. Clearly we have Ž E1 . s Ž E . y Ž A. / Ž E ., Ž E2 . s Ž F . q Ž A. s Ž E . q Ž A. / Ž E . and Ž E . s Ž1r2. Ž E1 . q Ž1r2. Ž E2 ., contradicting the extremality of Ž E .. COROLLARY 2.6. Assume that the origin O is an extreme point of RŽ . and let A in ⌳ be such that Ž A. s O. Then < <Ž A. s 0. Proof. Since Ž A. s O s Ž⭋. is an extreme point of RŽ . then Proposition 2.5 implies that < <Ž A. s < <Ž A^⭋. s 0. As a consequence we obtain the following characterization of the exposed points of RŽ .. PROPOSITION 2.7. For E in ⌳ the point Ž E . is exposed in RŽ . if and only if there exists p in S ny 1 such that E s Dq Ž p . and < <Ž D 0 Ž p .. s 0. Proof. Assume that < <Ž D 0 Ž p .. s 0; then by Proposition 2.1 the exposed face F Ž RŽ ., p . coincides with Ž DqŽ p ..4 so that the latter is an 6 BIANCHINI AND MARICONDA exposed point of RŽ .. Conversely, let E in ⌳ be such that F Ž RŽ ., p . s Ž E .4 for some p in S ny 1. By Corollary 2.2 necessarily we have < <Ž D 0 Ž p .. s 0 and therefore F Ž RŽ ., p . s Ž DqŽ p ..4 so that Ž E . s Ž DqŽ p ... Since Ž E . is an exposed Žand thus extreme. point of RŽ . then Proposition 2.5 yields E s DqŽ p .. COROLLARY 2.8. The origin is an exposed point of RŽ . if and only if there exists p in S ny 1 such that p ⭈ f Ž x . - 0 a.e. on X. Proof. Proposition 2.7 implies that O s Ž⭋. is an exposed point of RŽ . if and only if there exists p in S ny 1 such that Dq Ž p . s ⭋ and < <Ž D 0 Ž p .. s 0. 3. THE MEASURES WHOSE RANGE IS STRICTLY CONVEX The main result of this section stems from Corollary 2.3: it states that the range of is strictly convex if and only if the vectors f Ž x 1 ., . . . , f Ž x n . are linearly independent for a.e. Ž x 1 , . . . , x n . in X n. We introduce the subset ⌺ of X n defined by ⌺ s Ž x 1 , . . . , x n . g X n : det f Ž x 1 . , . . . , f Ž x n . s 0 4 . THEOREM 3.1. RŽ . is strictly con¨ ex if and only if ⌺ is < < mn negligible. Proof. If RŽ . is not strictly convex by Proposition 2.3 there exists p in S ny 1 such that < <Ž D 0 Ž p .. ) 0; since Ž D 0 Ž p .. n : ⌺ then we obtain < < mn Ž ⌺ . G w < <Ž D 0 Ž p ..x n ) 0. We give two proofs of the opposite implication. For each subset S of X n and Ž x 2 , . . . , x n . in X ny 1 let SŽ x 2 , . . . , x n . s x 1 g X : Ž x 1 , . . . , x n . g S 4 be the Ž x 2 , . . . , x n . section of S. First proof. We first show that the set B s Ž x1 , . . . , x n . g X n : f Ž x1 . g ² f Ž x 2 . , . . . , f Ž x n . :4 is measurable. For u1 , . . . , u m in ⺢ n Ž m F n. we denote by < u1 n ⭈⭈⭈ n u m < their Gramian, i.e., the sum of the squares of the minors of order m of the matrix Ž e i ⭈ u j . i, j Žwhere Ž e i . i is the standard basis in ⺢ n .; clearly u1 , . . . , u m are linearly dependent if and only if their Gramian vanishes. For every nonempty subset I s i1 , . . . , i k 4 of Ž2, . . . , n4 let BI be the measurable subsets of B defined by BI s Ž x 1 , . . . , x n . g X n : f Ž x 1 . n f Ž x i1 . n ⭈⭈⭈ n f Ž x i k . < s 0, < f Ž x i . n ⭈⭈⭈ n f Ž x i . </0 4 1 k 7 MEASURES WITH A CONVEX RANGE and set Z s Ž x 1 , . . . , x n . g X n : f Ž x 1 . s ⭈⭈⭈ s f Ž x n . s 04 . Let x s Ž x 1 , . . . , x n . g B: then either x g Z or there exists a subset I of 2, . . . , n4 such that f Ž x i . : i g I 4 is a maximal subset of linearly independent vectors among f Ž x i . : i g 2, . . . , n44 and f Ž x 1 . g ² f Ž x i . : i g I : or, equivalently, x g BI . Thus, B s Z DŽDI : 2, . . . , n4 BI ., proving the claim. Fubini’s theorem gives < < mn Ž ⌺ . s HX ny1 ½H ⌬Ž x2 , . . . , x n. d < < Ž x 1 . d Ž < < Ž x 2 . m ⭈⭈⭈ m < < Ž x n . . . 5 Assume that RŽ . is strictly convex; then Proposition 2.3 yields ᭙ Ž x 2 , . . . , x n . g X ny 1 < < Ž x1 g X : f Ž x1 . g ² f Ž x 2 . , . . . , f Ž x n . :4 . s 0 so that if ⌺ 1 is the Žmeasurable . subset of ⌺ defined by ⌺1 s Ž x 1 , . . . , x n . g ⌺ : f Ž x 1 . f ² f Ž x 2 . , . . . , f Ž x n . : 4 from the above formula we obtain < < mn Ž ⌺ . s HX ny1 ½H ⌬ 1Ž x 2 , . . . , x n . d < < Ž x 1 . d Ž < < Ž x 2 . m ⭈⭈⭈ m < < Ž x n . . 5 and thus Tonelli’s Theorem yields ⌺ s ⌺ 1 < < mn-a.e. Similarly if for i in w2, . . . , n4 we put ⌺i s Ž x1 , . . . , x n . g ⌺ : f Ž x i . f ² f Ž x 1 . , . . . , f Ž x iy1 . , f Ž x iq1 . , . . . , f Ž x n . : 4 the same arguments give ⌺ s ⌺ i < < mn-a.e. As a consequence n ⌺s F ⌺i < < mn-a.e. is1 n Obviously the set Fis1 ⌺ i is empty; the conclusion follows. Second proof. Let g: X ny 1 = S ny 1 ª ⺢ be the map defined by ᭙ Ž y 1 , . . . , yny1 . g X ny 1 ᭙ z g S ny 1 n g Ž Ž y 1 , . . . , yny1 . , z . s Ý Ž z ⭈ f Ž yi . . is2 2 . 8 BIANCHINI AND MARICONDA The function g is measurable in Ž y 1 , . . . , yny1 . and continuous in z: Corollary 6.3 in w10x then implies that the set-valued map G: X ny 1 ª P Ž S ny 1 . defined by G Ž y 1 , . . . , yny1 . s z g S ny 1 : g Ž Ž y 1 , . . . , yny1 . , z . s 0 4 s ² f Ž y 1 . , . . . , f Ž yny1 . :H l S ny1 has a measurable graph: Theorem 5.7 in w10x then yields the existence of a measurable selection p: X ny 1 ª S ny 1 of G, i.e., p is measurable and pŽ y 1 , . . . , yny1 . g GŽ y 1 , . . . , yny1 . a.e. in X ny 1. For i in 1, . . . , n4 let A i be the measurable subset of X n defined by A i s Ž x 1 , . . . , x n . g X n : f Ž x i . ⭈ p Ž x 1 , . . . , x iy1 , x iq1 , . . . , x n . s 0 4 . We claim that ⌺ s Di A i Žmodulo < < mn .. In fact let x s Ž x 1 , . . . , x n . g ⌺: then detw f Ž x 1 ., . . . , f Ž x n .x s 0 so that there exists i such that f Ž x i . g ² f Ž x 1 ., . . . , f Ž x iy1 ., f Ž x iq1 ., . . . , f Ž x n .:; modulo a negligible set the latter vector space is contained in ² pŽ x 1 , . . . , x iy1 , x iq1 , . . . , x n .:H and, thus, x belongs to A i . Conversely let Žfor instance . Ž x 1 , . . . , x n . g A1. Either f Ž x 2 ., . . . , f Ž x n . are linearly independent so that f Ž x 1 . g ² pŽ x 2 , . . . , x n .:H s ² f Ž x 2 ., . . . , f Ž x n .: or f Ž x 2 ., . . . , f Ž x n . are linearly dependent: in both cases we obtain detw f Ž x 1 ., . . . , f Ž x n .x s 0, proving the claim. Assume that < < mn Ž ⌺ . ) 0: then there exists i such that a < < mn Ž A i . ) 0; again without loss of generality we suppose that i s 1. Fubini’s Theorem gives < < mn Ž A1 . s HX ny1 ½H A 1Ž x 2 , . . . , x n . d < < Ž x 1 . d Ž < < Ž x 2 . m ⭈⭈⭈ m < < Ž x n . . 5 so that there exists Ž x 2 , . . . , x n . in X ny 1 such that < <Ž A1Ž x 2 , . . . , x n .. ) 0. Now we have A1Ž x 2 , . . . , x n . s D 0 Ž pŽ x 2 , . . . , x n ..: Proposition 2.3 implies that RŽ . is not strictly convex. The determinant measure det associated to s Ž 1 , . . . , n . was introduced in w7x. It seems natural to use it here. We shall denote by Sn the symmetric group of order n and, for in Sn , by ⑀ Ž . its sign. DEFINITION 3.2. The determinant measure of , denoted by det , is the signed measure defined on Ž X n, ⌳mn . by det s Ý ⑀ Ž . Ž1. m ⭈⭈⭈ m Ž n. . g Sn MEASURES WITH A CONVEX RANGE 9 This is the only measure whose restriction to the product sets A1 = ⭈⭈⭈ = A n satisfy det Ž A1 = ⭈⭈⭈ = A n . s detw Ž A1 ., . . . , Ž A n .x. The next result appears in the proof of w7, Th. 3.4x but is not explicitly stated. PROPOSITION 3.3. The function det f defined on X n by det f Ž x 1 , . . . , x n . s det f Ž x 1 . , . . . , f Ž x n . is the density function of det with respect to < < mn. Proof. Set f s Ž f 1 , . . . , f n .. For any measurable subset A of X n the application of Fubini-Tonelli’s Theorem yields det Ž A . s Ý ⑀ Ž . Ž Ž1. m ⭈⭈⭈ m Ž n. . Ž A . g Sn s HA Ý ⑀ Ž . f Ž1. Ž x 1 . ⭈⭈⭈ f Ž n. Ž x n . d Ž < < Ž x 1 . m ⭈⭈⭈ m < < Ž x n . . HAdet f Ž x 1 . , . . . , f Ž x n . d < < mn Ž x 1 , . . . , x n . . g Sn s The measure det allows us to reformulate Theorem 3.1 in terms of the behavior of < < mn with respect to det . We recall that a vector measure is said to be absolutely continuous with respect to some other signed measure Žboth defined in Ž X, ⌳ .., in symbols < , whenever for A in ⌳ the condition < <Ž A. s 0 implies Ž A. s O. Two positive measures , on X are said to be equivalent if they are absolutely continuous with respect to each other. We will use the fact that if , are finite positive measures and < then is equivalent to if and only if the density of with respect to is strictly positive a.e. on X. THEOREM 3.4. The range of is strictly con¨ ex if and only if < < mn is equi¨ alent to <det < Ž the total ¨ ariation of det .. Proof. Proposition 3.3 together with w1, Ex. 26.10x imply that <det < is absolutely continuous with density <det f < with respect to < < mn. Thus, the condition that <det f < does not vanish in X n is equivalent to the absolute continuity of < < mn with respect to <det <. Theorem 3.1 yields the conclusion. 10 BIANCHINI AND MARICONDA 4. SOME APPLICATIONS TO CHEBYSHEV MEASURES As usual X is a set and ⌳ is a algebra of subsets of X. We consider the following assumption. ASSUMPTION Ž A.. Ž A1 .: M s Ž Mi . i g w0, 1x is an increasing family of measurable sets Ži.e., Mi : M j if i - j . such that M0 s ⭋, M1 s X and is a positive nontrivial bounded measure on Ž X, ⌳ . such that the function i ¬ Ž Mi . is continuous and strictly increasing. Ž A 2 .: is a vector measure on Ž X, ⌳ . with values in ⺢ n and the function i ¬ < <Ž Mi . is continuous. Remark. The existence of such a family implies clearly that both and are nonatomic; conversely if these measures are nonatomic then Lyapunov’s Theorem applied to the vector measure Ž , < <. yields the existence of a family Ž Mi . i g w0, 1x such that Ž Mi . s i Ž X . and < <Ž Mi . s i < <Ž X . for every i Žsee w8x. and, thus, satisfying the assumption Ž A.. The family M induces an order relation $M Žor simply $ when no ambiguity may occur. on X defined by x $M y if there exists i in w0, 1x such that x g Mi and y f Mi . By PM Žor P . we will denote the subset of X n defined by PM s Ž x 1 , . . . , x n . g X n : x 1 $M ⭈⭈⭈ $M x n4 if n ) 1, PM s X if n s 1. We will assume for simplicity that PM is measurable Žin the general case one should replace PM with any of its measurable coverings.. EXAMPLE. If M s Žw0, i x. i g w0, 1x then PM s Ž x 1 , . . . , x n . g w0, 1x n : 0 F x 1 - ⭈⭈⭈ - x n F 14 . Chebyshev measures with respect to and M have been defined in w7x: they are vector measures whose associated determinant measure is strictly positive on the non -negligible subsets of PM . DEFINITION 4.1. The vector measure is a Chebyshe¨ measure with respect to and to the family M Žor simply a T measure or T measure when s < <. if , , M satisfy assumption Ž A. and the measure det verifies ᭙A g ⌳mn l PM , mn Ž A . ) 0 « det Ž A . ) 0. When no ambiguity may occur we shall often omit to mention the dependence with respect to M . Remark. The measure det is absolutely continuous with respect to < < mn ; it follows then directly from the definition that is a T < < measure if and only if det is positive and equivalent to < < mn on PM . Remark. When n s 1 then PM s X for every family of subsets M ; moreover if is a signed measure then det s . Therefore is a T MEASURES WITH A CONVEX RANGE 11 measure whenever it assumes strictly positive values on the non -negligible subsets of X. In particular a positive measure is a T measure if and only if < . It may happen however that is not absolutely continuous with respect to . Let, for instance, be the Lebesgue measure on w0, 1x, E a measurable set such that 0 - Ž E l I . - Ž I . for every nontrivial interval I, be the measure defined by Ž A. s Ž A l E . for every measurable set A and set M s Žw0, i x. i g w0, 1x. Clearly, , , M verify assumption Ž A.; moreover is absolutely continuous with respect to so that is a T measure; however is not absolutely continuous with respect to Ž Žw0, 1x _ E . s 0 whereas Žw0, 1x _ E . s 1 y Ž E . ) 0.. We will use the following result w7, Funny corollary 4.5x. PROPOSITION 4.2. Let be a T measure and A in ⌳ be such that Ž A. s O Ž the origin in ⺢ n .; then Ž A. s 0. In particular is absolutely continuous with respect to < <. Sketch of the proof. Assume that Ž A. ) 0. If is a T measure with respect to a family M s Ž Mi . i of subsets of X then the continuity of the map i ¬ Ž Mi . allows to decompose A as a disjoint union of some non -negligible sets A1 , . . . , A n such that their product A1 = ⭈⭈⭈ = A n is contained in PM . It follows that detw Ž A1 ., . . . , Ž A n .x s det Ž A1 = ⭈⭈⭈ = A n . ) 0 so that the vectors Ž A1 ., . . . , Ž A n . are linearly independent. However O s Ž A. s Ž A1 . q ⭈⭈⭈ qŽ A n ., a contradiction. It follows that if is a T-measure then the map i ¬ < <Ž Mi . is strictly increasing. The term ‘‘Chebyshev’’ arises from the well-known concept of T system Žwhere ‘‘T’’ stands for Tchebycheff., applied in approximation theory and to moment problems in statistics, involving continuous functions defined on intervals of ⺢ Žsee w11x.. We recall here a slightly more general definition. DEFINITION 4.3. w7x Let , M satisfy Ž A1 .. A function g in L1 Ž X, ⺢ n . is said to be a Chebyshe¨ system with respect to and M Ž or simply a T system. if the determinant detw g Ž x 1 ., . . . , g Ž x n .x is positi¨ e mn-a.e. in PM . Let g g L1 Ž X, ⺢ n . and be the measure with density function g with respect to . The arguments involved in the proof of Proposition 3.3 show that detw g Ž x 1 ., . . . , g Ž x n .x is the density function of det with respect to mn. As a consequence Chebyshev systems generate absolutely continuous Chebyshev measures. THEOREM 4.4. w7, Theorem 3.4x Let , , M satisfy Ž A. and let be absolutely continuous with density g with respect to . Then is a T measure if and only if g is a T system. 12 BIANCHINI AND MARICONDA Chebyshev systems arise naturally from linear differential equations; some of their applications to control theory and the calculus of variations were given in w5x. EXAMPLE. Let h g C ⬁Ž⺢. satisfy hŽ i. Ž0. s 0 for 0 F i F n y 2 and h 0. s 1. There exists ␦ ) 0 such that the function f s Ž hŽ ny1., hŽ ny2., . . . , h⬘, h. is a Chebyshev system on wy␦ , ␦ x with respect to the Lebesgue measure and the family of intervals Mi s wy␦ , y␦ q 2 i ␦ x Ž i g w0, 1x.. Ž ny1. Ž We give now a remarkable example: a function with values in a half plane of ⺢ 2 and whose inverse images of lines are negligible sets generates a Chebyshev measure. For in ⺢ and u in ⺢ 2 _ O4 we denote by arg u the argument of u in Ž y , q x. PROPOSITION 4.5. Let Ž X, ⌳, . be a measure space Ž being nontri¨ ial .; g in L1 Ž X, ⺢ 2 . be such that the set x g X : p ⭈ g Ž x . s 04 is negligible for e¨ ery p in S 1 and q ⭈ g Ž x . ) 0 -a.e. for some q in S 1. Then the two dimensional measure defined by Ž A. s HA g d for e¨ ery A in ⌳ is a Chebyshe¨ measure Ž i.e., there exists a family M s Ž Mi . i g w0, 1x of subsets of X with respect to which is a T measure.. Proof. Let in ⺢ be such that q s e i : then if we set a s y r2, b s q r2 the argument arg g Ž x . of g Ž x . in Ž y , q x belongs to w a, b x for x in X _ Z, for some negligible set Z. For t in w a, b x let Nt s x g X : arg g Ž x . F t 4 and : w a, b x ª ⺢q be the increasing map defined by Ž t . s Ž Nt . for every t in w a, b x. Our assumption implies that for every t in ⺢ the sets x g X : arg g Ž x . s t 4 are negligible. Clearly Ž a. s 0 and Ž b . s Ž X .. Moreover the family of sets Ž Nt . t g w a, bx being increasing it follows that is continuous and therefore Žw a, b x. s w0, Ž X .x. Let : w0, Ž X .x ª w a, b x be a right inverse of and set, for every ␣ in w0, 1x, M␣ s N Ž ␣ Ž X .. . The definition of then implies that Ž M␣ . s Ž Ž ␣ Ž X ... s ␣ Ž X . so that the map ␣ ¬ Ž M␣ . is continuous and strictly increasing. The absolute continuity of with respect to yields the continuity of ␣ ¬ < <Ž M␣ . and thus , , M fulfill assumption Ž A.. For x 1 , x 2 in X the relation x 1 $M x 2 here implies that there exists t in w a, b x such that arg g Ž x 1 . F t and arg g Ž x 2 . ) t. Since b y a s it follows that if x 1 , x 2 are not in Z then detw g Ž x 1 ., g Ž x 2 .x ) 0. Hence, this latter condition is fulfilled for m2 ᎏ almost every couple Ž x 1 , x 2 . belonging to the set PM associated to M and therefore g is a T system. Theorem 4.4 yields the conclusion. 13 MEASURES WITH A CONVEX RANGE The main result of w7x s tates that given a positive measure and a prescribed increasing family of sets M s Ž Mi . i the range Ž E ., E g ⌳4 of a n-dimensional T-measure with respect to M can be described through the values that it assumes on the finite unions of Žat most n. sets of the form M j _ Mi . Let ⌫ be the subset of ⺢ n defined by ⌫ s Ž ␥ 1 , . . . , ␥n . g ⺢ n : 0 F ␥ 1 F ⭈⭈⭈ F ␥n F 1 4 . REPRESENTATION THEOREM 4.6. w7x Suppose is a T measure with respect to the family M s Ž Mi . i g w0, 1x and let be a measurable function such that 0 F F 1 a.e. There exists ␣ s Ž ␣ 1 , . . . , ␣ n . in ⌫ satisfying Ž E␣ . s HX d where E␣ s D Ž M␣ iq 1 _ M␣ i . Ž ␣ nq1 s 1 . . 1FiFn i odd If 0 - - 1 on a -nonnegligible set then ␣ is unique, it belongs to the interior of ⌫ and Ž E␣ . lies in the interior of RŽ .. Remark. We recall that Lyapunov’s Theorem w15x states that there exists a set E in ⌳ such that HX d s Ž E .; the improvement here is that the set E can be chosen among a family of ‘‘nice’’ sets. We refer to w6x for some comments about this fact and to w5x for an application of this result of the bang᎐bang principle in control theory. Chebyshev measures are considered here in connection with Sections 2 and 3 because they represent a broad class of measures whose range is strictly convex. THEOREM 4.7. w7, Theorem 5.3x The range RŽ . of a T-measure is strictly con¨ ex. The boundary points of RŽ . admit a unique representation modulo < <; moreo¨ er a point Ž E . belongs to the boundary of RŽ . if and only if there exists ␥ in the boundary of ⌫ such that < <Ž E^ E␥ . s 0. In particular O s Ž⭋. s Ž EŽ1, . . . , 1. . belongs to the boundary of RŽ .. Proof of strict con¨ exity. Let E, F in ⌫ be such that Ž E . / Ž F .: then < <Ž E^ F . / 0; let for instance < <Ž E _ F . ) 0. Then for in Ž0, 1. the function s E q Ž1 y . F is such that 0 - - 1 a.e. on E _ F. Theorem 4.6 implies that H d s Ž E . q Ž1 y . Ž F . belongs to the interior of RŽ .. In what follows we shall denote by a n-dimensional vector measure and by f the density of with respect to its total variation < <. Assume that is a T measure with respect to a family M of subsets of X. If is absolutely continuous with respect to then, trivially, is a T < < measure; it follows from Theorem 4.4 that detw f Ž x 1 ., . . . , f Ž x n .x ) 0 < < mna.e. on PM . Otherwise, if is not absolutely continuous with respect to , 14 BIANCHINI AND MARICONDA it does not seem clear at all from Definition 4.1 whether the above conclusion still holds. Certainly, by Proposition 4.2, is absolutely continuous with respect to < <; however one might think that there exists a mn-negligible Žbut not < < mn negligible. subset A in PM such that det Ž A. F 0. The next result shows that this pathology does not occur; its proof is based on the fact that a T measure has a strictly convex range and on our characterization of the measures having this property. THEOREM 4.8. Let be a T measure Ž with respect to a family M .. Then is a T < < measure Ž with respect to M .. Proof. By Theorem 4.7 the range of is strictly convex; Theorem 3.1 then implies that det f Ž x 1 . , . . . , f Ž x n . / 0 < < mn-a.e. Let Py M s Ž x 1 , . . . , x n . g PM : det f Ž x 1 . , . . . , f Ž x n . - 0 4 . and assume that < < mn Ž Py M ) 0. Since, from Proposition 3.3 det Ž Py M . s HP det f Ž x 1 . , . . . , f Ž x n . d < < mn , y M then by the continuity of < < with respect to the sets Mi , there exists a Ž2 n.-tuple Ž ␣ 11 , ␣ 12 , . . . , ␣ n1 , ␣ n2 . g ⺢ 2 n such that 0 - ␣ 11 - ␣ 12 - ⭈⭈⭈ - ␣ n1 - ␣ n2 - 1 and det Ž Py M j Ž M␣ 12 _ M␣ 11 . = ⭈⭈⭈ = Ž M␣ n2 _ M␣ n1 . . - 0. However, being a positive measure, we have mn Ž PMyj Ž M␣ 12 _ M␣ 11 . = ⭈⭈⭈ = Ž M␣ n2 _ M␣ n1 . . G mn Ž Ž M␣ 12 _ M␣ 11 . = ⭈⭈⭈ = Ž M␣ n2 _ M␣ n1 . . ) 0, a contradiction. Therefore f is a T system; Theorem 4.4 yields the conclusion. MEASURES WITH A CONVEX RANGE 15 Remark. The above result shows that, in Definition 4.1, the auxiliary positive measure can be omitted: in dealing only with T measures, as we do in the rest of the paper, there is undoubtedly a gain of clarity. However in the applications Žw5x. it happens that and M are given a priori and that is defined through a density function g in L1 Ž X, ⺢ n .: the easiest way to see if is a Chebyshev measure is then to check whether g is a T system. Theorem 4.7 states that the range of a Chebyshev measure is strictly convex and that the origin O belongs to the boundary of its range. It is well known that each compact, convex, centrally symmetric subset of ⺢ 2 is the range of a two dimensional measure w2, 3x, i.e., a zonoid. Conversely, in w2, Theorem 2x the authors show that, in ⺢ 2 , each strictly convex zonoid Žwith O in its boundary. is the range of a Chebyshev measure. The results obtained in Sections 2 and 3 allow us to give a much stronger result: the bidimensional Chebyshev measures are exactly those measures whose range satisfies the above geometrical properties. Let : Ž X, ⌳ . ª ⺢ 2 be a nonatomic bidimensional measure and, as usual, let f be the density of with respect to < <. THEOREM 4.9. Assume that is a bidimensional measure whose range RŽ . is strictly con¨ ex and contains the origin in its boundary. Then there exists a family of sets with respect to which is a Chebyshe¨ measure. Moreo¨ er there exists in ⺢ such that for e¨ ery measurable function with ¨ alues in w0, 1x there exist ␣ ,  in ⺢ satisfying HX Ž x . d s Ž x g X : ␣ F arg f Ž x. F  4.. Proof. By Corollary 2.8 there exists q in S 1 such that q ⭈ f Ž x . ) 0 a.e. on X and, by Proposition 2.3, the sets x g X : p ⭈ f Ž x . s 04 are negligible for every p in S 1. The application of Proposition 4.5 with Ž< <, f . instead of Ž , g . yields the existence of a family M s Ž Mi . i of subsets of X with respect to which is a Chebyshev measure. Furthermore, the proof of Proposition 4.5 shows that there exists in ⺢ such that for every i we have Mi s x g X : arg f Ž x . F i 4 for some i in Ž y , q x: the conclusion follows from the representation theorem 4.6. Let be a vector measure on Ž X, ⌳ ., E be in ⌳ and let E be the vector measure defined by E Ž B . s Ž E _ B . y Ž E l B . for every B in ⌳. It is easy to verify Žsee w3, Lemma 1.3x. that the range RŽ E . of E is a translate of the range of ; more precisely we have that RŽ E . s RŽ . y Ž E . s x y Ž E . : x g RŽ .4 . The next characterization of the bidimensional strictly convex zonoids in ⺢ 2 follows then directly. 16 BIANCHINI AND MARICONDA COROLLARY 4.10. Let be a measure on Ž X, ⌳ . with ¨ alues on ⺢ 2 . The range of is strictly con¨ ex if and only if there exists a subset E in ⌳ such E is a Chebyshe¨ measure. Proof. If there exists E in ⌳ such that E is a Chebyshev measure then by Theorem 4.7 the range of E is strictly convex. Thus, each of its translates, in particular the range of , is strictly convex too. Conversely assume that the range of is strictly convex. Let E be such that Ž E . belongs to the boundary of RŽ .. Then the origin lies in the boundary of the translate RŽ . y Ž E .. The latter set is the range of E and is strictly convex: it follows from Theorem 4.9 that E is a T measure. Our next result shows that, when n ) 2, the boundary of the range of a n dimensional Chebyshev measures is not regular. In particular, Theorem 4.9 cannot be extended to greater dimensions: a measure whose range is a ball Žit exists, see for instance w13x. is certainly not the range of some Chebyshev measure. PROPOSITION 4.11. Let s Ž 1 , . . . , n . be a T measure and n G 3. Then the boundary of RŽ . is not a Ž n y 1.-dimensional T 1 manifold. We need the following Lemma, whose proof is postponed at the end of the paper. LEMMA 4.12. Let be a T measure with respect to an increasing family Ž M␣ .␣ g w0, 1x of subsets of X. Then there exists a ¨ ector measure ˜ on the Lebesgue algebra of w0, 1x such that ˜ is a T measure with respect to the inter¨ als Žw0, ␣ x.␣ g w0, 1x and RŽ . s RŽ ˜ .. Proof of Proposition 4.11. By Lemma 4.12 it is not restrictive to suppose that is a Chebyshev measure on w0, 1x with respect to the intervals Žw0, x x. x g w0, 1x. Fix x in w0, 1. and let x : w0, 1 y x x ª ⺢ n be the curve defined by ᭙ t g w 0, 1 y x x : x Ž t . s Ž w x, x q t x . . Since n G 3 and w x, xqt x has at most two jumps Theorem 4.7 implies that the set ⌫x s x Žw0, 1 y x x. is entirely contained in the boundary ⭸ RŽ . of RŽ .. Remark further that the origin O s x Ž0. belongs to ⌫x . Assume that ⭸ RŽ . is a manifold of cl ass C 1 and let p be a unit normal vector to the tangent plane ⌸ of ⭸ RŽ . at the origin. For every point q of RŽ ., the distance of q from ⌸ is the absolute value of q ⭈ p; therefore lim q ª 0, q g ⭸ R Ž .Ž q ⭈ p .r5 q 5. s 0. Since, by Proposition 4.2, Ž I . / O for every nontrivial interval I it follows that lim t ª 0 Ž Žw x, x q t x. ⭈ p .rŽ5 Žw x, x q t x.5. s 0 and therefore, recalling that 5 Ž A.5 F < <Ž A. for every measurable set A, lim t ª 0 Ž Žw x, x q t x..rŽ< <Žw x, x q t x.. ⭈ p s 0. 17 MEASURES WITH A CONVEX RANGE Since, by w17x, lim t ª 0 Ž Žw x, x q t x..rŽ< <Žw x, x q t x.. s f Ž x . a.e. in w0, 1x we obtain that D 0 Ž p . s x g w0, 1x : f Ž x . ⭈ p s 04 s w0, 1x Ž< <-a.e... However the set RŽ . is strictly convex: Proposition 2.3 then implies that < <Ž D 0 Ž p .. s 0, a contradiction. Proof of Lemma 4.12. Let s Ž 1 , . . . , n . and, for each i in 1, . . . , n4 , y w x let i s q i y i be the Jordan decomposition of i . Let g i : 0, 1 ª ⺢ be the bounded variation function defined by y g i Ž ␣ . s q i Ž M␣ . y i Ž M␣ . and let ˜ i be the Lebesgue-Stieltjes measure generated by g i . Clearly ˜ is regular and if we set ˜sŽ ˜ 1, . . . , ˜ n . the continuity of the functions g i yields ᭙␣ ,  g w 0, 1 x , ␣ F  ˜ Ž w ␣ ,  x. s ˜ Ž Ž ␣ ,  x. s ˜ Ž w ␣ , . . s ˜ Ž Ž ␣ ,  . . s Ž M _ M␣ . . We shall show now that ˜ is a T measure with respect to M˜s Žw0, i x. i g w0, 1x. Notice first that, being a T < < measure, by Proposition 4.2 for every ␣ -  in w0, 1x we have Ž M _ M␣ . / O. Therefore < ˜ <Žw ␣ ,  x. G 5 Žw x.5 5 Ž .5 ˜ ␣ ,  s M _ M␣ ) 0. Moreover, it is clear that < ˜ < F < <. It follows that ˜, < ˜ <, M˜ satisfy assumption Ž A.. We recall that in this case the set PM˜ associated to M˜ is given by PM˜ s Ž x 1 , . . . , x n . g w0, 1x n : 0 F x 1 - ⭈⭈⭈ - x n F 14 . Let A : PM˜ be such that < ˜ <mn Ž A. ) 0. The measure < ˜ <mn being n regular and PM˜ being open in w0, 1x there exists a G␦ subset E of PM˜ such that A : E and < ˜ <mn Ž E _ A. s 0. We may assume that Es ⬁ F Vm , ms1 where Ž Vm . m g ⺞ are open subsets of PM˜ and V1 = ⭈⭈⭈ = Vm = Vmq1 = ⭈⭈⭈ . Moreover we can choose the sets Vm such that for each m in ⺞ Vm s ⬁ D Imk , 1 = ⭈⭈⭈ = Imk , n , ks1 where the k Im, i k k are subintervals of w0, 1x satisfying sup Im, i F inf Im, iq1 and Ž Imk , 1 = ⭈⭈⭈ = Imk , n . F Ž Iml , 1 = ⭈⭈⭈ = Iml , n . s ⭋ If set k ␣ m, j s inf k Im, j, k m, j s sup Gs k Im, j, ⬁ we define k Jm, j s M mk , j _ M␣ mk , j and we ⬁ F D Jmk , 1 = ⭈⭈⭈ = Jmk , n ms1 ž ks1 if k / l. / . 18 BIANCHINI AND MARICONDA k Clearly G is a subset of PM . Moreover, by definition of Jm, i, ⬁ < < mn Ž G . s lim mª⬁ Ý < < Ž Jmk , 1 . ⭈⭈⭈ < < Ž Jmk , n . ž žÝ ks1 ⬁ s lim mª⬁ s< ˜ <mn < ˜ < Ž Imk , 1 . ⭈⭈⭈ < ˜ < Ž Imk , n ks1 ⬁ ⬁ ž ž ks1 / ./ F D Imk , 1 = ⭈⭈⭈ = Imk , n ms1 // s< ˜ <mn Ž E . s < ˜ <mn Ž A . so that < < mn Ž G . ) 0: the measure being T < < we deduce that det Ž G . ) 0. Let s Ž 1 , . . . , n . be a permutation of 1, . . . , n. We have Ž m ⭈⭈⭈ m n . Ž G . s lim 1 mª⬁ s lim mª⬁ ⬁ Ý Ž Jmk , 1 . ⭈⭈⭈ Ž Jmk , n . ž žÝ n 1 ks1 ⬁ ˜1Ž Imk , 1 . ⭈⭈⭈ ˜ nŽ Imk , n ks1 / ./ sŽ ˜1 m ⭈⭈⭈ m ˜ n . Ž E . ; moreover < ˜1 m ⭈⭈⭈ m ˜ n < F < ˜ <mn and, thus Ž ˜ 1 m ⭈⭈⭈ m ˜ n . Ž E . s Ž ˜ 1 m ⭈⭈⭈ m ˜ n . Ž A . . As a consequence Ž 1 m ⭈⭈⭈ m n . Ž G . s Ž ˜ 1 m ⭈⭈⭈ m ˜ n . Ž A . so that det ˜ Ž A . s det Ž G . ) 0 and thus ˜ is a Chebyshev measure. 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