L'ANALYSE NUMÉRIQUE ET LA THÉORIE DE L'APPROXIMATION Tome 14, No 1, 1985, pp. 7-32
ON APPROXIMATION BY LINEAR OPERATORS: IMPROVED ESTIMATES
Abstract. The present paper describes a unified approach to quantitative approximation theorems for certain linear operators including positive linear ones. It is shown for so-called almost lattice homomorphisms that the difference can be estimated in terms of a certain three parameter functional . This functional is in turn bounded from above by various classical seminorms such as (modifications of) moduli of continuity of order 1 and 2 . There is a large variety of opportunities to combine results of this paper in order to arrive at direct quantitative assertions. Several examples show that the general theory implies a number of results which improve those known so far.
I. Introduction. The aim of the present paper is to study the degree of approximation of continuous functions by certain linear operators including positive linear ones. Very much has been done in this field especially as far as direct theorems are concerned. A partial survey of the corresponding literature is given in a forthcoming bibliography on Bernstein type operators [9]; these are heavily used as examples when treating positive linear operators (PLO's) in general.
I. Introduction. The aim of the present paper is to study the degree of approximation of continuous functions by certain linear operators including positive linear ones. Very much has been done in this field especially as far as direct theorems are concerned. A partial survey of the corresponding literature is given in a forthcoming bibliography on Bernstein type operators [9]; these are heavily used as examples when treating positive linear operators (PLO's) in general.
One of the observations that we made while working on the subject was that almost all of the authors were basically using the same machinery. This boiled down to the question of how to describe the underlying idea more closely by giving one single estimate which in turn implies most of the inequalities with 'classical' right-hand sides such as moduli of continuity of different orders. This is part of what the present paper intends. Another question was how to obtain improvements over the known results; this is due to the well-known fact that the constants and sometimes even the order which are obtained after applying as quantitative Korovkin type theorem are poor. Answers to this question can also be dexived from the present paper.
As far as the underlying mathematical technique is concerned, all our estimates are based upon the use of a new -functional which will be described in Section II. Moreover, we have made sure that all our subsequent estimates involve a great degree of freedom in the sense that when applied to some concrete operators the choice of the parameters appearing in the moduli of continuity is up to the user. This is the most
convenient way to compare our results to what is available in the literature.
convenient way to compare our results to what is available in the literature.
Although we only treat the case of approximation of continuous functions on a compact segment it is possible to extend these results to the approximation of functions in several variables by using, for instance, tensor product methods. Thus the main idea of this paper is the fact that the approximation behaviour of a sequence of certain operators mapping into , can be described by using one single functional which can be estimated from above by a variety of more classical seminorms such as moduli of continuity. For the sake of brevity our paper is split into five parts. In Section II the new -functional is introduced. Section III establishes relationships between and some moduli of continuity. In Section IV we give some estimates for the approximation of so-called almost lattice homomorphisms by certain linear operators in terms of . The combination of the results presented in Sections III and IV then turns out to be an effective tool for proving estimates in terms of the more classical quantities mentioned above. This becomes clear in Section V where we apply our results to approximation by Bernstein operators, by operators of Meyer-König and Zeller and by some non-positive Hermite-Fejér operators. It has to be noted, however, that the underlying technique works in many other cases as well.
Throughout this paper is a finite interval of the real axis. For the symbol denotes the space of -times continuously differentiable functions. Moreover, denotes the sup-norm of the -th derivative of a function is always the -th monomial given by .
II. The functional . A standard technique for the study of rates of approximation of continuous functions in terms of moduli of smoothness is based on the use of
II. The functional
This method is described in an excellent survey paper of R.A. DeVore [5]. As can be seen from the definition of , its value expresses how small the norm of can be made compared to the norm of .
In the present paper we use a special case of the functional given for and by the expression
Secondly, it controls how smooth the smoothing functions are themselves. For instance, for we have
where the right-hand side is basically a slight modification of for -times differentiable functions with respect to such in .
In the sequel we shall only use . In order to simplify some of our below considerations, we shall describe in a different way. For this purpose let denote a real vector space, a subspace of and and seminorms on and , respectively. We define by
and by the equation
We write for simplification and , respectively, if it is clear what and are. It is easy to prove that for fixed ( , the functional is a seminorm on ; thus we can use it as the seminorm when defining a functional for .
We now consider the spaces , of -times continuously differentiable functions defined on with the seminorms . Here denotes -fold differentiation. Then, using the seminorm
we have
In particular, is seminorm on depending upon the three parameters . These three parameters will be used later to describe approximation properties of certain linear operators.
III. The Relationship between and Some Moduli of Continuity. In this section will be estimated from above by more classical quantities such as moduli of continuity. All majorants of will contain a 'free variable' which makes it more convenient to find clear majerants in concrete examples.
III. The Relationship between
We first consider the case of continuously differentiable functions since this will be used below. Natural majorants for are in this case expressions involving the first order modulus of continuity of , defined by , or the east concave majorant of given by
Both quantities are related by .
Theorem 3.1 Let be defined as above. If is arbitrarily given, then the following are true for any :
.
Here is the characteristic function of .
Corollary 3.2 For the inequalities from above imply :
(i)
Here
Corollary 3.2 For
(i)
Proof of Theorem 3.1. If is continuously differentiable, then the definition of , being a special -functional, yields
Several properties of the functionals were investigated in [6]. In particular, it was shown that two functionals and constructed with the aid of the same pairs and are related by the inequality
Since for the functional satisfies the inequality
we arrive at
Putting , it is known that (see J. Peetre [14], B. S. Mitjagin/E. M. Semenov [13])
Combining this with our observations from above now leads to
.
This was the claim in (i).
For the proof of (ii) we use again the fact that
This was the claim in (i).
For the proof of (ii) we use again the fact that
Assume first that , and let be any primitive of , given by
As was shown by V. V. Żuk and G. I. Natanson [22], we have
For we put . In this case
This shows the validity of (ii). F
Proof of Corollary 3.2. (i) and (ii) are immediate consequences of the corresponding inequalities in Theorem 3.1. (iii) is a simple consequence of ( ) and ( ), if one observes that and max .
Proof of Corollary 3.2. (i) and (ii) are immediate consequences of the corresponding inequalities in Theorem 3.1. (iii) is a simple consequence of (
Our next theorem contains estimates of for arbitrary continuous functions defined on . These are given in terms of the usual first order modulus of continuity , a modification of this modulus of continuity introduced by M. Marsden and I. J. Schoenberg [11] and denoted by , and in terms of the least concave majorant of the finst order modulus notated by .
Theorem 3.3 Let be defined as above. If is arbitrarily given, then for any the following inequalities hold:
(i)
An immediate consequence is
COROLLARY 3.4
COROLLARY 3.4
where .
Proof of Theorem 3.3. In order to arrive at (i) we proceed as in the corresponding part of the proof of Theorem 3.1 observing in this case that
Proof of Theorem 3.3. In order to arrive at (i) we proceed as in the corresponding part of the proof of Theorem 3.1 observing in this case that
which follows again from the work of B. S. Mitjagin and E. M. Semenov, for instance.
(ii) is obtained as follows. For a fixed triple the functional is a seminorm on . Thus, if is any linear function, then
(ii) is obtained as follows. For a fixed triple
An estimate for the first term on the right-hand side can be given by using the idea of Zuk and Natanson again. Thus
Since is continuously differentiable, it follows from Theorem 3.1 that
Thus, if is given by , then the combination of both inequalities leads to
Passing to the infimum over all such numbers gives the estimate in (ii), (iii) Substituting into (ii) gives the majorant
Moreover, taking the inequality into account shows that the right hand side of (i) can be estimated from above by max . A combination of these observations gives (iii).
The inequality in Corollary 3.4 is a trivial consequence of inequality (ii) in Theorem 3.3.
The following theorem provides us with an estimate for using mainly the second order modulus of continuity of an and again involving a 'free variable' . Here is given by .
Theorem 3.5 Let be defined as above. If is arbitrarily given, then for any the fcllowing inequality holds :
An immediate consequence is
Corollary 3.6 If , then the above estimate reduces to
Corollary 3.6 If
Proof of Theorem 3.5. From the definition of it follows that .
Thus it remains to show that for any there is an which yields the estimate claimed above. The idea used to obtain such a function is different from the one used in Theorems 3.1 and 3.3. First we define a suitable extension of and then use Steklov means with respect to this extension in order to obtain a smooth approximation of which in turn satisfies the necessary inequalities. It is advantageous for our purposes to define an extension which itself depends upon . Assume first that . We define
Thus it remains to show that for any
Then is well defined and continuous.
For we consider differences of the form
For
(1) . In this case the absolute value of the above expression is equal to
(2)
" .
This implies
This implies
since and .
(3) The case and cannot occur since this would be a contradiction to the condition .
(4) We consider now the particular case where .
(3) The case
(4) We consider now the particular case where
Under the assumptions we obtain the inequalities
(5)
(6) The case
(7) The special case
(8)
(9) For the special case the assumptions , i.e. lead to the inequality
The observations made under (1),...,,(9) will now be used to constr the functions that we were looking for. For the seco order Steklov mean of (with respect to the extension ) is def ed by
Because of
we have
the last inequality following from the observations made under (1) - (9). Moreover, the second derivative of the second order Steklov mean satisfies
this follows from (4), (7), and (9).
The first derivative of the second order Steklov means can be estimated as follows:
The first derivative of the second order Steklov means can be estimated as follows:
We substitute the estimates for , and now into the majorant for given at the beginning of this proof, replacing by the second order Steklov means constructed above.
This shows that for the inequalities
This shows that for
hold which proves the assertion in Theorem 3.5 for the cases where . For the Steklor means were not defined since in this case the estimates concerning the second order differences of the above extension cannot be proved in the way we did it.
Therefore for we define .
In this case we have the inequalities
Combining these inequalities with the ones proved before for we arrive at the estimate claimed in Theorem 3.5.
Remark. In view of Theorems 3.3 and 3.5 it is natural to ask what the relationship between and is since both annihilate linear functions. It has to be noted that there is no constant such that for all and . This can be seen from looking at on , for instance. However, it is possible to show that there exists a constant satisfying for and .
IV. Estimates for the Approximation of Almost Lattice Homomorphisms by Certain Lincar Operators. Here we present some estimates for the approximation of so-called almost lattice homomorphisms ( ) by certain linear operators in terms of the functional introduced in Section II. As is clear from the last section such estimates can immediately be turned into inequalities containing different kinds of moduli of continuity. Examples will be given in Section V.
IV. Estimates for the Approximation of Almost Lattice Homomorphisms by Certain Lincar Operators. Here we present some estimates for the approximation of so-called almost lattice homomorphisms (
Definition 4.1 If is a non-empty set, is the Banach space of real-valued bounded functions on and if denotes the space of realvalued continuous functions on an interval with , then an operator such that
, is called an almost lattice homomorphism (ALH).
The 's include all lattice homomorphisms , where is a compact topological space, as can be seen from the Wolff representation theorem in [21].
The starting point for our investigation is the following observation.
Propostrion 4.2 If is an given by , and if is an operator, both mapping into , then for all , the inequality
The main purpose of the above proposition is to shift the problem of finding a good majorant of to two similar ones. The
first of these is to find a majorant for the difference where is given by is a mapping satisfying the equation for all in . The second resulting problem is to find a majorant of where denotes the initial . Thus our approach follows the classical pattern of estimating the difference between a PLO and the identity (canonical embedding) as for instance employed by R. A. DeVore [4].
first of these is to find a majorant for the difference
Oar next theorem generalizes a result given in [7].
Theorem 4.3. Let be a continuous linear operator and as above such that the pair satisfies the inequalities
(i) with a function and
(ii) for all with real valued functions .
Moreover, we assume for all that the quotients , are finite. Then for every and every the inequality
Theorem 4.3. Let
(i)
(ii)
Moreover, we assume for all
holds.
Proof. For , and by our assumptions the following estimate holds:
Proof. For
In other words,
Passing to the infimum over implies
This can be rewritten in the form
Passing again to the infimum over we obtain
Our next theorem treats the case where is a positive linear operator satisfying the additional assumption that . If does not have this property this difficulty can be circumvented by using Proposition 4.2.
Theorem 4.4 Let be a positive linea operator and let be given as above. If for all , the for all and all the estimate
holds. The estimate is also true if one or more of the three 'differences' occurring on the right side are replaced by majorants, such that the appearing quotients remain finite.
Proof. In order to prove the above inequality we have to find suitable functions , and in Theorem 4.3. If is given by , then we have for every and every :
If , we proceed as follows: We interpolate at the point by a polynomial of tirst degree satisfying the properties
This polynomial is given by
Then it is known that
where , max . We now consider the difference . First of all we write
Here,
Thus,
It remains to investigate the second term on the right-hand side of this inequality. We have
Putting now and , and observing the fact that we arrive at the inequality in Theorem 4.4.
The following corollary of Theorem 4.4 is of particular importance. It deals with the approximation of the identity by positive linear operators.
Corollary 4.5 If is a non-empty subset of an interval and if is a positive linear operator satisfying , then for any , and all the estimate
holds. The estimate remains true if one or more of the three 'differences' occurring on the right side are replaced by majorants such that the quotients remain finite.
Another consequence of Theorem 4.4 is a Korovkin type theorem for the approximation of almost lattice homomorphisms mapping into . This will be seen in a corollary of the following Theorem 4.6 , where we show as an example how Theorem 4.4. and the estimate given for in Theorem 3.5 can be combined.
THEOREM 4.6 Let be a non-empty set and a compact interval of the real axis. If is an almost lattice homomorphism given by and if is a postive linear operator between the above spaces, then for all , all and each the following estimate holds :
Proof. In view of Proposition 4.2 we first have
Now given by is a lattice homomorphism satisfying .
Theorem 4.4 yields the inequality
Theorem 4.4 yields the inequality
Theorem 3.5 now implies
Together with the observation made at the beginning of the proof we obtain the desired inequality.
The following corollary which we state without giving a proof shows that Theorem 4.6 indeed contains a Korovkin type theorem for the approximation of almost lattice homomorphisms.
Corollary 4.7 Let , and be given as in Theorem 4.6. Suppose that is as subset of . For we put . If , is a sequence of positive linear operators, then the following are equivalent:
Currase
V. Examples: Refined Estimates for Approximation by Special Linear Operators. After what has been said before it is clear that the combination of Theorem 4.4 or Corrollary 4.5 with the results obtained in Section III yields a variety of propositions concerning the approximation by certain linear operators. It is the aim of this section to show that many of these combinations give estimates which are better than the ones known until now. We restrict ourselves to three prominent examples : Bernstein polynomials, Meyer-König and Zeller operators, and HermiteFejér type interpolation operators.
V. Examples: Refined Estimates for Approximation by Special Linear Operators. After what has been said before it is clear that the combination of Theorem 4.4 or Corrollary 4.5 with the results obtained in Section III yields a variety of propositions concerning the approximation by certain linear operators. It is the aim of this section to show that many of these combinations give estimates which are better than the ones known until now. We restrict ourselves to three prominent examples : Bernstein polynomials, Meyer-König and Zeller operators, and HermiteFejér type interpolation operators.
- Pointwise Approximation by Bernstein Polynomials. In this subsection we discuss what our theorems yield for the approximation by Bernstein operators given by the formula
It is well known that for all and all . Thus the quantities appearing in Oorollary 4.5 can be written as follows
where is given by and where denotes the largest integer not exceeding nx (see F. Schurer and F.W. Steutel [15]). However, we shall frequently use the estimate .
We assume first that is in . For this case, using , very good estimates were given by F. Schurer and F. W. Steutel [15]. A certain analogue using the least concave majorant of is given in
THEOREM 5.1. For any and we have
The proof is obtained by combining Orellaries 3.2 and 4.5.
Corollary 5.2 (i) For the particular choice the above inequality implies
(ii) Ve also have the uniform Lorents type estimates
Remarks. (i) If and are fixed, for the function from Theorem 5.1 is best possible in the sense that the estimate becomes an equality for .
(ii) A similar statement is true concerning the first inequality in Oorollary 5.2 (ii) : the constant cannot be replaced by any number . (iii) The second estimate in Corollary 5.2 (ii) should be compared to another result by Schurer and Steutel who showed that . . As can be seen from Corollary 5.2, for functions with concave we even obtain
(ii) A similar statement is true concerning the first inequality in Oorollary 5.2 (ii) : the constant
Our next theorem deals with approximation of arbitrary continuous functions.
Theorem 5.3. For and we have :
Proof. Inequality (i) is obtained by combining Oorollary 4.5 and Theorem 3.3; the second estimate is due to the fact that reproduces functions.
Corollary 5.4 Under the assumptions of Theorem 5.3 one gets for
(ii) .
Remark. As can be seen from the choices and in both estimates in Corollary 5.4 (i) the constant 1 in front of cannot be replaced by any number .
Our last example concerning Bernstein operators arises from the combination of Corollaries 4.5 and 3.6 .
Theorem 5.5 For any , and the following inequality holds:
Corollary 5.6 For , the above inequality leads to
As far as the constant in front of is concerned this is an improvement of an inequality given by H. Berens and G. G. Lorentz [2]. For we get
which refines a recent estimate of L. I. Strukov and A. F. Timan [19,20]. The choice yields
This is a pointwise version of a result first proved by Yu. A. Brudnyĭ [3]. It is not yet known what the optimal constants in the above inequalities are.
After this look at the Bernstein operators it should have become clear that it is worthwhile to combine the theorems in Section IV with the estimates for as given in Section III in order to arrive at a variety of refined inequalities sometimes even giving optimal constants. It has to be mentioned that there are a number of modifications of the Bernstein operators to which our above theorems can be applied. For these the reader is referred for instance to two bibliographies which have recently been compiled [17, 18, 9 ].
2. Pointwise Approximalion by the Operators of Meyer-König and Zeller. This subsection parallels the one for Bernstein polynomials. The operators of Meyer-König and Zeller are given by the formula ( ,
2. Pointwise Approximalion by the Operators of Meyer-König and Zeller. This subsection parallels the one for Bernstein polynomials. The operators of Meyer-König and Zeller are given by the formula (
and
These operators are also positive and linear and satisfy the equations for . Thus we have for . An explicit representation for was only recently given by J.A.H. Alkemade [1] who proved
for and . Here denotes the hypergeometric series given by
An explicit representation of the quantity was derived by F. Schurer and F. W. Steutel [16]. However, as in Section V.1 we shall use the estimate which simplifies some inequalities. Again we investigate differentiable functions first.
THEOREM 5.7. For any and the following inequalities hold:
Proof. Both statements are obtained by combining Corollaries 3.2 and 4.5.
Corollary 5.8 Under the assumptions of Theorem 5.7 we also have:
(ii) ,
(iii)
(iii)
Proof. (i) is obtained by using the estimate and substituting .
For (ii) we use the inequality .
Thus we get
For (ii) we use the inequality
Thus we get
For the proof of (iii) observe that . The inequality from (i) implies
Remark. (i) As was the case for Bernstein operators, the constant in Corollary 5.8 (i) cannot be replaced by any number .
(ii) If has a concave modulus of continuity, then the first inequality in 5.8 (iii) even reads.
(ii) If
For any function of the form it becomes an equality and thus the above estimate is best possible in a certain sense. The second estimate in 5.8 (iii) is an improvement of Theorem 8-in [1].
(iii) It would also have been possible to use the second estimate in Theorem 5.7 to obtain e.g. improvements of Alkemade's result. However, in most cases the first inequality gives better majorants.
(iii) It would also have been possible to use the second estimate in Theorem 5.7 to obtain e.g. improvements of Alkemade's result. However, in most cases the first inequality gives better majorants.
For the operators the analogue of Theorem 5.3 is given in
7.2. Theorem 5.9 For and any there holds
7.2. Theorem 5.9 For
Corollary 5.10. Under the assumptions of Theorem 5.9 the following inequalities are true :
(i) ,
(ii)
(i)
(ii)
Proof. The above inequalities are obtained by using again the CauchySchwarz inequality, the explicit representation of as given by Alkemade, the inequalities and ; for , and the fact that peproduces linear functions.
We now turn to estimates involving the second order modulus of smoothness. For the operators one has
hotds
Theoreh 5.11. For any , and there
hotds
Theoreh 5.11. For any
Corollary 5.12 Under the assumptions of Theorem 5.11 the following inequalities are true:
Proof. (i) is a simple consequence of the substitution and the fact that . For the proof of (ii) we use the uniform estimate .
Substituting into the inequality in Theorem 5.11 yields
Both inequalities in Carollary 5.12 improve as obtained by the author earlier (see [6]). However, to our knowledge the exact value of e.g.
has not yet been determined. A similar statement holds for Bernstein operators.
3. Pointwise Approximation by Hermite-Fejér Type Interpolation Polynomials. This subsection is devoted to pointwise approximation by Hermite-Fejér interpolation polynomials which have been investigated intensively. For a good survey see e.g. the 'Habilitationsschrift' of H. B. Knoop [10] or the bibliography in a paper of T.Y. Mills [12]. As was shown in [8], it is possible to prove pointwise estimates for the approximation of functions in which are of order for and at the same time reproduce the interpolation conditions. However, these estimates are rather lengthy. This is why we shall investigate slightly modified operators which satisfy simpler estimates of the same order. This will show at the same time that the general theory developed so far is also applicable to the case of non-positive linear operators. For the sake of brevity we shall only consider the most prominent example.
3. Pointwise Approximation by Hermite-Fejér Type Interpolation Polynomials. This subsection is devoted to pointwise approximation by Hermite-Fejér interpolation polynomials which have been investigated intensively. For a good survey see e.g. the 'Habilitationsschrift' of H. B. Knoop [10] or the bibliography in a paper of T.Y. Mills [12]. As was shown in [8], it is possible to prove pointwise estimates for the approximation of functions in
The classical Hermite-Fejér polynomials interpolating a function at the zeros of the Cebysev polynomials and having a derivative equal to zero at these points, i.e.
where , satisfy, for and , the following inequality (see [8])
Unfortunately the term containing I cannot be removed from this estimate which is due to the fact that does not reproduce straight lines except for constants. However, it is possible to get rid of this quantity
by passing from the positive operator to a non-positive linear operator yielding appropriate slopes at the 's. In order to be somewhat more general we prove the following theorem which describes the baskground of our following considerations for the classical Hermite-Fejér operators. It is of advantage for many other interpolation schemes as well.
by passing from the positive operator
Theorem 5.13 If is a positive linear operator with and if for the expression denotes the linear function interpolating at -1 and 1 , then for the operator given by
Proof. (i) follows from .
(ii) can be obtained as follows. For we have
(ii) can be obtained as follows. For
Here the first inequality follows from the fact that is positive and satisfies the equation .
(iii) Proceeding as in the proof of Theorem 4.4 yields the inequality
(iii) Proceeding as in the proof of Theorem 4.4 yields the inequality
As can be seen from the formulation of Theorem 5.13 it prepares the operators for an application of the above Theorem 4.3 and a combination with suitable results from Section III.
Remark. The method used in Theorem 5.13, namely the perturbing of a positive linear operator in order to obtain simpler estimates, is only one particular example of a more general technique. This technique, which will be described elsewhere, allows to impose side conditions of different types on a given sequence of linear operators.
Using the above theorem it is now easy to give shorter estimates for a version of the classical Hermite-Fejer operators which reproduce straight lines. We restrict oursclves to the case of continuously differentiable functions.
Theorem 5.14 Let denote the classical Hermite-Fejér operator described above. If is given as in Theorem 5.13,
then the perturbed operator given by the formula 十 + Lf satisfies for , the inequality
then the perturbed operator
Here is the optimal constant in .
Proof. We use the (in)equalities (ef. [8]).
where is a given positive number. Choosing yields the desired inequality.
where
Remark. With respect to the constant appearing in our last theorem we would like to mention the following : Some numerical evidence suggests that it equals 1. As far as we know this has not been proven yet. It would imply, among others, the following estimate for the classical Hermite-Fejér operators
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Received 21. VIII.1983
Universily of Duisburg Dept. of Mathemalies D-1100 Duishug 1 West Germany
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