On the conservation of the shape of a function by interpolation

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T. Popoviciu
Institutul de Calcul

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T. Popoviciu, Sur la conservation de l’allure d’une fonction par interpolation, Colloque sur la théorie des fonctions, Cluj, 15-20 septembre, 1967.

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COLLOQUIUM ON THE THEORY OF APPROXIMATION OF FUNCTIONS, Cluj, September 15-20, 1967.

by
TIBERIU POPOVICIU
in Cluj

On the conservation of the shape of a function by interpolation

§1\S 1.

Let us consider a functionf=f(x)f=f(x)real, of a real variable andφ\varphian approximation function offf,

fφ.f\approx\varphi. (1)

The functionφ\varphiis chosen from a certain determined set of approximation functions. For example, one can chooseφ\varphiin a set satisfying certain interpolation conditions. We can generally assume that the functionsf,φf,\varphiare defined on the same set of the real axis, but this assumption is not essential. However, if we want to use the approximate equality (1) to approximate the values ​​of the functionffby the corresponding values ​​of the functionφ\varphi, we must assume thatφ\varphibe defined on a set that contains the domain of definition ofφ\varphi.

In approximation problems, we generally seek an approximation function.φ\varphiso that the errorfφf-\varphichecks certain restrictions imposed by the very nature of the problem under consideration.

But it is important to try to preserve by…

The interpolating functionP(x0,x1,,xn;f|x)P\left(x_{0},x_{1},\ldots,x_{n};f\mid x\right)preserves the sign of the functionffThis property can be easily demonstrated. It also follows from the formula.

P(x0,x1,,xn;f|x)=α=0nφα(x)f(xα),P\left(x_{0},x_{1},\ldots,x_{n};f\mid x\right)=\sum_{\alpha=0}^{n}\varphi_{\alpha}(x)\,f\left(x_{\alpha}\right), (2)

where the functionsφα,α=0,1,,n\varphi_{\alpha},\alpha=0,1,\ldots,ndefined on[has,b][a,b]are special polygonal functions, having the nodesxαx_{\alpha},α=0,1,,n\alpha=0,1,\ldots,nindependent of the functionffand given by the formulas

φα=(xα+1xα)|xxα1|+(xα1xα+1)|xxα|+(xαxα1)|xxα+1|2(xα+1xα)(xαxα1),\varphi_{\alpha}=\frac{(x_{\alpha+1}-x_{\alpha})\lvert x-x_{\alpha-1}\rvert+(x_{\alpha-1}-x_{\alpha+1})\lvert x-x_{\alpha}\rvert+(x_{\alpha}-x_{\alpha-1})\lvert x-x_{\alpha+1}\rvert}{2(x_{\alpha+1}-x_{\alpha})(x_{\alpha}-x_{\alpha-1})},

ifα=1,2,,n1\alpha=1,2,\ldots,n-1. Ifα=0,n\alpha=0,n, We have

φ0=|xx1|x+x12(x1has),φn=|xxn1|+xxn12(bxn1).\varphi_{0}=\frac{|x-x_{1}|-x+x_{1}}{2(x_{1}-a)},\qquad\varphi_{n}=\frac{|x-x_{n-1}|+x-x_{n-1}}{2(b-x_{n-1})}.

The property of preserving the sign can be stated as follows: from the right-hand side of formula (2), we deduce:

If the functionffis non-negative, positive, negative, respectively non-positive (on[has,b][a,b]), the polygonal function (2) is also non-negative, positive, negative respectively non-positive (on[has,b][a,b]).

If we apply Abel's transformation formula, approximation (1) preserves certain properties of the function's shapeff.

Obviously, we must first clarify what we mean by the behavior, or more precisely, by a specific behavior, of a function, and then what we mean by preserving that behavior. We will not attempt to define the behavior of a function. We will only consider a few properties that we agree characterize certain behaviors, such as: non-negativity, monotonicity, convexity of a given order, etc. We will always explain what is meant by the fact that the approximation function preserves a given behavior of the function.ff.

§2\S 2Let 's
start with an example. Considerffa function defined on the finite and closed interval[has,b][a,b]and either

P(x0,x1,,xn;f|x)P\left(x_{0},x_{1},\ldots,x_{n};f\mid x\right)

the polygonal function "inserted" along the vertices, or rather the nodes

has=x0<x1<<xn1<xn=b.a=x_{0}<x_{1}<\ldots<x_{n-1}<x_{n}=b.

This function is characterized by its interpolation properties.

P(x0,x1,,xn;f|xα)=f(xα),α=0,1,,n,P\left(x_{0},x_{1},\ldots,x_{n};f\mid x_{\alpha}\right)=f\left(x_{\alpha}\right),\qquad\alpha=0,1,\ldots,n,

and by the fact that it is continuous on[has,b][a,b], being linear on each of the partial intervals

[xα1,xα],α=1,2,,n,\left[x_{\alpha-1},x_{\alpha}\right],\quad\alpha=1,2,\ldots,n,

determined by the nodes.

=f(xα2)(xα2xα1)(xα2xα)+f(xα1)(xα1xα)(xα1xα2)+f(xα)(xαxα1)(xαxα2),=\frac{f\left(x_{\alpha-2}\right)}{(x_{\alpha-2}-x_{\alpha-1})(x_{\alpha-2}-x_{\alpha})}+\frac{f\left(x_{\alpha-1}\right)}{(x_{\al pha-1}-x_{\alpha})(x_{\alpha-1}-x_{\alpha-2})}+\frac{f\left(x_{\alpha}\right)}{(x_{\alpha}-x_{\alpha-1})(x_{\alpha}-x_{\alpha-2})},

which are the divided differences of order 2 on the nodes

xα2,xα1,xα,α=2,3,,n.x_{\alpha-2},x_{\alpha-1},x_{\alpha},\qquad\alpha=2,3,\ldots,n.

The functionsχα\chi_{\alpha}are non-concave (usual) and we deduce the following property of the conservation of usual (first-order) convexity (more precisely, non-concavity):

If the functionffis non-concave, respectively non-convex of order 1, the polygonal function (4) is also non-concave, respectively non-convex of order 1.

While the conservation of sign and monotonicity holds in the strict sense, the conservation of first-order convexity holds only in the broad sense. This means that if the non-negative (or non-decreasing) functionffis, in particular, positive (or increasing), the polygonal function (2) is not only non-negative (or non-decreasing), but is also positive (or increasing). At the same time, if the non-concave function of order 1ffis convex of order 1, the polygonal function (2) is only non-concave of order 1 without necessarily being convex of order 1.

We will make one more remark about polygonal functions. These are continuous functions that reduce to a polynomial of degree 1 on each of the intervals

[xα1,xα],α=1,2,,n,\left[x_{\alpha-1},x_{\alpha}\right],\quad\alpha=1,2,\ldots,n,

determined by the nodes. They can also be defined as linear combinations of a polynomial of degree 1 and a finite number of functions of the form|xλ|+xλ|x-\lambda|+x-\lambda, Orλ[has,b]\lambda\in[a,b].

In general, a linear combination of a polynomial of degreennand a finite number of functions of the form(|xλ|+xλ)n(|x-\lambda|+x-\lambda)^{n}, Orλ[has,b]\lambda\in[a,b], is said to be an elementary function of ordernn(nn( = natural number).

Such a function is

P(x0,x1,,xn;f|x)=f(x0)+α=1nψα(x)[xα1,xα;f],P\left(x_{0},x_{1},\ldots,x_{n};f\mid x\right)=f\left(x_{0}\right)+\sum_{\alpha=1}^{n}\psi_{\alpha}(x)\left[x_{\alpha-1},x_{\alpha};f\right], (3)

Or

ψα\displaystyle\psi_{\alpha} =(xαxα1)β=αnφβ(x)\displaystyle=\left(x_{\alpha}-x_{\alpha-1}\right)\sum_{\beta=\alpha}^{n}\varphi_{\beta}(x)
=12(|xxα1||xxα|+xαxα1),\displaystyle=\tfrac{1}{2}\Big(|x-x_{\alpha-1}|-|x-x_{\alpha}|+x_{\alpha}-x_{\alpha-1}\Big),

Forα=1,2,,n\alpha=1,2,\ldots,n.

The functionsψα\psi_{\alpha}are non-decreasing (and not identically zero) and we deduce the following property of the preservation of the monotonicity of the functionff:

If the functionffis non-decreasing, increasing, decreasing, respectively non-increasing (x[has,b]x\in[a,b]), the polygonal function (3) is also non-decreasing, increasing, decreasing, respectively non-increasing (on[has,b][a,b]).

If we apply Abel's transformation formula once again to the right-hand side of formula (3), we deduce

P(x0,x1,,xn;f|x)\displaystyle P\left(x_{0},x_{1},\ldots,x_{n};f\mid x\right) =f(x0)+[x0,x1;f](xhas)\displaystyle=f\left(x_{0}\right)+\left[x_{0},x_{1};f\right](xa)
+α=2nχα(x)[xα2,xα1,xα;f],α=2,3,,n.\displaystyle\quad+\sum_{\alpha=2}^{n}\chi_{\alpha}(x)\left[x_{\alpha-2},x_{\alpha-1},x_{\alpha};f\right],\qquad\alpha=2,3,\ldots,n. (4)

Orχα\chi_{\alpha}are still polygonal functions having the nodes

xα,α=0,1,,n,x_{\alpha},\qquad\alpha=0,1,\ldots,n,

and are independent of the functionffDivided differences are defined by

[xα2,xα1,xα;f]=[xα1,xα;f][xα2,xα1;f]xαxα2.\left[x_{\alpha-2},x_{\alpha-1},x_{\alpha};f\right]=\frac{\left[x_{\alpha-1},x_{\alpha};f\right]-\left[x_{\alpha-2},x_{\alpha-1};f\right]}{x_{\alpha}-x_{\alpha-2}}.

The properties of these functions are well known. The casen=1n=-1corresponds to the preservation of the sign of the function.

There are very important operators of this form, usually called **positive operators**. Such operators are provided, for example, by Fejér sums of Fourier series, by various Fejér interpolation polynomials, etc. Positive operators play a very important role in the theory of polynomial, trigonometric, and other similar approximations.

For the past few years, we have also begun to study the casen>1n>-1, for several determined operators. This research began with the observation that the well-known polynomial of SN Bernstein.

Bm[f|x]=α=0mf(αm)(mα)xα(1x)mα.B_{m}[f\mid x]=\sum_{\alpha=0}^{m}f\!\left(\tfrac{\alpha}{m}\right)\binom{m}{\alpha}x^{\alpha}(1-x)^{m-\alpha}. (5)

This polynomial preserves, on the interval[0,1][0,1], the non-concavity of ordernnof the functionfffor everythingn1n\geq-1In this case, we can takeE=I=[0,1]E = I = [0,1].

Fornm1n\leq m-1, this conservation is even in the strict sense: therefore, ifffis convex of ordern(m1)n\ (\leq m-1), the polynomial ( LABEL:5 ) is also convex (and not just non-concave) of ordernn.

It is also worth noting that here it is sufficient to even assume that the functionffeither non-concave of ordernnon the pointsαm\tfrac{\alpha}{m},α=0,1,,m\alpha=0,1,\ldots,m. Forn2n\geq 2This condition is broader than non-concavity of ordernnon any set containing these points [ 6 ] .

The noted conservation property of the polynomial ( LABEL:5 ) results from the properties of the derivatives of higher-order convex functions and the formula

dkdxkBm[f|x]\displaystyle\frac{d^{k}}{dx^{k}}B_{m}[f\mid x] =m!k!mk(mk)!α=0mk[αm,α+1m,,α+km;f]\displaystyle=\frac{m!\,k!}{m^{k}(m-k)!}\sum_{\alpha=0}^{m-k}\left[\tfrac{\alpha}{m},\tfrac{\alpha+1}{m},\ldots,\tfrac{\alpha+k}{m};f\right]
×(mkα)xα(1x)mkα.\displaystyle\quad\times\binom{m-k}{\alpha}\,x^{\alpha}(1-x)^{m-k-\alpha}. (6)

This function is continuous and has a continuous derivative of ordern1n-1(ifn>1n>1) on[has,b][a,b] [ 7 ] .

Previously, we demonstrated the importance of these functions in the theory of approximation of higher-order convex functions [ 5 ] . Today, these functions are also called *splines*. Recently, several authors have studied them and shown their importance in the theory of function approximation. We particularly note the research of IJ

§3\S 3.

The example of polygonal interpolation functions shows us the way to generalizing the problems of preserving certain well-defined shapes.

Let us consider the operatorF[f|x]F[f\mid x]defined on the function spaceff, real and of a real variablexx, defined on a setEEof the real axis, having its values ​​in the set of functions defined on the setIIof the real axis. In what follows, we will assume that the operatorF[f|x]F[f\mid x]is linear. We have the

Definition. We will say that the operatorF[f|x]F[f\mid x]preserves (onII) the non-concavity of ordernn(of the functionff) if the functionF[f|x]F[f\mid x]ofxxis non-concave of ordernn(onII) for any functionffnon-concave of ordernn(onEE).

Let us recall that a functionffis said to be convex, non-concave, polynomial, non-convex, respectively concave of ordern(1)n\ (\geq-1)onEE, if all the differences divided by ordern+1n+1,

[x1,x2,,xn+2;f]\left[x_{1},x_{2},\ldots,x_{n+2};f\right]

of this function, onn+2n+2any distinct points (or nodes)x1,x2,,xn+2x_{1},x_{2},\ldots,x_{n+2}ofEE, are positive, non-negative, zero, non-positive, respectively negative.

Operator (9) is defined even ifffis only defined on the points (10).

By supplementing the research of L. Fejér [ 2 ] , we examined the preservation of monotonicity by the polynomial (9) of L. Fejér [ 10 ] . This is the casen=0n=0of the conservation of the convexity shape of ordernn.

Among the results obtained, we note the following: if the points (10) are normally distributed in an interval, or if the points (10) are the zeros of the Jacobi polynomial of degreennand whose parameters satisfy the inequalities

1α,β1,-1\leq\alpha,\beta\leq 1,

then the interpolation polynomial (9) preserves the monotonicity of the functionffin a neighborhood of each of the roots of the derivative of the polynomial

(xx1)(xx2)(xxn).(x-x_{1})(x-x_{2})\cdots(x-x_{n}).

The notion of normally distributed points is due to L. Fejér and is involved precisely in the study of the non-negativity of Fejér's operator (9).

Of the form (7) is also the Lagrange interpolation polynomial. This polynomial enjoys in particular the properties of non-preservation of the convexity shape [ 10 ] .

We can even study, from the point of view of preserving convexity, operators constructed on multiple nodes. Such an operator is, for example, the Lagrange-Hermite polynomial.

We have published relatively few works in our country on the preservation of the shape of convexity of various orders by operatorsF[f|x]F[f\mid x]of the form specified in the given definition. D. Ripeanu began the study and obtained some remarkable results on operators of the form

hasbf(s)p(x,s)ds,\int_{a}^{b}f(s)\,p(x,s)\,ds, (11)

which preserve the convexity of the functionffup to a certain given order.

A. Lupaş [ 3 ] studied the conservation of the convexity shape in other contexts.

We have examined [ 9 ] the preservation of convexity by the more general interpolation operator

F[f|x]=α=0mPα(x)f(xα),F[f\mid x]=\sum_{\alpha=0}^{m}P_{\alpha}(x)\,f\!\left(x_{\alpha}\right), (7)

Orx0,x1,,xmx_{0},x_{1},\ldots,x_{m}arem+1m+1distinct given points ofEEAndP0,P1,,PmP_{0},P_{1},\ldots,P_{m}functions defined onII.

We can assume that

x0<x1<<xm.x_{0}<x_{1}<\ldots<x_{m}. (8)

We have found the necessary and sufficient conditions for the operator ( LABEL:7 ) to retain onIIthe non-concave ordern1n-1, the functionffbeing non-concave of ordernnon the points ( LABEL:8 ). The numbering ( LABEL:8 ) of the nodes allows these conditions to be written in explicit form.

We have also shown that, if the points ( LABEL:8 ) are given arbitrarily, there exist interpolation polynomials of degreemmof the form ( LABEL:7 ), which preserve all convexities of orderm1m-1on a finite intervalIIof non-zero length [ 9 ] .

The problem of constructing such polynomials has also been studied by D. Ripeanu [ 11 ] .

Consider the polynomial of L. Fejér [ 2 ] , whose second member is the first term of the Lagrange-Hermite polynomial

α=1nhα(x)f(xα)+α=1nkα(x)f(xα),\sum_{\alpha=1}^{n}h_{\alpha}(x)\,f\!\left(x_{\alpha}\right)+\sum_{\alpha=1}^{n}k_{\alpha}(x)\,f^{\prime}\!\left(x_{\alpha}\right),

of the functionffon double knots

x1<x2<<xn.x_{1}<x_{2}<\ldots<x_{n}. (10)

It is the polynomial of least degree which, as well as its derivative, takes the same values ​​as the functionff, respectively its derivativeff^{\prime}, on the points ( LABEL:10 ).

But it is clear that we will have to study, for example, the conservation, by trigonometric operators, of convexity with respect to the (linear) set of trigonometric polynomials of a given order.

Another generalization of higher-order convex functions consists of functions that are of ordernnby segments. Such a function has the property that its set can be decomposed into a finite number of consecutive subsets such that, on each, the function is non-concave or non-convex of the same ordernn.

We say that the wholeEEof the real axis is decomposed (into a finite number) into consecutive subsets if

E=α=1mEα,E=\bigcup_{\alpha=1}^{m}E_{\alpha},

and if, for allα=1,2,,m1\alpha=1,2,\ldots,m-1we have

xEα,x"Eα+1x<x".x^{\prime}\in E_{\alpha},\quad x^{\prime\prime}\in E_{\alpha+1}\quad\Rightarrow\quad x^{\prime}<x^{\prime\prime}.

This generalization of higher-order convex functions leads to a definite shape if, for example, we fix the maximum number of consecutive decomposition subsets of the preceding form. We have shown [ 8 ] that Bernstein's polynomial ( LABEL:5 ) also preserves such shapes.

To give an example, we can consider that a function has such a shape if it is non-decreasing on the interval[has,b)[a,b)and non-increasing over the interval[b,c][b,c], Orhas<b<ca<b<c.

There are also other properties that can be considered as characterizing well-defined patterns of a function. For example, the fact that the divided difference of ordernnof a function, or the total variation of ordernn [ 5 ] of this function, remain between two given numbers. Such a pattern is still preserved by the polynomials of S. N. Bernstein.

We can further generalize conservation problems by studying operators that transform functions of a given form into functions of another given form. It is always necessary to properly specify the convexity conditions of certain operators generalizing the Bernstein polynomial.

§4\S 4.

Open problems

In this section, we intend to briefly outline some problems of preserving appearance that remain to be studied. Research should be directed in several directions, including the following:

A. Further research on the preservation of the convexity shape by operators remains to be completed.F[f|x]F[f\mid x]linear and even non-linear, and not only of the form ( LABEL:7 ) or ( LABEL:11 ). Even for operators of the form ( LABEL:7 ), the problems of preserving the convexity shape of order still need to be studied.nnassuming that these are functionsffdefined over an entire interval containing the points.

B. We can study conservation problems with forms other than convexity. Of course, we must first specify what kind of form we are talking about. We can, for example, start from certain generalizations of higher-order convex functions. Higher-order convex functions can be generalized in several ways. In general, we can refer to convexity with respect to an interpolating set of functions, introduced by E. Moldovan [ 4 ] . To our knowledge, operators preserving such general convexity have not yet been systematically studied. Here, certainly, we would need to consider, in general, operators that are not necessarily linear.

Linear interpolation sets constitute an important special case. In this case, it will be necessary to first study the linear operators, in particular those of the form ( LABEL:7 ), which preserve the respective convexity.

Otherwise, we would have problems that are too general, encompassing all sorts of questions that fall outside this framework. Such are, for example, the very interesting problems, the study of which was begun by L. Fejér, concerning the convexity (of various orders) of the partial sums of trigonometric series.

C. It would also be interesting to study analogous problems of shape conservation for real functions of two or more real variables. Apart from a few extensions that follow directly from the study of Bernstein polynomials of several variables, and which can be easily formulated, to our knowledge, such problems have not yet been studied.

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